Surgical Navigation Registration Transfer via Tracker Coordinate Transformation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current surgical navigation systems face limitations in transferring registration of three-dimensional image data between different systems, particularly when using hybrid trackers, as the geometric properties of these trackers cannot be altered without additional calibration, restricting the surgeon's ability to freely select tracker positions.
Innovation Solution
A method for transferring registration of three-dimensional image data from a first surgical navigation system to a second by determining the positions and orientations of both trackers in their respective coordinate systems and using these to register the data in the second system, allowing for flexible arrangement of trackers without requiring additional calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a hybrid tracker is used to transfer registration between two surgical navigation systems, then the registration can be transferred between different coordinate systems, but the surgeon cannot change the geometric properties of the hybrid tracker without performing additional calibration steps
Solution Approach 1:
The patent introduces a computing device as an intermediary that calculates a transformation between coordinate systems. This transformation is derived from position data of the hybrid tracker detected by two different surgical navigation systems. The computing device processes the position information from both systems and generates the coordinate transformation, eliminating the need for manual calibration when changing tracker geometry. This resolves the contradiction by automating the adaptation process while maintaining accuracy.
2Manufacturing precision
If the position and orientation of the first tracker relative to the second tracker is known for transformation calculation, then the registration transfer is possible, but the surgeon is limited in ability to freely select the position of both trackers
Solution Approach 1:
The patent performs preliminary detection of the hybrid tracker's position in both coordinate systems before the actual surgical procedure begins. The computing device calculates the transformation between coordinate systems in advance, based on initial position data from both surgical navigation systems. This preliminary action establishes the transformation relationship beforehand, allowing the surgeon to freely adjust tracker positions during surgery without compromising registration precision, as the transformation can be recalculated if needed.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A method, a controller (26), and a surgical hybrid navigation system (10) for transferring a registration of three dimensional image data (43) of a surgical object (30) from a first to a second surgical navigation system (12, 14) are described. A first tracker (34) that is detectable by a first detector (16) of the first surgical navigation system (12) is arranged in a fixed spatial relationship with the surgical object (30) and a second tracker (36) that is detectable by a second detector (23) of the second surgical navigation system (14) is arranged in a fixed spatial relationship with the surgical object (30). The method comprises registering the three dimensional image data (43) of the surgical object (30) in a first coordinate system (20) of the first surgical navigation system (12) and determining a first position and orientation of the first tracker (34) in the first coordinate system (20) and a second position and orientation of the second tracker (36) in a second coordinate system (24) of the second surgical navigation system (14). The method further comprises determining a third position and orientation of the second coordinate system (24) in the first coordinate system (20) and registering the three dimensional image data (43) of the surgical object (30) in the second coordinate system (24) on the basis of the determined first, second and third positions and orientations.