Surgical Registration Verification Using Intraoperative X-Ray Fluoroscopy
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Solution Overview
Problem
Current robot-assisted surgical systems are error-prone and cumbersome, particularly in minimally invasive procedures, due to limitations in mechanical feedback, visual placement, and range of motion, which can lead to safety hazards for both patients and surgeons.
Innovation Solution
The integration of a surgical robotic arm, local positioning system, dynamic reference base, and planning software, along with the use of intraoperative X-ray fluoroscopy images, allows for precise registration checking and correction without requiring direct contact with bone surfaces, enabling more accurate anatomical structure localization and instrument positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning of surgical instruments is used with guidance systems, then the surgeon can directly control instrument placement, but the process is tedious, time-consuming, and error-prone
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated robotic system that uses image guidance and computer control to position surgical instruments. The robotic arm automatically adjusts instrument location based on pre-acquired images and surgical plans, eliminating the need for manual positioning while maintaining high precision.
Solution Approach 2:
The robotic system performs self-positioning and self-adjustment during surgery. The system automatically tracks anatomical landmarks, calculates optimal instrument trajectories, and positions instruments without requiring continuous manual intervention from the surgeon, thereby reducing surgery time while maintaining accuracy.
2Measurement precision
If conventional robotic systems are used for surgical procedures, then automated instrument positioning is achieved, but the systems are expensive, obtrusive, and require cumbersome setup
Solution Approach 1:
The robotic system is divided into modular components: a robotic arm module, an imaging module, a control module, and a surgical instrument module. Each module can be independently configured and positioned, allowing flexible setup that reduces overall system complexity while maintaining positioning precision.
Solution Approach 2:
The robotic system is designed to perform multiple surgical tasks using a single integrated platform. The robotic arm can accommodate different surgical instruments, the imaging system can capture various types of anatomical data, and the control software can manage different surgical procedures, thereby reducing the need for multiple specialized systems.
3Extent of automation
If current robot-assisted systems are used, then some automated control is provided, but mechanical feedback and visual placement are limited, leading to safety hazards
Solution Approach 1:
The system incorporates real-time feedback loops that continuously monitor instrument position, anatomical structure location, and surgical progress. Image guidance systems provide continuous visual feedback to verify correct instrument placement, and the control system automatically adjusts positioning based on feedback data, thereby enhancing safety while maintaining automation.
Solution Approach 2:
The system performs preliminary planning and verification before actual surgical intervention. Pre-acquired images are processed to identify anatomical landmarks and plan surgical trajectories in advance. The system verifies the correctness of planned trajectories through virtual simulation before executing actual instrument placement, reducing safety risks associated with automated control.
4Ease of operation
If manual drilling guidance is used for bone surgery, then the surgeon can adjust drilling parameters, but the process is error-prone due to complex bone shapes and manual positioning difficulties
Solution Approach 1:
The system replaces manual drilling guidance with automated robotic drilling. The robotic arm precisely positions and orients the drill bit according to pre-calculated trajectories based on complex bone anatomy. The system automatically compensates for bone shape variations and maintains perpendicular drilling orientation, achieving high precision without sacrificing operational control.
Solution Approach 2:
The robotic drilling system incorporates dynamic adjustment capabilities that allow real-time modification of drilling parameters such as speed, depth, and orientation. The system can adapt to unexpected anatomical variations encountered during surgery while maintaining precise control over drill hole location and orientation, combining automation with operational flexibility.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the accuracy and safety of surgical procedures by providing a precise and quantitative method for registration verification and correction, reducing errors and improving the precision of surgical instrument placement in complex anatomical environments.
Implementation Method 1
using the fiducials and the tracking markers to register a three-dimensional (3D) imaging space of the surgical system with a 3D tracking space of the surgical system
Implementation Method 2
obtaining a two-dimensional (2D) X-ray image corresponding to the 3D tracking space
Implementation Method 3
use of intraoperative X-ray fluoroscopy images
Data Source
AI summary
A system and method of checking registration for a surgical system, the surgical system including fiducials and tracking markers, may include: using the fiducials and the tracking markers to register a three-dimensional (3D) imaging space of the surgical system with a 3D tracking space of the surgical system; using a tracking fixture of an X-ray imaging system to register an X-ray imaging space of the X-ray imaging system to the 3D tracking space; obtaining a two-dimensional (2D) X-ray image corresponding to the 3D tracking space; identifying a point of interest in the 2D X-ray image; determining a vector in the 3D tracking space that passes through the point of interest; and/or evaluating the registration of the 3D imaging space with the 3D tracking space based on a location, an orientation, or the location and the orientation of the vector in the 3D tracking space.