Navigation Surgical System Robotic Arm Registration
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Solution Overview
Problem
Existing navigation surgical systems face cumbersome registration processes, long operation times, and poor reliability and real-time performance due to the need for precise installation and tracking of trackable elements on robotic arms, which are affected by vibrations during orthopedic surgeries.
Innovation Solution
A navigation surgical system that establishes a fixed robotic-arm based coordinate system and a reference coordinate system recognizable by the navigation tracking device, allowing direct registration of the relative position between the robotic arm and the navigation tracking device without the need for installing trackable elements on the robotic arm, using optical, magnetic, or inertial navigation tracking devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If trackable elements are installed on the robotic arm for registration, then the position tracking can be performed, but the surgical procedure becomes cumbersome and operation time increases
Solution Approach 1:
The patent extracts the trackable element from the robotic arm and relocates it to the end effector or surgical instrument. This allows the robotic arm's position to be tracked through the end effector's position without requiring separate trackable elements on the arm itself, thereby reducing registration steps and surgical time while maintaining tracking reliability
Solution Approach 2:
The end effector or surgical instrument serves dual functions: it performs the surgical task and simultaneously acts as the trackable element for position tracking. This multi-functionality eliminates the need for dedicated trackable elements on the robotic arm, simplifying the procedure and reducing operation time
2Measurement precision
If trackable elements are fixedly connected to the robotic arm, then position tracking can be achieved, but the connection requires precise installation and removal which is time-consuming
Solution Approach 1:
The trackable element is extracted from the robotic arm structure and transferred to the end effector or surgical instrument, which is already an integral part of the surgical system. This eliminates the need for separate installation and removal operations on the robotic arm, making the process easier and faster
Solution Approach 2:
The end effector or surgical instrument inherently serves as the trackable element, eliminating the need for separate installation procedures. The trackable functionality is integrated into the component that is already being used for surgery, requiring no additional installation or removal steps
3Speed
If trackable elements are mounted on the robotic arm, then real-time tracking is possible, but vibration during robotic arm movement affects tracking accuracy
Solution Approach 1:
The trackable element is extracted from the vibrating robotic arm and relocated to the end effector or surgical instrument. Since the end effector moves with the robotic arm but is the actual tool performing surgery, its position directly represents the surgical point of interest, maintaining tracking accuracy despite vibrations
Solution Approach 2:
The end effector or surgical instrument acts as an intermediary between the robotic arm and the tracking system. By tracking the end effector's position rather than the robotic arm's position directly, the system obtains more relevant and accurate position data that is less affected by arm vibrations
4Adaptability or versatility
If multiple trackable elements are installed and replaced during surgery, then different registration requirements can be met, but the exposure time of surgical area increases leading to infection risk
Solution Approach 1:
The end effector or surgical instrument serves as a universal trackable element that can fulfill different registration requirements throughout the surgery. This single multi-functional component eliminates the need to install and replace multiple different trackable elements, reducing surgical area exposure time and infection risk
Solution Approach 2:
The trackable element (end effector or surgical instrument) remains in place throughout the entire surgical procedure, enabling continuous tracking without removal or replacement. This continuity maintains the sterile field and minimizes exposure time, reducing infection risk while providing adaptability for different registration needs
Data Source
AI summary
A navigation surgical system, a registration method thereof and an electronic device are disclosed. The navigation surgical system includes a robotic system and a navigation system communicatively connected to the robotic system; the robotic system includes a robotic arm, the navigation system includes a navigation tracking device; the robotic system has a robotic-arm based coordinate system established according to the robotic arm, and the robotic-arm based coordinate system is fixed relative to a supporting device; the navigation system has a reference coordinate system that is recognizable by the navigation tracking device, the reference coordinate system is fixed relative to the supporting device; the navigation surgical system is configured to determine a relative position between the robotic arm and the navigation tracking device according to a relative position between the robotic-arm based coordinate system and the supporting device, and a relative position between the reference coordinate system and the supporting device.