Surgical Table Registration Using Articulated Arm Motion Tracking
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Solution Overview
Problem
Current methods for determining the registration between a computer-assisted surgical device with articulated arms and a surgical table are cumbersome, error-prone, and restrictive, limiting the device's versatility and requiring additional steps when the table and device are moved.
Innovation Solution
A system and method that uses a control unit to detect motions of the surgical table and correspondingly adjust the articulated arms, determining angular directions and relationships between the surgical table and the device through a communications connection, allowing for precise registration without physical restraints, enabling flexible positioning and orientation for various procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual entry of position and orientation is used, then registration between device and surgical table is achieved, but the procedure becomes cumbersome and error-prone
Solution Approach 1:
The patent replaces manual mechanical entry methods with an automated optical tracking system. The articulated arm scanner and surgical table both incorporate tracking markers that are detected by optical sensors, automatically calculating position and orientation data without manual input, thereby eliminating the cumbersome and error-prone manual entry process while maintaining high registration accuracy
Solution Approach 2:
The patent introduces tracking markers as intermediary elements that facilitate automatic registration. These markers are placed on both the articulated arm scanner and surgical table, serving as common reference points that enable the system to automatically determine relative position and orientation through optical detection, replacing the need for direct manual coordinate entry
2Measurement precision
If the device is bolted to the surgical table or uses rigid mounting, then position and orientation are known, but the device flexibility is restricted
Solution Approach 1:
The patent implements dynamic registration by equipping both the articulated arm scanner and surgical table with tracking markers and optical sensors. This allows the system to continuously track and calculate real-time position and orientation data, enabling the device to be freely repositioned and reoriented without rigid mounting, thus maintaining adaptability while ensuring accurate spatial relationship knowledge
Solution Approach 2:
The tracking marker system serves multiple functions: it enables automatic registration, provides continuous position tracking, allows flexible repositioning, and works with various surgical table configurations. This universal approach eliminates the need for device-specific rigid mounting solutions while maintaining precise spatial awareness
3Measurement precision
If rigid mounting or bolting is used, then additional steps are introduced during device movement, but position and orientation are determined
Solution Approach 1:
The patent replaces mechanical rigid mounting with an optical tracking system that automatically determines position and orientation through sensor detection of tracking markers. This eliminates the need for manual mounting/dismounting steps and allows continuous tracking during movement, improving procedure efficiency while maintaining accurate spatial relationship determination
Solution Approach 2:
The optical tracking system provides continuous position and orientation data throughout the procedure, rather than requiring periodic re-mounting or re-registration. The system maintains uninterrupted spatial awareness as the articulated arm scanner moves freely, eliminating additional steps and improving overall procedure efficiency
Data Source
AI summary
A system and method of registration includes detecting a first motion of a table that causes motion of a computer-assisted device, determining a first angular direction of the first motion in a table coordinate frame, determining a second angular direction of the motion of the computer-assisted device in a computer-assisted device coordinate frame, determining a first angular relationship between the table and the computer-assisted device based on the first and second angular directions, and aggregating the first angular relationship in a composite angular relationship. The second angular direction includes a direction of a second motion of a first articulated arm of the computer-assisted device or an aggregation of a plurality of angular directions, wherein, for each angular direction of the plurality of angular directions, that angular direction is of a respective third motion, of a respective articulated arm of a plurality of articulated arms of the computer-assisted device.