Tracking Reference Device Verification for Bone Registration Accuracy
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Solution Overview
Problem
Conventional tracking systems in robotic-assisted orthopedic surgery face issues with the inadvertent movement of tracking reference devices relative to the bone after registration, leading to misalignment of implants and poor clinical outcomes.
Innovation Solution
A method is provided to verify the positional accuracy of tracking reference devices by creating a verification mark on the bone, recording its position relative to the tracking reference device, and aligning an end-effector with the mark to ensure accurate tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a tracking reference device is fixed to the patient's bone to enable real-time tracking, then the bone's position and orientation can be accurately tracked in real-time, but the tracking reference device may inadvertently move relative to the bone after registration, compromising positional accuracy
Solution Approach 1:
The patent creates a verification mark on the bone at a known position relative to the tracking reference device before the surgical procedure begins. This preliminary action establishes a reference point that can be used to verify the tracking device's position throughout the procedure, allowing detection of any inadvertent movement that occurs after registration.
Solution Approach 2:
The system continuously monitors the position of the verification mark relative to the tracking reference device throughout the surgical procedure. By comparing the expected position (from preoperative planning) with the actual tracked position, the system provides feedback on whether the tracking device has moved, enabling real-time verification of tracking accuracy.
2Productivity
If conventional tracking systems are used without verification, then the surgical procedure can proceed efficiently, but misalignment of implants may occur due to undetected movement of the tracking reference device
Solution Approach 1:
The verification mark serves as a self-check mechanism that allows the surgical system to automatically verify its own positioning accuracy without requiring external intervention. The system uses the verification mark to self-diagnose whether the tracking reference device has moved, enabling the surgical team to maintain high precision while proceeding efficiently through the procedure.
Data Source
AI summary
A method for verifying the positional accuracy of a tracking reference device is provided that includes a tracking reference device attached to a bone. The bone is then registered with respect to a coordinate frame of the tracking reference device. A verification mark on the bone is then created where the position of the verification mark is recorded, by way of a tracking system, with respect to the tracking reference device. The positional accuracy of the tracking reference device is verified by instructing an end-effector of a robotic-assisted surgical device to align with the verification mark on the bone, and wherein if the end-effector does not align with the verification mark, the positional accuracy of the tracking reference device is compromised. A surgical system for performing the computerized method is also provided.