Virtual Bone Mount Tracking for Free-Moving Robotic Arms
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Solution Overview
Problem
Existing surgical navigation systems face challenges in accurately tracking a robotic arm relative to patient anatomy when not mounted to the patient bed, and limitations on robotic arm movement when mounted to the patient bed.
Innovation Solution
A navigation tracker system using a combination of fluoroscopic markers, navigation markers, and optical tracking markers, along with a 3D camera and laser tracker, enables precise registration and navigation of a robotic arm relative to patient anatomy, allowing for accurate positioning without physical mounting to the patient bed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robotic arm is mounted to the patient bed, then tracking accuracy relative to patient anatomy is improved, but robotic arm movement freedom is restricted
Solution Approach 1:
The patent introduces a navigation tracker as an intermediary component that couples to the patient bed rather than directly mounting the robotic arm to the patient bed. The navigation tracker includes multiple types of markers (fluoroscopic, optical, navigation) that serve as intermediaries for different imaging systems to track the robotic arm's position relative to patient anatomy, thereby maintaining tracking accuracy while preserving robotic arm movement freedom.
Solution Approach 2:
The patent replaces the mechanical mounting system with an optical and imaging-based tracking system. Instead of physically coupling the robotic arm to the patient bed for stability, the system uses fluoroscopic markers, optical tracking markers, and navigation markers detected by imaging devices to virtually establish and maintain the spatial relationship between the robotic arm and patient anatomy.
2Adaptability or versatility
If the robotic arm is not mounted to the patient bed, then robotic arm movement freedom is improved, but tracking accuracy relative to patient anatomy deteriorates
Solution Approach 1:
The patent merges multiple tracking systems into a unified navigation tracker. The navigation tracker combines fluoroscopic markers (detected by fluoroscopy imaging device), optical tracking markers (detected by optical imaging device), and navigation markers (detected by navigation system) into a single integrated system, allowing the robotic arm to be tracked accurately by multiple imaging modalities simultaneously without physical mounting.
Solution Approach 2:
The navigation tracker serves multiple functions: it provides tracking markers for fluoroscopy, optical tracking, and navigation systems simultaneously. This multi-functional design allows a single device to maintain tracking accuracy across different imaging modalities while the robotic arm remains unmounted and freely movable.
3Measurement precision
If multiple types of navigation markers are used on the navigation tracker, then registration accuracy across different imaging devices is improved, but device complexity is increased
Solution Approach 1:
The patent segments the navigation tracker into distinct functional components with different marker types. Each marker type (fluoroscopic markers, optical tracking markers, navigation markers) is designed to work with specific imaging devices. This segmentation allows each imaging system to independently and accurately detect its corresponding markers, improving registration accuracy while organizing the complexity into manageable, specialized subsystems.
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
Enables accurate and unrestricted movement of a robotic arm relative to patient anatomy, maintaining precision and flexibility in surgical procedures.
Implementation Method 1
The navigation element of the first type includes a plurality of fluoroscopic markers capable of being detected by a first imaging device
Implementation Method 2
The navigation element of the third type comprises a first optical tracking marker tracked by a third imaging device
Implementation Method 3
The navigation element of the second type includes a plurality of navigation markers capable of being detected by a second imaging device
Data Source
AI summary
A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: determine, based on a navigation element of a first type and a navigation element of a second type both disposed on a navigation tracker, a first registration between the navigation tracker and an anatomical element; determine, based on a navigation element of a third type disposed on the navigation tracker, a second registration between a robotic arm and the navigation tracker; and navigate, based on the first registration and the second registration, the robotic arm relative to the anatomical element.