Fracture surgery device and method based on registration between surgical robot coordinates and patient coordinates

Fracture Surgery Device and Method Based on Registration Between Surgical Robot Coordinates and Patient Coordinates

This technology is a registration control method that utilizes C-arm X-ray images to generate a multi-stage transformation matrix between the surgical robot's ring frame coordinate system and the patient's bone fragment coordinate system, precisely estimating the relative positional relationship between the robot and the patient through 2D/3D registration and PnP algorithms.

Existing fracture reduction surgeries have faced issues such as the need for expensive additional equipment like markers and probes due to the use of 3D position trackers, increased complexity of the surgical environment, and low precision when using conventional 2D/3D registration methods based on X-ray imaging.

This technology involves attaching metal bead-type jigs to a ring frame fixed to the bone fragment to serve as feature points on X-rays. It performs registration between the X-ray imaging device and the robot jig (2-stage transformation) and between the X-ray imaging device and the bone fragment (1-stage transformation), respectively. Finally, it derives a coordinate transformation matrix between the robot and the bone fragment, enabling registration of robot and patient coordinates without a 3D position tracker. It can be applied to surgical robots, interventional systems, and medical automation, thereby improving the precision of Y-matching and minimizing unnecessary equipment in fracture surgery procedures.

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Key Features:

• b) A step of generating a first transformation matrix by performing registration between the coordinates of the proximal bone fragment and the coordinates of the C-arm X-ray imaging device based on the first C-arm X-ray image.
• c) A step of generating a second transformation matrix by performing registration between the coordinates of the proximal ring frame and the coordinates of the C-arm X-ray imaging device based on the first C-arm X-ray image.
• e) A step of generating a fourth transformation matrix, which represents the relationship between the coordinates of the distal ring frame and the coordinates of the distal bone fragment, by performing steps b) through d) for the distal bone fragment.
• a) A step of acquiring a first C-arm X-ray image of the proximal bone fragment, including the proximal ring frame.

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This invention was developed through the Ministry of Education's support for fracture surgery navigation via image-based 3D fracture modeling.