ZeptoTrack - Miniature Optical Tracking System for Robotic Surgery and Surgical Navigation

ZeptoTrack - 用于机器人手术和手术导航的微型光学跟踪系统

• 批准号: 10061083
• 金额: $ 90.61万
• 依托单位: T.J.SMITH AND NEPHEW,LIMITED
• 依托单位国家: 英国
• 项目类别: Collaborative R&D
• 财政年份: 2023
• 资助国家: 英国
• 起止时间: 2023 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=10061083
• 关键词: ZeptoTrack; Miniature; Optical; Tracking; System

Conventional joint replacement surgery amounts to ~4.5million procedures p.a. and largely remains dependent on surgeon experience and subjective judgments of soft tissue balancing. Complications can arise due to inaccurate placing of implant components and soft-tissue balancing, which can result in a revision procedure trebling the cost of a primary procedure(£6k). Surgical navigation platforms improve component positioning reducing complication rates albeit at a restricted working distance from the patient(<10cm) limiting procedural uptake. Surgical robotics, which is an adaptation of navigation, use a robotic arm or handpiece to improve bone-cutting precision. Although a robot delivers more accurate bone resection, they are only available in centres that can afford the technology and accommodate bulky systems(400-500Kg). Consequently, current surgical navigation and robotic platforms only serve 5-10% of the global market due to concerns over accuracy of current navigation systems, procedural flexibility, and the size and cost of robots.**Our solution:**ZeptoTrack is a novel multi-pinhole optical tracking system that accurately measures spatial locations of bone and instrument-mounted LED markers with a Fiducial Localization Error(FLE) of 0.2mm up to 80cm using reciprocal tracking supported by a contactless optical encoder "stereo-spacecoder." ZeptoTrack weighs ~45g with dimensions (mm):42x22x11(9.24cm^2) and is supported by Augmented Reality(AR) glasses.**Application:**ZeptoTrack is a versatile technology that offers:-* an **ultra-compact** robotics platform(6.9Kg) compared to Stryker(MAKO)/400Kg and Zimmer/Biomet(ROSA)/ 500Kg eliminating bulky "side-view" cameras(450cm^2), and associated line-of-sight issues, and AR-smart glasses that provides accurate handpiece tracking,* accurate surgical navigation at an **extended working range**(80cm) compared to 10cm for state-of-the-art navigation systems,e.g. Medacta(NextAr),Intellijoint-Surgical(Intellijoint-Knee),etc.**Team/Expertise:*** Smith+Nephew(S+N):Medical devices, robotics* Marturion Electronics(MAR):Low-powered circuits* Imperial College London(ICL):AR, robotics**Key Objectives/Focus:**Expedite ZeptoTrack from a wired demonstrator (TRL-4) validated in a laboratory setting with a FLE of 0.5mm after calibration to a wireless navigation platform (TRL-6/7) tested in a hip cadaver to secure corporate S+N funding for follow-on ASIC design and product development.

传统的关节置换手术每年约有450万例。并且很大程度上仍然依赖于外科医生的经验和对软组织平衡的主观判断。由于植入物组件放置不准确和软组织平衡可能会出现并发症，这可能导致翻修手术的费用是初次手术的三倍（6000英镑）。手术导航平台改善了组件定位，降低了并发症发生率，尽管与患者的工作距离有限（<10 cm），限制了手术摄取。手术机器人是导航的一种改进，使用机器人手臂或手机来提高骨切割精度。虽然机器人可以提供更精确的骨切除，但它们只适用于能够负担得起技术并容纳庞大系统（400- 500公斤）的中心。因此，由于对当前导航系统的准确性、手术灵活性以及机器人的尺寸和成本的担忧，当前的手术导航和机器人平台仅占全球市场的5-10%。我们的解决方案：**ZeptoTrack是一种新型的多针孔光学跟踪系统，使用非接触式光学编码器“立体空间编码器”支持的往复跟踪，可精确测量骨骼和仪器安装的LED标记的空间位置，基准定位误差（FLE）为0.2 mm至80 cm。ZeptoTrack重约45克，尺寸（mm）：42 x22 x11（9.24cm^2），并由增强现实（AR）眼镜支持。应用：**ZeptoTrack是一种多功能技术，可提供：** 一种 ** 超紧凑型 ** 机器人平台（6.9 Kg），相比之下，斯特赖克（MAKO）/400 Kg和Zimmer/Biomet（ROSA）/500 Kg消除了笨重的“侧视”摄像头（450 cm ^2）和相关的视线问题，以及AR智能眼镜，可提供准确的手柄跟踪，** 在 * 扩展工作范围 **（80 cm）下进行准确的手术导航，相比之下，最先进的导航系统为10 cm，例如Medacta（NextAr）、Intellijoint-Surgical（Intellijoint-Knee）等。**团队/专业知识：* Smith+Nephew（S+N）：医疗器械、机器人技术 * Marturion Electronics（MAR）：低功耗电路 * 帝国理工学院伦敦（ICL）：AR、机器人技术 ** 关键目标/重点：** 加快ZeptoTrack从有线演示器（TRL-4）到无线导航平台（TRL-6/7）的速度，有线演示器在实验室环境中经过验证，校准后的FLE为0.5 mm，无线导航平台在髋关节尸体中进行测试，以确保公司S+N为后续ASIC设计和产品开发提供资金。