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

传统的关节置换手术每年约有450万例，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。由于植入部件的不准确放置和软组织平衡，可能会出现并发症，这可能导致修复手术的成本是初级手术的三倍（6000英镑）。手术导航平台改善了组件的定位，减少了并发症的发生率，尽管与患者的工作距离有限（<10cm），限制了手术的摄取。手术机器人是一种适应导航的机器人，它使用机械臂或机头来提高骨切割的精度。虽然机器人可以提供更精确的骨切除，但它们只能在能够负担得起技术和容纳大型系统（400-500公斤）的中心使用。因此，由于对当前导航系统的准确性、程序灵活性以及机器人的尺寸和成本的担忧，目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，可精确测量骨骼和仪器安装的LED标记的空间位置，其基准定位误差（FLE）为0.2mm至80cm，使用非接触式光学编码器“stereo-spacecoder”支持的反向跟踪。ZeptoTrack重约45g，尺寸（mm）：42x22x11(9.24cm^2)，支持增强现实（AR）眼镜。**应用：**ZeptoTrack是一项多功能技术，可提供：-* *超紧凑**机器人平台（6.9Kg），与Stryker(MAKO)/400Kg和Zimmer/Biomet(ROSA)/ 500Kg相比，消除了笨重的“侧视”相机（450cm^2）和相关的视线问题，以及ar智能眼镜，提供准确的手机跟踪，* *精确的手术导航**扩展工作范围**(80cm)，而最先进的导航系统则为10cm，例如。Medacta(总部),Intellijoint-Surgical (Intellijoint-Knee),等等。**团队/专业知识：*** Smith+Nephew(S+N)：医疗设备，机器人* Marturion Electronics(MAR)：低功耗电路*伦敦帝国理工学院（ICL）：AR，机器人**关键目标/重点：**加快ZeptoTrack从有线演示器（TRL-4）在实验室环境中进行验证，校准后的FLE为0.5mm在髋关节尸体中测试的无线导航平台（TRL-6/7），以确保公司S+N资金用于后续ASIC设计和产品开发。

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.