Multi-Objective Optimization-Based Active Navigation System for Orthopedic Surgeries

Intraoperative navigation is a critical part of robot-assisted orthopedic surgery. The most essential part of intraoperative navigation is the optical tracking system (OTS), which is responsible for intraoperative real-time positioning and tracking. Usually, the OTS is fixed during the surgery after manually adjusting its pose. However, the field of view (FOV) of OTS is finite and there may be visual occlusion between positioning tools, which will cause risk in surgeries. To address these drawbacks of the fixed OTS, this paper proposes an active navigation system for active adjustment of the OTS pose during surgery. The problem of finding the optimal pose of the OTS is summarized as a multi-objective optimization problem in this paper. The observation accuracy of the active navigation system is demonstrated to be reliable, and simulations are conducted to verify that the optimization project is effective in finding the optimal observation pose for OTS to observe multiple positioning tools simultaneously.