Given the state of a system as $\rho_s$ and that of the ancilla (pointer) as $\rho_a$, the Von-Neumann measurement involves entangling a system with ancilla and then performing a projective measurement on the ancilla. This is often represented as $$[\mathcal{I} \otimes P_i] U(\rho_s \otimes \rho_a)U^{-1} [\mathcal{I} \otimes P_i],$$ where $\mathcal{I}$ is the identity on system space, $P_i$ is the projector corresponding to $i$-th outcome, and $U$ is the combined unitary.
My question: How to choose the form of $U$?