TWO-PART TRACKING REFERENCE STRUCTURE

• US 20150297314A1
• Filed: 11/04/2013
• Published: 10/22/2015
• Est. Priority Date: 11/06/2012
• Status: Active Grant

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Plassky, Norman, Fowler, Maria
• Granted Patent: US 9,827,052 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00862 elastic or resilient for sutures A61B2017/0618
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• CPC Class Codes: A61B 2090/3979 infrared
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/3991 having specific anchoring means to fixate the marker to the tissue, e.g. hooks
• CPC Class Codes: A61B 46/00 Surgical drapes
• CPC Class Codes: A61B 5/0059 using light, e.g. diagnosis by transillumination, diascopy, fluorescence A61B5/0093, A61B5/1455, A61B5/02416 and A61B5/0261 take precedence
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 8/481 involving the use of contrast agent, e.g. microbubbles introduced into the bloodstream analysis of echo signal exploiting properties of a contrast enhancer in devices for short-range imaging with acoustic waves G01S7/52039
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: F16B 2/185 using levers

Abstract

The present invention relates to a tracking reference structure for localizing and tracking an object by means of a medical tracking system, said structure comprising:—a first part (1) which forms a support structure for at least one tracking marker (3); and—a second part (2) which is configured to be fixed to said object, wherein a positionally fixed connection between the first part (1) and the second part (2) is established by means of an interface comprising at least one resiliently articulated element (4) on the first part (1) and/or second part (2), which engage(s) with the respective other part (2, 1), and wherein the resiliently articulated element (4) is configured such that its restoring spring force alone is already sufficient to positionally fix the connection. The present invention also relates to a tracking reference system comprising such a tracking reference structure which in turn comprises at least one first part (1), wherein any additional first part(s) (1) support(s) a different type of tracking marker (3) and said different first parts (1) can be interchangeably connected to the second part (2), and wherein the tracking markers (3) of each of said different first parts (1) are in particular placed in the same spatial position when being coupled to the second part (2).

Claims

1. A tracking reference structure for localising and tracking an associated object by a medical tracking system, the tracking reference structure comprising:

a first part which forms a support structure for at least one tracking marker; and

a second part which is configured to be fixed to said object,

wherein a positionally fixed connection between the first part and the second part is established by an interface comprising at least one resiliently articulated element on the first part and/or second part, which engage(s) with the respective other part,

a restoring spring force of the resiliently articulated element alone is already sufficient to positionally fix the connection, and

wherein at least one lever for the at least one resiliently articulated element, wherein the lever(s) deflect(s) the element(s), counter to the restoring spring force.

2. The tracking reference structure according to claim 1, wherein the interface allows the first part and the second part to be located on opposite sides of a surgical drape without penetrating the drape when it is positioned between the first part and the second part.

3. The tracking reference structure according to claim 2, wherein the interface establishes a predetermined spatial position of the first part relative to the second part, irrespective of whether or not a surgical drape is placed between the first part and the second part.

4. The tracking reference structure according to claim 1, further comprising a positioning aid comprising elements which are specifically formed on the first part retain drape material, and prevent the drape from wrinkling in an area in which the at least one resiliently articulated element engages with the assigned part, and wherein the positioning aid also comprises receiving areas which are specifically formed on the second part and accommodate and retain drape material.

5. The tracking reference structure according to claim 4, wherein the elements are configured to automatically tighten the drape in an area in which the resiliently articulated element engages with the assigned part when the first part is connected to the second part.

6. The tracking reference structure according to claim 1, wherein the restoring spring force is applied to the corresponding other part.

7. The tracking reference structure according to claim 1, wherein the positionally fixed connection is a form-fit connection established by the element engaging with a correspondingly formed structure of the respective other part.

8. The tracking reference structure according to claim 1, wherein the interface comprises a plurality of discrete contact areas.

9. The tracking reference structure according to claim 1, wherein the first part and/or the second part is/are integrally formed with the resiliently articulated element(s).

10. The tracking reference structure according to claim 1, wherein the first part is connected to the second part in a translational movement.

11. The tracking reference structure according to claim 1, wherein the first part supports at least three tracking markers which define a first plane, and the second part comprises a seat which is to be attached to the tracked and localised object and substantially defines a second plane, and wherein the first plane is tilted relative to the second plane.

12. The tracking reference structure according to claim 1, wherein the interface comprises a plurality of resiliently articulated elements which lie on a circle which in turn specifically lies within a first plane defined by at least three of the tracking markers.

13. The tracking reference structure according to claim 1, wherein the at least one lever(s) is/are part of a gripping section of the tracking reference structure.

14. The tracking reference structure according to claim 1, wherein the tracking reference structure is made entirely of a non-metallic material and/or wherein the first part and the second part are integrally formed.

15. The tracking reference structure according to claim 13, wherein at least one of the one or more levers comprises a locking mechanism which prevents the lever from deflecting the element(s) by immobilising the lever relative to the first part.

16. The tracking reference structure according to claim 15, wherein the locking mechanism comprises an arm which extends from the lever and comprises an engaging element which engages with a corresponding element of the first part.

17. The tracking reference structure according to claim 16, wherein the engaging element and the corresponding element engage with each other in a releasable clip-fit or snap-fit connection.

18. A tracking reference system comprising a tracking reference structure according to claim 1, which in turn comprises at least one first part, wherein any additional first part(s) support(s) a different type of tracking marker and said different first parts can be interchangeably connected to the second part, and wherein the tracking markers of each of said different first parts are placed in the same spatial position when being coupled to the second part, wherein the different types of markers comprise at least one of the following:

flat optical/reflective markers;

at least partially spherical optical/reflective markers;

sterile markers;

non-sterile markers;

passive markers;

active markers;

MR markers;

EM markers;

CT markers;

ultrasound markers.