Two-part medical tracking marker

• US 9,044,269 B2
• Filed: 09/30/2009
• Issued: 06/02/2015
• Est. Priority Date: 09/30/2009
• Status: Active Grant

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Woerlein, Swen
• Primary Examiner(s): Cattungal, Sanjay
• Application Number:
  US13/497,127
• Publication Number:
  US 20120184839A1
• Time in Patent Office: 2,071 Days
• Field of Search: 600/206, 600407-430, 606 1- 5, 606206-214, 442/118, 442/334, 442/361, 442/414
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 46/00 Surgical drapes
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/40 Apparatus fixed or close to patients specially adapted for providing an aseptic surgical environment

Abstract

The invention relates to a medical tracking marker (12) for localizing or tracking an object (10) by means of a medical tracking system (30), said marker comprising a first part (1) which is to be fixed on the object (10), and a second part (2) which is to be connected to the first part (1), wherein the first and second parts (1, 2) comprise interconnecting elements (4, 6) which are adapted to provide a positionally determined connection between the first part (1) and the second part (2) while the first part is located under a surgical drape (20) and the second part is located above said surgical drape (20), with the drape (20) placed between the two parts (1, 2). The invention also relates to a method of referencing an object (10) using a medical navigation system, wherein a medical tracking marker such as has been described above is localized or tracked by means of a medical tracking system (30), and wherein the object is registered by means of the first part (1) of the marker (12) in a preliminary referencing step, in particular for imaging purposes, which is later adapted to form a final referencing step for navigation using the second part (2) which has been placed on the first part in a positionally defined, pre-determined manner.

Claims

1. A medical tracking marker for localizing or tracking an object by means of a medical tracking system, said marker comprising:

a first part fixable to the object; and

a second part fixably connectable to the first part,

wherein the connection is configured to hold the second part in a predetermined position relative to the first part and the first and second parts comprise interconnecting elements adapted to provide a positionally determinable connection between the first part and the second part while the first part is located under a surgical drape and the second part is located above said surgical drape, with the drape placed between the first and second parts, wherein the first and second parts are provided with two different magnetic or static domains on each surface involved in the connection, thereby securing a predetermined alignment of the first and second parts which are connected without contacting each other, and

wherein the connection is established using forces comprising at least one of magnetic or electrostatic forces.

2. The medical tracking marker according to claim 1, wherein when the first part is connected to the second part the first and second parts are not in direct contact with each other.

3. The medical tracking marker according to claim 2, wherein when connected the interconnecting elements are not in direct contact with each other.

4. The medical tracking marker according to claim 1, wherein when the interconnecting elements are connected said interconnecting elements are spaced apart by at least a distance corresponding to the thickness of a surgical drape, and the connection bridges said distance.

5. The medical tracking marker according to claim 1, wherein when the interconnecting elements are connected the interconnecting elements do not penetrate the drape.

6. The medical tracking marker according to claim 1, wherein when the first and second parts are connected, the first and second parts clamp the drape without penetrating the drape.

7. The medical tracking marker according to claim 6, wherein the interconnecting elements clamp the drape without penetrating the drape.

8. The medical tracking marker according to claim 1, wherein the first and second parts are connected by a positive connection between the interconnecting elements, and the drape is accommodated between said interconnecting elements.

9. The medical tracking marker according to claim 8, wherein the interconnecting elements comprise at least one of a bayonet catch or quarter-turn fastener.

10. The medical tracking marker according to claim 1, wherein the first and second parts are connected by a frictional engagement between the interconnecting elements, and the drape is accommodated between said interconnecting elements.

11. The medical tracking marker according to claim 1, wherein the first part of said marker is non-invasively fixable on the object.

12. The medical tracking marker according to claim 11, wherein the first part comprises an adhesive for fixing the first part to the object.

13. The medical tracking marker according to claim 1, wherein at least one of the first and second parts is provided with a reflective surface detectable by the tracking system.

14. A method of referencing an object using a medical navigation system, wherein a medical tracking marker in accordance with claim 1 is localized or tracked by means of a medical tracking system, and wherein the object is referenced by means of the first part of the marker in a preliminary referencing step, which is later adapted to form a final referencing step for navigation using the second part which has been fixed to the first part in a positionally defined, pre-determined manner, wherein the connection is configured to hold the second part in the predetermined position relative to the first part without user intervention.

15. The method according to claim 14, wherein the adapting step compensates for and takes into account a shift in the position of the marker that occurs when the second part is placed on the first part.

16. The method of claim 15, wherein the shift in position is taken into account by ignoring markers which are found to have shifted during the medical navigation.

17. The method of claim 15, wherein compensating includes taking into account at least one of

a thickness of the drape;

a specific shape of the second part;

characteristics of or inaccuracies in the system connecting the parts;

a shift in the skin;

or

a movement of the tracking system.

18. A non-transitory computer readable medium comprising computer executable instructions adapted to perform a method in accordance with claim 14.