Two-part tracking reference structure

• US 9,827,052 B2
• Filed: 11/04/2013
• Issued: 11/28/2017
• Est. Priority Date: 11/06/2012
• Status: Active Grant

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Fowler, Maria, Plassky, Norman
• Primary Examiner(s): Park, Patricia
• Application Number:
  US14/440,387
• Publication Number:
  US 20150297314A1
• Time in Patent Office: 1,485 Days
• Field of Search: None
• 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 localizing 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 form-fit connection between the first part and the second part is established by a receptacle formed in the first part, wherein the receptacle receives the second part, and wherein the receptacle comprises at least one resiliently articulated element, which engages around a correspondingly formed structure of the second part;

wherein a restoring spring force forces the resiliently articulated element into a first position where it engages around the correspondingly formed structure; and

wherein the tracking reference structure further comprises at least one lever for the at least one resiliently articulated element, wherein the lever deflects the resiliently articulated element counter to the restoring spring force and in a direction which is substantially perpendicular to a direction in which the first part and the second part are moved relative to each other in order for the receptacle to receive the second part, and into a second position where the resiliently articulated element does not engage around the correspondingly formed structure.

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

5. The tracking reference structure according to claim 4, wherein the elements of the positioning aid are configured to automatically tighten the drape in an area in which the resiliently articulated element engages with the second 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 second part.

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

8. The tracking reference structure according to claim 1, wherein the first part is integrally formed with the resiliently articulated element(s).

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

10. 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.

11. The tracking reference structure according to claim 1, wherein the receptacle 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 tracking markers.

12. 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.

13. 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.

14. The tracking reference structure according to claim 12, 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.

15. The tracking reference structure according to claim 14, 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.

16. The tracking reference structure according to claim 15, wherein the engaging element and the corresponding element engage with each other in a releasable clip-fit or snap-fit connection.

17. A tracking reference system comprising:

a tracking reference structure for localizing and tracking an associated object by a medical tracking system, the tracking reference structure comprising;

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

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

wherein a form-fit connection between the first part and the second part is established by a receptacle formed in the first part, wherein the receptacle receives the second part, and wherein the receptacle comprises at least one resiliently articulated element, which engages around a correspondingly formed structure of the second part;

wherein a restoring spring force forces the resiliently articulated element into a first position where it engages around the correspondingly formed structure;

wherein the tracking reference structure further comprises at least one lever for the at least one resiliently articulated element, wherein the lever deflects the resiliently articulated element counter to the restoring spring force and in a direction which is substantially perpendicular to a direction in which the first part and the second part are moved relative to each other in order for the receptacle to receive the second part, and into a second position where the resiliently articulated element does not engage around the correspondingly formed structure; and

wherein any additional first part(s) support(s) a different type of tracking marker than said at least one tracking marker, and each said additional first part can be interchangeably connected to the second part, and wherein the different type of tracking markers of each of said additional first parts are placed in a same spatial position when being coupled to the second part, and wherein the different types of tracking 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.