# US 10,117,712 B2 · Modular navigation reference

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- Number: US 10,117,712 B2
- Document ID: US10117712B2
- Status: Granted
- Kind: B2
- Application number: 14/430,918
- Filed: 2012-09-25
- Published: 2015-09-17
- Granted: 2018-11-06
- Earliest claimed: 2012-09-25
- Assignees: Brainlab AG
- Applicants: Brainlab AG
- Inventors: Norman Plassky; Hansjoerg Huber
- Web page: https://patentgrep.com/patent/US10117712B2

## CPC

- A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61B 2090/3987: {Applicators for implanting markers}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A medical marker device comprising a) a plurality of markers which are disposed on the marker device such that each marker of the plurality of markers displays mirror symmetry with respect to a mirror plane of symmetry which is common to all markers of the plurality of markers, b) an attaching unit for attaching the marker device to a marker holder, wherein the attaching unit is disposed on the mirror plane of symmetry.

## Claims

### Claim 1

A medical marker device, comprising:
a) a plurality of markers each having a planar marker surface, wherein the plurality of markers are each disposed on the marker device such that each marker of the plurality of markers displays mirror symmetry with respect to a mirror plane of symmetry which is common to each marker of the plurality of markers, and wherein the planar marker surfaces are disposed in the same orientation relative to a marker plane which is normal to the mirror plane of symmetry and to the surface normal of each of the marker surfaces; and
b) an attaching unit for attaching the marker device to a marker holder having an elongate shape, wherein the attaching unit is disposed on the mirror plane of symmetry such that a longitudinal axis of the marker holder lies in the mirror plane of symmetry when the marker device holder is connected to the attaching unit;
wherein the marker plane is tilted relative to the longitudinal axis of the marker holder at an angle of between 0° and 90°, excluding these values, when the marker device is attached to the marker holder, and wherein at least one of the markers is not disposed in the marker plane, and at least one of the markers is disposed in the marker plane.

### Claim 2 (depends on 1)

The marker device according to claim 1, wherein the markers are oriented in a same direction.

### Claim 3 (depends on 1)

The marker device according to claim 1, wherein the markers have a round or polygonal circumference.

### Claim 4 (depends on 1)

The marker device according to claim 1, wherein at least one of the markers is disposed in a plane that is parallel to the marker plane.

### Claim 5 (depends on 1)

The marker device according to claim 1, wherein the markers are disposed on a planar marker carrier.

### Claim 6 (depends on 1)

The marker device according to claim 1, wherein the attaching unit comprises a recess or clearance for receiving the marker holder.

### Claim 7 (depends on 6)

The marker device according to claim 6, wherein the recess or clearance has a circular cross-section or a cross-section showing corners or angles.

### Claim 8 (depends on 1)

A marker system comprising:
a) the marker device according to claim 1, and
b) the marker holder configured to be connected with the attaching unit of the marker device.

### Claim 9 (depends on 1)

A data processing method of determining a reference plane in a navigated medical procedure, the data processing method being executable by a computer and comprising:
a) acquiring marker position data comprising marker position information describing the position of at least three markers of two marker devices according to claim 1;
b) determining, based on the marker position data, reference plane data comprising reference plane information describing a reference plane comprising the positions of the at least three markers.

### Claim 10 (depends on 1)

A program which, when running on a computer or when loaded onto a computer, causes the computer to perform a data processing method of determining a reference plane in a navigated medical procedure, the data processing method comprising:
a) acquiring marker position data comprising marker position information describing the position of at least three markers of two marker devices according to claim 1;
b) determining, based on the marker position data, reference plane data comprising reference plane information describing a reference plane comprising the positions of the at least three markers.

### Claim 11 (depends on 10)

A program storage medium on which the program according to claim 10 is stored in a non-transitory form.

### Claim 12 (depends on 10)

A computer on which the program according to claim 10 is running or into the memory of which the program according to claim 10 is loaded.