# US 11,432,881 B2 · Image marker-based navigation using a tracking frame > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,881 B2 - Document ID: US11432881B2 - Status: Granted - Kind: B2 - Application number: 16/316,447 - Filed: 2017-08-01 - Published: 2020-10-29 - Granted: 2022-09-06 - Earliest claimed: 2017-08-01 - Assignees: Brainlab AG - Applicants: Brainlab AG - Inventors: Ulrike Winkler; Robert Essenreiter; Stefan Hofberger - Web page: https://patentgrep.com/patent/US11432881B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2090/3966: {Radiopaque markers visible in an X-ray image} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Disclosed is a computer-implemented method for navigating an anatomical body part, a corresponding computer program, a non-transitory program storage medium storing such a program and a computer for executing the program, as well as a system for navigating the anatomical body part, the system comprising an electronic data storage device and the aforementioned computer, and to a system for conducting medical navigation. ## Claims ### Claim 1 A system for conducting medical navigation, the system comprising: a registration frame; and a tracking frame comprising: i) a tracking marker array comprising at least three optical markers; ii) a tracking frame connector for connecting the tracking frame with the registration frame; and iii) a tracking frame image marker provided in or on the tracking frame connector, wherein the registration frame comprises: a patient support unit attachment portion for attaching the registration frame with a patient support unit; at least three registration frame image markers arranged in or on the registration frame; and a plurality of attachment parts for attaching the tracking frame with the registration frame, wherein the tracking marker array and the tracking frame connector comprise separate interlockable pieces, wherein the tracking frame connector of the tracking frame comprises a base part defining on an end thereof a through hole configured to selectively receive an associated fastener therethrough for fastening the tracking frame with a selected one of the plurality of attachment parts of the registration frame. ### Claim 2 (depends on 1) The system according to claim 1, wherein the plurality of attachment parts are constituted such that the tracking frame is selectively attachable with the registration frame in a selected predetermined orientation relative to the registration frame. ### Claim 3 (depends on 1) The system according to claim 1, further comprising: at least three image markers provided in or on the tracking frame, wherein the plurality of attachment part are constituted such that the tracking frame is attachable with the registration frame in a selectable orientation relative to the registration frame. ### Claim 4 (depends on 1) The system according to claim 1, wherein: the at least three optical markers comprise optical marker structures that are detectable by an associated medical navigation system using a navigation modality of operation of the associated medical navigation system comprising one or more of: an infrared tracking of the optical marker structures by the associated medical navigation system; and/or an electromagnetic tracking of the optical marker structures by the associated medical navigation system; and the at least three registration frame image markers and the tracking frame image marker comprise image marker structures that are imageable by application of a three-dimensional imaging modality to the at least three registration frame image markers and the tracking frame image marker. ### Claim 5 (depends on 1) The system according to claim 1, wherein: the at least three optical markers comprise optical marker structures that are detectable by an associated medical navigation system using a navigation modality of operation of the associated medical navigation system comprising one or more of: an infrared tracking of the optical marker structures by the associated medical navigation system; and/or an electromagnetic tracking of the optical marker structures by the associated medical navigation system; and the at least three registration frame image markers and the tracking frame image marker comprise image marker structures that are imageable by application of one or more of: tomographic imaging; computed x-ray tomography; magnetic resonance tomography; and/or sonography. ### Claim 6 (depends on 1) The system according to claim 1, wherein: the at least three optical markers comprise optical marker structures that are detectable by an associated medical navigation system using a navigation modality of operation of the associated medical navigation system comprising one or more of: an infrared tracking of the optical marker structures by the associated medical navigation system; and/or an electromagnetic tracking of the optical marker structures by the associated medical navigation system; and the at least three registration frame image markers and the tracking frame image marker comprise image marker structures that are imageable by application of a two-dimensional imaging modality. ### Claim 7 (depends on 6) The system according to claim 6, wherein: the at least three registration frame image markers and the tracking frame image marker comprise image marker structures that are imageable by the associated medical navigation system using fluoroscopy. ### Claim 8 (depends on 1) The system according to claim 1, wherein: the at least three registration frame image markers and the tracking frame image marker comprise radio-opaque structures or nuclear-magnetically resonant structures. ### Claim 9 (depends on 1) The system according to claim 1, wherein: the at least three optical markers comprise optical marker structures that are detectable by an associated medical navigation system using a first electromagnetic wavelength band; and the at least three registration frame image markers and the tracking frame image marker comprise image marker structures that are imageable by application of a second electromagnetic wavelength band different than the first electromagnetic wavelength band. ### Claim 10 (depends on 1) The system according to claim 1, wherein: the at least three optical markers are detectable by an associated medical navigation system using a navigation modality of operation of the associated medical navigation system; the at least three registration frame image markers are imageable by application of an imaging modality of operation of an associated medical imaging system; and the tracking frame image marker is imageable by application of the imaging modality of operation of the associated medical imaging system. ### Claim 11 (depends on 1) The system according to claim 1, wherein: the through hole on the end of the base part defines a toothed circumference comprising teeth; and the selected one of the plurality of attachment parts of the registration frame comprises a corresponding toothed circumference comprising teeth configured to interlock with the teeth of the toothed circumference defined by the through hole on the end of the base part when the tracking frame is attached with the registration frame. ### Claim 12 (depends on 1) The system according to claim 1, wherein: the tracking frame connector of the tracking frame comprises: a housing protruding from a side of the tracking frame; and the registration frame comprises: a central base part; a plurality of side arms extending from the central base part; and a plurality of fixing parts comprising recesses defined in the plurality of side arms, wherein the recesses are configured to receive the housing protruding from a side of the tracking frame when the tracking frame is attached with the registration frame. ### Claim 13 (depends on 12) The system according to claim 12, wherein: the image marker of the tracking frame is disposed in the housing protruding from a side of the tracking frame, whereby the image marker is disposed in the first recess of the plurality of fixing parts adjacent to the selected one of the plurality of attachment parts of the registration frame when the tracking frame is attached with the registration frame. ### Claim 14 (depends on 13) The system according to claim 13, wherein: the base part of the tracking frame connector is articulated; the housing protruding from a side of the tracking frame is circular; and the recesses of the plurality of fixing parts are circular and configured to receive the circular housing protruding from a side of the tracking frame. ### Claim 15 (depends on 13) The system according to claim 13, wherein: the through hole on the end of the base part defines a toothed circumference comprising teeth; and the selected one of the plurality of attachment parts of the registration frame comprises a corresponding toothed circumference comprising teeth configured to interlock with the teeth of the toothed circumference defined by the through hole on the end of the base part. ### Claim 16 (depends on 12) The system according to claim 12, wherein: the plurality of attachment parts of the registration frame are disposed on the a plurality of side arms extending from the central base part. ### Claim 17 A system for conducting medical navigation, the system comprising: a registration frame; and a tracking frame comprising a tracking marker array comprising: at least three optical markers; a tracking frame connector for connecting the tracking frame with the registration frame; and a tracking frame image marker provided in or on the tracking frame connector, wherein the registration frame comprises: a patient support unit attachment portion for attaching the registration frame with a patient support unit; at least three registration frame image markers arranged in or on the registration frame; a plurality of attachment parts for attaching the tracking frame with the registration frame, a central base part; a plurality of side arms extending from the central base part; and a plurality of fixing parts comprising recesses defined in the plurality of side arms, wherein the recesses are configured to receive a housing protruding from a side of the tracking frame when the tracking frame is attached with the registration frame, wherein the tracking marker array and the tracking frame connector comprise separate interlockable pieces. ### Claim 18 (depends on 17) The system according to claim 17, wherein: the plurality of fixing parts comprise a toothed circumference comprising teeth configured to interlock with the teeth of a toothed circumference defined by the tracking frame connector when the tracking frame is attached with the registration frame.