Trackable retractor systems, apparatuses, devices, and methods

A method of providing a trackable retractor apparatus, the apparatus configured to support a surgical navigation system during a surgical navigation medical procedure, the method comprising:

• providing a pair of retractor blades, providing the pair of retractor blades comprising providing each retractor blade of the pair of retractor blades having a proximal end and a distal end, and providing the pair of retractor blades comprising providing the pair of retractor blades having a blade axis defined by a midline therebetween;
• providing a pair of actuation arms, each actuation arm of the pair of actuation arms having a proximal end and a distal end, each actuation arm distal end correspondingly coupled with each retractor blade proximal end, and each actuation arm configured to correspondingly actuate each retractor blade of the pair of retractor blades;
• providing a positioning arm configured to position each actuation arm of the pair of actuation arms;
• providing a movable clamp configured to movably couple with the positioning arm and one actuation arm of the pair of actuation arms and to move the one actuation arm of the pair of actuation arms relative to the other actuation arm of the pair of actuation arms;
• and
• providing at least three distinct tracking features disposed in a tracking plane, providing the at least three distinct tracking features comprising configuring at least two distinct tracking features to correspondingly couple with the retractor blade proximal ends, providing the at least three distinct tracking features comprising configuring at least one other distinct tracking features of the plurality of distinct tracking features to couple with the movable clamp, and providing the at least three distinct tracking features comprising providing each distinct tracking feature of the plurality of distinct tracking features as a distinct tracking token,
• whereby the blade axis is maintained in a position orthogonal to the tracking plane, and
• whereby optical alignment is maintained along the blade axis in relation to a desired focal depth;
• wherein the at least one other distinct tracking feature further comprises a passive tracking marker or an active tracking marker;
• wherein the passive tracking marker comprises at least one of a reflective sphere and a retroreflective sphere;
• and
• wherein the active tracking marker comprises a light-emitting diode.

A method of maintaining optical alignment by way of a trackable retractor apparatus, the apparatus configured to support a surgical navigation system during a surgical navigation medical procedure, the method comprising:

• providing the trackable retractor apparatus, providing the apparatus comprising:
• providing a pair of retractor blades, providing the pair of retractor blades comprising providing each retractor blade of the pair of retractor blades having a proximal end and a distal end, and providing the pair of retractor blades comprising providing the pair of retractor blades having a blade axis defined by a midline therebetween;
• providing a pair of actuation arms, each actuation arm of the pair of actuation arms having a proximal end and a distal end, each actuation arm distal end correspondingly coupled with each retractor blade proximal end, and each actuation arm configured to correspondingly actuate each retractor blade of the pair of retractor blades;
• providing a positioning arm configured to position each actuation arm of the pair of actuation arms;
• providing a movable clamp configured to movably couple with the positioning arm and one actuation arm of the pair of actuation arms and to move the one actuation arm of the pair of actuation arms relative to the other actuation arm of the pair of actuation arms;
• and
• providing at least three distinct tracking features disposed in a tracking plane, providing the at least three distinct tracking features comprising configuring at least two distinct tracking features to correspondingly couple with the retractor blade proximal ends, providing the at least three distinct tracking features comprising configuring at least one other distinct tracking features of the plurality of distinct tracking features to couple with the movable clamp, and providing the at least three distinct tracking features comprising providing each distinct tracking feature of the plurality of distinct tracking features as a distinct tracking token,
• whereby the blade axis is maintained in a position orthogonal to the tracking plane, and
• whereby optical alignment is maintained along the blade axis in relation to a desired focal depth;
• and
• operating the trackable retractor apparatus;
• wherein the least one other distinct tracking feature further comprises a passive tracking marker or an active tracking marker;
• wherein the passive tracking marker comprises at least one of a reflective sphere and a retroreflective sphere;
• and
• wherein the active tracking marker comprises a light-emitting diode.