# US 6,402,762 B2 · System for translation of electromagnetic and optical localization systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 6,402,762 B2 - Document ID: US6402762B2 - Status: Granted - Kind: B2 - Application number: 09/803,977 - Filed: 2001-03-13 - Published: 2001-08-02 - Granted: 2002-06-11 - Earliest claimed: 1999-10-28 - Assignees: Surgical Navigation Technologies, Inc. - Inventors: Mark W. Hunter; Paul Kessman - Web page: https://patentgrep.com/patent/US6402762B2 ## CPC - A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 90/10: for stereotaxic surgery, e.g. frame-based stereotaxis - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2072: {Reference field transducer attached to an instrument or patient} - A61B 2090/0818: {Redundant systems, e.g. using two independent measuring systems and comparing the signals} - A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61B 2090/3995: {Multi-modality markers} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A system for utilizing and registering at least two surgical navigation systems during stereotactic surgery. The system comprises a first surgical navigation system defining a first patient space, a second surgical navigation system defining a second patient space, and a translation device to register the coordinates of the first patient space to the coordinates of the second patient space. The translation device comprises a rigid body, at least one component for a first navigation system placed in or on the rigid body, and at least one component for a second navigation system placed in or on the rigid body, in known relation to the at least one component for the first navigation system. The translation device is positioned in a working volume of each of the at least two navigation systems. ## Claims ### Claim 1 A system for utilizing and registering at least two surgical navigation systems during stereotactic surgery, the system comprising: a first surgical navigation system defining a first patient space; at least one additional surgical navigation system defining at least one additional patient space; and at least one translation device to develop a translation matrix for correlating a set of coordinates associated with the first patient space to at least one set of coordinates associated with the at least one additional patient space. ### Claim 2 (depends on 1) The system of claim 1, wherein one of the first surgical navigation system and the at least one additional surgical navigation system is a line-of-sight navigation system. ### Claim 3 (depends on 1) The system of claim 1, wherein the at least one translation device is a dynamic translation device that is mounted to the patient. ### Claim 4 (depends on 1) The system of claim 1, wherein the at least one translation device is a guide tube. ### Claim 5 (depends on 1) The system of claim 1, wherein the at least one translation device is configured to be provided on an operating table. ### Claim 6 (depends on 1) The system of claim 1, wherein the at least one translation device is incorporated into an operating table. ### Claim 7 (depends on 2) The system of claim 2, wherein the line-of-sight navigation system is an optical navigation system. ### Claim 8 (depends on 1) The system of claim 1, wherein one of the first surgical navigation system and the at least one additional surgical navigation system is a non-line-of-sight navigation system. ### Claim 9 (depends on 8) The system of claim 8, wherein the non-line-of-sight surgical navigation system is an electromagnetic navigation system. ### Claim 10 (depends on 1) The system of claim 1, wherein the at least one translation device includes at least one component associated with the first surgical navigation system and at least one component associated with the at least one additional surgical navigation system. ### Claim 11 (depends on 1) The system of claim 1, wherein the at least one translation device includes at least one component for developing the translation matrix for registering the first surgical navigation system and the at least one additional surgical navigation system. ### Claim 12 (depends on 10) The system of claim 10, wherein the translation matrix is predetermined. ### Claim 13 (depends on 10) The system of claim 10, wherein a relationship between the at least one component associated with the first surgical navigational system and the at least one component associated with the at least one additional surgical navigational system is determined by locating points on the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigational system. ### Claim 14 (depends on 10) The system of claim 10, wherein a relationship between the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigational system is determined by a method comprising: locating points on the at least one component associated with the first surgical navigation system or locating points on the at least one component associated with the at least one additional surgical navigational system; and utilizing predetermined points on the at least one component associated with the first surgical navigation system or utilizing predetermined points on the at least one component associated with the at least one additional surgical navigation system wherein at least some of the predetermined points differ from the located points. ### Claim 15 (depends on 10) The system of claim 10, wherein the first surgical navigation system and the at least one additional surgical navigation system are automatically registered based on the translation matrix. ### Claim 16 (depends on 10) The system of claim 10, wherein the first surgical navigation system and the at least one additional surgical navigation system are optical navigation systems, and the at least one component associated with the first surgical navigation system and the at least one component associated with the at least one additional surgical navigation system are optical elements. ### Claim 17 (depends on 10) The system of claim 10, wherein the first surgical navigation system and the at least one additional navigation system are electromagnetic navigation systems and the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigation system are electromagnetic elements. ### Claim 18 (depends on 17) The system of claim 17, wherein the at least one electromagnetic elements are sensors. ### Claim 19 A method for utilizing and registering surgical navigation systems, comprising: generating a preoperative image data set; tracking movement of a patient and a medical instrument in a patient space with a first surgical navigation system, and registering the preoperative image data set to the first surgical navigation system's patient space; and generating a translation matrix from the registration to register at least one additional surgical navigation system. ### Claim 20 (depends on 19) The method of claim 19, wherein the tracking includes tracking movement of the patient or the medical instrument in the patient space. ### Claim 21 (depends on 19) The method of claim 19, further comprising: registering the first surgical navigation system; introducing a translation device into the patient space of the first surgical navigation system; registering the at least one additional surgical navigation system using the introduced translation device; and removing the first surgical navigation system from the patient space after registration of the at least one additional surgical navigation system. ### Claim 22 (depends on 19) The method of claim 19, wherein the generating of the translation matrix includes determining a relationship between at least one component associated with the first surgical navigational system and at least one component associated with the at least one additional surgical navigational system. ### Claim 23 (depends on 19) The method of claim 19, wherein the generating of the translation matrix includes determining the translation matrix from at least one component associated with the first surgical navigation system or at least one component associated with the at least one additional surgical navigational system. ### Claim 24 (depends on 22) The method of claim 22, wherein the determining of a relationship between the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigational system includes locating points on the at least one component associated with the first surgical navigation system and locating points on the at least one component associated with the at least one additional surgical navigational system. ### Claim 25 (depends on 22) The method of claim 22, wherein the determining of a relationship between the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigational system comprises: locating points on the at least one component associated with the first surgical navigation system or the at least one component associated with the at least one additional surgical navigational system; and utilizing predetermined points on the at least one component associated with the first surgical navigation system or utilizing predetermined points on the at least one component associated with the at least one additional surgical navigation system where at least some of the predetermined points differ from the located points. ### Claim 26 (depends on 19) The method of claim 19, wherein the registering comprises registering the first surgical navigation system and the at least one additional surgical navigational systems based on the generated translation matrix. ### Claim 27 A system for utilizing and registering surgical navigation systems, comprising: means for generating a preoperative image data set; means for tracking movement of a patient and a medical instrument in the patient space, and registering the image data set to a first surgical navigation system's patient space; and means for generating a translation matrix from the registration to register at least one additional surgical navigation system. ### Claim 28 (depends on 27) The system of claim 27, further comprising means for tracking movement of the patient or the medical instrument in the patient space. ### Claim 29 (depends on 27) The system of claim 27, further comprising: means for registering the first surgical navigation system; means for introducing a translation device into the patient space of the first surgical navigation system; means for registering the at least one additional surgical navigation system using the introduced translation device; and means for removing the first surgical navigation system from the patient space after registration of the at least one additional surgical navigation system. ### Claim 30 (depends on 27) The system of claim 27, wherein the means for generating the translation matrix is provided with a relationship between at least one component associated with the first surgical navigational system and at least one component associated with the at least one additional surgical navigational system. ### Claim 31 (depends on 27) The system of claim 27, wherein the means for generating the translation matrix determines the translation matrix from at least one component associated with the first surgical navigation system or at least one component associated with the at least one additional surgical navigational system. ### Claim 32 (depends on 30) The system of claim 30, further comprising means for locating points on the at least one component associated with the first surgical navigation system and locating points on the at least one component associated with the at least one additional surgical navigational system. ### Claim 33 (depends on 30) The system of claim 30, wherein the generating means further comprises: means for locating points on the at least one component associated with the first surgical navigation system or the at least one component associated with the at least one additional surgical navigational system; and means for predetermining points on the at least one component associated with the first surgical navigation system or predetermining points on the at least one component associated with the at least one additional surgical navigation system wherein at least some of the predetermined points differ from the located points. ### Claim 34 (depends on 30) The system of claim 30, wherein the generating means registers the first surgical navigation system and the at least one additional surgical navigational system based on the generated translation matrix.