Image marker-based navigation using a tracking frame
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.
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.
2. 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.
3. 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.
4. 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.
5. 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.
6. 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.
7. 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.
8. 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.
9. 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.
10. 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.
11. 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.
12. 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.
13. 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.
14. 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.
15. 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.
16. 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.
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.
18. 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.