Universal tracking marker interface component

Abstract

The invention relates to a tracking marker interface part (2) comprising at least one first positioning portion (3B), at least one second positioning portion (4B) and at least one fixing portion (5B), where-the fixing portion (5B) is adapted to hold the interface part (2) and to establish a positive fit and / or a frictional fit along a first spatial axis (Z); -the first positioning portion (3B) has a profile extending along a third spatial axis (Y) perpendicular to the first spatial axis (Z); -the second positioning portion (4B) has a profile extending along a second spatial axis (X) perpendicular to the first spatial axis (Z) and to the third spatial axis (Y).

Description

Technical Field

[0001] The present invention relates to a tracking marker interface assembly for attaching tracking markers to medical instruments and devices in a statically deterministic manner for tracking and navigation purposes. In particular, the tracking marker interface assembly can be used to attach various types of tracking markers to instruments and devices to cover a wide variety of medical and surgical applications and enable the use of various tracking technologies. Background Art

[0002] In computer-assisted medical procedures and surgical interventions, practitioners and surgeons use instruments and devices that are specifically adapted to be tracked by medical navigation systems. Thus, the relative positioning of these instruments can be determined based on the patient's anatomy, wherein the spatial positioning (spatial position and / or spatial orientation) of the instruments relative to an image representation of the patient's anatomy is displayed to the practitioner or surgeon via a display. Typically, trackable instruments and devices include a specific type of tracking marker that is spatially identified by the corresponding medical tracking system. Changes in tracking technology and even changes in instrument use cases that require different tracking technologies therefore require the development and approval of entirely new instruments and devices.

[0003] It is an object of the present invention to provide a universal tracking marker interface that allows instruments and devices to be spatially tracked by a variety of different tracking technologies.

[0004] The present invention may be used in connection with the use of products such as Brainlab AG and and other medical tracking and navigation systems for any medical and surgical procedures.

[0005] The following discloses various aspects, examples and exemplary steps of the present invention and its embodiments.Different exemplary features of the present invention can be combined according to the present invention when it is technically convenient and feasible. Summary of the Invention

[0006] Brief description of invention examples

[0007] The following is a brief description of specific features of the invention. This brief description should not be construed as limiting the invention to only the features or combinations of features described in this section.

[0008] The present invention provides a tracking mark interface component that can be connected to a correspondingly shaped counterpart interface component in a releasable and / or statically determined manner. In particular, the interface component can be connected to such a correspondingly shaped counterpart interface component in a reproducible manner, meaning that the corresponding first and second interface components, once connected to each other, will always be in the same relative positioning with respect to each other.

[0009] Summary of the Invention

[0010] In this section, a description of the general characteristics of the present invention is given, for example, by referring to possible embodiments of the invention.

[0011] Generally, the present invention achieves the above objects by providing, in a first aspect, a tracking mark interface component comprising at least one first locating portion, at least one second locating portion and at least one fixing portion. In this context, statically determined means that the respective interface components are connected to each other in a manner that does not "force" the interface components into place, which may result in elastic deformation of one or both interface components. In particular, the interface component is adapted to be connected to a corresponding interface component of corresponding shape, with (exactly) all six degrees of freedom (three rotational degrees of freedom and three translational degrees of freedom in three-dimensional space) being determined. For example, assuming that the interface components experience different thermal expansion, which may be caused by one of the interface components expanding faster and / or by a larger amount when exposed to an increase in temperature, none of the interface components will experience constraining stresses due to the manner in which the interface components are connected to each other. This will be described in more detail below.

[0012] According to the present invention, the interface component is adapted to contact and separate from the corresponding interface component substantially along a first spatial axis. The fixing portion is further adapted to prevent the interface component from separating from the corresponding interface component. In other words, the interface component can be brought into contact with the corresponding interface component by a translational movement substantially along the first spatial axis, without requiring additional rotational or translational movement to bring the interface components into contact with each other. This also applies to disconnecting and separating the interface components from each other.

[0013] When the first positioning portion has a profile extending along a third spatial axis perpendicular to the first spatial axis, the second positioning portion has a profile extending along a second spatial axis perpendicular to the first spatial axis and the third spatial axis.

[0014] In addition, the corresponding first positioning portion can be adapted to prevent translational relative motion of the interface components when contacting the corresponding interface components along a second spatial axis perpendicular to the first spatial axis, and to allow translational relative motion along a third spatial axis perpendicular to the first and second spatial axes, wherein the corresponding second positioning portion can be adapted to prevent translational relative motion of the interface components when contacting the corresponding interface components along the third spatial axis, and to allow translational relative motion along the second spatial axis. Obviously, the first positioning portion and the second positioning portion respectively ensure that the interface components are connected to each other in the above-mentioned statically determined manner. In this regard, each of the first positioning portion and the second positioning portion prevents translational relative motion between the interface components when the interface components are connected to each other, wherein the directions of these translational motions extend perpendicular to each other and perpendicular to the direction in which the fixing portion prevents translational relative motion between the interface components. Since each of the first positioning portion, the second positioning portion and the fixing portion prevents translational motion along one of the three spatial directions, any translational motion of the interface components is prevented once the interface components are connected to the correspondingly shaped corresponding interface components. In this regard, it should be noted that the fixing portion, the first positioning portion and the second positioning portion only prevent translational movement in one spatial direction to prevent constraining stresses and allow a statically defined connection between the interface components. It should be understood that any rotational movement between the interface components can also be prevented by spacing the fixing portion, the first positioning portion and the second positioning portion from each other. Nonetheless, any one of the fixing portion, the first positioning portion and the second positioning portion can be adapted or formed so as to prevent rotational movement of the interface component relative to a correspondingly shaped counterpart interface component.

[0015] For example, at least one of the first locating portion and the second locating portion is shaped as a protrusion that protrudes from the interface component substantially along the first spatial axis. In addition, at least one of the first locating portion and the second locating portion can also be shaped as a recess that extends substantially along the first spatial axis. In other words, any one of the first locating portion and the second locating portion can be shaped as a convex connector or a concave connector. In this regard, the locating portion can include a shaped surface that generally allows planar contact with the corresponding shaped corresponding locating portion. However, it is also conceivable that the locating portion is shaped as one or more "linear contacts" that generally allow planar contact with the corresponding shaped corresponding locating portion. This means that the locating portion can generally be shaped as a physical contact for one or more lines across the locating portion surface. For example, these one or more contact lines can extend in the spatial direction in which the translational motion of the interface component is allowed at each locating portion.

[0016] In a more specific example, the above-mentioned protrusion comprises at least one convex, in particular cylindrically shaped surface portion, and / or the recess comprises at least one concave or prismatically shaped surface portion. In the case where the positioning portion is represented by a convex protrusion or a concave recess having the same curvature as the corresponding shaped corresponding positioning portion, it can be easily imagined that the corresponding positioning portions can basically contact each other across the plane surface area. The difference in the curvature of the recess and the curvature of the protrusion may cause the corresponding positioning portions to contact each other along one or more lines. The same situation occurs if one of the recess and the protrusion comprises a curved surface, such as a cylindrical surface, and the other of the recess and the protrusion comprises a prismatically shaped surface, i.e. comprises a plurality of flat surface portions adjacent to each other at a certain angle.

[0017] Typically, each of the first and second positioning portions may comprise a track-shaped protrusion and / or a correspondingly shaped recess extending in a spatial direction in which the respective positioning portion allows a translational movement of the interface component.

[0018] For example, the first positioning portion of the interface component comprises, in particular consists of, two protruding surface portions, which extend coaxially and substantially along the second spatial axis, in particular the two protruding surface portions extend from the interface component in substantially opposite directions. In another example, any of the track-shaped protrusions and groove-shaped recesses can be interrupted by any conceivable intermediate structure, thereby producing a respectively shaped end portion that nevertheless has the same function as an uninterrupted track or groove.

[0019] In another example, the second positioning portion of one of the first interface component and the second interface component includes, in particular, a protruding surface portion, which extends substantially perpendicular to the surface portion of the first positioning portion, in particular, extends along a plane perpendicular to the first spatial axis and defined by the surface portion of the first positioning portion. From this specific example, it is apparent that the first positioning portion and the second positioning portion are formed by a pair of track grooves extending perpendicular to each other. Therefore, the translational motion between the interface components allowed in the positioning portion is prevented by the corresponding other positioning portion, and vice versa, thereby allowing a statically determined connection between the interface components. In this regard, it should be further noted that the first positioning portion and the second positioning portion are not necessarily extended along the same plane or in the same plane, but can also extend along parallel planes or in parallel planes, both of which can be perpendicular to the first spatial axis. In addition, the first positioning portion and the second positioning portion can even extend on non-parallel planes that are not completely perpendicular to the first spatial axis, for example to some extent and / or due to manufacturing tolerances.

[0020] In addition, the fixing portion of the interface component is configured to establish a friction fit and / or a form fit. In this regard, any suitable friction fit or form fit connection is conceivable for releasably coupling the interface component to the corresponding interface component. For example, the interface component may include a threaded through-hole or a borehole for receiving a threaded bolt, or vice versa, both of which may extend along the first spatial axis. Additionally or alternatively, the interface component may include a connector portion having an undercut extending perpendicular to the first spatial direction, particularly an elastically deformable snap-in connector. As will be further described below, the interface component may include more than one fixing portion, such as a threaded connection and a snap-in connection. This allows connecting different types of interface components, such as connecting an interface component made of metal to an interface component made of plastic. Although it may be beneficial for an interface component pairing of two interface components both made of metal to have corresponding threaded fixing portions, for manufacturing reasons, an interface component pairing of two interface components both made of plastic may benefit from a snap-in fixing portion. If two or even more types of fixing portions are provided by each interface component, any conceivable interface component pairing is conceivable, even if the interface components are of different types.

[0021] In another more specific example, the fixed portion of one of the first interface component and the second interface component includes

[0022] - an internal thread adapted to engage with a screw assigned to the other of the first and second interface parts; and / or

[0023] - an elastically deformable snap-in connector adapted to engage with the other of the first and second interface parts, in particular extending behind an edge thereof; and / or

[0024] - a permanent magnet or an electromagnet adapted to attract a corresponding permanent magnet, electromagnet or ferromagnetic element of the other of the first and second interface parts.

[0025] Furthermore, the interface component can be connected to, and in particular can be integrally formed with, a tracking marker adapted to be recognized and spatially tracked by a medical tracking system. The interface component can also be connected to, and in particular can be integrally formed with, a medical instrument or device.

[0026] In another example, at least one of the first and second positioning portions comprises a profile that is at least segmentally constant along the third and second spatial axes, respectively. In other words, one or more portions of the positioning portion may have substantially the same profile or shape or surface along the axis along which it extends.

[0027] In another example, at least one of the first and second positioning portions includes at least two portions having the same profile along the third and second spatial axes, respectively. In other words, any positioning portion may have at least two portions having substantially the same profile, shape, or surface along the axis along which it extends, while other portions may have a different profile, shape, or surface.

[0028] Furthermore, the fixing portion may be arranged / positioned between the first positioning portion and the second positioning portion. This may help to distribute the applied holding force more evenly to the positioning portions.

[0029] In another example, the interface component can be made of plastic and / or can be configured to dispense pre-sterilized disposable items. In particular, the interface component can be injection molded and specifically configured to

[0030] - as a structure without undercut;

[0031] -To be molded in a slider-less injection mold;

[0032] - to be moulded in an injection mould with a single direction of demoulding; and / or

[0033] - Demolding should be performed without elastic deformation.

[0034] In this regard, and in order to avoid reusing the interface component that compromises sterility in a surgical environment, the interface component is constructed as a disposable item and, in particular, includes a predetermined breaking portion at the fixing portion that, when separated into parts, disables the functionality of the interface component, in particular the fixing portion. In other words, the measures described below are intended to prevent the reuse of the interface component. This can be achieved by making certain parts of the interface component lose their functionality once the interface component is removed from its corresponding interface component and / or when the engagement of the fixing portion is released by any means.

[0035] Furthermore, the predetermined breaking portion may be adapted to be divided into parts by

[0036] - a force and / or moment exceeding a predefined amount and acting on the fixed part along the first spatial axis;

[0037] - a force and / or moment that exceeds a predefined amount and acts on the fixing part in a direction opposite to the direction of engagement in which the fixing part is configured to move to establish a positive fit and / or a friction fit.

[0038] The breaking portion may be connected between the interface part (particularly the fixing part) and an element configured to be separated from the interface part (particularly the fixing part), wherein the detachable element is particularly suitable for being torn off or unscrewed from the interface part (particularly the fixing part).

[0039] In particular, the detachable element may be configured to prevent movement of the fixing portion in a direction opposite to the direction of engagement in which the fixing portion is configured to move to establish a positive fit and / or a friction fit.

[0040] Furthermore, the interface component may be made of metal and / or may be configured as a reusable and sterilizable item.In particular, the interface component may be machined, in particular involving a milling process.

[0041] Another aspect of the present invention relates to the use of a tracking mark interface according to any embodiment described herein for connecting a medical tracking mark to a medical instrument or medical device, in particular in a statically determined manner, in particular by bringing a tracking mark interface component into contact with a correspondingly shaped counterpart interface component.

[0042] definition

[0043] In this section, definitions of specific terms used in the present invention are provided, which also constitute a part of this disclosure.

[0044] mark

[0045] The function of a marker (tracking marker) is to be detected by a marker detection device (i.e. a tracking system, for example a camera or an ultrasound receiver or an analysis device such as a CT or MRI device) in such a way that its spatial positioning (i.e. its spatial position and / or alignment) can be determined. The detection device is, for example, part of a navigation system. The marker can be an active marker. An active marker can, for example, emit electromagnetic radiation and / or waves that can be in the infrared, visible and / or ultraviolet spectral range. However, the marker can also be passive, for example, can reflect electromagnetic radiation in the infrared, visible and / or ultraviolet spectral range, or can block X-ray radiation. To this end, the marker can be provided with a surface having corresponding reflective properties or can be made of metal to block X-ray radiation. The marker can also reflect and / or emit electromagnetic radiation and / or waves in the radiofrequency range or in ultrasonic wavelengths. The marker preferably has a spherical and / or ellipsoidal shape and can therefore be referred to as a marker sphere; however, the marker can also exhibit an angular shape, for example a cubic shape.

[0046] Marker array

[0047] The marker array can be, for example, a reference star or pointer or a single marker or a plurality of (individual) markers, which are then preferably in a predetermined spatial relationship. The marker array comprises one, two, three or more markers, wherein two or more of these markers are in a predetermined spatial relationship. For example, this predetermined spatial relationship is known to the navigation system and is stored, for example, in a computer of the navigation system.

[0048] In another embodiment, the marker array comprises an optical pattern, for example, on a two-dimensional surface. The optical pattern can include multiple geometric shapes, such as circles, rectangles, and / or triangles. The optical pattern can be identified in an image captured by a camera, and the positioning of the marker array relative to the camera can be determined by the size of the pattern in the image, the orientation of the pattern in the image, and the distortion of the pattern in the image. This allows relative positioning to be determined in up to three rotational dimensions and up to three translational dimensions from a single two-dimensional image.

[0049] The position of the marker array can be determined, for example, by a medical navigation system. If the marker array is attached to an object, such as a bone or a medical device, the position of the object can be determined from the position of the marker array and the relative position between the marker array and the object. Determining this relative position is also referred to as registering the marker array and the object. The marker array or object can be tracked, meaning the position of the marker array or object is determined two or more times over time.

[0050] Marker Interface

[0051] A marker interface is understood to mean an interface for a single marker, which is used to attach the marker to an instrument, a part of a body, and / or a holding element of a reference star, wherein the marker can be attached so that it is stationary and can be advantageously detached. A fixed portion of the marker interface, such as a locking mechanism, can be provided at the marker interface and assist in placing the marker array on the instrument, etc., in a press-fit and / or positive-fit manner.

[0052] pointer

[0053] The pointer is a rod that may include one or more (advantageously a single) marker fixed thereto and that can be used to measure and mark individual coordinates on a body part, such as spatial coordinates (i.e., three-dimensional coordinates), wherein a user guides the pointer (e.g., a portion of the pointer that has a well-defined and advantageously fixed position relative to at least one marker attached to the pointer) to a position corresponding to the coordinate, so that the position of the pointer can be determined by detecting the marker on the pointer using the surgical navigation system. For example, the relative position between the marker of the pointer and the portion of the pointer used to measure and mark the coordinates (e.g., the tip of the pointer) is known. The surgical navigation system then enables the position (of the three-dimensional coordinate) to be assigned to a predetermined body structure, wherein the assignment can be performed automatically or through user intervention.

[0054] Reference star

[0055] A "reference star" refers to a device having a plurality of markers (advantageously three markers) attached thereto, wherein the markers are (e.g., detachably) attached to the reference star such that they are stationary, thereby providing a known (and advantageously fixed) position of the markers relative to one another. The positioning of the markers relative to one another can be individually different for each reference star used within the framework of a surgical navigation method, so that a surgical navigation system can identify the corresponding reference star based on the positioning of its markers relative to one another. Thus, the object to which the reference star is attached (e.g., an instrument and / or a body part) can also be identified and / or distinguished accordingly. In a surgical navigation method, a reference star is used to attach a plurality of markers to an object (e.g., a bone or a medical instrument) so that the positioning of the object (i.e., its spatial position and / or alignment) can be detected. For example, such a reference star has a means of attaching to an object (e.g., a fixture and / or a thread) and / or an interface / retaining element that ensures a distance between the marker and the object (e.g., to facilitate visibility of the marker to a marker detection device) and / or a marker interface that is mechanically connected to the interface / retaining element and to which the marker can be attached.

[0056] Navigation system

[0057] The present invention also relates to a navigation system for computer-assisted surgery. The navigation system preferably includes a computer for processing data provided according to the computer-implemented method. The navigation system preferably includes a tracking system, i.e., a detection device, for detecting the positions of detection points representing primary and auxiliary points, generating detection signals, and providing the generated detection signals to a computer, so that the computer can determine absolute primary and auxiliary point data based on the received detection signals. The detection points are, for example, points on the surface of an anatomical structure detected by a pointer. In this way, the absolute point data can be provided to the computer. The navigation system also preferably includes a user interface for receiving calculation results from the computer (e.g., the position of the primary plane, the positions of the auxiliary planes, and / or the positions of the standard planes). The user interface provides the received data as information to the user. Examples of user interfaces include display devices such as a monitor or speakers. The user interface can use any type of indication signal (e.g., visual signals, audio signals, and / or vibration signals). An example of a display device is an augmented reality device (also known as augmented reality glasses), which can be used as so-called "goggles" for navigation. A specific example of such augmented reality glasses is Google Glass (a trademark of Google, Inc.). Augmented reality devices can be used to input information into the navigation system's computer through user interaction, and can also be used to display information output by the computer.

[0058] Surgical navigation system

[0059] A navigation system, such as a surgical navigation system, is understood to mean a system that can include: at least one marker array; a transmitter that emits electromagnetic waves and / or radiation and / or ultrasound waves; a receiver that receives electromagnetic waves and / or radiation and / or ultrasound waves; and an electronic data processing device connected to the receiver and / or transmitter, wherein the data processing device (e.g., a computer) includes, for example, a processor (CPU) and a working memory, and advantageously includes an indication device for emitting indication signals (e.g., a visual indication device such as a monitor, and / or an audio indication device such as a loudspeaker, and / or a tactile indication device such as a vibrator) and a permanent data memory, wherein the data processing device processes the navigation data forwarded to it by the receiver and advantageously outputs guidance information to the user via the indication device. The navigation data can be stored in the permanent data memory and, for example, compared with data previously stored in the memory.

[0060] Fixed (relative) positioning

[0061] In this article, fixed positioning (also referred to as fixed relative positioning) refers to two objects in a fixed positioning having a relative positioning that will not change unless a change is explicitly and intentionally initiated. Fixed positioning is specifically given if a force or torque above a predetermined threshold must be applied to change the position. This threshold may be 10N or 10Nm. In particular, when the target is visible or the two targets move relative to each other, the positioning of the sensor device remains fixed relative to the target. Fixed positioning can be achieved, for example, by attaching one object to another object. Spatial position (part of positioning) can be described in particular only by the distance (between the two objects) or only by the direction of the vector (which connects the two objects). Alignment (the other part of positioning) can be described in particular only by the relative orientation angle (between the two objects). BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The present invention is described below with reference to the accompanying drawings, which illustrate the background of the invention and show specific embodiments of the invention. It should be noted that, for illustrative and explanatory purposes, reference is made to two interrelated interface components forming a tracking mark interface. However, the present invention also relates to one of these interface components that can be connected to a tracking mark or to an instrument or device. However, the scope of the present invention is not limited to the specific features disclosed in the context of the accompanying drawings, which:

[0063] Figure 1 Surgical instruments are shown, along with different types of tracking markers, all with correspondingly formed interface components.

[0064] Figure 2 A first embodiment of a correspondingly formed interface component is shown;

[0065] Figure 3A second embodiment of a correspondingly formed interface component is shown;

[0066] Figure 4 shows the injection molded interface components,

[0067] Figure 5 Shown with Figure 4 Interface components corresponding to the interface components shown;

[0068] Figure 6 shows a 3D view of an interface component including an electrical connector for energy or data transmission;

[0069] Figure 7 Shown Figure 1 a device and a tracking marker coupled to the device via a correspondingly shaped tracking marker interface component;

[0070] Figure 8 Other instruments and devices having interface components are shown, and

[0071] Figure 9A / 9B shows other tracking marks with interface components. DETAILED DESCRIPTION

[0072] Figure 1 A pointer instrument 9 is shown, which is commonly used in surgical procedures to palpate objects and anatomical structures to determine their spatial location. Although the pointer 9 includes a first interface part 1 integrally formed with the pointer body, different types of tracking markers 8 provide a correspondingly formed second interface part 2 adapted to be releasably connected to the first interface part 1.

[0073] Figure 2A more detailed view of a first interface component 1 and a second interface component 2 adapted to be releasably and rigidly interlocked in a statically determined manner is provided. In the example shown, both the first interface component 1 and the second interface component 2 can be made of a metal material and can therefore represent milled components. The first interface component 1 includes two first locating portions 3A protruding in opposite directions from the central structure of the interface component 1, both first locating portions 3A having a cylindrical contact surface. In addition, a second locating portion 4A also having a cylindrical contact surface is provided at a more distal location of the interface component 1. The correspondingly shaped second interface component 2 includes two first locating portions 3B and a second locating portion 4B, both of which are formed as cylindrically shaped recesses for receiving the locating portions 3A and 3B of the first interface component 1. Once the first interface component 1 and the second interface component 2 are engaged with each other, the corresponding locating portions 3A, 3B, 4A, 4B contact each other, and the second interface component 2 can be fastened to the first interface component 1 by a threaded bolt 5B screwed into the threaded hole 5A of the first interface component 1.

[0074] from Figure 2 As can be clearly seen in the figure, within the plane spanned by the X-direction and the Y-direction, the pairing of the first positioning parts 3A and 3B and the pairing of the second positioning parts 4A and 4B allow a translational movement between the interface parts 1 and 2, which is blocked by the corresponding other pairing. In addition, the relative movement along the Z direction is blocked by the fixing part, that is, by the threaded bolt 5B engaged with the threaded hole 5A. Since the positioning parts 3A, 3B, 4A and 4B are spaced from each other, the rotational relative movement between the interface part 1 and the interface part 2 is also blocked. Therefore, all six degrees of freedom between the first interface part 1 and the second interface part 2 are set in a statically determined manner. In order to remove the tracking marker 8 from the instrument 9, the bolt 5B is unscrewed from the through-hole 5A so that the second interface part 2 can be released from the first interface part 1.

[0075] Figure 3 The embodiment shown has Figure 2 The same function as the embodiment shown. However, the fixing portion 5B is formed by a tongue formed at the second interface part 2 (see Figure 5 ) shows that each tongue comprises a hook-shaped protrusion adapted to snap into a corresponding recess 5A formed at the first interface component 1. Figure 1 、 Figure 2 and Figure 3 The first interface component 1 can be formed of a metal material by a milling process, but Figure 3The second interface part 2 is an injection molded product made of plastic material. Therefore, when the second interface part 2 is pressed against the first interface part 1, the tongue 5B can be elastically deformed and thus deflected until the hook-shaped protrusion of the tongue 5B is snapped into the recess 5A, thereby firmly holding the interface parts 1 and 2 together.

[0076] Figure 4 The first interface part 1 shown has Figure 2 and Figure 3 The first interface component 1 shown has the same function. However, it is an injection-molded product made of plastic material.

[0077] Figure 5 Shown Figure 3 Four side views of the injection-molded second interface component 2.

[0078] Figure 6 Another embodiment of the second interface part 2 is shown, which also includes signal and / or power supply portions 7A, 7B that provide a plurality of electrical contacts for transmitting power and / or signals to and / or from an electromagnetic (EM) sensor 8 used with the EM tracking system. Figure 6 In the illustrated embodiment, the fixing portions 5A and 5B are not shown for clarity of illustration.

[0079] Figure 7 Shown Figure 1 The pointer device and the planar (2D) tracking marker 8 are interconnected through a tracking marker interface component.

[0080] The tracking marker interface of the present invention can be used with any conceivable instrument or device whose spatial location needs to be determined during a medical or surgical procedure, such as Figure 8 It should be noted that Figure 8 Each of the instruments and devices 9 shown has a first interface component 1 that provides positioning portions 3A and 4A having the same geometry and relative positioning. Additionally, each of the interface components also includes one or more fixing portions 5A and 5B as described herein. This allows a specific type of tracking marker 8 to be attached to any instrument or device having a first interface component 1. On the other hand, for example, Figure 1 and Figure 9A and Figure 9B Each of the various tracking marks 8 shown in FIG has a second interface member 2 that provides at least one of the same first and second positioning portions 3B, 4B, and securing portions 5B as described herein. Figure 1 or Figure 9A and Figure 9B Any of the tracking markers shown may be releasably attached to Figure 1 and Figure 8 Any device shown.

Claims

1. A tracking mark interface component (2), comprising at least one first positioning portion (3B), at least one second positioning portion (4B) and at least one fixing portion (5B), wherein - the fixing portion (5B) is suitable for retaining the interface component (2) and establishing a positive fit and / or a friction fit along a first spatial axis (Z); - the first positioning portion (3B) has a profile extending along a third spatial axis (Y) perpendicular to the first spatial axis (Z); - the second positioning portion (4B) has a profile extending along a second spatial axis (X) perpendicular to the first spatial axis (Z) and the third spatial axis (Y).

2. The tracking mark interface component according to claim 1, wherein the first positioning portion (3B) and / or the second positioning portion (4B) are shaped as protrusions protruding from the interface component (1, 2), in particular along the first spatial axis (Z).

3. The tracking mark interface component according to claim 1, wherein the first positioning portion (3B) and / or the second positioning portion (4B) are shaped as a recessed portion of the interface component (2), in particular along a first spatial axis (Z).

4. The tracking mark interface component according to one of claims 2 and 3, wherein the protrusion comprises at least one convex, in particular cylindrically shaped, surface portion, and / or wherein the recess comprises at least one concave or prismatically shaped surface portion.

5. The tracking mark interface component according to one of claims 1 to 4, wherein the fixing portion (5B) comprises - external or internal threads; and / or - a connector part having an undercut extending perpendicularly to said first spatial direction (Z); and / or -Permanent magnets or electromagnets.

6. The tracking mark interface component according to any one of claims 1 to 5, wherein the interface component (2) is connected to or integrally formed with - a tracking marker (8), suitable for recognition and spatial tracking by a medical tracking system, or - Medical device (9) or apparatus.

7. The tracking mark interface component according to any one of claims 1 to 6, wherein at least one of the first positioning portion (3B) and the second positioning portion (4B) comprises a profile that is at least segmentally constant along the third spatial axis (Y) and the second spatial axis (X), respectively.

8. The tracking mark interface component according to any one of claims 1 to 7, wherein at least one of the first positioning portion (3B) and the second positioning portion (4B) comprises at least two portions having the same profile along the third spatial axis (Y) and the second spatial axis (X), respectively.

9. The tracking mark interface component according to any one of claims 1 to 8, wherein the fixing portion (5B) is provided between the first positioning portion (3B) and the second positioning portion (4B).

10. The tracking mark interface component according to any one of claims 1 to 9, wherein the interface component (2) is configured as a disposable article and comprises, in particular at the fixing portion (5B), a predetermined breaking portion which, when separated into parts, disables the function of the interface component (2), in particular the fixing portion (5B).

11. The tracking mark interface component of claim 10, wherein the predetermined breaking portion is adapted to be divided into parts by: - a force and / or moment exceeding a predefined amount and acting on said fixed part (5B) along said first spatial axis (Z); - a force and / or moment exceeding a predefined amount and acting on the fixing part (5B) in a direction opposite to the direction of engagement in which the fixing part (5B) is configured to move to establish the positive fit and / or the friction fit.

12. The tracking mark interface component according to any one of claims 10 and 11, wherein the breaking portion is connected between the interface component (2), in particular the fixing portion (5B), and an element configured to be separated from the interface component (2), in particular the fixing portion (5B), wherein the detachable element is in particular adapted to be torn off or unscrewed from the interface component, in particular from the fixing portion (5B).

13. The tracking mark interface component of claim 12, wherein the detachable element is configured to prevent the fixed portion (5B) from moving in a direction opposite to the engagement direction in which the fixed portion (5B) is configured to move to establish the positive fit and / or the friction fit.

14. The tracking mark interface component of any one of claims 1 to 13, being injection molded and specifically configured to - as a structure without undercut; -To be molded in a slider-less injection mold; - To be molded in an injection mold with a single demoulding direction; and / or - Demolding should be performed without elastic deformation.

15. Use of a tracking mark interface according to any one of claims 1 to 14, in particular for connecting a medical tracking mark to a medical instrument or medical device in a statically defined manner, in particular by contacting the tracking mark interface part (2) with a correspondingly shaped counterpart interface part (1).

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