US Patent 11779401 Methods for surgical navigation

Methods for surgical navigation use a trajectory frame/guide assembly for use with surgical navigation systems that includes a base having a patient access aperture formed therein. A yoke is mounted to the base and is rotatable about a roll axis. A platform is mounted to the yoke and is rotatable about a pitch axis and interchangeably holds a single lumen or multi-lumen guide array and a device guide. A device guide can be rotated to align an access channel with a desired lumen path. No x-y actuators are required and a virtual guide array may also or alternatively be used to identify a desired open channel in the device guide for the preferred trajectory path.