Patent Publication Number: US-2013231683-A1

Title: Apparatus for supporting an adjustable surgical platform

Description:
CROSS-REFERENCE TO RELATED PATENT APPLICATIONS 
     This application is a divisional application of, and claims benefit of U.S. patent application Ser. No. 13/161,383, filed Jun. 15, 2011, entitled “APPARATUS FOR SUPPORTING AN ADJUSTABLE SURGICAL PLATFORM”, by Changquing C. Kao, J. Michael Fitzpatrick, Robert F. Labadie and Peter E. Konrad, now allowed, which itself is a continuation-in-part of U.S. patent application Ser. No. 12/849,241, filed Aug. 3, 2010, entitled “ADJUSTABLE UNIVERSAL SURGICAL PLATFORM” by Changquing C. Kao, J. Michael Fitzpatrick, Robert F. Labadie and Peter E. Konrad, now abandoned, which itself is a divisional application of, and claims the benefit of U.S. patent application Ser. No. 11/594,700, filed Nov. 7, 2006 and entitled “ADJUSTABLE UNIVERSAL SURGICAL PLATFORM” by Changquing C. Kao, J. Michael Fitzpatrick, Robert F. Labadie, and Peter E. Konrad, now U.S. Pat. No. 7,794,469, which itself claims the benefit, pursuant to 35 U.S.C. §119(e), of U.S. provisional patent application Ser. No. 60/734,052, filed Nov. 7, 2005, entitled “ADJUSTABLE UNIVERSAL SURGICAL PLATFORM” by Changquing C. Kao, J. Michael Fitzpatrick, Robert F. Labadie and Peter E. Konrad. Each of the above-identified disclosures is incorporated herein by reference in its entirety. 
    
    
     FIELD OF THE INVENTION 
     The present invention generally relates to an apparatus for supporting a surgical platform. More particularly, the present invention relates to a support frame for supporting an adjustable surgical platform. 
     BACKGROUND OF THE INVENTION 
     Stereotactic neurosurgery is a field of neurosurgery in which a probe is advanced through a burr hole to a target of interest by means of a mechanical device attached to the skull with aiming based on pre-operative images. The probe may be a biopsy needle or an implantable device, but it is geometrically rigid, so that its tip can be brought to a target of interest specified on a pre-operative image, by means of a geometrical calculation. In the past, large metal frames that encompass the entire head of a patient were used with the attachment of small platforms placed over an entry site. Conventional metal frames are designed for approaching one target at a time with an unrestricted entry point towards the deep target, by employing the principle that the target is at the center of a sphere. Because of the long trajectories involved, both accuracy and patient comfort are challenged by the demands of surgeries for deep brain stimulation (DBS) in which the patients are awake throughout the lengthy surgical procedure. 
     Other conventional approaches require the attachment of bone-implanted fiducials, the subsequent acquisition of a preoperative tomogram, and intraoperative optical tracking to aim a probe at its target. However, there are problems regarding geometrically stability, limited space for access to the burr hole and surgical manipulation, which requires a time-consuming process of aiming and locking on the target. Access to the burr hole is crucially important for the purpose of stopping bleeding from the bone cavity, dura, and the surface of the cortex during the procedure. In some conventional devices, a medical professional conducts the aiming process by watching a guiding icon on the screen of the intraoperative tracking system and then locking a guiding platform into place with one hand, while it is held at the correct trajectory with the other hand. The trajectory is two-dimensional, meaning that there are two mutually-perpendicular angular adjustments required, each of which must be set simultaneously for the correct trajectory. Finding the correct trajectory via the guiding icon is time consuming because of the difficulty of making fine adjustments of one angle of the approach without changing the other angle. A further difficulty with this aiming procedure is maintaining both angles of the correct trajectory while locking the device on target. The locking step can be especially frustrating to a medical processional if either angle is changed inadvertently during locking, as revealed by the guiding icon, and as a result, the device must be unlocked and the adjustment started again from the beginning. Several iterations may be required, resulting in wasted operating time. In other conventional approaches, a custom apparatus may be built for each particular patient, after preliminary scans of the target area of interest have been taken to obtain specific dimensional and anatomical data for the particular patient. However, following a preliminary scanning procedure, a patient must wait several days or weeks until the custom frame has been built and delivered, and even upon setting up the custom frame in preparation for a surgical procedure, fine-tuning is required to further adjust the apparatus to address intraoperative challenges faced by medical professionals performing the surgical procedure. 
     Among other needs, there exists a need for adjustable surgical means that can be quickly and accurately configured to provide for varying positions and trajectories for a particular procedure and corresponding particular patient anatomy, and which can intraoperatively guide surgical instruments with accuracy at the desired settings. 
     Therefore, a heretofore unaddressed need exists in the art to address the aforementioned deficiencies and inadequacies. 
     SUMMARY OF THE INVENTION 
     In one aspect, the present invention relates to an apparatus for supporting an adjustable surgical platform. In one embodiment, the apparatus includes a supporting platform portion with a body portion that defines a bore along a central axis A. A plurality of arm portions extend radially from the supporting platform portion around the central axis A, and a plurality of engaging means are positioned on the arm portions. The apparatus also includes a shaft portion extending from the supporting platform portion in a first direction. The shaft portion has a shaft body portion that defines a bore along a longitudinal axis B, that is in communication with the bore of the supporting platform portion. The apparatus further includes a base portion that is connected to the shaft portion. The base portion has a body portion that defines a bore in communication with the bore of the shaft portion and the bore of the supporting platform portion. Mounting means are configured to secure the base portion to a region of interest of a living subject. 
     In one embodiment, each arm portion has a first end portion connected to the body portion of the supporting platform portion, a second, opposite end portion, and a body portion defined between the first end portion and the second end portion, and at least one of the engaging means is disposed proximate to the second end of a respective at least one of the plurality of arm portions. 
     In one embodiment, at least one of the arm portions is configured to elevate a respective at least one of the engaging means from the supporting platform portion in a second direction that is substantially opposite the first direction. 
     In one embodiment, the plurality of engaging means are configured to engage at least a portion of an adjustable surgical platform, and at least one of the engaging means is configured to engage a leg member of the adjustable surgical platform. 
     In one embodiment, at least one of the engaging means is adjustable in three-dimensions to provide an adjustable positioning angle for an engaged leg member of the adjustable surgical platform. 
     In one embodiment, the plurality of arm portions are separated at angles θ 1 , θ 2 , θ 3  from each other around the central axis A, and the angles θ 1 , θ 2 , θ 3  are the same or different. 
     In one embodiment, the mounting means includes at least one fastening means configured to secure the base portion to the region of interest of the living subject. 
     In one embodiment, the apparatus further includes means for securing a surgical tracking instrument to one of the plurality of arm portions. 
     In another aspect, the present invention relates to a support frame for an adjustable surgical platform. In one embodiment, the support frame includes a supporting platform portion with a body portion that defines a bore between a first end portion and a second, opposite end portion, along a central axis A. A plurality of arm portions extend radially from the supporting platform portion around the central axis A. Each arm portion has a first end portion connected to the body portion of the supporting platform portion, a second, opposite end portion, and a body portion defined between the first end portion and the second end portion. Each of a plurality of engaging means is provided on a respective one of the plurality of arm portions, proximate to the respective second end portion. The support frame also includes a shaft portion extending from the second end portion of the supporting platform portion in a first direction. The shaft portion has a first end portion connected to the body portion of the supporting platform portion, an opposite, second end portion, and a shaft body portion defined between the first end portion and the second end portion. The shaft body portion defines a bore along a longitudinal axis B that is substantially parallel to the central axis A. The bore of the shaft body portion is in communication with the bore defined by the supporting platform portion. The support frame further includes a base portion that is connected to the second end portion of the shaft portion. The base portion has a first end portion and an opposite, second end portion that define a body portion between them. The body portion defines a bore that is in communication with the bore defined by the shaft portion and the bore defined by the supporting platform portion. The support frame further includes mounting means that are configured to mount the base portion to the skull of a living subject. 
     In one embodiment, each of the arm portions is configured to elevate a respective one of the engaging means from the body portion of the supporting platform portion, in a second direction that is substantially opposite the first direction. 
     In one embodiment, each of the plurality of engaging means is configured to engage respective leg member of the adjustable surgical platform, and the engaging means of each of the arm portions is adjustable in three-dimensions to provide an adjustable positioning angle for corresponding engaged leg members of an adjustable surgical platform. 
     In one embodiment, each of the plurality of engaging means is configured to engage a ball portion of a respective leg member of the adjustable surgical platform. 
     In one embodiment, each of the engaging means includes a concave recess. 
     In one embodiment, the plurality of arm portions are separated at equal angles θ 1 , θ 2 , θ 3  from each other around the central axis A. 
     In one embodiment, the plurality of arm portions includes three arm portions separated 120° from each other around the central axis A. 
     In one embodiment, the mounting means include at least one fastening means configured to secure the base portion of the support frame to the skull of the living subject. 
     In one embodiment, the support frame further includes a means for securing a surgical tracking instrument to one of the plurality of arm portions. 
     In yet another aspect, the present invention relates to a support frame for an adjustable surgical platform. In one embodiment, the support frame includes a supporting platform portion with an annular body portion defining a bore between a first end portion and second, opposite end portion, along a central axis A. A plurality of arm portions extend radially from the annular body portion around the central axis A, and each arm portion has a first end portion connected to the annular body portion, a second, opposite end portion, and a body portion defined between the first end portion and the second end portion. The support frame further includes a plurality of engaging means, each positioned on a respective one of the arm portions proximate to the second end portion. Each of the engaging means is configured to engage a corresponding leg member of an adjustable surgical platform. The support frame further includes a shaft portion extending from the second end portion of the annular body portion in a first direction. The shaft portion has a first end portion connected to the annular body portion, an opposite, second end portion, and a body portion defined between the first end portion and the second end portion. The body portion defines a bore along a longitudinal axis B that is substantially parallel to the central axis A. The bore of the shaft portion is in communication with the bore defined by the supporting platform portion. The support frame further includes a base portion connected to the second end of the shaft portion. The base portion has a first end portion and an opposite, second end portion that defines a body portion between them, and the body portion defines a bore that is in communication with the bore defined by the shaft portion and the bore defined by the supporting platform portion. The support frame further includes mounting means configured to mount the base portion to the skull of a living subject. 
     In one embodiment, each of the arm portions is configured to elevate a respective one of the engaging means from the body portion of the supporting platform portion in a second direction that is substantially opposite the first direction. 
     In one embodiment, each of the engaging means is adjustable in three-dimensions to provide an adjustable positioning angle for a corresponding engaged leg member of the adjustable surgical platform. 
     In one embodiment, the plurality of arm portions includes three arm portions separated 120° from each other around the central axis A. 
     In one embodiment, the mounting means includes at least one fastening means configured to secure the base portion to the skull of the living subject. 
     In one embodiment, the support frame further includes means for securing a surgical tracking instrument to one of the plurality of arm portions. 
     In yet another aspect, the present invention relates to an apparatus for supporting an adjustable surgical platform. In one embodiment, the apparatus includes a supporting platform portion with a body portion that defines a bore along a central axis. A plurality of arm portions extend radially from the supporting platform portion around the central axis, and a plurality of engaging means are positioned on the arm portions. Mounting means are configured to secure the supporting platform portion to a region of interest of a living subject. 
     In one embodiment, each arm portion has a first end portion connected to the body portion of the supporting platform portion, a second, opposite end portion, and a body portion defined between the first end portion and the second end portion, and at least one of the engaging means is disposed proximate to the second end of a respective at least one of the plurality of arm portions. 
     In one embodiment, at least one of the arm portions is configured to elevate a respective at least one of the engaging means from the supporting platform portion. 
     In one embodiment, the plurality of engaging means are configured to engage at least a portion of an adjustable surgical platform, and at least one of the engaging means is configured to engage a leg member of the adjustable surgical platform. 
     In one embodiment, at least one of the engaging means is adjustable in three-dimensions to provide an adjustable positioning angle for an engaged leg member of the adjustable surgical platform. 
     In one embodiment, the plurality of arm portions are separated at angles θ 1 , θ 2 , θ 3  from each other around the central axis, and the angles θ 1 , θ 2 , θ 3  are the same or different. 
     In one embodiment, the mounting means includes at least one fastening means configured to secure the supporting platform portion to the region of interest of the living subject. 
     In one embodiment, the apparatus further includes means for securing a surgical tracking instrument to one of the plurality of arm portions. 
     In yet another aspect, the present invention relates to a support frame for an adjustable surgical platform. In one embodiment, the support frame includes a supporting platform portion with a body portion that defines a bore between a first end portion and a second, opposite end portion, along a central axis. A plurality of arm portions extend radially from the supporting platform portion around the central axis. Each arm portion has a first end portion connected to the body portion of the supporting platform portion, a second, opposite end portion, and a body portion defined between the first end portion and the second end portion. Each of a plurality of engaging means is provided on a respective one of the plurality of arm portions, proximate to the respective second end portion. The support frame further includes mounting means that are configured to mount the supporting platform portion to the skull of a living subject. 
     In one embodiment, each of the arm portions is configured to elevate a respective one of the engaging means from the body portion of the supporting platform portion. 
     In one embodiment, each of the plurality of engaging means is configured to engage respective leg member of the adjustable surgical platform, and the engaging means of each of the arm portions is adjustable in three-dimensions to provide an adjustable positioning angle for corresponding engaged leg members of an adjustable surgical platform. 
     In one embodiment, each of the plurality of engaging means is configured to engage a ball portion of a respective leg member of the adjustable surgical platform. 
     In one embodiment, each of the engaging means includes a concave recess. 
     In one embodiment, the plurality of arm portions are separated at equal angles θ 1 , θ 2 , θ 3  from each other around the central axis. 
     In one embodiment, the plurality of arm portions includes three arm portions separated 120° from each other around the central axis. 
     In one embodiment, the mounting means include at least one fastening means configured to secure the supporting platform portion to the skull of the living subject. 
     In one embodiment, the support frame further includes a means for securing a surgical tracking instrument to one of the plurality of arm portions. 
     In yet another aspect, the present invention relates to a support frame for an adjustable surgical platform. In one embodiment, the support frame includes a supporting platform portion with an annular body portion defining a bore between a first end portion and second, opposite end portion, along a central axis. A plurality of arm portions extend radially from the annular body portion around the central axis, and each arm portion has a first end portion connected to the annular body portion, a second, opposite end portion, and a body portion defined between the first end portion and the second end portion. The support frame further includes a plurality of engaging means, each positioned on a respective one of the arm portions proximate to the second end portion. Each of the engaging means is configured to engage a corresponding leg member of an adjustable surgical platform. The support frame further includes mounting means configured to mount the supporting platform portion to the skull of a living subject. 
     In one embodiment, each of the arm portions is configured to elevate a respective one of the engaging means from the body portion of the supporting platform portion. 
     In one embodiment, each of the engaging means is adjustable in three-dimensions to provide an adjustable positioning angle for a corresponding engaged leg member of the adjustable surgical platform. 
     In one embodiment, the plurality of arm portions includes three arm portions separated 120° from each other around the central axis. 
     In one embodiment, the mounting means includes at least one fastening means configured to secure the supporting platform portion to the skull of the living subject. 
     In one embodiment, the support frame further includes means for securing a surgical tracking instrument to one of the plurality of arm portions. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings illustrate one or more embodiments of the invention and, together with the written description, serve to explain various aspects and principles of the invention. Wherever possible, the same reference numbers are used throughout the drawings to refer to the same or like elements of an embodiment, and wherein: 
         FIG. 1A  schematically shows a perspective view of a support frame according to one exemplary embodiment of the present invention; 
         FIG. 1B  schematically shows a top view of the surgical platform portion and arm portions of the support frame shown in  FIG. 1A ; 
         FIG. 1C  schematically shows a side view of the support frame shown in  FIGS. 1A and 1B ; 
         FIG. 2A  schematically shows perspective view of a support frame according to the exemplary embodiment shown in  FIGS. 1A ,  1 B, and  1 C, supporting an adjustable surgical platform; 
         FIG. 2B  schematically shows a side view of the support frame shown in  FIG. 2A , supporting the adjustable surgical frame shown in  FIG. 2A ; 
         FIG. 3A  schematically shows a side view of a support frame according to one exemplary embodiment of the present invention; 
         FIG. 3B  schematically shows a side view of the support frame shown in  FIG. 3A , supporting an adjustable surgical platform; 
         FIG. 4A  schematically shows a side view of a means for securing a surgical tracking instrument to a support frame, according to one exemplary embodiment of the present invention; 
         FIG. 4B  schematically shows a view of the means for securing a surgical tracking instrument to the support frame shown in  FIG. 4A ; 
         FIG. 5  schematically shows a front view of a means for securing a surgical tracking instrument to a support frame, according to one embodiment of the present invention; 
         FIG. 6A  schematically shows a perspective view of a support frame according to one exemplary embodiment of the present invention; 
         FIG. 6B  schematically shows a side view of the support frame shown in  FIG. 6A ; 
         FIG. 7A  schematically shows perspective view of a support frame according to the exemplary embodiment shown in  FIGS. 6A and 6B , supporting an adjustable surgical platform; 
         FIG. 7B  schematically shows a side view of the support frame shown in  FIG. 7A , supporting an adjustable surgical platform; 
         FIG. 8A  schematically shows a side view of a support frame according to one exemplary embodiment of the present invention; and 
         FIG. 8B  schematically shows a side view of the support frame shown in  FIG. 8A , supporting an adjustable surgical platform. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The present invention is more particularly described in the following examples that are intended as illustrative only since numerous modifications and variations therein will be apparent to those skilled in the art. Various embodiments of the invention are now described in detail. Referring to the drawings, like numbers indicate like parts throughout the views. As used in the description herein and throughout the claims that follow, the meaning of “a,” “an,” and “the” includes plural reference unless the context clearly dictates otherwise. Also, as used in the description herein and throughout the claims that follow, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise. Additionally, some terms used in this specification are more specifically defined below. 
     The terms used in this specification generally have their ordinary meanings in the art, within the context of the invention, and in the specific context where each term is used. Certain terms that are used to describe the invention are discussed below, or elsewhere in the specification, to provide additional guidance to the practitioner regarding the description of the invention. For convenience, certain terms may be highlighted, for example using italics and/or quotation marks. The use of highlighting has no influence on the scope and meaning of a term; the scope and meaning of a term is the same, in the same context, whether or not it is highlighted. It will be appreciated that same thing can be said in more than one way. Consequently, alternative language and synonyms may be used for any one or more of the terms discussed herein, nor is any special significance to be placed upon whether or not a term is elaborated or discussed herein. Synonyms for certain terms are provided. A recital of one or more synonyms does not exclude the use of other synonyms. The use of examples anywhere in this specification including examples of any terms discussed herein is illustrative only, and in no way limits the scope and meaning of the invention or of any exemplified term. Likewise, the invention is not limited to various embodiments given in this specification. 
     Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. In the case of conflict, the present document, including definitions will control. 
     As used herein, “around”, “about” or “approximately” shall generally mean within 20 percent, preferably within 10 percent, and more preferably within 5 percent of a given value or range. Numerical quantities given herein are approximate, meaning that the term “around”, “about” or “approximately” can be inferred if not expressly stated. 
     As used herein, the term “living subject” refers to a human being such as a patient, or an animal such as a lab testing rat, monkey or the like. 
     The description will be made as to the embodiments of the present invention in conjunction with the accompanying drawings in  FIGS. 1-8 . 
     Now referring to exemplary embodiments shown in  FIGS. 1-8 , in one aspect, the present invention relates to an apparatus  100  for supporting an adjustable surgical platform. In one embodiment, the apparatus includes a supporting platform portion  110  with a body portion  110   c  that defines a bore  110   d  along a central axis A. A plurality of arm portions  112 ,  114 ,  116  extend radially from the supporting platform portion  110  around the central axis A, and a plurality of engaging means  118 ,  120 ,  122  are positioned on respective arm portions  112 ,  114 ,  116 . Each of the arm portions  112 ,  114 ,  116  has a first end portion  112   a ,  114   a ,  116   a  connected to the body portion  110   c  of the supporting platform portion  110 , a second, opposite end portion  112   b ,  114   b ,  116   b , and a body portion  112   c ,  114   c ,  116   c  defined between the first end portion  112   a ,  114   a ,  116   a  and second end portion  112   b ,  114   b ,  116   b , respectively. The apparatus  100  also includes a shaft portion  130  extending from the supporting platform portion  110  in a first direction, with a shaft body portion  130   c  that defines a bore  130   d  along a longitudinal axis B. The bore  130   d  of the shaft body portion  130  is in communication with the bore  110   d  of the supporting platform portion  110 . The apparatus  100  further includes a base portion  140  that is connected to the shaft portion  130 . The base portion  140  has a first end portion  140   a , a second, opposite second portion  140   b , and a body portion  140   c  defined between the first end portion  140   a  and the second end portion. The body portion  140   c  defines a bore  140   d  that is in communication with the bore  130   d  of the shaft portion  130  and the bore  110   d  of the supporting platform portion  110 . Mounting means  142 ,  144 ,  146  are configured to secure the base portion  140  to a region of interest  150  of a living subject. 
     In one embodiment, at least one of the engaging means  118 ,  120 ,  122  is disposed proximate the second end  112   b ,  114   b ,  116   b  of a respective at least one of the plurality of arm portions  112 ,  114 ,  116 . 
     In one embodiment, at least one of the arm portions  312 ,  314 ,  316  is configured to elevate a respective at least one of the engaging means  318 ,  320 ,  322  from the supporting platform portion  310  in a second direction that is substantially opposite the first direction. 
     In one embodiment, the engaging means  118 ,  120 ,  122  are configured to engage at least a portion  216 ,  218 ,  220  of an adjustable surgical platform  200 , which as shown corresponds to a leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . In this embodiment, at least one of the engaging means  118 ,  120 ,  122  is adjustable in three-dimensions to provide an adjustable positioning angle for an engaged leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . 
     In one embodiment, the arm portions  112 ,  114 ,  116  are separated at angles θ 1 , θ 2 , θ 3  from each other around the central axis A. The angles θ 1 , θ 2 , θ 3  can be the same or different from each other. 
     In one embodiment, the mounting means  142 ,  144 ,  146  includes at least one fastening means  142 ,  144 ,  146  configured to secure the base portion  140  to the region of interest  150  of the living subject. 
     In one embodiment, a means  402  (or  502 ) is configured for securing a surgical tracking instrument  430  to one of the plurality of arm portions  112 ,  114 ,  116 . 
     In another aspect, the present invention relates to a support frame  100  for an adjustable surgical platform  200 . In one embodiment, the support frame includes a supporting platform portion  110  with a body portion  110   c  that defines a bore  110   d  between a first end portion  110   a  and a second, opposite end portion  110   b , along a central axis A. A plurality of arm portions  112 ,  114 ,  116  extend radially from the body portion  110   c  around the central axis A. Each of the arm portions  112 ,  114 ,  116  has a first end portion  112   a ,  114   a ,  116   a  connected to the body portion  110   c  of the supporting platform portion  110 , a second, opposite end portion  112   b ,  114   b ,  116   b , and a body portion  112   c ,  114   c ,  116   c  defined between them, respectively. A plurality of engaging means  118 ,  120 ,  122  are each positioned on respective one of the arm portions  112 ,  114 ,  116 , proximate to the respective second end portions  112   b ,  114   b ,  116   b  of the arm portions  112 ,  114 ,  116 . 
     The support frame  100  also includes a shaft portion  130  that extends from the second end portion  110   b  of the supporting platform portion  110  in a first direction. The shaft portion  130  has a first end portion  130   a  connected to the body portion  110   c  of the supporting platform portion  110 , an opposite, second end portion  130   b , and a shaft body portion  130   c  that is defined between the first end portion  130   a  and the second end portion  130   b . The shaft body portion  130   c  defines a bore  130   d  along a longitudinal axis B, and the bore  130   b  of the shaft body portion  130   c  is in communication with the bore  110   d  of the supporting platform portion  110 . The longitudinal axis B is substantially parallel to the central axis A. The support frame  100  further includes a base portion  140  that is connected to the second end portion  130   b  of the shaft portion  130 . The base portion  140  has a first end portion  140   a  and a second, opposite end portion  140   b  that define a body portion  140   c  between them, and the body portion  140   c  defines a bore  140   d  that is in communication with the bore  130   d  of the shaft portion  130  and the bore  110   d  of the supporting platform portion  110 . The support frame  100  also includes mounting means  142 ,  144 ,  146  that are configured to mount the base portion  140  to the skull  150  of a living subject. 
     In one embodiment, each of the arm portions  312 ,  314 ,  316  is configured to elevate a respective one of the engaging means  318 ,  320 ,  322  from the body portion  310   c  of the supporting platform portion  310  in a second direction that is substantially opposite the first direction. 
     In one embodiment, each of the engaging means  118 ,  120 ,  122  is configured to engage a leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . In this embodiment, each of the engaging means  118 ,  120 ,  122  corresponding to each of the respective arm portions  112 ,  114 ,  116  is adjustable in three-dimensions, to provide an adjustable positioning angle for corresponding engaged leg members  210 ,  212 ,  214  of an adjustable surgical platform  200 . Each of the engaging means  118 ,  120 ,  122  is configured to engage a ball portion  216 ,  218 ,  220  of a respective leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . 
     In one embodiment, each of the engaging means  118 ,  120 ,  122  has a socket-ball joint. 
     In one embodiment, each of the engaging means  118 ,  120 ,  122  has a respective concave recess  119 ,  121 ,  123 . 
     In one embodiment, the arm portions  112 ,  114 ,  116  are separated at equal angles θ 1 , θ 2 , θ 3  from each other around the central axis A. In this embodiment, the three arm portions  112 ,  114 ,  116  are separated 120° from each other around the central axis A. 
     In one embodiment, the mounting means  142 ,  144 ,  146  has at least one fastening means  142 ,  144 ,  146  configured to secure the base portion  140  to the skull  150  of the living subject. 
     In one embodiment, the support frame  100  further includes a means  402  (or  502 ) for securing a surgical tracking instrument  430  to one of the arm portions  412 ,  414 ,  416 . 
     In yet another aspect, the present invention relates to a support frame  100  for an adjustable surgical platform  200 . In one embodiment, the supporting platform portion  110  has an annular body portion  110   c  that defines a bore  110   d  between a first end portion  110   a  and a second, opposite end portion  110   b , along a central axis A. A plurality of arm portions  112 ,  114 ,  116  extend radially from the annular body portion  110   c  around the central axis A, and each arm portion  112 ,  114 ,  116  has a first end portion  112   a ,  114   a ,  116   a  connected to the annular body portion  110   c , a second, opposite end portion  112   b ,  114   b ,  116   b , and a body portion  112   c ,  114   c ,  116   c  defined between the first end portion  112   a ,  114   a ,  116   a  and the second end portion  112   b ,  114   b ,  116   b , respectively. The support frame  100  also includes a plurality of engaging means  118 ,  120 ,  122  that are each positioned on a respective one of the arm portions  112 ,  114 ,  116 , proximate to the respective second end portion  112   b ,  114   b ,  116  and configured to engage a corresponding leg member  210 ,  212 ,  214  of an adjustable surgical platform  200 . 
     The support frame  100  also includes a shaft portion  130  extending from the second end portion  110   b  of the annular body portion  110   c  in a first direction. The shaft portion  130  has a first end portion  130   a  connected to the annular body portion  110   c , an opposite, second end portion  130   b , and a body portion  130   c  defined between the first end portion  130   a  and second end portion  130   b . The body portion  130   c  defines a bore  130   d  along a longitudinal axis B. The longitudinal axis is substantially parallel to the central axis A. The bore  130   d  is in communication with the bore  110   d  defined by the supporting platform portion  110 . 
     The support frame  100  further includes a base portion  140  that is connected to the second end  130   b  of the shaft portion  130 . The base portion  140  has a first end portion  140   a  and an opposite, second end portion  140   b  that define a body portion  140   c  between them. The body portion  140   c  is in communication with the bore  130   d  of the shaft portion  130  and the bore  110   d  of the supporting platform portion  110 . The support frame  100  further includes means  142 ,  144 ,  146  that are configured to mount the base portion  140  to the skull  150  of a living subject. 
     In one embodiment, each of the arm portions  312 ,  314 ,  316  is configured to elevate a respective one of the engaging means  318 ,  320 ,  322  from the body portion  310   c  of the supporting platform portion  310  in a second direction that is substantially opposite the first direction. 
     In one embodiment, each of the engaging means  118 ,  120 ,  122  is adjustable in three-dimensions to provide an adjustable positioning angle for a corresponding engaged leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . 
     In one embodiment, the plurality of arm portions  112 ,  114 ,  116  includes three arm portions  112 ,  114 ,  116  that are separated 120° from each other around the central axis A. 
     In one embodiment, the mounting means  142 ,  144 ,  146  has at least one fastening means  142 ,  144 ,  146  configured to secure the base portion  140  to the skull  150  of the living subject. 
     In one embodiment, the support frame  100  further includes a means  402  (or  502 ) for securing a surgical tracking instrument  430  to one of the arm portions  412 ,  414 ,  416 . 
     In yet another aspect, the present invention relates to an apparatus  600  for supporting an adjustable surgical platform  200 . In one embodiment, the apparatus  600  includes a supporting platform portion  610  with a body portion  610   c  that defines a bore  610   d  along a central axis. A plurality of arm portions  612 ,  614 ,  616  extend radially from the supporting platform portion  610  around the central axis, and a plurality of engaging means  618 ,  620 ,  622  are positioned on respective arm portions  612 ,  614 ,  616 . Each of the arm portions  612 ,  614 ,  616  has a first end portion  612   a ,  614   a ,  616   a  connected to the body portion  610   c  of the supporting platform portion  610 , a second, opposite end portion  612   b ,  614   b ,  616   b , and a body portion  612   c ,  614   c ,  616   c  defined between the first end portion  612   a ,  614   a ,  616   a  and second end portion  612   b ,  614   b ,  616   b , respectively. Mounting means  611 ,  613 ,  615  are configured to secure the supporting platform portion  610  to a region of interest  150  of a living subject. 
     In one embodiment, at least one of the engaging means  618 ,  620 ,  622  is disposed proximate the second end  612   b ,  614   b ,  616   b  of a respective at least one of the plurality of arm portions  612 ,  614 ,  616 . 
     In one embodiment, at least one of the arm portions  612 ,  614 ,  616  is configured to elevate a respective at least one of the engaging means  618 ,  620 ,  622  from the supporting platform portion (see  FIG. 8  embodiment with arm portions  812 ,  814 ,  816  configured to elevate engaging means  818 ,  820 ,  822  from supporting platform portion  810 ). 
     In one embodiment, the engaging means  618 ,  620 ,  622  are configured to engage at least a portion  216 ,  218 ,  220  of an adjustable surgical platform  200 , which as shown in  FIGS. 7A and 7B  corresponds to a leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . In this embodiment, at least one of the engaging means  618 ,  620 ,  622  is adjustable in three-dimensions to provide an adjustable positioning angle for an engaged leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . 
     In one embodiment, the arm portions  612 ,  614 ,  616  are separated at angles θ 1 , θ 2 , θ 3  from each other around the central axis. The angles θ 1 , θ 2 , θ 3  can be the same or different from each other. 
     In one embodiment, the mounting means  611 ,  613 ,  615  includes at least one fastening means configured to secure the supporting platform portion  610  to the region of interest  150  of the living subject. 
     In yet another aspect, the present invention relates to a support frame  600  for an adjustable surgical platform  200 . In one embodiment, the support frame  600  includes a supporting platform portion  610  with a body portion  610   c  that defines a bore  610   d  between a first end portion  610   a  and a second, opposite end portion  610   b , along a central axis. A plurality of arm portions  612 ,  614 ,  616  extend radially from the body portion  610   c  around the central axis. Each of the arm portions  612 ,  614 ,  616  has a first end portion  612   a ,  614   a ,  616   a  connected to the body portion  610   c  of the supporting platform portion  110 , a second, opposite end portion  612   b ,  614   b ,  616   b , and a body portion  612   c ,  614   c ,  616   c  defined between them, respectively. A plurality of engaging means  618 ,  620 ,  622  are each positioned on respective one of the arm portions  612 ,  614 ,  616 , proximate to the respective second end portions  612   b ,  614   b ,  616   b  of the arm portions  612 ,  614 ,  616 . 
     The support frame  600  also includes mounting means  611 ,  613 ,  614  that are configured to mount the supporting platform portion  610  to the skull  150  of a living subject. 
     In one embodiment, each of the arm portions  612 ,  614 ,  616  is configured to elevate a respective at least one of the engaging means  618 ,  620 ,  622  from the supporting platform portion (see  FIG. 8  embodiment with arm portions  812 ,  814 ,  816  configured to elevate engaging means  818 ,  820 ,  822  from supporting platform portion  810 ). 
     In one embodiment, each of the engaging means  618 ,  620 ,  622  is configured to engage a leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . In this embodiment, each of the engaging means  618 ,  620 ,  622  corresponding to each of the respective arm portions  612 ,  614 ,  616  is adjustable in three-dimensions, to provide an adjustable positioning angle for corresponding engaged leg members  210 ,  212 ,  214  of the adjustable surgical platform  200 . Each of the engaging means  618 ,  620 ,  622  is configured to engage a ball portion  216 ,  218 ,  220  of a respective leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . 
     In one embodiment, each of the engaging means  618 ,  620 ,  622  has a socket-ball joint. 
     In one embodiment, each of the engaging means  618 ,  620 ,  622  has a concave recess  619 ,  621 ,  623 . 
     In one embodiment, the arm portions  612 ,  614 ,  616  are separated at equal angles θ 1 , θ 2 , θ 3  from each other around the central axis. In this embodiment, the three arm portions  612 ,  614 ,  616  are separated 120° from each other around the central axis. 
     In one embodiment, the mounting means  611 ,  613 ,  615  has at least one fastening means configured to secure the supporting platform portion  610  to the skull  150  of the living subject. 
     In yet another aspect, the present invention relates to a support frame  600  for an adjustable surgical platform  200 . In one embodiment, the supporting platform portion  610  has an annular body portion  610   c  that defines a bore  610   d  between a first end portion  610   a  and a second, opposite end portion  610   b , along a central axis. A plurality of arm portions  612 ,  614 ,  616  extend radially from the annular body portion  610   c  around the central axis, and each arm portion  612 ,  614 ,  616  has a first end portion  612   a ,  614   a ,  616   a  connected to the annular body portion  610   c , a second, opposite end portion  612   b ,  614   b ,  616   b , and a body portion  612   c ,  614   c ,  616   c  defined between the first end portion  612   a ,  614   a ,  616   a  and the second end portion  612   b ,  614   b ,  616   b , respectively. The support frame  600  also includes a plurality of engaging means  618 ,  620 ,  622  that are each positioned on a respective one of the arm portions  612 ,  614 ,  616 , proximate to the respective second end portion  612   b ,  614   b ,  616  and configured to engage a corresponding leg member  210 ,  212 ,  214  of an adjustable surgical platform  200 . 
     The support frame  600  further includes means  611 ,  613 ,  615  that are configured to mount the supporting platform portion  610  to the skull  150  of a living subject. 
     In one embodiment, each of the arm portions is configured to elevate a respective one of the engaging means from the supporting platform portion (see  FIG. 8  embodiment with arm portions  812 ,  814 ,  816  configured to elevate engaging means  818 ,  820 ,  822  from supporting platform portion  810 ). 
     In one embodiment, each of the engaging means  618 ,  620 ,  622  is adjustable in three-dimensions to provide an adjustable positioning angle for a corresponding engaged leg member  210 ,  212 ,  214  of the adjustable surgical platform  200 . 
     In one embodiment, the plurality of arm portions  612 ,  614 ,  616  includes three arm portions that are separated 120° from each other around the central axis. 
     In one embodiment, the mounting means  611 ,  613 ,  615  has at least one fastening means configured to secure the supporting platform portion  610  to the skull  150  of the living subject. 
     Now referring specifically to  FIGS. 1A ,  1 B, and  1 C, a support frame  100  is shown, according to one exemplary embodiment of the present invention. Particularly,  FIG. 1A  provides a perspective view of the support frame  100 ,  FIG. 1B  provides a top view of the supporting platform portion  110  of the support frame  100 , and  FIG. 1C  provides a side view of the support frame  100 . As shown, the support frame includes a supporting platform portion  110  with a substantially annular body portion  110   c  that defines a bore  110   d  between a first end portion  110   a  and a second, opposite end portion  110   b , along a central axis A. A plurality of arm portions  112 ,  114 ,  116  extend radially from the supporting platform portion  110  around the central axis A, and are separated from each other by angles θ 1 , θ 2 , θ 3 , which are each about 120°. Each of the arm portions  112 ,  114 ,  116  has a first end portion  112   a ,  114   a ,  116   a  connected to the body portion  110   c  of the supporting platform portion  110 , a second, opposite end portion  112   b ,  114   b ,  116   b , and a body portion  112   c ,  114   c ,  116   c  defined between the first end portion  112   a ,  114   a ,  116  and second end portion  112   b ,  114   b ,  116   b , respectively. A plurality of engaging means  118 ,  120 ,  122  are each positioned on respective one of the arm portions  112 ,  114 ,  116 , proximate to the respective second end portions  112   b ,  114   b ,  116   b  of the arm portions  112 ,  114 ,  116 . Fastening means  111 ,  113 ,  115  such as mounting screws, bolts, or pins are provided through the body portion  110   c  of the supporting platform portion  110 , to securely attach the body portion  110   c  to the shaft portion  130  at the first end  130   a.    
     As will be discussed in more detail below with reference to  FIGS. 4A ,  4 B, in one embodiment, the support frame  100  further includes a means  402  for securing a surgical tracking instrument  430  to one or more of the arm portions, shown in this embodiment as provided on an arm portion  512 .  FIG. 5  shows an alternative embodiment that includes a means  502  for securing the surgical tracking instrument  430  to one of the arm portions. 
     The support frame  100  also includes a shaft portion  130  that extends from the second end portion  110   b  of the supporting platform portion  110 . The shaft portion  130  has a first end portion  130   a  connected to the body portion  110   c  of the supporting platform portion  110 , an opposite, second end portion  130   b , and a shaft body portion  130   c  that is defined between the first end portion  130   a  and the second end portion  130   b . The shaft body portion  130   c  defines a bore  130   d , along a longitudinal axis B that is substantially parallel to the central axis A. The bore  130   b  of the shaft body portion  130   c  is in communication with the bore  110   d  defined by the supporting platform portion  110 . 
     A base portion  140  is also included in the support frame  100 . The base portion  140  is connected to the second end portion  130   b  of the shaft portion  130 , and has a first end portion  140   a  and a second, opposite end portion  140   b  that define a body portion  140   c  between them. The body portion  140   c  defines a bore  140   d  that is in communication with the bore  130   d  defined by the shaft portion  130  and the bore  110   d  of the supporting platform portion  110 . The support frame also includes mounting means  142 ,  144 ,  146  such as mounting screws, pins, rods, bolts, and/or other types of anchoring mechanisms that are configured to securely mount the base portion  140  to the skull  150  of a living subject. 
     Now referring also to the exemplary embodiment shown in  FIGS. 2A and 2B , each of the engaging means  118 ,  120 ,  122  is configured to engage a leg member  210 ,  212 ,  214  of an adjustable surgical platform  200 . In this embodiment, the engaging means  118 ,  120 ,  122  of each of the arm portions  112 ,  114 ,  116  is adjustable in three-dimensions to provide an adjustable positioning angle for corresponding engaged leg members  210 ,  212 ,  214  of an adjustable surgical platform  200 . Each of the engaging means  118 ,  120 ,  122  has a socket-ball joint with a respective concave recess  119 ,  121 ,  123  configured to receive a respective ball portion  216 ,  218 , and  220  of a respective one of a plurality of leg members  210 ,  212 , and  214  of the adjustable surgical platform  200 . It should be appreciated that other engaging means may be used without departing from the scope of the present invention according to aspects disclosed herein. For example, other types of mechanical joints or interfaces may be used to provide for rotational or other movement for adjustment of a surgical platform in connection with one or more leg members of the adjustable surgical platform. 
     Now referring specifically to the exemplary embodiments of  FIGS. 2A and 2B ,  FIG. 2A  schematically shows perspective view of a support frame  100  according to the exemplary embodiment shown in  FIGS. 1A ,  1 B, and  1 C, supporting an adjustable surgical platform  200 , and  FIG. 2B  schematically shows a side view of the support frame  100  according to the exemplary embodiment shown in  FIG. 2A , supporting the adjustable surgical frame  200  shown in  FIG. 2A . The adjustable surgical platform  200  has a probe  201   a ,  201   b ,  201   c  guided on a trajectory through a bore (not shown) of a body portion  202  of the adjustable surgical platform  200 , and the trajectory continues through the bore  110   d  defined by the body portion  110   c  of the support platform portion  110 , through the bore  130   d  of the shaft portion, and through the bore  140   d  of the base portion  140  to a target area of a living subject located inside the skull  150  of a living subject. For example, the probe  201   a ,  201   b  may provide an electrical stimulation lead with an electrode for deep brain stimulation (DBS) or include a biopsy needle. The leg members  210 ,  212 ,  214  connect to the body portion  202  of the adjustable surgical platform  200  at connections  211 ,  213 ,  215  and have respective ball portions  216 ,  218 ,  220  for engaging with the engaging means  118  and  122  disposed on arm portions  116  and  118  of the support platform portion  110 . 
     Now referring specifically to  FIGS. 3A and 3B ,  FIG. 3A  schematically shows a side, cross-sectional view of a support frame  300  according to one exemplary embodiment of the present invention, and  FIG. 3B  schematically shows a side, cross-sectional view of the support frame  300  shown in  FIG. 3A , supporting an adjustable surgical platform  200 . As shown, the support frame includes a supporting platform portion  310  with a substantially annular body portion  310   c  that defines a bore  310   d  between a first end portion  310   a  and a second, opposite end portion  310   b , along a central axis A. A plurality of arm portions  312 ,  314 ,  316  extend radially from the supporting platform portion  310  around the central axis A, separated from each other by angles θ 1 , θ 2 , θ 3 , which are each about 120°. Each of the arm portions  312 ,  314 ,  316  has a respective first end portion  312   a ,  314   a ,  316   a  connected to the body portion  310   c  of the supporting platform portion  310 , a second, opposite end portion  312   b ,  314   b ,  316   b , and a body portion  312   c ,  314   c ,  316   c  defined between the first end portion  312   a ,  314   a ,  316   a  and the second end portion  312   b ,  314   b ,  316   b , respectively. A plurality of engaging means  318 ,  320 ,  322  are each positioned on respective one of the arm portions  312 ,  314 ,  316 , proximate to the respective second end portions  312   b ,  314   b ,  316   b  of the arm portions  312 ,  314 ,  316 . Fastening means  311 ,  313 ,  315  such as mounting screws, bolts, or pins are provided through the body portion  310   c  of the supporting platform portion, to securely attach the body portion  310   c  to the shaft portion  330  at the first end  330   a.    
     The support frame  300  also includes a shaft portion  330  that extends from the second end portion  310   b  of the supporting platform portion  310 . The shaft portion  330  has a first end portion  330   a  connected to the body portion  310   c  of the supporting platform portion  310 , an opposite, second end portion  330   b , and a shaft body portion  330   c  that is defined between the first end portion  330   a  and the second end portion  330   b . The shaft body portion  330   c  defines a bore  330   d , along a longitudinal axis B that is substantially parallel to the central axis A. The bore  330   b  of the shaft body portion  330   c  is in communication with the bore  310   d  defined by the supporting platform portion  310 . 
     A base portion  340  is also included in the support frame  300 . The base portion  340  is connected to the second end portion  330   b  of the shaft portion  330 , and has a first end portion  340   a  and a second, opposite end portion  340   b  that define a body portion  340   c  between them. The body portion  340   c  defines a bore  340   d  that is in communication with the bore  330   d  defined by the shaft portion  330  and the bore  310   d  defined by the supporting platform portion  310 . The support frame also includes mounting means  342 ,  344 ,  346  such as mounting screws, pins, rods, bolts, and/or other types of anchoring mechanisms that are configured to securely mount the base portion  340  to the skull  150  of a living subject. 
     As shown, the adjustable surgical platform  200  has a probe  201   a ,  201   b ,  201   c  guided on a trajectory through a bore (not shown) of a body portion  202  of the adjustable surgical platform  200 , and the trajectory continues through the bore  310   d  defined by the body portion  310   c  of the support platform portion  310 , through the bore  330   d  of the shaft portion  330 , and through the bore  340   d  of the base portion  340  to a target area of a living subject located inside the skull  150  of a living subject. For example, the probe  201   a ,  201   b  may provide an electrical stimulation lead with an electrode for deep brain stimulation (DBS). The leg members  210 ,  212 ,  214  connect to the body portion  202  of the adjustable surgical platform  200  at connections  211 ,  213 ,  215  and have respective ball portions  216 ,  218 ,  220  for engaging with the engaging means  318 ,  320 ,  322  disposed on arm portions  312 ,  314 ,  318  of the support platform portion  310 . 
     As shown, each of the arm portions  312 ,  314 ,  316  is configured to elevate a respective one of the engaging means  318 ,  320 ,  322  from the body portion  310   c  of the supporting platform portion  310  in a second direction that is substantially opposite the first direction. More particularly, as shown the arm portions  312 ,  314 ,  316  have a generally upward-curving side profile to provide for an elevated engagement position for the engaging means  318 ,  320 ,  322  with corresponding ball portions  214 ,  216 ,  218  of the surgical platform  200 . It should be appreciated that other configurations may be used for achieving the elevated position of the engagement means other than those shown in the exemplary embodiment of  FIGS. 3A and 3B , without departing from the scope of the present invention according to aspects disclosed herein. For example, one or more of the arm portions  312 ,  314 ,  316  may have a planar side profile such that the arm portions  312 ,  314 ,  316  extend from the body portion  310   c  of the support platform portion  310 , in a direction such that an angle is established between the arm portions  312 ,  314 , and  316  between the planar axis of the body portion  310   c  and the planar axis of the arm portions  312 ,  314 ,  316 . Further, it should be appreciated that one or more of the arm portions  312 ,  314 ,  316  may be configured to adjustably vary the height at which the engaging means  318 ,  320 ,  322  are elevated in relation to the body portion  310   c , without departing from the scope of the present invention according to aspects disclosed herein. 
     Now referring to  FIGS. 4A and 4B ,  FIG. 4A  schematically shows a side, cross-sectional view of a means  402  for securing a surgical tracking instrument  430  to a support frame  100 , according to one exemplary embodiment of the present invention, and  FIG. 4B  schematically shows a front, cross-sectional view of the means  402  shown in  FIG. 4A . As shown, the means  402  is positioned proximate to the second end  412   b  of an arm portion  412  such as an arm portion  112  shown in the embodiment of  FIGS. 1A ,  1 B, and  1 C, and the means  402  is further positioned proximate to the engaging means  418 , which has a concave recess portion  419 . It should be appreciated that the means  402  may be mounted to more than one of the arm portions of a support platform portion, such as the other arm portions  114 ,  116  of the support platform portion  110  shown in  FIGS. 1A ,  1 B, and  1 C, without departing from the scope of the present invention according to aspects disclosed herein. 
     As shown, the surgical tracking instrument  430  is an optical tracking device with optical emitters  431  and/or detectors for tracking the position of the skull  150  of the living subject with a power and/or data cable  432 . It should be appreciated that the surgical tracking instrument  430  is not limited to an optical tracking means and may include one or more other types of surgical instruments for preoperative, intraoperative, or postoperative use, for example fiducial marking devices or other data-acquisition, registration, and/or alignment devices, without departing from the scope of the present invention according to aspects disclosed herein. 
     Means  402  collectively refers to elements that include an adjustable supporting shaft  420   a ,  420   b , a first side portion  422   a , second side portion  422   b , and a space for receiving at least a portion of a surgical tracking instrument  430  between them as described above. The surgical tracking instrument  430  is securely engaged by fastening means  422   a ,  422   b , shown as a mounting screw with a locking nut  424   a  secured at the first side portion  424   a  and a locking knob  424   b  at the second side portion  424   b , and with a shaft defined between the locking nut  424   a  and knob portion  424   b . The adjustable supporting shaft  420   a ,  420   b  is disposed within a vertical bore defined within the body portion  412   c  such that the adjustable supporting shaft  420   a ,  420   b  is adjustably positionable at a desired elevation above the respective arm portion  412 , for providing control of the position of the surgical tracking instrument  430  in relation to other elements of a support platform portion and/or adjustable surgical platform as shown in embodiments of  FIGS. 1A ,  1 B,  1 C,  2 A, and  2 B. The supporting shaft  420   a ,  420   b  is adjustably secured to the arm portion  412  by a fastening means  426   a ,  426   b , which is shown as a locking mounting screw with a locking nut  426   a , an opposite, locking knob  424   b , and a shaft defined between the locking nut  426   a  and locking knob  426   b . The shaft of the fastening means  426   a ,  426   b  extends through a bore  412   d  in the body portion  412   c  of the arm portion  412 , and through a bore  426   c  in the supporting shaft  420   a ,  420   b.    
     Now referring specifically to  FIG. 5 , a front, cross-sectional view of a means  502  for securing a surgical tracking instrument  430  to a support frame  100  is shown, according to one embodiment of the present invention. The means  502  is positioned proximate to the second end of an arm portion  512 , for example arm portion  112  as shown in the embodiment of  FIGS. 1A ,  1 B, and  1 C. Further, as shown, the means  502  is further positioned proximate to the engaging means  519 . It should be appreciated that means  502  may be mounted to more than one of the arm portions of a support platform portion, such as one or more of the other arm portions  114 ,  116  of the support platform portion  110  as shown in  FIGS. 1A ,  1 B, and  1 C, without departing from the scope of the present invention according to aspects disclosed herein. As shown, the surgical tracking instrument  430  is an optical tracking device with optical emitters  431  and/or detectors for tracking the position of the skull  150  of the living subject intraoperatively. The surgical tracking instrument is provided with a power and/or data cable  432 . It should be appreciated that the surgical tracking instrument  430  is not limited to an optical tracking means and may include one or more other types of surgical instruments for preoperative, intraoperative, or postoperative use, for example fiducial marking devices or other data-acquisition, registration, and/or alignment devices, without departing from the scope of the present invention according to aspects disclosed herein. 
     Means  502  collectively refers to elements that include an adjustable supporting shaft  520   a ,  520   b , a first side portion  522   a , a second side portion  522   b , and a space defined between the first side portion  522   a  and second side portion  522   b  for receiving at least a portion of the surgical tracking instrument  430 . The surgical tracking instrument  430  is securely engaged to the adjustable supporting shaft  520   a ,  520   b  by fastening means  521 ,  523   a ,  523   b , which as shown correspond to a threaded adjustable clamp that is configured to be rotated at a locking knob portion  523 , to cause a shaft portion to move in a direction from the second side portion  522   b  towards the first side portion  522   a , to thereby urge an engaging portion  523   a , such as a flat planar member, to apply a pressing force to one side of the surgical tracking device  430  in a first direction. A bracing member  521  is positioned on another side of the surgical tracking device  430 , such that the pressing force from the engaging portion  523   a  causes the surgical tracking device  430  to be secured in place between the first end portion  522   a  and the second end portion  522   b.    
     The adjustable supporting shaft  520   a ,  520   b  is configured to be adjustably positioned at a desired elevation above the respective arm portion  512  for controlling the position of the surgical tracking instrument  430  in relation to other elements of a support platform portion and/or adjustable surgical platform as shown in embodiments of  FIGS. 1A ,  1 B,  1 C,  2 A, and  2 B. The supporting shaft  520   a ,  520   b  is adjustably secured to an arm portion  512  by fastening means  525   a ,  525   b ,  525   c  and  527   a ,  527   b ,  525   c , which form threaded adjustable clamp portions that are configured to be rotated at respective locking knobs  525   a ,  527   b  in order to urge shaft portions  525   c ,  527   c  through a bore in the respective arm portion  512  to thereby cause flat planar members  525   b ,  527   a  at opposite respective ends to apply pressing force against respective sides of the surgical tracking device  430  to secure the surgical tracking device in a fixed position. 
     It should be noted that the adjustable supporting shaft  520   a ,  520   b  in the embodiment shown in  FIG. 5  is adjustable in 360° in relation to the directional orientation of the arm portion  512 , by rotating the adjustable supporting shaft, which is formed substantially in a cylindrical shape or with another geometry allowing for rotation within the arm portion  512 . As discussed above, the adjustable supporting shaft  520   a ,  520   b  is also adjustable vertically, to position an attachable surgical tracking device  430  at a desired height above the arm portion  512 . 
     Now referring specifically to  FIGS. 6A and 6B , a support frame  600  is shown, according to one exemplary embodiment of the present invention. Particularly,  FIG. 6A  provides a perspective view of the support frame  600  and  FIG. 1B  provides a side view of the support frame  600 . As shown, the support frame  600  includes a supporting platform portion  610  with a substantially annular body portion  610   c  that defines a bore  610   d  between a first end portion  610   a  and a second, opposite end portion  610   b , along a central axis. A plurality of arm portions  612 ,  614 ,  616  extend radially from the supporting platform portion  610  around the central axis, and are separated from each other by angles θ 1 , θ 2 , θ 3 , which are each about 120°. Each of the arm portions  612 ,  614 ,  616  has a first end portion  612   a ,  614   a ,  616   a  connected to the body portion  610   c  of the supporting platform portion  110 , a second, opposite end portion  612   b ,  614   b ,  616   b , and a body portion  612   c ,  614   c ,  616   c  defined between the first end portion  612   a ,  614   a ,  616   a , and the second end portion  612   b ,  614   b ,  616   b , respectively. A plurality of engaging means  618 ,  620 ,  622  are each positioned on a respective one of the arm portions  612 ,  614 ,  616 , proximate to the respective second end portions  612   b ,  614   b ,  616   b  of the arm portions  612 ,  614 ,  616 . Fastening means  611 ,  613 ,  615  such as mounting screws, bolts, or pins are provided through the body portion  610   c  of the supporting platform portion  610 , to securely attach the supporting platform portion  610  to a region of interest  150 , such as the skull, of a living subject. 
     Now referring also to the exemplary embodiment shown in  FIGS. 7A and 7B , each of the engaging means  618 ,  620 ,  622  is configured to engage a leg member  210 ,  212 ,  214  of an adjustable surgical platform  200 . In this embodiment, the engaging means  618 ,  620 ,  622  of each of the arm portions  612 ,  614 ,  616  is adjustable in three-dimensions to provide an adjustable positioning angle for corresponding engaged leg members  210 ,  212 ,  214  of the adjustable surgical platform  200 . Each of the engaging means  618 ,  620 ,  622  has a socket-ball joint with a respective concave recess  619 ,  621 ,  623  configured to receive a respective ball portion  216 ,  218 , and  220  of a respective one of a plurality of leg members  210 ,  212 , and  214  of the adjustable surgical platform  200 . It should be appreciated that other engaging means may be used without departing from the scope of the present invention according to aspects disclosed herein. For example, other types of mechanical joints or interfaces may be used to provide for rotational or other movement for adjustment of a surgical platform in connection with one or more leg members of the adjustable surgical platform. 
     Now referring specifically to the exemplary embodiments of  FIGS. 7A and 7B ,  FIG. 7A  schematically shows a perspective view of a support frame  600  according to the exemplary embodiment shown in  FIGS. 6A and 6B , supporting an adjustable surgical platform  200 , and  FIG. 7B  schematically shows a side view of the support frame  600  according to the exemplary embodiment shown in  FIGS. 6A and 6B , supporting the adjustable surgical platform  200 . The adjustable surgical platform  200  has a probe  201   a ,  201   b ,  201   c  guided on a trajectory through a bore (not shown) of a body portion  202  of the adjustable surgical platform  200 , and the trajectory continues through the bore  610   d  defined by the body portion  610   c  of the supporting platform portion  610  to a target area located inside the skull  150  of a living subject. For example, the probe  201   a ,  201   b  may provide an electrical stimulation lead for deep brain stimulation (DBS) or include a biopsy needle. The leg members  210 ,  212 ,  214  connect to the body portion  202  of the adjustable surgical platform  200  at connections  211 ,  213 ,  215  and have respective ball portions  216 ,  218 ,  220  for engaging with the engaging means  618 ,  620 ,  622  disposed on arm portions  612 ,  614 ,  618  of the supporting platform portion  610 . 
     Now referring specifically to  FIGS. 8A and 8B ,  FIG. 8A  schematically shows a side view of a support frame  800  according to one exemplary embodiment of the present invention, and  FIG. 8B  schematically shows a side view of the support frame  800  shown in  FIG. 8A , supporting an adjustable surgical platform  200 . As shown, the support frame  800  includes a supporting platform portion  810  with a substantially annular body portion  810   c  that defines a bore  810   d  between a first end portion  810   a  and a second, opposite end portion  810   b , along a central axis. A plurality of arm portions  812 ,  814 ,  816  extend radially from the supporting platform portion  810  around the central axis, separated from each other by angles θ 1 , θ 2 , θ 3 , which are each about 120°. Each of the arm portions  812 ,  814 ,  816  has a respective first end portion  812   a ,  814   a ,  816   a  connected to the body portion  810   c  of the supporting platform portion  810 , a second, opposite end portion  812   b ,  814   b ,  816   b , and a body portion  812   c ,  814   c ,  816   c  defined between the first end portion  812   a ,  814   a ,  816   a  and the second end portion  812   b ,  814   b ,  816   b , respectively. A plurality of engaging means  818 ,  820 ,  322  are each positioned on respective one of the arm portions  812 ,  814 ,  816 , proximate to the respective second end portions  812   b ,  814   b ,  816   b  of the arm portions  812 ,  814 ,  816 . Fastening means  811 ,  813 ,  815  such as mounting screws, bolts, or pins are provided through the body portion  810   c  of the supporting platform portion  810 , to securely attach the supporting platform portion  810  to the skull  150  of a living subject. 
     As shown, the adjustable surgical platform  200  has a probe  201   a ,  201   b ,  201   c  guided on a trajectory through a bore (not shown) of a body portion  202  of the adjustable surgical platform  200 , and the trajectory continues through the bore  810   d  defined by the body portion  810   c  of the support platform portion  810  to a target area located inside the skull  150  of a living subject. For example, the probe  201   a ,  201   b  may provide an electrical stimulation lead for deep brain stimulation (DBS) or include a biopsy needle. The leg members  210 ,  212 ,  214  connect to the body portion  202  of the adjustable surgical platform  200  at connections  211 ,  213 ,  215  and have respective ball portions  216 ,  218 ,  220  for engaging with the engaging means  818 ,  820 ,  822  disposed on arm portions  812 ,  814 ,  818  of the support platform portion  810 . 
     As shown, each of the arm portions  812 ,  814 ,  816  is configured to elevate a respective one of the engaging means  818 ,  820 ,  822  from the body portion  810   c  of the supporting platform portion  810 . More particularly, as shown the arm portions  812 ,  814 ,  816  have a generally upward-curving side profile to provide for an elevated engagement position for the engaging means  818 ,  820 ,  822  with corresponding ball portions  214 ,  216 ,  218  of the surgical platform  200 . It should be appreciated that other configurations may be used for achieving the elevated position of the engagement means other than those shown in the exemplary embodiment of  FIGS. 8A and 8B , without departing from the scope of the present invention according to aspects disclosed herein. For example, one or more of the arm portions  812 ,  814 ,  816  may have a planar side profile such that the arm portions  812 ,  814 ,  816  extend from the body portion  810   c  of the support platform portion  810 , in a direction such that an angle is established between the arm portions  812 ,  814 , and  816  between the planar axis of the body portion  810   c  and the planar axis of the arm portions  812 ,  814 ,  816 . Further, it should be appreciated that one or more of the arm portions  812 ,  814 ,  816  may be configured to adjustably vary the height at which the engaging means  818 ,  820 ,  822  are elevated in relation to the body portion  810   c , without departing from the scope of the present invention according to aspects disclosed herein. 
     The foregoing description of the exemplary embodiments of the invention has been presented only for the purposes of illustration and description and is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. 
     The embodiments were chosen and described in order to explain the principles of the invention and their practical application so as to enable others skilled in the art to utilize the invention and various embodiments and with various modifications as are suited to the particular use contemplated. Alternative embodiments will become apparent to those skilled in the art to which the present invention pertains without departing from its spirit and scope. Accordingly, the scope of the present invention is defined by the appended claims rather than the foregoing description and the exemplary embodiments described therein.