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Replacing a Driver's Seat Frame. Seat frames are basically what give your car seats their shape. They're used to give your seats general support using slender pieces of steel joined together to form your seats' skeleton.
Usually medium means the seat tube length is around 17-18 inches. Large means the seat tube is about 19-21 inches long. The seat tube is how frame size is measured, everything else goes off that size. You might want to look on the manufactures website for mare detailed frame sizes for a specfic model. With you being 5'11 a medium frame would probably work for you.