Patent ID: 9489738
Filing Date: 2016-11-08
CPC Classification: A61B,A61C,G06T,H04N

Claim Text:
1. A system for monitoring the position and orientation of non-visible structure of a body, the system comprising: A multi-element fiducial reference adapted to be rigidly attached to the body, the multi-element fiducial reference comprising a plurality of pattern segments individually locatable based on scan data; a three-dimensional tracking marker rigidly attached at a predetermined location in a predetermined orientation on an implement proximate the body; a tracker arranged to obtain image information about an area encompassing the multi-element fiducial reference and the marker; a computer system coupled to the tracker and having a previously obtained scan data of the body with the fiducial reference fixed to the body and including a processor with memory and a software program having a series of instructions for execution by the processor to determine the relative positions and orientations of the at least a selection of the pattern segments, the marker and the fiducial reference based on the image information and the scan data scan data; and a display system in communication with the computer system; wherein the system is characterized by at least one of the marker and the tracker being connected to the fiducial reference in a fixed relative position and orientation, the computer system also having software enabling deriving in real time the spatial distortion of the body proximate the multi-element fiducial reference by comparing in real time the three-dimensional locations and orientations of the at least a selection of the pattern segments as determined from the image information with the three-dimensional locations and orientations of the at least a selection of the pattern segments as determined from the scan data.