Patent ID: 9610118
Date: 2017-04-04
CPC Classifications: A61B

Claim:
1. A method for determining a motion compensated node location in a three-dimensional coordinate system associated with a node disposed on a first medical device within a body, the method comprising: determining a plurality of reference locations in said coordinate system corresponding to a positional reference node within the body and corresponding to a plurality of secondary reference nodes relative to the positional reference node, wherein the positional reference node and each of the secondary reference nodes are disposed on a second medical device; determining a mapping transformation function configured to transform, for the positional reference node and each of the plurality of secondary reference nodes, the respective determined reference locations to be defined as corresponding constant locations over time in said coordinate system such that the reference locations are an input to the mapping transformation function and the corresponding constant are an output to the mapping function to thereby define a static model of the second medical device, wherein the transformed reference locations of the corresponding constant locations define a static position of the second medical device; and determining the motion compensated node location associated with the node disposed on the first medical device by