Patent ID: 6314310
Filing Date: 2001-11-06
Classification: A61B

Abstract:
A method for image guided surgery, comprising:placing a reference element, to which a reference coordinate sensing device is fixed, on the body of a patient, the reference coordinate sensing device generating signals used for determining position and orientation coordinates of the reference element;acquiring an image of the body, including the element, during the surgery;processing the image to determine image-based coordinates of the reference coordinate sensing device;receiving and processing signals from the reference coordinate sensing device to determine signal-based coordinates in the form of position and orientation coordinates thereof;registering the image-based and signal-based coordinates to determine a coordinate transformation therebetween;bringing a surgical tool having a tool coordinate sensing device into proximity with the body of the patient, the tool coordinate sensing device generating signals used for determining position and orientation coordinates of the tool;receiving and processing signals from the tool coordinate sensing device to determine signal-based coordinates in the form of position and orientation coordinates thereof;determining image-based coordinates of the tool by applying the coordinate transformation to the signal-based coordinates of the tool coordinate sensing device;programming a desired course that the tool is to follow in the body;displaying the desired course on the image;advancing the tool in the body along the displayed desired course; andtracking the progress of the advanced tool along the displayed desired course.