Patent ID: 8611985
Filing Date: 2013-12-17
Classification: A61B

Abstract:
1. A method of navigation of a tool to be used in a surgical intervention for treating a target region within the body of a patient, comprising the following steps for preparing the navigation: detecting an image position of a first reference marker disposed on the body of the patient by an imaging system, and detecting a spatial position of said first reference marker by a localizing system, wherein said localizing system is a magnetic tracking system, and wherein said first reference marker comprises: a magnetic element having at least two coils arranged in a manner to define at least two vectors in a coordinate system of the magnetic tracking system, and a geometric element comprising components visible on image data of the imaging system and having a unique geometry detectable by the imaging system, said components comprising hollow plastic tubes having an external part and an internal part filled with air, wherein detecting the image position of the first reference marker comprises searching for said external part having a density in Hounsfield values equal to a plastic material Hounsfield value and said internal part having a null Hounsfield value, in an image provided by the imaging system; calculating a first transform matrix between an image coordinate system of the imaging system and a spatial coordinate system associated with the first reference marker by using detected image and spatial positions of the first reference marker, in order to register data of the localizing system and imaging system together; detecting a spatial position of a pointer by the localizing system; constructing and displaying a navigation image, wherein a representation of the spatial position of the pointer is displayed on image data from the imaging system using the first transform matrix; and determining an entry point through which the tool should be inserted for reaching the target region by using the representation of the pointer in the navigation image.