Patent ID: 7840251

Claim:
An apparatus insertable into an anatomical body, said apparatus comprising: an insertable portion holding a position sensor that can transmit a signal indicative of its position in a frame of reference; fiducial markings on the insertable portion, said fiducial markings being detectable by an imaging modality when the insertable portion is inserted in the anatomical body and permitting the position and orientation of the insertable portion to be determined, said insertable portion substantially rigidly holding the position sensor at a known spatial position with respect to the fiducial markings; wherein the fiducial markings are non-symmetrical about at least a first axis of the insertable portion; wherein, after insertion in the anatomical body, the fiducial markings can be detected by the imaging modality to facilitate unambiguous registration to the anatomical body of the position sensor rigidly held in the insertable portion by correlating the fiducial markings detected by the imaging modality to the determined position of the position sensor in the frame of reference.