Patent ID: 8632461

Claim:
An image-guided medical instrument that utilizes a tracking device to track a location of at least a portion of the instrument on at least one image of an anatomy, the image-guided medical instrument comprising: a handle that includes an operating element; a treatment apparatus; an elongated flexible body member comprising a first end of the body member coupled to the handle, a second end of the body member coupled to the treatment apparatus, and a first lumen; and a transmission element configured to actuate the treatment apparatus in response to actuation of the operating element, wherein the transmission element is disposed inside the first lumen and comprises a first end of the transmission element coupled to the operating element, a second end of the transmission element coupled to the treatment apparatus, and a second lumen including at feast one sensor element, wherein the at least one sensor element is located at the second end of the body member adjacent to the treatment apparatus, wherein the at least one sensor element, disposed inside the second lumen, is configured to obtain position information regarding a position of the at least one sensor element, and wherein the location of the treatment apparatus on the at least one image of the anatomy is able to be determined using the position information of the at least one sensor element.