Patent ID: 7359746

Claim:
A method for displaying information during an interventional procedure, comprising: scanning a scanner calibrator to acquire an image of said scanner calibrator, said scanner calibrator comprising at least one fiducial and said image of said scanner calibrator comprising a representation of said at least one fiducial; determining a position relative to a tracking system of the scanner calibrator when the image of the scanner calibrator was acquired; determining a position relative to the tracking system of a scanner tracker fixed to a scanner; determining a transform (T c ) between said scanner calibrator and said scanner tracker from the determined positions of the scanner calibrator and the scanner tracker; calculating a transform (T i ) that maps a location relative to the tracking system of said at least one fiducial to a position of said representation of said at least one fiducial in the image of the scanner calibrator; calculating a transform (T s ) between said scanner tracker and said image of said scanner calibrator based at least in part on said determined transform (T c ) between said scanner calibrator and said scanner tracker and said calculated transform (T i ) mapping said location of said at least one fiducial to said position of said representation of said at least one fiducial in the image of the scanner calibrator; scanning at least a portion of an anatomy of a patient to acquire a plurality of anatomical images of said portion of said anatomy; determining a position relative to the tracking system of a patient tracker associated with the patient; calculating a transform (T p ) between said patient tracker and said scanner tracker; determining a transform (T r ) between said patient tracker and said plurality of anatomical images based at least in part on said transform (T p ) between said patient tracker and said scanner tracker and at least in part on said transform (T s ) between said scanner tracker and said image of said scanner calibrator; determining a transform (T t ) between an instrument used in said interventional procedure and said patient tracker; calculating a transform (T n ) between said instrument and said plurality of anatomical images based at least in part on said determined transform (T l ) between said instrument and said patient tracker and said determined transform (T r ) between said patient tracker and said plurality of anatomical images; and displaying an updated current position of said instrument on at least one of said plurality of anatomical images based at least in part on said calculated transform (T n ) between said instrument and said plurality of anatomical images.