Patent ID: 8611983

Claim:
An apparatus for utilizing an image of a lung of a patient and a target, the apparatus comprising: a tracking device for obtaining coordinates of a plurality of positions of each of a plurality of first and second elements, each element providing coordinates of its position; a tracked navigation instrument having one or more of the plurality of first elements thereon for insertion into the lung of the patient to produce accuracy coordinates of the positions of the one or more first elements when the tracked navigation instrument touches one or more known locations or fiducials on the patient, the accuracy coordinates verify accuracy of the image; a motion compensation device having one or more of the plurality of second elements thereon for insertion into the tracked navigation instrument; a computing device for mitigating an effect of patient movement on the image by producing an initial alignment of coordinates of the image with the accuracy coordinates, maintaining the alignment of the coordinates of the image with the coordinates of the positions of the second elements, and showing on the image the tracked navigation instrument as it is advanced to the target and the motion compensation device as it is advanced over the tracked navigation instrument to the target.