Importance

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Abstract

A real-time positioning system monitors and displays a real-time position and orientation (pose) of a surgical device relative to reference device and internal structures of a subject during a medical procedure. Tracking targets are affixed to a surgical device and a reference device. The reference device is fixed to a target site of a subject. The tracked targets are interactively monitored by a tracking device and their raw positions are converted to a position and orientation (pose) of the surgical device and the reference device. A medical imaging device acquires images of internal structures of the subject which is converted into computer models by a modeling engine. The models of internal structures are correctly registered with models of the surgical instrument and the reference device into a single interactive representation assisting a surgeon in a medical procedure. A density integrator may be employed to select a best path through a subject based upon user-defined criteria, such as greatest overall density, least density, furthest from nerves, blood vessels, intersecting the most diseased tissue, etc.

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First Claim