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Abstract

A method for tracking an instrument during image-guided stereotactic surgery on a body, for instance during stereotactic brain surgery. The method includes attaching multiple bone anchors to the body, attaching scanning markers to each of the bone anchors, and scanning the body to form a three-dimensional image of the body. Images of the scanning markers are formed in the three-dimensional image and the locations of the images of the scanning markers in the three-dimensional image are determined, for example, by a human operator identifying the locations on a computer display of the image. The method then involves attaching a number of sensing devices, such as cameras, or microphones, to the bone anchors. For example, a mounting rod is attached to each of the bone anchors and each mounting rod supports one of the sensing devices. The mounted sensing devices are in a predetermined geometric relationship with the bone anchors. The instrument, which includes a tracking marker, is positioned in the field of view of the sensing devices. The location of the tracking marker in relation to the bone anchors is determined using signal provided by the sensing devices, such as camera images, and using the known geometric relationship between the cameras and the bone anchors, and can be continuously displaying the location of the instrument in conjunction with a view of three-dimensional image.

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First Claim