Apparatus for registering and tracking an instrument

Abstract

There is provided a device for generating a frame of reference and tracking the position and orientation of a tool in computer-assisted image guided surgery or therapy system. A first curvature sensor including fiducial markers is provided for positioning on a patient prior to volumetric imaging, and sensing the patient's body position during surgery. A second curvature sensor is coupled to the first curvature sensor at one end and to a tool at the other end to inform the computer-assisted image guided surgery or therapy system of the position and orientation of the tool with respect to the patient's body. A system is provided that incorporates curvature sensors, a garment for sensing the body position of a person, and a method for registering a patient's body to a volumetric image data set in preparation for computer-assisted surgery or other therapeutic interventions. This system can be adapted for remote applications as well.

1 - 31 . (canceled) 
     
     
         32 . A device comprising:
 a) a first non-invasive sensor configured to be placed external to an entity, the first non-invasive sensor providing first external location data, the first non-invasive sensor including at least two physically constrained imageable fiducials;   b) a first attachment fixture coupled to the first non-invasive sensor; and   c) a computer configured to receive the first external location data and relate the first external location data to:
 i) the location of imageable fiducials; and 
 ii) a 3-D internal image set of the entity. 
   
     
     
         33 . The device of  claim 32 , further comprising a second non-invasive sensor providing second external location data, the second non-invasive sensor having a first end and a second end; the first end configured to couple to the first attachment fixture. 
     
     
         34 . The device of  claim 33 , further comprising a tool connector configured to be coupled to the second end. 
     
     
         35 . The device of  claim 33 , further comprising a second attachment fixture configured to be coupled to the second end. 
     
     
         36 . The device of  claim 33 , further comprising a tool connector configured to be coupled between the first end and the second end. 
     
     
         37 . The device of  claim 34 , further comprising a mechanism for displaying the location of the tool connector with respect to the entity. 
     
     
         38 . The device of  claim 36 , further comprising a mechanism for displaying the location of the tool connector with respect to the entity. 
     
     
         39 . The device of  claim 34 , further comprising an optical tracking system electronically coupled to the computer and configured to track the location of the tool connector. 
     
     
         40 . The device of  claim 34 , further comprising an optical tracking system electronically coupled to the computer and configured to track the location of the tool. 
     
     
         41 . The device of  claim 32 , wherein the computer is configured to define a first attachment fixture centered frame of reference using the first external location data. 
     
     
         42 . The device of  claim 32 , wherein the first non-invasive sensor comprises a fiber optic curvature sensor. 
     
     
         43 . The device of  claim 32 , wherein the device is configured to be used during the performance of an operation on the entity. 
     
     
         44 . The device of  claim 43 , wherein the operation is at least one of the following:
 a) a surgery;   b) a therapeutic intervention; or   c) a combination of the above.   
     
     
         45 . The device of  claim 44 , wherein the operation is at least one of the following:
 a) image guided surgery;   b) image guided therapeutic intervention; or   c) a combination of the above.   
     
     
         46 . The device of  claim 32 , wherein the entity is a patient. 
     
     
         47 . The device of  claim 32 , wherein the first attachment fixture includes at least one imageable fiducial. 
     
     
         48 . The device of  claim 32 , wherein imageable fiducials are configured to be detectable by a medical imaging system. 
     
     
         49 . The device of  claim 32 , wherein the device is configured to define a patient based frame of reference. 
     
     
         50 . The device of  claim 32 , wherein at least two of the imageable fiducials are at known inter-fiducial distances. 
     
     
         51 . The device of  claim 32 , wherein the device is configured to perform an operation on the entity at a distance. 
     
     
         52 . The device of  claim 32 , wherein the first non-invasive sensor is configured as a sensing mesh that includes at least one filament coupled to at least one imageable fiducial. 
     
     
         53 . A sensing mesh according to  claim 52 , wherein the sensing mesh is configured as a garment.