System And Method For Determining A Position Of An Object

Abstract

A system is disclosed for determining a position and a change in the position of an anatomical structure. The system utilizes a surgical navigation system and a substrate that is capable of being removably mounted to an outer surface of a body. A sensor is attached to the substrate to be tracked by the surgical navigation system. An ultrasonic imaging device is attached to the substrate to determine a position of the anatomical structure. A first circuit calculates a global position of the anatomical structure by correlating a position of the sensor and the position of the anatomical structure. The first circuit determines the global position without the use of an image of the anatomical structure, and may do so without the use of a reference device invasively affixed to the body. A second circuit displays the global position of the anatomical structure.

1 . A system for determining a position and a change in the position of an anatomical structure, the system comprising:
 a surgical navigation system;   a substrate capable of being removably mounted to an outer surface of a body, wherein the body includes an anatomical structure;   a sensor attached to the substrate and configured to be tracked by the surgical navigation system;   an ultrasonic imaging device attached to the substrate and configured to determine a position of the anatomical structure;   a first circuit for calculating a global position of the anatomical structure by correlating a position of the sensor and the position of the anatomical structure, wherein the first circuit determines the global position without the use of an image of the anatomical structure; and   a second circuit for displaying the global position of the anatomical structure.   
     
     
         2 . The system of  claim 1 , wherein the substrate is fixedly mounted to the outer surface of the body using an ultrasonic coupling adhesive. 
     
     
         3 . The system of  claim 1 , wherein the substrate is approximately five centimeters in width and approximately five centimeters in length. 
     
     
         4 . The system of  claim 1 , wherein the sensor is an optical tracking device. 
     
     
         5 . The system of  claim 4 , wherein the optical tracking device includes three LED's. 
     
     
         6 . The system of  claim 1 , wherein the anatomical structure is a bony structure. 
     
     
         7 . The system of  claim 1 , wherein the first circuit is configured to determine the global position of the anatomical structure without the use of a reference device invasively affixed to the body. 
     
     
         8 . The system of  claim 1 , wherein multiple ultrasonic imaging devices are configured to simultaneously track the position of the anatomical structure. 
     
     
         9 . The system of  claim 1 , wherein the ultrasonic imaging device comprises three ultrasound transducers. 
     
     
         10 . The system of  claim 9 , further comprising three sonic reflective balls disposed adjacent the anatomical structure. 
     
     
         11 . The system of  claim 10 , wherein the three sonic reflective balls are substantially composed of air. 
     
     
         12 . The system of  claim 10 , wherein the three sonic reflective balls are composed of a resorbable material. 
     
     
         13 . The system of  claim 10 , wherein one of the three ultrasound transducers is configured to emit an ultrasonic beam, and wherein the ultrasonic beam is configured to be reflected by a first of the three sonic reflective balls to the ultrasound transducers. 
     
     
         14 . The system of  claim 9 , further comprising three source transducers disposed adjacent the anatomical structure. 
     
     
         15 . The system of  claim 14 , wherein one of the three source transducers is configured to emit an ultrasonic beam, and wherein the ultrasonic beam is configured to be received by the ultrasound transducers.