Method And Apparatus For Image-Based Navigation

Abstract

A system and method for a procedure that can be performed on any appropriate subject. Procedures can include assembling any appropriate work piece or installing members into a work piece, such as an airframe, autoframe, etc. Regardless of the subject, tracking a substantially small tracking device in a plurality of degrees of freedom is provided. The tracking device can be positioned on or be formed in an instrument to be tracked.

1 . An instrument, comprising:
 an exterior wall that is operable to be moved relative to a subject, wherein the exterior wall defines and extends along a longitudinal axis and comprises a first depression formed in the exterior wall and a second depression formed in the exterior wall, and wherein a centerline of the first depression extends (i) through a center of the first depression, (ii) perpendicular to the longitudinal axis and (iii) through a center of the second depression; and   a tracking device comprising
 a first conductive wire wound to define a first oval-shaped coil at least partially disposed in the first depression, wherein the first conductive wire is wound around a first axis of rotation, wherein the first axis of rotation extends through and is at a first angle relative to the longitudinal axis, and wherein the first angle is less than 90°, and 
 a second conductive wire connected in series with the first conductive wire, wherein the second conductive wire is wound to define a second oval-shaped coil at least partially disposed in the second depression, wherein the second conductive wire is wound around a second axis of rotation, wherein the second axis of rotation extends through and is at a second angle relative to the longitudinal axis, 
   wherein the first oval-shaped coil is angularly offset about the exterior wall with respect to the longitudinal axis and from the second oval-shaped coil;   wherein the first oval-shaped coil and the second oval-shaped coil are both disposed away from the longitudinal axis of the exterior wall, and   wherein the first oval-shaped coil and the second oval-shaped coil both (i) define respective navigational vectors that allow navigation of at least a portion of the exterior wall and (ii) provide a combined electromagnetic signal strength that is greater than an electromagnetic signal strength of each of the first oval-shaped coil and the second oval-shaped coil individually.   
     
     
         2 . The instrument of  claim 1 , wherein:
 the exterior wall comprises a third depression formed in the exterior wall and a fourth depression formed in the exterior wall;   the fourth depression is on an opposite side of the exterior wall than the third depression, wherein a centerline of the third depression extends (i) through a center of the third depression, (ii) perpendicular to the longitudinal axis and (iii) through a center of the fourth depression, and wherein the centerline of the third depression extends perpendicular to the centerline of the first depression; and   the tracking device further comprises
 a third conductive wire wound to define a third oval-shaped coil disposed in the third depression, and 
 a fourth conductive wire wound to define a fourth oval-shaped coil disposed in the fourth depression, 
 wherein the third and fourth oval-shaped coils are connected in series; 
 wherein the third oval-shaped coil and the fourth oval-shaped coil both provide a combined electromagnetic signal strength that is greater than electromagnetic signal strengths of each of the third oval-shaped coil and the fourth oval-shaped coil individually. 
   
     
     
         3 . The instrument of  claim 2 , wherein the third conductive wire and the fourth conductive wire define a navigation vector different than the navigation vector of the first oval-shaped coil and the second oval-shaped coil. 
     
     
         4 . The instrument of  claim 3 , further comprising a fifth conductive wire wrapped around the instrument and the longitudinal axis, wherein the fifth conductive wire defines a navigation vector that is different than each of the navigation vectors of the first oval-shaped coil and the second oval-shaped coil and the one or more navigation vectors of the third oval-shaped coil and the fourth oval-shaped coil. 
     
     
         5 . A navigation system comprising:
 the instrument of  claim 4 ;   a localizer operable to generate an electromagnetic field;   wherein
 the first conductive wire and the second conductive wire sense the electromagnetic field and generate a first signal corresponding to the navigation vectors of the first oval-shaped coil and the second oval-shaped coil, 
 the third conductive wire and the fourth conductive wire sense the electromagnetic field and generate a second signal corresponding to the one or more navigation vectors, and 
 the fifth conductive wire senses the electromagnetic field and generates a third signal corresponding to the navigation vector of the fifth conductive wire; and a navigation processor configured to execute instructions to determine a plurality of degrees of freedom of location information for the instrument based on the first signal, the second signal and the third signal. 
   
     
     
         6 . The instrument according to  claim 1 , wherein the second angle is different than the first angle. 
     
     
         7 . The instrument according to  claim 1 , wherein the second angle is a same angle as the first angle. 
     
     
         8 . The instrument according to  claim 1 , wherein the second angle is 180° different than the first angle. 
     
     
         9 . The instrument of  claim 1 , wherein the second axis of rotation extends through and is at a second angle relative to the longitudinal axis. 
     
     
         10 . The instrument according to  claim 1 , wherein:
 the second axis of rotation is at a second angle relative to the longitudinal axis; and   the second angle is an inverse of the first angle.   
     
     
         11 . The instrument according to  claim 1 , wherein:
 a distal end of the first oval-shaped coil is at a first radial distance from the longitudinal axis;   a distal end of the second oval-shaped coil is at a second radial distance from the longitudinal axis; and   the second radial distance is equal to the first radial distance.   
     
     
         12 . The instrument according to  claim 11 , wherein:
 a proximal end of the first oval-shaped coil is at a third radial distance from the longitudinal axis;   a proximal end of the second oval-shaped coil is at a fourth radial distance from the longitudinal axis; and   the fourth radial distance is greater than the third radial distance.   
     
     
         13 . The instrument according to  claim 1 , wherein:
 a distal end of the first oval-shaped coil is at a first radial distance from the longitudinal axis;   a distal end of the second oval-shaped coil is at a second radial distance from the longitudinal axis; and   the second radial distance is greater than the first radial distance.   
     
     
         14 . The instrument according to  claim 13 , wherein:
 a proximal end of the first oval-shaped coil is at a third radial distance from the longitudinal axis;   a proximal end of the second oval-shaped coil is at a fourth radial distance from the longitudinal axis; and   the fourth radial distance is equal to the third radial distance.   
     
     
         15 . The instrument according to  claim 1 , wherein:
 the first oval-shaped coil has an interference fit with the first depression; and   the second oval-shaped coil has an interference fit with the second depression.   
     
     
         16 . The instrument according to  claim 1 , wherein:
 the first conductive wire is wound around a first electromagnetic permeable core; and   the second conductive wire is wound around a second electromagnetic permeable core.   
     
     
         17 . The instrument according to  claim 1 , wherein the exterior wall comprises a third depression and a fourth depression;
 the fourth depression is on an opposite side of the exterior wall than the third depression, wherein a centerline of the third depression extends (i) through a center of the third depression, (ii) perpendicular to the longitudinal axis and (iii) through a center of the fourth depression, and wherein the centerline of the third depression extends perpendicular to the centerline of the first depression; and   the tracking device further comprises
 a third conductive wire wound to define a third oval-shaped coil disposed in the third depression, and 
 a fourth conductive wire wound to define a fourth oval-shaped coil disposed in the fourth depression, 
 wherein the third and fourth oval-shaped coils are connected in series; 
 wherein all of the first, second, third, and fourth oval-shaped coils are offset from one another about the longitudinal axis; 
 wherein the third conductive wire and the fourth conductive wire define signals for determination of a navigation vector that is different than the navigation vector of the first oval-shaped coil and the second oval-shaped coil along the line; and a fifth conductive wire wrapped around the instrument and the longitudinal axis, wherein the fifth conductive wire defines a navigation vector that is different than each of the navigation vectors of the first oval-shaped coil and the second oval-shaped coil and the third oval-shaped coil and the fourth oval-shaped coil. 
   
     
     
         18 .- 21 . (canceled) 
     
     
         22 . An instrument, comprising:
 an exterior wall that is operable to be moved relative to a subject, wherein the exterior wall defines and extends along a longitudinal axis and comprises a first depression formed in the exterior wall and a second depression formed in the exterior wall, wherein the second depression is on an opposite side of the exterior wall than the first depression, and wherein a centerline of the first depression extends (i) through a center of the first depression, (ii) perpendicular to the longitudinal axis and (iii) through a center of the second depression; and   a tracking device comprising
 a first conductive wire wound to define a first oval-shaped coil at least partially disposed in the first depression, wherein the first conductive wire is wound around a first axis of rotation, wherein the first axis of rotation extends through and is at a first angle relative to the longitudinal axis, and wherein the first angle is less than 90°, and 
 a second conductive wire connected in series with the first conductive wire, wherein the second conductive wire is wound to define a second oval-shaped coil at least partially disposed in the second depression, wherein the second conductive wire is wound around a second axis of rotation, wherein the second axis of rotation extends through and is at a second angle relative to the longitudinal axis, 
   wherein the first oval-shaped coil is angularly offset about the exterior wall with respect to the longitudinal axis and from the second oval-shaped coil;   wherein the first oval-shaped coil and the second oval-shaped coil are both disposed away from the longitudinal axis of the exterior wall, and   wherein the first oval-shaped coil and the second oval-shaped coil both (i) define a respective signal that allows navigation of at least a portion of the exterior wall and (ii) provide a combined electromagnetic signal strength that is greater than electromagnetic signal strengths of each of the first oval-shaped coil and the second oval-shaped coil individually regarding a navigation vector.   
     
     
         23 . An instrument, comprising:
 a flexible exterior wall having a distal end that is operable to be moved relative to a subject and a longitudinal axis, wherein the exterior wall is tubular-shaped and includes a bore for insertion of a cannula, a drill bit or a needle;   a first depression and a second depression in the exterior wall, wherein the second depression is on an opposite side of the exterior wall than the first depression, and wherein a centerline of the first depression extends (i) through a center of the first depression, (ii) perpendicular to the longitudinal axis and (iii) through a center of the second depression; and   a tracking device defined by
 a first conductive wire wound around a first axis of rotation a first distance from the distal end to form a first oval-shaped coil, 
 a second conductive wire wound around a second axis of rotation at the first distance from the distal end to form a second oval-shaped coil, and 
 wherein the first oval-shaped coil is connected in series with the second oval-shaped coil; and 
   wherein the tracking device is connected to the exterior wall including the first oval-shaped coil at least partially disposed in the first depression and the second oval-shaped coil at least partially disposed in the second depression, such that (i) the first axis of rotation extends through and is at a first angle relative to the longitudinal axis, and wherein the first angle is less than 90°, (ii) the second axis of rotation extends through and is at a second angle relative to the longitudinal axis, wherein the second angle is different than the first angle, and (iii) the first oval-shaped coil and the second oval-shaped coil each define respective coil navigation vectors.   
     
     
         24 . The instrument of  claim 23 , wherein a navigation vector of the tracking device is defined when used with a navigation system by sensing the first oval-shaped coil and the second oval-shaped coil. 
     
     
         25 . The instrument of  claim 24 , wherein the navigation vector is defined relative to the instrument due to the positioning of the first oval-shaped coil and the second oval-shaped coil.