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Method and devices for localizing an instrument

  • US 5,769,861 A
  • Filed: 09/12/1996
  • Issued: 06/23/1998
  • Est. Priority Date: 09/28/1995
  • Status: Expired due to Term
First Claim
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1. A method of localizing an instrument relative to three dimensional corporeal data, particularly for stereotaxis, comprising the following steps:

  • a) connecting an internal marker means fixedly to a body to define an intracorporeal, spatial reference system,b) implementing an analytical scan of the body including said internal marker means to determine the positions of said three-dimensional corporeal data obtained from said analytical scan in said intracorporeal reference system defined by said internal marker means,c) implementing a referencing step, whereby position and orientation of said intracorporeal reference system defined by said internal marker means relative to an extracorporeal reference system defined by an external marker means is determined and said external marker means is located outside of the body in a fixed spatial relationship to the body,d) determining the position and orientation of an instrument in said extracorporeal reference system by means of said external marker means and an instrument marker means attached to said instrument, ande) computing from the position and orientation of the instrument in said extracorporeal reference system the position and orientation of said instrument in said intracorporeal reference system via the relationship between said intracorporeal and said extracorporeal reference system known from step c),wherein said referencing step comprises a reference scan of said internal marker means and said external marker means, andwherein said external marker means comprises a first external marker means and a second external marker means, the relative spatial positions of which to each other define respective first and second extracorporeal reference systems which rest one in the other, said first marker means being scannable by said referencing scan to thus define the relative position of said intracorporeal reference system to said first extracorporeal reference system, and said second marker means is scannable by an instrument position determining means so as to define the position and orientation of said instrument in said second reference system.

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