Method, device and navigation aid for navigation during medical interventions
First Claim
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1. A device for navigation during a medical intervention on a non-osseous structure, comprising:
- (a) a plurality of navigation aids for navigation during a medical intervention on a non-osseous structure, each navigation aid comprising one marker defining a respective local system of coordinates for determining a position of at least one substructure of the non-osseous structure based on position of the navigation aids in the non-osseous structure, wherein each navigation aid has at least five degrees of freedom to be sensed and wherein each respective local system of coordinates of each navigation aid is locally varying; and
(b) means for sensing the spatial position of each of the plurality of navigation aids in at least five degrees of freedom of each navigation aid.
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Abstract
The invention relates to one or several navigation aids whose position can be used to maintain the recorded state of at least one partial structure of a non-bone structure. The navigation aid(s) is/are inserted into the non-bone structure.
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Citations
18 Claims
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1. A device for navigation during a medical intervention on a non-osseous structure, comprising:
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(a) a plurality of navigation aids for navigation during a medical intervention on a non-osseous structure, each navigation aid comprising one marker defining a respective local system of coordinates for determining a position of at least one substructure of the non-osseous structure based on position of the navigation aids in the non-osseous structure, wherein each navigation aid has at least five degrees of freedom to be sensed and wherein each respective local system of coordinates of each navigation aid is locally varying; and (b) means for sensing the spatial position of each of the plurality of navigation aids in at least five degrees of freedom of each navigation aid. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for navigation during a medical intervention on a non-osseous structure comprising the steps of:
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(a) registering a non-osseous structure with preoperative data of the non-osseous structure; (b) fixing a plurality of navigation aids on or in the non-osseous structure in selected positions, each navigation aid comprising one marker defining a respective local system of coordinates, wherein each navigation aid has at least five degrees of freedom to be sensed; (c) defining the respective local system of coordinates via each navigation aid, wherein each respective local system of coordinates of each navigation aid is locally varying; and (d) determining a substructure position of at least one substructure of the non-osseous structure based on the varying positions of the navigation aids and based on the respective varying local coordinate systems. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification