Combination localization system
First Claim
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1. A system to determine and illustrate a location of an instrument using a registration between two tracking systems, comprising:
- a first tracking device operable with a first tracking system to determine a location of the first tracking device in a first navigational domain, said first tracking system is an electromagnetic tracking system and the first navigational domain is defined by an electromagnetic field generated by an electromagnetic localizer of the first tracking system;
a second tracking device operable with a second tracking system to determine a location of the second tracking device in a second navigational domain, said second tracking system is an electro-potential tracking system and the second navigational domain is defined by a current injected into a volume between at least a first injection electrode and a second injection electrode;
an instrument including a first portion and a second portion, the first tracking device is associated with the first portion of the instrument and the second tracking device is associated with the second portion of the instrument;
wherein the second portion of the instrument surrounds at least a selected portion of the first portion of the instrument and is moveable relative to the first portion of the instrument; and
a calibration jig having an exterior indication module associated with a fixed base;
wherein the exterior indication module is operable to illuminate a target associated with the first tracking system to indicate a location of the first tracking device relative to the calibration jig.
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Abstract
A navigation system or combination of navigation systems can be used to provide two or more navigation modalities to navigate a single instrument in a volume. For example, both an Electromagnetic (EM) and Electropotential (EP) navigation system can be used to navigate an instrument within the volume. Image data can also be illustrated relative to a tracked position of the instrument in the volume for navigation.
827 Citations
23 Claims
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1. A system to determine and illustrate a location of an instrument using a registration between two tracking systems, comprising:
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a first tracking device operable with a first tracking system to determine a location of the first tracking device in a first navigational domain, said first tracking system is an electromagnetic tracking system and the first navigational domain is defined by an electromagnetic field generated by an electromagnetic localizer of the first tracking system; a second tracking device operable with a second tracking system to determine a location of the second tracking device in a second navigational domain, said second tracking system is an electro-potential tracking system and the second navigational domain is defined by a current injected into a volume between at least a first injection electrode and a second injection electrode; an instrument including a first portion and a second portion, the first tracking device is associated with the first portion of the instrument and the second tracking device is associated with the second portion of the instrument; wherein the second portion of the instrument surrounds at least a selected portion of the first portion of the instrument and is moveable relative to the first portion of the instrument; and a calibration jig having an exterior indication module associated with a fixed base; wherein the exterior indication module is operable to illuminate a target associated with the first tracking system to indicate a location of the first tracking device relative to the calibration jig. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system to determine and illustrate a location of a tracking device using a registration between two tracking systems, comprising:
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a stylet having a first tracking device having a coil of conductive material extending between two ends and over a length of a first instrument and operable with a first tracking system to determine a position and an orientation of the first tracking device in a first navigational domain, the first tracking system is an electromagnetic tracking system and the first navigational domain is defined by an electromagnetic field generated by an electromagnetic localizer of the first tracking system; a catheter having a second tracking device having a first trackable electrode near a first end of the first tracking device and a second trackable electrode near a second end of the first tracking device, wherein the second tracking device is operable with a second tracking system to determine a position and orientation of the second tracking device in a second navigational domain, the second tracking system is an electro-potential tracking system and the second navigational domain is defined by a current injected into a volume between at least a first injection electrode and a second injection electrode, wherein the catheter surrounds at least a selected portion of the stylet and is moveable relative to the stylet; a navigation system associated with at least the second tracking system to determine at least one of an orientation and a position of the first instrument stylet based on a determined position of the two trackable electrodes of the second tracking device second tracking device; and a calibration jig having an exterior indication module associated with a fixed base; wherein the exterior indication module is operable to illuminate the coil of conductive material and use the first tracking system to indicate a location of the coil of conductive material relative to the calibration jig. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A system to determine and illustrate a location of a tracking device using a registration between two tracking systems, comprising:
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an instrument including a first portion moveable relative to a second portion; a first tracking coil associated with the first portion of the instrument and operable with a first electromagnetic tracking system to determine a location of the first tracking coil in a first navigational domain; a second tracking electrode associated with the second portion of the instrument and operable with a second electro-potential tracking system to determine a location of the second tracking device in a second navigational domain; and a calibration jig having an exterior indication module associated with a fixed base; wherein the exterior indication module is operable to illuminate the first tracking coil and use the first electromagnetic tracking system to indicate a location of the first tracking coil relative to the calibration jig. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification