Method and apparatus for image-based navigation
First Claim
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1. A navigation system, comprising:
- an instrument that is operable to be moved relative to a subject and having an exterior wall that defines an instrument axis;
a first holding portion defined by the instrument within a surface of the exterior wall having a first holding portion diameter, the first holding portion defining a cavity having a pair of tapered surfaces and a first pair of opposed flat surfaces extending from the pair of tapered surfaces and angled with respect to the instrument axis; and
a tracking device formed of at least a first portion having a first conductive wire wound around a first core to form a first coil defining a first navigation vector angled with respect to the instrument axis, wherein the first coil has a first central portion having a first coil diameter larger than the first holding portion diameter of the exterior wall, the central portion being tapered to a first pair of ends, the tracking device being configured to be aligned by the pair of tapered surfaces and the first pair of opposed flat surfaces,wherein the first coil comprises a second pair of opposed surfaces configured to engage the first pair of opposed flat surfaces and is positioned in the first holding portion of the instrument.
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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.
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Citations
27 Claims
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1. A navigation system, comprising:
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an instrument that is operable to be moved relative to a subject and having an exterior wall that defines an instrument axis; a first holding portion defined by the instrument within a surface of the exterior wall having a first holding portion diameter, the first holding portion defining a cavity having a pair of tapered surfaces and a first pair of opposed flat surfaces extending from the pair of tapered surfaces and angled with respect to the instrument axis; and a tracking device formed of at least a first portion having a first conductive wire wound around a first core to form a first coil defining a first navigation vector angled with respect to the instrument axis, wherein the first coil has a first central portion having a first coil diameter larger than the first holding portion diameter of the exterior wall, the central portion being tapered to a first pair of ends, the tracking device being configured to be aligned by the pair of tapered surfaces and the first pair of opposed flat surfaces, wherein the first coil comprises a second pair of opposed surfaces configured to engage the first pair of opposed flat surfaces and is positioned in the first holding portion of the instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 23, 24)
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8. A navigation system, comprising:
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a navigation processor operable to execute instructions; an instrument that is operable to be moved relative to a subject and having an exterior wall that defines an instrument axis; a tracking device having, a first portion having a first conductive wire wound around a first core to form a first coil, wherein the first core defines a shaped member having a first center portion having a first center portion core diameter and a pair of first core ends each having a first end core diameter, wherein the first center portion core diameter is greater than the first end core diameter, wherein the first portion defines a first navigation vector along a first axis; a second portion having a second conductive wire wound around a second core to form a second coil, wherein the second core defines a shaped member having a second center portion having a second center portion core diameter, and a pair of second ends each having a second end core diameter, wherein the second center portion core diameter is greater than the second end core diameter, wherein the second portion defines a second navigation vector along a second axis angled with respect to the instrument axis; and a third portion having a third conductive wire wound around a third core to form a third coil, wherein the third core defines a shaped member having a third center portion having a third center portion core diameter, and a pair of third ends each having a third end core diameter, wherein the third center portion core diameter is greater than the third end core diameter, wherein the third portion defines a third navigation vector along a third axis; wherein each of the first navigation vector, the second navigation vector, and the third navigation vector define positive and non-zero angles relative to one another; and the first holding portion defined by the instrument within a surface of the exterior wall to hold the first portion relative to the instrument, the first holding portion defines a first pair of opposed planar surfaces at an acute angle with respect to the instrument axis and perpendicular to the first navigation vector, and the first coil comprises a second pair of opposed planar surfaces configured to engage the first pair of opposed planar surfaces. - View Dependent Claims (9, 10, 11, 12, 13, 22, 25, 26, 27)
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14. A method of forming and using a navigation system, comprising:
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providing an instrument that is operable to be moved relative to a subject and having an exterior wall having a first instrument diameter that defines an instrument axis and first and second holding portions in the instrument within the exterior wall, wherein the first holding portion defines a first pair of opposed flat surfaces at an acute angle with respect to the instrument axis, and a pair of tapered surfaces extending from the pair of opposed flat surfaces; forming a tracking device, including, forming a first tracking portion by winding a first conductive wire around a first core to form a first coil, the first core having a first core central portion having a first core central portion diameter and a pair of first core ends having a first core end diameter less than the first core central portion diameter, said first coil having a first coil central portion having a first coil central portion diameter greater than the first instrument diameter and a pair of tapered first coil ends having a first coil end diameter less than the first coil central portion diameter, wherein the first tracking portion defines a first navigation vector; and forming a second tracking portion by winding a second conductive wire around a second core to form a second coil, the second core having a second core central portion having a second core central portion diameter and a pair of first core ends having a first core end diameter less than the first core central portion diameter, said second coil having a second coil central portion having a second coil central portion diameter and a pair of tapered second coil ends having a second coil end diameter less than the second coil central portion diameter, wherein the second tracking portion defines a second navigation vector; and connecting the tracking device within the provided first and second holding portions so that each of the first tracking portion and the second tracking portion are spaced apart a distance along the instrument axis of the instrument within the first and second holding portions and so that each of the first navigation vector and the second navigation vector are defined at non-zero at angles relative to one another and the instrument axis and wherein the first tracking portion engages the first pair of opposed flat surfaces and is configured to be aligned by the tapered surfaces. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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Specification