System for ad hoc tracking of an object
View Patent ↗A method, system and device for tracking an anatomical structure includes a section having a small cross section relative to the length, a first end of the section having a tip capable of being removably attached to the anatomical structure; and a second end of the section that has two position-indicating sensors located thereon. The position-indicating sensors are tracked and displayed by the system.
1. A system for determining a position of an anatomical structure, comprising:
a surgical navigation system having a display;
two tracking devices wherein each tracking device comprises:
a rigid section configured for insertion into a skeletal structure of a subject, the section including a first end and a second end, the section further having a small cross section relative to a length of the section,
a joint having first and second degrees of freedom connected to the first end of the section,
a tip attached to the joint, wherein the tip includes means for being removably attached to the skeletal structure, and
two position-indicating sensors on the second end of the section in a fixed relation to each other, wherein the position-indicating sensors can be tracked by the surgical navigation system;
wherein the surgical navigation system further comprises a first circuit configured for calculating a global position of the skeletal structure by correlating positional information from the tracking devices, and a second circuit configured for displaying the global position of the skeletal structure on the display.
2. The system of claim 1 that includes a body at the second end of the section and the two position-indicating sensors are located on the body.
3. The system of claim 2 , wherein the body is integral with the section.
4. The system of claim 2 , wherein the body is perpendicular to an axis of the section.
5. The system of claim 1 , wherein the position-indicating sensors are located co-linear with the axis of the section.
6. The system of claim 1 , wherein the position-indicating sensors are located a known distance from the joint.
7. The system of claim 1 , wherein the position-indicating sensors comprise an optical tracking element.
8. The system of claim 7 , wherein the optical tracking element includes a LED.
9. The system of claim 1 that includes a transceiver associated with at least one said tracking device that is in two-way communication with the surgical navigation system.
10. The system of claim 9 , wherein the transceiver is integrally formed with the tracking device.
11. The system of claim 1 , wherein an external power supply provides energy to the tracking device through a wire.
12. The system of claim 1 , wherein an internal battery provides energy to the tracking device.
13. A system for determining a position of an anatomical structure, comprising:
a surgical navigation system having a display;
a minimum of two tracking devices, wherein each said tracking device further comprises:
a rigid section configured for insertion into a subject, the section including a first end and a second end, the section further having a small cross section relative to a length of the section,
a joint having one or two degrees of freedom connected to the first end of the section,
a tip attached to the joint, wherein the tip comprises means for being removably attached to a skeletal structure, and
two position-indicating sensors on the second end of the section in a fixed relation to each other, wherein the position-indicating sensors can be tracked by the surgical navigation system;
a first circuit configured for calculating a global position of the skeletal structure by correlating positional information from the tracking devices; and
a second circuit configured for displaying the global position of the skeletal structure on the display.
14. The system of claim 13 that includes a body at the second end of the section and the two position-indicating sensors are located on the body.
15. The system of claim 14 , wherein the body is integral with the section.
16. The system of claim 14 , wherein the body is perpendicular to an axis of the section.
17. The system of claim 13 , wherein the joint is configured for rotation in all directions.
18. The system of claim 13 , wherein a position sensing unit provides information on the relative position of the first end of the section and the two position-indicating sensors.
19. The system of claim 13 , wherein the position-indicating sensors are located co-linear with the axis of the section.
20. The system of claim 13 , wherein the position-indicating sensors are located at a fixed distance from the joint.
21. The system of claim 13 , wherein the position-indicating sensors comprise an optical tracking element.
22. The system of claim 21 , wherein the optical tracking element includes a LED.
23. The system of claim 13 , wherein an external power supply provides energy to the tracking devices through a wire.
24. The system of claim 13 , wherein an internal battery provides energy to each of the tracking devices.
25. The system of claim 13 that includes a transceiver associated with the tracking device that is in two-way communication with the surgical navigation system.
26. The system of claim 25 , wherein the transceiver is integrally formed with the tracking devices.
27. A system for determining a position of a skeletal structure, comprising:
a surgical navigation system having a display;
a tracking device having a rigid section configured for insertion into a subject, the section including a first end and a second end, the section further having a small cross section relative to a length of the section;
a joint having first and second degrees of freedom connected to the first end of the section;
a tip attached to the joint, wherein the tip comprises means for being removably attached to the skeletal structure;
at least three position-indicating sensors on the second end of the section in a fixed relation to each other, wherein the position-indicating sensors can be tracked by the surgical navigation system;
a fourth sensor associated with the joint configured to provide the surgical navigation system with a relative position of the tip relative to the position-indicating sensors;
a first circuit configured for calculating a global position of the skeletal structure by correlating global positional information from the position-indicating sensors and relative position information from the fourth sensor; and
a second circuit for displaying the global position of the anatomical structure on the display.
28. The system of claim 27 that includes a body at the second end of the section and the three position-indicating sensors are located on the body.
29. The system of claim 28 , wherein the body is integral with the section.
30. The system of claim 28 , wherein the body is perpendicular to an axis of the section.
31. The system of claim 27 , wherein the joint has two degrees of freedom defined by a rotating joint and a pivot joint, and the joint is configured for rotation in all directions.
32. The system of claim 27 , wherein the position-indicating sensors are located at a known fixed distance from the joint.
33. The system of claim 27 , wherein the position-indicating sensors are located co-linear with the axis of the section.
34. The system of claim 27 , wherein the position-indicating sensors comprise an optical tracking element.
35. The system of claim 34 , wherein the optical tracking element includes a LED.
36. The system of claim 27 , wherein the apparatus includes an internal battery.
37. The system of claim 27 , wherein the apparatus includes a transceiver associated with the tracking device that is configured for two-way communication with the surgical navigation system.
38. The system of claim 37 , wherein the transceiver is integrally formed with the tracking device.
39. The system of claim 27 , wherein an external power supply provides energy to the tracking device through a wire.
40. A system for determining a position of an anatomical structure, comprising:
a surgical navigation system having a display;
a tracking device comprising:
a flexible section configured for insertion into a subject, the section including a first end and a second end, the section further having a small cross section relative to a length of the section;
a tip disposed on the first end of the section, wherein the tip comprises means for being removably attached to a skeletal structure;
three position-indicating sensors disposed on the second end of the section, wherein the sensors can be tracked by the surgical navigation system;
a fourth sensor associated with the flexible section to provide the surgical navigation system with a relative position of the tip relative to the three position-indicating sensors; and
a transceiver associated with the tracking device configured for two-way communication with the surgical navigation system;
a first circuit configured for calculating a global position of the skeletal structure by correlating global positional information from the tracking device and relative positional information from the sensor; and
a second circuit configured for displaying the global position of the anatomical structure on the display.
41. The system of claim 40 that includes a body at the second end of the section and the three position-indicating sensors are located on the body.
42. The system of claim 41 , wherein the body is integral with the section.
43. The system of claim 41 , wherein the body is perpendicular to an axis of the section.
44. The system of claim 40 , wherein the position-indicating sensors are located co-linear with the axis of the section.
45. The system of claim 40 , wherein the position-indicating sensors comprise an optical tracking element.
46. The system of claim 45 , wherein the optical tracking element includes a LED.
47. The system of claim 40 , wherein the transceiver is integrally formed with the tracking device.
48. The system of claim 40 , wherein an external power supply provides energy to the tracking device through a wire.
49. The system of claim 40 , wherein the apparatus includes an internal battery.
50. A system for determining a position of an anatomical structure, comprising:
a surgical navigation system having a display;
a minimum of two tracking devices, wherein at least one of the two tracking devices comprises:
a rigid section configured for insertion into a body, the section including a first end and a second end, the section further having a small cross section relative to a length of the section,
a tip on the first end of the section, wherein the tip comprises means for being removably attached to the anatomical structure,
a transceiver associated with the tracking device that is in two-way communication with the surgical navigation system, and
a position-indicating sensor on the second end of the section, wherein the position-indicating sensor can be tracked by the surgical navigation system;
a first circuit for calculating a global position of the anatomical structure by correlating positional information from the two tracking devices; and
a second circuit for displaying the global position of the anatomical structure on the display.
51. The system of claim 50 that includes a body at the second end of the section and the position-indicating sensor is located on the body.
52. The system of claim 51 , wherein the body is integral with the section.
53. The system of claim 51 , wherein the body is perpendicular to an axis of the section.
54. The system of claim 50 , wherein the position-indicating sensor is located co-linear with the axis of the section.
55. The system of claim 50 , wherein the position-indicating sensor comprises an optical tracking element.
56. The system of claim 55 , wherein the optical tracking element includes a LED.
57. The system of claim 50 , wherein the transceiver is integrally formed with the at least one of the two tracking devices.
58. The system of claim 50 , wherein an external power supply provides energy to the tracking device through a wire.
59. The system of claim 50 , wherein the apparatus includes an internal battery.