Real-Time Surgical Navigation

摘要

An apparatus and method for surgical tracking comprises an imaging device that generates an image of a tissue volume; an electromagnetic (EM) sensor that creates a reference frame for EM tracking in three dimensions; at least one EM sensor adapted to be attached to the tissue to track local deformation and movement of the tissue volume; a processor that registers the image with the EM-tracked tissue volume and surgical tool in real time, and produces an output; and a feedback device that provides feedback about the location of the surgical tool relative to the tissue volume, based on the processor output. Embodiments are particularly useful in soft tissue, such as breast, where deformation before and during a procedure such as tumor resection complicate tracking of the tissue volume and a surgical tool.

主权项

1. A surgical navigation method, comprising:
disposing one or more localization devices in a tissue volume; generating images of the tissue volume; three-dimensionally delineating a portion of the tissue volume from data points in the images of the tissue volume; using electromagnetic (EM) tracking and the one or more localization devices to three dimensionally register the delineated portion of the tissue volume with a surgical tool in real time; and providing feedback about the location of the surgical tool relative to the delineated portion of the tissue volume.