| 摘要 |
An apparatus and related methods using a variety of heterogeneous sensors to accurately track, in real time, the location of the tip of a surgical instrument inside the human body. The system accounts for real time changes in the surrounding environment during surgery, and when integrated with noninvasive image-guided surgery (IGS), this invention makes IGS possible and safe without tedious offline calibration. Sensors include, but are not limited to, optical, electromagnetic (EM), and sonar.
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