Articulating guide with integral position sensor

An image guided surgery (IGS) method comprising:

• advancing a distal portion of a shaft of a guide sheath toward a surgical site within a patient's head, the shaft comprising a shaft position sensor, a tool working channel, an endoscope working channel, and an illumination working channel, the shaft further comprising a destination port, an articulating portion, and a second position sensor located proximal to the articulating portion and configured to cooperate with an IGS navigation system to determine a current position of the second position sensor, the shaft position sensor being adjacent to the destination port and configured to operate with the IGS navigation system to determine a current position of the shaft position sensor;
• tracking the shaft position sensor to determine a position or orientation of the shaft;
• advancing a flexible surgical tool within the tool working channel toward the surgical site, the surgical tool having a tool position sensor;
• advancing an endoscope within the endoscope working channel toward the surgical site;
• advancing an illumination source within the illumination working channel toward the surgical site;
• and
• tracking the tool position sensor to determine a position of the surgical tool relative to the shaft.