Registration of human anatomy integrated for electromagnetic localization

A method for use during a procedure on a body, the method generating a display representing relative positions of two structures during the procedure, the method comprising:

• storing an image data set in memory, the image data set representing the position of the body based on scans taken of the body prior to the procedure;
• reading the image data set stored in the memory, the image data set having a plurality of data points in known relation to a plurality of reference points for at least one of the two structures;
• placing one or more first magnetic field sensors in known and constant relation to the reference points of one of the two structures;
• placing one or more second magnetic field sensors in relation to the other one of the two structures;
• generating a magnetic field;
• detecting the magnetic field with the first and second magnetic field sensors;
• ascertaining the locations of the first and second magnetic field sensors based upon the magnetic field detected by the first and second magnetic field sensors and auto-registering the locations of the first magnetic field sensors with the locations of the reference points to generate a displaced image data set representing the relative position of the two structures during the procedure;
• generating a display based on the displaced image data set illustrating the relative position of the two structures during the procedure;
• and
• dynamically tracking movement of the relative position of the two structures during the procedure.

A system for use in displaying a position of a first structure relative to a second structure during a procedure on a body, said system comprising:

• at least one fiducial marker positioned relative to the first structure;
• memory operable to store an image data set representing a position of the first structure, said image data set having a plurality of data points with said at least one fiducial marker represented by at least one of said data points;
• a magnetic field generator operable to generate a magnetic field;
• a first magnetic field sensor associated with the first structure and placed in a known and constant relation to said at least one fiducial marker, said first magnetic field sensor operable to detect said magnetic field and generate positional signals in response to said detected magnetic field;
• a second magnetic field sensor associated with the second structure, said second magnetic field sensor operable to detect said magnetic field and generate positional signals in response to said detected magnetic field;
• a processor operable to ascertain a location of said first and second magnetic field sensors from said positional signals generated by said first and second magnetic field sensors, said processor further operable to auto-register the position of said at least one fiducial marker with the position of said first magnetic field sensor to create a dynamic reference frame to generate a displaced image data set representing relative positions of the first and second structures;
• and
• a display operable to use said displaced image data set generated by said processor to display positions of the first structure relative to the second structure, wherein said processor dynamically tracks movement of said first magnetic field sensor associated with said at least one fiducial marker and the first structure relative to the second magnetic field sensor associated with the second structure.