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(2) a) co) w c ay @ co) () 2) 68) 5) United States Patent Pagoulatos et al. APPARATUS AND METHOD FOR INTERACTIVE 3D REGISTRATION OF ULTRASOUND AND MAGNETIC RESONANCE IMAGES BASED ON A MAGNETIC POSITION SENSOR Taventors: Niko Pagoulatos, Seale, WA (US); David R Haynor, Seale, WA (US); Warren S. Edwards, Bumaby (CA), Yongmin Kim, Seatie, WA (US) Assignee: University of Washington, Seattle, WA (us) Notice: Subject to any disclaimer, the tem of this patent is extended or adjusted under 35 USCC 154(5) by 0 days Appl. No.: 09/526,656 Filed: Mar. 15, 2000 Related U.S. Application Data Provisional application No, 6/1350, fed om May 20, 1000, and prevsonal application No. 6128017, ed on Mac 18,199, 606K 9/00, US. CL ‘382/154; 382/151; 382276; 00426; 600/429; 600/443; 606/130; 128916 Field of Search 352/130, 128, 2382/04, 205, 132, 131,15 , 276, 285, 151; 606/130, 150; 6009-12, 416, 426, 414, 417, 427, 429, 07, 443, 816 References Cited U.S, PATENT DOCUMENTS. RESDI07 E+ 971980 King somats Sa8454 A * 1/1995 Bocholz sq29 5517900 A? 5/1996 Kallas ea soma 5531520 A * 71906 Grimson aa 38131 5/8290 A 11/1997 Kormes etal ‘ost? usRoBe USIN677S404B1 (i) Patent Noz US 6,775,404 BL (4s) Date of Patent: Aug. 10, 2004 787586 A + 81098 aly eal sone Swisot A 198 Doxol Simsias A 131999 Coonan ssrsts i + "2d Sher som OTHER PUBLICATIONS NOD. Kitchen etal, “Accuracy in frame-based and frame less stereotay,” Sereractic Fanetional Neurosurgery, val 61, pp. 195-200, 1993. K.R, Smith et al, “The acurosation—a highly accurate, minimally invasive solution to frameless stereotactic neu- rosurgery,” Computerized Medical Imaging and Graphics, vol. 18, pp. 247-256, Jul-Aug. 1994 RL. Galloway, Jr, “Frameless sereotatic systems.” in Textbook of Steroactc and Functional Neurosurgery, P. L Gildenberg and RR, Tasker, Eds, ch, 21, pp. 177-182, MesGraw Hill, New York, 1998, (List continued on next page.) Primary Examiner ayaati K. Patel Assistant Examiner—Sheela Chavsan (74) Adorney, gent, or Firm—Blakely Sokolofl Taylor & Zafman LLP oy Intraoperative ultrasound (US) is integrated with stereotactic systems, where system interactively registers two-

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