Patent attributes
There is provided herein a guidance system for positioning an insertion device comprising: an electromagnetic field generator configured to generate an electromagnetic field covering a treatment area, an insertion device comprising an electromagnetic sensor, the electromagnetic sensor configured to receive signals indicative of the electromagnetic field, and a processing circuitry configured to: load an X-ray, CT, ultrasound or MRI image of the subject's chest, mark a location of a first and a second anatomic landmarks on the subject's torso using a registration sensor and obtaining a subject coordinate system based thereon, identify the location of the first and the second anatomic landmarks on the loaded X-ray, CT, ultrasound or MRI image of the subject's chest; aligning the subject coordinate system with the loaded X-ray, CT, ultrasound or MRI image, and display, on the image, a path of the insertion device insertion with respect to the first and the second anatomic locations; wherein the path is generated according to changes in the strength of the electromagnetic field sensed by the tip sensor's during the insertion of the insertion device.
