Abstract: A real-time positioning system monitors and displays a real-time position and orientation (pose) of a surgical device relative to reference device and internal structures of a subject during a medical procedure. Tracking targets are affixed to a surgical device and a reference device. The reference device is fixed to a target site of a subject. The tracked targets are interactively monitored by a tracking device and their raw positions are converted to a position and orientation (pose) of the surgical device and the reference device. A medical imaging device acquires images of internal structures of the subject which is converted into computer models by a modeling engine. The models of internal structures are correctly registered with models of the surgical instrument and the reference device into a single interactive representation assisting a surgeon in a medical procedure.

Abstract: Semi-continuous process for dyeing of flat woolen textile articles with 1:2 or 1:1 metal complex dyestuffs, by padding the textile material with an aqueous liquor containing the dissolved dyestuffs and of from 80 to 120 g/l of dissolved urea, at a temperature of from 60 to 80.degree. C. and batching it up without intermediate drying, optionally with further heating, and allowing it to dwell in this state at a temperature of from 75 to 85.degree. C. for a period of from 4 to 14 hours.