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Tracking system and method

  • US 10,639,017 B2
  • Filed: 11/21/2012
  • Issued: 05/05/2020
  • Est. Priority Date: 11/21/2011
  • Status: Active Grant
First Claim
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1. A system for tracking a tracking element inside a body, comprising:

  • a first tracking system, the first tracking system comprising;

    a first non-contact tracking sensor comprising a magnetic sensor for detecting a current position of a tracking element inside a body relative to a position of the first non-contact tracking sensor while the first non-contact tracking sensor is spaced from and outside the body;

    a second tracking system configured to determine the position of the first non-contact tracking sensor, the second tracking system comprising;

    a second tracking sensor in signal communication with the first non-contact tracking sensor configured to detect the position of the first non-contact tracking sensor of the first tracking system relative to the second tracking sensor; and

    a control unit connected to the first non-contact tracking sensor and the second tracking sensor,wherein the first non-contact tracking sensor is provided to be movable with respect to the body,wherein the current position of the tracking element detected by the first non-contact tracking sensor is a first position in a first coordinate system,wherein the first coordinate system moves together with the first non-contact tracking sensor,wherein the position of the first non-contact tracking sensor detected by the second tracking sensor is a second position in a second coordinate system,wherein the second coordinate system is associated with the second tracking sensor, andwherein the control unit is configured to;

    calculate a position of the tracking element with respect to the second tracking sensor by composing the detected current position of the tracking element relative to the first non-contact tracking sensor with the detected position of the first non-contact tracking sensor in the first coordinate system relative to the second tracking sensor in the second coordinate system; and

    deliver a correction signal to move the first non-contact tracking sensor if the detected current position of the tracking element relative to the first non-contact tracking sensor deviates from a substantially constant target position of the tracking element relative to the first non-contact tracking sensor, wherein the substantially constant target position is within a tolerance space around a pre-calibrated relative position of the tracking element and the first non-contact tracking sensor.

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