Tracking system and method
First Claim
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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Accused Products
Abstract
A system for tracking a tracking element inside a body is provided. It includes a first tracking system, which includes a first tracking sensor for detecting the current position of a tracking element inside a body relative to a nominal position with respect to the first tracking sensor, and a second tracking system, which includes a second tracking sensor for determining the position of the first tracking sensor of the first tracking system relative to the second tracking sensor, and a control unit. The first tracking sensor is movable, and the control unit is configured to deliver a correction signal indicating a deviation of the current position of the tracking element relative to a nominal position with reference to the first tracking sensor. Further, a respective tracking method is provided.
13 Citations
16 Claims
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1. A system for tracking a tracking element inside a body, comprising:
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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, and wherein 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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for tracking a position of a tracking element inside a body, comprising:
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positioning a tracking element inside a body; positioning a first non-contact tracking sensor comprising a magnetic sensor in a vicinity of the body and spaced from and outside the body, so that the sensor is able to detect the tracking element, wherein the first non-contact tracking sensor is movable with respect to the body; determining a first relative position of the tracking element with respect to the first non-contact tracking sensor in a first coordinate system that moves together with the first non-contact tracking sensor, wherein the first relative position is within a tolerance space around a pre-calibrated relative position of the tracking element and the first non-contact tracking sensor; determining a second relative position of the first non-contact tracking sensor with respect to a second tracking sensor in a second coordinate system associated with the second tracking sensor; calculating a position of the tracking element with respect to the second tracking sensor by composing the first relative position in the first coordinate system with the second relative position in the second coordinate system; and maintaining the first relative position between the tracking element and the first non-contact tracking sensor at a substantially constant target position, when the tracking element changes its position relative to the body by actively moving the first non-contact tracking sensor with respect to the body, wherein the substantially constant target position is within the tolerance space; wherein maintaining the first relative position comprises moving the first non-contact tracking sensor in response to the tracking element changing to a position outside of the tolerance space. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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Specification