US 12,433,504 B2
Position tracking system for tracking an internal device during an imaging
Quentin Francois, Paris (FR); Bertrand Duplat, Paris (FR); Sinan Haliyo, Paris (FR); Stephane Régnier, Paris (FR); and Pierre Zarader, Paris (FR)
Assigned to ROBEAUTE, Paris (FR); SORBONNE UNIVERSITÉ, Paris (FR); and CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE, Paris (FR)
Appl. No. 18/256,710
Filed by ROBEAUTE, Paris (FR); SORBONNE UNIVERSITÉ, Paris (FR); and CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE, Paris (FR)
PCT Filed Dec. 10, 2021, PCT No. PCT/EP2021/085293
§ 371(c)(1), (2) Date Jun. 9, 2023,
PCT Pub. No. WO2022/123055, PCT Pub. Date Jun. 16, 2022.
Claims priority of application No. 20306552 (EP), filed on Dec. 11, 2020.
Prior Publication US 2024/0090792 A1, Mar. 21, 2024
Int. Cl. A61B 5/06 (2006.01); A61B 5/00 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 5/061 (2013.01) [A61B 5/6864 (2013.01); A61B 34/20 (2016.02); A61B 2034/2063 (2016.02); A61B 2090/363 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3983 (2016.02); A61B 2562/0285 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A signal tracking system being configured to track an internal tracker situated inside a target body part of a patient, the system comprising:
at least one fixation element designed to be secured to a rigid body part of the patient, said rigid body part surrounding at least partially the target body part, the fixation element further comprising a mapping element,
at least one tracker element configured to be secured to the fixation element, the at least one tracking element being designed to track, in real time, the internal tracker,
a control unit configured to collect, in real time, tracking information from the at least one tracker element, the control unit further comprising a memory designed to store:
an internal referential,
at least one unique pre-established image displaying at least a portion of the patient's target body part or an element situated inside said target body part, the unique pre-established image further displaying the at least one fixation element and the at least one mapping element,
wherein the internal referential is defined within the unique pre-established image displaying at least the portion of the patient's target body part or the element situated inside said target body part,
wherein the control unit is designed to define, inside the internal referential, at least one 3D frame position attached to the at least one fixation element, and to precisely locate the portion of the patient's target body part or element situated inside said target body part with regards to the 3D frame position,
wherein the control unit is further designed to precisely localize, in real time, within the internal referential, the internal tracker inside the target body part with regards to the at least one 3D frame position.