# US 10,869,650 B2 · System for tracking and imaging a treatment probe > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,869,650 B2 - Document ID: US10869650B2 - Status: Granted - Kind: B2 - Application number: 14/930,900 - Filed: 2015-11-03 - Published: 2016-05-12 - Granted: 2020-12-22 - Earliest claimed: 2014-11-06 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: Morgan L. Hill; Eric W. Larson; Jeetendra Bharadwaj; Nikhil P. Mankar; Robert J. Behnke, II; Casey M. Ladtkow; William J. Dickhans; Arlen J. Reschke - Web page: https://patentgrep.com/patent/US10869650B2 ## CPC - A61B 8/4254: {using sensors mounted on the probe} - A61B 8/0841: {for locating instruments} - A61B 8/085: {for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules} - A61B 8/12: in body cavities or body tracts, e.g. by using catheters - A61B 8/4444: {related to the probe} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 2034/2051: {Electromagnetic tracking systems} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A system includes a treatment probe, a first tracking sensor configured to track a location of the treatment probe, an ultrasound imager, a second tracking sensor configured to track a location of the ultrasound imager, and a tracking system. The ultrasound imager generates real-time ultrasound images. The tracking system receives location information from the first and second tracking sensors, tracks the location of the treatment probe and the location of the ultrasound imager, and displays the real-time ultrasound images and a representation of the treatment probe in one or more pre-stored images. ## Claims ### Claim 1 A system comprising: a treatment probe; a first electromagnetic (EM) tracking sensor configured to track a location of the treatment probe; an ultrasound imager defining a longitudinal axis and including a top surface and an ultrasound sensor extending along the top surface, the ultrasound sensor positioned along the longitudinal axis and configured to generate real-time ultrasound images orthogonal to the longitudinal axis; a second EM tracking sensor configured to track a location of the ultrasound imager; a tracking computer configured to receive location information from the first and second EM tracking sensors, to track the location of the treatment probe and the location of the ultrasound imager, and to display the real-time ultrasound images and a representation of the treatment probe in one or more pre-stored images; and a sensor mount configured to be slidably and releasably mounted over a distal tip of the ultrasound imager distal to the ultrasound sensor along the longitudinal axis, wherein, when the sensor mount is mounted over the distal tip of the ultrasound imager, the second EM tracking sensor is positioned at a predetermined location between the sensor mount and the distal tip of the ultrasound imager to have a spatial relationship with the distal tip of the ultrasound imager. ### Claim 2 (depends on 1) The system according to claim 1, wherein the system is further configured to iteratively update the displayed real-time ultrasound images and representation of the treatment probe as the treatment probe navigates. ### Claim 3 (depends on 1) The system according to claim 1, wherein the first and second EM tracking sensors sense strength of an EM field. ### Claim 4 (depends on 1) The system according to claim 1, wherein the tracking computer is further configured to display the location of the treatment probe with respect to at least one target in the real-time ultrasound images based on a spatial relationship between the location of the treatment probe inside a patient's body and the location of the ultrasound imager. ### Claim 5 (depends on 1) The system according to claim 1, wherein, when the sensor mount is mounted over the distal tip of the ultrasound imager, the second EM tracking sensor is positioned between the top surface of the ultrasound imager and an inner surface of the sensor mount. ### Claim 6 (depends on 1) The system according to claim 1, wherein the ultrasound imager includes a cut-out portion having an inclination relative to the longitudinal axis from the top surface of the ultrasound imager. ### Claim 7 (depends on 1) The system according to claim 1, wherein the sensor mount is configured to receive the second EM tracking sensor and mechanically engage with the ultrasound imager. ### Claim 8 (depends on 7) The system according to claim 7, wherein the sensor mount is a clip-on. ### Claim 9 (depends on 7) The system according to claim 7, wherein the sensor mount is a sterile sleeve including at least one rubber band configured to fasten the sterile sleeve to the ultrasound imager. ### Claim 10 (depends on 7) The system according to claim 7, wherein the sensor mount is a hypotube clip. ### Claim 11 (depends on 10) The system according to claim 10, wherein the hypotube clip includes fingers to grab and lock the ultrasound imager. ### Claim 12 (depends on 11) The system according to claim 11, wherein the hypotube clip includes a distal cap to cover a distal tip of the ultrasound imager. ### Claim 13 (depends on 7) The system according to claim 7, further comprising a cannula configured to hold the ultrasound imager. ### Claim 14 (depends on 13) The system according to claim 13, wherein the cannula includes an O-ring type lock, which locks the ultrasound imager by rotating the O-ring type lock about the longitudinal axis of the ultrasound imager. ### Claim 15 A system, comprising: a first tracking sensor configured to track a location of a probe within a patient; an ultrasound imager defining a longitudinal axis and including a top surface and an ultrasound sensor extending along the top surface, the ultrasound sensor positioned along the longitudinal axis and configured to generate real-time ultrasound images orthogonal to the longitudinal axis; a second tracking sensor configured to track a location of the ultrasound imager; a tracking computer in communication with the first and second tracking sensors and configured to track the location of the probe within the patient and the location of the ultrasound imager; and a sensor mount releasably mounted on a distal end portion of the ultrasound imager distal to the ultrasound sensor along the longitudinal axis and configured to receive the second tracking sensor, wherein the second tracking sensor is positioned between the sensor mount and the distal end portion of the ultrasound imager when the sensor mount is mounted on the distal end portion of the ultrasound imager. ### Claim 16 (depends on 15) The system according to claim 15, wherein when the sensor mount is mounted on the distal end portion of the ultrasound imager, there exists a predetermined spatial relationship between the second tracking sensor and a distal tip of the ultrasound imager. ### Claim 17 A system, comprising: a treatment probe; a first electromagnetic (EM) tracking sensor configured to track a location of the treatment probe; an ultrasound imager defining a longitudinal axis and including a top surface, an ultrasound sensor extending along the top surface, and a cut-out portion having an inclination relative to the longitudinal axis from the top surface of the ultrasound imager, the ultrasound sensor configured to generate real-time ultrasound images orthogonal to the longitudinal axis; a second EM tracking sensor configured to track a location of the ultrasound imager; a tracking computer configured to receive location information from the first and second EM tracking sensors and to track the location of the treatment probe and the location of the ultrasound imager; and a sensor mount including an inclination and configured to be slidably and releasably mounted over the top surface of the ultrasound imager such that the inclination of the sensor mount aligns with the inclination of the ultrasound imager. ### Claim 18 (depends on 17) The system according to claim 17, wherein, when the sensor mount is mounted over the top surface of the ultrasound imager, the second EM tracking sensor is positioned at a predetermined location between the sensor mount and a distal tip of the ultrasound imager to have a spatial relationship with the distal tip of the ultrasound imager. ### Claim 19 (depends on 17) The system according to claim 17, wherein, when the sensor mount is mounted over the top surface of the ultrasound imager, the second EM tracking sensor is positioned between the top surface of the ultrasound imager and an inner surface of the sensor mount. ### Claim 20 (depends on 17) The system according to claim 17, wherein the inclination of the ultrasound imager is disposed proximal the ultrasound sensor along the longitudinal axis and, when the sensor mount is mounted over the top surface of the ultrasound imager, the sensor mount is positioned proximal the ultrasound sensor along the longitudinal axis.