# US 11,304,620 B2 · Localization array position in treatment room coordinate system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,620 B2 - Document ID: US11304620B2 - Status: Granted - Kind: B2 - Application number: 15/875,975 - Filed: 2018-01-19 - Published: 2018-05-24 - Granted: 2022-04-19 - Earliest claimed: 2007-06-19 - Assignees: Accuray Incorporated - Applicants: Accuray Incorporated - Inventors: Adam Jerome Weber; Eric Earnst; Calvin R. Maurer, Jr.; Gopinath Kuduvalli; Christopher A. Raanes - Web page: https://patentgrep.com/patent/US11304620B2 ## CPC - A61B 5/06: Devices, other than using radiation, for detecting or locating foreign bodies {; Determining position of diagnostic devices within or on the body of the patient} - A61B 5/062: {using magnetic field} - A61B 6/04: Positioning of patients; Tiltable beds or the like - A61B 6/547: {involving tracking of position of the device or parts of the device} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61N 5/1049: {for verifying the position of the patient with respect to the radiation beam} - A61B 34/30: Surgical robots - A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61B 2090/3762: {using computed tomography systems [CT]} - A61N 2005/1051: {using an active marker} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B) ## Abstract Localization array position determination in a treatment room coordinate system is described. A method may include imaging, using an imaging system, a position of one or more markers integrated with a localization array in a treatment room and transforming the position of the one or more markers to a treatment room coordinate system. The method also includes determining the position of the localization array in the treatment room coordinate system based on the transforming. ## Claims ### Claim 1 A method, comprising: generating, with a localization array, a detection field that extends through and above a surface of a treatment couch; moving the localization array, using a positioning device coupled with the localization array, for the detection field to encompass one or more internal markers implanted in a patient; imaging, using an imaging system, a position of one or more external markers integrated with the localization array in a treatment room; transforming the position of the one or more external markers to a treatment room coordinate system; determining a position of the localization array in the treatment room coordinate system based on the transforming, wherein the localization array is associated with the treatment couch; tracking the position of the one or more external markers integrated with the localization array that is associated with the treatment couch; and tracking, using the detection field of the localization array and without moving the patient on the treatment couch, the position of the one or more internal markers implanted in the patient with respect to the treatment room coordinate system based on the position of the one or more external markers integrated with the localization array. ### Claim 2 (depends on 1) The method of claim 1, wherein the one or more external markers are radiographically distinguishable coils of the localization array. ### Claim 3 (depends on 1) The method of claim 1, wherein the one or more external markers are external fiducial markers integrated with the localization array. ### Claim 4 (depends on 3) The method of claim 3, wherein the localization array is an external unit separate from the treatment couch. ### Claim 5 (depends on 1) The method of claim 1, wherein the localization array is integrated with the treatment couch. ### Claim 6 (depends on 1) The method of claim 1, wherein the imaging system comprises an X-ray imaging system. ### Claim 7 (depends on 1) The method of claim 1, wherein the imaging system comprises a computed tomography system. ### Claim 8 An apparatus, comprising: a localization array having a detection field that extends through and above a surface of a treatment couch; a positioning device, coupled with the localization array, configured to move the the localization array for the detection field to encompass one or more internal markers implanted in a patient; and a processor to: receive an image of a position of one or more external markers integrated with the localization array in a treatment room; transform the position of the one or more external markers to a treatment room coordinate system; determine the position of the localization array in the treatment room coordinate system based on the transform, wherein the localization array is associated with the treatment couch; track the position of the one or more external markers integrated with the localization array that is associated with the treatment couch; and track, using the detection field of the localization array and without moving the patient on the treatment couch, the position of the one or more internal markers implanted in the patient with respect to the treatment room coordinate system based on the position of the one or more external markers integrated with the localization array. ### Claim 9 (depends on 8) The apparatus of claim 8, further comprising: an imaging system, operatively coupled with the processing unit, to acquire the image. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the imaging system comprises a computed tomography system. ### Claim 11 (depends on 9) The apparatus of claim 9, wherein the imaging system comprises an X-ray imaging system. ### Claim 12 (depends on 9) The apparatus of claim 9, wherein the one or more external markers are radiographically distinguishable coils of the localization array. ### Claim 13 (depends on 9) The apparatus of claim 9, further comprising a treatment couch, wherein the localization array is integrated with a treatment couch. ### Claim 14 A non-transitory computer readable medium having instructions that when executed cause a processor to: generate, with a localization array, a detection field that extends through and above a surface of a treatment couch; move the localization array, using a positioning device coupled with the localization array, for the detection field to encompass one or more internal markers implanted in a patient; receive an image of a position of one or more external markers integrated with a localization array in a treatment room; transform the position of the one or more external markers to a treatment room coordinate system; determine a position of the localization array in the treatment room coordinate system based on the transform, wherein the localization array is associated with a treatment couch; track the position of the one or more external markers integrated with the localization array that is associated with the treatment couch; and track, using the detection field of the localization array and without moving the patient on the treatment couch, the position of the one or more internal markers implanted in the patient with respect to the treatment room coordinate system based on the position of the one or more external markers integrated with the localization array. ### Claim 15 (depends on 14) The non-transitory computer readable medium of claim 14, wherein the instructions that when executed cause the processor further to acquire the image. ### Claim 16 (depends on 14) The non-transitory computer readable medium of claim 14, wherein the localization array is integrated with a treatment couch.