Ultrasound based tracking system using triangulation and spatial positioning with detachable reference frame and ultrasound emitters

A non-transitory computer-readable storage medium have a program product comprising instructions, which, when executed by a processor, cause the processor to:

• communicate with at least three ultrasound emitters, on a frame configured to attach to an ultrasound imaging probe having a field of view defined by a coordinate system, to cause each of the at least three ultrasound emitters to emit ultrasound signals, wherein the frame comprises:
• (i) the at least three ultrasound emitters arranged in a predetermined configuration on the frame, and (ii) a detachable reference volume that includes at least one inclusion or void configured to provide a corresponding at least one image feature within the field of view of the ultrasound imaging probe;
• receive, from an ultrasound detector attached to a medical device, signals indicative of the ultrasound signals being detected by the ultrasound detector;
• determine, by triangulation, a spatial position of the ultrasound detector attached to the medical device in a coordinate system defined in relation to the at least three ultrasound emitters based on a first set of time delays between emission of an ultrasound signal by each of the at least three ultrasound emitters and detection of the ultrasound signal by the ultrasound detector attached to the medical device;
• and
• determine the spatial position of the ultrasound detector within the field of view of the ultrasound imaging probe based on mapping the coordinate system of the at least three ultrasound emitters to the coordinate system of the ultrasound imaging probe using the at least one image feature provided by the at least one inclusion or void,
• wherein the spatial position of the ultrasound detector attached to the medical device is determined using the at least three ultrasound emitters and the at least one inclusion or void during a medical procedure.

A system for determining a position of an ultrasound detector attached to a medical device, the system comprising:

• a frame configured to attach to an ultrasound imaging probe having a field of view defined by a coordinate system, the frame comprising:
• (i) at least three ultrasound emitters arranged in a predetermined configuration on the frame, and (ii) a detachable reference volume that includes at least one inclusion or void configured to provide a corresponding at least one image feature within the field of view of the ultrasound imaging probe;
• and
• a position triangulation processor configured to:
• communicate with the at least three ultrasound emitters and to cause each ultrasound emitter to emit ultrasound signals,
• receive, from an ultrasound detector attached to the medical device, signals indicative of the ultrasound signals being detected by the ultrasound detector,
• determine, by triangulation, a spatial position of the ultrasound detector attached to the medical device in a coordinate system defined in relation to the at least three ultrasound emitters based on a first set of time delays between emission of an ultrasound signal by each of the at least three ultrasound emitters and detection of the ultrasound signal by the ultrasound detector attached to the medical device, and
• determine the spatial position of the ultrasound detector within the field of view of the ultrasound imaging probe based on mapping the coordinate system of the at least three ultrasound emitters to the coordinate system of the ultrasound imaging probe using the at least one image feature provided by the at least one inclusion or void,
• wherein the position triangulation processor is configured to determine the spatial position of the ultrasound detector attached to the medical device using the at least three ultrasound emitters and the at least one inclusion or void during a medical procedure.