Apparatus and method for performing a localization of a movable treatment device

An apparatus (10;

• 100) for performing a localization of a movable treatment device (11) relative to a target surface (12), the movable treatment device (11) comprising at least one inertial sensor (13) and being configured to treat the target surface (12), the apparatus (10) comprising:
• a motion pattern classification device (14) configured to discriminate between two or more motion classes (151, 152, 153, . . . , 15k) contained in a set (15) of motion classes of the movable treatment device (11), and
• an interface (16) for providing at least one inertial sensor data (171, 172, 173, . . . , 17n) from the inertial sensor (13) to the motion pattern classification device (14), the at least one inertial sensor data (171, 172, 173, . . . , 17n) representing a movement of the movable treatment device (11),
• wherein the motion pattern classification device (14) comprises at least one neural network (18) configured to receive the at least one inertial sensor data (171, 172, 173, . . . , 17n) and to classify the at least one inertial sensor data (171, 172, 173, . . . , 17n) with respect to the motion classes (151, 152, 153, . . . , 15k) contained in the set (15) of motion classes, wherein said motion classes (151, 152, 153, . . . , 15k) are each associated (201, 202, 203, . . . , 20k) with one or more different zones (211, 212, 213, . . . , 21m) relating to the target surface (12) so that the classification of the at least one inertial sensor data (171, 172, 173, . . . , 17n) with respect to the motion classes (151, 152, 153, . . . , 15k) indicates an estimation of the location of the movable treatment device (11) with respect to the one or more zones (211, 212, 213, . . . , 21m) of the target surface (12),
• wherein an output (yt−1;
• yt;
• yt+1) of the neural network (18) comprises one or more probability or likelihood values for the estimation of the location of the movable treatment device (11) with respect to the one or more zones (211, 212, 213, . . . , 21m) of the target surface (12),
• wherein performance of the localization does not use input from a camera.