Localization of the parathyroid

A local positioning system (LPS) comprising:

• at least three local position tracking devices, each local position tracking device further comprising:
• a clock synchronized to the clock in each of the other local position tracking devices;
• and
• one or more of:
• a transmitter transmitting signals over time synchronized to the clock, each of the signals associated with a time that the signal was transmitted;
• and
• a receiver receiving the signals over time synchronized to the clock from the other local position tracking devices, each of the signals further associated with a time that the signal was received by the receiver, wherein at least one of the local position tracking devices comprises the receiver and at least one of the local position tracking devices comprises the transmitter;
• and
• a processor operatively coupled to at least one of the at least three local position tracking devices, wherein:
• the processor is configured to receive an initial location of each of the local position tracking devices, wherein at least one of the initial locations is relative to at least a part of a living body;
• the processor is configured to obtain based on the transmission time for each of the signals, the receipt times for each of the signals, and the initial location for the local positioning tracking device that transmitted that signal, a further location of the local position tracking device that transmitted that signal at the transmission time of that signal, wherein the further location is with respect to at least the part of the living body;
• the processor is further configured to produce one or more representations of at least the part of the living body based on one or more of the further locations, each of the representations comprising one or more temporal frames;
• and
• the processor is further configured to provide output comprising one or more of at least one of the further, locations or at least one of the representations as one or more of human-perceptible data or machine-readable data.