# US 2025/0152257 A1 · Device and method for tracking the position of an endoscope within a patient's body > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0152257 A1 - Document ID: US20250152257A1 - Status: Published application - Kind: A1 - Application number: 19/021,577 - Filed: 2025-01-15 - Published: 2025-05-15 - Earliest claimed: 2015-10-28 - Assignees: EndoChoice, Inc. - Applicants: EndoChoice, Inc. - Inventors: Achia Kronman - Web page: https://patentgrep.com/patent/US20250152257A1 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 1/00006: {of control signals} - A61B 1/00066: {Proximal part of endoscope body, e.g. handles (A61B1/0052 takes precedence)} - A61B 5/062: {using magnetic field} - A61B 5/066: {Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging} - A61B 5/068: {using impedance sensors} - A61B 5/7253: {characterised by using transforms} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2057: {Details of tracking cameras} - A61B 2034/2059: {Mechanical position encoders} - A61B 2090/062: {penetration depth} - A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image} - A61B 2090/366: {using projection of images directly onto the body} - A61B 2090/367: {creating a 3D dataset from 2D images using position information} - A61B 2090/3945: {Active visible markers, e.g. light emitting diodes} - A61B 2090/3979: {infrared} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61B 2560/0223: of calibration, e.g. protocols for calibrating sensors - A61M 2025/0008: {having visible markings on its surface, i.e. visible to the naked eye, for any purpose, e.g. insertion depth markers, rotational markers or identification of type} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract Systems and methods of tracking the position of an endoscope within a patient's body during an endoscopic procedure is disclosed. The devices and methods include determining a position of the endoscope within the patient in the endoscope's coordinate system, capturing in an image fiducial markers attached to the endoscope by an external optical tracker, transforming the captured fiducial markers from the endoscope's coordinate system to the optical tracker's coordinate system, projecting a virtual image of the endoscope on a model of the patient's organ, and projecting or displaying the combined image. ## Claims ### Claim 1 A method of tracking a position of an endoscope, wherein the endoscope includes an endoscope handle and an endoscope body adapted to be inserted into a patient, the method comprising: receiving first orientation data from a plurality of first sensors positioned at different locations longitudinally along the endoscope body; receiving second orientation data from one or more cameras positioned external to the patient, wherein the one or more cameras are configured to (i) detect one or more of a plurality of orientation markers positioned on the endoscope handle and (ii) generate the second orientation data using data associated with the detected one or more of the plurality of orientation markers; generating, using the first orientation data and the second orientation data, a virtual model of the endoscope body in a coordinate system of the endoscope and the patient showing a position of the endoscope within the patient; and sending data indicative of the virtual model to a projector, wherein the projector is configured to project the virtual model in a coordinate system of the endoscope body and the patient showing a position of the endoscope body within the patient. ### Claim 2 (depends on 1) The method of claim 1, wherein the plurality of first sensors are pressure sensors. ### Claim 3 (depends on 1) The method of claim 1, wherein at least one electromagnetic coil is wound around one or more portions of the endoscope body, wherein the at least one electromagnetic coil is configured to emit an electromagnetic signal. ### Claim 4 (depends on 1) The method of claim 1, wherein the one or more cameras include two stereo-calibrated cameras adapted to generate, by triangulation, at least a portion of the second orientation data comprising three-dimensional locations of fiducials in a coordinate system of the two stereo-calibrated cameras. ### Claim 5 (depends on 1) The method of claim 1, wherein the virtual model is a holographic virtual model. ### Claim 6 (depends on 1) The method of claim 1, further comprising receiving a measurement of bending or twisting of the endoscope body via one or more of an accelerometer, a gyroscope, a magnetometer, and a stripe. ### Claim 7 (depends on 1) The method of claim 1, wherein the plurality of orientation markers comprise spheres placed on the endoscope handle, each sphere having a diameter ranging from 0.5 to 2 cm. ### Claim 8 (depends on 1) The method of claim 1, wherein the virtual model includes a portion of a colon of the patient. ### Claim 9 (depends on 1) The method of claim 1, wherein the projector is configured to project the virtual model onto the patient to show the position of the endoscope body relative to the patient. ### Claim 10 A method of tracking a position of medical device, wherein the medical device includes a handle and a tubular body adapted to be inserted into a patient, the method comprising: receiving first orientation data from a plurality of first sensors positioned at different locations longitudinally along the tubular body; receiving second orientation data from one or more cameras positioned external to the patient, wherein the one or more cameras are adapted to (i) detect one or more of a plurality of orientation markers positioned on the handle and (ii) generate the second orientation data using data associated with the detected one or more of the plurality of orientation markers; generating, using the first orientation data and the second orientation data, a virtual model of the tubular body in a coordinate system of the medical device and the patient showing a position of the tubular body within the patient; and sending data indicative of the virtual model to a display, wherein the display is configured to project the virtual model in a coordinate system of the tubular body and the patient showing a position of the tubular body within the patient. ### Claim 11 (depends on 10) The method of claim 10, wherein the plurality of first sensors are pressure sensors. ### Claim 12 (depends on 10) The method of claim 10, wherein at least one electromagnetic coil is wound around one or more portions of the tubular body, wherein the at least one electromagnetic coil is configured to emit an electromagnetic signal. ### Claim 13 (depends on 10) The method of claim 10, wherein the one or more cameras include two stereo-calibrated cameras adapted to generate, by triangulation, at least a portion of the second orientation data comprising three-dimensional locations of fiducials in a coordinate system of the two stereo-calibrated cameras. ### Claim 14 (depends on 10) The method of claim 10, wherein the virtual model is a holographic virtual model. ### Claim 15 (depends on 11) The method of claim 11, further comprising receiving a measurement of bending or twisting of the tubular body via one or more of an accelerometer, a gyroscope, a magnetometer, and a stripe. ### Claim 16 (depends on 10) The method of claim 10, wherein the plurality of orientation markers comprise spheres placed on the handle, each sphere having a diameter ranging from 0.5 to 2 cm. ### Claim 17 (depends on 10) The method of claim 10, wherein the virtual model includes a portion of a colon of the patient. ### Claim 18 (depends on 10) The method of claim 10, wherein the display is configured to project the virtual model onto the patient to show the position of the tubular body relative to the patient. ### Claim 19 A method of tracking a position of an endoscope, wherein the endoscope includes an endoscope handle and an endoscope body adapted to be inserted into a patient, the method comprising: determining a reference position of the endoscope body within the patient; capturing at least one of a plurality of fiducial markers via an optical tracker; transforming data from the captured fiducial markers from co-ordinates of the endoscope to co-ordinates of a camera; projecting the captured fiducial markers on an image of the endoscope; and displaying an image of an internal organ with the fiducial markers together with an image of the endoscope with the fiducial markers. ### Claim 20 (depends on 19) The method of claim 19, wherein displaying an image of an internal organ with the fiducial markers together with an image of the endoscope with the fiducial markers includes displaying a determined position of the endoscope within the internal organ.