Tracking system and method using the tracking system to track real-time position of a patient with movable sensors in the body - Patents.com

Abstract

The present invention relates to a tracking system 10. The tracking system 10 comprises an emission device 12 configured to establish a measurement volume within at least a portion of a patient's body, a movable sensor 16 movable within the measurement volume, a reference sensor 18 for establishing a first coordinate system within the measurement volume, a storage device 22 including at least one virtual anatomical model VM of at least a portion of the patient's body B, the at least one virtual anatomical model having a second coordinate system, and a controller 20. The controller 20 is configured to align the first and second coordinate systems and to transform a real-time position of the movable sensor 16 in the first coordinate system to a position in the second coordinate system.

Description

[Technical field]

[0001] The present invention relates to a tracking system comprising an emission device, a movable sensor, a reference sensor and a controller. The present invention further relates to a method for tracking the real-time position of the movable sensor in a patient's body using the tracking system. In particular, the tracking system is to be used when introducing a blood pump or a guide wire for a blood pump into a patient's body. The blood pump can be a catheter pump, in particular an intravascular blood pump, an intracardiac blood pump or any other kind of ventricular assist device. [Background technology]

[0002] Different types of such blood pumps are known from the prior art and are intended to support the function of the patient's heart, either in short-term applications, where the intravascular blood pump is placed in the patient for a few days or weeks, or in long-term applications, where the intravascular blood pump is placed in the patient for a few weeks or months. The blood pump can be inserted into the patient's body, for example, through the aorta by using a catheter, or can be placed in the thoracic cavity. During the planned operation, the intravascular blood pump is often introduced into the patient's body using a guide wire, which serves as a track for the intravascular blood pump. For example, the guide wire and the intravascular blood pump are introduced into the patient's body using fluoroscopy to ensure the correct positioning of the intravascular blood pump in the patient's left ventricle. Typically, X-rays are used for fluoroscopy.

[0003] However, fluoroscopy, especially using X-rays, is associated with certain drawbacks. During planned procedures for placing a blood pump or a guidewire, respectively, X-rays are not available without restrictions. In addition, patients and physicians are exposed to large amounts of radiation when working with X-rays. When it comes to emergency situations that require immediate introduction of an intravascular blood pump into the patient's body, such as in an emergency room or ambulance, X-rays are often not available. Moreover, during emergency situations, the intravascular blood pump is introduced directly into the patient's body without a guidewire, for example through a femoral or axillary access.

[0004] Therefore, there is a need to provide an improved solution for tracking the position of a blood pump or a guidewire for a blood pump as it is introduced into a patient's body. Summary of the Invention [Means for solving the problem]

[0005] According to a first aspect, a tracking system includes an emission device configured to establish a measurement volume within at least a portion of a patient's body, a movable sensor movable within the measurement volume, a reference sensor that establishes a first coordinate system within the measurement volume, a storage device including at least one virtual anatomical model of at least a portion of the patient's body, the at least one virtual anatomical model having a second coordinate system, and a controller configured to align the first and second coordinate systems and to convert a real-time position of the movable sensor in the first coordinate system to a position in the second coordinate system. The controller may be configured to detect a real-time position of the movable sensor in the first coordinate system.

[0006] The virtual anatomical model includes that part of the patient's body of interest, for example, the torso with parts of the legs, including the femoral artery. The measurement volume also includes said part of the patient's body. Using a tracking system, the virtual anatomical model of said part of the patient's body can be aligned with the actual anatomical structure of the patient, so that the actual anatomical structure of the patient matches the virtual anatomical model. Thus, for example, when an intravascular blood pump is introduced through a femoral access via the femoral artery, the movement of the movable sensor can be visualized in the virtual anatomical model, which is aligned with the actual anatomical structure of the patient. This allows for correct placement of the intravascular blood pump without fluoroscopy. In addition, the alignment of the first coordinate system of the reference sensor with the second coordinate system of the virtual anatomical model allows for detection of the real-time position of the movable sensor in the virtual anatomical model, independent of the relative movement between the patient and the delivery device.

[0007] The controller may be configured to detect a real-time position of the movable sensor within the first coordinate system.

[0008] The controller may be configured to align the first and second coordinate systems based on at least a detected first position of the movable sensor in the first coordinate system. Preferably, the detected first position is an average of a plurality of spaced positions, preferably five consecutive positions, of the movable sensor. When a physician introduces the movable sensor, e.g., through a femoral access, together with, e.g., an intravascular blood pump, and presses it into the aorta, the actual position of the movable sensor (e.g., in the descending aorta) is known and may be used to align the first and second coordinate systems.

[0009] The controller may be configured to align the first and second coordinate systems based on the detected first position and the direction of movement of the movable sensor, the direction of movement being preferably a linear vector. The direction of movement may be calculated from a vector connecting the detected first position and the detected second position, the detected second position being detected after the detected first position, i.e. when the movable sensor is further introduced into the patient's body. Preferably, the detected second position is an average of a plurality of spaced positions, preferably five consecutive positions. Furthermore, the detected first position and the detected second position are preferably sufficiently spaced apart from each other, in particular at least 2 cm, but preferably not more than 10 cm. Thus, taking into account the direction of movement further improves the alignment of the first and second coordinate systems.

[0010] The virtual anatomical model may include an identifiable structure, and the controller may be further configured to move the identifiable structure along with the second coordinate system to the detected first location. The identifiable structure may be a model of the aortic arch. The identifiable structure is preferably a consistent structure independent of anatomical differences and characteristics between individual patients. Using an identifiable structure common to all patients further improves the alignment of the first and second coordinate systems.

[0011] The reference sensor may be a six degree of freedom sensor, which may allow for a particularly accurate alignment of the first and second coordinate systems.

[0012] The tracking system may further comprise a medical device, and the movable sensor may be attached to the medical device. Preferably, the medical device is a catheter pump, such as an intravascular blood pump, an intracardiac blood pump or a guidewire for an intravascular blood pump, or an intracardiac blood pump. Thus, the real-time position of the medical device within the patient's body may be tracked during its introduction. As such, the correct position of the medical device, for example within the patient's heart, may be ensured.

[0013] The emitting device may be an electromagnetic field generator. Preferably, the electromagnetic field generator emits a low intensity fluctuating electromagnetic field that induces small currents in the movable sensor and the reference sensor. The currents are communicated to a controller, which may be further configured to amplify and digitize the currents to generate digital signals for further calculation and processing.

[0014] The movable sensor may be an embedded electromagnetic sensor. The movable sensor may be a five-degree-of-freedom sensor or a six-degree-of-freedom sensor. The respective movable sensor may be used as required. For example, if the movable sensor is attached to an intravascular blood pump having a pigtail, the sensor may be a six-degree-of-freedom sensor so that the relative position of the tip of the pigtail with respect to the direction of motion of the intravascular blood pump (i.e., along the X-axis) may also be tracked.

[0015] The tracking system may further include a display device. The display device may be configured to display the real-time position of the movable sensor in the second coordinate system of the virtual anatomical model. The display device may be configured to display the real-time position of the movable sensor in the virtual anatomical model. This makes the real-time position of the movable sensor visible to the physician in a virtual anatomical model suitable for the patient's body. In other words, an image of the patient's body with the real-time position of the movable sensor is shown to the physician.

[0016] The storage device may further include a plurality of selectable virtual anatomical models. The virtual anatomical models may be used and selected by a physician prior to introducing the movable sensor into the patient's body. The virtual anatomical model to be used may also be automatically selected by the controller based on input parameters associated with the patient. In particular, the input parameters may be gender, age, height, and / or weight.

[0017] The tracking system may further include an input device. The input device may be configured to communicate with the controller. The input device may be a touch screen, a keyboard, a mobile phone, a wireless input device, a wired input device, a terminal, a tablet, and / or a remote control. The controller may include a storage device. The storage device may be a non-volatile storage device.

[0018] According to a second aspect, a method for tracking a real-time position of a movable sensor within a patient's body using a tracking system, in particular using the tracking system according to the first aspect, comprises the following steps: providing an emission device that establishes a measurement volume within at least a portion of the patient's body, providing a reference sensor that establishes a first coordinate system within the measurement volume, providing a movable sensor movable within the measurement volume, positioning the patient within the measurement volume, placing the reference sensor on the skin of the patient's body, providing a virtual anatomical model of at least a portion of the patient's body within the measurement volume, the virtual anatomical model having a second coordinate system, introducing the movable sensor into the patient's body and moving the movable sensor within the patient's body, aligning the first coordinate system and the second coordinate system, and converting the real-time position of the movable sensor in the first coordinate system to a position in the second coordinate system.

[0019] The virtual anatomical model includes that part of the patient's body of interest, e.g., the torso with the leg part including the femoral artery. The measurement volume also includes the above part of the patient's body. Using a tracking system, the virtual anatomical model of the above part of the patient's body can be aligned with the patient's actual anatomy so that the patient's actual anatomy matches the virtual anatomical model. For example, when an intravascular blood pump is introduced through a femoral access via the femoral artery, the movement of the movable sensor can be tracked in the virtual anatomical model that is aligned with the patient's actual anatomy. This allows for correct placement of the intravascular blood pump without fluoroscopy. In addition, aligning the first coordinate system of the reference sensor with the second coordinate system of the virtual anatomical model allows for detection of the real-time position of the movable sensor in the virtual anatomical model independent of the relative position between the patient and the delivery device.

[0020] The step of providing a virtual anatomical model of at least a portion of the patient's body may further include selecting one of a plurality of virtual anatomical models. The virtual anatomical model may be used and selected by the physician prior to introducing the movable sensor into the patient's body. The virtual anatomical model to be used may also be automatically selected by the controller based on input parameters associated with the patient. In particular, the input parameters may be gender, age, height, and / or weight.

[0021] The reference sensor may establish a local Z-axis in the first coordinate system. The reference sensor may be placed on the patient's skin such that the local Z-axis points toward the apex of the patient's heart. The reference sensor may include a cable or have a label that targets caudally. Thus, the local Z-axis may be unambiguously defined.

[0022] The step of aligning the first and second coordinate systems may further include detecting at least a first position of the movable sensor in the patient's body and aligning the first and second coordinate systems based on the detected first position. Preferably, the detected first position is an average of a plurality of spaced positions, preferably five consecutive positions, of the movable sensor. When the physician introduces the movable sensor, e.g., through a femoral access, together with, e.g., an intravascular blood pump, and presses it into the aorta, the actual position of the movable sensor (e.g., within the aorta) is known and can be used to align the first and second coordinate systems.

[0023] The step of aligning the first coordinate system and the second coordinate system may further include detecting a direction of movement of the movable sensor within the patient's body, and aligning the first coordinate system and the second coordinate system based on the detected first position and the direction of movement of the movable sensor.

[0024] The direction of movement can be detected by calculating a vector between the detected first position and the detected second position, the second position being detected after the first position and the second position being away from the first position. The direction of movement can be calculated from a vector connecting the detected first position and the detected second position, the detected second position being detected after the detected first position, i.e. when the mobile sensor is introduced further into the patient's body. Preferably, the detected second position is an average of a number of spaced positions, preferably five consecutive positions. The detected first position and the detected second position are preferably sufficiently distant from each other, in particular at least 2 cm, but not more than 10 cm. Thus, taking into account the direction of movement further improves the alignment of the first and second coordinate systems.

[0025] The virtual anatomical model may include an identifiable structure, and the step of aligning the first coordinate system with the second coordinate system may further include moving the identifiable structure together with the second coordinate system to the detected first location. The identifiable structure may be a model of the aortic arch. The identifiable structure is preferably a consistent structure independent of anatomical differences and characteristics between individual patients. Using an identifiable structure common to all patients further improves the alignment of the first coordinate system with the second coordinate system.

[0026] The mobile sensor may be introduced into the patient's body via the femoral or axillary artery.

[0027] The method for tracking the movable sensor may further include displaying the real-time position of the movable sensor in the provided virtual anatomical model on a display device. The method for tracking the movable sensor may further include displaying the real-time position of the movable sensor in the first coordinate system. This makes the real-time position of the movable sensor visible to the physician in the virtual anatomical model aligned with the anatomical structure of the patient's body. In other words, an image of the patient's body with the real-time position of the movable sensor is shown to the physician.

[0028] The foregoing summary, as well as the following detailed description of exemplary embodiments, will be better understood when read in conjunction with the appended drawings. For purposes of illustrating the present disclosure, reference is made to the drawings. However, the scope of the present disclosure is not limited to the specific embodiments disclosed in the drawings. [Brief description of the drawings]

[0029] [Figure 1] FIG. 1 is a functional block diagram of an exemplary tracking system according to an aspect of the present disclosure. [Diagram 2] FIG. 1 is a schematic diagram of a patient's body with a reference sensor placed thereon. [Diagram 3] FIG. 2 is a schematic diagram of a virtual anatomical model before registration. [Figure 4] FIG. 2 is a schematic diagram of the first step of alignment. [Diagram 5] FIG. 13 is a schematic diagram of a second step of alignment. [Figure 6] FIG. 13 is a schematic diagram of a third step of the alignment. [Figure 7] FIG. 11 is a schematic diagram of a fourth step of alignment. [Figure 8] FIG. 11 is a schematic diagram of the fifth step of alignment. [Figure 9] FIG. 13 is a schematic diagram of the virtual anatomical model after registration. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] The embodiments of the present disclosure will be described in detail with reference to the drawings, in which the same reference numbers identify similar or identical elements. It should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be embodied in various forms. Well-known functions or structures are not described in detail to avoid obscuring the present disclosure in unnecessary detail. Therefore, the specific structural and functional details disclosed herein should not be interpreted as limitations, but merely as a representative basis for teaching those skilled in the art to use the present disclosure in various ways in virtually any appropriately detailed structure.

[0031] In order to provide a general understanding of the systems, methods, and devices described herein, certain illustrative examples are described. Although various examples may be described for intravascular blood pumps, it should be understood that the improvements of the present technology can also be adapted and applied to other types of medical devices, such as electrophysiology study and catheter ablation devices, angioplasty and stenting devices, angiography catheters, peripherally inserted central catheters, central venous catheters, midline catheters, peripheral catheters, inferior vena cava filters, abdominal aortic aneurysm treatment devices, thrombectomy devices, TAVR delivery systems, cardiac therapy and cardiac assist devices including balloon pumps, cardiac assist devices implanted using surgical incisions, and any other venous or arterial based introduction catheters and devices.

[0032] As is known, an intravascular blood pump may be introduced into a patient, either surgically or percutaneously, to deliver blood from one location in the heart or circulatory system to another location in the heart or circulatory system. For example, when deployed in the left ventricle, an intravascular blood pump may pump blood from the left ventricle of the heart into the aorta. When deployed in the right ventricle, an intravascular blood pump may pump blood from the inferior vena cava into the pulmonary artery.

[0033] 1, the tracking system 10 includes an emitting device 12, a medical device 14, a movable sensor 16, a reference sensor 18, a controller 20, a storage device 22, a display device 24, and an input device 26. The emitting device 12 establishes a measurement volume within a portion of a patient's body B, as described in more detail below. The emitting device 12 may be an electromagnetic field generator that emits a low-intensity fluctuating electromagnetic field that induces small currents in the movable sensor 16 and the reference sensor 18.

[0034] In this example, the movable sensor 16 is attached to a medical device 14, in particular an intravascular blood pump. Here, the intravascular blood pump 14 is configured to be introduced into the patient's body B via the femoral artery in a known manner. The movable sensor 16 is an implantable electromagnetic sensor, which may be a five-degree-of-freedom sensor or a six-degree-of-freedom sensor. The reference sensor 18 is a six-degree-of-freedom sensor, which is placed on the skin of the patient's body B, as shown in FIG. 2. In particular, the reference sensor 18 establishes a first coordinate system COS1 having a local X-axis, a local Y-axis, and a local Z-axis, hereafter referred to as x, y, and z. Looking at FIG. 2, the reference sensor 18 is placed on the skin of the patient's body B such that the local Z-axis z of the first coordinate system COS1 points towards the apex of the patient's heart H.

[0035] The emission device 12, the movable sensor 16 and the reference sensor 18 are connected to the controller 20 by suitable elements, for example by cables. Of course, it is also possible to use a wireless connection. The currents induced in the movable sensor 16 and the reference sensor 18 are transmitted to the controller 20. The controller 20 is configured to amplify and digitize the received currents. The signals so generated are further calculated in the controller 20, as will be described in more detail below.

[0036] The controller 20 may further include a storage device 22. The storage device 22 may be a non-volatile storage device. In this example, a plurality of virtual anatomical models VM of at least a portion of the patient's body B are stored in the storage device 22. In particular, the plurality of virtual anatomical models VM each include a region of interest of the human body. In this example, the region of interest extends from the femoral access via the aorta AO and the aortic arch AA to the heart H. A suitable virtual anatomical model VM may be selected by the physician or may be automatically selected by the controller 22 based on input parameters such as, but not limited to, gender, age, height, and / or weight. Each of the plurality of virtual anatomical models VM has a second coordinate system COS2 having a local X' axis, a local Y' axis, and a local Z' axis, hereinafter referred to as x', y', and z'.

[0037] The virtual anatomical model VM, the first coordinate system COS1, the second coordinate system COS2, and the real-time position of the movable sensor 16 in the virtual anatomical model VM, the first coordinate system COS1 and / or the second coordinate system COS2 can be visualized to the physician via the display device 24. The display device 24 can be any suitable device, for example, an LCD display or a TFT display. The physician can input different parameters to operate the tracking system 10 via the input device 26 in a known manner. The input device 26 can be any suitable device, for example, a tablet, a keyboard, a smartphone, a remote control, or a terminal. Of course, the display device 24 can include a touch screen and thus the input device 26.

[0038] The controller 20 is configured to operate the tracking system 10 and is further configured to align the first coordinate system COS1 and the second coordinate system COS2 such that a real-time position of the movable sensor 16 in the first coordinate system COS1 is transformed to a position in the second coordinate system COS2. Furthermore, the controller 20 is configured to communicate with the display device 24 such that the virtual anatomical model VM with the position of the movable sensor 16 in the virtual anatomical model VM and the second coordinate system COS2, respectively, are visualized to the physician.

[0039] Alternatively, reference sensor 18 may also be placed on the patient's body B above the epigastrium and an additional sensor may be placed on the skin of the patient's body with the local Z axis of the additional sensor pointing towards the apex of the patient's heart H. This further assists the physician when introducing blood pump 14 and facilitates alignment of the first coordinate system COS1 with the second coordinate system COS2.

[0040] The method implemented by the controller 20 for aligning the first coordinate system COS1 and the second coordinate system COS2 will now be explained in more detail with reference to Figures 2 to 9.

[0041] A prerequisite is that the patient's body B is placed close to the emission device 12 such that the measurement volume includes the region of interest of the patient's body B. In the example, the region of interest extends from the femoral access to the heart H, including the aorta AO and the aortic arch AA. Furthermore, looking at FIG. 2, the reference sensor 18 is attached to the patient's skin such that the local Z-axis of the second coordinate system COS2 established by the reference sensor 18 points towards the apex of the heart H. Furthermore, a suitable virtual anatomical model VM is selected.

[0042] 3, the virtual anatomical model VM is initially positioned at the origin of the reference sensor such that the first coordinate system COS1 coincides with the second coordinate system COS2, i.e., x=x', y=y', and z=z'. As shown in FIGS. 3-9, the virtual anatomical model includes an identifiable structure, specifically, the aortic arch AO. The aortic arch AO is used as a reference structure during alignment of the second coordinate system COS2 of the virtual anatomical model with the patient's actual anatomical structure.

[0043] The physician introduces the intravascular blood pump 14 with the movable sensor 16 mounted thereon via femoral access and presses the intravascular blood pump 14 cranially, toward the heart H, or in the reverse direction of blood flow, respectively, through the descending aorta of the patient's body B. While doing so, the physician detects a first detected position P1 and a second detected position P2 in the descending aorta of the patient's body B. The first detected position P1 and the second detected position P2 are each an average of preferably five consecutive real-time positions of the movable sensor 16. The distance between the first detected position P1 and the second detected position P2 should be sufficiently high, in particular within the range of 2 cm to 10 cm. Of course, the first detected position P1 and the second detected position P2 can also be automatically detected by the controller 20. Of course, the first detected position P1 and the second detected position P2 can also be based on more or less than five consecutive real-time positions of the movable sensor 16.

[0044] The detected first position P1 and the detected second position P2 are in a straight line in space in the axial direction of the descending aorta.

number

[0045] As shown in FIG. 4, the aortic arch AA of the virtual anatomical model VM is defined by the vector

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[0046] Next, referring to FIG. 5, the aortic arch AA of the virtual anatomical model VM is rotated around y′ by an angle θ relative to the xy plane. The angle θ is determined by the relationship between the line G:x → As a result of this second rotation, the aortic arch AA of the virtual anatomical model VM now extends between the line G:x → FIG. 6 shows the aortic arch AA of the virtual anatomical model VM after the second rotation. As can be seen, x′ (axially concentric with the descending aorta) is aligned with the line G:x → is aligned with.

[0047] The aortic arch AA of the virtual anatomical model VM is then aligned along a line G:x → or x′ along the axis G until the shortest distance between the apex of the heart H and z (i.e., the Z axis of the first coordinate system COS1 established by the reference sensor 18) is reached. →is translated to pass through the apex of the aortic arch AA of the virtual anatomical model VM. Furthermore, as shown in FIG. 6, the apex of the heart H of the virtual anatomical model VM is then rotated about the x' axis, resulting in a shift of dy' in the y' direction and dx' in the x' direction. → The shortest distance between and z is calculated in a known manner based on the distance between the two lines at the twist position.

[0048] To adjust the aortic arch AA of the virtual anatomical model VM with respect to rotation about y', the shift dx' in the x' direction needs to be corrected by dx'' under certain circumstances. As can be seen in the left side of FIG. 7, a rotation of the aortic arch AA (used as a reference structure) of the virtual anatomical model VM in plane A about x' is required to move the apex of the aortic arch AA of the virtual anatomical model VM so that it is located on z (i.e., the Z-axis of the first coordinate system COS1). The right side of FIG. 7 shows a perspective perpendicular to plane A in the y' direction. If x' is parallel to the xy plane, then θ=0°, and therefore no additional adjustment is required. That is, if dy'=0, then there is no need for rotation about x' and no additional adjustment is required. However, if the aortic arch AA of the virtual anatomical model VM is generally located within the first coordinate system COS1, i.e., θ ≠ 0°, then rotation of the aortic arch AA of the virtual anatomical model VM around x' does not result in the apex of the aortic arch AA of the virtual anatomical model VM being on z.

[0049] Only in the latter case (ie, θ≠0°) does the shift in the x′ direction dx′ need to be adjusted by dx″ as follows:

number

number

[0050] The angle φ is the angle by which the aortic arch AA of the virtual anatomical model VM needs to be rotated around x' in order to move the apex of the aortic arch AA of the virtual anatomical model VM to z, as seen in FIG. 8. Here, the left side of FIG. 8 shows a frontal perspective onto plane A, and the right side of FIG. 8 shows a perpendicular perspective to plane A. As can be further seen in FIG. 8, the distance R is the distance between x' and the apex of the aortic arch AA of the virtual anatomical model VM. Thus, the distance R' is the difference between R and ΔR, where ΔR represents the absolute value difference in the z' direction due to the rotation of the angle φ around x',

number

number

[0051] Here, the first coordinate system COS1 and the second coordinate system COS2 are aligned such that the virtual anatomical model VM matches the actual anatomical characteristics of the patient, as shown in Fig. 9. The controller 20 transmits respective signals to the display device 24 so that the virtual anatomical model VM with the position of the movable sensor 16 in the virtual anatomical model VM and the second coordinate system COS2, respectively, is visualized to the physician, enabling correct placement of the medical device 14 in the patient's heart H.

[0052] Exemplary Implementations As previously mentioned, the techniques described herein may be implemented in a variety of ways. In that regard, the foregoing disclosure is intended to include, but is not limited to, the systems, methods, and combinations and subcombinations thereof set forth in the following exemplary implementations. Preferred embodiments are described in the following paragraphs. A1 1. A tracking system comprising: an emission device configured to establish a measurement volume within at least a portion of a patient's body; a movable sensor that is movable within the measurement volume; a reference sensor that establishes a first coordinate system within the measurement volume; a storage device having at least one virtual anatomical model of at least a portion of a patient's body, the at least one virtual anatomical model having a second coordinate system; a controller configured to align the first coordinate system and the second coordinate system and to convert a real-time position of the movable sensor in the first coordinate system to a position in the second coordinate system; A tracking system comprising: A2 The tracking system of paragraph A1, wherein the controller is configured to detect a real-time position of the movable sensor within the first coordinate system. A3 A tracking system as described in paragraph A1 or A2, wherein the controller is configured to align the first coordinate system and the second coordinate system based on at least a first position detected by the movable sensor within the first coordinate system. A4 A tracking system as described in paragraph A3, wherein the controller is configured to align the first coordinate system and the second coordinate system based on the detected first position and the direction of movement of the movable sensor, the direction of movement being preferably a linear vector. A5 The tracking system of paragraph A3 or A4, wherein the virtual anatomical model includes an identifiable structure, and the controller is further configured to move the identifiable structure together with the second coordinate system to the detected first position. A6 A tracking system according to any one of the preceding paragraphs A1 to A5, wherein the virtual anatomical model includes a model of at least one blood vessel, in particular the aortic arch, the femoral artery, and / or the aorta. A7 The tracking system of any one of the preceding paragraphs A1-A6, wherein the reference sensor is a six degree of freedom sensor. A8 A tracking system as described in any one of the preceding paragraphs A1 to A7, further comprising a medical device, wherein the movable sensor is attached to the medical device, and the medical device is preferably an intravascular blood pump or a guidewire for an intravascular blood pump. A9 The tracking system of any one of the preceding paragraphs A1-A8, wherein the emitting device is an electromagnetic field generator. A10 A tracking system according to any one of the preceding paragraphs A1 to A9, wherein the movable sensor is an embedded electromagnetic sensor and / or the movable sensor is a five degree of freedom sensor or a six degree of freedom sensor. A11 The tracking system of any one of the preceding paragraphs A1-A10, further comprising a display device configured to display a real-time position of the movable sensor within the second coordinate system of the virtual anatomical model. A12 The tracking system of paragraph A11, wherein the display device is connected to the controller. A13 The tracking system of any one of the preceding paragraphs A1-A12, wherein the storage device includes a plurality of selectable virtual anatomical models. A14 The tracking system of any one of the preceding paragraphs A1-A13, further comprising an input device configured to communicate with the controller. A15 The tracking system of paragraph A14, wherein the input device is a touch screen, a keyboard, a mobile phone, a wireless input device, a wired input device, a terminal, a tablet, and / or a remote control. A16 A tracking system according to any one of the preceding paragraphs A1-A15, wherein the controller comprises a storage device. A17 The tracking system according to any one of the preceding paragraphs A1 to A16, wherein the storage device is a non-volatile storage device. A18 A method for tracking a real-time position of a mobile sensor in a patient's body using a tracking system, in particular using a tracking system according to one of paragraphs A1 to A17, comprising the following steps: - providing an emission device that establishes a measurement volume within at least a portion of a patient's body; - providing a reference sensor that establishes a first coordinate system within a measurement volume; - providing a movable sensor movable within a measurement volume; - placing a patient within a measurement volume; - placing a reference sensor on the skin of the patient's body; - providing a virtual anatomical model of at least a portion of a patient's body that is within the measurement volume, the virtual anatomical model having a second coordinate system; - introducing a movable sensor into a body of a patient and moving the movable sensor within the body of the patient; - aligning a first coordinate system with a second coordinate system; - transforming a real-time position of the movable sensor in a first coordinate system to a position in a second coordinate system; A method comprising: A19 The method of paragraph A18, wherein providing a virtual anatomical model of at least a portion of the patient's body includes selecting one of a plurality of virtual anatomical models. A20 The method of paragraph A18 or A19, wherein the reference sensor establishes a local Z axis in a first coordinate system, the reference sensor being placed on the patient's skin such that the local Z axis points toward the apex of the patient's heart. A21 A method according to any one of the preceding paragraphs A18 to A20, comprising - tracking movement of the movable sensor by aligning the first coordinate system with the second coordinate system and by transforming a real-time position of the movable sensor in the first coordinate system to a position in the second coordinate system. A22 A method according to any one of the preceding paragraphs A18 to A21, wherein the step of aligning the first coordinate system and the second coordinate system comprises: - detecting at least a first position of a movable sensor within a body of a patient; - aligning the first coordinate system and the second coordinate system based on the detected first position. A23 A method according to any one of the preceding paragraphs A18 to A22, wherein the step of aligning the first coordinate system and the second coordinate system comprises: - detecting a direction of movement of a movable sensor within a patient's body; - aligning the first coordinate system and the second coordinate system based on the detected first position and a direction of movement of the movable sensor. A24 The method of paragraph A22 or A23, wherein the virtual anatomical model includes identifiable structures, and the step of registering the first coordinate system and the second coordinate system comprises: - moving the identifiable structure together with the second coordinate system to the detected first location. A25 The method according to paragraph A24, wherein the identifiable structure is a model of the aortic arch. A26 The method of any one of the preceding paragraphs A18 to A25, wherein the movable sensor is introduced into the patient's body via the femoral artery or via the axillary artery. A27 A method according to any one of the preceding paragraphs A18 to A26, comprising - displaying, on a display device, a real-time position of the movable sensor within the provided virtual anatomical model. A28 A method according to any one of the preceding paragraphs A18 to A27, comprising - displaying, on a display device, a real-time position of the movable sensor within the second coordinate system. [Explanation of symbols]

[0053] 10 tracking system, 12 ejection device, 14 medical device / intravascular blood pump, 16 movable sensor, 18 reference sensor, 20 controller, 22 storage device, 24 display device, 26 input device, A plane, AA aortic arch, AO aorta, B patient's body, COS1 first coordinate system, COS2 second coordinate system, dx' shift in x' direction, dx'' correction of dx', dy' shift in y' direction, G:x → A line between P1 and P2, H the heart, P1 the first detected position, P2 the second detected position, R the distance between x' and the apex of the aortic arch of the virtual anatomical model, R' the distance, ΔR the difference between R and R', v → Vectors, VM virtual anatomical model, X local X-axis of first coordinate system, Y local Y-axis of first coordinate system, z local Z-axis of first coordinate system, x' local X-axis of second coordinate system, y' local Y-axis of second coordinate system, z' local Z-axis of second coordinate system, Ψ x' and G:x → The angle between

Claims

1. A tracking system (10), A discharge device (12) configured to establish a measurement volume within at least a portion of the patient's body (B), A movable sensor (16) that can move within the measurement volume, A reference sensor (18) that establishes a first coordinate system (COS1) within the measurement volume, A memory device (22) comprising at least one virtual anatomical model (VM) of at least a portion of the patient's body (B), wherein the at least one virtual anatomical model (VM) has a second coordinate system (COS2), and the memory device (22) A controller (20) is configured to align the first coordinate system (COS1) and the second coordinate system (COS2), and to convert the real-time position of the movable sensor (16) in the first coordinate system (COS1) to its position in the second coordinate system (COS2). A tracking system (10) is provided.

2. A tracking system (10) according to claim 1, wherein the controller (20) is configured to detect the real-time position of the movable sensor (16) in the first coordinate system (COS1).

3. A tracking system (10) according to claim 1 or 2, wherein the controller (20) is configured to align the first coordinate system (COS1) and the second coordinate system (COS2) based on a first position (P1) detected by the movable sensor (16) in at least the first coordinate system (COS1).

4. A tracking system (10) according to claim 3, wherein the controller (20) determines the detected first position (P1) and the direction of motion (G:χ) of the movable sensor (16). → A tracking system (10) is configured to align the first coordinate system (COS1) and the second coordinate system (COS2) based on the following.

5. The tracking system (10) according to claim 4, wherein the direction of motion (G: x → ) is a linear vector.

6. A tracking system (10) according to claim 3, wherein the virtual anatomical model (VM) includes an identifiable structure, and the controller (20) is further configured to move the identifiable structure together with the second coordinate system (COS2) to the detected first position (P1).

7. A tracking system (10) according to claim 1, wherein the virtual anatomical model (VM) includes a model of at least one blood vessel, in particular the aortic arch (AA), the femoral artery, and / or the aorta (AO).

8. A tracking system (10) according to claim 1, wherein the reference sensor (18) is a 6-degree-of-freedom sensor.

9. A tracking system (10) according to claim 1, further comprising a medical device (14), wherein the movable sensor (16) is attached to the medical device (14).

10. A tracking system (10) according to claim 1, wherein the emission device (12) is an electromagnetic field generator.

11. A tracking system (10) according to claim 1, wherein the movable sensor (16) is an embedded electromagnetic sensor, and / or the movable sensor (16) is a 5-degree-of-freedom sensor or a 6-degree-of-freedom sensor.

12. A tracking system (10) according to claim 1, further comprising a display device (24) configured to display the real-time position of the movable sensor (16) in the second coordinate system (COS2) of the virtual anatomical model (VM).

13. A tracking system (10) according to claim 1, wherein the storage device (22) includes a plurality of selectable virtual anatomical models (VMs).

14. A tracking system (10) according to claim 1, further comprising an input device (26) configured to communicate with the controller (20).

15. A method for tracking the real-time position of a movable sensor (16) within a patient's body (B) using a tracking system (10), the method comprising the following steps: - A step of providing a discharge device (12) that establishes a measurement volume within at least a portion of the patient's body (B), - A step of providing a reference sensor (18) that establishes a first coordinate system (COS1) within the measurement volume, - The step of providing the movable sensor (16) so as to be movable within the measurement volume, - The step of placing the patient's body within the measured volume, - The step of placing the reference sensor (18) on the skin of the patient's body (B), - A step of providing a virtual anatomical model (VM) of at least a portion of the patient's body (B) within the measured volume, wherein the virtual anatomical model (VM) has a second coordinate system (COS2), - The steps of introducing the movable sensor (16) into the patient's body (B) and moving the movable sensor (16) within the patient's body (B), - A step of aligning the first coordinate system (COS1) and the second coordinate system (COS2), - A step of converting the real-time position of the movable sensor (16) in the first coordinate system (COS1) to its position in the second coordinate system (COS2). A method characterized by including

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