Target location by tracking of imaging device

Abstract

A method and apparatus for tracking a target by tracking the location of an imaging device while the imaging device is tracking the target is described.

1 . A method, comprising:
 tracking a location of a target using an imaging device;   tracking a location of the imaging device; and   determining a location of the target relative to an global reference point based on the tracked location of the target and the determined location of the imaging device.   
     
     
         2 . The method of  claim 1 , wherein tracking the location of the target comprises determining a positional offset between the target and the imaging device. 
     
     
         3 . The method of  claim 1 , wherein tracking a location of the imaging device comprises determining a positional offset between the imaging device and the global reference point. 
     
     
         4 . The method of  claim 1 , wherein the imaging device is an ultrasound imager. 
     
     
         5 . The method of  claim 4 , wherein the ultrasound imager comprises:
 an ultrasonic transducer;   an extension link coupled with the ultrasonic transducer; and   an external unit coupled with the extension link, wherein the ultrasonic transducer is moveable independently from the external unit.   
     
     
         6 . The method of  claim 1 , wherein the imaging device comprises an optical system. 
     
     
         7 . The method of  claim 1 , wherein tracking the location of the imaging device comprises capturing an image of the imaging device using a second imaging device. 
     
     
         8 . The method of  claim 7 , wherein the second imaging device is an X-ray imager. 
     
     
         9 . The method of  claim 1 , wherein the imaging device is mounted on a robotic arm capable of motion with at least five degrees of freedom. 
     
     
         10 . The method of  claim 9 , wherein tracking the location of the imaging device comprises receiving positional information from the robotic arm. 
     
     
         11 . The method of  claim 1 , wherein the imaging device is coupled with a treatment couch. 
     
     
         12 . The method of  claim 11 , further comprising applying the imaging device against a skin surface of a patient using a belt coupled with the imaging device. 
     
     
         13 . The method of  claim 1 , further comprising moving the imaging device to maintain the target within an imaging field of the imaging device. 
     
     
         14 . The method of  claim 1 , wherein the location of the target relative to the global reference comprises a global target offset and wherein the method further comprises maintaining an intersection of a beam with the target using the global target offset. 
     
     
         15 . The method of  claim 14 , maintaining the intersection of the beam with the target using the global target offset comprises adjusting at least one of a first robotic arm coupled to a LINAC generating the beam and a second robotic arm coupled to a treatment couch to support a patient having the target. 
     
     
         16 . An apparatus, comprising:
 an imaging device configured to track a location of a target;   a tracking device configured to track a location of the imaging device; and   a processor coupled with the imaging device and the tracking device, wherein the processor is configured to determine a location of the target relative to an global reference point based on the tracked location of the target and the tracked location of the imaging device.   
     
     
         17 . The apparatus of  claim 16 , wherein the imaging device is configured to track the location of the target relative to the imaging device. 
     
     
         18 . The apparatus of  claim 16 , wherein the tracking device is configured to track the location of the imaging device relative to the global reference point. 
     
     
         19 . The apparatus of  claim 16 , wherein the imaging device comprises an optical system. 
     
     
         20 . The apparatus of  claim 16 , wherein the imaging device comprises an ultrasound imager. 
     
     
         21 . The apparatus of  claim 20 , wherein the ultrasound imager comprises:
 an ultrasonic transducer;   an extension link coupled with the ultrasonic transducer; and   an external unit coupled with the extension link, wherein the ultrasonic transducer is moveable independently from the external unit.   
     
     
         22 . The apparatus of  claim 16 , wherein the tracking device is an X-ray imager. 
     
     
         23 . The apparatus of  claim 16 , wherein the imaging device is mounted on a robotic arm capable of movement in at least five degrees of freedom. 
     
     
         24 . The apparatus of  claim 23 , wherein the tracking device tracks a location of the imaging device by determining a position of the robotic arm. 
     
     
         25 . The apparatus of  claim 16 , wherein the imaging device is mounted on a belt coupled with the treatment couch, wherein the belt is configured to hold the imaging device against a skin surface of a patient. 
     
     
         26 . The apparatus of  claim 25 , wherein the belt includes a gel container configured to apply gel between the imaging device and the skin surface of the patient. 
     
     
         27 . The apparatus of  claim 16 , further comprising a positioning mechanism coupled with the imaging device, wherein the positioning mechanism is configured to maintain the target within an imaging field of the imaging device. 
     
     
         28 . The apparatus of  claim 16 , wherein the location of the target relative to the global reference comprises a global target offset and wherein the apparatus further comprises a linear accelerator (LINAC) coupled to a robotic arm, wherein the processor is coupled to the robotic arm to adjust a position of the LINAC to maintain intersection a LINAC beam with the target. 
     
     
         29 . The apparatus of  claim 16 , wherein the location of the target relative to the global reference comprises a global target offset and wherein the apparatus further comprises:
 a LINAC to generate a beam; and   a treatment couch coupled to a robotic arm, and wherein the processor is operatively coupled to the robotic arm to adjust a position of the treatment couch to maintain intersection of the LINAC beam with the target.   
     
     
         30 . An apparatus, comprising:
 an ultrasonic imager configured to track a location of a target;   an X-ray imager configured to track a location of the ultrasonic imager; and   a processor coupled with the ultrasonic imager and the X-ray imager, wherein the processor is configured to determine a location of the target relative to a global reference point based on the tracked location of the target and the tracked location of the ultrasonic imager.   
     
     
         31 . The apparatus of  claim 30 , wherein a transducer of the ultrasonic imager is mounted on a belt coupled with a treatment couch, wherein the belt is configured to hold the imaging device against a skin surface of a patient. 
     
     
         32 . The apparatus of  claim 30 , wherein the location of the target relative to the global reference comprises a global target offset and wherein the apparatus further comprises a linear accelerator (LINAC) coupled to a robotic arm, wherein the processor is coupled to the robotic arm to adjust a position of the LINAC to maintain intersection a LINAC beam with the target. 
     
     
         33 . The apparatus of  claim 30 , wherein the location of the target relative to the global reference comprises a global target offset and wherein the apparatus further comprises:
 a LINAC to generate a beam; and   a treatment couch coupled to a robotic arm, and wherein the processor is operatively coupled to the robotic arm to adjust a position of the treatment couch to maintain intersection of the LINAC beam with the target.