Localization of the parathyroid

Abstract

A local positioning system (LPS) that includes at least three local position tracking devices is described. Each local position tracking (LPT) device includes a device clock synchronized to a device time set and shared by the other device clocks, a transmitter transmitting messages synchronized to the device time, each message including a transmission time and known initial positional information, and a receiver. A living body image visualization includes time-sequential frames corresponding with the other LPT device. An output component includes a user clock set to a user time. A processor includes a processor clock set to a processor time. The processor generates a temporally-changing coordinate map based on transmission time, receipt time and the known initial positional information. The processor combines the time-sequential frames at the same time as the temporally-changing coordinate map into enhanced frames continually output. The device time, the user time, and the processor time are synchronized.

1 . A local positioning system (LPS) comprising:
 at least three local position tracking devices, each local position tracking device further comprising:
 a device clock synchronized to a device time that is set and shared by the device clock in each of the other local position tracking devices; 
 a transmitter transmitting messages over time synchronized to the device time, each of the messages comprising a transmission time stamp that the message was transmitted and known initial positional information of the transmitting local position tracking device with respect to each of the local position tracking devices; and 
 a receiver receiving the messages over time from the other local position tracking devices; 
   an image visualization representation of a living body as represented over time and comprising a plurality of time-sequential frames corresponding with the locations of each of the local position tracking devices over time;   an output component comprising a user clock that is set to a user time; and   a processor comprising a processor clock that is set to a processor time and operatively coupled as part of at least one of the local position tracking devices, wherein
 the processor is configured to create and generate a temporally-changing coordinate map over time based on, for each of the messages, the transmission time stamp that the message was transmitted, a receipt time stamp that the message was received and the known initial positional information, 
 the processor is further configured to combine the plurality of the time-sequential frames of the image visualization representation at the same time as the creation and generation of the temporally-changing coordinate map into a plurality of enhanced frames, and 
 the processor is still further configured to continually output the enhanced frames to the output component, 
 wherein the device time, the user time, and the processor time are synchronized. 
   
     
     
         2 . An LPS in accordance with  claim 1 , further comprising:
 the transmitter further comprising a transmitter clock that can determine time;   the receiver further comprising a receiver clock that can determine time;   the output component further comprising an output component clock that can determine time that can determine time,   wherein at least one of the transmitter clock, the receiver clock, the output component clock, and the processor clock is set to the time determined by a different one of the transmitter clock, the receiver clock, the output component clock, and the processor clock.   
     
     
         3 . An LPS in accordance with  claim 2 , wherein at least one of the transmitter clock, the receiver clock, the output component clock, and the processor clock is set to one of a past, present, and future time. 
     
     
         4 . An LPS in accordance with  claim 3 , wherein the time to which at least one of the transmitter clock, the receiver clock, the output component clock, and the processor clock is set is corrected by a clock that is not synchronized to a different one of the transmitter clock, the receiver clock, the output component clock, and the processor clock. 
     
     
         5 . An LPS in accordance with  claim 2 , wherein the time to which at least one of the transmitter clock, the receiver clock, the output component clock, and the processor clock is set is independent of all time standards. 
     
     
         6 . An LPS in accordance with  claim 2 , wherein the time to which at least one of the transmitter clock, the receiver clock, the output component clock, and the processor clock is set to correct interval error of transmission of signals. 
     
     
         7 . An LPS in accordance with  claim 2 , wherein one or more of the image visualizations is paired with the time to which at least one of the transmitter clock, the receiver clock, the output component clock, and the processor clock is set. 
     
     
         8 . An LPS in accordance with  claim 1 , further comprising:
 the transmitter further comprising a transmitter clock that can determine time;   the receiver further comprising a receiver clock that can determine time;   the output component further comprising an output component clock that can determine time that can determine time,   wherein at least one of the transmitter clock, the receiver clock, the output component clock, and the processor clock is set to a time independent of each of the transmitter clock, the receiver clock, the output component clock, and the processor clock.   
     
     
         9 . An LPS in accordance with  claim 1 , further comprising:
 a computer-aided modeling program operable for execution by the processor and capable of at least one of representing and altering one or more of the image visualizations.   
     
     
         10 . An LPS in accordance with  claim 9 , wherein the computer-aided modeling program is further operable to at least one of represent and alter one or more of the image visualizations into at least one of a prior image visualization, a present image visualization, and a predicted future image visualization. 
     
     
         11 . An LPS in accordance with  claim 10 , wherein at least one of a prior image visualization, a present image visualization, and a predicted future image visualization is paired with the time to which at least one of the transmitter clock, the receiver clock, the output component clock, and the processor clock is set. 
     
     
         12 . An LPS in accordance with  claim 10 , wherein the predicted future image visualization is mathematically modeled. 
     
     
         13 . An LPS in accordance with  claim 1 , wherein the output component is further operable to alter a rate of the continual output of the image visualization. 
     
     
         14 . An LPS in accordance with  claim 1 , further comprising:
 a sensor distributed about the living body that detects a physiological parameter over time pertaining to the living body, each such message further comprising the physiological parameter detected by the sensor when transmitted from one of the at least two local position tracking devices; and   the processor still further identifying changes in the physiological parameters detected by sensors over time simultaneous to the creation and generation of the temporally-changing coordinate map, and continually outputting to the display the identified changes in the physiological parameters over time and the enhanced frames.   
     
     
         15 . An LPS in accordance with  claim 1 , wherein each of the sensors comprises a physiologic sensor suitable for placement into or onto the living body that detects at least one of an environmental factor and a biological process pertaining to the living body. 
     
     
         16 . An LPS in accordance with  claim 1 , at least one of the local position tracking devices further comprising:
 a robotic mechanism comprised with a medical implement operatively controllable based on the distance of the at least one local position tracking device from each of the other local position tracking devices.   
     
     
         17 . An LPS in accordance with  claim 1 , further comprising:
 a visual medical imaging modality that operates in a spectrum falling within wavelengths and frequencies visible to a human eye; and   the time-sequential frames further comprising the image visualization of the living body as detected by the visual medical imaging modality.   
     
     
         18 . An LPS in accordance with  claim 17 , wherein the visual medical imaging modality comprises one or more of a miniature camera, eyepiece, microscope, magnifying device, fiber optic scope, and an endoscope. 
     
     
         19 . An LPS in accordance with  claim 1 , further comprising:
 a non-visual medical imaging modality that operates in a spectrum falling outside of wavelengths and frequencies visible to a human eye; and   the time-sequential frames further comprising the image visualization of the living body as detected by the non-visual medical imaging modality.   
     
     
         20 . An LPS in accordance with  claim 19 , wherein the non-visual medical imaging modality comprises one or more of magnetic resonance imaging, ultrasound, photo-acoustic imaging, X-ray, computed tomography, nuclear medical imaging, and thermography.