The present invention relates to an ultrasound-based system for localizing a medical device within the field of view of an ultrasound imaging probe. A localization system is provided that includes at least three ultrasound emitters that are arranged on a frame; and a position triangulation unit. The frame is adapted for attachment to an ultrasound imaging probe. The position triangulation unit determines a spatial position of the ultrasound detector relative to the at least three ultrasound emitters based on signals received from an ultrasound detector that is attached to the medical device. The frame includes a detachable reference volume comprising a background volume and an inclusion or void. When the detachable reference volume is attached to the frame and the frame is attached to the ultrasound imaging probe the inclusion or void provides a corresponding image feature within the field of view of the ultrasound imaging probe for use in calibrating the field of view of the ultrasound imaging probe with the coordinate system of the localization system.

[Object] To make it possible to estimate the position of a sound source resulting from a wearing displacement, even in the case where the wearing displacement occurs in a wearable device. [Solution] A sound source position estimation device according to the present disclosure includes: a spectrum acquisition unit configured to acquire a frequency spectrum of a sound source on the basis of a sound obtained by a plurality of microphones provided for a ring-like wearable device; a distance computing unit configured to compute respective distances from the plurality of microphones to the sound source on the basis of the frequency spectrum; and a sound source position computing unit configured to, approximating the ring-like wearable device to a circle and assuming that the sound source is located on a cylindrical surface including the ring-like wearable device, obtain an intersection between the cylindrical surface and spherical surfaces whose radii are the respective distances to compute a position of the sound source.

[Object] To make it possible to estimate the position of a sound source resulting from a wearing displacement, even in the case where the wearing displacement occurs in a wearable device. [Solution] A sound source position estimation device according to the present disclosure includes: a spectrum acquisition unit configured to acquire a frequency spectrum of a sound source on the basis of a sound obtained by a plurality of microphones provided for a ring-like wearable device; a distance computing unit configured to compute respective distances from the plurality of microphones to the sound source on the basis of the frequency spectrum; and a sound source position computing unit configured to, approximating the ring-like wearable device to a circle and assuming that the sound source is located on a cylindrical surface including the ring-like wearable device, obtain an intersection between the cylindrical surface and spherical surfaces whose radii are the respective distances to compute a position of the sound source.

The present invention relates to an apparatus (10) for tracking a position of an interventional device (11) respective an image plane (12) of an ultrasound field. The position includes an out-of-plane distance (Dop). A geometry-providing unit (GPU) includes a plurality of transducer-to-distal-end lengths (Ltde.sub.1 . . . n), each length corresponding to a predetermined distance (Ltde) between a distal end (17, 47) of an interventional device (11, 41) and an ultrasound detector (16, 46) attached to the interventional device, for each of a plurality of interventional device types (T.sub.1 . . . N). An image fusion unit (IFU) receives data indicative of the type (T) of the interventional device being tracked; and based on the type (T): selects from the geometry-providing unit (GPU), a corresponding transducer-to-distal-end length (Ltde); and indicates in a reconstructed ultrasound image (RUI) both the out-of-plane distance (Dop) and the transducer-to-distal-end length (Ltde) for the interventional device within the ultrasound field.

The present invention relates to an apparatus (10) for tracking a position of an interventional device (11) respective an image plane (12) of an ultrasound field. The position includes an out-of-plane distance (Dop). A geometry-providing unit (GPU) includes a plurality of transducer-to-distal-end lengths (Ltde.sub.1 . . . n), each length corresponding to a predetermined distance (Ltde) between a distal end (17, 47) of an interventional device (11, 41) and an ultrasound detector (16, 46) attached to the interventional device, for each of a plurality of interventional device types (T.sub.1 . . . N). An image fusion unit (IFU) receives data indicative of the type (T) of the interventional device being tracked; and based on the type (T): selects from the geometry-providing unit (GPU), a corresponding transducer-to-distal-end length (Ltde); and indicates in a reconstructed ultrasound image (RUI) both the out-of-plane distance (Dop) and the transducer-to-distal-end length (Ltde) for the interventional device within the ultrasound field.

A system is provided for determining the position of a mobile receiver unit in an environment. The system comprises: a transmission apparatus comprising a plurality of ultrasound transmitters configured to transmit a plurality of ultrasonic signals in different respective principal directions, each encoding a different respective direction identifier; a mobile receiver unit comprising an ultrasound receiver configured to receive the plurality of ultrasonic signals along a plurality of signal paths, at least one of which includes a reflection off an environment surface; and a processing system comprising a decoder arranged to decode the respective direction identifiers from the received signals. The processing system is configured to determine a respective time of arrival for each signal, and use location information relating to the transmission apparatus and the environment surface, together with the respective direction identifiers and times of arrival to calculate an estimated position of the mobile receiver unit.

A system is provided for determining the position of a mobile receiver unit in an environment. The system comprises: a transmission apparatus comprising a plurality of ultrasound transmitters configured to transmit a plurality of ultrasonic signals in different respective principal directions, each encoding a different respective direction identifier; a mobile receiver unit comprising an ultrasound receiver configured to receive the plurality of ultrasonic signals along a plurality of signal paths, at least one of which includes a reflection off an environment surface; and a processing system comprising a decoder arranged to decode the respective direction identifiers from the received signals. The processing system is configured to determine a respective time of arrival for each signal, and use location information relating to the transmission apparatus and the environment surface, together with the respective direction identifiers and times of arrival to calculate an estimated position of the mobile receiver unit.

Systems and methods for facilitating acoustic-based localization and motion tracking in the presence of multipath, wherein, in operation, acoustic signals are transmitted from a speaker to a microphone array, a processor coupled to the microphone array calculates the 1 D distance between a microphone and/or each microphones of the microphone array and the speaker of a user device by first filtering out multipath signals with large time-of-arrival values relative to the time-of-arrival value of the direct path signal, then extracting out the phase value of the residual multipath signals and direct path signal, using the calculated 1 D distances, the processor may then calculate the intersection of the 1 D distances to determine the 3D location of the speaker to enable sub-millimeter accuracy of 1 D distance between a microphone of a microphone array and a speaker of a user device to enable smaller separation between the microphones of the microphone array.

Systems and methods for facilitating acoustic-based localization and motion tracking in the presence of multipath, wherein, in operation, acoustic signals are transmitted from a speaker to a microphone array, a processor coupled to the microphone array calculates the 1 D distance between a microphone and/or each microphones of the microphone array and the speaker of a user device by first filtering out multipath signals with large time-of-arrival values relative to the time-of-arrival value of the direct path signal, then extracting out the phase value of the residual multipath signals and direct path signal, using the calculated 1 D distances, the processor may then calculate the intersection of the 1 D distances to determine the 3D location of the speaker to enable sub-millimeter accuracy of 1 D distance between a microphone of a microphone array and a speaker of a user device to enable smaller separation between the microphones of the microphone array.

A system, apparatus, method and computer program product determine the location of a receiver, such as one or more sensors, carried by a device, e.g., a robot. In a method, an audio signal is received in response to a predetermined audio signal provided by at least two audio source devices. For the audio signal that is received from a respective audio source device, the method estimates a first impulse response between the respective audio source device and the receiver. For the first impulse response estimated between each respective audio source device of the at least two audio source devices and the receiver, the method removes one or more reflections from the first impulse response to create direct path information. The method also includes determining a location of the receiver based at least in part upon the direct path information.