diff --git a/ipm_image_node/test/test_ipm.py b/ipm_image_node/test/test_ipm.py
index 2946f37..d6dc3d7 100644
--- a/ipm_image_node/test/test_ipm.py
+++ b/ipm_image_node/test/test_ipm.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import List, Optional, Tuple
+from typing import Optional
 
 from cv_bridge import CvBridge
 from geometry_msgs.msg import TransformStamped
@@ -48,7 +48,7 @@ def standard_ipm_image_test_case(
         input_topic: str,
         input_msg: Image,
         output_topic: str,
-        mode: str = 'mask') -> Tuple[PointCloud2, Image]:
+        mode: str = 'mask') -> tuple[PointCloud2, Image]:
     # Init ros
     rclpy.init()
     # Create IPM node
@@ -64,7 +64,7 @@ def standard_ipm_image_test_case(
         TFMessage, 'tf', 10)
 
     # Create a shared reference to the recived message in the local scope
-    received_msg: List[Optional[PointCloud2]] = [None]
+    received_msg: list[Optional[PointCloud2]] = [None]
 
     # Create a callback with sets this reference
     def callback(msg):
diff --git a/ipm_library/ipm_library/ipm.py b/ipm_library/ipm_library/ipm.py
index 34c8586..71806ff 100644
--- a/ipm_library/ipm_library/ipm.py
+++ b/ipm_library/ipm_library/ipm.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Optional, Tuple
+from typing import Optional
 
 from builtin_interfaces.msg import Time
 from ipm_library import utils
@@ -130,7 +130,7 @@ def map_points(
             points: np.ndarray,
             time: Time,
             plane_frame_id: Optional[str] = None,
-            output_frame_id: Optional[str] = None) -> Tuple[Header, np.ndarray]:
+            output_frame_id: Optional[str] = None) -> tuple[Header, np.ndarray]:
         """
         Map image points onto a given plane using the latest CameraInfo intrinsics.
 
diff --git a/ipm_library/ipm_library/utils.py b/ipm_library/ipm_library/utils.py
index f68efb2..4fe7def 100644
--- a/ipm_library/ipm_library/utils.py
+++ b/ipm_library/ipm_library/utils.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import Optional, Tuple
+from typing import Optional
 
 from builtin_interfaces.msg import Time
 import cv2
@@ -25,7 +25,7 @@
 import tf2_ros
 
 
-def plane_general_to_point_normal(plane: Plane) -> Tuple[np.ndarray, np.ndarray]:
+def plane_general_to_point_normal(plane: Plane) -> tuple[np.ndarray, np.ndarray]:
     """
     Convert general plane form to point normal form.
 
@@ -44,12 +44,12 @@ def plane_general_to_point_normal(plane: Plane) -> Tuple[np.ndarray, np.ndarray]
 
 
 def transform_plane_to_frame(
-        plane: Tuple[np.ndarray, np.ndarray],
+        plane: tuple[np.ndarray, np.ndarray],
         input_frame: str,
         output_frame: str,
         time: Time,
         buffer: tf2_ros.Buffer,
-        timeout: Optional[Duration] = None) -> Tuple[np.ndarray, np.ndarray]:
+        timeout: Optional[Duration] = None) -> tuple[np.ndarray, np.ndarray]:
     """
     Transform a plane from one frame to another.