Method to estimate real-time rotation and translation of a target with a single x-ray imager
A method of real-time estimation of target rotation and translation for 6 degrees of freedom using a single planar 2-dimensional imager and an algorithm, such as the iterative closest point (ICP) algorithm, that includes creating pairing, using a nearest neighbor algorithm, between a set of target p...
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| creator | KEALL PAUL J O'BRIEN RICKY POULSEN PER RUGAARD TEHRANI JOUBIN NASEHI |
| description | A method of real-time estimation of target rotation and translation for 6 degrees of freedom using a single planar 2-dimensional imager and an algorithm, such as the iterative closest point (ICP) algorithm, that includes creating pairing, using a nearest neighbor algorithm, between a set of target points of at least three fiducial markers and a set of source points of the markers using K nearest neighbors, iteratively executing estimation of a rotation parameter R and a translation parameter T of the markers using a cost function such as root mean square error, terminating the estimation of R and T if the change in a mean distance between the set of target points of the markers and the set of source points of the markers is below a threshold or at a maximum iteration number, transforming the set of target points of the markers using estimated parameters, and re-associating a new set of the target points of the markers. |
| format | Patent |
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| subjects | CALCULATING COMPUTING COUNTING DIAGNOSIS ELECTROTHERAPY HUMAN NECESSITIES HYGIENE IDENTIFICATION IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MAGNETOTHERAPY MEDICAL OR VETERINARY SCIENCE PHYSICS RADIATION THERAPY SURGERY ULTRASOUND THERAPY |
| title | Method to estimate real-time rotation and translation of a target with a single x-ray imager |
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