Method to estimate real-time rotation and translation of a target with a single x-ray imager
US9314219B2 · kind B2 · utility
Inventors
Key dates
| Filing date | Dec 10, 2013 |
| Grant date | Apr 19, 2016 |
| Priority date | — |
| Expiry date | May 4, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30081
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.