发明名称 |
Method to estimate real-time rotation and translation of a target with a single x-ray imager |
摘要 |
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. |
申请公布号 |
US2014241497(A1) |
申请公布日期 |
2014.08.28 |
申请号 |
US201314102201 |
申请日期 |
2013.12.10 |
申请人 |
Keall Paul J.;Nasehi Tehrani Joubin;O'Brien Ricky;Poulsen Per Rugaard |
发明人 |
Keall Paul J.;Nasehi Tehrani Joubin;O'Brien Ricky;Poulsen Per Rugaard |
分类号 |
A61B6/00;G06T7/00;A61B6/12 |
主分类号 |
A61B6/00 |
代理机构 |
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代理人 |
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主权项 |
1. A method of real-time estimation of target rotation and translation for 6 degrees of freedom using a single planar 2-dimensional imager and a mathematical algorithm operated by an appropriately programmed computer. |
地址 |
Greenwich AU |