APPARATUS FOR AUTOMATICALLY POSITIONING A PATIENT FOR TREATMENT/DIAGNOSES

摘要

A patient is automatically accurately positioned relative to a fixed reference of a treatment/diagnostic device by an optical system which operates a patient positioning assembly to bring fiducials or skin markers on the patient into coincidence with impigement points of laser beams projected in a fixed pattern relative to the device. Cameras record images of the fiducials and laser impingement points from which alignment error and velocity error in pixel space are determined. The velocity error in pixel space is converted to a velocity error in room space by the inverse of an Image Jacobian. The Image Jacobian is initially derived using rough values for system parameters and is continuously updated and refined using the calculated errors in pixel space derived from the camera images and errors in room space derived from position encoders on the treatment/diagnostic device.