Apparatus for automatically positioning a patient for treatment/diagnoses
First Claim
1. Apparatus for automatically, accurately positioning a patient reclining on a moveable patient positioning assembly to a fixed base position relative to a fixed reference of a treatment/diagnostic device, said apparatus comprising:
- a plurality of spaced apart fiducials arranged on said patient;
laser beam generator means for generating a plurality of laser beams projected in different directions relative to said fixed reference to impinge on the patient at impingement points which coincide with said fiducials when said patient is at said fixed base position;
camera means for generating images of said fiducials and said impingement points; and
means generating control signals from said images for driving said moveable patient positioning assembly to bring said fiducials into coincidence with said impingement points, thereby positioning said patient at said fixed base position.
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Accused Products
Abstract
A patient is automatically accurately positioned relative to a fixed refece 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 impingement 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.
305 Citations
12 Claims
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1. Apparatus for automatically, accurately positioning a patient reclining on a moveable patient positioning assembly to a fixed base position relative to a fixed reference of a treatment/diagnostic device, said apparatus comprising:
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a plurality of spaced apart fiducials arranged on said patient; laser beam generator means for generating a plurality of laser beams projected in different directions relative to said fixed reference to impinge on the patient at impingement points which coincide with said fiducials when said patient is at said fixed base position; camera means for generating images of said fiducials and said impingement points; and means generating control signals from said images for driving said moveable patient positioning assembly to bring said fiducials into coincidence with said impingement points, thereby positioning said patient at said fixed base position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification