System and method for conformal ablation planning
First Claim
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1. A fiducial tracking system, comprising:
- a first device having a fiducial pattern disposed thereon, the fiducial pattern including a plurality of first unique identifiers disposed in a region and a plurality of second unique identifiers;
a second device having an image capture device disposed thereon, the image capture device configured to obtain a fiducial image of the fiducial pattern; and
a controller configured to;
receive the fiducial image,find correspondence between the fiducial image and a model image,estimate a camera pose, transform a position of the second device to model coordinates,find the plurality of first unique identifiers and the plurality of second unique identifiers, wherein finding includes;
applying a first threshold to the fiducial image and a second threshold to an inverted fiducial image,performing a connected component analysis on the first and second thresholds, andapplying a geometric filter to identify the region having the plurality of first unique identifiers and to determine weighted centroids of the plurality of first unique identifiers and the plurality of second unique identifiers.
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Abstract
The present disclosure is directed to fiducial tracking system. The fiducial tracking system includes a first device having a fiducial pattern disposed thereon and a second device having an image capture device disposed thereon. The image capturing device is configured to obtain a fiducial image of the fiducial pattern. A controller is also provided that is configured to receive the fiducial image, correct the fiducial image for lens distortion, find correspondence between the fiducial image and a model image, estimate a camera pose, and transform a position of the second device to model coordinates.
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4 Claims
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1. A fiducial tracking system, comprising:
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a first device having a fiducial pattern disposed thereon, the fiducial pattern including a plurality of first unique identifiers disposed in a region and a plurality of second unique identifiers; a second device having an image capture device disposed thereon, the image capture device configured to obtain a fiducial image of the fiducial pattern; and a controller configured to; receive the fiducial image, find correspondence between the fiducial image and a model image, estimate a camera pose, transform a position of the second device to model coordinates, find the plurality of first unique identifiers and the plurality of second unique identifiers, wherein finding includes; applying a first threshold to the fiducial image and a second threshold to an inverted fiducial image, performing a connected component analysis on the first and second thresholds, and applying a geometric filter to identify the region having the plurality of first unique identifiers and to determine weighted centroids of the plurality of first unique identifiers and the plurality of second unique identifiers. - View Dependent Claims (2, 3, 4)
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Specification