Systems, devices, and methods for tracking moving targets
First Claim
1. A motion compensation system for tracking and compensating for subject motion during a medical imaging scan, the motion compensation system comprising:
- an optical target configured to be fixed to a subject;
at least two cameras positioned so as to view the optical target from different directions with each of the at least two cameras being configured to record two dimensional images of the optical target defining a target point, wherein the at least two cameras are attached to a head coil configured to be used in conjunction with a medical imaging scanner;
one or more computer readable storage devices configured to store a plurality of computer executable instructions; and
one or more hardware computer processors in communication with the one or more computer readable storage devices and configured to execute the plurality of computer executable instructions in order to cause the system to determine a position of the subject, wherein the determining the position of the subject comprises;
identifying the target point and displacement of the target point based on optical images collected by the at least two cameras;
utilizing an iteration procedure, wherein the iteration procedure comprises testing an approximate first-order solution against the identified target point to determine residual errors and dividing the determined residual errors by local derivatives with respect to rotation and translation to determine an iterative correction;
repeating the iteration procedure until the residual errors are within predetermined levels of accuracy; and
utilizing the repeated iteration procedure to determine the position of the subject at rates of at least 100 times per second.
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Accused Products
Abstract
A system for tracking a moving target having up to six degrees of freedom and rapidly determining positions of the target, said system includes an easy to locate precision optical target fixed to the target. This system includes at least two cameras positioned so as to view the optical camera from different directions with each of the at least two cameras being adapted to record two dimensional images of the precision optical target defining precise target point. A computer processor is programmed to determine the target position of x, y and z and pitch, roll and yaw. In an embodiment, the system can be configured to utilize an iteration procedure whereby an approximate first-order solution is proposed and tested against the identified precise target points to determine residual errors which can be divided by the local derivatives with respect to each component of rotation and translation, to determine an iterative correction.
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Citations
20 Claims
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1. A motion compensation system for tracking and compensating for subject motion during a medical imaging scan, the motion compensation system comprising:
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an optical target configured to be fixed to a subject; at least two cameras positioned so as to view the optical target from different directions with each of the at least two cameras being configured to record two dimensional images of the optical target defining a target point, wherein the at least two cameras are attached to a head coil configured to be used in conjunction with a medical imaging scanner; one or more computer readable storage devices configured to store a plurality of computer executable instructions; and one or more hardware computer processors in communication with the one or more computer readable storage devices and configured to execute the plurality of computer executable instructions in order to cause the system to determine a position of the subject, wherein the determining the position of the subject comprises; identifying the target point and displacement of the target point based on optical images collected by the at least two cameras; utilizing an iteration procedure, wherein the iteration procedure comprises testing an approximate first-order solution against the identified target point to determine residual errors and dividing the determined residual errors by local derivatives with respect to rotation and translation to determine an iterative correction; repeating the iteration procedure until the residual errors are within predetermined levels of accuracy; and utilizing the repeated iteration procedure to determine the position of the subject at rates of at least 100 times per second. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A computer-implemented method for tracking and compensating for subject motion during a medical imaging scan, the computer-implemented method comprising:
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attaching an optical target to a subject; positioning at least two cameras so as to view the optical target from different directions with each of the at least two cameras being configured to record two dimensional images of the optical target defining a target point, wherein the at least two cameras are attached to a head coil configured to be used in conjunction with a medical imaging scanner; and determining, by a computer system, a position of the subject, wherein the determining the position of the subject comprises; identifying the target point and displacement of the target point based on optical images collected by the at least two cameras; utilizing an iteration procedure, wherein the iteration procedure comprises testing an approximate first-order solution against the identified target point to determine residual errors and dividing the determined residual errors by local derivatives with respect to rotation and translation to determine an iterative correction; repeating the iteration procedure until the residual errors are within predetermined levels of accuracy; and utilizing the repeated iteration procedure to determine the position of the subject at rates of at least 100 times per second, wherein the computer system comprises a computer processor and an electronic storage medium. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification