Back to results
US 10,328,283 B2Granted
Method and apparatus for determining or predicting the position of a target
AssigneeBrainlab AG
InventorsSteffen Heinrich, Kajetan Berlinger, Milo{hacek over (s)} Marić, Christian Spika
Life of this patent
Estimating the term…
Abstract
A data processing method for determining the position of a target, comprising the steps performed by a computer: a) acquiring a target movement model specifying a movement cycle of the target; b) acquiring a target position signal representing a view of the target from a single direction and/or provided by a single imager; c) determining, based on the acquired target position signal and the target movement model, the position of the target.
Claims19
A data processing method performed by a computer for determining a three-dimensional (3D) position of a target, comprising:
- a) acquiring, using a first imager having a first imaging plane and a second imager having a second imaging plane, a target movement model specifying a movement cycle of the target, wherein the target movement model specifies at least two sections that are associated with an inhale phase and an exhale phase;
- b) acquiring, using the first imager, a two-dimensional (2D) target position signal representing a view of the target in the first imaging plane of the first imager;
- c) determining the 3D position of the target based on the 2D target position signal acquired using the first imager, and the target movement model,
- wherein the determining the 3D position of the target comprises:
- determining, based on the 2D target position signal, an epipolar line in the second image plane of the second imager corresponding to the view of the target in the first imaging plane of the first imager;
- determining at least one intersection between the epipolar line in the second image plane of the second imager with a projected target trajectory that is projected onto the second image plane of the second imager based on the target movement model;
- and
- determining the 3D position of the target based on the at least one intersection between the epipolar line in the second image plane of the second imager with the projected target trajectory.
5 more elements
A data processing method performed by a computer for determining a three-dimensional (3D) position of a target, comprising:
- a) acquiring, using a first imager having a first imaging plane and a second imager having a second imaging plane, a target movement model specifying a movement cycle of the target, wherein the target movement model specifies at least two sections that are associated with an inhale phase and an exhale phase, and wherein the first imager and the second imager are respective imagers of a stereoscopic X-ray imaging apparatus;
- b) acquiring, using the first imager, a two-dimensional (2D) target position signal representing a view of the target in the first imaging plane of the first imager;
- c) determining the 3D position of the target based on the 2D target position signal acquired using the first imager and the target movement model,
- wherein the determining the 3D position of the target comprises:
- determining, based on the 2D target position signal, an epipolar line in the second image plane of the second imager corresponding to the view of the target in the first imaging plane of the first imager;
- determining at least one intersection between the epipolar line in the second image plane of the second imager with a projected target trajectory that is projected onto the second image plane of the second imager based on the target movement model;
- and
- determining the 3D position of the target based on the at least one intersection between the epipolar line in the second image plane of the second imager with the projected target trajectory.
5 more elements
A system for determining a three-dimensional (3D) position of a target comprising:
- a target movement model generator configured to acquire, using a first imager having a first imaging plane and a second imager having a second imaging plane, a target movement model specifying a movement cycle of the target, wherein the target movement model specifies at least two sections that are associated with an inhale phase and an exhale phase;
- a target position acquiring element configured to acquire, using the first imager, a two-dimensional (2D) target position signal representing a view of the target in the first imaging plane of the first imager;
- and
- a determination section connected to the target movement model generator and the target position acquiring element and receiving information or signals therefrom to determine, the 3D position of the target based on the 2D target position signal acquired using the first imager, and the target movement model,
- wherein the determination section is configured to:
- determine, based on the target position signal, an epipolar line in the second image plane of the second imager corresponding to the view of the target in the first imaging plane of the first imager;
- determine at least one intersection between the epipolar line in the second image plane of the second imager with a projected target trajectory that is projected onto the second image plane of the second imager based on the target movement model;
- and
- determine the 3D position of the target based on the at least one intersection between the epipolar line in the second image plane of the second imager with the projected target trajectory.
6 more elements
Dependencies are inferred from the claim text.