Fiducial marker set, a method of determining a position of the same and a control system

A control system comprising:

• a processor communicatively coupled with a robot and a 3D imaging device, the 3D imaging device configured to capture image slices within an imaging space, wherein the imaging space comprises a 3D space with a first fixed origin;
• a robot comprising a manipulator including an end effector, wherein the robot is configured to move an elongated tool attached to the end effector within a robot space for aligning the elongated tool with an occluded target, and wherein the robot space comprises a 3-dimensional (3D) space with a second fixed origin;
• and
• a fiducial marker set mounted on the manipulator of the robot, the fiducial marker set comprising a plurality of fiducial markers, wherein each of the plurality of fiducial markers has a spherical shape with a centre point and is made of a radiopaque material;
• wherein the processor is configured to:
• process image slices captured by the 3D imaging device to identify positions of the centre points of the respective fiducial markers;
• based on the identified positions of the centre points, identify a virtual Cartesian geometry associated with the fiducial marker set, wherein the virtual Cartesian geometry is represented by a plurality of virtual Cartesian coordinate axes that meet at a virtual origin;
• based on the virtual Cartesian geometry associated with the fiducial marker set, calibrate the robot by integrating the robot space with the imaging space;
• based on the calibration of the robot, process a 3D image of a body containing the target captured by the 3D imaging device to obtain location data of the target in the integrated space;
• and
• based on the location data of the target in the integrated space, automatically control the robot to align a longitudinal axis of the elongated tool with the target.