Systems and methods for planning and navigation

A method of tracking a first device having an image capture device in relation to a second device having a fiducial pattern, the method comprising:

• obtaining a fiducial image of the fiducial pattern;
• correcting the fiducial image for lens distortion;
• identifying a plurality of first unique identifiers and a plurality of second unique identifiers in the fiducial image, wherein the plurality of first unique identifiers includes circles of a first color and the plurality of second unique identifiers includes circles of a second color and wherein identifying includes:
• applying a first threshold to the fiducial image substantially in parallel with applying 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 results of the connected component analysis to identify a 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,
• finding correspondence between the fiducial image and a model image using the plurality of first unique identifiers and the plurality of second unique identifiers by:
• selecting a plurality of the circles of the first color;
• determining an amount of the circles of the first color disposed in a first portion of the region of the fiducial pattern;
• determining whether the determined amount of the circles of the first color disposed in the first portion matches a predetermined amount of the circles of the first color;
• and
• in response to a determination that the determined amount of the circles of the first color disposed in the first portion does not match the predetermined amount of the circles of the first color, determining an amount of the circles of the first color disposed in a second portion of the region of the fiducial pattern;
• estimating a camera pose;
• and
• transforming a position of the surgical device to model coordinates.

A planning and navigation method, comprising:

• obtaining a plurality of images;
• rendering the plurality of images in three dimensions;
• automatically segmenting the plurality of images to demarcate a target area;
• automatically determining a treatment plan based on the target area;
• obtaining an ultrasound image of a scan plane including the target;
• obtaining a fiducial image of a fiducial pattern disposed on an ultrasound device using an image capture device on a surgical device;
• correcting the fiducial image for lens distortion;
• identifying a plurality of first unique identifiers and a plurality of second unique identifiers in the fiducial image, wherein the plurality of first unique identifiers includes circles of a first color and the plurality of second unique identifiers includes circles of a second color and wherein identifying includes:
• applying a first threshold to the fiducial image substantially in parallel with applying 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 results of the connected component analysis to identify a 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,
• finding correspondence between the fiducial image and a model image using the plurality of first unique identifiers and the plurality of second unique identifiers by:
• selecting a plurality of the circles of the first color;
• determining an amount of the circles of the first color disposed in a first portion of the region of the fiducial pattern;
• determining whether the determined amount of the circles of the first color disposed in the first portion matches a predetermined amount of the circles of the first color;
• and
• in response to a determination that the determined amount of the circles of the first color disposed in the first portion does not match the predetermined amount of the circles of the first color, determining an amount of the circles of the first color disposed in a second portion of the region of the fiducial pattern;
• estimating a camera pose;
• transforming a position of the surgical device to model coordinates;
• displaying the ultrasound image and a virtual image of the surgical device based on the model coordinates;
• navigating the surgical device to the target using the displayed ultrasound image and the virtual image;
• and
• treating the target based on the treatment plan.