US 12,220,601 B2
Method of calibration of a stereoscopic camera system for use with a radio therapy treatment apparatus
Ivan Meir, London (GB); Martin Allen, London (GB); Gideon Hale, London (GB); Norman Smith, London (GB); and Robert Howe, London (GB)
Assigned to VISION RT LIMITED, London (GB)
Filed by Vision RT Limited, London (GB)
Filed on Mar. 21, 2023, as Appl. No. 18/124,273.
Application 18/124,273 is a continuation of application No. 17/159,845, filed on Jan. 27, 2021, granted, now 11,633,629.
Application 17/159,845 is a continuation of application No. 16/578,905, filed on Sep. 23, 2019, granted, now 10,933,258, issued on Mar. 2, 2021.
Application 16/578,905 is a continuation of application No. 15/946,362, filed on Apr. 5, 2018, granted, now 10,456,601, issued on Oct. 29, 2019.
Application 15/946,362 is a continuation of application No. 14/899,112, granted, now 9,962,561, issued on May 8, 2018, previously published as PCT/GB2014/052125, filed on Jul. 11, 2014.
Claims priority of application No. 1312808 (GB), filed on Jul. 17, 2013.
Prior Publication US 2023/0330438 A1, Oct. 19, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61N 5/10 (2006.01); A61B 6/58 (2024.01); G06T 7/00 (2017.01); G06T 7/80 (2017.01)
CPC A61N 5/1075 (2013.01) [A61B 6/584 (2013.01); A61N 5/1049 (2013.01); G06T 7/0012 (2013.01); G06T 7/85 (2017.01); A61N 2005/1059 (2013.01); A61N 2005/1076 (2013.01); G06T 2207/30004 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A system for use with radio therapy treatment, the system comprising:
a camera system configured to take camera images of a physical calibration phantom for use with a radio therapy treatment apparatus; and
at least one processor, wherein the at least one processor is configured to:
store a reference model of a calibration phantom having a known orientation relative to a co-ordinate system of a radiotherapy treatment apparatus;
obtain irradiated images of the physical calibration phantom after irradiation by the radio therapy treatment apparatus;
determine, based on the irradiation images, a first transformation to transform the position and orientation of the positioned physical calibration phantom into the co-ordinate system of the radio therapy treatment apparatus;
obtain the camera images, from the camera system, of the physical calibration phantom;
generate, based on the camera images, a 3D computer model of a surface of the positioned physical calibration phantom;
determine a second transformation to transform the generated 3D computer model of the surface of the positioned physical calibration phantom into alignment with the stored reference model of the calibration phantom; and
apply at least one of the first and second transformations to update the position and orientation of a camera co-ordinate system to correspond with the co-ordinate system of the radio therapy treatment apparatus.