DEVICE, SYSTEM, AND METHOD FOR PRECISE POSITIONING OF THE HUMAN HEAD - Patent application

Abstract

The present disclosure provides devices, systems, and methods for precisely positioning a human head in space. The present disclosure provides for controlling the positioning of a human head precisely in space using drawing lines generated via face recognition computer software and positioning sensors on the human head according to the markings using permanent identification markings. Surgical procedures, radiological or diagnostic imaging procedures performed on the brain, intracranial, or cervical cranial structures are dangerous to the patient due to the extreme sensitivity of brain tissue, the difficulty of identifying and accessing the specific part of the brain where the procedure will be performed, and the risk of damaging the brain tissue surrounding the part where the procedure will be performed. The desire to precisely locate and access the interior of the brain has led to the development of the neurosurgical subspecialty of stereotactic brain surgery, or "stereotaxy."

Description

Detailed Description of the Invention

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Patent Application No. 17 / 707,153, filed March 29, 2022, the contents of which are incorporated herein by reference.

[0002] [Background technology] [Technical field] The present disclosure relates generally to head and / or human positioning systems, and more particularly to devices, systems and methods for accurately positioning the human head in space.

[0003] [Background technology] There are many industrial applications that require constant repeated head positioning and repositioning, as well as positioning and repositioning of a headgear sensor system on the head.

[0004] Such applications are medical applications. Procedures involving surgery, radiation or diagnostic imaging procedures performed on the brain, intracranial or cervical cranial structures are particularly dangerous to the patient due to the extreme sensitivity of brain tissue, the difficulty of identifying and accessing the particular portion of the brain where the procedure is to be performed, and the risk of damaging the brain tissue overlying or surrounding the portion where the procedure is to be performed. The desire to precisely locate and access the interior of the brain and other intracranial structures has led to the development of the neurosurgical subspecialty of stereotactic surgery, or "stereotaxy."

[0005] Stereotaxy typically involves the use of external devices that are attached to the patient's skull during preoperative diagnostic and surgical procedures. The devices provide a grid or framework that is in a fixed position relative to the patient's skull, which can be used to establish a coordinate system for locating the precise location of a lesion or other region within the intracranial region in a reproducible manner.

[0006] However, controlling the head position in space and positioning and replacing headgear with sensors on the human head with repeatability, precision, predictability, ease of use, cost-effectiveness, short consumption, and ease is difficult.

[0007] For example, the cervico-cranial region is the region extending from the occipital, C1 (annulus) and C2 (axis) vertebrae. The anatomical peculiarity that is problematic in conventional aorto-occipital joint imaging is that it is a pure rotational joint and therefore the most difficult region to address without tools to control rotation during positioning during imaging. Any rotation at C1 / C2 translates directly into angular distortion, which translates directly into diagnostically flawed x-ray images and reduced diagnostic quality of lateral mass (displacement of C1 on C2) measurements. The degree of symmetry of positioning of C1 on C2, the presence of lateral masses on each side during lateral bending open view, is one of the indications of a supporting alar / accessory ligament injury.

[0008] The underutilization of diagnostic imaging in this area is unfortunate as a large proportion of patients remain undiagnosed despite seeking medical assistance. As a result, patients are generally given painkillers to control pain, which are often "hit or miss," and primitive therapies, which do not effectively target the underlying condition.

[0009] Therefore, techniques are needed for accurate head positioning and subsequent repositioning to exactly the same position.

[0010] Summary of the Invention The present disclosure provides devices, systems, and methods for precisely positioning a human head in space using line drawing generated via facial recognition computer software and using persistent identification markings to position sensors on the human head according to those markings to control the precise positioning of the human head in space.

[0011] According to one aspect of the present disclosure, a method for positioning a human head includes imaging a face of the human head using at least one imaging device; generating at least one vertical facial line and at least two horizontal facial lines to be disposed on an image of the face, where the at least one vertical facial line and the at least two horizontal facial lines are based on facial markings on the face; aligning the human head such that the at least one vertical facial line is aligned with the generated vertical screen line and each of the at least two horizontal facial lines is aligned with the generated horizontal screen line; storing the alignment as a reference line; and repositioning the human head to a desired position.

[0012] In one aspect, generating at least one vertical facial line and at least two horizontal facial lines includes identifying facial markings on the human head as key points using at least one facial recognition application, and connecting the key points to draw at least one vertical facial line and at least two horizontal facial lines.

[0013] In another aspect, the at least one facial recognition application includes a convolutional neural network.

[0014] In a further aspect, the generated vertical screen lines and the generated horizontal screen lines represent a face plane that is 90 degrees relative to the imaging device location.

[0015] In another aspect, the bottom line of the at least two aligned horizontal facial lines and the generated horizontal screen line is stored as a default pitch line.

[0016] In yet another aspect, the default pitch line is divided into two segments at at least one vertical facial line.

[0017] In yet another embodiment, aligning the human head includes aligning two segments of the default pitch line parallel to an upper line of two horizontal facial lines.

[0018] In a further aspect, the default pitch line is normalized to compensate for differences in facial structure of the human head.

[0019] In one aspect, each of the two segments of the default pitch line is drawn to connect an identified facial marking disposed at the tip of the nose of the face to at least one point on the periphery of the face.

[0020] In another aspect, at least one vertical facial line is drawn connecting identified facial markings disposed vertically along the center of the nasal portion of the face.

[0021] In a further aspect, the yaw angle of the human head is determined from at least one vertical facial line and the generated vertical screen line.

[0022] In yet another aspect, the upper portions of at least two horizontal facial lines are drawn to connect identified facial markings disposed on opposite ends of a brow line on the face.

[0023] In one embodiment, the roll angle of the human head is determined from the top of at least two horizontal facial lines and the generated horizontal screen line.

[0024] In another aspect, the method further includes storing coordinates associated with the alignment of the repositioned human head at a first time point and repositioning the human head at a second time point according to the stored coordinates.

[0025] In yet another aspect, the method further includes placing headgear on a human head, the headgear including a center marking indicating a center of the headgear and edge markings, aligning the center marking of the headgear to at least one of the aligned vertical lines, aligning the edge markings of the headgear to at least one of the aligned horizontal lines, and storing the alignment of the headgear relative to the human head.

[0026] In yet another aspect, the method further includes storing coordinates associated with the alignment of the repositioned human head at the first time point and transferring the stored coordinates to at least one sensor coupled to the at least one body part.

[0027] According to another aspect of the present disclosure, a system for positioning a human head includes at least one imaging device for imaging a face of the human head; at least one processing device for generating at least one vertical facial line and at least two horizontal facial lines to be disposed in an image of the face via a display device, wherein the at least one vertical facial line and the at least two horizontal facial lines are based on facial markings on the face; at least one display device for enabling alignment of the human head such that the at least one vertical facial line is aligned with the generated vertical screen line and each of the at least two horizontal facial lines is aligned with the generated horizontal screen line; and at least one memory for storing the alignment as a reference line, wherein upon repositioning the human head to a desired position, the at least one processing device continuously updates the at least one vertical facial line and the at least two horizontal facial lines based on facial markings on the face.

[0028] In a further aspect, the at least one processing device performs at least one facial recognition function to identify facial markings on the face as key points and connect the key points to draw at least one vertical facial line and at least two horizontal facial lines.

[0029] In one embodiment, the at least one facial recognition function includes a convolutional neural network.

[0030] In a further aspect, the system further includes headgear configured to be disposed on a human head, the headgear including a center marking and edge markings indicating a center of the headgear, the display device enables aligning the center marking of the headgear to at least one aligned vertical line and aligning the edge marking of the headgear to at least one of the aligned horizontal lines, and upon alignment, the at least one processing device stores the alignment of the headgear to the human head in at least one memory device.

[0031] According to another aspect, the disclosed devices, systems, and methods provide an easy-to-use interface for precise head positioning and subsequent repositioning to the exact same position. The disclosed devices, systems, and methods control all rotational axes. The disclosed devices, systems, and methods solve, among others, the following tasks: Improve diagnostic imaging of the head, craniocervical and cervical structures; Provide a means to reduce ionizing radiation exposure among populations due to a reduction in the amount of imaging required; Enable the use of medical diagnostic modalities on a national / global digital medical record network, greatly enhancing communication between registered stakeholders. The disclosed devices, systems, and methods, coupled with a national / global digital medical record network, allow for greater data statistical analysis with the aim of improving specific treatment protocols and ultimately improving studies of disease progression and prognosis.

[0032] According to another aspect of the present disclosure, a method is provided that includes imaging a face of a human head with at least one imaging device; generating at least one vertical facial line and at least two horizontal facial lines to be disposed on an image of the face, where the at least one vertical facial line and the at least two horizontal facial lines are based on facial markings on the face; aligning the human head such that the at least one vertical facial line is aligned with the generated vertical screen line and each of the at least two horizontal facial lines is aligned with the generated horizontal screen line such that a pitch of the human head is at a zero angle relative to the at least one imaging device; storing the alignment as a reference line; repositioning the human head to a desired position while maintaining the pitch at a zero angle; and providing an indication that the human head is in the desired position and the pitch is at a zero angle. [Brief description of the drawings]

[0033] These and other objects, features and advantages of the present disclosure will become apparent from a consideration of the following detailed description considered in conjunction with the drawings. [Figure 1] 1 illustrates facial lines and screen lines positioned on an image of a face according to an embodiment of the present disclosure. [Diagram 2] 1 illustrates a desired neutral orthogonal positioning of screen lines on an image of a face according to an embodiment of the present disclosure. [Diagram 3] 1 is an exemplary headgear for use with a positioning system, according to an embodiment of the present disclosure. [Figure 4] 1 illustrates an exemplary head holder for use in a positioning system, according to an embodiment of the present disclosure. [Diagram 5] 1 illustrates the initial positioning of screen lines at normalized pitch angle on an image of a head, according to an embodiment of the present disclosure. [Figure 6] 1 illustrates a default pitch line positioning at a normalized pitch angle according to an embodiment of the present disclosure. [Figure 7]13 illustrates headgear repositioning with normalized pitch angle according to an embodiment of the present disclosure. [Figure 8] 13 illustrates corrective lateral movement of the head to the left before the mouth opens, according to an embodiment of the present disclosure. [Figure 9] 13 illustrates corrective lateral movement of the head to the right before the mouth opens, according to an embodiment of the present disclosure. [Figure 10] 13 illustrates the pitch deviation between the generated line and head position according to an embodiment of the present disclosure. [Figure 11] FIG. 1 is a block diagram of a positioning system according to an embodiment of the present disclosure. [Figure 12] FIG. 2 is a block diagram of an exemplary computing device according to an embodiment of the present disclosure. [Figure 13] 1 illustrates an exemplary facial key point mapping for calculating facial yaw, pitch, and roll according to an embodiment of the present disclosure. [Figure 14] 1 illustrates an example of a reference frame for calculating facial pitch angle, according to an embodiment of the present disclosure. [Figure 15] 1 illustrates a method for generating vertical facial lines according to an embodiment of the present disclosure. [Figure 16] 1 illustrates a method for generating an upper horizontal facial line according to an embodiment of the present disclosure. [Figure 17] 13 illustrates moving the upper horizontal facial line by a user-defined value according to an embodiment of the present disclosure. [Figure 18] 1 illustrates a method for generating a lower horizontal facial line or pitch line according to an embodiment of the present disclosure. [Figure 19] 19 illustrates a method for normalizing the lower horizontal facial line or pitch line shown in FIG. 18 according to an embodiment of the present disclosure. [Figure 20] 1 is a flow chart illustrating a method for enrollment, authentication, and location of an individual, according to an embodiment of the present disclosure. [Figure 21] 1 illustrates exemplary facial landmark points detected by a face recognition function according to an embodiment of the present disclosure. [Figure 22]1 illustrates an example of roll, yaw, and pitch relative to an individual's head, according to an embodiment of the present disclosure. [Diagram 23] 13 illustrates counterclockwise head roll for roll calculations according to an embodiment of the present disclosure. [Figure 24] 14 illustrates a clockwise head direction for roll calculations according to an embodiment of the present disclosure. [Diagram 25] 1 illustrates a head in a neutral position for roll calculations according to an embodiment of the present disclosure. [Figure 26] 1 illustrates a head looking left for yaw calculations according to an embodiment of the present disclosure. [Figure 27] 1 illustrates a head looking right for yaw calculations according to an embodiment of the present disclosure. [Figure 28] 1 illustrates a head looking straight ahead for yaw calculations according to an embodiment of the present disclosure. [Figure 29] 14 illustrates head movement in an upward direction for pitch calculation according to an embodiment of the present disclosure. [Diagram 30] 14 illustrates downward head movement for pitch calculation according to an embodiment of the present disclosure. [Diagram 31] 1 illustrates a head in a neutral position for pitch calculation according to an embodiment of the present disclosure. [Diagram 32] 1 illustrates a screenshot of a graphic user interface according to an embodiment of the present disclosure. [Diagram 33] 13 illustrates various screenshots of a graphic user interface for directing an individual to a desired location, according to an embodiment of the present disclosure. [Diagram 34] 13 illustrates various screenshots of a graphic user interface for directing an individual to a desired location, according to an embodiment of the present disclosure. [Diagram 35] 13 illustrates various screenshots of a graphic user interface for directing an individual to a desired location, according to an embodiment of the present disclosure. [Diagram 36]13 illustrates various screenshots of a graphic user interface for directing an individual to a desired location, according to an embodiment of the present disclosure. [Figure 37] 13 illustrates various screenshots of a graphic user interface for directing an individual to a desired location, according to an embodiment of the present disclosure. [Figure 38] 13 illustrates various screenshots of a graphic user interface for directing an individual to a desired location, according to an embodiment of the present disclosure. [Figure 39] 13 illustrates various screenshots of a graphic user interface for directing an individual to a desired location, according to an embodiment of the present disclosure. [Diagram 40] 13 illustrates various screenshots of a graphic user interface for directing an individual to a desired location, according to an embodiment of the present disclosure. [Diagram 41] 1 illustrates a screenshot of a graphic user interface with an individual in a neutral position with their mouth open, according to an embodiment of the present disclosure. [Diagram 42] 1 illustrates a screenshot of a graphic user interface with an individual in a left bend position with their mouth open, according to an embodiment of the present disclosure. [Diagram 43] 1 illustrates a screenshot of a graphic user interface with an individual in a right bend position with their mouth open, according to an embodiment of the present disclosure.

[0034] [Mode for carrying out the invention] The embodiments of the present disclosure are described below with reference to the accompanying drawings. In the following description, well-known functions or structures are not described in detail to avoid obscuring the present disclosure in unnecessary detail. The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any configuration or design described herein as "exemplary" should not necessarily be construed as preferred or advantageous over other configurations or designs. The term "coupled" is defined herein to mean directly connected or indirectly connected through one or more intermediate components. Such intermediate components may include both hardware-based and software-based components.

[0035] It should be further noted that unless otherwise indicated, all functions described herein may be performed in either hardware or software, or any combination thereof. However, in one embodiment, these functions are performed by at least one processor, such as a computer or electronic data processor, digital signal processor, or embedded microcontroller, in accordance with code, such as computer program code, software, and / or integrated circuits, coded to perform such functions, unless otherwise indicated.

[0036] It should be appreciated that the present disclosure can be implemented in numerous ways, including as a process, an apparatus, a system, a device, a method, or a computer readable medium such as a computer readable storage medium, or a computer network where program instructions are transmitted over optical or electronic communications links.

[0037] Embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0038] The present disclosure relates to systems and methods for determining the position of a human head utilizing an imaging device, e.g., a camera device, that allows for controlling the positioning of the head with computer-generated lines (e.g., lines generated via facial recognition software) that are placed on an image of the face while the patient's head is moved. Further, the present disclosure relates to the use of computer-generated lines that are based on computer-identified facial markings relating to the facial lines of the human head and lines identified on a headgear sensor, allowing for accurate and controllable positioning of a headgear sensor on the head.

[0039] The present disclosure provides for positioning of the head and / or headgear using computer facial recognition software that identifies special facial markings and generates visible lines on a display device, such as a computer screen, on the facial image, thereby allowing precise, controllable positioning and reproducible repositioning of the head relative to an imaging device, such as a camera device or an object having a camera device. Additionally, the present disclosure allows for precise, controllable and reproducible positioning of permanent markings or headband objects and headgear with the head relative to these facial lines.

[0040] To facilitate understanding of the present disclosure, the computer-generated lines used by the system and method of the present disclosure are first described. There are two types of computer-generated lines used by the system and method of the present disclosure: (1) screen lines and (2) facial lines. With reference to Figures 1 and 2, the screen lines and facial lines are described.

[0041] The screen vertical 1 is a vertical line indicating the center location projected by the imaging device to identify where the 90 degree location of the object relative to the camera is to be vertically rendered on the computer screen. The face vertical 2 is illustrated at the center of the face and is represented by a line drawn from certain markings found on the face, as described below in connection with Figures 13 and 14. The upper face horizontal 3 is illustrated on the forehead and is represented by a line drawn from certain markings identified on the face. The upper screen horizontal 4 is illustrated on the forehead and is projected by the imaging device to indicate the respective 90 degree locations relative to the camera device projected horizontally. The lower screen horizontal 5 is illustrated on the screen below the upper screen horizontal 4. The lower screen horizontal 5 is a line representing the location of the point where the default pitch line is to be marked once the 90 degree location of the face relative to the imaging device is obtained and the baseline pitch orientation is met and saved. The lower facial horizon 6, which coincides with the lower screen horizon 5 to become a single horizontal line 9 and is then known as the default pitch line, is illustrated on the facial image below the upper facial horizon 4 and is represented by a software generated line obtained from facial markings.

[0042] The single horizontal line 9 becomes the default pitch line 9 at the same location as the lower face horizontal line 6 is located at the moment of registering the default pitch angle. In FIG. 2, the pitch lines shown are normalized lines, as will be explained in more detail below.

[0043] Once 90 degrees of face / subject to the imaging device is achieved, the head is positioned within the default pitch angle at the desired pitch position using either electronic sensors or other means (e.g., data from pixels) and the facial image markings are recorded (normalized, see below) at the default pitch angle. The default pitch angle extends from and coincides with a point that can be divided into two lines extending from the facial vertical line 2 in the center of the facial image, the lower face horizontal line 6 and the lower screen horizontal line 5, as shown and described in connection with FIG. 5. When there is a positive or negative pitch angle, the operator sees an angle that divides the default pitch angle line 9 into two lines 24, as shown in FIG. 5. When the default pitch angle value is zero, it is a straight line to the operator and the patient, as shown by line 29 in FIG. 6.

[0044] With reference to FIG. 11, a positioning system 1100 according to an embodiment of the present disclosure is illustrated. The system 1100 includes at least one imaging device 1102, a headgear sensor system 1104, a head holder 1105, and a computing device 1106. It should be appreciated that the imaging device 1102 can be a mobile device such as a camera device, a video camera, a tablet, a mobile phone, etc. Details of the computing device 1106 are described below in connection with FIG. 12, but it should be appreciated that the computing device 1106 includes input / output devices such as a display device 1108 (e.g., a monitor, a touch screen, etc.), a keyboard 1110, a mouse 1112, and at least one speaker. It should be further appreciated that the computing device 1106 can be a single device including the imaging device, the display device, and the input / output device.

[0045] With reference to FIG. 3, a headgear sensor system 1104 is illustrated. An exemplary headgear sensor system is commercially available from Keeler USA, Malvern, Pennsylvania. The headgear 1104 is positioned on the top of the head and includes a support portion 1140 that supports other components of the headgear 1104 on the head. In addition, the headgear 1104 includes at least one strap 1142 that secures the headgear 1104 to the head. It should be appreciated that any headgear or any strap may be used with the systems and methods of the present disclosure, so long as the headgear includes at least two permanent markings. The headgear 1104 includes a center marking 10, which is a vertical line located on the headgear 1104 that represents the exact center of the headgear device, and an edge marking 11, which is located at the front of the headgear straps 1142 and is represented by a line at the bottom end of the straps 1142.

[0046] Stability while positioning the head in front of the imaging device 1102 can be obtained using an attached fixation device such as a head holder 1105, if necessary. The head holder device 1105 is used to position the head in a desired initial position. With reference to FIG. 4, the head holder 1105 includes a horizontal shelf 12 where the head is initially positioned next to the imaging device 1102. The horizontal shelf 12 can be moved up or down to accommodate different heights and vertical angles relative to the imaging device 1102. The location of the horizontal shelf 12 can be recorded in each case for future reference when repositioning the headgear sensor system 1104, if necessary. The patient's lower jaw should be fully engaged with the horizontal shelf 12 during the methods and procedures of the present disclosure. The horizontal shelf 12 has a chin rest 13 where the patient's jaw is positioned during the procedure. The methods of the present disclosure can utilize a head holder device to guide the desired head position.

[0047] Optionally, the head holder device 1105 is an electric device, using electrical plugs 14 for electrical sockets and control units 15 for motors 16 on both sides to move the horizontal shelf 12 up and down as needed via threaded rods 17 on both sides, one for each motor. The head holder system 1105 uses vertical rods 18 that limit the movement up and down and bearings 19. The head holder system 1105 has four adjustable legs 20 that allow the head holder system 1105 to be positioned on a surface such as, but not limited to, a desk. In one particular embodiment, the head holder system 1105 is coupled to a computing device 1106, which controls the height of the upper horizontal shelf 12 by sending signals to the control unit 15 and motors 16.

[0048] The system and method of the present disclosure can be used to position the image of the face, i.e., in this context, the head, without any angular distortion, as in a specific task. The present disclosure solves the problem of positioning in the same way in any XYZ coordinate. In this example, the basic objective of obtaining free angular image distortion is to position the object (e.g., face) orthogonally at an angle of 90 degrees to the imaging device. This position achieves zero angular distortion. Using the present method, clean distortion-free default data of the initial positioning of any head position can be recorded and controlled for future accurate repositioning, as an example, for the purpose of controlling angular optical distortion while imaging is taking place.

[0049] Initially, the pitch angle is registered as zero when the head is in the head holder 1105 in an allowed spatial head-to-imaging device relationship, and recorded as the default position (i.e., 90 degrees relative to the camera device) and at an acceptable pitch. The zero pitch angle is registered when the head is in a position such that the face vertical 2 and screen vertical 1 move to create one single vertical line 7, the upper face horizontal 3 and upper screen horizontal 4 move to create one upper single horizontal line 8, and the lower face horizontal 6 and lower screen horizontal 5 coincide into a single horizontal line 9, as shown in FIG. 2. Once the operator of the system 1100 is satisfied with the pitch of the head positioning relative to the imaging device 1102, the record is saved in the memory of the computing device 1106 as the reference line zero. Once the zero pitch angle is saved, the single horizontal line 9 becomes the default pitch line 9.

[0050] After achieving 90 degree facial alignment relative to the camera, the system may alert the operator with a signal or visual effect seen on the computer screen 1108, allowing the operator to understand that the desired alignment has been achieved. For example, as the head moves in the imaging space, the computing device 1106 may generate a sound (played by a speaker) that the generated facial lines are either aligned or nearly aligned with the screen lines. In one embodiment, the generated sound changes pitch or tone as the head approaches alignment, and then generates a different, distinct sound when the head is at an allowed pitch angle or at zero pitch angle.

[0051] [Operation procedure] The person to be examined sits in front of the imaging device 1102 with the head positioned on the head holder device 1105 for head stability, if necessary. The person rests their lower jaw in full engagement against the horizontal shelf 12 of the head holder 1105.

[0052] Facial and screen lines are then generated by a computing device 1106 running facial recognition software. In one embodiment, the operator can see the facial and screen lines in different respective colors for identification. There is a facial vertical line generated from the facial markings, and a screen vertical line that indicates where the location of the facial vertical line at 90 degrees to the camera device should position the patient's head at 90 degrees (e.g., no optical distortion of the angle) to the camera device respectively. There are four horizontal lines, each of which intersects with the vertical line at two different upper or lower levels: an upper facial horizontal line and a lower facial horizontal line, all generated via data collected from the facial markings, and upper and lower screen horizontal lines that project where the face with the respective facial horizontal line must be to be at 90 degrees to the camera position.

[0053] An exemplary method for identifying facial key points and generating lines from the identified facial points is described with reference to FIGS.

[0054] The system calculates the yaw, pitch, and roll of the face in the view from the camera by using a simple geometric shape that is drawn by using face key point mapping as shown in Figure 13. With reference to Figure 14, an exemplary reference frame is illustrated to facilitate understanding of the values ​​and lines described in Table 1 below. It should be appreciated that the values ​​along the x-axis refer to the img width and the values ​​along the y-axis refer to the img height. For example, point 1402 is the pixel located at (0,0), i.e., x=0 and y=0, point 1404 is the pixel located at (18,6), i.e., x=18 and y=6, and point 1406 is the pixel located at (6,13), i.e., x=6 and y=13. It should be appreciated that in Table 1 below, the line listed in column 2 is generated using point 1 listed in column 3 and point 2 listed in column 4, and Pn(x) refers to the x pixel value of facial point "n" and Pn(y) refers to the y pixel value of facial point "n".

[0055] [Table 1] First, a convolutional neural network is used to detect facial key points of the face in the image, for example points 1-68 shown in FIG. 13. It should be appreciated that the facial key points can be used to draw or generate a reference line on the image, for example a virtual headband. Next, a face perpendicular line 1302 is drawn using key points 28, 29, 30, and 31 on the nose of the head, i.e. points 28, 29, 30, and 31 are vertically disposed along the nose of the head. With reference to FIG. 15, this line 1302 extends vertically to the edge of the frame of the image, with end points 1502 and 1504 defined by the parameters shown in FIG. It should be appreciated that the line 1302 shown in FIG. 13 and FIG. 15 is the face perpendicular line 2 shown in FIG. 1. Next, a line 1304 is drawn that is horizontal to the face between key points 18 and 27, i.e., points 18 and 27 are approximately at either end of the brow line of the face. With reference to Figure 16, this line 1304 extends horizontally to the edge of the image frame, with end points 1602 and 1604 defined by the parameters shown in Figure 16. It should be appreciated that the line 1304 shown in Figures 13 and 16 is the upper face horizontal line 3 shown in Figure 1. With reference to Figure 17, the line 1304 may be offset upwards by a user defined value, e.g., an alpha value, so that the line 1304 may be aligned with the headgear, as will be described in more detail below.

[0056] A line 1306 perpendicular to the camera and a line 1308 horizontal to the camera creating a reference coordinate are drawn to always pass through the intersection between the upper face horizontal line 1304 and the upper face vertical line 1302. It should be appreciated that line 1306 is the screen vertical line 1 and line 1308 is the upper screen horizontal line 4 as shown in FIG. 1. This intersection is approximately at the center of the forehead. Using these four lines, the roll and yaw angles of the face in the image frame can be calculated. For example, as shown in FIG. 13, the yaw angle can be determined from lines 1302 and 1306 and the roll angle can be determined from lines 1304 and 1308.

[0057] Since the pitch angle is captured by the movement in a third axis (i.e., depth) that cannot be directly calculated by a simple two-dimensional (2D) camera, an adjustment is used to calculate the pitch. First, a line 1802 is drawn between points 3,34 and 34,15, and then a horizontal line 1804 is also drawn between points 3,15 as shown in FIG. 18. It should be appreciated that points 3 and 15 are disposed around the periphery of the face, and point 34 is disposed approximately at the tip of the nose. It should be further appreciated that points 1-17 define a portion of the periphery of the face, and points 32-36 define the lower portion of the nose. For some facial shapes, when the pitch is zero, these two lines 1802 and 1804 should be perfectly parallel to each other. Also, as the face moves up and down, the tip of the nose moves, and the pitch angle between lines 3,34,15 and 3,15 can be calculated. However, for most faces, due to their facial structure, the initial angle at zero pitch may not be zero and the initial angle needs to be normalized.

[0058] Thus, when a patient's head is placed in a zero-pitch head holder and an input device such as a keyboard 1110 is actuated, the system calculates a pitch-normalized delta value (also known as baseline pitch delta as shown in FIG. 19) and calculates a reshuffled point (e.g., in most cases slightly above point 34) instead of 34. This shifted point is called 34'. Now, the angle between 3-34'-15 and 3-15 can provide any facial pitch angle using only a 2D camera.

[0059] Since the pitch is in the depth direction, the pitch cannot be calculated directly using the camera. To solve this problem, the pitch is adjusted or normalized. It can be seen that when the head is moved in the pitch direction, point 34 moves more compared to points 3 and 15. This means that the angle plotted between points 3, 34 and 15 should change if the pitch changes. This angle is not necessarily zero when the pitch is zero. That is why the operator needs to place the patient's head in the head holder and press button P on the keyboard to record it if the head is unstable or moving or vibrating when the operator believes or knows that the pitch is zero. When button P is pressed, the deviation in the Y coordinate of point 34 is calculated because the pitch norm delta is the value P34(y)-(P3(y)+P15(y)) / 2, which is calculated in that frame where the operator recorded zero pitch. By subtracting this amount from P34(y), the angle plotted to zero is normalized. 19, line 1804 is normalized by shifting it upward by the baseline pitch delta value. The pitch angle may be calculated as the angle between line 1804 and 1802-1 or 1802-2.

[0060] It will be appreciated that these lines are used in further steps to assist in moving the head to any desired positioning, with or without headgear. For example, lines are used to control rotation in different directions, such as screen vertical 1 and face vertical 2 to control yaw, upper screen horizontal 4 and upper face horizontal 3 to control roll, lower screen horizontal 5 and lower face horizontal 6 which form pitch lines to control pitch, where: Rotation about the -Z axis (sagittal) is called roll.

[0061] Rotation about the -X axis is called pitch.

[0062] -Rotation around the vertical Y axis is called Yaw.

[0063] The operator will be able to adjust the height of the upper screen horizontal line 5 (if required) by shifting the line upwards or downwards.

[0064] In one embodiment, as shown in FIG. 5, the system and method of the present disclosure may be used to align a human head with an imaging device in 90 degree alignment. As shown in FIG. 5, the default pitch line 24 is split into two segments since the head is not aligned according to a pre-recorded pitch. The subject is then instructed to move the head until the pitch line 24 coincides with the zero pitch line 23. Additionally, once the head is repositioned, the system and method may be used to ensure that the head is at zero pitch, for example, as shown in FIG. 8. In FIG. 8, the pitch line 37 is parallel to line 36 and perpendicular to vertical line 35.

[0065] Furthermore, the coordinates of a particular position may be stored for later repositioning of the head to the same position. For example, in FIG. 8, the coordinates of the illustrated position may be stored at a first time point (e.g., at the first visit to the doctor) as yaw: 1, roll: 123.17, and pitch: 0. Then, at a later time point (e.g., at a subsequent visit to the doctor), the head may be repositioned to the exact coordinates by acquiring the coordinates and displaying the acquired coordinates on a display device. The patient may then be instructed by the operator to move the head until it aligns with the stored position. In one embodiment, the recorded line may be displayed on a display device. The system will then generate a facial line based on the identified facial points. As the facial line approaches the recorded line, the system may produce a sound with a pitch that changes as the lines converge, and then give an indication when the lines coincide.

[0066] In one embodiment, the system 1100 may include multiple imaging devices arranged in various ways. For example, the imaging devices may be arranged in a circle around the head to capture 360 ​​degrees of head movement relative to a starting or initial position. In this embodiment, a particular imaging device is activated as long as an image of the face is within the frame of the imaging device. As the subject rotates his head, an adjacent imaging device is activated when the imaging device detects that the face is within the frame of that particular imaging device. It should be appreciated that the multiple imaging devices may be arranged in any manner to capture the subject's full range of motion, for example, multiple imaging devices arranged in a spherical relationship. In another embodiment, another treatment device begins its treatment as soon as the head is positioned at a predetermined previous location. An example of a treatment device may be a robotic arm, or a stereotaxic device that may emit a focused beam to treat an intracranial lesion. The treatment device does not begin its operation unless a desired and predetermined position is obtained by the positioning system.

[0067] Now, a method is described in which the movement of the human head relative to a line is controlled to register the head positioning relative to the headgear sensor positioning with minimal distortion and to avoid any errors in repositioning. With reference to FIG. 2, the operator matches the screen vertical line 1 with the face vertical line 2 to form one single line, i.e. the single vertical line 7, matches the upper screen horizontal line 4 with the upper face horizontal line 3 to form one single line, i.e. the upper single horizontal line 8, and the operator matches the lower screen horizontal line 5 with the lower face horizontal line 6 to form the lower single horizontal line 9. The operator then fills the head pitch position angle with one acceptable to the operator means (either with the help of electronic sensors fixed on the headgear with the help of face clamps, with the help of pixel data, or in other ways), provides input to the computing device 1106 to record the zero pitch angle, and creates a default pitch line 9 once the head pitch is satisfactory. Once the default pitch line 9 is recorded, it coincides with the lower single horizontal line and in the repeat position it must coincide in the same way in a pure straight line. At this point, the operator is ready to position the headgear according to the rules, which is described below in connection with FIG.

[0068] [Headgear Reinsertion and Rules] The upper single horizontal line 8 positioned at the forehead is seen when the headgear is inserted or reinserted onto the human head. This is the line with which the headgear edge 11 must coincide. The alpha value is unique to each individual and is one of at least two components necessary for positioning and repositioning the headgear sensor device in order to define the boundaries of the headgear. The alpha value can be changed (i.e., moved) up or down for convenience when the positioning of the headgear 1104 needs to be positioned in a more convenient location. That is, the operator can input an alpha value to move the upper single horizontal line 8 up or down on the display device relative to the face, and then the headgear can be positioned on the head so that the edge 11 of the headgear coincides with the upper single horizontal line 8. The center of the headgear 10 must coincide with the single vertical line 7.

[0069] The head is positioned in the head holder 1105 in front of the imaging device 1102, where the lower jaw is fully engaged in the horizontal shelf 12 of the head holder on the chin rest 13. Once the head is placed on the horizontal shelf 12 of the head holder 1105, a facial image will appear on the display device 1108 as shown in Figure 5. As shown in Figure 5, all of the following lines will be realigned: upper facial horizontal line 21, upper screen horizontal line 22, lower screen horizontal line 23, zero pitch angle / default pitch line 24, screen vertical lines 25 and 26, where screen vertical line 26 is the facial vertical line 27.

[0070] The person is then instructed to move their head so that a single vertical line 27 is formed on the computer screen, a single upper screen horizontal line 28 is formed, and a lower facial horizontal line 29 coincides with the lower screen horizontal line, forming the default pitch line at the previously recorded zero pitch angle. The facial markings serve to follow the face to this previously recorded default position, with the facial lines having to coincide according to the rules for repositioning the face, as shown in Figure 6, thereby following the head to its original position. With all screen lines as above, the headgear is positioned on the head, as shown in Figure 7, with the headgear edge 11 aligned with the upper single horizontal line 32 and the headgear center 10 aligned with the single vertical line 30, while the zero pitch angle line coincides with the default pitch line 33. At this point, the headgear 1105 can be locked into place.

[0071] Because the alpha or control values ​​may adjust the top (both screen and face) horizon 8 up and / or down, any headgear or face system can be used to be synchronized with the system of the present disclosure, allowing the method and system of the present disclosure to be very cost effective and universal.

[0072] The method described herein can be used wherever precise and controlled head positioning is required, with or without a positioning sensor, for example during bloodless stereotactic brain surgery treatments or during imaging procedures that require certain precise positioning. This is much more precise than mechanical clamping methods, since conventional mechanical clamping systems do not compensate for and do not compensate for micro-movements of the head, and therefore the disclosed method is safer, predictable and controllable. The method can also be used to control the positioning of the subject using the identified lines or with the help of head gear positioned as described with an electronic three-axis sensor that will control roll, yaw and pitch, for the purpose of controlling angular image distortion in any type of image of the head and neck.

[0073] [Corrective lateral movement to the side before the mouth opens] In the neck, lateral flexion open-mouth view images are utilized for the purpose of evaluating injuries to the cervico-cranial supporting ligaments and diagnosing cervico-cranial instability, for example. Since the atlanto-axial joint is a pure rotational joint, any rotation within that joint during the imaging procedure will translate with some degree of image angle distortion. As shown in FIG. 8, utilizing the disclosed method for open-mouth imaging with lateral flexion open-mouth view, the default pitch line 37 must be kept parallel to the upper facial horizontal 36, and the angle between the facial vertical 35 and the default pitch line 37 and the upper facial horizontal 36 must be kept strictly 90 degrees. It is very difficult to control the open-mouth lateral flexion neck image position, especially when controlling the rotation of the C1 / C2 vertebral joint to capture accurate cervico-cranial images. When these rotations are introduced into the imaging due to lack of controlled positioning, different multiple results can be seen on the images. Furthermore, all images taken of the cervico-cranial region of the same patient without positioning control are different. Similarly, control of pitch is important since images of the palatal shelves and occipital region may overlap images of the C1-C2 vertebrae during open mouth views. Accurate repositioning of the patient for re-imaging of the cervico-cranial region to assess treatment or disease progression can also be performed using the methods of the present disclosure.

[0074] Referring to FIG. 9, to compensate for the lateral movement to the right before opening the mouth, the default pitch line 41 must be kept parallel to the upper facial horizontal line 39, and the angle between the facial vertical line 43, the default pitch line 41, and the upper facial horizontal line 39 must be kept exactly 90 degrees.

[0075] 10, the pitch deviation relative to FIG. 9 can be seen by noting that the default pitch line 48 is not parallel to the upper facial horizontal line 46. In addition, the angle between the facial vertical line 49 and the default pitch line 48 is not 90 degrees, and the default pitch line 48 and the upper facial horizontal line 46 are not parallel. To correct the deviation, the operator would need to instruct the subject to move their head until the default pitch line 48 was parallel to the upper facial horizontal line 46 and the default pitch line 48 was perpendicular to the facial vertical line 49.

[0076] The disclosed method can be utilized for controllable side-to-side movement of the head without headgear or sensors. See Figs. 8-10, which do not show headgear. The significance of Figs. 8-10 is that the disclosed method does not require any additional hardware for controllable positioning of the atlantoaxial joint in cervicocranial lateral bending open-mouth images for diagnostic imaging procedures. The cervicocranial region is the area extending from the occipital region, C1 and C2, and is considered the most difficult region to be imaged and analyzed, which is why, for example, lateral bending positioning with open-mouth views to diagnose injuries has not been significantly utilized. Thus, diagnostic radiology is currently very limited. The disclosed method is a problem-solving method for medical diagnostic imaging in this anatomical structure.

[0077] Another importance is that stereotaxic surgery can be performed without headgear positioning sensors. As described in connection with Figures 13 and 14, the pixel data is accurate enough to position the head in the desired positioning. Brain imaging is a complex procedure, requiring many electronic and electrical devices. All electronic and electrical devices create magnetic fields that distort the three otherwise closely located axial positioning sensors. The use of pixel data to position the head according to facial markings is an important step to avoid the use of MRI, CT, PET or X-ray devices, or positioning electronics that can malfunction in or around the magnetic fields of electrical wiring.

[0078] Neck flexion and extension, lateral bending diagnostic imaging can also be performed based on the facial lines without sensors or with headgear sensors positioned as described.

[0079] [Programming the secondary sensor] Once the roll, yaw, and default pitch line angle positions have been established and recorded, as shown in Figure 6, the data can be transferred as many times as necessary to other sensors as long as the face is positioned within the original computer frame. This position can be replicated or transferred to another sensor anywhere in the body for further use when any angle-controlled positioning is required.

[0080] For example, an intraoral sensor fork with moldable dental impression material can be inserted into the patient's mouth, and the patient closes their mouth on the sensor fork with material. The material molds around the teeth to create a bite, while a vinyl polysiloxane impression (VPS) dental material hardens, creating a customized fork on the teeth. The fork has an electronic three-axis sensor outside the mouth, firmly attached to the fork. The programming of the sensor is done at the moment the default pitch line angle position is recorded. Alternatively, if one wants to control a purely orthogonal patient position during spine imaging, these coordinates can be used or transferred to a sensor located on the spine using a Bluetooth® connection. The versatility of applications is endless.

[0081] In addition, if the positioning of the face and the anatomical topography of other organs or parts of the body are known, these other organs or parts can be positioned without a secondary sensor. In this embodiment, the method positions at least one other part of the body in a predetermined position by establishing a coordinate relationship between the face and at least one other part of the body (e.g., an organ) and repositioning the human head and / or face. For example, it is known that the lateral orthogonal imaging of the spine is perpendicular to the anterior (frontal) orthogonal imaging of the face. When programming the face orthogonal positioning towards a unit having a camera device or a unit representing a camera device, the lateral orthogonal imaging of the spine is positioned minus 90 degrees relative to the face positioning. With the camera imaging orthogonal positioning of the face, one simply rotates the patient 90 degrees towards the imaging source located 90 degrees opposite the imaging device. When programming the secondary device, the anatomical relationship of the human face to the anatomical structures needs to be known. As an example, the lateral orthogonal image of the spine is taken perpendicular to the face. With a secondary sensor, the disclosed method and system can image anything at any controlled positioning and later reposition that part of the body at the same positioning. As another example, we have a position sensor on the wrist that knows the exact location of the face towards the camera device and is programmed when we save the pitch angle data. That wrist sensor has XYZ coordinates that are stored relative to the face location. If we can precisely reposition the wrist sensor with or on the wrist, we can position the wrist to the same XYZ coordinates. This is the law of relativity.

[0082] The alpha value or control value is a unique control value for each individual face that works regardless of the distance between the face and the image capture device, e.g., camera device. Thus, during repeated positioning of a headgear device, e.g., headgear device 1104, the alpha value will allow the headgear to be positioned exactly in the same place where it was originally positioned, regardless of the distance between the face and the image capture device or camera device.

[0083] Other applications for the systems and methods of the present disclosure include targeting objectives in the air force during "dogfights" or in video games, cervical range of motion diagnostic measuring devices, or games that promote cervical physical movement and mobility.

[0084] The devices, systems, and methods of the present disclosure may be used for the following use cases: positioning the human body in a certain position next to a computer for proper posture, physical therapy and rehabilitation testing for cervical range of motion, physical exercises and games, various craniocervical, neck, and spine imaging requiring controlled positioning, controlling head positioning during diagnosis and treatment of brain lesions with the use of stereotactic brain surgery, aiming devices used in the military, positioning of patients before and during various imaging of the head, neck, and spine when control of image angle distortion is important or with the use of certain positioning protocols.

[0085] FIG. 12 is a block diagram illustrating the physical components of a computing device 1106, such as a client computing device, a server, or any other computing device, on which embodiments of the present disclosure may be implemented. In a basic configuration, the computing device 1106 may include at least one processing unit 1204 and a system memory 1206. Depending on the configuration and type of the computing device, the system memory 1206 may comprise, but is not limited to, volatile storage (e.g., random access memory), non-volatile storage (e.g., read-only memory), flash memory, or any combination of such memory. The system memory 1206 may include an operating system 1207 and one or more program modules 1208 suitable for launching software programs / modules 1220, such as an IO manager 1224, other utilities 1226, and applications 1228. As an example, the system memory 1206 may store instructions for execution. Other examples of the system memory 1206 may store data associated with applications. The operating system 1207 may be suitable for controlling the operation of the computing device 1106, for example. Additionally, embodiments of the present disclosure may be implemented in conjunction with graphics libraries, other operating systems, or any other application programs, and are not limited to any particular application or system. This basic configuration is illustrated in FIG. 12 by those components within dashed line 1222. Computing device 1106 may have additional features or functionality. For example, computing device 1106 may also include additional data storage devices (removable and / or non-removable), such as, for example, magnetic disks, optical disks, or tape. Such additional storage is illustrated in FIG. 12 by removable storage device 1209 and non-removable storage device 1210.

[0086] As mentioned above, several program modules and data files may be stored in the system memory 1206. While executing on the processing unit 1204, the program modules 1208 (e.g., input / output (I / O) manager 1224, other utilities 1226, and applications 1228) may perform processes including, but not limited to, one or more of the stages of operation described throughout this disclosure. For example, one such application 1228 may implement the facial recognition software described in connection with FIGS. 1-10 and the facial point mapping software described in connection with FIGS. 13-14. Other program modules that may be used in accordance with embodiments of the present disclosure may include email and contact applications, word processing applications, spreadsheet applications, database applications, slide presentation applications, drawing or computer-aided application programs, photo editing applications, authoring applications, and the like. It should be appreciated that several modules or applications 1228 may execute simultaneously or nearly simultaneously and may share data.

[0087] Further, embodiments of the present disclosure may be implemented on electrical circuits with separate electronic elements, packaged or integrated electronic chips including logic gates, circuits utilizing a microprocessor, or a single chip including electronic elements or a microprocessor. For example, embodiments of the present disclosure may be implemented via a system-on-chip (SOC) in which each or many of the components illustrated in FIG. 12 may be integrated onto a single integrated circuit. Such an SOC device may include one or more processing units, graphics units, communication units, system virtualization units, and various application functions, all of which are integrated (or "burned") onto a chip substrate as a single integrated circuit. When operating via a SOC, the functionality described herein may be operated via application-specific logic integrated with other components of the computing device 1106 on a single integrated circuit (chip). Embodiments of the present disclosure may also be implemented using other technologies capable of performing logical operations, such as, for example, AND, OR, and NOT, including but not limited to, mechanical, optical, fluidic, and quantum technologies. In addition, embodiments of the present disclosure may be implemented within a general-purpose computer or any other circuit or system.

[0088] The computing device 1106 may also have one or more input devices 1212, such as a keyboard, mouse, pen, voice input device, device for voice input / recognition, touch input device, etc. Output devices 1214, such as a display, speakers, printer, etc. may also be included. The aforementioned devices are exemplary and other devices may be used. The computing device 1106 may include one or more communication connections 1216 that allow communication with other computing devices 918 (e.g., external servers) and / or other devices of the positioning system, such as the imaging device 1102, the headgear sensor system 1104, and the head holder 1105. Examples of suitable communication connections 1216 include, but are not limited to, network interface cards, RF transmitter, receiver, and / or transceiver circuitry, Universal Serial Bus (USB), parallel ports, and / or serial ports, and / or wireless transceivers operating according to WIFI protocols, Bluetooth protocols, mesh-enabled protocols, etc.

[0089] The term computer readable medium as used herein may include computer storage media. Computer storage media may include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer readable instructions, data structures, or program modules. System memory 1206, removable storage device 1209, and non-removable storage device 1210 are all examples of computer storage media (i.e., memory storage devices). Computer storage media may include RAM, ROM, Electrically Erasable Read-Only Memory (EEPROM), Flash memory or other memory technology, CD-ROM, Digital Versatile Disk (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other article of manufacture that can be used to store information and that can be accessed by computing device 1202. Any such computer storage media may be part of computing device 1202. Computer storage media does not include carrier waves or other propagated or modulated data signals.

[0090] Communication media may be embodied by computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and includes any information delivery media. The term "modulated data signal" may describe a signal that has one or more characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media may include wired media, such as a wired network or direct-wired connection, and wireless media, such as acoustic, radio frequency (RF), infrared, and other wireless media.

[0091] In further embodiments, the devices, systems and methods of the present disclosure provide an easy-to-use interface for precise head positioning and repositioning to the exact same position at a later time.

[0092] Referring to FIG. 20, a method for enrolling, authenticating, and locating a patient / individual is illustrated. In step 2002, an image of a patient is input into the system. For example, the image may be captured by an imaging device 1102. In step 2004, facial recognition is performed within the input image. In one embodiment, a pre-trained model from a Google API called Media Pipe is used to detect a frontal view of the face. This model detects 468 landmark points as shown in FIG. 21. These landmark points may be used to determine the patient and obtain the patient's head orientation as described below. It should be appreciated that a facial recognition function or algorithm may use the landmark points to identify facial features, such as eyes, eyebrow lines, nose tip, mouth corners, etc.

[0093] In step 2006, the method may determine whether the recognized face is already in the database, for example, using an image matching function or algorithm. If the recognized face is not in the database, then in step 2008 the patient will be registered as a new patient. In the registration step, patient data, e.g., name, address, etc., may be stored in association with the image. If it is determined that the face is already in the database, then in step 2010 the patient data associated with the recognized face will be retrieved. The retrieved data may include the patient's medical information, address, etc. The retrieved information may also include previously stored images of the patient, which may need to be replicated to update the patient's image in a particular location. The registration of a new patient or retrieval of existing patient information may be performed using any identification system.

[0094] In step 2012, the roll, yaw, and pitch of the patient's head (illustrated in FIG. 22) will be determined using the detected landmark points. The patient will be instructed to move his / her head in various directions to reach the desired position. In step 2014, the patient will be instructed to achieve an orthogonal view of the patient's face with the imaging device 1102, i.e., at a 90 degree angle to the imaging device. In this position, an MRI or CT scan may be performed with the patient's mouth closed. Additionally, in this position, an X-ray may be performed with the patient's mouth open. As described below, the user may instruct the patient to the appropriate position based on instructions generated and displayed on a display device, for example, the display device 1108 associated with the system 1100. In step 2016, the patient will be instructed to achieve a left bending view, and in step 2018, the patient will be instructed to achieve a right bending view.

[0095] 20 may be executed by the processing unit 1204 of the computing device 1106. It is further appreciated that a graphic user interface (GUI), a landmark detection function or algorithm, an image matching function, etc. may be one of the applications 1220 stored in the system memory 1206 to be executed by the processing unit 1204.

[0096] With reference to Figures 23-25, the calculation of the roll of the patient's head is described. The roll is a clockwise or counterclockwise rotation. If the roll is counterclockwise, it means that the face rotates to the left and the roll value is negative, as shown in Figure 23. If the roll is clockwise, it means that the face rotates to the right and the roll value is positive, as shown in Figure 24. If the face does not rotate at all, the roll value will be zero, as shown in Figure 25. In Figure 23, line AB is a line parallel to the roll reference line PQ that passes through the landmark points P and Q previously detected on the face. This line PQ is along the second principal component of the face, i.e., if the face is considered as a space, line PQ will function as the horizon of this space. In one embodiment, points P and Q are approximately at either end of the brow line of the face, similar to what was described above in relation to Figure 16 for points 18 and 27. Lines ST and UV are along the horizon of the camera view. To obtain the roll angle, the slopes of lines AB and ST need to be determined, where M is the slope of line AB and N is the slope of line ST. Since AB is parallel to PQ, the slopes of both these lines are equal. The slope of line PQ can be determined using the coordinates of points P and Q obtained using the landmark detection model, so the slope of line AB is:

number

[0097]

number

number

Number

Number

[0098] Then, the point R is used to obtain the ratio X1:X2. Here, X1 < X2, so X1 / X2 < 0.

[0099] With reference to FIGS. 29 to 31, the calculation of the pitch of the patient's head is described. The pitch is the movement of the head in the upward and downward directions. The pitch is determined by an angle in the range of (-90, 90). When the pitch is positive, as shown in FIG. 29, the movement of the head is in the upward direction. When the pitch is negative, the movement of the head is in the downward direction as shown in FIG. 30. When the pitch is zero, that is, when looking straight ahead, as shown in FIG. 31, the movement of the head is neutral.

[0100] For pitch calculation, the vector

Number

Number

[0101] [Table 2] If there are two horizontal and vertical components of a vector A, which are x, y, then the angle of the vector that is horizontal is Z, which is defined as: Z=arctan(x,y) AB and BC are the two pitch lines. Vector

number

number

[0102]

number

[0103] In FIG. 33, the user has selected the “neutral mouth” position, but the patient / individual's face is rotated in a counterclockwise direction, i.e., the roll is negative, and therefore the GUI will instruct the patient to rotate their face in the direction of the arrow so that it is in a neutral position.

[0104] In FIG. 34, the patient has selected the “neutral mouth” position, but the patient / individual's face is rotated in a clockwise direction, i.e., the roll is positive, and therefore the GUI will instruct the patient to rotate their face in the direction of the arrow so that it is in a neutral position.

[0105] In FIG. 35, the patient has selected the "neutral mouth" position, but the yaw is to the left, so the GUI will instruct the patient to rotate their face in the direction of the arrow to be in a neutral position.

[0106] In FIG. 36, the patient has selected the "neutral mouth" position, but the yaw is in the right position, so the GUI will instruct the patient to rotate their face in the direction of the arrow so that they are in the neutral position.

[0107] In FIG. 37, the patient has selected the "neutral mouth" position, but the pitch is positive, so the GUI will instruct the patient to rotate their face in the direction of the arrow so that it is in a neutral position.

[0108] In FIG. 38, the patient has selected the "neutral mouth" position, but the pitch is negative, so the GUI will instruct the patient to rotate their face in the direction of the arrow so that it is in a neutral position.

[0109] In Fig. 39, the patient has selected the "neutral mouth" position, and according to the neutral position, the pitch is zero, the yaw is neutral, and the roll is zero. Here, the vertical facial line 3902 and the two horizontal facial lines 3904, 3906 are aligned (or at least within a given tolerance) with the vertical screen line 3908 and the horizontal screen line 3910, 3912, respectively. However, the patient's mouth is not on the target 3902, e.g., the target is a square 3902, and therefore a message will be displayed that the mouth is not on the target. Thus, the patient must now align his / her mouth on the target 3902 to satisfy all the values ​​of pitch, yaw, and roll. It should be appreciated that the center of the target 3902 is the center of the mouth. As described below, the center of the mouth is determined as the midpoint between both corners of the mouth.

[0110] In FIG. 40, the patient has selected the "neutral opening" position, and according to the neutral position, the pitch value is zero, the yaw is neutral, and the roll is zero. Here, the patient is also aligned with the target 3902. In this position, the system is ready to take an x-ray. In addition, an MRI or CT scan may be taken while the individual's mouth is closed. It should be appreciated that once the patient is aligned, instructions are provided to confirm this, for example, various lines drawn on the screen may turn green, an audible sound may be triggered, etc. Additionally, once the patient is aligned, the system may trigger an x-ray (or CT scan, MRI scan, etc.) to be taken automatically without further user input.

[0111] In Figure 41, the patient has selected the "neutral mouth opening" position, and according to the neutral position, the pitch and yaw values ​​are neutral and the roll is zero. In addition, the patient is aligned with the target box with the mouth open. In this state, the system is ready to take an x-ray.

[0112] In Figure 42, the patient has selected the "Left Bend Opening" position, and pitch and yaw are neutral and roll is negative according to the left bend position. It should be appreciated that the lines on the screen are the desired positions in this selected mode (i.e., the generated face lines and screen lines), and the GUI will instruct the patient to move their head as described above in connection with positioning the patient in a neutral position. The patient is now also aligned with the target point. In this state, the system is ready to take an x-ray.

[0113] In Figure 43, the patient has selected the "Right Bend Opening" position, and pitch and yaw are neutral and roll is positive according to the right bend position. It should be appreciated that the lines on the screen are the desired positions in this selected mode (i.e., the generated face lines and screen lines) and the GUI will instruct the patient to move their head as described above in relation to positioning the patient in a neutral position. The patient is now also aligned with the target point. In this state, the system is ready to take an x-ray.

[0114] With reference to Figures 42-43, it should be appreciated that the center of the mouth is the axis of rotation of the head (i.e., the axis of rotation of the roll) for a side bend position with the mouth open. The center of the mouth may be calculated as a point located at 1 / 2 the length of the left and right corners of the mouth. For example, with reference to Figure 31, both corners of the mouth may be identified by a facial recognition function or algorithm as points D and E. Half the distance between points D and E is identified as the center of the mouth, i.e., point F. The individual's head may then rotate to roll about the center of the mouth while the pitch is zero and the yaw is neutral.

[0115] Advantages of the disclosed devices, systems, and methods include accurate patient positioning of the head and neck for C1 / C2 diagnostic imaging. Due to the significantly improved accuracy of positioning, the disclosed devices, systems, and methods provide the best diagnostically acceptable imaging studies. The disclosed devices, systems, and methods therefore eliminate unnecessary x-ray exposure to ionizing radiation.

[0116] There are no other positioning systems available that allow for repeated accurate head positioning and subsequent repositioning to the exact same position in spaces close to high magnetic or electrostatic fields. Mechanical head holders do not provide the precision required for accurate head positioning.

[0117] All of these advantages would result in improved diagnosis, medically proven treatment, and improved prognosis and safer treatment.

[0118] It should be appreciated that the various features shown and described are interchangeable, i.e., features shown in one embodiment may be incorporated in another embodiment. It should be further appreciated that the methods, functions, algorithms, etc. described above may be implemented by any single device and / or combination of devices forming a system, including, but not limited to, meters, IEDs, servers, storage devices, processors, memories, FPGAs, DSPs, etc.

[0119] Although non-limiting embodiments are disclosed herein, many variations are possible that remain within the concept and scope of the disclosure. Such variations will become apparent to those skilled in the art after reviewing the specification, drawings, and claims of the present specification. Thus, the disclosure should not be limited except within the spirit and scope of the appended claims.

[0120] Furthermore, although the foregoing text sets forth detailed descriptions of numerous embodiments, it should be understood that the legal scope of the disclosure is defined by the language of the claims set forth at the end of this patent. Since it would be impractical, if not impossible, to describe every possible embodiment, the detailed description should be construed as merely exemplary and does not describe every possible embodiment. Numerous alternative embodiments may be implemented using either current technology or technology developed after the filing date of this patent, which would still fall within the scope of the claims.

[0121] Also, unless a term is expressly defined in this patent using the sentence "As used herein, the term '______' is defined herein to mean ..." or a similar sentence, it is understood that there is no intention to limit the meaning of the term, either expressly or by implication, beyond its plain or ordinary meaning, and such term should not be construed as limited in scope based on any statement made in any section of this patent (other than the claim language). To the extent that any term recited in the claims at the end of this patent is referred to in this patent in a manner consistent with a single meaning, that is done merely for clarity so as not to confuse the reader, and it is not intended that such claim term be limited, by implication or otherwise, to that single meaning. Finally, unless the claim element is defined by reciting the word "means" and a function, without any recitation of structure, the scope of any claim element is not intended to be construed based on application of 35 U.S.C. 112, sixth paragraph.

Claims

1. 1. A method comprising: imaging a face of a human head with at least one imaging device; generating at least one vertical facial line and at least two horizontal facial lines to be disposed on the image of the face, the at least one vertical facial line and the at least two horizontal facial lines being based on facial markings of the face; aligning the human head such that the at least one vertical facial line is aligned with a generated vertical screen line and each of the at least two horizontal facial lines is aligned with a generated horizontal screen line; storing the alignment as a baseline; repositioning the human head to a desired position; providing an indication that the human head is in the desired position.

2. 2. The method of claim 1, wherein generating the at least one vertical facial line and at least two horizontal facial lines comprises: identifying the facial markings on the human head as key points using at least one facial recognition application; and connecting the key points to draw the at least one vertical facial line and at least two horizontal facial lines.

3. The method of claim 1 , wherein the generated vertical screen lines and the generated horizontal screen lines represent a face at 90 degrees relative to an imaging device location.

4. The method of claim 3 , wherein the bottom line of the at least two aligned horizontal facial lines and the generated horizontal screen line is stored as a default pitch line.

5. The method of claim 4 , wherein the default pitch line is divided into two segments at the at least one vertical face line.

6. The method of claim 5 , wherein said aligning the human head comprises aligning the two segments of the default pitch line parallel to an upper line of the two horizontal facial lines.

7. The method of claim 4 , wherein the default pitch line is normalized to compensate for differences in facial structure of the human head.

8. 7. The method of claim 6, wherein each of the two segments of the default pitch line is drawn to connect an identified facial marking disposed at a tip of the nose of the face to at least one point on the periphery of the face.

9. The method of claim 2 , wherein the at least one vertical facial line is drawn to connect identified facial markings disposed vertically along a center of a nose portion of the face.

10. The method of claim 9 , wherein a yaw angle of the human head is determined from the at least one vertical facial line and the generated vertical screen line.

11. The method of claim 2 , wherein an upper portion of the at least two horizontal facial lines is drawn to connect identified facial markings disposed on opposite ends of a brow line of the face.

12. The method of claim 11 , wherein a roll angle of the human head is determined from the upper portions of the at least two horizontal facial lines and the generated horizontal screen lines.

13. 2. The method of claim 1, further comprising: storing coordinates associated with the repositioned human head alignment at a first time point; and repositioning the human head at a second time point according to the stored coordinates.

14. 2. The method of claim 1, wherein the repositioning of the human head includes rotating the human head about an axis of rotation, the axis of rotation being centered about at least one of a center of the mouth of the human head and the tip of the nose of the human head.

15. 2. The method of claim 1, further comprising: aligning the human head such that a pitch of the human head is at a zero angle relative to the at least one imaging device; repositioning the human head to the desired position while maintaining the pitch at the zero angle; and providing an indication that the human head is in the desired position and the pitch is at the zero angle.

16. 1. A system comprising: at least one imaging device for imaging a face of a human head; at least one processing device that generates at least one vertical facial line and at least two horizontal facial lines to be disposed on an image of the face via a display device, the at least one vertical facial line and the at least two horizontal facial lines being based on facial markings of the face; the display device enabling alignment of the human head such that the at least one vertical facial line is aligned with a generated vertical screen line and each of the at least two horizontal facial lines is aligned with a generated horizontal screen line; at least one memory that stores the alignment as a reference line; The system, wherein upon repositioning of the human head to a desired position, the at least one processing device continuously updates the at least one vertical facial line and the at least two horizontal facial lines based on facial markings on the face.

17. 17. The system of claim 16, wherein the at least one processing device performs at least one facial recognition function to identify the facial markings of the face as key points and connect the key points to draw the at least one vertical facial line and the at least two horizontal facial lines.

18. The system of claim 16 , wherein the at least one processing device generates an indication that the human head is in the desired position.

19. 20. The system of claim 18, wherein the repositioning of the human head includes rotating the human head about an axis of rotation, the axis of rotation being centered about at least one of a center of the mouth of the human head and a tip of the nose of the human head.

20. 20. The system of claim 18, further comprising: aligning the human head such that a pitch of the human head is at a zero angle relative to the at least one imaging device; repositioning the human head to the desired position while maintaining the pitch at the zero angle; and providing an indication that the human head is in the desired position and the pitch is at the zero angle.

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