Chromatic profile spatial mapping

Abstract

Described herein is a spatial location mapping system. In one or more cases, the spatial location mapping system includes a substrate including a pattern of fiducials. A perimeter of a fiducial includes a color. In one or more cases, the spatial location mapping system includes a light sensor including a light source configured to emit white light and at least two color sensors recessed within a housing. The light source and at least two color sensors are aligned with a window of the housing. A shape of the window corresponds to a portion of a shape of the perimeter of the fiducial. The at least two color sensors are configured to detect light reflected off the substrate. The light sensor is configured to determine whether the light sensor is positioned on a portion of the perimeter of the fiducial based on the detected light.

Description

Attorney Docket: 206331-0002-00WOCHROMATIC PROFILE SPATIAL MAPPING CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to US Provisional Patent Application No. 63 / 718,256, filed on November 8, 2024, incorporated herein by reference in its entirety.BACKGROUND

[0002] The key to successful treatment of many forms of cancer lies in early detection. In turn, the early detection and identification of cancerous growths is heavily dependent upon the availability, relative costs, effectiveness and associated risks of existing sensor and screening technologies. Currently, there are a variety of sensors and tools used for investigating the mechanical properties of soft tissue and for imaging soft tissue. For instance, soft tissue imaging tools include Computer Tomography (CT), Magnetic Resonance Imaging (MRI), Ultrasound (US), T-scan (TS), and Ultrasound elastography (UE). Further, tactile imaging tools, such as those used in elastography, use array pressure sensors to probe spatial tissue stiffness variations.

[0003] However, the conventional sensor and screening tools require a high degree of training and experience to operate. For instance, during an imaging procedure, an operator, such as a mammography technologist, may generally have difficulty correlating the location of a scanner on a three-dimensional structure, such as a breast, with that of the scanned image. As these sensor and screening tools are difficult to calibrate and maintain calibration, the correlation issue is further exacerbated when the sensor and screening tools fall out of calibration. Moreover, a less experienced operator may not know or not have a guide to properly scan all locations of the corresponding imaging procedure. Thus, conventional sensor and screening tools are not easy-to- use, let alone, suitable for use in the hands of a layperson.

[0004] Consequently, there remains an important need for an accurate and easy-to-use system to perform imaging procedures. The present invention satisfies this needSUMMARY

[0005] The present disclosure relates generally to spatial location mapping, and more particularly, to spatial location mapping of a three-dimensional structure using chromatic profiling.Attorney Docket: 206331-0002-00WO

[0006] In one or more aspects, the disclosed technology relates to a spatial mapping substrate. In one or more cases, the spatial mapping substrate includes a plurality of fiducials arranged on the substrate. In one or more cases, each fiducial includes the same shape and size as one another. In one or more cases, a top surface of the fiducial includes a detectable color.

[0007] In one or more aspects, the disclosed technology relates to a spatial location mapping system. In one or more cases, the spatial location mapping system includes a substrate including a pattern of fiducials. A perimeter of a fiducial includes a color. In one or more cases, the spatial location mapping system includes a light sensor including a light source configured to emit white light and at least two color sensors recessed within a housing. In one or more cases, the light source and at least two color sensors are aligned with a window of the housing. In one or more cases, a shape of the window corresponds to a portion of a shape of the perimeter of the fiducial. In one or more cases, the at least two color sensors are configured to detect light reflected off the substrate. In one or more cases, the light sensor is configured to determine whether the light sensor is positioned on a portion of the perimeter of the fiducial based on the detected light.

[0008] A variety of additional aspects will be set forth in the description that follows. The aspects can relate to individual features and to combination of features. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the broad inventive concepts upon which the embodiments disclosed herein are based.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The following drawings are illustrative of particular embodiments of the present disclosure and therefore do not limit the scope of the present disclosure. The drawings are not to scale and are intended for use in conjunction with the explanations in the following detailed description.

[0010] Figure 1 is a diagram illustrating an example exam environment.

[0011] Figure 2A is a perspective view of an example scanning device. Figure 2B illustrates a bottom view of an example sensing system of the scanning device of FIG. 2A. Figure 2C illustrates an enlarged view of an example light sensor of the example sensing system.Attorney Docket: 206331-0002-00WO

[0012] Figures 3A-3C illustrate an example of locating a fiducial based on an example chromatic profile.

[0013] Figure 4 is an example flowchart that illustrates mapping spatial locations of a three- dimensional (3D) structure.

[0014] Figures 5A-5B illustrate an example examination that maps spatial locations of a 3D structure.

[0015] Figure 6 illustrates another example sensing system of the examination device of FIG. 2A.

[0016] Figure 7 illustrates an example color palette.

[0017] Figure 8 illustrates example sets of fiducial patterns.

[0018] Figure 9 is a block diagram depicting components of a data processing system.DETAILED DESCRIPTION

[0019] The following discussion omits or only briefly describes conventional features of spatial location mapping devices that are apparent to those skilled in the art. It is noted that various embodiments are described in detail with reference to the drawings, in which like reference numerals represent like parts and assemblies throughout the several views. Reference to various embodiments does not limit the scope of the claims attached hereto. Additionally, any examples set forth in this specification are intended to be non-limiting and merely set forth some of the many possible embodiments for the appended claims. Further, particular features described herein can be used in combination with other described features in each of the various possible combinations and permutations.

[0020] Unless otherwise specifically defined herein, all terms are to be given their broadest reasonable interpretation including meanings implied from the specification as well as meanings understood by those skilled in the art and / or as defined in dictionaries, treatises, etc. It is noted that, as used in the specification and the appended claims, the singular forms “a,” “an” and “the” include plural referents unless otherwise specified, and that the terms “includes” and / or “including,” when used in this specification, specify the presence of stated features, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.Attorney Docket: 206331-0002-00WO

[0021] Relative terms such as “horizontal,” “vertical,” “up,” “down,” “top,” and “bottom” as well as derivatives thereof (e.g., “horizontally,” “downwardly,” “upwardly,” etc.) should be construed to refer to the orientation as then described or as shown in the drawing figure under discussion. These relative terms are for convenience of description and normally are not intended to require a particular orientation. Terms including “inwardly” versus “outwardly,” “longitudinal” versus “lateral” and the like are to be interpreted relative to one another or relative to an axis of elongation, or an axis or center of rotation, as appropriate. Terms concerning attachments, coupling and the like, such as “connected” and “interconnected,” refer to a relationship wherein structures are secured or attached to one another either directly or indirectly through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise. The term “operatively or operably connected” is such an attachment, coupling or connection that allows the pertinent structures to operate as intended by virtue of that relationship.

[0022] Reference throughout the specification to “one embodiment”, “an embodiment” or “some embodiments” means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the subject matter disclosed. Thus, the appearance of the phrases “in one embodiment”, “in an embodiment” or “in some embodiments” in various places throughout the specification is not necessarily referring to the same embodiment. Further, the particular features, structures or characteristics of “one embodiment”, “an embodiment” or “some embodiments” may be combined in any suitable manner with each other to form additional embodiments of such combinations. It is intended that embodiments of the disclosed subject matter cover modifications and variations thereof. Terms such as “first,” “second,” “third,” etc., merely identify one of a number of portions, components, steps, operations, functions, and / or points of reference as disclosed herein, and likewise do not necessarily limit embodiments of the present disclosure to any particular configuration or orientation.

[0023] Moreover, throughout this disclosure, various aspects of the invention can be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. ForAttorney Docket: 206331-0002-00WO example, description of a range such as from 1 to 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as individual numbers within that range, for example, 1, 2, 2.7, 3, 4, 5, 5.3, 6, and any whole and partial increments there between. This applies regardless of the breadth of the range. As used herein, the term “about” in reference to a measurable value, such as an amount, a temporal duration, and the like, is meant to encompass the specified value and / or variations of plus or minus 20%, plus or minus 10%, plus or minus 5%, plus or minus 1%, and plus or minus 0.1% of the specified value, as such variations are appropriate.

[0024] The terms “proximal,” “distal,” “anterior,” “posterior,” “medial,” “lateral,” “superior,” and “inferior” are defined by their standard usage indicating a directional term of reference. For example, “proximal” refers to a position that is situated nearer to the center of a body or point of attachment, while “distal” refers to a position that is situated away from the center of the body or point of attachment. In another example, “anterior” refers to the front of a body or structure, while “posterior” refers to the rear of a body or structure. In another example, “medial” refers to the direction towards the midline of a body or structure, and “lateral” refers to the direction away from the midline of a body or structure. In some examples, “lateral” or “laterally” may refer to any sideways direction. In another example, “superior” refers to the top of a body or structure, while “inferior” refers to the bottom of a body or structure. It should be understood, however, that the directional term of reference may be interpreted within the context of a specific body or structure, such that a directional term referring to a location in the context of the reference body or structure may remain consistent as the orientation of the body or structure changes.

[0025] The term “abnormal” when used in the context of organisms, tissues, cells or components thereof, refers to those organisms, tissues, cells or components thereof that differ in at least one observable or detectable characteristic (e.g., age, treatment, time of day, etc.) from those organisms, tissues, cells or components thereof that display the “normal” (i.e., expected) respective characteristic. Characteristics which are normal or expected for one cell or tissue type, might be abnormal for a different cell or tissue type. As used herein, the term “diagnosis” refers to the determination of the presence of a disease or disorder. As used herein, the term “screening” refers to the detection, documentation, measurement and / or mapping of the size, shape and location of abnormal features of the tissue of a subject which indicate the potential presence of disease or disorder warranting further investigation.Attorney Docket: 206331-0002-00WG

[0026] The terms “patient,” “subject,” “individual,” and the like are used interchangeably herein, and refer to any animal amenable to the systems, devices, and methods described herein. The patient, subject or individual may be a mammal, for example, a human. The terms “fiducial,” “fiducial marker,” and the like are used interchangeably herein, and refer to a mark or set of marks disposed in or on an object to indicate a location. The terms “garment,” “apparel,” “clothing,” “wearable,” “sheet,” “substrate,” and the like are used interchangeably herein, and refer to an object of material worn by a subject or placed on the subject to cover a portion of the subject (e.g., a sports bra to cover a chest of a patient, a transparent sticker sheet placed on the stomach of a patient, etc.).

[0027] Conventional sensor and screening tools are generally difficult to correlate the location of a scanner on a three-dimensional structure, such as a breast, with that of the scanned image. The embodiments described herein provide an accurate and easy-to-use system to perform imaging procedures. In particular, the embodiments relate to spatial location mapping of a three- dimensional (3D) structure using chromatic profiling.

[0028] FIG. 1 is a diagram illustrating an example exam environment 100. FIG. 1 provides only an illustration of one implementation and does not imply any limitations with regard to the environments in which different embodiments may be implemented. Many modifications to the depicted environment may be made by those skilled in the art without departing from the scope of the embodiments of the present disclosure. The exam environment 100 includes a network 106, a server 104 that operates a spatial mapping program 114, a database 108, and one or more computing devices, such as a client device 110 and a scanning device 116. Further, the environment 100 includes a user 102 wearing a spatial mapping garment 112 having at least one mapping region, such as regions 115a and 115b.

[0029] In one or more cases, the spatial mapping garment 112 may be a conformable material sized to be placed over a 3D structure. For example, the garment 112 may be a sports bra or compression shirt sized to be worn over the breasts of the user 102. The material of the garment 112 may be such that the material remains relatively fixed with respect to the 3D structure that the garment 112 is covering. In one or more cases, the garment 112 is formed from a material that allows for the garment 112 to shift on the body of the user 102 about 2mm to 5mm in any direction. For example, based on the elasticity of the material, the garment 112 allows for expansion and contraction while maintaining its relative position on the body of the user 102. InAttorney Docket: 206331-0002-00WO one or more cases, the material may include, but is not limited to, one or more of cotton, spandex, polyester, and the like. The garment 112 may include one or more fiducial markers that are printed onto or embedded into the material of the garment 112. The garment 112 may include one or more sets of fiducials that are formed in a pattern to indicate a mapping region, such as regions 115a and 115b.

[0030] The network 106 interconnects the server 104, database 108, the client device 110, and the scanning device 116. In general, the network 106 can be any combination of connections and protocols capable of supporting communications between the server 104, the client device 110, the scanning device 116, the database 108, and the spatial mapping program 114. The network 106 can include, for example, one or more of wired Ethernet, fiber optic connections, wireless connections including any of the various 802.11 standards, cellular WAN infrastructures such as, but not limited to, 3G, 4G / LTE, or 5G networks, Bluetooth®, Bluetooth® Low Energy (BLE) or Zigbee® communication links, or any other method by which an electronic device is capable of communicating with another. In some cases, the network 106 may be implemented over one or more of a Virtual Private Network (VPN), a local area network (LAN), a telecommunications network, a wide area network (WAN), such as the Internet, a virtual local area network (VLAN), and the like. The network 106 can also include wire cables, wireless communication links, fiber optic cables, routers, switches and / or firewalls.

[0031] The server 104 is a web-based server hosting the spatial mapping program 114. In one or more cases, the server 104 can be a web server, a blade server, a computer including one or more processors and at least one non-transitory computer readable memory, a mobile computing device, a laptop computer, a tablet computer, a netbook computer, a personal computer (PC), a desktop computer, or any programmable electronic device or computing system capable of receiving and sending data, via the network 106, and performing computer-readable program instructions. In one or more cases, the server 104 can be a data center, consisting of a collection of networks and servers providing an IT service, such as virtual servers and applications deployed on virtual servers, to an external party. In one or more cases, the server 104 represents a computing system utilizing clustered computers and components (e.g., database server computer, application server computers, etc.) that act as a single pool of seamless resources, such as in a cloud computing environment when accessed within the environment 100.Attorney Docket: 206331-0002-00WO

[0032] In one or more cases, the server 104 includes the database 108 for storing data including, but not limited to, color profiles, a color and / or RGB value identifying a fiducial, a location of a fiducial on the garment 112, a location or body part associated with the fiducial location of the garment 112, and Color Distance Values. The database 108 can be one of, a web server, a mobile computing device, a laptop computer, a tablet computer, a netbook computer, a personal computer (PC), a desktop computer, or any programmable electronic device or computing system capable of receiving, storing, and sending data, such as data related to a fiducial, and performing computer readable program instructions capable of communicating with the server 104, the client device 110, and the scanning device 116, via the network 106. In one or more cases, the database 108 can represent virtual instances operating on a computing system utilizing clustered computers and components (e.g., database server computer, application server computers, etc.) that act as a single pool of seamless resources when accessed within the environment 100.

[0033] In one or more cases, the spatial mapping program 114 is configured to perform operations to locate fiducials on a 3D structure. For example, the spatial mapping program 114 may implement one or more operations of process 400 to determine a location of a fiducial on a garment, as illustrated in FIGs. 4 and 5A-5B. In one or more cases, the spatial mapping program 114 may be stored locally on a computing electronic device and / or stored remotely from the computing electronic device. The spatial mapping program 114 operates on a central server, such as the server 104, and may be utilized by one or more computing electronic devices, such as client device 110 and scanning device 116, via an application downloaded from the central server or a third-party application store, and executed on the one or more computing electronic devices. In one or more cases, the spatial mapping program 114 may be a software-based program, downloaded from a central server, such as the server 104, and installed on one or more computing electronic devices, such as client device 110. In one or more cases, the spatial mapping program 114 can be utilized as a software service provided by a third-party cloud service provider (not shown). In one or more cases, the spatial mapping program 114 may be preinstalled, as software and / or firmware, on the one or more computing electronic devices. In one or more cases, spatial mapping program 114 may be installed onto the one or more computing electronic devices via an external storage device, such as a universal serial bus (USB) flash drive. In one or more cases, software executing instructions of the spatial mapping programAttorney Docket: 206331-0002-00WG114 may be stored on a non-transitory computer-readable medium. The software performs some or all of the instructions when executed by one or more processors. Further, one or more aspects of the disclosure relate to algorithms executed in computer software. Though certain aspects may be described in particular programming languages, or executed on particular operating systems or computing platforms, it is understood that the systems and methods described herein are not limited to any particular computing language, platform, or combination thereof. For example, software executing the algorithms described herein may be written in any programming language, compiled or interpreted, including but not limited to C, C++, C#, Objective-C, Java, JavaScript, Python, PHP, Perl, Ruby, or Visual Basic.

[0034] In one or more cases, the client device 110 is an electronic computing device, such as a desktop computer, a laptop computer, a tablet computer, a personal digital assistant (PDA), a smart phone, a thin client, or any other electronic device or computing system capable of communicating with the server 104 through the network 106. The client device 110 may be a client to the server 104. In other cases, the client device 110 can be any suitable type of mobile device capable of running mobile applications, including smart phones, tablets, slate, or any type of device that runs a mobile operating system. For example, the client device 110 may be a mobile device operated by a user and capable of connecting to a network, such as the network 106, to transmit one or more interactions (e.g., such as those describe when interacting with application 500 illustrated in FIGs. 5A and 5B) to the spatial mapping program 114. In yet other cases, the client device 110 can be any wearable electronic device, such as a head-mounted display, a smartwatch, or the like that is capable of sending, receiving, and processing data. For example, the client device 110 may be a pair of smart-glasses capable of displaying the virtual garment 12 and virtual fiducials 510a, 510b, 510c, 510d, 510e, 510f, and 510g illustrated in FIG. 5B, and allowing a user to interact with the application 500, as discussed in the present disclosure.

[0035] In one or more cases, the client device 110 can include a user interface for providing an end user with the capability to interact with the spatial mapping program 114. A user interface refers to the information (such as graphics, text, and sound) the spatial mapping program 114 presents to a user and the control sequences the user employs to control the spatial mapping program 114 and respond to prompts generated by the spatial mapping program 114. A user interface can be, for example, a keyboard that allows a user to input text, a touchscreen thatAttorney Docket: 206331-0002-00WO accepts input from a user via touch of a body part and / or a stylus, or the like. A user may access the spatial mapping program 114 through the user interface to enable the spatial mapping program 114 to operate on the user's device.

[0036] In one or more cases, the scanning device 116 is an electronic computing device capable of communicating with the client device 110 and / or server 104 through the network 106. The scanning device 116 is configured to, for example, detect characteristics of a tissue surface, including normal surface pressure and variations in such surface pressure over areas being investigated, which may indicate the presence of underlying tissue abnormalities, for example lumps, lesions, cysts, or tumors. In one or more cases, the scanning device 116 may be handheld in a compact form factor. In one or more cases, the scanning device 116 includes multiple parts, while in other cases, the scanning device 116 is a self-contained and powered diagnostic device. The scanning device 116 may include a housing, designed for self-testing. The scanning device 116 may include a power source, for example a battery, power management hardware, and one or more communication devices, for example wired or wireless communication devices for transmitting or receiving data, configuration information, or operating instructions to and from a remote computing device, such as client device 110. For example, the scanning device 116 includes a Bluetooth® transceiver and may be paired with the remote computing device, such as client device 110, to send and receive data. The scanning device 116 includes one or more features of the device described in U.S. Pat. App. No. 17 / 627,612, filed on January 14, 2022, which is incorporated by reference herein in its entirety.

[0037] In one or more cases, the scanning device 116 may be configured to perform one or more of detecting, documenting, measuring and mapping the size, shape and location of lesions underlying the surface of the skin or other soft tissue of a subject by measuring variations in the tactile pressure of the tissue surface in a body region of a subject. The scanning device 116 may include a wired or wireless connection to a visualization computing device, such as client device 110, including software for visualizing the results, and in some cases, for interpreting the results to provide a provisional analysis. In some cases, a data connection between the visualization device and the scanning device 116 is encrypted.

[0038] In one or more cases, a system, including for example, the scanning device 116, the client device 110, and the spatial mapping program 114, is configured to perform a self-guided examination or evaluation by a subject. In one or more cases, the scanning device 116 includes aAttorney Docket: 206331-0002-00WO light sensor (e.g., light sensor 208 of FIG. 2A) integrated into the housing of the scanning device 116. In one or more other cases, the light sensor may be an accessory that is removably coupled to the housing of the scanning device 116. A user, such as user 102 or a medical provider, such as a nurse practitioner, may place the scanning device 116 onto to the garment 112 of the user 102, such that the light sensor interfaces with the material of the garment 112. In an example, the scanning device 116 and light sensor may be positioned over one fiducial marker. The light sensor is configured to detect a location of the fiducial on the garment 112. The light sensor may be configured to detect one or more characteristics of the fiducial and to deliver the detected characteristics to the spatial mapping program 114, via the scanning device 116 and the client device 110. The spatial mapping program 114 may provide instructions or prompts to the subject based on that information. Instructions or prompts may include visual, auditory, or haptic feedback. For example, the spatial mapping program 114 may provide an instruction that is displayed on the client device 110 to reposition the scanning device 116. In another example, an instruction may be displayed to move the scanning device 116 in a direction to better center the structure of interest in the detection area of the scanning device 116. In another example, an instruction may be displayed to move the scanning device 116 to another fiducial within a fiducial pattern set, for example, in order to span another location of a breast. In another example, the instruction may be displayed to move the scanning device 116 to a fiducial within another fiducial pattern set (e g., moving from region 115a to 115b).

[0039] FIG. 2A is a perspective view of the scanning device 116. FIG. 2B is a bottom view of an example sensing system 204 of the scanning device 116. In one or more cases, the scanning device 116 includes a housing 200 having a handle 202 and that houses at least a portion of the sensing system 204 therein. In some cases, the sensing system 204 includes a tactile sensor 206 and the light sensor 208. In other cases, the sensing system 204 includes only the tactile sensor 206, in which the light sensor 208 may be removably coupled with the sensing system 204 as an accessory to the sensing system 204.

[0040] In one or more cases, the sensing system 204, and in particular, the tactile sensor 206, is configured to detect and evaluate subcutaneous soft tissue lesions by measuring and quantifying variations in tactile pressure at the surface of the tissue by means of capacitive sensing and measurements using a plurality of pairs (including at least one pair) of separate coplanar electrodes co-located on a substrate disposed within the housing 200. The coplanar electrodesAttorney Docket: 206331-0002-00WO may be arranged in a Cartesian grid, and configured such that any two adjacent electrodes are electrically independent and can be excited independently, creating a capacitor between the electrode pair. The sensing system 204 may therefore be used as a capacitive sensor. The surface of the tactile sensor 206 may include a loose-fitting, non-conductive cover material placed over the outward facing surface of a compressible, non-ferrite and non-conductive membrane, positioned over the outward facing surface of the electrode grid, which serves as a dielectric for the capacitor created by any two adjacent electrodes (one functioning as the transmitting electrode and one functioning as the receiving electrode). The surface of the tactile sensor 206 is configured to be placed in contact with the material of the garment 112 with sufficient pressure to slightly compress the compressible dielectric. For example, the tactile sensor 206 may be placed over a fiducial of the garment 112 to perform a measurement. The term “slightly compress” in certain instances can be the application of the minimal amount of pressure sufficient to ensure that the entire sensor surface is completely and firmly in contact with the material of the garment 112. In one or more cases, a classification of tissue stiffness is achieved by measuring differences in the tactile pressures of the surface of the tissue (i.e., the surface underneath the garment 112) on the surface of the tactile sensor 206. These pressures are then quantified by the measured capacitance between coplanar electrodes. The measured capacitance is compared to the baseline set of measurements and a relative measurement is then quantified for each set of electrodes.

[0041] In one or more cases, the light sensor 208 is configured to emit light onto an object and detect the light reflected from the object. The light sensor 208 may be configured to emit and detect light having a wavelength within, for example, but not limited to, one or more of the visible light spectrum, the infrared light spectrum, and the ultraviolet light spectrum. The light sensor 208 may include, for example, any number of channels (e.g., eight channels) to detect any number of independent wavelength bands. For example, the light sensor 208 may be a color sensor that can detect light intensity for red, blue, and green (RGB) wavelength bands reflected from the object. In one or more cases, the detected color band value (e.g., RGB values of RGB light) may be assigned to and represented in bit format. For example, the RGB values may be expressed in an 8-bit format, in which 8 bits are assigned to red, 8 bits are assigned to green, and 8 bits are assigned to blue. A ratio of the light intensity of the detected light (e.g., the RGB light) may be determined, and in turn, the color or appearance of the object may be determined.Attorney Docket: 206331-0002-00WG

[0042] Moreover, a value between colors of two objects may be calculated to determine a distance between the colors on a color palette. For example, the color of a first object may be represented as Color 1 = R1G1B1. and the color of a second object may be represented as Color 2 = R2G2B2. To detect the value indicating the distance between two colors may be determined as follows:Color Distance ValueIn another example, the color of a third object may be represented as Color 3 = R1G1B1V1. and the color of a fourth object may be represented as Color 4 = R2G2B2V2. To detect the value indicating the distance between two colors may be determined as follows:Color Distance Value

[0043] In one or more cases, the light sensor 208 may be positioned adjacent to the tactile sensor 206 on the surface 201 of the housing 200 that interfaces with a scanning area (e g., the garment 112). The light sensor 208 is located a fixed distance away from the tactile sensor 206. The fixed distance may correlate the position between the light sensor 208 and the tactile sensor 206.

[0044] In one or more cases, the light sensor 208 is integrated into the housing 200 of the scanning device 116. That is, the light sensor 208 may be pre-assembled in the housing 200 to form a unibody construction. In one or more other cases, the light sensor 208 may be provided as an accessory to the scanning device 116, such that a user may attach the light sensor 208 to the housing 200 when performing a procedure, and the user may detach the light sensor 208 from the housing 200. When provided as an accessory, the light sensor 208 may be integrated into a removable housing that is positioned over the housing 200, such that the light sensor 208 and removable housing are fastened to the housing 200 without obstructing the sensor (e.g., the tactile sensor 206 of the scanning device 116, a lens of an ultrasound probe, and the like). For example, during an ultrasound procedure, a technician may attach the removable housing and light sensor 208 to an end of an ultrasound probe that interfaces with the body of a patient. For instance, the removable housing and light sensor 208 may be attached to an ultrasound probe, such as, but not limited to, a linear probe, curvilinear probe, a hockey stick probe, a phased array probe, and the like. The removable housing and light sensor 208 may be attached to an ultrasound probe so as to not interfere with the ultrasonic signal produced by the ultrasound probe, and still detect light as described herein. The removable housing and light sensor 208 mayAttorney Docket: 206331-0002-00WG then be removed from the ultrasound probe post procedure to, for example, clean the light sensor 208. The removeable housing may be fastened to a housing (e.g., housing 200 of scanning device 116, a housing of an ultrasound probe, and the like) via, for example, but not limited to, a friction fit, screwing the removeable housing onto the housing or vice versa, interlocking one or more portions of the removeable housing and the housing, and other like fastening means.

[0045] FIG. 2C illustrates an enlarged view of the light sensor 208 of the sensing system 204. In one or more cases, the light sensor 208 includes at least one light source, such as light source 218, and at least one sensor, such as sensors 216 and 220, within a housing 210. The light source 218 may be an LED, for example, but not limited to, a diffuse white LED. The sensors 216 and 220 may be configured to detect a light in the corresponding spectrum of light emitted from the light source 218. For example, the sensors 216 and 220 may each be chroma sensors (i.e., color sensors) configured to detect bands of light in the visible light spectrum. For instance, the sensors 216 and 220 may detect and / or quantify the presence of at least four independent wavelength bands of visible light spectrum. In some cases, the sensors 216 and 220 may quantify at least four independent wavelength bands of visible light spectrum with at least 8 bits of resolution for each color band. Although the light sensor 208 is described as include at least one light source 218 and at least one sensor, such as sensors 216 and 220, embodiments are contemplated in which the light source 218 is integrated and built-in to the sensor. For example, sensors 216 and 220 may be color sensors configured to read and detect colors, and sensors 216 and 220 may each include a built-in light source that is a white LED for active target lighting.

[0046] A shape of the window 212 may correspond to a portion of the shape of a fiducial. For instance, for the cases in which a fiducial (e.g., fiducial 302f illustrated in FIGs. 3A-3C) has a circular shape, the sides 214 of the window 212 may have a curved shape that corresponds to the curvature of the circular fiducial. Further, in some cases, the sides 214 of the window 212 may be spaced far enough apart from one another such that window 212 overlaps the thickness of a portion of the shape of the fiducial. For example, as illustrated in FIGs. 3B and 3C, the sides 214 of the window 212 may be spaced apart from one another by a thickness T, which corresponds to the thickness of the circular shape of fiducial 302f. In other cases, the sides 214 of the window 212 may be spaced far enough apart from one another such that the distance between sides 214 of the window 212 corresponds to the thickness of the line the shapes the fiducial. It is noted that the examples provided herein described the fiducials as having a circular shape. However, itAttorney Docket: 206331-0002-00WO should be understood that the fiducials may be formed in other shapes, such as, but not limited to, polygonal shapes, arc shapes, and the like. In such cases, the window 212 may correspond to a portion of the respective shape. For example, the fiducial may have a square shape, in which case, the window 212 may have a linear shape that corresponds to a portion of a straight line of the square.

[0047] Returning to FIG. 2C, the light source 218 and sensors 216 and 220 may be recessed within the housing 210 to allow light to be emitted from the light source 218 and detected by one or both of sensors 216 and 220. When the light sensor 208 contacts the surface of an object (e.g., the surface of the garment 112), the window 212 of the light sensor 208 interfaces with the surface of the object, such that sensors 216 and 220 are not exposed to ambient light. That is, as the light source 218 is illuminated, the window 212 only exposes the sensors 216 and 220 to light that is reflected from the surface of the object within the window 212. As such, the sensors 216 and 220 may be used to detect whether the light sensor 208 is positioned over a portion of a fiducial. For example, for the cases in which one sensor detects a color that corresponds to a color of a fiducial and the other sensor detects another color (e.g., a color that corresponds to the material of the garment 112 or the skin of the user 102), the scanning device 116, and in particular the light source 208, indicates that the light source 208 is not positioned over the fiducial. In another example, for the cases in which both sensors detect a color that corresponds to a color of a fiducial, the scanning device 116, and in particular the light source 208, indicates that the light source 208 is positioned over the fiducial.

[0048] The sensors 216 and 220 may be positioned on opposing sides of the light source 218. In one or more cases, the sensors 216, 220 and light source 218 may be arranged in a shape that corresponds to the shape of the window 212. For example, the sensors 216, 220 and light source 218 may be arranged in a curved line that corresponds to the curved shape of the window 212. The sensors 216 and 220 may be spaced apart from one another and positioned on the periphery of the window 212. The space between the sensors 216 and 220 may correspond to one or more of the fiducial shapes (e.g., the curvature of a circular shaped fiducial), a thickness of the line that forms the fiducial shape, and other like characteristics. For example, the fiducial may have a circular shape with a line thickness of about 5mm. The sensors 216 and 220 may be spaced apart from one another by about 2mm to 5mm to correspond with one or both of the line thickness of the fiducial and the curvature of the circular fiducial. Further, multiple sensors, such as sensorsAttorney Docket: 206331-0002-00WO216 and 220, may be used to identify an overlapping area of two fiducials. For the cases in which the light source 208 is positioned over an overlapping area of two fiducials, one of the sensors would not be positioned over the overlapping area of fiducials based on the spacing limitations between the two fiducials.

[0049] FIGs. 3A-3C illustrate an example of locating a fiducial based on an example chromatic profile.

[0050] A fiducial may be formed in a shape, such as, but not limited to, a circular shape, a polygonal shape, an arc-like shape, and the like. For example, fiducial 302f may have a circular shape. In some cases, the perimeter of a fiducial may have a specific color and form the shape of the fiducial. For example, the perimeter 304 of fiducial 302f forms the shape of a circle. In one or more cases, the perimeter of the fiducial is enclosed, such that a color of the area within the perimeter corresponds to the material of the garment 112, is transparent, or the area does not include any material (i.e., the area underneath the garment is exposed). The perimeter of the fiducial has a minimum thickness. In some cases, the minimum thickness of the perimeter corresponds to the size of the window 212 of the light source 208. For example, the thickness T of the perimeter 304 may range from about 2mm to 6mm. For instance, the perimeter 304 may have a thickness T of 5mm. In other cases, the area within the perimeter of the fiducial corresponds to the color of the perimeter. For example, the fiducial has a solid fill of color that is the same as the perimeter color.

[0051] A region, such as region 115a of the garment 112, includes one or more fiducials. For example, region 115a includes fiducials 302a, 302b, 302c, 302d, 302e, 302f, and 302g. For the cases in which the region includes multiple fiducials, the fiducials have the same size and shape as one another. In some cases, the fiducials of one region have the same size and shape as the fiducials of another region on the garment 112. For example, the fiducials of region 115a on garment 112 have the same size and shape as the fiducials of region 115b on the garment 112. In other cases, fiducials of one region may have the same size and shape as each other, and fiducials of another region may have the same size and shape as each other but one or both of the size and shape of the fiducials within this region are different than the size and / or shape of the fiducials within the other region.

[0052] The multiple fiducials may be arranged in a fixed pattern on the garment 112. In one or more cases, each fiducial within a region may be spaced apart from one another. For example,Attorney Docket: 206331-0002-00WG fiducials 302a, 302b, 302c, 302d, 302e, 302f, and 302g of region 115a are spaced apart from one another. In one or more other cases, two or more fiducials may overlap one another. For example, as illustrated in FIG. 8, a pattern set 802a of fiducials 804, 806, 808, 810, 812, 814, and 816 overlap one another. For instance, fiducial 804 overlaps fiducials 806, 812, and 816. In some cases, a region includes one or more overlapping pattern sets. For example, region 800 includes pattern set 802a and pattern set 802b. In other cases, the region does not include overlapping pattern sets, such as that of regions 115a and 115b.

[0053] In one or more cases, each fiducial within a region (or an overlapping pattern set, such as pattern set 802a) may have its own respective color. The colors of adjacent fiducials may be determined based on a Color Distance Value being at or above a threshold value. For example, a color of fiducial 302e and a color of fiducial 302f for the region 115a of garment 112 may be selected based on the calculated Color Distance Value being at or above a threshold value of 30. Each fiducial has a color that is different than the color of the material of the garment 112. The colors of fiducials compared to that of the color of the material of the garment 112 may be selected based on the calculated Color Distance Value (e.g., the color of a fiducial and the color of the material of the garment 112) being at or above a threshold value.

[0054] A fiducial is assigned a location on the garment 112. The fiducial may be identified based on the color of the fiducial. The location on the garment 112 corresponds to a location on the body of the user 102 wearing the garment 112. For example, the fiducial 302g may have a blue color, represented as Color 1, that has an RGB value of R1G1B1. The color and / or the color band value (e.g., RGB value) may be associated with a central location on the left cup of the sports bra garment 112, and in turn, the central location of the left breast of the user 102. In one or more cases, the association between the fiducial, color and / or color band value identifying the fiducial, the associated location of the fiducial on the garment 112, and the associated location and / or body part may be stored in a lookup table, for example, within database 108. In some cases, the fiducial may additionally be associated with a respective region on the garment 112. For example, fiducial 302g may be associated with region 115a, which corresponds to the left cup of the sports bra garment 112.

[0055] In one or more cases, a color profile (i.e., a chroma profile) is created for each fiducial on the garment 112. The color profile corresponds to a color and / or color band value of the fiducial. The color profile of the fiducial may be stored with associated information of the fiducial (e.g.,Attorney Docket: 206331-0002-00WG the association between the fiducial, color and / or color band value of the fiducial, the associated location of the fiducial on the garment 112, and the associated location and / or body part). In one or more cases, to establish a color profile for a respective fiducial, the light sensor 208 of the sensing system 204 is placed over the respective fiducial, such as fiducial 302f, on the garment 112, as illustrated in FIGs. 3 A and 3B. The sensing system 204 is moved, such that the light sensor 208 is positioned on a portion of the fiducial 302f, as illustrated in FIG. 3C. The light sensor 208 may take a set of measurements (e.g., detected wavelengths of light in the visible light spectrum) that correspond to the color of the fiducial. For example, the light sensor 208 may perform at least three measurements. In some cases, the set of measurements may be stored as a range of measurements for the fiducial’s color profile. During a subsequent procedure (e.g., performing a breast examination with the scanning device 116), the light sensor 208 may take at least one measurement when positioned over a fiducial. The at least one captured measurement may be compared to the range of measurements for the stored color profiles. By determining which range of the color profiles includes the captured measurement, the fiducial and its respective location may be located within the lookup table based on the color profile.

[0056] In one or more other cases, a color profile may be established based on a color palette, such as color palette 700, illustrated in FIG. 7. The color palette 700 may include a variety of color palettes that are associated with colors used to create the fiducials on the garment 112. For example, the color palette 700 may include a coral color palette 702 and a tea color palette 704. To establish a color profile, the light sensor 208 may take a set of measurements on the bands of colors within the color palette, such color bands 706, 708, and 710 of palette 704. The set of measurements for the respective color palette are then averaged and stored within, for example, the database 108 as a color profile. The average of the color palette may be stored in color band values, such as, but not limited to RGB values. During a subsequent procedure (e.g., performing a breast examination with the scanning device 116), the light sensor 208 may take at least one measurement when positioned over a fiducial. The at least one captured measurement (e.g., provided in RGB values) may be compared to the stored color profiles to determine a match. A Color Distance Value between the detected color and the average measurement of a color profile is determined. A match between the detected color and a color profile is determined when the Color Distance Value between the detected color and the average measurement of the colorAttorney Docket: 206331-0002-00WG profile is equal to or less than a threshold value (e.g., 10). By determining the associated color profile, the fiducial and its respective location may be located within the lookup table.

[0057] FIG. 4 is an example flowchart that illustrates a process, generally designated 400, of mapping spatial locations of a 3D structure. FIGs. 5A-5B illustrate an example examination that maps spatial locations of a 3D structure.

[0058] An application to perform a scanning procedure may be launched on a device. For example, a breast tissue scanning application 500 may be launched on the client device 110. To begin the scanning procedure, the type of garment worn by a subject may be selected on the application 500. For example, the user 102 may select that the user is wearing the garment 112. In some cases, the application 500 loads the information associated with the garment 112 and displays a virtual garment 512 on the client device 110. The virtual garment 512 may include virtual representations of the fiducials that are positioned on the garment 112. For example, the virtual garment 512 may display virtual fiducials 510a, 510b, 510c, 510d, 510e, 510f, and 510g within virtual region 515a that correspond to fiducials 302a, 302b, 302c, 302d, 302e, 302f, and 302g within region 115a of garment 112. In one or more cases, the application 500 may provide an indication of where to position the scanning device 116 on the garment 112. For example, the application 500 may display an indicator 508 associated with virtual fiducial 510e to indicate to a user to position the scanning device 116 on fiducial 302e.

[0059] In one or more cases, a user may position the scanning device 116 on the garment 112 (at 402). For example, the user 102 may position the scanning device 116 on the garment 112 such that the surface 201 of the scanning device 116 contacts the surface of the garment 112. The user 102 may position a light sensor of the scanning device 116 over a fiducial (at 404). For example, the user 102 may move the light sensor 208 over the fiducial 302e of the garment 112 based on the indicator 508 displayed in application 500. In some cases, when the light sensor 208 detects a portion of the fiducial, the user may receive an indication that the light sensor 208 is positioned over a fiducial. For example, the scanning device 116 may vibrate or turn on an indicator light on the housing 200 to indicate to the user that the light sensor 208 is positioned over a fiducial. In another example, the application 500 may display an indication on the client device 110 that the light sensor 208 is positioned over a fiducial.

[0060] The light sensor 208 detects a color of the fiducial (at 406). A color profile associated with the detected color is determined (at 408). In one or more cases, the detected color may beAttorney Docket: 206331-0002-00WO provided to, for example, the spatial mapping program 1 14 to determine the color profile. For example, the spatial mapping program 114 may determine that the detected color corresponds to one of the stored color profiles (e.g., the color profiles stored in the database 108). Having determined the color profile of the fiducial, the location of the fiducial is mapped (at 410). For example, the spatial mapping program 114 may retrieve the fiducial and its respective location within, for example, a lookup table based on the color profile. In some cases, the application 500 may compare the retrieve fiducial and its location to the indicated virtual fiducial (e.g., virtual fiducial 510e indicated by indicator 508) to determine whether the scanning device 116 is positioned over the correct fiducial. For the cases in which the application 500 determines that the retrieved fiducial and the indicated virtual fiducial do not match, the application 500 may display instructions to reposition the scanning device 116 over the indicated virtual fiducial and scan the corresponding fiducial. For the cases in which the application 500 determines that the retrieved fiducial and the indicated virtual fiducial match, the scanning device 116 performs a tissue scan (at 412). For example, the scanning device 116 performs a tissue scan via the scanning system 204, and in particular, the tactile sensor 206. The tissue scan may be, for example, but not limited to, a breast tissue scan, such as that described in U.S. Pat. App. No. 17 / 627,612. The application 500 may display the results 502 of the tissue scan on the client device 110. In one or more cases, to perform the tissue scan, the scanning device 116 scans the locations indicated by the fiducials on the garment 112, thereby scanning the tissue under the respective fiducials on the garment 112. The process 400 may repeat for each fiducial to be scanned to complete the tissue scan.

[0061] Although the example operations described herein relate to mapping fiducial locations for a breast tissue scan and mammography / breast lesion documentation, the example operations may be implemented in other types of procedures. For example, the example operations may be used in performing prenatal ultrasounds, such as an anomaly ultrasound, to provide fiducials on a garment around the mother’s stomach that facilitate the examination of the baby’s development. In another example, the example operations may be used in performing injections, such as epidural steroid injections, by providing fiducials that are easily visible to a health care provider and indicate one or more portions of the spine. In yet another example, the example operations may be used to train individuals to perform, for example, a specific type of scan. For instance, an application (e.g., application 500) displayed on a device may be used to indicate an order inAttorney Docket: 206331-0002-00WO which certain locations on a body are to be scanned in accordance with the specific scan. Moreover, it should be understood that that the operations described herein may be performed by the subject wearing the garment or by another individual, such as a health care provider, mammography technologist, nurse’s aide, caretaker, and the like. Additionally, although the sensing system 204 includes examples of one light sensor 208, the sensing system 204 may include more than one light sensor. For instance, as illustrated in FIG. 6, multiple light sensors, such as light sensors 602, 604, and 606, may be disposed around the tactile sensor 206. The additional light sensors 602, 604, 606 may be used to determine an orientation of the scanning device 116. For instance, the additional light sensors 602, 604, 606 may be used to detect multiple portions of a fiducial. The detected portions of the fiducial and the light sensor that detected the respective portion of the fiducial may be used as reference points to determine the orientation of the scanning device 116.

[0062] FIG. 9 is a block diagram depicting components of a data processing system. FIG. 9 is a block diagram, generally designated 900, depicting components of computing device capable of operating, for example, the spatial mapping program 114 in accordance with embodiments of the present disclosure. FIG. 9 provides only an illustration of one implementation and does not imply any limitations with regard to the environments in that different embodiments may be implemented. Many modifications to the depicted environment may be made.

[0063] In one or more cases, a computing system, such as server 104, client device 110, and / or scanning device 116 is shown in the form of a general-purpose computing device, such as computer system 910. The components of the computer system 910 may include, but are not limited to, one or more processors or processing unit 914, a memory 924, and a bus 916 that couples various system components including the memory 924 to the processing unit 914.

[0064] The bus 916 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.Attorney Docket: 206331-0002-00WO

[0065] The computer system 910 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by the computer system 910, and it includes both volatile and non-volatile media, removable and non-removable media.

[0066] The memory 924 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 926 and / or cache memory 928. The computer system 910 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 930 can be provided for reading from and writing to a non-removable, non-volatile media, for example, magnetic media (not shown and typically called a “hard drive”), and / or solid-state non-volatile media, for example flash memory. Although not shown, a magnetic disk drive for reading from and writing to a removable, non-volatile magnetic disk, a drive for reading from and writing to a removable, non-volatile solid-state disk (e g. a flash drive), and / or an optical disk drive for reading from or writing to a removable, non-volatile optical disk such as a CD-ROM, DVD-ROM, or other optical media can be provided. In such instances, each can be connected to the bus 916 by one or more data media interfaces. As will be further depicted and described below, the memory 924 may include at least one computer program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments.

[0067] A program / utility 932, having one or more sets of program modules 934, may be stored in the memory 924 by way of example, and not limitation, as well as an operating system, one or more application programs, other program modules, and program data. Each of the operating systems, one or more application programs, other program modules, and program data, or some combination thereof, may include an implementation of a networking environment. The program modules 934 generally carry out the functions and / or methodologies of embodiments as described herein. The computer system 910 may also communicate with one or more external device(s) 912 such as a keyboard, a pointing device, a display 911, etc., or one or more devices that enable a user to interact with the computer system 910 and any devices (e.g., a network adapter, modem, wireless network adapter, Bluetooth adapter, etc.) that enable the computer system 910 to communicate with one or more other computing devices. Such communication can occur via Input / Output (VO) interface(s) 920. Still yet, the computer system 910 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet) via a network adapter 918. AsAttorney Docket: 206331-0002-00WO depicted, the network adapter 918 communicates with the other components of the computer system 910 via the bus 916. It should be understood that although not shown, other hardware and software components, such as microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems may be used in conjunction with the computer system 910.

[0068] The embodiments described in the present disclosure may relate to a system, a method, and / or a computer program product. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions for causing a processor to carry out aspects of the embodiments. The computer system 910 also may be operably coupled to one or more sensors 913, such as, but not limited to, a tactile sensor and / or a light sensor.

[0069] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions, cloud storage, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0070] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a non-transitory computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network may include copper transmission cables, optical transmission fibers, wireless transmission, routers,Attorney Docket: 206331-0002-00WO firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0071] The computer readable program instructions for carrying out operations of the embodiments may be instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as C++ and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In one or more cases, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the embodiments described in the present disclosure.

[0072] Aspects of the embodiments are described herein with reference to illustrations and / or block diagrams of methods, apparatus (systems), and computer program products. It will be understood that each block of the illustrations and / or block diagrams, and combinations of functions in the illustrations and / or block diagrams, can be implemented by non-transitory computer readable program instructions.

[0073] These computer readable program instructions may be provided to a processor of a general -purpose computer, a special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computerAttorney Docket: 206331-0002-00WO readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function / act specified herein.

[0074] The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions / acts specified herein (e.g., to control an orientation of a drive wheel and / or position of a drive assembly).

[0075] The figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments. In this regard, each block in the block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the Figures. For example, two blocks shown in succession may be executed substantially concurrently, the blocks may sometimes be executed in the reverse order, depending upon the functionality involved, or the blocks may sometimes be executed out of order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and combinations of blocks in the block diagrams can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

[0076] The various embodiments described above are provided by way of illustration only and should not be construed to limit the claims attached hereto. Those skilled in the art will readily recognize various modifications and changes that may be made without following the example embodiments and applications illustrated and described herein, and without departing from the spirit and scope of the following claims.

Claims

Attorney Docket: 206331-0002-00WOCLAIMSWhat is claimed is:

1. A spatial mapping substrate, comprising: a plurality of fiducials arranged on the substrate, each fiducial comprising the same shape and size as one another, wherein a top surface of the fiducial comprises a detectable color.

2. The spatial mapping substrate of claim 1, wherein the fiducials are arranged in a pattern such that the fiducials are spaced apart from one another.

3. The spatial mapping substrate of claim 1, wherein the fiducials are arranged in a pattern such that the fiducials overlaps adjacent fiducials.

4. The spatial mapping substrate of claim 1, wherein a thickness of a perimeter of the fiducial is about 2 millimeters(mm) to 6mm thick.

5. The spatial mapping substrate of claim 1, wherein perimeters of the fiducials with a pattern each comprise a different detectable color.

6. The spatial mapping substrate of claim 1, wherein each fiducial is associated with a color profile associated with a location of the respective fiducial on the substrate.

7. The spatial mapping substrate of claim 1, wherein the detectable color of the fiducial corresponds to a color band value associated with a location of the respective fiducial on the substrate.

8. The spatial mapping substrate of claim 1, wherein the substrate comprises a bra, a shirt, or a transparent sheet.

9. A spatial location mapping system, comprising:Attorney Docket: 206331-0002-00WO a substrate comprising a pattern of fiducials, wherein a perimeter of a fiducial comprises a color; and a light sensor comprising a light source configured to emit white light and at least two color sensors recessed within a housing, wherein the light source and at least two color sensors are aligned with a window of the housing, wherein a shape of the window corresponds to a portion of a shape of the perimeter of the fiducial, wherein the at least two color sensors are configured to detect light reflected off the substrate, and wherein the light sensor is configured to determine whether the light sensor is positioned on a portion of the perimeter of the fiducial based on the detected light.

10. The spatial location mapping system of claim 9, wherein the fiducials are spaced apart from one another.

11. The spatial location mapping system of claim 9, wherein the fiducial overlaps adjacent fiducials.

12. The spatial location mapping system of claim 9, wherein a thickness of the perimeter of the fiducial is about 2 millimeters(mm) to 6mm thick.

13. The spatial location mapping system of claim 9, wherein the perimeters of the fiducials of the pattern each comprise a different color.

14. The spatial location mapping system of claim 9, wherein the fiducial is associated with a color profile associated with a location of the fiducial on the substrate.

15. The spatial location mapping system of claim 9, wherein the fiducials of the pattern comprise the same shape and size as one another.Attorney Docket: 206331-0002-00WO16. The spatial location mapping system of claim 9, wherein the two color sensors are arranged at the peripheries of the window.

17. The spatial location mapping system of claim 9, wherein a distance between the two color sensors corresponds to at least one of a shape of the fiducial and a thickness of the perimeter of the fiducial.

18. The spatial location mapping system of claim 9, wherein the light source is positioned between the two color sensors.

19. The spatial location mapping system of claim 9, wherein the light source is built into the two color sensors.

20. The spatial location mapping system of claim 9, wherein the window is disposed on a surface of the housing, wherein the housing prevents ambient light from transmitting through the window to the two color sensors when the surface of the housing is positioned on a surface of the garment.

21. The spatial location mapping system of claim 9, wherein the light sensor is positioned on the portion of the perimeter of the fiducial based on the two color sensors detecting the color of the fiducial.

22. The spatial location mapping system of claim 9, wherein the color of the fiducial corresponds to a color band value associated with a location of the fiducial on the substrate.

23. The spatial location mapping system of claim 9, wherein: the detected light that is reflected off the substrate corresponds to one or both of the color of the fiducial and a color of the substrate; and the light sensor is configured to compare the detected light to a color profile associated with a location of the fiducial on the substrate.Attorney Docket: 206331-0002-00WO24. The spatial location mapping system of claim 23, wherein the light sensor determines that the light sensor is positioned on the portion of the perimeter of the fiducial when the detected light from the two color sensors corresponds to the same color profile.

25. The spatial location mapping system of claim 9, wherein the light sensor housing is removably coupled to a housing of a sensing system, wherein the sensing system comprises a tactile sensor positioned on an interfacing surface of the sensing system housing, and wherein the light sensor is positioned on the interfacing surface adjacent the tactile sensor.

26. The spatial location mapping system of claim 25, further comprising a plurality of light sensors disposed around the tactile sensor.

27. The spatial location mapping system of claim 9, wherein the light sensor is integrated into a housing of a scanning device.

28. The spatial location mapping system of claim 9, wherein the substrate comprises a bra, shirt, or transparent sheet.

Images