Multi-Kinect v2 Camera Based Monitoring System for Radiotherapy Patient Safety.

3D kinect camera systems are essential for real-time imaging of 3D treatment space that consists of both the patient anatomy as well as the treatment equipment setup. In this paper, we present the technical details of a 3D treatment room monitoring system that employs a scalable number of calibrated and coregistered Kinect v2 cameras. The monitoring system tracks radiation gantry and treatment couch positions, and tracks the patient and immobilization accessories. The number and positions of the cameras were selected to avoid line-of-sight issues and to adequately cover the treatment setup. The cameras were calibrated with a calibration error of 0.1 mm. Our tracking system evaluation show that both gantry and patient motion could be acquired at a rate of 30 frames per second. The transformations between the cameras yielded a 3D treatment space accuracy of < 2 mm error in a radiotherapy setup within 500mm around the isocenter.