Abstract: A method for tracking zero-angle position shift of a moveable mirror used in a LiDAR system is provided. The method comprises obtaining a first dataset based on a first intensity map. The first intensity map is associated with internal reflection pulses of a frame scanned by the LiDAR system. The frame comprises a plurality of scan positions. The internal reflection pulses are formed by scattering or reflecting one or more transmission light pulses at positions internal to a housing of the LiDAR system. The first dataset is a calibration dataset comprising representative intensity values and corresponding positions in the frame. The method further comprises obtaining a second intensity map of another frame at a subsequent time and obtaining a second dataset based on the second intensity map. The method further comprises determining the zero-angle position shift of the moveable mirror based on the first dataset and the second dataset.

Abstract: An apparatus that collects and processes physical space data while performing an image-guided procedure on an anatomical area of interest includes a calibration probe that collects physical space data by probing a plurality of physical points, a tracked ultrasonic probe, a tracking device that tracks the ultrasonic probe in space and an image data processor. The physical space data provides three-dimensional coordinates for each of the physical points. The image data processor includes a computer-readable medium holding computer-executable instructions.