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An alignment apparatus which obtains an amount of correction for centering a semiconductor wafer from four points of a wafer edge detected by noncontact proprioceptors in a wafer delivery position P1where the semiconductor wafer is passed to a wafer carrying unit from a wafer carrying robot and cent

An alignment apparatus which obtains an amount of correction for centering a semiconductor wafer from four points of a wafer edge detected by noncontact proprioceptors in a wafer delivery position P1where the semiconductor wafer is passed to a wafer carrying unit from a wafer carrying robot and centers the semiconductor wafer.

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An alignment apparatus which obtains an amount of correction for centering a semiconductor wafer from four points of a wafer edge detected by noncontact proprioceptors in a wafer delivery position P1where the semiconductor wafer is passed to a wafer carrying unit from a wafer carrying robot and cent

An alignment apparatus which obtains an amount of correction for centering a semiconductor wafer from four points of a wafer edge detected by noncontact proprioceptors in a wafer delivery position P1where the semiconductor wafer is passed to a wafer carrying unit from a wafer carrying robot and centers the semiconductor wafer. ensional coordinates S1,S2,. . , SNby a transformation Sj=TRj+t, wherein 1≤j≤N. 11. The system of claim 1, wherein the at least one implanted object includes a plurality of brachytherapy seeds used in a radiation treatment of affected tissue. 12. A system for determining the three dimensional position of implanted objects, comprising: a computer system adapted to receive a three dimensional ultrasound image of a region containing the implanted objects and a plurality of two dimensional fluoroscopic images of the region, said computer system being adapted to form from said three dimensional ultrasound image and said plurality of two dimensional fluoroscopic images an improved three dimensional image of the region, said improved three dimensional image capable of indicating the location of each of the implanted objects; and a graphical user interface for determining the three dimensional position of the implanted objects with respect to the region, wherein said graphical user interface prompts and coordinates execution of a sequence of steps performed cooperatively by a user and said computer system and further comprises: a data input adapted to receive a number M corresponding to a number of implanted markers and a number N corresponding to a number of the implanted objects; and a data analyzer adapted to: locate the M highly visible implanted markers within the three dimensional ultrasound image, where M≥4; and store on a computer-readable medium a series Q1,Q2,. . . , QMfor 1≥i≥M wherein Qicorresponds to a unique set of three dimensional coordinates associated with each of the M highly visible markers. 13. The system of claim 12 wherein said data analyzer is further adapted to: locate each implanted seed and marker appearing in each image of said plurality of two dimensional fluoroscopic images; and store on a computer-readable medium a unique set of two dimensional coordinates corresponding to the location of each implanted seed and marker appearing in each of said two dimensional fluoroscopic images. 14. The system of claim 6 wherein said graphical user interface further comprises: a coordinate reconstructor adapted to determine a series R1,R2,. . . , RNand P1,P2,. . . , PMwhere Riand Picorrespond to a unique set of derived three dimensional coordinates associated with each implanted seed and marker, respectively, appearing in said plurality of two dimensional fluoroscopic images. 15. The system of claim 13 wherein said graphical user interface further comprises: a coordinate correlator adapted to associate each said unique set of three dimensional FL coordinates P1for 1≤i≤M corresponding to the location of each of the M highly visible markers with each said unique set of identified three dimensional US coordinates Qifor 1≤i≤M corresponding to the same marker. 16. The system of claim 15 wherein said coordinate correlator is further adapted to: map each said unique set of derived three dimensional FL coordinates Ri. corresponding to an implanted seed to the three dimensional US coordinates Sicorresponding to the same implanted seed by the transformation Si=TRi+t. 17. The system of claim 16 wherein said coordinate correlator is further adapted to determine a solution to an optimization problem. 18. The system of claim 16 wherein said coordinate correlator is further adapted to: determine a solution 3×3 matrix Tand a 3×1 vector t wherein: an initial estimate for (T,t) is found by determining the unique solution to the optimization problem a final estimate is found by solving the optimization problem and if the maximization problem has no unique solution, a locally optimal solution is determined. 19. A method for loc