Coordinate transformation of graphical objects registered to a magnetic resonance image
First Claim
1. A medical instrument comprising:
- a magnetic resonance imaging system and;
an ultrasound system with an adjustable focus,a processor for controlling the medical instrument; and
a memory containing machine readable instructions for execution by the processor;
wherein execution of the instructions causes the processor toacquire first magnetic resonance data with the magnetic resonance imaging system,reconstruct a first magnetic resonance image using the first magnetic resonance data,wherein a treatment plan is formed from the first magnetic resonance image, the treatment plan controlling the ultrasound systemwherein the formation of the treatment plan includes identification of one or more graphical objects in the first magnetic resonance image,wherein execution of the instructions further causes the processor toreceive a registration of the one or more graphical objects to the first magnetic resonance image, wherein the registration defines spatial positions of the one or more graphical objects with respect to the first magnetic resonance image, andwherein execution of the instructions further causes the processor to repeatedly;
acquire second magnetic resonance data using the magnetic resonance imaging system;
reconstruct a second magnetic resonance image using the second magnetic resonance data;
receive repositioning coordinates in the second magnetic resonance image for a first group of graphical objects selected from the one or more graphical objects, wherein the repositioning coordinates describe a repositioning of the first group of graphical objects in the second magnetic resonance image with respect to the first magnetic resonance image; and
determine a coordinate transformation of a second group of graphical objects selected from the one or more graphical objects by applying a coordinate transformation model to the repositioning coordinates andwherein execution of the instructions further causes the processor to repeatedly modify the treatment plan using the repositioning coordinates and the coordinate transformation, andcontrol the ultrasound system in accordance with the modified treatment plan.
1 Assignment
0 Petitions
Accused Products
Abstract
A method of using a medical instrument (300, 400) comprising a magnetic resonance imaging (MRI) system (302). The MRI system acquires (100, 202) first magnetic resonance data (342) and reconstructs (102, 204) a first magnetic resonance image (344, 502). A registration (352) of multiple graphical objects (346, 510, 512) to the first magnetic resonance image is received which defines spatial positions of the multiple graphical objects in the first magnetic resonance image. The method further comprises repeatedly: acquiring (106, 210) second magnetic resonance data (354); reconstructing (108, 212) a second magnetic resonance image (356, 502′); receiving (110, 214) repositioning coordinates (358, 700) in the second magnetic resonance image for a first group (348, 510) selected from the multiple graphical objects; and determining (112, 216) a coordinate transformation (359, 702) of a second group (350, 512) selected from the multiple graphical objects by applying a coordinate transformation model (364) to the repositioning coordinates.
9 Citations
15 Claims
-
1. A medical instrument comprising:
-
a magnetic resonance imaging system and; an ultrasound system with an adjustable focus, a processor for controlling the medical instrument; and a memory containing machine readable instructions for execution by the processor;
wherein execution of the instructions causes the processor toacquire first magnetic resonance data with the magnetic resonance imaging system, reconstruct a first magnetic resonance image using the first magnetic resonance data, wherein a treatment plan is formed from the first magnetic resonance image, the treatment plan controlling the ultrasound system wherein the formation of the treatment plan includes identification of one or more graphical objects in the first magnetic resonance image, wherein execution of the instructions further causes the processor to receive a registration of the one or more graphical objects to the first magnetic resonance image, wherein the registration defines spatial positions of the one or more graphical objects with respect to the first magnetic resonance image, and wherein execution of the instructions further causes the processor to repeatedly; acquire second magnetic resonance data using the magnetic resonance imaging system; reconstruct a second magnetic resonance image using the second magnetic resonance data; receive repositioning coordinates in the second magnetic resonance image for a first group of graphical objects selected from the one or more graphical objects, wherein the repositioning coordinates describe a repositioning of the first group of graphical objects in the second magnetic resonance image with respect to the first magnetic resonance image; and determine a coordinate transformation of a second group of graphical objects selected from the one or more graphical objects by applying a coordinate transformation model to the repositioning coordinates and wherein execution of the instructions further causes the processor to repeatedly modify the treatment plan using the repositioning coordinates and the coordinate transformation, and control the ultrasound system in accordance with the modified treatment plan. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A non-transitory computer-readable medium storing instructions that when executed by a processor cause the processor to execute a method of controlling a medical instrument, wherein the medical instrument comprises a magnetic resonance imaging system for acquiring magnetic resonance data from an imaging zone, and a ultrasound system with an adjustable focus, the method comprising:
-
acquiring first magnetic resonance data from the magnetic resonance imaging system; constructing a first magnetic resonance image using the first magnetic resonance data; forming, from the first magnetic resonance image, a treatment plan for controlling the ultrasound system, the treatment plan including identification of one or more graphical objects in the first magnetic resonance image; receiving a registration of the one or more graphical objects to the first magnetic resonance image, wherein the registration defines spatial positions of the one or more graphical objects with respect to the first magnetic resonance image; and after the acquiring, constructing, forming and receiving step repeating multiple times the steps of; acquiring second magnetic resonance data using the magnetic resonance imaging system; constructing a second magnetic resonance image using the second magnetic resonance data; receiving repositioning coordinates in the second magnetic resonance image for a first group of graphical objects selected from the one or more graphical objects, wherein the repositioning coordinates describe a repositioning of the first group of graphical objects in the second magnetic resonance image with respect to the first magnetic resonance image; determining a coordinate transformation of a second group of graphical objects selected from the one or more graphical objects by applying a coordinate transformation model to the repositioning coordinates; modifying the treatment plan using the repositioning coordinates and the coordinate transformation; and controlling the ultrasound system in accordance with the modified treatment plan.
-
-
10. A method, executed by a processor, of controlling a medical instrument, wherein the medical instrument comprises a magnetic resonance imaging system, and a ultrasound system with an adjustable focus, the method comprising:
-
acquiring first magnetic resonance data from the magnetic resonance imaging system; constructing a first magnetic resonance image using the first magnetic resonance data; forming, from the first magnetic resonance image, a treatment plan for controlling the ultrasound system, the treatment plan including identification of one or more graphical objects in the first magnetic resonance image; receiving a registration of the one or more graphical objects to the first magnetic resonance image, wherein the registration defines spatial positions of the one or more graphical objects with respect to the first magnetic resonance image; repeatedly acquiring second magnetic resonance data using the magnetic resonance imaging system; repeatedly constructing a second magnetic resonance image using the second magnetic resonance data; repeatedly receiving repositioning coordinates in the second magnetic resonance image for a first group of graphical objects selected from the one or more graphical objects, wherein the repositioning coordinates describe a repositioning of the first group of graphical objects in the second magnetic resonance image with respect to the first magnetic resonance image; repeatedly determining a coordinate transformation of a second group of graphical objects selected from the one or more graphical objects by applying a coordinate transformation model to the repositioning coordinates; repeatedly modifying the treatment plan using the repositioning coordinates and the coordinate transformation; and repeatedly controlling the ultrasound system in accordance with the modified treatment plan. - View Dependent Claims (11, 12, 13, 14, 15)
-
Specification