Optical image-based position tracking for magnetic resonance imaging applications
First Claim
1. An optical image-based motion tracking method for determining the location and orientation of at least one object moving through three-dimensional space within or on the surface of a human or non-human body undergoing magnetic resonance (MR) imaging, the method comprising (a) obtaining 3D coordinates of the at least one object within a field-of-view of said MR imaging system using a plurality of MR-compatible cameras;
- (b) obtaining motion information coordinates with the optical tracking system;
(c) converting motion information coordinates obtained with the optical tracking system into coordinates of said MR imaging system;
(d) acquiring a motion information file for each MR imaging scan of the body;
(e) converting said motion information file into coordinates of the MR imaging system using a registration transformation;
(f) applying each converted motion information file to realign its corresponding MR time series of images; and
applying each converted motion information file and corresponding MR time series of images to track movement of the at least one object in the field-of-view.
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Abstract
An optical image-based tracking system determines the position and orientation of objects such as biological materials or medical devices within or on the surface of a human body undergoing Magnetic Resonance Imaging (MRI). Three-dimensional coordinates of the object to be tracked are obtained initially using a plurality of MR-compatible cameras. A calibration procedure converts the motion information obtained with the optical tracking system coordinates into coordinates of an MR system. A motion information file is acquired for each MRI scan, and each file is then converted into coordinates of the MRI system using a registration transformation. Each converted motion information file can be used to realign, correct, or otherwise augment its corresponding single MR image or a time series of such MR images. In a preferred embodiment, the invention provides real-time computer control to track the position of an interventional treatment system, including surgical tools and tissue manipulators, devices for in vivo delivery of drugs, angioplasty devices, biopsy and sampling devices, devices for delivery of RF, thermal energy, microwaves, laser energy or ionizing radiation, and internal illumination and imaging devices, such as catheters, endoscopes, laparoscopes, and like instruments. In other embodiments, the invention is also useful for conventional clinical MRI events, functional MRI studies, and registration of image data acquired using multiple modalities.
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Citations
41 Claims
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1. An optical image-based motion tracking method for determining the location and orientation of at least one object moving through three-dimensional space within or on the surface of a human or non-human body undergoing magnetic resonance (MR) imaging, the method comprising
(a) obtaining 3D coordinates of the at least one object within a field-of-view of said MR imaging system using a plurality of MR-compatible cameras; -
(b) obtaining motion information coordinates with the optical tracking system;
(c) converting motion information coordinates obtained with the optical tracking system into coordinates of said MR imaging system;
(d) acquiring a motion information file for each MR imaging scan of the body;
(e) converting said motion information file into coordinates of the MR imaging system using a registration transformation;
(f) applying each converted motion information file to realign its corresponding MR time series of images; and
applying each converted motion information file and corresponding MR time series of images to track movement of the at least one object in the field-of-view. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. An optical image-based motion tracking method for determining the location and orientation of at least one object moving through three-dimensional space within or on the surface of a human or non-human body undergoing magnetic resonance (MR) imaging, comprising:
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(a) obtaining 3D coordinates of the at least one object within a field-of-view of the MR imaging system using a plurality of MR-compatible cameras;
(b) obtaining motion information coordinates with an optical tracking system;
(c) converting the motion information coordinates obtained with the optical tracking system into coordinates of said MR imaging system;
(d) acquiring a motion information file for each MR imaging scan;
(e) converting the motion information file into coordinates of the MR imaging system using a registration transformation;
(e) applying each converted motion information file to realign its corresponding functional MRI time series of images; and
(f) applying each converted motion information file and corresponding functional MR time series of images to accurately track movement of the at least one object in said field-of-view.
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36. An optical image-based motion tracking method for determining the location and orientation of at least one object moving through three-dimensional space within or on the surface of a human or non-human body undergoing magnetic resonance (MR) imaging comprising:
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(a) obtaining 3D coordinates of the at least one object within a field-of-view of the MR imaging system using a plurality of MR-compatible cameras;
(b) obtaining motion information coordinates with an optical tracking system;
(c) converting the motion information coordinates obtained with the optical tracking system into coordinates of the MR imaging system;
(d) acquiring a motion information file for each MR imaging scan;
(e) converting the motion information file into coordinates of the MR imaging stem using a registration transformation;
(e) applying each converted motion information file to correct or augment a corresponding MR anatomical time series of images;
(f) applying each converted motion information file and corresponding MR anatomical time series of images to track movement of the at least one object in said field-of-view.
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37. An optical image-based motion tracking method for determining the location and orientation of at least one object moving through three-dimensional space within or on the surface of a human or non-human body undergoing magnetic resonance (MR) imaging, comprising:
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(a) obtaining 3D coordinates of the at least one object within a field-of-view of the MR imaging system using a plurality of MR-compatible cameras;
(b) obtaining motion information coordinates with an optical tracking system;
(c) converting the motion information coordinates obtained with the optical tracking system into coordinates of the MR imaging system;
(d) acquiring a motion information file for each MR imaging scan;
(e) converting the motion information file for each MR imaging scan into coordinates of the MR imaging system using a registration transformation;
(e) applying each converted motion information file to correct or augment a corresponding interventional MRI time series of images; and
(f) applying each converted motion information file and corresponding interventional MRI time series of images to accurately track movement of the at least one object in the field-of-view.
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- 38. A multi-modality imaging system comprising a motion tracking system, an MRI system and a tool that is responsive to MRI signals that can be tracked in three dimensions in coordinates of the MRI system, the motion tracking system being referencable in time against images taken by MRI so that motion effects in an MRI image can be corrected.
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41. An optical image-based motion tracking method for determining the location and orientation of at least one object moving through three-dimensional space within or on the surface of a human or non-human body undergoing magnetic resonance (MR) imaging, the method comprising:
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(a) obtaining 3D coordinates of the at least one object within a field-of-view of said MR imaging system using a plurality of MR-compatible cameras;
(b) obtaining motion information coordinates with the optical tracking system;
(c) converting motion information coordinates obtained with the optical tracking system into coordinates of said MR imaging system;
(d) acquiring a motion information file for each MR imaging scan of the body;
(e) converting said motion information file into coordinates of the MR imaging system using a registration transformation;
(f) applying each converted motion information file to realign its corresponding MR time series of images; and
applying each converted motion information file and corresponding MR time series of images to effect position tracking to enable retrospective k-space corrections for reducing motion artifacts in anatomical MRI applications.
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Specification