SYSTEM AND METHOD FOR TRACKING MEDICAL DEVICE USING MAGNETIC RESONANCE DETECTION

• US 20080033278A1
• Filed: 02/15/2007
• Published: 02/07/2008
• Est. Priority Date: 08/01/2006
• Status: Abandoned Application

• Current Assignee: InSightec Ltd.
• Original Assignee: InSightec Ltd.
• Inventors: Assif, Benny
• Application Number:
  US11/675,446
• Publication Number:
  US 20080033278A1
• Time in Patent Office: Days
• US Class Current: 600/410
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: G01R 33/287 involving active visualization of interventional instruments, e.g. using active tracking RF coils or coils for intentionally creating magnetic field inhomogeneities
• CPC Class Codes: G01R 33/4814 MR combined with ultrasound

Abstract

A system and method for using magnetic resonance to track a medical device which attenuates interfering MR signals. The system comprises an MR tracking device comprising one or more radiofrequency (RF) tracking coils adapted to receive a magnetic resonance MR response signal from nuclei excited by an RF pulse. Ideally, the RF tracking coil only receives an MR response signal from nuclei in matter in the close vicinity of the tracking device. The tracking device is attached to medical device. The interfering signal tends to emanate from large objects or large volumes that are outside the close vicinity of the tracking device but which are still weakly coupled to the tracking device. A dephasing gradient is applied perpendicular to the readout gradient before the RF response signal is received thereby dephasing the interfering signal emanating from remote nuclei, which strongly attenuates the interfering signal while the MR response signal is substantially unaffected. The system can also detect errors in tracking location by checking the amplitude of the signal from each coil and the detected distance between each coil, and correcting for such errors by ignoring data from coils having low amplitude or location deviating from known location relative to the other coils.

Claims

1. A system for tracking the location of a medical device within an MRI machine, comprising:

an MRI machine;

a medical device for treating or diagnosing a patient;

a tracking device attached to said medical device, said tracking device adapted to receive an MR response signal, having a readout gradient, generated by material in a close vicinity of said tracking device when said material is excited by said MR machine;

wherein said MRI machine is adapted to apply a dephasing gradient substantially perpendicular to said readout gradient before said MR response signal is received by the tracking device.

2. The system of claim 1, wherein said MRI machine comprises a magnetic gradient generator for generating a magnetic field of varying amplitude in a selected number of dimensions, and said magnetic gradient generator applies said dephasing gradient.

3. The system of claim 1, wherein said tracking device comprises at least one RF tracking coil.

4. The system of claim 1, wherein said tracking device comprises three or more RF coils.

5. The system of claim 1, further comprising an image processing system operably coupled to at least one of said MRI machine and said tracking device.

6. The system of claim 5 wherein said image processing system is operably coupled to a display, and said image processing system is adapted to display an image of a region of interest of the patient and superimpose an illustration of the medical device representing the location of said medical device onto said image of a region of interest of the patient.

8. The system of claim 1, wherein interfering material outside the close vicinity of said tracking device produces an interfering MR response signal which is attenuated by said dephasing gradient, said interfering material having a largest dimension substantially along the axis of the dephasing gradient.

9. A system for tracking the location of a medical device within an MRI machine, comprising:

an MRI machine comprising;

a magnet for applying a substantially uniform magnetic field throughout an imaging region within said MRI machine;

a magnetic gradient generator for generating a magnetic field of varying amplitude in a selected number of dimensions within said imaging region;

an RF transmitter for transmitting RF energy of a selected pulse sequence within said imaging region;

an RF receiver for receiving a magnetic resonance response signal emitted from resonating nuclei;

an image processing system operably coupled to said RF receiver, said image processing system adapted to process said magnetic resonance response signal into spatial location an image data; and

a display operably coupled to said image processing system for displaying the image represented by said image data;

a medical device for treating or diagnosing a patient;

a tracking device attached to said medical device, said tracking device adapted to receive an MR response signal, having a readout gradient, generated by material in a close vicinity of said tracking device which is excited by said MR machine, said tracking device operably coupled to said image processing system, said image processing system adapted to process said; and

wherein said MRI machine is adapted to apply a dephasing gradient substantially perpendicular to said readout gradient before said RF response signal is received by the tracking device.

10. A method of tracking the location of a medical device within an imaging region of an MRI machine, comprising the following steps:

a) providing a medical device within the imaging region of the MRI machine, said medical device having a tracking device attached thereto, said tracking device adapted to receive an MR response signal generated by material in a close vicinity of said tracking device when said material is excited by said MRI machine;

b) transmitting an RF pulse into said imaging region and applying a magnetic field gradient to the imaging region such that material in the close vicinity of said tracking device emits an MR response signal;

c) applying a dephasing gradient substantially perpendicular to said readout gradient;

d) receiving said MR response signal with said tracking device; and

e) determining the location of said tracking device using said received MR response signal.

11. The method of claim 10 wherein said step of determining the location of said tracking device comprises conditioning the received MR response signal, digitizing the signal into data, and processing the digitized data computational methods including FFT into image data representing the location of said tracking device.

12. The method of claim 10 wherein said tracking device comprises at least one RF tracking coil.

13. The method of claim 10 wherein said tracking device comprises more than one RF tracking coil.

14. The method of claim 11 wherein said step of processing said digitized data further comprises correcting for offset conditions and correcting for gradient non-linearity.

15. The method of claim 10 further comprising:

acquiring a patient image of a region of interest of a patient within the imaging region and displaying the patient image on a display; and

indicating the location of said medical device on the patient image on said display.

16. The method of claim 14 further comprising:

f) acquiring a patient image of a region of interest of a patient within the imaging region and displaying the patient image on a display;

g) indicating the location of said medical device on the patient image on said display;

h) repeating steps a)-e) to determine an updated location of said medical device indicating an updated location of said medical device on said display.

17. The method of claim 10 wherein interfering material outside the close vicinity of said tracking device produces an interfering RF response signal which is attenuated by said dephasing gradient, and said dephasing gradient is applied substantially along the axis most closely corresponding to the large axis of said interfering material.

18. The method of claim 13 further comprising the steps of:

measuring the amplitude of the MR response signal received by each said RF coil; and

if the amplitude of the MR response signal received by any RF coil is below a threshold value, ignoring the data from such RF coil in said step of determining the location of said tracking device.

19. The method of claim 18 further comprising the steps of:

determining the detected location of each RF coil using said MR response signal;

comparing the distance between the detected location of each RF coil and at least one of the other RF coils to a known predetermined distance between such RF coils;

if the distance between the detected location of an RF coil and one of the other RF coils deviates from said know predetermined distance between such RF coils, ignoring the data from such RF coils in said step of determining the location of said tracking device.

20. The method of claim 19 further comprising the step of:

if not enough RF coils yield valid data to determine tracking device location, performing a new tracking scan.