MAGNETIC RESONANCE GUIDANCE OF A SHAFT TO A TARGET ZONE

• US 20140018664A1
• Filed: 04/04/2012
• Published: 01/16/2014
• Est. Priority Date: 04/07/2011
• Status: Active Grant

• Current Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Weiss, Steffen, Holthuizen, Ronaldus Frederik Johannes, Krueger, Sascha, Koken, Peter, Wirtz, Daniel, Amthor, Thomas Erik, Uhlemann, Alk
• Granted Patent: US 9,968,277 B2
• Time in Patent Office: Days
• US Class Current: 600/414
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/72 Signal processing specially adapted for physiological signals or for diagnostic purposes character recognition, recognising digital ink, document-oriented image-based pattern recognition G06V30/00; recognition or understanding of postal images G06V30/424
• 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 33/34084 implantable coils or coils being geometrically adaptable to the sample, e.g. flexible coils or coils comprising mutually movable parts

Abstract

A medical apparatus (1100) comprising a magnetic resonance imaging system and an interventional device (300) comprising a shaft (302, 1014, 1120). The medical apparatus further comprises a toroidal magnetic resonance fiducial marker (306, 600, 800, 900, 1000, 1122) attached to the shaft. The shaft passes through a center point (610, 810, 908, 1006) of the fiducial marker. The medical apparatus further comprises machine executable instructions (1150, 1152, 1154, 1156, 1158) for execution by a processor. The instructions cause the processor to acquire (100, 200) magnetic resonance data, to reconstruct (102, 202) a magnetic resonance image (1142), and to receive (104, 204) the selection of a target volume (1118, 1144, 1168). The instructions further cause the processor to repeatedly: acquire (106, 206) magnetic resonance location data (1146) from the fiducial marker and render (108, 212) a view (1148, 1162) indicating the position of the shaft relative to the target zone.

Claims

1. A medical system comprising:

a magnetic resonance imaging system for acquiring magnetic resonance data from a subject;

a interventional device comprising a shaft, wherein the shaft is adapted for being inserted into the subject;

a first magnetic resonance fiducial marker attached to the shaft, wherein the first magnetic resonance fiducial marker is toroidal, wherein the shaft passes through a center point of the first magnetic resonance fiducial marker;

a processor for controlling the medical apparatus;

a memory storing machine executable instructions for execution by the processor,

wherein execution of the instructions cause the processor to acquire the magnetic resonance data, wherein execution of the instructions further cause the processor to reconstruct the magnetic resonance data into a magnetic resonance image, wherein execution of the instructions further cause the processor to receive the selection of a target volume within the magnetic resonance image,

wherein execution of the instructions further cause the processor to repeatedly;

acquire magnetic resonance location data from the first magnetic resonance fiducial marker using the magnetic resonance imaging system, wherein the magnetic resonance location data is descriptive of the location of the first magnetic resonance fiducial marker; and

render a view indicating the position of the shaft relative to the target volume on a display device, wherein the view is determined using at least the location data and the location of the target volume.

2. The medical system of claim 1, wherein execution of the instructions further causes the processor to repeatedly:

re-acquire the magnetic resonance data;

reconstruct the magnetic resonance image using the re-acquired magnetic resonance data, wherein the view comprises the magnetic resonance image.

3. The medical system of claim 1, wherein the first magnetic resonance fiducial marker comprises a magnetic resonance receive coil surrounding a toroidal magnetic resonance signal volume or the first magnetic resonance fiducial marker comprises a resonant coil and a capacitor.

4. The medical system of claim 1, wherein the apparatus further comprises a second magnetic resonance fiducial marker, wherein the second magnetic resonance fiducial marker is adapted for guiding the shaft through a center point of the second magnetic resonance fiducial marker, wherein the location data is further descriptive of the location of the second magnetic resonance fiducial marker.

5. The medical system of claim 1, wherein the second magnetic resonance fiducial marker comprises a magnetic resonance receive coil optionally surrounding a second toroidal magnetic resonance signal volume or the second magnetic resonance fiducial marker comprises a second resonant coil and a second capacitor.

6. The medical system of claim 4, wherein execution of the instructions further cause the processor to:

locate the center point of the first magnetic resonance fiducial marker and the center point of the second magnetic resonance fiducial marker using the magnetic resonance location data; and

calculate a shaft position or orientation using at least the located center point, wherein the location data comprises the shaft position or orientation.

7. The medical system of claim 1, wherein execution of the instructors further cause the processor to:

determine an orientation of the first magnetic resonance fiducial marker using the magnetic resonance location data;

calculate a shaft position using at least the located center point and the orientation of the first magnetic resonance location marker.

8. The medical system of claim 1, wherein the view is two-dimensional, wherein execution of the instructions further causes the processor to receive the selection of a shaft entry point in the magnetic resonance data, wherein the shaft entry point is descriptive of the location where the shaft enters the subject, wherein the view is determined at least using the shaft entry point.

9. A computer program product comprising machine executable instructions for execution by a processor of a medical apparatus, wherein the medical apparatus comprises a magnetic resonance imaging system for acquiring magnetic resonance data from a subject, wherein the medical apparatus further comprises an interventional device comprising a shaft, wherein the shaft is adapted for being inserted into the subject, wherein the medical apparatus further comprises a magnetic resonance fiducial marker attached to the shaft, wherein the magnetic resonance location marker is toroidal, wherein the shaft passes through a center point of the magnetic resonance fiducial marker, wherein execution of the instructions cause the processor to acquire the magnetic resonance data, wherein execution of the instructions further cause the processor to reconstruct the magnetic resonance data into a magnetic resonance image, wherein execution of the instructions further cause the processor to receive the selection of a target volume within the subject,

wherein execution of the instructions further cause the processor to repeatedly:

acquire magnetic resonance location data from the magnetic resonance location marker using the magnetic resonance imaging system, wherein the magnetic resonance location data is descriptive of the location of the first magnetic resonance fiducial marker; and

render a view indicating the position of the shaft relative to the target zone on a display device, wherein the view is determined using at least the location data and the location of the target volume.

10. A magnetic resonance fiducial marker adapted to be attached to a shaft, wherein the magnetic resonance location marker is toroidal, wherein the shaft is adapted to pass through a center point of the magnetic resonance fiducial marker.

11. The magnetic resonance fiducial marker of claim 10, wherein the magnetic resonance fiducial marker comprises a central support for guiding the shaft, wherein the central support is adapted to be detached from the magnetic resonance fiducial marker.

12. The magnetic resonance fiducial marker of claim 11, wherein the magnetic resonance fiducial marker is adapted to be passed over a hub attached to a proximal end of the shaft.

13. The magnetic resonance fiducial marker of claim 10, wherein the magnetic resonance fiducial marker has a subject surface adapted for being attached to a subject with an adhesive.

14. The magnetic resonance fiducial marker of claim 13, wherein the subject surface is sterile.

15. The magnetic resonance imaging system of claim 10, wherein magnetic resonance fiducial marker comprises a toroid, wherein the toroid comprises a slot adapted for passing the shaft through the toroid.