Fiducial-less tracking of a volume of interest

• US 8,831,706 B2
• Filed: 11/03/2006
• Issued: 09/09/2014
• Est. Priority Date: 11/03/2006
• Status: Active Grant

• Current Assignee: Accuray Incorporated
• Original Assignee: Accuray Incorporated
• Inventors: Fu, Dongshan, Berlinger, Kajetan R.
• Primary Examiner(s): Jung, Unsu
• Assistant Examiner(s): Santos Rodriguez, Joseph M
• Application Number:
  US11/592,772
• Publication Number:
  US 20080109013A1
• Time in Patent Office: 2,867 Days
• Field of Search: 600/407, 600/425, 600/427, 382/182, 382/254, 382/128, 382/131
• US Class Current: 600/427
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 Emission tomography
• CPC Class Codes: A61B 6/4458 the source unit or the detector unit being attached to robotic arms
• CPC Class Codes: A61B 6/4464 the source unit or the detector unit being mounted to ceiling
• CPC Class Codes: A61B 6/5217 extracting a diagnostic or physiological parameter from medical diagnostic data
• CPC Class Codes: A61N 2005/1062 using virtual X-ray images, e.g. digitally reconstructed radiographs [DRR]
• CPC Class Codes: A61N 5/1037 taking into account the movement of the target, e.g. 4D-image based planning
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: G16H 50/30 for calculating health indices; for individual health risk assessment

Abstract

A method and an apparatus for fiducial-less tracking of a volume of interest (VOI) have been presented. In some embodiments, a pair of intra-operative images of a portion of a patient is generated during treatment of a target region in the patient to show a bony structure of the patient. The bony structure shown is movable responsive to respiration of the patient. Then the pair of intra-operative images is compared with a set of digitally reconstructed radiograph (DRR) pairs, generated from volumes of four-dimensional (4D) diagnostic imaging data, to determine a location of the movable bony structure that corresponds to a particular volume of the 4D diagnostic imaging data.

Claims

1. A method comprising:

generating, by a processing device, a plurality of digitally reconstructed radiograph (DRR) pairs from a plurality of volumes of four dimensional (4D) diagnostic imaging data showing a movable bony structure and a static bony structure of a patient, the generating comprising;

segmenting an image of the static bony structure from each of the plurality of volumes of 4D diagnostic imaging data, wherein the image of the static bony structure obstructs a view of the movable bony structure; and

removing the image of the static bony structure from the plurality of DRR pairs;

generating a pair of intra-operative images of a portion of the patient during treatment of a target region in the patient to show the movable bony structure of the patient, wherein the movable bony structure moves responsive to respiration of the patient;

comparing the pair of intra-operative images with the plurality of DRR pairs;

correlating a location of the movable bony structure in a particular volume of the plurality of volumes of 4D diagnostic imaging data with a location of the target region in the particular one of the plurality of volumes of 4D diagnostic imaging data, based on the comparing, to determine an intra-operative location of the target region in the patient using only the movable bony structure, wherein the 4D diagnostic imaging data shows the location of the target region; and

directing a treatment beam at the patient based on determining the intra-operative location of the target region.

2. The method of claim 1, further comprising:

defining a target region motion pattern based on locations of the target region in the plurality of volumes of 4D diagnostic imaging data, wherein the plurality of volumes of 4D diagnostic imaging data are captured at different intervals within a breathing cycle of the patient.

3. The method of claim 2, wherein the comparing the pair of intra-operative images with the plurality of DRR pairs comprises:

generating a similarity curve.

4. The method of claim 3, further comprising:

determining the intra-operative location of the target region at a time of the generating of the pair of intra-operative images based on the similarity curve and the target region motion pattern.

5. The method of claim 1, further comprising:

registering a spine of the patient to globally align the patient prior to beginning the treatment.

6. The method of claim 1, wherein the plurality of volumes of 4D diagnostic imaging data comprise a plurality of volumes of 4D computerized tomography (CT) data.

7. The method of claim 6, wherein the plurality of volumes of 4D CT data comprise a plurality of three-dimensional images, where each of the plurality of three-dimensional images represents a different point in a motion cycle.

8. A non-transitory machine-readable storage medium that provides instructions that, when executed by a processing device, performs operations comprising:

generating, by the processing device, a plurality of digitally reconstructed radiograph (DRR) pairs from a plurality of volumes of four dimensional (4D) diagnostic imaging data showing a movable bony structure and a static bony structure of a patient, the generating comprising;

segmenting an image of the static bony structure from each of the plurality of volumes of 4D diagnostic imaging data, wherein the image of the static bony structure obstructs a view of the movable bony structure; and

removing the image of the static bony structure from the plurality of DRR pairs;

generating a pair of intra-operative images of a portion of the patient during treatment of a target region in the patient to show the movable bony structure of the patient, wherein the movable bony structure moves responsive to respiration of the patient; and

comparing the pair of intra-operative images with the plurality of DRR pairs;

correlating a location of the movable bony structure in a particular volume of the plurality of volumes of 4D diagnostic imaging data with a location of the target region in the particular one of the plurality of volumes of 4D diagnostic imaging data, based on the comparing, to determine an intra-operative location of the target region in the patient using only the movable bony structure, wherein the 4D diagnostic imaging data shows the location of the target region; and

directing a treatment beam at the patient based on determining the intra-operative location of the target region.

9. The non-transitory machine-readable storage medium of claim 8, wherein the operations further comprise:

defining a target region motion pattern based on locations of the target region in the plurality of volumes of 4D diagnostic imaging data, wherein the plurality of volumes of 4D diagnostic imaging data are captured at different intervals within a breathing cycle of the patient.

10. The non-transitory machine-readable storage medium of claim 9, wherein the comparing the pair of intra-operative images with the plurality of DRR pairs comprises:

generating a similarity curve.

11. The non-transitory machine-readable storage medium of claim 10, wherein the operations further comprise:

determining the intra-operative location of the target region at a time of the generating of the pair of intra-operative images based on the similarity curve and the target region motion pattern.

12. The non-transitory machine-readable storage medium of claim 8, wherein the operations further comprise:

registering a spine of the patient to globally align the patient prior to beginning the treatment.

13. The non-transitory machine-readable storage medium of claim 8, wherein the plurality of volumes of 4D diagnostic imaging data comprise a plurality of volumes of 4D computerized tomography (CT) data.

14. The non-transitory machine-readable storage medium of claim 13, wherein the plurality of volumes of 4D CT data comprise a plurality of three-dimensional images, where each of the plurality of three-dimensional images represents a different point in a motion cycle.