Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
First Claim
1. A motion tracking system for tracking and compensating for motion of a patient during a medical imaging scan, the motion tracking system comprising:
- an optical marker configured to be attached to the patient, wherein the optical marker comprises a plurality of optically visible landmarks, the plurality of optically visible landmarks defining a plurality of reference points;
a plurality of optical detectors, wherein each of the plurality of optical detectors is positioned to view the optical marker along a different line of sight;
one or more computer readable storage devices configured to store a plurality of computer executable instructions; and
one or more hardware computer processors in communication with the one or more computer readable storage devices and configured to execute the plurality of computer executable instructions in order cause the motion tracking system to;
receive a digital image from each of the plurality of optical detectors, wherein each digital image represents a view along a different line of sight;
determine, for each digital image, whether the digital image includes a view of the optical marker;
determine, for each digital image that includes a view of the optical marker, positions of the plurality of reference points in the digital image;
calculate a plurality of baseline attributes related to the plurality of reference points, the plurality of baseline attributes calculated based on the determined positions of the plurality of reference points; and
estimate iteratively a three-dimensional pose of the patient, until a measure of error is within a threshold amount, the measure of error calculated based on the plurality of baseline attributes as compared to a plurality of comparison attributes, the plurality of comparison attributes calculated by assuming the object is in an estimated pose.
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Accused Products
Abstract
A motion tracking system for dynamic tracking of and compensation for motion of a patient during a magnetic resonance scan comprises a first camera positioned to view an optical marker along a first line of sight; a second camera positioned to view the optical marker along a second line of sight; and a computer system configured to analyze images generated by the first and second cameras to determine changes in position of the optical marker, and to generate tracking data for use by a magnetic resonance scanner to dynamically adjust scans to compensate for the changes in position of the optical marker, wherein the computer system is configured to dynamically adapt its image analysis to utilize images from all cameras that are currently viewing the optical marker.
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Citations
15 Claims
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1. A motion tracking system for tracking and compensating for motion of a patient during a medical imaging scan, the motion tracking system comprising:
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an optical marker configured to be attached to the patient, wherein the optical marker comprises a plurality of optically visible landmarks, the plurality of optically visible landmarks defining a plurality of reference points; a plurality of optical detectors, wherein each of the plurality of optical detectors is positioned to view the optical marker along a different line of sight; one or more computer readable storage devices configured to store a plurality of computer executable instructions; and one or more hardware computer processors in communication with the one or more computer readable storage devices and configured to execute the plurality of computer executable instructions in order cause the motion tracking system to; receive a digital image from each of the plurality of optical detectors, wherein each digital image represents a view along a different line of sight; determine, for each digital image, whether the digital image includes a view of the optical marker; determine, for each digital image that includes a view of the optical marker, positions of the plurality of reference points in the digital image; calculate a plurality of baseline attributes related to the plurality of reference points, the plurality of baseline attributes calculated based on the determined positions of the plurality of reference points; and estimate iteratively a three-dimensional pose of the patient, until a measure of error is within a threshold amount, the measure of error calculated based on the plurality of baseline attributes as compared to a plurality of comparison attributes, the plurality of comparison attributes calculated by assuming the object is in an estimated pose. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A motion tracking system for dynamic tracking of and compensation for motion of a patient during a magnetic resonance scan, the motion tracking system comprising:
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an optical marker configured to be attached to a patient being scanned, wherein the optical marker comprises an optically visible pattern comprising a plurality of reference point locators, each reference point locator configured to define a single reference point, each reference point locator comprising alternating dark and light elliptical shapes centered on the single reference point, wherein at least one of the plurality of reference point locators is larger than at least another of the plurality of reference point locators, and wherein the optically visible pattern is rotationally asymmetrical about an axis normal to a plane of the optically visible pattern; a first camera positioned to view the optical marker along a first line of sight; a second camera positioned to view the optical marker along a second line of sight; and a computer system configured to analyze images generated by the first and second cameras to determine changes in position of the optical marker, and to generate tracking data for use by a magnetic resonance scanner to dynamically adjust scans to compensate for the changes in position of the optical marker, wherein the computer system is configured to dynamically determine whether the first camera, the second camera, or both cameras are currently viewing the optical marker, and wherein the computer system is configured to dynamically adapt its image analysis to utilize images from all cameras that are currently viewing the optical marker. - View Dependent Claims (12, 13, 14, 15)
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Specification