Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan

• US 10,327,708 B2
• Filed: 05/17/2017
• Issued: 06/25/2019
• Est. Priority Date: 01/24/2013
• Status: Active Grant

• Current Assignee: KinetiCor, Inc.
• Original Assignee: KinetiCor, Inc.
• Inventors: Yu, Jeffrey N., Lovberg, John Arthur, Pan, Xiaojiang Jason
• Primary Examiner(s): Mistry, Oneal R
• Application Number:
  US15/598,165
• Publication Number:
  US 20170319143A1
• Time in Patent Office: 769 Days
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/1121 Determining geometric values, e.g. centre of rotation or angular range of movement
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 5/113 occurring during breathing
• CPC Class Codes: A61B 5/682 Mouth, e.g., oral cavity; tongue; Lips; Teeth
• CPC Class Codes: A61B 5/721 using a separate sensor to detect motion or using motion information derived from signals other than the physiological signal to be measured
• CPC Class Codes: A61B 5/725 using specific filters therefor, e.g. Kalman or adaptive filters A61B5/316 take precedence
• CPC Class Codes: A61B 5/7485 Automatic selection of region of interest
• CPC Class Codes: A61N 2005/1059 using cameras imaging the patient
• CPC Class Codes: G01R 33/283 Intercom or optical viewing arrangements, structurally associated with NMR apparatus
• CPC Class Codes: G01R 33/56509 due to motion, displacement or flow, e.g. gradient moment nulling G01R33/567 takes precedence
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06T 7/74 involving reference images or patches

Abstract

A motion compensation system for tracking and compensating for patient motion during a medical imaging scan comprises an optical marker comprising an optically visible pattern and a mounting portion; a first optical detector positioned to digitally image the optically visible pattern along a first line of sight; a second optical detector positioned to digitally image the optically visible pattern along a second line of sight; a tracking engine configured to determine a pose of the object in six degrees of freedom by analyzing images from the first and second optical detectors; and a controller interface configured to generate tracking information based on the pose and to electronically transmit the tracking information to a scanner controller to enable compensation within a medical imaging scanner for object motion.

Claims

1. A motion compensation system for tracking and compensating for patient motion during a medical imaging scan, the motion compensation system comprising:

an optical marker comprising an optically visible pattern, the optical marker configured to be attached to an object being tracked, the optically visibly pattern comprising one or more reference points surrounded by a plurality of concentric elliptical shapes defining each of the one or more reference points;

a first optical detector configured to generate a first digital image of the optically visible pattern;

a second optical detector configured to generate a second digital image of the optically visible pattern;

a tracking engine configured to determine a pose of the object in six degrees of freedom by analyzing the first and second images; and

a controller interface configured to generate tracking information based on the pose and to electronically transmit the tracking information to a scanner controller to enable compensation within a medical imaging scanner for object motion,

wherein the first optical detector and the second optical detector are attached to a head coil configured to be used in conjunction with the medical imaging scanner,

wherein the tracking engine and controller interface comprise a computer processor and an electronic storage medium.

2. The motion compensation system of claim 1, wherein the first optical detector and the second optical detector are affixed to an exterior surface of the head coil.

3. The motion compensation system of claim 1, wherein the first optical detector and the second optical detector are embedded in the head coil.

4. The motion compensation system of claim 1, wherein the optical marker is configured to be rigidly affixed to the object being tracked.

5. The motion compensation system of claim 1, wherein the medical imaging scanner is a magnetic resonance scanner.

6. The motion compensation system of claim 1, wherein the optically visible pattern is located on a single unitary structure.

7. The motion compensation system of claim 1, wherein the optically visible pattern is distributed among at least two non-connected structures.

8. The motion compensation system of claim 1, wherein the optical marker is internally illuminated.

9. The motion compensation system of claim 1, wherein the plurality of concentric elliptical shapes comprises alternating dark and light elliptical shapes.

10. The motion compensation system of claim 9, wherein the plurality of concentric elliptical shapes are configured to appear circular when viewed along a line of sight separated from a normal to the optically visible pattern by 45 degrees.

11. The motion compensation system of claim 1, wherein the first optical detector is positioned to digitally image the optically visible pattern along a first line of sight, and wherein the second optical detector is positioned to digitally image the optically visible pattern along a second line of sight.

12. The motion compensation system of claim 11, wherein the first and second lines of sight are separated by 90 degrees.

13. The motion compensation system of claim 11, wherein the first line of sight is offset angularly by a first angle from a normal to the optically visible pattern and the second line of sight is offset angularly by a second angle from the normal to the optically visible pattern, wherein a magnitude of the first angle is the same as a magnitude of the second angle.

14. A computer-implemented method for tracking and compensating for subject motion during a medical imaging scan, the computer-implemented method comprising:

attaching an optical marker to an object being tracked, wherein the optical marker comprises an optically visibly pattern, the optically visibly pattern comprising one or more reference points surrounded by a plurality of concentric elliptical shapes defining each of the one or more reference points;

generating, by a first optical detector, a first digital image of the optically visible pattern, wherein the first optical detector is attached to a head coil configured to be used in conjunction with a medical imaging scanner;

generating, by a second optical detector, a second digital image of the optically visible pattern, wherein the second optical detector is attached to the head coil;

determining, by a computer system, a pose of the object in six degrees of freedom by analyzing the first and second images;

generating, by the computer system, tracking information based on the pose; and

electronically transmitting, by the computer system, the tracking information to a scanner controller to enable compensation within the medical imaging scanner for object motion,

wherein the computer system comprises a computer processor and an electronic storage medium.

15. The computer-implemented method of claim 14, wherein the first optical detector and the second optical detector are affixed to an exterior surface of the head coil.

16. The computer-implemented method of claim 14, wherein the first optical detector and the second optical detector are embedded in the head coil.

17. The computer-implemented method of claim 14, wherein the first optical detector is positioned to digitally image the optically visible pattern along a first line of sight, and wherein the second optical detector is positioned to digitally image the optically visible pattern along a second line of sight.

18. The computer-implemented method of claim 17, wherein the first line of sight is offset angularly by a first angle from a normal to the optically visible pattern and the second line of sight is offset angularly by a second angle from the normal to the optically visible pattern, wherein a magnitude of the first angle is the same as a magnitude of the second angle.

19. The computer-implemented method of claim 14, wherein the plurality of concentric elliptical shapes comprises alternating dark and light elliptical shapes.

20. The computer-implemented method of claim 19, wherein the plurality of concentric elliptical shapes are configured to appear circular when viewed along a line of sight separated from a normal to the optically visible pattern by 45 degrees.