Motion tracking system for real time adaptive imaging and spectroscopy

• US 9,867,549 B2
• Filed: 08/17/2015
• Issued: 01/16/2018
• Est. Priority Date: 05/19/2006
• Status: Active Grant

• Current Assignee: Medical College of Wisconsin Incorporated, Queen's Medical Center, Research Corporation of The University of Hawaii, UWM Research Foundation
• Original Assignee: Medical College of Wisconsin Incorporated, Queen's Medical Center, Research Corporation of The University of Hawaii, UWM Research Foundation
• Inventors: Ernst, Thomas Michael, Prieto, Thomas Edmund, Armstrong, Brian Stewart Randall
• Primary Examiner(s): Seth, Manav
• Application Number:
  US14/828,299
• Publication Number:
  US 20160166205A1
• Time in Patent Office: 883 Days
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 5/1128 using image analysis A61B5/1127 takes precedence
• 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 5/7292 Prospective gating, i.e. predicting the occurrence of a physiological event for use as a synchronisation signal
• CPC Class Codes: A61B 6/0492 using markers or indicia for aiding patient positioning
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: G01R 33/28 Details of apparatus provided for in groups G01R33/44 - G01R33/64
• 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 7/0012 Biomedical image inspection
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 10/62 relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

This invention relates to a system that adaptively compensates for subject motion in real-time in an imaging system. An object orientation marker (30), preferably a retro-grate reflector (RGR), is placed on the head or other body organ of interest of a patient (P) during a scan, such as an MRI scan. The marker (30) makes it possible to measure the six degrees of freedom (x, y, and z-translations, and pitch, yaw, and roll), or “pose”, required to track motion of the organ of interest. A detector, preferably a camera (40), observes the marker (30) and continuously extracts its pose. The pose from the camera (40) is sent to the scanner (120) via an RGR processing computer (50) and a scanner control and processing computer (100), allowing for continuous correction of scan planes and position (in real-time) for motion of the patient (P). This invention also provides for internal calibration and for co-registration over time of the scanner'"'"'s and tracking system'"'"'s reference frames to compensate for drift and other inaccuracies that may arise over time.

Claims

1. An optical marker for use in a motion tracking system for tracking motion of a subject to which the optical marker is coupled, the optical marker comprising:

two or more targets, each of the two or more targets comprising a front surface and a back surface, wherein the front surface comprises one or more artwork,

wherein the one or more artwork is configured to be detected by one or more detectors of the motion tracking system,

wherein the one or more artwork comprises one or more landmarks configured to be viewable in an image of the optical marker,

wherein at least one of the two or more targets is adapted to be placed on one side of a nose of the subject, and wherein at least another one of the two or more targets is adapted to be placed on another side of the nose of the subject; and

a substrate coupled to the back surface, wherein the substrate is adapted to be removably attached to a nose bridge of the subject as to substantially prevent movement of the substrate with respect to head movement of the subject.

2. The optical marker of claim 1, wherein the optical marker comprises three targets.

3. The optical marker of claim 1, wherein the substrate is adapted to be removably attached to the nose bridge of the subject via mechanical grasping of the nose bridge of the subject by the substrate.

4. The optical marker of claim 1, wherein the one or more landmarks comprises a starburst pattern, alternating spokes and interstitial space, and/or a circular landmark.

5. An optical marker for use in a motion tracking system for tracking motion of a subject to which the optical marker is coupled, the optical marker comprising:

three or more targets, each of the three or more targets comprising a front surface and a back surface, wherein the front surface comprises one or more artwork,

wherein the one or more artwork is configured to be detected by one or more detectors of the motion tracking system, and

wherein the one or more artwork comprise one or more landmarks configured to be viewable in an image of the optical marker; and

a substrate coupled to the back surface, wherein the substrate is adapted to be held in a mouth of the subject as to substantially prevent movement of the substrate with respect to head movement of the subject.

6. The optical marker of claim 5, wherein the substrate is adapted to be held in the mouth of the subject via mechanical grasping of the substrate by teeth of the subject.

7. The optical marker of claim 5, wherein the one or more landmarks comprises a starburst pattern, alternating spokes and interstitial space, and/or a circular landmark.

8. A method of tracking a motion of a subject, the method comprising:

affixing an optical marker to a nose bridge and/or mouth of the subject, wherein the optical marker comprises;

two or more targets, each of the two or more targets comprising a front surface and a back surface, wherein the front surface comprises one or more artwork,

wherein the one or more artwork is configured to be detected by one or more detectors of the motion tracking system,

wherein the one or more artwork comprises one or more landmarks configured to be viewable in an image of the optical marker,

wherein at least one of the two or more targets is adapted to be placed on one side of a nose of the subject, and wherein at least another one of the two or more targets is adapted to be placed on another side of the nose of the subject; and

a substrate coupled to the back surface, wherein the substrate is adapted to be removably attached to the nose bridge and/or mouth of the subject as to substantially prevent movement of the substrate with respect to head movement of the subject;

imaging by the one or more detectors the optical marker to generate one or more digital images of the optical marker; and

determining by a computer system locations of the one or more landmarks of the optical marker by analyzing the one or more digital images,

wherein the computer system comprises a computer processor and an electronic memory.

9. The method of claim 8, wherein the optical marker comprises three targets.

10. The method of claim 8, wherein the substrate is adapted to be removably attached to the nose bridge of the subject via mechanical grasping of the nose bridge of the subject by the substrate.

11. The method of claim 8, wherein the one or more landmarks comprises a starburst pattern, alternating spokes and interstitial space, and/or a circular landmark.

12. An optical marker for use in a motion tracking system for tracking motion of a subject to which the optical marker is coupled, the optical marker comprising:

three or more targets, each of the three or more targets comprising a front surface and a back surface, wherein the front surface comprises one or more artwork,

wherein the one or more artwork is configured to be detected by one or more detectors of the motion tracking system, and

wherein the one or more artwork comprises one or more landmarks configured to be viewable in an image of the optical marker; and

a substrate coupled to the back surface, wherein the substrate is adapted to be removably attached to a nose bridge of the subject as to substantially prevent movement of the substrate with respect to head movement of the subject.

13. The optical marker of claim 12, wherein the substrate is adapted to be removably attached to the nose bridge of the subject via mechanical grasping of the nose bridge of the subject by the substrate.

14. The optical marker of claim 12, wherein the one or more landmarks comprises a starburst pattern, alternating spokes and interstitial space, and/or a circular landmark.

15. A method of tracking a motion of a subject, the method comprising:

affixing an optical marker to a nose bridge and/or mouth of the subject, wherein the optical marker comprises;

three or more targets, each of the three or more targets comprising a front surface and a back surface, wherein the front surface comprises one or more artwork,

wherein the one or more artwork is configured to be detected by one or more detectors of the motion tracking system, and

wherein the one or more artwork comprises one or more landmarks configured to be viewable in an image of the optical marker; and

a substrate coupled to the back surface, wherein the substrate is adapted to be removably attached to the nose bridge and/or mouth of the subject as to substantially prevent movement of the substrate with respect to head movement of the subject;

imaging by the one or more detectors the optical marker to generate one or more digital images of the optical marker; and

determining by a computer system locations of the one or more landmarks of the optical marker by analyzing the one or more digital images,

wherein the computer system comprises a computer processor and an electronic memory.

16. The method of claim 15, wherein the substrate is adapted to be removably attached to the nose bridge of the subject via mechanical grasping of the nose bridge of the subject by the substrate.

17. The method of claim 15, wherein the one or more landmarks comprises a starburst pattern, alternating spokes and interstitial space, and/or a circular landmark.