U.S. patent application number 17/121585 was filed with the patent office on 2021-06-24 for motion tracking system for real time adaptive imaging and spectroscopy.
The applicant listed for this patent is THE MEDICAL COLLEGE OF WISCONSIN, INC., THE QUEEN'S MEDICAL CENTER, THE UNIVERSITY OF HAWAII, UWM RESEARCH FOUNDATION, INC.. Invention is credited to Brian Stewart Randall Armstrong, Thomas Michael Ernst, Thomas Edmund Prieto.
Application Number | 20210186353 17/121585 |
Document ID | / |
Family ID | 1000005436168 |
Filed Date | 2021-06-24 |
United States Patent
Application |
20210186353 |
Kind Code |
A1 |
Ernst; Thomas Michael ; et
al. |
June 24, 2021 |
MOTION TRACKING SYSTEM FOR REAL TIME ADAPTIVE IMAGING AND
SPECTROSCOPY
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.
Inventors: |
Ernst; Thomas Michael;
(Honolulu, HI) ; Prieto; Thomas Edmund; (Grafton,
WI) ; Armstrong; Brian Stewart Randall; (Shorewood,
WI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
THE QUEEN'S MEDICAL CENTER
THE UNIVERSITY OF HAWAII
THE MEDICAL COLLEGE OF WISCONSIN, INC.
UWM RESEARCH FOUNDATION, INC. |
Honolulu
Honolulu
Milwaukee
Milwaukee |
HI
HI
WI
WI |
US
US
US
US |
|
|
Family ID: |
1000005436168 |
Appl. No.: |
17/121585 |
Filed: |
December 14, 2020 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15837240 |
Dec 11, 2017 |
10869611 |
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17121585 |
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14828299 |
Aug 17, 2015 |
9867549 |
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15837240 |
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14698350 |
Apr 28, 2015 |
9138175 |
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14828299 |
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14034252 |
Sep 23, 2013 |
9076212 |
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14698350 |
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13735907 |
Jan 7, 2013 |
8571293 |
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14034252 |
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13338166 |
Dec 27, 2011 |
8374411 |
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13735907 |
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11804417 |
May 18, 2007 |
8121361 |
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13338166 |
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60802216 |
May 19, 2006 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 5/721 20130101;
A61B 6/0492 20130101; G06T 7/0012 20130101; G01R 33/56509 20130101;
A61B 5/1128 20130101; A61B 6/547 20130101; H04N 7/18 20130101; A61B
5/0077 20130101; A61B 5/1127 20130101; A61B 5/7292 20130101; G06T
7/70 20170101; G06K 2009/3291 20130101; G01R 33/28 20130101; G06K
9/00624 20130101; A61B 5/055 20130101 |
International
Class: |
A61B 5/055 20060101
A61B005/055; A61B 6/04 20060101 A61B006/04; G06T 7/70 20060101
G06T007/70; A61B 5/00 20060101 A61B005/00; G01R 33/28 20060101
G01R033/28; A61B 5/11 20060101 A61B005/11; G01R 33/565 20060101
G01R033/565; G06T 7/00 20060101 G06T007/00; A61B 6/00 20060101
A61B006/00; G06K 9/00 20060101 G06K009/00; H04N 7/18 20060101
H04N007/18 |
Goverment Interests
STATEMENT REGARDING FEDERALLY SPONSORED R&D
[0002] This invention was made with government support under Grant
numbers 5K02 DA016991 and 5ROI DA021146 awarded by the National
Institutes of Health. The government has certain rights in the
invention.
Claims
1.-3. (canceled)
4. A motion tracking system for tracking motion of an object during
a medical imaging scan, the system comprising: a detector
configured to image one or more optical landmarks on the object
during the medical imaging scan, the detector configured to be
positioned within a medical imaging scanner; a tracking system
configured to analyze images generated by the detector to determine
changes in one or more positions or orientations of the one or more
optical landmarks; the tracking system further configured to
generate tracking data for use by the medical imaging scanner to
dynamically compensate for changes in the one or more positions or
orientations of the one or more optical landmarks during the
medical imaging scan, wherein the tracking system comprises a
computer processor and an electronic storage medium.
5. The motion tracking system of claim 4, wherein the tracking
system is further configured to predict changes in the one or more
positions or orientations of the one or more optical landmarks by
analyzing one or more previous changes in the one or more positions
or orientations of the one or more optical landmarks.
6. The motion tracking system of claim 4, wherein the detector
comprises a camera.
7. The motion tracking system of claim 4, wherein the tracking
system is configured to determine changes in the one or more
positions or orientations of the one or more optical landmarks in
six degrees of freedom.
8. The motion tracking system of claim 4, wherein the one or more
optical landmarks comprises an optical marker.
9. The motion tracking system of claim 8, wherein the one or more
optical landmarks comprises an RGR marker.
10. The motion tracking system of claim 4, wherein the one or more
optical landmarks is located on a surface of the object.
11. The motion tracking system of claim 4, wherein the medical
imaging scanner comprises a computer tomography (CT) scanner, a
magnetic resonance (MR) scanner, Positron Emission Tomography (PET)
scanner, or a Single Photon Emission Computerized Tomography
(SPECT) scanner.
12. The motion tracking system of claim 4, wherein the generated
tracking data is configured to be used to dynamically adjust one or
more scan parameters during the medical imaging scan.
13. The motion tracking system of claim 12, wherein the one or more
scan parameters comprises a MR pulse sequence.
14. The motion tracking system of claim 4, wherein the detector is
shielded to avoid interference with the medical imaging
scanner.
15. The motion tracking system of claim 4, wherein the medical
imaging scanner comprises an MR scanner, and wherein the detector
is configured to be placed inside a magnet of the MR scanner.
16. The motion tracking system of claim 4, further comprising at
least one mirror configured to provide an indirect line of sight
between the one or more optical landmarks and the detector.
17. The motion tracking system of claim 4, wherein the tracking
system is further configured to transform the generated tracking
data into coordinates usable by the medical imaging scanner.
18. A computer-implemented method of tracking motion of an object
during a medical imaging scan, the method comprising: generating,
by a detector, images of one or more landmarks on the object during
the medical imaging scan, the detector configured to be positioned
within a medical imaging scanner; analyzing, by a tracking system,
the images of the one or more landmarks generated by the detector
to determine changes in one or more positions or orientations of
the one or more landmarks; generating, by the tracking system,
tracking data for use by the medical imaging scanner to dynamically
compensate for changes in the one or more positions or orientations
of the one or more landmarks during the medical imaging scan,
wherein the tracking system comprises a computer processor and an
electronic storage medium.
19. The method of claim 18, further comprising predicting, by the
tracking system, changes in the one or more positions or
orientations of the one or more landmarks by analyzing one or more
previous changes in the one or more positions or orientations of
the one or more landmarks.
20. The method of claim 18, wherein the changes in the one or more
positions or orientations of the one or more landmarks are
determined by the tracking system in six degrees of freedom.
21. The method of claim 18, wherein the one or more landmarks
comprises an optical marker.
22. The method of claim 18, wherein the one or more landmarks is
located on a surface of the object.
23. The method of claim 18, wherein the generated tracking data is
configured to be used to dynamically adjust one or more scan
parameters during the medical imaging scan.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 15/837,240, titled MOTION TRACKING SYSTEM FOR
REAL TIME ADAPTIVE IMAGING AND SPECTROSCOPY and filed Dec. 11, 2017
which is a continuation of U.S. patent application Ser. No.
14/828,299, titled MOTION TRACKING SYSTEM FOR REAL TIME ADAPTIVE
IMAGING AND SPECTROSCOPY and filed Aug. 17, 2015, which is a
continuation of U.S. patent application Ser. No. 14/698,350, titled
MOTION TRACKING SYSTEM FOR REAL TIME ADAPTIVE IMAGING AND
SPECTROSCOPY and filed Apr. 28, 2015 and now U.S. Pat. No.
9,138,175, which is a continuation of U.S. patent application Ser.
No. 14/034,252, titled MOTION TRACKING SYSTEM FOR REAL TIME
ADAPTIVE IMAGING AND SPECTROSCOPY and filed Sep. 23, 2013 and now
U.S. Pat. No. 9,076,212, which is a continuation of U.S. patent
application Ser. No. 13/735,907, titled MOTION TRACKING SYSTEM FOR
REAL TIME ADAPTIVE IMAGING AND SPECTROSCOPY and filed Jan. 7, 2013
and now U.S. Pat. No. 8,571,293, which is a continuation of U.S.
patent application Ser. No. 13/338,166, titled MOTION TRACKING
SYSTEM FOR REAL TIME ADAPTIVE IMAGING AND SPECTROSCOPY and filed
Dec. 27, 2011, and now U.S. Pat. No. 8,374,411, which is a
continuation of U.S. patent application Ser. No. 11/804,417, titled
MOTION TRACKING SYSTEM FOR REAL TIME ADAPTIVE IMAGING AND
SPECTROSCOPY and filed May 18, 2007, and now U.S. Pat. No.
8,121,361, which claims priority to U.S. Provisional Application
No. 60/802,216, titled MRI MOTION ACCOMMODATION and filed May 19,
2006. The foregoing applications are hereby incorporated herein by
reference in their entirety.
FIELD
[0003] This invention relates generally to the field of medical
imaging, and more specifically to a system for correcting defects
in medical images that are caused by a patient's movement during
long duration in vivo (in the living body) scans, such as magnetic
resonance scans.
BACKGROUND
[0004] "Tomographic" imaging techniques make images of multiple
slices of an object. Multiple tomographic images can then be
aligned and assembled using a computer to provide a three
dimensional view. Some commonly used tomographic imaging techniques
include magnetic resonance imaging (MRI) and magnetic resonance
spectroscopy (MRS) techniques, which are ideal for assessing the
structure, physiology, chemistry and function of the human brain
and other organs, in vivo. Because the object of interest is often
imaged in many slices and scanning steps in order to build a
complete three dimensional view, scans are of long duration,
usually lasting several minutes. To increase resolution (detail) of
a tomographic scan, more slices and more scanning steps must be
used, which further increases the duration of a scan. Magnetic
resonance and other long duration imaging techniques (including
tomographic techniques), now know or hereafter invented
(hereinafter collectively referred to as "MR" or "MRI") can also
afford relatively high spatial and temporal resolution, are
non-invasive and repeatable, and may be performed in children and
infants.
[0005] In addition to MR, other types of scans require multiple
repeated exposures, separated in time, of an entire (not slices)
object (such as an organ), such as angiograms, in which a dye is
injected into a blood vessel and then scans separated in time are
taken to determine how and where the dye spreads. These types of
scans that detect motion inside a patient or other object over time
("digital angiography systems") can also have a long duration, and
be subject to the problem of patient or object motion.
[0006] Many tomographic imaging techniques rely on detecting very
small percentage changes in a particular type of signal, which
makes these techniques even more susceptible to movements. In
functional magnetic resonance imaging, for example, changes in the
properties of blood in brain areas activated while subjects are
performing tasks causes small signal changes (on the order of a few
percent) that can be detected with MR. However, these small signal
changes may easily be obscured by signal changes of similar or even
greater size that occur during unintentional subject movements.
[0007] Because tomographic techniques require that so many images
be taken (because so many slices and scanning steps are necessary),
the scan has a long duration, so that motion of the subject is a
substantial problem for acquiring accurate data. Consequently,
subjects commonly are required to lie still to within one
millimeter and one degree over extended time periods. Similar
requirements exist for other modem imaging techniques, such as
Positron Emission Tomography (PET), Single Photon Emission
Computerized Tomography (SPECT) and "computer tomography" (CT).
These strict requirements cannot be met by many subjects in special
populations, such as children and infants, very sick patients,
subjects who are agitated perhaps due to anxiety or drug use, or
patients with movement disorders, resulting in data with motion
artifacts. Similarly, it is exceedingly difficult to perform scans
in awake animals.
[0008] The basic problem is that it may take several minutes for a
scan to be completed, but the patient or other object being scanned
cannot remain still for several minutes. Further, the space for a
patient or other object being scanned (the "scanning volume") in an
MR machine is very limited--there is very little space in an MR
machine once a patient has been positioned inside for a scan.
[0009] Several techniques have been developed over the past decades
to reduce the sensitivity of scans to motion of the patient or
other object being scanned.
[0010] Early techniques utilized specially designed scan sequences
("first-order flow/motion compensation") to minimize the effects of
motion. While these approaches are particularly useful for reducing
artifacts (or imaging errors) due to flowing blood, swallowing or
eye movements, they afford little improvement during movements of
entire organs, such as head movements.
[0011] Articles entitled "Self-navigated spiral fMRI: interleaved
versus single-shot" by Glover G H, et al, in Magnetic Resonance in
Medicine 39: 361-368 (1998), and "PROPELLER MRI: clinical testing
of a novel technique for quantification and compensation of head
motion" by Forbes K, et al, in the Journal of Magnetic Resonance
Imaging 14(3): 215-222 (2001), both incorporated herein by
reference, disclose how improved sampling schemes for the MRI data
can reduce sensitivity to motion. These techniques can reduce
motion sensitivity of MR scans under certain conditions, but cannot
eliminate errors from motion under all conditions or for very quick
movements.
[0012] With certain modern ultra-fast "single-shot" imaging
techniques (such as "echoplanar imaging"), the entire head (or
other organ of interest) is scanned continuously every few seconds
(over the course of minutes), for instance, for "functional MRI".
This makes it possible to determine the "pose", defined as position
and rotation, of the head at each instant relative to the initial
pose, using image registration (alignment of images). Once the pose
for a given instant is known (relative to the initial image), the
scanner's image for that instant can be re-aligned to the initial
image. For example, the article entitled "Processing strategies for
time-course data sets in functional MRI of the human brain" by
Bandettini P A, et al, in Magnetic Resonance Medicine 30: 161-173
(1993), incorporated herein by reference, disclosed how realignment
of MRI volumes (consisting of multiple slices) can be used to
correct for head motion in functional MRI time series. However,
these methods are inherently slow because they use MRI, i.e. they
correct movements only every few seconds, and are unable to correct
for motion in certain directions (orthogonal to the scan planes; in
other words, towards or away from the planes in which the scans are
being taken).
[0013] While all of these techniques reduce sensitivity to subject
motion, several problems remain. One major problem is related to
the manner in which typical tomographic imaging methods acquire
data. Specifically, the data for each cross section
[0014] (slice) is acquired by moving step by step along "lines" in
a mathematical space ("k-space"). The data acquisition step is
typically repeated hundreds of times, until all lines in the
k-space have been filled. For all methods described above, even if
motion sensitivity for each individual acquisition (defining a line
in k-space) is reduced, these methods typically do not account for
variations in head pose amongst the different k-space lines.
Second, the methods poorly tolerate fast movements within
individual acquisition steps. Finally, one of the most significant
issues is that none of these techniques can be applied universally
across all the various scanning methods (pulse sequences--the order
and manner in which slices are imaged) used in MRI or other
tomographic scanning techniques.
[0015] One of the most promising approaches to motion correction is
to track the pose of the head, brain or other organ of interest (or
other object) in real time, during a scan, and to use this pose
information to compensate for the detected motion in data
acquisitions for subsequent slices within the same scan. This is
called adaptive imaging, because the image is adapted during the
scan to compensate for the detected motion.
[0016] One important aspect of adaptive imaging is the accuracy (or
"resolution") of the motion tracking system. Because of the high
resolution needed for medical imaging, the motion tracking system
must also have a high resolution, because the motion tracking
system's information will be used to align the images of each
slice. If the motion tracking system's resolution is high enough,
each of the scan images can be accurately aligned (registered)
despite a patient's motion.
[0017] An article entitled "Prospective multi axial motion
correction for fMRI" by Ward H A, et al, in Magnetic Resonance in
Medicine 43:459-469 (2000), incorporated herein by reference,
discloses the use of "navigator" signals to estimate the pose of
the head and to dynamically correct for head motion.
[0018] An article entitled "Spherical navigator echoes for full 3D
rigid body motion measurement in MRI" by Welch E B, et al, in
Magnetic Resonance in Medicine 47:32-41 (2002), incorporated herein
by reference, discloses the use of an MR-based navigator for
adaptive motion correction in MRI.
[0019] Similarly, an article entitled "Endovascular interventional
magnetic resonance imaging." by Bartels L W, et al, in Physics in
Medicine and Biology 48(14): R37-R64 (2003), and another article
entitled "Real-time, Interactive MRI for cardiovascular
interventions" by McVeigh E R, et al, in Academic Radiology 12(9):
1121-1127 (2005), both of which are incorporated herein by
reference, disclose the use of small radio frequency (RF) coils for
tracking catheters during interventional MRI.
[0020] While these MR-based "adaptive MRI" techniques provide good
results in many situations, they intrinsically interfere with MR
acquisitions, work only for a limited number of MR sequences, and
are limited to measuring the position or pose a few times per
second only.
[0021] In order to overcome these shortcomings, recent approaches
to real time (lion the fly") motion correction utilize optical
techniques to track subject motion, rather than MR-based methods.
The pose information from the tracking system is sent to the
scanner and used by the scanner to compensate for the motion in
real time. Optical systems are very suitable among alternative
tracking technologies because they provide accurate, non-contact
sensing with a passive and non-magnetic target. In particular,
stereovision (SV) systems have been used for motion tracking for
medical imaging.
[0022] Stereovision systems employ a target with 3 or more visible
landmarks, and at least 2 tracking cameras. By detecting the
landmarks in images captured by the cameras and comparing their
measured positions and shapes to the known shape of the target, the
target position and orientation can be determined, SV systems offer
important features including sub-millimeter accuracy when fully
calibrated, and update rates limited only by the camera and
computing hardware.
[0023] However, SV systems have three limitations for adaptive MR
imaging: (1) measurement accuracy decreases as the distance between
the cameras becomes smaller, (2) the accuracy of orientation
measurement decreases as the target becomes smaller; and (3) SV
systems have high sensitivity to errors in internal calibration,
i.e. small errors in the relative position or rotation of the
cameras may cause large errors in the measured target pose.
Therefore, SV systems require periodic recalibration. However,
accurate calibration has to be performed manually, using a
specialized calibration tool or target, is time consuming, and
cannot be done while patients are being scanned.
[0024] Furthermore, stereovision systems achieve their best
accuracy when the separation distance between the cameras is
comparable to the distance between the cameras and the target.
However, this ideal separation is not possible in an MR scanner
because the opening to the scanning volume (the volume which can be
scanned by the scanner) is relatively narrow, making it impossible
to move the cameras sufficiently far apart and still view into the
scanning volume. Additionally, tracking with SV cameras works
optimally with larger tracking targets; however, the space in the
MR or other scanner environment is very limited.
[0025] As noted above, slight errors in the internal calibration of
SV systems can produce large measurement errors. For example, an
article entitled "Prospective Real-Time Slice-by-Slice 3D Motion
Correction for EPI Using an External Optical Motion Tracking
System" by Zaitsev, M C et al, ISMRM 12, Kyoto (2004), which is
incorporated herein by reference, tested the use of an SV system
for adaptive functional MRI. The system was able to provide 0.4 mm
accuracy when ideally calibrated. However, the study contains
information showing that a tiny 11100th degree change in the camera
alignments can produce a 2.0 mm error in the position measurement
and the study co-authors privately communicated to the present
inventors that maintaining calibration was impracticably difficult.
Even with extremely careful and rigid engineering of the camera
module of an SV system, a measurement drift on the order of 1 mm
can be observed while the SV motion tracker warms up, and recommend
warm-up periods are 1 to 1.5 hours to avoid drift. Tremblay M, Tam
F, Graham S J. Retrospective Coregistration of Functional Magnetic
Resonance Imaging Data Using External Monitoring. Magnetic
Resonance in Medicine 2005; 53:141-149, incorporated herein by
reference.
[0026] The prior art has no means to track or correct for these
slow changes while the medical imaging system is in service,
imaging patients. The error which accumulates in the
co-registration, because of loss of camera calibration, is a severe
problem for motion compensation in medical imaging using an
external tracking system.
[0027] As a result, an SV tracking system requires frequent
recalibration to accurately determine its position relative to the
imaging system. The recalibration procedure involves scanning a
specialized calibration tool or sample ("phantom") at multiple,
manually-adjusted positions, both with the Medical imaging system
and the SV system.
[0028] An article entitled "Closed-form solution of absolute
orientation using unit quaternions" by Horn, B K P, J. Opt. Soc.
Am. 1987; 4:629-642, which is incorporated herein by reference,
describes the commonly used "absolute orientation" method. However,
since time on a medical imaging system is limited and expensive,
removing patients and conducting repeated recalibration with a
specialized calibration tool is prohibitively expensive.
[0029] Furthermore, Zaitsev et al utilized a relatively large
reflective marker approximately 10 em (4 inches) in size, which was
affixed to the subjects' head in the scanner by means of a bite
bar. While a bite bar may be tolerated by healthy and cooperative
volunteers, it is an impractical solution for sick or demented
patients, or young children.
[0030] Therefore, while stereovision systems are able to track
subject motion for use with adaptive imaging techniques when
conditions are ideal, the use of SV systems for routine clinical
scans proves impractical due to cumbersome recalibration
procedures, instabilities over time, and awkward size and
attachment of tracking markers (i.e. large marker requiring use of
a bite bar).
[0031] Motion tracking can be improved using prediction means to
predict motion, including (without limitation) motion filter and
prediction methods. For adaptive MR imaging, the scanner controller
requires values of the subject pose at the exact instant
adjustments to the scan are applied (Scanning Timing Information),
The determination of the subject pose based on actual measurements
is an estimation problem. The simplest estimator takes the most
recent measurement as the current pose. This simple estimator has
been used frequently, for example in an article entitled
"Prospective Real-Time Slice-by-Slice 3D Motion Correction for EPI
Using an External Optical Motion Tracking System" by Zaitsev, M.
C., et al, ISMRM 12, Kyoto (2004), incorporated herein by
reference.
[0032] However, this simple estimator neglects three types of
information that can improve the accuracy of the estimate of
subject pose: (1) measurements prior to the most recent measurement
may add information (reduce the covariance of the estimate) if
those prior measurements disclose a velocity of the subject's
motion; (2) a biomechanical model, in conjunction with the
measurement statistics, can be used to constrain the estimated
motion (the subject's body only moves in certain ways); and (3)
information about the lag time between the pose measurement and the
time of the MR scans. By utilizing these additional sources of
information, the accuracy of motion tracking and thus of adaptive
imaging will be enhanced.
[0033] Extended Kalman filtering, which is essentially model-based
filtering with simultaneous estimation of the signals and their
statistics, is statistically optimal in certain cases and is the
most effective framework for incorporating information of types
(1), (2) and (3). Kalman filtering has a long history of use in
aerospace applications, such as target tracking, aircraft guidance
and formation flying of spacecraft, for example in U.S. Pat. No.
5,886,257 "Autonomous Local Vertical Determination Apparatus and
Methods for a Ballistic Body," incorporated herein by reference,
which teaches the use of Kalman filtering applied to inertial
signals. Kalman filtering has also been previously demonstrated for
head motion tracking, for example in "Predictive Head Movement
Tracking Using a Kalman Filter", IEEE Trans. on Systems, Man, and
Cybernetics Part B: Cybernetics 1997; 27:326-331, by Kiruluta A,
Eizenman M, and Pasupathy S, incorporated herein by reference.
Kalman filtering is also disclosed in US Patent reference.
[0034] Of course, persons of ordinary skill in the art are aware
that the prediction means can be implemented in hardware, software,
or by other means, and that there are equivalent processes and
algorithms to perform the prediction function of the motion
filtering and prediction means disclosed above.
[0035] U.S. Pat. Nos. 5,936,722, 5,936,723 and 6,384,908 by Brian
S. R. Armstrong and Karl B. Schmidt, et al, which are incorporated
herein by reference, disclose "Retro-Grate Reflectors", or RGRs,
which allow accurate and fast position measurements with a single
camera and a single, relatively small and light orientation marker.
The RGR allows the visual determination of orientation with respect
to the six degrees of freedom (the three linear directions of left
and right, up and down, and forward and back, plus the three
rotational directions of roll (rotation around a horizontal axis
that points straight ahead), pitch (rotation around a horizontal
axis that points side to side) and yaw (rotation around a vertical
axis that points up and down)) by viewing a single marker. Pose
(position and rotation) is orientation with respect to the six
degrees of freedom. As used herein, an object orientation marker is
any marker, such as an RGR marker, from which at least three
degrees of freedom can be determined by viewing or otherwise
remotely detecting the marker.
SUMMARY
[0036] Conceptually, the present invention generally includes a
motion tracking system for an object in the scanning volume of a
scanner, comprising: an object orientation marker attached to the
object; a detector that repeatedly detects poses of the object
orientation marker; a motion tracking computer that analyzes the
poses of the object orientation marker to determine motion of the
object between the repeated detections and to send tracking
information to the scanner to dynamically adjust scans to
compensate for motion of the object.
[0037] More specifically, the invention comprises: an object
orientation marker attached to the object; a camera that records
repeated images; a mirror in a fixed position with respect to the
scanner positioned so that the camera records repeated reflected
images of the orientation marker in the mirror; a motion tracking
computer that analyzes the repeated reflected images of the object
orientation marker to determine motion of the object between the
repeated images and to send tracking information to the scanner to
dynamically adjust scans to compensate for motion of said
object.
[0038] Another aspect of the invention is a process for
compensating for patient motion in the scanning volume of a scanner
that has a motion tracking system, without a specialized
calibration tool, even if the motion tracking system is out of
alignment with the scanner, comprising: recording the patient
motion both in scans of the patient by the scanner and in the
motion tracking system, whereby the patient motion is
simultaneously recorded in the coordinate frame of the scanner and
in the coordinate frame of the motion tracking system; updating the
measurement coordinate transformation from the motion tracking
system coordinate frame to the scanner coordinate frame to
compensate for drift and other calibration inaccuracies;
transforming patient motion recorded in the coordinate frame of the
motion tracking system into patient motion in the coordinate frame
of the scanner using the updated measurement coordinate
transformation.
[0039] A general embodiment of this invention comprises an object
orientation marker attached to an object; a camera that views the
object orientation marker directly; a first mirror in a fixed
position with respect to the scanner positioned so that the camera
can view a reflected image of the object orientation marker in the
first mirror, so that the camera simultaneously records repeated
direct images and repeated reflected images of the object
orientation marker; and a motion tracking computer that analyzes
both the repeated direct images and the repeated reflected images
of the object orientation marker to determine motion of the object
between the repeated images and to send tracking information to the
scanner to dynamically adjust scans to compensate for motion of
said object; a mirror orientation marker in a fixed position with
respect to the first mirror positioned so that the camera can view
a direct image of the mirror orientation marker simultaneously with
a reflected image in the first mirror of the object orientation
marker; a motion tracking computer that analyzes repeated reflected
images of the object orientation marker in the first mirror and
repeated direct repeated images of the mirror orientation marker to
determine motion of the object between the repeated images and to
send tracking information to the scanner to dynamically adjust
scans to compensate for motion of said object.
[0040] Still another preferred embodiment of the invention
comprises: a camera that records repeated images; an object
orientation marker attached to the object; a first mirror in a
fixed position with respect to the scanner positioned so that the
camera can view the object orientation marker in the first mirror;
a second mirror in a fixed position with respect to the first
mirror positioned so that the camera can view reflected images of
the object orientation marker in the second mirror simultaneously
with reflected images of the object orientation marker in the first
mirror; a mirror orientation marker in a fixed position with
respect to the first mirror positioned so that the camera can view
direct images of the mirror orientation marker simultaneously with
reflected images of the object orientation marker in both the first
mirror and the second mirror; a motion tracking computer that
analyzes repeated reflected images of the object in the second
mirror and repeated direct images of the mirror orientation marker,
to determine motion of the object between the repeated images and
to send tracking information to the scanner to dynamically adjust
scans to compensate for motion of said object.
[0041] An additional feature of the present invention is that the
mirrors and camera can be internally calibrated by analyzing the
repeated direct images and the repeated reflected images.
[0042] Optionally, patient motion can be recorded both by scans of
the object by the scanner and by repeated images of the object
orientation marker, so that such patient motion is recorded in
coordinate frames of both the scanner and of the detector and
mirrors, whereby patient motion recorded in the coordinate frame of
the detector and mirrors can be transformed into patient motion in
the coordinate frame of the scanner.
[0043] An additional optional feature of the invention includes
prediction means to predict orientation of the object at times when
scans will be taken by the scanner, including motion filtering and
prediction.
[0044] Of course, the scanner can be selected from the group
consisting of MR scanners, PET scanners, SPECT scanners, CT
scanners and digital angiography systems.
[0045] Operably the object orientation marker indicates pose in at
least 3 degrees of freedom, but preferably the object orientation
marker indicates pose in 5 degrees of freedom, and optimally in 6
degrees of freedom.
[0046] Preferably, the object orientation marker is an RGR. In
general terms, the invention comprises: an adaptive imaging system;
a motion tracking system; and a motion filtering and prediction
system; wherein the motion tracking system provides tracking
information to the adaptive imaging system to dynamically adjust
scans to compensate for motion of said object; and wherein the
motion filtering and prediction system provides predicted pose of
the object when the imaging system takes scans.
[0047] Briefly, and in general terms, the present invention
provides for a system for automatic real-time correction of subject
motion during long duration scans, including (but not limited to)
"tomographic" (or cross-sectional) imaging, specifically MRI scans.
The present invention is a motion tracking system that is
MRI-compatible, highly accurate, robust, self-calibrating, has a
potential time resolution in the millisecond range, and can be
integrated with any existing MR technique. The adaptive MR system
has 3 main components, as shown in FIG. 1: (1) RGR-based tracking
system, (2) interface between tracking system and MR scanner, and
(3) MR scanner providing scanning sequences that allow dynamic
adjustment of geometric scanning parameters (such as slice
locations and orientations). The camera-based system relies on
Retro-Grate Reflectors, or RGRs, which allow accurate and fast pose
measurements with a single camera and a single, relatively small
marker (approximately 1 cm size). Pose updates from the tracking
system are sent to the MRI scanner via the interface. Tomographic
scanning methods make it possible to image multiple cross-sections
("slices") of the body; each slice is defined by a position and
rotation in space. The MR scanning sequences continuously read the
pose information from the tracking system, and the slice locations
and rotations are updated dynamically, such that scanning planes or
volumes track the poses of the object (such as an organ) to which
the target is attached. This results in scans that are virtually
void of motion-artifacts. Very fast movements with velocities of
100 mm/sec or greater can be corrected, which represents an
approximate 10 to 100-fold improvement over current techniques.
[0048] One important component of the presently preferred
embodiment of this invention is the Retro-Grate Reflector (RGR), a
new tool that makes it possible to accurately determine the 3
locations and 3 rotations ("6 degrees of freedom" or "pose") of a
target from a single image. An RGR target is illustrated in FIG.
13. It is constructed by applying artwork on the front and back of
a transparent substrate, such as a glass or plastic plate. The
artwork includes a StarBurst landmark, shown in the center of FIG.
13, and circular landmarks. Also included are front and back
gratings to produce a series of banded patterns ("moire" patterns),
which are shown as light and dark fringes in FIG. 13.
[0049] The moire patterns of the RGR target are designed to be
exquisitely sensitive to changes in orientation. As a result, the
RGR system is able to accurately determine all 6 degrees of freedom
(3 translations and 3 rotations) from a single camera image. Of
course, an RGR can be used to extract less than 6 degrees of
freedom.
[0050] In the context of adaptive imaging to correct for subject
motion, RGR motion tracking addresses the shortcomings of
stereovision by: (1) incorporating only one camera, thus removing
the requirement for a significant separation between cameras, and
(2) interpreting moire patterns so that high accuracy can be
achieved even if the object orientation marker (also referred to as
a target or tag) is small, and (3) providing redundant information
for use in detecting and correcting drift and other calibration
inaccuracies by internal calibration.
[0051] If desired, further innovations (described below) allow for
3) simultaneous motion tracking and determination of the internal
calibration, 4) use of two or more "visual paths" to avoid loss of
sight during large movements, 5) a 10-fold increase in tracking
accuracy compared to stereovision, and 6) continuous automatic
calibration (or "auto-tuning") of the system in order to eliminate
the effect of drift and other calibration inaccuracies, such as
those due to temperature changes, vibration, etc.
[0052] One innovation is to use a mirror to detect an object
orientation marker. A mirror shall include any device to allow an
object orientation marker to be viewed along an indirect line of
sight, including, without limitation, a prism, a beam splitter, a
half silvered mirror, fiber optics, and a small camera.
[0053] Another innovation is to incorporate motion filtering and
prediction to improve performance of a limited-quality motion
sensing means. Motion filtering refers to using information about
an object's prior positions to infer its motion and thereby improve
accuracy in determining pose (over methods which look only at the
most recent position and ignore prior positions).
BRIEF DESCRIPTION OF THE DRAWINGS
[0054] FIG. 1 is a conceptual side elevational view of a system for
RGR-based motion tracking for real-time adaptive MR imaging and
spectroscopy.
[0055] FIG. 2 is a flow chart of steps for adaptive MR imaging in
an alternative embodiment, incorporating RGR-based motion sensing
for adaptive MR imaging.
[0056] FIG. 3 is a flow chart of steps for RGR-based adaptive MR
imaging in the preferred embodiment, incorporating RGR-based
adaptive MR imaging and optional motion filtering and
prediction.
[0057] FIG. 4 is a flow chart of steps for adaptive MR imaging in
an alternative embodiment, incorporating motion sensing by any
suitable means such as MR scan analysis and optional motion
filtering and prediction.
[0058] FIG. 5 is a flow chart of steps for adaptive MR imaging in
an alternative embodiment in which the motion filtering is
performed separately.
[0059] FIG. 6 is a side elevational view of the physical layout of
a preferred embodiment of adaptive RGR-MRI configuration.
[0060] FIG. 7 is a top plan view of the embodiment of FIG. 6.
[0061] FIG. 8 is a back elevational view of the embodiment of FIG.
6.
[0062] FIG. 9 is a camera view, showing the mirrors and object
orientation markers in the camera in the embodiment of FIG. 6, and
also showing placement of optional RGRs on mirrors.
[0063] FIG. 10 is a conceptual diagram illustrating that motion of
the subject can be determined in both the coordinate frames of the
motion tracking system and of the MR machine.
[0064] FIG. 11 is a conceptual flow chart illustrating a system for
continuous tuning ("Auto-tuning") of the co-registration
transformation between a Motion Tracking system and a Medical
Imaging system.
[0065] FIG. 12 is a flow chart of steps for Auto-tuning for
automatic and continuous adjustment of the Co-registration
Transformation between a Motion Tracking system and a Medical
Imaging system.
[0066] FIG. 13 is a drawing of an RGR target.
DETAILED DESCRIPTION
[0067] FIGS. 1 and 2 illustrate the essential elements of the
presently preferred embodiments of a system for motion tracking for
real-time adaptive imaging and spectroscopy. The best modes are
illustrated by way of example using a patient in an MR scanner and
RGR object orientation marker, but of course, other objects can be
scanned besides patients, other scanners can be used besides MR
scanners, and other object orientation markers can be used besides
RGRs.
[0068] As shown in FIG. 1, a patient P is imaged in a scanning
volume V inside an MR scanner magnet 20. An RGR tag or target 30 is
affixed to the patient P near the organ of interest being scanned
(e.g., the head). A detector, such as a camera 40 (the "RGR
Camera") outside the scanner magnet 20 observes the RGR target 30,
either directly or optionally via one or more mirrors on the wall
of the scanner bore or in some other convenient location (not
shown). As also shown in FIG. 2, the RGR Camera 40 is connected to
the RGR Processing Computer 50. The RGR Processing Computer 50
performs several functions, including analyzing images 60 of the
RGR to produce RGR Motion Information. Additionally, an accurate
clock in the RGR Processing Computer 50 produces Timing Information
related to the RGR Motion Information to provide Motion and Timing
Information 70.
[0069] A Scanner Control and Processing Computer 100 is connected
to the MR Scanner 120 and also to the RGR Processing Computer 50.
RGR Motion and Timing Information 70 is passed from the RGR
Processing Computer 50 to the Scanner Control and Processing
Computer 100. In one embodiment, Timing Information related to the
MR scan (Scanner Timing Information) is produced by the Scanner
Control and Processing Computer 100 and passed to the RGR
Processing Computer 50 with a request for RGR Motion Information.
The RGR Processing Computer 50 uses the Scanner Timing Information
in conjunction with the RGR Motion Information and RGR Timing
Information to produce Motion Information at time instants
determined by the Scanner Control and Processing Computer 100. Both
the scanner and the motion tracking system have inherent lag times
between acquiring an image and completing the image, due to
computation delays and other factors. The motion tracking system's
lag time in acquiring images may be on the order of milliseconds,
but the scanner's lag time in acquiring images may be on the order
of seconds to minutes.
[0070] The Scanner Control and Processing Computer 100 utilizes RGR
Motion Information from the RGR Processing Computer 50 and makes
calculations to adapt the MR Pulse Sequence (the sequence of pulses
used to acquire tomographic images) to the motion information. The
adapted MR Pulse Sequence parameters are used to drive the MR
Scanner 120.
[0071] FIG. 3 provides a flow chart of the steps of the preferred
embodiment of RGR based adaptive MR imaging and spectroscopy using
optional motion filtering and prediction. System elements of RGR
Camera, RGR Lighting and RGR target are used to obtain RGR Motion
Tracking Images. The RGR Images are passed to the RGR Processing
Computer where they are analyzed, which produces RGR Motion and RGR
Timing Information. This information is optionally passed to a
Motion Filtering and Prediction routine, which also receives
Scanner Timing Information in the form of time values for future
instants at which the Scanner Control and Processing Computer will
apply Motion Information, The Motion Filtering and Prediction
element analyzes a plurality of recent RGR Motion and Timing
Information as well as Scanner Timing information to produce
Adjusted Motion Information, which is the best estimate of the
subject's pose at the future time indicated in the Scanner Timing
Information. The Adjusted Motion Information corresponding to the
Scanner Timing Information is passed to the Scan Control and MR
Pulse Sequence Generation element.
[0072] The Scan Control and MR Pulse Sequence Generation element
receives Adjusted Motion Information for corresponding Scanner
Timing Information and generates Adapted Pulse Sequence Parameters,
which are executed on the MR Scanner, thus realizing RGR-based
adaptive MR imaging and spectroscopy.
[0073] Essentially, the motion tracking information is used to
predict the change in pose of the patient due to movement, and the
predicted pose is sent to the scanner, which then dynamically
adjusts the pose of each scan plane or volume to compensate for the
patient's movement.
[0074] Comparing the flow chart of FIG. 2 with the flow chart of
FIG. 3, in the preferred embodiment, the "Motion Filtering and
Prediction" routines run on the RGR Processing Computer 50, and
there is no separate computer for the optional motion filtering and
prediction calculations, which are relatively minor from the
standpoint of computer burden. In alternative embodiments, the
Motion Filtering and Prediction routines could run on a separate
computer (or hardware or software), or on the Scanner Control and
Processing Computer.
[0075] FIG. 4 illustrates an alternative embodiment of the
invention. In this embodiment, any suitable motion and timing
sensing means is used, including, but not limited to, motion
sensing by image analysis, as is known in the prior art, such as
commercially available Stereo Vision systems. The innovation in
this embodiment is to employ a Motion Filtering and Prediction
element to analyze a plurality of recent RGR Motion and Timing
Information as well as Scanner Timing information to produce
Adjusted Motion Information, which is the best estimate of the
subject pose at the time indicated in the Scanner Timing
Information. The Adjusted Motion Information is passed to the Scan
Control and MR Pulse Sequence Generation element.
[0076] The Scan Control and MR Pulse Sequence Generation element
receives Adjusted Motion Information and generates Adapted Pulse
Sequence Parameters, which are sent to the MR Scanner and executed,
thus realizing RGR-based adaptive MR imaging and spectroscopy.
[0077] Yet another embodiment is illustrated in FIG. 5. In this
alternative embodiment the Motion Filtering calculations are
executed by a Motion Tracking system computer, and the Motion
Filter State and Timing Information are transferred to the Scanner
Control and Processing Computer. The Prediction portion of the
Motion Filtering and Prediction algorithm utilizes the Motion
Filter State and Timing Information, as well as Scanner Timing
Information that is internal to the Scanner Control and Processing
Computer, to predict the subject pose at the time indicated in the
Scanner Timing Information.
[0078] FIGS. 6 to 8 show various views of the presently preferred
embodiment of the RGR-based adaptive MR imaging and spectroscopy
system. Each view illustrates the relationship of the scanning
volume V (here, the bore of an MR Scanner magnet), detector (here,
a camera 40) and object orientation marker 30 (preferably an RGR
tag, target or marker). The camera 40 is preferably outside and
behind the scanner magnet 20.
[0079] Also seen in the figures are optional mirrors M1 and M2,
each with or without a separate optional RGR, which are used to
allow the camera 40 to be placed outside a direct line of sight
with the object orientation marker 30, to avoid blockage and for
other reasons. Considering the openings that are typically
available in the coil surrounding the subject's head during MR
scans, the top position point-of-view offers superior measurement
accuracy. FIG. 6 also shows the position of the origin 0 of the
medical imaging coordinate frame.
[0080] In one preferred embodiment of the invention, if the patient
requires a brain or head scan, one RGR target 30 (the "mobile RGR
tag") is affixed to the side of the nose of the patient. This
particular location has the advantage of being relatively immobile
during head movements. However, a person knowledgeable in the art
will recognize that the mobile RGR tag may also be affixed to other
parts of the body.
[0081] In one preferred embodiment of the invention, a single
mirror is used to observe the mobile RGR target from the camera. In
another preferred embodiment of the invention, a mirror orientation
marker (a "stationary marker"), preferably an RGR tag, is mounted
on the single mirror. This mirror RGR tag is directly visible from
the camera, and is being analyzed continuously in addition to the
mobile RGR on the organ of interest. Analyzing the pose of the
mirror RGR makes it possible to ensure the "internal calibration"
of the RGR tracking system, i.e. to ensure the relative position of
the camera and mirror are known accurately.
[0082] In yet another embodiment of the invention, two or more
mirrors are used to observe the mobile RGR from the camera. The
mirrors are arranged such that the reflected image of the mobile
RGR is visible to the camera in all of them. Having two or more
mirrors makes it possible to observe the mobile RGR on the patient,
and determine the patient pose, even if one of the views is
obstructed.
[0083] In another preferred embodiment of the invention, a single
camera observes the mobile RGR on the subject directly as well as
indirectly, creating two lines of sight. The camera is pointed
towards a semi-transparent mirror (or prism) that splits the
optical path into two. The direct, non-reflective optical path is
pointed towards the mobile RGR, allowing a direct line of sight.
The reflective optical path leads towards a second mirror or prism
(fully reflective), and is redirected towards the RGR. One or both
of the two mirrors or prisms can be equipped with RGRs, to enable
internal calibration. This configuration allows mounting of the
camera inside the MRI scanner bore, and provides the same
advantages as the two-mirror/stationary RGR system disclosed
herein.
[0084] In yet another embodiment of the invention, a single-camera
is pointing directly towards the mobile RGR. However, half the
field-of-view of the camera is obstructed by a mirror or prism. The
reflected optical path leads towards a second mirror or prism that
redirects the optical path towards the RGR. One or both of the two
mirrors or prisms can be equipped with RGRs, to enable internal
calibration. This configuration allows mounting of the camera
inside the MRI scanner bore, and provides the same advantages as
the two-mirror/stationary RGR system disclosed herein.
[0085] In another preferred embodiment of the invention, additional
mirror orientation markers, preferably stationary RGR tags, are
mounted on each of two or more mirrors, or on brackets holding one
or more of the mirrors. The mirrors and stationary RGR tags are
arranged such that the mobile RGR tag and all the stationary RGR
tags are visible from the camera. All stationary RGR tags, as well
as the mobile RGR tag on the patients, are being analyzed
continuously. It would be expected that the accuracy of optical
measurements would suffer if more optical elements are introduced
into the measurement system because of the need to maintain more
elements in alignment. However, by analyzing all the information
from all RGRs simultaneously, this particular embodiment of the
invention results in a dramatic and unexpected improvement in
accuracy of the tracking system, such that the tracking accuracy is
unexpectedly approximately 10-fold greater than that of a
conventional stereo-vision system accuracy of the tracking system,
such that the tracking accuracy is unexpectedly approximately
10-fold greater than that of a conventional stereo-vision
system.
[0086] In another embodiment of this RGR-based adaptive MR imaging
and spectroscopy system, the tracking camera is installed inside
the MR magnet and observes the mobile RGR target either directly or
via one or more mirrors (each with or without its own stationary
RGR). In this instance, the camera needs to be shielded to avoid
interference with the MR measurement system.
[0087] FIG. 9 exemplifies an RGR camera view which would be typical
in the preferred embodiment with two mirrors M1 and M2. Optionally,
mirror orientation markers 200A and 200B can be attached to the
mirrors M1 and M2. The RGR Camera is arranged to produce an image
of the mirrors, and the mirrors are arranged so that the mobile RGR
tag is reflected in both of the mirrors and two reflected images of
the mobile RGR tag 3081 and 302 are visible to the camera. Two (or
more) mirrors are used to obtain multiple views of the RGR target
in a single image. Optionally, the mirror orientation markers 200A
and 200B also can be viewed directly by the camera.
[0088] While the use of two or more mirrors, each with its optional
associated stationary mirror RGR, may seem more cumbersome and
error-prone than a single-mirror configuration, it provides several
important and unexpected advantages. First, the multiple views of
the mobile RGR target provide multiple lines of sight. One
advantage of obtaining multiple views of the RGR target is that at
least one view will remain clear and available for motion tracking,
even if another view is obscured. A view can be obscured by, for
example, a portion of the head coil that surrounds the head of the
subject during functional MR scanning. A second advantage of
obtaining multiple views of the mobile RGR target is an unexpected
and dramatic improvement in the accuracy of the motion tracking
system, such that the 2-mirror system is approximately 10 times
more accurate than a stereovision tracking system. Therefore, a
multi-mirror multi-RGR system provides substantial advantages that
cannot be reproduced with other typical motion tracking systems,
such as a stereovision system.
[0089] While the use of two or more mirrors, each with its optional
associated stationary mirror RGR, may seem more cumbersome and
error-prone than a single-mirror configuration, it provides several
important and unexpected advantages. First, the multiple views of
the mobile RGR target provide multiple lines of sight. One
advantage of obtaining multiple views of the RGR target is that at
least one view will remain clear and available for motion tracking,
even if another view is obscured. A view can be obscured by, for
example, a portion of the head coil that surrounds the head of the
subject during functional MR scanning. A second advantage of
obtaining multiple views of the mobile RGR target is an unexpected
and dramatic improvement in the accuracy of the motion tracking
system, such that the 2-mirror system is approximately 10 times
more accurate than a stereovision tracking system. Therefore, a
multi-mirror multi-RGR system provides substantial advantages that
cannot be reproduced with other typical motion tracking systems,
such as a stereovision system.
[0090] Yet another preferred embodiment of the invention involves a
combination of any of the embodiments of the RGR-based tracking
system described above, with a system that makes it possible to
automatically and continuously calibrate the RGR-tracking system
("auto-tuning"), in order to eliminate the effect of drift and
other calibration inaccuracies in the camera system. As noted
above, because the required co-registration accuracy (between the
Medical imaging system and the tracking system) is very high (on
the order of 0.1 mm and 0.1 degree for Medical Imaging) and because
the elements of prior art measurement systems can be widely
separated (for example, by several meters for Magnetic Resonance
imaging), thenna1 drift, vibration and other phenomena can cause
the alignment ("co-registration") between the motion tracking
system coordinate frame c and scanning system coordinate frame M to
change over time. The prior art has no means to track or correct
for these slow changes while the medical imaging system is in
service, imaging patients. The error which accumulates in the
co-registration is a severe problem for motion compensation in
medical imaging using an external motion tracking system. Time on a
medical imaging system is limited and expensive, and removing
patients and conducting periodic recalibration with a specialized
calibration tool or target is prohibitively expensive.
[0091] FIG. 10 illustrates the coordinate frames of a system for
real-time adaptive Medical Imaging. The system comprises a Motion
Tracking System (preferably tracking motion in real time), such as
the RGR tracking system, which produces timely measurements of the
subject pose within a motion tracking coordinate frame `c`.
[0092] Simultaneously, the subject is imaged by a Medical Imaging
system, such as an MR Scanner, which operates within a medical
imaging coordinate frame `M`. Improved medical images are obtained
if (real-time) Motion Information is available to the Medical
Imaging system, but the Motion Information must be accurately
translated (or transformed) from the real-time motion tracking
system (coordinate frame `c,`) to the coordinate frame `M` of the
Medical Imaging system. The motion tracking system is considered
"calibrated" with respect to the MR system if the mathematical
transformation leading from one coordinate system to the other
coordinate system is known. However, the calibration (or alignment)
of the two coordinate systems can be lost, introducing
inaccuracies, due to drift over time because of various factors,
including heat and vibration.
[0093] Motion Information is transformed from frame `c` to frame
`M` by a "coordinate transformation matrix", or "Co-registration
transformation T.sub.c.rarw.M." The "coordinate transformation
matrix" converts or transforms motion information from one
coordinate frame to another, such as from the motion tracking
coordinate frame c to the medical imaging coordinate frame M. Loss
of calibration due to drift, as well as other calibration
inaccuracies, will result in a change over time of the coordinate
transformation matrix, which in turn will lead to errors in the
tracking information.
[0094] U.S. Pat. No. 6,044,308, incorporated herein by reference,
describes the AX=XB method of coordinate transformations. This
patent teaches the use of the AX=XB method for determining the
transformation from a tool coordinate frame to a robot coordinate
frame, where the tool moves with the end effector of the robot over
the course of many hours or days) due to temperature changes,
vibrations and other effects. This variation introduces error into
the Transformed Real-time Motion Information for real-time adaptive
Medical Imaging (over the course of many hours or days) due to
temperature changes, vibrations and other effects. This variation
introduces error into the Transformed Real-time Motion Information
for real-time adaptive Medical Imaging.
[0095] FIG. 11 illustrates the elements of an embodiment of the
system for Auto-tuning for automatic and continuous determination
of the co-registration transformation between a Motion Tracking
system and a Medical Imaging system. A patient P is imaged inside a
Medical Imaging system comprising a medical imaging device 220 and
a Medical Imaging and Control & Processing Element 240.
Simultaneously, a Motion Tracking system comprising a motion
tracking detector 250, and a motion tracking processing element,
such as any embodiment of the RGR-tracking system, makes real-time
motion measurements. Using the co-registration transformation
T.sub.c.rarw.M, the real-time Motion Information is transformed
from the Motion Tracking system coordinate frame to the Medical
Imaging system coordinate frame. Concurrent with the processes
described above, Delayed Medical Image Motion Information 260 and
Delayed Motion Tracking Motion Information 270 is supplied to the
Co-registration Auto-tuning Element 280. This information is
delayed because the Medical Image Motion Information is only
available in delayed form and typically much less frequently than
the information from the tracking system. For instance, ultra-fast
MRI scanning sequences, such as echo planar imaging (EPI), make it
possible to scan the entire head, or other organs of interest,
every few seconds. From each of these volumetric data sets, it is
possible to determine head position and rotation, with a time
resolution of a few seconds. Alternatively, navigator scans can
provide position information a few times each second. Displacements
of the subject are recorded from both sources of Motion
Information, i.e. from the RGR motion tracking system, as well as
an MRI scanner, e.g. registration of EPI-volumes or navigator
scans. By comparing these measured displacements, the
Co-registration Auto-tuning Element adjusts the coordinate
transformation matrix T.sub.c.rarw.M to compensate for changes in
the co-registration of the Motion Tracking system and the Medical
Imaging system. The updated value 290 of the coordinate
transformation matrix T.sub.c.rarw.M is repeatedly generated and
supplied to the Motion Tracking system for use in transforming the
Real-time Motion Information to Medical Imaging system coordinates
300.
[0096] In the preferred embodiment of the auto-tuning system, each
of the three processing elements is implemented as computer
software running on a separate computer. Those skilled in the art
of real-time computer systems will see that other configurations
are possible, such as all processing elements running on a single
computer, or two or more computers working in coordination to
realize one of the processing elements.
[0097] With automatic and continuous tuning of the co-registration
transformation, the real-time Motion Information produced by the
Motion Tracking System is accurately transformed into Medical
Imaging system coordinates, so as to be usable by the Medical
[0098] Imaging system for real-time adaptive Medical Imaging, even
in the presence of inevitable drift and other calibration
inaccuracies arising from variations over time of the relative
position and orientation of the Motion Tracking and Medical Imaging
coordinate frames.
[0099] FIG. 12 provides a flow chart of the steps for Auto-tuning
for automatic and continuous co-registration of a Motion Tracking
system (for instance any embodiment of the RGR-tracking system
described above), with a Medical Imaging system. The Medical
Imaging system obtains Medical Images. These are analyzed by post
processing using prior art methods to produce Delayed Medical Image
Motion Information in the form of the measured displacement of the
imaging subject (e.g., the patient's head) between two times, tk1
and tk2. This displacement is measured in the Medical Imaging
system coordinate frame.
[0100] Concurrently, the Motion Tracking system is used to obtain
real-time Motion Information, which may be transformed into the
Medical Imaging system coordinates to provide for real-time
adaptive Medical Imaging. The Motion Tracking Motion Information is
also stored in a buffer. Past values of the Motion Tracking Motion
Information from the buffer are used to determine a second
displacement of the imaging subject as detected by the Motion
Tracking system, between the two previously mentioned times, tk1
and tk2. This second displacement is measured in the Motion
Tracking system coordinate frame.
[0101] The displacement determined by post processing of the
Medical Images and the displacement determined from the buffered
Motion Tracking Motion Information are passed to the registration
routine based on an approach labeled as "A X=X B methodology",
which is known to the prior art. See, for example, Park, F. C. and
BJ. Martin, "Robot Sensor Calibration: Solving AX=XB on the
Euclidean Group", IEEE Transactions on Robotics and Automation,
1994. 10(5): p. 717-721; Angeles, J., G. Soucy, and F. P. Ferrie,
"The online solution of the hand-eye problem", IEEE Transactions on
Robotics and Automation, 2000. 16(6): p. 720-731; Chou J C K, Kamel
M., "Finding the Position and Orientation of a Sensor on a Robot
Manipulator Using Quaternions", The International Journal of
Robotics Research 1991; 10:240-254; Shiu Y C, Ahmad S.,
"Calibration of Wrist-Mounted Robotic Sensors by Solving
Homogeneous Transform Equations of the Form AX=XB", IEEE
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herein by reference.
[0102] Using this method, the co-registration T.sub.c.rarw.M is
updated. Therefore, by continuously updating the co-registration
information, gradual and inevitable drifts and other calibration
inaccuracies in the alignment of the Motion Tracking system and the
Medical Imaging system coordinate frames are corrected and accurate
adaptive compensation for subject motion is achieved even in the
presence of drift and other calibration inaccuracies in the
equipment.
[0103] Persons knowledgeable in the art will recognize that the
auto-tuning technique described in this disclosure may also utilize
motion information from multiple (more than 2) time points, for
instance in the form of filtering, which will generally increase
the accuracy of the auto-tuning procedure.
[0104] Persons knowledgeable in the art will recognize that the
techniques described in this disclosure may also be applied to
medical imaging techniques other than MRI, such as PET, SPECT, CT,
or angiographic scanning.
[0105] The optimal embodiment of the RGR-based adaptive motion
compensation system involves (1) the RGR system shown in FIGS. 6-9,
(2) two or more observation mirrors, each optionally with its own
stationary RGR, and (3) the auto-tuning system.
[0106] While the present invention has been disclosed in connection
with the presently preferred best modes described herein, it should
be understood that there are other embodiments which a person of
ordinary skill in the art to which this invention relates would
readily understand are within the scope of this invention. For
example, the present invention shall not be limited by software,
specified scanning methods, target tissues, or objects. For a
further example, instead of using a camera or other optical imaging
device to determine an object's pose, alternative detectors of pose
can be used, including non-imaging detectors and non-optical
detectors, such as magnetic detectors or polarized light detectors.
Accordingly, no limitations are to be implied or inferred in this
invention except as specifically and explicitly set forth in the
attached claims.
INDUSTRIAL APPLICABILITY
[0107] This invention can be used whenever it is desired to
compensate for motion of a subject, especially while taking a long
duration scan.
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