DE102015012201A1 - Method and device for visualizing interventional instruments in magnetic resonance imaging (MRI) via discrete phase coding artifacts generated by means of sequence-triggered energization - Google Patents

Method and device for visualizing interventional instruments in magnetic resonance imaging (MRI) via discrete phase coding artifacts generated by means of sequence-triggered energization Download PDF

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DE102015012201A1
DE102015012201A1 DE102015012201.0A DE102015012201A DE102015012201A1 DE 102015012201 A1 DE102015012201 A1 DE 102015012201A1 DE 102015012201 A DE102015012201 A DE 102015012201A DE 102015012201 A1 DE102015012201 A1 DE 102015012201A1
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instruments
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magnetic resonance
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Hansjörg Graf
Frank Eibofner
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/20—Arrangements or instruments for measuring magnetic variables involving magnetic resonance
    • G01R33/28—Details of apparatus provided for in groups G01R33/44 - G01R33/64
    • G01R33/285—Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR
    • G01R33/287—Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR involving active visualization of interventional instruments, e.g. using active tracking RF coils or coils for intentionally creating magnetic field inhomogeneities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00577—Ablation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00773—Sensed parameters
    • A61B2018/00791—Temperature
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B2018/1405—Electrodes having a specific shape
    • A61B2018/1425—Needle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
    • A61B2090/3958—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI emitting a signal

Abstract

Die Visualisierung von Instrumenten bei MRT-geführten Intervention wird üblicherweise über den Paramagnetismus des Instrumentenmaterials realisiert. Hierbei wird die Ortskodierung verfälscht; die Größe der Artefakte ist nicht sequenzunabhängig steuerbar. Im Speziellen sind bei der sogenannten Spinecho-Bildgebungsmethode suszeptibilitätsbedingte Artefakte zu gering für eine sichere Lokalisierung der Instrumente. Das angegeben Verfahren zusammen mit entsprechenden Vorrichtungen an den Instrumenten behebt diese Probleme. Instrumente aus Material mit gewebeäquivalenter magnetischer Suszeptibilität werden mit geeigneten Strompfaden versehen. Der Strom wird, getriggert durch die verwendete Bildgebungssequenz, nur für ausgewählte Phasenkodierzeilen (z. B. bei jeder zweiten) appliziert, vorzugsweise zu Zeiten, in denen keine Störung der Ortskodierung erfolgt. Dadurch, dass die Störung nicht in jeder Zeile erfolgt, tritt die Störung außerhalb des Bildes nochmals in Erscheinung. Dies ermöglicht die Separation der Artefakte aufgrund permanenter Feldstörungen vom Artefakt um das Instrument aufgrund der transienten Störung. Die Stärke des mit dem Strom verbundenen Magnetfeldes und damit die Artefaktgröße kann geregelt werden. Die Technik kann bei Sequenzen vom Gradienten- wie auch vom Spinecho-Typ eingesetzt werden. Anwendungsgebiet sind alle Techniken in der interventionellen MRT, die von regelbaren bzw. abschaltbaren Sollartefakten und unverzerrter Wiedergabe des Instruments ohne zusätzliche Messzeit profitieren. Beispiele sind Medikamentengaben bzw. Biopsien mittels Nadeln oder die Radiofrequenzablation.The visualization of instruments in MRI-guided intervention is usually realized via the paramagnetism of the instrument material. Here, the spatial encoding is corrupted; The size of the artifacts can not be controlled independently of the sequence. Specifically, in the so-called spin echo imaging method, susceptibility-based artifacts are too small for safe localization of the instruments. The stated method, along with corresponding devices on the instruments, overcomes these problems. Instruments made of material with tissue-equivalent magnetic susceptibility are provided with suitable current paths. The current, triggered by the imaging sequence used, is applied only to selected phase coding lines (eg every other second), preferably at times when there is no disturbance of the spatial coding. Due to the fact that the fault does not occur in every line, the disturbance appears again outside the picture. This allows for the separation of artifacts due to permanent field disturbances from the artifact around the instrument due to the transient disturbance. The strength of the magnetic field connected to the current and thus the artifact size can be regulated. The technique can be used with gradient-type as well as spin-echo-type sequences. Fields of application are all techniques in interventional MRI that benefit from adjustable or deactivatable nominal artifacts and undistorted reproduction of the instrument without additional measuring time. Examples are medication or biopsies using needles or radiofrequency ablation.

Description

Verfahren und Vorrichtung zur Visualisierung interventioneller Instrumente in der Magnetresonanzbildgebung über sequenz-getriggerte Bestromung mit Erzeugung spezieller Phasenkodierartefakte.Method and device for visualizing interventional instruments in magnetic resonance imaging via sequence-triggered energization with generation of special phase-coding artifacts.

Die Visualisierung von Instrumenten bei MRT-geführten Intervention wird üblicherweise über den Paramagnetismus des Instrumentenmaterials realisiert. Das magnetische Grundfeld des Tomographen wird in der Nähe des Instruments verzerrt, das Instrument lässt sich über Artefakte visualisieren (zum Beispiel „IEEE TRANSACTIONS ON MEDICAL IMAGING”, Bd. 19, Nr. 12, Dez. 2000, S. 1248–1252 ).The visualization of instruments in MRI-guided intervention is usually realized via the paramagnetism of the instrument material. The basic magnetic field of the tomograph is distorted near the instrument, the instrument can be visualized via artifacts (for example "IEEE TRANSACTIONS ON MEDICAL IMAGING", Vol. 19, No. 12, Dec. 2000, pp. 1248-1252 ).

In der Literatur sind neben der passiven Visualisierung auch aktive Techniken beschrieben, bei welchen über am Instrument angebrachte elektrische Leiter gezielt magnetische Störfelder in dessen Nähe erzeugt werden ( DE 696 34 035 T2 ). Diverse Möglichkeiten sind für die bestromungs-basierte MRT-Instrumentenlokalisierung bekannt ( US 5,951,472 A ), meist über Differenzbildberechnung, vgl. die Druckschrift DE 199 58 408 A1 , und damit verbundener doppelter Messzeit.In addition to passive visualization, active techniques are also described in the literature in which magnetic interference fields are generated in the vicinity of the instrument via electrical conductors ( DE 696 34 035 T2 ). Various possibilities are known for the current-based MRI instrument localization ( US 5,951,472 A ), mostly via differential image calculation, cf. the publication DE 199 58 408 A1 , and associated double measurement time.

Der in den Patentansprüchen präzisierten Erfindung liegt dasselbe Problem wie in Druckschrift DE 10 2012 023 124 A1 bereits ausgeführt zugrunde. Bei Instrumentenvisualisierung über die magnetischen Eigenschaften des Materials (magnetische Suszeptibilität) ist die Grundfeldstörung kontinuierlich und in immer derselben Ausprägung vorhanden, d. h. die Größe der Artefakte kann nicht sequenzunabhängig gesteuert werden und die Störung ist auch zu Zeiten in der Sequenz vorhanden ist, zu denen die Ortskodierung erfolgt. Die Artefaktgröße hängt bei allen Bildgebungstechniken von der Grundfeldstärke ab.The invention specified in the claims invention has the same problem as in the publication DE 10 2012 023 124 A1 already executed. In instrument visualization of the magnetic properties of the material (magnetic susceptibility), the ground field perturbation is continuous and always the same, ie the size of the artifacts can not be controlled independently of the sequence, and the perturbation is also present at times in the sequence, including the spatial coding he follows. Artifact size depends on the basic field strength for all imaging techniques.

Druckschrift DE 10 2012 023 124 A1 löst das oben erwähnte Problem der Messzeitverlängerung durch Darstellung des Instruments im Phasenbild mit Überlagerung in das Magnituden- bzw. anatomische Bild. Die hier beschrieben Technik verzichtet auf die Phasenbildauswertung und erzeugt im Magnitudenbild einen diskreten Phasenkodierartefakt vom Instrumentenbereich, vorzugsweise im signalfreien Hintergrund. Die Messzeitverdoppelung entfällt hier ebenfalls. Der Vorteil gegenüber der in Druckschrift DE 10 2012 023 124 A1 beschriebenen Technik ist, dass die Anwendung auch in Gradientenechotechniken zuverlässig möglich ist.pamphlet DE 10 2012 023 124 A1 solves the above-mentioned problem of measuring time extension by displaying the instrument in the phase image with superimposition into the magnitude or anatomical image. The technique described here dispenses with the phase image evaluation and generates in the magnitude image a discrete phase coding artifact from the instrument area, preferably in the signal-free background. The measurement time doubling is also omitted here. The advantage over in printed matter DE 10 2012 023 124 A1 described technique is that the application is reliably possible even in gradient echo techniques.

Die Lösung erfolgt durch das Verfahren gemäß dem Patentanspruch 1 sowie durch die Vorrichtungen gemäß der Druckschrift DE 10 2012 023 124 A1 , je nach Anwendungsfall kombiniert mit der in 4 dargestellten elektrischen Schaltung.The solution is carried out by the method according to claim 1 and by the devices according to the document DE 10 2012 023 124 A1 , depending on the application combined with the in 4 illustrated electrical circuit.

Die Verzerrung des Grundfeldes bei magnetisch neutralem Instrumentenmaterial über elektrischen Strom ermöglicht die Steuerung der Artefaktgröße über die Stromstärke. Messungen bei verschiedenen Stromstärken verbessern die Bestimmung der realen Instrumentenposition im Artefakt; eine Bestromung nur in ausgewählten Phasenkodierzeilen, z. B. jede Zweite -vorzugsweise zu Zeiten in welchen keine Spinanregung und kein Auslesen des Signals erfolgt, um eine fehlerhafte Ortskodierung in der Nähe des Instruments zu vermeiden- erlaubt die Generierung definierter Artefakte vom Instrumentenbereich in Phasenkodierrichtung. Lage und Anzahl ist darüber bestimmt, welche Phasenkodierzeilen für die Bestromung ausgewählt wurden. Die Artefaktgröße ist unabhängig von der Grundfeldstärke des Tomographen.Distortion of the fundamental field of magnetically neutral instrument material via electrical current allows the artifact size to be controlled by current intensity. Measurements at different current intensities improve the determination of the real instrument position in the artifact; an energization only in selected phase coding lines, z. For example, every second-preferably at times when there is no spin excitation and no readout of the signal to avoid erroneous location coding near the instrument-allows the generation of defined artifacts from the instrument domain in the phase encode direction. Location and number determines which phase coding lines have been selected for the current supply. The artifact size is independent of the basic field strength of the scanner.

Das Prinzip arbeitet für alle Sequenzen mit kartesischer Datenaufnahme. Insbesondere sind moderne Techniken, die die Darstellung eines Teilbereichs im Körperinneren ermöglichen, für die Anwendung der Technik geeignet, da hier sehr einfach ein signalfreier Bereich für den Phasenkodierartefakt erzeugt werden kann.The principle works for all sequences with Cartesian data acquisition. In particular, modern techniques that allow the representation of a partial area in the interior of the body are suitable for the application of the technique, since it is very easy to generate a signal-free area for the phase-encoding artifact.

Ein Ausführungsbeispiel für die zeilenweise selektive Bestromung gemäß Patentanspruch 1 ist in 1 gezeigt. Der Strom ist nur außerhalb der Zeiten des Anregens und Auslesens geschaltet und zwar hier nur in jeder zweiten Phasenkodierzeile. Das anatomische Bild zeigt neben dem Instrumenten-Artefakt an der originalen Stelle auch einen um N/2 in Phasenkodierrichtung (N: Zeilenzahl) verschobenen Artefakt, der den Instrumentenartefakt eindeutig macht. Artefakte aufgrund permanenter Feldstörungen werden von keinem solchen Phasenkodierartefakt begleitet.An exemplary embodiment of the line by line selective energization according to claim 1 is in 1 shown. The current is switched only outside of the times of the excitation and read only here in every second phase coding line. In addition to the instrument artifact at the original location, the anatomical image also shows an artifact shifted by N / 2 in the phase encoding direction (N: number of rows), which makes the instrumental art unique. Artifacts due to permanent field disturbances are not accompanied by any such phase encoding artifact.

2 zeigt ein Ausführungsbeispiel für ein einfaches interventionelles Instrument, das einer Nadel wie sie z. B. für die Biopsienahme oder die lokale Gabe von Medikamenten verwendet wird. Die Nadel hat einen exzentrisch positionierten Innenleiter. Der Strom fließt z. B. auf diesem Innenleiter zur Spitze. Durch eine elektrische Verbindung an dieser Stelle kann der Strom über das äußere Rohr zurückfließen. Durch diese asymmetrische Anordnung des Hin- und Rückleiters ergibt sich an der Oberfläche das gewünschte Störmagnetfeld zur Visualisierung der Nadel bei ihrem Einsatz am Magnetresonanztomographen. Ein geeignetes Material mit gewebeähnlicher magnetischer Suszeptibilität, welches auch geeignete mechanische Eigenschaften besitzt, ist beispielsweise Messing. 2 shows an embodiment of a simple interventional instrument that a needle such as z. B. is used for biopsy or the local administration of drugs. The needle has an eccentrically positioned inner conductor. The current flows z. B. on this inner conductor to the top. By an electrical connection at this point, the flow can flow back through the outer tube. As a result of this asymmetrical arrangement of the forward and return conductors, the desired interference magnetic field for visualizing the needle when used on the magnetic resonance tomograph is obtained on the surface. A suitable material with tissue-like magnetic susceptibility, which also has suitable mechanical properties, is brass, for example.

3 zeigt als Ausführungsbeispiel die notwendige Anordnung für die sogenannte Radiofrequenzablation (RFA) von Tumoren. Hier ist denkbar die bereits für die Applikation der Radiofrequenz vorhanden Anschlüsse an der Ablationsnadel zu nutzen, um mit der beschriebenen Technik die Nadel zu positionieren bzw. die Nadelposition nach Ablationsabschnitten zu kontrollieren. Bei der RFA ist die beschriebene Bestromungstechnik von besonderem Vorteil. Ohne Strom kann die Anatomie trotz Gegenwart des Applikators ungestört abgebildet werden, bei MR-technischen Temperaturmessungen mittels der Protonenresonanzfrequenz(PRF)-Methode treten keine Störungen auf. Ein Zusatzmodul, das beispielsweise im RF-Generator mit eingebaut werden kann, ermöglicht die Regelung des Visualisierungsstromes und leistet die Verarbeitung der vom MR-Tomographen gelieferten Triggersignale wie sie in die Bildgebungssequenz mit einprogrammiert sind. Moderne Tomographen bieten solche sequenzgesteuerten Triggerausgänge bereits für andere Zwecke. 3 shows as an exemplary embodiment the necessary arrangement for the so-called radiofrequency ablation (RFA) of tumors. Here, it is conceivable to use the connections on the ablation needle already present for the application of the radio frequency in order to position the needle with the described technique or to control the needle position after ablation sections. In the case of the RFA, the described current-carrying technique is of particular advantage. Without electricity, the anatomy can be imaged undisturbed despite the presence of the applicator, with MR technical temperature measurements by means of the Proton Resonance Frequency (PRF) method, no disturbances occur. An additional module, which can be installed, for example, in the RF generator, allows the control of the visualization current and makes the processing of the MR-scanner supplied trigger signals as they are programmed into the imaging sequence. Modern tomographs already offer such sequence-controlled trigger outputs for other purposes.

4 zeigt ein Schaltbild, das die Bestromungssteuerung über einen Lichtleiter ermöglicht und die induktive aufladung eines Kondensators oder einer Batterie während der Applikation des RF-Feldes für die Spinanregung nutzt. Auf diese Weise werden gefährliche RF-Einkopplungen in lange galvanische Zuleitungen und damit potenziell verbundene Gewebeerhitzungen vermieden. 4 shows a circuit diagram that allows the Bestromungssteuerung via a light guide and uses the inductive charging of a capacitor or a battery during the application of the RF field for the spin excitation. This avoids dangerous RF coupling into long galvanic leads and potentially associated tissue heating.

ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

  • DE 69634035 T2 [0003] DE 69634035 T2 [0003]
  • US 5951472 A [0003] US 5951472 A [0003]
  • DE 19958408 A1 [0003] DE 19958408 A1 [0003]
  • DE 102012023124 A1 [0004, 0005, 0005, 0006] DE 102012023124 A1 [0004, 0005, 0005, 0006]

Zitierte Nicht-PatentliteraturCited non-patent literature

  • „IEEE TRANSACTIONS ON MEDICAL IMAGING”, Bd. 19, Nr. 12, Dez. 2000, S. 1248–1252 [0002] "IEEE TRANSACTIONS ON MEDICAL IMAGING", Vol. 19, No. 12, Dec. 2000, pp. 1248-1252 [0002]

Claims (2)

Verfahren zur Visualisierung eines oder mehrerer interventioneller Instrumente in der Magnetresonanzbildgebung über bildgebungssequenz-getriggerte zeitweise Instrumenten-Bestromung durch Visualisierungsstrom zur Erzeugung eines gewünschten Störmagnetfeldes zur Störung des magnetischen Grundfeldes des Magnetresonanztomographen, der auf vordefinierten Leiterstrukturen mittels Regelung eines anpassbaren Gleichstroms oder Gleichstromanteils des oder der mehreren Instrumente fließt mit Auswertung der Magnitudenbilder, dadurch gekennzeichnet, dass der Visualisierungsstrom für ein oder mehrere dieser Instrumente unabhängig von der gewählten Bildgebungstechnik der Magnetresonanz nur für spezielle k-Raumzeilen geschaltet wird (z. B. jede zweite), so dass ein diskreter Artefakt in Phasenkodierrichtung zum beeinflussten Bereich um das Instrument entsteht. Die Rückrechnung dieses Artefakts in den Bereich des anatomischen Bildes ermöglicht eine präzise Instrumentenlokalisation ohne zusätzliche Messzeit.A method of visualizing one or more interventional instruments in magnetic resonance imaging via imaging sequence triggered temporal instrument energization by visualization current to produce a desired perturbing magnetic field perturbing the magnetic field of the magnetic resonance tomograph based on predefined conductor structures by controlling an adjustable DC or DC component of the one or more instruments flows with evaluation of the magnitude images, characterized in that the visualization current for one or more of these instruments is switched independently of the selected imaging technique of magnetic resonance only for special k-space lines (eg every other), so that a discrete artifact in the phase encoding direction influenced area around the instrument arises. Recalculating this artifact into the anatomical image area allows for precise instrument localization without additional measurement time. Vorrichtung zur Erzeugung der für das Verfahren in Anspruch 1 erforderlichen Strompulse aus den Radiofrequenzpulsen des Magnetresonanztomographen (vgl. Prinzipschaltbild in 4).Device for generating the current pulses required for the method in claim 1 from the radio-frequency pulses of the magnetic resonance tomograph (see block diagram in FIG 4 ).
DE102015012201.0A 2015-09-18 2015-09-18 Method and device for visualizing interventional instruments in magnetic resonance imaging (MRI) via discrete phase coding artifacts generated by means of sequence-triggered energization Withdrawn DE102015012201A1 (en)

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WO2021154186A1 (en) * 2020-01-28 2021-08-05 Bogazici Universitesi A system which facilitates determination of the position of a biopsy needle under magnetic resonance imaging

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