EP2917750A1 - Dispositif et procédé d'étalonnage de systèmes de poursuite dans des systèmes d'imagerie - Google Patents

Dispositif et procédé d'étalonnage de systèmes de poursuite dans des systèmes d'imagerie

Info

Publication number
EP2917750A1
EP2917750A1 EP13801479.0A EP13801479A EP2917750A1 EP 2917750 A1 EP2917750 A1 EP 2917750A1 EP 13801479 A EP13801479 A EP 13801479A EP 2917750 A1 EP2917750 A1 EP 2917750A1
Authority
EP
European Patent Office
Prior art keywords
imaging
marker
tracking
tracking system
systems
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13801479.0A
Other languages
German (de)
English (en)
Inventor
Oliver Speck
Ilia Kadachevitch
Thomas Ernst
Maxim Zaitsev
Crispin Lovell-Smith
Julian Maclaren
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Albert Ludwigs Universitaet Freiburg
Original Assignee
Albert Ludwigs Universitaet Freiburg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Albert Ludwigs Universitaet Freiburg filed Critical Albert Ludwigs Universitaet Freiburg
Publication of EP2917750A1 publication Critical patent/EP2917750A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G01R33/44—Arrangements or instruments for measuring magnetic variables involving magnetic resonance using nuclear magnetic resonance [NMR]
    • G01R33/48—NMR imaging systems
    • G01R33/54—Signal processing systems, e.g. using pulse sequences ; Generation or control of pulse sequences; Operator console
    • G01R33/56—Image enhancement or correction, e.g. subtraction or averaging techniques, e.g. improvement of signal-to-noise ratio and resolution
    • G01R33/567—Image enhancement or correction, e.g. subtraction or averaging techniques, e.g. improvement of signal-to-noise ratio and resolution gated by physiological signals, i.e. synchronization of acquired MR data with periodical motion of an object of interest, e.g. monitoring or triggering system for cardiac or respiratory gating
    • G01R33/5673—Gating or triggering based on a physiological signal other than an MR signal, e.g. ECG gating or motion monitoring using optical systems for monitoring the motion of a fiducial marker
    • 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
    • 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
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/582—Calibration
    • 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
    • G01R33/44—Arrangements or instruments for measuring magnetic variables involving magnetic resonance using nuclear magnetic resonance [NMR]
    • G01R33/48—NMR imaging systems
    • G01R33/54—Signal processing systems, e.g. using pulse sequences ; Generation or control of pulse sequences; Operator console
    • G01R33/56—Image enhancement or correction, e.g. subtraction or averaging techniques, e.g. improvement of signal-to-noise ratio and resolution
    • G01R33/565—Correction of image distortions, e.g. due to magnetic field inhomogeneities
    • G01R33/56509—Correction of image distortions, e.g. due to magnetic field inhomogeneities due to motion, displacement or flow, e.g. gradient moment nulling
    • 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
    • G01R33/44—Arrangements or instruments for measuring magnetic variables involving magnetic resonance using nuclear magnetic resonance [NMR]
    • G01R33/48—NMR imaging systems
    • G01R33/58—Calibration of imaging systems, e.g. using test probes, Phantoms; Calibration objects or fiducial markers such as active or passive RF coils surrounding an MR active material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
    • G01T1/16—Measuring radiation intensity
    • G01T1/161—Applications in the field of nuclear medicine, e.g. in vivo counting
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C2270/00—Control; Monitoring or safety arrangements
    • F04C2270/04—Force
    • F04C2270/041—Controlled or regulated

Definitions

  • the invention relates to an apparatus and a method for calibrating the coordinate systems of imaging systems with a tracking system before or during image data acquisition, e.g. by means of magnetic resonance tomography.
  • Modern methods of medical or biomedical imaging allow detailed imaging of living organisms. Such methods include, but are not limited to, magnetic resonance imaging (MRI), computed tomography CT, and nuclear medical imaging, such as positron emission tomography (PET), single-photon-transmitted computed tomography (SPECT), or intensity modulated radiation therapy (IMRT).
  • MRI magnetic resonance imaging
  • CT computed tomography
  • nuclear medical imaging such as positron emission tomography (PET), single-photon-transmitted computed tomography (SPECT), or intensity modulated radiation therapy (IMRT).
  • PET positron emission tomography
  • SPECT single-photon-transmitted computed tomography
  • IMRT intensity modulated radiation therapy
  • Methods to reduce or eliminate these aberrations by object motion are e.g. the prospective or retrospective motion correction, in which the movement of the measurement object is compensated either during recording by suitable tracking of the measurement field or during image reconstruction and thus even when moving during the measurement images without corresponding aberrations arise, as in the literature 1 -1 1 described.
  • the movement information can be measured either by means of the imaging modality itself, often referred to as "navigators" for example, but this usually entails an extension or disturbance of the measurement.
  • the movement information can be detected optically by a position measuring system or tracking system, for example, and thus the imaging method itself can be carried out without interference.
  • a necessary step is the calibration of the coordinate systems between the imaging system and the position measuring system, including tracers.
  • the spatial transformation transformation and rotation, with a total of six degrees of freedom
  • the two modalities must be exactly determined, as described in the references 5 and 12.
  • an apparatus and method for detecting drift in calibrated medical tracking systems is known in order to locate features related to one or more coordinate systems within a reference coordinate system.
  • a calibrated tracking system is used on which a motion sensor is mounted in order to detect movements of the tracking system. If such movement is detected, a re-calibration of the tracking system is performed.
  • the measurements must be made in multiple positions with high measurement accuracy, i. with regard to the spatial resolution of the imaging modality, and therefore require long measurement times.
  • the calibration can be very time consuming and last up to several hours.
  • the object of the present invention is to achieve a fast and precise calibration of the coordinate systems of imaging stars and tracking systems, without the necessity of measuring an object detectable by both systems in one or more positions.
  • Another concern of the present invention is to avoid the generation of unusable images by object movement during imaging.
  • a device for calibrating tracking systems in imaging systems, for example for MRT or IMRT or CT, at least comprising: a tracking system with a coordinate system,
  • At least one imaging system and
  • At least one first marker which is arranged as a reference marker stationary relative to the imaging system and whose position and orientation are calibrated in a coordinate system of the imaging system.
  • the device comprises at least one tracking system which records the position of one or more markers, characterized by six degrees of freedom for rotation and translation, once or repeatedly.
  • the location of the reference marker relative to the imaging instrument is known by pre-calibration.
  • the tracking system can be recalibrated using the solid marker according to the invention within seconds.
  • an absolute calibration can always be made with the aid of the first marker, which serves as an external marker or reference marker, in order to calibrate the tracking system, wherein the tracking system does not calibrate to the first coordinate system is.
  • the tracking system can be calibrated by the calibrated marker with a position recording in less than 1 sec.
  • An embodiment of the invention provides that the first marker cooperates with the tracking system such that a changing position of the tracking system can be detected during imaging via the tracking system by means of the first marker and the tracking system can be recalibrated.
  • the tracking system can be arranged outside or in particular also within the imaging system. This can be permanent or temporary, i. so also be arranged removable. In this case, therefore, the need for repeated calibration or re-calibration would be required.
  • the tracking system can be arranged according to a further embodiment of the invention outside of the imaging system.
  • At least one of these first markers is a permanently stationary reference point which is mounted and arranged within the imaging system.
  • One or more of these first markers may also be located outside of one or more imaging systems.
  • the first marker may be located outside the imaging system.
  • Stationary with respect to the marker refers to the location immutability of the marker relative to the imaging system. This marker is calibrated by a single exact determination of its position and orientation in the coordinate system of the imaging modality, via a so-called cross-calibration,
  • Additional markers can be mounted on moving objects within the imaging system.
  • a development of the invention provides that at least one second marker is provided for placement on a movable object, such that the position and orientation of the marker in the coordinate system of the tracking system can be detected during the imaging and can be transferred to the coordinate system of the imaging system are.
  • the orientation and position of the image recording can be tracked continuously or at regular intervals during imaging, so that the imaging volume remains stationary relative to the moving measurement object.
  • aberrations are reduced by object movement or avoided.
  • An advantageous embodiment of the invention provides that a plurality of markers are each arranged in imaging systems such that their position and orientation are calibrated in the coordinate system of the respective imaging system, wherein the position and orientation of the marker disposed on the mobile object from the coordinate system of the imaging system by measuring the position and orientation by means of the tracking system in the coordinate systems of the imaging systems are transferable.
  • picking positions can be automatically transferred from one imaging modality to another without the need for orientation picking.
  • This allows image capturing, e.g. of patients or experimental animals, in exactly the same position and position
  • the coordinates of a pixel, for example, which was detected in an imaging modality, such as the position of a tumor or another lesion can be transmitted to therapy systems, eg, an irradiation apparatus. So far, this external fixations are often used, which force the patient in a predetermined position.
  • this recording of multiple imaging modalities can be made to cover to present the results simultaneously and spatially correctly superimposed.
  • this can be used to combine the different information from different imaging systems for diagnosis, and, on the other hand, the information of one imaging modality can be used to perform interventions during the imaging on another modality.
  • target areas for intervention from a purely diagnostic imaging modality eg tumors measured by MRI, could be transferred to an interventional imaging modality such as intraoperative x-ray or angiography to aid the procedure.
  • the dynamic position of these objects is detected by the tracking system in its internal coordinate system and can e.g. the correction of object movements during image acquisition serve.
  • a fast calibration of the tracking system is possible by a single measurement of the position of the stationary marker with the tracking system. From the coordinates of the marker in the coordinates of the tracking system and the knowledge of the position of the fixed marker in the coordinates of the imaging system, the position of the tracking system in the coordinates of the imaging system can be determined. Since the position measuring system is usually much faster and more accurate than the imaging modality or even the imaging system, this makes a highly precise and even with several measurements extremely fast re-calibration possible.
  • a method for calibrating tracking systems in imaging systems at least comprises the following steps:
  • Provision of at least one first marker which is arranged as a reference marker stationary relative to the imaging system and whose position and orientation has been calibrated in a coordinate system of the imaging system.
  • a further development of the method provides that the marker interacts with the tracking system in such a way that a changing position of the tracking system is detected by the first marker during imaging via the tracking system and the tracking system is recalibrated.
  • the calibration can be carried out as a one-time calibration in the form of a cross calibration of the coordinate system with the coordinates c 0 , C, where c 0 is the translation quaternion and C is the rotation quaternion of the tracking system, the position and orientation r 0 , R of the first marker is stored in the coordinate system of the tracking system and the current position and orientation x 0 , X of the reference point is used in the coordinate system of the tracking system for the calibration, to calculate the current cross-calibration so, S as follows:
  • the stationary reference point is also used during the measurement by means of the imaging modality during which the variable position of a further marker on the imaging object is detected in order to dynamically monitor or correct the calibration.
  • the stationary reference point is also used during the measurement by means of the imaging modality during which the variable position of a further marker on the imaging object is detected in order to dynamically monitor or correct the calibration.
  • this "drift correction" is carried out by fixing the reference marker at a stationary point (mechanically) independently of the imaging modality.This enables the smallest movements of the imaging system itself to be detected and compensated Such movements, such as vibrations, can For example, in magnetic resonance tomographs in measurements with very strong gradient circuits arise, for example in diffusion measurements. The dynamic re-calibration is analogous to the previous variants.
  • this dynamic correction takes place by the reference marker is attached to the imaging modality and the tracking system (mechanical It can also be used to detect any mechanical movement of the
  • a plurality of such stationary markers are mounted in different imaging modalities and precisely measured once, i. calibrated relative to the coordinate system of the imaging modality. Accordingly, in this embodiment of the invention, a plurality of markers are respectively arranged in imaging systems such that their position and orientation have been calibrated in the coordinate system of the respective imaging system, wherein the position and orientation of the marker located on the moving object from the coordinate system of the imaging system into the coordinate systems of Imaging systems are converted.
  • a development of the method provides that at least one second marker is arranged on a movable object, such that the position and orientation of the marker in the coordinate system of the tracking system is detected during the imaging and converted into the coordinate system of the imaging system.
  • the orientation and position of the image acquisition can be tracked continuously or at regular intervals during imaging, so that that the imaging volume remains stationary relative to the moving measurement object.
  • aberrations are reduced by object movement or avoided.
  • FIG. 1 shows schematically an arrangement of a device 1 for calibrating a tracking system in an imaging system
  • Figures 2a, 2b and 2c schematically show an arrangement of several imaging systems with associated coordinate systems.
  • the schematically represented device 1 comprises a tracking system 10, which is arranged in an imaging system 20, for example for MRT.
  • the tracking system 10 has a coordinate system 50.
  • the device has a first marker 70, which is stationary as a reference marker relative to the imaging system 20 ordered and whose position and orientation are calibrated in a coordinate system 60 of the imaging system 20.
  • the tracking system 10 and the first marker 70 are arranged within the imaging system 20.
  • a second marker 30 is provided on a movable object 40 such that the position and orientation of the marker 30 in the coordinate system 50 of the tracking system 10 can be detected during imaging and transmitted to the coordinate system 60 of the imaging system 20.
  • the device 1 for calibrating tracking systems 10 in imaging systems 20a, 20b, 20c for example for MRT or IMRT or CT, may comprise at least the following components: a tracking system 10 having a coordinate system 50,
  • At least one first marker 70a, 70b, 70c which is arranged as a reference marker stationary relative to the imaging system 20a, 20b, 20c and whose position and orientation are calibrated in a coordinate system 60a, 60b, 60c of the imaging system 20a, 20b, 20c,
  • FIGS. 2a, 2b and 2c show schematically an arrangement of several Biid proceedingsssystemeen with associated coordinate systems analogous to Figure 1, wherein in Figures 2a, 2b and 2c the same object 40, each with a first marker 70a, 70b and 70c in different imaging or therapy Modalities 20a, 20b and 20c is examined.
  • a plurality of markers 70a, 70b and 70c are respectively provided in imaging systems 20a, e.g. for MRI, 20b e.g. for CT and 20c e.g. for IMRT but also PET, so that their position and orientation in the coordinate systems 60a, 60b and 60c of the respective Biid suitsssystems 20a, 20b and 20c has been calibrated, the position and orientation of the object marker 30 from the coordinate system 60a of the Biid practicesssystems 20a in the Coordinate systems 60b and / or 60c of the imaging systems 20b and / or 20c can be transmitted.
  • the second marker 30 is mounted on the moving object 40 in such a way that the position and orientation of the marker 30 in the coordinate system 50 of the tracking system 10 during imaging is detected and incorporated into the coordinate system 60a, 60b, 60c of the imaging system 20a. 20b, 20c can be transferred or converted.
  • the first marker 70a, 70b, 70c interacts with the tracking system 10 such that a changing position of the tracking system 10 during imaging via the tracking system 0 can be detected by means of the first marker 70a, 70b, 70c and the tracking system 10 can be recalibrated.
  • the tracking system 10 can in this case be arranged inside or outside the imaging system 20a, 20b, 20c.
  • the first marker 70a, 70b, 70c may be disposed inside or outside of the imaging system 20a, 20b, 20c.
  • a plurality of markers 70a, 70b, 70c are respectively arranged in imaging systems 20a, 20b or 20c such that their position and orientation in the coordinate system 60a, 60b, 60c of the respective imaging system 20a, 20b, 20c
  • the position and orientation of the marker 30 disposed on the movable object 40 can be converted from the coordinate system 60a of the imaging system 20a to the coordinate systems 60b, 60c of the imaging systems 20b, 20c.
  • the imaging modality is inherently different, e.g. MRI, CT,
  • the tracking system can also each be a different or the same and be arranged mobile or stationary within or outside of the imaging system.

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • High Energy & Nuclear Physics (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Biophysics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Signal Processing (AREA)
  • Physiology (AREA)
  • Cardiology (AREA)
  • Power Engineering (AREA)
  • Pulmonology (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

La présente invention concerne un dispositif et un procédé d'étalonnage des systèmes de coordonnées de systèmes d'imagerie à l'aide d'un système de poursuite avant ou pendant l'enregistrement de données image, p.ex. par imagerie par résonance magnétique nucléaire.
EP13801479.0A 2012-11-06 2013-11-06 Dispositif et procédé d'étalonnage de systèmes de poursuite dans des systèmes d'imagerie Withdrawn EP2917750A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012021623.8A DE102012021623B4 (de) 2012-11-06 2012-11-06 Vorrichtung und Verfahren zur Kalibrierung von Trackingsystemen in Bildgebungssystemen
PCT/EP2013/073169 WO2014072343A1 (fr) 2012-11-06 2013-11-06 Dispositif et procédé d'étalonnage de systèmes de poursuite dans des systèmes d'imagerie

Publications (1)

Publication Number Publication Date
EP2917750A1 true EP2917750A1 (fr) 2015-09-16

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Application Number Title Priority Date Filing Date
EP13801479.0A Withdrawn EP2917750A1 (fr) 2012-11-06 2013-11-06 Dispositif et procédé d'étalonnage de systèmes de poursuite dans des systèmes d'imagerie

Country Status (4)

Country Link
US (1) US9746540B2 (fr)
EP (1) EP2917750A1 (fr)
DE (1) DE102012021623B4 (fr)
WO (1) WO2014072343A1 (fr)

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US20150331078A1 (en) 2015-11-19
US9746540B2 (en) 2017-08-29
DE102012021623A1 (de) 2014-05-08
WO2014072343A1 (fr) 2014-05-15
DE102012021623B4 (de) 2021-03-04

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