System and Method For Real-Time Interventional Device Localization Using Magnetic Resonance Imaging

Patent metadata

Field	Value
Publication number	US-2016349335-A1
Application number	US-201514725847-A
Country	US
Kind code	A1
Filing date	May 29, 2015
Priority date	May 29, 2015
Publication date	Dec 1, 2016
Grant date	—

Abstract

A system and methods are provided for controlling interventional devices using magnetic resonance imaging (“MRI”) guidance. In some aspects, the method includes arranging a pivoting guide about a subject's anatomy that is configured to direct an interventional device toward a selected target point within the subject's anatomy, generating, using an MRI system, MR data associated with markers placed on the pivoting guide, and determining a vector defining an orientation of the pivoting guide from locations for the markers identified using the MR data. The method also includes orienting the pivoting guide in multiple directions to determine multiple vectors, and identifying a pivot point for the pivoting guide using the determined vectors. The method further includes determining a trajectory for the interventional device using the identified pivot point and the selected target point, and controlling the interventional device along the determined trajectory.

First claim

1 . A method for controlling an interventional device using magnetic resonance imaging (“MRI”) guidance, the method comprising:
a) arranging a pivoting guide about a subject's anatomy, the pivoting guide configured to direct an interventional device toward a selected target point within the subject's anatomy;
b) generating, using an MRI system, magnetic resonance (“MR”) data associated with at least a first marker placed on the pivoting guide, and a second marker, longitudinally displaced from the first marker along the pivoting guide;
c) determining a vector defining an orientation of the pivoting guide from locations for the first marker and second marker identified using the MR data;
d) orienting the pivoting guide in multiple directions and repeating steps b) and c) for each direction to determine multiple vectors;
e) computing a pivot point for the pivoting guide using the vectors determined at step d);
f) determining a trajectory for the interventional device using the identified pivot point and the selected target point; and
g) controlling the interventional device along the determined trajectory.

2 . The method of claim 1 , wherein step b) includes directing the MRI system to acquire two-dimensional image data.

3 . The method of claim 2 , wherein acquisition of the two-dimensional image data includes performing a radial projection sampling sequence.

4 . The method of claim 1 , wherein the method further comprises analyzing the MR data associated with at least one of the first marker and the second marker to determine marker information that includes at least one of a location, a shape, a dimension, an orientation, or combinations thereof.

5 . The method of claim 4 , wherein the method further comprises using the marker information to verify a model of the pivoting guide.

6 . The method of claim 1 wherein the method further comprises orienting the pivoting guide or another device guide along a direction substantially collinear with the determined trajectory.

7 . The method of claim 1 , wherein the method further comprises providing in substantially real-time a report indicative of a current position for the pivoting guide or another device guide in a field of view in relation to a target position.

8 . A method for controlling an interventional device using magnetic resonance imaging (“MRI”) guidance, the method comprising:
a) generating, using an MRI system, magnetic resonance (“MW”) data of an interventional device arranged about a subject's anatomy and having a first marker and a second marker placed on the interventional device, wherein the first marker and the second marker are separated in at least one axial direction of the interventional device;
b) determining locations for the first marker and the second marker relative to the subject's anatomy using the MR data;
c) computing a vector using the determined locations;
d) determining at least one of a location or an orientation for the interventional device relative to the subject's anatomy using the computed vector;
e) projecting a future arrangement of the interventional device within the subject's anatomy using the determined location or orientation; and
f) generating a report indicating the future arrangement of the interventional device relative to the location or orientation.

9 . The method of claim 8 , wherein step a) includes acquiring two-dimensional image data using the MRI system.

10 . The method of claim 9 , wherein acquisition of the two-dimensional image data includes performing a radial projection sampling sequence.

11 . The method of claim 8 , wherein the method further comprises analyzing the MR data associated with at least one of the first marker and the second marker to determine marker information that includes at least one of a location, a shape, a dimension, an orientation, or combinations thereof.

12 . The method of claim 11 , wherein the method further comprises using the marker information to verify a model of the interventional device.

13 . The method of claim 8 , wherein the method further comprises repeating steps a) through d) and generating a report indicative of the determined location or orientation of the interventional device in substantially real-time.

14 . A system for controlling an interventional device using magnetic resonance imaging (“MRI”) guidance, the system comprising:
an MRI system configured to image at least a portion of an interventional device comprising a pivoting guide; and
a processor programmed to:
i) direct the MRI system to acquire data indicative of a first marker placed on the pivoting guide, and a second marker, longitudinally displaced from the first marker along the pivoting guide;
ii) determine a vector defining an orientation of the pivoting guide from locations for the first marker and second marker identified using the data;
iii) repeat steps i) and ii) for each one of a number of orientations for the pivoting guide to determine multiple vectors;
iv) compute a pivot point for the pivoting guide using an intersection of the vectors determined at step iii);
v) determine a trajectory for orienting the interventional device using the identified pivot point and a selected target point within a subject's anatomy;
vi) generate a report indicative of the determined trajectory.

15 . The system of claim 14 , wherein the pivoting guide or another device guide is configured to direct the interventional device toward the selected target point within a subject's anatomy;

16 . The system of claim 14 , wherein the pivoting guide or another device guide is configured to receive the interventional device therethrough.

17 . The system of claim 14 , further comprising a device controller in communication with the processor that is configured to control the orientations for the pivoting guide.

18 . The system of claim 14 , wherein the processor is further configured to direct the MRI system to acquire two-dimensional image data.

19 . The system of claim 18 , wherein acquisition of the two-dimensional image data includes performing a radial projection sampling sequence.

20 . The system of claim 14 , wherein the processor is further configured to analyze the data associated with at least one of the first marker and the second marker to determine marker information that includes at least one of a location, a shape, a dimension, an orientation, or combinations thereof.

21 . The system of claim 20 , wherein the processor is further configured to use the marker information to verify a model of the interventional device.

22 . The system of claim 14 , wherein the report includes a current position for the pivoting guide or the interventional device in an imaging plane in relation to a target position.

23 . The system of claim 14 , wherein the processor is further configured to control a position of the interventional device in accordance with the determined trajectory.

Assignees

• Wisconsin Alumni Res Found

Inventors

• Olsen Miles E
• Brodsky Ethan K
• Block Walter F

Classifications

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• G01R33/286 Primary

  involving passive visualization of interventional instruments, i.e. making the instrument visible as part of the normal MR process · CPC title

• A61B2090/3954

  magnetic, e.g. NMR or MRI · CPC title

• A61B90/11

  with guides for needles or instruments, e.g. arcuate slides or ball joints · CPC title

• A61B17/3403

  Needle locating or guiding means · CPC title