Target location by tracking of imaging device

Patent metadata

Field	Value
Publication number	US-9289268-B2
Application number	US-201113271007-A
Country	US
Kind code	B2
Filing date	Oct 11, 2011
Priority date	Jun 19, 2007
Publication date	Mar 22, 2016
Grant date	Mar 22, 2016

Abstract

A method and apparatus for tracking a target by tracking the location of an imaging device while the imaging device is tracking the target is described.

First claim

What is claimed is:

1. A method, comprising:
tracking a location of a target using a first imaging device, wherein the target is an anatomical structure in a body and the first imaging device is external to the body;
determining that the target is not in an imaging field of the first imaging device or is near a boundary of the imaging field;
automatically adjusting a location of the first imaging device to cause the target to be in the imaging field responsive to determining that the target is not in the imaging field or is near the boundary of the imaging field;
tracking the location of the first imaging device using a second imaging device, wherein the first imaging device is in a tracking field of the second imaging device while the location of the target is tracked using the first imaging device and while the location of the first imaging device is tracked using the second imaging device; and
determining the location of the target relative to a global reference point based on the location of the target from the first imaging device, the location of the first imaging device from the second imaging device, and a location of the second imaging device, wherein determining the location of the target relative to the global reference point comprises determining a first positional offset between the target and the first imaging device, determining a second positional offset between the first imaging device and the second imaging device, determining a third positional offset between the second imaging device and the global reference point, and combining the first positional offset, the second positional offset and the third positional offset.

2. The method of claim 1 , wherein the first imaging device is an ultrasound imager.

3. The method of claim 2 , wherein the ultrasound imager comprises:
an ultrasonic transducer;
an extension link coupled with the ultrasonic transducer; and
an external unit coupled with the extension link, wherein the ultrasonic transducer is moveable independently from the external unit.

4. The method of claim 1 , wherein the second imaging device comprises an optical system.

5. The method of claim 1 , wherein the second imaging device is an X-ray imager.

6. The method of claim 1 , wherein the first imaging device is mounted on a robotic arm capable of motion with at least five degrees of freedom.

7. The method of claim 6 , wherein tracking the location of the first imaging device comprises receiving positional information from the robotic arm.

8. The method of claim 1 , wherein the first imaging device is coupled with a treatment couch.

9. The method of claim 8 , further comprising applying the first imaging device against a skin surface of a patient using a belt coupled with the first imaging device.

10. The method of claim 1 , wherein the location of the target relative to the global reference comprises a global target offset and wherein the method further comprises maintaining an intersection of a beam with the target using the global target offset.

11. The method of claim 10 , wherein maintaining the intersection of the beam with the target using the global target offset comprises adjusting at least one of a first robotic arm coupled to a LINAC generating the beam and a second robotic arm coupled to a treatment couch to support a patient having the target.

12. The method of claim 1 , wherein the second imaging device is a movable imaging device coupled to a track.

13. An apparatus, comprising:
an automated positioning device;
an imaging device, coupled to the automated positioning device, to track a location of a target relative to the imaging device based on determination of a first positional offset between the target and the imaging device, wherein the target is an anatomical structure in a body and the imaging device is external to the body;
a tracking device to track a location of the imaging device relative to a global reference point based on determination of a second positional offset between the tracking device and the global reference point, wherein the imaging device is to be positioned in a tracking field of the tracking device while the location of the target is tracked by the imaging device and while the location of the imaging device is tracked by the tracking device; and
a processor coupled with the imaging device and the tracking device, wherein the processor is to:
make a determination that the target is not in an imaging field of the imaging device or is near a boundary of the imaging field;
automatically adjust a position of the automated positioning device to cause the target to be in the imaging field of the imaging device responsive to the determination that the target is not in the imaging field or is near the boundary of the imaging field; and
determine the location of the target relative to the global reference point based a combination of the first positional offset and the second positional offset.

14. The apparatus of claim 13 , wherein the location of the imaging device is tracked using a tracking device that comprises an optical system.

15. The apparatus of claim 13 , wherein the imaging device comprises an ultrasound imager.

16. The apparatus of claim 15 , wherein the ultrasound imager comprises:
an ultrasonic transducer;
an extension link coupled with the ultrasonic transducer; and
an external unit coupled with the extension link, wherein the ultrasonic transducer is moveable independently from the external unit.

17. The apparatus of claim 13 , wherein the tracking device is an X-ray imager.

18. The apparatus of claim 13 , wherein the automated positioning device is a robotic arm capable of movement in at least five degrees of freedom.

19. The apparatus of claim 13 , wherein the tracking device tracks the location of the imaging device by determining the position of the automated positioning device.

20. The apparatus of claim 13 , wherein the automated positioning device comprises a belt coupled with a treatment couch, wherein the belt is configured to hold the imaging device against a skin surface of a patient.

21. The apparatus of claim 20 , wherein the belt comprises a gel container configured to apply gel between the imaging device and the skin surface of the patient.

22. The apparatus of claim 13 , wherein the location of the target relative to the global reference comprises a global target offset and wherein the apparatus further comprises a linear accelerator (LINAC) coupled to a robotic arm, wherein the processor is coupled to the robotic arm to adjust a position of the LINAC to maintain intersection of a LINAC beam with the target.

23. The apparatus of claim 13 , wherein the location of the target relative to the global reference comprises a global target offset and wherein the apparatus further comprises:
a LINAC to generate a beam; and
a treatment couch coupled to a robotic arm, and wherein the processor is operatively coupled to the robotic arm to adjust a position of the treatment couch to maintain intersection of the LINAC beam with the target.

24. The apparatus of claim 13 , wherein the tracking device is a movable tracking device coupled to a track.

25. An apparatus, comprising:
an automated positioning device;
an ultrasonic imager coupled to the automated positioning device, wherein the automated positioning device is to automatically adjust a location of the ultrasonic imager in accordance with a stored imaging device nod

Assignees

• Ramraj Sankaralingam
• Sayeh Sohail
• Maurer Jr Calvin R
• Accuray Inc

Inventors

• Ramraj Sankaralingam
• Sayeh Sohail
• Maurer Jr Calvin R

Classifications

• A61N5/1067

  in real time, i.e. during treatment · CPC title

• A61B6/547

  involving tracking of position of the device or parts of the device · CPC title

• A61N5/1049

  for verifying the position of the patient with respect to the radiation beam · CPC title

• G06T7/20

  Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) · CPC title

• A61N2005/1051

  using an active marker · CPC title