Motion tracking during non-invasive therapy
During a focused-ultrasound or other non-invasive treatment procedure, the motion of the treatment target or other object(s) of interest can be tracked in real time based on (i) the comparison of treatment images against a reference library of images that have been acquired prior to treatment for the anticipated range of motion and have been processed to identify the location of the target or other object(s) therein and (ii) complementary information associated with the stage of the target motion during treatment.
1. A method for tracking at least one moving anatomical object during a treatment sequence, the method comprising:
(a) prior to the treatment sequence, (i) acquiring a series of reference images of an anatomical region comprising the anatomical object during motion thereof, each reference image corresponding to a different stage of the motion, and (ii) processing the images to determine, for each image, a location associated with the object; and
(b) during the treatment sequence, (i) acquiring treatment images of the anatomical region, the treatment images containing less information than the reference images, (ii) acquiring complementary information indicative of the stage of the motion during acquisition of the treatment images, (iii) correlating at least one of the treatment images to a corresponding reference image based on similarity therebetween and the complementary information, and (iv) tracking the object in the at least one treatment image based at least in part on the location associated with the object in the corresponding reference image; wherein the reference images and treatment images are MRI images.
2. The method of claim 1 , wherein the complementary information comprises at least one of a stage of the motion, motion-sensor data, or information associated with preceding images.
3. The method of claim 2 , wherein the information associated with preceding treatment images is metadata specifying when during a respiratory cycle the images were obtained.
4. The method of claim 1 , wherein the images are MRI images, and a sequence for acquiring k-space data associated with the treatment images is determined based on types of information encoded in each k-space location.
5. The method of claim 4 , wherein the k-space data associated with the treatment images is acquired in a high-frequency region and a low-frequency region alternately.
6. The method of claim 1 , wherein the treatment sequence comprises treatment of the anatomical object.
7. The method of claim 1 , wherein the treatment sequence comprises steering a focused ultrasound beam onto the object based on the tracking.
8. The method of claim 1 , wherein the treatment sequence comprises treatment of a target other than the anatomical object.
9. The method of claim 8 , further comprising, during the treatment, shaping a focused ultrasound beam onto the target so as to avoid the anatomical object based on the tracking.
10. The method of claim 1 , wherein the at least one anatomical object comprises a treatment target and a non-treatment target.
11. The method of claim 1 , wherein the treatment sequence is part of a treatment procedure comprising a plurality of time-separated treatment sequences each comprising at least one exposure of an anatomical target to therapeutic energy, wherein at least one of the acquired reference images used during a treatment sequence is a treatment image obtained during a previous treatment sequence.
12. The method of claim 11 , wherein each exposure is subjection of the anatomical target to acoustic energy.
13. The method of claim 1 , further comprising monitoring a temperature in the anatomical region by performing baseline subtraction between the treatment images and the corresponding reference images.
14. The method of claim 1 , wherein processing the reference images comprises identifying at least one anatomical landmark in each of the reference images, the location associated with the object being a location of the at least one anatomical landmark, the location of the at least one anatomical landmark being known relative to a location of the object.
15. The method of claim 14 , wherein tracking the target comprises inferring the location of the target from the location of the anatomical landmark in the corresponding reference image.
16. The method of claim 1 wherein the location associated with the object is a location of the object.
17. The method of claim 16 , wherein similarity is determined based on raw image data.
18. The method of claim 1 , wherein the series comprises at least one image.
19. The method of claim 18 , wherein the series comprises a plurality of images.
20. The method of claim 1 , further comprising, during the treatment sequence, adding a treatment image to the series of reference images.
21. The method of claim 1 , further comprising comparing motion of the tracked object against the series of reference images and, based thereon, smoothing the tracked motion.
22. The method of claim 1 , further comprising comparing motion of the tracked object against the series of reference images and, based thereon, detecting a tracking error.
23. The method of claim 1 , wherein each reference image comprises a plurality of regions, the method further comprising, prior to the treatment sequence, processing the reference images to determine, for each region, a location associated with the object.
24. The method of claim 23 , wherein each treatment image comprises at least one region, and the at least one region is compared against a corresponding region in the reference images to determine similarity therebetween.
25. The method of claim 24 , wherein the locations of the object in the treatment images are determined based at least in part on the locations associated with the object in the corresponding regions in the corresponding reference images.
26. The method of claim 1 , further comprising acquiring the complementary information during acquisition of the reference images.
27. A system for tracking at least one moving anatomical object during a treatment sequence, the system comprising:
(a) an imaging apparatus, operable in conjunction with a treatment apparatus, for (i) acquiring, prior to the treatment sequence, a series of reference images of an anatomical region comprising the object during motion thereof, each reference image corresponding to a different stage of the motion, and (ii) acquiring treatment images of the anatomical region during the treatment sequence, the treatment images containing less information than the reference images;
(b) means for acquiring complementary information indicative of the stage of the motion during acquisition of the treatment images; and
(b) a computation unit configured to (i) receive complementary information, (ii) process the reference images to determine, for each reference image, a location associated with the object, (iii) correlate at least one of the treatment image to a corresponding reference image based on similarity therebetween and the received complementary information, and (iii) track the object in the at least one treatment image based at least in part on the location associated with the object in the corresponding reference image; wherein the reference images and treatment images are MRI images.
28. The system of claim 27 , wherein the means for acquiring complementary information comprises at least one of an input device for receiving image metadata, a motion sensor, or a computational module for extracting information associated with preceding treatment images or extrapolating information of a stage of the motion associated with a current treatment image.
29. The system of claim 27 , wherein the imaging apparatus comprises an MRI apparatus, and the computation unit is further configured to determine an acquisition sequence of k-space data associated with the treatment images based on types of information encoded in each k-space location.
30. The system of claim 29 , wherein the computation unit is configured to acquire the k-space data alternatively in a high-frequency region and a low-frequency region alternately.
31. The system of claim 27 , wherein the treatment apparatus comprises an ultrasound transducer.
32. The system of claim 31 , wherein the computation unit is further configured to focus an ultrasound beam generated by the transducer onto the object based on the tracking.
33. The system of claim 31 , wherein the treatment sequence comprises treatment of a target other than the anatomical object, the computation unit further being configured to shape an ultrasound beam generated by the transducer so as to avoid the object based on the tracking.
34. The system of claim 27 , wherein the treatment sequence is part of a treatment procedure comprising a plurality of time-separated treatment sequences each comprising at least one exposure of an anatomical target to therapeutic energy, the computation unit being configured to use a treatment image obtained during a first one of the treatment sequences as a reference image for a subsequent second one of the treatment sequences.
35. The system of claim 27 , wherein the computation unit is further configured to monitor a temperature in the anatomical region by performing baseline subtraction between the treatment images and the corresponding reference images.
36. The system of claim 27 , wherein the computation unit is further configured to identify at least one anatomical landmark in each of the reference images, the location associated with the object being a location of the at least one anatomical landmark, the location of the at least one anatomical landmark being known relative to a location of the object.
37. The system of claim 36 , wherein the computation unit is further configured to track the target by inferring the location of the target from the location of the anatomical landmark in the corresponding reference image.
38. The system of claim 27 , wherein the computation unit is configured to correlate the treatment images against the reference images based on raw image data.
39. The system of claim 27 , wherein the computation unit is further configured to add a treatment image to the series of reference images.
40. The system of claim 27 , wherein the computation unit is further configured to compare motion of the tracked object against the series of reference images and, based thereon, smooth the tracked motion.
41. The system of claim 27 , wherein the computation unit is further configured to compare motion of the tracked object against the series of reference images and, based thereon, detect a tracking error.
42. The system of claim 27 , wherein each reference image comprises a plurality of regions, the computation unit is further configured to, prior to the treatment sequence, process the reference images to determine, for each region, a location associated with the object.
43. The system of claim 42 , wherein each treatment image comprises at least one region, and the computation unit is further configured to compare the at least one region against a corresponding region in the reference images to determine similarity therebetween.
44. The system of claim 43 , wherein the computation unit is further configured to determine the locations of the object in the treatment images based at least in part on the locations associated with the object in the corresponding regions in the corresponding reference images.
45. The system of claim 27 , wherein the computation unit is further configured to acquire the complementary information during acquisition of the reference images.
46. A method for tracking a moving anatomical object during treatment, the method comprising:
(a) prior to the treatment,
(i) acquiring a series of reference images of an anatomical region comprising the anatomical object during motion thereof, each reference image corresponding to a different stage of the motion; and
(ii) processing the images to determine, for each image, a location associated with the object; and
(b) during the treatment,
(i) performing a scanning sequence to acquire image data associated with the anatomical object, the scanning sequence comprising a plurality of scanning lines; wherein the reference images are MRI images, and treatment image data is MRI data;
(ii) acquiring complementary information associated with the anatomical object during acquisition of the treatment image data;
(iii) computing similarity between the acquired treatment image data and the reference images to identify at least one matching reference image; wherein the treatment image data contains less information than the reference images;
(iv) determining whether a number of the matching reference images is below a threshold; and
if so, selecting one of the matching reference images based on the similarity and the complementary information, and inferring a location of the anatomical object from the location associated with the anatomical object in the selected reference image;
if not, based on the pre-determined scanning sequence, performing the scanning sequence in a next scanning line to acquire the image data of the anatomical object and repeating steps (ii), (iii) and (iv).