Abstract: In a method for planning of an angiography measurement of a body region in a magnetic resonance system, the body region being larger than the maximum field of view of the magnetic resonance system, and wherein the MR system has a control unit for controlling the workflow of the angiographic measurement, an upper boundary and a lower boundary of the body region are established. The control unit divides the body region into sub-measurement regions and sub-measurements dependent on the established boundaries. The sub-measurement regions and sub-measurements are measured in succession. The arrival of an injected test bolus of a contrast agent into the various sub-measurement regions is detected using MR measurements.

Abstract: During preprogrammed medical treatment and remote controlled surgery tracking the movements of the body being treated and integrating those tracked movements with the preprogrammed/remote controlled treatment to arrive at an integrated modified treatment track and following that modified track during the treatment. The treating instrument may be a solid scalpel or high-energy radiation, such as X-rays, ultra sound, laser beams or the like.

Abstract: The invention is directed biopsy site markers and methods of marking a biopsy site, so that the location of the biopsy cavity is readily visible by conventional imaging methods, particularly by ultrasonic imaging. The biopsy site markers of the invention have high ultrasound reflectivity, presenting a substantial acoustic signature from a small marker, so as to avoid obscuring diagnostic tissue features in subsequent imaging studies, and can be readily distinguished from biological features. The several disclosed embodiments of the biopsy site marker of the invention have a high contrast of acoustic impedance as placed in a tissue site, so as to efficiently reflect and scatter ultrasonic energy, and preferably include gas-filled internal pores. The markers may have a non-uniform surface contour to enhance the acoustic signature. The markers have a characteristic form which is recognizably artificial during medical imaging.

Abstract: The invention provides devices and methods used to locate target areas within a patient for repeat therapeutic treatments. In the invention, fiduciary markers made of metal or metal alloys are placed within a patient near or at a target site as reference coordinates for particular body locations on the patient. Repeat treatments may then be given to the patient over a period of time based on the coordinates given by the fiduciary markers. The fiduciary markers are specially shaped or put into strand to improve marker attachment and prevent marker migration.

Abstract: A method and apparatus for registering physical space to image space is disclosed. The system allows for determining fiducial markers as pixels or voxels in image data. The system can correlate and register the determined fiducial points with fiducial markers in physical space.

Abstract: An ultrasound-detectable biopsy marker mass has a detectable in-vivo lifetime during which the marker mass remains readily detectable by ultrasound imaging. The ultrasound-detectable biopsy marker mass is formed of particles of a bio-resorbable material having bubble cavities and having a particle size between about 200 microns and about 500 microns.

Abstract: An MRI-compatible patch for identifying a location includes a flexible base layer, a flexible substrate and at least one of MRI-visible fiducial element. The flexible base layer is mountable on and substantially conformable to a patient's body surface. The base layer has opposed upper and lower primary surfaces. The flexible substrate is releasably attached to the upper primary surface of the base layer and substantially conformable to the patient's body surface. The at least one MRI-visible fiducial element is defined by or secured to the flexible substrate. The patch may include a plurality of the MRI-visible fiducial elements arranged in a defined pattern.

Abstract: A magnetic resonance imaging system having a patient support arranged for pivoting movement about a pivot axis and linear or sliding motion along a support axis transverse to the pivot axis is provided with a device for measuring the location of a patient feature to be imaged. The measured location is used to define coordinates for positioning the patient support. These coordinates desirably are used to automatically move the patient support from a loading position to an imaging position where the feature will be properly aligned with the field axis of the imaging magnet. The system simplifies patient positioning.

Abstract: Systems and methods for characterizing spatial distortions in location data determined by an imaging system, for example as employed in imaged guided therapy. A three dimensional phantom is custom formed for a desired imaging space of a given imaging system. The phantom includes a large plurality of control points fixed rigidly in space to a high degree of known accuracy. The phantom is fixed to a stereotactic frame defining a known calibrated reference or zero and imaged. An algorithm customized for the phantom determines the spatial locations of the control points. A comparison is made between the known and the determined spatial locations for at least a subset of the control points. The comparison results in indicia for any determined spatial distortions observed. The raw image data can be manipulated to compensate for any spatial distortion. The control points can have fixed locations known to an accuracy of 100? or better.

Abstract: A method and apparatus for registering physical space to image space is disclosed. The system allows for determining fiducial markers as pixels or voxels in image data. The system can correlate and register the determined fiducial points with fiducial markers in physical space.

Abstract: Apparatus for imaging a body part of a subject, for example using MRI, is described. The apparatus includes a housing for at least partially surrounding a body part (e.g. a head) and a first fiducial marker assembly retained at least partially within the housing that includes one or more fiducial markers and a datum feature. The position of the datum feature is fixed relative to the one or more fiducial markers. The first fiducial marker assembly is moveable with respect to the housing and the datum feature is accessible from outside of the housing.

Abstract: A skin marker for providing a reference point for a plurality of different medical imaging procedures, said marker incorporating one or more substances having one or more of radiance and/or hydration and/or radiopaque and/or radio luminescent and/or radioactive properties for detection by X-ray and/or Computer Tomography (CT) and/or MRI and/or Ultrasonic scanning processes and/or Positron Emission Tomography (PET), and one or more markings recognisable by an optical imaging process such as 3D surface scanning.

Abstract: A novel MR method and system is described for using MR images for planning radiotherapy treatment. The images are obtained by a scanner which generates a magnetic field with a magnetic center (isocenter). First at least one fiducial marker (4; 5) is applied to the body (1) of the patient at a predetermined distance from the isocenter. The patient is repositioned within said scanner such that an anatomical target (2) is located in close vicinity of said isocenter. A first image of said target (2) is obtained and then the patient (1) is shifted such that the fiducial marker (4; 5) is close to the isocenter. A second image is obtained at the shifted position, in which the fiducial marker has an accurate geometrical position, that is merged into said first image.

Abstract: A method for determining the spatial distribution of magnetic resonance signals from an imaging area, wherein nuclear spins are excited in a spatially encoded fashion through multi-dimensional RF pulses, is characterized in that in a definition step, a resolution grid with resolution grid cells is predetermined, and in accordance with a predetermined phase encoding scheme, an excitation pattern is defined for each phase encoding step, in which the amplitudes within the imaging area are set in accordance with a predetermined distribution identically for each phase encoding step. In a preparatory step, the amplitude and phase behavior of the RF pulses to be irradiated is calculated in accordance with a predetermined k-space trajectory for each defined complex excitation pattern.

Abstract: This document discusses, among other things, fiducial marker devices, tools, and methods. One example illustrates a combined imagable fiducial locator and divot for receiving a positioning wand of an image-guided surgical (IGS) workstation. A further example is reflective such that it is locatable by a remote detector of an optical positioning system. A generally cylindrical (e.g., faceted cylindrical) columnar locator permits easy application of reflective tape. Other examples discusses a unitary fiducial marker with multiple divots and a swiveling and/or tilted fiducial marker divot, each of which allows manipulation of a positioning wand into a remote camera's field of view. Another example includes at least one reflector that can be aimed. A further example discusses an imagable fiducial marker carrier that is attachable to a single location on a patient's skull to reduce trauma.

Abstract: A site marker is provided that includes a generally hollow body defining a cavity. A deployment line within the site marker positions at least one marker element within the body portion. The deployment line has a first end that is fixedly secured to a first end of the body portion and a second end that is secured to a second end of the body portion. The deployment line is pre-biased so as to pull the first end of the body portion towards the second end of the body portion, and thereby expand the body portion.

Abstract: A method of operating a surgical system. The method includes obtaining a magnetic resonance imaging (MRI) scan in which magnetic resonance (MR) visible targets are located; registering a robotic arm to the MRI scan using a digitizing tool, the robotic arm including: multiple joints and multiple degrees of freedom; an MR-compatible structural material; multiple MR-compatible joint motors; multiple MR-compatible joint encoders; and an end effector holding an MR-compatible surgical tool having a tool tip; and displaying a location of the tool tip relative to an image from the MRI scan.

Abstract: This document discusses, among other things, fiducial marker devices, tools, and methods. One example illustrates a combined computed tomography (CT) imageable fiducial locator head, an integral bone screw, and an integral divot for receiving a positioning wand of an image-guided surgical (IGS) workstation. A further example includes a fluid/gel-absorbing coating or cover into which a magnetic resonance (MR) imageable fluid is introduced, thereby permitting both CT and MR imaging. Protective caps and collars may be used to protect the fiducial marker from mechanical impact and/or to guide the fiducial marker during affixation. A bull's-eye or other template is used to select a center of a substantially spherical fiducial marker head on an image, such as for use during patient registration.

Abstract: Provided are methods, systems and computer program products evaluating magnetic resonance (MR) signals from a sample. The methods and systems can be used to evaluate MR signals from various constituents (e.g., metabolites, macromolecules) of the sample.

Abstract: The present invention is related to an interstitial marker for localizing an organ, tumor or tumor bed within a mammalian body wherein said marker has a proximal end, a distal end, and a continuous intervening length, at least a portion of the intervening length of said marker being visible under at least one imaging modality and having a flexibility such that said marker follows movements and changes of shape of said organ, tumor or tumor bed.

Abstract: An optically-based rigid-body 6-DOF motion tracking system optimized for prospective (real-time) motion correction in Magnetic Resonance Imaging (MRI) applications using a single camera with an on-board image processor, an IR illuminator and optical fiducial targets affixed to a patient. An angle extraction algorithm operated by the on-board image processor utilizes successive approximation to solve the 3-point pose problem for angles close to the origin to achieve convergence to sub-microradian levels. A motion alarm is enabled by a monitor and GUI application in communication with the motion tracking system. A motion correction is enabled for MR scan images taken while operating the motion tracking system wherein an MRI controller is in communication with the motion tracking system.

Abstract: An automatic landmark determining device, includes a storage device for storing at least one anatomical sample image and at least one anatomical landmark, the at least one anatomical landmark corresponding to a characteristic location within the at least one anatomical sample image, The automatic landmark determining device also includes an input device for inputting an anatomical patient image, and a transformation device. The transformation device is configured to apply an image-adapting transformation to the at least one anatomical landmark, said image-adapting transformation corresponding to a transformation that converts the at least one anatomical sample image to the anatomical patient image.

Abstract: A substrate configured for placement on an internal organ or tissue is provided. In certain embodiments, the substrate conforms to and moves with the internal organ or tissue. Three or more sensor elements are integrated on the substrate. In one implementation, the substrate and associated sensor elements provide dynamic referencing of the internal organ or tissue after registration of the sensor data with images and/or volumetric representations of the internal organ or tissue.

Abstract: A biopsy marker deployment device adapted to selectively deposit a marker in a target location, such as a biopsy site. In one embodiment, the device includes a deployment assembly comprising a cannula adapted to house at least one marker, an outlet aperture defined by a portion of the cannula, and an actuatable pushrod slidably disposed and movable within the cannula. The deployment assembly further comprises a selectively opening outlet door movable between an open position and a closed position. The outlet door is biased in the closed position and at least partially obstructs the aperture in the closed position to prevent a marker from reentering the cannula upon deployment.

Abstract: An endoscope for magnified image observation configured to observe a magnified image of in vivo tissue comprises an insertion part configured to be inserted into a body, a magnified image observation port configured to take in the magnified image of the in vivo tissue in one of a state where the magnified image observation port is in contact with the in vivo tissue and a state where the magnified image observation port is in proximity to the in vivo tissue, the observation port being provided at a distal end of the insertion part, and a marking unit configured to mark the in vivo tissue in one of the state where the magnified image observation port is in contact with the in vivo tissue and the state where the magnified image observation port is in proximity to the in vivo tissue.

Abstract: A surgical navigation system for navigating a region of a patient includes a non-invasive dynamic reference frame and/or fiducial marker, sensor tipped instruments, and isolator circuits. The dynamic reference frame may be repeatably placed on the patient in a precise location for guiding the instruments. The instruments may be precisely guided by positioning sensors near moveable portions of the instruments. Electrical sources may be electrically isolated from the patient.

Abstract: A magnetic resonance imaging system is provided for obtaining MR images by scanning a region of the object previously located on an object's positioning image. The system comprises a displaying unit, inputting unit, approximating unit, and locating unit. The displaying unit displays a plurality of tomographic images of the object as the positioning image, each of the tomographic images including an indication of a target of interest thereon. The inputting unit enables information about a running state of the target in a direction along the target to be supplied toward each of the tomographic images. The approximating unit calculates three-dimensionally an approximated curve indicating the running state of the target in the direction on the basis of the supplied information about the running state. The locating unit locates the region substantially perpendicular to the approximated curve.

Abstract: A marker-tracking system includes an object, a marker illuminating device, a marker sensing device, and a computing device. The object includes a first retroreflective marker having a shape that is substantially defined by two spherical caps of different radii that are disposed substantially concentric in relation to one another. The marker illuminating device substantially illuminates the first retroreflective marker, the marker sensing device detects the illuminated first retroreflective marker and generates first data indicative of the location of the illuminated first retroreflective marker in space, and the computing device processes the first data generated by the marker sensing device to determine a position and/or orientation of the object in space.

Abstract: A marker delivery device is described which has an obturator with an elongated shaft, an inner lumen, a proximal end, and a substantially sealed distal end. One or more tissue markers are deployed within the inner lumen of the elongated shaft of the obturator. Preferably, the tissue marker(s) is disposed within an inner lumen of a marker delivery tube which is disposed within the inner lumen of the elongated shaft of the obturator. The marker delivery tube has an opening for discharging the tissue markers into a body (e.g. biopsy) cavity. The distal tip of the marker delivery tube is configured to penetrate the substantially sealed distal end of the obturator so that tissue markers can be delivered while the obturator is in place within the body. Preferably, the obturator includes a detectable element capable of producing a relatively significant image signature during MRI.

Abstract: A radiotherapy apparatus controller includes: a movement collection section; a sensor control section configured to change a first time interval in which a second sensor measures a position of an irradiation area in the subject, based on the movement information; and an irradiation control section. The movement collection section collects movement information indicating a movement of a subject from a first sensor. The sensor control section changes a first time interval in which a second sensor measures a position of an irradiation area in the subject, based on the movement information. The irradiation control section controls a radiotherapy apparatus such that therapeutic radiation irradiated to the irradiation area is changed based on the position.

Abstract: The invention relates generally to apparatus and devices for neuronavigation. A non-invasive dental based fiducial array is disclosed. The fiducial array has a base support member, one or more removable and repositionable marker bases supported by the base support member and a stopper spaced from and supported by the base support member that engages a part of the head of a patient or an animal and cooperates with the base support member to immobilize the fiducial array relative to a location of the head, such as maxillary teeth. An anchoring site is formed on the base support member to accept a custom made dental impression to precisely position the base support member relative to the location of the head.

Abstract: A solid fiduciary marker for registering at least two images when imaging the same subject using distinct imaging devices is disclosed. The solid fiduciary marker is visible in at least two of a Positron Emission Tomography (PET), Single Photon Emission Computed Tomography (SPECT), Planar gamma camera, X-ray CT, planar X-ray, Magnetic Resonance Imaging (MRI), and optical imager. The marker includes at least two of various doping compounds to be detected by the various imaging systems. The doping compounds include a positron emitting nuclide, a gamma emitting nuclide, a doping compound, metal, and a silicone-based polymer is used in association with an MRI device.

Abstract: An anatomical data registration device may include a dental device. The dental device may configurable to be subject-specific. A dental device may be positionable in a substantially fixed spatial relationship relative to a portion of the subject. An anatomical data registration device may include one or more radiopaque markers. At least one of the radiopaque markers may be positioned in the dental device. The radiopaque marker may be configured to facilitate alignment of two or more images of the portion of the subject. The data registration device may be positionable within a subject's mouth.

Abstract: A miniature ingestible capsule has multiple therapeutic or diagnostic operations that can be performed. These functions are controlled by a combination of an outside control, a pose beacon and through information relayed from an imagining array and transmitter. These functions can be in a separate capsule without an imaging array or within the same capsule with an imaging array. Typically, there is one function performed in addition to imaging. These functions can include suction and spray capabilities, ultrasound sensor, lithotripsy, laser, heat, electrocautery, BICAP, biopsy forceps, a needle knife snare cautery (cold and hot with continuous or pulsed current for cutting and coagulation), with a basket, and fine needle aspiration with various wheels and fins and motors controlled externally and other tools to be used in humans. All of these tools can be attached to a retractable arm. Also, they can be used on an elevator device that lifts them, allowing for an extra 180° of movement.

Abstract: A bone reposition device includes first and second bone supports for supporting first and second portions of a fracture or osteotomize bone about a fracture or osteotomize site, a plurality of sequentially connected connection members and a plurality of joints each with at least a pair of adjacent parts for connecting the connection members therebetween and to the first and second bone supports. The plurality of joints includes at least six joints, each of which possesses one degree of freedom and allows controllable relative rotation or translation of said pair of adjacent parts about one of three axes respectively.

Abstract: A localization mechanism, or fixture, is used in conjunction with a breast coil for breast compression and for guiding a core biopsy instrument during prone biopsy procedures in both open and closed Magnetic Resonance Imaging (MRI) machines. The localization fixture includes a three-dimensional Cartesian positionable guide for supporting and orienting an MRI-compatible biopsy instrument, and in particular a sleeve, to a biopsy site of suspicious tissues or lesions. A depth stop enhances accurate insertion, and prevents over-insertion or inadvertent retraction of the sleeve. The sleeve receives a probe of the MRI-compatible biopsy instrument and may contain various features to enhance its imagability, to enhance vacuum and pressure assist therethrough, and marker deployment etc.

Abstract: An array for use with a surgical navigation system is provided. The array comprises a frame and first, second and third markers attached to the frame. The first, second and third markers are detectable by a tracking system used in image guided surgery, and the first marker is movable relative to the frame. In one embodiment, at least one marker slides along the frame from a first position where it is held in place to a second position where it is also held in place. In another embodiment, one or more of the markers is removed from the frame at a first position and reattached to the frame at a second position. In still another embodiment, a portion of the frame itself moves with the movable marker.

Abstract: A method of defining a biological target for treatment in which image detectable markers are placed at and correlated to the location or locations of tissue biopsy. By obtaining pathological analysis of the biopsy tissue specimens and correlating the analysis to the corresponding marker locations, the definitive pathological analysis of the target tissue at the marker locations can be correlated to corresponding locations on a functional image of the target tissue. The correlation of the marker locations and pathology to the corresponding locations on a functional image can then be used to prescribe and apply modulated therapy to the target tissue.

Abstract: Automated surgical procedures, including procedures carried out in conjunction with image-guided surgical navigation systems, are improved using tools and techniques to refine bone modifications. A system-level embodiment of the invention includes a memory for storing information relating to a desired modification of a bone, a bone-modification tool, and tracking apparatus for determining the position and orientation of the bone and the bone-modification tool to ensure that the modification performed by the tool corresponds to the desired modification. In the preferred embodiment, the bone-modification tool is used to refine a previously resected surface by a few millimeters or a few degrees to achieve the desired modification.

Abstract: A surgical navigation system for navigating a region of a patient includes a non-invasive dynamic reference frame and/or fiducial marker, sensor tipped instruments, and isolator circuits. The dynamic reference frame may be repeatably placed on the patient in a precise location for guiding the instruments. The instruments may be precisely guided by positioning sensors near moveable portions of the instruments. Electrical sources may be electrically isolated from the patient.

Abstract: A system for constructing image slices through a selected object, the system comprising an identifiable fiducial reference in a fixed position relative to the selected object, wherein the fiducial reference comprises at least two identifiable reference markers. A source of radiation is provided for irradiating the selected object and the fiducial reference to form a projected image of the selected object and the fiducial reference which is recorded by a recording medium.

Abstract: A method for localizing an internal body structure during an image-guided procedure that includes obtaining a three dimensional image of a body portion containing a targeted structure and selected reference structures; determining a set of landmark point coordinates for defining the location of each of the targeted and reference structures; computing triangulation parameters relating the location of the landmark points for the targeted structure and the reference structures; and, during an image-guided procedure, using the computed triangulation parameters to plot an estimated location of the targeted structure on an intra-operative image in which the reference structures have been identified.

Abstract: The invention provides materials, devices and methods for marking biopsy sites for a limited time. The biopsy-marking materials are ultrasound-detectable bio-resorbable powders, with powder particles typically between about 20 microns and about 800 microns in maximum dimension, more preferably between about 300 microns and about 500 microns. The powders may be formed of polymeric materials containing cavities sized between about 10 microns and about 500 microns, and may also contain binding agents, anesthetic agents, hemostatic agents, and radiopaque markers. Devices for delivering the powders include tubes configured to contain the powders and to fit within a biopsy cannula, the powders being ejected by action of a syringe. Systems may include a tube containing powder, and a syringe containing sterile saline. The tube may be configured to fit within a biopsy cannula such as a Mammotome® or SenoCor 360™ cannula.

Abstract: This document discusses, among other things, a fiducial marker assembly that includes an internally engagable base. The base is sized and shaped to be mounted flush to or recessed from an outer surface of a patient's skull, thereby reducing or avoiding patient discomfort. The fiducial marker assembly includes an imagable locator and a registration receptacle. A base insertion instrument is engaged to the base to attach the base to the patient's skull. In one example the base includes a faceted head, permitting a socket-like device to screw or unscrew the base into or out of the skull. In another example, the base includes at least one step or slot for engaging an insertion or extraction tool.

Abstract: Based on the fact that by causing an appropriate current flow on a virtual curved surface between a current source and an observation surface, an electromagnetic field generated by the current source can be recovered, and that as the curved surface comes closer to the true current source, current distribution on the curved surface becomes smaller, Bayesian estimation of the current source that recovers the observed data is performed. In this estimation, the fact that the model posterior probability attains the maximum when the curved surface includes the current source is utilized, that is, the model posterior probability is considered, to estimate the position of the current source including the depth direction. When observation data obtained by other observation means is available simultaneously, such information is incorporated in hierarchical prior distribution for Bayesian estimation, to enable estimation with higher precision.

Abstract: A method for performing Magnetic Resonance Imaging (MRI) guided core biopsies is tendered more accurate and efficient by precisely positioning a disengaged probe assembly with respect to a localization fixture attached to a breast coil platform. The precise position is defined by MRI stereotopic location of suspicious tissue with respect to a fiducial marker on the localization fixture. With the probe inserted, dual lumens in the probe assembly are used for drainage or insertion of fluids as well as inserting diagnostic and therapeutic tools. Core biopsies are performed by engaging a biopsy instrument handle containing a cutter, with the localization fixture providing support and position to the handle. Repeated MRI scans are facilitated by the ability to disengage the handle without risk of displacing the probe assembly from the biopsy site.

Abstract: Markers that are visible under magnetic resonance imaging (MRI) and fluoroscopy and related medical devices are disclosed.

Abstract: Methods, systems and circuits predict cardiotoxicity induced cardiac injury prior to an irreversible state by electronically generating at least one histogram of mean intensities of voxels/pixels in an MRI image of a left ventricle myocardium and electronically determining a likelihood of cardiac injury due to cardiotoxicity based on data from the at least one histogram.

Abstract: During preprogrammed medical treatment and remote controlled surgery tracking the movements of the body being treated and integrating those tracked movements with the preprogrammed/remote controled treatment to arrive at an integrated modified treatment track and following that modified track during the treatment. The treating instrument may be a solid scalpel or high-energy radiation, such as X-rays, ultra sound, laser beams or the like.

Abstract: A bone marker for use in image guided surgery comprises a support having an anchor mechanism for anchoring the support in a bone. The marker includes at least one reference member which can be detected by an image guided system and which is attached to the support. The support has at least one limb which is resiliently deformable.