# US 12,558,569 B2 · Sequential monoscopic tracking > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,558,569 B2 - Document ID: US12558569B2 - Status: Granted - Kind: B2 - Application number: 17/972,420 - Filed: 2022-10-24 - Published: 2023-02-09 - Granted: 2026-02-24 - Earliest claimed: 2017-04-05 - Assignees: Accuray Incorporated - Applicants: Accuray LLC - Inventors: Sohail Sayeh; Eric Schnarr; Petr Jordan; Calvin R. Maurer, Jr.; Jay B. West; Robert O'Connell - Web page: https://patentgrep.com/patent/US12558569B2 ## CPC - A61N 5/1049: {for verifying the position of the patient with respect to the radiation beam} - A61B 6/5264: {due to motion} - A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers} - A61N 5/1067: {in real time, i.e. during treatment} - A61N 5/1068: {Gating the beam as a function of a physiological signal} - A61N 5/107: {in real time, i.e. during treatment} - G06T 7/33: using feature-based methods - G06T 7/73: using feature-based methods - G06T 7/75: {involving models} - G06T 7/97: {Determining parameters from multiple pictures (depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85)} - G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture - G16H 30/40: for processing medical images, e.g. editing - G16H 40/63: for local operation - A61B 6/032: {Transmission computed tomography [CT]} - A61B 6/0487: {Motor-assisted positioning} - A61B 6/12: Arrangements for detecting or locating foreign bodies - A61B 6/4014: {arranged in multiple source-detector units} - A61B 6/4085: {Cone-beams} - A61B 6/4435: {the source unit and the detector unit being coupled by a rigid structure} - A61B 6/4441: {the rigid structure being a C-arm or U-arm} - A61B 2034/2046: {Tracking techniques} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2090/367: {creating a 3D dataset from 2D images using position information} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61N 2005/1051: {using an active marker} - A61N 2005/1061: {using an x-ray imaging system having a separate imaging source} - A61N 2005/1091: {Kilovoltage or orthovoltage range photons} - G06T 2207/10024: Color image - G06T 2207/10081: Computed x-ray tomography [CT] - G06T 2207/10116: X-ray image - G06T 2207/30004: Biomedical image processing - G06T 2207/30204: Marker - A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA ## Abstract A method of sequential monoscopic tracking is described. The method includes generating a plurality of projections of an internal target region within a body of a patient, the plurality of projections comprising projection data about a position of an internal target region of the patient. The method further includes generating external positional data about external motion of the body of the patient using one or more external sensors. The method further includes generating, by a processing device, a correlation model between the projection data and the external positional data by fitting the plurality of projections of the internal target region to the external positional data. The method further includes estimating the position of the internal target region at a later time using the correlation model. ## Claims ### Claim 1 A method, comprising: generating a plurality of two dimensional projections of an internal target region within a body of a patient, the plurality of two dimensional projections comprising projection data about a position of an internal target region of the patient, wherein each of the plurality of two dimensional projections are generated sequentially at different points in time; generating external positional data about external motion of the body of the patient using one or more external sensors; generating, by a processing device of a radiation treatment delivery system, a correlation model between the external positional data and the position of the internal target region by directly fitting, in two dimensions, each of the plurality of two dimensional projections of the internal target region to the external positional data, wherein directly fitting includes optimizing parameters of an analytic function to best fit three dimensional modeled positions of the internal target region to the projection data of the plurality of two-dimensional projections and the external positional data; and estimating the position of the internal target region at a later time using the correlation model. ### Claim 2 (depends on 1) The method of claim 1, wherein each of the two dimensional projections of the plurality of two dimensional projections comprise sequentially acquired monoscopic projection images acquired using an imager rotated on a gantry. ### Claim 3 (depends on 1) The method of claim 1, wherein generating the plurality of two dimensional projections of the internal target region comprises sequentially acquiring a plurality of two dimensional x-ray images of the internal target region using a single imager on a rotating gantry by rotating the single imager around the internal target, wherein each of the plurality of two dimensional x-ray images are acquired sequentially at different points in time. ### Claim 4 (depends on 1) The method of claim 1, wherein the plurality of two dimensional projections are x-ray images. ### Claim 5 (depends on 1) The method of claim 1, wherein the position of the internal target region comprises a three dimensional position. ### Claim 6 (depends on 1) The method of claim 1, wherein the position of the internal target region identifies internal motion of the body of the patient, the internal motion comprising motion of one or more implanted fiducial markers. ### Claim 7 (depends on 1) The method of claim 1, further comprising controlling the radiation treatment delivery system based on the correlation model by directing a radiation treatment beam generated by a linear accelerator (LINAC) based on the correlation model. ### Claim 8 (depends on 1) The method of claim 1, further comprising controlling the radiation treatment delivery system based on the correlation model by controlling a collimator of a linear accelerator (LINAC) based on the correlation model. ### Claim 9 (depends on 8) The method of claim 8, wherein the collimator is a multi-leaf collimator and to control the collimator, the method comprising moving one or more leaves of the multi-leaf collimator. ### Claim 10 (depends on 8) The method of claim 8, wherein controlling the radiation treatment delivery system based on the correlation model further comprises controlling a treatment couch. ### Claim 11 (depends on 8) The method of claim 8, wherein to control the radiation treatment delivery system based on the correlation model, the method further comprising: gating a radiation treatment beam generated by a linear accelerator (LINAC) based on the correlation model. ### Claim 12 (depends on 1) The method of claim 1, wherein the projection data corresponds to one or more fiducial markers located near the internal target region, wherein to generate the correlation model the method further comprises computing a deformation state of the internal target region based on relative positions of the one or more fiducial markers. ### Claim 13 A radiation treatment delivery apparatus, comprising: a first detection device to generate two-dimensional projection data about a position of a target region internal to a body of a patient, wherein the two dimensional projection data is generated sequentially at different points in time; a second detection device to generate positional data about one or more sensors external to the body of the patient; and a processing device to receive the two-dimensional projection data about the internal target region and the positional data from the external sensors and generate a correlation model between the positional data and the position of the target region by directly fitting, in two dimensions, the two-dimensional projection data to the positional data, wherein directly fitting includes optimizing parameters of an analytic function to best fit three dimensional modeled positions of the internal target region to the two-dimensional projection data and the positional data, and control the radiation treatment delivery apparatus using the correlation model and based on the positional data obtained from the external sensors to compensate for motions of the patient. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the first detection device comprises a rotatable single imager. ### Claim 15 (depends on 14) The apparatus of claim 14, further comprising a linear accelerator (LINAC) comprising an onboard kilovoltage (kV) imager coupled to a gantry, wherein the first detection device is coupled to the gantry. ### Claim 16 (depends on 13) The apparatus of claim 13, wherein the first detection device is configured to: generate a plurality of sequential images; and generate a single projection based on the plurality of sequential images. ### Claim 17 (depends on 13) The apparatus of claim 13, further comprising a linear accelerator (LINAC) coupled to a moveable stage, wherein the first detection device comprises a cone-beam CT (CBCT) imager coupled to a gantry. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the moveable stage is the gantry. ### Claim 19 (depends on 17) The apparatus of claim 17, wherein the moveable stage is separate from the gantry. ### Claim 20 (depends on 17) The apparatus of claim 17, wherein the correlation model is generated during acquisition of a CBCT scan. ### Claim 21 (depends on 17) The apparatus of claim 17, wherein the first detection device comprises a mega-volt portal imager. ### Claim 22 A non-transitory computer readable medium comprising instructions that, when executed by a processing device of a radiation treatment delivery system, cause the processing device to: generate a plurality of two dimensional projections of an internal target region within a body of a patient, the plurality of two dimensional projections comprising projection data about a position of an internal target region of the patient, wherein each of the plurality of two dimensional projections are generated sequentially at different points in time; generate external positional data about external motion of the body of the patient using one or more external sensors; generate, by the processing device, a correlation model between the projection data and the external positional data by directly fitting, in two dimensions, each of the plurality of two dimensional projections of the internal target region to the external positional data, wherein directly fitting includes optimizing parameters of an analytic function to best fit three dimensional modeled positions of the internal target region to the projection data of the plurality of two dimensional projections and the external positional data; and estimate a position of the internal target region at a later time using the correlation model. ### Claim 23 (depends on 22) The non-transitory computer readable medium of claim 22, wherein each of the two dimensional projections of the plurality of two dimensional projections comprise sequentially acquired monoscopic projection images acquired using an imager rotated on a gantry. ### Claim 24 (depends on 22) The non-transitory computer readable medium of claim 22, wherein the plurality of two dimensional projections are x-ray images. ### Claim 25 (depends on 22) The non-transitory computer readable medium of claim 22, wherein the projection data identifies internal motion of the body of the patient, the internal motion comprising motion of the internal target region. ### Claim 26 (depends on 22) The non-transitory computer readable medium of claim 22, wherein the position of the internal target region identifies internal motion of the body of the patient, the internal motion comprising motion of one or more implanted fiducial markers. ### Claim 27 A method, comprising: sequentially acquiring a plurality of two dimensional x-ray images of a target within a body of a patient using a single imager on a rotating gantry by rotating the single imager around the target; generating external positional data about external motion of the body of the patient using one or more external sensors; and determining, by a processing device, a three dimensional internal position of the target using a correlation model generated by directly fitting, in two dimensions, each of the sequentially acquired plurality of two dimensional x-ray images of the target to the external positional data, wherein directly fitting includes optimizing parameters of an analytic function to best fit three dimensional modeled positions of the target to projection data of the plurality of two dimensional x-ray images and the external positional data. ### Claim 28 (depends on 27) The method of claim 27, further comprising controlling a radiation treatment delivery system based on the three dimensional internal position of the target. ### Claim 29 A method, comprising: generating target positional data about a three dimensional internal target position being internal to a body of a patient, by generating a plurality of two dimensional projections of the three dimensional internal target position, wherein each of the plurality of two dimensional projections are generated sequentially at different points in time; generating external positional data about external motion of the body of the patient using one or more external sensors, wherein the external positional data is generated more frequently than the plurality of two dimensional projections; and generating, by a processing device, a correlation model between the external positional data and the three dimensional internal target position by directly fitting, in two dimensions, each of the plurality of two-dimensional projections of the three dimensional internal target position to the external positional data, wherein directly fitting includes optimizing parameters of an analytic function to best fit three dimensional modeled positions of the three dimensional internal target to projection data of the plurality of two-dimensional projections and the external positional data; and controlling a treatment delivery system to direct radiation towards the three dimensional internal target position of the patient based on the correlation model to compensate for motions of the patient. ### Claim 30 (depends on 29) The method of claim 29, wherein the target positional data corresponds to one or more fiducial markers located near the three dimensional internal target position, wherein generating the correlation model comprises computing a deformation state of the three dimensional internal target position based on relative positions of the one or more fiducial markers. ### Claim 31 (depends on 29) The method of claim 29, wherein the plurality of two dimensional projections are x-ray images.