Systems, methods, and devices for intra-scan motion correction to compensate not only from one line or acquisition step to the next, but also within each acquisition step or line in k-space. The systems, methods, and devices for intra-scan motion correction can comprise updating geometry parameters, phase, read, and/or other encoding gradients, applying a correction gradient block, and/or correcting residual errors in orientation, pose, and/or gradient/phase.