CN105342634A - Endoscopic PET (positron emission computed tomography) imaging system and imaging method - Google Patents
Endoscopic PET (positron emission computed tomography) imaging system and imaging method Download PDFInfo
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Abstract
The invention discloses an endoscopic PET (positron emission computed tomography) imaging system and an imaging method. The endoscopic PET imaging system comprises a human body intracavity detection and control unit, an in-vitro detection and control unit, a gamma-ray event processing unit and a PET image reconstruction unit. The human body intracavity detection and control unit comprises a human body intracavity gamma-ray detector, an intracavity detector signal processing module and an intracavity control module and can be mounted at the tail end of an electronic endoscope body, the intracavity control module is used for measuring and controlling poses of a probe, and the intracavity detector signal processing module is used for processing signals acquired by the intracavity gamma-ray detector and transmitting the processed signals to the gamma-ray event processing unit. The in-vitro detection and control unit comprises an in-vitro gamma-ray detector, an in-vitro detector signal processing module and an in-vitro control module, wherein the in-vitro control module is used for controlling poses of the in-vitro gamma-ray detector through a robotic arm, and the in-vitro detector signal processing module is used for processing the signals acquired by the in-vitro gamma-ray detector and transmitting the processed signals to the gamma-ray event processing unit.
Description
Technical field:
The present invention relates to for medical science computed tomography (SPECT) system and method, exactly relate to medical science tomography inner peeping type PET imaging system and method.
Background technology:
Cancer of pancreas is that a kind of grade malignancy is very high, the malignant tumor of digestive tract that Diagnosis and Treat is all very difficult, and about 90% for originating from the duct adenocarcinoma of glandular tube epithelium.Its sickness rate obviously rises in recent years, conventional EUS, and early diagnosis is extremely difficult, and cure rate is extremely low, 5 years survival rate <1%, is one of the poorest malignant tumor of prognosis.
Carcinoma of prostate is male's disease occurred frequently, is occur in prostatic epithelial malignancy, and it is 9.92/10 ten thousand that China's tumor in 2012 registers regional prostate-cancer incidence, the 6th of row male malignancy sickness rate.If energy early discovery, just can be effectively treated, clinical conventional EUS.Early prostate cancer patient can adopt radical treatment method, and the method can curing early prostate cancer has radioactive prospecting instrument, radical prostatectomy, radical-ability fluconazole ear drops.
PET imaging is the effective means of early diagnosis of cancer, but these two kinds of organ mass are little, other radionuclides contiguous absorb strong organ, as adjacent in pancreas and heart, liver, prostate is adjacent with bladder, and regular systemic PET is difficult to carry out efficient diagnosis to pancreas and prostatosis.
Summary of the invention:
The invention provides a kind of inner peeping type PET imaging system and method, effectively improve the quality of pancreas and prostate PET imaging, to meet the demand of cancer of pancreas and the early stage Precise Diagnosis of carcinoma of prostate, for the early stage Precise Diagnosis of cancer of pancreas and carcinoma of prostate provides effective means.
The present invention adopts following technical scheme: a kind of inner peeping type PET imaging system, be made up of human body intracavity probe and control unit, external detection and control unit, gamma-rays event handling unit and PET image reconstruction form unit, described intracavity probe and control unit are made up of intracavity gamma ray detector, intracavity probe device signal processing module and intracavity control module; Described external detection and control unit are made up of external gamma ray detector, external detector signal processing module and external control module; Described intracavity gamma ray detector and external gamma ray detector do relative rotary motion around the detection of a target, the γ photon that a pair direction opposing energy that detection internal radionuclide positron annihilation produces is identical; Described gamma-rays event handling unit carries out analysis and distinguishing to the γ photo-event that intracavity gamma ray detector and external gamma ray detector detect, and record true coincidence event, rejects vacation and meet event; The true coincidence event that described PET image reconstruction form unit obtains according to gamma-rays event handling unit, utilizes prior image to retrain compressed sensing reconstruction algorithm and carries out image reconstruction and display to detection of a target region.
Described intracavity gamma ray detector is multi-detector, intracavity control module comprises can the Position and attitude sensor of Real-time Obtaining intracavity gamma ray detector pose, and as required intracavity gamma ray detector pose is adjusted, described intracavity control module is made up of executor and control circuit, and the signal that intracavity gamma ray detector obtains carries out processing and is sent to external gamma-rays event handling unit by intracavity probe device signal processing module.
Described intracavity probe and control unit can be arranged in endoscope's intubate far-end, utilize endoscope that intracavity probe and control unit are sent to intracavity assigned address.
Described external gamma ray detector is multi-detector, external gamma ray detector is suspended on robotic arm, external control module utilizes robotic arm to adjust external gamma ray detector pose, described external control module is made up of executor and control circuit, and the signal that external gamma ray detector obtains by external detector signal processing module carries out processing and is sent to external gamma-rays event handling unit.
The volume of described intracavity gamma ray detector is less than the volume of external gamma ray detector.
The probe unit number of described intracavity gamma ray detector is less than the probe unit number of external gamma ray detector.
The present invention also adopts following technical scheme: a kind of formation method of inner peeping type PET imaging system, first the cryosection image sequence of patient's stomach or abdominal part is read in from medical imaging device, according to patient's pancreas or prostatic pose planning intracavity gamma ray detector gastric or intrarectal insert pose, the pose of external gamma ray detector and both do rotating shaft, center of rotation, the anglec of rotation of relative rotary motion, then carry out in accordance with the following steps:
1) utilize endoscope to insert in Stomach in Patients by intracavity gamma ray detector or the position of internal rectum advance planning, and carry out pose adjustment, intracavity gamma ray detector pose is obtained by intracavity Position and attitude sensor, and is adjusted by intracavity control module;
2) the external gamma ray detector on external control module manipulation robotic arm is placed in the position of advance planning, and carries out pose adjustment, and is adjusted by external control module;
3) intracavity gamma ray detector and external gamma ray detector do a pair γ photon that relative rotary motion gathers positron annihilation generation simultaneously, corresponding signal processing module processes the signal gathered, and be sent to external gamma-rays event handling unit, this unit carries out analysis and distinguishing to γ event, record true coincidence γ event, rejects vacation and meets γ event;
4) the true coincidence γ event that obtains according to gamma-rays event handling unit of PET image reconstruction unit, utilizes prior image to retrain compressed sensing reconstruction algorithm and carries out image reconstruction and display to detection of a target region.
The present invention has following beneficial effect: the detector of inner peeping type PET imaging system is placed in intracavity and externally carries out imaging to target by the present invention respectively, effectively can reduce adjacent radionuclide and absorb by force organ (heart, liver, bladder) to small size imageable target (pancreas, prostate) severe jamming, improve signal to noise ratio and the quality of image, decrease the distance between the probe of both sides simultaneously, thus improve the spatial resolution of image, adopt the method for prior image constraint compressed sensing effectively can suppress picture noise, improve speed and the quality of image reconstruction, thus provide effective hands section for the early stage Precise Diagnosis of cancer of pancreas and carcinoma of prostate, there is important clinical value.
Accompanying drawing illustrates:
Fig. 1 is inner peeping type PET imaging system block diagram.
Fig. 2 is intracavity probe unit block diagram.
Fig. 3 is external probe unit block diagram.
Detailed description of the invention:
Please refer to shown in Fig. 1 to Fig. 3, inner peeping type PET imaging system of the present invention is made up of human body intracavity probe and control unit, external detection and control unit, gamma-rays event handling unit, PET image reconstruction form unit.Intracavity probe and control unit are made up of intracavity gamma ray detector, intracavity probe device signal processing module, intracavity control module; External detection and control unit are made up of external gamma ray detector, external detector signal processing module, external control module; Wherein intracavity gamma ray detector and external gamma ray detector do relative rotary motion around the detection of a target, the γ photon that a pair direction opposing energy that detection internal radionuclide positron annihilation produces is identical, gamma-rays event handling unit carries out analysis and distinguishing to the γ photo-event that intracavity gamma ray detector and external gamma ray detector detect, record true coincidence event, rejects vacation and meets event; The true coincidence event that PET image reconstruction form unit obtains according to gamma-rays event handling unit, utilize prior image to retrain compressed sensing reconstruction algorithm and image reconstruction and display are carried out to detection of a target region, effectively can improve signal to noise ratio and the spatial resolution of image, for the early stage Precise Diagnosis of clinical minimal disease provides important means.
Wherein intracavity gamma ray detector and external gamma ray detector do synchronous rotary motion under the control of respective control module.
Intracavity gamma ray detector is multi-detector, detector small volume, to insert body cavities; Intracavity control module comprises Position and attitude sensor, can the pose of Real-time Obtaining intracavity gamma ray detector, and adjusts intracavity gamma ray detector pose as required; Intracavity control module is made up of executor and control circuit; The signal that intracavity gamma ray detector obtains carries out processing and is sent to external gamma-rays event handling unit by intracavity signal processing module.This intracavity probe and control unit can be arranged in endoscope's intubate far-end, utilize endoscope that intracavity probe and control unit are sent to intracavity assigned address.
External detection and control unit are made up of external gamma ray detector, external detector signal processing module, external control module.External gamma ray detector is multi-detector, much larger than intracavity gamma ray detector; External control module utilizes robotic arm to adjust external gamma ray detector pose; External control module is made up of executor and control circuit; The signal that external gamma ray detector obtains by external detector signal processing module carries out processing and is sent to external gamma-rays event handling unit.
Due to the restriction by body cavities size, the small volume of intracavity gamma ray detector, corresponding probe unit number is less; External gamma ray detector volume larger probe unit number is more, to ensure to may detect the γ photon of opposite direction motion corresponding to all γ photons detected by intracavity gamma ray detector.
Gamma-rays event handling unit carries out analysis and distinguishing to the γ event that intracavity gamma ray detector and external gamma ray detector detect, and record true coincidence γ event, rejects vacation and meet γ event.
The true coincidence γ event that PET image reconstruction unit obtains according to gamma-rays event handling unit, adopts the method for reconstructing of prior image constraint compressed sensing to carry out image reconstruction and display to detection of a target region.
Prior image constraint compressed sensing method for reconstructing adopts the image result of filtered back projection's analytic reconstruction as priori, can effectively retain image outline and detailed information to a certain extent, make up the deficiency of conventional iterative algorithm to image excess smoothness.
Compressed sensing (compressedsensing, CS) theory is pointed out, if picture signal can become more sparse by sparse transformation, so this image can recover from the hits required much smaller than sampling thheorem.Theoretical based on CS, a reconstruction with picture signal that can be openness can be described as:
Min|| ψ x||
lmake Ax=y (1)
Wherein, A is system response matrix, and y represents projection measurement result, and ψ is sparse transformation matrix, and in this patent, sparse transformation adopts the norm of image gradient and total variation (TV) to weigh:
Wherein, the two dimensional image x ∈ R of discretization
m × N, x
ifor pixel value.
By prior image by being incorporated into above-mentioned TV minimization process after gaussian filtering process:
Min (f
c) make Ax=y (3)
f
c＝α||ψ(x-x
p)||
l+(1-α)||ψx||
l(4)
In formula, α is [0,1], for controlling the relative weighting distributing to prior image item; ψ is sparse transformation matrix.
Above-mentioned optimizing process is changed into without constrained minimization problem:
wherein object function:
D=diag{d in formula
1, d
2d
ibe diagonal matrix, the element on diagonal is the number of photons that actual detector unit measures; λ is data compatibility parameter.
Above-mentioned object function (formula 5) gradient exists, steepest descent method (SD), conjugate gradient method (CG) or separable parabolic substitution method (SPS) can be utilized to solve above-mentioned minimization problem, effectively to improve the speed of image reconstruction.
The PET imaging of pancreas inner peeping type and prostate inner peeping type PET imaging is introduced respectively below by two embodiments.
Embodiment 1: pancreas inner peeping type PET imaging
First the thorax abdomen tomographic sequence patient's stomach expanded state is read in from imaging devices such as CT/MRI, according to the position of patient's pancreas planning intracavity gamma ray detector gastric insert pose, the pose of external gamma ray detector and both do rotating shaft, center of rotation, the anglec of rotation of relative rotary motion, intracavity gamma ray detector and external gamma ray detector are as far as possible near pancreas, distance between two detectors is short as far as possible, then carries out in accordance with the following steps:
1) patient's stomach is made to fill, utilize endoscope that intracavity gamma ray detector is inserted the position of advance planning in Stomach in Patients, and carrying out pose adjustment, intracavity gamma ray detector pose is obtained by intracavity Position and attitude sensor, and is adjusted by intracavity control module;
2) the external gamma ray detector on external control module manipulation robotic arm is placed in the position of advance planning, and carries out pose adjustment, and is adjusted by external control module;
3) intracavity gamma ray detector and external gamma ray detector do a pair γ photon that relative rotary motion gathers positron annihilation generation simultaneously, corresponding signal processing module processes the signal gathered, and be sent to external gamma-rays event handling unit, this unit carries out analysis and distinguishing to γ event, record true coincidence γ event, rejects vacation and meets γ event.
4) the true coincidence γ event that obtains according to gamma-rays event handling unit of PET image reconstruction unit, utilizes prior image to retrain compressed sensing reconstruction algorithm and carries out image reconstruction and display to detection of a target region.
Embodiment 2: prostate inner peeping type PET imaging
First the tomographic sequence of patient's abdominal part is read in from imaging devices such as CT/MRI, according to patient prostatic position planning intracavity ray detector intrarectal insert pose, the pose of external detector and both do rotating shaft, center of rotation, the anglec of rotation of relative rotary motion, then carry out in accordance with the following steps:
1) utilize endoscopic system that intracavity gamma ray detector is inserted the position of patient's internal rectum advance planning, and carry out pose adjustment, intracavity gamma ray detector pose is obtained by intracavity Position and attitude sensor, and is adjusted by intracavity control module;
2) the external gamma ray detector on external control module manipulation robotic arm makes it be placed in the position of advance planning, and carries out pose adjustment, and is adjusted by external control module;
3) intracavity gamma ray detector and external gamma ray detector do relative rotary motion, gather a pair γ photon that positron annihilation produces simultaneously, corresponding signal processing module processes the signal gathered, and be sent to external gamma-rays event handling unit, this unit carries out analysis and distinguishing to γ event, record true coincidence γ event, rejects vacation and meets γ event.
4) the true coincidence γ event that obtains according to gamma-rays event handling unit of PET image reconstruction unit, utilizes prior image to retrain compressed sensing reconstruction algorithm and carries out image reconstruction and display to detection of a target region.
Gamma ray detector is placed in intracavity and external by inner peeping type PET imaging system of the present invention respectively, imaging is carried out to pancreas and prostate, effectively can reduce adjacent radionuclide and absorb by force the severe jamming of organ to small size imageable target, improve signal to noise ratio and the quality of image, this scheme effectively reduces the distance between the probe of both sides simultaneously, thus improve the spatial resolution of image, adopt the method for prior image constraint compressed sensing effectively can suppress picture noise, improve speed and the quality of image reconstruction, thus provide effective hands section for the early stage Precise Diagnosis of cancer of pancreas and carcinoma of prostate, there is important clinical value.
The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, can also make some improvement under the premise without departing from the principles of the invention, and these improvement also should be considered as protection scope of the present invention.
Claims (7)
1. an inner peeping type PET imaging system, be made up of human body intracavity probe and control unit, external detection and control unit, gamma-rays event handling unit and PET image reconstruction form unit, it is characterized in that: described intracavity probe and control unit are made up of intracavity gamma ray detector, intracavity probe device signal processing module and intracavity control module; Described external detection and control unit are made up of external gamma ray detector, external detector signal processing module and external control module; Described intracavity gamma ray detector and external gamma ray detector do relative rotary motion around the detection of a target, the γ photon that a pair direction opposing energy that detection internal radionuclide positron annihilation produces is identical; Described gamma-rays event handling unit carries out analysis and distinguishing to the γ photo-event that intracavity gamma ray detector and external gamma ray detector detect, and record true coincidence event, rejects vacation and meet event; The true coincidence event that described PET image reconstruction form unit obtains according to gamma-rays event handling unit, utilizes prior image to retrain compressed sensing reconstruction algorithm and carries out image reconstruction and display to detection of a target region.
2. inner peeping type PET imaging system as claimed in claim 1, it is characterized in that: described intracavity gamma ray detector is multi-detector, intracavity control module comprises can the Position and attitude sensor of Real-time Obtaining intracavity gamma ray detector pose, and as required intracavity gamma ray detector pose is adjusted, described intracavity control module is made up of executor and control circuit, and the signal that intracavity gamma ray detector obtains carries out processing and is sent to external gamma-rays event handling unit by intracavity probe device signal processing module.
3. inner peeping type PET imaging system as claimed in claim 2, is characterized in that: described intracavity probe and control unit are arranged in endoscope's intubate far-end, utilizes endoscope that intracavity probe and control unit are sent to intracavity assigned address.
4. inner peeping type PET imaging system as claimed in claim 3, it is characterized in that: described external gamma ray detector is multi-detector, external gamma ray detector is suspended on robotic arm, external control module utilizes robotic arm to adjust external gamma ray detector pose, described external control module is made up of executor and control circuit, and the signal that external gamma ray detector obtains by external detector signal processing module carries out processing and is sent to external gamma-rays event handling unit.
5. inner peeping type PET imaging system as claimed in claim 4, is characterized in that: the volume of described intracavity gamma ray detector is less than the volume of external gamma ray detector.
6. inner peeping type PET imaging system as claimed in claim 5, is characterized in that: the probe unit number of described intracavity gamma ray detector is less than the probe unit number of external gamma ray detector.
7. the formation method of an inner peeping type PET imaging system, it is characterized in that: the cryosection image sequence of first reading in patient's stomach or abdominal part from medical imaging device, according to patient's pancreas or prostatic pose planning intracavity gamma ray detector gastric or intrarectal insert pose, the pose of external gamma ray detector and both do rotating shaft, center of rotation, the anglec of rotation of relative rotary motion, then carry out in accordance with the following steps:
1) utilize endoscope to insert in Stomach in Patients by intracavity gamma ray detector or the position of internal rectum advance planning, and carry out pose adjustment, intracavity gamma ray detector pose is obtained by intracavity Position and attitude sensor, and is adjusted by intracavity control module;
2) the external gamma ray detector on external control module manipulation robotic arm is placed in the position of advance planning, and carries out pose adjustment, and is adjusted by external control module;
3) intracavity gamma ray detector and external gamma ray detector do a pair γ photon that relative rotary motion gathers positron annihilation generation simultaneously, corresponding signal processing module processes the signal gathered, and be sent to external gamma-rays event handling unit, this unit carries out analysis and distinguishing to γ event, record true coincidence γ event, rejects vacation and meets γ event;
4) the true coincidence γ event that obtains according to gamma-rays event handling unit of PET image reconstruction unit, utilizes prior image to retrain compressed sensing reconstruction algorithm and carries out image reconstruction and display to detection of a target region.
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| CN110988960A (en) * | 2019-12-11 | 2020-04-10 | 湖北锐世数字医学影像科技有限公司 | Detector and PET imaging system |
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| US20100198063A1 (en) * | 2007-05-19 | 2010-08-05 | The Regents Of The University Of California | Multi-Modality Phantoms and Methods for Co-registration of Dual PET-Transrectal Ultrasound Prostate Imaging |
| CN102596044A (en) * | 2009-09-29 | 2012-07-18 | 卧龙岗大学 | Imaging method and system |
| CN102906791A (en) * | 2010-05-19 | 2013-01-30 | 威斯康星校友研究基金会 | Method for radiation dose reduction using prior image constrained image reconstruction |
| CN104856716A (en) * | 2014-02-24 | 2015-08-26 | 苏州瑞派宁科技有限公司 | Panel PET imaging device and method special for local and radiotherapy |
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| US20100198063A1 (en) * | 2007-05-19 | 2010-08-05 | The Regents Of The University Of California | Multi-Modality Phantoms and Methods for Co-registration of Dual PET-Transrectal Ultrasound Prostate Imaging |
| CN102596044A (en) * | 2009-09-29 | 2012-07-18 | 卧龙岗大学 | Imaging method and system |
| CN102906791A (en) * | 2010-05-19 | 2013-01-30 | 威斯康星校友研究基金会 | Method for radiation dose reduction using prior image constrained image reconstruction |
| CN104856716A (en) * | 2014-02-24 | 2015-08-26 | 苏州瑞派宁科技有限公司 | Panel PET imaging device and method special for local and radiotherapy |
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| CN110988960A (en) * | 2019-12-11 | 2020-04-10 | 湖北锐世数字医学影像科技有限公司 | Detector and PET imaging system |
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