CN1842294A

CN1842294A - Multi-mode internal imaging

Info

Publication number: CN1842294A
Application number: CN 200480024375
Authority: CN
Inventors: 麦克尔·D.·卡贝尔; 布雷德利·W.·莱斯; 戴维·尼尔森
Original assignee: Xenogen Corp
Current assignee: Xenogen Corp
Priority date: 2003-07-01
Filing date: 2004-06-30
Publication date: 2006-10-04

Abstract

The invention described herein provides systems and methods for multi-modal imaging with light and a second form of imaging. Light imaging involves the capture of low intensity light from a light-emitting object. A camera obtains a two-dimensional spatial distribution of the light emitted from the surface of the subject. Software operated by a computer in communication with the camera may then convert two-dimensional spatial distribution data from one or more images into a three-dimensional spatial representation. The second imaging mode may include any imaging technique that compliments light imaging. Examples include magnetic resonance imaging (MRI) and computer topography (CT). An object handling system moves the object to be imaged between the light imaging system and the second imaging system, and is configured to interface with each system.

Description

Multi-mode internal imaging

Technical field:

The present invention relates to be used to obtain the system and method for a plurality of graphical representations of interior of articles, be specially adapted to research and imaging applications.More specifically, the present invention relates to make the imaging of the multi-modal imaging used up and other type.

Background technology

At present, research worker and imaging doctor use any internal image that produces in the multiple non-intrusion type imaging technique.These technology are used X ray, NMR (Nuclear Magnetic Resonance)-imaging (MRI), cat scan and ultrasound wave.In other systems, photoimaging is used to produce the optical imagery of object.For example, the bioluminescence imaging is a kind of at medical research, pathology and drug discovery and development field, is used to carry out the non-intrusion type technology to the vivo diagnostic studies of animal subject.Bioluminescence is generally by being produced by luminous indication body such as luciferase cells transfected, and it can be used as distinguishes particular tissue type (as tumor), monitoring physiological function, tracking to testing the distribution or the advancing of disease of the employed treatment chemical compound of body.Fluorescence is the optical image technology that another kind can be used for track cells or molecule live body.This technology is used the indication body that genetics is expressed recently, dyes as Cy5 as green fluorescent protein matter (GFP) and near-infrared (NIR), describes.In brief, fluorescence is a kind of molecular phenomenon, the light of material absorbing specific wavelength wherein, and send more long wavelength's light.The absorption of light is called as " excitation ", and sending more, long wavelength's light is called as " emission ".

Every kind of technology all has merits and demerits, makes it be applicable to different imaging applications.Some technology can provide volume inside or anatomic information better, other technology then provide better in the object to be imaged the function information of interested behavior.

Now, research worker finds to wish to merge the output and the strong point of multiple systems.But the cost of each in these traditional imaging systems becomes an obstacle of this merging, and when considering in the three unities employing multiple technologies, or even forbid.For example, MRI and computer topography art (CT) system can spend millions of dollar.In addition, most of traditional imaging systems have actual complexity, and this has suppressed the realization in many imaging systems environment.The MRI system requirements can not have ferromagnetic metalloid in operation near the high energy magnet.The center of positron emission tomography (PET) is limited on the position near particle accelerator equipment, and this particle accelerator equipment produces the very short radiosiotope of employed life cycle in this technology.Equally, it will be very difficult will being moved between different imaging systems by the object of imaging, for example, by mobile cause compromise of object between system, not be difficult to keep the spatial accuracy that every kind of system provides.

Consider above-mentioned situation, the new system that is used to carry out multi-modal imaging is desired.

Summary of the invention

The invention provides the system and method that is used to make the multi-modal imaging of using up.Photoimaging relates to from luminous object catches low intensity light.Low intensity light can be from the intravital Different Light of thing any one in send.For example, light source can be corresponding to living specimen such as the intravital luciferase showed cell of mouse.The two-dimensional space that photographing unit obtains the light of body surface emission distributes.The operated software of the computer that links to each other with photographing unit can convert bidimensional (2-D) spatial distribution data to three-dimensional (3-D) space representation from one or more images.

Second imaging pattern can comprise the imaging technique of any additional photoimaging.Example comprises x-ray tomography art (SPECT), cardiovascular imaging and the bone scan that NMR (Nuclear Magnetic Resonance)-imaging (MRI), computer topography art (CT), cat scan, X ray, ultrasound wave, nuclear medicine such as positron emission tomography (PET), single photon emission are calculated.Second imaging pattern can provide object or its inner 2-D (diagram) or the helpful spatial information of 3-D geometric description.

The software that the computer that links to each other with the photoimaging system is operated and second imaging system can be operated with analysis and be merged the output that every kind of imaging system provides.For example, the photoimaging system is specially adapted to produce the function information relevant with the behavior of being concerned about in the object.This function information can be merged mutually with the relevant spatial information with interior of articles that is provided by second imaging system.

The object control system will be moved between the photoimaging system and second imaging system by the object of imaging.Second imaging system comprises a receiving area that receives object from the object control system.This receiving area can corresponding to or comprise zone to object image-forming.For example, the MRI system generally includes a tubular cavity of passing the NMR (Nuclear Magnetic Resonance)-imaging magnet.Tubular cavity comprises the receiving area, and control system moves into tubular cavity with object, and the position of arrangement object is to carry out the MRI imaging.For the imaging chamber that uses in the airtight requirement that is adapted to light and the low light imaging system, object control system, photoimaging chamber, perhaps both can comprise special-purpose adaptively, keep the low luminance level that uses in the imaging chamber as light seal configured.

On the one hand, the present invention relates to be used to provide the system of the multi-modal imaging data of interior of articles.This system comprises a photoimaging system, provides and relevant light data of light from the light emitted that is positioned at interior of articles.This photoimaging system comprises: a photographing unit a) imaging chamber and b who comprises an inner chamber) is configured to when object is in this inner chamber from object capture light data.This system also comprises one second imaging system, is configured to the imaging data that interior of articles is provided, and has a receiving area, makes that inside can be by imaging when object was in the receiving area.This system also comprises an object control system, and object is shifted between the receiving area of the inner chamber of photoimaging system and second imaging system.This system also comprises the treatment facility that at least one links to each other with photoimaging system, second imaging system and object control system in logic.

On the other hand, the present invention relates to be used for object is placed on the object control system of inner chamber of the imaging chamber of photoimaging system.This system comprises a portable stage, and it is supporting object in the process of operator locating platform.This system also comprises an operator, is configured at the inner chamber of imaging chamber and surrounds between the peripheral region of imaging chamber and move this portable stage.This system also comprises a light seal, is configured to the light seal on the outer wall that connects imaging chamber, when being arranged in the inner chamber of imaging chamber when portable stage, provides the tight light between the external space of the inner chamber of photoimaging system and imaging chamber to seal.

Again on the one hand, the present invention relates to be used to obtain the imaging system of the graphical representation of sample internal light source.This imaging system comprises an imaging chamber, comprises a) inner chamber, and b) camera mount is configured to the placement photographing unit, when being in the inner chamber at object from object capture light data, c) the light seal on the outer wall of an imaging chamber.This imaging system also comprises an object control system, comprise a) portable stage of a supporting object, b) operator, be configured at the inner chamber of imaging chamber and surround between the peripheral region of imaging chamber and move this portable stage, c) light seal that is associated with operator or portable stage, be configured to the light seal on the outer wall that is connected imaging chamber, and when portable stage is arranged in the inner chamber of imaging chamber, provide the tight light sealing between the external space of the inner chamber of photoimaging system and imaging chamber.

Again on the one hand, the present invention relates to a kind of method that is used to obtain the multi-modal imaging data of object.This method comprises when object is arranged in the inner chamber of photoimaging system, catches the light data that the light source of interior of articles is launched.This method also comprises when object is in the receiving area of second imaging system, obtains the imaging data of interior of articles part.This method also is included between the receiving area of the inner chamber of photoimaging system and second imaging system and shifts object.

With reference to the accompanying drawings, in the detailed description of the present invention below, these and other characteristic of the present invention will be described in further detail.

Description of drawings

In the diagram in the accompanying drawings, the present invention illustrates that by example rather than by limiting wherein identical Reference numeral is used for representing similar elements, wherein:

Figure 1A has illustrated the system of the multi-modal imaging data that are used to provide interior of articles according to one embodiment of present invention;

Figure 1B has illustrated the system of the imaging data that is used to provide light and NMR (Nuclear Magnetic Resonance)-imaging (MRI) according to one embodiment of present invention;

Fig. 2 A be one according to one embodiment of present invention, be adapted to produce the 2-D of interior of articles light source or the perspective view of the imaging system that 3-D represents;

Fig. 2 B shows the simplified illustration of photoimaging according to an embodiment of the invention;

Fig. 2 C and 2D have illustrated respectively according to one embodiment of present invention, the perspective and the side view of the outer wall relative with a side of settling photographing unit;

Fig. 3 has illustrated a NMR (Nuclear Magnetic Resonance)-imaging according to an embodiment of the invention (MRI) system;

Fig. 4 has illustrated the box indicating of a computer topography art according to an embodiment of the invention (CT) system;

Fig. 5 has illustrated the imaging according to positron emission tomography (PET) according to an embodiment of the invention;

Fig. 6 A has illustrated an object control system according to an embodiment of the invention;

Fig. 6 B illustrated according to an embodiment of the invention in the MRI receiving area location portable stage Fig. 6 A shown in operator;

Fig. 6 C shows girth second wall on every side in a hole according to an embodiment of the invention, and it stretches out and be vertical with wall basically;

Fig. 6 D illustrated according to an embodiment of the invention in the inner chamber of photoimaging chamber shown in Fig. 6 A the location portable stage Fig. 6 A shown in operator;

Fig. 6 E has illustrated light tight seal according to another embodiment of the invention;

Fig. 7 has illustrated an exemplary computer system according to an embodiment of the invention;

Fig. 8 has illustrated the handling process that a multi-modality image that is used to obtain object according to an embodiment of the invention is represented;

Fig. 9 has illustrated a ultrasonic imaging system according to an embodiment of the invention.

The specific embodiment

In the detailed description of the present invention below, proposed a large amount of specific embodiments, the present invention has been understood completely to provide.But,, can or use optional element or process to realize the present invention without these specific detail as to those skilled in the art very clearly.In other example, known procedure, element and design are not described in detail, thereby are unlikely to make redundantly each side of the present invention to be beyonded one's depth.

1. summarize

Figure 1A illustrated according to one embodiment of present invention, is used to provide the simplified system 1 of the multi-modal imaging data of interior of articles.System 1 comprises a photoimaging system 10, one second imaging system 8, object control system 6 and at least one processor 2.Object control system 6 will be just moved between the receiving area of the inner chamber of photoimaging system and second imaging system by the object of imaging (or sample).Although mainly describing the present invention aspect two imaging system merging datas now, system 1 may comprise that also more than two systems, illustrative embodiment is not to limit the number of combination system.

Photoimaging system 10 relates to from luminous object and catches low intensity light-be in general 10 usually ³To general 10 ¹⁰The magnitude of photons/second/centimeter/steradian.Send during low intensity light is can be from the intravital various light sources of thing any.For example, light source can be corresponding to the luciferase showed cell in living specimen such as the mouse.Light source has been indicated the each several part of sample, for example is concerned about the molecule of following the tracks of in the specific part of living specimen of behavior taking place.

Photoimaging system 10 uses photographing units to obtain bidimensional (2-D) spatial distribution of the light that sends from body surface.For the details of light source (rather than surface emissivity) that interior of articles is provided, the instruction of processor 2 operation storages is with three-dimensional (3-D) graphical representation of construct.This relates to the light data that the radiation data of surface light converted to the inside of sample surface.Being used for parameter that inner 3-D light source represents can comprise and source radiant intensity, details that the 3-D position is relevant with geometry.

Second imaging system 8 is used a kind of in the various imaging patterns.Typical imaging system comprises: x-ray tomography art (SPECT) system, cardiovascular imaging system and bone scan system that NMR (Nuclear Magnetic Resonance)-imaging (MRI) system, computer topography art (CT) system, cat scan system, x-ray system, ultrasonic system, nuclear medicine such as positron emission tomography (PET) system, single photon emission are calculated.

The photoimaging system 10 and second imaging system 8 can produce space and/or function information.Spatial information refers to object or its inner 2-D (diagram) or the contributive information of 3-D geometric description.Space representation provides the 2-D or the reference of 3-D diagram of sample for the user.The 3-D geometric description generally comprises one by handling the reconstruction of constructing from the data of a plurality of 2-D images.Function information is meant project being concerned about in the object or the contributive information of behavior.In an imaging embodiment, 2-D or 3-D that photoimaging system 10 produces the intravital biological light source of mouse represent.Biological light source can be followed the tracks of as the development of the intravital particular cancer of mouse corresponding to large-scale physiology result tracked in the mouse body or test.Some imaging applications comprise on the space representation that is superimposed upon sample, to analysis from one or more expressions of the light radiation of the inside of sample.The light emitting sheet first finger shown may take place be concerned about the sample portion of behavior.Some imaging system 8 or 10 not only produces spatial information but also produce function information.For example photoimaging system 10 is highly suitable for generating structure and function information.Nuclear medicine uses radioactive substance to come people's volume imaging and treatment disease, and physiology's (function) and anatomy (space) Useful Information to target can be provided in establishing diagnosis and treatment.

At least one processor 2 links to each other with photoimaging system 10 logics, links to each other with second imaging system, 8 logics, links to each other with object control system 6 logics.Communication comprises to each

system

6,8 and 10 transmission data, is used for for example control of system element, location and motor control, the management of image capturing etc.Communication also comprises the element reception data from

system

6,8 and 10, is used for for example image data acquisition, element control feedback, calibration etc.Processor 2 is cooperated with saved software, and with the imaging sensing data that each imaging system provides, as the photographing unit dateout of photoimaging system 10, converts the form useful to system user to.

Processor 2 can merge the data of photoimaging system 10 and 8 generations of second imaging system.Use for one of the instruction that realizes by processor 2 and use the radiating one or more images of surface light, rebuild biological intravital bioluminescence or fluorescence light source.This provides for example useful function information of oncology, infectious disease research, gene expression research and toxicology.Photoimaging according to the present invention is applicable to the use at the object with complex surface, for example animal subject (as mouse or rabbit).When this term was used in the text, complex surface was meant and anyly can not be used alone the surface that single polygon is described.Smooth reconstruction technique used herein to source distribution also without limits, for example size of number of light sources in the object or light source and shape, for geometric format, size or the shape on surface also without limits.And as described below, processor 2 also will merge with photoimaging data from system 10 mutually from the spatial data of system 8.

2. photoimaging system

Fig. 2 A illustrated according to one embodiment of present invention, is used to produce the 2-D of light source in the sample or the imaging system 10 of 3-D graphical representation.Imaging system 10 can be used for multiple imaging task, comprises catching photo, luminous and structurized light image.Computer 28 and the processor 2 that is comprised thereof are cooperated with imaging system 10 carry out handling and imaging task, as obtain, analyze and operate 2-D or the 3-D light source is represented.

Fig. 2 B has illustrated by the mammalian object 302 of photographing

unit

20 and 10 imagings of photoimaging system.Light scattering 307 takes place in the light that the characteristic of mammalian tissues and the feasible light source 305 in object of a lot of other muddy medium send when object surface 309 is propagated, cause the diffuse images on the surface 309.Photographing unit 20 is caught the graphical representation of the light of object 302 emissions on the surface 109.Utilize photon diffusion models and imaging data, can be according to the processor 2 in the computer 28 of the instruction operation of storing according to one or more images of surperficial 309, the 3-D that produces position, size and the brightness of a light source 305 represents.

Surface light emission data is meant the information relevant with the light of fleeing from interior of articles.This light is generally fled from from the object volume of surface underneath.Light source can comprise from the light of luciferase showed cell, from fluorescence of fluorescence molecule etc.Object 302 typically refers to various mammalian object, comprises comprising the mouse that luciferase is represented cell or fluorescence indication body.In one application, sample 302 is biological samples that comprise luminescent cell.Therefore do not need any light source except that sample itself, just can obtain final luminescent image.The light of sample 302 is registered as a position function to produce this luminescent image.Be presented on July 22nd, 1997 among the United States Patent (USP) NO.5650135 of Contag etc. and described a kind of method that produces so synthetic photograph/luminescent image.The United States Patent (USP) NO.5650135 that owns together comprises the example of the analytical applications of other digital superimposed images.

With reference to figure 2A, system 10 uses a photosensitive photographing unit 20 to take and handle the low-intensity light source.The photon and the electromagnetic energy that only refer to the visible light of wave-length coverage in the 400-950nm scope any position in near-infrared (NIR) the part spectrum of light source.Should be appreciated that the part brightness of taking in the system 10 and handling is difficult for being arrived by people's vision-based detection.For example, the low intensity light from sample may have about 10 ³To about 10 ¹⁰The emissivity of photons/second/centimeter/steradian.The lower limit of this scope is significantly less than people's detection rank usually.

In an illustrated embodiment, imaging system 10 comprises an imaging chamber 12, is used to receive luminous sample, will detect low intensity light in this sample, as the light based on the luciferase element.High sensitivity camera 20 as enhancement mode or charge (CCD) photographing unit, is connected to this imaging chamber 12.Photographing unit 20 can be caught (promptly based on the image that reflects) and the structurized light image luminous, that take a picture of the sample 302 in the imaging chamber 12.Cooling device 22 circulation cryogens are to pass through conduit 24 cool camera 20.

Graphics processing unit 26 is connected between camera 20 and the computer 28 by

cable

30 and 32 respectively alternatively.Computer 28 can be any application type, generally includes a master unit 36, it comprises by processor, memory component such as random-access memory (ram) and read only memory (ROM), and the hardware of disk drive element (as hard disk drive, CD, floppy disk etc.) formation.Computer 28 also comprises a display 38 and input equipment such as keyboard 40 and mouse 42.Computer 28 links to each other with each element in the imaging chamber 12 by cable 34.In another embodiment, computer 28 is integrated in the individual unit with imaging device.

In order to control and to communicate by letter with the element in the system 10, computer 28 by be equipped with hardware and software control with surveillance 10 in image-forming component.The element of computer 28 controls can comprise the photographing unit 20 that is included in the chamber 12, the motor of being responsible for camera focus, camera gun, F f-stop, one or more motors that are connected with the moveable platform (not shown) etc.Computer 28 is also communicated by letter with display 38 to pass on image-forming information also as the interface of controlling this imaging system 10 to the user.

Computer 28 comprises suitable processing hardware and the software that is used to carry out Flame Image Process and date processing, and is as described below.For example, the computer 28 configurable 3-D graphical representations that utilize the light emission of sample surface to measure the structure light source with software.In addition, computer 28 can be configured to the light image generation 3-D surface topo graph of the 2-D structure of the one or more positions that utilize the platform in the inner chamber of taking from chamber 12.

In one embodiment, 3-D light reconstruction technique needs the radiation of bioluminescent surface, and the surface analysis on the full surface of sample is measured.In the case, photoimaging system 10 comprises instruction and the mechanism that is used for from a plurality of visual angles and catches surface, position image.Use the 3-D graphical representation of the data construct object of these a plurality of positions then.System 10 can be according to following manner 3-D imaging: 1) photographing unit 20 be maintained fixed (when the various cables that in imaging process, are used for cool camera and supply line inconvenient when mobile); 2) sample keeps level in imaging process; 3) imaging system is obtained the image of object from a plurality of visual angles and position; And 4) computer 28 uses the 3-D surface topo graph of a plurality of picture construction objects according to the reconstruction instruction that is stored in the software.

Object or animal subject are typically loaded into imaging chamber 12 to catch image.Imaging chamber 12 provides a plurality of options object is loaded into inner chamber 44.Fig. 2 C has illustrated the top perspective view of imaging chamber 12 according to an embodiment of the invention.Door 18 allows user's manual unlocking and closes this door, and object is placed in the inner chamber 44.

Fig. 2 D has illustrated the element of permission according to an embodiment of the invention automatic locating platform 609 in the inner chamber 44 of imaging chamber 12.Leg 103a is positioned at a sidewall opposite that receives photographing unit 20.Removable interface 90 on the wall 103a makes and can platform 609 be inserted chambers 12-and move this platform in chamber 12 by hole 91 from animal body control system 6.Removable interface 90 comprises wall 103a, wall 92, circular journal bearing 93, circular journal bearing 94 and an inner collar 95.Inner collar 95 defines the shape and the size in the hole 91 that receives portable stage 609.When not in use, a lid (not shown) can be covered on hole 91, prevents that light from entering inner chamber 44.Circular journal bearing 93 is placed between imaging locular wall 103a and the wall 92, and allows to rotate between the fixation wall 103 and removable wall 92 outside.Circular journal bearing 93 allows to rotate between wall 92 and inner collar 95.Cumulatively, bearing 93 and 94 makes hole 91 to put 102 with respect to center reference and follows the tracks of circuit orbit.Datum mark 102 expressions are relatively fixed a little with the motion of platform 609, and are used for the common point to imaging samples.When it when datum mark 102 rotates, bearing 93 and 94 also makes inner collar 95 and platform 609 can keep with respect to outer wall 103 constant angles.In one embodiment, platform 609 is keeping level when datum mark 102 rotates.Bearing 93 and 94 also make platform 609 keep with respect to the bottom constant angles of the robotic manipulator 502 of inner collar 95 interfaces.

In one embodiment, object control system 6 is configured to mobile portable platform 609 in inner chamber 44.Shown in Figure 1B, object control system 6 comprises a track 504 and operator 502, is used for mobile platform 609.Track 504 is transported to platform 609 near the photoimaging system 10, and makes that object control system 6 can be in long distance, as carrying out grand movement between the room.When imaging system 8 be one allow near the room that a small amount of ferrous metal holding the MRI system or within the MRI system time, this is very suitable.Operator 502 is located platform 609 in each system 8 and 10 and is proofreaied and correct.Like this, operator 502 is platform 609 patchholes 91, and platform 609 is located with respect to the tubulose receiving area that is used for MRI imaging system 8.More specifically, be used for photoimaging system 10, operator 502 is set up suitable vertical and horizontal location between platform 609 and hole 91, and platform 609 is inserted chamber 12 by hole 91.

In case be in 12 inside, chamber, the present invention expects that multiple mode comes location and mobile platform 609 in chamber 44.In one embodiment, bearing 93 and 94 is passive, and object control system 6 is for example by operator 502, with respect to datum mark 102 mobile platform 609 in inner chamber 44.In the case, the processor use location control software in the computer 28 of Fig. 2 B converts the user for the motor position that is included in the motor in the operator 502 to the input of the desired location of platform 609.In another embodiment shown in Fig. 2 D, motor 95a and pick off 96a are connected to bearing 93, and with the rotation of control wall 92 with respect to outer wall 103, and motor 95b and pick off 96b are connected to bearing 94, with the rotation of control inner collar 95 with respect to wall 92.In the case, when the orbital position of motor 95 controlling platform around the fixed datum 102 time, operator 502 keeps passive states.

Moveable platform 609 makes the light image of object, or a part wherein, can be caught from different visual angles, angle and positions in the imaging chamber 12 by photographing unit 20-need not reorientate the relative position of object 302 again.From a plurality of visual angles imaging samples provided and to have represented useful extraneous information setting up the 3-D internal light source.These extraneous informations can be used to retrain the 3-D reconstruction model in the software that is stored on the computer 28, thereby provide the more accurate 3-D of object to represent.

Operator 502 is locating platform 609 in chamber 44.A large amount of business machine people operators 502 provide the end effector that is applicable to locating platform 609 localization method.Universal method is used circle roller, resin and driftage (yaw) joint, makes the redundancy location that upstream joints in the operator can implementation platform 609.One or more upstream joints in the operator 502 can be configured to platform 609 shift-ins and shift out chamber 12.In the time of in platform 609 is in chamber 12, the seal between chamber 12 and the operator 502 prevents the light inlet chamber 12 (Fig. 6 C) from the external space effectively.

Operator 502 comprises toward each other basic vertical and be connected linear actuator on the upstream arm 506 of operator 502 alternatively.Each linear actuator makes platform 609 be positioned at an orthogonal direction.For example, first linear actuator provides perpendicular positioning for platform 609, and second linear actuator is platform 609 horizontal location.First linear actuator 206 has the part that the relatively-stationary part of the upstream arm that is connected operator 502 or bottom and can vertical linear translation.Second linear actuator 208 can have one and be connected the relatively-stationary part on first linear actuator and the part of a horizontal linearity translation.A trilinear actuating device also can be used to be parallel to ground translate stage 609, and by hole 91 with the platform shift-in or shift out chamber 12.One is applicable to that the example that is used in this linear actuator in the operator 502 is LC-33, by the thomson factory manufacturing at port, Washington, New York.

System 1 comprises the closed loop positioner that is used at inner chamber 44 inner control platforms 609.More specifically, the user is essentially circular path position to platform 609 around the fixed datum 102 by computer 28 input is one or more.As an alternative, the user can provide the visual angle of platform 609 with respect to fixed datum 102.The software that is included in the computer 28 converts the visual angle to control information then, so that platform 609 is moved to desired locations from its current location.Be included in the control signal that the motor receiving computer 28 of each actuating device that is used for operator 502 provides, and the position of arranging platform 609 thus.Operator 502 can comprise a position sensor that links to each other with processor computer 28 logics with each joint in the operator 502, with position feedback and the control that makes things convenient for platform 609.

Be applicable to that the photoimaging system 10 that uses with the present invention can obtain from the Xenogen company of Canadian Alameda.The multiple unsettled U.S. Patent application that is applicable to that the photoimaging system that uses with the present invention is owning together, application number is 09/905668, and denomination of invention is " looking imaging device " more, and the invention people is D.Nilson etc., the applying date is July 13 calendar year 2001, describes.Be applicable to the unsettled U.S. Patent application that the 3-D imaging system used with the present invention is being owned together, application number is 10/606976, denomination of invention is " the 3-D imaging method and the device that are used for internal light source ", the invention people is D.Stearns etc., the applying date is on July 25th, 2003, describes.

3. second imaging system

In one embodiment, second imaging system is electromagentic resonance imaging (MRI) system.Fig. 3 has illustrated a NMR (Nuclear Magnetic Resonance)-imaging according to an embodiment of the invention (MRI) system 300.MRI system 300 generally comprises the processor (processor that comprises in the computer 28 as Fig. 2 A) that the electronic component of a MRI machine 301 and at least one and MRI system 300 can carry out digital communication.MRI machine 301 can be made change in size, shape and configuration, and some model comprises the opening on the cylindrical side.As shown in the figure, MRI machine 301 comprises a horizontal tubular cavity 303 of passing a magnet 304.In the case, chamber 303 arrives the back side 309 from the front 307 of MRI machine 301.Horizontal tubular cavity 303 generally also refers to the hole of magnet 304.To be placed on the platform 310 that is moved into horizontal tubular cavity 303 by the object 308 of imaging.Object control system 6 is determined platform 310 and the position of object 308 in horizontal tubular cavity 303.The type of the inspection of carrying out has determined that mammalian sample 308 is that head is introduced into or foot is introduced into, and how far enters in the magnet 304 that they are placed.In case the sample portion that will be scanned is in the magnetic field center or the isocenter of magnet 304, then MRI scanning beginning.

MRI machine 301 can use from general 0.5 tesla to general 60.0 teslas, or from general 5000 magnets 304 to general 6000000 Gausses.The radio wave pulses of energy that use is produced by magnet 304, MRI machine 301 advances by the health pointwise along sample, scans this object and interior section thereof, sets up the 2-D or the 3-D figure of the current types of organization that just is being scanned.The processor 2 that carries out electronic communication with machine 301 receives magnetic output, and instruction is operated with integration scanning information according to saved software, and creates 2-D image or 3-D model.

MRI system 300 provides a high-level spatial information with respect to other imaging characteristic.The 3-D model that is produced by MRI system 300 can be used to auxiliary 3-D light and rebuild, and for example, produces and represents that to surface light emission data being converted to object 308 interior lights useful surface image represents.2-D that processor can also provide MRI system 300 or 3-D spatial information combine with the 3-D function information that photoimaging system 10 provides.Be combined with the ability of using above-mentioned bioluminescence technique to follow the tracks of the biological entities of being concerned about, MRI system 300 and photoimaging system 10 make research worker the progress of biological entities to be shone upon mutually with before be beyond one's reach fidelity and characteristics by the specific internal part of sample 308.In an application, be used to locate the 3-D light data of the specific anatomical structure of relative object 308 from the spatial information of MRI system 300.For example, the big I of physics of the tumor in the mammalian sample 308 obtains from MRI system 300, and is used to accurately rebuild the 3-D light emission from the tumor that photoimaging system 10 provides.

Relevant with the magnetic field intensity of using in the MRI system 300, have the restriction of the ferrous metal relevant with the use of MRI system.In the case, platform 310 may be without any the ferrous metal part.In addition, magnet 304-as comprise ON/OFF control based on resistive magnet-may in sample shifts, be closed.A kind of MRI system that uses together with the present invention that is applicable to is the obtainable BrukerBiospec of Bruker BioSpin that blocks in the Bill of Massachusetts.

In another embodiment, second imaging system 8 is a computerized X-ray axial tomogram (CT) systems.Similar with MRI system 300, the CT system provides high-grade spatial information, and the functional information that it can be collected with photoimaging system 10 also.

Fig. 4 has illustrated the box indicating of computerized X-ray axial tomogram according to an embodiment of the invention (CT) system 600.CT system 600 comprises an X ray CCD photographing unit 602, object control system 604, a little focal length X-ray tube 606 of row and a processor 608.Object control system 604 will be determined the position of the object 610 placed on the platform 609 in the receiving area, so that the X ray that sends from CCD photographing unit 602 can pass object 610.X ray is received by little focal length X-ray tube array 606 then.In processor 608 and these equipment each carried out digital communication, and executes instruction from saved software, with the X ray emission of control from CCD photographing unit 602, and location sample 610, and processing is by the data of little focal length X-ray tube array 606 collections.

CT system 600 produces the cross-sectional image based on X ray of a series of solid objects.The X ray intensity profile measurements generally is used algorithm for reconstructing and handles, and algorithm for reconstructing produces an expression two-dimensional slice or planar image by material or part with X-ray scanning.Each point of section is corresponding to density of material.Processor 608 is rebuild high-resolution image, and other details of 1-10 μ m level can be detected with little focal length computerized X-ray axial tomogram and industrial little CT scanner, obtains the resolution of the elementary volume, volume element in the micrometer range.CT scan is very useful to the internal anatomy characteristic and the part that disclose sample alive and non-sample alive.

CT system 600 also allows to obtain 3-D volume and/or topological data.Successive cross-sectional image can be piled up the 3-D image with a part that forms sample 610.Can set up the full volumetric image to sample 610 entire scan are feasible.From the 3-D view data, can use the instruction in the software to find out segment boundary, and create the computer model and the expression of sample specific part 610 integral body or that be concerned about.Be applicable to that the CT system that uses with the present invention is by the UT-Battelle of the LLC MicroCAT as the research worker exploitation of the Oak Ridge National Laboratory of USDOE's management.

Similar with MRI system 300, CT system 600 also can provide the high-resolution spatial information of the function information that replenishes 10 generations of photoimaging system.The 3-D model that is produced by CT system 600 can be used to auxiliary 3-D light reconstruction, for example, produces and represents useful surface or internal representation to surface light emission data being converted to object outside or inner detailed light image.2-D that processor can the 2-D that be provided by CT system 600 or 3-D spatial information and photoimaging system 10 be provided or 3-D functional information are also.To test detailed bioluminescence of intravital height or fluorescence light source or source distribution helpful to rebuilding live animal for the ability that this interior section for sample 610 of CT system 600 produces high resolution space information.For example, the three-dimensional light data of mouse 610 inside can be complementary with the 3-D structural information that CT system 600 generates, with the detailed picture of the biological behavior that produces the internal.It is how helpful to snapshot imaging and Process Tracking that space and function information this is incorporated in oncology, infectious disease research, gene expression research, the toxicology.

Nuclear medicine imaging system 8 has been given research worker and the another kind of imaging mode of imaging doctor, to see object, as the inside of body of mammals.Nuclear imaging system uses radiation to have radioactive substance and the one or more detection of radioactive material and their the radiating pick off of the radioactive particle of known features.Traditional nuclear medicine imaging system comprises: x-ray tomography art (SPECT) system, cardiovascular imaging system and bone scan system that positron emission tomography (PET) system, single photon emission are calculated.These systems use the different qualities of radioelement to create image.Nuclear medicine to detect tumor, aneurysm, to the insufficiency of function of irregular or insufficient blood flow, blood cell disorders and the organ of various tissues, as thyroid and pulmonary function defective, very useful.In these nuclear medicine imaging systems any one all provides one and optionally replenished the space of photoimaging system 10 generations and/or the imaging system 8 of function information.For example, photoimaging and nuclear medicine can detect tumor in oncology applications.

Fig. 5 has illustrated the imaging according to the PET system according to an embodiment of the invention.The PET system produces object or its a part of image by the radiation of the radioactive substance in the inspected object.These materials are injected into object, are come labelling with the radioactive atom with very short decay time usually, as carbon-11, fluoro-18, oxygen-15 or nitrogen-13.In PET scanning, object is injected into radioactive substance, and is placed on the platform 402, and platform 402 moves gradually by the tubulose receiving area 405 of annular outer housing 404.Outer housing 404 comprises a circular gamma detector array 406, and this gamma detector array 406 comprises one group of scintillation crystal, each all related photomultiplier tube 408.Crystal converts the gamma ray 409 of object 410 internal radiations to photon.Photomultiplier tube 408 is with photon conversion and zoom into the signal of telecommunication.These signals of telecommunication are then by the processor processing of carrying out digital communication with these photomultiplier tubes, and this processor is configured to based on the signal of telecommunication from photomultiplier tube 408 and generates image.Platform 402 passes tubulose receiving area 405 then and moves, and this process is repeated, and the result obtains the series of thin sectioning image of the object 410 of the interior section (as brain, chest, liver) be concerned about.The 3-D view that processor is dressed up an interior section with these slice image sets is represented.PET is helpful especially to the image that blood-stream image and other biochemical function are provided, and this depends on the type of the molecule of radioactivity labelling.For example, PET figure can show each the regional interior glucose metabolism of human body or the quick variation of behavior.

The x-ray tomography art (SPECT) that single photon emission is calculated is the technology of a kind of PET of being similar to, but the radioactive substance that uses among the SPECT (XenonInjection, technetium-99, iodo-123) has the die-away time longer than the material that uses among the PET.The SPECT system is highly suitable for providing the information of the distribution of intravital blood flow of body and radioactive substance.Its image has lower sensitivity, and does not have the PET image detailed, but the SPECT system is more cheap than PET system.Because photoimaging system 10 is relatively more expensive, merging SPECT system 8 and photoimaging system 10 provides multi-modal imaging selection cheaply.

In another embodiment, second imaging system 8 comprises a ultrasonic imaging system.Fig. 9 has illustrated ultrasonic imaging system 800 according to an embodiment of the invention.Ultrasonic system 800 comprises a detector 802, processor 804, detector controller 806, memorizer 808 and display 810.

Ultrasonic system 800 uses detector 802 to send high frequency (for example 1 to 5 megahertz) acoustic impluse in sample 610.Detector 802 generates and passes sample 610 and run into the sound wave on the border (as fluid and soft tissue, between soft tissue and the bone) between tissue.Some acoustic reflections return detector 802, and other continue walk, arrive another border and be reflected up to them.Detector 802 detection of reflected ripples, and give processor 804 with corresponding signal relay.The shape of detector 802 has been determined its view field, and that the frequency of emitting sound wave determines that generally sound wave can permeate is how dark, and the resolution of view data.In one embodiment, detector 802 uses piezoelectric effect to generate and receives sound wave.For example, detector 802 can comprise one or more crystal elements, and in the multicomponent detector, each crystal can comprise its circuit.Multicomponent detector 802 makes that ultrasonic beam can be by the pulse timing that changes each element " manipulation ".The detector 802 that moves except passing sample 610 surfaces, some detector 802 makes can more close checked tissue (as prostate, stomach) by the insertion of the opening (as rectum, esophagus) of sample 610.

Processor 804 sends electric current to the detector 802 of determining the sound wave emission, and receives the electric pulse that uses echo to create from detector 802.The time (generally being in the magnitude of microsecond) that the velocity of sound in processor 804 using-systems (5005 feet per seconds or 540 meter per seconds) and each echo return, calculate from detector 802 to reflecting surface or the distance of border (as tissue or organ).Processor 804 can show the distance and the intensity of echo then on display 810, form a two dimensional image.Processor 804 can also be comprised in and comprise that this computer system comprises any amplifier and information processing electronic device in the computer system of the power supply that detector 802 is powered.Processor 804 also is stored in data and/or the image of handling in the memorizer 808.

Amplitude, frequency and the persistent period of the sound wave pulse that detector controller 806 change detectors 802 send.Detector controller 806 also makes the operator can be provided with and change the frequency and the persistent period of ultrasonic pulse, and the scan pattern of system 800.The image of the ultrasound data that display 810 output from processors 804 are provided.Memorizer 808 can comprise the image that a storage is obtained and be used for the disk storage device (hard disk, floppy disk, CD) that system 800 obtains the instruction of data and reconstruction 2-D or 3-D image.

Ultrasonic system 800 can produce the 3-D spatial information.In the case, cross over the surface of sample 609 by mobile detector 802, or rotate the detector that inserts, obtain a plurality of 2-D images.The software that is stored in the memorizer 808 of two-dimensional data merges to form the 3-D image then.The dissection that some ultrasonic imaging system 800 provides and the 2-D of physiological structures or 3-D spatial image resolution are low to 30 microns.In addition, the user can watch and analyze a plurality of planes arbitrarily, and carries out cubing, for example determines gross tumor volume.Be applicable to that the ultrasonic system that uses with the present invention comprises the Vevo660 that the VisualSonics by Toronto provides.Ultrasonic system 800 is also relatively more cheap; Merge ultrasonic imaging system 800 and photoimaging system 10 a multi-modal imaging selection cheaply also is provided.

4. object control system

The object control system moves between the photoimaging system 10 and second imaging system 8 will be by the object of imaging.Fig. 6 A has illustrated an object control system 700 according to an embodiment of the invention.Object control system 700 is mobile object 701 between a receiving area 704 of the inner chamber 720 of photoimaging system 702 and second imaging system 706.

Object control system 700 comprises an operator 708 and a portable stage 710 that is connected with operator 708 separably.Operator 708 is positioned at portable stage 710 near the photoimaging system 702 and second imaging system 706, and the accurate location and the orientation of portable stage 710 can be provided in the imaging of each system or reception area.As mentioned above, each imaging system 8 comprises a reception area that receives object 701, and it also can be corresponding or comprises this object by the zone of imaging, as the tubular cavity 303 of a MRI machine.At this moment, processing system 700 navigates to object 701 within this tubular cavity 303, and the position that platform 710 and object 701 be set is to carry out the MRI imaging.

Operator 708 can comprise the arm and the joint of arbitrary number, be used between two imaging systems or within move, location and orient portable stage 710.For example, a plurality of business machine people manufacturer provides the controller of heavy burden scope at 5 to 6 degree of freedom of 1kg in about 20kg scope.A kind of robotic manipulator that is suitable for being used in combination with object control system 700 is the Denso Model VM of the Bruker BioSpin that blocks in the Bill from the Massachusetts.

Be arranged on the MRI imaging system that is used for the electromagnetism purpose in second room if second imaging system 706 is one, operator 708 also can comprise track 714, with can be between the room overall movement.Automatic rail joints 716 along track 714 extend and be connected operator 708 end arm 718 below.Rail joints 716:a) allow operator 708 to move on a large scale, as between the room, moving; With b) for first swivel joint of end arm 718 (in the robot other any first or the bottom be connected) a static reference is provided.Computer is controlled by one or more processors, as mentioned above, can be used for moving and positioning action device 708 and automatic rail joints 716.Generally speaking, operator 708 and track 714 provide the integral body of long distance to move and can accurately locate and orient portable stage 710.

Object control system 700 also can be used at the inner chamber of imaging chamber 712 or the accurate positioning object 701 of another imaging system.Fig. 6 B has illustrated according to one embodiment of present invention at manipulator shown in Fig. 6 A of a MRI reception area positions portable platform.In this embodiment, operator 708 is located and orient portable stage 710 along a central shaft of the cylindrical central cavity of MRI imaging system 706.

Portable stage 710 is connected on last arm or connecting rod of operator 708 separably, and supporting object 701 between the fixation phase of operator 708.Platform 710 refers generally to the plane or the portable desk of any supporting object 701.In one embodiment, identical platform 710 in each imaging system during moving between the imaging system supporting object 701.Portable stage 710 can comprise a special end effector of robot that is used for many imaging systems.Object 701 places on the portable stage 710 and by object control system 700 and locate-need not move between imaging system substantially.Therefore, object control system 700 can be inserted in the inner chamber 720 of imaging chamber 712 and locating platform 710, from this inner chamber 720, shift out platform 710, platform 710 is transferred to the receiving area 704 of second imaging chamber 706, and locating platform 710-does not need interfering object 701 fully in receiving area 704.This is for the positional accuracy that keeps each imaging system or keep the narcotism advantageous particularly of a mammalian sample 701.Platform 710 comprises mesh table or the linear array (as fishing line) by a substantial transparent that is supported by nonmetal circle, not influencing the imaging of MRI system 300, and platform 710 or photoimaging system 10.

For the ease of the position accurately and the reference of object between two imaging systems, portable stage 710 comprises second benchmark that light benchmark that a position can be detected by photoimaging system 10 and position can be detected by second imaging system 8.Gim peg and other reliable instrument also can be used to provide georeferencing information.These bolts and instrument can be marked with the project of the power of test that increases each imaging system.That is to say that these can carry out optical detection when being marked at test and distinguish with object 701.Porthole, cross, bar code, known polygon etc. have the reference by location that all is suitable as photoimaging system 10 of a known position on portable stage 710.The labelling of second reference depends on the type of second imaging system 8.For example led markers may is applicable to x-ray system.A MRI system can be with reference to a pilot pin with different materials of hydrogen source or other known density.In a preferred embodiment, these photoimaging system 10 detectable reference positions and second imaging system, 8 detectable reference positions comprise the same position on the platform 710.

Object 701 in the inner chamber of the also very suitable location of object control system 700 photoimaging system 704.With reference to figure 6D, the outer wall 744 of chamber 712 comprises a hole 742, so that platform 710 can enter interior chamber 720.Photoimaging chamber 702 can be used for making between the space of inner chamber 720 and imaging chamber 702 outsides fully light to isolate.In order to adapt to the isolated needs of light in the photoimaging system, object control system 700, photoimaging chamber 702 or these two can be carried out special adaptive change, keep the part of low light grade as making in imaging chamber 702 with light encapsulant and other.In one embodiment, optical processing system 700 and imaging chamber 702 comprise that an auxiliary circular light encapsulant builds to provide a kind of sufficient light to isolate between the space outerpace of the inner chamber 720 of imaging chamber 712 and chamber 712, and portable 710 be positioned within the inner chamber 720.Can be with a plug seal hole 742 when imaging system 10 does not use.Do not have this stopper, operator 708 can be by this hole 742 near inner chamber 720.

Fig. 6 C shows according to one embodiment of present invention a light seal 761 that is provided with during positions portable stage 710 when operator 708 in inner chamber 720.Wall 750 extends around hole 742, outwards and perpendicular to wall 744.Wall 750 comprises a distal edge part, when operator 708 in inner chamber 720 during positions portable stage 710, this distal edge part substantially with operator 708 on a rear wall 770 adjacent.

The wall 748 of imaging chamber 712 and 750 walls 764 and 766 with operator 708 form a capture space 774, and it is around the circumferential extension in hole 742.In this case, capture space 774 has a rectangular cross-sectional area, and the summit A that is formed by wall 748 and 750 faces the summit B that is formed by wall 764 and 766.Wall 766,764 on the manipulator and 770 has been determined a capture space 722 with photoimaging wall 748 and 750.

In capture space 772, compression material 762 is attached on the wall 764 of operator 708.Compression material 762 stops the light from ambient room to penetrate into inner chamber 720.When operator 708 in inner chamber 720 during positions portable stage 710, compression material 762 produces fully that " light isolations " seals.Thereby compression material 762 has reduced the extraneous light amount that enters into cavity 720 when operator 708 in inner chamber 720 during positions portable stage 710.In one embodiment, when operator 708 in inner chamber 720 during positions portable stage 710, annular wall 770 is compressed this compression material 762 along the first side 763a of compression material 762 basically, wall 748 compresses this compression material 762 along opposite side 763b basically.Compression material 762 comprises a kind of opaque, black and flexible deformable material preferably.

Operator 708 comprises an antetheca 764, a sidewall 766 and one second a wall section 768.Ring-type rear wall 770 is attached on the inner surface of the annular wall 764 that operator 708 comprised, and is beneficial to the sealing of photoimaging chamber.In a particular embodiment, the annular wall 770 of operator 708 have one when operator 708 in interior bore 720 during positions portable stage 710 around the hole 742 wall parts 771 that extend.In another embodiment, this wall part 771 on the direction by the 4th side part 763d of engagement compression material 762 between the first side part 763a of the compression material 762 of annular wall 770 engagements of the second side part 763 of body front wall 748 engagement and operator 708, extends to body front wall 748 therein.

Fig. 6 E has illustrated that according to another embodiment of the present invention light is isolated and has sealed 61d.This light tight seal 61d comprises two compression material 62d and the 62e that lays respectively in two passage 77a and the 77b.Conduit wall 78 and 79 all extends from operator 708, forms passage 77a.Passage 77b is made of parallel substantially conduit wall 50a and 50b, all 12 antetheca 48 and 91 extensions around the hole basically from the chamber of these two walls.In this case, when operator 708 inserted platform 310 in cavity 44, conduit wall 79 was accommodated among the passage 77b.Like this, the conduit wall 79 engagement second compression material 62e are tackled by the second compression material 62e so that enter into the light of second channel 77b from the outside of main body 14.

The part of material 62d and a 62e difference filling channel 77a and 77b.In one embodiment, material 62d and 62e fill at most from about 3/4 of the wall 70 and 48 passage 75 degree of depth of measuring.In another embodiment, material 62d and 62e fill maximum about 1/2 of this channel depth.In a particular embodiment, material 62d and 62e fill maximum about 1/4 of this channel depth.Therefore, when operator 708 inserted platform 310 in cavity 44, intermeshing wall 50a was eclipsed with 50b and relative their degree of depth separately with 79 of conduit wall 78 basically.The light that any attempt penetrates light barrier can need at least six optic angle degree to change (comprising four times by compression material 62d and 62e) before ambient room enters inner chamber.

Light tight seal 61d also comprises when operator 708 inserts platform 310 in cavity 44 the 48 outward extending manipulator side wall 66 from operator 708 towards antetheca.At this moment, manipulator side wall 66 peripheries are positioned at the outside, and are parallel to conduit wall 78 and 79 and intermeshing antetheca 50 substantially.When operator 708 inserted platform 310 in cavity 44, operator 708 also comprised one second wall section 68, and it begins to extend from sidewall 66, and is located substantially near the antetheca 48.As shown in the figure, the second wall section 68 is extended on the inside direction of intermeshing relatively antetheca 50 and conduit wall 78 and 79.

Fig. 6 D has illustrated the operator 708 of positions portable stage 710 in the inner chamber 720 of photoimaging chamber 712.At this moment, mobile portable stage 710 and the object 701 on it on the both direction of operator 708 in the inner chamber 720 of photoimaging chamber 712.In particular, operator 708 moves portable stage 710 with respect to photographing unit in the chamber 712 or common observation benchmark with annular track.Because this object can be changeably and diversely be positioned at chamber 712, thus optical transmission device 711 from object to common reference transmission emission relevant or the light that reflects with being installed in lateral photographing unit 20.In one embodiment, optical transmission device 711 comprises a mirror 713, and it rotates with platform 710 with respect to common reference, also will reflex to fixed photographing unit 20 along common reference from the light of the target on the platform 710 always to reach in the face of object 701.This makes the light image of object, or a part wherein, is caught from different visions, angle and positions in the imaging chamber 12 by photographing unit, and need not to reorientate object 701 or mobile cameras 20 on the platform 710.

Move for the ease of such, an outer wall 740 of imaging chamber 710 comprises that a) one has a movably interface that receives the hole 742 of portable stage 710, b) first circular journal bearing 741 between wall 742 that places outer wall 740 and removable interface; And c) second circular journal bearing of permission rotation between wall 742 and object control system 708.And circular journal bearing 741 and 743 can rotate freely-get rid of any relative to rotation-and allow platform 710 maintenance level during moving on the orbital path between platform 710 and the chamber 712 in the other direction.

Portable stage 710 allows to finish imaging by a plurality of imaging systems 8 and 10, and leaves object 701 alone.For an animal 701, the abdominal part of enatiozoa observation animal causes the serious displacement of animal internal organ position, and this will influence observation.Each system 8 and 10 imaging and the transmission between system may need a lot of times.Obtain a luminescent image and represent also to need the longer cycle to carry out image capturing, as a few minutes.In order to prevent moving of during imaging biopsy sample, object control system 700 may comprise an anesthesia delivery system, carries anesthetic gases to give one or more biopsy sample to outlet.This anesthesia delivery system also is useful for transmission anesthesia biopsy sample between imaging system.One exemplary is applicable to the unsettled United States Patent (USP) NO.10/081040 (agency's reel number is XENOP008) that the anesthesia delivery system used with the present invention and gas delivery system are being owned together, title is " exporting anesthesiaing system " more, the application people is Richard George Dalgetty etc., and the applying date is to be described in 20 days February in 2002.

Imaging technique described herein is to realize together with processor that is suitable for or computer based device.Comprise a central processing unit (CPU) 352, read only memory (ROM) 354, random-access memory (ram) 356, expansion RAM 358, I/O (I/O) circuit 360, display unit 362, input equipment 364 and expansion bus 366 with reference to 7, one exemplary computer system 350 of figure.Computer system 350 also comprises a high capacity memory element 368 alternatively, for example harddisk driving unit or nonvolatile storage such as flash memory and a real-time clock 360.Mass storage 368 can comprise the unit that uses the movable computer computer-readable recording medium, and for example floppy disk, optomagnetic medium, light medium etc. are used for the medium of storage program and data.

CPU 352 is a commercial microprocessor preferably, (comprises Pentium as Intel ^TM) or the chip of Motorola series, Reduced Instruction Set Computer (RISC) chip is as from the available PowerPC of motorola inc ^TMMicroprocessor, or in any other suitable processor any one.CPU 352 is connected to ROM 354 by data/address bus 372, control bus 374 and address bus 376.ROM 354 can partly comprise the basic operating system that is used for computer system 350.CPU 352 also is connected to RAM 356 by bus 372,374 and 376, and making can be with RAM 356 as scratchpad.Expansion RAM 358 is connected to RAM 356 alternatively to be used by CPU 352.CPU 352 also is connected to I/O circuit 360 by data/address bus 372, control bus 374 and address bus 376, carrying out transfer of data with ancillary equipment.

By suitable I/O input, CPU 352 links to each other with photoimaging system 10 logics, links to each other with second imaging system, 8 logics, and links to each other with object control system 6 logics.CPU 352 merges with the information that photoimaging system 10 provides with the spatial information that second imaging system 8 is provided mutually according to the instruction operation of storage.But ROM 354 memory image processing instructions.ROM 354 all right storage protocols, in order to the location according to the multi-mode imaging system needs, control object control system 6 is for example stored the special purpose robot's control command that moves according to the positioning instruction order robot that is used for imaging.

I/O circuit 360 generally comprises a large amount of latch, depositor and direct memory visit (DMA) controller.The purpose of I/O circuit 360 provides a CPU 352 and these ancillary equipment, as the interface between the display unit in imaging system 8 and 10 362, input equipment 364, mass storage 368 and/or any other I/O equipment.I/O circuit 360 can also comprise that modulus (A/D) transducer, digital-to-analogue (D/A) transducer and other are used to control and receive the control circuit from the feedback data of I/O equipment.The display unit 362 of computer system 350 is the outut devices that are used to show other visual representations of object and data.

The screen of display unit 362 can be one use that cathode ray tube (CRT), liquid crystal display (LCD) wait, its type can be from the equipment of a large amount of manufacturers acquisition.Stylus that input equipment 364 can be keyboard, mouse, work with location sensitive display etc.Input equipment 364 can be by the activated embedded RF digital converter of " active " RF stylus alternatively.As another option, input equipment 364 can be the switch that the response of test body can be passed to any kind of computer system 350.Therefore, as used herein term " input equipment " be meant any can with the input data and/or on the screen of computer display the indication ad-hoc location mechanism or equipment.Can be for Control Computer 350 provides one or more input equipments, to receive response from test body.Above-mentioned input equipment can obtain from various producers, and total institute is known in this area.

The mass storage 368 of some type is generally believed it is desired employing.But RAM 356 that can be by sufficient amount is provided and expansion RAM 358 be with storage user application and data, thereby save mass storage 368.In this case, can provide reserce cell to prevent loss of data when computer system 350 is closed for

RAM

356 and 358 alternatively.But, the long-term mass storage 368 that common expectation has some type, as commercial hard disk drive, nonvolatile storage, as flash memory, battery backed RAM, PC data card etc.

No matter the configuration of computer system 350 how, it can use one or more memorizer or memory modules that storage is used for the programmed instruction of robot control, the three dimensional representation of obtaining light source and other imaging function of the present invention described herein that are configured to.Sort memory can also be configured to the specific non-program information of describing in store data structure, imaging data or other literary composition.Should remember, describe with facility, can use various suitable computer realization technology to implement the present invention although computer system 350 has been discussed on some details here.In general, any suitable computer system can be used to obtain the three dimensional representation of the light source that is positioned at sample inside.

Because information and programmed instruction can be used to realize system/method described here, the present invention relates to computer-readable medium, its medium comprises the programmed instruction that is used to carry out the various operations described in the literary composition, status information etc.The example of computer-readable medium comprises (but being not limited to) magnetizing mediums, as hard disk, floppy disk and tape, the light medium, coil as CD-ROM, magnet-optical medium, as the hardware device in order to storage and execution of program instructions of floptical disk and special configuration, as read only memory equipment (ROM) and random-access memory (ram).The example of programmed instruction comprises, machine code is as being produced and comprised the file of the high-level code of being carried out by computer use interpreter by compiler.

Fig. 8 has illustrated one according to one embodiment of present invention, is used to obtain polytype view data handling process 900 of object.According to process of the present invention can comprise in the literary composition do not describe or explanation in order to not obscure a plurality of additional step of the present invention.

Handling process 900 is caught the light data sent from the light source of interior of articles and (902) when being arranged in the inner chamber of photoimaging system when object.For imaging system 10, surface light emission data is included in the image of being caught by photographing unit 20.Image comprises the photoemissive measurement collection on surperficial one or more parts.In one embodiment, a plurality of images of sample obtain from a plurality of views with respect to the sample of photographing unit.In the case, each image provides the surperficial photoemissive different two-dimensional view from sample.Can take a plurality of images to provide excessive data from a plurality of angles.

Then, handling process 900 when being positioned at the reception area of the second journey imaging system when object, obtain object interior section imaging data and continue (904).When second imaging system was a nuclear magnetic resonance imaging system, the imaging data of acquisition comprised the imaging data that uses the NMR (Nuclear Magnetic Resonance)-imaging magnet to receive.For the computer X-ray computed tomography (SPECT) system, the imaging data of acquisition generally comprises the imaging data that the X ray sensor that uses the X ray that a series of detections send from object receives.

Should be appreciated that the appearance of the imaging in the photoimaging or second imaging system is order not.No matter use earlier which imaging system, object is transferred (906) between the reception area of the inner chamber of photoimaging system and second imaging system.In one embodiment, on the portable stage that object is placed not under the situation of mobile object, shift actually.Conversion can also comprise when portable stage is arranged in the inner chamber of photoimaging chamber, uses the light seal that is included in the object control system to seal the photoimaging chamber.

Handling process 900 can also merge the data of each imaging system.For example, the performance data that can use software and user to import to merge spatial data that nuclear magnetic resonance imaging system provides and photoimaging system to provide.In some cases, software can merge the 3 d function information that three-dimensional spatial information that MRI or computerised tomography system provide and photoimaging system provide.

Can use 3-D light reconstruction technique to rebuild the light data of sending from sample surface.Reconstruction technique uses geometry information that sample is provided and from the data of the photoemissive spatial distribution of sample surface.This data that may comprise comprise: a) graphical representation of sample surface (for example from second system 8), and b) the lip-deep photoemissive one group of measurement of at least a portion (as image).A kind of form that is used for these data comprises: (1) has determined that the imaging surface of sample surface represents, (2) from one group of light emission image of sample surface, (3) one groups of parameters of having determined the spatial relationship between sample and each image.Then, 3-D light is rebuild and is comprised the light data that the surface light view data converted to body surface inside, represents with the 3-D view that obtains internal light source.This can comprise creates one group of intravital elementary volume, volume element of thing.

Can also obtain surface image by second imaging system or structured light technology represents.For example, the three-dimensional spatial information that computer X-ray computed tomography (SPECT) system 8 provides can be used to make up surface image and represent.3-D light for the ease of light is rebuild, and surface image represents to be divided into the surface mesh of a surface cell or a suitable real surface that is similar to sample.For example, surface mesh can be defined by one group of polygon that connects, and wherein each polygon is a surface cell.The number of surface cell becomes according to the size of object and the parsing precision of expection.By increasing the number of surface cell, can improve the precision that surface image is represented usually.

Although the present invention is described by the form of a plurality of preferred embodiments, various conversion, change and equivalent are arranged, they all fall within the scope of the present invention, are in concise and to the point purpose and are left in the basket.For example, can enter inner chamber 44 with a plurality of options of object although wish imaging chamber 12, should be appreciated that, the present invention also comprises enter (for example, enter or enter automatically by hand, but not both simultaneously) of a kind of form only.Therefore scope of the present invention should be determined with reference to the appended claims book.

Claims

1. the system of polytype imaging data of an interior section that is used to provide object, this system comprises:

A photoimaging system is used to provide and relevant light data of light from the light emitted that is positioned at interior of articles, and comprises

Imaging chamber that comprises an inner chamber and

A photographing unit is configured to when object is in this inner chamber from object capture light data;

One second imaging system is configured to the imaging data that interior of articles is provided, and has a receiving area, makes that inside can be by imaging when object was in this receiving area; And

An object control system is used for object is shifted between the receiving area of the inner chamber of photoimaging system and second imaging system.

2. the system as claimed in claim 1, wherein second imaging system is a nuclear magnetic resonance imaging system, comprise: a tubular cavity of passing the NMR (Nuclear Magnetic Resonance)-imaging magnet, this tubular cavity comprise the receiving area that is used to receive object when object is placed on the platform that is included in the object control system.

3. system as claimed in claim 2, also comprise at least one treatment facility, link to each other with photoimaging system logic, link to each other with the second imaging system logic, and link to each other with object control system logic, the information that information that wherein said processor provides second imaging system and photoimaging system provide merges.

4. system as claimed in claim 3, the function information that spatial information that wherein said processor provides nuclear magnetic resonance imaging system and photoimaging system provide merges.

5. as claim 2 or 4 described systems, wherein the object control system comprises a portable stage that does not have the metal part.

6. the system as claimed in claim 1, wherein second imaging system is a computer X-ray computed tomography (SPECT) system, comprising:

An X-ray producer is configured to and is included in the object control system and when being positioned on the portable stage of receiving area, the X ray of object is passed in emission when object is placed on; And

Receive the X ray sensor array of X ray.

7. system as claimed in claim 6, also comprise a treatment facility, link to each other with photoimaging system logic, link to each other with the second imaging system logic, and link to each other with object control system logic, the function information that spatial information that wherein said processor provides computerised tomography system and photoimaging system provide merges.

8. system as claimed in claim 7, the 3 d function information that three-dimensional spatial information that wherein said processor provides computerised tomography system and photoimaging system provide merges.

9. the system as claimed in claim 1, wherein the object control system comprises in the photoimaging process in the photoimaging system and the portable stage of supporting object in the imaging process in second imaging system.

10. system as claimed in claim 9, wherein the object control system is configured on the portable stage in fact not under the situation of mobile object, shifts object between the receiving area of the inner chamber of photoimaging system and second imaging system.

11. as claim 1,2 or 6 described systems, wherein second imaging system is configured to the spatial information that produces interior section.

12. as claim 1 or 9 described systems, wherein imaging chamber is configured to and makes that fully light is airtight between the space of inner chamber and imaging chamber outside.

13. as claim 1 or 9 described systems, also comprise a light seal that is included in the object control system, be configured to the light seal on the outer wall that connects imaging chamber, and when portable stage is arranged in the inner chamber of imaging chamber, provide the sufficient light isolating seal between the space outerpace of the inner chamber of photoimaging chamber and photoimaging chamber.

14. system as claimed in claim 13, wherein object control system mobile object in the inner chamber of imaging chamber.

15. system as claimed in claim 14, wherein the outer wall of imaging chamber comprises a removable interface, comprising:

The hole of portable stage is wherein passed through in a reception;

First circular journal bearing between wall that is placed on outer wall and removable interface makes and can rotate between the described wall of outer wall and removable interface.

One second circular journal bearing makes and can rotate between the described wall of removable interface and object control system.

16. the system as claimed in claim 1, wherein by the object of imaging about 10 ³To about 10 ¹⁰Radiation in photons/second/centimeter/steradian scope.

17. the system as claimed in claim 1, wherein second imaging system is a nuclear medicine imaging system, comprising: one or more detections are by the pick off of the radioactive radiation of the radioactive substance generation of interior of articles.

18. system as claimed in claim 17, wherein nuclear medicine imaging system is in the x-ray tomography art system calculated of positron emission tomography system and single photon emission one.

19. system as claimed in claim 17, wherein second imaging system is a positron emission tomography system, comprising: a circular gamma detector array, it comprises one group of scintillation crystal that each all links to each other with photomultiplier tube.

20. the system as claimed in claim 1, wherein second imaging system is a ultrasonic imaging system, comprising: a detector is configured to generate and passes the sound wave of object, and is configured to the echo that generates in the inspected object.

21. system as claimed in claim 20, wherein ultrasonic imaging system also comprises: a processor, be configured to detector and send the electric current be used for determining from the acoustic irradiation of detector, and be configured to the distance of the velocity of sound of using in the object between calculating from the detector to the reflecting surface.

22. the object control system of inner chamber that is used for object is placed on the imaging chamber of photoimaging system, this system comprises:

The portable stage of a supporting object in the process of operator locating platform;

An operator is configured at the inner chamber of imaging chamber and surrounds between the peripheral region of imaging chamber and move this portable stage;

A light seal is configured to the light seal on the outer wall that connects imaging chamber, and is configured to when portable stage is arranged in the inner chamber of imaging chamber, and the sufficient light isolating seal between the space outerpace of the inner chamber of photoimaging system and imaging chamber is provided.

23. object control system as claimed in claim 22, its middle controller are configured to the interior intracavity mobile portable platform in the photoimaging system.

24. object control system as claimed in claim 23, wherein the object control system in the inner chamber of photoimaging system in bidimensional mobile object.

25. as claim 22 or 23 described object control systems, wherein portable stage does not comprise the ferrous metal part.

26. as claim 22,23 or 25 described object control systems, wherein the object to be imaged is about 10 ³To about 10 ¹⁰Radiation in photons/second/centimeter/steradian scope.

27. object control system as claimed in claim 22, wherein operator is configured to and makes and can carry out passive rotation around an axle that passes imaging chamber.

28. as claim 22,23,25 or 26 described object control systems, wherein the part of portable stage supporting object is a substantially transparent.

29. object control system as claimed in claim 28, wherein said part comprises the linear array of a substantially transparent.

30. object control system as claimed in claim 22 also comprises a gas delivery system, is configured to at least one gas delivery outlet and carries anesthetic gases, this conveying outlet offers object with anesthetic gases when object is placed on the portable stage.

31. object control system as claimed in claim 22 comprises that also a position can be examined by the beche-de-mer without spike that the photoimaging system detects, and second reference that can be detected by second imaging system of position.

32. an imaging system that is used to obtain the graphical representation of interior of articles light source, this imaging system comprises:

An imaging chamber comprises

A) inner chamber

B) camera mount is configured to the placement photographing unit, with when object is in inner chamber from object capture light data and

C) the light seal on outer wall that is positioned at imaging chamber; And

An object control system that is used at the inner chamber positioning object of imaging chamber, this object control system comprises:

A) portable stage of a supporting object and

B) operator, be configured at the inner chamber of imaging chamber and surround move between the peripheral region of imaging chamber this portable stage and

C) light seal is configured to the light seal on the outer wall that connects imaging chamber, and when portable stage is arranged in the inner chamber of imaging chamber, and the sufficient light isolating seal between the space outerpace of the inner chamber of photoimaging system and imaging chamber is provided.

33. imaging system as claimed in claim 32, wherein imaging chamber comprises a removable interface, and it has:

The foraminous wall of tool, this hole receives the portable stage of passing through wherein;

First circular journal bearing between described wall that is placed on outer wall and removable interface makes and can rotate between the described wall of outer wall and removable interface.

34. a method that is used to obtain polytype imaging data of object, this method comprises:

When object is arranged in the inner chamber of photoimaging system, catch the light data that the light source of interior of articles is launched;

When object is in the receiving area of second imaging system, obtain the imaging data of interior of articles part; And

Between the receiving area of the inner chamber of photoimaging system and second imaging system, shift object.

35. method as claimed in claim 34 wherein on the portable stage of supporting object not under the situation of mobile object, shifts in inner chamber and receiving area actually.

36. method as claimed in claim 34, wherein second imaging system is a nuclear magnetic resonance imaging system.

37. method as claimed in claim 36 also comprises: the function information that spatial information that the merging nuclear magnetic resonance imaging system provides and photoimaging system provide.

38. method as claimed in claim 37 also comprises: the 3 d function information that three-dimensional spatial information that the merging nuclear magnetic resonance imaging system provides and photoimaging system provide.

39. method as claimed in claim 34, wherein second imaging system is a computer X-ray computed tomography (SPECT) system, and the imaging data that obtains comprises and is used to detect the imaging data that is received from the X ray sensor array of the X ray of object emission.

40. method as claimed in claim 37 also comprises: the function information that spatial information that joint account machine x-ray tomography imaging system provides and photoimaging system provide.

41. method as claimed in claim 40 also comprises: the 3 d function information that three-dimensional spatial information that joint account machine x-ray tomography imaging system provides and photoimaging system provide.

42. as claim 34,36 or 39 described methods, also comprise: when portable stage is arranged in the inner chamber of imaging chamber, use the light seal light seal, that be included in the object control system that is configured on the outer wall that connects imaging chamber to seal imaging chamber.

43., also be included in mobile object in the inner chamber of imaging chamber as claim 34,36 or 39 described methods.

44. as claim 34,36 or 39 described methods, wherein when object during by imaging, the inner chamber of photoimaging chamber comprises about 10 ³To about 10 ¹⁰Between photons/second/centimeter/steradian.

45. as claim 34,36 or 39 described methods, also comprise the light data that the surface light view data converted to body surface inside, represent with the 3-D view that obtains light source.

46. method as claimed in claim 45 also comprises the anatomic information that obtains object from second imaging system, and the 3-D view that uses the anatomic information acquisition to be positioned at the intravital light source of thing is represented.