DE102008034578A1 - Combination magnet resonance system has magnet unit and four axles with robotic arm, where magnet unit is connected to end of robotic arm with nuclear medical detector in freely movable manner - Google Patents

Abstract

The combination magnet resonance system (25) has a magnet unit and four axles with a robotic arm, where a magnet unit is connected to an end of the robotic arm with a nuclear medical detector in freely movable manner. The magnet unit and the nuclear-medical detector have a firm relative position, where the magnet unit and the nuclear-medical detector are arranged behind each other along a common longitudinal axis (z).

Description

The The invention relates to a combination magnetic resonance system according to Claim 1.

One imaging procedure for medical structure elucidation, especially for his good presentation of soft tissues is known, magnetic resonance imaging (MRI = Magnetic Resonance Imaging). In this method, the magnetic moments (nuclear spins) the atomic nuclei of the examined tissue in an external magnetic field aligned with a field strength of up to 7 T and through irradiated radio waves to a gyroscope movement (precession) stimulated. This is due to relaxation processes induces an alternating voltage in an assigned receiving coil, which is the basis for the image calculation. Usually is the magnet unit comprising the magnetic field generating elements as well as the transmitting and receiving coils, in a cylindrical Passage-opening MRI examination tube arranged. This fixes the patient on a patient bed Patient pushed through as part of a whole body examination or driven. Additionally, there are also open or more than a ring existing MRI examination tubes known.

The Magnetic resonance imaging is also suitable, in addition on nuclear medicine imaging techniques such as positron emission tomography (PET) or Single Photon Emission Computed Tomography (SPECT), the detection of metabolic abnormalities, especially malignant Tissue with tumor involvement, but not good anatomical Deliver images without additional radiation exposure complementary morphological information for to contribute a good spatial localization.

at the PET becomes the distribution of a weakly radioactively labeled Substance in the body of a patient with a PET detector unit measured and visualized. This is before the patient PET study a radionuclide or one with a radionuclide labeled substance that emits positrons injected. In the Interaction of a positron with an electron in the body of the Patients are emitted two photons in opposite directions and the coincidences with the PET detector unit of the PET device registered. From the registered random events can the spatial distribution of radionuclide inside the body determined and sectional images of the body interior of the patient be generated. The PET detector unit is generally made a plurality of individual detectors z. B. as a detector ring are arranged in a closed PET tube.

Also in the SPECT, the radiation used for imaging is Produced radiopharmaceuticals that injected the patient before the examination and depending on the chemical and biological Properties of the vehicle in certain organs accumulate. The SPECT uses radionuclides (isotopes), those directly under emission of single, uncorrelated gamma quanta disintegrated. Instead of a closed detector ring with a multitude coincident detector elements such as PET are usually one or two SPECT detector heads in the SPECT provided during the investigation on a circular path rotate around the patient and thereby the delivered by him Detect gamma radiation. The SPECT is like the PET is a functional imaging, mainly biochemical and Physiological processes in the organism can map. It allows in addition to a good analysis of the metabolism in particular the finding of tumors and metastases as well as an evaluation of the Perfusion of the heart or brain.

From the DE 10 2005 054 227 A1 and from the DE 10 2005 054 226 A1 On the data side, combined MR-PET and MR-SPECT devices are known which combine the advantages of nuclear medicine imaging with radiation-free magnetic resonance tomography and lead to a particularly good and precise localization of, for example, malignant tissue in soft tissue. In particular, the registration and fusion of the respective images is facilitated in such a combined system.

in the Generally, such a combination magnetic resonance system is fixed mounted on the ground. Before an operation of a z. On a tumor Diseased patients are taking pictures of the inside of the body of the patient with the combination magnetic resonance system, which are used for the operation of the patient. The disadvantage of this arrangement is that such recordings during an operation or intervention are not possible because the patient is not accessible in the facility.

It Object of the present invention, a suitable combination magnetic resonance system to provide that combined quickly and reliably Can produce images and flexible towards a patient is positionable.

The The object is achieved by a combination magnetic resonance system according to the Claim 1; advantageous embodiments of the invention are each subject of the dependent claims.

In the Kombinati invention Ons magnetic resonance system is by the at least four-axis robotic arm, at one end freely movable a magnet unit is arranged together with a nuclear medicine detector unit, so that the magnet unit and the nuclear medicine detector unit can be flexibly moved and moved three-dimensional, improved access to a patient possible because the magnet unit and the detector unit can be arbitrarily positioned as needed. The magnet unit and the nuclear medicine detector unit each have an opening. In particular, the Magnetein unit and the nuclear medicine detector unit can move together quickly and with little effort in a receiving position around the patient and be completely removed without having to move the patient. This can also be done in a simple manner several times in succession. Overall, the combination magnetic resonance system according to the invention has a very good positioning flexibility. Due to the fixed relative position of the magnet unit and the nuclear medicine detector unit to one another a fusion of the respective images is easily possible. With the combination magnetic resonance system, therefore, metabolic processes can be visualized and localized particularly quickly and precisely even during operations and interventions.

According to one embodiment of the invention, the robot arm is formed by an articulated-arm robot, in particular by a articulated-arm robot with six axes of rotation. With such a articulated robot, it is possible to move the jointly arranged magnet unit and nuclear medicine detector unit in any desired position and further to move on an arbitrarily presettable path of movement. Such articulated robots are used in particular in the automotive industry and are widely used there. For example, the company KUKA under the Internet address www.kuka.com such robots offered.

In Advantageously, the robot arm, in particular the articulated robot, at the other end, firmly on the ground, on the ceiling or on the wall an examination room mounted. By such a fixed installation is a stable movement of the robot arm relative to a fixed one Guaranteed reference point.

Of the Robotic arm, in particular the articulated robot, can also on one Rail device, which on the floor or on the ceiling of the examination room is attached, be arranged movable. In addition, can The articulated robot also on a mobile equipment cart be arranged. This mobility is the mission radius the combination magnetic resonance system increases.

To Another embodiment of the invention are the magnet unit and the nuclear medicine detector unit in succession a common longitudinal axis arranged. In this way can, if the patient along the longitudinal axis through the two units are moved, easily by the same Area of the patient first MRI images and immediately thereafter PET / SPECT images (or conversely). A fusion of the pictures is based on the simple relative position of the units to each other easily possible. The patient can through the respective Units are moved by the patient couch along the longitudinal axis is moved by the combined units along the Longitudinal axis are pushed over the patient.

In an advantageous development, the magnet unit has a or several MRI examination tubes comprising at least one Magnet. and transmit and receive coils. At the or the magnet it can be permanent magnets, electromagnets, superconducting Magnets or to act a combination of such magnets.

Preferably is the nuclear medicine detector unit of a PET detector unit, in particular a PET detector ring, with a plurality of PET detector elements educated. Alternatively, the nuclear medicine detector unit from a SPECT recording device with at least one, in particular two SPECT detector heads movable around an examination area educated.

In a further advantageous embodiment, the nuclear medicine detector unit is integrated into the magnet unit. An example of such integration is from the US 2007/0102641 A1 known. In a device with an integrated detector unit, APDs (Avalanche Photo Diode) are used as PET detector elements. These are particularly small and magnetically invulnerable, so they can be integrated directly into the MRI examination tube. In this case, either a PET detector ring whose outer circumference corresponds to the inner circumference of the corresponding MRI examination tube can be inserted into it, or individual PET detector elements can be installed in the MRI examination tube.

To Another embodiment of the invention is the combined magnetic / nuclear medical Unit releasably attached to one hand of the robotic arm, so that the unit can be disconnected, for example, and as needed in its place to another component such as Example, a patient bed can be coupled.

To Another embodiment of the invention is the PET detector unit on the data side with a PET image processing unit or the SPECT detector head Data connected to a SPECT image processing unit and the magnet unit on the data side with an MRI image processing unit connected.

advantageously, the combination magnetic resonance system has another robot arm on, which carries a patient bed.

Preferably are the PET image processing unit or the SPECT image processing unit and the MRI image processing unit on the data side with an image fusion unit for a fused representation of a PET image or a SPECT image and a corresponding MRI image, making a PET image or SPECT image with a corresponding one MRI image superimposed in (near) real time or can be merged. The image fusion unit may be to a standalone image fusion computer or even a corresponding software module acting on a standard computer is executable. The superimposed images are particularly meaningful for diagnostic purposes, as they are structural features of the organism studied, such as the skeleton or the organs or other soft tissues, with functional Information, eg. B. over areas with pathologically increased Cell activity, combine. The MRI image data form thereby in a sense a precise "map", in which the additional PET or SPECT image data in the correct position are embedded.

The Invention and further advantageous embodiments according to features The dependent claims are described below with reference to schematically illustrated embodiments explained in more detail in the drawing, without thereby limiting the invention to these Embodiments takes place; show it:

1 a perspective view of a Knickarmroboters with six axes of rotation according to the prior art;

2 a perspective view of a combination magnetic resonance system according to the invention in the form of an MRI-PET device;

3 a perspective view of a combination magnetic resonance system according to the invention in the form of an MRI-SPECT device;

4 a perspective view of another combination magnetic resonance system according to the invention in the form of an MRI-PET device;

5 a perspective view of another combination magnetic resonance system according to the invention in the form of an MRI-SPECT device.

1 shows a known in the art robotic arm in the form of an articulated robot 10 with six axes of rotation. On a base frame 1 , which is fixedly mounted, for example, on a floor, is rotatable about a first axis of rotation A1 a carousel 2 added. At the carousel 2 is pivotable about a second axis of rotation A2 a rocker 3 appropriate. At the swingarm 3 is rotatable about a third axis of rotation A3 an arm 4 attached. At the end of the arm 4 is rotatable about a fourth axis of rotation A4 a hand 5 appropriate. The hand 5 has a fastener 6 which is rotatable about a rotation axis A6 and pivotable about a fifth axis of rotation A5 extending perpendicular thereto.

2 shows in a perspective view schematically an embodiment of the invention. On the fastener 6 the hand 5 is a holder 19 coupled, which both a PET detector ring 11 as well as an MRI examination tube 12 supports. The detector ring 11 and the MRI examination tube 12 have a common longitudinal axis z. For coupling the bracket 19 may be provided a coupling not shown here, which allows coupling and uncoupling. The holder 19 Can also be fixed to the articulated robot 10 be attached. The PET detector ring has a plurality of PET detector elements arranged together around an aperture to form a ring. The PET detector ring 11 is rotatable in a known manner within a rotating frame. The MRI-PET device 25 is total of one control panel 20 controlled, with the system control 20 is responsible for both the control of the MRI unit and the control of the PET unit. The PET detector ring 11 is on the data side with a PET image processing unit 22 connected while the MRI examination tube 12 on the data side with an MRI image processing unit 21 connected is. Both image processing units are connected to an image fusion unit for a fused representation of a PET image and a corresponding MRI image, so that a PET image can be superimposed or merged with a corresponding MRI image in (approximately) real time. These can be both two-dimensional and three-dimensional images.

3 shows in a perspective view a combined MR-SPECT device 26 , which is attached to an articulated robot 10 attached three-dimensionally adjustable. On the bracket 19 is in this device in addition to an MRI examination tube 12 a support frame 15 on which two SPECT detector heads 14 are fixed, arranged. The two SPECT detector heads 14 are movably mounted so that they are synchronous and movable with a fixed angular relationship to each other around the examination area during a SPECT examination, preferably on a circular path around the common longitudinal axis z. The SPECT detector heads 14 are in turn with a SPECT image processing unit 23 connected while the MRI examination tube 12 with an MRI image processing unit 21 connected is. The entire device will turn from a system controller 20 driven. Both image processing units are with an image fusion unit 24 for a merged representation of a SPECT image and a corresponding MRI image.

In the in the 2 and 3 It may be necessary to provide a magnetic shield between the MRI examination tube, shown side by side 12 and the PET detector ring 11 or the SPECT detector heads 14 to prevent negative effects on magnetic field sensitive components. In this case, passive or active shields can be used.

In the 4 is another combination magnetic resonance system according to the invention in the form of an MRI-PET device 25 on an articulated robot 10 shown in which the PET detector elements 13 into the MRI examination tube 12 are integrated. At the detector elements 13 these are preferably APDs in which. integration is easy because of the small size and magnetic immobility. On the outside of the MRI examination tube 12 may be an input device for a user to operate the MRI-PET device, for example a User-IO 16 be arranged.

In the 5 is an MRI-SPECT device 26 on an articulated robot 10 shown which two juxtaposed MRI examination tubes 12 in which one of the two MRI examination tubes 12 additionally two SPECT detector heads 14 are integrated. An MRI with two MRI examination tubes is for example from the script "Dynamic Exercise Imaging With MR Compatible Stationary Cycle Within the General Electric Open Magnet" by Christopher P. Cheng, Douglas F. Schwandt, Eric L. Topp, James H. Anderson, Robert J. Herfkens and Charles A. Taylor; Magnetic Resonance in Medicine No. 49, pages 581-585, 2003 , known.

Moreover, in the 5 exemplified as the MRI examination tubes 12 with the help of the articulated robot 10 with the openings over one on a patient table 17 located patients 18 preferably moved along the longitudinal axis z. The articulated robot allows doing any movements, so that the MRI examination tubes 12 are freely adjustable and positionable with respect to the patient.

The patient table 17 can also be adjusted manually or by motor in its height, longitudinal and transverse directions, where it can be floor-mounted, wall or ceiling mounted. In addition, an inclination in all three spatial directions and a rotation around a center may be possible. In addition, the patient table may be configured to perform circular or elliptical rotational movements about a fixed point in the plane or space.

The Magnet unit with the at least one magnet and the transmitting and Reception coils can also be open, for example as a C-arm or as a U-bracket be educated.

The The invention can be briefly summarized in the following way: For flexible use even during operations and interventions is a combination magnetic resonance system comprising a magnet unit and having at least four axes Robot arm, wherein at one end of the robot arm freely movable the Magnet unit and a nuclear medicine detector unit arranged are, wherein the magnet unit and the nuclear medicine detector unit to each other have a fixed relative position provided. The nuclear medicine detector unit is in particular either of a PET detector unit having a plurality of PET detector elements or from a SPECT recording device with at least one order an examination area around movable SPECT detector head formed.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 102005054227 A1 [0006]
• - DE 102005054226 A1 [0006]
• US 2007/0102641 A1 [0017]

Cited non-patent literature

• - www.kuka.com [0011]
• "Dynamic Exercise Imaging With an MR Compatible Stationary Cycle Within the General Electric Open Magnet" by Christopher P. Cheng, Douglas F. Schwandt, Eric L. Topp, James H. Anderson, Robert J. Herfkens and Charles A. Taylor; Magnetic Resonance in Medicine No. 49, pages 581-585, 2003 [0033]

Claims (14)

Combination Magnetic Resonance System ( 25 ; 26 ) comprising a magnet unit and a robot arm having at least four axes, wherein at one end of the robot arm freely movable the magnet unit are arranged together with a nuclear medicine detector unit, wherein the magnet unit and the nuclear medicine detector unit have a fixed relative position to each other. Combination magnetic resonance system according to claim 1, wherein the magnet unit and the nuclear medicine detector unit one behind the other along a common longitudinal axis (z) are arranged. Combination magnetic resonance system according to claim 1, wherein the nuclear medicine detector unit in the magnet unit is integrated. Combination magnetic resonance system according to one of the preceding claims, wherein the magnet unit comprises one or more MRI examination tubes ( 12 ) comprising at least one magnet and transmitting and receiving coils. Combination magnetic resonance system according to one of the preceding claims, wherein the nuclear medicine detector unit of a PET detector unit, in particular a PET detector ring ( 11 ), with a plurality of PET detector elements ( 13 ) is formed. Combination magnetic resonance system according to one of claims 1 to 4, wherein the nuclear medicine detector unit of a SPECT recording device with at least one movable around an examination area SPECT detector head ( 14 ) is formed. Combination magnetic resonance system according to one of the preceding claims, wherein the robot arm of an articulated robot ( 10 ) is formed. Combination magnetic resonance system according to one of the preceding claims, wherein the articulated robot ( 10 ) has six axes of rotation (A1, A2, A3, A4, A5, A6). Combination magnetic resonance system according to one of the preceding claims, wherein the robot arm at its another end firmly on the ground, a ceiling or a wall of an examination room is mounted. Combination magnetic resonance system according to one of the preceding claims, wherein the magnet unit and the nuclear medicine detector unit directly or by means of a holder on a hand ( 6 ) of the robot arm are releasably secured. Combination magnetic resonance system according to claim 5, wherein the PET detector unit on the data side with a PET image processing unit ( 22 ) and the magnet unit on the data side with. an MRI image processing unit ( 21 ) connected is. Combination magnetic resonance system according to claim 6, wherein the SPECT detector head on the data side with a SPECT image processing unit ( 23 ) and the magnet unit is connected on the data side to an MRI image processing unit ( 21 ) connected is. Combination magnetic resonance system according to one of the preceding claims, wherein the combination magnetic resonance system has a further robot arm, which has a patient couch ( 17 ) wearing. Combination magnetic resonance system according to one of the preceding claims, wherein the PET image processing unit ( 22 ) or the SPECT image processing unit ( 23 ) and the MRI image processing unit ( 21 ) on the data side with an image fusion unit ( 24 ) for a fused representation of a PET image or a SPECT image and a corresponding MRI image.