DE102014110570A1 - An imaging apparatus and method combining functional imaging and ultrasound imaging - Google Patents

Abstract

A medical imaging system includes a functional detector, an ultrasound probe, an optical camera, and a control unit, wherein the optical camera is attached to one of the functional detector and the ultrasound probe, and the control unit is configured to detect the position of the optical Camera detected each other from the functional detector and the ultrasonic probe in a coordinate system that is fixed to the camera. Furthermore, a corresponding method is proposed.

Description

The present invention relates to an image forming apparatus and methods, especially to a corresponding system of nuclear imaging devices or other functional detectors with ultrasonic probes.

TECHNICAL BACKGROUND

High quality imaging is of great interest to a wide range of applications. Particularly in the medical field, where the health of a patient may depend on it, the best possible imaging, for example, as a basis for operations on the patient is desirable.

Usually, medical images are either generated preoperatively, such as computed tomography (CT), magnetic resonance imaging (NMR, MRI, MRI), positron emission tomography (PET), single-photon emission tomography (SPECT), ultrasound (US) Or otherwise generated intraoperatively, such as by CT, MRI, ultrasound or freehand SPECT. It is also known to register images, for example registering an anatomical image, such as a CT, MRI or ultrasound image, with a functional image, such as a PET or SPECT image, i. H. an image that visualizes the spatial distribution of a function or body activity. Such registered images may, for example, help in tumor surgery to decide which tissue pieces to excise from the anatomical and functional information. It is desirable to have the most up-to-date and high-quality images, as this can avoid harming healthy tissue or accidentally removing it by accident.

From the prior art, the combination of nuclear imaging methods with anatomical image data is known. These include BrightView XCT from Philips, which combines data from SPECT and CT, and Siemens Biograph TruePoint, which combines PET data with CT data. In such systems, registration between the anatomical imaging and functional (nuclear imaging) imaging data is possible by utilizing the constructive, known geometric relationships between the two types of detectors.

Other systems merge by registering the two types of images. The registration may be point-based, point / level-based, or image-based. Functional information is generally not available in real time. In particular, the tracking, ie the tracking, of often hand-held freely movable nuclear probes or detectors, in particular during a surgical procedure, by tracking systems (tracking systems) for determining the position and orientation of surgical instruments and imaging devices is known. This is about in the Article by T. Oliveira-Santos et al .: "A navigation system for percutaneous needle intervention based on PET / CT images: Design, workflow and error analysis of soft tissue and bone punctures", in: Computer Aided Surgery, 2011, Vol. 16, no. 5, pages 203-219 described. This is realized, for example, in the CAS-One IR product from Cascination.

When combining images of functional data from nuclear detectors with other imaging methods, in particular ultrasound, the position of the nuclear detector and the other imaging probes or detectors is generally carried out via an external tracking system. For this purpose, optical tracking markers are usually mounted on a nuclear probe or the nuclear detector, as well as on the other imaging probes such as a single ultrasound probe, as shown in the WO 2014 080013 A1 is shown. The tracking system is designed as an external device that detects the position of the tracking markers via an optical image sensor, for example. The data obtained are processed in a control unit and thus determines the position of the individual probes, such as in the surgical field. Also known are radio-based or electromagnetic tracking methods, which are implemented in the products Aurora of the company Northern Digital and DriveBAY from Ascension.

It is also known a combination of a SPECT system with an ultrasound system, wherein the two probes are each tracked by their own tracking systems. By means of a common calibrated reference, the transformation between the coordinate systems of the two tracking devices is determined. The fusion of the two image signals can thus be registration-free, but no functional information is available in real time. This is about from the WO 2014 080013 A1 known. Other approaches include gamma cameras built into ultrasound probes, but the orthogonality of the planes of the gamma camera image and the ultrasound image makes fusion more difficult. This was shown in about R. Pani, R. Pellegrini et al .: "Dual Modality Ultrasound-SPECT Detector for Molecular Imaging" ,

In addition, there is a trend to replace functional nuclear imaging with less patient-burdening, alternative functional imaging, e.g. B. in tumor diagnostics.

Disadvantages of the known approaches are, for example, a complicated structure, large space requirements, high costs and a general inflexibility with respect to the use of standard ultrasound probes or devices.

Against this background, the object of the present invention is to provide a system and method for fused imaging that avoids the disadvantages of the known approaches.

SUMMARY

The above-mentioned problems are at least partially solved by medical imaging systems according to claims 1 and 16, and a method according to claim 7.

In one embodiment, a medical imaging system is proposed. It comprises a nuclear detector, an ultrasound probe, an optical camera, and a control unit, wherein the optical camera is mounted on one of the nuclear detector and the ultrasound probe, and the control unit is adapted to detect the position of the others detected by the optical camera Nuclear detector and the ultrasonic probe in a coordinate system that is fixed to the camera.

In a further embodiment, a method for medical imaging is proposed. It comprises providing a nuclear detector, providing an ultrasound probe, providing an optical camera, wherein the optical camera is attached to one of the nuclear detector and the ultrasound probe, providing a control unit, acquiring data of the nuclear detector, acquiring ultrasound data, taking data of the optical camera, and calculating the position of the other of the nuclear detector and the ultrasonic probe detected by the optical camera, in a coordinate system fixed to the camera, and projecting image data of the nuclear detector onto the ultrasonic image data.

In a further embodiment, a system for medical imaging is proposed. It comprises a functional detector, an ultrasound probe, an optical camera, a control unit, wherein the optical camera is mounted on one of the functional detector and the ultrasound probe, and the control unit is adapted to detect the position of the other of each detected by the optical camera the functional detector and the ultrasonic probe in a coordinate system that is fixed to the camera.

Further embodiments relate to a method for imaging by means of a system with a functional detector.

Other features, aspects, and details that may be combined with embodiments described herein are disclosed in the dependent claims, the description, and the drawings.

BRIEF DESCRIPTION OF THE FIGURES

In order that the features listed above may be better understood in detail, a more particular description with respect to embodiments of the invention will be given. The attached figures relate to embodiments of the invention and are briefly described below:

1 shows a system according to embodiments;

2 shows another system according to embodiments;

3 schematically shows a sample image with a system of 1 or 2 ;

4 shows another system according to embodiments;

5 shows another system according to embodiments;

6 schematically shows a part of the image genesis with a system according to embodiments;

7 schematically shows a part of the image genesis for three different cases with systems according to embodiments;

8th shows another system according to embodiments;

9 schematically shows a part of the image genesis for systems according to embodiments;

10 schematically shows another system according to embodiments;

11 schematically shows another system according to embodiments;

12 schematically shows another system according to embodiments.

DETAILED DESCRIPTION

The term "pose" is used herein, as is well known, to indicate both the (3D) position of an object in space, as well as its orientation.

In the context of the present application, the term "real time" with respect to imaging systems according to embodiments is understood to mean that the refresh rate is approximately less than or equal to 1 second, and an integration time less than or equal to 30 seconds ,

The term "quality value" or "quality parameter", generally referred to herein as Q, represents a parameter used in the context of this application that is capable of representing the quality of the image representations, representations, etc., discussed herein and to be processed in computational methods , Depending on the chosen underlying method, Q can be based on the most diverse mathematical quantities, as described in more detail below, from (non-limiting enumeration) scalars via vectors to arbitrary-dimensional matrices, vector fields or combinations of the aforementioned. Further methods for determining quality parameters Q of a computer-generated image from a nuclear probe are described in patent application 102008025151.8 approximately on pages 37 to 42, the relevant teaching of which is hereby incorporated by reference in its entirety.

Furthermore, the tracking systems, probes, detectors, etc. described herein are generally connected via interfaces to at least one evaluation unit and output unit and / or to each other. These known from the prior art interfaces can be connected via wireless radio systems or by cable.

Furthermore, means mentioned here or evaluation units or control units, for example for the purpose of calculating 3D images, of transformations, for synchronization, etc., are generally realized as commercially available computer systems (personal computers or workstations), on which algorithms according to the embodiments realized in the form of computer programs.

Embodiments generally relate to a medical imaging system. It includes at least one nuclear detector and one ultrasound probe. An optical camera is attached to the nuclear detector or the ultrasound probe. The camera detects the other probe during use of the system, that is, when the optical camera is mounted on the nuclear detector, the position of the ultrasonic probe is detected. When the camera is attached to the ultrasound probe, it detects the position of the nuclear detector. The data from the nuclear detector, ultrasound probe and optical camera are processed by a control unit. This is set up to calculate the position of the other camera detected by the optical camera from the nuclear detector and the ultrasonic probe in a coordinate system. The coordinate system is more typical but not necessarily fixed to the camera. The nuclear detector can also be multi-part, z. In the form of a PET coincidence detector. Furthermore, embodiments are proposed in which the nuclear detector is replaced by another functional detector that works without applying radioactive marker, but z. B. works with optical, magnetic or other methods. In this case, the patient z. As applied optically or photo-active substances or magnetic substances that accumulate in the tissue to be detected with the functional detector.

Embodiments of the invention have, inter alia, the following advantages. By omitting a registration, a fusion of anatomical ultrasound image data with functional, that is image data from the nuclear imaging can be made. This is possible without using an external, conventional tracking system. The system is mobile or easy to transport and at the same time inexpensive. Existing functional detectors may be retrofitted with ultrasound imaging to obtain embodiments of the invention. In addition, the fused image data is available in real time, so the process is real-time capable. In embodiments with functional detectors other than nuclear detectors, as described above, this is done without the need for a radioactive load on the patient.

In the context of this application, the term "nuclear detector" is used broadly for detectors and detection devices which serve to detect the radiation of a radioactive source in or on the body of a human. Thus, the bandwidth of the term ranges from, for example, a one-dimensional (1D) gamma probe via a 2D gamma camera to combinations of different types of detectors, which are explained in more detail below with reference to the figures. In particular, the nuclear detector may also include mechanical components for holding or attaching the actual detectors or sub-detectors, such as frames or brackets, as well as about a patient table.

In 1 is a system 10 shown for medical imaging according to embodiments. It includes a nuclear detector 15 and an ultrasound probe 20 , An optical camera 25 , in the Following also called camera 25 , is on the ultrasound probe 20 appropriate. The camera 25 recorded during the application of the system 10 the image of the ultrasound probe 20 , The data of nuclear detector 15 , Ultrasound probe 20 and optical camera 25 be from a control unit 30 processed. The control unit 30 performs a - explained in more detail below - 3D image recognition by means of the optical camera 25 supplied image data and determines therefrom the relative position of the position of the nuclear detector 15 , This is typically done in relation to a coordinate system that originates from the camera 25 has, about that in 1 shown Cartesian coordinate system with the axes x, y, z. The coordinate system is more typical but not necessarily fixed to the camera 25 , The tissue area 110 has accumulated a radioactive marker previously injected into the patient and is in the detection field (dashed) of the nuclear probe 15 , The tissue area 109 also has an increased radiation level, but is present at the moment of illustration 1 not in the detection field of the nuclear probe 15 ,

The nuclear detector can be multi-part, z. B. (non-limiting) in the form of a PET coincidence detector. This is the field of view of the camera 25 typically chosen large enough, for example in the wide-angle range, to detect approximately the entire range of motion of both sub-detectors of a two-part PET coincidence detector. For example, in embodiments, the camera may be configured to detect only one of the sub-detectors, the position of the other or the other sub-detectors being determined purely mathematically from the known geometric relationship of the two or more sub-detectors. In other embodiments, multiple cameras may be used, each having one of the sub-detectors in view.

The control unit 30 calculates a picture in real-time from the data of the ultrasound probe and fuses or merges this picture with an image containing the control unit 30 continuously from the data of the nuclear detector 15 calculated. This fusion becomes known from the prior art algorithms from the image data of the nuclear detector 15 and the ultrasound probe 20 , performed in conjunction with the calculated spatial relationship of the two aforementioned, which is based on a three-dimensional image analysis explained in more detail below. Compared to conventional methods, the respective intermediate step of calculating the spatial relationship of the nuclear detector and the ultrasound probe with respect to one or more external tracking systems is eliminated since the spatial relationship of the nuclear detector and the ultrasound probe to each other is calculated directly from the image data of the optical camera.

In this case variants are possible in exemplary embodiments - this is how the optical marker can be used 35 be attached to the movable SPECT sensor and from the optical camera 25 be detected. Likewise, with the camera data, an image recognition can be carried out, from which the position of the SPECT detector is calculated by three-dimensional image analysis, so as to determine the relative position between SPECT sensor and ultrasound probe. The video-based orientation of an object can, as described above, be accomplished by means of reference markers on the object, or without such markers. Both variants use calibrated camera images, ie the focal length and the image center of the optical camera are known. When using reference markers z. B. circular or spherical, square, monochrome or patterned markers mounted on the object to be tracked, and their position on the object at the beginning calibrated (measured). Detection algorithms then recognize the geometric patterns (circles, lines, patterns) in the camera image. From this two-dimensional (2D) information, the 3D position of the object can then be calculated.

If one waives markers, geometrical models of the object to be tracked - in the present case the ultrasound probe or the nuclear probe - can be used as a reference. Features (points, lines, corners, texture patterns) of the object are then extracted from the 2D video data of the optical camera 25 extracted. The 3D detection algorithm correlates these features with the 3D model and thus calculates the position of the object relative to the camera 25 , Thus, the position of the nuclear probe 15 or the ultrasound probe 20 without the presence of optical markers 35 from the control unit 30 be determined.

Typically, the image data of the nuclear detector 15 projected into an image plane of the ultrasound probe. The fused image will be displayed on a screen 31 shown.

In the 2 is another system 10 shown for medical imaging according to embodiments. This builds on the system of 1 on, but is additionally an optical marking 35 at the nuclear detector 15 appropriate. The image recognition by the control unit 30 can thus on the basis of the optical mark identified in the image data 35 be made, which preferably consists of a plurality of spatially spaced points or markers. From the three-dimensional image analysis - as described above - the position of the optical marking 35 obtained location information is, as in the example of 1 , from the control unit 30 used the position of the nuclear detector 15 in terms of the ultrasound probe 20 , or to calculate the fixed at this coordinate system.

It goes without saying for the expert without further explanation that in both cases the 1 and 2 the optical camera 25 also each on the nuclear probe 15 can be placed, and the optical mark 35 on the ultrasound probe 20 ,

3 shows an above-described, from the control unit 30 calculated projection of image data 110 the nuclear probe into the image plane 120 the ultrasound probe. The combined or merged image is thereby from the control unit 30 on a screen 31 (please refer 1 ). The dashed area represents the detection field of the nuclear probe 15 in the image example of the 3 the picture plane 120 cuts in parallel.

The referring to the 1 and 2 described examples according to embodiments represent basic forms that can be varied by varying constituents.

In 4 an embodiment is shown in which instead of the one-dimensional (1D) nuclear detector 15 of the 1 and 2 which is typically a SPECT sensor, a 2D gamma camera 50 is used. This is rotatably arranged in the example about an axis along the patient's body P. As the 2D gamma camera is moved around the patient (along the arrows) and provides functional data, its position becomes relative to the ultrasound probe 20 through the camera mounted on it 25 supervised. The control unit 30 Thus, from the image analysis of the movement of the optical marking 35 the ultrasound image and the data of the 2D gamma camera 50 merge.

5 shows embodiments in which the nuclear detector 15 a SPECT scanner 40 is. The patient P is lying on a table 105 , The optical camera 25 is (only by way of example, not necessarily) on the SPECT scanner 40 appropriate. It detects the optical marking 35 , causing the control unit 30 can determine the relative position between the SPECT scanner and the ultrasound probe by means of the above-described three-dimensional image analysis. It is irrelevant in which angular range the SPECT scanner 40 is located (direction or degree of freedom of movement indicated by arrows). The control unit 30 Thus, from the image analysis of the movement of the optical marking 35 the ultrasound image and data of the SPECT scanner 40 merge. The SPECT scanner delivers a 1D signal from the control unit 30 is projected onto the image signal of the ultrasound probe.

6 schematically shows the image signal of the 2D gamma camera 50 from the 4 , The (as examples) three radioactively labeled tissue areas 110 of the patient P are thereby from the 2D gamma camera 50 detected. In 7 schematically further examples of the fused representation of images of nuclear detectors and ultrasound probes according to embodiments are shown. In 7A is a. Example of a fusion image shown that out of the systems in 1 and 2 comes. The detection field of the nuclear probe cuts 15 (shown in dashed lines) the ultrasound image plane 120 at the tissue area 110 thus also being presented after the merger. This is due to the count rate of (exemplary) 82 CPS (counts per second) of the nuclear detector symbolizes. Area 109 is shown only for comparison and would not be shown in the fusion image. In the right picture of 7A on the other hand, the detection field of the nuclear probe does not cut either of the two areas 109 of which none would be presented.

In 7B is a similar situation as in 7A however, the detection field of the nuclear probe is parallel to the image plane of the ultrasound image 120 runs. In the left image, the detection field (hatched) of the nuclear probe cuts the marked area 110 which results in the example count rate of 75 CPS. In the right picture of 7B the detection field does not cut either area 109 , which is why they would not be shown in the fusion image (at this moment). In addition to the in 7A and 7B In cases of the vertical and parallel course of the nuclear probe detection field to the ultrasound image plane, it is also possible that the detection field (see, for example, also the dashed area on the nuclear probe 15 in 1 ) at an oblique angle to the image plane of the ultrasound probe.

In 7C another case is shown in which the ultrasonic detection field 120 superimposed on the detection field of a 2D nuclear probe, left at orthogonal ratio of the ultrasound image plane 120 and the detection field of the nuclear probe, in the right image in parallel course. The radioactively labeled area 110 is detected, area 109 is in the example of 7C not radioactive and is therefore not detected, ie in the medical sense to be regarded as "unobtrusive".

8th shows a basically similar construction as in 4 shown, wherein as a nuclear detector, a PET coincidence detector 45 is used. This is rotatable about a longitudinal axis parallel to the patient P set up. As already described, it is possible to detect the two sub-detectors of the PET coincidence detector 45 over the picture of the camera 25 through the control unit 30 by tracking at the detectors attached optical markers (not shown) or by analysis of the detector form in the image of the camera 25 respectively.

9 schematically shows the image formation in the system 10 of the 8th , The ultrasound probe 20 covers an area of the patient P. The radioactively marked area 110 lies in the 8th in the region between the two sub-detectors of the PET coincidence detector 45 , The also marked area 109 is the moment of the presentation of the 8th not in the detection field of the detector. By moving the patient table 105 in the longitudinal direction (of the patient P) relative to the detection plane of the detector, the area 109 also be represented functionally, or by methods of the detector.

10 shows a similar structure as in 8th shown according to embodiments. Here is the nuclear detector 15 a 2D coincidence detector 60 for PET. This may also be optical markers as described with respect to other embodiments 35 be provided. In 11 is schematically the image formation of the system 10 of the 10 shown. In the detection field shown in dashed lines between the two sub-detectors of the 2D coincidence detector 60 there is a radioactively marked tissue area 110 , For the area 109 that applies to the 9 Written.

In addition, in further embodiments, as in 12 shown, in each case a sensor arrangement 70 on the ultrasound probe 20 and / or the nuclear detector 15 to be appropriate. This serves to determine the relative position based on the sensor data by means of position sensors after an initial calibration, in which the two devices can be brought close to each other or together. Typically, each sensor assembly is a combination of a gyrosensor, a 3D accelerometer, and a geomagnetic sensor, or a combination of any of the foregoing. One sensor arrangement each 70 is on at least one of the nuclear detectors 15 and the ultrasound probe 20 appropriate. The sensor arrangement comprises at least one, or a combination, of a 3D gyrosensor 75 , a 3D accelerometer 80 , and a geomagnetic field sensor 85 (not shown). The position data obtained in this way, in addition to the already described above, relative optical position determination between the nuclear detector 15 and the ultrasound probe 20 , from the control unit 30 are processed. It is also possible in embodiments, with the appropriate accuracy of the sensors, only to use these for position determination, without the optical position determination. In particular, the described sensor arrangement 70 also be used to compensate for a short-term failure of the image of the optical camera by the data of the sensor array, such as accidental shading of the camera by a person.

In exemplary embodiments, position data about a patient P can additionally be provided via second optical markings 36 be won. These are attached to the body surface and used by the optical camera 25 , The position data thus obtained are from the control unit 30 processed and can be used, for example, to enrich the imaging with data on the outer shape of the patient's body. Alternatively or additionally, in exemplary embodiments, the mathematical integration or fusion of image data from a further imaging system can be integrated. In particular, CT data and MRI data, which are integrated into the fusion image of functional and anatomical data, are suitable for this purpose.

Medical imaging methods according to embodiments generally include providing a nuclear detector 15 . 40 . 45 . 50 . 60 in a block 200 , providing an ultrasound probe in a block 210 , providing an optical camera 25 wherein the optical camera is mounted on one of the nuclear detector and the ultrasound probe, in a block 220 , providing a control unit 30 in a block 230 , the recording of data of the nuclear detector in a block 240 , recording ultrasound data in a block 250 , recording optical camera data 25 in a block 260 calculating the position of the optical camera 25 each detected others from the nuclear detector 15 . 40 . 45 . 50 . 60 and the ultrasound probe 20 in a coordinate system that is stationary to the camera, in a block 270 , as well as projecting image data of the nuclear detector 15 . 40 . 45 . 50 . 60 on the ultrasound image data in a block 280 ,

It will be apparent to those skilled in the art without further explanation that the nuclear detector included in the described embodiments may in principle also be replaced by another detector type of functional nature ("functional detector") in order to obtain further embodiments. Thus, there is a tendency to dispense with the application of a radioactive marker substance or replace it with other non-radioactive substances, for. B. to reduce the radiation exposure of the patient and operators. Thus, for example, the radioactive marker substance can be replaced by a magnetic marker substance, for. B. a suspension of magnetic microparticles in an injection solution. With a magnetic sensor, such as the product SentiMag from Endomagnetics, this configuration can also be used functional tissue areas are located, so about an enriched with the magnetic marker substance structure. Thus, in the exemplary embodiments described herein, the nuclear detector can be replaced by a functional detector, in particular a magnetic detector, where this can be reasonably combined technically with the described examples. These are in particular those in the 1 and 2 . 4 and 5 shown embodiments in which such a magnetic sensor can replace the 1D nuclear detector and equivalent image information (in comparison to the nuclear detector) for further processing by the control unit 30 can deliver. The same applies to optical detectors such as Fluorenzenzkameras, multispectral cameras or hand-held optical probes, where z. As fluorescent or luminescent marker substances that have been previously applied to the patient can prove. In particular, in the case of the enumerated optical functional detectors, but also with detector arrays of a plurality of magnetic detectors, it is also possible in the exemplary embodiments to replace nuclear detectors supplying multi-dimensional image data with other types of detectors supplying multidimensional image data. These include the ones related to the 8th . 9 . 10 , and 11 shown embodiments.

It will be readily apparent to those skilled in the art that the principles described herein in embodiments may also be applied to other non-described nuclear detectors, other types of functional detectors, or various combinations of nuclear detectors and / or other functional detector types, and that numerous variations of the present invention disclosed embodiments are possible, which are to be seen as falling under the disclosure of the application.

Thus, while the foregoing is directed to embodiments of the invention, other and further embodiments of the invention may be practiced by combinations of the foregoing without departing from the scope of the invention as defined by the following claims.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 2014080013 A1 [0006, 0007]

Cited non-patent literature

• Article by T. Oliveira-Santos et al .: "A navigation system for percutaneous needle intervention based on PET / CT images: Design, workflow and error analysis of soft tissue and bone punctures", in: Computer Aided Surgery, 2011, Vol. 16, no. 5, pages 203-219 [0005]
• R. Pani, R. Pellegrini et al .: "Dual Modality Ultrasound SPECT detector for Molecular Imaging" [0007]

Claims (17)

A system ( 10 ) for medical imaging, comprising; a. a nuclear detector ( 15 . 40 . 45 . 50 . 60 b. an ultrasound probe ( 20 c. an optical camera ( 25 ), d. a control unit ( 30 ), the optical camera ( 25 ) at one of the nuclear detectors ( 15 . 40 . 45 . 50 . 60 ) and the ultrasound probe ( 20 ), and the control unit ( 30 ) is adapted to calculate the position of the other of the nuclear detector and the ultrasound probe detected by the optical camera in a coordinate system that is stationary relative to the camera. System according to claim 1, wherein the control unit ( 30 ) is designed to determine the position of the detected nuclear detector ( 15 . 40 . 45 . 50 . 60 ) or the ultrasound probe ( 20 ) based on a three-dimensional image analysis of the image of the optical camera ( 25 ). A system according to claim 1 or 2, wherein on the nuclear detector ( 15 . 40 . 45 . 50 . 60 ) or the ultrasound probe ( 20 ) at least one optical marking ( 35 ), and wherein the control unit ( 30 ) is adapted to determine the position of the detected nuclear detector or the ultrasound probe on the basis of an analysis of the detected at least one optical marking ( 35 ). System according to one of the preceding claims, wherein the nuclear detector ( 15 . 40 . 45 . 50 . 60 ) one of a SPECT probe ( 40 ), a PET detector ( 45 ), a 2D gamma camera ( 50 ), a 1D + 2D coincidence detector ( 55 ), a 2D + 2D coincidence detector ( 60 ), a 1D gamma probe ( 65 ), or a dual coincidence detector ( 70 ). System according to one of the preceding claims, wherein the control unit ( 30 ) is adapted to image data of the nuclear detector ( 15 . 40 . 45 . 50 . 60 ) to project the ultrasound image data. System according to one of the preceding claims, further comprising a sensor arrangement ( 70 ) in at least one of the nuclear detectors ( 15 . 40 . 45 . 50 . 60 ) and the ultrasound probe ( 20 ), wherein the sensor arrangement comprises at least one, or a combination, comprising: a 3D gyrosensor ( 75 ), a 3D accelerometer ( 80 ), a geomagnetic field sensor ( 85 ). A method of medical imaging, comprising; a. Providing a nuclear detector ( 200 b. Providing an ultrasound probe ( 210 c. Providing an optical camera, wherein the optical camera is attached to one of the nuclear detector and the ultrasound probe ( 220 ), d. Provision of a control unit ( 230 ), e. Recording data of the nuclear detector ( 240 ), f. Recording ultrasound data ( 250 g. Recording data from the optical camera ( 260 ), H. Calculate the position of the other of the nuclear detector and the ultrasound probe detected by the optical camera, in a coordinate system that is stationary to the camera ( 270 i. Projecting image data of the nuclear detector onto the ultrasound image data ( 280 ). The method of claim 7, wherein the nuclear detector is one of a SPECT probe ( 40 ), a PET detector ( 45 ), a 2D gamma camera ( 50 ), a 1D + 2D coincidence detector ( 55 ), a 2D + 2D coincidence detector ( 60 ), a 1D gamma probe ( 65 ), or a dual coincidence detector ( 70 ). Method according to claim 7 or 8, wherein the position of the detected nuclear detector ( 15 . 40 . 45 . 50 . 60 ) or the ultrasound probe ( 20 ) based on a three-dimensional image analysis of the image of the optical camera ( 25 ) is determined. Method according to one of claims 7 to 9, wherein on the nuclear detector ( 15 . 40 . 45 . 50 . 60 ) or the ultrasound probe ( 20 ) at least one optical marking ( 35 ), and wherein the position of the detected nuclear detector or the ultrasound probe is determined on the basis of an analysis of the detected at least one optical marking (FIG. 35 ) is determined. Method according to one of claims 7 to 10, wherein the calculating of the position of the optical camera ( 25 ) detected each other from the nuclear detector ( 15 . 40 . 45 . 50 . 60 ) and the ultrasound probe ( 20 ) is combined by the control unit with the evaluation of 3D sensor data from a sensor arrangement ( 70 ) in at least one of the nuclear detectors ( 15 . 40 . 45 . 50 . 60 ) and the ultrasound probe ( 20 ). Method according to one of claims 7 to 11, further comprising the optical representation of a projection of the measurement data of the nuclear detector ( 15 . 40 . 45 . 50 . 60 ) into an image generated from the data of the ultrasound probe ( 20 ). Method according to one of claims 7 to 12, wherein position data about a patient's body via second optical markings ( 36 ) obtained by the optical camera ( 25 ), and wherein the position data from the control unit ( 30 ) are processed. Method according to one of claims 7 to 13, further comprising the computational integration of image data from a further imaging system ( 95 ), in particular CT ( 97 ) and MRI ( 99 ), by the control unit ( 30 ). A system ( 10 ) for medical imaging, comprising; a. a functional detector ( 15 b. an ultrasound probe ( 20 c. an optical camera ( 25 ), d. a control unit ( 30 ), the optical camera ( 25 ) at one of the functional detector ( 15 ) and the ultrasound probe ( 20 ), and the control unit ( 30 ) is arranged to calculate the position of the other of the functional detector and the ultrasound probe detected by the optical camera in a coordinate system that is stationary relative to the camera. The system of claim 15, wherein the functional detector comprises at least one of: An optical detector, in particular a fluoroscopy camera, a multispectral camera, a hand-held optical probe, and wherein fluorescent, luminescent or otherwise photoactive marker substances are applied to the patient, - Is a magnetic detector, or a detector matrix of a plurality of magnetic detectors, and wherein the marker substance to be applied to the patient comprises magnetic particles. A method of medical imaging by means of a system of claims 15 or 16.

Images