KR101818654B1

KR101818654B1 - Endoscopy based Fusion Medical Imaging System

Info

Publication number: KR101818654B1
Application number: KR1020150185327A
Authority: KR
Inventors: 설우석; 조규성
Original assignee: 한국과학기술원
Priority date: 2015-12-23
Filing date: 2015-12-23
Publication date: 2018-01-16
Also published as: KR20170075540A

Abstract

The present invention relates to an endoscopic probe which is disposed at a cable end of an endoscope probe and has an image camera for determining an anatomical position of the lesion; And a gamma ray measuring sensor for detecting a biochemical position of the lesion.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an endoscopic-

The present invention relates to a fusion medical imaging device, and more particularly, to an endoscopic fusion medical imaging device.

Due to the development of medical technology, small surgical scars and rapid recovery are leading to an increasing number of minimally invasive procedures such as endoscopic surgery, laparoscopic surgery and robot surgery. In the current minimally invasive surgery, the medical staff judge the lesion and the surgical site by Endoscopy, and conduct a lot of research to develop a diagnostic device with improved accuracy by fusing an endoscope with other imaging devices such as ultrasound have.

A related prior art is Korean Patent Publication No. 1020140104798 (published on Apr. 29, 201, entitled Capsule Endoscope for Optical and Ultrasound Mechanics Therapy Using Magneticity).

It is an object of the present invention to provide an endoscopic-based, convergent medical imaging apparatus capable of performing precise surgery by determining the biochemical position of the tumor and determining the location of the lesion in multiple.

According to an aspect of the present invention, there is provided an endoscopic-based fusion medical imaging device, including: an image camera disposed at a cable end of an endoscopic probe and for determining an anatomical position of a lesion; And a gamma ray measuring sensor for detecting the biochemical position of the lesion.

The endoscope-based convergence medical imaging device may further include a power supply unit capable of supplying power to the gamma ray measurement sensor, wherein the power source may be applied to the gamma ray measurement sensor through at least the cable of the endoscope probe.

The endoscope-based convergent medical imaging apparatus further includes a controller for image-processing and reconstructing a signal generated from the image camera and the gamma-ray measurement sensor, wherein the signal generated from the image camera and the gamma- To the control unit.

The endoscopic-based fusion medical imaging device may further include a display unit for visually outputting image data implemented by the control unit. The display unit may include at least one selected from a monitor, a smart phone, a smart pad, a smart watch, and a smart glasses.

In the endoscopic-based fusion medical imaging apparatus, the gamma ray measuring sensor measures the amount of gamma rays at the imaging site to determine the biochemical position of the lesion, and limits the direction and the diffusion of the gamma ray to locally limit the range to be measured A collimator, a scintillator for emitting fluorescence by the action of gamma rays incident from the collimator, and a detector for detecting photons from fluorescence generated from the scintillator.

In the endoscopic-based fusion medical imaging device, the gamma ray measuring sensor simultaneously measures the amount and position of the gamma ray at the imaging site to determine the biochemical position of the lesion. The position-sensitive type (fluorescence) And a detector for detecting photons from the fluorescence generated from the scintillator.

In the endoscopic-based convergent medical imaging device, the detector may include an Avalanche Photodiode (APD), a Geiger-Mode APD (GM-APD), a Silicon (SiPM) PhotoMultiplier), PIN diodes, CdTe detectors or CdZeTe detectors.

According to another aspect of the present invention, there is provided an endoscopic-based fusion medical imaging device including: an image camera disposed at a cable end of an endoscopic probe and for determining an anatomical position of a lesion; And a gamma ray measuring sensor for detecting a biochemical position of the lesion, wherein the gamma ray measuring sensor includes a detector having a structure in which pixels arrayed in a matrix of a plurality of pixels capable of sensing a single photon are arrayed, A plurality of pixels constituting the pixel group of the pixels are commonly connected.

In the endoscopic-based fusion medical imaging device, the gamma ray measuring sensor further includes a scintillator disposed on the detector, the scintillator generating photons from fluorescence by the action of a gamma ray, Each single scintillator can be divided into a gamma ray and a partition wall blocking the movement of the photons.

In the endoscopic-based fusion medical imaging device, the gamma ray measuring sensor further includes a scintillator disposed on the detector, the scintillator generating photons from fluorescence caused by the action of a gamma ray, wherein the scintillator comprises a plurality of arrayed pixels It may have a single scintillator structure corresponding to the whole.

In the endoscopic based medical imaging device, the gamma ray measuring sensor further includes a collimator disposed on the scintillator, the collimator capable of locally limiting a range to be measured by limiting the direction and diffusion of the gamma ray, May have a structure in which a single collimator corresponding to the pixel group is arrayed.

In the endoscopic based medical imaging device, the gamma ray measuring sensor further includes a collimator disposed on the scintillator, the collimator capable of locally limiting a range to be measured by limiting the direction and diffusion of the gamma ray, May have a structure in which a single collimator corresponding to each of the pixels is arrayed.

According to another aspect of the present invention, there is provided an endoscopic-based fusion medical imaging device including: an image camera disposed at a cable end of an endoscopic probe and for determining an anatomical position of a lesion; And a gamma ray measuring sensor for detecting a biochemical position of the lesion, wherein the gamma ray measuring sensor includes a detector having a structure in which pixels arrayed in a matrix of a plurality of pixels capable of sensing a single photon are arrayed, The one pixel group may provide different sensing output values depending on the position where the single photon is sensed among the plurality of pixels constituting the pixel group of the one pixel group.

Wherein the gamma ray measuring sensor further comprises a scintillator disposed on the detector for generating photons from fluorescence by the action of a gamma ray, wherein the scintillator comprises a single Each single scintillator can be divided into a gamma ray and a partition wall blocking the movement of the photons.

According to the embodiment of the present invention as described above, an anatomical position of a tumor is determined using an endoscope, and a biochemical position is determined using a gamma ray measuring sensor, The endoscopic fusion medical imaging device can be implemented. Of course, the scope of the present invention is not limited by these effects.

FIG. 1 is a conceptual diagram illustrating the configuration of an endoscopic-based fusion medical imaging device according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an endoscope probe in which an image camera and a gamma ray measurement sensor are disposed as part of an endoscopic-based fusion medical imaging apparatus according to an embodiment of the present invention.
3 is an enlarged schematic diagram of an end portion of an endoscope probe constituting a part of an endoscope-based fusion medical imaging apparatus according to an embodiment of the present invention.
4 is an enlarged diagram schematically showing an end portion of an endoscope probe according to a comparative example of the present invention.
5A to 5H are diagrams illustrating various examples of a gamma ray measuring sensor constituting a part of an endoscopic-based fusion medical imaging apparatus according to an embodiment of the present invention.
FIG. 6 is an exemplary diagram illustrating a surgical navigation screen using an endoscopic-based fusion medical imaging device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, Is provided to fully inform the user. Also, at least some of the components may be exaggerated or reduced in size for convenience of explanation. Like numbers refer to like elements throughout the drawings.

It is to be understood that throughout the specification, when an element such as a layer or a region is referred to as being "on" another element, the element may be directly "on" It will be understood that there may be other intervening components. On the other hand, when an element is referred to as being "directly on" another element, it is understood that there are no other elements intervening therebetween.

Also, terms indicating relative positions such as "top" or "bottom" can be used to describe the positional relationship of certain elements to other elements as illustrated in the figures. Further, it will be understood that these relative terms are intended to include not only the directions depicted in the Figures, but also the different directions of the components. For example, if an element is turned over in the figures, the elements depicted as being on the upper surface of the other elements will have a direction on the lower surface of the other elements. Thus, the example "top" may include both "under" and "top" directions depending on the particular orientation of the figure.

FIG. 1 is a conceptual illustration of the configuration of an endoscopic-based medical imaging device according to an embodiment of the present invention. FIG. 2 is a block diagram of an endoscope-based medical imaging device according to an embodiment of the present invention. FIG. 3 is an enlarged view of an end portion (P in FIG. 2) of an endoscope probe constituting a part of an endoscope-based fusion medical imaging apparatus according to an embodiment of the present invention. FIG.

1 to 3, an endoscopic-based fusion medical imaging apparatus 500 according to an embodiment of the present invention includes an image camera 140 for grasping an anatomical position of a lesion and a biochemical position of a lesion And a gamma ray measuring sensor 150, which is a radiation measuring sensor. The video camera 140 and the gamma ray measuring sensor 150 are disposed at the cable end P of the endoscope probe 100.

According to the present invention, in performing Minimally Invasive Surgery, an endoscope including the image camera 140 can be used to grasp the anatomical position of a tumor, and a high-performance gamma ray measurement sensor capable of detecting a single photon using a radioisotope The biochemical position of the tumor can be ascertained by using the biopsy unit 150, and the precise operation can be performed by determining the location of the lesion in multiple.

The gamma ray detected by the gamma ray measuring sensor 150 may be generated by the following phenomenon. When positron emission nuclides (radioisotopes) are labeled on glucose and the like, glucose is attached to specific lesions such as cancer cells where glucose metabolism is 3 to 8 times higher than other normal cells. Nuclides concentrated at specific lesions cause radioactive decay and release protons. The generated protons are annihilation phenomena and emit gamma rays with a phase difference of 180 degrees of 511 KeV. At this time, by analyzing the position and amount of gamma ray generation using the gamma ray measuring sensor 150, the biochemical position of a specific lesion cell can be determined.

Although the gamma ray measurement sensor 150 exhibits excellent performance for discriminating biochemical changes and positions, there is an uncertain fatal disadvantage due to the characteristics of gamma rays. An anatomical position of the tumor is determined using an image camera 140 constituting an endoscope, and a biochemical position is determined using a gamma ray measuring sensor 150. Since the gamma ray measuring sensor 150 needs to measure an extremely small amount of gamma rays, a single photon detection sensor having high amplification may be used.

The endoscopic-based fusion medical imaging device 500 according to an exemplary embodiment of the present invention may further include a power source unit 250 that can supply power to the gamma ray measurement sensor 150. The power supplied from the power source unit 250 may be applied to the gamma ray measurement sensor 150 through the cable 120 of the endoscope probe 100 at least. Since the gamma ray measuring sensor 150 is driven at a high voltage of several tens volts or more, there is a limit to the operation of the battery driving.

For example, assuming that the gamma ray measuring sensor 150 is disposed in a capsule endoscope, the power source is supplied by the battery, and it is easy to supply an appropriate power source to the gamma ray measuring sensor 150 driven by a high voltage by using only the battery I do not. The gamma ray measuring sensor 150 is disposed at the cable end P of the endoscope probe 100 and the power supplied to the gamma ray measuring sensor 150 is applied through the cable 120 of the endoscope probe 100 It is possible to effectively operate the gamma ray measuring sensor 150 which requires high voltage driving.

Although it is shown in FIG. 1 that one power supply unit 250 can supply power to the image camera 140, the gamma sensor 150, the controller 210 and the display unit 220, In this case, at least a part of the image camera 140, the gamma ray measuring sensor 150, the control unit 210, and the display unit 220 may be provided in accordance with the use and configuration of the medical imaging apparatus 500. In this case, The gamma ray measuring sensor 150 may be connected to the endoscope 100 through a cable 120. The gamma ray measuring sensor 150 may be connected to the endoscope 100 through a cable 120, 150 are effectively operated.

The endoscopic-based fusion medical imaging device 500 according to an exemplary embodiment of the present invention may further include a control unit 210 that processes and reconstructs a signal generated from the image camera 140 and the gamma ray measurement sensor 150 . The control unit 210 may include a storage unit for storing the signals generated from the image camera 140 and the gamma ray measurement sensor 150. The signal generated from the video camera 140 and the gamma ray measurement sensor 150 may be transmitted to the control unit 210 through the cable 120 of the endoscope probe 100 at least. Since the signals generated from the video camera 140 and the gamma ray measurement sensor 150 have a vast amount of information, there is a limit to be transmitted through wireless transmission.

For example, assuming that the gamma ray measuring sensor 150 is disposed in a capsule endoscope, it is not easy to transmit a vast amount of image or radiation information to the controller 210 through wireless transmission. In the present invention, the image camera 140 and the gamma ray measuring sensor 150 are disposed at the cable end P of the endoscope probe 100, and signals generated from the image camera 140 and the gamma ray measuring sensor 150 are supplied to at least the endoscope 100, It is possible to transmit data effectively by transferring the data to the control unit 210 through the cable 120 of the probe 100.

The endoscopic-based fusion medical imaging device 500 according to an exemplary embodiment of the present invention may further include a display unit 220 for visually outputting image data implemented by the control unit 210. The display unit 220 may include at least one selected from a monitor, a smart phone, a smart pad, a smart watch, and a smart glasses.

4 is an enlarged diagram schematically showing an end portion of an endoscope probe according to a comparative example of the present invention.

Referring to FIG. 4, an endoscope probe according to a comparative example of the present invention includes an end P of a cable 120, and a camera 140 for imaging, which includes a refracting unit 130 and a light source. 3, a distal end portion P of the endoscope probe according to an embodiment of the present invention includes a refractive portion 130 disposed on a cable 120, a video having a light source on the refractive portion 130, A photographing camera 140 and a gamma ray measuring sensor 150 may be disposed. A detailed configuration of a high performance gamma ray measuring radiation sensor capable of single photon detection for biochemical position reading will be described.

FIGS. 5A to 5F are diagrams illustrating various examples of a gamma ray measuring sensor constituting a part of an endoscopic-based fusion medical imaging apparatus according to an embodiment of the present invention.

5A to 5F, a gamma ray measuring sensor 150 constituting an endoscopic-based fusion medical imaging apparatus according to an exemplary embodiment of the present invention includes a sensor for measuring the amount of gamma rays at an imaging site, to be. The gamma ray measuring sensor 150 includes a collimator, a scintillator, and a detector.

By limiting the direction and diffusion of the radiation, the collimator can locally limit the range to be measured so that the spatial position information can be obtained. The collimator can constitute various examples of gamma ray measurement sensor 150 (156a in Figure 5a, 156b in Figure 5b, 156e in Figure 5e).

The scintillator emits fluorescence by the action of a gamma ray incident from the collimator. The scintillator can constitute various examples of the gamma ray measurement sensor 150 (154a in Figure 5a, 154b in Figure 5b, 154c in Figure 5c, 154d in Figure 5d, 154e in Figure 5e, 154f in Figure 5f).

The detector detects photons from the fluorescence generated from the scintillator. The detector may constitute various examples of the gamma ray measurement sensor 150 (152a in FIG. 5A, 152b in FIG. 5B, 152c in FIG. 5C, 152d in FIG. 5D, 152e in FIG. 5E, 152f in FIG. The detector 152 may include avalanche photodiode (APD), Geiger-Mode APD (GM-APD), Silicon PhotoMultiplier (SiPM), PIN diodes, CdTe Detector, a CdZeTe detector, or a detector for other gamma ray measurements. The structure of the silicon photochromatic exhaust consists of several thousand Geiger mode Avalanch photodiode structures connected in parallel, each operating in Geiger mode.

Hereinafter, a gamma ray measuring sensor 150 constituting a part of an endoscopic-based fusion medical imaging apparatus according to an embodiment of the present invention will be described in detail.

Referring to FIG. 5A, the gamma ray measuring sensor 150 includes a detector 152a having a structure in which a plurality of pixels are arrayed in a group of pixels capable of sensing a single photon (G). In the figure, six groups of pixels are illustrated by way of example. Furthermore, a plurality of pixels constituting one pixel group are commonly connected. For example, since the plurality of pixels constituting the third group of pixels are connected in common, the third group of pixels constituting the third group of pixels, The group of pixels can provide a common sensing output value.

The gamma ray measurement sensor 150 may further include a scintillator 154a disposed on the detector 152a and generating photons from the fluorescence due to the action of gamma rays. The scintillator 154a may have a single scintillator structure corresponding to a plurality of arrayed pixel groups as a whole.

The gamma ray measuring sensor 150 further includes a collimator 156a disposed on the scintillator 154a and capable of locally limiting the range to be measured by limiting the direction and diffusion of the gamma rays. The collimator 156a may have a structure in which a single collimator corresponding to each of the above-described pixels is arranged in an array. Therefore, a plurality of collimators corresponding to each pixel group can be corresponded. However, in a modified embodiment, the collimator may have a structure in which a single collimator corresponding to each of the aforementioned pixel groups is arrayed.

Referring to FIG. 5B, the gamma ray measuring sensor 150 includes a detector 152b having a structure in which a plurality of pixels each capable of sensing a single photon G are arranged in an array. In the figure, six groups of pixels are illustrated by way of example. Furthermore, a plurality of pixels constituting one pixel group are commonly connected. For example, since the plurality of pixels constituting the third group of pixels are connected in common, the third group of pixels constituting the third group of pixels, The group of pixels can provide a common sensing output value.

The gamma ray measurement sensor 150 may further include a scintillator 154b disposed on the detector 152b and generating photons from the fluorescence due to the action of gamma rays. The scintillators 154b are arrayed in a single scintillator corresponding to each of the pixel groups, and each single scintillator may be divided into gamma rays and a partition wall Z blocking the movement of the photons. For example, the second single scintillator corresponds to the second pixel group, and the third single scintillator, which is divided into the second single scintillator and the barrier rib Z, correspond to the third pixel group. The scrambler 154b may be understood to have a position sensitive type structure.

The gamma ray measurement sensor 150 further includes a collimator 156b disposed on the scintillator 154b that can locally limit the range to be measured by limiting the direction and diffusion of the gamma rays. The collimator 156b may have a structure in which a single collimator corresponding to each of the above-described pixels is arranged in an array. Therefore, a plurality of collimators corresponding to each pixel group can be corresponded. However, in a modified embodiment, the collimator may have a structure in which a single collimator corresponding to each of the aforementioned pixel groups is arrayed.

Referring to FIG. 5C, the gamma ray measuring sensor 150 is disposed on a detector 152c and a detector 152c having a structure in which pixels are arrayed in a plurality of pixels capable of sensing a single photon G, And a scintillator 154c that generates photons from fluorescence by the action of gamma rays. The detector 152c and the scintillator 154c are the same as the detector 152b and the scintillator 154b described with reference to Fig. 5B, and thus description thereof is omitted.

Referring to FIG. 5D, the gamma ray measuring sensor 150 includes a detector 152d having a structure in which a plurality of pixels capable of sensing a single photon G are arranged in an array. The one pixel group may provide different sensing output values depending on the position of sensing the single photon among the plurality of pixels constituting one pixel group. That is, since a plurality of pixels constituting one pixel group have respective distinguished address values, an output value generated by sensing a single photon G is provided accompanied by an address value. For example, the series of numbers shown in the figure refers to a plurality of distinct pixels, wherein the first group of pixels comprises a first pixel (1) and a second pixel (2) having different addresses, The second pixel group includes a third pixel (3) and a fourth pixel (4) having different addresses, and the third pixel group includes a fifth pixel (5) and a sixth pixel 6), and the fourth pixel group includes a seventh pixel (7) and an eighth pixel (8) having different addresses.

The gamma ray measuring sensor 150 may further include a scintillator 154d disposed on the detector 152d and generating photons from the fluorescence by action of gamma rays. The scintillator 154d has a structure in which arrays are arranged in a single scintillator corresponding to each of the pixel groups, and each single scintillator can be divided into a gamma ray and a partition wall Z blocking the movement of the photons. For example, the third single scintillator corresponds to the third pixel group, and the fourth single scintillator divided into the third single scintillator and the partition Z corresponds to the fourth pixel group. The scrambler 154d may be understood to have a position sensitive type structure.

Referring to FIG. 5E, the gamma ray measuring sensor 150 includes a detector 152e having a structure in which a plurality of pixels are arrayed in a pixel group capable of sensing a single photon (G). The one pixel group may provide different sensing output values depending on the position of sensing the single photon among the plurality of pixels constituting one pixel group. That is, since a plurality of pixels constituting one pixel group have respective distinguished address values, an output value generated by sensing a single photon G is provided accompanied by an address value. For example, the series of numbers shown in the figure refers to a plurality of distinct pixels, wherein the first group of pixels comprises a first pixel (1) and a second pixel (2) having different addresses, The second pixel group includes a third pixel (3) and a fourth pixel (4) having different addresses, and the third pixel group includes a fifth pixel (5) and a sixth pixel 6), and the fourth pixel group includes a seventh pixel (7) and an eighth pixel (8) having different addresses.

The gamma ray measuring sensor 150 may further comprise a scintillator 154e disposed on the detector 152e and generating photons from fluorescence by the action of a gamma ray. The scintillator 154e has a structure in which the scintillators 154e are arranged in a single scintillator corresponding to each of the pixels, and each single scintillator can be divided into a gamma ray and a partition wall Z blocking the movement of the photons. For example, the seventh single scintillator corresponds to the seventh pixel 7, and the eighth single scintillator divided into the seventh single scintillator and the partition Z corresponds to the eighth pixel 8. The scrambler 154e may be understood as having a position sensitive type structure.

The gamma ray measuring sensor 150 further includes a collimator 156e disposed on the scintillator 154e and capable of locally limiting the range to be measured by limiting the direction and diffusion of the gamma rays. The collimator 156e may have a structure in which a single collimator corresponding to each of the above-described pixels is arranged in an array. Therefore, a plurality of collimators corresponding to each pixel group can be corresponded. However, in a modified embodiment, the collimator may have a structure in which a single collimator corresponding to each of the aforementioned pixel groups is arrayed.

Referring to FIG. 5F, the gamma ray measuring sensor 150 is disposed on a detector 152f and a detector 152f having a structure in which the pixels capable of sensing a single photon G are arrayed in a plurality of pixel groups, And a scintillator 154f that generates photons from fluorescence by the action of gamma rays. The detector 152f and the scintillator 154f are the same as those of the detector 152e and the scintillator 154e described with reference to Fig. 5E, and thus description thereof is omitted.

Referring to FIG. 5G, the gamma ray measuring sensor 150 includes a detector 152g having a structure in which a plurality of pixels are arrayed in a group of pixels capable of sensing a single photon (G). The one pixel group may provide different sensing output values depending on the position of sensing the single photon among the plurality of pixels constituting one pixel group. That is, since a plurality of pixels constituting one pixel group have respective distinguished address values, an output value generated by sensing a single photon G is provided accompanied by an address value. For example, the series of numbers shown in the figure refers to a plurality of distinct pixels, wherein the first group of pixels comprises a first pixel (1) and a second pixel (2) having different addresses, The second pixel group includes a third pixel (3) and a fourth pixel (4) having different addresses, and the third pixel group includes a fifth pixel (5) and a sixth pixel 6), and the fourth pixel group includes a seventh pixel (7) and an eighth pixel (8) having different addresses.

The gamma ray measurement sensor 150 may further include a scintillator 154g disposed on the detector 152g and generating a photon from fluorescence by action of a gamma ray. The scintillator 154g may have a single scintillator structure corresponding to a plurality of arrayed pixel groups as a whole.

The gamma ray measuring sensor 150 further includes a collimator 156g disposed on the scintillator 154g and capable of locally limiting the range to be measured by limiting the direction and diffusion of the gamma rays. The collimator 156g may have a structure in which a single collimator corresponding to each of the above-described pixels is arranged in an array. Therefore, a plurality of collimators corresponding to each pixel group can be corresponded. However, in a modified embodiment, the collimator may have a structure in which a single collimator corresponding to each of the aforementioned pixel groups is arrayed.

Referring to FIG. 5H, the gamma ray measurement sensor 150 includes a detector 152h having a structure in which a plurality of pixels capable of sensing a single photon (G) are arrayed in a group of pixels. The one pixel group may provide different sensing output values depending on the position of sensing the single photon among the plurality of pixels constituting one pixel group. That is, since a plurality of pixels constituting one pixel group have respective distinguished address values, an output value generated by sensing a single photon G is provided accompanied by an address value. For example, the series of numbers shown in the figure refers to a plurality of distinct pixels, wherein the first group of pixels comprises a first pixel (1) and a second pixel (2) having different addresses, The second pixel group includes a third pixel (3) and a fourth pixel (4) having different addresses, and the third pixel group includes a fifth pixel (5) and a sixth pixel 6), and the fourth pixel group includes a seventh pixel (7) and an eighth pixel (8) having different addresses.

The gamma ray measurement sensor 150 may further include a scintillator 154h disposed on the detector 152h and generating photons from the fluorescence by the action of gamma rays. The scintillator 154h has a structure in which the scintillators 154h are arranged in a single scintillator corresponding to each of the pixel groups, and each single scintillator can be divided into gamma rays and a partition Z blocking the movement of the photons. For example, since the third single scintillator corresponds to the third pixel group, the third single scintillator corresponds to the fifth pixel 5 and the sixth pixel 6. On the other hand, the fourth single scintillator divided by the third single scintillator and the barrier Z corresponds to the fourth pixel group. It is understood that the scintillator 154h described above has a position sensitive type structure.

The gamma ray measurement sensor 150 further includes a collimator 156h disposed on the scintillator 154h and capable of locally limiting the range to be measured by limiting the direction and diffusion of the gamma rays. The collimator 156h may have a structure in which a single collimator corresponding to each of the above-described pixels is arranged in an array. Therefore, a plurality of collimators corresponding to each pixel group can be corresponded. However, in a modified embodiment, the collimator may have a structure in which a single collimator corresponding to each of the aforementioned pixel groups is arrayed.

The gamma ray measuring sensor 150 constituting a part of the endoscopic-based fusion medical imaging apparatus according to the embodiment of the present invention has been described in detail so far. However, the configurations of the detector, scintillator, and collimator shown in Figs. 5A to 5H may be arbitrarily recombined. For example, the scintillator constituting the gamma ray measuring sensor 150 shown in Fig. 5D may be replaced by the scintillator 154a shown in Fig. 5A.

Referring to FIG. 6, a gamma ray measuring sensor 150 constituting an endoscopic-based fusion medical imaging apparatus according to an exemplary embodiment of the present invention measures a gamma ray amount and a position of a gamma ray at an imaging site to determine a biochemical location of a lesion . The gamma ray measuring sensor 150 includes a position sensitive type scintillator 155 that emits fluorescence by the action of gamma rays and a detector 155 that detects photons from the fluorescence generated from the scintillator 155 153, Detector). Detector 152 may comprise an Avalanche photodiode, a Geiger mode-Avalanche photodiode or a silicon photodiode. According to the method of grasping the distribution of the gamma ray at the photographing site and detecting the lesion position using the structure shown in FIG. 6, a method of obtaining the amount and position of the radiation simultaneously by using the detector in the scintillator of the position- It is possible to intuitively and effectively provide the spatial position information when performing the invasive surgery.

FIG. 6 is an exemplary diagram illustrating a surgical navigation screen using an endoscopic-based fusion medical imaging device according to an embodiment of the present invention.

Referring to FIG. 6, there is shown a surgical navigation screen in which an anatomical image of a lesion implemented using the image camera 140 and a biochemical image of a lesion implemented using the gamma ray measurement sensor 150 are synthesized. For example, according to biochemical images of lesions implemented using gamma-ray measurement sensor 150, regions with a 37% chance of being tumors are classified as white, and regions with a probability of 63% are classified into yellow. The output information of the endoscope-based convergence medical imaging device is transmitted not only to a conventional image output device such as a monitor but also to a smart device (smart phone, smart watch, smart glasses, etc.) worn by a medical staff, And provide the function of surgical navigation to enhance convenience and accuracy in surgery.

Up to this point, an endoscopic-based fusion medical imaging device 500 according to an embodiment of the present invention has been described. According to the present invention, a gamma ray measuring sensor is attached to an endoscope probe to determine anatomical location of a tumor using an endoscope in performing minimally invasive surgery, and a high-performance gamma ray sensor capable of detecting a single photon using a radioisotope It is possible to provide a Fusion Medical Imaging System based on an endoscope that enables precise surgery to be performed by determining the biochemical position of the tumor and determining the location of the lesion in multiple.

While the present invention has been described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims

A video camera disposed at a cable end of an endoscope probe for invasive surgery and for anatomical positioning of the lesion; A gamma ray measuring sensor disposed at a cable end of the endoscope probe for invasive surgery, the gamma ray measuring sensor for detecting a biochemical position of a lesion;
/ RTI >
The gamma ray measuring sensor includes a collimator for locating the biochemical position of the lesion by measuring the amount of gamma ray at the photographing site and locally limiting the range to be measured by limiting the direction and diffusion of the gamma ray, And a detector for detecting photons from the fluorescence generated from the scintillator, wherein the scintillator comprises:
The detector may comprise a photodiode, including an Avalanche Photodiode (APD), a Geiger-Mode APD (GM-APD), a Silicon PhotoMultiplier (SiPM)
Endoscopic - based convergent medical imaging device.

The method according to claim 1,
And a power supply unit capable of supplying power to the gamma ray measurement sensor, wherein the power source is applied to the gamma ray measurement sensor through at least the cable of the endoscope probe.

The method according to claim 1,
And a control unit for image-processing and reconstructing a signal generated from the image camera and the gamma-ray measurement sensor, wherein the signal generated from the image camera and the gamma-ray measurement sensor is transmitted to the control unit through at least the cable of the endoscope probe Endoscopic fusion medical imaging device delivered.

The method of claim 3,
The image data implemented by the controller is a navigation image combined with an anatomical image of a lesion implemented using the image camera and a biochemical image of the lesion implemented using the gamma ray measurement sensor,
Further comprising a display unit for visually outputting image data implemented by the control unit.

5. The method of claim 4,
Wherein the display unit includes at least one selected from a monitor, a smart phone, a smart pad, a smart watch, and a smart glasses.

delete

A video camera disposed at a cable end of an endoscope probe for invasive surgery and for anatomical positioning of the lesion; A gamma ray measuring sensor disposed at a cable end of the endoscope probe for invasive surgery, the gamma ray measuring sensor for detecting a biochemical position of a lesion;
/ RTI >
The gamma ray measuring sensor measures a biochemical position of a lesion by simultaneously measuring the amount and position of a gamma ray at a photographed region and includes a position sensitive type structure scintillator which emits fluorescence by the action of a gamma ray, And a detector for detecting photons from the fluorescence emitted from the base,
The detector may comprise a photodiode, including an Avalanche Photodiode (APD), a Geiger-Mode APD (GM-APD), a Silicon PhotoMultiplier (SiPM)
Endoscopic - based convergent medical imaging device.

delete

A video camera disposed at a cable end of an endoscope probe for invasive surgery and for anatomical positioning of the lesion; And a gamma ray measuring sensor disposed at a cable end of the endoscope probe for invasive surgery and for detecting a biochemical position of the lesion,
The gamma ray measuring sensor includes a detector having a structure in which pixels arrayed in a plurality of pixels capable of sensing a single photon are arrayed, wherein a plurality of pixels constituting one pixel group are commonly connected, ,
The detector may comprise a photodiode, including an Avalanche Photodiode (APD), a Geiger-Mode APD (GM-APD), a Silicon PhotoMultiplier (SiPM)
Endoscopic - based convergent medical imaging device.

10. The method of claim 9,
The gamma ray measuring sensor further comprises a scintillator disposed on the detector, the scintillator generating photons from fluorescence by action of gamma rays,
Wherein the scintillator is arrayed in a single scintillator corresponding to each of the pixel groups, and each single scintillator is divided into gamma rays and a partition wall that blocks the movement of the photons.

10. The method of claim 9,
The gamma ray measuring sensor further comprises a scintillator disposed on the detector, the scintillator generating photons from fluorescence by action of gamma rays,
Wherein said scintillator has a single scintillator structure corresponding to all of a plurality of arrayed pixel groups.

The method according to claim 10 or 11,
Wherein the gamma ray measuring sensor further comprises a collimator disposed on the scintillator, the collimator being capable of locally limiting a range to be measured by limiting the direction and diffusion of gamma rays, wherein the collimator comprises a single An endoscopic-based convergent medical imaging device having a structure in which collimators are arrayed.

The method according to claim 10 or 11,
Wherein the gamma ray measuring sensor further comprises a collimator disposed on the scintillator, the collimator being capable of locally limiting a range to be measured by limiting the direction and diffusion of gamma rays, wherein the collimator comprises a single collimated Wherein the body is arranged in an array.

A video camera disposed at a cable end of an endoscope probe for invasive surgery and for anatomical positioning of the lesion; And a gamma ray measuring sensor disposed at a cable end of the endoscope probe for invasive surgery and for detecting a biochemical position of the lesion,
Wherein the gamma ray measuring sensor includes a detector having a structure in which pixels arrayed in a plurality of pixels capable of sensing a single photon are arrayed, wherein a gamma ray measuring sensor is disposed at a position where the single photon is sensed from among a plurality of pixels constituting one pixel group The one pixel group provides different sensing output values,
The detector may comprise a photodiode, including an Avalanche Photodiode (APD), a Geiger-Mode APD (GM-APD), a Silicon PhotoMultiplier (SiPM)
Endoscopic - based convergent medical imaging device.

15. The method of claim 14,
The gamma ray measuring sensor further comprises a scintillator disposed on the detector, the scintillator generating photons from fluorescence by action of gamma rays,
Wherein the scintillator is arrayed in a single scintillator corresponding to each of the pixels, and each single scintillator is divided into gamma rays and a partition wall that blocks the movement of the photons.

15. The method of claim 14,
The gamma ray measuring sensor further comprises a scintillator disposed on the detector, the scintillator generating photons from fluorescence by action of gamma rays,
Wherein the scintillator is arrayed in a single scintillator corresponding to each of the pixel groups, and each single scintillator is divided into gamma rays and a partition wall that blocks the movement of the photons.

15. The method of claim 14,
The gamma ray measuring sensor further comprises a scintillator disposed on the detector, the scintillator generating photons from fluorescence by action of gamma rays,
Wherein said scintillator has a single scintillator structure corresponding to all of a plurality of arrayed pixel groups.

18. The method according to any one of claims 15 to 17,
Wherein the gamma ray measuring sensor further comprises a collimator disposed on the scintillator, the collimator being capable of locally limiting a range to be measured by limiting the direction and diffusion of gamma rays, wherein the collimator comprises a single An endoscopic-based convergent medical imaging device having a structure in which collimators are arrayed.

18. The method according to any one of claims 15 to 17,
Wherein the gamma ray measuring sensor further comprises a collimator disposed on the scintillator, the collimator being capable of locally limiting a range to be measured by limiting the direction and diffusion of gamma rays, wherein the collimator comprises a single collimated Wherein the body is arranged in an array.