Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
  • A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
  • A61B6/03—Computed tomography [CT]
  • A61B6/037—Emission tomography
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/42—Arrangements for detecting radiation specially adapted for radiation diagnosis
  • A61B6/4208—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector
  • A61B6/4258—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector for detecting non x-ray radiation, e.g. gamma radiation
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
  • G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
  • G01T1/16—Measuring radiation intensity
  • G01T1/161—Applications in the field of nuclear medicine, e.g. in vivo counting

Definitions

• the present invention relates to image forming apparatus and image forming methods using image forming apparatus. Specific
• Embodiments of the invention relate to image-forming apparatus for improved image quality control, instruction of a user for data collection, and / or continuous data collection with improved processing.
• Typical embodiments of the present invention relate to imaging apparatus and methods for medical purposes.
• 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 is required, for example, as a basis for operations on the patient.
• medical images are generated either preoperatively or intraoperatively.
• registration of images is known, for example, registering an anatomical image with a functional image, that is, an image that makes body activity visible.
• such registered images can help with tumor surgery to decide which tissue pieces to excise. Desirable are as current and high quality images, as it can be avoided to harm healthy tissue or not to remove sick.
• an image-forming apparatus for image formation.
• the image forming apparatus includes a movable detector for detecting radioactive radiation during a detection period.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for the transmission of detector data to the evaluation system.
• the detector data includes information about the detected radioactive radiation for imaging.
• the evaluation system further comprises a data storage section for storing the detector data.
• the evaluation system further comprises a program storage section having a program for repeatedly determining at least one quality value with regard to the image formation from the detector data during the detection period.
• an image forming apparatus for image formation.
• the image forming apparatus includes a movable detector for detecting radiation during a detection period.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for the transmission of detector data to the evaluation system.
• the detector data includes information about the detected radiation for imaging.
• the evaluation system further comprises a data storage section for storing the detector data.
• the image forming apparatus further comprises an output system for outputting an instruction to a user for further moving the detector in response to the detector data, the instruction relating at least to a part of the remaining detection period.
• an image forming apparatus for image formation.
• the imaging apparatus includes a free-moving detector for detecting radiation during a detection period.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for the continuous transmission of detector data for imaging during the detection period.
• the detector data includes information about the detected radiation.
• the detector data further includes information about the position and / or orientation of the detector.
• the evaluation system further comprises a data storage section for storing detector data.
• the evaluation system further comprises a program storage section having a program for determining at least one quality value with regard to the image generation from the detector data.
• an image forming apparatus for image formation.
• the image forming apparatus includes a movable detector for detecting radiation.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for transmitting detector data for image generation to the evaluation system.
• the detector data includes information about the detected radiation.
• the detector data further includes information about the position and / or orientation of the detector.
• the evaluation system further comprises a data storage section for storing detector data.
• the evaluation system further comprises a program storage section with a program for determining a Image generation instruction for image formation based on the collected detector data considering a detection model.
• the detection model takes into account a material property of a material influencing the detection and / or a constraint condition.
• an image forming apparatus for image formation.
• the image forming apparatus includes a movable detector for detecting radiation.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for transmitting detector data for image generation to the evaluation system.
• the evaluation system further comprises a program storage section having a program for registering detector data with compatible data.
• an image forming apparatus for image formation.
• the image forming apparatus includes a movable detector for detecting radioactive radiation during a detection period.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for transmitting detector data for image generation to the evaluation system.
• the detector data includes information about the detected radioactive radiation.
• the evaluation system further comprises a data storage section for storing detector data.
• the evaluation system further comprises a program storage section having a program for determining an image formation rule based on collected detector data.
• the evaluation system further comprises a program storage section having a program for repeatedly changing the imaging regulation based on at least one quality value during the detection period.
• the method includes detecting radioactive radiation by a movable detector during a detection period.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus.
• the detector data includes information about the detected radiation.
• the method further comprises repeatedly determining at least one quality value from the collected detector data by the evaluation system during the detection period.
• a method of image formation by an image forming apparatus includes detecting radiation by a movable detector of the imaging apparatus during a detection period.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus.
• the detector data includes information about the detected radiation.
• the method further comprises outputting an instruction to a user for further moving the detector in response to the collected detector data, the instruction relating at least to a portion of the remaining detection period.
• a method of imaging by an imaging apparatus includes detecting radiation by a movable detector of the imaging apparatus during a detection period. The method further comprises changing the position and / or orientation of the detector during the detection period. The method further comprises continuously collecting detector data for imaging by an evaluation system of the imaging apparatus during the detection period. The detector data includes information about the detected radiation. The detector data further includes information about the Position and / or orientation of the detector. The method further comprises determining at least one quality value from the collected detector data by the evaluation system.
• a method of image formation by an image forming apparatus includes detecting radiation by a detector of the imaging apparatus.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus.
• the detector data includes information about the detected radiation.
• the detector data further includes information about the position and / or orientation of the detector.
• the method further comprises determining an imaging protocol by the image generation evaluation system based on the collected detector data in consideration of a detection model.
• the detection model takes into account a material property of a material influencing the detection and / or a constraint condition.
• a method of image formation by an image forming apparatus includes detecting radiation by a detector of the imaging apparatus.
• the method further comprises collecting detector data of the detector for imaging by an evaluation system of the image forming apparatus.
• the method further comprises registering the detector data with compatible data by the evaluation system.
• a method of imaging by an imaging apparatus includes detecting radioactive radiation by a movable detector of the imaging apparatus during a detection period.
• the method further comprises collecting detector data for imaging by an evaluation system of the Image forming apparatus.
• the detector data includes information about the detected radiation.
• the method further comprises determining an imaging protocol by the evaluation system based on the collected detector data.
• the method further comprises repeatedly changing the imaging protocol based on at least one quality value during the detection period.
• Figure 1 shows a schematic structure of an image forming apparatus according to embodiments of the invention
• Figure 2 shows a detector system of the image forming apparatus according to embodiments of the invention
• Figure 3 shows a detection system of the image forming apparatus according to embodiments of the invention
• FIG. 4 shows the schematic structure of an evaluation system of the image forming apparatus according to embodiments of the invention.
• FIG. 5 shows the schematic structure of program memory sections of the evaluation system according to FIG.
• Figure 6 shows an output system of the image forming apparatus according to embodiments of the invention
• Figure 7 shows another output system of the image forming apparatus according to embodiments of the invention.
• Figure 8 shows a guide system of the image forming apparatus according to embodiments of the invention.
• Figure 9 shows an image forming apparatus according to embodiments of the invention for use in the medical field
• FIG. 10 shows the creation of a detection model according to embodiments of the invention.
• Figure 11 shows the creation of a detection model via measurements according to embodiments of the invention.
• Figure 12 shows a quality control process according to embodiments of the invention
• Figure 13 is an iterative flowchart showing a step of instructing a user according to embodiments of the invention.
• FIG. 14 shows a detection process with a freely movable detector according to embodiments of the invention.
• detection period refers to a period between the start of a first detection process and the end of a final detection process, the first and last detection processes may be identical, so that the detection period is a period during which continuous The first and last detection may also be different, so other processes may fall into one detection period, for example, such other processes may be data evaluation processes, The at least one detection process occurring in the detection period will be performed by the same detector or detector system the same Object executed.
• An example of a detection period is the period between the first measurement of radioactive radiation with a gamma probe on a patient and the last measurement, wherein, for example, after the last measurement, a final image with the representation of body functions can be generated.
• one or more measuring pauses may also be present, for example for data evaluation or even for measuring on another object.
• a detection period would not be defined by first measuring only on the leg of a patient and by further measuring only on the patient's stomach.
• freely movable is generally understood to mean that the position and / or orientation of an object that is freely movable can be substantially varied as desired. Also, a detector mounted on a robotic arm with sufficient degrees of freedom is free to move, with the robotic arm being controlled by a user, for example, but a detector that is mobile along only one rail is movable but not versatile.
• the term “continuous” with respect to an action includes a continuous or regularly repeated action.
• the time intervals between the regular repetitions can in principle be arbitrarily short, that is, quasi-continuous.
• detectors may have so-called “dead times”, so that no detection can take place during such dead times.
• a regular repetition of data acquisition within the collection process would not be possible within time intervals that are smaller than the said dead times.
• continuous also includes, with respect to an action, a repetition or repeated repetition at arbitrary short time intervals. Even arbitrary time intervals can in principle be arbitrarily short consecutive and restrictions such as those listed above apply analogously.
• Geneating an image involves the generation of image data without necessarily requiring the output of this image data on an output unit such as a monitor.
• the imaging apparatus 1 includes a detector system 100.
• the detector system 100 includes at least one detector 110.
• the imaging apparatus further includes an evaluation system 300.
• the evaluation system 300 includes at least one memory unit 310 and at least one computing unit 350.
• the detector system and the evaluation system are connected by a data exchange system 20.
• the imaging apparatus includes a detection system 200 as shown in FIG.
• the detection system 200 includes at least one detection unit 210.
• the imaging apparatus includes an output system 400.
• the output system includes at least one output unit 410.
• the acquisition system 200 and the output system 400 are connected to the evaluation system 300 through a data exchange system.
• the image forming apparatus includes a guide system 500.
• the guide system 500 includes at least one guide unit 510.
• the guide system may include be connected to the evaluation by the data exchange system. The individual systems are described in more detail below.
• the detector system 100 comprises a detector 110.
• the detector 110 is a radiation detector, typically a radioactive radiation detector.
• the detector is movable, even freely movable according to certain embodiments.
• the detector is portable in the hand.
• the detector may include a gamma ray probe, a beta radiation probe, a Compton probe, a gamma ray camera, a
• the detector may also be a detector of optical radiation, a detector of infrared radiation, X-radiation or a detector of other radiation or another type of detector.
• Detector data may include information about the detected radiation.
• the detector data can be processed to a certain extent, but in general an assignment of individual data records to specific detection events or at least to a group of detection events should still be possible.
• the detector data may also include position and / or orientation of the detector.
• Detector data may also include other data.
• the detector system 100 comprises at least one further detector.
• the at least one further detector may be the same or similar to the detector 110.
• the at least one further detector may also be different from the detector 110.
• the at least one further detector can, for example, also be an ultrasound probe, an x-ray detector, an optical camera, an optical microscope, a fluorescence camera, an autofluorescence camera Magnetic Resonance Imaging Detector, a positron emission tomography detector, PET for short, a single-photon emission computer tomography detector, short SPECT or another detector.
• FIG. 2 shows a detector system 100 according to embodiments of the present invention.
• two detectors 110, 120 of the detector system 100 are shown: a probe 110 for detecting radioactive radiation and an optical camera 120.
• the radioactive radiation may, for example, be gamma, beta, Compton, X-ray or alpha radiation.
• a radioactive radiation source 10 to be detected is shown.
• a radiation source here and in the following may be a spatially distributed radiation source, ie a spatial radiation distribution.
• a radiation source may also be a substantially two-dimensional radiation source, i. a substantially planar radiation distribution.
• the detectors may be held in hand as shown and are movable and orientable in the three spatial directions, i. versatile.
• the detectors 110, 120 each have a cable to
• the detectors 110, 120 each have markings for detection by the detection system 200 shown in Fig. 3, as described below to Fig. 3. It is also possible to provide a detection system 200 which does not require markings, as described below.
• Detector data such as detector data with information about measured radiation can be made available to the evaluation system 300 (see FIG. In particular, the evaluation system 300 can collect the detector data.
• Detection system 200 can collect the detector data.
• the imaging apparatus includes a detection system 200.
• detection system 200 includes a detection unit 210.
• the detection unit may include an optical, electromagnetic, mechanical, robot-assisted, radio-wave assisted, sound-wave assisted, goniometer-based, potentiometer-assisted, gyroscope supported, accelerometer-based, radiation-based, X-ray based or an infrared or white light detection unit or another detection unit.
• the detection system 200 comprises a further detection unit 220 or further detection units.
• the detection unit 220 or the further detection units may be detection units such as the above-enumerated or other types of detection units. To ensure feasibility or reliability of the detection system, embodiments include at least two, at least three, or at least four detection units.
• FIG. 3 shows a detection system 200 according to typical embodiments of the present invention.
• Figure 3 shows two optical detection units 210 and 220.
• the optical detection units 210 and 220 detect marks 112 on the radioactive ray probe 110 and markers 122 on the optical camera 120.
• the optical detection units 210 and 220 generate by detecting the marks 112 and 122 Data with information about the position and / or orientation of the probe 110 and the camera 120.
• the optical detection units 210 and 220 are precisely adjusted and the position and orientation of the probe 110 and the camera 120 is determined Detecting the position of the markers 112 and 122 determined by known triangulation.
• Data of the detection system such as detector data with information about position and / or orientation can be provided to the evaluation system 300.
• the evaluation system 300 may collect such and other detector data.
• the evaluation system 300 includes a storage system 302 having a storage unit 310.
• the storage unit 310 may be, for example, a computer hard disk or other mass storage device, or of another type.
• the storage unit 310 includes a data storage section 320.
• the data storage section 320 may be used, for example, for storing detector data.
• the data storage section 320 may also be used to store other data.
• the memory unit 310 comprises a program memory section 330.
• the program memory section 330 and, according to further embodiments, further program memory sections are described below.
• the data storage unit 310 may include further data storage sections and other program storage sections.
• the various storage sections need not form physical or storage units; rather, different sections are distinguished only in terms of the nature of the data stored or stored therein.
• the storage system 302 may include additional storage units.
• the further memory units may be similar to the memory unit 310 or of another type.
• the evaluation system 300 includes a computing system 304.
• the computing system 304 includes a computing unit 350 according to some embodiments.
• the computing unit 350 may be, for example, the computing part of a computer, eg, a processor.
• the computing system 304 comprises further computing units that may be similar or otherwise of the computing unit 350.
• at least one arithmetic unit and at least one memory unit can be integrated in special devices such as commercially available computers.
• the evaluation system includes an interface system 306.
• the interface system 306 includes a detector system interface 306A having a detector interface 380 for communicating with a detector, such as the detector 110.
• the interface system 306 includes a detection system interface 306B a capture unit interface 390 for communicating with a capture system (eg, the capture system 200 of FIG. 3).
• An interface system 306 or portions thereof may also be integrated into specialized devices such as a commercially available computer.
• the evaluation system communicates with other subsystems of the imaging apparatus via such interface systems using a data exchange system.
• the program storage section 330 comprises a program.
• the program may be a program 330A for determining at least one quality value based on detector data.
• a memory unit comprises further program memory sections, for example further program memory sections 332 and 334 with program 332A for determining an imaging protocol on the basis of detector data taking into account a detection model, or with program 334A.
• Program 334A includes program portion 334B for determining at least one quality value based on detector data and program portion 334C for repeatedly determining at least one quality value based on detector data.
• programs e.g. perform similar functions, also be designed as program parts of a single program such as described above for program 334 A.
• Program section with a second program that are provided the first and second program sections are identical, and the first and second programs are considered as part of a single program.
• both the first program section may be identical to the second and the first program may be the same.
• the imaging apparatus includes an output system 400.
• the output system 400 includes an output unit 410 in some embodiments.
• the output unit 410 may be a visual, audible or haptic output unit or a combination form thereof.
• the output unit 410 is an output unit for displaying images or an instruction to a user.
• a user is usually a human. Alternatively, however, a user may also be another animal or an inanimate object, e.g. a machine.
• the output system 400 includes further output units. These may be similar in nature to the output unit 410 or otherwise.
• Output units according to embodiments of the present invention may be realistic, depict a virtual reality or map an augmented reality.
• an augmented reality output unit may combine a real image with virtual images.
• an output unit may be one of the following: monitor, optically translucent monitor, stereo monitor, head-mounted stereo displays, acoustic frequency-coded feedback systems, acoustic pulse-coded feedback systems, force feedback joysticks, or other types of visual, acoustic, and / or or haptic output units or combinations thereof.
• Fig. 6 shows an output unit 410 according to embodiments of the present invention.
• the output unit 410 is an optical output unit, especially a monitor.
• Fig. 6 further shows an acoustic output unit 420.
• the acoustic output unit is a loudspeaker.
• FIG. 7 shows an imaging unit 430 in the form of a head-mounted visual display.
• the imaging apparatus includes a guidance system 500, such as shown in FIG.
• the guide system 500 includes a guide unit 510 according to some embodiments.
• a guide unit 510 may guide an object through a robot arm.
• the guidance unit 510 may also guide a user.
• the guiding may also be robot-based or based on optical, acoustic or haptic signals, or a combination thereof.
• the guide unit 510 shown in FIG. 8 guides a user through haptic signals.
• the guide unit 510 serves to better guide a surgical
• the guiding unit gives, for example, a resistance, either by mechanical hindrance or by stimulation of muscles by means of electrical impulses.
• the guide unit 510 or other guide units may also be formed by an output unit of the output system when the guidance of the user is accomplished by a corresponding output.
• the guide system 500 may therefore even be identical to the dispensing system 400.
• the image forming apparatus includes a data exchange system. As shown in Fig. 1, this serves
• Image generation apparatus for example, the exchange of data between
• Evaluation system between the output system and the evaluation system, or between the guidance system and the evaluation system (as shown in Fig. 1 by corresponding connecting lines).
• the data exchange system may, in some embodiments, interface with such
• Support detector interface 380 or the detection system interface 390 can be used to support detector interface 380 or the detection system interface 390.
• the exchange of data can be done by connecting the systems by means of wires or wirelessly or in some other way.
• Figure 9 shows, according to embodiments of the invention, a body part of a human or other living thing in which radioactive substances have been introduced, so-called tracers that preferentially accumulate in certain regions or get stuck there.
• the regions or spatial areas in which the radioactive substances are enriched may be considered as closed areas comprising a source of radioactive radiation.
• Figure 9 further shows a radioactive radiation detector 110.
• the detector 110 measures the radioactive radiation coming from the source within the radioactive radiation Body goes out.
• Fig. 9 shows a laparoscope 120 which receives data to form an optical image of the interior of the body.
• the data acquired by the radioactive radiation detector 110 and the laparoscope 120 are collected and processed in the evaluation system (not shown).
• the positions and / or orientations of the two detectors are detected via markers 112 and 122, and the corresponding data are collected by the evaluation system. From all these data, the evaluation system generates an optical image of the inside of the body based on the data of the laparoscope as well as a functional image that makes body functions such as metabolism visible, based on the data of the radioactive radiation detector.
• the image can be three-dimensional.
• the optical anatomical image and the functional image are superimposed and e.g. shown in three dimensions.
• the overlay was generated due to registration of the optical image with the anatomical image by the evaluation system.
• FIG. 9 also shows a surgical instrument 40 whose position and / or orientation are also detected.
• the recorded data of the surgical instrument are also processed by the evaluation system.
• an image of the surgical instrument and its position in the interior of the body can be determined by the evaluation unit.
• This image can also be registered with the anatomical and optical image and displayed on the evaluation unit 410.
• the output of the registered images on the display unit enables an operator to precisely control the procedure.
• the images of prior art image-forming apparatus and related image-forming methods are often not up-to-date with images used in operations. This applies, for example, to preoperative images since the tissue and its functions may already have changed. If intraoperative images are used, problems arise with the use of movable detectors in particular in that prior art evaluation systems are not able to guarantee a high quality image.
• a quality control in particular for a quality control already during the detection of the detector data.
• Such quality control can also be a continuous quality control.
• an improved data set is desirable, which can be ensured by instructing to detect. Detecting detector data, which in principle can be picked up at any position and / or orientation of the detector, is particularly challenging in portable or even handheld detectors.
• detector data is collected by the evaluation system.
• the position and / or orientation of the detector may have been detected by a detection system.
• the detector data comprise, in some embodiments, information about the detected radioactive radiation.
• the detector data comprise information about the position and / or orientation of the detector.
• data with information about the detected radiation can be collected synchronized with data about the position and / or orientation of the detector.
• WO 2007/131561 is wholly incorporated by reference.
• the detector data are stored in the evaluation system.
• a detector detects radiation during a detection period.
• This radiation can be radioactive or nuclear radiation.
• radioactive radiation is also understood radiation which is indirectly generated by radioactive decays, for example ionization radiation of an alpha particle.
• Embodiments of the invention in which a detector measures radioactive radiation therefore also include detecting such secondary radiation.
• the evaluation system generates an image from the detector data by means of an imaging protocol.
• this image is an image of the radiation distribution and thus of the radiation sources in a spatial area.
• the imaging protocol is a linear prescription.
• an imaging matrix H also called a system matrix
• the vector f contains image information Typically, to represent an image of a spatial area, this spatial area is converted into picture elements (voxels).
• Each index k /,..., M is assigned to a measurement (or averaged measurement series, see below) of a detector, and the entry gk contains the result of the radiation intensity measured in this measurement.
• the entries H & the imaging matrix ⁇ model the influence of a normalized radiation source at the position assigned to the index i on the k-th measurement.
• the mapping matrix ⁇ contains in its entries Hu
• Such a vector g_prognosticated can be compared with a vector g_ measured, which contains actual detector data with information about detected radiation.
• a vector g_ measured which contains actual detector data with information about detected radiation.
• different measurement errors eg contributions of external radiation sources, imperfections of the detector, statistical errors, etc. are taken into account.
• the image generation can now be described as finding a vector f with image information relating to the radiation distribution in a spatial region which is most consistent with the actually measured data on nuclear radiation.
• a conceptual approach to this is to minimize the distance
• the imaging protocol is defined to be primarily formed by the matrix H. But also the algorithm to be used to solve the minimization problem as well as the iterative solution start vector to be used are part of the imaging protocol.
• the imaging protocol is not linear. Analogous methods can also be used for such non-linear imaging protocols.
• imaging protocols in particular the matrix H described above, can be generated or improved on the basis of at least one detection model.
• Detection models can be changed or adapted, in particular due to new detector data.
• Detection models may be improved or continuously improved according to some embodiments. Improved or continuously improved detection models can be used to improve an imaging protocol.
• the entries of the imaging matrix may be represented by
• Detection models are calculated. Such detection models can be created by algebraic, analytical, numerical or statistical methods or be created on the basis of measurement data or by a combination thereof. In some embodiments, detection models are created by measuring at a radioactive point source, which is positioned differently and whose radiation is measured from different positions and orientations. By such measurements or by suitable detection models is
• information about at least one material property of at least one material obtained or used is provided.
• imaging for medical purposes for example
• Material properties include attenuation between source and detector, and scattering between source and detector, the material properties of materials between the source and the detector, attenuation by a detector shield or scattering by a detector shield, attenuation in the detector itself, and Scattering in the detector itself.
• constraints are the relative solid angle between a detector and a source of radiation, the dimensions of the detector, or a non-presence of material or matter. Constraints allow to exclude certain image vectors f from the outset and thereby achieve better results of the minimization problem described above.
• Figure 10 shows schematically the translation of real objects and a real detection process into a detection model and a simulated detection process.
• real objects such as a detector 110, a body 30 and a radiation source 10 located within the body become data of a
• Detection model shown.
• data relating to the detector describe a virtual detector 110a, data relating to the body a virtual body 30a and data relating to the radiation source a virtual one
• FIG 11 illustrates the detection of a detection model based on measurements.
• a radioactive point source 50 emits radioactive radiation 52 in all spatial directions.
• a detector 110 measures the radiation source 50 at different positions and with different orientations (second position / orientation shown in dashed lines), whereby information about material properties is obtained. Material properties may include, for example, those of a body 30. From the measured data, a detection model can be obtained. The detection model can take into account the information of the measurement data and further information such as the detector geometry.
• a method of image formation by an image forming apparatus includes detecting radiation by a detector of the imaging apparatus.
• the radiation can be radioactive radiation.
• the detection may occur during a detection period.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus.
• the detector data includes information about the detected radiation.
• the detector data includes information about the position and / or orientation of the detector.
• the method further comprises determining an imaging protocol by the image generation evaluation system based on the collected detector data in consideration of a detection model.
• the detection model takes into account a material property of a material affecting the detection and / or a constraint condition.
• the detector is movable. According to further embodiments, the detector is freely movable. In other embodiments, the detector is portable in the hand. In typical embodiments, the method includes repeating, repeatedly, or continuously collecting detector data for imaging by the imaging system's imaging system, typically during the detection period.
• the method further comprises determining at least one quality value from the collected detector data by the evaluation system. In further embodiments, the method comprises a renewed or repeated determination of at least one quality value from the collected detector data by the evaluation system. Typically, determining, re-determining, repeatedly determining, or continuously determining occurs during the detection period.
• the detection model according to the embodiment of the invention is constructed algebraically, analytically, numerically, statistically or on the basis of measured data or by combinations thereof.
• the detection model takes into account at least one further material property and / or at least one further constraint condition.
• Material properties can influence the detection model, for example due to the following effects: attenuation of radiation, scattering of radiation, diffraction of radiation, breaking of radiation, influence of electromagnetic fields, influence of background radiation, signal noise or influence of errors in the measurement values of the detector as well as in the measurement of Position and / or orientation of the detector.
• Embodiments of the invention may include detection models that take into account these or other effects.
• Image generation methods may also take into account at least one constraint, wherein the constraint may be, for example, the relative solid angle between the detector and the source region of the radiation, the dimension of the detector, or a non-presence of a material.
• the constraint may be, for example, the relative solid angle between the detector and the source region of the radiation, the dimension of the detector, or a non-presence of a material.
• an image forming apparatus for image formation includes a detector for detecting radiation.
• the detector may be a movable detector.
• the detector can be a freely movable detector.
• the detector may be a hand-held detector.
• the radiation can be radioactive radiation.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for transmitting detector data for image generation to the evaluation system.
• detector data includes data with information about the detected radiation.
• detector data also includes data with information about the position and / or orientation of the detector for Imaging.
• the evaluation system further comprises a data storage section for storing detector data.
• the evaluation system further comprises a program storage section having a program for determining an image formation law for image formation on the basis of the collected detector data in consideration of a detection model.
• the detection model takes into account at least one material property of at least one material that influences the detection and / or at least one constraint condition.
• the interface system is an interface system for transmitting detector data to the evaluation system.
• the detector data typically includes information about the detected radiation. Typically, this data also includes information about the position and / or orientation of the detector.
• the interface system is an interface system for the continuous transmission of detector data to the image evaluation system.
• the detector data may again include information about the detected radiation and / or information about the position and / or orientation of the detector.
• the transmission is a transmission during the detection period.
• the detection model takes into account attenuation of radiation, scattering of radiation, diffraction of radiation, refraction of radiation, the influence of electromagnetic fields, the influence of background radiation, signal noise, the influence of errors in the measurement values of the detector and in the measurement of position and / or orientation of the detector or other effects.
• the detection model takes into account constraints such as the relative solid angle between the detector and a source region radiation, the size of the detector or a non-presence of a material, or combinations of this constraint condition.
• the entries of the mapping matrix or system matrix are changed.
• the system matrix is changed as soon as further measurement data is available.
• the minimization of the norm of the difference between H and f can be applied to ggem it sen are again minimized, as more data are available.
• embodiments typically include continually changing the imaging protocol.
• the detection models can also be continuously adapted and improved.
• detector data is registered with compatible data.
• the compatible data is obtained from a given image by a mapping rule.
• a mapping rule Such a predefined image can be, for example, a previously recorded (preoperatively acquired) anatomical or body-functional image.
• this can be represented by an imaging matrix H as described above.
• This matrix H may depend on a position vector T in which information about the relative position and / or orientation between the detector and the source of the radiation is detected.
• T can describe a relative position in the sense of a rigid registration or in the sense of a deformable registration.
• the information contained in g represents predicted or virtual or simulated detector data called simulation detector data.
• a vector gg e m eat contains information about detected radiation.
• the format (ie the structure of the vector g) of the simulation detector data is compatible with that of the measured detector data .
• Registration of detector data with such compatible data takes place, in accordance with some embodiments of the invention, by minimizing the distance
• can be given for example by the L2 standard.
• the minimization takes place over all the position vectors T in order to obtain an optimal position vector T as a result of the minimization.
• the matrix H (T) assigns to the measured detector data an image vector that is compatible and registered with the image vector of the given image.
• minimization is performed by algorithms such as the best neighbor approach, a simplex optimizer, the Levenberg-Marquardt algorithm, the steepest gradient descent, the conjugate gradient descent, or others.
• the registration can be made not only by comparing the detector data g as described above, but also by directly comparing the image data f obtained from the detector data with the predetermined image.
• This comparison can be made, for example, by an image comparison with the methods described above for g, or, for example, by a comparison of individual marker points provided for this purpose.
• other registration methods are possible.
• Indirect registration means registering a first data record with a third data record by means of a second data record.
• first the first data record is registered with the second data record, eg as described above.
• the second record is registered with the third record.
• the first one is finally registered with the third record.
• the first data record may have been obtained from a basic image, such as a preoperatively acquired anatomical image.
• the second data set may correspond to detector data at a first time
• the third data record may correspond to detector data at a later time. If the registration of the first data record derived from the base image with the second data set succeeded, the similarity of the second and third data record from detector data facilitates registration when indirect registration is used as described above.
• a method of imaging by an imaging apparatus includes detecting radiation by a detector of the imaging apparatus. The detection may occur during a detection period.
• the radiation can be radioactive radiation.
• the detector can be mobile.
• the detector can be freely movable.
• the detector can be portable in the hand.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus. Typically, the detector data includes information about the detected radiation. Typically, the detector data also includes information about the position and / or orientation of the detector.
• the method further comprises registering the detector data with compatible data by the evaluation system.
• the compatible data is detector data.
• the method comprises Image generation generating simulation detector data based on a basic image by the evaluation system.
• the compatible data may be simulation detector data.
• at least one comparison function is used to register the detector data.
• the method includes indirectly registering the simulation detector data with detector data via second compatible data.
• the second compatible data is detector data.
• the second compatible data is second simulation detector data based on a second basic image.
• Comparative functions may be, for example, cross correlation, transinformation, block entropies, correlation rates, cosine, extended Jaccard similarity, proportional image uniformity, squares of squares or sums of absolute values of distances, or other comparison functions.
• the base image is an anatomical or body-functional image.
• the second base image is an anatomical or body-functional image.
• Anatomical images can be, for example, a computer tomography, a magnetic resonance tomography, an ultrasound image, an optical image or an x-ray image.
• body-functional images may include positron emission tomography, abbreviated PET
• Single photon emission computer tomography abbreviated SPECT, or optical tomography.
• an image-forming apparatus for imaging includes a detector for detecting radiation.
• the detector can be mobile.
• the detector can be freely movable.
• the detector can be portable in the hand.
• the radiation can be radioactive radiation.
• the detector can be a detector to be detected during a detection period.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for transmitting detector data for image generation and the evaluation system.
• the detector data includes information about the detected radiation.
• the detector data also includes information about the position and / or orientation of the detector.
• the interface system can also be an interface system for the continuous transmission of detector data to the evaluation system.
• the evaluation system further comprises a program storage section having a program for registering detector data with compatible data.
• the compatible data is detector data.
• the evaluation system further comprises a program storage section having a program for generating simulation detector data based on a base image.
• the compatible data is simulation detector data.
• the program is programmed to register in order to use at least one comparison function for registering detector data with compatible data.
• the evaluation system further comprises a program storage section having a program for indirectly registering the simulation detector data with detector data on second compatible data.
• the second compatible data may be detector data.
• the second compatible data may be second simulation detector data based on a second basic image.
• the comparison functions may be, for example, comparison functions such as those described above or other comparison functions. Distant can the basic image or the second basic image have the same or similar properties as described above.
• Embodiments of the invention also include registering images. These images may, for example, have been produced from detector data or other data sets. For example, registration of images is done by maximizing the similarity or minimizing the dissimilarity of both images. To minimize dissimilarity or maximize similarity, comparison functions such as cross-correlations, trans information, block entropies, correlation rates, cosine measure, extended jaccard similarity, relative image uniformity (Ratio Image Uniformity) can be used ), Sums of square intervals or sums of absolute values of distances are used. However, other information-theoretical comparison functions can also be used. For the minimization or maximization process itself, optimization algorithms with algorithms such as those mentioned above may be used or others. Images can also be registered point by point. For this purpose, specially selected points in both images are related. The selection can be automatic or interactive. Pointwise registration algorithms may be, for example, the Umeyama or the Walker algorithm.
• the procedure in this case includes registering a third image with a second image, registering a first image with the third image, and registering the first image with the second image using the registration of the first image with the third image.
• the images as well as in the case of registering records may be anatomical or body-functional images. Such images may be obtained from detector data. The images may also have been obtained by other detectors of the detector system, such as by Computed Tomography, Magnetic Resonance Imaging, Ultrasonography,
• organ functional images are images obtained from the detector data, but also positron emission tomography, abbreviated PET, single photon emission computed tomography, abbreviated SPECT, or optical tomography.
• a method for image generation comprises generating a first image on the basis of the collected detector data by the evaluation system.
• the method further comprises registering the first image with a second image.
• minimization of dissimilarity or maximization of similarity may be used.
• at least one comparison function is used to minimize or maximize. Comparison functions may be the above or other comparison functions.
• a method of imaging comprises registering a third image with a second image, registering the first image with a third image, registering the first image with a second image using the registration of the first image with the third image Image.
• the second image is an anatomical image. In other embodiments, the second image is a body-functional image.
• An anatomical image may be one of the anatomical images described above or another anatomical image.
• a body-functional image may be one of the above-described body-function images or another body-function image. quality control
• embodiments of the invention provide methods and devices for checking the quality of both the detector data and the images produced.
• quality control is ongoing. In this way, the quality and validity of a generated image is checked. In other embodiments, quality control already occurs during the detection period.
• Figure 12 shows a typical quality control process according to embodiments of the invention. Shown is a time axis 620, which symbolizes the course of time (from left to right). In Figure 12, a detection period 622 is further shown. Furthermore, based on the same time axis, a quality value determination period 624 is depicted. Typically, the quality score period 624 begins after the beginning of the detection period when detector data is already available. The quality determination period 624 may end before, simultaneously with, or after the detection period. Typically, the quality score period 624 ends after the detection period. The distances between markings on the route, which symbolizes the quality value determination period 624, in turn symbolize periods in which a quality determination process such as, for example, the determination of a quality value by the evaluation unit takes place.
• a quality determination process such as, for example, the determination of a quality value by the evaluation unit takes place.
• a warning signal 629 is output when data collected or collected by the evaluation unit does not pass quality control.
• a warning signal can be output acoustically, optically, haptically or by a combination thereof, for example.
• Such a warning signal can visualize a user, for example an operator, that images that may be generated from the detector data, at least at the time of issuance of the warning signal may not be trusted.
• the quality control typically takes place on the basis of at least one quality criterion. For one or more quality criteria, a quality value is calculated. It is also possible to calculate several quality values for one or more quality criteria, for example if a quality value dependent on a respective image region is determined. In this case, for example, the validity or quality of an image may be rejected if such a quality value does not satisfy one or more quality criteria, i. this is not enough. Conversely, an image can be considered valid if a quality value meets a quality criterion or meets several quality criteria.
• a specific image region assigned to the respective quality value can also be understood.
• quality criteria are as follows: the similarity between a first image and a second image, wherein one or both of the images may be generated from detector data, the conditioning of an imaging protocol to produce an image, the relevance of data such as detector data for a pixel, the plausibility of image generation from data such as detector data or from the second image, the uniformity of data such as detector data, or the false generation risk due to erroneous data such as detector data.
• the similarity between a first and a second image can be determined similarly as in the case of registration.
• already registered images can in turn be compared with each other for similarity.
• the images may have been registered by direct image registration or by data registration.
• the pictures can for example, anatomical or organ functional images, such as those already described above or others.
• the conditioning of an imaging protocol may be accomplished, for example, by conditioning the imaging matrix or system matrix.
• the condition number of the mapping matrix H (see above) can be calculated.
• the condition number may be calculated by analyzing the spectrum of the singular values of the matrix or by similar matrix decomposition measures (e.g., ratio of largest to smallest eigenvalue, or number of eigenvalues exceeding or falling below a threshold).
• the quality criterion is a threshold for the conditioning number. If the calculated conditioning number, i.
• the quality value smaller (or greater, depending on the definition of the conditioning number) than this threshold, the data such as detector data does not meet the quality criterion, and consequently an image generated therefrom is rejected.
• the calculated conditioning number is greater (or less) than the threshold, the quality of the data, such as detector data and a reconstructed image, is accepted.
• the size designated by the English term sparsity of a matrix row or column may be used as a quality value, and a threshold with respect to this size may be used as a quality criterion.
• a row or column of a matrix is sparse if less than a threshold number of entries is zero (or numerically zero, ie less than a given epsilon threshold). If a matrix column is too sparse, a pixel depends on only a few measurements, and there is therefore a high risk of false generation for this pixel.
• the relevance of data for a picture element can also be used as a quality criterion.
• the relevance of a row or column may be linked to a threshold for the sum of all entries of a row or column.
• the plausibility of an image generation takes into account a constraint condition.
• constraints are the maximum amount of radiation, the gradient of the sum of the maximum radiation, minimum
• the uniformity of detector data is determined by the spatial distribution of the measurements. Uniform measurements are available if the measurements are evenly distributed around the area to be reconstructed. A measure of uniformity is formed by the deviation of the actual measurements from a perfectly uniform measurement. The quality criterion is formed by a threshold with respect to this uniformity.
• a quality control based on the above or other quality criteria is carried out continuously, preferably quasi-continuously (as shown in Fig. 12).
• the result of the quality control is output by the output system to a user.
• the output can be made visually, acoustically or haptically as described above.
• the output may be coarsened the image resolution at the corresponding image region done. This protects the user from false confidence in potentially corrupted images.
• a method of imaging by an imaging apparatus includes detecting radiation by a detector.
• the detection may occur during a detection period.
• the radiation can be radioactive radiation.
• the detector can be mobile.
• the detector can be freely movable.
• the detector can be portable in the hand.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus.
• the detector data includes information about the detected radiation.
• the detector data includes information about the position and / or orientation of the detector.
• the method further comprises determining at least one quality value from the collected detector data by the evaluation system.
• the determining is a repeated determination or continuous determination, typically during the detection period.
• the method comprises repeating, repeatedly or continuously collecting detector data for imaging by the evaluation system of the imaging apparatus, preferably during the detection period.
• the at least one quality value is determined with respect to at least one quality criterion.
• a quality criterion may be, for example, the similarity between a first image generated from the collected detector data and a second image, the conditioning of an imaging protocol for generating an image from the collected detector data, the relevance of the collected data Detector data for a pixel, the plausibility of imaging from the collected detector data, the uniformity of the collected detector data, or the false generation risk due to erroneous detector data.
• further quality criteria can be used.
• the method comprises outputting the at least one determined quality value to a user. Furthermore, further embodiments include outputting a warning to a user if the at least one quality value does not fulfill at least one quality criterion.
• the output of the quality value or the warning may be visual, audible, haptic, or a combination thereof.
• an image forming apparatus for imaging includes a detector for detecting radiation.
• the detector may be a detector for detecting radiation during a detection period.
• the detector can be mobile.
• the detector can be freely movable.
• the detector can be portable in the hand.
• the radiation can be radioactive radiation.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for the transmission of detector data for image generation to the evaluation system.
• detector data includes information about the detected radioactive radiation.
• detector data also includes information about the position and / or orientation of the detector.
• the evaluation system further comprises a data storage section for storing the detector data.
• the evaluation system further comprises a program memory section with a program for determining at least one quality value with regard to the image generation from the detector data.
• the program may also include a program for retrieving, repeatedly or continuously determining at least one quality value with regard to Be imaging from the detector data. In this case, the determination of at least one quality value can take place during the detection period.
• the interface system is an interface system for renewed, repeated or continuous transmission of detector data to the evaluation system.
• the transmission may take place during the detection period.
• the detector data may include information about the detected radiation.
• the detector data may also include information about the position and / or orientation of the detector.
• the program for determining at least one quality value is a program for determining, re-determining, repeatedly determining or continuously determining a quality value with respect to at least one quality criterion.
• the image-forming apparatus for image formation further comprises an output system comprising at least one output unit.
• the output unit is a
• Output unit for outputting the at least one determined quality value to a user.
• Output unit an output unit for outputting a warning to a user when the at least one quality value at least one
• Output units can be output units for instructions or warnings to the user in visual, acoustic, haptic form or in a
• the outputs may be combined with an instruction to a user to improve the quality value, as described below. Improvement of image generation
• methods and apparatus for image formation are provided in which the quality of image formation is improved.
• the quality is continuously improved.
• the quality during the detection period can already be improved or continuously improved.
• imaging is done on the basis of a linear imaging protocol. This can be done, for example, by applying an imaging matrix or system matrix H to a vector f, where H and f have the meanings explained above.
• Image enhancement can be done in a variety of ways, including: improving the initial value of vector f in the minimization problem, improving the imaging source, particularly the imaging matrix H.
• a vector f Anfan g can be used, the information contained is derived from a given image, for example, from a preoperative anatomical or organ functional image. This helps to avoid finding a wrong solution in solving the minimization problem (such as a local minimum that does not match the desired solution). Also, the calculation time can be reduced, since already started with an approximately correct solution. Thus, a good solution of the Minimization problem, ie a good image f, are obtained with reduced effort.
• mapping matrix H may be calculated by computing at least one quality value, the quality value being the same as that of the
• mapping matrix H is calculated considering the
• mapping matrix H is changed such that the changed matrix H better satisfies one or more quality criteria.
• rows or columns identified as being too sparse according to the threshold of a matrix's sparity may be eliminated.
• rows or columns of the mapping matrix H that did not satisfy the criterion of relevance can be eliminated.
• similar rows and columns can also be combined, with the associated picture elements (entries of f) and detector measurements (entries of g) being combined accordingly.
• Uniformity can be further improved, for example, by combining the detector data of adjacent measurements so that more uniformly distributed effective measurements are obtained.
• the image matrix becomes smaller, and for this reason as well, the reconstruction becomes numerically easier to solve.
• the entries averaged over several values may be given an increased weight, which takes into account their higher statistical significance. For example, the contribution of such entries to the distance norm
• mappings which contain information about picture elements that are not within it can be eliminated
• this surface for example, the
• Laser range scanners laser surface pattern scanners, laser pointer surface scanners, stereoscopic camera systems, time-of-flight cameras and other surface detection systems.
• Such surface information may also be determined on the basis of the geometry of an object detected by the detection system and its detected trajectory: If the object can not enter the patient tissue, for example, the space areas swept by the object itself must be filled with air and therefore can not Radiation source included.
• the object may be formed by the detector itself or may be integral with the detector.
• constraints can be set and taken into account based on the knowledge of the anatomy.
• a constraint may be that parts of the body, such as bones or the trachea (which, for example, may not be radioactive sources in a particular tracer), may have no radiation activity. In this way possible images can be eliminated that would mistakenly attribute radiation activity to these areas.
• Anatomical information can be, for example, through previously recorded anatomical images are obtained. These can be registered with current data. It is also possible to use standard data, for example from anatomical atlases, which can also be registered with current generated images. However, anatomical information can also currently be obtained by further detectors of the detector system such as, for example, ultrasound devices, computer tomographs, radiographers, optical cameras, magnetic resonance tomography devices and others.
• the detector system may also comprise further radiation detectors. While detector data can also be used for imaging.
• the further detectors may be radiation detectors, in particular radiation detectors for radioactive radiation.
• the other detectors can be mobile radiation detectors.
• the further radiation detectors can also be fixed radiation detectors.
• the table on which the radiation distribution is located may include a gamma camera. Li other embodiments, floor, ceiling, and / or wall detectors are used.
• a method of imaging by an imaging apparatus includes detecting radiation by a detector of the imaging apparatus. The detection may occur during a detection period.
• the radiation can be radioactive radiation.
• the detector can be mobile.
• the detector can be freely movable.
• the detector can be portable in the hand.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus. Typically, detector data includes information about the detected radiation. Typically, detector data also includes information about the position and / or orientation of the detector.
• the method further comprises determining a Image generation instruction by the evaluation system on the basis of the collected detector data.
• the method further comprises altering the imaging protocol based on at least one quality value. In typical embodiments, altering is a repeated or continuous modification of the imaging protocol. The alteration typically occurs during the detection period.
• the collection of detector data is a new, repeated or continuous collection of detector data.
• determining an imaging protocol is a new, repeated, or continuous determination of an imaging protocol. Typically, the determining, the re-determining, the repeated determination or the continuous determination takes place during a detection period.
• the at least one quality value is determined with regard to at least one quality criterion.
• Quality criteria may be the same quality criteria as those described in the Quality Control section or other quality criteria.
• Other quality criteria may be criteria based on constraints. Such constraints may be from using surface information, anatomical information, or other information.
• the use of further radiation detectors and thus further detector data may be used to alter, re-alter, repeatedly alter or continuously alter the imaging protocol.
• an image-forming apparatus for imaging includes a detector for detecting radiation.
• the detector may be a detector for detecting during a detection period.
• the detector be movable.
• the detector can be freely movable.
• the detector can be in your hand be portable.
• the radiation can be radioactive radiation.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for the transmission of detector data to the evaluation system for image generation. Detector data typically includes information about the detected radiation. Detector data typically also includes information about the positioning and / or orientation of the detector.
• the evaluation system further comprises a data storage section for storing detector data.
• the evaluation system further comprises a program storage section having a program for determining an image formation rule based on collected detector data.
• the evaluation system further comprises a program storage section having a program for modifying the image formation regulation based on at least one quality value.
• the altering is typically a renewed, repeated or continuous altering of the imaging protocol.
• the program for changing, re-changing, repeatedly changing or continuously changing the imaging protocol is, according to typical embodiments, a program for changing, re-changing, repeatedly changing or continuously changing the imaging protocol based on at least one quality value during a detection period.
• the interface system is an interface system for renewed, repeated or continuous transmission of detector data to the evaluation system.
• the transmission is a transmission during a detection period.
• the program for determining at least one quality value is a program for determining at least one quality value relating to at least one quality criterion.
• Quality criteria may be the quality criteria described above in the Quality Control section or others.
• the image forming apparatus further comprises an output system having at least one output unit.
• the output unit is an output unit for outputting the at least one determined quality value to a user.
• the output unit is an output unit for outputting a warning to a user when the at least one quality value does not satisfy at least one quality criterion. The outputting of a quality value or a warning to a user can take place in visual, acoustic or haptic form or in a combination form.
• Embodiments of the present invention include issuing an instruction to a user.
• a user can be a human user.
• a user can also be another creature.
• a user may also be a lifeless object, for example a machine.
• typical embodiments include outputting to an instruction to a user to further move the detector in response to already collected detector data.
• Typical embodiments include a continuous instruction for detection due to continuous quality control, which has been described above.
• the output is effected by the output system, in particular in optical, acoustic or haptic form or by a combination thereof. Specifically, instructions are given for moving the detector further so that, if followed, the quality of the collected detector data is improved.
• instructions for further moving the detector are output in response to the collected detector data, so if followed, the quality of the detector data is expected to improve the most.
• the instructions may be output as an arrow pointing in a direction in which further measurements are to be taken.
• issuing an instruction precedes the calculation of the current quality or quality or validity of the collected detector data and a calculation of how the quality of the data would change if there were more detector data available, in particular detector data with information about the detected radiation measured from different orientations and positions of the detector.
• FIG. 13 shows iterative method steps according to embodiments of the invention.
• One of the iterative steps is moving the detector.
• a freely movable, for example, portable detector is used.
• a detection 614 of radiation by the detector takes place.
• a collection 615 of detector data with information about the detected radiation takes place through the evaluation system.
• further detector data such as position and / or orientation of the detector is collected, usually synchronized with the detector data with information about the detected radiation.
• a determination 616 of a quality criterion by the evaluation unit takes place.
• an output 618 of an instruction to a user According to embodiments of the invention, the output 618 instructs a user to move the detector in a manner such that a movement corresponding to the instructions results in the subsequent detection of useful detector data.
• Useful detector data is typically detector data that enhances imaging.
• an output for example in acoustic form, can be displayed in the form of an intensifying signal sound.
• An output in haptic form can be, for example, the mediation of a sense of resistance or being dragged. This mediation can eg by mechanical guidance or by electrical stimulation of muscles or brain.
• anatomical or organ functional images may also be used.
• a method of imaging by an imaging apparatus includes detecting radiation by a detector of the imaging apparatus.
• the detection may take place during a detection period.
• the radiation can be radioactive radiation.
• the detector can be mobile.
• the detector can be freely movable.
• the detector can be portable in the hand.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus.
• the detector data includes information about the detected radiation.
• the detector data also includes information about the position and / or orientation of the detector.
• the method further comprises outputting an instruction to a user to further move the detector in response to the collected detector data.
• the instruction relates to at least part of the remaining detection period.
• the collecting is a new, repeated or continuous collecting of detector data.
• issuing an instruction is repeating, repeatedly, or continuously issuing an instruction to a user to further move the radiation detector.
• outputting, reissuing, repeating, or continuously outputting includes instructing a user to further move the radiation detector to output that position and / or orientation of the detector whose ingestion by the detector according to a prognosis would improve the image generation according to at least one quality value.
• those positions and / or orientations are output whose ingestion by the detector would most strongly improve imaging according to a quality value according to a prediction.
• the output may be visual, auditory, haptic or by combination thereof.
• an image forming apparatus for imaging includes a detector for detecting radiation.
• the detector may be a detector for detecting radiation during a detection period.
• the detector can be mobile, freely movable, or portable in the hand.
• the radiation can be radioactive radiation.
• the image forming apparatus further includes an evaluation system.
• the evaluation system comprises an interface system for transmitting detector data for image generation to the evaluation system. Detector data typically includes information about the detected radiation. Detector data typically also includes information about the position and / or orientation of the detector.
• the evaluation system further comprises a data storage section for storing the detector data.
• the image forming apparatus further includes an output system for outputting an instruction to a user for further moving the detector in response to the detector data. In typical embodiments, the instruction relates to at least a portion of the remaining detection period.
• the interface system for transmitting detector data is an interface system for renewed, repeated or continuous transmission of detector data to the evaluation system.
• the output system for issuing an instruction to a user is an output system for issuing a renewed, repeated or continuous instruction to a user to further move the detector in response to the detector data.
• the instructions relate to at least a portion of the remaining detection period.
• the output unit is an output unit for outputting the position and / or orientation of the detector whose ingestion by the detector according to a prognosis would improve the image generation according to at least one quality value, in particular would improve the most.
• the output unit may be an output unit for outputting in visual, acoustic or haptic form or in a combination form thereof.
• Intrinsic problems of processing of detector data arise from the fact that measurements can be made in principle at any time and with any position and / or orientation of the detector.
• data can be recorded in which the detector is not directed at all to the radiation source to be detected. Similar or other sources of unusable data exist.
• Such data may degrade image formation. For example, such data may degrade an imaging matrix in terms of relevance or sparsity.
• Figure 14 shows a free-moving detector 110 which is moved along any trajectory. The direction of movement is indicated by arrows along the trajectory. Positions and orientations that follow the temporally first position and orientation are shown in dashed lines.
• the detector 110 measures at various, generally arbitrary times the emissions of a radiation source 10 within a spatial area 30.
• the radiation source 10 may be, for example, a radioactive radiation distribution in the body of a living being.
• Figure 14 shows at least one position and orientation 630 of the detector which expected to lead to unusable detector data regarding the measured radiation. Nonsuitable detector data typically worsens image formation.
• a data acquisition with free-moving detectors requires even more than a detection with fixed or limited movable detectors quality control.
• an improvement of the imaging protocol can take place.
• quality control and / or active enhancement of the imaging regimen already takes place during the detection period, as opposed to post-selection.
• quality control occurs repeatedly or continuously, typically quasi-continuously ,
• mapping rule may be repeated or continuous, typically quasi-continuous.
• An improvement may be made as described, for example, in the "Image Enhancement" section or otherwise.
• a method of imaging by an imaging apparatus includes detecting radiation by a movable detector of the image forming apparatus. Typically, the detection occurs during a detection period.
• the detector can be freely movable.
• the detector can be portable in the hand.
• the radiation can be radioactive radiation.
• the method further includes changing the position and / or orientation of the detector. In typical embodiments, changing the position and / or orientation of the detector takes place during the detection period. The changing may be a free change of position and / or orientation of the detector. Changing can also be a new, be repeated or continuous change.
• the method further comprises collecting detector data for imaging by an evaluation system of the image forming apparatus. Typically, the collection is a new, repeated or continuous collection of detector data. Typically, collection occurs during the detection period.
• the detector data usually includes information about the detected radiation.
• the detector data usually also includes information about the position and / or orientation of the detector.
• the method further comprises determining at least one quality value from the collected detector data by the evaluation system.
• determining at least one quality value occurs again, repeatedly or continuously, typically during the detection period.
• the at least one quality value is determined with respect to at least one quality criterion.
• Quality criteria may include, for example, quality criteria such as those described in the "Quality Control" section or other quality criteria.
• an image generation apparatus for image generation.
• the image generation apparatus includes a mobile detector for detecting radiation Detection of radiation during a detection period
• the detector can be freely movable
• the detector can be portable in the hand
• the radiation can be radioactive radiation
• the image generation apparatus also comprises an evaluation system
• the evaluation system comprises an interface system for the continuous transmission of detector data for image generation
• detector data includes information about the detected radiation
• the detector data also includes information about the position and / or Orientation of the detector.
• the interface system is an interface system for the continuous transmission of detector data during the detection period.
• the evaluation system further comprises a data memory for storing detector data.
• the evaluation system further comprises a program storage section having a program for determining at least one quality value with regard to the image generation from the detector data.
• the program for determining at least one quality value is a program for again, repeatedly or continuously determining at least one quality value with regard to the image generation from the detector data.
• the program for determining at least one quality value is a program for determining, re-determining, repeatedly determining or continuously determining at least one quality value with regard to the image generation from the detector data during the detection period.
• the program for determining at least one quality value is a program for determining at least one quality value with regard to at least one quality criterion.
• the at least one quality criterion may be a quality criterion as described in the section "Quality Control" or another quality criterion.
• the method of imaging comprises generating an image by minimizing dissimilarity or maximizing similarity, preferably using at least one reconstruction method for minimization or maximization.
• the at least one reconstruction method may be an algebraic reconstruction method, abbreviated to ART, a maximum likelihood expectation maximization algorithm, abbreviated MLEM, an iterative template inversion method such as the Jacobi method, the Gauss-Seidel method, or the overrelaxation method, a direct Template inversion methods such as the singular value decomposition or a regularized template inversion method such as
• the method of image formation is a method of imaging for medical purposes.
• the method for imaging comprises a collection of body data of a living being by the evaluation system.
• body data includes respiratory rate and / or heart rate.
• the body data also includes data regarding the shape, position and / or orientation of the body.
• the body data relating to the respiratory rate and / or the heart rate are collected synchronized with the body data regarding the shape, position and / or orientation of the body.
• the detection of the body data of the living being can be done for example by the detection system.
• the method of image generation further comprises altering an imaging protocol based on the collected body data.
• movements of the body for example by respiration or heartbeat, can thereby be taken into account in the image generation. This leads to improved image formation. It is also easier to register images or to register detector data.
• the method for image generation comprises collecting data of at least one instrument, preferably a medical instrument, by the evaluation system.
• the method further comprises registering data of medical instruments with detector data and / or Simulation detector data by the evaluation system.
• the method further includes generating a combination image based on the registration.
• the method further comprises acquiring data of medical instruments by the detection system.
• the method comprises generating an instrument image on the basis of collected instrument data by the evaluation system.
• the method further comprises registering the instrument image with the first image and / or the second image and / or the third image and / or with an already registered image. Further, the method typically includes generating a combination image based on the registration.
• the method comprises outputting the combination image by the output system.
• the method includes instructing a user to use the medical instruments based on the combination image.
• the method includes guiding the user in using the medical instruments through a guidance system based on the instrument data.
• the guidance system may include a guidance unit that guides a user in a haptic, auditory, or visual manner or by combination thereof.
• instructing a user to use the medical instruments based on the combination image or guiding a user in using the medical instruments through a guidance system may include, for example, virtual reality visualization, augmented reality visualization, layer and multi-layer visualization, frequency modulated Tone, amplitude modulated Sound, pulse modulated sound, by combining them or otherwise.
• the method of imaging comprises positioning the animal. Positioning can be done, for example, by a positioning system comprising a positioning unit. Such a positioning unit may position the subject in any desired position and / or orientation according to some embodiments of the invention.
• the image-forming apparatus for image formation is an image-forming apparatus for medical imaging.
• the image-forming apparatus comprises at least one sensor for acquiring body data of a living being.
• the body data includes respiratory rate and / or heart rate of the subject.
• the image-forming apparatus comprises a detection unit for detecting body data of the living being.
• the body data includes the shape, position, and / or orientation of the body.
• the evaluation system further comprises a program storage section with a program for the synchronized collection of body data of the living being.
• the evaluation system further includes a data storage section for storing the living body's synchronized body data.
• the evaluation system further comprises a program section having a program for changing an imaging instruction based on the collected body data.
• the evaluation system of the image generation apparatus further comprises an interface for collecting data of at least one instrument, typically at least one medical instrument. Furthermore, the evaluation system comprises according to embodiments of the invention, a program storage section having a program for generating an instrument image on the basis of the instrument data.
• the evaluation system comprises a program memory section with a program for registering data of medical instruments with detector data and / or simulation detector data. Further, in some embodiments, the evaluation system includes a program storage section having a program for generating a combination image based on the output of the program for registering the data of medical instruments.
• the evaluation system comprises a program memory section with a program for registering the instrument image with the first image and / or the second image and / or the third image and / or with an already registered image. Further, the evaluation system typically includes a program storage section having a program for generating a combination image based on the output of the program for registering the instrument image.
• the output system of the image forming apparatus includes an output unit for outputting the combination image.
• the output system comprises an output unit for instructing a user to use the medical instruments based on the combination image.
• the image forming apparatus includes a guidance system for guiding the user in using the medical instruments based on the instrument data.
• the guide system comprises at least one guide unit.
• Both the output unit for instructing a user to use the medical instruments based on the combination image and the guidance system for guiding the user in using the medical instruments can send signals to the user in haptic, acoustic or visual form or in combination form.
• the output unit may also be identical to the guide unit of the guide system.
• the output unit may also be different from the guide unit of the guidance system.
• the output unit and / or the guidance unit may be units for visualizing a virtual reality, for visualizing an augmented reality, for layer and multi-layer visualization, for frequency modulated sound output, for amplitude modulated sound output, for pulse modulated sound output or for outputting combinations thereof or for outputting units another way.
• the image forming apparatus further comprises a positioning system for positioning the living being.
• the positioning system comprises at least one positioning unit.
• the positioning unit may position the subject in any desired position and / or orientation in space.
• the device comprising:
• a preoperative nuclear image To detect orientation of the said radiation detector and to read it out; (c) a preoperative nuclear image; (d) a data processing system which communicates with the radiation detector and the tracking system and is capable of reading the preoperative nuclear image to provide a three-dimensional reconstruction of the nuclear image and / or the calculation of an associated nuclear image
• An apparatus for intraoperative three-dimensional nuclear imaging, SD visualization and image guided surgery based on preoperative data and tracked radiation detectors comprising: (a) a radiation detector;
• a preoperative nuclear image (c) a preoperative nuclear image; (d) a data processing system which communicates with the radiation detector and the tracking system and is capable of reading the preoperative nuclear image to allow spatial registration of the list of readout data, locations and orientations of the radiation device; and (e) a display to display the registered images.
• a device for intraoperative 3D nuclear imaging, 3D visualization and image guided surgery based on preoperative data and tracked radiation detectors as described in embodiment 4, wherein the three-dimensional imaging device of
• Shape is that, for example, she based ultrasound images, X-ray Images, magnetic resonance imaging images, optical images, contrast ultrasound images, contrast X-ray based images, functional magnetic resonance imaging images, dye-based optical images, fluorescence images, reflection images, autofluorescence images, etc. generated.
• a second tracking system which is the same as the first tracking system or communicates with the first tracking system, and which includes the location and
• Orientation of said artificial marker determined and communicated with the data processing unit, so as to allow the position and orientation of the body part, which is imaged, and the radiation detector to calculate and allow movement and / or deformation compensation.
• a device for intraoperative 3D nuclear imaging, 3D visualization and image guided surgery based on preoperative data and tracked radiation detectors as described in any of the preceding or following embodiments further comprising:
• the tracking system communicates so that the relative position and orientation of the surgical tools and the reconstructed three-dimensional image or registered preoperative image can be calculated and used to (a) guide instruments to regions of increased uptake;
• Gamma probe would be; (f) display surgical instruments on the display; and or
• a device for intraoperative 3D nuclear imaging, 3D visualization and image guided surgery based on preoperative data and tracked radiation detectors as described in any of the preceding or following embodiments further comprising: (a) a virtual reality display and / or
• an augmented reality display so that the reconstructed 3D gamma-emitting images or the registered preoperative images can be visually acoustically haptically or in a combined three-dimensional manner, and / or in particular spatially registered with the image geometry of any camera
• the camera includes laparoscopic cameras and cameras based on surgical microscopes, optical and visual through-head displays, optical and visual stereoscopic surgical microscopes, optical and visual displays.
• An intraoperative 3D nuclear imaging, 3D visualization and image guided operation apparatus based on preoperative data and tracked radiation detectors as described in any of the preceding or any of the following embodiments, wherein said tracking systems are external tracking systems, including, for example, optical tracking systems, magnetic Tracking systems, mechanical or robotic arm based tracking systems, radio waves based
• Tracking systems sound wave based tracking systems, etc., or internal tracking systems, which for example include accelerometer based tracking systems, potentiometer based tracking systems, etc., or a combination of external tracking systems
• monitor systems which include, for example: monitors, optical translucent monitors,
• Stereo monitors stereo-optically translucent head-mounted displays, etc .
• acoustic displays including, for example, frequency-coded feedback systems, pulse-coded feedback systems, etc .
• haptic displays which include, for example, force feedback jerks, force-torque feedback joysticks, etc., or
• Documentation material is stored and / or an automatic report of the procedure is generated.
• Data processing unit or with the first Data processing unit communicates for on-line calculation or tracking of the error in the position and orientation of any of the tracked objects and / or the error in the readout of the radiation displays.
• a method for intraoperative 3D nuclear imaging, SD visualization and image guided surgery based on preoperative data and tracked radiation detectors comprising:
• Data and tracked radiation detectors comprising:
• Embodiment 16 which further comprises:
• Body part that is imaged are positioned; (b) detecting the position and orientation of said artificial marker;
• Radiation detectors the device comprising:
• a tracking system for synchronously detecting the position and orientation of said radiation detector;
• a first data processing unit communicating with said radiation detector and the tracking system and capable of evaluating the quality of the acquired data and determining the required projections for reliable 3D reconstruction;
• a second data processing unit communicating with said radiation detector and the tracking system and capable of performing a 3 D reconstruction based on the indications of the radiation detector and the corresponding positions and orientations;
• a display communicating with said computing device and capable of showing and / or driving the operator to the required projections for reliable reconstruction;
• a second display communicating with said data processing unit and capable of showing the operator the validly reconstructed 3 D gamma emitting images and thus allowing him / her to guide them to improve the measurement.
• the radiation detector is one of the following: gamma probe, beta probe, gamma camera, beta camera, mini gamma camera or a combination thereof.
• tracking system is an external tracking system including, for example, an optical tracking system, magnetic tracking system, mechanical or robotic arm based tracking system, a radio wave based tracking system, a sound wave based tracking system, etc., or an internal tracking system
• a tracking system that includes, for example, an accelerometer based tracking system, a potentiometer based tracking system, etc., or any combination of an external tracking system and / or internal tracking system.
• a visual display for example a monitor system, comprising for example: monitors and optical translucent monitors, stereo monitors, stereo optical translucent head-mounted displays, etc .
• an acoustic display for example comprising frequency-coded
• a haptic display for example comprising force feedback yoke, force-torque feedback jacks, etc., or (d) a combination of visual auditory and / or haptic
• a method for reliable 3D intraoperative nuclear imaging, 3D visualization of radioactive space distributions and image guided operations using radiation detectors comprising:
• Instrument would be a radiation detector, (f) to show surgical instruments on the display, and / or (g) to detect and warn an operator if the validity of the images is lost due to the intervention in the reconstructed volume by the instruments.
• a method for reliable 3D intraoperative nuclear imaging, 3D visualization of radioactive space distributions and image guided operations using radiation detectors according to embodiment 35, wherein the relative position and orientation of surgical instruments is used to (a) locate the instruments in high acquisition regions (b) lead the instruments away from high - admission regions, (c) move the instruments to low - absorption regions,
• a device for reliable intraoperative 3D nuclear imaging, 3D visualization of radioactive space distributions and image guided operations using radiation detectors further comprising: (a) a sensor for monitoring the patient's respiration and heart signal to monitor, wherein the sensor communicates with the data processing unit;
• Tracking system communicates or communicates with the data processing units so that each readout of the radiation detector, position and orientation and / or deformation can be calculated in relation to the body part being imaged or assigned a phase label to it, as to motion and / or the deformation cycle to Allow movement and / or deformation compensation in the reconstruction and / or display.
• a method for reliable 3D intraoperative nuclear imaging, 3D visualization of radioactive space distributions and image guided operations using radiation detectors according to any one of the preceding or following embodiments, further comprising: (a) monitoring the respiration or cardiac signal of the patient, (b) the monitoring of the position and orientation and / or the
• Deformation may be calculated relative to the body part being imaged or to which a phase label may be assigned, as to the movement and / or the deformation cycle, to allow motion and / or deformation compensation in the reconstruction and / or display.
• An apparatus for reliable intraoperative 3D nuclear imaging, 3 D visualization of radioactive space distributions and image guided operations using radiation detectors according to any one of the preceding or following embodiments, further comprising:
• an augmented reality display so that the reconstructed valid 3D gamma emitting image can be displayed in audible visual, haptic, or in a combined 3D fashion, and / or in particular spatially registered with
• the image geometry of any camera comprising laparoscopic cameras and cameras is based on surgical microscopes, optically and optically translucent head mounted displays, optical and optically translucent stereoscopic surgical microscopes, optical and optically translucent
• a method for reliable intraoperative 3D nuclear imaging, 3D visualization of radioactive space distributions and image guided operations using radiation detectors further comprising: displaying the reconstructed valid 3D gamma emitting image in (a) a Virtual reality display; and / or (b) an augmented reality display so that the image can be visual acoustically, haptically or in a combined 3D fashion, and / or in particular spatially registered with the image geometry of any camera comprising laparoscopic cameras and cameras Based on surgical microscopes, optical and optically translucent head-mounted
• a device for reliable intraoperative 3D nuclear imaging, 3D visualization of radioactive space distributions and image guided operations using radiation detectors according to embodiments 31, 37, 39 or 41, further comprising: (a) at least one 3 D imaging device and a fourth one
• Tracking system that determines the position and orientation of the Imaging device determines and which is the same as the first, second or third tracking system communicates with and / or
• a method for reliable 3D intraoperative nuclear imaging, 3D visualization of radioactive space distributions and image guided operations using radiation detectors according to any one of the preceding or following embodiments, further comprising:
• a method for reliable 3D intraoperative nuclear imaging, 3D visualization of radioactive space distributions and image guided operations using radiation detectors according to any one of embodiments 36, 38, 40, 42 or 44, further comprising:

Landscapes

• Health & Medical Sciences (AREA)
• Life Sciences & Earth Sciences (AREA)
• Engineering & Computer Science (AREA)
• Medical Informatics (AREA)
• Physics & Mathematics (AREA)
• Molecular Biology (AREA)
• Biomedical Technology (AREA)
• General Health & Medical Sciences (AREA)
• Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
• Optics & Photonics (AREA)
• High Energy & Nuclear Physics (AREA)
• Animal Behavior & Ethology (AREA)
• Public Health (AREA)
• Biophysics (AREA)
• Pathology (AREA)
• Radiology & Medical Imaging (AREA)
• Heart & Thoracic Surgery (AREA)
• Surgery (AREA)
• Veterinary Medicine (AREA)
• General Physics & Mathematics (AREA)
• Spectroscopy & Molecular Physics (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Nuclear Medicine (AREA)
• Measurement Of Radiation (AREA)
• Apparatus For Radiation Diagnosis (AREA)

Priority Applications (4)

Applications Claiming Priority (4)

Related Child Applications (2)

Publications (2)

Family

ID=39986366

Family Applications (1)

Country Status (5)

Cited By (4)

Families Citing this family (47)

Citations (3)

Family Cites Families (28)

• 2008
  • 2008-05-26 US US12/601,800 patent/US20100266171A1/en not_active Abandoned
  • 2008-05-26 EP EP08760032.6A patent/EP2165215B1/de not_active Not-in-force
  • 2008-05-26 JP JP2010508870A patent/JP5437997B2/ja not_active Expired - Fee Related
  • 2008-05-26 DE DE102008025151A patent/DE102008025151A1/de not_active Ceased
  • 2008-05-26 EP EP14164239.7A patent/EP2755051A3/de not_active Withdrawn
  • 2008-05-26 WO PCT/EP2008/056433 patent/WO2008142172A2/de not_active Ceased
• 2013
  • 2013-12-12 JP JP2013256968A patent/JP5976627B2/ja not_active Expired - Fee Related
• 2015
  • 2015-06-12 US US14/738,560 patent/US9743898B2/en not_active Expired - Fee Related

Patent Citations (3)

Also Published As

Similar Documents

Legal Events