Apparatus and methods for imaging and attenuation correction

• US 20060237652A1
• Filed: 11/04/2003
• Published: 10/26/2006
• Est. Priority Date: 08/21/2000
• Status: Active Grant

• Current Assignee: Spectrum Dynamics Medical Ltd
• Original Assignee: Spectrum Dynamics LLC
• Inventors: Zilberstein, Yoel, Kimchy, Yoav, Amrami, Roni
• Granted Patent: US 7,652,259 B2
• Time in Patent Office: Days
• US Class Current: 250/363.20
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 6/037 Emission tomography
• CPC Class Codes: A61B 6/4417 related to combined acquisition of different diagnostic modalities
• CPC Class Codes: A61B 6/482 involving multiple energy imaging
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 8/00 Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/4472 Wireless probes
• CPC Class Codes: A61B 8/5238 for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61N 7/02 Localised ultrasound hyperthermia hyperthermia in general A61F7/00
• CPC Class Codes: G01R 33/481 MR combined with positron emission tomography [PET] or single photon emission computed tomography [SPECT]
• CPC Class Codes: G01T 1/1603 : with a combination of at least two different types of detector see provisionally also G01T1/16
• CPC Class Codes: G06T 2207/10081 : Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10088 : Magnetic resonance imaging [MRI]
• CPC Class Codes: G06T 2207/10132 : Ultrasound image
• CPC Class Codes: G06T 2207/30004 : Biomedical image processing
• CPC Class Codes: G06T 5/50 : using two or more images, e.g. averaging or subtraction

Abstract

Imaging apparatus, is provided, comprising a first device, for obtaining a first image, by a first modality, selected from the group consisting of SPECT, PET, CT, an extracorporeal gamma scan, an extracorporeal beta scan, x-rays, an intracorporeal gamma scan, an intracorporeal beta scan, an intravascular gamma scan, an intravascular beta scan, and a combination thereof, and a second device, for obtaining a second, structural image, by a second modality, selected from the group consisting of a three-dimensional ultrasound, an MRI operative by an internal magnetic field, an extracorporeal ultrasound, an extracorporeal MRI operative by an external magnetic field, an intracorporeal ultrasound, an intracorporeal MRI operative by an external magnetic field, an intravascular ultrasound, and a combination thereof, and wherein the apparatus further includes a computerized system, configured to construct an attenuation map, for the first image, based on the second, structural image. Additionally, the computerized system is configured to display an attenuation-corrected first image as well as a superposition of the attenuation-corrected first image and the second, structural image. Furthermore, the apparatus is operative to guide an in-vivo instrument based on the superposition.

Claims

1. Imaging apparatus, comprising:

a first device, for obtaining a first image, by a first modality, selected from the group consisting of SPECT, PET, CT, an extracorporeal gamma scan, an extracorporeal beta scan, x-rays, an intracorporeal gamma scan, an intracorporeal beta scan, an intravascular gamma scan, an intravascular beta scan, and a combination thereof, wherein said first image is registered to a system of coordinates;

a second device, for obtaining a second, structural image, by a second modality, selected from the group consisting of a three-dimensional ultrasound, an MRI operative by an internal magnetic field, an extracorporeal ultrasound, an extracorporeal MRI operative by an external magnetic field, an intracorporeal ultrasound, an intracorporeal MRI operative by an external magnetic field, an intravascular ultrasound, and a combination thereof; and

a computerized system, which comprises a registrator for co-registering said second, structural image to said system of coordinates, and an attenuation-instruction generator configured to compute a set of attenuation instructions for said first image, based on said second, structural image.

2. The imaging apparatus of claim 1, wherein said computerized system is further configured to compute, based on said a set of attenuation instructions an attenuation-corrected image of said first image.

3. The imaging apparatus of claim 2, wherein said computerized system is further configured to display a superposition of said attenuation-corrected first image and said second, structural image.

4. The imaging apparatus of claim 3, wherein said apparatus further includes an instrument, registered to said system of coordinates and visible on at least one of said first image and said second, structural image, and wherein said computerized system is further configured to guide said instrument in-vivo, based on said superposition.

5. The imaging apparatus of claim 1, wherein said registrator for co-registering said second, structural image to said system of coordinates relies on that said first and second devices share a single position-registration device, for co-registering said second, structural image to said system of coordinates.

6. The imaging apparatus of claim 1, wherein said registrator for co-registering said second, structural image to said system of coordinates relies on that said first and second devices have substantially equal position-registration devices, for co-registering said second, structural image to said system of coordinates.

7. The imaging apparatus of claim 1, wherein said registrator for co-registering said second, structural image to said system of coordinates relies on fiduciary marks visible both on said first image and on said second, structural image, for co-registering said second, structural image to said system of coordinates.

8. Imaging apparatus, comprising:

a first detector, for obtaining a first image, by a modality, selected from the group consisting of a gamma scan, a beta scan, and a combination thereof, wherein said first image is registered to a system of coordinates;

a second detector, for obtaining a second, structural image, by a modality, selected from the group consisting of ultrasound, MRI, and a combination thereof; and

a computerized system, which comprises a registrator for co-registering said second, structural image to said system of coordinates, and an attenuation-instruction generator configured to compute a set of attenuation instructions for said first image, based on said second, structural image.

9. The imaging apparatus of claim 8, wherein said computerized system is further configured to compute, based on said a set of attenuation instructions an attenuation-corrected image of said first image.

10. The imaging apparatus of claim 9, wherein said computerized system is further configured to display a superposition of said attenuation-corrected first image and said second, structural image.

11. The imaging apparatus of claim 10, wherein said apparatus further includes an instrument, registered to said system of coordinates and visible on at least one of said first image and said second, structural image, and wherein said computerized system is further configured to guide said instrument based on said superposition.

12. The imaging apparatus of claim 8, wherein said registrator for co-registering said second, structural image to said system of coordinates relies on that said first and second devices share a single position-registration device, for co-registering said second, structural image to said system of coordinates.

13. The imaging apparatus of claim 8, wherein said registrator for co-registering said second, structural image to said system of coordinates relies on that said first and second devices have substantially equal position-registration devices, for co-registering said second, structural image to said system of coordinates.

14. The imaging apparatus of claim 8, wherein said registrator for co-registering said second, structural image to said system of coordinates relies on fiduciary marks visible both on said first image and on said second, structural image, for co-registering said second, structural image to said system of coordinates.

15. The imaging apparatus of claim 8, further comprising an ultrasound transducer operative for focused ablation.

16. The imaging apparatus of claim 8, designed as a rectum probe.

17. The imaging apparatus of claim 8, designed as an endoscope probe.

18. The imaging apparatus of claim 8, designed to be inserted through a trucar valve.

19. The imaging apparatus of claim 8, designed to be mounted on a resectoscope.

20. The imaging apparatus of claim 8, designed to be inserted in a catheter.

21. The imaging apparatus of claim 8, designed for intravascular imaging.

22. The imaging apparatus of claim 8, designed as a handheld, extracorporeal probe.

23. A rectal probe, comprising:

an intracorporeal portion, which comprises;

a first detector, for obtaining a first image, by a first modality, selected from the group consisting of a gamma scan, a beta scan, and a combination thereof, wherein said first image is registered to a system of coordinates; and

a second detector, for obtaining a second, structural image, by a second modality, selected from the group consisting of a ultrasound, MRI, and a combination thereof; and

a computerized system, which comprises a registrator for co-registering said second, structural image to said system of coordinates, and an attenuation-instruction generator configured to compute a set of attenuation instructions for said first image, based on said second, structural image.

24. The rectal probe of claim 23, further comprising movable collimators, operative as vents.

25. The rectal probe of claim 23, wherein said motor further includes motion and position registration in a linear direction into the rectum.

26. The rectal probe of claim 23, further comprising an ultrasound transducer, adapted for focused ablation.

27. An imaging method, comprising:

imaging by a first modality, selected from the group consisting of SPECT, PET, CT, an extracorporeal gamma scan, an extracorporeal beta scan, x-rays, an intracorporeal gamma scan, an intracorporeal beta scan, an intravascular gamma scan, an intravascular beta scan, and a combination thereof, wherein said first image is registered to a system of coordinates;

imaging by a second modality, a second device, for obtaining a second, structural image, by a second modality, selected from the group consisting of a three-dimensional ultrasound, an MRI operative by an internal magnetic field, an extracorporeal ultrasound, an extracorporeal MRI operative by an external magnetic field, an intracorporeal ultrasound, an intracorporeal MRI operative by an external magnetic field, an intravascular ultrasound, and a combination thereof;

co-registering said second, structural image to said system of coordinates; and

computing a set of attenuation instructions for said first image, based on said second, structural image.

28. The imaging method of claim 27, further comprising, based on said a set of attenuation instructions, computing an attenuation-corrected first image.

29. The imaging method of claim 28, further comprising displaying an attenuation-corrected first image.

30. The imaging method of claim 28, further comprising superimposing said attenuation-corrected first image and a second, structural image of said second, structural imaging modality.

31. The imaging method of claim 30, further comprising guiding an instrument based on the superposition of said attenuation-corrected first image and said second, structural image.

32. The imaging method of claim 30, further comprising performing focused ablation, based on the superposition of said attenuation-corrected first image and said second, structural image.

33. A probe comprising:

a nuclear-radiation detector of a non-parallel collimation; and

an ultrasound detector.

34. The probe of claim 33, wherein said non-parallel collimation is a single-collimator collimation.

35. The probe of claim 33, wherein said non-parallel collimation is a wide-angle collimation.

36. The probe of claim 33, wherein said non-parallel collimation is a narrow-angle collimation.

37. The probe of claim 33, wherein said non-parallel collimation is no collimation.

38. The probe of claim 33, adapted to be handheld.

39. The probe of claim 33, adapted for endoscopy.

40. A probe comprising:

a nuclear-radiation detector; and

an MRI detector, having an external magnetic field.

41. The probe of claim 40, adapted to be handheld.

42. The probe of claim 40, adapted for endoscopy.

43. An imaging method, comprising:

performing intravascular nuclear-radiation imaging;

performing intravascular ultrasound; and

co-registering the nuclear-radiation and the ultrasound images to a system of coordinates.

44. The imaging method of claim 43, comprising correcting the nuclear-radiation image for attenuation, based on the ultrasound image.

45. The imaging method of claim 44, comprising superimposing the corrected nuclear-radiation image and the ultrasound image.