Localization of a radioactive source

• US 7,952,079 B2
• Filed: 08/10/2006
• Issued: 05/31/2011
• Est. Priority Date: 08/12/2004
• Status: Expired due to Fees

• Current Assignee: Navotek Medical Ltd.
• Original Assignee: Navotek Medical Ltd.
• Inventors: Neustadter, David Maier, Kornblau, Giora
• Primary Examiner(s): Vanore; David A
• Application Number:
  US11/990,315
• Publication Number:
  US 20090127459A1
• Time in Patent Office: 1,755 Days
• Field of Search: 250/363.1, 250/393, 250/394, 250/395, 250/493.1, 250/498.1, 600/3, 600/424, 600/425
• US Class Current: 250/393
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/101 for stereotaxic radiosurgery
• CPC Class Codes: A61B 2090/392 Radioactive markers
• 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 5/1127 using markers
• CPC Class Codes: A61B 6/4258 for detecting non x-ray radiation, e.g. gamma radiation A61B6/037 takes precedence
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G01T 1/2907 Angle determination; Directional detectors; Telescopes prospecting by the use of nuclear radiation, e.g. of natural or induced radioactivity G01V5/00

Abstract

An angle-responsive sensor, comprising:

• • a radiation detector adapted to detect ionizing radiation;
  • at least one radiation absorbing element arranged to block radiation from reaching said detector in a manner dependent on a relative orientation of a radiation source, said detector and said element, said detector and said element defining an aim for said sensor; and
  • circuitry coupled to said detector and which generates an output signal which varies as a function of said relative orientation,
  • wherein said detector and said element are arranged to have a working volume of at least 10 cm in depth and having an angular width, such that said signal defines an accuracy of better than 3 mm within one standard deviation, over said working volume.

Claims

1. A method of tracking a radioactive object, comprising:

(a) aiming at least one sensor at said object, where said sensor comprises at least one first radiation detector capable of receiving ionizing radiation from said object and generating first output signals, and said sensor comprises at least one second radiation detector capable of receiving ionizing radiation from said object and generating second output signals, and where said sensor has an associated aiming line;

(b) determining an angular offset of said object from said aiming line of said sensor, based on said first output signals and said second output signals;

(c) adjusting an orientation of said at least one sensor and said aiming line according to said angular offset by automatic circuitry; and

(d) repeating (b)-(c) at least 10 times within a minute.

2. A method according to claim 1, wherein the sensor comprises:

a collimator configured to transmit radiation along a first direction to the first radiation detector and to transmit radiation along a second direction to the second radiation detector.

3. A method according to claim 2,

wherein the collimator and the first radiation detector are configured to operate with a working volume of at least 10 cm in depth and having an angular width, such that the first output signals are capable of supporting a precision of at least 3 mm within one standard deviation, over said working volume.

4. A method according to claim 3,

wherein a ratio between the precision when said aiming line of the sensor intersects the radioactive object and the precision when said aiming line of the sensor is at said angular width relative to a line from the sensor to the radioactive object, is between 1:

4 and 4;

1.

5. A method according to claim 3,

wherein said working volume has an angular range of at least 20 milliradians.

6. A method according to claim 3,

wherein the first radiation detector comprises at least two separate sections each configured to generate first and second contribution signals;

and

wherein the first radiation detector is configured to generate the first output signals using the first and second contribution signals.

7. A method according to claim 3,

wherein the first radiation detector is further capable of receiving ionizing radiation from the radioactive source and generating the first output signals when the radioactive source is at least 20 cm from the first radiation detector.

8. A method according to claim 1, wherein said adjusting does not orient said aiming line on said object at least 50% of the time.

9. A method according to claim 1, wherein said adjusting comprises determining a position of the object, where the position corresponds to an estimate of a position of the object during said adjusting step.

10. A method according to claim 1, wherein said adjusting comprises determining a position of the object, where the position corresponds to an estimate of a position of the object at a time after said adjusting step.

11. A system for tracking a radioactive object, comprising:

a sensor comprising a first radiation detector and a second radiation detector;

a processing unit; and

a motor;

wherein the first radiation detector is capable of receiving ionizing radiation from the radioactive object and generating first output signals;

wherein the second radiation detector is capable of receiving ionizing radiation from the radioactive object and generating second output signals;

wherein the sensor has an associated aiming line;

wherein the motor is configured to rotate the sensor and thereby change an orientation of the aiming line of the sensor; and

wherein the processing unit is configured to determine an angular offset of said radioactive object from the aiming line of the sensor using the first output signals and the second output signals;

wherein the processing unit is configured to control the motor to adjust the aiming line of the sensor according to the angular offset; and

wherein the processing unit is further configured to determine the angular offset and to control the motor to adjust the aiming line of the sensor at least 10 times a minute.

12. The system for tracking a radioactive object of claim 11,

wherein the processing unit is further configured to determine a position of the radioactive object, where the position corresponds to an estimate of a position of the radioactive object at a time during the adjusting of the aiming line of the sensor.

13. The system for tracking a radioactive object of claim 11,

wherein the processing unit is further configured to determine a position of the radioactive object, where the position corresponds to an estimate of a position of the radioactive object at a time after the aiming line of the sensor has been adjusted.

14. The system for tracking a radioactive object of claim 11,

further comprising:

a collimator configured to transmit radiation along a first direction to the first radiation detector and to transmit radiation along a second direction to the second radiation detector.

15. The system for tracking a radioactive object of claim 14,

wherein the collimator and the first radiation detector are configured to operate with a working volume of at least 10 cm in depth and having an angular width, such that the first output signals are capable of supporting a precision of at least 3 mm within one standard deviation, over said working volume.

16. The system for tracking a radioactive object of claim 15, wherein a ratio between the precision when said aiming line of the sensor intersects the radioactive object and the precision when said aiming line of the sensor is at said angular width relative to a line from the sensor to the radioactive object, is between 1:

4 and 4;

1.

17. The system for tracking a radioactive object of claim 15,

wherein said working volume has an angular range of at least 20 milliradians.

18. The system for tracking a radioactive object of claim 15,

wherein the first radiation detector comprises at least two separate sections each configured to generate first and second contribution signals;

and

wherein the first radiation detector is configured to generate the first output signals using the first and second contribution signals.

19. The system for tracking a radioactive object of claim 15,

wherein the first radiation detector is further capable of receiving ionizing radiation from the radioactive source and generating the first output signals when the radioactive source is at least 20 cm from the first radiation detector.