Radioactive emission detector equipped with a position tracking system and utilization thereof with medical systems and in medical procedures

• US 8,909,325 B2
• Filed: 07/11/2001
• Issued: 12/09/2014
• Est. Priority Date: 08/21/2000
• Status: Expired due to Fees

• Current Assignee: Spectrum Dynamics Medical Ltd
• Original Assignee: Biosensors International Group, Ltd.
• Inventors: Kimchy, Yoav, Amrami, Roni, Bouskila, Yona, Antebi, Udi, Sidorenko, Nick, Zilberstein, Yoel, Ben-David, Gal
• Primary Examiner(s): MEHTA, PARIKHA SOLANKI
• Application Number:
  US10/343,792
• Publication Number:
  US 20040015075A1
• Time in Patent Office: 4,899 Days
• Field of Search: 600/410, 600/411, 600413-415, 600/417, 600/420, 600/431, 600/425, 600/429, 606/130
• US Class Current: 600/436
• CPC Class Codes: A61B 2090/392 Radioactive markers
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• 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 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/415 the glands, e.g. tonsils, adenoids or thymus
• CPC Class Codes: A61B 5/418 lymph vessels, ducts or nodes
• CPC Class Codes: A61B 6/03 Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 6/037 Emission tomography
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4057 by using radiation sources located in the interior of the body A61B6/037 takes precedence
• CPC Class Codes: A61B 6/507 for determination of haemodynamic parameters, e.g. perfusion CT
• CPC Class Codes: A61B 6/5235 combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• 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: A61P 35/00 Antineoplastic agents
• CPC Class Codes: A61P 9/10 for treating ischaemic or atherosclerotic diseases, e.g. antianginal drugs, coronary vasodilators, drugs for myocardial infarction, retinopathy, cerebrovascula insufficiency, renal arteriosclerosis
• CPC Class Codes: G01T 1/161 Applications in the field of nuclear medicine, e.g. in vivo counting apparatus for radiation diagnosis A61B6/00

Abstract

A system for calculating a position of a radioactivity emitting source in a system-of-coordinates, the system comprising (a) a radioactive emission detector; (b) a position tracking system being connected to and/or communicating with the radioactive emission detector; and (c) a data processor being designed and configured for receiving data inputs from the position tracking system and from the radioactive emission detector and for calculating the position of the radioactivity emitting source in the system-of-coordinates.

Claims

1. A system for calculating a position of a radioactivity emitting source distributed in a system-of-coordinates, the system comprising:

(a) a first radioactive emission detector configured for detecting a radioactively emitting source;

(b) a surface contour circuit configured for obtaining a contour of a surface associated with said radioactively emitting source, by one or more of (i) receiving raw data from said detector, and generating a surface contour from said raw data;

(ii) receiving a surface contour from a 3D imager; and

(iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector;

(c) a position tracking system being connected to and/or communicating with said radioactive emission detector; and

(d) a data processor being designed and configured for receiving and processing data inputs from said position tracking system, from said surface contour circuit and from said first radioactive emission detector and for calculating the distribution of said radioactivity emitting source in the system-of-coordinates using said inputs from said position tracking system, from said surface contour circuit and from said first radioactive emission detector.

2. The system of claim 1, wherein said radioactivity emitting source is selected from the group consisting of a radiopharmaceutically labeled benign tumor, a radiopharmaceutically labeled malignant tumor, a radiopharmaceutically labeled vascular clot, radiopharmaceutically labeled inflammation related components, a radiopharmaceutically labeled abscess and a radiopharmaceutically labeled vascular abnormality.

3. The system of claim 1, wherein said first radioactive emission detector is selected from the group consisting of a narrow angle radioactive emission detector, a wide angle radiation emission detector, a plurality of individual narrow angle radiation emission detectors and a spatially sensitive radioactivity detector.

4. The system of claim 1, wherein said position tracking system is selected from the group consisting of an articulated arm position tracking system, an accelerometer based position tracking system, a potentiometer based position tracking system, a sound wave based position tracking system, a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system.

5. The system of claim 1, wherein said data processor is adapted to combine a radiation detector count rate from said radioactive emission detector together with positional information from said position tracking system, and is adapted to form a radiotracer-spread image of a target area including therein said radioactivity emitting source.

6. The system of claim 5, further comprising a memory adapted to store therein said positional information together with said count rate.

7. The system of claim 5, further comprising a display adapted to display thereon said positional information together with said count rate as a pattern of marks corresponding to said positional information and said count rate.

8. The system of claim 5, wherein said data processor is adapted to refine said count rate and said positional information.

9. The system of claim 8, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and

wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

),

said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and

a physical size of said detector is defined as (dx, dy, dz); and

further, wherein said data processor is adapted to average said count rate and said positional information by finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz,

determining M(Xc+dx, Yc+dy, Zc+dz) which represents the number of times that said count rate and said positional information have been calculated in each voxel, and,

calculating average count rate values in each voxel in accordance with;

N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ

, θ

, φ

)]/[M(Xc+dx, Yc+dy, Zc+dz)+1].

10. The system of claim 8, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said detector is defined as (dr, dy, dz); and

further, wherein said data processor is adapted to minimize said count rate and said positional information by finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels that have a higher count rate value N(Xc+dx, Yc+dy, Zc+dz) than said detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

) which was input, and changing the higher count rate voxels to that of the inputted detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

).

11. The system of claim 1, wherein said first radioactive emission detector comprises a collimator having an eccentric opening.

12. The system of claim 1, wherein said first radioactive emission detector comprises a narrow slit collimator configured to allow passage of radiation arriving from a predetermined angular direction.

13. The system of claim 12, wherein said predetermined angular direction is between 1°

and 280°

.

14. The system of claim 12, wherein said predetermined angular direction is between 1°

and 80°

.

15. The system of claim 1, wherein said first radioactive emission detector comprises a Compton gamma probe.

16. The system of claim 1, wherein said first radioactive emission detector is configured for receiving at least two collimators;

a first collimator having a first bore diameter and a second collimator having a second bore diameter.

17. The system of claim 1, wherein said data processor is designed and configured for calculating the position of said radioactivity emitting source with respect to a surface contour provided by said surface contour circuit.

18. The system of claim 1, wherein said surface contour associated with said radioactively emitting source comprises a contour of at least one of:

an internal organ;

an anatomical structure; and

an external body surface.

19. The system of claim 18, wherein said surface contour circuit, comprises said first radioactive emission detector.

20. The system of claim 18, wherein said surface contour circuit comprises an ultrasound transducer.

21. The system of claim 20, wherein said ultrasound transducer uses at least one of:

a) two, cross sectional;

b) three, consecutive cross-sectional; and

c) three-dimensional,

ultrasound imaging techniques.

22. The system of claim 18, wherein said surface 3D imager comprises at least one of:

a fluoroscope;

a Computed tomographic X-ray (CT); and

a Magnetic resonance imaging (MRI).

23. The system of claim 22, wherein said surface contour circuit provides an image of said surface using at least one imaging technique of:

i) successive cross-section images from a single direction;

ii) successive imaging from two different angles; and

iii) successive imaging from three different angles.

24. The system of claim 23, wherein said surface contour circuit provides at least one reconstructed three-dimensional image model.

25. The system of claim 24, wherein said reconstructed three-dimensional image model provides positional information in a three-dimensional space.

26. The system of claim 18, wherein said surface contour associated with said radioactively emitting source comprises a contour of an internal organ.

27. The system of claim 18, wherein said surface contour associated with said radioactively emitting source comprises a contour of an anatomical structure.

28. The system of claim 18, wherein said surface contour associated with said radioactively emitting source comprises a contour of an external body surface.

29. The system of claim 1, wherein said calculating the position of said radioactivity emitting source comprises calculating a single value reading of a voxel value.

30. The system of claim 29, wherein said calculating a single value is applied to each voxel value.

31. The system of claim 30, wherein said calculating comprises using at least one of:

an algebraic average;

a minimum value; and

a reciprocal of averaged reciprocals.

32. The system of claim 30, wherein said calculating is deconvoluted.

33. The system of claim 32, wherein said deconvolution is used to reconstruct the voxels in a radiation map of said radioactivity emitting source.

34. The system of claim 1, wherein said position tracking system is configured to track the position of said radioactive emission detector:

on the x, y and z axes; and

in rotational angles ρ

, θ and

φ

.

35. The system of claim 1, including a display that communicates with said data processor and provides a visual representation of said surface contour and a volume containing said radioactivity emitting source.

36. The system of claim 35, wherein said surface contour is projected into a first set of coordinates and said volume containing said radioactivity emitting source is projected into a second set of coordinates.

37. The system of claim 36, wherein said data processor is designed and configured for projecting a first array and a second array into a common array comprising a common system-of-coordinates on said display, said first array comprising one of:

said first set of coordinates; and

said second set of coordinates,

and said second array comprising one different set of coordinates than said first array.

38. The system of claim 37, wherein said first array is used as a feedback system to reduce uncertainty regions in said second array.

39. The system of claim 38, wherein said radioactive emission detector is operatively associated with an articulated arm positioning system and said tracking system communicates with said articulated arm positioning system.

40. The system of claim 39, wherein at least one of:

said articulated arm positioning system; and

said tracking system,

are designed and configured to track the position of said radioactive emission detector;

on the x, y and z axes; and

in rotational angles ρ

, θ and

φ

.

41. The system of claim 38, wherein said first radioactive emission detector comprises two flexibly connected mobile radioactive emission detectors and said position tracking system in communication with said two flexibly connected radioactive emission detectors.

42. The system of claim 41, wherein said position tracking system is designed and configured to track the position of said two flexibly connected mobile radioactive emission detectors:

on the x, y and z axes; and

in rotational angles ρ

, θ and

φ

.

43. The system of claim 38, wherein said first radioactive emission detector is configured to be contained within a catheter.

44. The system of claim 43, wherein said catheter is configured to explore tissue from the group comprising a radiopharmaceutically labeled benign tumor, a radiopharmaceutically labeled malignant tumor, radiopharmaceutically labeled abscess, a radiopharmaceutically labeled vascular clot, radiopharmaceutically labeled inflammation related components, a radiopharmaceutically labeled stenotic vessel, a radiopharmaceutically labeled ischemic tissue and a radiopharmaceutically labeled infarcted tissue.

45. The system of claim 43, wherein said first radioactive emission detector is configured to be detect a radiopharmaceutically labeled vascular clot in a manner that allows substantially accurate determination of the age of said vascular clot.

46. The system of claim 38, wherein said first radioactive emission detector is configured to pass along a guide wire and detect radiopharmaceutically labeled ischemic tissue.

47. The system of claim 46, wherein said system is configured to display said ischemic tissue in a mariner that allows substantially accurate determination of the extent of ischemia in said radiopharmaceutically labeled ischemic tissue.

48. The system of claim 38, wherein said a volume containing said radioactivity emitting source comprises a dynamically moving volume and said data processor is designed and configured for calculating the position of said radioactivity emitting source with respect to said dynamically moving volume.

49. The system of claim 48, wherein movement of said dynamically moving volume is associated with at least one of:

respiratory movement;

cardiac movement; and

digestive track peristaltic movement.

50. The system of claim 38, wherein said radioactive emission detector is in operative association with a therapeutic instrument configured to administer a therapy to a volume containing said radioactivity emitting source.

51. The system of claim 50, wherein said therapeutic instrument is from the group comprising a biopsy needle;

tissue ablation head, laser probe, cardiac catheter, angioplastic catheter, endoscopic probe, ultrasonic probe, fiber optic scope, aspiration tube, laparoscopy probe, thermal probe and suction/irrigation probe.

52. The system of claim 51, wherein said therapeutic instrument is configured to administer a therapy to a tissue from the group of tissues comprising a radiopharmaceutically labeled benign tumor, a radiopharmaceutically labeled malignant tumor, a radiopharmaceutically labeled atheroma, and radiopharmaceutically labeled stenotic tissue.

53. The system of claim 50, wherein said therapeutic instrument includes at least one of:

a tissue resecting mechanism;

a tissue sampling mechanism; and

an aspiration mechanism.

54. The system of claim 50, wherein said position tracking system communicates with said therapeutic instrument.

55. The system of claim 54, wherein said position of said therapeutic instrument is projected into a third set of coordinates.

56. The system of claim 55, wherein said data processor is designed and configured for projecting a first array and a second array into a common array comprising a common system-of-coordinates on said display, said first array comprising one of:

said first set of coordinates;

said second, set of coordinates; and

said third set of coordinates,

and said second array comprising one different set of coordinates than said first array.

57. The system of claim 56, wherein said first array is usable as a feedback system to reduce to reduce uncertainty regions in said second array.

58. The system of claim 57, wherein said system is configured to display said surface contour and said volume containing said radioactivity emitting source in a manner that allows substantially precise manipulation of said therapeutic instrument in administering said therapyto said volume.

59. The system of claim 57, wherein said system is configured to display said surface contour and said volume containing said radioactivity emitting source in a manner that allows substantially precise manipulation of said therapeutic instrument in administering said therapy to said volume.

60. The system of claim 57, wherein said first radioactive emission detector is configured for detecting at least two of:

i) gamma emission;

ii) beta emission; and

iii) positron emission.

61. The system of claim 60, wherein said first radioactive emission detector is configured for detecting said gamma emission and said beta emission.

62. The system of claim 60, wherein said first radioactive emission detector is configured for detecting said gamma emission that is associated with said beta emission.

63. The system of claim 60, wherein said first radioactive emission detector is configured for detecting said gamma emission and said positron emission.

64. The system of claim 60, wherein said first radioactive emission detector is configured for detecting said beta emission and said positron emission.

65. The system of claim 60, wherein said first radioactive emission detector is configured for detecting a radiopharmaceutical selected from the group consisting ¹³¹I, ⁶⁷Ga, ^99mTc methoxyisobutyl isonitrile, ²⁰¹TlCl, ¹⁸F-fluorodeoxyglucose, ¹²⁵I-fibrinogen and ¹¹¹In-octreotide.

66. The system of claim 55, including a second radioactive emission detector configured for additionally receiving data from said volume.

67. The system of claim 66, wherein said position tracking system communicates with said second radioactive emission detector.

68. The system of claim 67, wherein said radioactive emissions from said second radioactive emission detector is projected into a fourth set of coordinates.

69. The system of claim 68, wherein said data processor is designed and configured for projecting a first array and a second array into a common array comprising a common system-of-coordinates on said display, said first array comprising between one and three coordinate sets comprising:

said first set of coordinates;

said second set of coordinates;

said third set of coordinates, and

said fourth set of coordinates,

and said second array comprising at least one different set of coordinates than said first array.

70. The system of claim 69, wherein said first array is used as a feedback system to reduce to reduce uncertainty regions in said second array.

71. The system of claim 1, wherein said data processor is designed and configured for setting up a scan of said source with parameters selected so that said scan is focused on said source, in response to said data inputs.

72. A system according to claim 1, wherein said contour of a spatial surface associated with said radioactively emitting source comprises a contour of an internal organ.

73. A method for defining a position of a radioactivity emitting source distributed in a body, in a system-of-coordinates, the method comprising the steps of:

(a) scanning the body with a radioactive emission detector being connected to or communicating with a position tracking system;

(b) obtaining information associated with a contour of a surface associated with said radioactively emitting source, by one or more of (i) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector; and

(c) monitoring radioactivity being emitted from the radioactivity emitting source using said contour information, while at the same time, monitoring the position of said radioactive emission detector in the system-of-coordinates, and calculating the position of the radioactivity emitting source in the system-of-coordinates based on said monitoring radioactivity and position.

74. The method for claim 73, wherein the radioactivity emitting source is selected from the group consisting of a radiopharmaceutically labeled benign tumor, a radiopharmaceutically labeled malignant tumor, a radiopharmaceutically labeled vascular clot, radiaphamaceutically labeled inflammation related components, a radiopharmaceutically labeled abscess and a radiopharmaceutically labeled vascular abnormality.

75. The method for claim 73, wherein said radioactive emission detector is selected from the group consisting, of a narrow angle radioactive emission detector, a wide angle radiation emission detector, a plurality of individual narrow angle radiation emission detectors and a spatially sensitive radioactivity detector.

76. The method for claim 73, wherein said position tracking system is selected from the group consisting of an articulated arm position tracking system, an accelerometers based position tracking system, a potentiometers based position tracking system, a sound wave based position tracking system, a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system.

77. The method of claim 73, further comprising combining a radiation detector count rate from said radioactive emission detector together with positional information from said position tracking system, and forming a radiotracer-spread image of a target area including therein said radioactivity emitting source.

78. The method of claim 77, further comprising storing said positional information together with said count rate in a memory.

79. The method of claim 77, further comprising displaying said positional information together with said count rate as a pattern of marks corresponding to said positional information and said count rate.

80. The method of claim 77, further comprising refining said count rate and said positional information.

81. The method of claim 80, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and

wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

),

said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and

a physical size of said detector is defined as (dx, dy, dx); and

further, wherein said refining comprises finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz,

determining M(Xc+dx, Yc+dy, Zc+dz) which represents the number of times that said count rate and said positional information have been calculated in each voxel, and

calculating average count rate values in each voxel in accordance with N(Xc+dx, Yc+dy, Zc+dz)+[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ

, θ

, φ

)]/[(Xc+dx, Yc+dy, Zc+dz)+1].

82. The method of claim 80, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said detector is defined as (dx, dy, d); and

further, wherein said refining comprises finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels that have a higher count rate value N(Xc+dx, Yc+dy, Zc+dz) than said detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

) which was input, and changing the higher count rate voxels to that of the inputted detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

).

83. The method of claim 73, comprising:

reconstructing an image of said source; and

repeating said providing and said monitoring based on said image, to more specifically obtain radiation signals from said source.

84. A method according to claim 73, further comprising:

(d) moving said radioactive emission detector in response to said monitoring.

85. A method according to claim 84, further comprising:

(e) obtaining information associated with a portion of said contour after said (d).

86. A method according to claim 73, further comprising:

(d) moving said radioactive emission detector in response to said obtaining information associated with a contour of a physical surface associated with said radioactively emitting source.

87. A method according to claim 86, wherein said contour of a physical surface comprises a contour of an internal organ.

88. A system for calculating a position of a radioactivity emitting source in a first system-of-coordinates and further of projecting the position of the radioactivity emitting source onto a second system-of-coordinates, the system comprising:

(a) a radioactive emission detector;

(b) a surface contour circuit configured for obtaining information associated with a contour of a surface associated with said radioactively emitting source, by one or more of (1) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector;

(c) a position tracking system being connected to and/or communicating with said radioactive emission detector; and

(d) a data processor being configured for;

(i) receiving data inputs from said position tracking system, from said contour input and from said radioactive emission detector;

(ii) calculating the position of the radioactivity emitting source in the first system-of-coordinates using said received data inputs; and

(iii) projecting the position of the radioactivity emitting source onto the second system-of-coordinates.

89. The system of claim 88, wherein the radioactivity emitting source is selected from the group consisting of a radiopharmaceutically labeled benign tumor, a radiopharmaceutically labeled malignant tumor, a radiopharmaceutically labeled vascular clot, radiopharmaceutically labeled inflammation related components, a radiopharmaceutically labeled abscess and a radiopharmaceutically labeled vascular abnormality.

90. The system of claim 88, wherein said radioactive emission detector is selected from the group consisting of a narrow angle radioactive emission detector, a wide angle radiation emission detector, a plurality of individual narrow angle radiation emission detectors and a spatially sensitive radioactivity detector.

91. The system of claim 88, wherein said position tracking system is selected from the group consisting of an articulated arm position tracking system, an accelerometers based position tracking system, a potentiometers based position tracking system, a sound wave based position tracking system, a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system.

92. The system of claim 88, wherein said data processor is adapted to combine a radiation detector count rate from said radioactive emission detector together with positional information from said position tracking system, and is adapted to form a radiotracer-spread image of a target area including therein said radioactivity emitting source.

93. The system of claim 92, further comprising a memory adapted to store therein said positional information together with said count rate.

94. The system of claim 92, further comprising a display adapted to display thereon said positional information together with said count rate as a pattern of marks corresponding to said positional information and said count rate.

95. The system of claim 92, wherein said data processor is adapted to refine said count rate and said positional information.

96. The system of claim 95, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said detector is defined as (dx, dy, dz); and

further, wherein said data processor is adapted to average said count rate and said positional information by finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, determining M(Xc+dx, Yc+dy, Zc+dz) which represents the number of times that said count rate and said positional information have been calculated in each voxel, and calculating average count rate values in each voxel in accordance with N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zcú

ρ

, θ

, φ

)]/[M(Xc+dx, Yc+dy, Zc+dz)+1].

97. The system of claim 95, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said detector is defined as (dx, dy, dz); and

further, wherein said data processor is adapted to minimize said count rate and said positional information by finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels that have a higher count rate value N(Xc+dx, Yc+dy, Zc+dz) than said detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

) which was input, and changing the higher count rate voxels to that of the inputted detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

).

98. A system according to claim 88, wherein said contour of a physical surface associated with said radioactively emitting source comprises a contour of an internal organ.

99. A method for calculating a position of a radioactivity emitting source distributed in a body, in a first system-of-coordinates and for projecting the position of the radioactivity emitting source onto a second system-of-coordinates, the method comprising the steps of:

(a) scanning the body with a radioactive emission detector being connected to or communicating with a position tracking system (b) obtaining information associated with a contour of a surface associated with said radioactively emitting source, said information obtained by one or more of (i) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector; and

(c) monitoring radioactivity being emitted from the radioactivity emitting source using said contour, while at the same time, monitoring the position of said radioactive emission detector in the first system-of-coordinates, calculating the position of the radioactivity emitting source in the first system-of-coordinates based on said monitoring radioactivity and position, and projecting the position of the radioactivity emitting source onto the second system-of-coordinates.

100. The method for claim 99, wherein the radioactivity emitting source is selected from the group consisting of a radiopharmaceutically labeled benign tumor, a radiopharmaceutically labeled malignant tumor, a radiopharmaceutically labeled vascular clot, radiopharmaceutically labeled inflammation related components, a radiopharmaceutically labeled abscess and a radiopharmaceutically labeled vascular abnormality.

101. The method for claim 99, wherein said radioactive emission detector is selected from the group consisting of a narrow angle radioactive emission detector, a wide angle radiation emission detector, a plurality of individual narrow angle radiation emission detectors and a spatially sensitive radioactivity detector.

102. The method, for claim 99, wherein said position tracking system is selected from the group consisting of an articulated arm position tracking system, an accelerometers based position tracking system, a potentiometers based position tracking system, a sound wave based position tracking system, a radio frequency based position tracking system, a magnetic field based position tracking system and an optical based position tracking system.

103. A method according to claim 99, further comprising:

(d) moving said radioactive emission detector in response to said monitoring.

104. A method according to claim 103, further comprising:

(e) obtaining information associated with a portion of said contour after said (d).

105. A method according to claim 99, further comprising:

(d) moving said radioactive emission detector in response to said obtaining information associated with a contour of a physical surface associated with said radioactively emitting source.

106. A method according to claim 105, wherein said contour of a physical surface comprises a contour of an internal organ.

107. A system for generating a two- or three-dimensional image of a radioactivity emitting source distributed in a body, the system comprising:

(a) a radioactive emission detector;

(b) a surface contour circuit configured for obtaining information associated with a contour of a surface associated with said radioactively emitting source, by one or more of (i) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector;

(c) a position tracking system being connected to and/or communicating with said radioactive emission detector; and

(d) a data processor being configured for receiving data inputs from said position tracking system, from said surface contour circuit and from said radioactive emission detector and for generating the two- or three-dimensional image of the radioactivity emitting source using said received inputs.

108. The system of claim 107, wherein said data processor is adapted to combine a radiation detector count rate from said radioactive emission detector together with positional information from said position tracking system, and is adapted to form a radiotracer-spread image of a target area including therein said radioactivity emitting source.

109. The system of claim 108, further comprising a memory adapted to store therein said positional information together with said count rate.

110. The system of claim 108, further comprising a display adapted to display thereon said positional information together with said count rate as a pattern of marks corresponding to said positional information and said count rate.

111. The system of claim 108, wherein said data processor is adapted to refine said count rate and said positional information.

112. The system of claim 111, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of said detector is defined (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said detector is defined as (dx, dy, dz); and

further, wherein said data processor is adapted to average said count rate and said positional information by finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, determining M(Xc+dx, Yc+dy, Zc+dz) which represents the number of times that said count rate and said positional information have been calculated in each voxel, and calculating average count rate values in each voxel in accordance with N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ

, θ

, φ

)]/[(Xc+dx, Yc+dy, Zc+dz)+1].

113. The system of claim 111, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said detector is defined as (dx, dy, dz); and

further, wherein said data processor is adapted to minimize said count rate and said positional information by finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels that have a higher count rate value N(Xc+dx, Yc+dy, Zc+dz) than said detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

) which was input, and changing the higher count rate voxels to that of the inputted detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

).

114. A system according to claim 107, wherein said contour of a physical surface associated with said radioactively emitting source comprises a contour of an internal organ.

115. A method of generating a two- or three-dimensional image of a radioactivity emitting source distributed in a body, the system comprising:

(a) scanning the body with a radioactive emission detector;

(b) obtaining information associated with a contour of a surface associated with said radioactively emitting source, said information obtained by one or more of (i) receiving raw data from said detector and extracting generating a surface contour from said raw data, (ii) receiving a surface contour from a all imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector;

(c) using a position tracking system being connected to and/or communicating with said radioactive emission detector for calculating a position in a three-dimensional system of coordinates of said radioactive emission detector; and

(d) data processing inputs from said position tracking system, from said contour circuit and from said radioactive emission detector for generating the two- or three-dimensional image of the radioactivity emitting source.

116. The method of claim 115, further comprising combining a radiation detector count rate from said radioactive emission detector together with positional information said position tracking system, and forming a radiotracer-spread image of a target area including therein said radioactivity emitting source.

117. The method of claim 116, further comprising storing said positional information together with said count rate in a memory.

118. The method of claim 116, further comprising displaying said positional information together with said count rate as a pattern of marks corresponding to said positional information and said count rate.

119. The method of claim 116, further comprising refining said count rate and said positional information.

120. The method of claim 119, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and

wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

),

said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and

a physical size of said detector is defined as (dr, dy, dz); and

further, wherein said refining comprises finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, YC+dy, Zc+dz,

determining M(Xc+dx, Yc+dy, Zc+dz) which represents the number of times that said count rate and said positional information have been calculated in each voxel, and

calculating average count rate values in each voxel in accordance with N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ

, θ

, φ

)]/[M(Xc+dx, Yc+dy, Zc+dz)+1].

121. The method of claim 119, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of said detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said detector is defined as (dx, dy, dz); and

further, wherein said refining comprises finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels that have a higher crate value N(Xc+dx, Yc+dy, Zc+dz) than said detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

) which was input, and changing the higher count rate voxels to that of the inputted detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

).

122. A method according to claim 115, further comprising:

(e) moving said radioactive emission detector in response to said data processing.

123. A method according to claim 122, further comprising:

(f) obtaining information associated with a portion of said contour after said (e).

124. A method according to claim 115, further comprising:

(e) moving said radioactive emission detector in response to said obtaining information associated with a contour of a physical surface associated with said radioactively emitting source.

125. A method according to claim 124, wherein said contour of a physical surface comprises a contour of an internal organ.

126. A system for calculating a position of a radioactivity emitting source in a first system-of-coordinates and further of projecting the position of the radioactivity emitting source onto a second system-of-coordinates, the system comprising:

(a) at least two radioactive emission detectors;

(b) a surface contour circuit configured for obtaining information associated with a contour of a surface associated with said radioactively emitting source, by one or more of (i) receiving raw data from at least one of said detectors and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said at least one detector representing a three dimensional surface which defines a body curvature followed by said at least one detector;

(c) a position tracking system being connected to and/or communicating with said at least two radioactive emission detectors; and

(d) a data processor being configured for;

(i) receiving data inputs from said position tracking system, from said contour circuit and from said at least two radioactive emission detectors;

(ii) calculating the position of the radioactivity emitting source in the first system-of-coordinates using said received inputs; and

(iii) projecting the position of the radioactivity emitting source onto the second system-of-coordinates.

127. The system of claim 126, wherein said at least two radioactive emission detectors are physically connected therebetween via a flexible connector.

128. The system of claim 126, wherein said data processor is adapted to combine a radiation detector count rate from said at least two radioactive emission detectors together with positional information from said position tracking system, and is adapted to form a radiotracer-spread image of a target area including therein said radioactivity emitting source.

129. The system of claim 128, further comprising a memory adapted to store therein said positional information together with said count rate.

130. The system of claim 128, further comprising a display adapted to display thereon said positional information together with said count rate as a pattern of marks corresponding to said positional information and said count rate.

131. The system of claim 128, wherein said data processor is adapted to refine said count rate and said positional information.

132. The system of claim 131, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of at least one of said at least two detectors is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said at least one of said at least two detectors is defined as (dx, dy, dz); and

further, wherein said data processor is adapted to average said count rate and said positional information by finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, determining M(Xc+dx, Yc+dy, Zc+dz) which represents the number of times that said count rate and said positional information have been calculated in each voxel, and calculating average count rate values in each voxel in accordance with N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Ze, ρ

, θ

, φ

)]/[M(Xc+dx, Yc+dy, Zc+dz)+1].

133. The system of claim 131, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of at least one of said at least two detectors is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said at least one of said at least two detectors is defined as (dx, dy, dz); and

further, wherein said data processor is adapted to minimize said count rate and said positional information by finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels that have a higher count rate value Xc+dx, Yc+dy, Zc+dz) than said detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

) which was input, and changing the higher count rate voxels to that of the inputted detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

).

134. A system according to claim 126, wherein said contour of a physical surface associated with said radioactively emitting source comprises a contour of an internal organ.

135. A method for calculating a position of a radioactivity emitting source distributed in a body, in a first system-of-coordinates and for projecting the position of the radioactivity emitting source onto a second system-of-coordinates, the method comprising the steps of:

(a) scanning the body with at least one radioactive emission detector being connected to or communicating with a position tracking system;

(b) obtaining information associated with a contour of a surface associated with said radioactively emitting source, said information obtained by one or more of (i) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector; and

(c) monitoring radioactivity being emitted from the radioactivity emitting source using said contour, while at the same time, monitoring the position of said at least one radioactive emission detector in the first system-of-coordinates, and calculating the position of the radioactivity emitting source in the first system-of-coordinates based on said monitoring radioactivity and position, and projecting the position of the radioactivity emitting source onto a second system-of-coordinates.

136. The method of claim 135, further comprising combining a radiation detector count rate from said at least one radioactive emission detector together with positional information from said position tracking system, and forming a radiotracer-spread image of a target area including therein said radioactivity emitting source.

137. The method of claim 136, further comprising storing said positional information together with said count rate in a memory.

138. The method of claim 136, further comprising displaying said positional information together with said count rate as a pattern of marks corresponding to said positional information and said count rate.

139. The method of claim 136, further comprising refining said count rate and said positional information.

140. The method of claim 139, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and

wherein in the system-of-coordinates, said positional information of said at least one detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

),

said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and

a physical size of said at least one detector is defined as (dx, dy, dz); and

further, wherein said refining comprises finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz,

determining M(Xc+dx, Yc+dy, Zc+dz) which represents the number of times that said count rate and said positional information have been calculated in each voxel, and,

calculating average count rate values in each voxel in accordance with N(Xc+dx, Yc+dy, Zc+dz)=[N(Xc+dx, Yc+dy, Zc+dz)+N(Xc, Yc, Zc, ρ

, θ

, φ

)]/[M(Xc+dx, Yc+dy, Zc+dz)+1].

141. The method of claim 139, wherein said system-of-coordinates comprises mutually perpendicular linear axes X, Y and Z, and rotations about the X, Y and Z axes, ρ

, θ and

φ

, respectively, and wherein in the system-of-coordinates, said positional information of said at least one detector is defined as (Xc, Yc, Zc, ρ

, θ

, φ

), said detector count rate is defined as N(Xc, Yc, Zc, ρ

, θ

, φ

), and a physical size of said at least one detector is defined as (dx, dy, dz); and

further, wherein said refining comprises finding all volume pixels, called voxels, that represent the detector volume, defined as Xc+dx, Yc+dy, Zc+dz, finding those voxels that have a higher count rate value N(Xc+dx, Yc+dy, Zc-dz) than said detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

) which was input, and changing the higher count rate voxels to that of the inputted detector count rate N(Xc, Yc, Zc, ρ

, θ

, φ

).

142. A method according to claim 135, further comprising:

(d) moving said radioactive emission detector in response to said monitoring.

143. A method according to claim 142, further comprising:

(e) obtaining information associated with a portion of said contour after said (d).

144. A method according to claim 135, further comprising:

(d) moving said radioactive emission detector in response to said obtaining information associated with a contour of a physical surface associated with said radioactively emitting source.

145. A method according to claim 144, wherein said contour of a physical surface comprises a contour of an internal organ.

146. A method for radiation map reconstruction, the method comprising:

(a) determining a transfer function of a radiation detector;

(b) determining a deconvolution of said transfer function;

(c) obtaining information associated with a contour of a surface associated with a radioactively emitting source distributed in a body, said information obtained by one or more of (i) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector;

(d) assigning a count value based on said deconvolution to at least one voxel within a field of view of said radiation detector; and

(e) using said deconvolution and said contour to reconstruct said at least one voxel.

147. The method of claim 146, wherein said using said deconvolution comprises at least diminishing blurriness of said at least one voxel.

148. The method of claim 146, further comprising mathematically treating multiple readings from viewpoints of different detectors that said at least one voxel receives.

149. The method of claim 148, wherein said mathematically treating comprises determining a value used in place of a single value of reading in said at least one voxel.

150. The method of claim 149, wherein said determining a value comprises determining at least one of an algebraic average, a minimum value, and a reciprocal of averaged reciprocals of readings in said at least one voxel.

151. A system for calculating a position of a body component and a position of a radiopharmaceutical uptaking portion distributed in the body component within a subject, the system comprising:

(a) a two-dimensional imager being connected to and/or communicating with a first position tracking system for calculating the position of the body component in a first system-of-coordinates;

(b) a surface contour circuit configured for obtaining information associated with a contour of a surface associated with said radioactively emitting source;

a radioactive emission detector being connected to and/or communicating with a second position system for tracking a position of the radiopharmaceutical uptaking portion of the body component in a second system-of-coordinates; and

(d) at least one data processor being configured for receiving data inputs from said two-dimensional imager, said first position tracking system, said contour circuit and said radioactive emission detector and said second position tracking system and calculating the position of the body component and the position of the radiopharmaceutical uptaking portion of the body component in a common system-of-coordinates using said received inputs,

wherein the surface contour circuit is configured to obtain said contour by one or more of (i) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector.

152. A system according to claim 151, wherein said contour of a physical surface associated with said radioactively emitting source comprises a contour of an internal organ.

153. A method for calculating a position of a body component and a position of a radiopharmaceutical uptaking portion distributed in the body component within a subject, the method comprising the steps of:

(a) scanning the body with a two-dimensional imager being connected to and/or communicating with a first position tracking system and calculating the position of the body component in a first system-of-coordinates;

(b) obtaining information associated with a contour of a physical surface associated with said radioactively emitting source;

(c) providing a radioactive emission detector being connected to and/or communicating with a second position tracking system and tracking a position of the radiopharmaceutical uptaking portion of the body component in a second system-of-coordinates; and

(d) receiving data inputs from said two-dimensional imager, said first position tracking system, said contour circuit, said radioactive emission detector and said second position tracking system and calculating the position of the body component and the position of the radiopharmaceutical uptaking portion of the body component in a common system-of-coordinates using said received inputs,

wherein said information associated with a contour of a physical surface is obtained by one or more of (i) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector.

154. A method according to claim 153, further comprising:

(e) moving said radioactive emission detector in response to said calculating.

155. A method according to claim 154, further comprising:

(f) obtaining information associated with a portion of said contour after said (e).

157. A method according to claim 153, further comprising:

(e) moving said radioactive emission detector in response to said obtaining information associated with a contour of a physical surface associated with said radioactively emitting source.

158. A method according to claim 157, wherein said contour of a physical surface comprises a contour of an internal organ.

156. A system for calculating a position of a radioactivity emitting source distributed in a system-of-coordinates, the system comprising:

(a) a first radioactive emission detector configured for detecting a radioactively emitting source;

(b) a surface contour circuit configured for obtaining a contour of a surface associated with said radioactively emitting source, by one or more of (i) receiving raw data from said detector and generating a surface contour from said raw data, (ii) receiving a surface contour from a 3D imager, and (iii) receiving data related to said detector representing a three dimensional surface which defines a body curvature followed by said detector;

(c) a position tracking system being connected to and/or communicating with said radioactive emission detector; and

(d) a data processor being designed and configured for receiving and processing data inputs from said position tracking system, from said surface contour circuit and from said first radioactive emission detector and for calculating the position of said radioactivity emitting source in the system-of-coordinates using said inputs from said position tracking system, from said surface contour circuit and from said first radioactive emission detector,

wherein said surface contour associated with said radioactively emitting source comprises a contour of at least one of;

an internal organ;

an anatomical, structure; and

an external body surface.