Localization of a radioactive source within a body of a subject

• US 8,198,588 B2
• Filed: 11/01/2010
• Issued: 06/12/2012
• Est. Priority Date: 08/12/2004
• Status: Expired due to Fees

• Current Assignee: Navotek Medical Ltd.
• Original Assignee: Navotek Medical Ltd.
• Inventors: Kornblau, Giora, Ben-Ari, Shiomi
• Primary Examiner(s): Vanore, David A
• Application Number:
  US12/917,052
• Publication Number:
  US 20110046478A1
• Time in Patent Office: 589 Days
• Field of Search: 250/393, 250/394, 250/395, 600/3, 600/424, 600/425
• US Class Current: 250/336.1
• 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 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 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

Abstract

A computerized system for locating a device including a sensor module and a processor. A radioactive source, associated with the device, produces a signal in the form of radioactive disintegrations. The sensor module includes a radiation detector capable of receiving a signal from the source attached to the device. The sensor module produces an output signal. The processor receives output signal(s) and translates output into information relating to a position of source.

Claims

1. A computerized system for determining location by tracking a source of ionizing radiation, the system comprising:

at least one first radiation detector capable of receiving ionizing radiation from the source and for producing first output signals;

at least one second radiation detector capable of receiving ionizing radiation from the source and for producing second output signals; and

at least one processor configured to receive and use a pair of said first and second output signals, said pair of said first and second output signals used to determine a plane in which the source resides,

wherein said at least one processor is configured to receive and use at least two pairs of said output signals each pair used to determine a respective plane in which the source resides, and is configured to compute an intersection of at least two planes to track the location of the source.

2. The system of claim 1, wherein the at least one first radiation detector and the at least one second radiation detector are oriented to enable detection of the source when the source is connected to a medical device.

3. The system of claim 1, wherein each of the at least one first detector and the at least one second detector are part of at least one sensor module.

4. The system of claim 3, wherein said at least one sensor module includes at least three sensor modules.

5. The system of claim 4, further comprising at least three locomotion devices each associated with one of the at least three sensor modules, said at least three locomotion devices configured to impart motion to an associated sensor module in response to instructions from the at least one processor.

6. The system of claim 3, further comprising at least one locomotion device, said locomotion device configured to impart motion to said at least one sensor module in response to an instruction generated by the at least one processor.

7. The system of claim 3, wherein said at least one sensor module includes at least three sensor modules, wherein the at least two pairs of said output signals each pair used to determine a respective plane in which the source resides is at least three pairs of said output signals each pair used to determine a respective plane in which said source resides, and wherein the at least one processor is configured to compute a position of said source by determining an intersection of three planes.

8. The system of claim 7, wherein said at least one processor is configured to compute said position repeatedly at predetermined intervals so that a position of said source as a function of time is obtained.

9. The system of claim 1, additionally comprising:

an imaging module, said imaging module being configured to provide an image signal to said at least one processor wherein said at least one processor is configured to translate the image signal into an image of a portion of a body of a subject.

10. The system of claim 9, further comprising a display device configured to display the body portion image.

11. The system of claim 10, wherein the source of ionizing radiation is connected to a medical device, and wherein said display device is configured to display the image of said portion of the body with a determined position of the medical device superimposed on said image of said portion of the body.

12. The system of claim 1, wherein said source employs an isotope with a half life in the range of 6 to 18 months.

13. The system of claim 1, additionally comprising said source capable of providing said ionizing radiation.

14. The system of claim 1, wherein the at least one processor is further configured to determine the plane when the source has an activity in the range of 0.01 mCi to 0.5 mCi.

15. A system according to claim 1, wherein the processor is configured to determine a plane with respect a center of mass of the ionizing radiation source.

16. A system according to claim 1, further comprising a displacement mechanism configured to cause motion of at least one of the first radiation detector and the second radiation detector, and wherein the at least one processor is configured to send signals to the displacement mechanism in response to radiation received, to track the source.

17. A system according to claim 16, wherein the displacement mechanism is configured to track the source by changing locations of detection boundaries in order to maintain the source within the detection boundaries.

18. The system of claim 1, further comprising at least one third radiation detector for producing third output signals, and wherein the processor is configured to determine the at least one plane using the first output signals, the second output signals, and the third output signals.

19. The system of claim 18, further comprising an at least one fourth radiation detector for producing fourth output signals, and wherein the processor is further configured to determine the at least one plane using the first output signals, the second output signals, the third output signals and the fourth output signals.

20. The system of claim 19, wherein the at least one plane is three planes.

21. The system of claim 18, wherein the at least one plane is three planes.

22. The system of claim 1, wherein the source includes a piece of radioactive metal implanted in a body of a subject.

23. The system of claim 22, wherein the piece of radioactive metal is a wire.

24. A method of determining a location of a radiation source, the method comprising:

providing an ionizing radiation source;

determining based on detected radiation from said ionizing radiation source a first plane in which said ionizing radiation source resides;

determining based on said detected radiation at least a second plane in which said ionizing radiation source resides;

tracking the location of said ionizing radiation source by at least twice calculating a location based on an intersection of said first plane and said second plane.

25. The method of claim 24, wherein determining at least a second plane includes determining at least a third plane in which said ionizing radiation source resides and wherein the method further comprises:

calculating a location of intersection of said first plane, said second plane and said third plane.

26. The method of claim 24, wherein said ionizing radiation source has an activity in the range of about 0.01 mCi to about 0.5 mCi.

27. The method of claim 24, wherein said ionizing radiation source has an activity of about 0.1 mCi or less.

28. The method of claim 24, wherein said ionizing radiation source has an activity of about 0.05 mCi or less.

29. The method of claim 24, wherein at least twice calculating a location includes calculating the location repeatedly at predetermined intervals so that a position of said radiation source as a function of time is obtained.

30. A computerized system for determining location by tracking a source of ionizing radiation, the system comprising:

at least one first radiation detector capable of receiving ionizing radiation from the source and for producing first output signals;

at least one second radiation detector capable of receiving ionizing radiation from the source and for producing second output signals; and

at least one processor configured to receive and use a pair of said at least first and second output signals to determine at least one plane in which the source resides,

wherein each pair of the at least one first detector and the at least one second detector are part of at least one sensor module, the system including at least three sensor modules,

wherein the at least one processor is configured to receive and use at least three pairs of output signals each pair used to determine a respective plane in which the source resides, and is configured to compute a position of the source by determining an intersection of at least three planes and thereby track the position of the radiation source.

31. The system of claim 30, wherein said at least one processor is configured to compute the position repeatedly at predetermined intervals so that the position of the source as a function of time is obtained.

32. A computerized system for determining location by tracking a source of ionizing radiation, the system comprising:

at least one first radiation detector capable of receiving ionizing radiation from the source and for producing first output signals;

at least one second radiation detector capable of receiving ionizing radiation from the source and for producing second output signals;

at least one processor configured to receive and use a pair of said at least first and second output signals to determine at least one plane in which the source resides and thereby track a location of the source; and

a displacement mechanism configured to cause motion of at least one of the first radiation detector and the second radiation detector,

wherein the at least one processor is configured to send signals to the displacement mechanism in response to radiation received, to track the source.

33. A system according to claim 32, wherein the displacement mechanism is configured to track the source by changing locations of detection boundaries in order to maintain the source within the detection boundaries.