• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    ABSTRACT The invention relates to a mobile imaging system (10), comprising a chassis (1 la)having a front end and a rear end, the front end being configured to be insertableunder a bed on which a patient is located, a detector (14a) with a collimator (15),attached to the chassis such that it can be positioned over the patient in the bedconfigured to register images of an object, such as the heart of the patient, controlelectronics (12'), and a display (13). There is also a detector position adjustment unit(17), mounted on the chassis at the front end thereof, comprising a top and a bottomslide block (20, 19) each comprising an upper (20”, 19”) and a lower part (20', 19')coupled to each other via a low friction interface. The system further comprises arotaly bearing arrangement (21) mounted between the upper part (19”) of the bottomslide block (19) and the lower part (20') of the top slide block (20), thereby connectingthe top and bottom slide blocks such that they are rotatable with respect to eachother. There is also provided an actuator (10) coupled to the adjustment unit (17) andconfigured to provide a lifting action to lift the front end of the chassis (1 la) to apredetermined height above the ground, whereby the front end will rest on the adjustment unit (17) only.
    公开号:SE1350389A1
    申请号:SE1350389
    申请日:2013-03-27
    公开日:2014-09-28
    发明作者:Tommy Ribbe
    申请人:Adolesco Ab；
    IPC主号:
    专利说明:

    MOBILE IMAGING SYSTEM The present invention relates to myocardial scintigraphy in general, and inparticular to a mobile system for inter alia enabling imaging in acute situationswithout the need of moving a patient. It also relates to means for positioning the imaging system accurately.
    Background of the Invention Several studies have shown that myocardial scintigraphy is the most efficientmethod for the diagnosis and prognosis of ischemic heart disease. As an examplethis technique has exhibited a sensitivity of 96% for coronary stenosis compared toa 35% sensitivity using rest EKG in contrast to using biomarkers such as troponinI, myocardial scintigraphy can detect or exclude ischemic regions and infarctions inan earlier stage of the disease progression. This allows a considerably faster decision as to which intervention is to be carried out / performed.
    Despite the advantages with myocardial scintigraphy the technique is usedrelatively infrequently in the diagnosing of acute ischemic heart disease, e.g. in anemergency care Ward. One of the main reasons for this is thought to be the factthat an installed Single-photon emission computed tomography (SPECT) system isstationary and it is not always possible to move a patient to the location where such a system is placed.
    In the 1980s it was demonstrated that it is possible to generate tomographicimages from projections taken at an oblique angle. This new technique was referredto as ectomography. It differs from conventional SPECT imaging where the gammacamera, which is used as the detector, rotates at least 180° around the patient, bythe provision of a collimator having slanted holes rotating around its own aXis. Theimaged layer will thus differ between the two techniques, resulting in SPECT beingmore useful to image organs located deeper inside the body, whereas ectomography is more useful for the imaging of smaller organs located closer to the body surface.
    Summary of the InventionIn view of the drawback of the prior art SPECT systems, i.e. the stationary character thereof requiring patients to be moved to the location of the SPECT apparatus for investigation, the present inventors have now devised a novel imaging apparatus,based on the ectomography principle. The novel appartus is mobile, making itparticularly useful for acute and emergency situations, and is optimized for three- dimensional heart investigations.
    The novel system is defined in claim l, and comprises a chassis l la having a frontend and a rear end, the front end being configured to be insertable under a bed onwhich a patient is located, a detector 14a with a collimator 15, attached to thechassis such that it can be positioned over the patient in the bed configured toregister images of an object, such as the heart of the patient, control electronics l2',a display 13. The characterizing feature is a detector position adjustment unit 17,mounted on the chassis at the front end thereof, comprising a top and a bottom slideblock 20, 19 each comprising an upper 20”, 19” and a lower part 20', 19' coupled toeach other via a low friction interface; a rotary bearing arrangement 21 mountedbetween the upper part 19” of the bottom slide block 19 and the lower part 20' of thetop slide block 20, thereby connecting the top and bottom slide blocks such that theyare rotatable with respect to each other. The system further comprises an actuator10 coupled to the adjustment unit 17 and configured to provide a lifting action to liftthe front end of the chassis l la to a predetermined height above the ground, whereby the front end will rest on the adjustment unit 17 only.
    An important aspect of the system is that it is provided with a positioning systemmaking it very easy to quickly position the apparatus correctly in order to obtain good images.
    The positioning system comprises several features that renders it advantageous, and these features are the subject of dependent claims.
    Further scope of applicability of the present invention will become apparent from thedetailed description given hereinafter and the accompanying drawings which aregiven by way of illustration only, and thus not to be considered limiting on thepresent invention, and wherein Fig. l shows a mobile imaging system; Fig. 2 is a view of the mechanical positioning device; Fig. 3a shows the positioning device in inoperative state; Fig. 3b shows the positioning device in operative state; Figs 4a-e illustrates a method of determining the necessary adjustment of the detector; Fig. 5 illustrates means for operating the Wheels of the system; Fig. 6 is an example of a slant hole collimator; and Fig. 7 illustrates a method schematically in a set-up With a patient.
    Detailed Description of Preferred Embodiments In order to provide optimal imaging it is required that the heart (or other imagedobject) is located Within the system field of view. HoWever, to position the detector atan exact and correct position is difficult and readjustment of the apparatus some small distance such as one or a few millimetres is mostly necessary.
    Therefore, the main object of the present invention is to provide accurate positioningof the imaging apparatus by fine-tuning/ adjusting the position of the detector inorder to optimize the imaging procedure. To meet this object there are provided novel features that each separately or together are usable to optimize the positioning.
    One feature is a mechanical position adjustment unit designed as a means tosubstantially reduce the force required to move the rather heavy equipment in smallincrements for the adjustment of the position of the detector. This mechanical unit is disclosed in Figs. 1-2, and Will be described in detail With reference to these Figs.
    Another feature is a visual interface comprising at least tvvo projections of the hearttaken at different angles, and a control unit/ calculation unit Which enables thedetermination of the optimal detector position and subsequent accurate positioning of the detector.
    A further feature, which is optional, is the provision of an automatic positioning of the detector when the optimal position has been determined by the control unit.
    Fig. 1 shows schematically an embodiment of an entire mobile imaging systemgenerally designated 10. It comprises a chassis 1 la and an essentially verticallyarranged frame 1 lb, a main cabinet 12 housing control electronics 12', a display 13,a detector 14a, suitably a so called gamma camera (or scintillation camera alsoreferred to as an Anger camera) mounted on an essentially horizontal beam 14bmounted to the frame 1 lb, a rotatable collimator 15, a height adjustment unit 16and a mechanical position adjustment unit 17 for fine tuning of the detector position.
    The system also has a front wheel pair FW and a rear wheel pair RW.
    The detector in Fig. 6 comprises a processor P, an amplifier AMP, photomultipliersPM, a scintillator crystal SC, a Slant Hole Collimator SHC made of lead, andschematically an organ is shown into which a substance emitting gamma radiation has been introduced.
    For the purpose of this application “Y direction” refers to the longitudinal direction ofthe system, and “X direction” is a transverse direction with respect to the system, whereas “Z direction” is a vertical direction.
    The system is generally used as follows. Since it is provided with wheels i.e. mobileand not too big, it is easily and quickly moved to a location where a patient is,instead of moving the patient. When the mobile system arrives at the patient thefront of the chassis 1 1 is run in under the bed on which the patient lies. The detectorl4a is provided at a nominal height such that it always goes clear of the patient inthis operation. When it has been roughly positioned, the position adjustment systemis activated. The detector l4a is then properly positioned within just a few minutes and images can be acquired.
    Now the mechanical positioning unit 17 will be described in detail with reference to the schematic illustrations in Figs. 2 and 3a-3b.
    As can be seen in Fig. 1 the mechanical positioning unit 17 is preferably located onthe chassis 1 la at the underside thereof, in the vicinity of the front part of the entire apparatus, i.e. at a position essentially vertically beneath the detector l4a and collimator 15. In operation the mechanical positioning unit 17, Which functions like ajack, is activated such that a support member Will be loWered using e.g. hydraulics tobe brought in contact With the ground or floor. Continued activation Will provide anupWard force, thereby lifting the front part of the system. Thus the front Wheels Will no longer rest against the ground. This is illustrated in Figs 3a and 3b.
    In Fig. 2 the details of the positioning unit 17 are shoWn.
    The positioning unit 17 is essentially an “X/ Y” table, Which is a Well knoWn mechanism per se.
    Here the unit comprises a pair of members referred to herein as slide blocks, abottom slide block 19 and a top slide block 20. Each slide block comprises tWo parts.The bottom slide block 19 has a loWer part 19' resting on the floor in operativeposition, i.e. When the unit 17 has been loWered so as to lift the chassis 1 1, and anupper part 19” slideably coupled to the loWer part. In the same manner the top slideblock 20 comprises a loWer part 20' and an upper part 20” slideably coupled to eachother. In one embodiment the coupling is a rail-like structure. HoWever, anyarrangement providing slideabililty is applicable. Thereby the respective upper andloWer parts of each slide block exhibit a very loW friction betvveen them, Which renders them easily movable Without applying much force.
    BetWeen the upper part 19” of the loWer slide block 19 and the loWer part 20' of thetop slide block there is provided a bearing arrangement 21 (rotaly bearing) enablingthe tWo slide blocks to rotate With respect to each other. This bearing arrangement isessential to the function, since it Will accommodate the angular displacement of thetWo slide blocks When the detector unit is moved laterally (X-direction). In this Way italloWs easy X-Y movement of the entire system such that it enables accuratepositioning of the detector and collimator unit 14a, 15. When a correct position has been arrived at the system is locked in that position during image recording.
    In operative position the upper part 20” of the top slide block 20 is rigidly connectedto the chassis 1 1. The loWer part 19' of the bottom slide block 19 is resting against the ground or floor, and is thus stationary during position adjustment.
    Preferably the slideblocks 19 and 20, respectively, are arranged perpendicularly With respect to each other if they have non-square geometry.
    Thus, when the adjustment device 17 is in operative position, as shown in Fig. 3b,the low friction rotary bearing arrangement 21 Will enable small movements With verylittle force applied, and the displacement of the entire system with respect to theground Will be accommodated by the slidable coupling between the parts of eachslide block 19, 20.
    There is also provided a mechanism for lowering the adjustment unit 17. Thismechanism comprises in one embodiment a linear actuator 23, which can comprisea hydraulic, pneumatic or electric actuator coupled to an actuating bar 24 that isalso coupled to the upper part 20” of the top slide block 20. The upper part 20” of thetop slide block 20 is also coupled to the chassis 1 1 via link units 25 in the form ofyokes pivotally connected to the upper part 20” and to the chassis 1 1, as can be clearly seen in Figs. 3a and 3b.
    Thus, in non-operative position (Fig. 3a) the entire position adjustment unit 17 isretracted such that it rests essentially against the bottom of the chassis, or at leastsuch that it goes clear of the ground or floor when the mobile imaging system istransported. When the linear actuator 23 is energized it will pull on the upper part20” of the top slide block 20, whereby the entire unit 17 will swing downwards byvirtue of the linking yokes 25 being pivotally connected as shown.
    When the lower part 19' of the bottom slide block 19 hits the ground, the continuedpulling exerted by the linear actuator 23 will cause the front of the entire mobileimaging system to raise such that the wheels goes clear of the ground with about 5 mm (Fig. 3b), very much like the function of a common jack.
    As already mentioned, in this elevated position it is very easy to adjust the detector using very little force.
    In order to enable to make a final accurate position adjustment of the detector withrespect to the heart there is provided a method and device which on the basis of atleast two, preferably three, different projections of the heart acquired at different collimator rotation angles, enables very fine adjustment of the detector position to a correct position. This is herein referred to as a “sighting system” and Will be described With reference to Figs. 4a-e.
    By using only two or three projections instead of a complete image, the imagingduring the position adjustment can be performed much more rapidly than the acquisition of a complete image thus simplifying and speeding up detector alignment.
    For proper image acquisition it is important that the object to be imaged is Within thesystem field of vieW. In limited vieW tomography the field of vieW is a cone, thefrustum of a cone, a double cone or the frustum of a double cone With its axis coincident With the collimator axis of rotation.
    The position of an object relative to the detector is uniquely determined by itspositions in two different projections acquired With different collimator rotationangles. If the object is visible in and contained Within three different projectionsacquired With three different collimator rotation angles it Will, due to the circular symmetry of the field of vieW, be Within the system field of vieW.
    The preferred embodiment of the sighting system presents three different projectionsof the object in question, herein exemplified by the heart muscle, acquired With thethree collimator rotation angles dl, (12 and (13, typically 0, 120 and 240 degrees, on amonitor screen. The display on the monitor for a sequence of operations is shoWn in Figs. 4a-e.
    Furthermore three markers, here represented as rings 41, 42, 43, Which is apreferred embodiment, are presented on the monitor screen. These rings can bemoved like a cursor on the monitor screen using an input device such as a computer“mouse”. In particular they can be moved so as to be centred over the projection ofthe heart muscle shoWn on the monitor. It is not strictly necessary to use rings, anymarker that can be positioned so as to be centred over the object in question, e.g. a heart, on the screen Would do.
    Thus, each ring is associated With one of the projections of the heart, the projectionsbeing designated P1, P2 and P3, respectively in the folloWing. In Fig. 4a oneprojection 44 is shoWn. Also, the centre of gravity 45 of the triangle 46 formed by the three rings is shown, one bisector 47 being shown. The image boundary 48 is also shown.
    The operator centres two of the rings over the projections of the imaged object withthe aid of a mouse or other device. Two of the three rings can be positioned in thismanner. Using the coordinates of the two rings manually positioned the systemcalculates a third position of a symmetric triangle, and thus the third ring isautomatically placed on the third projection. The diameter of the rings can beadjustable so as to f1t the object in question, or in the alternative be at least so large so that they can fully enclose the projection of the object to be imaged.
    When the camera has been properly positioned and projections have been obtained,each ring will be centered over the corresponding projection of the object and eachring will be located in the center of the projection and contained within the corresponding projection.
    When, in order to obtain a sequence of projections, the collimator rotates, theposition of the rings could automatically be updated. It should be noted that in theabove description three projections are foreseen. It is, however, suff1cient with two.The third projection, which may be omitted, is used for increased operator confidence and convenience.
    With P1 having the coordinates (X1, yl) and P2 having the coordinates (x2,y2), o theslant angle of the collimator holes and R the radius of the detector the position (x,y,z)of the imaged object relative to the detector will be (the scale is here for simplicity assumed to be 1:1): - "yfšï -- tggëfzï. tgåi: Ä:x - ïgšíi gfš -~ :gås-E + tgåšš lïåšgšïzï - KH - fi-fssišï- ïš These X, y values represent the position in a plane, whereas, as indicatedpreviously, also the height above the patient may be required to be adjusted. Thisheight is represented by the z value: i I: - å 1 Furthermore, the centre coordinates of P3 Will be: _">_.,< -.._-š,~"*xl E3:15- .ÄT Làïtïfzåyü-Éï; .; š n; 1:3 = ff' ~I~ , _, The necessary adjustments of the detector position Will be: âx: - xfil _ - iRiälšf-w “" - :3, These values for the X-, Y- and Z-movements of the detector, respectively, Will be displayed on the monitor. Thereby it is an easy matter to adjust the position.
    The displacement in X and Y directions can be performed manually or by motorscoupled top the rear Wheels. The displacement in Z direction is performed suitably by moving the horizontal beam 14b, either manually but preferably using a motor.
    Although it is convenient for many reasons to have operator control as describedabove, it is also Within the inventive concept to have this process performedautomatically. This can be achieved by using image recognition software to identifythe position of the centre of gravity of the projections of the imaged object. In suchcase there is no need for operator intervention and strictly speaking not even amonitor screen for displaying the projections is required. HoWever, for controlpurposes, it is nevertheless a preferred feature to display the projections for visual verification of correctness in position.
    The sequence of operation When performing the method With operator intervention is as follows.
    Fig. 4b shows the display on the monitor in an initial position before adjustment.Only one ring 42 is in correct position with respect to the heart. Now one of the otherrings 43 is moved manually on the monitor screen such that it covers the heart, seeFig. 4c. The centre of gravity 45 of the triangle formed by the three rings isautomatically moved to a new position. Then a third ring 44 is moved automaticallyto cover a third projection of the heart, Fig. 4d. Again, the centre of gravity 45 ischanged, and now the deviation between current and optimal position is calculated.This deviation is displayed on the monitor and the adjustment can easily beperformed, either manually or automatically as described below, and the display will than look like in Fig. 4e.
    After the adjustment, optionally a new set of projections can be acquired so as to verify the correctness of the position.
    In an automated mode, the control electronic suitably running an image recognitionsoftware would process the data of each image and provide the identification of thecentre of gravity of the object in each projection, and calculate the triangle thusformed, i.e. spanned by the centres of gravity. Then the deviation between currentand optimal position is calculated as above, and the adjustment performed like before.
    Preferably the adjustment of the detector position in accordance with the calculatedrequired displacement is effected automatically. This can be implemented, as shownin Fig. 5, by the provision of electric motors 51, 52 which are provided to drive therear wheels RW of the mobile apparatus. Thus, when it is desired to move thedetector in the Y-direction the motors will drive each wheel in the same direction,whereas when a movement in the X-direction is required the motors will drive the wheels in opposite directions.
    In order to record the actual displacement during the adjustment operation there isin one embodiment provided a means for the detection of the position with respect tothe ground or floor. The information regarding the position is synchronized with thedata from the mechanical position adjustment unit 17, and this enables a determination of when the detector has reached an optimal position. 11 The position detection can be implemented by using the technology on which a socalled optical mouse is based, see Fig. 3a. An image recorder (camera) Ccontinuously records the ground or floor and by digital image processing changes inthe image are recorded by sequentially comparing the recorded images, and hencethe speed and direction of the displacement can be determined. Preferably a light source such as a LED is provided to enhance the image.
    Of course any other type of position detection could be used as long as speed and direction of the displacement can be recorded and fed back to the system.
    The method is illustrated in some further detail in Fig. 7. It comprises recordingsuccessive projections of e.g. a heart at different, preferably three differentangles using the detector 60. The signals from the detector 60 representingeach projection are stored in a memory 62 as pixels representing images that can be displayed on a display screen or monitor 64.
    In one embodiment the control electronics 66 is programmed to execute animage recognition software. Thus, the data, i.e. the image pixels are retrievedform memory, and the control electronics, by executing the image recognitionsoftware, identifies the imaged objects and their respective centres of gravity and thus the coordinates of said centers of gravity.
    The centre of gravity of each of the projections having been registered atdifferent angles by means of the detector, each represent a corner of anequilateral triangle, which in its turn will have a centre of gravity directly givenby the coordinates of the center of gravity of the projections, by simple geometric consideration.
    Thus, since the field of view of the system is known in terms of coordinates inthe reference frame of the apparatus itself, the deviation of the centre of gravityof the geometric figure spanned by said projections is calculated by the controlelectronics, and the deviation is presented as a required displacement of thedetector in the X-, Y- and optionally Z-directions, in order that the detector be positioned properly for the investigation. 12 In one embodiment the data representing the displacements are fed as controlsignals to a couple of motors 68 individually driving the rear Wheels 69 Whereby an automatic adjustment of the detector is possible.
    权利要求:
    Claims (9)
    [1] 1. A mobile imaging system (10), comprising a chassis (1 1a) having a front end and a rear end, the front end being configured to be insertable under a bed on which a patient is located, a detector (14a) with a collimator (15), attached to the chassis such that itcan be positioned over the patient in the bed configured to register images of an object, such as the heart of the patient, control electronics (12'), a display (13); characterized by a detector position adjustment unit (17), mounted on the chassis at thefront end thereof, comprising - a top and a bottom slide block (20, 19) each comprising an upper (20”,19”) and a lower part (20”, 19') coupled to each other via a low frictioninterface; - a rotaly bearing arrangement (21) mounted between the upper part(19”) of the bottom slide block (19) and the lower part (20') of the topslide block (20), thereby connecting the top and bottom slide blockssuch that they are rotatable with respect to each other; and further comprising an actuator (10) coupled to the adjustment unit (17)and configured to provide a lifting action to lift the front end of the chassis (1 1a) to apredetermined height above the ground, whereby the front end will rest on the adjustment unit (17) only.
    [2] 2. The system according to claim 1, wherein the parts (19', 19”, 20', 20") of each slideblock (19, 20) are connected by low friction skid rails, such that they are only linearly movable with respect to each other. 14
    [3] 3. The system according to claim 1 or 2, Wherein there is further provided anessentially vertically arranged frame (1 lb) attached to the chassis (1 la), and Whereinthe detector is mounted on an essentially horizontal beam (14b) mounted to the frame (1 lb).
    [4] 4. The system according to claim 1, 2 or 3, further comprising a detector height adjustment unit (16).
    [5] 5. The system according to any preceding claim, Wherein the detector is a gamma CQITIC fa.
    [6] 6. The system according to any preceding claim, further comprising means for moving the detector the required displacement.
    [7] 7. The system according to claim 10, Wherein the means for moving the detectorcomprises electric motors coupled to one rear Wheel each, controlled by the controlelectronics to rotate the rear Wheels in accordance With the required displacement,such that for movement in a longitudinal (X) direction both rear Wheels are driven inthe same direction, and for movement in a transverse (Y) direction the rear Wheels are driven in opposite directions.
    [8] 8. The system according to any preceding claim, Wherein the chassis (1 la) has a pair of front Wheels (FW) and a pair of rear Wheels (RW).
    [9] 9. The system according to claim 8, comprising drive means (51, 52) configured todrive each rear Wheel separately, in both directions, in response to the calculated displacements in X and Y directions.
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    同族专利:
    公开号 | 公开日
    SE536948C2|2014-11-11|
    WO2014158079A1|2014-10-02|
    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1350389A|SE536948C2|2013-03-27|2013-03-27|Mobile medical imaging system|SE1350389A| SE536948C2|2013-03-27|2013-03-27|Mobile medical imaging system|
    PCT/SE2014/050343| WO2014158079A1|2013-03-27|2014-03-20|Mobile medical imaging system|
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