WO2015124023A1 - Topically dedicated flat plate pet imaging device and method and radiotherapy machine - Google Patents

Abstract

Disclosed is a topically dedicated flat plate PET imaging device comprising a pair of flat plate PET detectors (200) and a mechanical arm system capable of supporting the detectors (200) to move in three directions, and supporting the detectors (200) to rotate at a certain angle. Also disclosed is a topically dedicated flat plate PET imaging method, comprising: providing a pair of flat plate PET detectors (200) and obtaining the information about regions of interest (400) of an imaging object; determining the imaging field of view of the pair of flat plate PET detectors (200) according to the information about the regions of interest (400), and ensuring that the regions of interest (400) are in the imaging field of view; acquiring corresponding data by means of the pair of flat plate PET detectors (200), performing data correction and calibration, and obtaining a three-dimensional fault activity image through image reconstruction; and completing imaging, and moving the pair of flat plate PET detectors (200) away from the imaging object. The topically dedicated flat plate PET imaging device has a good openness, small size, good mobility, high positional adjustability for the detectors (200), high detection efficiency, and high spatial resolution.

Description

Local special flat PET imaging device and method, radiotherapy machine Technical field

The invention relates to the field of positron emission tomography, and in particular to a local dedicated flat PET imaging device and method and a radiotherapy machine.

Background technique

Positron Emission Tomography (PET) is a non-invasive method for non-invasive, quantitative, dynamic assessment of metabolic levels, biochemical reactions, functional activities, and perfusion of various organs in humans. As a highly sensitive functional imaging device, PET has unique value in early diagnosis, treatment planning, efficacy monitoring and evaluation of tumors, cardiovascular diseases and neurological diseases.

With the deepening of the application of PET instruments in clinical diagnosis and treatment, the medical profession has put forward new demands on the performance and function of PET instruments. The existing clinical PET adopts the traditional closed system architecture, and both performance and application scope are faced. Limitations: 1. In many clinical focus examinations and treatments, high-quality PET images need to be obtained for local parts. Existing clinical full-body PET is difficult to meet the demand whether it is spatial resolution (less than 4mm FWHM) or sensitivity (less than 10kcps MBq□1). (Note: including detection efficiency (measurement data per unit time, unit concentration), spatial resolution (the difference between the distances of two points in space, the lower limit of the lesion size can be identified)) 2. PET as a high Sensitive functional imaging has the potential to be of value in applications such as image-guided radiotherapy and surgical navigation. However, the existing clinical PET is huge in size, must be operated in the imaging room of a dedicated imaging center, and the detector is closed, and other clinical operations cannot be performed while imaging. 3. In recent years, mobile and bedside video equipment has increasingly become an important trend in the development of various imaging devices. These applications require small, portable, and mobile bedside/mobile PET. The existing ring-shaped PET is huge in size (usually a few square meters and weighs several tons), and requires a dedicated image center imaging room to be used.

In summary, the existing PET imaging device is for the whole body imaging of the human torso, the volume is huge, the device adopts a closed system structure, the adjustability is poor, and the device adopts a fixed detector arrangement.

The specific drawbacks of existing PET imaging devices are:

1, closed, can not perform other operations at the same time of imaging, such as surgery, radiotherapy, biopsy;

2, bulky, traditional PET in order to cover the trunk of all patients, so the detector ring is often too large (at least 50cm in diameter, generally more than 70cm);

3, the cost is expensive, the large detection ring requires a large number of detector modules, and the main cost of PET equipment is the detector;

4, mobility, poor adjustability, must be in the PET imaging room in a dedicated PET imaging center, the patient is lying in the bed to move into a closed detector ring;

5, local area imaging performance is low, the large detector ring leads to the effective detection of the region of interest is too small (Note: the closer the detector is to the imaging object, the larger the coverage solid angle, the higher the detection efficiency, otherwise the more Low), the large detector ring leads to an increase in the effect of photon non-collinearity (Note: photon non-collinearity is an important physical factor affecting the spatial resolution of PET, which is proportional to the diameter of the detector ring: δ = 0.0022D mm , D is the detector diameter).

Therefore, in view of the above technical problems, it is necessary to provide a novel structure of a partially dedicated flat PET imaging apparatus and method to overcome the above drawbacks.

Summary of the invention

In view of the above, an object of the present invention is to provide a local dedicated flat PET imaging apparatus and method with good mobility, good openness, and strong detector position.

In order to achieve the above object of the present invention, the present invention provides a partially dedicated flat PET imaging apparatus comprising at least two sets of flat PET detectors and supporting the detector to move in three directions and supporting the detector to rotate at an angle Robotic arm system.

In the above-described local dedicated flat PET imaging device, preferably, at least one of the flat PET detectors is a regular flat structure, and at least two of the flat PET detectors are symmetrically arranged.

In the above-described local dedicated flat PET imaging device, preferably, at least one of the flat PET detectors is a regular flat structure, and all of the flat PET detectors are arranged asymmetrically.

In the above-described local dedicated flat PET imaging device, preferably, at least one of the flat PET detectors is an irregular flat plate structure, and at least two of the flat PET detectors are symmetrically arranged.

In the above-described partially dedicated flat PET imaging apparatus, preferably, at least one of the flat PET detectors is an irregular flat structure, and all of the flat PET detectors are arranged asymmetrically.

In the above-mentioned local dedicated flat PET imaging device, preferably, at least one of the set of flat PET detectors is a partial ring structure, and the partial ring structure is formed by splicing a plurality of flat panel detector units, all of the flat PET At least two of the detectors are arranged symmetrically.

In the above-mentioned local dedicated flat PET imaging device, preferably, at least one of the sets of flat PET detectors is a partial ring structure, and the partial ring structure is formed by splicing a plurality of flat panel detector units, all of the flat PET The detectors are arranged asymmetrically.

In the above-described local dedicated flat PET imaging device, preferably, the mechanical arm system is provided with an information input unit, a control unit connected to the information input unit, and a mechanical arm operating unit connected to the control unit, the mechanical arm operation A unit is connected to the flat PET detector.

To achieve the above object, the present invention also provides the following technical solutions:

Another object of the present invention is to provide a locally dedicated flat PET imaging method for imaging using the above-described local dedicated flat PET imaging apparatus, comprising the steps of: S1: acquiring information of a region of interest of an imaging object, including the size of the region of interest. , shape and location; S2: According to the size, shape and location of the region of interest, determine the imaging field of view of the flat PET detector, to ensure that the region of interest is in the imaging field of view, the imaging field of view is a flat panel detector The spatial range between the two; S3: the conforming data is collected by the flat PET detector, the corresponding data is corrected and calibrated, and the image reconstruction is performed to obtain the three-dimensional tomographic activity image; S4: the imaging is completed, and the moving flat PET detector leaves the imaging object.

The above-mentioned locally dedicated flat PET imaging method, preferably, in the step S1, according to the previous PET image or SPECT image or X-ray imaging or CT image or MRI image or ultrasound image or DSA image or other medical image or biopsy The result or clinician recommends obtaining information on the region of interest of the imaged subject.

In the above-mentioned local dedicated flat PET imaging method, preferably, in the step S2, if there is an important sub-area in the region of interest, the size, shape and location thereof are also clearly defined.

In the above-described local dedicated flat PET imaging method, preferably, in the step S2, the region of interest is placed at the center of the field of view by the robotic arm system.

It is still another object of the present invention to provide a radiotherapy apparatus comprising the above-described partially dedicated flat PET imaging apparatus.

Compared with the prior art, all the above technical solutions of the present invention have the following advantages:

1. A partially dedicated flat PET imaging device of the present invention comprising at least two sets of flat PET detectors and a robotic arm system that can support the detector to move position in three directions and to support rotation of the detector at an angle. The technical solution uses a pair of flat panel detectors to image the region of interest of the patient's torso, the detector does not have to completely enclose the patient's torso, and even the detector size can be customized for a specific detection site, and the robotic arm is set by The system realizes the movement of the PET detector, so that the flat PET detector can be moved to different positions on the torso surface during the imaging process, and the angle can be rotated to obtain the optimal imaging position. The two flat panel detectors can adjust the spacing in real time, which is convenient. Perform other clinical procedures or achieve higher imaging performance and detection efficiency. The flat PET imaging device in the whole scheme is small in size and convenient to be inserted into the imaging chamber of other image modes, and the cost is low compared with the existing large PET.

2. At least one set of the flat PET detectors is a regular flat structure, and at least two of the flat PET detectors are symmetrically arranged. The technical scheme adopts a regular flat structure, which makes the engineering development difficulty of the whole system lower, and thus the cost is low. At the same time, it reduces the maintenance difficulty of the system.

3. At least one set of the flat PET detectors is a regular flat structure, and all of the flat PET detectors are arranged asymmetrically. The technical scheme adopts a regular flat structure, and the detector adopts an asymmetric arrangement for a part of the tissue or organ to be detected at a specific position, which can provide a higher solid angle coverage to the region of interest, thereby achieving higher detection sensitivity.

4. At least one set of the flat PET detectors is an irregular flat structure, and at least two of the flat PET detectors are symmetrically arranged. The technical scheme adopts an irregular flat structure, and is suitable for organs and images with relatively special positions, such as the liver at the edge of the trunk, or a special shape. Tissue, such as the flat pancreas. It is possible to increase the detection sensitivity and the like as much as possible with a strong constraint on the overall size of the imaging device.

5. At least one set of the flat PET detectors is an irregular flat structure, and all of the flat PET detectors are arranged asymmetrically. The technical scheme adopts an irregular flat structure, and is suitable for organs and images with special positions, such as the liver at the edge of the trunk, or a tissue with a special shape, such as a flat pancreas. It is possible to increase the detection sensitivity and the like as much as possible with a strong constraint on the overall size of the imaging device.

6. At least one group of the flat PET detectors is a partial ring structure, the partial ring structure is formed by splicing a plurality of flat panel detector units, and at least two of the flat panel PET detectors are symmetrically arranged. The technical scheme adopts a partial ring structure detector, which is suitable for tissues with a shape close to a cylindrical shape, an elliptical cylindrical shape, a spherical shape and an ellipsoid shape, such as breast cancer imaging of a woman, head and neck tumor imaging, and imaging of limbs.

7. At least one group of the flat PET detectors is a partial ring structure, the partial ring structure is formed by splicing a plurality of flat panel detector units, and all of the flat PET detectors are arranged asymmetrically. The technical scheme adopts a partial ring structure detector, which is suitable for tissues with a shape close to a cylindrical shape, an elliptical cylindrical shape, a spherical shape and an ellipsoid shape, such as breast cancer imaging of a woman, head and neck tumor imaging, and imaging of limbs.

8. The robot arm system is provided with an information input unit, a control unit connected to the information input unit, and a robot arm operation unit connected to the control unit, and the robot arm operation unit is connected to the flat PET detector. The mechanical arm used in the technical solution is connected with the front end detector, which further improves the modularization degree of the flat panel imaging system, and can adjust various layouts according to the specific imaging part characteristics and application scene requirements, and the whole machine has higher imaging flexibility.

9. The local dedicated flat PET imaging method for imaging using the above-described local dedicated flat PET imaging device, comprising the steps of: acquiring the region of interest of the imaged object, including the size, shape and location of the region of interest; Position; S2: Determine the imaging field of view of the flat PET detector according to the size, shape and location of the region of interest, to ensure that the region of interest is within the imaging field of view, and the imaging field of view is the space between the flat panel detectors Range; S3: Collecting coincidence data through a flat PET detector, performing corresponding data correction and calibration, and performing image reconstruction to obtain a three-dimensional fault Activity image; S4: imaging is completed, moving the flat PET detector away from the imaged object. The technical solution first acquires information of the imaged region of interest, adjusts the overall position of the flat PET system, the detector layout, etc. according to the characteristics of the region of interest, and then performs data acquisition and image reconstruction. This ensures a higher solid angle coverage of the region of interest for higher detection sensitivity. On the other hand, the spacing of the imaging detectors can be reduced to reduce the spatial resolution degradation caused by photon non-collinearity. Both of these will achieve high quality imaging for specific areas. In addition, the imaging mode of the flat PET system is customized according to the specific region of interest, instead of the conventional universal imaging mode, which brings more flexibility and convenience to the imaging, and reduces the space occupied by the imaging device. Immediately after imaging, the flat panel detector is removed, making PET imaging more suitable for special imaging sites such as operating rooms, radiotherapy rooms, ICUs and emergency rooms.

10. In the step S1, the imaged object is obtained according to the previous PET image or SPECT image or X-ray imaging or CT image or MRI image or ultrasound image or DSA image or other medical image or biopsy result or clinician suggestion. Regional information. The technical scheme adopts clinical means including pre-medical images to establish feature information of the region of interest, and fully utilizes existing medical evidence as prior information to improve the feasibility of local flat PET imaging.

11. In the step S2, if there is an important sub-area in the region of interest, the size, shape and location thereof are also clearly defined. This technical solution is applicable to situations in which more important sub-regions exist in the region of interest of the observation, such as tumor regions within the tissue.

12. In the step S2, the region of interest is placed at the center of the field of view by the robotic arm system. The technical solution adopts the mechanical arm system to place the region of interest at the imaging center position, which will improve the sensitivity and spatial resolution of the region of interest, so that the region of interest obtains high quality imaging.

13. A radiotherapy machine according to the present invention comprising the above-described partially dedicated flat PET imaging device. The technical solution makes the instrument open by using a locally dedicated flat PET imaging device, and can be used for PET to perform synchronously with the radiotherapy operation.

DRAWINGS

1 is a schematic view showing the arrangement of a PET detector and an imaged object in the prior art;

2 is a schematic view showing a first arrangement of a flat PET detector and an imaged object in a partially dedicated flat PET imaging device of the present invention;

3 is a schematic view showing a second arrangement of a flat PET detector and an imaged object in a partially dedicated flat PET imaging device of the present invention;

4 is a schematic view showing a third arrangement of a flat PET detector and an imaged object in a partially dedicated flat PET imaging device according to the present invention;

Figure 5 is a schematic illustration of a first imaging pitch in a partially dedicated flat PET imaging device of the present invention.

6 is a schematic view showing a second imaging pitch in a partially dedicated flat PET imaging device of the present invention, wherein the flat PET detector is the same as the flat PET detector of FIG. 5;

7 is a schematic view showing a first form of a flat PET detector and an imaged object in a partially dedicated flat PET imaging device of the present invention;

Figure 8 is a schematic view showing a second form of a flat PET detector and an imaged object in a partially dedicated flat PET imaging device of the present invention;

Figure 9 is a schematic illustration of a third form of flat PET detector and an imaged object in a partially dedicated flat PET imaging device of the present invention.

Among them: 100-PET detector; 200-plate PET detector; 300-imaging object torso; 400-imaging area of the imaged object.

detailed description

The invention discloses a partial dedicated flat PET imaging device and method. The local dedicated flat PET imaging device and method aim at providing high performance imaging to key parts, and has the advantages of openness, adjustability and mobility.

As shown in FIG. 1, FIG. 1 shows that a PET detector 100 in the prior art has a ring-shaped structure. The PET detector 100 of such a ring structure has poor openness and cannot perform other clinical operations at the same time.

In Figures 2 through 9, 200 represents each set of flat PET detectors, 300 represents the torso of the imaging subject, and 400 represents the location of the region of interest of the imaging subject.

As shown in FIG. 2 to FIG. 4, the partially-dedicated flat PET imaging device disclosed in the present invention includes at least two sets of flat PET detectors 200 and can support the detector to move in three directions, It also supports a robotic arm system (not shown) that rotates the detector at a certain angle. Each set of flat PET detectors 200 is considered to be a separate detector panel, and each set of flat PET detectors 200 can be constructed from a plurality of detector modules. The local dedicated flat PET imaging device of the present invention has good openness. By using a pair of flat panel detectors to image the region of interest of the patient's torso, the detector does not have to completely enclose the patient's torso, and may even target a specific detection site. The size of the detector is customized, and the movement of the PET detector is realized by setting the robot arm system, so that the flat PET detector can be moved to different positions on the surface of the trunk during the imaging process, and the angle can be rotated to obtain the optimal imaging position. Two flat panel detectors allow for real-time adjustment of spacing for other clinical operations such as radiotherapy, surgery, hyperthermia, biopsy, etc., or for higher imaging performance and detection efficiency. The flat PET imaging device in the whole program is small in size, good in mobility and adjustable, easy to insert into the imaging chamber of other image modes, and can be pushed to the operating room and other applications. Radiotherapy includes gamma ray therapy, X-ray. Treatment, proton therapy, heavy ion therapy, fast neutron therapy, etc., are relatively low in cost compared to existing large PET.

2 through 4 show schematic views of a set of flat PET detectors 200, and the embodiments of the drawings are not intended to limit the scope of the invention. It can be seen from FIG. 2 to FIG. 4 that the flat PET detector can be disposed at a position corresponding to any region of interest, and has small volume, good mobility, and strong adjustability.

As shown in Figures 5 and 6, a schematic representation of the two imaging spacings, i.e., the detection efficiency (coverage angle) (axial) of the different imaging spacing (same flat PET detector) for the center of the field of view.

The partially dedicated flat PET imaging device of the invention adopts fewer flat PET detectors than the prior art, so the cost is much lower than that of the conventional circular PET detector, and the invention can adjust the spacing of the flat PET detector. To make it as close as possible to the imaging region of interest of the patient's torso, which can reduce the distance between the detectors and reduce the interference effect of photon non-collinearity on spatial resolution (δ = 0.0022D mm); The spacing of the PET detectors also increases the solid angle coverage of the flat PET detector relative to the torso, as shown in Figure 5, which results in a relatively high detector efficiency (i.e., the detection sensitivity of a flat PET detector). The partially dedicated flat PET imaging device of the invention has high detection efficiency and high spatial resolution.

As shown in Figures 7 through 9, the flat panel detector 200 of the present invention can take a variety of forms, such as a toroidal or regular flat structure or an irregular flat structure.

At least one of the set of flat PET detectors 200 is a regular flat structure, and at least two of the flat PET detectors 200 are symmetrically arranged. As shown in FIG. 9, FIG. 9 shows a case where three sets of flat PET detectors 200 are included, that is, a case of multiple flat plates, in which two sets are symmetrically designed. Of course, in other embodiments, the flat plate of the regular flat structure is used. The PET detector 200 may not be limited to three groups, and the embodiment shown in Fig. 9 is not intended to limit the scope of the invention. By adopting a regular flat structure, the engineering development of the whole system is less difficult, and thus the cost is low. At the same time, it reduces the maintenance difficulty of the system.

In other embodiments, when at least one of the set of flat PET detectors 200 is a regular flat structure, all of the flat PET detectors 200 may also employ an asymmetrical arrangement. With a regular plate structure, the detector is asymmetrically arranged for a part of the tissue or organ to be detected at a specific position, which can provide a higher solid angle coverage for the region of interest, thereby achieving higher detection sensitivity.

For another embodiment, at least one of the set of flat PET detectors 200 is an irregular flat structure, and at least two of the flat PET detectors 200 are symmetrically arranged. As shown in FIG. 8, FIG. 8 shows a case where two sets of flat PET detectors 200 are included. The two sets are symmetrically designed. Of course, in other embodiments, the flat PET detector 200 of the irregular flat structure may not Limited to two groups, the embodiment shown in Figure 8 is not intended to limit the scope of the invention. The use of irregular plate structure is suitable for organs and images with special positions, such as the liver at the edge of the trunk, or tissues with special shapes, such as the flat pancreas. It is possible to increase the detection sensitivity and the like as much as possible with a strong constraint on the overall size of the imaging device.

In other embodiments, when at least one of the set of flat PET detectors 200 is an irregular flat structure, all of the flat PET detectors may also employ an asymmetrical arrangement. The use of irregular plate structure is suitable for organs and images with special positions, such as the liver at the edge of the trunk, or tissues with special shapes, such as the flat pancreas. It is possible to increase the detection sensitivity and the like as much as possible with a strong constraint on the overall size of the imaging device.

As shown in FIG. 7, each set of the flat PET detector 200 is a partial ring structure, which is formed by splicing a plurality of flat panel detector units, and at least two of the flat PET detectors 200 are present. Symmetrical arrangement. Shown in Figure 7 are two sets of symmetrically designed flat PET detectors 200, and the embodiment shown in Figure 7 is not intended to limit the scope of the invention. a detector with a partial ring structure, It is suitable for tissues with shapes close to cylindrical, ellipsoidal, spherical, and ellipsoidal, such as breast cancer imaging of women, head and neck tumor imaging, and imaging of limbs.

In other embodiments, when each set of flat PET detectors 200 is a partial loop structure, the partial loop structure is formed by splicing a plurality of flat panel detector units, and all of the flat PET detectors 200 can be asymmetric. Arrangement. Partial ring structure detectors are suitable for tissues with shapes close to cylindrical, ellipsoidal, spherical, and ellipsoidal shapes, such as breast cancer imaging, head and neck tumor imaging, and limb imaging.

In all possible embodiments of the partially dedicated flat PET imaging device of the present invention, each set of flat PET detectors can be of a different quality, including: size, scintillation crystals (material, cutting pattern, thickness, etc.).

In all possible embodiments of the invention, the flat PET detector 200 can cover the entire abdominal cavity (30-40 cm) in length, or it can be as small as a small organ (for example, for the pancreas, it may only require 15-20 cm).

The robot arm system is provided with an information input unit, a control unit connected to the information input unit, and a robot arm operation unit connected to the control unit, and the robot arm operation unit is connected to the flat PET detector. Each of the individual detector panels must have a robotic arm. For example, if there are only two flat panel detector panels, two robotic arms are required. If three detector panels are required, three robotic arms are required. However, if any of the detector panels consists of multiple detector modules, then each module does not require a separate robotic arm. The use of a mechanical arm to connect the front-end detector further improves the modularity of the flat-panel imaging system. Various layouts can be adjusted according to the specific imaging site characteristics and application scenarios, and the imaging flexibility of the whole machine is higher.

The invention firstly obtains the region of interest of the imaged object according to the previous PET image or SPECT image or X-ray imaging or CT image or MRI image or ultrasound image or DSA image or other medical image or biopsy result or clinician suggestion, and then passes The position is set in the information input unit, and then the system communicates to the control unit, which in turn instructs the robot arm operating unit to perform position adjustment of the flat PET detector.

The partially dedicated flat PET imaging device of the present invention uses a flat PET detector to image the region of interest of the patient's torso. The detector does not have to completely enclose the patient's torso, and the detector size can be customized for a particular detection site.

The partially dedicated flat PET imaging device of the invention has strong mobility, and can be quickly moved to the periphery of the patient's torso by the mechanical arm system for imaging. After the imaging is completed, the device is moved by the mechanical arm system, and the patient does not need to move the whole process. .

The partially dedicated flat PET imaging device of the invention has strong adjustability, and can move to different positions on the torso surface during the imaging process, and can rotate the angle to obtain an optimal imaging position, and the flat PET imaging device adjusts the spacing in real time. For other clinical operations or to increase detection efficiency.

The locally dedicated flat PET imaging method disclosed by the present invention utilizes the above-described local dedicated flat PET imaging device for imaging. The local dedicated flat PET imaging method includes the steps of:

S1: acquiring information about the region of interest of the imaged object, including the size, shape, and location of the region of interest;

S2: determining an imaging field of view of the flat PET detector according to the size, shape and location of the region of interest, ensuring that the region of interest is within the imaging field of view, and the imaging field of view is the spatial extent between the panel detectors;

S3: collecting conforming data through a flat PET detector, performing corresponding data correction and calibration (normalization correction, attenuation correction), and performing image reconstruction to obtain a three-dimensional tomographic activity image;

S4: The imaging is completed, and the moving flat PET detector leaves the imaging object.

The above method first acquires information of the imaged region of interest, adjusts the overall position of the flat PET system, the detector layout, etc. according to the characteristics of the region of interest, and then performs data acquisition and image reconstruction. This ensures a higher solid angle coverage of the region of interest for higher detection sensitivity. On the other hand, the spacing of the imaging detectors can be reduced to reduce the spatial resolution degradation caused by photon non-collinearity. Both of these will achieve high quality imaging for specific areas. In addition, the imaging mode of the flat PET system is customized according to the specific region of interest, instead of the conventional universal imaging mode, which brings more flexibility and convenience to the imaging, and reduces the space occupied by the imaging device. Immediately after imaging, the flat panel detector is removed, making PET imaging more suitable for special imaging sites such as operating rooms, radiotherapy rooms, ICUs and emergency rooms.

If multiple imaging is required, steps S1-S4 are repeated.

In the step S1, the region of interest of the imaged object is obtained according to the previous PET image or SPECT image or X-ray imaging or CT image or MRI image or ultrasound image or DSA image or other medical image or biopsy result or clinician suggestion. . The clinical means including pre-medical images are used to establish the feature information of the region of interest, and the existing medical evidence is used as the prior information to improve the feasibility of local flat PET imaging.

In the step S2, if there is a more important sub-region in the region of interest, the size, shape and location thereof should also be clarified. This technical solution is applicable to situations in which more important sub-regions exist in the region of interest of the observation, such as tumor regions within the tissue.

In the step S2, the region of interest is placed in the center of the field of view by the robot arm system as much as possible. The technical solution adopts the mechanical arm system to place the region of interest at the imaging center position, which will improve the sensitivity and spatial resolution of the region of interest, so that the region of interest obtains high quality imaging.

It can be seen from the above technical solutions that the local dedicated flat PET imaging device and method of the embodiments of the present invention have good openness, small volume, good mobility, strong adjustable position of the detector, high detection efficiency and high spatial resolution.

The present invention also discloses a radiotherapy machine provided with a locally dedicated flat PET imaging device within the scope of the present invention. Radiotherapy includes gamma ray therapy, X-ray therapy, proton therapy, heavy ion therapy, and fast neutron therapy. The technical solution makes the instrument open by using a locally dedicated flat PET imaging device, and can be used for PET to perform synchronously with the radiotherapy operation. The topical dedicated flat PET imaging device of the present invention can be used in addition to a radiotherapy machine and can be inserted into other devices, and any obvious alternatives are conceivable within the scope of the present invention.

Compared with the prior art, all the above technical solutions of the present invention have the following advantages:

(1) It is small in size and can be easily applied to other clinical applications such as operating room. It is also very suitable for coupling with other image modes, such as MRI. It is small in size and easy to insert into the imaging chamber of MRI.

(2) Good mobility and high adjustability;

(3) High imaging performance for the region of interest, including spatial resolution and sensitivity;

(4) The cost is several times lower than the existing PET or even more;

(5) Open, can be used for PET and other operations, such as radiotherapy (including gamma ray therapy, X-ray therapy, proton therapy, heavy ion therapy, fast neutron therapy), surgery, hyperthermia, puncture Biopsy and so on.

Claims (13)

A partially dedicated flat PET imaging device comprising at least two sets of flat PET detectors and a robotic arm system that can support the detector to move in three directions and support the detector to rotate at an angle. The locally dedicated flat PET imaging apparatus according to claim 1, wherein at least one of said flat PET detectors is a regular flat structure, and at least two of said flat PET detectors are symmetrically arranged. A partially dedicated flat PET imaging apparatus according to claim 1 wherein at least one of said flat PET detectors is a regular flat structure and all of said flat PET detectors are arranged asymmetrically. The locally dedicated flat PET imaging apparatus according to claim 1, wherein at least one of said flat PET detectors is an irregular flat structure, and at least two of said flat PET detectors are symmetrically arranged. A partially dedicated flat PET imaging apparatus according to claim 1 wherein at least one of said flat PET detectors is an irregular flat structure and all of said flat PET detectors are arranged asymmetrically. The locally dedicated flat PET imaging apparatus according to claim 1, wherein at least one of said sets of flat PET detectors is a partial loop structure, and said partial loop structure is formed by splicing a plurality of flat panel detector units. At least two of the flat panel PET detectors are symmetrically arranged. The locally dedicated flat PET imaging apparatus according to claim 1, wherein at least one of said sets of flat PET detectors is a partial loop structure, and said partial loop structure is formed by splicing a plurality of flat panel detector units. All of the flat PET detectors are arranged asymmetrically. A partially dedicated flat PET imaging apparatus according to claim 1, wherein said robot arm system is provided with an information input unit, a control unit connected to said information input unit, and a robot arm connected to said control unit. a unit, the robot arm operating unit is coupled to the flat PET detector. A local dedicated flat PET imaging method for imaging using the locally dedicated flat PET imaging device of any of claims 1-8, comprising the steps of: S1: acquiring information about the region of interest of the imaged object, including the size, shape, and location of the region of interest; S2: determining an imaging field of view of the flat PET detector according to the size, shape and location of the region of interest, ensuring that the region of interest is within the imaging field of view, and the imaging field of view is the spatial extent between the panel detectors; S3: collecting conforming data through a flat PET detector, performing corresponding data correction and calibration, and performing image reconstruction to obtain a three-dimensional tomographic activity image; S4: The imaging is completed, and the moving flat PET detector leaves the imaging object. The local-specific flat PET imaging method according to claim 9, wherein in the step S1, according to the previous PET image or SPECT image or X-ray imaging or CT image or MRI image or ultrasound image or DSA image Or other medical imaging or biopsy results or clinician recommendations to obtain information on the region of interest of the subject. The local-specific flat PET imaging method according to claim 9, wherein in the step S2, if there is an important sub-region in the region of interest, the size, shape and location thereof are also clearly defined. The local-specific flat PET imaging method according to claim 9, wherein in the step S2, the region of interest is placed at a central position of the field of view by the robot arm system. A radiotherapy machine comprising the partially dedicated flat PET imaging device of any of claims 1-8.

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