Fast 3D radiography using multiple pulsed X-ray sources in motion

Abstract

This paper presents an X-ray imaging system that uses multiple pulsed X-ray sources in motion to perform efficient and ultra-fast 3D radiography. Multiple pulsed X-ray sources are mounted on a moving structure to form a source array. The multiple X-ray sources move simultaneously as a group at a constant speed relative to an object along a predefined arc-shaped trajectory. Each individual X-ray source can also move rapidly around its static position over a small distance. When the speed of one X-ray source is equal to the group speed but in the opposite direction of movement, the X-ray source and X-ray flat-panel detector are activated by an external exposure control unit, temporarily keeping the source stationary. This significantly reduces the source travel distance of each X-ray source. 3D scanning can cover a wider sweep angle in a shorter time, and image analysis can also be performed in real time.

Description

[0001] Liu Jianqiang, Yang Linbo, Manat Maulinbai, Tang Xiaohui, Gu Chunyuan, and Liu Yiqing

[0002] Compass Innovations

[0003] This application claims priority from Provisional Serial No. 62967325, the contents of which are incorporated by reference. Technical Field

[0004] This patent specification is in the field of 3D X-ray radiography systems and methods, and in particular relates to the use of pulsed X-ray sources and large field-of-view digital flat panel X-ray detectors. Background of the Invention

[0006] There is a type of digital X-ray 3D radiography such as mammography, also known as digital tomosynthesis (DTS), which is a method for performing high-resolution limited-angle tomography at a radiation dose level comparable to conventional radiography.

[0007] These digital tomosynthesis systems typically use an X-ray source mounted at one end of a rotatable C-arm assembly and a digital flat-panel detector at the other. Between the source and detector is a device that compresses and immobilizes the breast. Breast compression is necessary to reduce X-ray scatter, lower radiation dose, achieve more uniform light density across the detector, and improve visualization of anatomical structures.

[0008] Tomosynthesis can be used to screen asymptomatic women for early signs of breast cancer. This type of imaging can also be used as a diagnostic tool for women with symptoms of breast cancer. Tomosynthesis is an advanced form of mammography. Compared to 2D mammography, digital breast tomosynthesis (DBT) detects more cancers with fewer false positive recalls and more precise lesion localization.

[0009] When tomosynthesis is performed, the X-ray source is moved in an arc around the breast. As the source moves around the breast, a series of low-dose X-ray images are collected at different angles.

[0010] The collected dataset allows for the reconstruction of parallel planes. Each plane is in focus, while tissue images outside of these planes are blurred. Generally, wider sweep angles produce more data projections and achieve better 3D resolution, but they take longer. Data processing is manufacturer-specific, as different reconstruction algorithms may be used.

[0011] It should be emphasized that these types of digital tomosynthesis systems and methods can also be applied to other X-ray 3D radiography applications, such as X-ray 3D chest diagnostic systems for COVID, X-ray 3D non-destructive testing (NDT) systems, and X-ray 3D security inspection systems.

[0012] The prior art uses a single X-ray source and a single flat panel to perform X-ray 3D radiography. However, there are disadvantages in the prior art.

[0013] The main disadvantage is that a single X-ray source takes a long time to acquire a good data projection. This is true for both continuous and stepper modes. In continuous mode, the X-ray source emits X-rays as it moves; in stepper mode, the X-ray source moves to one position, stops, emits X-rays, and then continues to the next position.

[0014] While all patients desire a quick X-ray image, there is a minimum requirement for the X-ray source's sweep angle. If the sweep angle is too small, the X-ray source can travel a shorter distance and the total time required is less, resulting in a system with fewer data projections. This results in lower depth resolution and a loss of detail perception. If the sweep angle needs to be large enough to achieve good data projections and thus better 3D resolution, a single X-ray source may mechanically travel too far, becoming uncomfortable for the patient and unable to hold their breast still. In some cases, a single 50-degree sweep can take up to half a minute.

[0015] The second disadvantage is that real-time reconstruction is difficult because the entire process is slow. Typically, existing technologies take tens of seconds to complete a sweep. Summary of the Invention

[0016] In a first aspect, a system for providing fast 3D radiography using multiple pulsed X-ray sources in motion, the system having: a main motor platform that moves freely on an arcuate guide rail having a predetermined shape; a main motor that engages with the main motor platform and controls the speed of the main motor platform; a plurality of auxiliary motor platforms that are coupled to the main motor platform and move along the direction of the arcuate guide rail; a plurality of auxiliary motors, each of which engages with an auxiliary motor platform and controls the speed of the auxiliary motor platforms; a plurality of X-ray sources, each of which is moved by the auxiliary motor platforms; a support frame structure that provides a housing for the main motor platform and the auxiliary motor platforms; and a flat panel detector for receiving X-ray imaging data.

[0017] In a second aspect, a method for rapid 3D radiography using multiple pulsed X-ray sources in motion includes: positioning a main motor platform and one or more auxiliary motor platforms to predetermined initial positions; sweeping the main motor platform at a predetermined constant speed by the main motor; oscillating each of the auxiliary motor platforms in a predetermined sequence by a corresponding auxiliary motor; electrically activating an X-ray source and a flat panel detector when the auxiliary motor platforms move in a direction opposite to the main motor platform and at a selected speed of the main motor platform; and acquiring image data from the X-ray source using the flat panel.

[0018] In another aspect, an X-ray imaging system is presented that uses multiple pulsed X-ray sources in motion to perform ultra-fast, efficient 3D radiography. In this system, multiple pulsed X-ray sources are mounted on a moving structure to form a source array. The multiple X-ray sources move simultaneously around an object on a predefined trajectory at a constant group speed. Each individual X-ray source can also move rapidly around its static position within a small distance. When the speed of an individual X-ray source is equal to the group speed but the movement direction is opposite, the individual X-ray source is triggered by an external exposure control unit. This arrangement allows the X-ray source to remain relatively stationary during the X-ray pulse triggering exposure. The multiple X-ray sources significantly reduce the source travel distance of each X-ray source. The X-ray receiver is an X-ray flat-panel detector. 3D radiographic image projection data can be acquired in a shorter period of time through a wider overall sweep, and image analysis can be performed in real time while scanning.

[0019] In another aspect, an X-ray imaging system that uses multiple pulsed X-ray sources in motion to perform efficient and ultra-fast 3D radiography includes multiple pulsed X-ray sources mounted on a moving structure to form a source array. The multiple X-ray sources move simultaneously as a group at a constant speed relative to an object along a predefined arc-shaped trajectory. Each individual X-ray source can also move rapidly around its static position at a small distance. When the speed of an individual X-ray source is equal to the group speed but in the opposite direction of movement, the individual X-ray source and X-ray detector are activated by an external exposure control unit. This arrangement allows the X-ray sources to remain relatively stationary during activation and exposure of the X-ray detector. The X-ray receiver is a flat-panel X-ray detector. The multiple X-ray sources in motion significantly reduce the source travel distance of each X-ray source. 3D radiographic image data can be acquired in a shorter time and at a wider overall sweep angle, and image analysis can be performed in real time while scanning.

[0020] In embodiments, X-rays can also be randomly activated from any source in the array using a random emission scheme. The results of each and cumulative analysis determine the next X-ray source and exposure conditions. A 3D X-ray radiographic image is reconstructed based on the angled geometry of the X-ray exposure source for each image. Broader applications include 3D mammography or tomosynthesis, 3D chest radiography for COVID-19, or rapid 3D NDT and rapid 3D X-ray security inspections.

[0021] Advantages of the above system may include one or more of the following: Various embodiments of multiple X-ray sources in motion are used in a new ultra-fast 3D radiography system.

[0022] The first advantage is that the overall system speed is several times faster. Each X-ray source only needs to mechanically travel a small fraction of the total distance in an arc-shaped trajectory. This significantly reduces the time required to acquire patient data on the X-ray diagnostic machine. The second advantage is that image analysis can be performed in real time during scanning. The judgment of the captured image will influence the position of the X-ray source for the next shot. There is no need to wait until the entire image acquisition is completed before performing layer-by-layer image reconstruction.

[0023] A third advantage is the ability to obtain high-resolution and high-contrast images due to reduced motion artifacts. Each X-ray source is also mounted on a substructure that causes the source to vibrate around its origin. The combination of the vibration velocity and the orbital speed ensures that the positions of the X-ray sources are relatively stationary at the moment each individual X-ray source is activated.

[0024] The fourth advantage is that the system can perform wider sweeps to obtain more data projections, and at a faster speed. More data projections means better image construction, which will reduce the misdiagnosis rate.

[0025] A fifth advantage is that due to the wider angle and faster imaging acquisition speed, a time component can be added to the 3D spatial imaging to form a 4D imaging data set.

[0026] The present invention has been described in terms of the preferred embodiments, and it should be recognized that equivalents, alternatives and modifications, aside from those explicitly stated, are possible and within the scope of the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 An ultrafast 3D digital radiography system with multiple X-ray sources in motion was demonstrated.

[0028] Figure 2 is a mechanical diagram showing the positioning of the X-ray source through motion control.

[0029] Figure 3It is demonstrated that at a moment when the main motor platform and the auxiliary motor platform are moving in opposite directions but at the same speed, a separate X-ray source emits an X-ray beam at a temporarily stationary position.

[0030] Figure 4 It demonstrates a five-X-ray source system acquiring 25 sets of projection data, with each set traveling only one-fifth of the total distance.

[0031] Figure 5 Demonstrated a multi-X-ray source ultra-fast 3D digital radiography system with ultra-fast tomosynthesis for full-field mammography.

[0032] Figure 6 It was demonstrated that a multi-X-ray source ultra-fast 3D digital radiography system can be used for correlated 3D chest ultra-fast radiography.

[0033] Figure 7 The multi-X-ray source ultra-fast 3D digital radiography system is demonstrated for general NDT or safety applications in 3D ultra-fast radiography.

[0034] Figure 8 Another embodiment is presented in which the main motor and main motor platform can be omitted and a separate X-ray source can be moved along a predetermined track under motion control.

[0035] Figure 9 A flow chart illustrating the operation of an ultra-fast 3D digital radiography system. DETAILED DESCRIPTION

[0036] Figure 1 Figure 2 shows a novel ultrafast 3D digital imaging system with a multi-pulse X-ray source. The system comprises a main motor 1 coupled to a main motion platform 2, multiple X-ray sources 5, and an X-ray flat panel detector 7. All motors, motor platforms, and X-ray sources are mounted within a supporting frame structure 6.

[0037] Each auxiliary motor 3 is coupled to an auxiliary motion platform 4. All auxiliary motion platforms 4 are mounted on a single main motion platform 2. Each X-ray source 5 is mounted on an auxiliary motor platform 4. Each motor is controlled by programmable motion control hardware and can move the motor platform back and forth at a predetermined speed. The auxiliary motor platforms 4 are positioned so that the spacing between adjacent platforms is equal. Thus, all X-ray sources 5 move together with the main motor platform 2, but each individual X-ray source 5 can also be moved independently of the auxiliary motor platform 4.

[0038] The X-ray flat panel detector 7 can also be mounted on an additional linear platform and can be moved back and forth based on the position of the X-ray source 5 so as to have a wider image coverage.

[0039] Figure 2 Another exemplary embodiment is shown, in which the auxiliary motors 3 are interconnected as components of a rigid main structure, which itself serves as the main platform 2 due to the presence of rollers on its edges. The main motor 1 is coupled to the main platform 2 via gears. The main motor 1 can move the main platform 2 along a rigid guide rail at a predetermined constant speed. Since all auxiliary motion platforms 3 are mounted on it, they can also move along the rigid guide rail at a predetermined constant speed. The auxiliary motors 3 are spaced equidistant from their neighbors. Each auxiliary motor platform 4 can be moved back and forth by the auxiliary motor 3. An X-ray source 5 is mounted on the auxiliary motor platform 4. The movement of each X-ray source 5 on the auxiliary motor platform 4 has four phases of motion: acceleration; constant speed; deceleration; and return to the initial position. At any given time, only one X-ray source 5 can move at a constant speed in the direction opposite to the main motor platform 2. The constant speed of the auxiliary motor platform 4 is programmed to be equal to the constant speed of the main motor platform 2.

[0040] Figure 3 The figure illustrates how motion control operations are performed. During a data acquisition cycle, the main motor platform 2 moves in one direction at a constant speed and then returns to its initial position. While the main motor platform 2 moves at a constant speed, each auxiliary motor platform 4 oscillates at a predetermined speed. When an auxiliary motor platform 4 moves in the opposite direction of the main motion platform 1 and at the same constant speed, the X-ray source 5 and the X-ray flat panel detector 7 are triggered. At this moment of triggering, the X-ray source 5 behaves as if it were stationary while emitting an X-ray beam. Therefore, the dynamic arrangement of the stationary state of the X-ray source 5 allows the X-ray imaging system to acquire a large number of images from different spatial angular positions in a very short amount of time. The duration of the constant speed motion of the auxiliary motor platforms 4 can be programmed via software to match the X-ray exposure time. While one auxiliary motor platform 4 is at a constant speed, the other auxiliary motor platform 4 can accelerate, decelerate, or return to its initial position to prepare for its next constant speed. The X-ray source 5 can also be programmed to perform exposures on demand based on each independent external trigger pulse in a random sequence.

[0041] Given the widespread availability of ultra-high-speed computers, image analysis can be performed in real time with image acquisition. The judgment of the captured image will affect the position of the X-ray source 5 for the next capture. There is no need to wait until the entire image acquisition is completed before performing image reconstruction.

[0042] Figure 4The complete exposure position is shown. In this case, there are five X-ray sources 5, and these five X-ray sources 5 perform a total of 25 X-ray exposures at different angular positions. However, each auxiliary motor stage 4 only needs to travel one-fifth of the total coverage angle. Therefore, with multiple X-ray sources 5 operating in parallel, a large amount of projection data can be acquired in a fraction of the time. The X-ray flat panel detector 7 serves as the X-ray receiver.

[0043] The speed of electronic signals is always faster than the speed of mechanical motion, and the limiting factor is always the motor stage motion itself. The next bottleneck is the detector readout limit, as the detector also takes some time to read out the data from many megapixels and then transfer it to the computer.

[0044] Figure 5 This demonstration showcases a multi-X-ray source ultra-fast 3D digital radiography system that performs ultra-fast tomosynthesis of full-field mammography. A female patient's breast 8 is compressed by a compressor 9 onto a flat-panel X-ray detector 7 to obtain better X-ray projection data. Compared to other mammography systems, this system can capture more data projections, operates faster, and reduces pain for the female patient.

[0045] Figure 6 Another embodiment of an ultra-fast 3D digital radiography system using multiple X-ray sources for COVID-related applications is presented. A human subject 10 lies on a flat-panel X-ray detector 7 to obtain rapid 3D X-ray images of the region of interest. This system can rapidly perform ultra-fast 3D chest radiography to examine lung conditions, as the COVID virus commonly damages human lungs. Ultra-fast 3D X-ray imaging of the human lungs can not only help monitor lung conditions but also facilitate accurate diagnosis.

[0046] Figure 7 The multi-X-ray source digital radiography system is shown in a typical NDT or security inspection application mode. A typical object 11 is placed on a flat panel X-ray detector 7 to obtain a rapid 3D X-ray image of the region of interest. The system can perform ultra-fast 3D radiography of the typical object 11. Thus, for security purposes, the system can provide a rapid 3D view of the contents of luggage or other objects.

[0047] The control parameters of the X-ray source 5 such as current (mA), voltage (kV) and exposure duration can be electronically controlled by software. Therefore, the application or user can select the appropriate mA and kV X-ray source 5 for various objects.

[0048] The main motor stage 2 can sweep multiple times, each time using a different kV. In this case, the system can obtain dual-energy or multi-energy images of the same object.

[0049] It is also possible to perform X-ray smart scanning. In this case, the X-ray mA, kV, velocity, and sweep angle are determined by artificial intelligence (AI). For example, the kV of the X-ray is automatically determined based on the density of the object.

[0050] In some cases, the operator wishes to perform an X-ray scan on a specific area of ​​interest. This allows the scan range to be narrowed down to a very specific scanning angle. Because the X-ray source 5 comes from different angles and the X-ray flat panel detector 7 is a dynamic detector that can read out data at very high speeds, it is also possible to perform X-ray multi-angle real-time scanning.

[0051] In one embodiment with smart scanning capabilities, the X-ray sources 5 are activated in a predetermined sequence and use predetermined current / voltage settings for various subjects. Because the X-ray exposures come from multiple X-ray sources 5 and from multiple different angles, in addition to the standard 3D XYZ spatial information, the system can also perform 4D imaging with a temporal component built into the image.

[0052] Figure 8 Another alternative simplified embodiment is shown. The X-ray source 5 is located on a direct contact motor platform 14. The direct contact motor platform 14 is engaged with the direct contact motor 12. Therefore, the direct contact motor 12 can drive the X-ray source 5 to move along a predetermined guide rail with a long gear. The direct contact support frame structure 13 is used to accommodate the direct contact motor platform 14 and the direct contact motor 12. In this case, each direct contact motor platform 14 has one of the following states: stationary, acceleration, constant speed and deceleration. The X-ray source 5 only emits X-rays in a stationary state. At any time, only one X-ray source 5 can emit X-rays. A computer with software can easily program the settings, in which one X-ray source 5 emits X-rays and the other X-ray sources 5 are in acceleration, constant speed and deceleration states. In this way, the system can also sweep over a large angle and can also quickly collect a large amount of data.

[0053] Figure 9 A typical flow chart of the operation of the Ultra-Fast 3D Digital Radiography System is shown.While most users will only want to perform a standard Ultra-Fast 3D X-ray scan, the Ultra-Fast 3D Digital Radiography System has several advanced features.

[0054] After power-up, the system will need to be initialized. A software program will need to perform system initialization. The X-ray source 5 typically needs to be preheated to a state so that the X-ray tube and high-voltage control electronics remain stable. The motion control system will ensure that the main motor platform 2 and the multiple auxiliary motor platforms 4 are all in the correct initial spatial position. Because each X-ray source 5 is mounted on an auxiliary motor platform 4, and each auxiliary motor platform 4 is mounted on the main motor platform 2, the correct position of the main motor platform 2 and the multiple auxiliary motor platforms 4 means the correct position of the X-ray source 5. This process is indicated by the box of step S1. After initialization, the positions of the X-ray sources 5 are initially evenly distributed in a wide-angle geometry, and each individual X-ray source 5 is only responsible for a small part of the scanning angle, such as Figure 4 The system is then ready to use multiple X-ray sources 5 working in parallel.

[0055] The next step is the box for step S2. This step involves preparing the sample for the X-ray scan. Therefore, step S2 can take a significant amount of time, depending on the nature of the object being X-rayed. If the object is a female patient's breast, this will involve breast compression, both on the left and right sides. If the object is a human body, or a portion thereof, the person being scanned will need to be positioned correctly. If the object is a live veterinary animal, more work will be required, as it is common for live animals to have problems following the instructions of the system operator. However, if the scanned object is an industrial component undergoing NDT or a piece of luggage undergoing security inspection, step S2 can be performed relatively quickly.

[0056] After both the machine and the scanned object are ready, the system operator will need to decide what to do. The frame of step S3 is about the waiting state for an operation request. The system has many advanced features, but most customers only need to get ultra-fast, efficient, good X-ray radiographic images with minimal effort, unless there is an abnormal situation.

[0057] At the box in step S4, a decision is made. There are two types of operations. One is standard operations, and the other is non-standard operations that have many advanced features added. Standard operations are designed for large-scale work, while non-standard operations are designed for many comprehensive studies.

[0058] If the system operator decides to use standard operation, there is another opportunity at the box in step S5 to make the X-ray scan slightly more comprehensive, but at the expense of slightly slower operation. This is a manual mode under standard operation. It requires the system operator to return to step S2 to review the settings of the X-ray scan object to ensure that the position and area of ​​interest are correct.

[0059] After reviewing the status of the X-ray scanned object, the system operator can proceed directly to step S6, as with standard automated X-ray scanning. The block diagram of step S6 illustrates that the system performs standard X-ray operations and also performs image reconstruction. Using a novel approach with multiple X-ray sources 5 operating in parallel, step S6 can be executed much faster than other prior art approaches using a single X-ray source. The number of X-ray exposures is controlled by software. In current mechanical configurations, the maximum speed is limited by the motor speed and the readout speed of the X-ray flat panel detector 7.

[0060] Once the image reconstruction is performed, the results are presented to the system operator at step S7. In this step S7, more detailed information can be obtained in a shorter amount of time than with the prior art. If the results are not satisfactory, the block of step S7 also allows the system operator to repeat the entire X-ray scanning process multiple times.

[0061] If the X-ray scanning operation requested at the box in step S4 is a non-standard X-ray operation, the system operator may proceed to the box in step S8. At step S8, the system will require the system operator to decide which specific X-ray operation is desired. Several options are available, such as dual-energy or multi-energy scanning, 4D X-ray scanning, intelligent X-ray scanning, and special region of interest scanning. Due to the much slower X-ray scanning speeds of single X-ray sources in the prior art, performing dual-energy or multi-energy scanning, 4D X-ray scanning, intelligent X-ray scanning, and special region of interest scanning is generally not feasible on a commercial scale. The extensive X-ray scanning involved means that these types of procedures take a longer time to obtain the desired results. Therefore, in the prior art, customers may not be willing to wait a long time for such an X-ray scan. However, with this new ultra-fast X-ray scanning system, all of these highly specialized scans are now commercially viable.

[0062] At step S9, the system performs the requested specific X-ray operation. Not only the X-ray operation, but also the image reconstruction is specific. Therefore, the imaging results at step S10 contain much more information than a standard ultrafast X-ray scan. This information is typically displayed on a computer monitor at a very fine screen resolution. If the results are unsatisfactory, the system operator can always perform the operation multiple times until the desired result is achieved.

[0063] When there are not many tasks to be performed on the machine, the system usually needs to perform maintenance of one kind or another.The box of step S11 shows that the system has the opportunity to perform required or recommended maintenance for a future operating cycle.

[0064] The computer program product may comprise one or more storage media, for example: a solid-state disk; a magnetic storage medium, such as a magnetic disk or magnetic tape; an optical storage medium, such as an optical disk, an optical tape, or a machine-readable bar code; a solid-state electronic storage device, such as a random access memory (RAM) or a read-only memory (ROM); or any other physical device or medium for storing a computer program having instructions for controlling one or more computers to implement a method according to the invention.

[0065] The software that controls the processes described above may be stored in a tangible computer-readable storage medium for use as a computer program product, and / or may be transmitted via a computer network or other transmission medium.

[0066] The above specific embodiments are illustrative, and many variations may be introduced into these embodiments without departing from the spirit of the present disclosure or the scope of the appended claims. For example, elements and / or features of different examples and illustrative embodiments may be combined with each other and / or replaced with each other within the scope of the present disclosure and the appended claims.

[0067] The present invention has been described in detail with particular reference to the presently preferred embodiments, but it should be understood that various changes and modifications can be made within the spirit and scope of the present invention. Therefore, the presently disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is indicated by the appended claims, and all changes that come within the meaning and range of equivalents are intended to be embraced therein.

Claims

1. A system for providing rapid 3D radiography using multiple pulsed X-ray sources in motion, the system comprising: A main motor platform, which moves freely on an arc-shaped guide rail having a predetermined shape; a main motor engaged with the main motor platform and controlling the speed of the main motor platform; a plurality of auxiliary motor platforms, which are coupled to the main motor platform and move along the direction of the arc-shaped guide rail; a plurality of auxiliary motors, each of which engages an auxiliary motor platform and controls the speed of the auxiliary motor platform; Multiple X-ray sources, each moved by an auxiliary motor platform; a support frame structure providing a housing for the main motor platform and the auxiliary motor platforms; as well as The flat panel detector is used to receive X-ray imaging data.

2. The system of claim 1, wherein: The speed of the main motor stage and the auxiliary motor stages can be adjusted by software.

3. The system of claim 1, wherein: The initial spatial positions of the main motor platform and the auxiliary motor platforms can be adjusted by software.

4. The system of claim 1, wherein: The current and voltage of the X-ray source can be adjusted via software.

5. The system of claim 1, wherein: The exposure time of the X-ray source can be adjusted via software.

6. The system of claim 1, wherein: An object located between the plurality of X-ray sources and the flat panel detector is in a stationary state.

7. A system for providing rapid 3D radiography using multiple pulsed X-ray sources in motion, the system comprising: A plurality of direct contact motor platforms, the plurality of direct contact motor platforms moving on an arc guide rail; a plurality of direct contact motors, each direct contact motor engaging a direct contact motor stage and controlling a speed of the direct contact motor stage; a plurality of X-ray sources, each X-ray source coupled to a direct contact motor platform; Support frame structural housings for direct contact motors and direct contact motor platforms; as well as A flat panel detector is used to receive X-ray imaging.

8. A method for rapid 3D radiography using multiple pulsed X-ray sources in motion, the method comprising: positioning the main motor platform and the one or more auxiliary motor platforms to predetermined initial positions; sweeping the main motor platform at a predetermined constant speed by the main motor; oscillating each of the auxiliary motor platforms in a predetermined sequence by a corresponding auxiliary motor; electrically activating an X-ray source and a flat panel detector when the auxiliary motor platform moves in an opposite direction to the main motor platform and at a selected speed of the main motor platform; as well as Image data is collected from the X-ray source using a flat panel.

9. The method of claim 8, comprising calibrating the spatial position of the X-ray source and the spatial position of the X-ray detector.

10. The method of claim 8, comprising acquiring dual-energy or multi-energy imaging data by sweeping the main motor stage two or more times with different X-ray source voltages.

11. The method of claim 8, wherein: Smart scanning is performed by activating the X-ray sources in a predetermined sequence.

12. The method of claim 8, wherein: Real-time acquisition and reconstruction of X-ray imaging data.

13. The method of claim 8, wherein: 4D imaging is performed by adding a time component to 3D spatial imaging data. The method of claim 8 , comprising varying the sweep angle based on the region of interest.

15. The method of claim 8, comprising varying an X-ray source voltage input based on object density during a sweep.

16. The method of claim 8, wherein: The X-ray detector is coupled to the linear stage to adjust position based on the position of the X-ray source.

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