Systems and methods for imaging

Abstract

This invention discloses a system for imaging a system. The system can be operated to acquire image data of an object in one or more ways. The acquired image data can be used for various purposes, such as generating images for display, navigation protocols, or other suitable protocols.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to U.S. Patent Application Nos. 17 / 473,646, 17 / 473,695, and 17 / 473,728, filed September 13, 2021, and also claims the benefit of U.S. Provisional Application Nos. 63 / 078,048, 63 / 078,060, and 63 / 078,065, filed September 14, 2020. The entire disclosure of the above applications is incorporated herein by reference. Technical Field

[0003] This subject matter relates to imaging, and more specifically to imaging using multi-source imaging systems and related methods. Background Technology

[0004] This section provides background information in connection with this disclosure, which is not necessarily prior art.

[0005] Imaging systems typically consist of a source section and a detector section. The source section generates a signal that is detected by the detector section. The object can be positioned relative to the imaging system to attenuate the signal between the source and detector in a manner that allows for the acquisition of image data and / or correlated images or allows for image reconstruction. However, imaging systems are typically limited to a single source and a single detector. Therefore, the volume to be imaged is usually proportional to the size of the source and correlated detector, and thus, larger sources and detectors are required for larger objects. Summary of the Invention

[0006] This section provides a general overview of this disclosure and is not a full disclosure of the complete scope or all features of this disclosure.

[0007] A navigation system can be used to track and determine an attitude (also known as a position), which may include at least some coordinates of the instrument's positioning and / or orientation over time. In various embodiments, the attitude of the instrument is understood to include at least some tracked or navigated positioning coordinates (e.g., x, y, z) and / or orientation coordinates (e.g., roll, pitch, yaw). Therefore, a navigation system can track the attitude of an object, including at least one degree of freedom and at least six degrees of freedom of motion (e.g., three-dimensional position and multiple orientations, such as pitch, roll, and yaw). The attitude of the tracked instrument can be determined instantaneously and / or over time. In various embodiments, a display device can be used to show a visual representation of the instrument relative to an image (such as an image of at least a portion of the object).

[0008] In various embodiments, the orientation of the tracked device can be determined relative to an object. The object can be any suitable object, such as a living or non-living object. In various embodiments, a non-living object may include a hollow or enclosed housing or other suitable inanimate object. The inanimate object may have an opaque outer covering. Therefore, a navigation or tracking system can be used to track the device relative to an inanimate object during use.

[0009] In various implementations, the object may include a living object, such as a human object. The procedure may include a surgical procedure in which an instrument is positioned within the object for a selected time period to perform a procedure, such as stent placement, deep brain stimulation probe placement, or placement or implantation of other implantable components. Furthermore, the selected procedure may include bone resection, foramen formation, etc., relative to the object. In any case, the orientation of the instrument can be determined via a navigation system.

[0010] An imaging system may include multiple sources spaced apart from each other. These multiple sources may be individually powered to emit signals, such as X-rays, from each of the individual sources. X-rays from each source may be detected by a detector at a selected time.

[0011] Typically, the sources can be spaced apart to allow image data to be collected from each source at different locations relative to the object. The sources can be spaced apart relative to each other along a Z-axis, which may be the longitudinal axis of the object (e.g., the axis of movement of the imaging system). The sources can also be spaced apart along an annular radius, such that the sources are angularly spaced from each other. The spaced sources can also be moved relative to the object, such as in circular patterns, spiral patterns, helical patterns, portions thereof, or combinations thereof. Therefore, the multiple sources can be positioned relative to each other and the detector to acquire image data of the object in a selected manner.

[0012] The multiple sources (also referred to as multiple sources) can be operated individually in a selected manner to acquire image data of an object. For example, the multiple sources may include two or more sources, five or more sources, ten or more sources, and / or fifteen or more sources. For example, if five sources are included, the imaging system can be operated to sequentially emit X-rays from each source, spaced apart by a time interval. In various embodiments, each of the five sources can be powered to emit X-rays for a selected time period (e.g., one millisecond) and pause for a selected time period (e.g., one millisecond) between each power supply of a source. Furthermore, the sources can be powered in a non-sequential manner in any suitable or selected mode, such as simultaneously or sequentially powering the first and third sources, followed by simultaneously and / or sequentially powering the third and fifth sources. Therefore, a multi-source imaging system can be operated to emit X-rays in any suitable manner by selectively powering and operating multiple sources simultaneously, sequentially, serially, or in any suitable manner.

[0013] Further areas of applicability will become apparent from the description provided herein. The descriptions and specific examples in this overview are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0014] The accompanying drawings described herein are for illustrative purposes only, representing selected embodiments and not all possible specific implementations, and are not intended to limit the scope of this disclosure.

[0015] Figure 1 This is a schematic view showing an overview of an operating room including an imaging system according to various implementation schemes;

[0016] Figure 2 It is a schematic illustration of details of an imaging system with a source component according to various embodiments, the source component having multiple source parts;

[0017] Figure 3 It is a schematic illustration of details of an imaging system with a source component according to various embodiments, the source component having multiple source parts;

[0018] Figures 4A-4C It is a schematic illustration of an imaging system with an imaging source according to various embodiments, the imaging source having a variety of number of source portions and corresponding possible beams and imaging volumes;

[0019] Figure 5 This is a schematic diagram of an imaging system with a source component according to various embodiments, the source component having multiple source parts;

[0020] Figure 6A and Figure 6B It is a schematic illustration of an imaging system having a source component having multiple source portions, and an illustrative projection from a selected source portion relative to the imaging volume;

[0021] Figures 7A-7C An imaging beam emitted by a source assembly having multiple source portions is shown at a selected location relative to the imaging volume.

[0022] Figures 8A-8C It is a view of an imaging system with a source component according to various embodiments, the source component having multiple source portions that are anti-symmetrically positioned relative to a plane or line of the imaging system and located at multiple positions relative to the imaging volume.

[0023] Figures 9A-9D This is a schematic diagram of an imaging system with a source component that can move relative to the rack, according to various implementation schemes;

[0024] Figure 10A and Figure 10BAn imaging system with a source component according to various embodiments is shown, the source component having multiple source portions and selected overlap of a selected beam;

[0025] Figure 11 It is a schematic diagram of an imaging system according to various embodiments, the imaging system having a source component and multiple source parts having a geometry for imaging a volume.

[0026] Figure 12 It is a schematic diagram of a source component according to various implementation schemes, the source component having multiple source parts, one or more of which have selected characteristics;

[0027] Figures 13A-13D It is a schematic illustration of an imaging system with a source component according to various embodiments and the movement of the source component relative to an imaging volume, the source component having multiple source parts;

[0028] Figure 14 It is a flowchart of the operation of the imaging system according to various implementation schemes;

[0029] Figure 15 It is based on Figure 14 A schematic diagram of the imaging system's flowchart operation;

[0030] Figure 16 This is a flowchart illustrating the operation of an imaging system according to various implementation schemes;

[0031] Figure 17A and Figure 17B It is based on Figure 16 A schematic diagram of the imaging system's flowchart operation;

[0032] Figure 18 These are schematic illustrations of imaging systems with multiple source components operating simultaneously, according to various implementation schemes; and

[0033] Figure 19 It is used according to various implementation plans, such as Figure 18 The image shown is a schematic illustration of the system-generated image.

[0034] In several views of all the accompanying drawings, the corresponding reference numerals indicate the corresponding parts. Detailed Implementation

[0035] Exemplary embodiments will now be described more fully with reference to the accompanying drawings.

[0036] This document discloses exemplary embodiments, as further discussed herein. Generally, various embodiments may be disclosed relative to human objects. However, it should be understood that various disclosed systems (such as navigation or tracking systems) may be used relative to any object or system that may have a housing or enclosure that can cover internal components or operations. For example, a fuselage or vehicle frame may conceal internal components that may be selected to operate in a chosen procedure. A chosen procedure may include the removal, replacement, etc., of various components of any non-living or inanimate system. Therefore, it should be understood that the discussion herein relative to objects (such as human objects) is merely exemplary.

[0037] Furthermore, as discussed herein, navigation systems may include tracking various components (such as instruments) relative to a coordinate system or a reference frame in space. In various embodiments, the coordinate space may include an object coordinate space or a real space defined relative to the object's real space. An additional coordinate space may include an image space having an image coordinate space defined by an image of the object. As discussed above, the posture of the instrument may be shown relative to an image (e.g., superimposed on an image) having a graphical representation for user viewing. Such illustrations may require or utilize registration between the object space or object coordinate space and the image coordinate space or image space. Imaging systems discussed herein may be constructed and / or operated to acquire image data for generating selected images of the object.

[0038] One or more methods for registering an object space defined by an object to an image space may include the methods disclosed in U.S. Patent Nos. 8,737,708, 9,737,235, 8,503,745 and 8,175,681, all of which are incorporated herein by reference in their entirety.

[0039] According to various implementation plans Figure 1 This is a schematic view showing an overview of the operating room or area. In various embodiments, the operating room may include a surgical kit. The surgical kit may include a navigation system 26, which can be used for various procedures, such as procedures relative to object 30.

[0040] Navigation system 26 can be used to track the posture of one or more tracking devices. Tracking devices may include those operable to be tracked by one or more tracking systems, such as optical or electromagnetic (EM) tracking systems. For example, tracking devices may include object tracking devices or dynamic reference frames (DRFs) 58 (which may be individually referred to as EM 58' and / or optical 58'), imaging system tracking devices 62 (which may be individually referred to as EM 62' and / or optical 62'), and / or tool tracking devices 66 (which may be individually referred to as EM 66' and / or optical 66'). Other tracking devices may also be included, such as user or clinician tracking devices, either alone or in combination with other systems (e.g., augmented reality systems).

[0041] Tool 68 can be operated or handled by user 72. Tool 68 can also be referred to as an object or item that can be manipulated to be tracked. Therefore, tool 68 can be associated with tool tracking device 66. Tool 68 can be any suitable tool, such as a drill, tweezers, or other tool operated by user 72. Tool 68 may also include implants, such as spinal implants or orthopedic implants. It should be further noted that navigation system 26 can be used to navigate any type of instrument, implant, or delivery system, including: guidewires, arthroscopic systems, orthopedic implants, spinal implants, deep brain stimulation (DBS) probes, etc. In addition, these instruments can be used to navigate or map any area of ​​the body. Navigation system 26 and various instruments can be used in any suitable surgical procedure, such as instruments typically used in minimally invasive or open surgery.

[0042] Imaging system 80 may include any one or more devices that can be used to acquire preoperative, intraoperative, or postoperative or real-time image data of an object such as object 30. However, it should be understood that any suitable object can be imaged, and any suitable surgical procedure can be performed relative to the object. In the example shown, imaging system 80 includes a device sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado, USA. Imaging apparatus. Imaging apparatus 80 may have a generally annular gantry housing 82 in which an image capture section is movably disposed. The image capture section may include an x-ray source or emitting section 86 and an x-ray detector 88 (also referred to as a receiving or image receiving section). As discussed herein, the source 86 may include one or more emitting points or sections, each operable to emit x-rays toward the detector 88. Both the source 86 (including one or more emitting sections) and the detector 88 may be operable to move as the image capture section.

[0043] In various embodiments, the source 86 and detector 88 are typically or practically positioned 180 degrees to each other. As discussed above, the source may include multiple emitting sections; however, the source and detector may be mounted on a rotor relative to a track or rail (not shown). The image capture section may be operable to rotate at least 360 degrees or any selected portion thereof during image acquisition. The image capture section may rotate about a center point or axis, thereby allowing image data of object 30 to be acquired from multiple directions or in multiple planes. The imaging device 80 may include at least selected portions, including portions disclosed in the following (e.g., racks, mobile carts, etc.): U.S. Patent Nos. 7,188,998, 7,108,421, 7,106,825, 7,001,045, and 6,940,941, all of which are incorporated herein by reference, or any appropriate portion thereof. In various embodiments, the imaging device 80 may utilize flat panel or panel detector 88 technology with selected pixel viewing areas.

[0044] The position of the imaging device 80 and / or its parts, such as the image capture portion, can be precisely known relative to any other part of the imaging device 80. According to various embodiments, the imaging device 80 can know and recall precise coordinates relative to a fixed or selected coordinate system. This allows the imaging system 80 to know its position relative to the patient 30 or other references. Furthermore, as discussed herein, precise knowledge of the position of the image capture portion can be used in conjunction with a tracking system to determine the position of the image capture portion and image data relative to the tracked object, such as the patient 30.

[0045] Imaging device 80 can also be tracked using image tracking device 62. According to various embodiments, image data defining the acquired image space of patient 30 can be inherently or automatically registered relative to a target space. The target space can be the space defined by patient 30 in navigation system 26. Automatic registration can be achieved by a determinable, precise pose including tracking device 62 and / or image capture portion on imaging device 80. According to various embodiments, as discussed herein, imageable portions, virtual reference points, and other features can also be used to allow automatic or otherwise registration. However, it will be understood that image data of any object that will define an object space can be acquired. Patient space is an exemplary object space. Registration allows mapping between patient space and image space. In various embodiments, as discussed herein, registration to pre-acquired image data can also be performed using imaging system 80, and automatic registration to pre-acquired image data and automatic registration to object 30 can also be allowed.

[0046] Patient 30 can also be tracked using a patient tracking device, DRF, or tracker 58 as the patient moves. Alternatively or otherwise, patient 30 can be fixed within a navigation space defined by navigation system 26 to allow registration. As discussed further herein, registration of image space with patient space or object space allows the use of image data to navigate device 68. When navigating device 68, the posture of device 68 can be displayed on display device 84 relative to acquired image data of patient 30.

[0047] Various tracking systems, including one or more of an optical locator 88 or an electromagnetic (EM) locator 94, may be used to track the device 68. As discussed herein, in various embodiments, the locator 94 may transmit signals received by the tracking device 66 or other suitable tracking device. Furthermore, a suitable antenna (e.g., a coil) may also be configured as a receiver. For example, a calibration receiver 95 (e.g., a coil) may be configured to receive signals from the locator 94. The calibration receiver 95 may be included in any suitable part of the navigation system 26 (such as controller 110), as further discussed herein. Those skilled in the art will understand that the calibration receiver 95 does not need to be incorporated into the navigation system 26 during use, but may be set up or used during the initial (e.g., factory) production or calibration of the navigation system 26. In various embodiments, the calibration receiver 95 may receive signals from the locator 94 in a manner similar to that of the tracking device 66 and for various purposes as discussed herein.

[0048] More than one tracking system may be used to track the device 68 in the navigation system 26. According to various embodiments, the tracking system may include an EM system with an electromagnetic tracking (EM) locator 94 and / or an optical tracking system with an optical locator 88. As discussed herein, one or both tracking systems may be used to track the selected tracking device. It should be understood that, unless otherwise discussed, the tracking device may be a trackable portion of the selected tracking system. The tracking device does not necessarily refer to the entire component or structure to which the tracking device is attached or associated.

[0049] It should also be understood that the imaging device 80 can be different from... The imaging apparatus includes an imaging device, and may additionally or alternatively include a C-arm fluorescein. Other exemplary imaging apparatuses may include fluoresceins, such as dual-plane fluorescein systems, top-mounted fluorescein systems, cath-lab fluorescein systems, fixed C-arm fluorescein systems, isocentric C-arm fluorescein systems, 3D fluorescein systems, etc. In various embodiments, imaging systems other than or alternative to imaging system 80 may also be used to acquire image data (such as pre-acquired image data) of object 30. Other suitable imaging apparatuses may include MRI, CT, ultrasound, etc.

[0050] In various embodiments, the imaging device controller 96 can control the imaging device 80, receive image data generated in the image capture section, and store the images for later use. The controller 96 can also control the rotation of the image capture section of the imaging device 80. It should be understood that the controller 96 does not need to be integrated with the rack housing 82, but can be detached from it. For example, the controller can be part of a navigation system 26, which may include a processing module or system 98 and / or a memory module or system 100. However, the controller 96 can be integrated with or connected to the rack 82, and may include, for example, a second processor in a portable computer and a separate processor.

[0051] Patient 30 can be positioned (including secured) on operating table 104. According to one example, operating table 104 can be an Axis system sold by OSI, a subsidiary of Mizuho Ikakogyo Corporation with a business location in Tokyo, Japan, or Orthopedic Systems, Inc. with a business location in California, USA. Operating table. Patient positioning equipment can be used with the operating table and includes... The clamps or those described in U.S. Patent Application Publication No. 2004 / 0199072 (U.S. Patent Application No. 10 / 405,068), entitled “An Integrated Electromagnetic Navigation and Patient Positioning Device,” published on October 7, 2004, are incorporated herein by reference.

[0052] Therefore, the position of patient 30 relative to imaging system 80 can be determined by navigation system 26. Tracking device 62 can be used to track at least a portion of imaging device 80 (e.g., rack or housing 82) and determine its orientation. As further discussed herein, patient 30 can be tracked using dynamic reference frame 58. Therefore, the position of patient 30 relative to imaging device 80 can be determined by tracking patient tracking device 58 and imaging tracking device 62. However, as discussed herein, imaging system 80 can be operated to determine the position of object 30 relative to selected portions of imaging system 80. In various embodiments, the orientation of the imaging portion can be determined relative to housing 82 due to the precise position of the imaging portion on guide rails within housing 82, the substantially inflexible rotor, etc. If imaging device 80 is sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado... Imaging apparatus, wherein imaging apparatus 80 may include, for example, an accuracy within 10 micrometers. Precise positioning of the imaging portion is further described below in U.S. Patent Nos. 7,188,998, 7,108,421, 7,106,825, 7,001,045, and 6,940,941, all of which are incorporated herein by reference.

[0053] According to various embodiments, imaging device 80 may generate and / or emit x-rays from x-ray source 86, which propagate through patient 30 and are received by x-ray detector 88, which may be included in image capture section. X-ray detector 88 generates image data representing the intensity of the received or detected x-rays. In various embodiments, image capture section may include an image intensifier that first converts the x-rays into visible light and a camera (e.g., a charge-coupled device) that converts the visible light into digital image data. Image capture section may also be a digital device that directly converts X-rays into digital image data to form an image, thereby potentially avoiding distortion caused by first converting to visible light.

[0054] Two-dimensional and / or three-dimensional fluorescence microscopy image data that can be captured by imaging device 80 can be captured and stored in imaging device controller 96. Multiple image data acquired by imaging device 80 can also be captured and combined to provide a larger view or image of the entire area of ​​patient 30, rather than focusing on only a portion of patient 30. For example, multiple image data of the spine of patient 30 can be appended together to provide a complete view of the spine or a complete set of image data.

[0055] Image data can then be forwarded from the image device controller 96 to a selected workstation of the computer system 110. Workstation 110 may include or be part of the navigation system 26. Workstation 110 may include a processor system or module, which may be a navigation computer and / or a processor system 114. Workstation 110 may also include a display 84 and a user interface 118 and / or a memory module or system 120. It is also understood that image data may not necessarily be stored in the controller 96 first, but may be directly transmitted to workstation 102. Workstation 102 may provide facilities for displaying image data as image 130 on the display 84 and for saving, digitally processing, or printing a hard copy of the received image data. User interface 118, which may be a keyboard, mouse, stylus, touchscreen, or other suitable device, allows user 72 to provide input to control the imaging device 80 or adjust image settings on the display 84 via the image device controller 96. Workstation 102 may also instruct the image device controller 96 to adjust the image capture portion of the imaging device 80 to obtain various two-dimensional images along different planes, thereby generating representative two-dimensional and three-dimensional image data.

[0056] Navigation system 26 may include a tracking system comprising one or both of an electromagnetic (EM) locator 94 and / or an optical locator 88. The tracking system may include a controller and an interface portion 110. The controller 110 may be connected to a processor portion 114, which may include a processor contained within a computer. The EM tracking system may include those sold by Medtronic Navigation, Inc., which has a business location in Louisville, Colorado. AXIEM TM The navigation system may be, or may be, the EM tracking system described in the following patents: U.S. Patent Application Serial No. 7,751,865, entitled “METHOD AND APPARATUS FOR SURGICAL NAVIGATION,” published July 6, 2010; U.S. Patent No. 5,913,820, entitled “PositionLocation System,” published June 22, 1999; and U.S. Patent No. 5,592,939, entitled “Method and System for Navigating a Catheter Probe,” published January 14, 1997; all of which are incorporated herein by reference. It should be understood that the navigation system 26 may also be or include any suitable tracking system, including those with optical locators and / or EM locators. S7 TM and / or S8 TM The tracking system, which can be used as an optical locator 88, is sold by Medtronic Navigation, Inc., located in Louisville, Colorado. Other representative or alternative positioning and tracking systems are described in U.S. Patent No. 5,983,126, entitled "Catheter Positioning System and Method," issued November 9, 1999, which is incorporated herein by reference. The navigation system 26 may be a hybrid system including components from various tracking systems.

[0057] Other tracking systems include acoustic systems, radiation systems, radar systems, etc. Tracking systems can be used based on techniques generally known or described in the references combined above. Details are omitted herein unless the selected operation of the subject matter is clearly explained.

[0058] Wired or physical connectors can interconnect the tracking system, imaging device 80, etc. Alternatively, instead of being directly coupled to controller 110, various components, such as instrument 68, can utilize wireless communication channels, such as those disclosed in U.S. Patent No. 6,474,341, entitled "Surgical Communication Power System," issued November 5, 2002, which is incorporated herein by reference. Furthermore, tracking devices 58, 62, 66 can generate fields and / or signals sensed by locators 88, 94. In various embodiments, instrument tracking device 66 and / or other suitable tracking devices can communicate with controller 110 and / or array 94 via wired communication or wireless signal 134 as discussed herein. Additionally, any of the various components including imaging system 80 and / or tracking system can transmit signals via wired, wireless, or combinations thereof communication systems. In various embodiments, array 94 can operate via spread spectrum signals to communicate with tracking device 66.

[0059] Various parts of the navigation system 26, such as the device 68, and other parts described in detail below, may be equipped with at least one and typically multiple tracking devices 66. The device may also include more than one type or form of tracking device 66, such as EM tracking devices and / or optical tracking devices. The device 68 may include a portion that can be grasped and / or manipulated at a proximal end (i.e., a manipulable portion), and the tracking device may be fixed near the manipulable portion of the device 68. However, it should be understood that the tracking device may also be placed at the distal or interventional end of the device 68.

[0060] According to various embodiments, navigation system 26 can be used to track device 68 relative to patient 30. Device 68 can be tracked by a tracking system, as discussed herein, such as by tracking and determining the posture of tracking device 66. Image data of patient 30 or an appropriate object can be used to assist user 72 in guiding device 68. However, the image data is registered to patient 30. The image data defines an image space that is registered to a patient space defined by patient 30. Registration can be performed automatically, manually, or in combination thereof, as discussed herein.

[0061] Typically, registration allows for the generation of a mapping (also known as a registration mapping) of the physical pose of the device 68 relative to the image space of the image data. This mapping allows the tracked pose of the device 68 to be displayed on the display device 84 relative to the image 130. It should be understood that the display device 84 can be any suitable display device, or may include more than one display device, such as an augmented reality viewer, a head-mounted display, etc. A graphical representation 68i (also known as an icon) can be used to illustrate the pose of the device 68 relative to the image 130 (e.g., three-dimensional coordinate position and one or more degrees of freedom orientation).

[0062] An object registration system or method may use an object tracking device 58. The tracking device 58 may include trackable portions or components, but may also function as or be capable of operating as a reference point assembly. The reference point assembly may include a clamp or other fixing portion 134 and an imageable reference point body. However, it should be understood that the component may be separable from the tracking device 58. The fixing portion 134 may be provided to fix any suitable portion, such as a part of an anatomical structure. Figure 1 As shown, the reference point assembly 120 can be interconnected with a portion of the spine (such as the spinous process of object 30).

[0063] The fixing portion 134 can be interconnected with the spinous process in any suitable manner. For example, a pin or screw can be driven into the spinous process. Alternatively or otherwise, a clamping portion can be provided as the connecting portion 134 to interconnect the spinous processes. The reference point portion can be imaged using the imaging device 80. However, it should be understood that individual parts of the object (e.g., the spinous process) can also be used as reference point portions.

[0064] In various embodiments, when a reference point portion is imaged with imaging device 80, image data including or identifying the reference point portion is generated. The reference point portion can be identified automatically (e.g., by a processor executing a program), manually (e.g., by selecting an identifier of user 72), or a combination thereof (e.g., by selecting an identifier of user 72 as a seed point and segmentation performed by the processor executing the program) in the image data. Methods for automatic imageable portion identification include those disclosed in U.S. Patent No. 8,150,494, published April 3, 2012, which is incorporated herein by reference. Manual identification may include selecting elements (e.g., pixels) or regions in the image data where the imageable portion has been imaged. In any case, the reference point portion identified in the image data can be used as a reference point or reference point location that can be used to register the image data or the image space of the image data with the patient space.

[0065] In various embodiments, in order to register an image space or coordinate system to another space or coordinate system, such as a navigation space, the reference point portion identified in image 130 can then be identified in an appropriate manner within the object space defined by object 30. For example, if the reference point portion is attached to object 30 at the same location during image data acquisition to generate image 130, user 72 can move instrument 68 relative to object 30 to contact the reference point portion. It should be understood that, as discussed above in various embodiments, the reference point portion can be attached to object 30 and / or may include anatomical portions of object 30. Additionally, tracking devices can be incorporated into the reference point portion, and they can be retained with object 30 after image acquisition. In this case, registration or identification of the reference point portion can be performed in the object space. However, according to various embodiments, user 72 can move instrument 68 to contact the reference point portion.

[0066] According to various embodiments, the tracking system can track the posture of the instrument 68 via a tracking device 66 attached to the instrument 68. This allows the user 72 to identify the posture (including, for example, six degrees of freedom information, including position and orientation) of the reference point portion identified in image 130 within a navigation space (which may include or may be part of the object space). After identifying the location of the reference point portion in the navigation space, mapping can be performed between the subject space defined by object 30 and the image space defined by image 130 in the navigation space. Thus, as discussed further herein, identical or known locations allow for registration.

[0067] During registration, a mapping is established between the image data coordinate system of image data, such as image 130, and the patient space defined by patient 30. Once registration occurs, device 68 can be tracked using a tracking system registered to the image data, allowing the posture of the tracked device 68 to be identified and illustrated as an icon superimposed on the image data. Registration of image 130 (or any selected image data) to object 30 can occur at any appropriate time.

[0068] In various implementations, image space 130 and the object space defined by object 30 can be registered according to any suitable method. As discussed above, image-to-patient registration may include acquiring and / or accessing image data of an object (such as object 30) having a reference point (e.g., from a memory system on which image data is stored). The image data of object 30 can be any suitable image data, such as image data acquired using imaging system 80. Furthermore, as discussed above, a reference point may include a reference point portion and / or a suitable anatomical portion of object 30. For example, a reference point portion may include a portion of an anatomical structure, such as a spinous process of object 30. However, the acquired image data may include a reference point. Once image data of the object having a reference point has been acquired, identification of the reference point in the image space can occur.

[0069] As discussed above, the identification of reference points in image space can occur. For example, reference points can be automatically identified in image data with a defined image space, such as through automatic segmentation of reference point portions within the image. Manual identification and / or a combination of manual and automatic identification can also be used to determine reference points in image space. This combination may include user 72 identifying one or more pixels as seed pixels and processor performing a segmentation procedure based on the seed pixels.

[0070] As discussed above, the identification of reference points in the object space and / or navigation space occurs according to generally known techniques. The object space may extend together with and / or overlap with the navigation space. Typically, the navigation space is a volume that can be tracked by a tracking system such as locator 94 and may contain all or part of the object or patient 30. The identification of reference points in the navigation space can occur in various ways, such as relative to a reference point portion (which may also be a tracking device) and / or a spinous process that can be tracked by a device such as instrument 68. The tracking system of navigation system 26 can track instrument 68, and navigation system 26 may include an input terminal for inputting a portion of the reference point portion in the navigation space. The determination or identification of the pose of the reference points in the navigation space (e.g., including selected degrees of freedom information including three-dimensional position and orientation) can then be used to form a mapping between two or more coordinate systems.

[0071] The mapping can be determined by the coordinate system of the image space relative to the object and / or by the correlation or registration of the object 30 with the coordinate system of the navigation space. The mapping allows the determined pose of the tracking portion in the navigation space to be mapped to an equivalent or identical pose in the image. Once the mapped pose is determined, the pose can be illustrated or displayed on the display relative to the image 130, such as by overlaying the icon 68i onto the image 130 or by overlaying the icon relative to the image.

[0072] After registering the image space to the patient space, the device 68 can be tracked relative to the image 130. For example... Figure 1 As shown, icon 68i can represent the posture of device 68 (which may include a six-degree-of-freedom posture (including three-dimensional position and three-degree-of-freedom orientation)), which can be displayed on display 84 relative to image 130. Due to image-to-patient-space registration, the posture of icon 68i relative to image 130 can substantially identify or simulate the posture of device 68 relative to patient 30 in patient space. As described above, this allows the navigation process to occur.

[0073] As discussed above, the imaging system 80 may include various components, such as a source 86 and a detector 88. In various embodiments, the source 86 may include one or more separate sources, such as a first source 200, a second source 204, and a third source 208. Each of the three source elements or portions 200-208 may be located within the source assembly 86. Thus, the source 86 can be understood as a source assembly comprising a plurality of separate source portions that can emit X-rays or energy from the source assembly 86 from each of the separate source portions 200-208 to the detector 88.

[0074] Detector 88 can be any suitable detector and can be provided as a single detector or a single detector unit. Detector 88 may have a selected size 212, such as approximately 300 square centimeters (cm²). 2 Approximately 1600cm 2 Including approximately 450cm 2 Approximately 900cm 2 And also includes approximately 625cm 2 Or any suitable size. Typically, detector 88 may have a size smaller than the object size 216 of object 30. However, object 30 can be imaged by directing energy cones, such as X-rays, from each of the plurality of source portions 200-208 to detector 88.

[0075] For example, such as Figure 2 As shown, a first source 200 can generate or emit x-rays, for example, in a first cone 220, to be projected onto a detector 88. A second source 204 can emit x-rays, for example, in a second cone 224, to be projected onto a detector 88. A third source 208 can emit x-rays, for example, in a third cone 228, to be projected onto a detector 88. Each cone 220-228 can pass through different portions of the object 30 and reach the detector 88. Figure 2 As shown, each of these cones can pass through different parts of the object 30 and allows at least a portion of the object to overlap through cones 220 and 228 to allow reconstruction of the entire or substantially the entire image of the object 30 and / or at least the region of interest 30a of the object 30.

[0076] The source component 86 and detector 88 can be moved relative to object 30, such as typically within rack 82, or using other suitable movement mechanisms, such as an area or volume surrounding object 30. Figure 2 As shown, for example, the image acquisition portion, including source component 86 and detector 88, can be moved generally to a position substantially orthogonal to or at 90 degrees to the first position of source component 86. However, it should also be understood that source component 86 and detector component 88 can generally be moved about object 30 in the direction of double-headed arrow 230. Furthermore, imaging system 80 can move gantry 82 relative to object generally along the long axis 234 of object 30 and generally along or parallel to axis 238 which is substantially orthogonal to the long axis 234 of object 30. It should be understood that imaging system can also move parallel to both axes 234, 238. Furthermore, gantry 82 can move generally about axis 238, such as in the direction of double-headed arrow 242, and be in a suitable position relative to object 30. Therefore, source component 86 can move relative to object 30 in multiple positions and / or movements to acquire image data of object 30.

[0077] In various embodiments, image sources 200-208 may be formed from “thermal” emission sources, such as thermal emission filament sources comprising rotating or non-rotating anodes. Thermal emission filament sources include those such as the RAD-99B sold by Vision Imaging Inc., which has a business location in Salt Lake City, Utah. Sources 200-208 may also be formed as substantially small sources or point sources, such as cold emission sources, including those used in various imaging platforms sold by Micro-X Ltd., which has a business location in Adelaide, Australia. Therefore, it should be understood that sources comprising a single source 200-208 may be assembled into source assembly 86 in a suitable manner. Source assembly 86 may then be moved relative to object 30 to obtain image data of object 30. For example, a separate source may be operated to emit an X-ray cone that passes through and / or is attenuated by object 30. Detector 88 then detects the X-rays that pass through and / or are attenuated by object 30 to generate image data. Attenuation of X-rays may include absorption, deflection, reflection, etc. Therefore, attenuation may include altering and / or blocking X-rays from passing through object 30 and detector 88.

[0078] In various implementation schemes, such as Figure 3 As shown, source assembly 86 may include a source housing or configuration 280 that can accommodate or surround multiple individual sources or source points, such as five sources including a first source 284, a second source 286, a third source 288, a fourth source 290, and a fifth source 292. Each of sources 284-292 may be located within housing 280.

[0079] Furthermore, the source can be positioned within the housing 280 in a selected configuration, for example, generally along arc 296. Arc 296 may generally surround object 30 and may be centered, for example, on the major axis 234 of the object. However, it should be understood that arc 296 may be formed by any suitable geometry relative to object 30, as discussed further herein.

[0080] Each of sources 284-292 can generate or emit an X-ray beam from the corresponding source 284-292 to detector 88. For example, the first source 284 can emit a first beam 300, the second source 286 can emit a second beam 302, the third source 288 can emit a third beam 304, the fourth source 290 can emit a fourth beam 306, and the fifth source 292 can emit a fifth beam 308. Each of beams 300-308 can pass through object 30 and / or at least region of interest 30a of the object and reach detector 88.

[0081] However, it should be understood that in various embodiments, such as due to beamforming, the position of detector 88 relative to source assembly 86, or other configurations, only a portion of the respective beams 300-308 may be projected onto or reach detector 88. Similarly, detector 88 may include a size 212, which may be smaller than the size 216 of the object and / or region of interest 30a. However, due to the positioning of the various sources 284-292, the respective cones 300-308 may traverse the entire or substantially the entire volume of region of interest 30a and a single location and / or during movement of source assembly 86. For example, as... Figure 3 As shown, source component 86 can be moved to a second or alternative location 86', and detector 88' can also be moved in this way. As discussed above, it should be understood that the imaging portion including source component 86 and detector 88 can be moved relative to object 30 by one or more movements, as discussed above.

[0082] In various embodiments, as further discussed herein, the imaging system 80 may include a selected number of multiple sources or multiple sources. As further discussed herein, the source assembly 86 may include a variety of numbers of sources for generating multiple X-ray beams or emission portions (e.g., fan-shaped, cone-shaped, or other suitable shapes). Each of the emission portions may pass through or relative to the object 30 and / or region of interest 30a and be detected at detector 88 for generating image data. The image data may be used to generate an image 130 that can be displayed on a display device 84 and / or any other suitable display device.

[0083] refer to Figure 4A , Figure 4B and Figure 4C The imaging system 80 may include a frame 82 or any suitable support structure for the operation or movement of the imaging source assembly 86 and the detector 88. (See also: First refer to...) Figure 4AThe imaging system 80 may include a source assembly 86 having five source portions or points 284-292, as discussed above. The source points may span a selected distance, such as an arc 330. The arc 330 may have an angular distance of about 10 degrees, including about 8 degrees to about 12 degrees. The angular distance 330 allows the source assembly 86, including sources 284-292, to image a volume having an edge dimension 334 of about 210 mm (including about 200 mm to about 220 mm). Therefore, the imageable volume may be about 9 liters, including about 8 liters to about 11 liters.

[0084] As described and discussed above, the cone-shaped or cone-shaped emission of beams 300-308 can generate or allow imaging of a volume. Therefore, the angular span 330 of sources 284-292 allows imaging of a selected volume 338. Since cones 300-308 pass through the entire volume 338, the volume imaged by source assembly 86 allows the generation of image data for the entire volume 338. In various embodiments, for example, the cone may pass through the volume and image a portion of at least a two-dimensional region having an edge dimension 334 on each side. Therefore, including a source at angular dimension 330 allows imaging of a volume 338 larger than the size or volume of source assembly 86.

[0085] Steering Reference Figure 4B The imaging system 80 may include a frame or other suitable support structure including the imaging assembly 86. The imaging assembly 86 may include multiple source portions or source points, which may be numbered 350, 352, 354, 356, 358, 360, 362, 364, 366, and 368. Each of the ten sources 350-368 may emit a selected cone or beam of X-rays, exemplarily shown as a first beam 370 from the first source 350 and a second beam 374 from the tenth source 368. It should be understood that each of the sources 350-368 may emit a selected beam, and only the first beam 370 and the last beam 374 are shown for the present discussion. The sources 350-368 may be positioned across an angular distance or arc 380 spanning approximately 20 degrees (including approximately 18 degrees to approximately 22 degrees). Thus, the angular distance 380 may be approximately twice the size of the angular distance 330.

[0086] The angular distance 380 and the increased number of ten sources 350-368 allow imaging of a region of interest or area having a lateral dimension 384 of approximately 260 mm (including approximately 258 mm to approximately 262 mm). Dimension 384 can be the size of a square area and / or the lateral dimension of a cubic volume. The cubic volume can include a volume 390, which can be imaged at selected locations by the ten sources 350-368 due to the geometry of the corresponding beams 370-374. As discussed above, the beams can be substantially tapered and thus imaged through the volume 390 to the detector 88 to image the volume 390. Therefore, the volume 390 can include a volume of approximately 17.6 liters, including approximately 16 liters to approximately 19 liters. Thus, the angular dimension 380 of the ten sources 350-368 allows imaging of a volume 390 that is approximately 1.8 to approximately 2.2 times larger than the volume 338 discussed above.

[0087] Furthermore, as discussed above, the imaging system including source component 86 and detector component 88 is movable relative to volume 390. Volume 390 may include or be positioned relative to object 30 for imaging at least a portion of object 30. Thus, volume 390 may include or define a region of interest of object 30 to be imaged. Additionally, as discussed above, various cones such as first cone 370 and last cone 374 may overlap to image the same portion of volume 390 at different viewpoints relative to volume 390 and detector 88, ensuring the acquisition of image data across the entire volume 390 and / or at different viewpoints, as further discussed herein.

[0088] refer to Figure 4C The imaging system 80 may include a source assembly 86. In various embodiments, the source assembly 86 may include fifteen point or multiple source emitters, including individual emitters 400, 402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 422, 424, 426, and 428. Each of the fifteen sources 400-428 may emit an energy beam, such as X-rays, similar to those discussed above (e.g., a cone). Reference Figure 4C To simplify the current discussion, three cones are shown. Thus, the first cone beam 430 can be emitted from the first transmitter 400, the second cone beam 434 can be emitted from the eighth source 414, and the third cone beam 438 can be emitted from the fifteenth source 428.

[0089] Continue to refer to Figure 4CTherefore, in various embodiments, each of the sources 400-428 may be equidistant from each other within a selected angular span 442. The angular span 442 may be about 30 degrees, including about 28 degrees to about 32 degrees. An angular span 482 may allow the separation of fifteen sources 400-428, wherein the central source 414 is equidistant from each of the two end sources 400-428. The angular span 442 may allow the respective beams 430, 434, 438 to be emitted from the source assembly 860 and pass through the region of interest and be detected by the detector 88.

[0090] Angular span 442 allows a beam (e.g., two end beams 430, 438) to pass through a region having a dimension 450 on one side. Dimension 450 can be the dimension of a side of a square area and / or a side of a cubic volume. Dimension 450 can be about 310 mm, including about 308 mm to about 312 mm. Therefore, dimension 450 allows imaging of a volume 454 of about 29.8 liters (including about 28 to about 31 liters). Thus, volume 454 can define a region of interest or be used to image a region of interest of object 30. The volume 454 generated by angular span 442 of fifteen sources 400-428 can typically be about 320% (including about 300% to about 340%) larger than the volume 338 defined by angular dimension 330, as discussed above.

[0091] Therefore, the angular dimension 442 (i.e., approximately 15 degrees) allows imaging of volume 454, which can be significantly larger than the smaller angular dimension. Furthermore, multiple sources, including fifteen sources 400-428, allow imaging of the entire volume 454, such as... Figure 4C As shown, emissions from each of the individual sources, or from a selected one of sources 400-428, are detected at detector 88. Figure 4C As shown, three sources 400, 414, and 428 can image the entire volume 454, which includes the overlapping emission region. Therefore, fifteen sources 400-428 can image the volume 454 and / or the area defined by dimension 450 to obtain image data of object 30, as discussed further herein.

[0092] Steering Reference Figure 5 An imaging system 80 according to various embodiments is shown. The imaging system 80 may include a source component 86 and a detector 88. As discussed above, the source component may include any suitable number of source portions, such as... Figure 2 The three source parts shown, or for example, as Figure 4C The multiple source portions are shown. However, the reference... Figure 5For the purposes of this discussion, source component 86 may include three source portions 200, 204, and 208. The source portions may emit energy fans or cones, such as X-rays, in suitable shapes or geometries. As discussed above, the geometry may include a substantially conical shape, such as cone 224. However, the geometry of the emission or beam may be varied in suitable ways, such as by utilizing a beam-forming system including filters, guides, etc. Thus, in various embodiments, the emitted beam may include beam shapes such as beam 470 from the first source portion and beam 474 from the third source portion 208.

[0093] The bundle shape may include a general triangular fan, such as a right-angled triangular fan, or other truncated cones. For example, the first cone 470 may be a generally upright or nearly upright truncated cone, including a first leg 480 that may be substantially perpendicular to the detector surface 88a and a second leg 482 that may extend relative to the detector surface 88a at an acute angle 484. However, it should be understood that the two legs 480, 482 may not perfectly define certain angles, as discussed above, and the shape may be a generally non-conical shape. Similarly, the second bundle 474 may include a first leg 488 that may be substantially perpendicular to the surface 88a and a second leg 490 that may extend relative to the detector surface 88a at an acute angle 492. As discussed above, the bundle 224 of the second transmitter 204 may be substantially conical.

[0094] Therefore, as Figure 5 As shown, the three cones or beams 470, 224, and 474 can substantially cover the entire region of interest 496. The shaping of the beams 470, 224, and 474 from the discrete emission sections 200-208 allows for imaging of the region of interest 496, as... Figure 5 As shown. Furthermore, as discussed above, the source component 86 is typically movable around a center (such as an isocenter) relative to the region of interest 496, as discussed above. Therefore, the source component 86 and the detector component 88 can be moved to acquire image data at different locations relative to the region of interest 496. Thus, the volume or area acquired as the region of interest 496 can be larger than the volume or area acquired using a single source point.

[0095] Furthermore, the source assembly 86 may be positioned substantially symmetrically relative to the detector 88 about the center of the region of interest 496. For example, a vertical line or axis 500 extending from the surface 88a of the detector 88 may typically extend through the central curved point 204. Each of the two end or edge source portions 200, 208 may be substantially equidistant from the central source point 204, such as along an arc. The source assembly 86, comprising a plurality of sources 200, 204, 208, may be formed or positioned substantially symmetrically relative to the detector 88. Including the source assembly 86, symmetrically positioned relative to the detector 88, allows for the acquisition of image data of the region of interest 496.

[0096] refer to Figure 6A and Figure 6B An imaging source assembly 86 is shown relative to a detector 88 in the imaging system 80. As discussed above, the detector 88 may include an upper detection surface 88a. The detector surface 88 may generally be planar or substantially planar, such that a normal or axis 500 may be defined relative to it. Typically, the axis 500 may extend from the center of the detector surface 88a. Thus, rays or beams may be projected from the source substantially along the axis 500 and detected by the detector 88.

[0097] Source component 86 can be positioned relative to the detector, for example, as Figure 5 As shown, sources 200-208 are substantially symmetrical about axis 500. However, in various embodiments, such as Figure 6A and Figure 6B As shown, detector assembly 86 may include 15 source portions 400-428 positioned substantially asymmetrically or antisymmetrically with respect to detector 88 and axis 500. Typically, the antisymmetrical source assembly includes source portions such that a first number of source portions are positioned on a first side of a line or plane extending from the detector, and a second number of source portions are positioned on a second side of the line extending from the detector, such that the second number is greater than the first number.

[0098] For example, such as Figure 6A As shown, the third source point 404 can be substantially positioned on axis 500. Therefore, source point 404 can be approximately positioned on axis 500 and emit radiation approximately perpendicular to detector surface 88a. As discussed above, the beam 504 emitted by source 404 can be substantially conical. The first source 400 can be offset from axis 500 by a selected angle, for example, an angle 508 of approximately 5 degrees. Therefore, the first source 400 can emit a beam that is not a regular conical shape, or at least includes a regular cone shape contacting surface 88a. Thus, the first source 400 can be positioned at an angular displacement from the central inlet 500 perpendicular to surface 88a.

[0099] Continue to refer to Figure 6A And refer to other Figure 6B The fifteenth light source 428 can emit a beam 510. (As mentioned above...) Figure 4C As discussed herein, beam 510 may differ from beam 438 or include different geometries. Various beams emitted by the source may include irregular conical geometries. Irregular conical geometries may be formed due to selected filters or beamforming assemblies associated with source assembly 86. Furthermore, beam 510 may include substantially regular conical beam portions, but may include truncated conical portions detected by contact detector 88 or therefrom.

[0100] Therefore, the detector 88, including the detector surface 88a, may have a central axis 500 extending therefrom. The fifteenth source 428 may be at an angle of approximately 512 relative to the central axis 500. Therefore, the source assembly 86 may be substantially anti-symmetrical, since the first source 400 is offset from the central axis 500 by approximately 5 degrees and the fifteenth source 528 is offset from the central axis 500 by approximately 25 degrees. Therefore, the 15 sources are not symmetrically placed relative to the central or vertical axis 500, but rather offset relative to it. Therefore, the beam 510 emitted by the fifteenth source 428 may be a generally non-conical or truncated conical shape that is detected or emitted toward the detector surface 88a.

[0101] like Figure 6A and Figure 6B As shown, the volume or area through which the beam can be emitted at the selected new location can therefore be size 520. Size 520 can be the lateral dimension of a generally regular square area or a cube. However, it should be understood that size 520 can be an appropriate edge dimension. However, size 520 can be volume 524, which can be defined or operated as the region of interest of imaging system 800. Therefore, volume 524 can be about 64 liters, including about 62 liters to about 66 liters. Thus, a size 520 of about 400 mm (including about 380 mm to about 410 mm) can allow imaging of a selected volume 524 within imaging system 80.

[0102] As discussed above, the imaging system 80 can also be operated to image the object 30 within volume 524 by moving selected portions of the imaging system 80. For example, the antisymmetric source assembly 86 can be rotated about volume 524, such as substantially once per year within the gantry 82, to ensure that the beam from source points 400-428 passes through volume 524 for detection by detector 88. Therefore, the source assembly 86 can also be moved in various configurations or shapes, as discussed above, to allow image data acquisition of volume 524. The object 30 can be fully positioned within or at least partially positioned within the imageable volume 524 to allow image data of the object 30 to be acquired by operating the imaging system 80.

[0103] Continue to refer to Figure 6B For example, the source component 86' and the detector component 88' may be relative to Figure 6BThe initial position shown (solid line) is rotated approximately 90 degrees (as shown by dashed line). The fifteenth source 428' can emit a beam 510' to include a geometry substantially similar to that of the beam 510, as discussed above. The beam 510' can be emitted by the fifteenth source 428' and detected at the detector surface 88a. The axis 500 extends substantially from the center and is perpendicular to the detector surface 88'a, passing through or relative to a portion of the source assembly 86'. The fifteenth source 428' can be positioned at an angular distance 512 relative to the axis 500. Therefore, even when rotated relative to the first position, the fifteenth source 428' is able to be positioned relative to the detector 88, as... Figure 6B As shown. Therefore, the source component 86' can acquire image data of volume 524 at a selected location relative to volume 524, the selected location including a substantially orthogonal position of the source component 86' relative to an initial or first position and / or other appropriate angular displacement.

[0104] Steering Reference Figure 7A , Figure 7B and Figure 7C The imaging system 80 may include source components 86 as discussed above, which may include multiple source portions or multiple source portions. Figure 7A and Figure 7B As exemplarily shown, source assembly 86 may include three source portions 200-208. As discussed above, each of the respective source portions 200-208 may generate a tapered and / or truncated conical beam. Thus, for example, sources 200-208 may emit beams 470-474, as discussed above. According to various embodiments, beams 470-474 may be shaped using suitable filters or beamforming portions. Therefore, source assembly 86 may also be movable within rack 82, as discussed above.

[0105] In various embodiments, the source assembly 86 may be substantially centered or positioned midway between a first edge or end 550 of the rack 82 and a second end 554 of the rack 82. The rack 82 may define a volume, such as substantially the total volume, between the two ends 550-554. The two ends may be substantially spaced apart along a central axis or long axis 558 extending through the rack 82. The axis 558 may be substantially Z-direction or movement of the rack 82 and may be substantially aligned or parallel to the long axis 234 of the object. Thus, the rack 82 may typically include or have a depth 562 of selected dimensions, such as about 0.5 meters to about 2 meters. This depth allows for the positioning of various components, such as the source assembly 86 and detector assembly 88 within the rack 82. Various electronics and other mechanisms may also be provided within the rack depth 562.

[0106] Further reference Figure 7CSources 200-208 can be aligned in a plane parallel to and / or substantially perpendicular to the axis 558 passing through the frame 82, on one or both sides 550-554. Therefore, sources 200-208 can be placed on a plane and along an arc or an arc that is part of a circle on the plane within the frame 82. Each of these sources emits a corresponding beam 470-474 from the same plane within the frame 82 and substantially perpendicular to the central axis 558 toward the detector 88. Thus, sources 200 and 208 can be located on a circle 570 centered on the central axis 558.

[0107] Furthermore, the source assembly 86 and detector assembly 88 can rotate about axis 558 to acquire image data of a region of interest or volume (such as volume 524 within rack 82). This allows the source assembly 86 and detector assembly 88 to move within rack 82. Additionally, as discussed above, rack 82 can move relative to object 30, such as by moving relative to object 30 with respect to trolley 103.

[0108] In various embodiments, the source assembly 86 may be rotated within the rack 82, or rotated using any other suitable holding or mounting system, to acquire an image of volume 524. Thus, volume 524 can be imaged using one or more beams emitted by one or more sources within the source assembly 86. Due to the rotation of the source assembly 86 and the associated detector 88 within the rack 82, the beams may surround or cover volume 524. As shown in the figure, such as in Figure 7A and Figure 7B In this case, the beam can cover a specific portion of volume 524 with a density greater than that of other portions of volume 524. For example, if the beam is an X-ray emission, the density or amount of radiation within volume 524 may affect the image quality of the object 30 being imaged.

[0109] Steering Reference Figure 8A , Figure 8B and Figure 8C The imaging system 80 may include a rack 82, as discussed above. As further discussed above, the imaging system 80 may include a detector 88 and a source assembly 86. The source assembly may include any suitable number of sources, such as three sources 200-208, as discussed above. However, it should be understood that the source assembly 86 may also include any suitable number of sources, including 15 sources 400-428, as discussed above. The discussion and description of the three sources 200, 204, and 208 are for the sake of ease and clarity of the present discussion. Therefore, as... Figure 8AAs shown, source assembly 86 may include three discrete or separate sources 200-208 that can emit three beams, including a first beam 570 from the first source 200, a second beam 574 from the second source 204, and a third beam 578 from the third source 208. The three beams 570-578 may be directed to detector 88, such as its detector surface 880. As discussed above, detector 88 may have a substantially planar detector surface 88a and may define an axis or line 500 substantially perpendicular to its extension.

[0110] Source component 86 may be positioned within rack 82 and relative to detector 88 such that source component 86 and / or at least one line or arc 582 extending through sources 200-208 are not parallel to a plane perpendicular to an axis 558 extending through rack 82 and / or the direction of rotation or path of source component 86 within rack 82. As discussed above, source component 86 may move in an annular or circular path within imaging system 80. In various embodiments, rack 82 may include rails or other systems to allow or guide the path of source component 86 within rack 82. The path of source component 86 may be generally substantially circular, such as generally along circular path 586. Line or arc 582 may intersect the path or circle 586 within rack 82. Furthermore, as Figure 8C As shown, line 582 passing through source assembly 86 (including through sources 200-208) may extend through or intersect with the outer surface or plane of rack 82.

[0111] In various embodiments, the first source 200 may be closer to one side than either or both of the second source 204 and the third source 208, such as the second side 554. The third source 208 may be closer to the opposite side than either or both of the first source 200 and the second source 204, such as the first side 550 of the rack 82. The second source 204 may be between the distances of either the first source 200 or the third source 208 relative to either of the sides 550, 554 of the rack 82. Thus, as Figures 8A-8C As shown, sources 200-208 can be positioned to extend from a circular path or a path defining a plane within rack 82. Therefore, relative to the second side of the rack, a certain number of sources can be closer to one side than some other sources. Thus, as... Figure 8A As shown, the beam emitted by each source may include different portions or components that may intersect with volume 524, which can be imaged by the source assembly 86 of detector 88.

[0112] Continue to refer to Figures 8A to 8C However, special reference Figure 8C Off-axis or tilted orientations of sources 200-208 (such as along line 582) can position the sources to image different portions of volume 524 relative to detector 88 with greater intensity. Figure 8CAs shown, for example, a source 200 emitting beam 570 may have a central or highest intensity portion 570' that can pass through and be detected by a detector 88 in a first region 590. A second source 204 emitting beam 574 may include a higher density or central region 574' that can strike or reach the detector 88 at region 594. Finally, a third source 208 emitting beam 578 may include a higher density or central region 578' that can reach the detector 88 at region 598. Thus, various beams from the respective sources can reach the detector, with the beams converging on the detector 88 at different regions. Therefore, as the source assembly 86 sweeps or moves along a path within the gantry 82, more or larger areas of the imageable volume (such as volume 524) may be affected or attenuated by high-intensity or high-density regions of the beams from one or more of the sources 200-208.

[0113] The source component 86 can be moved to the second source position 86' (dashed line) when at an angle, as shown below. Figure 8C As shown. Therefore, source assembly 86 may include sources 200-208 along line 582, which is substantially along a line or plane that is not parallel to the movement path or circle 586 within the frame 82.

[0114] Continue to refer to Figures 7A-7C and Figures 8A-8C In various embodiments, the imaging system 80 may further manipulate or move the source assembly 86. It should be understood that, as discussed above, the source assembly 86 may be fixed in a single selected location, such as generally aligned with or at an angle to an axis of rotation or plane of rotation, such as within the frame 82. It should also be understood that the source assembly 86 may be positioned in any suitable location, such as substantially orthogonal to the movement or positioning plane 586, rather than simply aligned with or at a selected acute angle to it.

[0115] In various implementation schemes, refer to Figures 9A-9D The source component 86 can also be selectively movable relative to the frame 82 of the imaging component 80. As discussed above, the frame 82 can be provided in various forms and typically has a first or front surface 550 and a second or rear surface 554. It should be understood that the frame 82 can be of a selected shape, such as a C-shape, an O-shape, or other suitable shape. Furthermore, as discussed above, the frame may include, for example, The imaging system has an openable or fractureable frame. However, the source assembly 86 may be positioned on a selected structure within the frame 82, such as a guide rail 600. The guide rail 600 may carry one or more components, such as the source assembly 86. As discussed above, the source assembly 86 may extend between two ends, such as a first end 610 and a second end 614. Sources, such as three sources 200, 204, and 208, may be positioned within or held together with the source assembly 86. It should be understood that the source assembly 86 may include any number of sources, including those discussed above.

[0116] Source component 86 may move, for example, around object 30 on or with rotor or guide rail 600, as discussed above. Source component 86 may move generally in an arc, such as by arc or angular motion 586. Motion or path 586 allows source component 86 to rotate or move around object 30, such as for acquiring image data at various positions relative to object 30, as discussed above. However, source component 86 may also move relative to rotor or guide rail portion 600.

[0117] In various embodiments, for example, the source assembly 86 may be rotatable about axis 620. Axis 620 may extend through the source assembly 86 and, for example, through an axle or pin 624. Axle 624 may mount or hold the source assembly 86 relative to a drive assembly or system 628. Drive assembly 628 may include various components or systems, such as an electric motor, which may include a separate motor or selected separate motor for moving the source assembly 86.

[0118] The drive assembly 628 can be powered and controlled to rotate the source assembly 86 about axis 620, such as generally in the direction of the double-headed arrow 632. Therefore, the source assembly is understood to be capable of rotating relative to or about axis 620 in either or both directions. Thus, the source assembly 86 can rotate from a position substantially aligned with the movement path or plane 586 between the two ends 610, 614, such as... Figure 9B As shown.

[0119] The drive assembly 628 may be operated or controlled by the control assembly 96 to move or control the movement of the source assembly 86. As discussed above, the imaging system may move relative to the object 30, including movement of the gantry 82 relative to the object 30 along or relative to the Z-axis or major axis 234 and / or vertical axis 238, and may also rotate or tilt relative to selected axes and / or the trolley 103, such as in the direction of the double-headed arrow 242. Thus, the source assembly 86 may also move in conjunction with the movement of other parts of the imaging system 80, such as the gantry 82 and / or the rotor 600 (e.g., simultaneously and / or relative to them with a selected time delay). Thus, the source assembly 86 may be positioned at a selected location and / or rotate about axis 620 as the rotor 600 rotates about the object 30, such as generally in the plane or in the direction of the double-headed arrow 586.

[0120] Continue to refer to Figure 9A and Figure 9B And refer to other sources. Figure 9C and Figure 9DThe source component 86 can be rotated such that it is substantially perpendicular to the direction or plane of movement 586. As discussed above, the source component 86 may extend between the ends 610, 614, such as generally along the major axis 616. The major axis 616 of the source component 86 may be aligned with or parallel to the axis of movement or plane 586. However, as Figure 9C and Figure 9D As shown, the major axis 616 of the source component 86 may also be substantially perpendicular to or orthogonal to the axis or plane 586. Therefore, the source component 86 can be moved about the axis 620 in the direction of the double-headed arrow 632 to position or move the source component 86 to a position substantially orthogonal to the plane of movement or axis 586. It should be understood that the source component 86 can be positioned at any position between the alignment position and the orthogonal position, such as... Figure 9A and Figure 9C As shown. The source component 86 can also rotate around the object 30 and / or rotate during the rotation of the source component 86 around the object 30. Therefore, respectively as Figure 9A and Figure 9C The illustrations of the aligned or orthogonal positions shown are merely examples of two possible positions for the source component 86.

[0121] When the source component 86 is movable by the drive system 628, the source component 86 can move automatically according to selected instructions (such as those executed by the control component 96). The user 72 can select one or more imaging features or characteristics. The imaging system 80 can then be operated to collect object image data for generating (such as reconstructing) images (such as image 130) for display on the display device 84 or other suitable display device.

[0122] Continue to refer to Figures 8A-8C Referring also to FIG10, the imaging system 80 may include a source component 86, which includes one or more sources, such as three sources 200, 204, and 208. However, it should be understood that any suitable number of sources may be provided in the source component 86, including those discussed above.

[0123] As shown in Figure 10, the source assembly 86 can be positioned such that the sources 200-208 are aligned along a line or arc having a major axis 582. The source assembly 86 can move within a path 586, such as within a frame 82. The path 586 can typically be an angled path, such as being angled within the frame 82. However, it should be understood that the path or plane 586 can be any suitable path and is generally defined by the geometry of the imaging system 80. However, as... Figure 8B As shown in Figure 10, the source component 86 can be positioned through or extend through a plane 586 between the two surfaces or sides 550, 554 of the frame 82.

[0124] Therefore, as shown in FIG10, the imaging assembly may include a first source 200 near the first side 550 and a third source 208 near the second side 554. A second source 204 may be positioned between the first source 200 and the third source 208, as shown in FIG10. Typically, dimension 630 may be defined between the first source 200 and the third source 208, and dimension 660 may be a generally linear dimension; however, it should be understood that the sources may be positioned along an arc or curve having a center located outside the source assembly 86 or defined outside the source assembly. However, dimension 660 may define a linear dimension between the centers or edges of the two sources 200, 208, which may or may not extend through any other source, such as the second source 204.

[0125] Dimension 660 can be larger than other dimensions such as the edge dimension 664 of detector 88 and / or the dimension 520 of region of interest 524. As discussed above, region of interest 524 can be a region of interest, an imageable region, or a volume. Therefore, dimension 520 can be one side of a cube defining the region of interest, the image, or the imageable volume 524. However, dimension 660 between sources 200 and 208 can be larger than either dimension 664 and / or 520.

[0126] Each source can emit its own beam, such as the first source 200 emitting the first beam 570 and the third source 208 emitting the third beam 578. For example... Figure 8B As shown, two corresponding beams 570, 578 can be emitted from corresponding sources 200, 208 and pass through selected portions of the imageable volume 524 and contact detector 88. Beams 570, 578 can be selectively emitted from and / or shaped from source assembly 86 to pass through volume 524 and contact or be detected by detector 88. It should be understood that other sources may also emit different beams; however, the discussion of the two beams 570, 578 is for the clarity of the present discussion, and other sources may also emit other beams to pass through other portions of volume 524.

[0127] like Figure 8BAs shown in Figure 10, a first beam 570 may be emitted from source 200, pass through volume 524, and be detected by detector 88. Beam 570 may pass through a first portion 670 of volume 524 and be detected at detector 88. A third beam 578 may pass through a second volume 674 of the same volume and be detected by detector 88. Thus, the two beams 570, 578 may extend or pass through different portions of volume 524 and / or may overlap or both pass through a selected overlap region 678. Various imaging reconstruction techniques can be used to generate or acquire an image of length 520, such as the axial length along axis 234 of object 30. Dimension 520 may be larger than the dimension 664 of detector 88. Therefore, a length greater than the length of detector 88 can be imaged with source assembly 86 positioned as shown in Figure 10. Similarly, volume 524 can be imaged with source assembly 86, and this volume is larger than the volume including dimension 664 of detector 88.

[0128] Therefore, imaging component 80 can acquire image data of objects (such as object 30) larger than the size of detector 88. For example, image data of a length of about 20 cm to about 30 cm (inclusive) or along the length thereof can be collected by a single pass or projection of volume 524. This size can be larger than the size that can be imaged in a single projection when the source component is aligned with path 586, such as... Figure 7C As shown, the size can be from about 10 cm to about 20 cm, including about 15 cm. Two projections can be acquired on a detector 88 having a size 664 (e.g., a side dimension) of about 30 cm. Therefore, alignment or positioning of the source assembly 86, including the source 200-208 positioned relative to the path or plane 586, allows the acquisition of projections including sizes larger than those allowed due to the alignment of the source assembly 86 with the path or plane 586.

[0129] Steering Reference Figure 11 The imaging system 80 may include various geometries, as discussed further herein. As discussed above, the imaging system 80 may include a frame 82 that may be positioned in a generally annular or “O” configuration. The frame 82 may be connected to a trolley 103 that allows the imaging system 80 to move between two different locations and during selected procedures. In various embodiments, as discussed above, the imaging system 80 may include one or more moving parts, such as wheels 107 or more wheels, to support the trolley 103 and move the imaging system 80, depending on the selection. As understood, the frame 82 may include a fixed or main portion 700 and an opening or breakable portion 704. The fixed portion 700 may be secured to the trolley 103 at a selected location and / or a selected anchor point 706. Thus, the fixed portion 700 may generally define a minimum range or size of the imaging system 80. As discussed above, the imaging system 80 may include a source assembly 86 and a detector assembly 88.

[0130] like Figure 11 As schematically shown, the source assembly 86 and detector assembly 88 can be fixed or positioned to the rotor 720. The rotor 720 can be moved to various positions within the frame 82. As discussed above, the imaging system 80 allows for movement of the source assembly 86 and / or detector 88 relative to the imageable volume or object 30. The source assembly 86 and detector 88 can be fixed to the rotor 72 at selected locations and / or selected geometries. Figure 11 As shown, the source assembly 86 can be positioned asymmetrically or antisymmetrically relative to the detector 88. In other words, the detector 88 may include a detector surface or face 88a from which an axis or line 500 extends. The axis 500 may be substantially perpendicular to the surface 88a. However, the source assembly 86 may be positioned such that a large portion (such as the first portion 86a) is positioned to one side or a selected side, such as relative to the inner arc of the detector 88, using the rotor 720. Thus, a large or open area can be provided for access to the object 30 within the rack 82.

[0131] The breakable or opening portion 704 is movable relative to the fixed portion 700. For example, door 704 may be moved generally in the direction of arrow 724 to allow access to the interior or movement within the rack 82. The source assembly 86 utilizes the position of rotor 720 relative to detector 88 to allow a large opening such that it can be defined by an angle 730 between two lines or planes 734 and 738. The angle or arc dimension 730 may be a selected dimension, such as about 60 degrees to about 300 degrees, including about 90 degrees to about 180 degrees. Rotor 720 and the associated source assembly 86 and detector assembly 88 allow an opening area in rack 82 to allow effective or easy access to an area within rack 82 for locating object 30. However, imaging system 80 is capable of moving rotor 720 relative to object 30 to acquire selected image data relative to object 30, as above and further discussed herein.

[0132] The positioning of the source assembly 86 (including multiple source sections, such as 15 source sections 400-428) allows the rack 82 to include various sections, such as a door 740 that allows the opening arc 730 to be used. The opening or aperture arc 730 can be used efficiently during the acquisition of image data of the object 30, such as during a selected procedure. In various embodiments, the imaging system 80 can be moved relative to the object 30 using the trolley assembly 103, and the rotor 720 can be used to move selected source assemblies 86 and detector assemblies 88 relative to the object 30 to acquire image data of the object 30.

[0133] As discussed above, the imaging system 80 may include a source component 86 and a detector 88. The source component 86 and detector 88 may be fixed in their respective positions using a rotor 720. The rotor 720 may then be movable within a frame 82, as discussed above, for example... Figure 11As shown. Furthermore, detector assembly 88 and / or source assembly 86 may be movable relative to rotor 720. For example, a guide rail and motor system may be provided to move one or both of source assembly 86 and / or detector assembly 88 relative to rotor 720 and / or relative to each other. In various embodiments, detector 88 may be located from, for example... Figure 11 The first position shown is moved to the same position. Figure 11 The second position 88' (dashed line) is shown. Detector 88' can detect X-rays emitted by one or more sources, such as source 400 that can emit a beam (e.g., a cone beam) 760 that will be detected by detector 88'. Therefore, imaging assembly 80 can be provided such that its various parts can be moved relative to each other in order to image a selected object such as object 30.

[0134] Furthermore, as discussed above, the source component may include multiple individual sources. In various embodiments, source component 86 may include 15 source portions or points 400-428. Various source points can be operated in selected ways for various imaging techniques of object 30. In other words, according to various embodiments, different source portions among the multiple source portions may operate differently in a single source component.

[0135] In various implementation schemes, refer to Figure 12 It can provide a source assembly 86 including 15 sources 400-428 for imaging the object 30 using various filters or filter assemblies. For example, such as Figure 12 As exemplarily and schematically shown, selected sources among these sources, such as source points or portions 400, 406, 412, 418, and 422, may all have selected filters 770. Filters 770 may be provided or have selected features or characteristics to use or enhance selected imaging modalities. For example, filter portions 770 may be operable to aid in fluorescence microscopy imaging of an object. Fluorescence microscopy imaging may be aided by filter assemblies comprising selected materials such as aluminum or copper and / or collimators for focusing the X-ray beam to a specific region of interest. Thus, filter assemblies 770 may be provided in a fixed and / or movable manner relative to selected source portions 400, 406, 412, 418, and 422 to aid in fluorescence microscopy imaging of object 30. Therefore, filter assemblies 770 may be used to enhance or be operable to enhance selected imaging modalities relative to object 30 to aid in imaging object 30. Other source points of source assembly 86 do not need to have filter portions 770 and may provide selected beams, such as broad or wide-spectral beams.

[0136] Furthermore, it should be understood that among the multiple sources 400-428, other selected sources may include separate or different filter sections. For example, filter sections 780 may be provided on selected sources such as sources 402, 414, and 428. Source sections 780 may assist in selected imaging modalities, such as the dual-energy imaging modality of imaging system 80. In various embodiments, for example, filter components 780 may help select or limit the emission from source 402 to a selected spectrum. Emissions from another source (such as source 408) may have different energies. Therefore, two sources 402, 408 may be used in a single-source component 86 to help generate or collect dual-energy images of object 30.

[0137] As discussed above, source component 86 can be positioned relative to object 30 for imaging object 30. Therefore, the two source portions 402, 408 can be powered or used to emit x-rays at close proximity to ensure or facilitate the collection of dual-energy image data with substantially little (e.g., less than about 0.1 seconds) time between acquiring image data at two different energies. Thus, source component 86 is operable to acquire dual-energy images of object 30.

[0138] It should be understood that the various filter sections 770, 780 are shown schematically and can be understood to include any selected type of filtering mechanism or material. Furthermore, the filter sections 770, 780 can help collimate or guide the beam from any selected source. In various embodiments, the filter sections 770, 780 may include selected materials such as lead, copper, or other materials. Additionally, the source section may include selected shapes, such as slits, pinholes, etc., to help select or generate a selected beam shape.

[0139] Furthermore, source component 86 can be operated to collect or emit from any of the selected sources in a selected order. As further discussed herein, source component 86 can be operated to emit simultaneously, sequentially, or in a selected mode from any one or more of the source portions. In various embodiments, for example, as rotor 720 rotates about object 30, the sources, including filter portion 770, can be operated sequentially such that a selected number of projections of object 30 are acquired simultaneously using only one or more of the selected source portions at any given emission / projection point.

[0140] Alternatively, or in addition, multiple sources with substantially similar characteristics may be operated at substantially any and / or every position of source component 86 relative to object 30 (e.g., such as during rotation of source component 86 relative to object 30). By utilizing two or more of these sources at a single position of source component 86 to acquire image data of the object, stereoscopic or perspective acquisition of the object can be achieved when the sources are offset from each other by a selected distance. For example, source 400 may be separated from source 406 by a distance 790, although both sources 400 and 406 may comprise substantially similar emission or imaging characteristics. Furthermore, source 406 may be separated from source 712 by this distance 790. Source 400 may be separated from source 412 by a distance 794. Distance 794 may be twice the distance between source 412 and source 400, linearly or angularly. Thus, in a single image projection, different perspective views relative to object 30 can be acquired using substantially similar imaging characteristics at different positions or viewpoints.

[0141] In various implementations, each source can be powered substantially simultaneously at each selected location of the source component 86 relative to the object 30. As discussed herein, such simultaneous acquisition allows for dual-view image or image data acquisition of the object 30 at a single location of the source component 86. Dual-view acquisition can allow for registration to additional or other image data of the object 30.

[0142] Continue to refer to Figures 1-12 And refer to other sources. Figure 13A , Figure 13B , Figure 13C and Figure 13D The imaging system 80 is shown. See details for further information. Figures 13A to 13D Imaging system 80 is schematically shown as including a source assembly 86 movable around a frame 82. Frame 82 is schematically shown as including only an internal annular portion, but it should be understood that it includes an annular portion that can surround or define a volume through which the source assembly 86 can move together with the detector assembly 88. The detector assembly 88 and the source assembly 86 can be connected to a rotor, as discussed above. Furthermore, frame assembly 82 can include any selected configuration, such as “C” and / or “O” configurations, etc. Additionally, imaging system 80 can include various parts and features as discussed above, including trolley 102, a breakable or open portion of frame 82, or other selected portions. However, for clarity of the present discussion, regarding... Figures 13A-13D The discussion includes a schematic illustration of the imaging system 80.

[0143] Imaging system 80, including source component 86, may include, for example, 15 source point components including sources 400-428. During operation of imaging system 80, source component 86 may move generally within path 586 and around gantry 82 in either or both directions of the double-headed arrow 810, as discussed above. Various parts of imaging system 80 may also move relative to object 30 and / or trolley 103, and thus the direction of double-headed arrow 810 only illustrates one possible movement of source component 86 during the imaging process. Similarly, source component 86 may move along selected paths, as understood by those skilled in the art, to acquire image data of object 30. Furthermore, detector 88 may also move relative to source component 86 and / or together with source component 86 and gantry 82 to acquire image data. The selected movement in the direction of double-headed arrow 810 is also for clarity of the present discussion.

[0144] Therefore, in various implementation schemes, such as Figure 13A As shown, the source component 86 may be positioned relative to the region of interest or the imageable volume 524 in a first location, for example, generally along a reference or central axis 818. It should be understood that, for example, the gantry 82 may be positioned relative to a surface, and the reference axis 818 is used herein for illustrative purposes only. Therefore, as discussed above, the source component 86 may be moved relative to the reference axis 818 along path 586 in the direction of the double-headed arrow 810. In the first image data acquisition position 830, as... Figure 13A As shown, source assembly 86 can be positioned relative to detector assembly 88, and source portion 428 can be operated to emit X-rays to be detected by detector 88. Figure 13A As shown, X-rays can pass through a selected path or shape, such as a selected cone or cone beam 834 passing through region 524, to be detected by detector 88.

[0145] refer to Figure 13B The source component 86 can be moved relative to the reference axis 818 to a second or alternative position, as can the detector 88. The source component 86 can be moved along path 586 in the direction of the double-headed arrow 810 to the second position or... Figure 13B The position 834 shown is one of several alternative positions. Source assembly 86 can be moved by any appropriate amount, and the position shown is for current discussion only. However, at a second or alternative position 834, source point 414 can be operated to emit an X-ray beam and beam 842 that passes through volume 524 for detection at detector 88. Beam 842 may pass through different portions of volume 524 and / or may overlap with portions traversed by beam 834. However, the second position 838 may allow X-rays from beam 842 from a different source (such as source 414) of source assembly 86 to be detected by detector 88.

[0146] Steering Reference Figure 13CThe source assembly 86 and detector 88 can be positioned in a third position 850. The third position 850 allows the source point 426 to emit an X-ray cone 854 through volume 524 to be detected at detector 88. Similarly, the source assembly 86 can be moved along path 586 in the direction of the double-headed arrow 810 to position 850, as... Figure 13C As shown, image data is acquired. At position 854, source point 426 can be powered or operated to emit X-rays for passing through volume 524 to be detected at detector 88. Figure 13C As shown, bundle 854 may pass through different portions of volume 524 and / or overlap with at least a portion of any of the previous bundles (such as bundles 834 and 842).

[0147] Steering Reference Figure 13D The source component 86 and the detector component 88 can be moved to the fourth position 860, such as Figure 13D As shown. In position 860, source assembly 86 can be positioned by moving the source assembly along path 586 in the direction of double-headed arrow 810. At position 860, source point 406 can be operated or powered to emit an X-ray cone 864 through volume 524 for detection by detector 88. Beam 864 may pass through a portion of volume 824, a portion of a previous beam passing through that volume, and / or through different portions.

[0148] Therefore, as shown above, for example in Figures 13A-13D In this configuration, the source assembly 86 can be moved within or relative to rack 82 to acquire image data at multiple viewpoints relative to volume 524. As discussed above, volume 524 typically includes a portion of and / or surrounds object 30 for acquiring image data of object 30. During the movement of source assembly 86, different source points can be individually operated or powered to allow an X-ray beam to pass through volume 524 for detection by detector 88. As exemplarily illustrated in various locations 830, 838, 850, and 860, each source point can be operated in a selected mode, which can be a selected number of times powered sequentially, every other time, in sequential and repetitive modes, or any other suitable mode, such as those discussed further herein.

[0149] Therefore, as the source assembly 86 moves relative to volume 524, different source points among these source points (such as the 15 source points 400-428) can be powered to emit X-rays through volume 524. Each of these source points may include selected characteristics, such as different powers or selected filters, as discussed above. Furthermore, the source assembly 86 can move relative to the object to acquire image data at different viewpoints relative to volume 524, and / or different source points can be powered at any particular location of the source assembly 86 to acquire image data at different viewpoints at a single location of the source assembly 86. For example, location 838 may power both source 414 and source points 400 and 428. Similarly, at any particular location of the source assembly, a selected mode, such as simultaneously, sequentially, etc., can be used to power any selected number of sources to acquire image data of object 30, such as within or through volume 524.

[0150] Continue to refer to Figure 12 And refer to other sources. Figure 14 and Figure 15 The imaging system 80 can operate as a selected type of imaging system, such as a fluorescence imaging system. During fluorescence imaging, a continuous beam of X-rays can be emitted from one or more source points in the source assembly 86 to acquire image data of the object 30 within a selected time period. Therefore, refer to Figure 14 The process 900 for performing fluorescence mirror imaging using imaging system 80 according to various embodiments discussed above is illustrated.

[0151] Typically, method 900 can begin in start box 904. A signal or instruction to begin fluorescein imaging can then be received in box 908. The received signal can be emitted by user 72, such as using imaging control system 96, or via any other suitable input or receiving system. After receiving fluorescein imaging selection in box 908, the location or orientation of the source component can be determined in box 910. The determination of the source component location in box 910 can be based on a suitable or selected type of fluorescein. In various embodiments, imaging system 80 can be used to assist in performing catheter insertion, gastrointestinal or intestinal studies, or other suitable studies. Therefore, one or more locations of source component 86 can be determined in box 910. Furthermore, various studies may include the selection or predetermined location of source component 86; therefore, the determination or receipt of source component location box 910 can recall the selected source component location from memory.

[0152] Once the position of the source component is determined in box 910, it can be moved in box 914 if needed. (Reference) Figure 15A schematic illustration of an imaging system 80 including a source component 86 and a detector 88 is shown. As discussed above, the detector 88 may include a detector surface 88a, and a plane or axis 500 may extend from the detector surface 88a. When determining a position and / or moving the source component 86 to a selected position, the position may be as follows: Figure 15 The axis 500 is shown relative to object 30 such that it extends through object 30, such as in selected locations (including relative to heart 30ht or other selected portions of object 30).

[0153] In box 918, selection or recall of which source points of source assembly 86 are possible. For imaging using fluorescence microscopy techniques, multiple X-ray points or portions, or those powered thereto, can be selected, such as one or more of the 15 portions 400-428 of source assembly 86. Those skilled in the art will understand that while the following discussion pertains to a source assembly having 15 source portions, any suitable number of source portions may be included as discussed above.

[0154] Selecting or recalling which source portions may include selecting source portions that are substantially symmetrical with respect to axis 500. Therefore, two or more of the source portions that are substantially symmetrical about axis 500 may be selected for acquiring projections (e.g., image data) of object 30 (such as heart 30ht). For example, source point 400 and source point 414 may be selected for acquiring fluorescein image data. In various embodiments, both source portions 400 and 414 may be used (e.g., in an alternating mode) to acquire fluorescein image data. It should be understood that additional source portions (such as source portions 402 and 410) may also be used to acquire fluorescein image data. It should also be understood that, as discussed above, the selected source portions may be a subset or a selected subset of the 15 source portions 400-428 and may include selected filters for use during the fluorescein imaging procedure. Therefore, selecting or recalling source points for imaging in block 918 may include selecting a subset of source portions that can be symmetrically positioned with respect to axis 500 and / or including selected filtering or shaping features. Additionally, the source portion used for the fluorescence microscope can be operated by selected factors or parameters (such as selected energy and / or rate, including selected average power and / or voltage).

[0155] Once a selection is made in box 918, the power supply or emission of a beam (e.g., an X-ray beam) is performed from the first selected source point or portion of the source assembly in box 922. For example, the emission may originate from source point 400, such as... Figure 15As shown. The first part may be the source portion 400 that emits the first beam 926. The beam 926 may pass through the object 30, which includes a portion of the heart 30, and be detected at the detector 88. Therefore, the acquisition of the first image data is performed in block 930. As discussed above, the first image may be viewed using the display device 84. Furthermore, as those skilled in the art will understand, the image data may be saved for various analyses and / or additional procedures.

[0156] After the acquisition of the first image data in box 920, it is determined in box 934 whether additional image data is needed or to be acquired. This determination of whether additional image data is needed can be made during initial planning, such as in receiving fluorescein imaging in box 908 or being included in conjunction with the reception of fluorescein imaging. Further additional instructions for acquiring additional image data may also be received from or based on user 72.

[0157] If no additional image data is required, the "No" path 938 can be followed to the closing box 940. The closing box 940 can include various procedures, such as any acquisition of image data using the imaging system 80. Furthermore, procedures for the object 30 can continue, such as analyzing the image data, performing procedures on the object 30 using the image data, viewing the image data, modifying the image data, or other appropriate procedures. Therefore, the closing box 940 can simply terminate the fluorescein image acquisition using the imaging system 80.

[0158] If additional image data is required, the "Yes" path 944 can be followed. The "Yes" path 944 can continue to box 948 to determine if the source component needs to be moved. If it is determined that the source component does need to be moved, the "Yes" path 952 can be followed to move the source component in box 956. However, in various implementations, such as Figure 15 As shown, it is not necessary to move the source component 86 to acquire additional fluorescence microscope image data. However, it should be understood that the source component 86 (alone or in combination with the detector 88) may be moved relative to the object 30 for acquiring fluorescence microscope image data. Therefore, determining whether the source component needs to be moved in box 948 may also follow the "No" path 946.

[0159] After determining in box 956 that the source component has been moved or in box 960 that it does not need to be moved, a selected source portion for additional image data is determined in box 964. The additional source portion can be an initial or first source portion, such as source portion 400. In various embodiments, for example, source portion 400 may be used to acquire additional image data, such as using another bundle and / or after moving source component 86 to a different location. However, it should also be understood that additional or different source portions, such as source portion 414, may be used to acquire additional image data.

[0160] Therefore, source portion 414 can emit a second beam of X-rays in the form of a second beam 968, which can pass through and / or be attenuated by the heart 30 of object 30 and detected at detector 88. As discussed above, the second source portion 414 is symmetrical to the first source portion 400 with respect to axis 500. Therefore, image data acquired using the second source portion 414 can be correlated with image data acquired using the first source portion 400, such as offset relative to axis 500. However, in various embodiments, it should be understood that the source portions acquiring fluorescence microscopy image data can be those that are as close as possible to axis 500 and symmetrical with respect to it. Therefore, source portions 406 and 410 can be two source portions, including a first source portion powered in block 922 and a second source portion powered in block 972 after selection in block 964.

[0161] In various implementations, for example, the fluorescein of object 30 may be selected to include substantially continuous or continuous visual images of object 30, such as during cardiac catheterization. The position of the source portion relative to axis 500 may be known or determined, such as a selected angle or distance offset from axis 500, which may be the same for two source portions used during the selected fluorescein imaging procedure. Imaging system 80 and / or associated control system 96 may know or determine the position of the source portion relative to axis 500 and generate an image taking into account the known and selected offset for viewing with display device 84, such that the displayed image appears to be taken from a substantially single position relative to the object or a portion of the object (such as heart 30ht). For example, two sources 406, 410 may be offset by a similar or identical distance 976 relative to axis 500. Offset 976 may be an angular offset or a translational distance offset and may be used to determine the image to be displayed on display device 84. Thus, process 900 is used to acquire image data for the selected procedure that can be displayed using display device 84.

[0162] After powering the second source in block 972, additional image data is acquired in block 980. As discussed above, the additional image data for a selected procedure, such as a fluorescein procedure, can be displayed on display device 84. After acquiring the additional image data in block 980, it can be determined again in block 934 whether additional image data is needed. Therefore, process 900 can then continue as discussed above based on whether additional image data is needed for the selected procedure. Thus, multiple source portions of source component 86 can be used to perform a fluorescein procedure using imaging system 80.

[0163] In various implementations, multiple source sections can be used to ensure that one or more of the source sections are properly cooled between different data acquisitions to acquire image data of object 30. For example, a single or first source section 400 may require a cooling period after a selected emission timing (e.g., after 1 or 2 milliseconds). Therefore, switching to an alternative or second source section can be used to allow for continuous fluorescein imaging procedures while allowing the first or other source sections to have a cooling or relaxation period before repowering the same source section of source assembly 86.

[0164] As discussed above, based on... Figure 14 The method shown allows the imaging system to operate in a fluorescein mode. During image data acquisition, various additional features may be used in the first image data frame 930 and / or in the supplementary image data frame 964. For example, the imaging system 80, including source component 86, may include a specific source portion, such as source portions 406 and 410, which may operate as either fluorescein imaging or source portions. According to various embodiments, these source portions may be dedicated to fluorescein imaging and may not be used during other types of imaging using the imaging system 80. Therefore, it should be understood that certain source portions may be dedicated to specific types of imaging, such as fluorescein imaging.

[0165] Furthermore, as discussed above, these sources can be positioned relative to each other such that they are spaced apart. Therefore, during fluorescence microscopy imaging, two sources can be used sequentially and / or substantially simultaneously to image to identify or determine a perspective view that may resemble a substantially three-dimensional (3D) perspective view. Since the two sources can be offset from each other, such as by angular distance, the acquired images can be at two different viewpoints relative to axis 500. Furthermore, the images acquired using the two sources can be at perspective distances relative to each other. Therefore, the fluorescence microscopy imaging system can be used to acquire perspective (such as 3D perspective) image data of object 30 during the fluorescence microscopy imaging process. In various embodiments, for example, two sources such as source 406 and source 410 can be operated sequentially to acquire two different perspective views of object 30. Two different perspective views can be acquired with source component 86 and object 30, as well as detector 88, all in the same position. Perspective images can be generated by using two of these source components without moving any part of the imaging system (such as source component 86 and / or detector component 88).

[0166] Furthermore, different imaging source portions can be used to acquire image data based on different characteristics. For example, two different energies can be used. For instance, the first source portion 406 can be used to acquire an X-ray projection with a first X-ray energy (such as approximately 80 kV peak voltage (kVp), including approximately 70-90 kVp). The second source portion 410 can be used to acquire an X-ray projection with a second energy (such as approximately 140 kVp, including approximately 130-150 kVp). Therefore, fluorescence microscope images can be acquired with different energies, which can be generated using two different source portions.

[0167] Furthermore, fluorescence mirror images can be acquired along a long axis (such as axis 234 of the object). The source assembly 86 can be positioned within the frame 82, for example, approximately along axis 582. Figure 8C As shown. Therefore, image data can be acquired along the long axis of the object, which can also be the axis 558 of the imaging system 80. Furthermore, as discussed above, the source component 86 can be as follows: Figure 9A and Figure 9C The rotation is shown. Therefore, the source component can be positioned within the frame 82 to acquire image data along the long axis of the object 30. Thus, fluorescein image data of the object can be acquired at a selected viewing angle, such as relative to the long axis 234 of the object 30, which may be approximately in the Z direction or on the axis of the imaging system 80.

[0168] Furthermore, as discussed above, fluorescence microscopy imaging can be used to acquire substantially real-time images or data of subject 30. Such real-time acquisition can be used for a variety of purposes, such as performing selected catheter insertion procedures or real-time tracking in or relative to the subject 30. Additionally, images can be acquired to aid in guiding selected surgical systems, such as for guiding catheters, deep brain stimulation devices, or other suitable systems or implants. Thus, selected surgical systems (such as robotic systems) can receive fluorescence microscopy image data as input to aid in guiding or executing procedures. For example, selected robotic systems may include Mazor X robotic systems, such as those sold by Medtronic, which can operate autonomously or semi-autonomously to perform procedures on subject 30 using image data acquired by imaging system 80.

[0169] In addition to the operations discussed above, imaging system 80 can operate as a fluorescence mirror imaging system, wherein different sources among sources 400-428 operate at different exposure rates. In various embodiments, during operation of imaging system 80 as a fluorescence mirror, source assembly 86 can be moved relative to object 30. As source assembly 86 moves, different sources among these sources can be operated to generate image data or detect X-rays at a detector. Therefore, different sources among these sources can be operated at different exposure rates to obtain appropriate image data. For example, as source assembly 86 moves relative to the object, source portion 400 can operate at a selected rate (such as at half, a quarter, or other appropriate fraction of the exposure rate, energy, etc., relative to other source portions). For example, source 400 can be positioned relative to the object to acquire image data only at selected portions of the source assembly 86's movement relative to the object. Therefore, source portion 400 can operate only at selected times, rather than constantly or continuously during the movement of source assembly 86 relative to object 30. Therefore, different source portions in the source portion can be operated at different rates or exposure times or amounts in order to acquire image data of object 30 in an appropriate manner, such as for fluorescence imaging.

[0170] Steering Reference Figure 16 as well as Figure 17A and Figure 17B The imaging system 80 can also operate in a selected manner, such as in a cone-beam computed tomography (CBCT) system. The imaging system 80 can operate as a cone-beam imaging system in a manner similar to that of a fluorescein system, or include differences as discussed herein. Therefore, it should be understood that the imaging system 80 can operate in a selected manner to acquire image data of the object 30.

[0171] First refer to Figure 16 The diagram illustrates a method or process 1000. Process 1000 may begin in a start box 1004. Start box 1004 may include appropriate start procedures, such as start box 904 as discussed above. For example, imaging system 80 may be moved relative to object 30 from a selected location, such as repositioning from a different room and / or within a single room. As discussed above, imaging system 80 may include various features, such as a rack 82 comprising fixed and movable portions. Thus, during a selected procedure, such as selected DBS placement, prosthesis placement, etc., imaging system 80 may move from a first position close to the object to image the object, then move away from the object, and may return to image the object again. Thus, the start in box 1004 may include various techniques or features, such as moving the imaging system relative to object 30, powering the imaging system, etc.

[0172] Following the start in box 104, box 108 receives an imaging request or technique for cone-beam CT. To operate the imaging system 80 as a cone-beam CT, the source component 86 can be moved relative to the object 30 to image the volume in which the object 30 can be placed. Thus, the imaging system 80 can operate as a cone-beam imaging system to acquire image data of the object 30. In various embodiments, the image data collected during CBCT can be reconstructed to generate a three-dimensional model reconstruction of the object based on the acquired image data. Image data of the object 30 can be acquired in selected manners, such as moving the source component 86 and / or manipulating one or more of the source components, such as one or more of the 15 source components 400-428, as further discussed herein.

[0173] like Figure 17A As schematically shown, the imaging system 80, including the source component 86, can be operated to acquire or operate in a cone-beam CT manner. The imaging system 80 can be operated as cone-beam CT by imaging the object 30 using the source component 86 in conjunction with the detector 88. As discussed above, the detector 88 may include a surface 88a that extends through the source component 86, and the source component 86 may be arranged symmetrically or antisymmetrically with respect to it. Furthermore, an axis 1010 may extend through the object 30 and extend relative to a surface such as a floor or supporting surface 1014. The axis 1010 can be understood as any selected axis through the object 30, as provided herein for reference.

[0174] Brief Reference Figure 17B And continue to refer to Figure 16 The source component 86 can move relative to the object 30 together with the detector 88. An axis 500 extending from the surface 88a of the detector 88 can be angled or positioned relative to the reference axis 1010, the surface 1014, and / or the object 30 at a selected time (such as after a period of movement of the source component 86). In one example, the axis 500 can be positioned at 1020 relative to the patient axis 1010. When at position 1020, different source portions of these source components (such as source portion 422) can be powered to emit X-rays that pass through the object 30 and are detected at the detector 88.

[0175] When source component 86 is movable, method 1000 may include determining or re-invoking one or more source component positions for imaging in block 1024. As discussed above, source component 86 may be movable relative to object 30 during imaging of object 30. Therefore, the determined re-invoked positions may include paths for acquiring image data of object 30. It should be understood that source component 86 can therefore be moved during imaging of object 30. Source component 86, and therefore other parts of imaging system 80, may then be moved or relocated relative to object 30 for acquiring image data.

[0176] Furthermore, method 1000 may include determining, in block 1028, which source portions or points will be powered for CBCT imaging. Additionally, in block 1032, a mode for powering the re-called source portions is determined or re-called. As discussed above, each of the source portions may be powered in a selected manner, such as for a selected duration, selected power parameters, selected filters, or shapes. Furthermore, as discussed above, source assembly 86 may include multiple source portions, such as 15 source portions 400-428, a selected number or subset of which source portions may be operated for the entire CBCT imaging process. Thus, selected filters may be associated with source portions and then operated to acquire CBCT image data. Determining and re-calling which source portions and which parameters operate them may be based on a selected subset of the source portions and / or the path for acquiring image data of the object. Furthermore, the path, and which portions and parameters, may therefore be based on the type of object to be imaged and / or a portion thereof (e.g., soft tissue relative to hard tissue, joint replacement, soft tissue implantation (e.g., catheter insertion)).

[0177] Once the path, which source portion to power, and the mode for powering the source portion are determined, the source component can be moved to a first position and the first source portion can be powered in box 1040. As briefly discussed above, Figure 17A As shown, source component 86 can be positioned such that axis 500 is aligned with axis 1010 of object 30. Source portion 400 can emit a beam, such as a cone beam 1044, and it can be detected at detector 88. Therefore, when source component 86 is in the first position, detector 88 can acquire image data, such as... Figure 17A As shown. This allows the acquisition of first image data in box 1048. The first image data can be used for various purposes, such as reconstruction, assisting in and determining additional paths for imaging, as discussed further herein.

[0178] In box 1052, it is determined whether additional image data is requested and / or needed. If additional image data is not needed, the “No” path 1054 can be followed to the end box 1060. The end box 1060 may be the end of procedure 1000. It should be understood that additional features or purposes may occur. For example, as discussed above, image data may be reconstructed to generate a selected model (e.g., a 3D image) of object 30 based on the acquired image data. Furthermore, user 72 may use the generated images and / or the generated image data to assist in selected procedures, such as performing procedures on object 30. Also as discussed above, images may be displayed for selected navigation of the object, such as surgical navigation procedures. Therefore, ending procedure 1000 at box 1060 does not necessarily mean the end of the selected procedure and / or the use of images generated by imaging system 80, but may generally simply be the end of the CBCT imaging procedure.

[0179] However, if it is determined in determination box 1052 that additional image data is requested or needed, then the "Yes" path 1064 can be followed. When the "Yes" path 1064 is followed, the additional image data can be acquired. After the determination is made in box 1052, the additional data is acquired as follows, following the "Yes" path 1064. The source component can be moved as determined in box 1068. If it is determined that the source component needs to be moved, such as based on a path determined in box 1028, then the "Yes" path 1072 can be followed. The source component can then be moved in box 1076 as discussed above, and the movement of the source component box 1076 can be based on a path determined or recalled in box 1024. Furthermore, as discussed above, the source component 86 can also be rotated or moved relative to the detector 88. Therefore, the movement of the source component can include any selected movement of the source component. Furthermore, it can be determined that the source component cannot be moved, and the "No" path 1080 can be followed.

[0180] Regardless, when the source component is in the selected location for acquiring additional image data, in box 1084, it is determined which source portion or point each additional image data belongs to. Determining which source portion is used for the additional image data may be based on which source portions are re-called for CBCT as determined in box 1028 and / or the source portion power supply mode determined in box 1032. As discussed above, the acquisition of additional image data after acquiring the first image data in box 1048 can be determined using the determined or re-called path, the determined or re-called source portion for CBCT, and / or the determined or re-called power supply mode. Therefore, determining which source portion in box 1084 may include following the previously determined or re-called path, source portion, or source power supply mode in boxes 1024, 1028, and 1032, respectively.

[0181] After determining in block 1084 which source portion to power and the mode for additional image data, power can be supplied to the selected source portion in block 1088. The selected source portion to be powered in block 1088, as determined in block 1084, may include or serve as a first source portion for acquiring first image data in block 1048. The first source portion may be powered in a selected manner, such as with a selected voltage, current intensity, shape, etc., to acquire selected image data. Therefore, the same source portion used to acquire the first image data may be used, but in a different manner and / or at a different location of the source component 86, to acquire additional image data. Furthermore, the selected source portion determined in block 1084 may be a different source portion from the source portions of the source component 86, such as source portion 422, etc. Figure 17B As shown. However, it should be understood that additional image data can be collected in essentially the same manner as the initial or previous image data, such as for confirmation or additional data collection.

[0182] The source portion 422, powered in frame 1088, can emit an X-ray beam 1092 that is detected at detector 88. Detector 88 can be positioned at a location 1020 at a distance 1010 from the axis. Therefore, when acquiring additional image data in frame 1096, the source portion 422 can pass through a selected portion of object 30. The additional image data can be used to help form a selected image of object 30, such as a three-dimensional reconstruction of a selected portion of object 30.

[0183] In addition, it can be used with, for example Figure 17B Additional image data is acquired at different viewpoints, and / or different translation positions and / or different times, as shown, and then the first image data is acquired in frame 1048. Therefore, time may elapse between the acquisition of the first image data frame 1048 and the acquisition of the additional image data frame 1096. In various embodiments, different image data acquisitions may be registered for image reconstruction and / or used to show sequential changes in the object 30. However, the source component 86 may be moved relative to the object 30 to acquire image data at various different viewpoints and / or positions for acquiring image data of the object 30 to perform its reconstruction.

[0184] Acquisition of additional image data may occur in box 1096. After acquiring additional image data in box 1096, it is determined in box 1052 whether additional additional image data is needed. As discussed above, the determination of whether additional image data is needed may be based on the type of imaging, such as a CBCT plan or path that can be determined or recalled. Therefore, process 1000 may be used to continuously or cyclically determine the location of source component 86, the selection of the source portion for X-ray beam acquisition of the emitted image data, and / or the amount and location of image data required for image data acquisition. Therefore, as discussed above, the determination of whether additional image data is needed follows either a "yes" path 1064 or a "no" path 1054.

[0185] Therefore, process 1000 can be used for the acquisition of CBCT image data. Thus, in and / or after end box 1060, the acquired image data may include multiple image data acquisitions or projections of object 30. As discussed above, multiple image data acquisitions can be used to perform reconstruction of images (such as 3D images or models) of object 30. Reconstruction of 3D images may be based on commonly known reconstruction techniques, such as filtered backprojection or iterative reconstruction methods. Therefore, image data acquired using imaging system 80 with one or more of the source components 86 can be used to reconstruct selected images of object 30. The images can then be displayed on a selected display device, such as display device 84, as discussed above. Therefore, the reconstructed images can be used for various procedures, such as navigation procedures relative to object 30 and / or planning or diagnostic procedures for object 30.

[0186] In various implementation schemes, such as Figure 18 The imaging system 80, schematically illustrated, including source component 86 and detector component 88, can also, or alternatively, be used to acquire image data of object 30 substantially simultaneously using two or more of the source portions (such as source portion 400 and source portion 420). As further discussed herein, multiple source portions can be used to acquire image data substantially simultaneously to simultaneously acquire image data of selected portions of object 30. Different source portions can acquire image data at different viewpoints relative to object 30 using a single image acquisition or detector acquisition for various purposes (such as registration), as further discussed herein.

[0187] Continue to refer to Figure 18 And references include Figure 1 , Figure 6A and Figure 12 As shown in the above figures, the imaging system 80 can be positioned relative to the object 30. As discussed above, the object 30 can include any suitable object, such as a human object. In various embodiments, for example, a portion of the object 30 (such as a vertebra 1200) can be within the object 30. Implants, such as pedicle screws 1204 or other suitable implantable prosthetic components or implantable components, can be positioned relative to the vertebra 1200. It should be understood that the pedicle screw 1204 is merely exemplary, and other suitable portions can be positioned within the object. Furthermore, as those skilled in the art will understand, various portions such as the vertebra itself 1200 can be imaged for various purposes, such as those further discussed herein.

[0188] However, an object 30, such as including vertebral screw 1204 and / or vertebra 1200, can be imaged using imaging system 80. A source assembly 86, including multiple source portions (such as source portions 400 and 420), can be used to acquire substantially simultaneous image data of the object 30. For example, source portion 400 may emit an x-ray beam 1210. Source portion 420 may emit an x-ray beam 1214. Both x-ray beams 1210 and 1214 may pass through the object 30 and / or a portion of the object 30, such as vertebra 1200 and / or pedicle screw 1204. The beams may have selected portions, such as rays 1220 and 1224 respectively, which may pass through selected intersecting portions of the object, such as, for example, vertebra 1200 and / or pedicle screw 1204. The x-rays along the respective rays 1220 and 1224 can then be detected at detector 88, such as at a surface 88a at different locations. For example, ray 1220 may strike or extend to the detector at point 1230. Ray 1224 can extend to detector surface 88a at point 1234. Therefore, two rays 1220, 1224 can pass through or intersect with an object or a volume or region within an object, such as at intersection point 1238. A single point 1238 can be projected onto detector surface 88a at two different and generally spaced-apart points. The difference between contact or projection points 1230, 1234 is due to the offset position (i.e., the distance between) of the corresponding source portions 400, 420 relative to the imaged portion or point 1238.

[0189] Source portion 400 may be offset relative to source portion 420 by a selected distance or amount 1242. The offset may include an angular offset ranging from about 5 degrees to about 20 degrees, and also including about 10 degrees. In addition, source portions 400, 420 may be offset relative to an axis 500 extending from detector surface 88a by a selected amount.

[0190] Imaging system 80 may include a selected controller, such as controller 96, which can determine the offset or position of a corresponding source component, such as offset 1242, which is known or predetermined. Offset 1242 may be predetermined and stored for later recall, such as by a controller including a processor section or model. Furthermore, due to the control of imaging system 80, such as movement of the source component within rack 82 and / or tracking of rack 82 (e.g., using imaging tracking device 62), or other appropriate positioning or orientation determination, the position of source component 86 (e.g., relative to an object) may be known.

[0191] The two contact points 1230 and 1234 allow for the generation of images of selected portions (such as vertebra 1200 and / or pedicle screw 1204) substantially simultaneously from two different viewpoints. (Continue to reference...) Figure 18 And refer to other sources Figure 19A single projection 1260 is shown. The single projection 1260 may include two projections at two different viewpoints of a single portion of object 30 (such as vertebra 1200 and / or pedicle screw 1204). The single projection 1260 may include a first projection portion 1264 associated with a bundle 1210 from source portion 400. The single projection 1260 may include a second projection portion 1268 associated with a second bundle 1214 from source portion 4200. The two projection portions 1264, 1268 may be generated due to the two bundles 1210, 1214 from two viewpoint source portions 400, 420, which are offset from each other by an offset amount 1242. Each of these projections may include the same portion, such as the vertebral projection portion 1200' at the first viewpoint and the vertebral position 1200' at the second viewpoint. Similarly, each may include a pedicle screw projection, such as the pedicle screw at the first projection 1204' and the pedicle screw at the second projection 1204'. Therefore, a single projection 1260 may include two perspective views of any single part (e.g., vertebra 1200 and / or pedicle screw 1204).

[0192] Dual perspectives of a single segment allow for registration with previously acquired images. For example, previously acquired images may include magnetic resonance imaging (MRA), cone-beam reconstruction, computed tomography (CT), or other suitable images of object 30. Previously acquired images can be acquired at any appropriate time and can be acquired using any suitable imaging modality. However, previously acquired images may include three-dimensional images of selected portions of the object, such as vertebrae 1200 and / or pedicle screws 1204. Selected or known techniques, such as back-projection techniques, can be used to register previously acquired images with currently or later acquired images, such as a single projection 1260. Thus, at a selected time, such as during a selected procedure, imaging system 80 can be used to acquire a single projection using two or more of the source portions. A single projection may include two or more perspectives of a single portion of object 30, and the two or more perspectives allow for registration with previously acquired images.

[0193] Therefore, registration with previously acquired images can be used to plan and / or validate selected procedures. This registration can be determined using a single projection 1260 generated by imaging system 80. Furthermore, registration with previously acquired images allows navigation relative to a selected procedure or other suitable technique. However, imaging system 80, which includes two or more source portions of source component 86, can allow registration with previously acquired images having a single projected image (such as a single projected image 1260).

[0194] It should be understood that, in all exemplary uses of the vertebra 1200 and / or pedicle screw 1204 shown in the figure, registration of appropriate object portions is possible. Furthermore, while human objects have been discussed as examples, various inanimate or non-human objects may also be used.

[0195] According to various embodiments, the imaging system can also be operated to generate or acquire finite-angle tomography. Finite-angle tomography may include acquiring limited or less than 180 or 360 degrees of image data of an object. In various embodiments, finite-angle tomography may include moving a gantry through a finite angle, exciting a source array at the finite angle, and / or a combination of both.

[0196] The foregoing description of embodiments has been provided for illustrative and descriptive purposes. The foregoing description is not intended to be exhaustive or limiting of the invention. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable and may also be used in selected embodiments where applicable, even if not specifically shown or described. The same element or feature may be varied in many ways. Such variations are not considered to depart from the invention, and all such modifications are intended to be included within the scope of the invention.

[0197] It should be understood that the various aspects disclosed herein can be combined in combinations different from those specifically given in the specification and drawings. It should also be understood that, depending on the example, certain actions or events of any of the processes or methods described herein may be performed in a different order, or may be completely added, combined, or omitted (e.g., performing these techniques may not require all the described actions or events). Furthermore, although for clarity some aspects of this disclosure are described as being performed by a single module or unit, it should be understood that the techniques of this disclosure can be performed by combinations of units or modules associated with, for example, a medical device.

[0198] In one or more examples, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functionality may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include non-transitory computer-readable media, which correspond to tangible media such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer).

[0199] The instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, graphics processing units (GPUs), application-specific integrated circuits (ASICs), field-programmable arrays (FPGAs), or other equivalent integrated or discrete logic circuit systems. Therefore, the term "processor" as used herein can refer to any of the foregoing structures or any other physical structures suitable for implementing the described techniques. Furthermore, this technique can be fully implemented in one or more circuit or logic elements.

Claims

1. An imaging system for acquiring image data of an object, comprising: A frame configured to at least partially surround the imaging region; A source component configured to be positioned at least partially via the gantry relative to the imaging region, wherein the source component includes at least a first source portion and a second source portion, wherein the first source portion and the second source portion are spaced apart by an open space distance; A single detector, the single detector being configured to be positioned at least partially via the gantry relative to the imaging region, wherein the single detector is configured to be positioned to detect image data from both the first source portion and the second source portion substantially simultaneously; as well as Controller, the controller is configured to execute instructions to: The first source portion and the second source portion are operated to selectively emit X-rays that pass through the imaging region to be detected at the single detector. Image data is generated based on substantially simultaneous detection at the single detector, and Register the image data with the attached image. The additional images mentioned therein were acquired separately from the image data.

2. The system according to claim 1, further comprising: A mobile trolley configured to move the frame from a first position to a second position; The rack is at least one of a C-shaped rack or an O-shaped rack.

3. The system according to claim 1, wherein the rack comprises a fixed rack portion and a movable rack portion; The movable gantry portion is configured to move relative to the fixed gantry portion to allow access to the imaging area defined by the gantry; The frame, in a closed configuration, is constructed to at least partially surround the imaging region; The source component is operable to move within at least one of the fixed rack portion or the movable rack portion.

4. The system according to any one of claims 1 to 3, wherein the first source portion is configured to emit a first x-ray beam toward the single detector through the imaging region, and the second source portion is configured to emit a second x-ray beam toward the single detector through the imaging region.

5. The system according to any one of claims 1 to 3, wherein the source distance between the first source portion and the second source portion is configured to generate a first viewpoint and a second viewpoint in a single projection detected at the single detector of the object within the imaging region.

6. The system of claim 5, wherein the first source portion is configured to emit a first x-ray beam along a first ray through the imaging region toward the single detector, and the second source portion is configured to emit a second x-ray beam along a second ray through the imaging region toward the single detector; The object is operable to attenuate x-rays relative to both the first and second x-ray beams to generate image data at the single detector of the object.

7. A method for acquiring image data of an object, comprising: The first source part is positioned at an open-source distance from the second source part; The first source portion is operated substantially simultaneously to emit the first beam and the second source portion is operated to emit the second beam; Both the first beam and the second beam are detected essentially simultaneously at a single detector; A single projection generated using both the first beam and the second beam is collected at the single detector, wherein the single projection is operable to generate a single image; as well as The single image is registered with an additional image, wherein the additional image was acquired separately from the single image.

8. The method according to claim 7, further comprising: Use the controller to execute instructions to: The first source portion and the second source portion are operated to selectively emit X-rays that pass through the imaging region to be detected at the single detector, and Image data is generated based on substantially simultaneous detection at the single detector.

9. The method according to any one of claims 7 or 8, further comprising: Positioning a source assembly comprising both the first source portion and the second source portion to emit the first beam and the second beam through the imaging region; as well as The individual detector is positioned relative to the imaging region.

10. The method according to any one of claims 7 or 8, further comprising: A first perspective view of the objects within the imaging region is generated in the single projection; as well as A second perspective view of the object within the imaging region is generated in the single projection.

11. The method of claim 10, wherein the first perspective is at least partially attributed to the first bundle originating from the first source portion and the second bundle originating from the second source portion; The first bundle extends along the first line and the second bundle extends along the second line; The first line and the second line intersect.

12. The method of claim 10, wherein the additional image is a three-dimensional image; The registration of the single image with the additional image includes: A back-projected image is formed using the additional image; as well as The back-projected image is compared with the first perspective view and the second perspective view.

13. A method for acquiring image data of an object, comprising: Operate the first source section to emit the first beam along the first line; Operate the second source section to emit a second beam along the second line; Both the first beam and the second beam are detected essentially simultaneously at a single detector; as well as Based on the detection of both the first beam and the second beam, a single projection is generated at the single detector; as well as Register the additional image with the single projection; The single projection can be operated to generate a single image; The first line intersects with the second line; and The additional image is acquired separately from the single projection.

14. The method of claim 13, wherein the first line intersects the second line at a location farther from the first source portion and the second source portion than the single detector.

15. The method of any one of claims 13 or 14, wherein the imaging region is located between the first source portion and the single detector.

16. The method according to any one of claims 13 or 14, further comprising: A single source component is provided to accommodate both the first source portion and the second source portion.

17. The method of claim 16, further comprising: A rack assembly is provided, the rack assembly having a movable rack portion configured to move relative to a fixed rack portion; The source component is movable within the provided rack.

18. The method according to any one of claims 13 or 14, further comprising: The processor is operated to perform the registration of the additional image with the single projection.

Images