Motion compensated high throughput fast 3D radiography system with heavy high power multiple pulse x-ray source

Abstract

An X-ray imaging system is presented that uses multiple pulsed X-ray source pairs in motion to perform efficient and ultrafast 3D radiography. The sources move simultaneously in constant speed as a group on an arc trajectory. Each individual source also moves fast around its static position in a small distance, but one source moves in the opposite direction to another to cancel linear momentum. The trajectories can also be arranged horizontally at a ring structure. In X-ray source pairs, each source part moves in the opposite angular direction to another to cancel angular momentum. The individual X-ray sources are triggered by an external exposure control unit when they have a speed equal to the group speed but in the opposite linear or angular direction. This allows the sources to remain relatively stationary during activation. 3D data can be acquired in a wider field of view in a shorter time, and image analysis is real-time.

Description

[0001] This invention claims priority to the following applications: Provisional Application Serial No. 63182426, filed April 30, 2021; Provisional Application Serial No. 63226508, filed July 28, 2021; Provisional Application Serial No. 63170288, filed April 2, 2021; Provisional Application Serial No. 63175952, filed April 16, 2021; Provisional Application Serial No. 63194071, filed May 27, 2021; Provisional Application Serial No. 63188919, filed May 14, 2021; Provisional Application Serial No. 63225194, filed July 23, 2021; and Provisional Application Serial No. 6320949, filed June 11, 2021. 8; Provisional application serial number 63214913 filed June 25, 2021; Provisional application serial number 63220924 filed July 12, 2021; Provisional application serial number 63222847 filed July 16, 2021; Provisional application serial number 63224521 filed July 22, 2021; and U.S. application serial number 17149133 filed January 24, 2021, which in turn claims priority to provisional application serial number 62967325 filed January 29, 2020 and is a continuation-in-part of U.S. patent application serial number 17 / 566,652 filed December 30, 2021, the contents of which are incorporated herein by reference. Technical Field

[0002] This patent specification belongs to the field of 3D X-ray radiography systems and methods, and particularly relates to a rapid tomography system using a high-power pulsed X-ray source and a large field-of-view digital rigid or flexible plate X-ray detector. Background Technology

[0003] Digital X-ray 3D radiography, such as mammography, exists; digital tomography (DTS) is a method for performing high-resolution limited-angle tomography at radiation dose levels comparable to conventional radiography. These digital tomography systems typically use an X-ray source mounted at one end of a rotatable C-arm assembly and a digital flat panel detector mounted at the other end. Between the X-ray source and the detector is a device that compresses and fixes the breast. Compression of the breast is necessary because it reduces X-ray scattering, lowers the radiation dose, creates more uniform light density across the detector, and improves visualization of anatomical structures. Tomography can be used to screen asymptomatic women for early signs of breast cancer. This type of imaging can also be used as a diagnostic tool for women with symptoms of breast cancer. Tomography is an advanced type of mammography tomography. Compared to 2D mammography, digital breast tomography (DBT) detects more cancers and has fewer false positives and more precise lesion localization. When performing tomography, the X-ray source needs to move around the breast in an arc. As the X-ray source moves around the breast, a series of low-dose X-ray images are acquired at different angles. The collected dataset allows for the reconstruction of parallel planes. Each plane is clearly visible, while images of tissues outside those planes are blurred. Generally, a wider sweep angle generates more data projection and results in better 3D resolution, but it takes longer. Data processing is manufacturer-specific, as different reconstruction algorithms may be used. It should be emphasized that these kinds of digital tomography systems and methods can also be applied to other X-ray 3D radiography applications, such as X-ray 3D chest diagnostic systems for COVID, X-ray 3D non-destructive testing (NDT) systems, and X-ray 3D security inspection systems. Existing techniques exist for performing X-ray 3D tomography using a single X-ray source and a single X-ray flat panel detector. However, for high-power, heavy X-ray sources, it is more difficult to move the source and the sweep motion is slower. This invention uses motion compensation techniques to increase the throughput of digital tomography systems with arc-shaped motion trajectories. Furthermore, the X-ray source motion trajectory can also be arranged at a ring structure, allowing for 3D imaging of objects from a 360-degree field of view in the upper hemisphere. Summary of the Invention

[0004] In a first aspect, a system for providing rapid 3D tomographic synthesis radiography using multiple moving pulsed X-ray sources, the system comprising: a primary motor arm stage that rotates at a predetermined radius; a primary motor engaged with and controlling the speed of the primary motor arm stage; one or more secondary motor stages coupled to the primary motor arm stage to form a motion pair and move in an arcuate direction; one or more secondary motors, each engaging a secondary motor stage and controlling its speed; a plurality of X-ray sources, each X-ray source moving via the secondary motor stages; a support frame structure providing a housing for the primary motor arm stage and the secondary motor stages; and an X-ray source and a flat panel detector for receiving X-ray imaging data.

[0005] In a second aspect, a method for rapid 3D radiography using multiple pulsed X-ray sources in motion includes: positioning a primary motor arm stage and one or more secondary motor stage pairs to a predetermined initial position; sweeping the primary motor stage at a predetermined constant speed by the primary motor; oscillating each of the secondary motor stage pairs in opposite directions; electrically activating the X-ray source and a flat panel detector while the X-ray source moves in the opposite direction to the primary motor arm stage and at a selected speed of the primary motor stage; and acquiring image data from the X-ray source using the flat panel detector.

[0006] On the other hand, an X-ray imaging system that uses multiple pulsed X-ray source pairs in motion to perform efficient and ultrafast 3D radiography includes multiple pulsed X-ray sources mounted on a moving structure to form a source array. These multiple X-ray sources move simultaneously relative to the object at a constant velocity as a group along a predefined arcuate trajectory. In a pair, a single X-ray source may also move rapidly over a short distance around its static position, but in the opposite direction to the other X-ray source. When the individual X-ray source has a velocity equal to the group velocity but in the opposite direction of movement, the individual X-ray source and X-ray detector are activated via an external exposure control unit. This arrangement allows the X-ray sources to remain relatively stationary during X-ray source activation and X-ray detector exposure. The X-ray receiver is an X-ray flat panel detector. The multiple X-ray sources in motion result in a significantly reduced source travel distance compared to individual X-ray sources. 3D radiographic image data can be acquired in a much shorter time with a much wider overall sweep angle, and image analysis can also be performed almost in real time during scanning.

[0007] On the other hand, in addition to rigid flat panel detectors, flexible X-ray detectors can also have curved geometries, minimizing distortion. 3D X-ray radiographic images are reconstructed based on each image with an angled geometry containing the X-ray exposure source. Much broader applications include: 3D mammography or tomography, 3D chest radiography or rapid 3D NDT for COVID-19, and rapid 3D X-ray security screening.

[0008] On the other hand, the X-ray source trajectory can also be arranged in a ring structure, allowing for 3D imaging of the object from a 360-degree field of view in the upper hemisphere. The X-ray source array moves simultaneously around the scanned object being imaged at a constant velocity along a circular trajectory. For a pair of X-ray sources, a single X-ray source can also move rapidly a short distance around its static position, but one X-ray source moves in an angular direction opposite to the other, so that the angular momentum is always canceled out. When a single X-ray source has a velocity equal to the group velocity but in an opposite direction of movement, the individual X-ray source is triggered by an external exposure control unit.

[0009] However, existing technologies have drawbacks. The primary drawback is the long time required for a single X-ray source to acquire a good data projection. The second drawback is the difficulty in real-time reconstruction due to the slow process. The third drawback is the more severe geometric distortion associated with using rigid X-ray flat panel detectors.

[0010] The advantages of the system in this invention may include one or more of the following. Various embodiments of multiple moving X-ray sources are used in novel ultrafast 3D radiography systems. The first advantage is that the system is faster overall—depending on the number of pairs of X-ray sources used. Each X-ray source will only need to mechanically travel a small fraction of the entire distance in an arc trajectory. This significantly reduces the amount of data acquisition time required for the object at the X-ray diagnostic machine. The second advantage is that image analysis can also be performed almost in real time during the scan. The judgment of the captured image will influence the X-ray source position for the next capture. There is no need to wait until the entire image acquisition is complete before performing layered image reconstruction.

[0011] The third advantage is the ability to acquire high-resolution and high-contrast images due to reduced motion artifacts. Each X-ray source is also mounted on a substructure that causes the source to vibrate around its origin. The combination of vibration velocity and trajectory velocity results in the relative stationary position of the X-ray source when the individual X-ray source is activated. The fourth advantage is that the system can perform much wider sweeps to acquire more data projections more quickly. More data projections mean better image construction, which will lead to a reduced false diagnosis rate.

[0012] The fifth advantage is due to the wider angle and faster image acquisition. A temporal component can be added to 3D spatial imaging to form a 4D imaging dataset. The sixth advantage is that the geometry of the flexible curved X-ray detector will result in significantly less image distortion. Due to rapid technological advancements, today's electronics can be made flexible, faster, more compact, and more efficient. Just like flexible solar panel chargers, X-ray detectors can also be made flexible. Typical modern X-ray panel detectors include thin-film transistors (TFTs), X-ray scintillator layers, and readout electronics. Although the readout electronics board cannot be made flexible with current technology, flexible substrates can be used to make TFT-based detectors flexible. Scintillator material layers (such as Gd₂O₂S:Tb (GOS or GADOX)) have been made to a degree of flexibility decades ago to attach to flexible films for X-ray imaging.

[0013] The seventh advantage is that the arrangement of paired sources moving in opposite directions to counteract momentum allows for the use of high-power, heavy-duty X-ray sources. This invention introduces a motion-compensated, heavy-duty, high-power, multi-pulse X-ray source digital tomography system. It not only operates rapidly but also supports the heavy loads of X-ray sources. As X-ray sources become more powerful, they themselves become heavier. Industrial nondestructive testing (NDE) typically requires high throughput and high kV, high mA. Therefore, this invention will enable the expansion of 3D inspection applications beyond medical digital tomography systems into industrial and security inspections.

[0014] The invention has been described with respect to preferred embodiments, and it should be recognized that equivalents, alternatives and modifications other than those expressly stated are possible and within the scope of the appended claims. Attached Figure Description

[0015] Figure 1 A motion-compensated digital tomography system with heavy-duty multiple X-ray source pairs is shown.

[0016] Figure 2 A dual X-ray source system with a rigidly supported rotating arm stage is shown, with the object being scanned at the center.

[0017] Figure 3 A motion-compensated digital tomography synthesis system is shown, in which the object being scanned is on a scanning stage at the center.

[0018] Figure 4 Paired X-ray sources with mechanically synchronized motion to counteract momentum are shown.

[0019] Figure 5 The radiation system setup is shown, in which pairs of X-ray sources are mounted in a circular configuration.

[0020] Figure 6 The view from above shows three pairs of X-ray sources mounted in a circular gantry.

[0021] Figure 7 The top-down view shows six pairs of X-ray sources mounted in a circular gantry for surgical procedures during interventional radiology. Detailed Implementation

[0022] In the following paragraphs, the invention will be described in detail by way of example with reference to the accompanying drawings. Throughout the description, the preferred embodiments and examples shown should be considered exemplary and not limiting of the invention. As used herein, "the invention" refers to any embodiment of the invention described herein and any equivalents. Furthermore, references to various features of the invention throughout the document do not imply that all claimed embodiments or methods must include the referenced features.

[0023] However, the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Furthermore, all statements herein describing embodiments of the invention and specific examples thereof are intended to cover both structural and functional equivalents. Moreover, it is intended that such equivalents include both currently known equivalents and those developed in the future (i.e., any elements developed that perform the same function, regardless of structure).

[0024] Therefore, for example, those skilled in the art will recognize that diagrams, schematics, illustrations, etc., represent conceptual views or processes illustrating the systems and methods embodying the present invention. The functionality of the various elements shown in the figures can be provided using dedicated hardware and hardware capable of executing the relevant software. Similarly, any switches shown in the figures are merely conceptual. Their functionality can be performed through the operation of program logic, through dedicated logic, through interaction between program control and dedicated logic, or even manually, with the specific techniques chosen by the entity implementing the invention. Those skilled in the art also understand that the exemplary hardware, software, processes, methods, and / or operating systems described herein are for illustrative purposes and are therefore not intended to limit to any particular designated manufacturer.

[0025] exist Figure 1In this configuration, there are two heavyweight X-ray sources 1. They are paired. Each X-ray source 1 is mounted on a secondary motor stage 6. Each secondary motor 7 is engaged with a secondary motion stage 6. All secondary motion stages 6 are mounted at one end of a rotating arm stage controlled by a primary motor 5. Each motor is controlled by programmable motion control hardware and can move the motor stage back and forth at a predetermined speed. Therefore, all X-ray sources 1 move together with the primary motor rotating arm stage 4. In a pair, each individual X-ray source 1 can also move independently with the secondary motor stage 6, and one motor stage has a direction of motion opposite to the other. The X-ray scanned object 2 is located near the center of rotation. Using a similar configuration, the total number of X-ray sources 1 can easily reach two pairs, three pairs, etc.

[0026] Primary motor 5 rotates the heavy-duty boom. Primary motor 5 can be any high-speed motor. As primary motor 5 rotates in one direction, it causes secondary motor stages 6 to move in opposite directions along an arcuate trajectory by engaging with each of its corresponding secondary motors 7. One or more X-ray sources are moved via secondary motor stages 6 to form an array. Secondary motor stages 6 also engage with a frame support that provides frame support and the motor assemblies. The frame support provides housing for all motor assemblies, motor controllers, motor drivers, and flat panel detectors. Each secondary motor stage in secondary motor stages 6 can be selected at a frequency but oscillates in the opposite direction.

[0027] The primary motor stage is controlled by the primary motor 5. There are one or more pairs of secondary motor stages 6 coupled to the primary motor arm stage 4, each of which is movable relative to the primary motor stage. Each secondary motor stage 6 has a secondary motor 7 that drives the corresponding secondary motor stage 6. One or more pairs of X-ray sources 1 are also mounted on the moving structure to form a source array. Each X-ray source 1 is mounted on a corresponding secondary motor stage 6 and moves simultaneously at a constant speed relative to the scanned object 2 being imaged along a predetermined path on an arcuate trajectory. The X-ray source array moves simultaneously around the scanned object 2 being imaged on a predefined trajectory at a constant speed of the group. In a pair, an individual X-ray source may also move rapidly a small distance around its static position, but one X-ray source moves in the opposite direction to the other. When an individual X-ray source has a speed equal to the group speed but in the opposite direction of movement, the individual X-ray source is triggered by an external exposure control unit.

[0028] The secondary motor stage 6 is mounted at one end of the primary motor arm stage 4. X-ray sources mounted on the secondary motor stage are used to capture X-ray images of the moving object. An array of secondary motor stages 6 is coupled to the primary motor rotating arm stage 4 via corresponding secondary motors 7, which control the speed of each secondary motor stage 6. Each secondary motor stage 6 includes at least one X-ray source. Each individual X-ray source is mounted on a secondary motor stage 6. Each X-ray source can move independently about its static position on the secondary motor stage 6 at any given time within a predefined maximum range, but one X-ray source moves in the opposite direction to the other, causing them to move in pairs, thus canceling out the kinetic momentum from the two motors. This is analogous to an airplane with multiple propeller engines, where the propellers rotate in opposite directions, thus canceling out the total rotational torque.

[0029] Multiple pulsed X-ray sources are mounted on a moving structure to form a source array. These multiple X-ray sources 1 move simultaneously relative to the scanned object 2 at a constant velocity as a group along a predefined arc trajectory. In a pair, individual X-ray sources may also move rapidly a short distance around their static position, but one X-ray source moves in the opposite direction to the other. When an individual X-ray source has a velocity equal to the group velocity but moving in the opposite direction, the individual X-ray source and X-ray detector are activated via an external exposure control unit. This arrangement allows the X-ray sources to remain relatively stationary during X-ray source activation and X-ray detector exposure. The X-ray receiver is an X-ray flat panel detector 3. Therefore, multiple X-ray sources result in a significantly reduced source travel distance compared to individual X-ray sources. Consequently, 3D radiographic image data can be acquired in a much shorter time with a much wider overall sweep angle, and image analysis can also be performed in real time during scanning.

[0030] X-ray rigid or flexible curved panel detector 3 is positioned in front of the X-ray source array. The X-ray source array is attached to a moving structure that sweeps along an arc-shaped trajectory. When an individual source moves in the opposite direction at the same speed as the group or sweep movement, the X-ray source is triggered, causing it to briefly come to a standstill during the triggered exposure. Various embodiments exist based on this principle. In a pair, an individual X-ray source may also move rapidly a small distance around its static position, but one X-ray source moves in the opposite direction to the other. When an individual X-ray source has a speed equal to the group speed but in the opposite direction of movement, the individual X-ray source 1 and X-ray detector 3 are activated by an external exposure control unit. This arrangement allows the X-ray sources to remain relatively stationary during X-ray source activation and X-ray detector exposure. When all X-ray sources 1 are actuated, the data acquired by the X-ray panel detector 3 will be several times larger than the data obtained from a single X-ray source operation.

[0031] In comparison, motion-compensated tomography systems with heavy, high-power, multi-pulse X-ray sources operate much faster than conventional single-X-ray source digital tomography systems. Generally, more X-ray sources result in shorter scan times. For example, a pair of parallel sources will have half the total scan time, two pairs of parallel sources will have 1 / 4 the scan time, and so on. In industrial applications, productivity is critical. A difference of two or four times the productivity can be significant.

[0032] The first advantage of a motion-compensated system with high-power, multiple-pulse X-ray sources is its greater speed, taking only a fraction of the acquisition time of a conventional tomography system. This allows for more data projection while maintaining greater speed. Consequently, it will have fewer motion artifacts; therefore, higher-resolution images may yield better diagnostic results. The second advantage is that, because there is no travel time for each individual X-ray source 1, image analysis can be performed almost in real-time during the scan. This will allow for better judgment on whether to retain additional 3D projections. It will also enable the adjustment of exposure time during the acquisition of each image. The third advantage is that the image data collection method described here will result in a lower amount of motion artifacts due to the minimal overall travel distance of the X-ray source 1. These three advantages of rapid 3D X-ray acquisition with motion-compensated high-power, multiple-pulse X-ray sources lead to better diagnostic results, less need for invasive procedures, and a reduced risk of cancer complications.

[0033] Figure 2 An exemplary dual X-ray source system with a rigidly supported rotating arm stage is shown. An X-ray beam 10 covers the object 2 being scanned. The support frame structure 9 of this design also allows for the support of high-power X-ray sources. Some heavy X-ray sources can weigh over ten kilograms. The robust rotating arm easily handles heavy loads with greater precision. The same rotating arm can also support two pairs of X-ray sources 1. Figure 4 In this configuration, a drive motor is coupled to two gears 8 to move two X-ray tubes. The tubes are connected via two tube mounting brackets, which are connected to the two gears 8 via two drive doors. A movable tank with a high-voltage generator 11 is mounted on the detector side opposite the tube module to balance the weight. A rigid frame holds the tank, high-voltage generator 11, and dual-tube module together. An X-ray flat or curved panel detector 3 is positioned on a separate frame. The motor provides mechanical synchronization for the tube movement. During rotation, the X-ray beam 10 will still cover the scanned object 2.

[0034] Dual X-ray sources are mounted on a moving structure to form a source array; the sources move simultaneously relative to the scanned object 2 at a constant velocity as a group along a predefined arcuate trajectory. In the pair, each individual X-ray source can also move rapidly over a small distance around its static position, with one individual source moving in the opposite direction to the other. When the individual X-ray sources have a velocity equal to the group velocity but in opposite directions of movement, the individual X-ray source 1 and X-ray detector 3 are activated by an external exposure control unit. This arrangement allows X-ray source 1 to remain relatively stationary during X-ray source activation and X-ray detector exposure. In addition to a rigid flat panel detector, a flexible X-ray detector will also allow for curved geometry, minimizing distortion. The two sources move relative to the patient at a constant velocity as a group, and each source is mounted on a vibrating mode. These sources result in a significantly reduced source travel distance compared to individual X-ray sources. A series of images are captured by scanning a 3D patient using dual X-ray sources vibrating over a small distance between the two positions.

[0035] A rigid-supported rotating arm structure provides rotational support for the radiation source positioning mechanism and the X-ray detector. The pulsed X-ray source positioning mechanism with the rotating arm is used to rotate one or more pulsed X-ray sources to sweep an arcuate path as the radiation source positioning mechanism moves vertically from top to bottom along a circular trajectory at a constant speed. The pulsed X-ray source positioning mechanism can be a motor-driven linear stage type or a manually operated mechanical actuator type. Multiple pulsed X-ray sources move horizontally along a circular trajectory at a speed equal to that of the primary motor. At least one X-ray detector is mounted on a platform as part of the rotating arm structure to receive X-ray projection data from the multiple pulsed X-ray sources as they pass through the detector's field of view. The X-ray detector can be a single flat-panel X-ray detector 3 or an aggregation of multiple flat-panel X-ray detectors 3 that can form a large-area detector.

[0036] Figure 3 A motion-compensated digital tomography system using paired X-ray sources is shown, with object 2 centered on scanning stage 12. This design is intended for inspecting heavy, dense materials using high-kV, high-mA, greater than 1000-watt X-ray sources in 3D industrial and security inspections. A rotating arm is independent of the object scanning stage 12. This configuration allows for easy application in X-ray inspections at production lines. Figure 3In this embodiment, the X-ray detector 3 is connected to a platform with a stationary frame, while a high-voltage generator 11 and a system controller are mounted opposite each other on another platform, and they move in a mechanically synchronized motion to expose the detector therebetween. Drive motors coupled via two gear 8 actuators are used to move two movable X-ray tubes in a mechanically synchronized tube movement. The X-ray source is connected via two tube mounting brackets, which are connected to the two gear 8 actuators via two drive doors. The tank and high-voltage generator 11 are mounted on a rigid frame opposite the X-ray source 1 to balance the weight, with the detector positioned on a separate frame. The X-ray source 1 moves simultaneously relative to the object 2 at a constant velocity as a group along a predefined arcuate trajectory, and the individual X-ray source and X-ray detector 3 are activated by an external exposure control unit when the individual X-ray source has a velocity equal to the group velocity but in the opposite direction of movement. The X-ray sources are arranged on a rotating stage to form a paired source array. The individual X-ray sources move about their static positions, but one X-ray source moves in the opposite direction to the other to counteract momentum. This arrangement allows the X-ray source to remain stationary during the duration of the X-ray pulse-triggered exposure. In one deployment, a positioning system is used to move the primary motor stage and the secondary motor stage 6 to a predetermined initial position via motors, wherein the primary motor stage is swept at a predetermined constant speed by the primary motor, and the secondary motor stage 6 is oscillated by the secondary motor 7. The pair of secondary motor stages 6 always move in opposite directions to each other.

[0037] 3D radiography can be used to scan an object, generating a 3D image through the following steps: Multiple X-ray sources move relative to an object 2 at a constant velocity as a group along a predetermined arc trajectory. In a pair, each individual X-ray source 1 may also move rapidly over a small distance around its static position. One source moves in the opposite direction to the other. When the individual X-ray source 1 has a velocity equal to the group velocity but in the opposite direction of movement, the individual X-ray source and X-ray detector are activated by an external exposure control unit. This arrangement allows the X-ray sources to remain relatively stationary during X-ray source activation and X-ray detector exposure. When the individual X-ray source moves at the same velocity as the group but in the opposite direction, a flat panel detector is activated and accumulates X-ray detection data. This activation step includes: the flat panel detector generating a pulse to form a signal burst.

[0038] The scanning stage 12 is preferably housed within a gantry containing an X-ray source, and the flat panel detector 3 is arranged to irradiate the object 2 being examined at an angle substantially parallel to the plane of the scanning stage 12. The stage (and therefore the flat panel detector) of this size and shape moves substantially along a linear path with minimal arcuate motion. More specifically, the scanning stage 12 moves linearly and with minimal arcuate motion relative to the object 2 on the scanning stage 12 along the longitudinal axis of the gantry along a predefined trajectory.

[0039] One of the key components of this invention is a support arm structure that provides a housing for the primary motor rotary arm stage 4 and the secondary motor stage 6. The system has a predetermined movement along three axes around an object 2. The plurality of pulsed X-ray sources move simultaneously relative to the object 2 at a constant velocity as a group along a predefined arcuate trajectory. Each individual X-ray source can also move rapidly over a small distance around its static position. In a pair, one individual source moves in the opposite direction to the other. When an individual X-ray source has a velocity equal to the group velocity but in the opposite direction of movement, the individual X-ray source is triggered by an external exposure control unit. This arrangement allows the X-ray sources to remain relatively stationary during the duration of the X-ray pulse-triggered exposure. The plurality of X-ray sources results in a significantly reduced source travel distance for each individual X-ray source. In a specific implementation, a flat panel detector can be replaced with a curved surface detector, which reduces misalignment, distortion, and noise in the image.

[0040] This invention relates to a system for performing ultrafast, efficient 3D radiography using multiple pulsed X-ray sources in motion. In the system, multiple pulsed X-ray sources are mounted on a moving structure to form a source array. These multiple X-ray sources move simultaneously around an object 2 at a constant velocity along a predefined trajectory. Each individual X-ray source can also move rapidly a short distance around its static position. In a pair, one individual source moves in the opposite direction to the other. When an individual X-ray source has a velocity equal to the group velocity but in the opposite direction of movement, the individual X-ray source 1 is triggered by an external exposure control unit. This arrangement allows the X-ray sources to remain relatively stationary during the duration of the X-ray pulse-triggered exposure. The multiple X-ray sources result in a significantly reduced source travel distance compared to individual X-ray sources. The X-ray receiver is an X-ray flat panel detector 3. Therefore, 3D radiographic image projection data can be acquired in a much shorter time period with a much wider overall sweep, and image analysis can also be performed in real time during the scan.

[0041] Several embodiments exist for multiple pulsed X-ray sources in motion in a novel ultrafast 3D radiography system. It includes the following main components: a support arm structure providing a housing for a primary motor stage and a secondary motor stage 6; a predefined arcuate trajectory on which multiple pulsed X-ray sources are mounted on a structure that moves along the trajectory; each individual X-ray source moves relatively stationary around its static position while being activated by an external exposure control unit; a support frame structure 9 mounted on a support base structure to securely hold the structure in place; a drive unit with at least one drive motor or drive engine having an encoder for driving the primary motor arm stage 4 in the arcuate trajectory; and an electronic unit for controlling the activation time of the movement of each X-ray source relative to the primary motor arm stage 4. The activation time of each X-ray source is synchronized with the movement of the primary motor arm stage 4 in the arcuate trajectory.

[0042] The ultrafast 3D X-ray imaging system using multiple pulsed X-ray sources in motion offers several advantages. First, it is several times faster than existing systems. Each X-ray source will only need to mechanically travel a small fraction of the entire distance in an arc trajectory. This significantly reduces the amount of data acquisition time required for the patient at the X-ray diagnostic machine. Second, image analysis can also be performed in real time during the scan. The judgment of the acquired image will influence the position of the X-ray source for the next shot. There is no need to wait until the entire image acquisition is complete before layered image reconstruction. Third, high-resolution and high-contrast images can be acquired due to the reduction in motion artifacts. Each pair of X-ray sources is also mounted on a substructure that causes the source to vibrate around its origin. The combination of vibration velocity and trajectory velocity results in the relative stationary position of the X-ray source when the individual X-ray source is activated. Fourth, the system can perform a much wider sweep to acquire more data projections while being faster. More data projections mean better image construction, which will lead to a reduced misdiagnosis rate. Fifth, due to the wider angle and faster image acquisition, a temporal component can be added to 3D spatial imaging to form a 4D imaging dataset.

[0043] This invention proposes a method for acquiring ultrafast 3D X-ray images by combining a pulsed X-ray imaging system with dedicated mechanical hardware that drives multiple X-ray sources in motion. The 3D pulsed X-ray imaging system includes one or more motorized stage pairs for sweeping out arcs, coupled to multiple X-ray sources mounted on a moving stage, all controlled by an external computer. The pulsed X-ray imaging system is designed to leverage the rapid switching capabilities of modern electronics to improve data acquisition time for obtaining 3D X-ray images of various shapes and sizes. Data analysis of these images can be performed in real time during X-ray exposure. More importantly, extended tracking of the source positions of individual X-ray sources within the array results in reduced errors in the reconstructed 3D images, including fewer artificial noise components. The main portion of image reconstruction is performed after the scan is complete.

[0044] In one embodiment, Figure 5 The diagram shows a pair of X-ray sources 1 mounted in a circular configuration. An upper circular track 13 and a lower circular track 14 are present within a circular gantry 15. The pair of X-ray sources 1 are mounted between the upper circular track 13 and the lower circular track 14. The X-ray sources 1, as a pair, rotate continuously in a circle. For the pair of X-ray sources, one source is located at one end of the circular diameter, and the other source is located at the other end. Each pair of X-ray sources is oscillating but has opposite angular momentum. The circular motion is powered by a primary motor, and the circular motion stage is a continuously rotating primary motor stage. A secondary motor stage is mounted on the primary motor stage. Data acquisition can occur continuously as the gantry primary motor stage rotates. The X-ray beam 10 originates from an annular structure on top of the scanned object 2 on the scanning stage. An X-ray flat panel detector 3 is located below the scanned object 2. The object can be observed 360 degrees from the upper hemisphere of the scanned object 2 using X-rays. The angular momentum from the X-ray source tube pair cancels out to avoid unnecessary overall vibration of the gantry system. With sufficient source tubes, motion compensation is not required.

[0045] An array of X-ray sources moves simultaneously around the object being imaged, 2, on a circular track at a constant velocity. For a pair, individual X-ray sources can also be rapidly moved a short distance around their static position via a secondary motor stage, but one X-ray source moves in an angular direction opposite to the other, ensuring that the angular momentum of the individual X-ray source's movement is always canceled out to maximize overall system stability. When an individual X-ray source has a velocity equal to the group velocity but in an opposite direction of movement, it is triggered by an external exposure control unit. The upper circular track 13 can rotate to expose the source using a fixed flat panel detector 3, or alternatively, the lower circular track 14 can rotate while the upper track 13 is fixed. This system enables image-guided operation because the physician can periodically actuate the exposure control unit and capture X-ray images of the patient as needed during surgery. Due to the low radiation dose, physicians and staff are not exposed to high levels of radiation, making image-guided surgery possible.

[0046] Figure 6 A top view is shown of three pairs of X-ray sources uniformly distributed and mounted in a circular gantry. X-ray sources 1 rotate as a group. The three pairs of X-ray sources 1 are mounted between an upper circular track 13 and a lower circular track 14. Each source can vibrate around a specific position. The X-ray sources are triggered when the primary circular motor stage moves at opposite speeds. As the X-ray sources 1 continue to rotate, X-ray images can be continuously generated in real time from different viewpoints. In interventional radiology, physicians can select views from different angles in real time during image-guided surgery based on requests. For the three pairs of X-ray sources 1, each X-ray source 1 travels only 60 degrees to obtain complete upper hemispherical angular coverage. The entire gantry can be virtually suspended from the room ceiling for ease of operation. The imaging system gantry continues to rotate, data acquisition continues to run, and images of objects can be viewed in real time from different angles. Fluorescence examination is a method for providing real-time X-ray imaging. This is particularly useful for guiding a variety of diagnostic and interventional procedures. The ability of fluorescence examination to display motion is provided by generating a series of continuous images at a maximum rate of tens of images per second.

[0047] Figure 7A top view of six pairs of X-ray sources mounted in a circular gantry for surgical procedures during interventional radiology is shown. For each of the six pairs of X-ray sources 1, each X-ray source 1 travels only 30 degrees to achieve complete coverage at the circular gantry 15. A human subject 16 can lie on the operating table 12. Motion compensation may not be necessary if a sufficient number of X-ray sources 1 are distributed at the circular gantry and the X-ray flat panel detector 3 operates fast enough. This means that, in this case, the secondary motors and secondary motor stage for oscillating movement can be practically omitted. In this particular case, the X-ray sources 1 rotate at a lower speed at the circular gantry, and the exposure of the X-ray flat panel detector 3 to the back of the human subject 16 is relatively short, and the detector readout is much faster. From a cost-effectiveness perspective, motion compensation techniques are primarily used when a small number of higher-cost X-ray sources 1 are needed to cover a large field of view in a very short time. By using real-time visual... Figure 3 DX-ray fluorescence examination is a minimally invasive, image-guided procedure used by interventional radiologists to diagnose and treat diseases. This is particularly useful for guiding a variety of diagnostic and interventional procedures.

[0048] Various modifications and alterations to the invention will be apparent to those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims. It should be noted that the steps recited in any of the following method claims do not necessarily need to be performed in the order they are stated. Those skilled in the art will recognize variations in the execution of the steps based on the order in which they are stated. Furthermore, the lack of mention or discussion of features, steps, or components provides a basis for claims in which the absence of a feature or component is excluded by appended conditions or similar claim language.

[0049] Although the invention has been described above with reference to various exemplary embodiments and implementations, it should be understood that the various features, aspects, and functions described in one or more individual embodiments are not limited to their applicability to the particular embodiment in which they are described, but rather may be applied individually or in various combinations to one or more other embodiments of the invention, whether such embodiments are described or whether such features are presented as part of the described embodiments. Therefore, the breadth and scope of this valve should not be limited by any of the exemplary embodiments described above.

[0050] Unless otherwise expressly stated, the terms and phrases used in this document, and their variations thereof, should be interpreted as open-ended rather than restrictive. As examples of the foregoing: the term “including” should be interpreted as meaning “including, but not limited to” or similar; the term “example” is used to provide exemplary instances of items discussed, not an exhaustive or restrictive list thereof; the terms “a” or “an” should be interpreted as meaning “at least one,” “one or more,” or similar; and adjectives such as “conventional,” “traditional,” “normal,” “standard,” “known,” and similar terms should not be interpreted as limiting the described items to a given time period or to items available up to a given time, but rather should be interpreted as covering conventional, traditional, normal, or standard techniques that are available or known now or at any time in the future. Therefore, where this document refers to techniques that are obvious or known to a person skilled in the art, such techniques encompass those techniques that are obvious or known to a person skilled in the art now or at any time in the future.

[0051] In some cases, the presence of broad terms and phrases (such as "one or more," "at least," "but not limited to," or other such phrases) should not be construed as implying that a narrower case is intended or necessary in situations where such broad phrases may not exist. The use of the term "module" does not imply that all components or functionalities described or claimed as part of a module are configured within a common package. In fact, any or all of the various components of a module, whether control logic or other components, may be combined in a single package or maintained separately, and may further be distributed across multiple locations.

[0052] The foregoing description of the disclosed embodiments enables any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art. The general principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not intended to be limited to the embodiments shown herein, but should be given the fullest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tomographic synthetic imaging system for providing rapid 3D X-ray radiography using multiple heavy-duty X-ray sources, comprising: A primary motor rotary arm worktable, wherein the primary motor rotary arm worktable has a predetermined radius; A primary motor, which engages with and controls the speed of the primary motor rotating arm worktable; One or more secondary motor worktables are coupled to the primary motor rotary arm worktable and move along an arcuate trajectory. One or more secondary motors, each secondary motor engaging one or more secondary motor stages and controlling the speed of the secondary motor stages; One or more pairs of X-ray sources, each pair of X-ray sources moving via a secondary motor stage; A supporting frame structure provides a housing for the primary motor rotary arm worktable, the secondary motor worktable, and the X-ray source; Support platform, the support platform being used for scanning objects; as well as A rigid or flexible plate X-ray detector, wherein the rigid or flexible plate X-ray detector is used to receive X-ray imaging data. The X-ray sources move simultaneously relative to the object at a constant speed as a group on a predefined arc trajectory, and when an individual X-ray source has a speed equal to the group speed but in the opposite direction of movement, the individual X-ray source and the rigid or flexible plate X-ray detector are activated by an external exposure control unit.

2. The system according to claim 1, wherein the X-ray detector is a curved panel detector.

3. The system of claim 1, comprising two movable X-ray sources having mechanically synchronized motion to expose the detector.

4. The system of claim 3, further comprising a drive motor coupled to two gear drives to move two movable X-ray sources by means of mechanically synchronized source movement.

5. The system of claim 4, wherein the X-ray source is connected via two X-ray tube mounting brackets, and the two X-ray tube mounting brackets are connected to the two gear drives via two drive doors.

6. The system of claim 3, comprising a tank and a high-voltage generator, the tank and the high-voltage generator being mounted on a rigid frame opposite the X-ray source to balance the weight, wherein the detector is positioned on a separate frame.

7. The system of claim 1, wherein the X-ray sources are arranged on a rotating arm stage to form a source array, and each individual X-ray source moves about a static position and allows the X-ray sources to remain stationary during the duration of the X-ray pulse-triggered exposure.

8. The system of claim 1, wherein a positioning system is used to move the primary motor rotating arm stage and the secondary motor stage to a predetermined initial position via the motor, wherein the primary motor sweeps the primary motor rotating arm stage at a predetermined constant speed, and the secondary motor stage oscillates in a predetermined sequence via the secondary motor.

9. A method for rapid 3D X-ray tomography with motion-compensated multiple pulsed X-ray source pairs, comprising: Position the primary motor rotary arm worktable and one or more secondary motor worktables to the predetermined initial position; The primary motor rotary arm worktable is swept by the primary motor at a predetermined constant speed; Each secondary motor stage in the secondary motor stage is oscillated by corresponding secondary motors, such that one X-ray source in the X-ray source pair at the secondary motor stage oscillates in the opposite direction to the other X-ray source. When the X-ray source moves in the opposite direction to the primary motor rotating arm stage and at a selected speed of the primary motor rotating arm stage, the X-ray source and the rigid plate or flexible curved panel detector are electrically activated. as well as The rigid plate or flexible curved plate detector is used to acquire object image data from the X-ray source. The X-ray sources are moved simultaneously relative to the object at a constant speed as a group along a predefined arc trajectory, and individual X-ray sources are made to have a speed equal to the group speed but with an opposite direction of movement. The individual X-ray sources and the rigid plate or flexible curved panel detector are activated by an external exposure control unit.

10. The method of claim 9, further comprising: X-rays are captured from a motion-compensated multiple pulsed X-ray source using the plate detector.

11. The method of claim 9, further comprising: Two movable X-ray sources are moved by mechanical synchronous motion to expose the detector.

12. The method of claim 11, further comprising: Two X-ray sources are moved by a drive motor coupled to two gear drives, which move a mechanical synchronizing tube.

13. The method of claim 12, wherein the X-ray source is connected via two tube mounting brackets, the two tube mounting brackets being connected to the two gear drives via two drive doors.

14. The method of claim 11, comprising a tank and a high-voltage generator, the tank and the high-voltage generator being mounted on a rigid frame opposite the X-ray source to balance the weight, wherein the detector is positioned on a separate frame.

15. The method of claim 9, wherein the X-ray sources are arranged on a rotating arm stage to form a source array, and each individual X-ray source moves about a static position and allows the X-ray sources to remain stationary during the X-ray pulse-triggered exposure duration.

16. The method of claim 9, further comprising: The positioning system is used to move the primary motor rotary arm stage and the secondary motor stage to a predetermined initial position, and the primary motor rotary arm stage is swept at a predetermined constant speed, causing the secondary motor stage to oscillate in a predetermined sequence.

17. An X-ray imaging system for providing rapid 3D X-ray radiography using multiple heavy-duty X-ray sources, comprising: A primary motor rotary table, wherein the primary motor rotary table has a predetermined radius; A primary motor, which engages with and controls the rotational speed of the primary motor rotary table; One or more secondary motor worktables, the one or more secondary motor worktables being coupled to the primary motor rotary worktable; One or more secondary motors, each secondary motor engaging a secondary motor stage and controlling the speed of the secondary motor stage; One or more pairs of X-ray sources, wherein each X-ray source is mounted at a secondary motor stage and moves via the secondary motor stage; A circular support structure is provided, which serves as a housing for the primary motor, the primary motor rotary table, the secondary motor, the secondary motor table, and the X-ray source. as well as An X-ray flat panel detector, used to receive X-ray imaging data. The X-ray sources move simultaneously relative to the object at a constant speed as a group on a predefined arc trajectory, and when an individual X-ray source has a speed equal to the group speed but in the opposite direction of movement, the individual X-ray source and the X-ray flat panel detector are activated by an external exposure control unit.

18. An X-ray imaging system for providing rapid 3D X-ray radiography using multiple heavy-duty X-ray sources, comprising: A primary motor rotary table, wherein the primary motor rotary table has a predetermined radius; A primary motor, which engages with and controls the speed of the primary motor rotary table; One or more pairs of X-ray sources, wherein each X-ray source is mounted at the primary motor rotary table and moved by the primary motor; A circular support structure is provided to house the primary motor rotary table and the X-ray source. as well as An X-ray flat panel detector, used to receive X-ray imaging data. The X-ray sources move simultaneously relative to the object at a constant speed as a group on a predefined arc trajectory, and when an individual X-ray source has a speed equal to the group speed but in the opposite direction of movement, the individual X-ray source and the X-ray flat panel detector are activated by an external exposure control unit.

19. A method for rapid 3D X-ray radiography with motion-compensated multiple pulsed X-ray source pairs, comprising: The primary motor rotary table is mounted onto the supporting circular structure; One or more secondary motor worktables are mounted onto the primary motor rotary worktable; Install X-ray sources into each secondary motor stage in the secondary motor stage; Position the primary motor rotary table and one or more secondary motor tables to a predetermined initial position; The primary motor is used to rotate the worktable at a predetermined constant angular velocity. Each secondary motor stage in the secondary motor stage is oscillated by the corresponding secondary motor, so that one of the X-ray sources in the X-ray source pair at the secondary motor stage oscillates in an angular direction opposite to that of the other X-ray source. When the X-ray source moves in the opposite direction to the primary motor rotary table and at a selected speed of the primary motor rotary table, the X-ray source and the X-ray flat panel detector are electrically activated; and Image data of the object is acquired from the X-ray source using an X-ray flat panel detector. The X-ray sources move simultaneously relative to the object at a constant speed as a group on a predefined arc trajectory, and when an individual X-ray source has a speed equal to the group speed but in the opposite direction of movement, the individual X-ray source and the X-ray flat panel detector are activated by an external exposure control unit.

20. A method for rapid 3D X-ray radiography using multiple pulsed X-ray source pairs, comprising: The primary motor rotary table is mounted onto the supporting circular structure; One or more X-ray sources are mounted on a primary motor rotary table; Position the primary motor rotary table to the predetermined initial position; The primary motor is used to rotate the primary motor-driven worktable at a predetermined constant angular velocity. Electrically activated one or more X-ray sources on an X-ray flat panel detector; as well as Object image data is acquired from one or more X-ray sources using an X-ray flat panel detector. The X-ray sources move simultaneously relative to the object at a constant speed as a group on a predefined arc trajectory, and when an individual X-ray source has a speed equal to the group speed but in the opposite direction of movement, the individual X-ray source and the X-ray flat panel detector are activated by an external exposure control unit.

21. The method of claim 20, wherein the X-ray source is moved in a circular motion above the X-ray flat panel detector.

Images