Large-scale robotic radiography system and method

Abstract

A system and method are provided for recording image data of a large object. The system includes a radiation source configured to generate a two-dimensional radiation fan beam and a detector configured to detect the radiation fan beam. The system also includes a first support and a second support configured to translate and rotate the radiation source and the detector. The method includes moving the radiation source and the detector to each of a plurality of incremental positions along an anatomical region of the large object using the first and second supports. The method further includes recording image data at each incremental position using the radiation source and the detector. The method further includes translating the radiation source and the detector using the first and second supports to cancel out the relative motion between the large object and the radiation source or detector.

Description

Background Art

[0001] Cross - reference to Related Applications This application claims the benefit of U.S. Provisional Application No. 63 / 459,000, filed on April 13, 2023, under 35 U.S.C. § 119(e) and 35 U.S.C. § 120.

[0002] Radiographic systems are used to capture image data (e.g., X - rays) of a subject for the purpose of evaluating an anatomical region of the subject for various applications. These applications include diagnosing medical conditions or planning medical procedures and interventions for treating any diagnosed medical condition.

Summary of the Invention

[0003] Conventional radiographic systems used to capture image data of a subject are known. For example, U.S. Patent No. 7,441,953 (hereinafter the ’953 patent), assigned to the same assignee as the present invention, discloses such a radiographic system. This system discloses position markers placed on a human subject, which are used to track the movement of small joints (e.g., ankle / foot) through various stages of movement. An X - ray source that generates an X - ray cone beam is provided, and this beam is sent through the cross - sectional area of the joint and detected by a detector. Based on the tracking data, the system adjusts the positions of the X - ray source and the detector to reduce the relative movement between the joint and the X - ray source or the detector, ensuring that the image data captured at each stage of movement remains non - blurry.

[0004] In this invention, the inventors designed a radiography system used to acquire image data of large objects (e.g., horses, cattle, etc.) having thick anatomical regions to be imaged. The inventors were aware that the '953 patent disclosed a radiography system, but realized that the X-ray cone beam in the '953 patent could not be used to acquire image data of thick anatomical regions of large objects. This is due to the excessive scattered radiation detected by the detector when the X-ray cone beam is transmitted through these thick anatomical regions of the large object. Therefore, to address this problem, the inventors decided to use a line-scanning X-ray source that generates a two-dimensional (2D) X-ray fan beam in a single plane. The inventors reasoned that the 2D X-ray fan beam would not cause excessive scattering through the thick anatomical regions of the large object and would therefore produce image data with a sufficient signal-to-noise ratio.

[0005] Furthermore, in designing the radiography system herein, the inventors recognized that the X-ray source and detector need to be able to move across a relatively large space to accommodate the dimensions of a large object. The '953 patent discloses a robotic arm with a base and rotational degrees of freedom for mounting an X-ray source and detector, which can rotate around a small joint (e.g., ankle / foot). However, the inventors recognized that this robotic arm structure is not effective in radiography systems for large objects because it requires an excessively large volume to facilitate the rotational movement of the robotic arm relative to the dimensions of the large object. Therefore, to address this problem, the inventors developed the radiography system herein having an X-ray source and detector with both translational and rotational degrees of freedom. The inventors recognized that this support structure makes it easier to house the system in a much more compact volume than the design based on the '953 patent.

[0006] In a first embodiment of the present invention, a system is provided comprising a radiation source configured to generate a radiation fan beam in a two-dimensional (2D) plane. The system also comprises a detector positioned spaced apart from the radiation source and configured to detect the radiation fan beam in the 2D plane. The system also comprises a first support configured to mount the radiation source. The first support is configured to translate the radiation source along a first axis and to rotate the radiation source with respect to the first axis. The system further comprises a second support configured to mount the detector. The second support is configured to translate the detector along a second axis and to rotate the radiation source with respect to the second axis. The system further comprises position markers coupled to the radiation source, the detector, and an object positioned between the radiation source and the detector. The position markers are configured to measure the respective positions of the radiation source, the detector, and the object. The system also comprises a processor and a memory containing one or more instruction sequences. The memory and instruction sequence are configured to use a processor to send a first signal to a first support and a second support, causing the radiation source and detector to move to each of several incremental positions along the anatomical region of the target. The memory and instruction sequence are further configured to use a processor to cause the system to receive motion data at each incremental position from position markers coupled to the radiation source, detector, and target, respectively, and to detect the relative motion between the target and the radiation source or detector. The memory and instruction sequence are further configured to use a processor to send a second signal to the first support and the second support at each incremental position, causing the radiation source and detector to move and cancel out the detected relative motion. The memory and instruction sequence are further configured to use a processor to send a third signal to the radiation source, causing the radiation source to generate a radiation fan beam in a 2D plane at each incremental position along the anatomical region of the target.The memory and instruction sequence are further configured to use the processor to cause the system to receive image data from the detector based on the detection of a radiation beam in a 2D plane at each incremental position. The memory and instruction sequence are further configured to use the processor to cause the system to store the image data at each incremental position in memory.

[0007] A second embodiment of the present invention provides a method comprising transmitting a first signal from a processor to a first support and a second support to move a radiation source and a detector to each of a plurality of incremental positions along an anatomical region of a target. The method further comprises receiving motion data from position markers attached to the radiation source, the detector, and the target, respectively, to detect the relative motion between the target and the radiation source or detector at each incremental position. The method further comprises transmitting a second signal from the processor to the first support and the second support to move the radiation source and detector and cancel out the relative motion detected at each incremental position. The method further comprises transmitting a third signal from the processor to the radiation source to cause the radiation source to generate a radiation fan beam in a two-dimensional (2D) plane at each incremental position. The method further comprises receiving image data from the detector based on the detection of the radiation fan beam in the 2D plane at each incremental position. The method further comprises storing the image data at each incremental position in memory.

[0008] In yet another embodiment of the present invention, the method further includes providing a guide device equipped with position markers. The method further includes using a processor to combine stored image data at one or more incremental positions of an anatomical region to form a 3D model of the anatomical region of interest. The method further includes outputting the 3D model of the anatomical region of interest onto a display. The method further includes using an input device to change the orientation of the 3D model on the display to a desired orientation. The method further includes the processor receiving data from the position markers of the guide device. The method further includes outputting a virtual guide device on the display in the desired orientation of the 3D model based on the data received from the position markers of the guide device. The method further includes translating the guide device to perform a procedure on the anatomical region of interest based on observing the virtual guide device moving on the display in relation to the desired orientation of the 3D model.

[0009] In yet another embodiment of the present invention, the method further includes using a processor to determine the energy absorption rate of a radiation fan beam in a 2D plane in an anatomical region based on received image data at each incremental position. The method further includes using a processor to determine the proportion of one or more tissue types in the anatomical region of interest based on the determined absorption rates. The method further includes outputting data on a display showing the determined proportions of one or more tissue types in the anatomical region of interest.

[0010] Further aspects, features, and advantages will be readily apparent from the following detailed description by merely illustrating some of the specific embodiments and implementations, including the best mode considered for carrying out the invention. Other embodiments may also have other different features and advantages, some of which may be modified in various obvious ways without departing from the spirit and scope of the invention. Therefore, the drawings and description should be considered as illustrative and not restrictive in nature.

[0011] The embodiments are illustrative examples and not intended to be limiting. In the attached drawings, similar reference numerals refer to similar elements, as follows: [Brief explanation of the drawing]

[0012] [Figure 1A] This is a block diagram showing an example of a top view of a radiography system for large objects according to an embodiment.

[0013] [Figure 1B] This image shows an example of a front perspective view of the radiography system shown in Figure 1A, according to an embodiment.

[0014] [Figure 1C] This image shows an example of a rear view of the radiography system shown in Figure 1A, according to an embodiment.

[0015] [Figure 1D] This image shows an example of a rear view of the radiography system shown in Figure 1A, according to an embodiment.

[0016] [Figure 2A] This image shows an example of image data with motion blur acquired using a conventional radiography system.

[0017] [Figure 2B] This image shows an example of motion-blur-free image data captured using the radiography system shown in Figure 1A, according to an embodiment.

[0018] [Figure 3A] This image shows an example of image data with an intensity dynamic range outside the desired range, acquired using a conventional radiography system.

[0019] [Figure 3B]An image showing an example of image data having an intensity dynamic range within a desired range, captured using the radiographic system of FIG. 1A according to an embodiment.

[0020] [Figure 3C] An image showing an example of image data captured using a conventional radiographic system with a low signal-to-noise ratio (SNR).

[0021] [Figure 3D] An image showing an example of image data captured using the radiographic system of FIG. 1A with a high SNR according to an embodiment.

[0022] [Figure 4] An image showing an example of a front view of a display used during the treatment of a large target's anatomical region according to an embodiment.

[0023] [Figure 5A] A flowchart showing an example of a method for capturing image data using the radiographic system of FIG. 1A according to an embodiment.

[0024] [Figure 5B] A flowchart showing an example of a method for performing a treatment on a large target using image data captured from the radiographic system of FIG. 1A according to an embodiment.

[0025] [Figure 5C] A flowchart showing an example of a method for measuring the ratio of one or more tissue types in an anatomical region of a large target using image data captured from the radiographic system of FIG. 1A according to an embodiment.

[0026] [Figure 6] A block diagram showing a computer system in which embodiments of the present invention can be implemented.

[0027] [Figure 7]This figure shows a chipset on which embodiments of the present invention can be implemented. [Modes for carrying out the invention]

[0028] This document describes a method and apparatus for acquiring image data of anatomical regions of large objects using a radiography system. For illustrative purposes, numerous specific details are provided in the following description to ensure a thorough understanding of the invention. However, as will be apparent to those skilled in the art, the invention can be carried out without these specific details. In other cases, well-known structures and devices are shown in block diagram form to avoid unnecessarily obscuring the invention.

[0029] Although numerical ranges and parameters representing a wide range are approximations, the numerical values ​​presented in certain non-limiting examples are reported as accurately as possible. However, any numerical value inherently contains a certain degree of error that inevitably arises from the standard deviation detected in each test measurement at the time of writing. Furthermore, unless otherwise clearly indicated by the context, the numerical values ​​presented herein have an implicit precision given by the least significant digit. Thus, a value of 1.1 means a value between 1.05 and 1.15. The term "about" is used to indicate a wider range around a given value, and unless otherwise clearly indicated by the context, it means a wider range around the least significant digit; for example, "about 1.1" means a range between 1.0 and 1.2. If the least significant digit is unclear, the term "about" means twice; for example, "about X" means a value in the range of 0.5X to 2X, and for example, about 100 means a value in the range of 50 to 200. Furthermore, all ranges disclosed herein should be understood to encompass all subranges that are contained within them. For example, the "less than 10" range for a parameter that is only positive can include all subranges between the minimum value of zero and the maximum value of 10 (including the minimum and maximum values), that is, all subranges where the minimum value is greater than or equal to zero and the maximum value is less than or equal to 10 (for example, 1 to 4).

[0030] Some embodiments of the present invention are described below in the context of acquiring image data of anatomical regions of large subjects (e.g., horses, cattle, etc.) using a radiographic system. However, the present invention is not limited to this context. In other embodiments, the present invention is described in the context of performing procedures on anatomical regions using image data of anatomical regions of large subjects (e.g., horses, cattle, etc.). In exemplary embodiments, the procedure is performed on the anatomical region of the large subject without the application of anesthesia. For the purposes of this description, “large subject” means any large animal or mammal, whether aquatic or terrestrial. In one example, a large subject may include terrestrial animals or mammals (e.g., dogs, horses, giraffes, elephants, etc., and other animals and mammals of similar size, without limitation). In another example, a large subject may include aquatic animals or mammals (e.g., manatees, dolphins, whales, etc., and other aquatic animals and mammals of similar size). In other embodiments, “large subject” includes human subjects (e.g., standing human subjects). “Large subject” is used to classify subjects used in the present invention, but there is no minimum size threshold for subjects used in the present invention. In yet another exemplary embodiment, the procedure is performed on the anatomical region of the large subject while the large subject remains standing. In yet another embodiment, the present invention is described in the context of using image data of the anatomical region of the large subject to measure the proportion of one or more tissue types within the anatomical region of the large subject. In an exemplary embodiment, the proportion of one or more tissue types is measured pre-mortem. In this exemplary embodiment, the ratio difference between one or more tissues such as bone tissue, soft tissue, and adipose tissue is measured. In one embodiment, the fat or muscle content is determined in parts of beef, lamb, or pork, among other meats. The fat or muscle content thus determined is used to determine the percentage of lean meat and marbling in the pre-mortem meat.

[0031] 1. System Overview Next, an embodiment of a radiography system used to capture image data of large objects (for example, horses, cows, etc.) will be described. Figure 1A is a block diagram showing an example of a top view of a radiography system 100 for a large object 102 according to an embodiment. Figures 1B to 1D are images showing examples of the radiography system 100 of Figure 1A from various viewpoints according to an embodiment.

[0032] Next, the radiation source and detector of system 100 will be described. As shown in Figure 1A, in one embodiment, system 100 includes a radiation source 104 configured to generate a radiation fan beam 105a in a two-dimensional (2D) plane. As further shown in Figure 1B, in one embodiment, system 100 also includes a detector 106 positioned away from the radiation source 104 and configured to detect the radiation fan beam 105b in the 2D plane after it has passed through a large object 102. In one embodiment, the radiation source 104 is an X-ray tube, and the radiation fan beam 105a is an X-ray fan beam in the 2D plane. In this embodiment, the detector 106 is an X-ray detector including a linear array of detectors configured to detect the X-ray fan beam in the 2D plane. In other embodiments, other radiation sources (e.g., CT, MRI, etc.) can be used. In some embodiments, an adjustable collimator is positioned at the tube opening of the radiation source 104 to provide radiation beams of different shapes (e.g., fan, cone, rectangle, etc.). The inventors recognized that the transmitted radiation fan beam 105a from the radiation source 104 and the detected radiation fan beam 105b at the detector 106 are advantageous in minimizing scattering through the relatively large dimensions (e.g., width 140) of the large object 102. As those skilled in the art will understand, the ratio of scattered radiation to transmitted radiation at the detector 106 increases with the large dimensions (e.g., width 140) of the large object 102.

[0033] Next, a support used to mount and position the radiation source 104 and the detector 106 will be described. As shown in Figure 1A, in one embodiment, a first support is provided for mounting the radiation source 104 and is configured to translate the radiation source 104 along one or more axes, and further configured to rotate the radiation source 104 around one or more axes. The translational and / or rotational motion of the radiation source 104 and the detector 106 is performed to acquire image data from different regions of the object 102 and / or to cancel out undesirable relative motion between the object 102 and the radiation source 104 or detector 106. The inventors have recognized that by providing both translational and rotational degrees of freedom, the system 100 can be housed in a much smaller volume than if only rotational degrees of freedom were employed.

[0034] In one embodiment, as shown in Figure 1A, the first support includes a first gantry horizontal support 110a configured to translate the radiation source 104 along a first axis 132, thereby changing the distance between the radiation source 104 and the detector 106. In this embodiment, as shown in Figure 1A, the first support also includes a first gantry vertical support 108a configured to translate the radiation source 104 in a first plane 136 perpendicular to the first axis 132. In an exemplary embodiment, the first gantry vertical support 108a is configured to translate the radiation source 104 along an axis 135 in the first plane 136, thereby translating the radiation source 104 along the length 142 of the large object 102. In another exemplary embodiment, the first gantry vertical support 108a is configured to translate the radiation source 104 along an axis 137 (Figure 1C) perpendicular to an axis 135 in a first plane 136, thereby translating the radiation source 104 along the height 144 of the large object 102. As further shown in Figure 1A, in one embodiment, a motor 122a is provided configured to translate the first gantry horizontal support 110a (and the radiation source 104) along a first axis 132. In this embodiment, the motor 122a is also configured to translate the first gantry vertical support 108a (and the radiation source 104) along either axis 135 or axis 137. In this embodiment, the motor 122a is communicatively coupled to a controller 120 and configured to translate the radiation source 104 along any of axes 132, 135, or 137 based on one or more signals received from the controller 120.

[0035] In one embodiment, as shown in Figure 1A, the second support includes a second gantry horizontal support 110b configured to translate the detector 106 along a second axis 134, thereby changing the distance between the radiation source 104 and the detector 106. In this embodiment, as shown in Figure 1A, the second support also includes a second gantry vertical support 108b configured to translate the detector 106 in a second plane 138 perpendicular to the second axis 134. In an exemplary embodiment, the second gantry vertical support 108b is configured to translate the detector 106 along an axis 139 in the second plane 138, thereby translating the detector 106 along the length 142 of the large object 102. In another exemplary embodiment, the second gantry vertical support 108b is configured to translate the detector 106 along an axis 141 (Figure 1C) perpendicular to an axis 139 in a second plane 138, thereby translating the detector 106 along the height 144 of the large object 102. As further shown in Figure 1A, in one embodiment, a motor 122b is provided configured to translate the second gantry horizontal support 110b (and the detector 106) along a second axis 134. In this embodiment, the motor 122b is also configured to translate the second gantry vertical support 108b (and the detector 106) along either axis 139 or axis 141. In this embodiment, the motor 122b is communicably coupled to a controller 120 and configured to translate the detector 106 along any of axes 134, 139, or 141 based on one or more signals received from the controller 120.

[0036] Next, the scales on which the first and second supports can translate the radiation source 104 and the detector 106 will be described. The inventors of the present invention recognized the importance of designing the first and second supports of the system 100 so that the radiation source 104 and the detector 106 can be translated on a dimensional scale that can encompass one or more dimensions of the large object 102. In one embodiment, the first and second gantry vertical supports 108a, 10b are configured to translate the radiation source 104 and the detector 106 in their respective planes 136, 138 so as to encompass at least the length 142 and height 144 of the large object 102. As previously stated herein, “large object” refers to a variety of terrestrial animals or mammals, including human objects (e.g., dogs, horses, cattle, etc.), as well as aquatic animals or mammals (e.g., dolphins, whales, manatees, etc.), and therefore the values ​​of length 142 and height 144 differ based on the category of the large object.

[0037] Next, the rotational degrees of freedom provided by the first and second supports will be described. The rotational degrees of freedom are advantageous because they allow the radiation source 104 and the detector 106 to rotate around the axis of translational motion. As shown in Figure 1A, in one embodiment, the system 100 includes a first list 112a configured to mount the radiation source 104 to a first gantry horizontal support 110a. In this embodiment, the first list 112a is configured to rotate the radiation source 104 around a first axis 132. Furthermore, as shown in Figure 1A, in one embodiment, the system 100 includes a second list 112b configured to mount the detector 106 to a second gantry horizontal support 110b. In this embodiment, the second list 112b is configured to rotate the detector 106 around a second axis 134. In one embodiment, the system 100 also includes motors 124a and 124b, respectively, in lists 112a and 112b. Motors 124a and 124b are configured to rotate their respective radiation sources 104 and detectors 106 relative to their respective axes 132 and 134 based on one or more signals received from the controller 120.

[0038] Next, position markers used to track the position of object 102 and one or more components of system 100 will be described. As shown in Figure 1A, in one embodiment, system 100 includes position markers 126a, 126 attached to the radiation source 104 and the detector 106, respectively. In another embodiment, system 100 includes a position marker 128 attached to the large object 102. Position markers 126a, 126b, 128 are configured to measure the positions of the radiation source 104, the detector 106, and object 102, respectively. In one embodiment, position markers 126a, 126b, 128 transmit data to controller 120 to communicate the measured positions of the radiation source 104, the detector 106, and object 102, respectively. Controller 120 uses this data to detect any relative movement between object 102 and either the radiation source 104 or the detector 106. In an exemplary embodiment, the position markers are optical trackers that reflect light from an emitter (not shown), the reflected light is picked up by a detector (not shown), and the detector evaluates the position of each marker based on the detection signal from each marker.

[0039] System 100 is operated using a controller 120 that sends and receives one or more signals to one or more components of System 100. As shown in Figure 1A, in one embodiment, the controller 120 is communicably (e.g., wired or wirelessly) coupled to each of the motors 122a, 122b, 124a, 124b, position markers 126a, 126b, 128, radiation source 104, and detector 106. In one embodiment, the controller 120 sends signals to motors 122a, 122b to move one or more of the radiation source 104 and detector 106 along one or more of the aforementioned translation axes. In one embodiment, the controller 120 sends signals to motors 124a, 124b to rotate one or more of the radiation source 104 and detector 106 around rotation axes 132, 134. In one embodiment, the controller 120 receives signals from position markers 126a, 126b, and 128 to determine the respective positions of the radiation source 104, the detector 106, and the target 102, for the purpose of detecting any relative motion between them. In one embodiment, the controller 120 transmits signals to the radiation source 104 to activate and deactivate the radiation fan beam 105a and receives signals from the detector 106 based on the detected radiation fan beam 105b that has passed through the target 102.

[0040] In various embodiments, the controller 120 includes an image acquisition module 190 containing instructions for the controller 120 to perform one or more steps of method 500 in Figure 5A. In other embodiments, the controller 120 includes a guide equipment module 192 containing instructions for the controller 120 to perform one or more steps of method 550 in Figure 5B. In various embodiments, the controller 120 includes a tissue type measurement module 194 containing instructions for the controller 120 to perform one or more steps of method 570 in Figure 5C. In yet another embodiment, the controller 120 is a general-purpose computer system as shown in Figure 6, or one or more chipsets as shown in Figure 7.

[0041] 2. Methods for collecting image data Next, various types of techniques used when acquiring image data of object 102 using system 100 will be described. These techniques include considering the relative motion between object 102 and either the radiation source 104 or the detector 106. Figure 2A shows an example of image data with motion blur acquired using a conventional radiography system 200. As shown in Figure 2A, image 200 includes motion blur regions 202 where the image pixel intensity is blurred and is not continuity with adjacent image regions. These motion blur regions 202 are due to the relative motion between the object and either the radiation source or the detector during image acquisition. Conventional radiography systems do not take such relative motion into account, so these motion blur regions 202 are common in images 200 acquired using such systems. As those skilled in the art will understand, such motion blur regions 202 are undesirable because they do not provide useful information about the anatomical regions of the object being imaged.

[0042] The inventors developed an improved system 100 equipped with position markers 126a, 126b, and 128 that provide position data of the respective radiation source 104, detector 106, and object 102 to a controller 120. The controller 120 can then evaluate whether any relative motion has occurred between the object 102 and either the radiation source 104 or the detector 106. If any such relative motion is detected, the controller 120 sends one or more signals to one of the motors 122a, 122b, or motors 124a, 124b to move the radiation source 104 and / or detector 106 to counteract such relative motion. The inventors recognized that this is advantageous because it maintains focus on the anatomical regions of the object 102 during image acquisition. The result is the improved image 200' shown in Figure 2B, in which no motion blur region 202 is present.

[0043] In addition to motion correction technology, another technique that can be performed during image acquisition using System 100 is dynamic range correction. When acquiring image data of a large object 102, the radiation source 104 and detector 106 are moved along the large object 102 (for example, along length 142) at different incremental positions. Image data is acquired at each incremental position. Dynamic range is the range of pixel intensity in the acquired image. Figure 3A shows an example of image data acquired using a conventional radiography system with a low dynamic range. As shown in image 300 of Figure 3A, the dynamic range of region 302 is low because it contains adjacent pixels with similar intensity. Furthermore, because the intensity values ​​of these adjacent pixels are high, the image cannot distinguish between sub-regions within region 302.

[0044] To compensate for the low dynamic range in image data acquired using a conventional system, the inventors of the present invention realized that the speed of motion of the radiation source 104 and the detector 106 should be adjusted. In one embodiment, as shown in image 300 in Figure 3A, where the dynamic range is low and the pixel intensity is high, the inventors recognized that an excessive number of photons were being detected at these incremental positions along the object. The inventors then concluded that the speed of motion of the radiation source 104 and the detector 106 should be increased at these incremental positions. Increasing the speed of motion of the radiation source 104 and the detector 106 improves the dynamic range because fewer photons are received by the detector 106 at these incremental positions. The result of this dynamic range correction is shown in Figure 3B, which shows image 300' acquired by system 100. As shown in image 300', the corresponding region 302 in the conventional image 300, which had a low dynamic range and excessively high pixel intensity, is replaced by an image region 302' with an improved dynamic range, allowing the sub-region within region 302' of image 300' to be decoded.

[0045] Similarly, in another exemplary embodiment with a low dynamic range and low intensity values, the inventors recognized that too few photons were being detected at these incremental locations along the object. This is shown in image 350 of Figure 3C, where regions 352 and 354 of image 350 are both characterized by low intensity due to the small number of photons from these regions 352 and 354. The inventors then concluded that the velocity of the radiation source 104 and detector 106 should be reduced for these incremental locations. Reducing the velocity of the radiation source 104 and detector 106 improves the dynamic range because more photons are received by detector 106 at these incremental locations. The result of this dynamic range correction is shown in Figure 3D, which shows image 350' captured by system 100. As shown in image 350', the corresponding regions 352 and 354 in the conventional image 350, which had a low dynamic range and excessively low pixel intensity, are replaced by image regions 352' and 354' in image 350', which have an improved dynamic range, making it possible to decode the sub-regions within regions 352' and 354' of image 350'.

[0046] Next, a method that can be used to collect image data using the system 100 of Figure 1A will be described. Figure 5A is a flowchart showing an example of a method 500 for acquiring image data using the radiography system 100 of Figure 1A, according to an embodiment. In Figure 5A and the subsequent flowcharts in Figures 5B and 5C, for illustrative purposes, the steps are shown as steps integrated in a specific order, but in other embodiments, one or more steps or parts thereof may be performed in a different order or overlapping in time, in series or in parallel, or omitted, or one or more further steps may be added, or the method may be modified in several combinations. Method 500 begins with step 502, in which position markers 126a, 126b on the radiation source 104 and detector 106 are calibrated. In one embodiment, in step 502, the radiation source 104 and / or detector 106 are moved by a known distance. The data from the position markers 126a, 126b are then evaluated to verify that the correct shift of the radiation source 104 or detector 106 at the known distance has been measured. In this embodiment, after step 502, the position markers 126a and 126b are calibrated to accurately measure the positions of the radiation source 104 and the detector 106.

[0047] In step 504, a large object 102 (e.g., a horse, a cow, etc.) is positioned within the imaging space between the radiation source 104 and the detector 106. In one embodiment, in step 504, the large object 102 is positioned such that a specific anatomical region (e.g., the heart, liver, or other organ) is within the imaging space, and when the radiation source 104 is activated, image data of the anatomical region is collected by the detector 106. Furthermore, in one embodiment, in step 504, the large object 102 is positioned at approximately equidistant distances (along the width dimension) from the radiation source 104 and the detector 106. In some embodiments, in step 504, the radiation source 104 and the detector 106 are activated, and the large object 102 is positioned so that the image data collected by the detector 106 is in focus. In these embodiments, the controller 120 can determine whether the image data from the detector 106 is in focus based on various factors (such as the dynamic range of pixel intensity and / or rapid changes in pixel intensity between adjacent pixels in the image).

[0048] In step 506, position markers 128 are attached to the large object 102. In one embodiment, in step 506, the position markers 128 are attached to a sufficient number of locations on the large object 102 to detect relative motion between the large object 102 and the radiation source 104 or detector 106. More specifically, in step 506, the position markers 128 are positioned at a sufficient number of locations on the large object 102 to detect relative motion between the anatomical region of the object 102 being imaged and the radiation source 104 or detector 106. Figure 1A shows four position markers 128 on the outer surface of the object 102, but in other embodiments, fewer or more position markers 128 may be used and may be positioned along the inner surface of the large object 102 (for example, within the anatomical region of the object being imaged). In some embodiments, in step 506, the position markers 128 are calibrated in a similar manner to the position markers 126a, 126b in step 502. In an exemplary embodiment, in step 506, the large object 102 is moved by a known distance, and data from the position marker 128 is evaluated to confirm that the relative motion over this known distance is detected by the radiation source 104 and the detector 106.

[0049] In step 508, the radiation source 104 and the detector 106 are moved to position them to acquire image data from a first (or next) incremental position of an anatomical region along the large object 102. In one embodiment, in step 508, the controller 120 signals motors 122a and / or 124a to move the radiation source 104 and signals motors 122b and / or 124b to move the detector 106 to the first incremental position. In an exemplary embodiment, the first incremental position is a first position along the length 142 of the large object 102 encompassing the anatomical region to be imaged. In these embodiments, multiple incremental positions along the object 102 encompassing the anatomical region to be imaged are stored in memory and retrieved by the controller 120 when step 508 is performed. In some embodiments, in step 508, the user uses an input device 612 of the controller 120 (e.g., mouse, keyboard, touchscreen, etc.) (Figure 6) to select one of multiple anatomical regions of the object 102 to be imaged. Based on this input, in step 508, the controller 120 sends a signal to the motor of the system 100 to move the radiation source 104 and the detector 106 to a first incremental position encompassing the anatomical region. In some embodiments, step 508 is repeated for each incremental position along the anatomical region to be imaged.

[0050] In step 510, the radiation source 104 transmits a radiation fan beam 105a (e.g., an X-ray fan beam), and the detector 106 captures the radiation fan beam 105b (e.g., a transmitted X-ray fan beam) that has passed through an anatomical region of the large object 102. In one embodiment, during step 510, the controller 120 detects any relative motion between the object 102 and the radiation source 104 or detector 106 based on data received from position markers 126a, 126b, 128. If the controller 120 detects any such relative motion, in step 510, the controller 120 signals motors 122a, 122b, 124a, 124b to translate the radiation source 104 or detector 160 to cancel out such relative motion. The inventors of the present invention have recognized that this is advantageous because it ensures that the image data captured in step 510 remains in focus.

[0051] In step 512, it is determined whether the image data acquired in step 510 is acceptable. In one embodiment, step 512 is determined based on whether a motion blur region 202 (Figure 2A) exists in the image data due to relative motion that was not canceled out in step 510. In this embodiment, if such motion blur is detected, step 510 is repeated at the same incremental position along the anatomical region to acquire acceptable image data at this position along the large object 102. In another embodiment, step 512 is evaluated for the dynamic range of the image data acquired in step 510. In these embodiments, if the dynamic range is too low in one or more regions of the image (for example, the pixel intensity range is too low), step 512 determines that the image data is unacceptable. Furthermore, if the dynamic range is too low in step 512, a further determination is made as to whether the pixel intensity exceeds a threshold based on the fact that an excessive number of photons were received in step 510. Furthermore, in step 512, if the dynamic range is too low, a further determination is made as to whether the pixel intensity is below a threshold, based on the fact that an insufficient number of photons were received in step 510.

[0052] In step 514, if the determination in step 512 is negative and the pixel intensity is above a threshold, the speed of movement of the radiation source 104 and detector 106 is increased. In this embodiment, in step 514, the controller 120 sends a signal to the motor 122 or 124 to increase the speed at which the radiation source 104 or detector 106 moves along incremental positions in the anatomical region of the subject 102. The inventors have found this to be advantageous because it reduces the number of photons received by the detector 106 at each incremental position during step 510. Thus, the dynamic range of the image data collected in step 510 is expanded. Similarly, if the determination in step 512 is negative and the pixel intensity is below a threshold, the speed of movement of the radiation source 104 and detector 106 is decreased. In this embodiment, in step 514, the controller 120 sends a signal to the motor 122 or 124 to decrease the speed at which the radiation source 104 or detector 106 moves along incremental positions in the anatomical region of the subject 102. The inventors recognized that this is advantageous because it increases the number of photons received by the detector 106 at each incremental position during step 510. Thus, the dynamic range of the image data collected in step 510 is expanded.

[0053] In step 516, if the determination in step 512 is positive, method 500 moves to block 516 and stores the image data acquired in step 510 in the memory of controller 120.

[0054] Step 518 determines whether further incremental locations along the anatomical region of the large object 102 should be imaged. This step 518 is based on whether the radiation source 104 and detector 106 have moved to each of the incremental locations along the anatomical region of the large object 102. If this determination is negative, method 500 ends in block 520 because image data has been acquired at each incremental location. If this determination is positive, method 500 returns to step 508 because image data has not yet been acquired at one or more incremental locations along the anatomical region of the large object 102. Steps 508-518 are then repeated for each incremental location along the anatomical region that has not yet been imaged.

[0055] 3. Method of performing treatment using guide devices In some embodiments, image data acquired using system 100 can be used for a variety of purposes. One such application is the treatment of anatomical regions of a large object 102 imaged by system 100. In some embodiments, system 100 includes a guide device 130 that can be used to perform these treatments. As shown in Figure 1A, in these embodiments, the guide device 130 may include position markers 129 as well as position markers 126a, 126b, 128, which are used to provide position data of the guide device 130 to the controller 120.

[0056] Figure 4 is an image showing an example of a front view of a display 402 used during a procedure on the anatomical region of a large object 102 according to an embodiment. As shown in Figure 4, a guide device 130 is provided and moved by a medical professional (e.g., a veterinary surgeon) to perform a procedure on the anatomical region of the large object 102. As shown in Figure 4, the display 402 outputs an image 404 of the anatomical region 405 of the large object 102, which has been captured by the system 100. In some embodiments, the image 404 output on the display 402 is a combination of image data captured at multiple incremental positions along the object 102 encompassing the anatomical region 405. In one embodiment, the user of the system 100 (e.g., a medical professional performing the procedure) can adjust the orientation of the image 404 on the display 402. As further shown in Figure 4, the display 402 also outputs a virtual guide device 406 indicating the position of the guide device 130 relative to the anatomical region 405. Position data from position markers 129 on the guide device 130 is provided to the controller 120, which then communicates with the display 402 to output the virtual guide device 406 on the display 402. In these embodiments, one or more steps of a medical procedure are performed while a medical professional observes the display 402. It is advantageous that the medical professional can perform the procedure while observing the display 402 by simultaneously outputting the virtual guide device 406 and images 404 of the anatomical region 405 of the large object 102 on the display 402.

[0057] In one embodiment, the procedures and corresponding anatomical areas that can be performed include, without limitation, dorsal spinous process resection (spine), upright endoscopic foraminal dilation for nerve root compression (spine), and guides for injection (e.g., any joint recognized by those skilled in the art). Furthermore, many other therapeutic approaches exist (such as those focusing on the head, neck, and spine). However, the procedures and corresponding anatomical areas are not limited to any specific procedures in any particular anatomical area, but encompass all procedures and anatomical areas recognized by those skilled in the art. In another embodiment, the procedures and corresponding anatomical areas depend on the category of large subjects (e.g., horses, cattle, dogs, humans, dolphins, etc.).

[0058] Next, a method for performing treatment on a large object using a guide device will be described. Figure 5B is a flowchart showing an example of a method 550 for performing treatment on a large object 102 using image data acquired from the radiography system 100 of Figure 1A, according to an embodiment. Steps 502 to 518 of method 550 are the same as steps 502 to 518 of method 500 described above. In one embodiment, steps 502 to 518 are performed to collect image data of the anatomical region of the large object 102 at multiple incremental positions. However, in some embodiments, method 550 does not need to perform steps 502 to 518. In these embodiments, method 550 simply receives the image data acquired by method 500 and uses this image data to perform treatment on the large object. In these embodiments, steps 502 to 518 are omitted.

[0059] In step 530, image data acquired in step 516 at one or more incremental locations along the anatomical region of the subject 102 are combined. In one embodiment, in step 530, a 3D model of the anatomical region is acquired based on this combination. In some embodiments, in step 530, image data acquired at a small number of incremental locations (e.g., fewer than 10) are combined to improve computational efficiency. As those skilled in the art will understand, combining a large number of 2D image data to create a 3D model can decrease computational efficiency. Therefore, the inventors of the present invention have recognized that in step 530, it is advantageous to combine only the image data acquired in step 516 from incremental locations along the anatomical region to be treated (or from locations that a medical professional needs to visually access when performing the treatment).

[0060] In step 532, the virtual guide device, along with the 3D model acquired in step 530, is output onto displays 402 and 614. In one embodiment, the image 404 output on display 402 in Figure 4 is a 3D model of the anatomical region 405. In one embodiment, in step 532, the 3D model acquired in step 530 is output onto displays 402 and 614, after which a medical professional can adjust the orientation of the 3D model to a desired orientation (for example, using an input device 612, such as a mouse, keyboard, or touchscreen). In an exemplary embodiment, the desired orientation corresponds to a first-person view (e.g., a frontal view) of the anatomical region 405 from the medical professional's perspective.

[0061] In another embodiment, in step 532, the virtual guide device 406 is also output on the displays 402, 614 so that the virtual guide device 406 overlaps with the anatomical region 405 of the image 404. As previously disclosed, when a medical professional moves the guide device 130 to perform a procedure in the anatomical region 405 of the subject 102, the controller 120 receives position information of the guide device 130 from the position tracker 129 and moves the virtual guide device 406 on the display 402 in real time based on this position information.

[0062] In step 534, the medical professional moves the guide device 130 to perform a procedure on the anatomical region 405 of the object 102. In one embodiment, when the medical professional moves the guide device 130 in step 534, the controller 120 changes the position of the virtual guide device 406 on the display 402. Thus, in step 534, the medical professional performs the procedure while observing the display 402. In an exemplary embodiment, the medical professional performs the procedure in step 534 when the image 404 is oriented in the desired orientation on the display 402 (from step 532).

[0063] Step 534 is described in the context of a medical professional moving the guide device 130, but in other embodiments, the guide device 130 is moved by an automated means (e.g., a robotic arm) attached to the guide device 130. In these embodiments, in step 534, the controller 120 determines the trajectory of the guide device 130's movement to perform the procedure. The controller 120 then transmits the position data of this determined trajectory to the robotic arm, which then automatically moves the guide device 130 to perform the procedure. In yet another embodiment, in step 534, the medical professional moves an input device remotely attached to the guide device 130, and the medical professional moves the guide device 130 via the movement of the input device. One advantage of this latter embodiment is that the medical professional can perform the procedure outside the radiation field between the radiation source 104 and the detector 106. In conventional systems, multiple medical professionals are included in the room housing the system and perform various tasks (such as holding the equipment and positioning the object). Because the systems disclosed herein use robotic control, only one person is stationed in the room housing the system, in contrast to conventional systems where multiple people (e.g., three) are stationed. As a result, in these embodiments, the total radiation field received by the person operating the system is reduced by one-third. In some embodiments, the medical professional in the systems disclosed herein is positioned close to the head of the subject and therefore not close to the area of ​​the subject being imaged. This further reduces the medical professional's radiation exposure by half compared to conventional systems. Furthermore, in these embodiments, because the medical professional in the systems disclosed herein is not positioned in immediate proximity to the radiation source, the system has more opportunities to use shielding between the subject and the medical professional, which further reduces radiation exposure by about one-third to about one-quarter. Thus, in these embodiments, by reducing the number of medical professionals, remotely positioning medical professionals, and introducing shielding barriers, the systems disclosed herein can reduce radiation exposure by about one-fifth to about one-tenth.

[0064] In some embodiments, method 550, including steps 530–534, is performed on a horse subject 102. In these embodiments, steps 530–534 are performed without administering anesthesia to the horse subject 102. Furthermore, in these embodiments, the horse subject 102 is standing when steps 530–534 are performed. The inventors of the present invention have recognized that this is advantageous because it eliminates several steps that are always required during conventional equine medical procedures (e.g., anesthesia, laying the horse on a flat surface, etc.).

[0065] In some embodiments, between steps 530–534, the controller 120 receives position data from position trackers 128, 129 to detect relative motion between the subject 102 and the guide device 130. The controller 120 then transmits a signal between steps 530–534 to automatically move the position of the guide device 130 to compensate for such relative motion. In one embodiment, between steps 530–534, the system moves to maintain a fixed relationship between the guide device 130 and the moving subject 102 for imaging purposes. Once the image is acquired, the guide device 130 can be moved relative to the animal (e.g., using dynamic references on the subject and the device) without further intervention by the robot's imaging system. The inventors have recognized that this is advantageous because it prevents relative motion between the subject 102 and the guide device 130 from affecting the procedure.

[0066] 4. Method for measuring the proportion of tissue types in large subjects In some embodiments, image data acquired using System 100 can be used for a variety of purposes. One such use is to measure the proportion (e.g., fat %) of one or more tissue types within an anatomical region of a large subject 102. In one embodiment, the percentage of fat in an anatomical region of a bovine subject can be measured. The inventors of the present invention recognized that the proportion of this one or more tissue types can be measured pre-mortem using image data collected by System 100. The inventors recognized that the proportions of these tissue types are typically measured post-mortem, and that measuring this proportion pre-mortem provides valuable information to various industries (such as the meat industry and the agricultural industry) for a variety of purposes (e.g., establishing best practices for raising cattle to obtain high-quality meat production).

[0067] Next, a method for measuring the proportion of one or more tissue types within an anatomical region of a large object will be described. Figure 5C is a flowchart showing an example of a method 570 for measuring this proportion using image data acquired from the radiography system 100 of Figure 1A, according to an embodiment. Steps 502-518 of method 570 are the same as steps 502-518 of method 500 described above. In one embodiment, steps 502-518 are performed to collect image data of the anatomical region of the large object 102 at multiple incremental locations. However, in some embodiments, method 570 does not need to perform steps 502-518. In these embodiments, method 570 simply receives the image data acquired by method 500 and uses this image data to measure the proportion of one or more tissue types in the large object. In these embodiments, steps 502-518 are omitted.

[0068] In step 540, the energy absorption rates of one or more energies of the radiation fan beam 105a in the anatomical region of the large object 102 are determined. In one embodiment, the energy absorption rates at each incremental position along the anatomical region of the large object 102 are determined based on the image data collected in step 516.

[0069] In step 542, the proportions of one or more different tissue types in the anatomical regions of the large subject 102 are determined. In one embodiment, the proportions of one or more tissue types (e.g., the percentage of fat) are determined based on the energy absorption rates determined in the anatomical regions from step 540.

[0070] In step 544, output data showing the ratios of one or more different tissue types determined in step 542 is provided on the display. In one embodiment, in step 544, the determined ratio values ​​(for example, the fat percentage values ​​in the anatomical regions of subject 102) are output on displays 402, 614. However, in other embodiments, it is not necessary to output the determined ratio values ​​on the display, but instead they are stored in the memory of the controller 120 or transmitted to a remote processor or controller.

[0071] In one embodiment, steps 540-544 are performed pre-mortem. In exemplary embodiments, measuring the ratio of one or more tissue types pre-mortem is advantageous over conventional methods of measuring the ratio of one or more tissue types post-mortem. The inventors have recognized that measuring the ratio of one or more tissue types pre-mortem is more accurate than measuring the ratio post-mortem. The inventors have recognized various advantages of measuring the ratio pre-mortem. For example, if the ratio is measured pre-mortem, the subject's diet or feeding method can be adjusted to achieve a desired ratio (e.g., a desired fat / lean composition). Another advantage is that the ratio measured pre-mortem can be used to optimize the rearing of large subjects (e.g., to improve farm efficiency and / or profitability).

[0072] In one embodiment, steps 540-544 are performed using a system 100 in which a radiation source 104 and a detector 106 are held in fixed positions, and one or more large objects 102 (e.g., cattle) are moved through an imaging space between the radiation source 104 and the detector 106. As each object 102 (e.g., cattle) walks through the imaging space, a controller 120 performs steps 540-544 and outputs or stores the measured proportion of one or more tissue types. In these embodiments, the controller 120 may also store an identifier (e.g., a number) for each large object 102 (e.g., cattle) to correlate the determined proportion of tissue types with each large object 102. In one embodiment, this data can then be used in various industries (e.g., to evaluate meat quality in the meat industry, or to evaluate best practices for farming cattle to obtain high-quality meat production in the agricultural industry).

[0073] 5. Hardware Overview Figure 6 is a block diagram illustrating a computer system 600 in which embodiments of the present invention may be implemented. The computer system 600 includes a communication mechanism (such as a bus 610 for passing information between other internal and external components of the computer system 600). The information is represented as a physical signal of a measurable phenomenon (usually voltage), but in other embodiments, it also includes phenomena such as magnetism, electromagnetics, pressure, chemistry, molecular atoms, and quantum interactions. For example, north and south magnetic fields, or zero and non-zero voltages, represent two states (0, 1) in binary (bits). Other phenomena can represent digits of higher bases. A superposition of multiple simultaneous quantum states before measurement represents a quantum bit (qubit). A sequence of one or more digits constitutes digital data used to represent a code for a number or letter. In some embodiments, the information, referred to as analog data, is represented by a substantially continuous range of measurable values. The computer system 600 or a part thereof constitutes means for performing one or more steps of one or more methods described herein.

[0074] A sequence of binary numbers constitutes digital data used to represent a code for a number or character. Bus 610 contains many parallel conductors of information, allowing for high-speed transfer of information between devices coupled to it. One or more processors 602 are coupled to bus 610 for processing the information. The processors 602 perform a series of operations on the information. These operations include taking information from bus 610 and placing information on bus 610. These operations also typically include comparing two or more units of information, shifting the positions of units of information, and combining two or more units of information (such as by addition or multiplication). A series of operations to be performed by the processors 602 constitutes a computer instruction.

[0075] The computer system 600 also includes memory 604 coupled to bus 610. Memory 604 (such as random access memory (RAM) or other dynamic storage device) stores information, including computer instructions. Dynamic memory allows the computer system 600 to modify the information stored therein. RAM allows units of information stored at locations called memory addresses to be stored and retrieved independently of information at adjacent addresses. Memory 604 is also used by processor 602 to store temporary values ​​during the execution of computer instructions. The computer system 600 also includes read-only memory (ROM) 606 or other static storage device coupled to bus 610 for storing static information (including instructions) that is not modified by the computer system 600. Bus 610 is also coupled to non-volatile (persistent) storage device 608 (such as a magnetic disk or optical disk) for storing information (including instructions) that persists even if the computer system 600 is turned off or otherwise loses power.

[0076] Information (including commands) is provided to bus 610 for use by the processor from an external input device 612 (such as a keyboard with alphanumeric keys operated by a human user, or a sensor). The sensor detects the surrounding environment and converts these detections into signals compatible with signals used to represent information in the computer system 600. Other external devices coupled to bus 610 (primarily used for human interaction) include a display device 614 for displaying images (such as a cathode ray tube (CRT) or liquid crystal display (LCD)) and a pointing device 616 (such as a mouse, trackball, or cursor arrow keys) for controlling the position of a small cursor image displayed on display 614 and issuing commands associated with graphical elements displayed on display 614.

[0077] In the illustrated embodiment, special-purpose hardware (such as application-specific integrated circuit (IC) 620) is coupled to bus 610. The special-purpose hardware is configured to perform operations that are not performed by processor 602, and are fast enough for the specific application. Examples of application-specific ICs include a graphics accelerator card for generating images for display 614, a cryptographic board for encrypting and decrypting messages transmitted over the network, speech recognition, and interfaces to special external devices (such as robotic arms and medical scanning equipment that perform a series of complex operations that are more efficiently implemented in hardware).

[0078] The computer system 600 also includes one or more instances of a communication interface 670 coupled to the bus 610. The communication interface 670 provides bidirectional communication coupling to various external devices (such as printers, scanners, and external disks) operated by their own processors. Generally, coupling is achieved by a network link 678 connected to a local network 680 to which the various external devices, each with its own processor, are connected. For example, the communication interface 670 could be a parallel port or serial port or a Universal Serial Bus (USB) port on a personal computer. In some embodiments, the communication interface 670 is an Integrated Digital Network (ISDN) card, or a Digital Subscriber Line (DSL) card, or a telephone modem, providing information communication connectivity to a corresponding type of telephone line. In some embodiments, the communication interface 670 is a cable modem that converts signals on the bus 610 into signals for communication connectivity via coaxial cable, or optical signals for communication connectivity via fiber optic cable. As another example, the communication interface 670 could be a Local Area Network (LAN) card providing data communication connectivity to a compatible LAN (such as Ethernet). Wireless links may also be implemented. Carrier waves, such as sound waves and electromagnetic waves (e.g., radio waves, light waves, and infrared waves), propagate through space without wires or cables. Signals include artificial variations in the amplitude, frequency, phase, polarization, or other physical properties of the carrier wave. In the case of a wireless link, the communication interface 670 transmits and receives electrical, acoustic, or electromagnetic signals (e.g., infrared and optical signals) that carry an information stream (such as digital data).

[0079] The term "computer-readable medium" is used herein to refer to any medium involved in providing information (including instructions for execution) to the processor 602. Such mediums can take many forms (for example, non-volatile mediums, volatile mediums, and transmission mediums). Non-volatile mediums include, for example, optical disks or magnetic disks, such as the storage device 608. Volatile mediums include, for example, dynamic memory 604. Transmission mediums include, for example, coaxial cables, copper wires, fiber optic cables, and waves that travel through space without wires or cables, such as sound waves and electromagnetic waves, such as radio waves, light waves, and infrared waves. The term "computer-readable storage medium" is used herein to refer to any medium involved in providing information to the processor 602, except for transmission mediums.

[0080] Common forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, or any other magnetic media; compact disk ROMs (CD-ROMs), digital video discs (DVDs), or any other optical media; punch cards, paper tapes, or any other physical media having a pattern of holes; RAM, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash EPROMs, or any other memory chips or cartridges; carriers; or any other media that can be read by a computer. The term non-temporary computer-readable storage medium is used herein to refer to any medium, other than carriers and other signals, that is involved in providing information to the processor 602.

[0081] Logic encoded within one or more tangible media may include computer-readable storage media and specialized-purpose hardware (ASICs). * Includes one or both of the above processor instructions (such as 620).

[0082] Network link 678 typically provides information communication over one or more networks to other devices that use or process information. For example, network link 678 may provide connectivity via local network 680 to a host computer 682 or to equipment 684 operated by an Internet service provider (ISP). The ISP equipment 684 itself then provides data communication services over the network, a public, worldwide packet-switched communication network now commonly referred to as the Internet 690. A computer referred to as server 692 connected to the Internet provides services in response to information received over the Internet. For example, server 692 provides information representing video data for display on display 614.

[0083] The present invention relates to the use of a computer system 600 for implementing the techniques described herein. In one embodiment of the present invention, these techniques are executed by the computer system 600 in response to a processor 602 executing one or more sequences of one or more instructions contained in memory 604. Such instructions (also referred to as software and program code) may be read into memory 604 from another computer-readable medium (such as a storage device 608). After executing the sequence of instructions contained in memory 604, the processor 602 performs the steps of the method described herein. In alternative embodiments, hardware (such as an application-specific integrated circuit 620) may be used instead of or in combination with software to implement the present invention. Thus, embodiments of the present invention are not limited to any particular combination of hardware and software.

[0084] Signals transmitted through network link 678 and other networks via communication interface 670 carry information to and from computer system 600. Computer system 600 can send and receive information (e.g., program code) through network links 678 and communication interface 670 via networks 680, 690, etc. In an example using the internet 690, server 692 transmits program code for a specific application requested by a message sent from computer 600 via the internet 690, ISP equipment 684, local network 680, and communication interface 670. The received code may be executed by processor 602 upon receipt, or stored in memory device 608 or other non-volatile memory for later execution, or both. In this way, computer system 600 can obtain application program code in the form of signals on a carrier wave.

[0085] When one or more instruction sequences or data, or both, are transported to the processor 602 for execution, various forms of computer-readable media may be involved. For example, the instructions and data may initially be held on a magnetic disk of a remote computer (such as the host 682). The remote computer takes the instructions and data into its dynamic memory and transmits them over a telephone line using a modem. A modem local to computer system 600 receives the instructions and data on the telephone line and uses an infrared transmitter to convert the instructions and data into signals on an infrared carrier wave, which functions as a network link 678. An infrared detector, which functions as a communication interface 670, receives the instructions and data carried in the infrared signal and outputs information representing the instructions and data onto the bus 610. The bus 610 transports the information to memory 604, from which the processor 602 retrieves and executes the instructions using some of the data transmitted with the instructions. The instructions and data received in memory 604 may optionally be stored on storage device 608 before or after execution by the processor 602.

[0086] Figure 7 shows a chipset 700 on which embodiments of the present invention may be implemented. The chipset 700 is programmed to perform one or more steps of the method described herein, and for example, the processor and memory components described with respect to Figure 6 are incorporated into one or more physical packages (e.g., chips). For example, a physical package includes an arrangement of one or more materials, components, and / or wires on a structural assembly (e.g., a baseboard) and provides one or more properties (such as physical strength, size savings, and / or limitations of electrical interaction). In some embodiments, the chipset is intended to be implemented within a single chip. The chipset 700 or a portion thereof constitutes means for performing one or more steps of the method described herein.

[0087] In one embodiment, the chipset 700 includes a communication mechanism (such as a bus 701) for passing information between components of the chipset 700. The processor 703 has connectivity to the bus 701, executes instructions, and processes information stored, for example, in memory 705. The processor 703 may include one or more processing cores, each configured to operate independently. A multicore processor enables multiprocessing within a single physical package. Examples of multicore processors include two, four, eight, or more processing cores. Alternatively or further, the processor 703 may include one or more microprocessors configured in a line via the bus 701, enabling independent instruction execution, pipelining, and multithreading. The processor 703 may also be accompanied by one or more dedicated components (such as one or more digital signal processors (DSPs) 707, or one or more application-specific integrated circuits (ASICs) 709) for performing certain processing functions and tasks. The DSP 707 is typically configured to process real-world signals (e.g., audio) in real time, independently of the processor 703. Similarly, the ASIC 709 can be configured to perform special functions that are not readily available on general-purpose processors. Other dedicated components that help perform the functions of the present invention as described herein include one or more field-programmable gate arrays (FPGAs) (not shown), one or more controllers (not shown), or one or more other dedicated computer chips.

[0088] The processor 703 and its associated components are connected to memory 705 via bus 701. Memory 705 includes both dynamic memory (e.g., RAM, magnetic disk, writable optical disk, etc.) and static memory (e.g., ROM, CD-ROM, etc.) for storing executable instructions that, when executed, perform one or more steps of the method described herein. Memory 705 also stores data associated with the execution of one or more steps of the method described herein, or data generated by the execution.

[0089] 6. Alternatives, deviations, and modifications The present invention has been described in the above specification with reference to its specific embodiments. However, it is clear that various modifications and changes can be made without departing from the broader spirit and scope of the invention. Therefore, the specification and drawings should be interpreted as illustrative, not restrictive. Throughout this specification and the claims, unless otherwise specified in the context, the word “comprise” and its variations, such as “comprises” and “comprising,” are understood to mean that the described item, element, or step, or group of items, elements, or steps, is included, but not that other items, elements, or steps, or groups of items, elements, or steps are excluded. Furthermore, the indefinite article “a” or “an” is intended to indicate one or more of the items, elements, or steps modified by that article.

[0090] Although the numerical ranges and parameters that represent a wide range are approximations, the numerical values ​​presented in specific, non-limiting examples are reported as accurately as possible. However, any numerical value inherently contains a certain degree of error that inevitably arises from the standard deviation detected in each test measurement at the time of writing. Furthermore, unless otherwise clearly indicated in the context, the numerical values ​​presented herein have an implicit precision given by the least significant digit. Thus, a value of 1.1 means a value between 1.05 and 1.15. The term "about" is used to indicate a wider range around a given value, and unless otherwise clearly indicated in the context, it means a wider range around the least significant digit; for example, "about 1.1" means a range between 1.0 and 1.2. If the least significant digit is unclear, the term "about" means twice; for example, "about X" means a value in the range of 0.5X to 2X, and for example, about 100 means a value in the range of 50 to 200. Furthermore, all ranges disclosed herein should be understood to encompass all subranges that are contained within them. For example, the "less than 10" range for a parameter that is only positive can include all subranges between the minimum value of zero and the maximum value of 10 (including the minimum and maximum values), that is, all subranges where the minimum value is greater than or equal to zero and the maximum value is less than or equal to 10 (for example, 1 to 4).

Claims

1. It is a system, A radiation source configured to generate a radiation fan beam in a two-dimensional (2D) plane, A detector positioned at a distance from the radiation source and configured to detect the radiation fan beam in the 2D plane, A first support configured to mount the radiation source, wherein the first support is configured to translate the radiation source along a first axis and to rotate the radiation source with respect to the first axis, A second support configured to mount the detector, the second support configured to translate the detector along a second axis and to rotate the radiation source with respect to a second plane, A position marker coupled to the radiation source, the detector, and an object positioned between the radiation source and the detector, wherein the position marker is configured to measure the respective positions of the radiation source, the detector, and the object. At least one processor, A memory containing one or more instruction sequences, Includes, The at least one memory and the one or more instruction sequences are provided to the system by the at least one processor, A first signal is transmitted to the first support and the second support to move the radiation source and the detector to each of a plurality of incremental positions along the anatomical region of the target, The relative motion between the object and the radiation source or the detector is detected by receiving motion data at each incremental position from the position markers coupled to the radiation source, the detector, and the object, respectively. At each increment position, a second signal is transmitted to the first support and the second support to move the radiation source and the detector, thereby canceling out the detected relative motion. A third signal is transmitted to the radiation source to cause the radiation source to generate the radiation fan beam in the 2D plane at each incremental position along the anatomical region of the target, Based on the detection of the radiation fan beam in the 2D plane at each increment position, image data is received from the detector. The image data at each increment position is stored in the memory, A system configured to perform the following action.

2. The radiation source is an X-ray tube, and the radiation fan beam is an X-ray fan beam in the 2D plane. The detector is an X-ray detector including a linear array of detectors configured to detect the X-ray fan beam in the 2D plane. The system according to claim 1.

3. The first support is A first gantry horizontal support is configured to translate the radiation source along the first axis and change the distance between the radiation source and the detector, A first gantry vertical support configured to translate the radiation source in a first plane perpendicular to the first axis, The system according to claim 1, including the following:

4. The second support is, A second gantry horizontal support is configured to translate the detector along the second axis, thereby changing the distance between the radiation source and the detector, A second gantry vertical support configured to translate the detector in a second plane perpendicular to the second axis, The system according to claim 3, including the above.

5. A first list configured to attach the radiation source to the first gantry horizontal support, wherein the first list is configured to rotate the radiation source with respect to a first axis, A second list configured to mount the detector to the second gantry horizontal support, the second list configured to rotate the detector with respect to a second axis, The system according to claim 4, further comprising:

6. The first gantry vertical support is configured to translate the radiation source in the first plane so as to encompass the length and height of the object, The second gantry vertical support is configured to translate the detector in the second plane so as to encompass the length and height of the object. The system according to claim 4.

7. The system according to claim 6, wherein the length of the object is at least 6 feet and the height of the object is at least 4 feet.

8. The at least one memory and the one or more instruction sequences are further connected to the system, The dynamic range of the pixel intensity of the image data received from the detector at each increment position is determined. Adjust the first signal transmitted to the first support and the second support at each increment position, and change the speed of movement of the radiation source and the detector to the next increment position based on the determined dynamic range, The system according to claim 1, configured to perform the following.

9. The at least one memory and the one or more instruction sequences are further connected to the system, The first signal transmitted to the first support and the second support is adjusted to reduce the speed of the movement of the radiation source and the detector to the next incremental position, based on the determination that the dynamic range is below a threshold range and the pixel intensity value within the dynamic range is below a threshold. The first signal transmitted to the first support and the second support is adjusted to increase the speed of the movement of the radiation source and the detector to the next incremental position, based on the determination that the dynamic range is below the threshold range and the value of the pixel intensity within the dynamic range is above the threshold. The system according to claim 8, configured to perform the following.

10. It is a method, The processor transmits a first signal to the first and second supports, causing the radiation source and detector to move to each of a plurality of incremental positions along the anatomical region of the target. The system receives movement data from position markers attached to the radiation source, the detector, and the object, respectively, and detects the relative movement between the object and the radiation source or the detector at each incremental position. The processor transmits a second signal to the first support and the second support to move the radiation source and the detector, and cancels out the detected relative motion at each incremental position. The processor transmits a third signal to the radiation source, causing the radiation source to generate a radiation fan beam in a two-dimensional (2D) plane at each increment position. Based on the detection of the radiation fan beam in the 2D plane at each increment position, image data is received from the detector. The image data at each increment position is stored in memory, A method that includes this.

11. Using the aforementioned processor, the dynamic range of the pixel intensity of the image data received from the detector at each increment position is determined. Adjust the transmission of the first signal to the first support and the second support at each increment position, and change the speed of movement of the radiation source and the detector to the next increment position based on the determined dynamic range, The method according to claim 10, further comprising:

12. The adjustment step is, The transmission of the first signal is adjusted and the speed of the movement of the radiation source and the detector to the next incremental position is reduced based on the determination that the dynamic range is below a threshold range and the pixel intensity value within the dynamic range is below a threshold. Adjusting the transmission of the first signal and increasing the speed of the movement of the radiation source and the detector to the next incremental position is done based on the determination that the dynamic range is below the threshold range and the value of the pixel intensity within the dynamic range is above the threshold, The method according to claim 11, including the method described in claim 11.

13. Prepare a guide device equipped with position markers, Using the aforementioned processor, the stored image data at one or more incremental positions in the anatomical region is combined to form a 3D model of the target anatomical region. Outputting the 3D model of the anatomical region of the target onto the display, Using an input device, the orientation of the 3D model on the display is changed to a desired orientation. The processor receives data from the position marker of the guide device, Based on the received data from the position marker of the guide device, the virtual guide device is output on the display in the desired orientation of the 3D model. The procedure for moving the guide device and performing the procedure on the anatomical region of the target is performed based on observing the virtual guide device moving on the display in relation to the desired orientation of the 3D model, The method according to claim 10, further comprising:

14. The method according to claim 13, wherein the subject is a horse, and the steps of the method are carried out without administering anesthesia.

15. The method according to claim 14, wherein the horse is standing when the steps of the method are carried out.

16. Using the aforementioned processor, the energy absorption rate of the radiation fan beam in the 2D plane within the anatomical region is determined based on the received image data at each incremental position. Using the processor, the ratio of one or more tissue types within the anatomical region of the target is determined based on the determined absorption rate. Outputting data on the display showing the determined ratio of one or more tissue types within the anatomical region of the target, The method according to claim 10, further comprising:

17. The method according to claim 16, wherein the ratio of the one or more tissue types is the percentage of body fat in the anatomical region of the subject.

18. The method according to claim 17, wherein the subject is a cow, and the steps of the method are performed while the cow is alive and standing.

19. It is a method, Prepare a guide device equipped with position markers, Using a processor, image data acquired at one or more incremental positions in the target anatomical region is combined to create a 3D model of the target anatomical region. Outputting the 3D model of the anatomical region of the target onto the display, Using an input device, the orientation of the 3D model on the display is changed to a desired orientation. The processor receives data from the position marker of the guide device, Based on the received data from the position marker of the guide device, the virtual guide device is output on the display in the desired orientation of the 3D model. The procedure for moving the guide device and performing the procedure on the anatomical region of the target is performed based on observing the virtual guide device moving on the display in relation to the desired orientation of the 3D model, A method that includes this.

20. It is a method, Using a processor, the energy absorption rate of a radiation fan beam in a 2D plane in the target anatomical region is determined based on image data acquired at one or more incremental positions along the target anatomical region, Using the processor, the ratio of one or more tissue types within the anatomical region of the target is determined based on the determined absorption rate. Outputting data on the display showing the determined ratio of one or more tissue types within the anatomical region of the target, A method that includes this.

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