Improved system and visualization method for intraoperative volumetric imaging of tissue samples - Patents.com

Abstract

Systems and methods are provided for improved intraoperative microCT imaging of explanted tissue specimens and for improved visualization of such specimens. These embodiments provide reduced scan times and the ability for radiologists to quickly receive useful scan images and provide accurately communicated recommendations to the operating surgeon. Improved scan visualization methods facilitate surgeon and radiologist interaction with scan data, including annotation, viewing, and reorientation to accurately reflect the orientation of the imaged tissue specimen relative to the body prior to explantation. Improved visualization methods include color-coded specimen texturing to indicate specimen orientation, color-coded tumor visualization to indicate proximity to specimen periphery, and intuitive methods for adjusting the location and orientation of two-dimensional visualization relative to the specimen.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to U.S. Provisional Patent Application No. 62 / 940377, filed November 26, 2019, U.S. Provisional Patent Application No. 62 / 940383, filed November 26, 2019, and U.S. Provisional Patent Application No. 62 / 940411, filed November 26, 2019, the contents of which are incorporated herein by reference. The contents of U.S. Patent No. 8,605,975, filed October 11, 2010, U.S. Patent Application Publication No. 2014 / 0161332, filed December 2, 2013, U.S. Patent No. 9,189,871, filed December 29, 2014, U.S. Patent No. 9,613,442, filed November 5, 2015, International Publication No. US18 / 52175, filed September 21, 2018, and U.S. Provisional Patent Application No. 62 / 562,138, filed September 22, 2017, are also incorporated herein by reference. [Background technology]

[0002] Treatment of various health conditions may involve the removal of specified tissue from the body. For example, treatment of certain cancers may involve the surgical removal of one or more masses from the body. Other conditions may be treated by removal of other types of tissue, foreign bodies, or other masses from the body. When performing such removal, it is desirable to ensure complete removal of the target tissue while removing as little nearby healthy tissue as possible. In practice, additional tissue surrounding the target is often removed to ensure complete removal of the target (e.g., to prevent recurrence due to the continued growth of remaining tumor tissue). Summary of the Invention

[0003] To determine whether the entire target has been removed, the removed tissue may be imaged to determine whether the target extends near and possibly beyond the periphery of the explanted sample. This may involve developing a three-dimensional scan of the sample and the target tissue within using computerized tomography (CT) or other volumetric imaging modalities, potentially in combination with an imaging contrast agent. A surgeon, radiologist, or some other medical professional can then analyze the scan data to determine whether additional tissue is likely to need to be removed from the patient, and if so, determine the specific location within the body from which the additional tissue should be removed. In practice, the surgeon may use sutures, staples, ink, or other means to indicate the orientation of the explanted tissue relative to the patient's body. Despite these or other means, radiologists and surgeons often disagree regarding their understanding of the orientation of the tissue sample, causing difficulties in communicating the radiologist's recommendations to the surgeon.

[0004] Aspects of the present disclosure include a method and apparatus for performing a method of performing a sample analysis, the method comprising: (i) a portable housing; (ii) an imaging device disposed on or within the housing operable to image a sample of interest; (iii) a communications interface disposed on or within the housing; and (iv) one or more processors programmed to perform controller operations; Imaging deviceand a controller disposed on or within the housing operably coupled to the communications interface, wherein the controller operations include (a) operating the imaging device to generate scan data about the target sample; (b) generating volumetric density information about the target sample based on the scan data using a reconstruction process; (c) receiving a request for a specific cross-sectional view of the target sample from a remote system via the communications interface; (d) rendering a two-dimensional image of the target sample showing the target sample according to the requested specific cross-sectional view from the volumetric density information in response to receiving the request for the specific cross-sectional view of the target sample; and (e) transmitting an indication of the two-dimensional image to the remote system via the communications interface.

[0005] Another aspect of the present disclosure relates to a method for providing a user interface, the method including the steps of: (i) providing a perspective representation of volumetric density information for a target sample in a first pane of the user interface, the volumetric density information having an orientation relative to a three-dimensional space, the three-dimensional space being characterized by three orthogonal axes; and (ii) providing a two-dimensional image of the target sample in a second pane of the user interface while the user interface is displaying the perspective representation of the volumetric density information, the two-dimensional image of the target sample showing the volumetric density information perpendicular to a first of the three orthogonal axes according to a cross-sectional view through a specified viewpoint within the three-dimensional space.

[0006] Another aspect of the present disclosure provides a micro-CT imaging device comprising: (i) an x-ray source, an x-ray imager, and a sample container configured to contain a target sample, the x-ray source and the x-ray imager defining a field of view; and (ii) one or more processors programmed to perform controller operations; Imaging deviceand a controller operably coupled to a communications interface, wherein the controller operations include operating an imaging device to generate scan data regarding the target sample, and operating the imaging device to generate scan data regarding the target sample comprises rotating a sample container and operating an X-ray source and an X-ray imaging device to generate a plurality of X-ray images of the target sample.

[0007] Yet another aspect of the present disclosure relates to a transitory or non-transitory computer-readable medium configured to store at least computer-readable instructions that, when executed by one or more processors of a computing device, cause the computing device to perform controller operations to perform any of the methods of the above aspects and / or to perform any of the recited controller operations of the above aspects.

[0008] These and other aspects, advantages, and alternatives will become apparent to those skilled in the art upon reading the following detailed description, with reference to the accompanying drawings, where applicable. Moreover, it should be understood that the descriptions provided in this Summary and other parts of this document are intended to illustrate the claimed subject matter by way of example, and not by way of limitation. [Brief description of the drawings]

[0009] [Figure 1] 1 illustrates elements of an example system.

[0010] [Figure 2A] 1 depicts elements of an example imaging system.

[0011] [Figure 2B] 2B illustrates elements of the example imaging system of FIG. 2A.

[0012] [Figure 2C] 2B illustrates elements of the example imaging system of FIG. 2A.

[0013] [Diagram 3] 1 depicts elements of an example imaging system.

[0014] [Figure 4A] 1 depicts an example of a display of volumetric data relating to a target sample.

[0015] [Figure 4B] 1 depicts an example of a display of volumetric data relating to a target sample.

[0016] [Diagram 5] 1 depicts an example of a display of volumetric data relating to a target sample.

[0017] [Figure 6A] 1 depicts an example of a display of volumetric data relating to a target sample.

[0018] [Figure 6B] 1 depicts an example of a display of volumetric data relating to a target sample.

[0019] [Figure 7] 1 depicts elements of an example user interface for displaying multiple views of volumetric data related to a target sample.

[0020] [Figure 8A] 1 illustrates elements of an example user interface for displaying multiple views of volumetric data related to a target sample.

[0021] [Figure 8B] 1 depicts elements of an example user interface for displaying multiple views of volumetric data related to a target sample.

[0022] [Figure 8C] 1 depicts elements of an example user interface for displaying multiple views of volumetric data related to a target sample.

[0023] [Figure 8D] 1 depicts elements of an example user interface for displaying multiple views of volumetric data related to a target sample.

[0024] [Figure 8E] 1 depicts elements of an example user interface for displaying multiple views of volumetric data related to a target sample.

[0025] [Figure 9] FIG. 1 is a simplified block diagram illustrating some components of an example system.

[0026] [Figure 10] 1 is a flow diagram of a method according to an example embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Exemplary methods and systems are described herein. The words "representative," "example," and "exemplary" are used herein to mean "serving as an example, instance, or illustration." Any embodiment or feature described herein as "representative," "example," or "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments or features. Moreover, the representative embodiments described herein are not meant to be limiting. It will be readily understood that certain aspects of the disclosed systems and methods can be arranged and combined in a wide variety of different configurations.

[0028] I. Overview Various clinical interventions involve the removal of tumors or other undesirable tissue or material. Ideally, only the unnecessary tissue is removed, leaving adjacent tissue. This is difficult to achieve in practice, so surgeons often remove more tissue than necessary in order to avoid leaving any of the unnecessary tissue in the body that may lead to, for example, recurrence. To avoid leaving any tumor or other unnecessary tissue in the body, the explanted tissue sample can be imaged to determine whether the target tissue (e.g., tumor) has spread to or near any of the sample's periphery. If so, the image data can be used to determine where additional tissue should be removed.

[0029] In many hospitals, imaging of such specimens involves transporting the specimen to a central imaging system located at a different location from the operating room. The image data is then analyzed by a radiologist at yet another location. The radiologist then relays their conclusion to the surgeon via telephone. Such a scenario creates a significant delay between removal of the specimen and the time the surgeon receives the information and continues the procedure by removing additional tissue or completing the procedure. Alternatively, the procedure may be completed and the imaging data may be used to determine whether a separate additional corrective procedure should be performed. In many instances, the surgeon and the radiologist may disagree regarding their understanding of the orientation of the specimen relative to the patient's body (e.g., regarding which portion of the specimen is dorsal, which is medial, which is anterior, etc.). This can create difficulties in communicating the radiologist's assessment, as the radiologist's instructions regarding which margins should be further resected may be based on an incorrect understanding of the orientation of the specimen relative to the body. Although the surgeon may attempt to remedy this situation by adding wires, sutures, staples, ink, or other marking material to the specimen to properly orient the radiologist, there may still be problems with the radiologist's understanding of the specimen's orientation.

[0030] The embodiments described herein provide various advantages, including advantages that address the problems noted above, including a time-saving, portable volumetric imaging system that can provide faster feedback to the surgeon by placing the imaging system in the same room as the surgeon and reducing scan times to less than 15 minutes.

[0031] The portable imaging system is configured to scan the tissue sample (e.g., using X-ray micro-CT) to reconstruct volumetric density information of the sample. Depending on the imaging system or systems employed, such volumetric density information may indicate unpaired hydrogen atoms in the sample, the density of gadolinium atoms or other contrast agents in the sample, the X-ray radiodensity or X-ray radiopacity of the sample, or some other information regarding the variation of physical properties throughout the volume of the sample. A client device, e.g., a radiologist's workstation, may further request an image of the sample from the imaging system, which renders the requested image (e.g., a view at a specified location and / or angle within the sample) and transmits the requested image to the requesting device. By operating in this manner, the client device may be relatively inexpensive or otherwise computationally limited, reducing costs. Additionally, due to the reliance on a centralized image serving system, bandwidth requirements are reduced.

[0032] Additionally, various user interface improvements are provided that facilitate interaction with the scan data by the surgeon in an intraoperative situation, improve communication of specimen orientation and target localization between the surgeon and radiologist, and provide other advantages. A two-pane user interface is provided that includes a perspective view of the specimen volumetric image data in one pane and a 2D transverse slice image in the other pane, with the plane of the 2D slice selectable by the surgeon.

[0033] Improvements are also provided in the visualization of tumors or contents of interest within the imaged sample. These improvements include color-coding the surface of the target volume within the sample according to how close the nearest periphery of the sample is to the segment. This can provide a clear indication to the surgeon as to how far the target (e.g., tumor) has extended beyond the edge of the sample, and indicates that more of the target may still be present within the patient's body and where that remaining target is located.

[0034] It also provides improvements in interacting with the volumetric imaging data to reorient the data according to the surgeon's assessment of the orientation of the volumetric imaging data relative to the patient's body, so that the radiologist's subsequent evaluation or analysis of the scan data is more consistent with the surgeon's understanding of the orientation of the specimen. Furthermore, the fluoroscopic representation of the specimen may be "virtually anchored" automatically and / or by the surgeon to provide a clear visual indication of the specimen's orientation within the user interface.

[0035] Additionally, various improvements are provided to the microCT volumetric imaging system, including the use of an actuated sample loading gantry that can reduce the possibility of an operator inserting a sample into the system damaging or misaligning the system. Furthermore, actuated loading and rotation of the sample allows improved non-uniform scan reconstruction algorithms to be applied, such as reduced view or sparse-view reconstruction algorithms, which can i) potentially reduce scan times, ii) increase the size of the sample that can be imaged by using offset scanning modes, and / or iii) reduce system costs by reducing the size of the x-ray imaging sensor required to image a sample of a given size.

[0036] It should be understood that the above-described embodiments and other embodiments described herein are offered by way of illustration and are not intended to be limiting.

[0037] II. Example of a system for portable tissue specimen imaging and reconstruction As noted above, it may be beneficial to provide an imaging system (e.g., a portable imaging system) in the operating room to reduce the turnaround time in generating useful tissue sample imaging data. Providing high quality imaging data to the surgeon during the procedure may increase the likelihood that the surgeon will be able to remove all of the tumor (or other target tissue) during a single procedure, thereby reducing revision surgery. Additionally, the surgeon's understanding of the imaging data may be improved by reducing imaging time and by reducing the amount of sample handling that occurs between removal of the sample by the surgeon and imaging of the sample by the microCT system or other imaging device.

[0038] Furthermore, it is beneficial for such imaging systems to perform the reconstruction and rendering of imaging data for the sample locally, rather than using a remote server or other non-local computing resources. The imaging system may include a number of graphical processing units (GPUs) or other computing components configured to reconstruct volumetric density information for the sample based on multiple X-ray images of the sample taken from different relative locations and / or angles. These computing components may then render two-dimensional images of the material from the volumetric density data when requested by a surgeon, radiologist, or some other user. Such requests may be generated by a remote display and / or control device in the operating room, or by some other device somewhere else, by a radiologist's workstation in the radiology department viewing room or elsewhere.

[0039] Performing reconstruction and rendering locally on the imaging system can provide a variety of advantages: a user can interact at a high level with the image data and request two-dimensional cross-sectional slice images, perspective views of the volumetric density information (e.g., semi-transparent renderings with projections of the volumetric density of wires, staples, tumors, or other indicated internal structures, specimens), or other images through the volumetric density information, albeit using a thin client or other computationally and / or bandwidth-limited system. This allows radiologists or other medical professionals to interact with and analyze the volumetric density information on inexpensive equipment and / or in locations far away from the operating room.

[0040] Furthermore, reconstructing and rendering image data locally on the imaging system allows users to avoid dependency on central hospital systems (e.g., the hospital's Picture Archiving and Communication System (PACS)), which may exhibit latency or other unnecessary effects and may be subject to fluctuating system loads due to use by other users. Rendering individual views based on user requests also allows the system to avoid transmitting the entirety of the volumetric density information to the radiologist's workstation or other user terminal, or transmitting a large set of pre-rendered images (e.g., multiple 2D slice images) of the volumetric density information. This allows users to begin interacting with the imaging data without waiting for such large data transmissions to be completed.

[0041] 1 illustrates an example system 100 including such an operating room imaging system 110, a remote interface 150, and a remote workstation 170 in wired or wireless communication therewith. The imaging system 110 includes a housing 115 on or within which an imaging device 120 (e.g., a micro-CT imager) and a user interface 125 are disposed. As illustrated, the imaging system 110 includes casters to facilitate its movement, however, it is understood that an imaging system as described herein may alternatively be a bench-top system, i.e., a wall or floor mounted system, or configured in some other manner. Additionally, the example imaging system 110 includes a user interface 125 mounted on and / or within the housing 115, although an imaging system as described herein may lack a display or other user interface element (e.g., the system may be "headless") and control of the system and / or access information determined thereby may additionally or alternatively be accessed through a wired or wireless communication interface.

[0042] Additionally, the example imaging system 110 may include elements in addition to those shown. For example, the imaging system 110 may include cooling elements, chemical reservoirs, automated sample handling components, or other components configured to cool, freeze, fix, stain, or otherwise preserve or prepare a sample before and / or after imaging of the sample.

[0043] The remote interface 150 includes a display device 155 and is configured to communicate with the imaging system 110 via wired or wireless means. Such a remote interface 150 may be provided in addition to or instead of a user interface 125 located on or within the housing 115 of the imaging system 110. In some examples, the remote interface 150 may be removably mounted to the imaging system 110 to serve as some sort of separable display device and user interface for the imaging system 110. The remote device 150 may be connected to the imaging system 110 directly via an Ethernet cable or some other wired interface, and / or indirectly via a local network, the Internet, and / or via some other means. The remote device 150 may be connected to the imaging system 110 directly via a Bluetooth link, a Wi-Fi link ("Wi-Fi" is a registered trademark), or some other wireless interface, and / or indirectly via a local network, the Internet, and / or via some other means.

[0044] The remote interface 150 can be configured to transmit commands (e.g., commands to initiate scanning, reconstruction, or other operations related to the tissue sample) or other information to the imaging system 110 and receive imaging data or other information from the imaging system 110. This can include a controller or other system within the imaging system 110 that more directly controls the display 155 or other elements of the remote interface 150, for example, by polling the remote interface for user inputs of the remote interface 150 and transmitting images or other information to be displayed on the display 155 of the user interface 150 based on those inputs or other factors. In another example, the remote interface 150 can operate more independently, transmitting requests to the imaging system 110 for a two-dimensional view of the sample at a specified location and orientation relative to the sample, and receiving from the imaging system 110 an indication of the two-dimensional view of the sample that has been rendered and transmitted, respectively. By relying on the computational resources of the imaging system 110 to render the two-dimensional images requested by the user, the remote interface 150 can be relatively lightweight in terms of computational resources, power budget, bandwidth, and cost.

[0045] To reduce the surgeon's interaction with non-sterile elements, to eliminate the need to autoclave or otherwise sterilize the user interface, and / or to provide some other advantage, one or both of user interface 125 and / or remote interface 150 can be configured for contactless interaction with a user. That is, user interface 125 and / or remote interface 150 can include one or more cameras, radar elements, capacitive sensors, infrared sensors, light curtains, and / or other elements configured to detect gestures, proximity, or other characteristics related to a user's input or intent without the user coming into physical contact with user interface 125 and / or remote interface 150.

[0046] The remote workstation 170 may be located in a radiology department viewing room, a radiologist's workplace, a radiologist's home, or any other remote location where a radiologist or other medical professional desires to access and interact with imaging data of a tissue sample. The remote workstation 170 may provide a user interface for accessing and interacting with images determined from and related to the volumetric density information of the target sample (e.g., a conventional four-pane imaging interface having a perspective view and three orthogonal cross-sectional views of the volumetric density information of the sample, a two-pane view as described herein having a perspective view and a single cross-sectional view). The remote workstation 170 may operate by transmitting to the imaging system 110 a request for a two-dimensional view of the sample at a specified location and orientation relative to the sample, and receiving from the imaging system 110 an indication of the two-dimensional view of the sample that is rendered and transmitted in response. Such a two-dimensional view of the sample may include a high-resolution cross-sectional slice through the sample, e.g., parallel to a major anatomical plane of the sample. Such two-dimensional views of the sample may also include a perspective view of the sample, for example, a drawing of a mesh showing the exterior or some other interior surface of the sample (e.g., the surface of a tumor, staple, or other detected internal content of the sample), a drawing of a simulated view through the sample from a specified direction, or some other perspective view.

[0047] By relying on the computational resources of the imaging system 110 to render the two-dimensional images requested by the user, the remote workstation 170 can be relatively lightweight in terms of computational resources, power budget, bandwidth, and cost. In some examples, the remote workstation 170 can receive three-dimensional mesh low-resolution version volumetric density information, or some other information regarding the three-dimensional structure or contents of the sample, and can use such information to locally render a perspective view of the sample, reducing bandwidth usage, latency, and load on the imaging system 110, for example, when a user is rotating, zooming, or otherwise interacting with a perspective view of the sample on the remote workstation 170. Such operations can provide this functionality while still reducing the computational resources, power budget, bandwidth, and cost of the remote workstation 170, for example, relative to transmitting an entire set of volumetric density information regarding the sample to the remote workstation 170 and performing the two-dimensional image rendering locally on the remote workstation 170.

[0048] Operation of the remote workstation 170, remote interface 150, and other remote systems as described herein is variously described as sending a request for a specified two-dimensional view of the sample to the imaging system 110 in response to a user input requesting such a view (e.g., a user input changing the plane of a cross-sectional view pane, a user input selecting a point of interest on a perspective view of the sample). In some examples, the remote system may maintain a local cache of two-dimensional images previously received. In such examples, the remote system can search such image cache to determine whether the system has a locally cached image that depicts the view requested by the user. If the cache contains such an image, the remote system can display the cached image rather than sending a new request to the imaging system. Such operation can reduce the bandwidth costs of operating the remote system while minimizing increases in storage requirements of the remote system.

[0049] The imaging device of system 100 can include various components that facilitate a variety of different volumetric imaging modalities. In some examples, the imaging device can include a high-power magnet (e.g., a superconducting magnet), a bias coil, a radio frequency scanning coil, and other elements configured to perform magnetic resonance imaging (MRI) of a sample. Such an MRI imaging device can generate volumetric density information about a target sample related to the density of hydrogen atoms, MRI contrast agent atoms (e.g., gadolinium), or related to the density of some other magnetic particles. In some examples, the imaging device can include a micro-CT imaging device configured to generate volumetric density information about a target sample related to the x-ray radiodensity or x-ray radiopacity of the sample.

[0050] Such a micro-CT imaging device includes at least one X-ray source capable of generating X-rays, and at least one X-ray imaging device capable of generating an image of the emitted X-rays after passing through a target sample. High density regions of the target sample (sometimes alternatively referred to as areas having higher X-ray radiodensity or X-ray radiopacity) absorb and / or scatter the emitted X-rays to a greater extent, such that corresponding areas of the X-ray imaging device are exposed to lower density X-rays. The micro-CT imaging device operates to generate scan data in the form of multiple X-ray images of the target sample, each taken at a respective angle and / or location relative to the target sample. The multiple X-ray images of the target sample can then be reconstructed to generate volumetric density information about the target sample.

[0051] The X-ray source may include an X-ray tube, a cyclotron, a synchrotron, a radioactive X-ray source, or some other X-ray source. The X-ray source may include a number of different X-ray sources that allow for, for example, modulation of the beam power, beam width, direction of the X-ray beam relative to the target sample, focusing or divergence of the X-rays at the location of the target sample, or control of some other property of the emitted X-rays to facilitate imaging of the target sample.

[0052] The X-ray imager may include a photostimulable phosphor plate, a scintillator, an X-ray intensifier, or other element that converts X-rays to visible light coupled to a charge-coupled device, an array of photodetectors, a flat panel detector, or other visible light imaging element or elements. Additionally or alternatively, the X-ray imager may include amorphous selenium element or some other element configured to directly convert X-rays into electron-hole pairs, or other electrically detectable phenomenon. The X-ray imager and the X-ray source together define a field of view, which is the area that the micro-CT imager can image. As a result, the micro-CT imager can generate an X-ray image of a portion of a target sample (or other material or structure) located within the field of view.

[0053] MicroCT imaging of a sample removed from the body allows for the use of scans of higher density and longer duration than is possible when imaging a portion of a patient's body. Additionally, the X-ray source and X-ray imaging device can be located closer to the sample. These factors contribute to increased image resolution and contrast when compared to imaging tissues located inside the patient's body. Additionally, the location and orientation of the explanted tissue sample can be optionally rotated and / or translated by the actuating gantry, allowing the exact location and orientation of the sample relative to the imaging device to be optionally and precisely controlled. For example, X-ray images can be taken of the sample at a non-uniform angle, or some other reduced or sparse set of angles. Additionally, when the entire sample is small enough to fit entirely within the field of view of the imaging device, the actuating gantry can be operated to ensure that the sample is indeed located entirely within the field of view. In some examples, the sample container configured to contain the sample has a size that is approximately coextensive with the field of view, ensuring that any sample placed therein remains entirely within the field of view. Alternatively, when a sample is too large to fit entirely within the field of view, the location and orientation of the sample can be controlled to obtain X-ray images at sufficiently specific relative locations and orientations to allow reconstruction of volumetric density information for the entire sample.

[0054] Imaging of explanted tissue samples also allows for the X-ray source to be completely contained within an X-ray shielding material (e.g., a lead plate) while operating the X-ray source to emit X-rays. For example, a door constructed from an X-ray shielding material can be translated and / or rotated into place after placing the sample inside the microCT imager, reducing the amount of X-ray exposure received by surgeons, nurses, or other people in the vicinity of the imager. This also allows for the intensity of the X-rays emitted by the X-ray source to be increased while maintaining environmental exposure limits below specified safe levels, potentially increasing image resolution and / or contrast.

[0055] 2A and 2B show elements of a micro-CT imaging device 200 in cross-sectional schematic views. The imaging device includes a shield 210 constructed from a radiopaque material (e.g., lead or some other metal). Within the shield 210 is an X-ray source and an X-ray imaging device (not shown) that together define a field of view 220 within which the imaging device 200 can generate an X-ray image of a sample or a portion of a sample. A sample container 250 is configured to contain a target sample and is mechanically coupled to a gantry 240. The gantry 240 includes a linear actuator 242 operable to translate the sample container 250 horizontally to facilitate loading and unloading of the sample and to automatically control the location of the sample container 250 relative to the field of view 220. The linear actuator 242 moves relative to a rail 244. The gantry 240 also includes a rotational actuator 246 that controls the orientation of the sample container 250 relative to the imaging device 200 to facilitate scanning a target sample contained within the sample container 250. FIG. 2A shows the imaging device 200 in a configuration for imaging a target sample contained within a sample vessel 250, and FIG. 2B shows the imaging device 200 in a configuration for loading a target sample into or unloading a target sample from the sample vessel 250.

[0056] The imaging device 200 also includes a door 230 constructed from a radiopaque material (e.g., lead or some other metal) that can translate and / or rotate between a closed position (shown in FIG. 2A ) and an open position (shown in FIG. 2B ). In the open position, the door 230 allows the gantry to extend the sample container 250 outside the shield 210 to allow loading / unloading of the sample. In the closed position, the door 230 reduces the amount of x-rays emitted into the environment of the imaging device 200 when the imaging device 200 is generating x-rays to scan the sample. The door 230 can be opened and closed manually or automatically using one or more linear and / or rotary actuators (not shown).

[0057] The imaging device 200 also includes a visible light camera 260 for viewing the sample during the scan, allowing the user to inspect not only the presence, location, and condition of the sample, but also the progress of the scan as it progresses without opening the door 230 (thus slowing the scan and / or increasing x-ray exposure) or requiring the presence of a visible light transparent but x-ray opaque window.

[0058] The gantry 240 is configured to translate the sample container 250 in a direction perpendicular to the axis of rotation of the sample container 250. This represents a non-limiting example of an illustrative embodiment. Figure 3 illustrates elements of an alternative gantry 340 configured to translate the sample container 350 along a direction parallel to the axis of rotation of the sample container 350 (vertical in Figure 3). A rotational actuator 346 rotates the sample container 350 while a linear actuator 342 controls the vertical position of the sample container 350 to, for example, move the sample container between the field of view of the imaging device and a sample loading location located outside of a shield or other housing of the imaging device.

[0059] A microCT imager (e.g., imager 200) of a system as described herein can be operated in a variety of ways to generate X-ray scan data of a sample sufficient to generate an accurate reconstruction of volumetric density information of the sample. The reconstruction methods described in U.S. Pat. No. 8,605,975, U.S. Patent Application Publication No. 2014 / 0161332, U.S. Pat. No. 9,189,871, U.S. Pat. No. 9,613,442, International Publication No. US18 / 52175, and U.S. Provisional Patent Application No. 62 / 562,138 enable accurate reconstruction of such volumetric density information using a reduced number of X-ray images of the sample relative to other methods. In particular, the reduced field of view and sparse field of view reconstruction methods described in these patents and patent applications enable the generation of clinical quality volumetric density information for explanted breast tissue or other target tissue samples using less than 300 individual X-ray images of the sample or less than 100 individual X-ray images of the sample. This reduction in the number of x-ray images required for reconstruction can potentially lead to a reduction in overall scan time to less than 10 minutes or even less than 5 minutes. Such reduction in scan time is particularly valuable in intraoperative applications enabled by the embodiments described herein.

[0060] Additionally, these reduced field-of-view and sparse field-of-view reconstruction methods can utilize X-ray images of the sample that are not uniformly spaced with respect to the image angle relative to the sample, allowing specific regions of the sample to be reconstructed with greater accuracy and / or resolution. Furthermore, such reduced field-of-view and sparse field-of-view reconstruction methods can be applied to reconstruct a set of short-scan images that include X-ray images of the sample at a set of angles spanning less than 300°. For example, a sparse field-of-view short-scan reconstruction of volumetric density information for a sample can be generated from a set of less than 150 X-ray images of the sample, each corresponding to a respective view of the sample at an angle spanning less than 200°.

[0061] These reduced and sparse field of view reconstruction methods also allow reconstruction based on individual X-ray images of a sample that do not depict all of the sample. That is, a sample larger than the field of view of the imager can be reconstructed from a set of images that provide image data for all of the sample but may depict only a portion of the sample individually. Imaging a sample in such a manner is sometimes referred to as an "offset detector" scanning modality. Using such an offset detector modality allows the size of the sample that can be imaged by a particular image to be increased. For example, an imager can be configured to generate volumetric density information for a target sample that has a maximum dimension (e.g., the length of a long tissue sample) that is larger than the maximum dimension of its field of view. For example, the maximum dimension of the target sample can be more than 5 centimeters larger than the maximum dimension of the field of view (e.g., the target sample can have a maximum dimension larger than 15 centimeters and the field of view of the imager can have a maximum dimension less than 10 centimeters). In another example, the maximum dimension of the target sample can be more than 20% larger than the maximum dimension of the field of view. Additionally or alternatively, the cost, size, reliability, or other properties of an imaging device configured to image a sample of a specified size may be reduced by operating in such an offset detector mode, thereby allowing the size of the X-ray imaging device to be reduced.

[0062] The use of a linear actuator to load and unload the sample facilitates the use of such offset detector modes, or offset and non-offset detector modes, as desired. FIG. 2C shows the imaging device 200 using an alternative larger sample container 255 coupled to the gantry 240. The sample containers 250, 255 are removably coupled to the gantry 240 (e.g., via clip forming detents, magnets, etc.), facilitating the user to select and use an appropriately sized container for each sample to be imaged. As shown in FIG. 2C, only a portion of the larger sample container 255 is positioned within the field of view 220, so that only a portion of the sample (not shown) contained therein may be imaged. Conversely, FIG. 2A shows that the entire sample container 250 is included within the field of view 220, such that the entire sample (not shown) contained therein may be represented in a single X-ray image.

[0063] A user may instruct the imaging device 200 to operate in a particular mode (e.g., offset detector mode) according to the size of the sample to be imaged or based on other factors. Additionally or alternatively, the imaging device 200 can operate to determine which mode to use to scan. For example, the RFID, embedded identification IC, QR code, or some other aspect of the sample container 250, 255 can indicate the size of the sample container (e.g., the container can be located entirely within the field of view 220 or is larger than the field of view 220 by a specified amount), and the imaging device 200 can operate accordingly (e.g., in offset detector mode if the container 255 is larger than the field of view 220).

[0064] The use of such "offset" scanning modes can provide a variety of advantages. For example, such modes can enable imaging of samples that are larger than the field of view of the imaging device. Additionally or alternatively, the field of view required to image a sample of a given size can be reduced, thereby reducing system costs, increasing system resilience and life, and / or increasing usable x-ray intensity.

[0065] Imaging systems as described herein can be configured to generate volumetric density information about a sample using a micro-CT imager or other X-ray based tomography techniques. However, such imaging systems can include additional or alternative imaging techniques, such as nuclear magnetic resonance imaging, volumetric fluorescent imaging, ultrasound imaging, far-ultraviolet imaging, spontaneous emission imaging (e.g., positron emission imaging), or some other form of volumetric imaging, or some combination of modalities. Indeed, the precise automated specimen handling described herein (e.g., with respect to various gantry embodiments configured to move and / or orient the sample relative to the field of view of the micro-CT imager) can facilitate automated imaging of a sample using multiple imaging modalities. The lack of human intervention in handling the sample between imaging modalities can improve registration of data obtained from multiple different imaging modalities by reducing the amount of sample movement or deformation that may occur while performing multiple different imaging modalities.

[0066] III. Examples of visualization of reconstructed sample data A variety of different methods can be used to generate volumetric density information about a tissue sample. For example, a microCT imager can be used to generate X-ray radiopaque density information, an MRI imager can be used to generate hydrogen atom or MRI contrast density information, etc. It is generally advantageous to use such volumetric density information to render one or more two-dimensional images of the sample from the volumetric density information, for example to inform the outcome of a tumor resection surgery, to inform the location in the patient's body where additional tissue should be removed, etc. Such two-dimensional images can include high-resolution cross-sectional views of slices through the sample, for example, slices through the sample parallel to standard coronal, sagittal and / or transverse planes of the sample according to the orientation of the sample within the patient's body. The two-dimensional images can also include perspective views of the sample. Such perspective views can be useful to illustrate the orientation and location of the high-resolution cross-sectional image relative to the sample. Additionally, such perspective views may indicate the location in three-dimensional space of a tumor, staples, wires, or other material or structure of interest within the tissue sample.

[0067] Standard radiology workstations often provide this information in a four-pane interface, with the first pane providing a perspective view of the specimen and the other three panes providing transverse views through the specimen parallel to the coronal, sagittal, and transverse planes, respectively. This can be beneficial in providing the radiologist with maximum information to assess whether the tumor or other target tissue was completely resected or whether the target tissue was likely not resected (e.g., due to the extension of the target specimen to or adjacent to the margins of the explanted tissue). Such information-rich displays are possible because the radiologist's viewing room or other workspace is not likely to be space-limited and the radiologist is not likely to be moving between the workstation and other tasks.

[0068] In contrast, the surgeon's workspace is more constrained, and it is disadvantageous for the display device to be larger than or closer to the operating table. Moreover, the surgeon is less likely to perform the actual analysis of the image data. Rather, the surgeon is more likely to act on the basis of an analysis performed automatically (e.g., by a segmentation algorithm configured to detect the location, shape, and extent of cancerous tissue within the sample) and / or an analysis performed by a radiologist or other medical imaging specialty. In such an example, the display device provided to the surgeon should focus on quickly and clearly communicating to the surgeon whether the target tissue (e.g., tumor) has been completely removed, and if not, the surgeon should remove additional tissue along the periphery of the removed tissue. Furthermore, it is important that the surgeon be able to accurately map any instructions received from the radiologist (e.g., regarding locations within the patient's body for additional tissue removal) to the patient's body.

[0069] The user interface embodiments described herein provide various improvements directed to providing useful information to the surgeon in an intuitive manner as well as facilitating accurate and rapid communication between the radiologist and the surgeon. These embodiments include improved user interfaces that aid in the analysis and display of volumetric data. In some examples, the user interface is provided by a computing system (e.g., an imaging system) that operates an imaging device to generate scan data for the sample, reconstruct volumetric density information from the scan data, render two-dimensional images based on the volumetric density information, and / or generate other analyses. However, such improved user interfaces can also be provided by a radiologist's workstation, a remote control and display unit for the imaging system, or some other interface system that does not operate to reconstruct volumetric density information for the sample or render two-dimensional images therefrom.

[0070] In such an interface system, updating one or more images provided to a user may include the system transmitting a request for new image data to the imaging and / or reconstruction system and receiving image data in response to the request. For example, in response to a user command to switch from one image plane to another, to change a location within the sample of a displayed cross-sectional image, to rotate a perspective view of the sample, to show or hide sample contents in a perspective or other view, or to provide some other image to the user, the radiologist's workstation 170 may transmit a request to the imaging system 110 for a view of volumetric density information through a particular point at a particular angle or other particular cross-sectional view of the target sample. The imaging system 110 then renders the requested image data and sends an indication of that data to the radiologist's workstation 170 in response to the request.

[0071] In a first example of an embodiment, a perspective view of the sample (e.g., a perspective display of volumetric density information for the sample) can be provided with the location and extent of the tumor, or other volume of interest, depicted. FIG. 4A illustrates this, showing a three-dimensional rendering of a segmented map of the tumor within the sample superimposed on the perspective view of the sample. As shown in FIG. 4, the perspective view of the sample includes a projection of the volumetric density information, however, alternative perspective views of the sample are possible. For example, the perspective view of the sample can include a rendering of an outer surface of the sample, the shape of the outer surface being determined from the volumetric density information for the sample.

[0072] A segmentation map of a tumor, staple, or other content of interest within a sample can be generated in a variety of ways. In some examples, an automated algorithm can generate the segmentation map. The automated algorithm can include applying a density threshold to the volumetric density information (e.g., to segment staples, wires, other high density content within the sample), applying a trained neural network, or performing some other processing on the volumetric density information. In some examples, the segmentation map can be generated by a radiologist. For example, a radiologist can annotate the extent of a tumor or structure of interest within a tissue sample, for example, by indicating the extent of the structure of interest within one or more two-dimensional cross-sectional images of the sample. The radiologist can be augmented by one or more automated segmentation methods. For example, an automated method can generate an estimated segmentation map, and the radiologist can then edit the estimated segmentation map (e.g., by dragging the boundary of the segmentation map to expand or shrink the volume of the sample contained within the segmentation map). In another example, an automated method can generate several possible segmentations, and the radiologist can select the "best" segmentation.

[0073] Multiple tumors, staples, wires, or other objects or sets of objects within the sample can be associated with different corresponding segmentation maps. The user interface can then provide the user with the ability to selectively hide certain contents of the sample from view by selecting or deselecting the corresponding segmentation maps. FIG. 4B shows an example of such functionality. On the left side, FIG. 4B shows a perspective view (a three-dimensional rendering) of the contents of the material. The contents include several metal staples, wires, and other objects that have been added to the sample (e.g., to facilitate orientation of the sample relative to the patient's body). On the right side, FIG. 4B shows a perspective view of only the metal objects and calcifications within the tissue (omitting soft tissues, which have a density less than that of the calcifications, among other things). A user selecting or deselecting individual objects or other contents within the sample for display in this manner may include clicking or otherwise interacting with a button in the user interface associated with the corresponding content of the sample, clicking or otherwise interacting with a portion of the display displaying the contents of the sample, or interacting with the user interface in some other manner.

[0074] It may be advantageous to color-code the surface of the displayed segmentation map according to the distance from a portion of the segmentation map to the nearest periphery of the tissue sample. Such a display has the advantage of quickly and intuitively indicating to the surgeon where the target tissue is more (or less) likely to extend beyond the periphery of the removed tissue and thus remain partially inside the patient's body. FIG. 5 illustrates this, showing a color-coded perspective view of the segmentation map of a tumor superimposed within a depiction of the outer surface of the sample containing the tumor. Such color-coding can be determined for each point on the surface of the segmentation map by determining the corresponding distance to the nearest corresponding point on the determined outer surface of the target sample. This can be done after the radiologist (or other medical professional) has created, updated, or modified the segmentation map.

[0075] It may be advantageous to colorize the exterior of the three-dimensional representation of the sample so that it superficially resembles the visible light appearance of the sample. Such coloring may improve the radiologist's intuition regarding the orientation and composition of the sample, aiding the radiologist in interacting with the imaging data related to the sample. However, it may be difficult to generate a visible light image of the exterior surface of the sample and then register that image with the volumetric density information generated from the sample. In practice, a method may be used in which the density information of the sample near the surface is used to inform the hue of the exterior surface of the sample when shown in perspective. Low density areas of the volumetric density information may result in darker colored (e.g., dark pink, orange, yellow, or red) areas of the exterior surface, while high density areas of the volumetric density information may result in lighter colored (e.g., white, light pink, light yellow, or light orange) areas of the exterior surface. This approximates the relationship between color and x-ray density of common explanted tissue samples. The difference between the color of the high density and low density areas may be less than 5%. In particular, high density regions of the volumetric density information, which likely correspond to metal staples, wires, or other artifacts inserted into the sample, may result in a designated color, e.g., white or gray, indicative of the presence of high density artifacts within the sample.

[0076] An example of such surface color coding is shown in FIG. 6A. The mapping between density and surface shade can be a linear or non-linear function. For example, determining a color for a particular point on the outer surface of the sample can include linearly or non-linearly mapping the density of a portion of the volumetric density information in the vicinity of the particular point to a range of colors. The density to color mapping can be based on a piecewise function. For example, a first range of densities (e.g., a range of densities corresponding to the density of soft tissue within the sample) can be linearly mapped across a range of colors (e.g., from light orange to white), while densities higher than the first range of densities (e.g., densities corresponding to stapled, wire, or other metallic or other dense non-tissue materials) are mapped to a single color (e.g., gray). The density to color mapping can be normalized, for example, to a histogram or other percentile determination of densities represented within a set of volumetric density information for the sample. For example, a range of densities within the sample from 25% to 75% may be mapped linearly (or non-linearly) to a first range of colors (e.g., bright red to white), while densities above 75% may be mapped to anything from gray to some other color indicative of staples, wire, or other metallic or otherwise non-organic material.

[0077] In practice, the surgeon may insert wires, sutures, staples, or other artifacts to indicate the orientation of the sample, or may add ink to the surface of the sample to indicate the orientation. However, these methods may still result in the radiologist and surgeon having different understandings of the orientation of the sample. Such differences may result in poorer surgical outcomes, and if the radiologist and surgeon have differences regarding their understanding of the orientation of the sample, the radiologist's recommendations may not be interpreted correctly by the surgeon, resulting in invalidating additional tissue obtained from the wrong location inside the patient's body.

[0078] As a result, it may be advantageous to colorize the exterior of the 3D representation of the specimen based on the surgeon's understanding of the specimen's orientation. Providing such colorization to the radiologist can improve the radiologist's understanding of the specimen's orientation so that any recommendations the radiologist makes are more likely to result in the surgeon taking correct action. An example of such surface color coding is shown in FIG. 6B. Six cardinal directions in 3D space (anterior, posterior, medial, lateral, ventral, and dorsal) correspond to respective colors. Such "virtual inking" can also assist the pathologist in physically inking the imaged specimen in a manner that more accurately corresponds to the actual orientation of the specimen inside the patient's body.

[0079] Colorization based on the orientation of the outer surface of the target specimen can be accomplished in a variety of ways. For example, surface normals can be determined for multiple locations on the outer surface, and then the surface normals can be used to determine the coloring of the outer surface. This includes mapping the surface normals to colors that approximate the colors of the cardinal directions, and then performing hole-filling, area-expansion, or other filtering techniques to generate the final surface coloring. Additionally or alternatively, the surgeon can virtually "paint" the surface manually, or manually modify the automatically generated surface coloring. The surgeon can set or modify the orientation of the volumetric density information relative to the three-dimensional space, and the surface coloring can be generated or reproduced based on the relative orientation. This surface coloring, which now corresponds to the surgeon's understanding of the orientation of the specimen, can then be provided to the radiologist to ensure that the radiologist and the surgeon are operating based on the same understanding of the orientation of the specimen.

[0080] An improved user interface is provided for presenting imaging data to the surgeon in a concise, informative, and easy-to-use manner to improve clinical outcomes. FIG. 7 illustrates, by way of example, features of this improved user interface. The user interface has two primary panes, the right pane providing a perspective display of volumetric density information about the sample (a simulated color rendering of the outer surface of the sample) and the left pane providing a high resolution two-dimensional image of the sample perpendicular to a first axis in three-dimensional space according to a cross-section through a specified viewpoint inside the sample. The three-dimensional space represents the orientation of the sample relative to the patient's body and can be adjusted by the user (as described in more detail below).

[0081] The particular perspective of the material provided in the right pane can be controlled by the user in a variety of ways. For example, the user can click and drag to rotate the perspective around an axis, or use a two-finger gesture to zoom in or out. Alternatively, such changes can be accomplished using buttons arranged as a set of four directional arrows or some other user interface element (not shown). The type of perspective (e.g., surface tint by orientation, projected density view with internal structure shown, etc.) can be modified by pressing a button on the user interface and using a drop-down menu, or by some other means. For example, the user interface can be used (e.g., clicking a button or otherwise interacting with a button, not shown) to switch between a simulated surface rendering view as depicted in FIG. 7 to a full density projection view as depicted in FIG. 8A.

[0082] The location of the designated viewpoint and the orientation of the two-dimensional image provided in the left pane can be controlled by the user in a variety of ways. For example, the plane of the image can be changed between the three major anatomical planes by pressing a button on the interface. The location of the viewpoint within the material can be modified by clicking a button (not shown), by clicking a point of interest on the perspective view, or by performing some other control behavior (e.g., by clicking a button or interacting in other ways, not shown). For example, the user interface can be used to switch between viewing through a first anatomical plane (e.g., the axial plane) as depicted in FIG. 7 and viewing through a second anatomical plane (e.g., the coronal plane) as depicted in FIG. 8B.

[0083] The orientation of the volumetric density information relative to three-dimensional space can be adjusted by the user by interacting with the user interface, i.e., by clicking or otherwise interacting with a button (e.g., a "re-orienter" button, not shown), and then dragging the perspective view until the orientation of the sample as shown in the perspective view matches the user's desired orientation. When such a reorientation is made, the cross-sectional view shown in the left pane can be updated to correspond to the change in orientation (e.g., so that the two-dimensional image in the left pane corresponds to one of the three major anatomical planes according to the updated three-dimensional space). FIG. 8C shows this by way of example, depicting updates to the display of FIG. 8B following such a reorientation. The updated orientation may also result in updates in other display devices, e.g., an updated two-dimensional cross-sectional image presented to a radiologist using another system, an updated surface color of the perspective view of the sample that reflects the change in orientation in three-dimensional space relative to the material, or some other display or system update.

[0084] A user can designate a point in the cross-sectional view, resulting in the location of the designated point within the three-dimensional space of the sample being designated within the perspective view of the sample. This is shown by way of example in FIG. 8C, where the user has designated a point of interest 810 within the cross-sectional view in the left pane, and the location of the designated point is displayed as 810 within the perspective view in the right pane. 2It is designated as 0. The location of this designated point in three-dimensional space can be updated as the user rotates the perspective view, zooms the perspective view, or otherwise changes the perspective view.

[0085] The location of the viewpoint relative to the sample, at which the left pane displays a cross-sectional view, may be controlled in a variety of ways. The viewpoint can be moved in a direction perpendicular to the plane of the image by clicking a button on the user interface, by dragging the left pane (e.g., dragging upwards results in the viewpoint moving "towards" the user, dragging downwards results in the viewpoint moving "away" from the user), or by interacting with the left pane in some other manner. In some examples, the user can indicate a point of interest on the perspective view of the sample in the right pane, causing the location of the viewpoint to change to the indicated point of interest. For example, if the user clicks on an area containing calcifications or other increased density or objects, the viewpoint can be changed to correspond to the location of the calcification.

[0086] This is shown by way of example in Figures 8D and 8E. In Figure 8D, a user indicates a point of interest 830 within a perspective view of the sample. In response, in Figure 8E, the left pane changes to provide a cross-sectional view through an updated viewpoint that corresponds to the point of interest. Additionally, the location of the updated viewpoint within the updated cross-sectional view is indicated as 840 in the left pane display.

[0087] A variety of methods can be used to determine an updated location of the viewpoint based on such user input. In some examples, a location of a high density area within the sample proximate to an area indicated by the user input can be determined. This can include (i) receiving an indication of a point of interest within the perspective representation of the volumetric density information via a user interface, (ii) determining a corresponding column of the volumetric density information based on the point indicated on the display, and (iii) determining the location of the point of interest within three-dimensional space by determining a location of a maximum density area within the column of the volumetric density information.

[0088] It should be noted that describing certain user interactions and / or displaying certain information as corresponding to the "right-hand pane" or "left-hand pane" of a user interface is intended to illustrate non-limiting examples of embodiments. Such functionality may be assigned conversely or actually to the "upper" and "lower" panes of a two-pane interface. Additionally, many of the display styles, visualizations, and user interface features described above may be applied to user interfaces having more than two panes, such as a traditional four-pane radiologist workstation user interface.

[0089] IV. System Example The computational functions described herein (e.g., operating an imaging device to generate scan data for a target sample, reconstructing volumetric density information from such scan data, rendering cross-sectional, perspective, or other two-dimensional views from the volumetric density information, user interface functions) may be performed by one or more computing systems. Such computing systems may be integrated into or take the form of a computing device, such as a portable medical imaging system, a remote interface for such imaging systems, a radiologist's workstation, a tablet computer, a laptop computer, a server, a cloud computing network, and / or a programmable logic controller. To illustrate, FIG. 9 is a simplified block diagram showing some of the components of an example computing device 900 that may include an imaging component 924. The imaging component 924 may include a micro-CT imager, an MRI imager, and / or several other components configured to provide information indicative of the volumetric density information for the sample. Alternatively, the example computing device may lack such components and may receive scan information via some other means (e.g., via the Internet or some other network, or other communications interface).

[0090] As shown in FIG. 9, computing device 900 may include a communication interface 902, a user interface 904, a processor 906, a data storage area 908, and an imaging component 924, which may all be communicatively coupled together by a system bus, network, or other connection mechanism 910.

[0091] The communication interface 902 may function to enable the computing device 900 to communicate with other devices, access networks, and / or transport networks using analog or digital modulation of electrical, magnetic, electromagnetic, optical, or other signals. As a result, the communication interface 902 may facilitate circuit-switched and / or packet-switched communications, such as plain telephone service (POTS) communications and / or internet protocol (IP) or other packetized communications. In an illustrative example, the communication interface 902 may include a chipset and antenna arranged for wireless communication with a wireless access network or access point. Additionally, the communication interface 902 may take the form of or include a wired interface, such as an Ethernet, Universal Serial Bus (USB) or High-Definition Multimedia Interface (HDMI) port. The communication interface 902 may also take the form of or include a wireless interface, such as Wi-Fi, Bluetooth, global positioning system (GPS), or a wide-area wireless interface (e.g., WiMAX or 3GPP Long-Term Evolution (LTE)). However, other forms of physical layer interfaces and other types of standard or proprietary communication protocols may be used over the communication interface 902. Moreover, the communication interface 902 may comprise multiple physical communication interfaces (e.g., a Wi-Fi interface, a Bluetooth interface, and a wide-area wireless interface).

[0092] In some embodiments, the communication interface 902 may function to enable the computing device 900 to communicate with other devices, remote servers, access networks, and / or transport networks. For example, the communication interface 902 may function to transmit and / or receive indications of image information, transmitting indications of images generated using the methods described herein, or indications of some other information. For example, the computing device 900 may be a portable intra-operative imaging system, and the remote system may be a computer, server, cloud computing system, or other system configured to perform the methods described herein.

[0093] The user interface 904 may function to enable the computing device 900 to interact with a user, e.g., to receive input from a user, and / or to provide output to a user. As a result, the user interface 904 may include input components such as a keypad, keyboard, a touch-sensitive or presence sensing panel, a computer mouse, a trackball, a joystick, a microphone, and the like. The user interface 904 may also include one or more output components, e.g., a display screen that may be combined with a presence sensing panel. The display screen may be based on CRT, LCD, and / or LED technology, or other technologies now known or later developed. The user interface 904 may also be configured to generate one or more audible outputs via a speaker, a speaker jack, an audio output port, an audio output device, an earphone, and / or other similar devices.

[0094] In some embodiments, the user interface 904 may include a display device that serves to present a video or other image (e.g., an image rendered based on volumetric density information generated using the imaging component 924 and / or generated according to the methods described herein) to a user. Additionally, the user interface 904 may include one or more buttons, switches, knobs, and / or dials that facilitate the configuration and operation of the imaging component 924, the reconfiguration of volumetric density information using the imaging component 924, or configure some other operation of the computing device 900. Some or all of these buttons, switches, knobs, and / or dials may be capable of being implemented as features on a touch-sensitive or presence-sensitive panel.

[0095] The processor 906 may comprise one or more general purpose processors, e.g., microprocessors, and / or one or more special purpose processors, e.g., digital signal processors (DSPs), graphics processing units (GPUs), floating-point units (FPUs), network processors, or application-specific integrated circuits (ASICs). In some instances, the special purpose processors may be capable of image processing, image registration and / or rescaling, and tomographic reconstruction, among other uses or functions. The data storage area 908 may include one or more volatile and / or non-volatile storage components, such as magnetic, optical, flash, or organic storage, and may be fully or partially integrated with the processor 906. The data storage area 908 may include removable and / or non-removable components.

[0096] The processor 906 may execute program instructions 918 (e.g., compiled or uncompiled program logic and / or machine code) stored in the data storage area 908 to perform various functions described herein. Thus, the data storage area 908 may include a non-transitory computer-readable medium having stored thereon program instructions that, when executed by the computing device 900, cause the computing device 900 to perform any of the methods, processes, or functions disclosed herein and / or in the accompanying drawings.

[0097] By way of example, the program instructions 918 may include an operating system 922 (e.g., an operating system kernel, one or more instrument drivers, and / or other modules) and one or more application programs 920 (e.g., sample scanning functionality, reconstruction or imaging functionality) installed on the computing device 900.

[0098] The application programs 920 may be in the form of "apps" that can be downloaded to the computing device 900 through one or more online application stores or application marketplaces (e.g., via communications interface 902). However, application programs can also be installed on the computing device 900 in other manners, such as via a web browser or through a physical interface of the computing device 900 (e.g., a USB port).

[0099] In some examples, parts of the methods described herein can be performed by different devices according to the application. For example, different devices in a system can have different amounts of computational resources (e.g., memory, processor cycles) and different information bandwidths for inter-device communication. For example, a first device can be a radiologist's workstation or remote interface that can transmit image commands and / or requests to another device or server that has the necessary computational resources to perform the reconstruction and / or rendering methods described herein that satisfy the transmitted commands or requests. Different parts of the methods described herein can be apportioned according to such considerations.

[0100] V. Example Method 10 is a flow diagram of a method 1000 for providing a user interface. The method 1000 includes providing a perspective view of volumetric density information for a target sample in a first pane of the user interface, the volumetric density information having an orientation relative to a three-dimensional space, the three-dimensional space being characterized by three orthogonal axes (1010). The method 1000 additionally includes providing a two-dimensional image of the target sample in a second pane of the user interface while the user interface is displaying the perspective view of the volumetric density information, the two-dimensional image of the target sample showing the volumetric density information perpendicular to a first of the three orthogonal axes according to a cross-sectional view through a specified viewpoint within the three-dimensional space (1020). The method 1000 may include additional elements or features.

[0101] VI. Conclusion The above detailed description describes various features and functions of the disclosed system, apparatus, and method with reference to the accompanying drawings. In the figures, similar symbols typically identify similar components unless the content indicates otherwise. The exemplary embodiments described in the detailed description, figures, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the scope of the subject matter presented herein. It will be readily understood that aspects of the present disclosure, generally as described herein and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are expressly contemplated herein.

[0102] The embodiments herein are described as being used by radiologists, surgeons, and other medical professionals to intraoperatively image tissue samples and visualize the resulting image data to inform the continuation or completion of an evolving surgical procedure. However, these embodiments are merely illustrative examples of applications. The embodiments described herein can be employed to image other objects or materials of interest (e.g., electronic devices or machinery, plant or animal tissue, archaeological artifacts) and visualize the resulting image data. Additionally, the embodiments described herein can be employed to image tissue samples in other applications, for example, to target portions of the sample for microscopy, laboratory testing, or other pathology analysis techniques.

[0103] With respect to any or all of the message flow diagrams, scenarios, and flow diagrams in the figures, each step, block, and / or communication may represent the processing of information and / or the transmission of information according to the example embodiments, as discussed herein. Alternative embodiments are included within the scope of these example embodiments. In these alternative embodiments, for example, functions described as steps, blocks, transmissions, communications, requests, responses, and / or messages may be performed substantially simultaneously or out of the order shown or discussed, including in reverse order, depending on the functionality involved. Furthermore, more or fewer steps, blocks, and / or functions may be used with any of the message flow diagrams, scenarios, and flow diagrams described herein, and these message flow diagrams, scenarios, and flow diagrams may be combined with each other partially or in whole.

[0104] The steps or blocks illustrating the processing of information may correspond to circuitry that can be configured to perform the particular logical function of the methods or techniques described herein. Alternatively or additionally, the steps or blocks illustrating the processing of information may correspond to a module, segment, or portion of a program code (including associated data). The program code may include one or more instructions executable by a processor to implement the particular functions or activities of the method or technique. The program code and / or associated data may be stored in any type of computer-readable medium, such as a storage device, including a disk drive, hard drive, or other storage medium.

[0105] The computer readable medium may also include non-transitory computer readable media, such as a computer readable medium that stores data for a short period of time, such as a register memory, a processor cache, and / or a random access memory (RAM). The computer readable medium may also include non-transitory computer readable media that stores program code and / or data for a longer period of time, such as a secondary or permanent long-term storage area, such as a read only memory (ROM), an optical or magnetic disk, and / or a compact-disc read only memory (CD-ROM). The computer readable medium may also be any other volatile or non-volatile storage system. The computer readable medium may be considered, for example, a computer readable storage medium, or a tangible storage device.

[0106] Moreover, steps or blocks illustrating one or more information transfers may correspond to information transfers between software and / or hardware modules in the same physical device, however, other information transfers may be between software and / or hardware modules in different physical devices.

[0107] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those of ordinary skill in the art. The various aspects and embodiments disclosed herein are intended to be illustrative and not limiting, with the true scope being indicated by the following claims.

[0108] VII. List of Example Embodiments As such, embodiments of the present disclosure may relate to one of the enumerated example embodiments (EEE) described below, it being recognized that features referred to with an EEE may be combined with other EEE.

[0109] The EEE1 comprises: (i) a portable housing; (ii) an imaging device disposed on or within the housing operable to image a sample of interest; (iii) a communications interface disposed on or within the housing; and (iv) one or more processors disposed on or within the housing and programmed to perform controller operations; Imaging device and a controller operably coupled to the communications interface, wherein the controller operations include: (a) operating the imaging device to generate scan data for the target sample; (b) generating volumetric density information for the target sample using a reconstruction process based on the scan data; (c) receiving a request for a specific cross-sectional view of the target sample from a remote system via the communications interface; (d) rendering a two-dimensional image of the target sample from the volumetric density information in response to receiving the request for the specific cross-sectional view of the target sample, wherein the two-dimensional image of the target sample illustrates the target sample in accordance with the requested specific cross-sectional view; and (e) transmitting an indication of the two-dimensional image to the remote system via the communications interface.

[0110] EEE2 is a system of EEE1, wherein the imaging device is a micro-CT imaging device comprising an X-ray source, an X-ray imaging device, and a sample container configured to accommodate a target sample, wherein the X-ray source and the X-ray imaging device define a field of view, and the step of operating the imaging device to generate scan data regarding the target sample comprises the steps of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate multiple X-ray images of the target sample.

[0111] EEE3 is a system of EEE2, wherein the field of view encompasses less than all of the sample container such that at least one x-ray image in the plurality of x-ray images shows less than all of the target sample.

[0112] EEE4 is a system of EEE3 where the field of view has a maximum dimension that is less than the maximum dimension of the target sample.

[0113] EEE5 is any of the systems EEE2 to EEE4, further comprising a linear actuator mechanically coupled to the sample container, and the step of operating the imaging device to generate scan data regarding the target sample comprises the step of operating the linear actuator to move at least a portion of the sample container within the field of view.

[0114] EEE6 is the system of EEE5, further comprising a visible light camera configured to image the sample container when the sample container is at least partially within the field of view.

[0115] EEE7 is a system of either EEE5 or EEE6, where the sample container is removably coupled to a linear actuator.

[0116] EEE8 is any of the systems of EEE2 to EEE7, further comprising a door and a door actuator, and the step of operating the imaging device to generate scan data regarding the target sample comprises the step of operating the door actuator to actuate the door from an open position to a closed position, the door being in the open position allowing the target sample to be loaded into the imaging device, and the door being in the closed position reducing an amount of X-ray radiation emitted into an environment of the imaging device when operating the X-ray source to generate multiple X-ray images of the target sample.

[0117] EEE9 is the system of EEE2, further comprising a linear actuator mechanically coupled to the sample container, wherein operating the imaging device to generate scan data for the target sample comprises receiving a first command to image the target sample in a first mode, wherein operating the imaging device to generate scan data for the target sample comprises operating the linear actuator to move the sample container so that all of the target sample is within the field of view, and the controller operation further comprises operating the imaging device to generate additional scan data for the second sample in response to receiving a second command to image a second sample in a second mode, wherein operating the imaging device to generate additional scan data for the second sample comprises operating the linear actuator to move the sample container so that less than all of the second sample is within the field of view and to rotate the sample container, and operating the x-ray source and x-ray imaging device to generate a second plurality of x-ray images of the second sample.

[0118] EEE10 is any of the systems EEE2 to EEE9, wherein the step of generating volumetric density information about the target sample using a reconstruction process includes using a reduced field of view reconstruction algorithm or a sparse field of view reconstruction algorithm, and the steps of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate a plurality of X-ray images of the target sample are performed over a period of less than 10 minutes.

[0119] EEE11 is any of the systems EEE2 to EEE10, wherein the step of generating volumetric density information about the target sample using a reconstruction process includes using a reduced field of view reconstruction algorithm or a sparse field of view reconstruction algorithm, and the step of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate a plurality of X-ray images of the target sample consists of less than 300 X-ray images of the target sample.

[0120] EEE12 is any of systems EEE2-EEE11, wherein the multiple X-ray images of the target sample show X-ray perspectives through the target sample at a set of angles that are non-uniformly spaced or at a set of angles that span less than 300°.

[0121] EEE13 is EEE1~EEE1 2 The system further comprises a user interface having a display device.

[0122] EEE14 is a system of EEE13, wherein the controller operation further comprises receiving a command to image a target sample via a user interface, and the step of operating an imaging device to generate scan data regarding the target sample is performed in response to receiving the command to image the target sample.

[0123] The EEE15 is either the EEE13 or EEE14 system, and the user interface is located on or inside the housing.

[0124] The EEE16 is either an EEE13 or EEE14 system, and the user interface is part of a remote unit that is in wired or wireless communication with the controller via a communication interface.

[0125] EEE17 is any one of the systems EEE13 to EEE16, and the user interface is configured to receive touchless gesture commands.

[0126] EEE18 is any one of the systems EEE13 to EEE17, and the controller operation further comprises causing a user interface to display a perspective representation of the volumetric density information.

[0127] EEE19 is the system of EEE18, wherein the controller operations further comprise the steps of determining an outer surface of the target sample based on the volumetric density information; determining a segmentation map of one or more volumes of interest within the target sample based on the volumetric density information; and determining a color coding of the segmentation surface of the segmentation map based on the determined outer surface of the target sample and the determined segmentation map, color coding a plurality of points on the surface of the segmentation map according to their respective distances to corresponding closest points on the determined outer surface of the target sample, wherein causing the user interface to display a perspective representation of the volumetric density information comprises causing the user interface to display a perspective view of the segmentation map within the outer surface of the target sample together with the segmentation map colored according to the color coding of the determined segmentation surface.

[0128] EEE20 is the system of EEE19, wherein the step of transmitting an indication of the two-dimensional image to the remote system via the communications interface comprises transmitting an indication of at least a portion of the segmentation map, and the controller operation further comprises receiving an indication of an update to the segmentation map from the remote system via the communications interface, and updating the segmentation map based on the received indication of the update to the segmentation map prior to determining a color coding of the segmentation surface for the segmentation map.

[0129] EEE21 is a system of EEE20, wherein the step of causing the user interface to display a perspective display of the volumetric density information comprises a step of providing an indication of an orientation of the volumetric density information relative to the three-dimensional space, and the controller operation further comprises a step of receiving an indication of an updated orientation of the volumetric density information relative to the three-dimensional space via the user interface, and a step of transmitting the updated orientation of the volumetric density information relative to the three-dimensional space to a remote system via the communication interface.

[0130] EEE22 is a system of EEE18, wherein the controller operation further comprises the steps of determining an outer surface of the target sample based on the volumetric density information, and determining an outer surface color-coding for the outer surface based on the determined outer surface of the target sample, color-coding a plurality of points on the outer surface based on corresponding surface normal orientations relative to three-dimensional space, and the step of causing the user interface to display a perspective representation of the volumetric density information comprises causing the user interface to display a perspective view of the outer surface of the target sample with the outer surface colored according to the determined outer surface color-coding.

[0131] EEE23 is the system of EEE22, wherein determining a color-coding for the exterior surface comprises determining a color-coding having an enumerated set of colors corresponding to an enumerated set of directions in three-dimensional space.

[0132] EEE24 is a system of EEE22, and the controller operation further includes the steps of receiving an indication of an updated orientation of the volumetric density information relative to the three-dimensional space via a user interface, determining an updated outer surface color-coding for the outer surface based on the determined outer surface of the target sample and the updated orientation of the volumetric density information relative to the three-dimensional space, color-coding a plurality of points on the outer surface based on a corresponding updated outer surface normal orientation relative to the three-dimensional space, and causing the user interface to display an updated perspective view of the outer surface of the target sample with the outer surface colored according to the determined and updated outer surface color-coding.

[0133] EEE25 is the system of EEE18, wherein the controller operation further comprises the steps of determining an outer surface of the target sample based on the volumetric density information, and determining an outer surface color-coding for the outer surface based on the determined outer surface and the volumetric density information of the target sample, color-coding a plurality of points on the outer surface based on the density of corresponding nearby portions of the volumetric density information, and the step of causing the user interface to display a perspective representation of the volumetric density information comprises causing the user interface to display a perspective representation of the outer surface of the target sample with the outer surface colored in accordance with the determined outer surface color-coding.

[0134] EEE26 is a system of EEE18, wherein the volumetric density information has an orientation relative to a three-dimensional space, the three-dimensional space being characterized by three orthogonal axes, and the controller operation further comprises the steps of rendering a second two-dimensional image of the target sample from the volumetric density information, the second two-dimensional image of the target sample showing the target sample perpendicular to a first axis of the three orthogonal axes according to a cross-section through a specified viewpoint within the three-dimensional space, and causing the user interface to display the second two-dimensional image of the target sample while the user interface displays a perspective view of the volumetric density information.

[0135] EEE27 is the system of EEE26, wherein the controller operations further include receiving a command via a user interface to display an image of the target sample perpendicular to a second of the three orthogonal axes; and in response to receiving the command to display the image of the target sample perpendicular to the second axis, rendering a third two-dimensional image of the target sample from the volumetric density information, the third two-dimensional image of the target sample showing the target sample perpendicular to the second axis according to a cross-sectional view through a specified viewpoint within the three-dimensional space; and causing the user interface to display the third two-dimensional image while the user interface displays a perspective view of the volumetric density information.

[0136] EEE28 is either system EEE26 or EEE27, and the controller operation further comprises the steps of receiving an indication of an updated orientation of the volumetric density information relative to the three dimensional space via a user interface; rendering a fourth two dimensional image of the target sample from the volumetric density information, the fourth two dimensional image of the target sample showing the target sample perpendicular to the first axis in accordance with the updated orientation of the volumetric density information relative to the three dimensional space according to a cross section through a specified viewpoint within the three dimensional space; and causing the user interface to display the fourth two dimensional image of the target sample in response to receiving the updated orientation of the volumetric density information relative to the three dimensional space.

[0137] EEE29 is any of the systems EEE26 to EEE28, and the controller operation further comprises the steps of receiving an indication of a point of interest within the second two-dimensional image of the target sample via the user interface, and in response to receiving the indication of the point of interest within the second two-dimensional image of the target sample, causing the user interface to indicate a location of the point of interest within the perspective representation of the volumetric density information.

[0138] EEE 30 is any of the systems EEE26 to EEE28, and the controller operations further include the steps of receiving via the user interface an indication of a point of interest within the perspective representation of the volumetric density information; and in response to receiving the indication of the point of interest within the perspective representation of the volumetric density information, rendering a fifth two-dimensional image of the target sample from the volumetric density information, wherein the fifth two-dimensional image of the target sample shows the target sample according to a cross-section through the point of interest within the three-dimensional space; and causing the user interface to display the fifth two-dimensional image of the target sample while the user interface is displaying the perspective representation of the volumetric density information.

[0139] EEE31 is the system of EEE30, wherein the controller operation further comprises causing the user interface to indicate a location of a point of interest within the fifth two-dimensional image of the target sample.

[0140] EEE32 is either system EEE30 or EEE31, and the step of receiving an indication of a point of interest within the perspective representation of the volumetric density information comprises receiving, via a user interface, an indication of a point on a display device at which a portion of the perspective representation is displayed, and the controller operation further comprises determining a corresponding columnar portion of the volumetric density information based on the point indicated on the display device, and determining a location of the point of interest within the three dimensional space by determining a location of a maximum density area within the columnar portion of the volumetric density information.

[0141] EEE33 is a method for providing a user interface, the method comprising the steps of: (i) providing a perspective representation of volumetric density information for a target sample in a first pane of the user interface, the volumetric density information having an orientation relative to a three-dimensional space, the three-dimensional space being characterized by three orthogonal axes; and (ii) providing a two-dimensional image of the target sample in a second pane of the user interface while the user interface displays the perspective representation of the volumetric density information, the two-dimensional image of the target sample showing the volumetric density information perpendicular to a first of the three orthogonal axes according to a cross-sectional view through a specified viewpoint within the three-dimensional space.

[0142] EEE34 is the method of EEE33, further comprising the steps of determining an outer surface of the target sample based on the volumetric density information; determining a segmentation map of one or more volumes of interest within the target sample based on the volumetric density information; and determining a segmentation surface color-coding for the segmentation map based on the determined outer surface of the target sample and the determined segmentation map, color-coding a plurality of points on a surface of the segmentation map according to their respective distances to corresponding closest points on the determined outer surface of the target sample, wherein providing a perspective representation of the volumetric density information comprises providing a perspective view of the segmentation map within the outer surface of the target sample together with the segmentation map colored in accordance with the determined segmentation surface color-coding.

[0143] EEE35 is the method of EEE34, further comprising receiving a user indication of an update to the segmentation map, and updating the segmentation map based on the received indication of the update to the segmentation map.

[0144] EEE36 is the method of EEE35, wherein providing a perspective representation of the volumetric density information comprises providing an indication of an orientation of the volumetric density information relative to the three dimensional space, the method further comprising receiving an indication of an updated orientation of the volumetric density information relative to the three dimensional space, and providing an updated perspective representation of the volumetric density information based on the updated orientation of the volumetric density information relative to the three dimensional space.

[0145] EEE37 is the method of EEE33, further comprising the steps of determining an outer surface of the target sample based on the volumetric density information, and determining an outer surface color-coding for the outer surface based on the determined outer surface of the target sample, color-coding a plurality of points of the outer surface based on corresponding surface normal orientations with respect to three-dimensional space, wherein providing a perspective representation of the volumetric density information comprises providing a perspective view of the outer surface of the target sample with the outer surface colored in accordance with the determined outer surface color-coding.

[0146] EEE38 is the method of EEE37, wherein determining a color-coding for the exterior surface comprises determining a color-coding having an enumerated set of colors corresponding to an enumerated set of directions in three dimensional space.

[0147] EEE39 is the method of EEE33, further comprising the steps of determining an outer surface of the target sample based on the volumetric density information, and determining an outer surface color-coding for the outer surface based on the determined outer surface and the volumetric density information of the target sample, color-coding a plurality of points on the outer surface based on the density of corresponding nearby portions of the volumetric density information, wherein providing a perspective representation of the volumetric density information comprises providing a perspective view of the outer surface of the target sample with the outer surface colored in accordance with the determined outer surface color-coding.

[0148] EEE40 is the method of EEE33, further comprising the steps of receiving a command from a user to display an image of the target sample perpendicular to a second of the three orthogonal axes, and in response to receiving the command to display the image of the target sample perpendicular to the second axis while the user interface displays a perspective view of the volumetric density information, providing a second two-dimensional image of the target sample in a second pane, the second two-dimensional image of the target sample showing the volumetric density information perpendicular to the second axis according to a cross-sectional view through a specified viewpoint within the three dimensional space.

[0149] EEE41 is any of the methods EEE33 to EEE40, further comprising the steps of receiving from a user an indication of an updated orientation of the volumetric density information relative to the three dimensional space, and in response to receiving the indication of the updated orientation of the volumetric density information relative to the three dimensional space while the user interface is displaying a perspective view of the volumetric density information, providing a third two dimensional image of the target sample in a second pane, wherein the third two dimensional image of the target sample shows the volumetric density information perpendicular to the first axis in accordance with the updated orientation of the volumetric density information relative to the three dimensional space according to a cross section through a specified viewpoint within the three dimensional space.

[0150] EEE42 is any one of the methods EEE33 to EEE41, and requires the user to select a target sample. SecondThe method further includes receiving an indication of a point of interest within the two-dimensional image, and in response to receiving an indication of a point of interest within the second two-dimensional image of the target sample, providing in the first pane an indication of a location of the point of interest within the perspective representation of the volumetric density information.

[0151] EEE43 is any of the methods EEE33 to EEE41, further comprising the steps of receiving from a user an indication of a point of interest within the perspective representation of the volumetric density information, and in response to receiving the indication of a point of interest within the perspective representation of the volumetric density information, providing in a second pane a fourth two-dimensional image of the target sample, the fourth two-dimensional image of the target sample showing the volumetric density information according to a cross-section through the point of interest within the three dimensional space.

[0152] EEE44 is the method of EEE43, further comprising providing in the second pane an indication of a location of a point of interest within the fourth two-dimensional image of the target sample.

[0153] EEE45 is any of the systems of EEE43 or EEE44, wherein the step of receiving an indication of a point of interest within the perspective representation of the volumetric density information comprises receiving from a user an indication of a point on a display device at which a portion of the perspective representation is provided, and the method further comprises the steps of determining a corresponding column of the volumetric density information based on the point indicated on the display device, and determining a location of the point of interest within the three dimensional space by determining a location of a maximum density area within the column of the volumetric density information.

[0154] EEE46 is a micro-CT imaging system comprising: (i) a micro-CT imaging device comprising an X-ray source, an X-ray imager, and a sample container configured to contain a target sample, where the X-ray source and the X-ray imager define a field of view; and (ii) a controller comprising one or more processors programmed to perform controller operations and operably coupled to an image and communication interface, the controller operations comprising operating the imager to generate scan data regarding the target sample, rotating the sample container and operating the X-ray source and the X-ray imager to generate a plurality of X-ray images of the target sample.

[0155] EEE47 is the micro-CT imaging system of EEE46, wherein the field of view encompasses less than all of the sample container such that at least one x-ray image in the plurality of x-ray images shows less than all of the target sample.

[0156] EEE48 is a micro-CT imaging system of EEE47, where the field of view has a maximum dimension that is less than the maximum dimension of the target sample.

[0157] EEE49 is any of the micro-CT imaging systems of EEE46 to EEE48, further comprising a linear actuator mechanically coupled to the sample container, and the step of operating the imaging device to generate scan data relating to the target sample comprises the step of operating the linear actuator to move at least a portion of the sample container within the field of view.

[0158] EEE50 is the micro-CT imaging system of EEE49, further comprising a visible light camera configured to image the sample container when the sample container is at least partially within the field of view.

[0159] EEE51 is a micro-CT imaging system of either EEE49 or EEE50, in which the sample container is removably coupled to a linear actuator.

[0160] EEE52 is a micro-CT imaging system of any of EEE46 to EEE51, further comprising a door and a door actuator, and the step of operating the imaging device to generate scan data regarding the target sample comprises the step of operating the door actuator to actuate the door from an open position to a closed position, the door being in the open position allowing the target sample to be loaded into the imaging device, and the door being in the closed position reducing the amount of X-ray radiation emitted into the environment of the imaging device when operating the X-ray source to generate multiple X-ray images of the target sample.

[0161] EEE53 is the micro-CT imaging system of EEE46, further comprising a linear actuator mechanically coupled to the sample container, wherein operating the imaging device to generate scan data for the target sample comprises receiving a first command to image the target sample in a first mode, wherein operating the imaging device to generate scan data for the target sample comprises operating the linear actuator to move the sample container such that all of the target sample is within the field of view, and the controller operation further comprises operating the imaging device to generate additional scan data for the second sample in response to receiving a second command to image a second sample in a second mode, wherein operating the imaging device to generate additional scan data for the second sample comprises operating the linear actuator to move the sample container so that less than all of the second sample is within the field of view, rotating the sample container, and operating the x-ray source and x-ray imaging device to generate a second plurality of x-ray images of the second sample.

[0162] EEE54 is any of the micro-CT imaging systems EEE46 to EEE53, wherein the controller operation further comprises generating volumetric density information about the target sample using a reduced field of view reconstruction algorithm or a sparse field of view reconstruction algorithm, and wherein the steps of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate a plurality of X-ray images of the target sample occur over a period of less than 10 minutes.

[0163] EEE55 is the micro-CT imaging system of any of EEE46 to EEE54, wherein the controller operation further comprises generating volumetric density information about the target sample using a reduced field of view reconstruction algorithm or a sparse field of view reconstruction algorithm, and the steps of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate a plurality of X-ray images of the target sample consisting of less than 300 X-ray images of the target sample.

[0164] EEE56 is any of the micro-CT imaging systems EEE46-EEE55, in which multiple X-ray images of a target sample show X-ray perspectives through the target sample at a set of angles that are non-uniformly spaced or at a set of angles that span less than 300°.

[0165] EEE57 is a non-transitory computer-readable medium configured to store at least computer-readable instructions that, when executed by one or more processors of a computing device, cause the computing device to perform controller operations to perform any of the methods of EEE33-EEE45 or to perform controller operations described in any of EEE1-EEE32 or EEE46-EEE56. The present disclosure may be realized in the following forms. [Form 1] 1. A system comprising: A portable housing; an imaging device disposed on or within the housing operable to image a sample of interest; a communication interface disposed on or within the housing; a controller operably coupled to the image and the communication interface, the controller comprising one or more processors disposed on or within the housing and programmed to perform controller operations, the controller operations including: operating the imaging device to generate scan data regarding a target sample; generating volumetric density information about the target sample based on the scan data using a reconstruction process; receiving a request for a particular cross-sectional view of the target sample from a remote system via the communications interface; in response to receiving the request for the particular cross-sectional view of the target sample, rendering a two-dimensional image of the target sample from the volumetric density information, the two-dimensional image of the target sample illustrating the target sample according to the particular cross-sectional view requested; transmitting an indication of the two-dimensional image to the remote system via the communications interface; A system comprising: [Form 2] A system as described in form 1, wherein the imaging device is a micro-CT imaging device comprising an X-ray source, an X-ray imaging device, and a sample container configured to accommodate the target sample, the X-ray source and the X-ray imaging device defining a field of view, and the step of operating the imaging device to generate scan data regarding the target sample comprises the steps of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate multiple X-ray images of the target sample. [Form 3] 3. The system of claim 2, wherein the field of view encompasses less than all of a sample vessel such that at least one X-ray image in the plurality of X-ray images shows less than all of the target sample. [Form 4] 4. The system of claim 3, wherein the field of view has a maximum dimension that is less than a maximum dimension of the target sample. [Form 5] A system described in any one of forms 2 to 4, further comprising a linear actuator mechanically connected to the sample container, and the step of operating the imaging device to generate scan data regarding the target sample comprises the step of operating the linear actuator to move at least a portion of the sample container within the field of view. [Form 6] 6. The system of claim 5, further comprising a visible light camera configured to image the sample container when the sample container is at least partially within the field of view. [Form 7] 7. The system of claim 5 or 6, wherein the sample vessel is removably coupled to the linear actuator. [Form 8] The system according to any one of aspects 2 to 7, Doors and The system further comprises a door actuator, wherein operating the imaging device to generate scan data regarding the target sample comprises operating the door actuator to actuate the door from an open position to a closed position, wherein the door being in the open position allows the target sample to be loaded into the imaging device, and the door being in the closed position reduces an amount of X-ray radiation emitted into an environment of the imaging device when operating the X-ray source to generate the multiple X-ray images of the target sample. [Form 9] The system according to aspect 2, a linear actuator mechanically coupled to the sample vessel; Further equipped with The step of operating the imaging device to generate the scan data for the target sample comprises receiving a first command to image the target sample in a first mode, the step of operating the imaging device to generate the scan data for the target sample comprises operating the linear actuator to move the sample container such that all of the target sample is within the field of view, and the controller operation comprises: The system further comprises, in response to receiving a second command to image a second sample in a second mode, operating the imaging device to generate additional scan data for the second sample, wherein operating the imaging device to generate additional scan data for the second sample comprises operating the linear actuator to move the sample container so that the second sample is within the field of view, rotating the sample container, and operating the X-ray source and the X-ray imaging device to generate a second plurality of X-ray images of the second sample. [Form 10] A system as described in any one of forms 2 to 9, wherein the step of generating volumetric density information for the target sample using the reconstruction process comprises using a reduced field of view reconstruction algorithm or a sparse field of view reconstruction algorithm, and the steps of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate the multiple X-ray images of the target sample are performed over a period of less than 10 minutes. [Form 11] A system described in any one of forms 2 to 10, wherein the step of generating the volumetric density information for the target sample using the reconstruction process includes using the reduced field of view reconstruction algorithm or the sparse field of view reconstruction algorithm, and the step of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate the multiple X-ray images of the target sample consists of less than 300 of the X-ray images of the target sample. [Form 12] 12. The system of any one of claims 2 to 11, wherein the multiple X-ray images of the target sample show X-ray perspectives through the target sample at a set of angles that are non-uniformly spaced or at a set of angles spanning less than 300°. [Form 13] The system according to any one of aspects 1 to 13, User interface with display device The system further comprises: [Form 14] 14. The system of claim 13, wherein the controller operation comprises: The system further comprises receiving a command to image the target sample via the user interface, wherein the step of operating the imaging device to generate scan data regarding the target sample is performed in response to receiving the command to image the target sample. [Form 15] 15. The system according to claim 13 or 14, wherein the user interface is disposed on or within the housing. [Form 16] 15. The system of claim 13 or 14, wherein the user interface is part of a remote unit in wired or wireless communication with the controller via the communication interface. [Form 17] 17. The system of any one of aspects 13 to 16, wherein the user interface is configured to receive touchless gesture commands. [Form 18] 18. The system according to any one of aspects 13 to 17, wherein the controller operation is: causing the user interface to display a perspective representation of the volumetric density information. The system further comprises: [Form 19] 19. The system of claim 18, wherein the controller operation comprises: determining an outer surface of the target sample based on the volumetric density information; determining a segmented map of one or more volumes of interest within the target sample based on the volumetric density information; determining a segmentation surface color-coding for the segmentation map based on the determined outer surface of the target sample and the determined segmentation map, coloring a plurality of points on a surface of the segmentation map according to their respective distances to a corresponding closest point on the determined outer surface of the target sample; Further equipped with The system wherein causing the user interface to display a perspective view of the volumetric density information comprises causing the user interface to display a perspective view of the segmentation map within the outer surface of the target sample, with the segmentation map colored according to the color coding of the determined segmentation surface. [Form 20] 20. The system of claim 19, wherein transmitting the indication of the two-dimensional image to the remote system via the communications interface comprises transmitting an indication of at least a portion of the segmentation map, and the controller operation comprises: receiving an indication of an update to the segmentation map from the remote system via the communications interface; updating the segmentation map based on the received indication of the update to the segmentation map, prior to the step of determining a color coding of the segmentation surface with respect to the segmentation map; The system further comprises: [Form 21] 21. The system of claim 20, wherein causing the user interface to display the perspective representation of the volumetric density information comprises providing an indication of an orientation of the volumetric density information relative to three-dimensional space, and the controller operation comprises: receiving an indication of an updated orientation of the volumetric density information relative to the three-dimensional space via the user interface; transmitting the updated orientation of the volumetric density information relative to the three-dimensional space to the remote system via the communications interface; The system further comprises: [Form 22] 19. The system of claim 18, wherein the controller operation comprises: determining the outer surface of the target sample based on the volumetric density information; determining an outer surface color-coding for the outer surface based on the determined outer surface of the target sample, color-coding a plurality of points on the outer surface based on a corresponding surface normal orientation with respect to the three-dimensional space; Further equipped with The system, wherein causing the user interface to display the perspective representation of the volumetric density information comprises causing the user interface to display a perspective view of the outer surface of the target sample with the outer surface colored according to the determined outer surface color coding. [Form 23] 23. The system of claim 22, wherein the step of determining a color-coding of the exterior surface comprises determining a color-coding having an enumerated set of colors corresponding to an enumerated set of directions in the three-dimensional space. [Form 24] 23. The system of claim 22, wherein the controller operation comprises: receiving an indication of an updated orientation of the volumetric density information relative to the three-dimensional space via the user interface; determining an updated outer surface color-coding for the outer surface based on the determined outer surface of the target sample and the updated orientation of the volumetric density information with respect to the three-dimensional space, color-coding a plurality of points on the outer surface based on a corresponding updated surface normal orientation with respect to the three-dimensional space; causing the user interface to display an updated perspective view of the outer surface of the target sample with the outer surface colored according to the determined updated outer surface color coding; The system further comprises: [Form 25] 19. The system of claim 18, wherein the controller operation comprises: determining an outer surface of the target sample based on the volumetric density information; determining an outer surface color-coding for the outer surface based on the determined outer surface and the volumetric density information of the target sample, color-coding a plurality of points on the outer surface based on density of corresponding neighboring portions of the volumetric density information; Further equipped with The system, wherein causing the user interface to display the perspective representation of the volumetric density information comprises causing the user interface to display a perspective view of the outer surface of the target sample with the outer surface colored according to the determined outer surface color coding. [Form 26] 20. The system of claim 18, wherein the volumetric density information has an orientation relative to a three dimensional space, the three dimensional space being characterized by three orthogonal axes, and the controller operation comprises: drawing a second two-dimensional image of the target sample from the volumetric density information, the second two-dimensional image of the target sample showing the target sample perpendicular to a first one of the three orthogonal axes according to a cross-section through a specified viewpoint within the three-dimensional space; causing the user interface to display the second two-dimensional image of the target sample while the user interface displays the perspective representation of the volumetric density information. The system further comprises: [Form 27] 27. The system of claim 26, wherein the controller operation comprises: receiving a command via the user interface to display an image of the target sample perpendicular to a second one of the three orthogonal axes; in response to receiving the command to display an image of the target sample perpendicular to the second axis, rendering a third two-dimensional image of the target sample from the volumetric density information, the third two-dimensional image of the target sample showing the target sample perpendicular to the second axis according to a cross-section through the specified viewpoint within the three-dimensional space; causing the user interface to display the third two-dimensional image of the target sample while the user interface displays the perspective representation of the volumetric density information. The system further comprises: [Form 28] 28. The system of claim 26, wherein the controller operation comprises: receiving an indication of an updated orientation of the volumetric density information relative to the three-dimensional space via the user interface; rendering a fourth two-dimensional image of the target sample from the volumetric density information, the fourth two-dimensional image of the target sample showing the target sample perpendicular to the first axis according to the updated orientation of the volumetric density information with respect to the three-dimensional space according to a cross-section through the specified viewpoint within the three-dimensional space; in response to receiving the updated orientation of the volumetric density information relative to the three-dimensional space, causing the user interface to display the fourth two-dimensional image of the target sample. The system further comprises: [Form 29] 29. The system according to any one of aspects 26 to 28, wherein the controller operation is: receiving an indication of a point of interest within the second two-dimensional image of the target sample via the user interface; in response to receiving the indication of the point of interest within the second two-dimensional image of the target sample, causing the user interface to indicate a location of the point of interest within the perspective representation of the volumetric density information. The system further comprises: [Form 30] 29. The system according to any one of aspects 26 to 28, wherein the controller operation is: receiving via the user interface an indication of a point of interest within the perspective representation of the volumetric density information; rendering a fifth two-dimensional image of the target sample from the volumetric density information in response to receiving the indication of the point of interest within the perspective representation of the volumetric density information, the fifth two-dimensional image of the target sample showing the target sample according to a cross-section through the point of interest within the three-dimensional space; causing the user interface to display the fifth two-dimensional image of the target sample while the user interface displays the perspective representation of the volumetric density information. The system further comprises: [Form 31] 31. The system of claim 30, wherein the controller operation comprises: causing the user interface to indicate a location of the point of interest within the fifth two-dimensional image of the target sample. The system further comprises: [Form 32] 32. The system of claim 30 or 31, wherein receiving an indication of the point of interest within the perspective representation of the volumetric density information comprises receiving, via the user interface, an indication of a point on the display device at which a portion of the perspective representation is displayed, and wherein the controller operation comprises: determining a corresponding column of the volumetric density information based on the indicated point on the display; determining a location of the point of interest within the three-dimensional space by determining a location of an area of ​​maximum density within the column of volumetric density information; The system further comprises: [Form 33] 1. A method for providing a user interface, comprising: providing a perspective representation of volumetric density information for the target sample within a first pane of a user interface, the volumetric density information having an orientation relative to a three-dimensional space, the three-dimensional space being characterized by three orthogonal axes; providing a two-dimensional image of the target sample in a second pane of the user interface while the user interface is displaying the perspective representation of the volumetric density information, the two-dimensional image of the target sample showing the volumetric density information perpendicular to a first one of the three orthogonal axes according to a cross-section through a specified viewpoint within the three-dimensional space; A method for providing the above. [Form 34] 34. The method of claim 33, further comprising: determining an outer surface of the target sample based on the volumetric density information; determining a segmented map of one or more volumes of interest within the target sample based on the volumetric density information; determining a segmentation surface color-coding for the segmentation map based on the determined outer surface of the target sample and the determined segmentation map, coloring a plurality of points on a surface of the segmentation map according to their respective distances to a corresponding closest point on the determined outer surface of the target sample; Further equipped with The method, wherein providing the perspective representation of the volumetric density information comprises providing a perspective view of the segmentation map within the outer surface of the target sample, with the segmentation map colored according to the color coding of the determined segmentation surface. [Form 35] 35. The method of claim 34, further comprising: receiving a user indication of an update to the segmentation map; updating the segmentation map based on the received indication of the update to the segmentation map; The method further comprises: [Form 36] 36. A method according to claim 35, wherein providing the perspective representation of the volumetric density information comprises providing an indication of an orientation of the volumetric density information relative to the three-dimensional space, the method comprising: receiving an indication of an updated orientation of the volumetric density information with respect to the three-dimensional space; providing an updated perspective representation of the volumetric density information based on the updated orientation of the volumetric density information with respect to the three-dimensional space; The method further comprises: [Form 37] 34. The method of claim 33, further comprising: determining an outer surface of the target sample based on the volumetric density information; determining an outer surface color-coding for the outer surface based on the determined outer surface of the target sample, color-coding a plurality of points on the outer surface based on corresponding surface normal orientations with respect to three-dimensional space; Further equipped with The method, wherein providing the perspective representation of the volumetric density information comprises providing a perspective view of the outer surface of the target sample with the outer surface colored according to the color coding of the determined segmented surface. [Form 38] 38. A method according to claim 37, wherein determining a color-coding for the exterior surface comprises determining a color-coding having an enumerated set of colors corresponding to an enumerated set of directions in the three-dimensional space. [Form 39] 34. The method of claim 33, further comprising: determining an outer surface of the target sample based on the volumetric density information; determining an outer surface color-coding for the outer surface based on the determined outer surface and the volumetric density information of the target sample, color-coding a plurality of points on the outer surface based on density of corresponding neighboring portions of the volumetric density information; Further equipped with The method, wherein providing the perspective representation of the volumetric density information comprises providing a perspective view of the outer surface of the target sample with the outer surface colored according to the determined outer surface color coding. [Form 40] 34. The method of claim 33, further comprising: receiving a command from a user to display an image of the target sample perpendicular to a second one of the three orthogonal axes; in response to receiving the command to display an image of the target sample perpendicular to a second axis while the user interface is displaying the perspective representation of the volumetric density information, providing a second two-dimensional image of the target sample in the second pane, the second two-dimensional image of the target sample showing the volumetric density information perpendicular to the second axis according to a cross-sectional view through the specified viewpoint within the three-dimensional space; The method further comprises: [Form 41] The method according to any one of aspects 33 to 40, receiving from a user an indication of an updated orientation of the volumetric density information with respect to the three-dimensional space; in response to receiving an indication of the updated orientation of the volumetric density information relative to the three-dimensional space while the user interface is displaying the perspective representation of the volumetric density information, providing a third two-dimensional image of the target sample within the second pane, the third two-dimensional image of the target sample showing the volumetric density information perpendicular to the first axis in accordance with the updated orientation of the volumetric density information relative to the three-dimensional space according to a cross-sectional view through the specified viewpoint within the three-dimensional space; The method further comprises: [Form 42] 42. The method according to any one of aspects 33 to 41, receiving from the user an indication of a point of interest within the two-dimensional image of the target sample; in response to receiving the indication of the point of interest within the second two-dimensional image of the target sample, providing in the first pane an indication of a location of the point of interest within the perspective representation of the volumetric density information. The method further comprises: [Form 43] 42. The method according to any one of aspects 33 to 41, receiving from a user an indication of a point of interest within the perspective representation of the volumetric density information; providing a fourth two-dimensional image of the target sample in the second pane in response to receiving the indication of the point of interest within the perspective representation of the volumetric information, the fourth two-dimensional image of the target sample showing the volumetric information according to a cross-section through the point of interest within the three-dimensional space; The method further comprises: [Form 44] 44. The method of claim 43, providing an indication in the second pane of a location of the point of interest within the fourth two-dimensional image of the target sample. The method further comprises: [Form 45] 45. The method of claim 43 or 44, Receiving an indication of a point of interest within the perspective representation of the volumetric density information comprises receiving from a user an indication of a point on a display device at which a portion of the perspective representation is displayed, the method comprising: determining a corresponding column of the volumetric density information based on the indicated point on the display; determining the location of the point of interest within the three-dimensional space by determining a location of an area of ​​maximum density within the column of volumetric density information; The method further comprises: [Form 46] 1. A micro-CT imaging system, comprising: a micro-CT imaging device comprising an X-ray source, an X-ray imager, and a sample container configured to contain a target sample, the X-ray source and the X-ray imager defining a field of view; a controller operably coupled to the image and the communication interface, the controller comprising one or more processors programmed to perform controller operations, the controller operations including: operating the imaging device to generate scan data regarding a target sample, the scan data comprising: rotating the sample container and operating the x-ray source and the x-ray imaging device to generate a plurality of x-ray images of the target sample. A micro-CT imaging system comprising: [Form 47] 47. A micro-CT imaging system as described in claim 46, wherein the field of view encompasses less than all of the sample container such that at least one X-ray image of the plurality of X-ray images shows less than all of the target sample. [Form 48] 48. A micro-CT imaging system as described in claim 47, wherein the field of view has a maximum dimension that is less than a maximum dimension of the target sample. [Form 49] A micro-CT imaging system as described in any one of embodiments 46 to 48, further comprising a linear actuator mechanically coupled to the sample container, wherein the step of operating the imaging device to generate scan data regarding the target sample comprises the step of operating the linear actuator to move at least a portion of the sample container within the field of view. [Form 50] 50. A micro-CT imaging system as described in claim 49, further comprising a visible light camera configured to image the sample container when the sample container is at least partially within the field of view. [Form 51] 51. A micro-CT imaging system according to claim 49 or 50, wherein the sample container is removably coupled to the linear actuator. [Form 52] The micro-CT imaging system according to any one of aspects 46 to 51, Doors and and a door actuator, wherein operating the imaging device to generate scan data regarding the target sample comprises operating the door actuator to actuate the door from an open position to a closed position, wherein having the door in the open position allows the target sample to be loaded into the imaging device, and having the door in the closed position reduces an amount of X-ray radiation emitted into an environment of the imaging device when operating the X-ray source to generate the multiple X-ray images of the target sample. [Form 53] 47. The micro-CT imaging system according to claim 46, a linear actuator mechanically coupled to the sample vessel; Further equipped with Operating the imaging device to generate scan data for the target sample comprises receiving a first command to image the target sample in a first mode, operating the imaging device to generate scan data for the target sample comprises operating the linear actuator to move the sample container such that all of the target sample is within the field of view, and the controller operation comprises: A micro-CT imaging system further comprising, in response to receiving a second command to image a second sample in a second mode, operating the imaging device to generate additional scan data for the second sample, wherein operating the imaging device to generate additional scan data for the second sample comprises operating the linear actuator to move the sample container so that less than all of the second sample is within the field of view, rotating the sample container, and operating the X-ray source and the X-ray imaging device to generate a second plurality of X-ray images of the second sample. [Form 54] A micro-CT imaging system as described in any one of claims 46 to 53, wherein the controller operation further comprises a step of generating volumetric density information about the target sample using a reduced field of view reconstruction algorithm or a sparse field of view reconstruction algorithm, and the steps of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate multiple X-ray images of the target sample are performed over a period of less than 10 minutes. [Form 55] A micro-CT imaging system as described in any one of forms 46 to 54, wherein the controller operation further comprises a step of generating volumetric density information about the target sample using a reduced field of view reconstruction algorithm or a sparse field of view reconstruction algorithm, and the step of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate a plurality of X-ray images of the target sample comprises less than 300 X-ray images of the target sample. [Form 56] 56. A micro-CT imaging system as described in any one of claims 46 to 55, wherein the multiple X-ray images of the target sample show X-ray perspectives through the target sample at a set of angles that are non-uniformly spaced or at a set of angles spanning less than 300°. [Form 57] A non-transitory computer-readable medium configured to store at least computer-readable instructions that, when executed by one or more processors of a computing device, cause the computing device to perform controller operations to perform the method of any one of aspects 33-45, or to perform controller operations of any one of aspects 1-32 or aspects 46-56.

Claims

1. 1. A system comprising: A portable housing; an imaging device disposed on or within the housing operable to image a sample of interest; a communication interface disposed on or within the housing; a controller operably coupled to the imaging device and the communications interface, the controller comprising one or more processors disposed on or within the housing and programmed to perform controller operations, the controller operations including: operating the imaging device to generate scan data regarding a target sample; generating volumetric density information about the target sample based on the scan data using a reconstruction process; receiving a request for a particular cross-sectional view of the target sample from a remote system via the communications interface; in response to receiving the request for the particular cross-sectional view of the target sample, rendering a two-dimensional image of the target sample from the volumetric density information, the two-dimensional image of the target sample illustrating the target sample according to the particular cross-sectional view requested; transmitting the two-dimensional image to the remote system via the communications interface; A system comprising:

2. 2. The system of claim 1, wherein the imaging device is a microCT imaging device comprising an X-ray source, an X-ray imaging device, and a sample container configured to contain the target sample, the X-ray source and the X-ray imaging device defining a field of view, and operating the imaging device to generate scan data regarding the target sample comprises rotating the sample container and operating the X-ray source and the X-ray imaging device to generate a plurality of X-ray images of the target sample.

3. 3. The system of claim 2, wherein the field of view encompasses less than all of a sample container such that at least one x-ray image in the plurality of x-ray images shows less than all of the target sample.

4. The system of claim 3 , wherein the field of view has a maximum dimension that is less than a maximum dimension of the target sample.

5. 5. A system as described in any one of claims 2 to 4, further comprising a linear actuator mechanically coupled to the sample container, and wherein the step of operating the imaging device to generate the scan data regarding the target sample comprises the step of operating the linear actuator to move at least a portion of the sample container within the field of view.

6. 6. The system of claim 5, further comprising a visible light camera configured to image the sample vessel when the sample vessel is at least partially within the field of view.

7. 7. A system according to claim 5 or 6, wherein the sample vessel is removably coupled to the linear actuator.

8. A system according to any one of claims 2 to 7, Doors and The system further comprises a door actuator, wherein operating the imaging device to generate scan data regarding the target sample comprises operating the door actuator to actuate the door from an open position to a closed position, wherein the door being in the open position allows the target sample to be loaded into the imaging device, and the door being in the closed position reduces an amount of X-ray radiation emitted outside the environment of the imaging device when operating the X-ray source to generate the multiple X-ray images of the target sample.

9. 3. The system of claim 2, a linear actuator mechanically coupled to the sample vessel; Further equipped with The step of operating the imaging device to generate the scan data for the target sample comprises receiving a first command to image the target sample in a first mode, the step of operating the imaging device to generate the scan data for the target sample comprises operating the linear actuator to move the sample container such that all of the target sample is within the field of view, and the controller operation comprises: The system further comprises, in response to receiving a second command to image a second sample in a second mode, operating the imaging device to generate additional scan data for the second sample, wherein operating the imaging device to generate additional scan data for the second sample comprises operating the linear actuator to move the sample container so that the second sample is within the field of view, rotating the sample container, and operating the X-ray source and the X-ray imaging device to generate a second plurality of X-ray images of the second sample.

10. 10. The system of claim 2, wherein the step of generating volumetric density information about the target sample using the reconstruction process comprises using a reduced field of view reconstruction algorithm or a sparse field of view reconstruction algorithm, and wherein the steps of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate the multiple X-ray images of the target sample occur over a period of less than 10 minutes.

11. 11. The system of claim 2, wherein the step of generating the volumetric density information for the target sample using the reconstruction process comprises using the reduced field of view reconstruction algorithm or the sparse field of view reconstruction algorithm, and the step of rotating the sample container and operating the X-ray source and the X-ray imaging device to generate the multiple X-ray images of the target sample comprises less than 300 of the X-ray images of the target sample.

12. 12. The system of claim 2, wherein the multiple X-ray images of the target sample show X-ray perspectives through the target sample at a set of angles that are non-uniformly spaced or at a set of angles spanning less than 300°.

13. A system according to any one of claims 1 to 12, User interface with display device The system further comprises:

14. 14. The system of claim 13, wherein the controller operation comprises: The system further comprises receiving a command to image the target sample via the user interface, wherein the step of operating the imaging device to generate scan data regarding the target sample is performed in response to receiving the command to image the target sample.

15. 15. A system according to claim 13 or 14, wherein the user interface is located on or within the housing.

16. 15. A system according to claim 13 or 14, wherein the user interface is part of a remote unit in wired or wireless communication with the controller via the communication interface.

17. 17. The system of any one of claims 13 to 16, wherein the user interface is configured to receive touchless gesture commands.

18. 18. A system according to any one of claims 13 to 17, wherein the controller operation comprises: causing the user interface to display a perspective representation of the volumetric density information. The system further comprises:

19. 20. The system of claim 18, wherein the controller operation comprises: determining an outer surface of the target sample based on the volumetric density information; determining a segmented map of one or more volumes of interest within the target sample based on the volumetric density information; determining a segmentation surface color-coding for the segmentation map based on the determined outer surface of the target sample and the determined segmentation map, coloring a plurality of points on a surface of the segmentation map according to their respective distances to a corresponding closest point on the determined outer surface of the target sample; Further equipped with The system wherein causing the user interface to display a perspective view of the volumetric density information comprises causing the user interface to display a perspective view of the segmentation map within the outer surface of the target sample, with the segmentation map colored according to the color coding of the determined segmentation surface.

20. 20. The system of claim 19, wherein transmitting the indication of the two-dimensional image to the remote system via the communications interface comprises transmitting an indication of at least a portion of the segmentation map, and wherein the controller operation comprises: receiving indications of updates to the segmentation map from the remote system via the communications interface; updating the segmentation map based on the received indication of the update to the segmentation map, prior to the step of determining a color coding of the segmentation surface with respect to the segmentation map; The system further comprises:

21. 21. The system of claim 20, wherein causing the user interface to display the perspective representation of the volumetric density information comprises providing an indication of an orientation of the volumetric density information relative to three-dimensional space, and wherein the controller operation comprises: receiving an indication of an updated orientation of the volumetric density information relative to the three-dimensional space via the user interface; transmitting the updated orientation of the volumetric density information relative to the three-dimensional space to the remote system via the communications interface; The system further comprises:

22. 20. The system of claim 18, wherein the controller operation comprises: determining the outer surface of the target sample based on the volumetric density information; determining an outer surface color-coding for the outer surface based on the determined outer surface of the target sample, color-coding a plurality of points on the outer surface based on a corresponding surface normal orientation with respect to the three-dimensional space; Further equipped with The system, wherein causing the user interface to display the perspective representation of the volumetric density information comprises causing the user interface to display a perspective view of the outer surface of the target sample with the outer surface colored according to the determined outer surface color coding.

23. 23. The system of claim 22, wherein determining the exterior surface color-coding comprises determining a color-coding having an enumerated set of colors corresponding to an enumerated set of directions in the three-dimensional space.

24. 23. The system of claim 22, wherein the controller operation comprises: receiving an indication of an updated orientation of the volumetric density information relative to the three-dimensional space via the user interface; determining an updated outer surface color-coding for the outer surface based on the determined outer surface of the target sample and the updated orientation of the volumetric density information with respect to the three-dimensional space, color-coding a plurality of points on the outer surface based on a corresponding updated surface normal orientation with respect to the three-dimensional space; causing the user interface to display an updated perspective view of the outer surface of the target sample with the outer surface colored according to the determined updated outer surface color coding; The system further comprises:

25. 20. The system of claim 18, wherein the controller operation comprises: determining an outer surface of the target sample based on the volumetric density information; determining an outer surface color-coding for the outer surface based on the determined outer surface and the volumetric density information of the target sample, color-coding a plurality of points on the outer surface based on density of corresponding neighboring portions of the volumetric density information; Further equipped with The system, wherein causing the user interface to display the perspective representation of the volumetric density information comprises causing the user interface to display a perspective view of the outer surface of the target sample with the outer surface colored according to the determined outer surface color coding.

26. 20. The system of claim 18, wherein the volumetric density information has an orientation relative to a three dimensional space, the three dimensional space being characterized by three orthogonal axes, and the controller operation includes: drawing a second two-dimensional image of the target sample from the volumetric density information, the second two-dimensional image of the target sample showing the target sample perpendicular to a first one of the three orthogonal axes according to a cross-section through a specified viewpoint within the three-dimensional space; causing the user interface to display the second two-dimensional image of the target sample while the user interface displays the perspective representation of the volumetric density information; The system further comprises:

27. 27. The system of claim 26, wherein the controller operation comprises: receiving a command via the user interface to display an image of the target sample perpendicular to a second one of the three orthogonal axes; in response to receiving the command to display an image of the target sample perpendicular to the second axis, rendering a third two-dimensional image of the target sample from the volumetric density information, the third two-dimensional image of the target sample showing the target sample perpendicular to the second axis according to a cross-section through the specified viewpoint within the three-dimensional space; causing the user interface to display the third two-dimensional image of the target sample while the user interface displays the perspective representation of the volumetric density information. The system further comprises:

28. 28. A system according to claim 26 or 27, wherein the controller operation comprises: receiving an indication of an updated orientation of the volumetric density information relative to the three-dimensional space via the user interface; rendering a fourth two-dimensional image of the target sample from the volumetric density information, the fourth two-dimensional image of the target sample showing the target sample perpendicular to the first axis according to the updated orientation of the volumetric density information with respect to the three-dimensional space according to a cross-section through the specified viewpoint within the three-dimensional space; in response to receiving the updated orientation of the volumetric density information relative to the three-dimensional space, causing the user interface to display the fourth two-dimensional image of the target sample. The system further comprises:

29. 29. A system according to any one of claims 26 to 28, wherein the controller operation comprises: receiving an indication of a point of interest within the second two-dimensional image of the target sample via the user interface; in response to receiving the indication of the point of interest within the second two-dimensional image of the target sample, causing the user interface to indicate a location of the point of interest within the perspective representation of the volumetric density information. The system further comprises:

30. 29. A system according to any one of claims 26 to 28, wherein the controller operation comprises: receiving via the user interface an indication of a point of interest within the perspective representation of the volumetric density information; responsive to receiving the indication of the point of interest within the perspective representation of the volumetric density information, rendering a fifth two-dimensional image of the target sample from the volumetric density information, the fifth two-dimensional image of the target sample showing the target sample according to a cross-section through the point of interest within the three-dimensional space; causing the user interface to display the fifth two-dimensional image of the target sample while the user interface displays the perspective representation of the volumetric density information; The system further comprises:

31. 31. The system of claim 30, wherein the controller operation comprises: causing the user interface to indicate a location of the point of interest within the fifth two-dimensional image of the target sample. The system further comprises:

32. 32. A system according to claim 30 or 31, wherein the step of receiving an indication of the point of interest within the perspective representation of the volumetric density information comprises receiving an indication of a point on the display device at which a portion of the perspective representation is displayed via the user interface, and wherein the controller operation comprises: determining a corresponding column of the volumetric density information based on the indicated point on the display; determining a location of the point of interest within the three-dimensional space by determining a location of an area of ​​maximum density within the column of volumetric density information; The system further comprises:

Images