System and method to acquire image data and generate an image

Abstract

A method and system are disclosed for acquiring image data of a subject. The image data can be collected with an imaging system in a selected manner and / or motion. More than one projection may be combined to generate and create a selected view or visualization of the subject.

Description

SYSTEM AND METHOD TO ACQUIRE IMAGE DATA AND GENERATE AN IMAGECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 575,521 , filed 05 April 2024 and U.S. Pat. App. No. 63 / 575,492, filed 05 April 2024 the entire content of which is incorporated herein by reference.

[0002] This application includes subject matter related to concurrently filed U.S. Pat. App. No. 63 / 575,492, (Attorney Docket No. A0012593US01 I 5074A- 000331 -US-PS1). The entire disclosure(s) of (each of) the above application(s) is (are) incorporated herein by reference.FIELD

[0003] The present disclosure relates to imaging a subject, and particularly to a system and method to acquire image data for generating a selected image visualization.BACKGROUND

[0004] This section provides background information related to the present disclosure which is not necessarily prior art.

[0005] A subject, such as a human patient, may undergo a procedure. The procedure may include a surgical procedure to correct or augment an anatomy of the subject. The augmentation of the anatomy can include various procedures,such as movement or augmentation of bone, insertion of an implant (i.e. an implantable device), or other appropriate procedures.

[0006] A surgeon can perform the procedure on the subject with images of the subject that are based on projections of the subject. The images may be generated with imaging systems such as a magnetic resonance imaging (MRI) system, computed tomography (CT) system, fluoroscopy (e.g. C-Arm imaging systems), or other appropriate imaging systems.SUMMARY

[0007] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

[0008] According to various embodiments, a system to acquire image data of a subject with an imaging system may use x-rays. The subject may be a living patient (e.g. a human patient). The subject may also or alternatively be a nonliving subject, such as an enclosure, a casing, etc. The imaging system may include a moveable source and / or detector that is moveable relative to the subject or object.

[0009] An imaging system may include the movable source and / or detector to create one or more projections of a subject. The one or more projections may be acquired in a path of movement of the source and / or detector. The plurality of projections may then be combined, such as by stitching together, to generate or form a long view (also referred to as a long film). The various projections may also or alternatively be combined with selected techniques to include a range of image data that is not present in a single projection. Thus, the plurality of projections mayinclude more than one projection acquired at the same pose (e.g., location and orientation) relative to the subject.

[0010] The imaging system may be used to acquire image data of the subject at various poses relative to the subject. The subject, however, may include a volume that is larger than a set or determined area or volume that may be imaged by a portion of the imaging system at a single pose. For example, the subject may include an area or dimension that is beyond a range imageable by the imaging system at a single pose. Therefore, to acquire image data of an entire dimension of the subject, the imaging system may be positioned at a plurality of poses relative to the subject. Further, if more than one projection is required to acquire an entire area of the subject, the number of projections to acquire enough image data to generate a three-dimensional reconstruction of the subject and a particular pose may also be required. The numerous projections to acquire the image data may be determined or analyzed by the user or system prior to acquiring the image data of the subject.

[0011] The image data acquired of the subject may the differentiated or determined based upon the type of image data acquired. For example, the imaging system or control system may provide output or information to a user regarding a type or amount of image data to be acquired for a selected reconstruction. The user may review or analyze the output to determine or select a region to be imaged. The output may be provided to an analysis system or processor to evaluate the data to be acquired and / or where an appropriate data will be required.

[0012] Therefore, the imaging system may be operated to acquire image data of the subject in an appropriate manner to generate selected images. In various embodiments, more than one image projection may be acquired at more than one pose to ensure an appropriate amount of image data is acquired regarding the subject. The image data acquired may be acquired at more than one pose to allow for reconstruction of an image of the subject in a selected manner.

[0013] Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.BRIEF DECSRIPTION OF THE DRAWINGS

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

[0015] Fig. 1 is an environmental view of an imaging system in an operating theatre;

[0016] Fig. 2 is a detailed schematic view of an imaging system with a dual energy source system;

[0017] Fig. 3 is a display of an imaging system parameter selection interface;

[0018] Fig. 4 is a schematic view of one or more poses of a detector relative to a point of a source at one or more point positions, according to various embodiments;

[0019] Fig. 5 is a schematic example of a long view image with a field of view superimposed at a selected position relative thereto, according to various embodiments;

[0020] Fig. 6 is a schematic example of a long view image with a field of view superimposed at a selected position relative thereto, according to various embodiments;

[0021] Fig. 7 is a schematic example of a long view image with a field of view superimposed at a selected position relative thereto, according to various embodiments;

[0022] Fig. 8 is an exemplary view of two poses of a long view image, according to various embodiments;

[0023] Fig. 9 is a flowchart of a process for acquiring image data, according to various embodiments;

[0024] Fig. 10 is a schematic illustration of a 3D reconstruction estimation process and image;

[0025] Fig. 11 is a schematic illustration of a padded region and an actual projection image; and

[0026] Fig. 12 is a schematic illustration of a back projection process and generated padded region image data from a 3D reconstruction image.

[0027] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.DETAILED DESCRIPTION

[0028] Example embodiments will now be described more fully with reference to the accompanying drawings.

[0029] The subject disclosure is directed to an exemplary embodiment of a surgical procedure on a subject, such as a human patient. It is understood, however, that the system and methods described herein are merely exemplary and not intended to limit the scope of the claims included herein. In various embodiments, it is understood, that the systems and methods may be incorporated into and / or used on non-animate objects. The systems may be used to, for example, image and register coordinate systems between two systems for use on manufacturing systems, maintenance systems, and the like. For example, automotive assembly may use one or more robotic systems including individual coordinate systems that may be registered together for coordinated or consorted actions. Accordingly, the exemplary illustration of a surgical procedure herein is not intended to limit the scope of the appended claims.

[0030] Various members or portions thereof may also be tracked relative to the subject. For example, a tracking system may be incorporated into a navigation system to allow tracking and navigation of one or more instruments (which may be the members) that may be tracked relative to the subject. The subject may also be tracked. The navigation system may include one or more tracking systems that track various portions, such as tracking devices, associated with instruments. The tracking system may include a localizer that is configured to determine the pose of the tracking device in a navigation system coordinate system. The pose may include any number of degrees of freedom, such as a three-dimensional location(e.g., x, y, z) and an orientation (e.g., yaw, pitch, and roll). Techniques, systems, or processes to determine the navigation system coordinate system may include those described at various references including U.S. Pat. No. 8,737,708; U.S. Pat. No. 9,737,235; U.S. Pat. No. 8,503,745; U.S. Pat. No. 8,175,681 ; and U.S. Pat. No. 11 ,135,025; all incorporated herein by reference. In particular, a localizer may be able to track an object within a volume relative to the subject. The navigation volume, in which a device may be tracked, may include or be referred to as the navigation coordinate system or navigation space. A determination or correlation between two coordinate systems may allow for or also be referred to as a registration between two coordinate systems.

[0031] Image data may be acquired for use and / or to generate images, which may also be referred to as image visualizations, of selected portions of a subject. The images may be displayed for viewing by a user, such as a surgeon. In various embodiments, superimposed on at least a portion of the image may be a graphical representation of a tracked portion or member, such as an instrument. The graphical representation may be generated (e.g., by a processor module executing instructions) entirely as a graphic that represents the instrument. According to various embodiments, the graphical representation may be superimposed on the image at an appropriate pose due to registration of an image space (also referred to as an image coordinate system) to a subject space. A method to register a subject space defined by a subject to an image space may include those disclosed in U.S. Pat. Nos. U.S. Pat. No. 8,737,708; U.S. Pat. No.9,737,235; U.S. Pat. No. 8,503,745; and U.S. Pat. No. 8,175,681 ; all incorporated herein by reference.

[0032] During a selected procedure, the first coordinate system may be registered to the subject space or subject coordinate system due to a selected procedure, such as imaging of the subject. In various embodiments, the first coordinate system may be registered to the subject by imaging the subject with a fiducial portion that is fixed relative to the first member or system, such as a robotic system or other instrument. The known position of the fiducial relative to any portion, such as the robotic system or the subject, may be used to register the subject space relative to any coordinate system in which the fiducial may be determined (e.g., by imaging or detecting (e.g., touching)). A registration of a second coordinate system may allow for tracking of additional elements not fixed to a first portion, such as a robot that has a known coordinate system.

[0033] The tracking of an instrument during a procedure, such as a surgical or operative procedure, allows for navigation of a procedure. The navigation may be used to determine a pose of one or more portions, such as an instrument. The pose may include any number of degrees of freedom, such as a three-dimensional location (e.g., x, y, z) and an orientation (e.g., yaw, pitch, and roll). When image data is used to define an image space it can be correlated or registered to a physical space defined by a subject, such as a patient. According to various embodiments, therefore, the patient defines a patient space in which an instrument can be tracked and navigated. The image space defined by the image data can be registered to the patient space defined by the patient. The registration canoccur with the use of fiducials that can be identified in the image data and in the patient space.

[0034] Fig. 1 is a diagrammatic view illustrating an overview of a procedure room or arena. In various embodiments, the procedure room may include a surgical suite in which may be placed a robotic system 20 and a navigation system 26 that can be used for various procedures. The robotic system 20 may include a Mazor X™ robotic guidance system, sold by Mazor Robotics Ltd. having a place of business in Israel and / or Medtronic, Inc. having a place of business in Minnesota, USA and / or as disclosed in U.S. Pat. No. 11 ,135,025, incorporated herein by reference. The robotic system 20 may be used to assist in guiding a selected instrument, such as drills, screws, be an ultrasound (US) probe 33, etc. relative to a subject 30.

[0035] The robotic system 20 may include a mount 34 that fixes a portion, such as a robotic base 38, relative to the subject 30. The robotic system 20 may include one or more arms 40 that are moveable or pivotable relative to the subject 30, such as including an end effector 44. The end effector 44 may be any appropriate portion, such as a tube, guide, or passage member. Affixed to and / or in place of the end effector may be the imaging system that may be the US probe 33. A robotic processor module 53 may be used to control (e.g., execute instructions) to move and determine a pose of the end effector, such as relative to the base 34. The pose of the base 34 may be known in a coordinate system, such as the patient space of the patient 30 and / or the image coordinate system due toa registration as discussed above and exemplary disclosed in U.S. Pat. No.11 ,135,025, incorporated herein by reference.

[0036] The navigation system 26 can be used to navigate the various portions due to the tracked pose of one or more tracking devices, tracking devices may include a robot tracking device 54, a subject tracking device 58, an imaging system tracking device 62, a tool tracking device 66, and / or an US probe tracking device 81 . Each of the tracking devices may be used to track one or more portions, including those illustrated as being attached to the respective tracking devices.

[0037] An imaging device or system 80 may be an additional or alternative imaging system that may be used to acquire pre-, intra-, or post-operative or realtime image data of a subject, such as the subject 30, and may be tracked with the image system tracking device 62. It will be understood, however, that any appropriate subject can be imaged and any appropriate procedure may be performed relative to the subject. In the example shown, the imaging device 80 comprises an O-arm® imaging device sold by Medtronic Navigation, Inc. having a place of business in Louisville, Colorado, USA. The imaging device 80 may have a generally annular gantry housing 82 in which an image capturing portion is moveably placed. The imaging device 80 can include those disclosed in U.S. Pat. Nos. 7,188,998; 7,108,421 ; 7,106,825; 7,001 ,045; and 6,940,941 ; all of which are incorporated herein by reference, or any appropriate portions thereof. It is further appreciated that the imaging device 80 may include in addition or alternatively a fluoroscopic C-arm. Other exemplary imaging devices may include fluoroscopes such as bi-plane fluoroscopic systems, ceiling mounted fluoroscopic systems,cath-lab fluoroscopic systems, fixed C-arm fluoroscopic systems, isocentric C-arm fluoroscopic systems, 3D fluoroscopic systems, etc. Other appropriate imaging devices can also include MRI, CT, ultrasound, etc. The various imaging systems may include or use one or more imaging modalities, such as x-ray, magnetic resonance, ultrasound, Positron emission tomography (PET) scans, combinations thereof, etc.

[0038] The position of the imaging system 33, 80, and / or portions therein such as the image capturing portion, can be precisely known relative to any other portion of the imaging device 33, 80. Also, the respective tracking devices may be used to track one or more portions of the respective imaging systems. The precise positioning and / or tracking can allow the imaging system 33, 80 and / or the navigation system 26 to know its position relative to the patient 30 or other references. In addition, as discussed herein, the precise knowledge of the position of the image capturing portion can be used in conjunction with a tracking system to determine the position of the image capturing portion and the image data relative to the tracked subject, such as the patient 30. The pose (e.g., distance from a selected portion of the US probe 33 and / or the tracking device 81) may be determined or predetermined and saved for recall with a calibration process and / or jig, such as that disclosed in U.S. Pat. Nos. 7,831 ,082; 8,320,653; and 9,138,204, all incorporated herein by reference.

[0039] The imaging device 80 may be controlled with a controller that may include one or more processor modules 97. Thus, the portions of the imaging system 80 relative to other portions, such as the gantry may be at known and / orcontrolled poses. Further, the imaging system 80 may be tracked with a tracking device 62. As discussed herein, this may allow the pose of one or more portions of the imaging system 80 to be known at a selected time, such as while acquiring image data of the subject 30 by the navigation system 26. Moreover, the pose of the imaging system or portion thereof may be planned and moved to a planned pose relative to the subject 30. Also, the tracking device 81 can be associated directly with the US probe 33. The US probe 33 may, therefore, be directly tracked with a navigation system as discussed herein. In addition or alternatively, the US probe 33 may be positioned and tracked with the robotic system 20. Regardless, image data defining an image space acquired of the patient 30 can, according to various embodiments, be registered (e.g., manually, inherently, or automatically) relative to an object space. The object space can be the space defined by a patient 30 in the navigation system 26.

[0040] The patient 30 can also be tracked as the patient moves with a patient tracking device, DRF, or tracker 58. Alternatively, or in addition thereto, the patient 30 may be fixed within navigation space defined by the navigation system 26 to allow for registration. As discussed further herein, registration of the image space to the patient space or subject space allows for navigation of the instrument 68 with the image data. When navigating the instrument 68, a position of the instrument 68 can be illustrated relative to image data acquired of the patient 30 on a display device 84. An additional and / or alternative display device 84’ may also be present to display an image. Various tracking systems, such as oneincluding an optical localizer 88 or an electromagnetic (EM) localizer 92 can be used to track the instrument 68.

[0041] One or more tracking system can be used to track the instrument 68, and / or any other tracking device, in the navigation system 26. According to various embodiments, these tracking systems can include an electromagnetic tracking (EM) system having the EM localizer 94, an optical tracking system having the optical localizer 88 and / or other appropriate tracking systems, not illustrated, such as an ultrasound tracking system, or other appropriate tracking systems. One or more of the tracking systems can be used to track selected tracking devices, as discussed herein, sequentially or simultaneously. It will be understood, unless discussed otherwise, that a tracking device can be a portion trackable with a selected tracking system. A tracking device need not refer to the entire member or structure to which the tracking device is affixed or associated.

[0042] Image data acquired from the imaging system 33, 80 or any appropriate imaging system, can be acquired at and / or forwarded from an image device controller 96, that may include the processor module 97, to a navigation computer and / or processor system 102 that can be a part of a controller or work station 98 having the display 84 and a user interface 106. The processor system 102 may be a processor module, as discussed herein, including integral memory or a communication system to access external memory for executing instructions and / or operated as a specific integrated circuit (e.g., ASIC). It will also be understood that the image data is not necessarily first retained in the controller 96, but may also be directly transmitted to the work station 98. The work station 98can provide facilities for displaying the image data as an image 108 on the display 84, saving, digitally manipulating, or printing a hard copy image of the received image data. The user interface 106, which may be a keyboard, mouse, touch pen, touch screen or other suitable device, allows the user 72 to provide inputs to control the imaging device 80, via the image device controller 96, or adjust the display settings of the display 84. The work station 98 may also direct the image device controller 96 to adjust the image capturing portion of the imaging device 80 to obtain various two-dimensional images along different planes in order to generate one or more representative two-dimensional and three-dimensional image data that may be used to generate two-dimensional, three-dimensional, or a more than of either or both images.

[0043] With continuing reference to FIG. 1 , the navigation system 26 can further include any one or more tracking systems, such as the tracking system including either or both of the electromagnetic (EM) localizer 94 and / or the optical localizer 88. The tracking systems may include a controller and interface portion 110. The controller 110 can be connected to the processor portion 102, which can include a processor included within a computer. The EM tracking system may include the STEALTHSTATION® AXIEM™ Navigation System, sold by Medtronic Navigation, Inc. having a place of business in Louisville, Colorado; or can be the EM tracking system described in U.S. Pat. No. 7,751 ,865; U.S. Pat. No. 5,983,126; U.S. Pat. No. 5,913,820; or U.S. Pat. No. 5,592,939; all of which are herein incorporated by reference. It will be understood that the navigation system 26 may also be or include any appropriate tracking system, including aSTEALTHSTATION® TREON® or S7™ tracking systems having an optical localizer, which may be used as the optical localizer 88, and sold by Medtronic Navigation, Inc. of Louisville, Colorado. Other tracking systems include an acoustic, radiation, radar, etc. The navigation system 26 and / or tracking system may be a hybrid system that includes components from multiple tracking systems. The tracking systems can be used according to generally known or described techniques in the above incorporated references. Details will not be included herein except when to clarify selected operation of the subject disclosure.

[0044] Various portions of the navigation system 26, such as the instrument 68, and others as will be described in detail below, can be equipped with at least one, and generally multiple, of the tracking devices 66. The instrument can also include more than one type or modality of tracking device 66, such as an EM tracking device and / or an optical tracking device. According to various embodiments, the navigation system 26 can be used to track the instrument 68 relative to the patient 30. The instrument 68 can be tracked with the tracking system, as discussed above. Image data of the patient 30, or an appropriate subject, can be used to assist the user 72 in guiding the instrument 68. The image data, which may include one or more image data or images, may be registered to the patient 30. The image data defines an image space that is registered to the patient space defined by the patient 30. The registration can be performed as discussed herein, automatically, manually, or combinations thereof.

[0045] Generally, registration allows a translation map to be generated of the physical location of the instrument 68 relative to the image space of the imagedata. The translation map allows the tracked position of the instrument 68 to be displayed on the display device 84 relative to the image 108. A graphical representation 68i, also referred to as an icon, can be used to illustrate the location of the instrument 68 relative to the image data 108.

[0046] With continuing reference to Fig. 1 , a subject registration system or method can use the tracking device 58. The tracking device 58 may include portions or members 120 that may be trackable, but may also act as or be operable as a fiducial assembly. A clamp or other fixation portion 124 may be connected to the imageable fiducial portions 120. The fiducial portions 120 may include one or more individual or discrete member (e.g., spheres) or may include an interconnected web of imageable portions (e.g., wires). It is understood, however, that the fiducial portions 120 may be separate from the tracking device 58. The fixation portion 124 can be provided to fix any appropriate portion, such as a portion of the anatomy. As illustrated in Fig. 1 , the fiducial portions 120 can be interconnected with a vertebra 126 and / or a portion of the vertebra 126 which may form a spine. In various embodiments, the connection may be to a spinous process. The fiducial portions 120, however, may be connected to any appropriate portion such as a skull, pelvis, etc.

[0047] With additional reference to Fig. 2, the imaging system 80 may move, as a whole or in part, relative to the subject 30. For example, the source 174 and the detector 178 can move in a 360° motion around the patient 30. The movement of the source 174 and the detector 178 as a source / detector unit 198 within the gantry 82 may allow the source 174 to remain generally 180° opposed(such as with a fixed inner gantry or rotor or moving system) to the detector 178. Thus, the detector 178 may be referred to as moving around (e.g., in a circle or spiral) around or about the subject 30 and it is understood that the source 174 remains opposed thereto, unless disclosed otherwise. As discussed herein, however, the detector may more relative to the source in a small or minimal amount, such as an arc length of about one degree (°) to about 30°, 5° to about 20°, 5° to about 15°, etc., and increments therebetween.

[0048] Also, the gantry 82 can move isometrically (also referred to as “wag”) relative to the subject 30 generally in the direction of arrow 200 around an axis 202, such as through a cart 160, as illustrated in Fig. 1. The gantry 82 can also tilt relative to a long axis 31 of the patient 30 illustrated by arrows 210. In tilting, a plane of the gantry 82 may tilt or form a non-orthogonal angle with the axis 206 of the subject 30.

[0049] The gantry 82 may also move longitudinally in the direction of arrows 214 along the line 206 relative to the subject 30 and / or the cart 160. Also, the cart 160 may move to move the gantry 82. Further, the gantry 82 can move up and down generally in the direction of arrows 218 relative to the cart 160 and / or the subject 30, generally transverse to the axis 206 and parallel with the axis 202.

[0050] The movement of the imaging system 80, in whole or in part is to allow for positioning of the source / detector unit (SDU) 198 relative to the subject 30. The imaging device 80 can be precisely controlled to move the SDU 198 relative to the subject 30 to generate precise image data of the 30.

[0051] The source 174, as discussed herein, may include one or more sources of x-rays for imaging the subject 30. In various embodiments, the source 174 may include a single source that may be powered by more than one power source to generate and / or emit x-rays at different energy characteristics. In various embodiments, the source may emit x-rays in at least two different powers, such with varying voltages. Further, more than one x-ray source may be the source 174 that may be powered to emit x-rays with differing energy characteristics at selected times.

[0052] With continuing reference to Fig. 2, according to various embodiments, the source 174 can include a single x-ray tube assembly 250 that can be connected to a switch 254 that can interconnect a first power source 258 via a connection or power line 262. As discussed above, X-rays can be emitted from the x-ray tube 250. According to various embodiments, the x-rays may be emitted in a cone shape 270 towards the detector 178 and generally in the direction from the x-ray tube 250 as indicated by arrow, beam arrow, beam or vector 274. The vector 274 may extend along an axis and may also be referred to as a central axis of the beam. The vector 274 may include a selected line or axis relevant for further interaction with the beam, such as with a filter member, as discussed further herein. The switch 254 can switch power on or off to the tube 250 to emit x-rays of selected characteristics, as is understood by one skilled in the art.

[0053] The subject 30 can be positioned within the x-ray cone 270 to allow for acquiring image data of the subject 30 based upon the emission of x-rays in the direction of vector 274 towards the detector 178. Generally, the subject mayattenuate, e.g., scatter or absorb, x-rays. The unattenuated x-rays or c-rays that pass through the subject 30 reach the detector 170.

[0054] The imaging system 80, according to various embodiments, may operate the x-ray tube 250 to generate two-dimension (2D) x-ray projections of the subject 30, including selected portions of the subject 30, or any area, region or volume of interest, in light of the x-rays impinging upon or being detected on a 2D or flat panel detector, as the detector 178. The 2D x-ray projections can be reconstructed, as discussed herein, to generate and / or display selected images or image visualizations including 2D images, three-dimensional (3D) volumetric models of the subject 28, selected portion of the subject 28, or any area, region or volume of interest, or a more than one of any of the about to generate four dimension (4D) images that may be time varying. As discussed herein, the 2D x- ray projections can be image data acquired with the imaging system 80, while the 3D volumetric models can be generated or model image data.

[0055] For reconstructing or forming the 3D volumetric image, appropriate techniques include Expectation maximization (EM), Ordered Subsets EM (OS- EM), Simultaneous Algebraic Reconstruction Technique (SART) and Total Variation Minimization (TVM), as generally understood by those skilled in the art. The application to perform a 3D volumetric reconstruction based on the 2D projections allows for efficient and complete volumetric reconstruction. Generally, an algebraic technique can include an iterative process to perform a reconstruction of the subject 30 for display as the image 108.

[0056] The imaging system 80, or portions thereof such as the SDU 198 may be moved relative to the subject 30, such as around the long axis 31 of the subject 30. Accordingly, as illustrated in Fig. 2 the imaging system 80 may be positioned such that an anterior-to-posterior projection may be acquired with cone 270 or a lateral projection may be acquired with a cone 270’. Accordingly, a plurality of image projections of the subject 30 may be acquired at different perspectives.

[0057] The imaging system 80 may be moved relative to the subject to acquire one or more projections of image data at various poses relative to the subject. The poses relative to the subject are determined by position of the source 174 relative to the detector 178 and relative to the subject 30. As illustrated in Fig. 2, for example, the first pose position of the source 174 relative to the detector 178 may be referred to as an anterior to posterior projection. As illustrated in Fig. 2, the second or alternative pose of the source 174’ relative to the detector 178’ relative to the subject 30 may be referred to as a lateral pose or projection. The imaging system 80 may include the movement of the imaging assembly 198 relative to the subject 30 in one or more poses including the two poses illustrated in Fig. 2 and / or many poses relative to the subject 30 and / or a point within the imaging system 80, which may be referred to as an isocenter 290. In various embodiments, the isocenter 290 may be at any selected position within the imaging system 30 and may be positioned within the subject 30, such as on the long axis 31. However, in various embodiments, the subject 30 may not be positioned on the isocenter 290and / or the subject may have one or more portions and may be selected to be image that are off the isocenter.

[0058] In various embodiments, the imaging system 80 may be controlled substantially automatically by the imaging system control 96 that may include the processor module 97 and / or with one or more inputs from the user 72. For example, the display 84 may display a representation of the imager 80i as illustrated in Fig. 3. The representation of the imager 80i may allow for a selection of one or more projections to be acquired of the subject, such as an anterior-to- posterior (AP), posterior-to-anterior (PA), a right lateral projection, (R-LAT), or a left lateral (L-LAT). These projections may be selected by the user 72 such as with the touch screen on the display 84 or other appropriate inputs. Further, selected alternative projections may also be selected with other inputs, such as with other on screen display inputs, inputs with the input devices, or the like. In various embodiments, for example, the user may select to acquire a projection at 30° and 120°. As discussed further herein, the various projections may be selected and / or reviewed to determine areas, regions, poses, or the like for acquiring image data of the subject 30 to select or generate an image or visualization of the subject 30. Regardless, the user 72 may provide selected inputs for selecting and / or evaluating positioning of the imaging system for acquisition of images of the subject and / or reviewing acquired images of the subject.

[0059] In various embodiments, the imaging system 80 may acquire one or more projections to allow for generation of a three-dimensional (3D) image or reconstruction of the subject 30. The reconstruction of the subject 30 that is a 3Dimage may be based upon two or more projections through the subject to allow for the generation thereof. As understood by one skilled in the art, generation of an image, such as a 3D image reconstruction, based upon one or more projections which may be 2D projections may be based on image processing of the one or more projections. In various embodiments, a 3D image reconstruction may be based upon two or more 2D projections. In various embodiments the 2D projections may be acquired as substantially 90° or orthogonal to one another and to include the subject 30.

[0060] Turning reference to Fig. 4, the imaging assembly 80 may include the imager portion 198 that includes the source 174 and the generally opposed detector 178. As illustrated in Fig. 4, the source 174 may be positioned to acquire a lateral image relative to the subject 30. The detector 178 may be positioned relative to apportion or point of the source, such as a central pivot portion 300 of the source 174. The source 174 may pivot or move around the pivot point 300 such that the central axis 274 may be positioned at more than one angle passed to the isocenter 290. The detector 178 may be moved to different positions relative to the isocenter 290 as well. For example, as illustrated in Fig. 4, the source 174 may project the cone 270 to the detector 178. The cone 270 may be positioned at various position as the source 174 rotates about to the pivot 300. Accordingly, the cone 270 may have a first position 270a where the cone 270 has the central axis 274a. The selected central axis 274a may be off the isocenter 290 of the imaging system 80. Further, the cone 270a may extend over a region of the subject 30 suchas defined by the extent of the cone portion to 270a that passes through the subject30.

[0061] The detector 178 may be moved relative to the subject 30 as the source 174 is pivoted on the pivot axis 300. Therefore, for example, the detector may be moved to detect x-rays in a cone 270b and a cone 270c. Each of the cones have respective central axes 274b and 274c. The detector 178 may be moved such that the central axis 274a, 274b, 274c extends substantially normal to a surface of the detector 178. It is understood that the detector 178 may be positioned at any appropriate number of positions relative to the source 174 without rotating the imaging assembly 198 of both the source 174 and the detector 178. Thus, the imaging system 80 may collect image data at several poses at a single orientation of the imaging assembly 198 with the respective cones 270 and central axes 274 related there too.

[0062] As discussed above, the imaging system 80 may be used to acquire images at one or more poses relative to the subject 30. The source 174 may project the beam cone 270 at the various positions 270a, 270b, and 270c. Further, the source 174 may move to a pose to generate projections in a lateral position, such as by moving along path 301. The movement along the path 301 may be in any appropriate manner. Thus, the source 174 may rotate around the pivot 300 at the lateral imaging position. At the lateral imaging position, the source may pivot to project, for example, three different positions of the cone 270d, 270e and 270f. Each of the three cones 270d, 270e, 270f may have respective central axes 274d, 274e, and 274f. Accordingly, the imaging system may project the cone 270 at threepositions 270d, 270e, 270f that allows the respective central axes 274d, 274e, 274f to be substantially perpendicular to the detector 178 at the lateral position.

[0063] As illustrated in Fig. 4, therefore, the imaging system 80 may be used to generate three pose projections at the AP orientation and three pose projections at the lateral orientation. Each of the three positions of the detector at the respective orientations allow for a capture of x-rays or image data directly through the isocenter between points of the source 174 and the detector 178. Further, the plane or line at which the projections are acquired change relative to the isocenter 290 or the subject 30, as illustrated in Fig. 4.

[0064] The beams may be moved relative to the subject 30 to acquire image data of the subject 30. Given the extent of the beams emitted by the source 174 and detected at the detector 178, a space or volume of reconstruction 310 may be defined within the imaging system 80. The reconstruction space or volume 310, however, may not encompass all of the subject 30, as illustrated in Fig. 4. While the subject 30 may be encompassed by at least a portion of the beam at one or more of the positions, as illustrated in Fig. 4, the reconstruction of volume or space 310 may include a space or volume that allows for a selected certainty in a reconstruction. For example, a three-dimensional reconstruction may be based on two or more or other selected number of projections. Therefore, the reconstruction space or volume 310 may be that space that includes a selected number of projections and / or variety of orientations to ensure an appropriate or selected reconstruction. Therefore, the acquired image data may include regions of ambiguity, such as a first region of ambiguity 314 and / or a second region ofambiguity 318 that may be outside of the reconstruction space 310. While a selected portion of the subject 30 may appear in a single or selected number of projections in the regions of ambiguity, the reconstruction may not include the portion of the subject in the region of ambiguity and / or the reconstruction that may not have a selected certainty.

[0065] Further, to assist in evaluating the image data for the acquisition and / or determination of or confirmation of selected imaging, the projections at a selected orientation may be processed onto or into a single plane. For example, as is illustrated Fig. 4, a uniform or common plane or surface 330 may be defined relative to a selected number of detector positions and / or beam positions, such as the beam positions 270a, 270b, 270c. Each of the beams pass through the region or plane 330 when being detected at to the detector 178 at the positions of the beams 270a, 270b, 270c. A processing, such as a back projection to a selected plane, may be performed to display or process all of the projections at a uniform or single plane 330. It is understood that a similar single plane 334 can be generated for each of the beam positions 270d, 270e, and 270f. Thus, the several projections at each of the orientations, such as the AP or the lateral orientation of the imaging system, may be processed to allow for a uniform evaluation of the image projections.

[0066] In addition to the common plane 330 for the back projection or processing of the three detector projections from the beams 270a, 270b, 270c, a common plane 334 may also be defined for the beams 270d, 270e, 270f. Therefore, the system may define or be used to define a common plane forpositionings of the detector at any appropriate positions within the imaging system. Thus, the regions of ambiguity 314, 318 may be determined for any portion relative to the subject 30 for which image data is selected to be captured. Further the common planes 330, 334 may be useful in identifying or determining regions for acquiring image data to perform a three-dimensional reconstruction of the subject 30, such as in the reconstruction region 310, as discussed above. The multiple positions of the detector relative to a single position of the pivot point 300 defined by the source 174 may allow for an acquisition of image data relative to the subject 30 to determine and / or allow for a three-dimensional reconstruction of a selected or larger volume of the subject. The multiple projections may be identified or evaluated together, such as by stitching the multiple projections together and projecting them onto the single plane, such as the single planes 330, 334 to assist in the selected processing thereof.

[0067] With reference to Fig. 5, for example, a field of view region 370 may be identified relative to the subject 30 and / or an image based on the image data collected at an exemplary detector pose. As exemplary illustrated in Fig. 5, the field of view may be determined by the single image capture of the detector at a position of the detector relative to the imaging system 80 and / or the subject. As schematically illustrated in Fig. 5, the subject 30 may have a plurality of elements, such as vertebra schematically illustrated as circles. For example, within the field of view the subjects may include five vertebra V1-V5. In various embodiments or selections, however, the region to be imaged may be beyond this view. Therefore, the detector may move relative to the subject and / or the source 174 without movingthe entire imaging assembly 198, as discussed above. In moving the detector, a field of view 374, as illustrated in Fig. 6 may be determined. The field of view 374 may include or capture three vertebrae not in the first field of view 370 such as vertebrae V6-V8. The vertebrae v1 and v2, however, may also be included in the field of view identified in the field of view 374. Therefore, the subject 30 may be positioned within the imaging assembly 80 and allow for acquisition of an image that is off the isocenter or center of the imaging system 80. However, the position of the subject 30 may include the subject 30 having a center or selected region for imaging that may be off the isocenter of the imaging system 80. Again, the field of view 374 may allow the user to select the region of the subject to be imaged to identify a possible movement of the imaging system to acquire image data of the selected portion of the subject.

[0068] With reference to Fig. 7, a field of view 378 may include a stitched view of two or more field of views. Therefore, the field of view 378 may include 11 vertebrae V1-V11 of the subject. The field of view 378 may include a stitching of at least two field of view or three field views, as illustrated in Fig. 4. The stitching may include an identification of common features, such as by segmentation, and stitching the projections at the different cone positions at a single source pivot point location. The field of view 378 may allow the user 72 and / or the selected system to analyze the image projections for evaluating image data to be acquired for a selected reconstruction. Further, various features, such as a fiducial system or array may be identified in the projections to assist in a registration of two or more images together and / or to a different coordinate system, such as a physical spacecoordinate system. The field of view 378 may include an area or region large enough to assist in identifying portions of the subject 30 for acquisition of an appropriate amount of image data to perform a reconstruction, such as a three- dimensional reconstruction thereof.

[0069] With continuing reference to Fig. 7, a fiducial assembly may include a fiducial assembly such as the fiducial assembly 120 as illustrated in Fig. 1. As schematically illustrated in Fig. 7, however, fiducial assembly 120 may include a first fiducial marker 120a, a second fiducial marker 120b, third fiducial marker 120c, and a fourth fiducial marker of 120d. The fiducial markers may be at a fixed and known pose relative to one another, based upon the fiducial assembly 120, in the physical or subject space. Accordingly, the geometry and spatial positioning are known in the navigation space. Therefore, identifying the fiducial markers in the field of view the 378 may allow for a determination or registration to the subject space of the subject 30, other image data that may include the fiducial assembly, and the like. Therefore, the fiducial assembly 120 may be identified in the field of view 378. The fiducial assembly 120, however, may not be viewable in any one of the other field of views such that the field of view 370 or the field of view 374. Given the position and / or size of the fiducial assembly 120, the fiducial assembly may not appear at all or entirely in any of the other field of views. For example, in the field of view 370 illustrated in Fig. 5, the fiducial elements 120d and 120a may be viewable, but not the two other fiducial members 120b and 120C. Therefore, a registration or identification of the fiducial assembly may not be determinable based upon the field of view 370.

[0070] The imaging assembly 80 may be operated to allow for the acquisition of one or more projections to generate to the field of view 378 as illustrated in Fig. 7. This may allow for a determination of a portion of the subject to be imaged for further image data acquisition, such as for three-dimensional reconstruction, and identification of a fiducial assembly and the related geometry thereof. The inclusion of the fiducial assembly in the field of view of more than one pose of the detector 178 may assist in a registration by ensuring enough (e.g., the entire fiducial assembly) image data is present for a registration.

[0071] While the discussion above refers to vertebrae, such as vertebra v1 , stitching may be performed with any appropriate portions in the image. Thus, the use of vertebrae is merely exemplary. Other portions may include rib portions, connection elements (e.g., a bolt), etc. The image portions are selected or identified to allow stitching of two or more projections together. Thus, the images that are stitched together may be provide at any appropriate or relative orientation, such as along a spine or across a spine.

[0072] Turning reference to Fig. 8, the image projections may also be used to identify a size or volume of the subject 30 to assist in determining a proper dose or image volume acquisition for various purposes. As discussed above, a generation or a reconstruction of a selected image, such as a three-dimensional image, of the subject may be selected. Therefore, determining a size of the subject, position of the subject, and the like may be used for determining a dose and positioning of the imaging system. For example, as illustrated in Fig. 8, an extent or a dimension of the subject may be determined. For example, in the large fieldof view 378, as illustrated in Fig. 7, a dimension, such as an external dimension or extent of the subject 30 may be determined. For example, as illustrated or displayed on the display 84, projections may be displayed of the subject to identify a first surface 390 and a second surface 394 in a first projection, such as an AP projection 400. Similarly, a first extent 404 and a second extent 408 of the subject may be identified in a second projection 412, such as a lateral projection. Therefore, a dimension between the extents, such as a dimension 416 may be measured in the projections of the subject. The dimension 416 may be used to determine a dose with the imaging system to acquire an appropriate or selected image data of the subject 30.

[0073] Further, a dimension or position of various features, such as an anatomical feature including one or more vertebrae may be identified. The boundaries of vertebrae may include a first boundary 420 and a second boundary 424, such as determined in the AP projection 400. Similarly, a third boundary 428 and a fourth boundary 432 may be determined in the lateral projection 412. The extent or position of a selected portion of the anatomy may be selected or identified, for various purposes, such as ensuring an appropriate portion of the subject is within the volume of reconstruction 310. As discussed above, various regions of ambiguity may exist based upon a first set of positions of the imaging system 80. Therefore, the regions may be identified automatically and / or by the user 72 to query whether they would be within the volume of reconstruction 310 and / or to identify those portions within the volume of reconstruction 310. The user 72 and / or the system may determine whether the portions identified in theprojection, such as the projections 400, 412, are selected for reconstruction and / or for various purposes.

[0074] The various projections acquired with the imaging system 80 may be used for various purposes. For example, an AP and lateral view, as illustrated in the positions of the imaging system in Fig. 4, may be collected as scout images or planning images. The scout images may be used to determine those portions at a first set of parameters of the imaging system 80 that would be within the region of reconstruction 310. As discussed above, the field of view 370, 374, 378 may be used to identify those portions within the field of view and / or to be select portions for inclusion in a field of view of a reconstruction. The boundary portions identified in the projections 400, 412, illustrated in Fig. 8, may also be useful for identifying regions or portions within the scout projections to assist in identifying parameters to acquire image data of the subject 30 with the imaging system 80 for a selected reconstruction. The selected reconstruction may be the three-dimensional reconstruction which may be identified or determined to be within the reconstruction boundary 310. Accordingly, if selected regions or portions are not within the scout images or are identified to be in the region of ambiguity, a parameter of the imaging system 80 may be altered automatically and / or the user 72 or other systems may be notified of the possible relation of ambiguity or determined region of ambiguity in a reconstruction. A region of ambiguity may be a portion or member that may be viewable in one of the scout images, but will not be reconstructed in a reconstruction image.

[0075] With reference to Figs. 1 -8 regarding the imaging system and various configurations thereof, a process 470 is illustrated in Fig. 9. The process 470 may allow for the use of the imaging system to acquire image data of the subject 30, such as with the one or more scout images, as discussed above, and allow for a determination and selection of appropriate image data for a selected or appropriate image reconstruction. The reconstruction may include a three-dimensional image reconstruction of the subject based upon the acquired image data. The various scout images may be acquired and reviewed, either automatically or by the user, or both, to ensure an appropriate image data acquisition for a selected or appropriate image reconstruction. The image reconstruction may be understood to be based on the acquired image data and used to generate an image, such as a 3D image. The image reconstruction may include or access a model of one or more elements, such as an implant or a fiducial assembly, in a memory system to assist in the image reconstruction.

[0076] The process 470 may begin in start block 474. Thereafter, an acquisition of image data over a sweep may occur in block 478. The acquisition of the image data over the sweep may include positioning the image acquisition assembly 198 in an appropriate pose relative to the subject, such as a lateral or AP pose, and acquiring one or more projections at the selected pose. Accordingly, the image data acquired at one or more of the poses may include positioning the detector at more than one position in movement of the source and the detector relative to a region, such as the isocenter 290 or other appropriate portion of the subject 30 or the imaging system 80. The sweep of image data may include acollection of projections at more than one position of the cone, such as the cone 270a, 270b, and 270c.

[0077] After the acquisition of the image data over a sweep, a generation of a long film may occur in block 482. The generation of a long film may include back projecting or processing the several projections at a selected position of the imaging assembly 198 into a single long film or long field of view, such to the field of view 378. The long film may be generated by processing the acquired projections based upon the known position of the source 174 relative to the subject in the related position of the detector 178. As illustrated in Fig. 3, the long film may be determined or generated based upon a selected common plane, such as the common plane 330 or 334. The common plane may allow for viewing or generating a long film that is substantially consistent in various parameters, such as dimensions, over the extent of the long film. The generated long film may then be displayed or analyzed for various purposes, such as discussed herein. In various embodiments, the long film may refer to an image that is reconstructed based on more than one image data collection or projection of the detector 178.

[0078] Generally, the long film may allow for identification of various features, such as fiducials, anatomical features, structures within the subject 30 or other appropriate features. Again, the long film may be generated to include more than one portion of the subject, such as bony portions, fiducial portions, or the like.

[0079] A determination of the reconstruction region may then be made in block 486. The determination of the image reconstruction region may include an identification of a field of view for image reconstruction, such as illustrated on thelong view generated in block 482. As discussed above, various field of views may be determined or illustrated relative to a long view, such as the field of view 370 or 374. The one or more field of views may relate to an individual position of the detector, in various embodiments. Further, however, the field of views may be used to illustrate those portions that may be included in an image reconstruction based upon the scout views that may be reconstructed or stitched into long film generated in block 482. As discussed above, the imaging system 80 may be moved relative to the subject 30 with various parameters (e.g., motions). Accordingly, based upon the generated long film, a portion of the subject that would include an amount of image data collected therefrom to make an appropriate reconstruction may be illustrated. The determination of the reconstruction region may be based upon a selected analysis of the image data and image data required to generate a three- dimensional image reconstruction based upon various techniques.

[0080] In various embodiments, the reconstruction region of long films may be displayed in block 490. The illustration of the reconstructed region may be with the display device 84 for viewing by the user 72. The user 72 may then assist in determining whether an appropriate region would be reconstructed. This may further include the identification of a region of ambiguity in block 494. The region of ambiguity identified in block 494 may also be illustrated relative to the long film and / or any appropriate projection. The region of ambiguity may be identified as those portions that are included in the projections that would not or may not include enough image data for an appropriate image reconstruction, such as an image reconstruction with a selected clarity or confidence.

[0081] Again, the region of ambiguity may be identified and displayed for the user 72, such as with the display device 84. For example, as illustrated in Fig. 6, a region of ambiguity 496 may be displayed relative to the field of view 374. The region of ambiguity 496 may be determined based upon the geometry of the cone 270 relative to the subject in various positionings thereof.

[0082] Based upon the determined region of reconstruction and identified regions of ambiguity in blocks 486, 494, a determination of whether a region of reconstruction is appropriate may be made in block 500. The determination in block 500 may be made by various appropriate systems, such as by the user 72 or the processing system or combinations thereof. For example, in various embodiments, the user 72 may view the determined or illustrated regions of reconstruction and identified regions of ambiguity and determine whether the reconstruction that may be made is appropriate for a selected prosecute and / or based on selected parameters.

[0083] Further the system may analyze the image data and the possible regions of ambiguity and regions for image reconstruction and determine whether an image reconstruction would be appropriate. For example, a procedure, such as a fusion of selected vertebrae, may be predetermined or identified to the system. The processor, such as the image processor 97 or the navigation processor module 102 may determine whether the region of image reconstruction is appropriate for the selected fusion, such as whether the appropriate vertebrae would be reconstructed in the reconstruction.

[0084] The determination in block 500 may be useful prior to any further processing, including reconstruction, as discussed further herein. The determination in block 500, however, may also precede one or more processes. Thus, the process 470 may include the sub-processes as discussed herein that may occur singly, in the alternative, and / or sequentially.

[0085] If a determination that the region of image reconstruction is not appropriate, a NO path 504 may be followed to acquire additional image data sweeps in block 478. The additional and / or alternative image data sweeps may allow for the collection of image data relative to the subject 30 with the imaging system 80 at differing parameters, such as at different orientations of the imaging system 198 relative to the subject 30, different doses, or the like. Thus the process 470 may allow for acquisition of image data of an appropriate region for image reconstruction that may be determined in block 500. If the region of reconstruction is appropriate a YES path 510 may be followed.

[0086] The long film image generated in block 482 may be used for various purposes either prior to or after acquisition of image data for the image reconstruction based upon the generated long films from the acquired image data sweeps in block 478. The various optional processes may occur in the process 470 at any appropriate time. For example, an optional process may include a subprocess 520 of identifying fiducials or fiducial elements in the long images that may be imaged or generated. The subprocess may include identifying fiducials in the long image in block 524. The identification of the fiducials in the long film may include determining or applying a known component feature or model of a fiducialelement, which may include implants such as a screw, to the image data. Based upon the known components of the fiducial elemental member, a determination of the fiducial elemental member (e.g., determining a boundary) in the long film may be made in block 524. This may be a substantially automatic process based upon a model including known components of the fiducial element or any appropriate member and comparing it to the long film. For example, a fiducial member, a screw implant, or the like may have known components in a model (e.g., a CAD model) thereof. The known interaction of x-rays with the members may be used to then determine the image properties thereof in the long film. Thus, the comparison between the model with the known components and the long film may be made to identify the fiducials in the long film. Based upon the identification of the fiducials in the long film the same may be identified in the reconstruction in block 528. Once the components of the fiducial portion (e.g., a selected member and / or an implant) are identified in the long film and may also be identified in the image reconstruction. The image reconstruction is based upon the image data acquired of the subject and, therefore, includes the fiducial members.

[0087] A registration of the reconstruction or long film to prior acquired image data may then be made in block 532. The prior acquired image data may include image data acquired of the subject prior to acquisition in the process 470. In various embodiments, for example, a diagnosis image may be acquired of the subject, such as with a computed tomography system, an MRI imaging system, or the like. If the fiducial elements are present in the prior acquired image, they mayalso be identified in any appropriate manner and used to register or be correlated to the fiducial elements identified in the long film as discussed above.

[0088] Therefore, a fiducial and registration process 520 may be incorporated into the process 470. This may allow for a registration of the image reconstructed portion and / or the long film scout images based upon the identified fiducial portions therein. A parameters subprocess 540 may also be performed. The subprocess 540 may include determining the size of the subject in block 544. As discussed above, the large field of view of long films may be used to identify the extent or regions to be imaged of the subject. Given a full or known extent to the subject, a parameter or more than one parameter may be determined for the imaging system. Parameters may be set in block 548. Parameters may include, for example, a number of projections, a parameter for energy or dosing of the imaging system, setting of the Reconstruction Field of View, and identification of the Isocenter, or other appropriate parameters. Regarding dosing, this could be used to aid to select dose modulation strategies where certain poses of the source may have varying dose, which may relate to a thickened of the subject in that pose or direction. Thus, a parameter subprocess 540 may be included in the process 470.

[0089] Nevertheless, once the region of reconstruction is determined to be appropriate in block 500 and a YES path 510 is followed to the acquisition of image data based on the appropriate region of construction may be made in block 560. The acquisition of the image data may be based upon various parameters and various poses, as discussed above. For example, the determination of the regionfor reconstruction may inform the positioning of the imaging system 80 relative to the subject 30 to acquire appropriate image data. Further, as discussed above, various parameters such as dosing and the number of projections may also be identified for acquisition of the image data in block 560.

[0090] As discussed above with the process 470 may be useful and be performed automatically (e.g., executing instructions with the processor), manually, or combinations thereof for evaluating an image data for image reconstruction of a volume and allowing for determination or selection thereof using one or more scout images. The scout images may be long film images acquired or based upon image data projections that are acquired with an imaging system that may be stitched together.

[0091] In the reconstruction process, however, various regions in the acquired images used for reconstruction may be processed or filtered in a region that may consider image data that is not in the region be processed. The image data not in the region may include image data that is not in the reconstruction image (including a volume) during or after a reconstruction process. Therefore, the image data that is acquired in block 560 for reconstruction may be of a region of the subject 30 that is less than or smaller than (e.g. in 2-dimensions, 3-dimensions, or any appropriate region) then the extent of the long film, as exemplary illustrated in Fig. 8. Accordingly, the process 470 may include a truncation processing or truncation reduction subprocess in block 570.

[0092] The truncation processing in block 570 may include various processes, such as those discussed herein and illustrated in various figures,including Fig. 10, for example. The truncation processing 570 is understood to be optional and need not be required for a reconstruction based upon the image data acquired in block 560. Nevertheless, the truncation processing may assist in processing the image data for the reconstruction to account for region outside or beyond a reconstruction region or volume and / or a single projection of image data.

[0093] As illustrated in Fig.10, one or more long films may be generated (e.g., by stitching) in block 574 such as an AP film 576 and a lateral long film 578. The two long films 576, 578 may be similar to or are identical to the films 400, 412 discussed above. Accordingly, the long films 576, 578 may include various portions, such as external surface or edges, such as a skin edge 582, 584, respectively. The edges may be boundaries or exterior surfaces, similar to the extents 390, 394, 404, 408 discussed above. Therefore, the entire extent of the subject 30 may be imaged and included in the long films 576, 578. This may allow for a reconstruction of a volumetric of 3D image 590 due to a 3D reconstruction estimation process 594.

[0094] The 3D estimation reconstruction process 594 may include one or more processing steps that processes one or more long films, such as the long films 576, 578, into a 3D volume. The long films 576, 578 are exemplary of possible long films that may be processed by the process 594. The 3D volume may then be viewed in various manners, such as slices or volumetric imaging. The 3D reconstruction estimation process 594 may be based upon various estimation or reconstruction processes and may be understood to be an estimation based upon the image data acquired in the long films 576, 578 that may not be optimal for aprecise or selected 3D reconstruction. Nevertheless, the long films 576, 578 may be used in the 3D reconstruction estimation to generate the 3D reconstruction estimation 590.

[0095] The 3D reconstruction estimation process 594 may be performed in various manners, such as with a physics or model information process. For example, a model may be used to evaluate and / or be augmented to generate the 3D reconstruction image 590 based upon the long films 576, 578. In various embodiments, for example, a model (e.g., anatomical atlas, CAD model, etc.) of the subject 30 may be used to fit the long films 576, 578 to generate the 3D reconstruction estimation of 590. For example, the model may be augmented based on the long films 576, 578. In various embodiments, a physics model and / or determination may be used to assist in performing the 3D reconstruction estimation process 594. The physics model or information may include physics information regarding a standard subject, such as density of the subject, distance between the subject and the detector 178, and / or various other information. Additionally or alternatively, various machine learning systems (e.g. neural network models, artificial intelligence models, etc.) may be used to generate the 3D reconstruction image 590. The various machine learning models may be trained based with various long film image data to allow for generation of the 3D reconstruction estimation image 590 in the 3D reconstruction estimation process 594 based upon current patient or current subject long films 576, 578. A training process may be performed in an appropriate manner, such as understood by one skilled in the art.Then current or new long films may be used to generate the 3D reconstruction estimation image 590.

[0096] Therefore, in the truncation processing 570 a generation or generating long films in block 574 may be performed. The generation of the long films 576, 578 may be performed as discussed above, such as identifying and evaluating fiducials, stitching processes, and the like. With the generated long films from block 574, the 3D reconstruction estimation image 590 may be generated block 596. The 3D reconstruction estimation image in block 596 may be based upon the generated long films 576, 578 and the process 594, as discussed above and illustrated in Fig. 10.

[0097] The truncation process 570 may then further include various processes, such as those illustrated in Fig. 11 . Initially, with reference to Figs 5, 6, and 7, various regions or field of view 370, 374, 378 for reconstruction may be evaluated at an appropriate time. In various embodiments, for example, the field of view 370 may be the field of view that is reconstructed based upon image data that may be collected by the imaging system 80. The field of view, such as the field of view 370, may include a selected portion of the subject 30 that is to be reconstructed based upon image data acquired with the imaging system 80. Similarly, a field of view may be selected in the long film region or portion, such as a field of view 600 (Fig. 10). The field of view 600 may be illustrated relative to a long film such as the long film 574 (similar to the field of view of 370 illustrated in Fig. 5) or in any appropriate manner. The field of view, such as the field of view 600, may then be selected for a reconstruction.

[0098] Turning reference to Fig. 11 , a reconstruction region or volume may then be based upon image data that is evaluated for process. For example, in Fig. 11 a selected or actual projection 604 may be processed in a selected manner. For example, a ramp filter may be applied to the actual projection 604. It is understood that the actual projection 604 may be an exemplary projection that is acquired during the acquisition of the image data for reconstruction in block 560. Therefore, the actual projection 604 may be one projection of a plurality of projections that are acquired for the reconstruction.

[0099] For the reconstruction process the actual projection 604 and / or any selected number of projections may be processed for and / or prior to the reconstruction process. For example, a ramp filter may be applied to a selected number or all pixels, such as the pixel 610, in the actual projection 604. The ramp filter may be a filter that processes or weights the pixel 610 relative to other pixels. In various embodiments, the ramp filter may be a long tail filter that may evaluate or add to the pixel 610 values of pixels within the real projection 604, such as along the line segment 614 and pixels along the line segment 616. However, the evaluation or processing of each of the pixels, such as the pixel 610, may be selected to have substantially equal portions so that each of the line segments 614, 616 are equal. Therefore, a padded region or region 620 and 624 may be added to either side of the actual projection 604 to allow for an evaluation of the pixel 610 to have substantially equal pixel data on either side of the pixel 610. The padded regions 620, 624 may be informed by the 3D reconstruction estimation590.

[0100] With additional reference to Fig.12, the 3D reconstruction estimation image 590 may be evaluated or processed to generate padded region data for the padded regions 620, 624. As illustrated in Fig. 12, the 3D reconstruction estimation 594 may be evaluated by a back projection to generate data for the padded regions. The actual projection 604 may be within the region 630 of the 3D reconstruction estimation image 590. The padded regions may be on either side of the reconstruction or real projection region 630 and include a padded region portion 620’ and a padded region portion 624’.

[0101] A back projection that may be generated based upon the geometry of the imaging system 80 through or with the 3D reconstruction image 590. The geometry may include a position of the source 174 and a position of the detector of 178 during an acquisition of image data to generate the 3D reconstruction image 590. Therefore, a back projection ray 634 may be projected through the 3D reconstruction estimation image 590 to generate padded region data.

[0102] A padded region generation process 640 may include the back projection as illustrated in Fig. 12 to generate padded region data 620, 620’ and 624, 624’ relative to the actual projection 604. The padded region data may include portions of data that are outside of the real projection 604, such as the surfaces 582 of the subject 30. A value of a pixel in the padded region in 620 may be generated based upon the back projection ray 634 in the back projection region 620’. The generated pixel value may be a virtual or determined pixel value determined due to the back projection through the 3D reconstruction image 590.

[0103] This pixel value for the pixel in the padded region may then be used to evaluate or process the pixel 610. Again, the pixel value in the padded region is based upon a back projection or estimation of the region using the long films 574, 578 and the related generated 3D reconstruction estimation image 590. Thus, the ramp filter may be applied to the pixels in the actual projection 604, such as the pixel 610, based upon an estimation of the 3D reconstruction image 590 and a related back projection that is based upon actual or real image data acquired of the subject 30.

[0104] Accordingly, the truncation processing 570 may, therefore, include a processing of actual projections included in the process 470. For example, the acquisition of actual or current projections may be performed in block 640. The acquisition of actual or current projections may include acquisition of image data of the subject 30 according to any appropriate process. Therefore, the imaging system 80 may be used to acquire image data of the subject 30. As discussed above, the acquisition of the image data with the imaging system 80 may be used to generate one or more projections of the subject 30 for reconstruction. The reconstruction may include a three-dimensional reconstruction with the acquired image data.

[0105] The truncation process 570 may then be used to generate padded region data in block 644. As discussed above, the generated padded region data may include data that is generated due to a back projection process such as using the 3D reconstruction estimation image 590 generated in block 578. The 3D reconstruction estimation image 590 may be used to generate the back projectionpadded region data, as discussed above and illustrated in Fig. 12. Therefore, the generation of the padded region data in block 644 may be generated.

[0106] The generated padded data may be generated to fill or add into the padded region of the actual projection. The actual projection may be a truncated portion of the subject. This means that the actual projection of the subject may include only a portion of the subject that is imageable at a single pose of the detector. Thus, a portion of the subject may be beyond the boundary of the actual projection.

[0107] The back projection of the that is used to generate the padded data in block 644 may include a back projection of the entire 3D estimation reconstruction 590. The back projection image, which may also be referred to as a digitally reconstructed radiograph (DRR), may then be matched or registered to the actual projection 630. Thus, a determination may be made of the boundary of the actual projection and the padded region data in the DRR from the back projection image based on the 3D estimation reconstruction 590. This determination may include a registration, such as a 2D-to-2D registration that may be automatic (e.g., performed by execution of instructions by the processor module), manually, or combinations thereof. Nevertheless, the determination allows for the generation of the padded region data from the 3D estimation reconstruction 590 (which is based or generated on image data of the subject 30) that is outside a boundary or edge of the actual projection 630 that is a truncated projection of the subject 30.

[0108] Processing of the actual or to current projections may then occur in block 650. The processing of the actual projections may include the application of a ramp filter to pixels, such as the pixel 610, in the actual projection. The ramp filter may include pixel values from the padded regions(s) including the generated padded region data from block 644. Thus, the actual projections may be filtered including data based upon the subject 30 that may be generated due to a back projection through the 3D reconstruction estimation image 590. This allows the processing of actual projections to occur with an appropriate amount of image data in the padded region based upon actual image data acquired of the subject 30.

[0109] The truncation process 570 may then be used to remove the padded data in block 654. Removing of the padded data from the real projections, such to the actual projection 604, may allow for the reconstruction of the selected reconstruction without the estimated image data from the 3D reconstruction estimation image 590. Thus, the reconstruction of the subject 30 may be based upon an appropriate or selected amount of image data but may be informed by actual image data of the project including the 3D reconstruction estimation image 590. However, as discussed above, the 3D reconstruction estimation image 590 may be an estimation based upon a suboptimal amount of image data and therefore removal of the padded image data in block 654 may allow for generation of an optimal reconstruction image in the process 470 or the output of image data in the process 470.

[0110] An image or image data may then be output in block 660. The output image in block 660 may include image data that is useful or used in a selectedimage reconstruction, such as a 3D image reconstruction. The output in block 660, however, may be used for various purposes such as generation of an image for display, storage for later processing or display, etc. In various embodiments, however, the output from block 66 may be used in a generation of an image reconstruction, such as the three-dimensional image reconstruction in block 664 that may be based upon the acquired image data from block 560. The generation of the image reconstruction, however, is also understood to be optional and not mandatory.

[0111] In various embodiments, therefore, the output image data may be stored for various purposes, such as later analysis and presentation and / or may be displayed for the user 72 or other appropriate user. The reconstructed image from block 664 may be displayed with the display device 84, such as the image 108. The reconstruction output 570 may include data useful for a three- dimensional image reconstruction that is based upon the image data acquired with the imaging system based upon the parameters, as discussed above. The output image data may include the reconstruction that also identifies the portions that include the various features, as discussed above, such as the fiducials and the various anatomical portions.

[0112] The process 470 then may then end in block 680. Ending the process 470 in block 680 allows for the image data to be used for various purposes, such as performing a procedure, comparison or registration to additional images, navigation of the procedure, and the like. As discussed above, a registration of the image data to the subject may be performed to assist in various procedures, suchas the navigation procedure. Therefore, the process 470 may assist in generating an image reconstruction or acquiring image data appropriate for an image reconstruction to assist in various processes, such as navigation of a procedure including illustrating of a tracked pose of the instrument 68 relative to the image reconstruction.

[0113] Examples

[0114] Example 1 - A method of evaluating image data of a subject for a reconstruction, comprising: acquiring a first image data at a first pose of a detector relative to a first point of a source; acquiring a second image data at a second pose of the detector relative to the first point of the source; analyzing the first image data and the second image data to determine a volume of reconstruction with selected parameters based on the analysis of the first image data and the second image data; outputting a visual representation of a portion of at least one of the first image data or the second image data related to the volume of reconstruction with selected parameters; and outputting parameters for an imaging system including at least for positioning the detector and the source to acquire image data to generate the reconstruction.

[0115] Example 2 - The method of Example 1 , further comprising: processing the first image data and the second image data to a first single image plane related to the first pose of the detector and the second pose of the detector.

[0116] Example 3 - The method of Example 2, wherein analyzing the first image data and the second image data includes: determining a region of ambiguity in the determined reconstruction based on the first image data and the secondimage data; wherein the region of ambiguity includes image data of a portion of the subject in at least one of the first image data or the second image data that would not be included in the generated reconstruction.

[0117] Example 4 - The method of Example 3, further comprising: acquiring a third image data at a third pose of the detector relative to a second point of the source; and acquiring a fourth image data at a fourth pose of the detector relative to the second point of the source; and processing the third image data and the fourth image data to a second single image plane related to the third pose of the detector and the fourth pose of the detector; wherein the first point is displaced from the second point.

[0118] Example 5 - The method of Example 4, further comprising: generating a first image based on the processed first image data and second image data to the first single image plane; and generating a second image based on the processed third image data and fourth image data to the second single image plane.

[0119] Example 6 - The method of Example 5, further comprising: outputting a representation of a portion of at least one of the third image data or the fourth image data related to the volume of reconstruction with selected parameters; wherein the outputting parameters for the imaging system is based at least on the output representation.

[0120] Example 7 - The method of Example 2, further comprising: generating the image based on the processed first image data and second image data to the first single image plane.

[0121] Example 8 - The method of Example ?, further comprising: identifying a fiducial image portion in the generated image; determining a subject coordinate system pose of a fiducial member; and registering an image coordinate system of the generated image with the subject coordinate system.

[0122] Example 9 - The method of Example 7, further comprising: identifying an implant image portion in the generated image; determining a subject coordinate system pose of a implant member; and registering an image coordinate system of the generated image with the subject coordinate system.

[0123] Example 10 - The method of Example 7, further comprising: displaying a field of view representation superimposed on the generated image; and receiving input to move the displayed field of view representation to a selected position; wherein outputting instructions for an imaging system to position the detector and the source to acquire image data to generate the reconstruction is based on the selected position of the displayed field of view representation.

[0124] Example 11 - The method of Example 10, wherein receiving input to move the displayed field of view representation to the selected position is based on a user input.

[0125] Example 12 - The method of Example 7, further comprising: identifying an extent of the subject in the generated image; and determining a dose parameter for the outputting parameters for the imaging system.

[0126] Example 13 - A system to evaluate image data of a subject for an image reconstruction, comprising: a processor module configured to execute instructions to: acquire a first image data at a first pose of a detector relative to afirst point of a source; acquire a second image data at a second pose of the detector relative to the first point of the source; analyze the first image data and the second image data to determine a volume of reconstruction with selected parameters based on the analysis of the first image data and the second image data; and output a representation of a portion of at least one of the first image data or the second image data related to the volume of reconstruction with selected parameters; and a storage system to store parameters to control an imaging system including at least for positioning the detector and the source to acquire image data to generate the image reconstruction.

[0127] Example 14 - The system of Example 13, wherein the processor module is configured to execute further instructions to: process the first image data and the second image data to an image at a first single image plane related to the first pose of the detector and the second pose of the detector.

[0128] Example 15 - The system of Example 14, wherein the processor module is configured to execute further instructions to analyze the first image data and the second image data to: determine a region of ambiguity in the determined image reconstruction based on the first image data and the second image data; wherein the region of ambiguity includes image data of a portion of the subject in at least one of the first image data or the second image data that would not be included in the generated image reconstruction.

[0129] Example 16 - The system of Example 14, wherein the storage system is configured to store parameters to control the imaging system to: acquire a third image data at a third pose of the detector relative to a second point of thesource; and acquire a fourth image data at a fourth pose of the detector relative to the second point of the source; and process the third image data and the fourth image data to a second image at a second single image plane related to the third pose of the detector and the fourth pose of the detector; set the first point to be displaced from the second point.

[0130] Example 17 - The system of Example 14, wherein the processor module is configured to execute further instructions to: identify a fiducial image portion in the image reconstruction; determine a subject coordinate system pose of a fiducial member; and register an image coordinate system of the first image with the subject coordinate system.

[0131] Example 18 - The system of Example 14, wherein the processor module is configured to execute further instructions to: identify an implant image portion in the first image; determine a subject coordinate system pose of an implant member; and register an image coordinate system of the first image with the subject coordinate system.

[0132] Example - 19 The system of Example 14, wherein the processor module is configured to execute further instructions to: display a field of view representation superimposed on the first image; and receive input to move the displayed field of view representation to a selected position; wherein parameters to control an imaging system is based on the selected position of the displayed field of view representation.

[0133] Example 20 - The system of Example 14, wherein the processor module is configured to execute further instructions to: identify an extent of thesubject in the generated image; and determine a dose parameter for the outputting parameters for the imaging system.

[0134] Example embodiments are provided so that this disclosure will be thorough and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

[0135] Instructions may be executed by a processor and may include software, firmware, and / or microcode, and may refer to programs, routines, functions, classes, data structures, and / or objects. The term shared processor circuit encompasses a single processor circuit that executes some or all code from multiple modules. The term group processor circuit encompasses a processor circuit that, in combination with additional processor circuits, executes some or all code from one or more modules. References to multiple processor circuits encompass multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term shared memory circuit encompasses a single memory circuit that stores some or all code from multiple modules. The term group memory circuit encompasses a memory circuitthat, in combination with additional memories, stores some or all code from one or more modules.

[0136] The apparatuses and methods described in this application may be partially or fully implemented by a processor (also referred to as a processor module) that may include a special purpose computer (i.e. , created by configuring a processor) and / or a general purpose computer to execute one or more particular functions embodied in computer programs. The computer programs include processor-executable instructions that are stored on at least one non-transitory, tangible computer-readable medium. The computer programs may also include or rely on stored data. The computer programs may include a basic input / output system (BIOS) that interacts with hardware of the special purpose computer, device drivers that interact with particular devices of the special purpose computer, one or more operating systems, user applications, background services and applications, etc.

[0137] The computer programs may include: (i) assembly code; (ii) object code generated from source code by a compiler; (iii) source code for execution by an interpreter; (iv) source code for compilation and execution by a just-in-time compiler, (v) descriptive text for parsing, such as HTML (hypertext markup language) or XML (extensible markup language), etc. As examples only, source code may be written in C, C++, C#, Objective-C, Haskell, Go, SQL, Lisp, Java®, ASP, Perl, Javascript®, HTML5, Ada, ASP (active server pages), Perl, Scala, Erlang, Ruby, Flash®, Visual Basic®, Lua, or Python®.

[0138] Communications may include wireless communications described in the present disclosure can be conducted in full or partial compliance with IEEE standard 802.11 -2012, IEEE standard 802.16-2009, and / or IEEE standard 802.20-2008. In various implementations, IEEE 802.11 -2012 may be supplemented by draft IEEE standard 802.11ac, draft IEEE standard 802.11 ad, and / or draft IEEE standard 802.11 ah.

[0139] A processor, processor module, module or ‘controller’ may be used interchangeably herein (unless specifically noted otherwise) and each may be replaced with the term ‘circuit.’ Any of these terms may refer to, be part of, or include: an Application Specific Integrated Circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system-on- chip.

[0140] Instructions may be executed by one or more processors or processor modules, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” or “processor module” as used herein may refer to any of the foregoing structure or any other physical structuresuitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0141] The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.

Claims

CLAIMSWhat is claimed is:1 . A method of evaluating image data of a subject for a reconstruction, comprising: acquiring a first image data at a first pose of a detector relative to a first point of a source; acquiring a second image data at a second pose of the detector relative to the first point of the source; analyzing the first image data and the second image data to determine a volume of reconstruction with selected parameters based on the analysis of the first image data and the second image data; outputting a visual representation of a portion of at least one of the first image data or the second image data related to the volume of reconstruction with selected parameters; and outputting parameters for an imaging system including at least for positioning the detector and the source to acquire image data to generate the reconstruction.

2. The method of Claim 1 , further comprising: processing the first image data and the second image data to a first single image plane related to the first pose of the detector and the second pose of the detector.

3. The method of Claim 2, wherein analyzing the first image data and the second image data includes: determining a region of ambiguity in the determined reconstruction based on the first image data and the second image data; wherein the region of ambiguity includes image data of a portion of the subject in at least one of the first image data or the second image data that would not be included in the generated reconstruction.

4. The method of Claim 2, further comprising: generating the image based on the processed first image data and second image data to the first single image plane.

5. The method of Claim 4, further comprising: identifying a fiducial image portion in the generated image; determining a subject coordinate system pose of a fiducial member; and registering an image coordinate system of the generated image with the subject coordinate system.

6. The method of Claim 4, further comprising: identifying an implant image portion in the generated image; determining a subject coordinate system pose of a implant member; andregistering an image coordinate system of the generated image with the subject coordinate system.

7. The method of Claim 4, further comprising: displaying a field of view representation superimposed on the generated image; and receiving input to move the displayed field of view representation to a selected position; wherein outputting instructions for an imaging system to position the detector and the source to acquire image data to generate the reconstruction is based on the selected position of the displayed field of view representation.

8. The method of Claim 4, further comprising: identifying an extent of the subject in the generated image; and determining a dose parameter for the outputting parameters for the imaging system.

9. A system to evaluate image data of a subject for an image reconstruction, comprising: a processor module configured to execute instructions to: acquire a first image data at a first pose of a detector relative to a first point of a source; acquire a second image data at a second pose of the detector relative to the first point of the source;analyze the first image data and the second image data to determine a volume of reconstruction with selected parameters based on the analysis of the first image data and the second image data; and output a representation of a portion of at least one of the first image data or the second image data related to the volume of reconstruction with selected parameters; and a storage system to store parameters to control an imaging system including at least for positioning the detector and the source to acquire image data to generate the image reconstruction.

10. The system of Claim 9, wherein the processor module is configured to execute further instructions to: process the first image data and the second image data to an image at a first single image plane related to the first pose of the detector and the second pose of the detector.11 . The system of Claim 10, wherein the processor module is configured to execute further instructions to analyze the first image data and the second image data to: determine a region of ambiguity in the determined image reconstruction based on the first image data and the second image data;wherein the region of ambiguity includes image data of a portion of the subject in at least one of the first image data or the second image data that would not be included in the generated image reconstruction.

12. The system of Claim 10, wherein the storage system is configured to store parameters to control the imaging system to: acquire a third image data at a third pose of the detector relative to a second point of the source; and acquire a fourth image data at a fourth pose of the detector relative to the second point of the source; and process the third image data and the fourth image data to a second image at a second single image plane related to the third pose of the detector and the fourth pose of the detector; set the first point to be displaced from the second point.

13. The system of Claim 10, wherein the processor module is configured to execute further instructions to: identify a fiducial image portion in the image reconstruction; determine a subject coordinate system pose of a fiducial member; and register an image coordinate system of the first image with the subject coordinate system.

14. The system of Claim 10, wherein the processor module is configured to execute further instructions to: identify an implant image portion in the first image; determine a subject coordinate system pose of an implant member; and register an image coordinate system of the first image with the subject coordinate system.

15. The system of Claim 10, wherein the processor module is configured to execute further instructions to: display a field of view representation superimposed on the first image; and receive input to move the displayed field of view representation to a selected position; wherein parameters to control an imaging system is based on the selected position of the displayed field of view representation.

16. The system of Claim 10, wherein the processor module is configured to execute further instructions to: identify an extent of the subject in the generated image; and determine a dose parameter for the outputting parameters for the imaging system.

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