Resolution of detector position relative to patient

Abstract

Systems and methods include movement of a radiation detector toward a predetermined position relative to an object while using one or more sensors disposed on the detector to determine a position of the detector relative to the object, operation of the radiation detector to acquire radiation while the detector is disposed at the predetermined position, and reconstruction of an image volume based on the acquired radiation.

Description

Atty. Docket No. 2024P11030WORESOLUTION OF DETECTOR POSITION REL TIVE TO PATIENTBACKGROUND

[0001] Conventional medical images may be generated via transmission imaging or emission imaging. According to transmission imaging, an imaging source (e.g., an X-ray source) external to an object transmits source radiation (e.g., X-rays) through the object to a detector. According to emission imaging, the imaging source (e.g.. a gamma ray-emitting radiopharmaceutical) is internal to the object (e.g., due to injection or ingestion thereol) and emits the source radiation (e.g., gamma rays) from within the object to a detector.

[0002] According to single-photon-emission-computed-tomography (SPECT) imaging, a radioactive substance injected into an object emits gamma radiation (i.e.. consisting of high-energy photons) which is detected by a gamma ray detector. The photons are detected at various locations of the detector and the detector generates a data set representing the detected photons and their two-dimensional distribution. Similarly, in computed tomography (CT) imaging, X-rays which pass through an object are received at various locations of an X-ray detector and the X-ray detector generates a data set representing the energies and two-dimensional distribution of the X-rays. In either case, the generated data set may be considered a planar projection image.

[0003] Tomographic reconstruction generates three-dimensional images of an object from a set of planar projection images of the subject. One or more planar projection images are acquired while a radiation detector is placed at each of several angular positions (i.e., projection angles) around the object. A tomographic reconstruction unit then reconstructs a three-dimensional image volume based on the projection images.

[0004] Accurate tomographic reconstruction requires knowledge of the position of the detector relative to the object at each projection angle. This position may differ from an expected position due to movement of the object and / or to inaccuracies in detector positioning. Typically, differences between the actual and expected relative positions of the radiation detector at each projection angle are addressed using motion correction and / or registration of the acquired data. These techniques may introduce their own errors or fail to adequately address the differences between the actual and expected relative positions.Atty. Docket No. 2024P11030WO

[0005] The foregoing issues are exacerbated in the case of robotic arm-mounted detectors. In particular, the weight of conventional detectors poses a challenge to the positional accuracy of most robotic arms. Large, heavy robotic arms with high payload capabilities might provide adequate positional accuracy but come with power and space requirements which are not compatible with the deployment scenarios for which robotic arm-mounted detectors are typically desired.

[0006] Systems are desired to efficiently address object movement and positioning inaccuracies in conventional detector-based imaging systems.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] FIG. 1 illustrates components of a SPECT imaging system according to some embodiments;

[0008] FIG. 2 is a perspective view of a detector according to some embodiments;

[0009] FIG. 3 is a schematic view of elements of a detector according to some embodiments;

[0010] FIG. 4 is a flow diagram of a process to acquire image data according to some embodiments;

[0011] FIG. 5 illustrates determination of a position of a detector relative to a patient according to some embodiments;

[0012] FIG. 6 illustrates determination of a position of a detector relative to a patient according to some embodiments;

[0013] FIG. 7 illustrates acquisition of image data according to some embodiments;

[0014] FIG. 8 illustrates acquisition of image data according to some embodiments;

[0015] FIG. 9 illustrates reconstruction of an image volume according to some embodiments;

[0016] FIG. 10 is a flow diagram of a process to acquire image data according to some embodiments;Atty. Docket No. 2024P11030WO

[0017] FIG. 11 illustrates acquisition of image data according to some embodiments;

[0018] FIG. 12 illustrates acquisition of image data according to some embodiments;

[0019] FIG. 13 illustrates acquisition of image data according to some embodiments;

[0020] FIG. 14 illustrates reconstruction of an image volume according to some embodiments; and

[0021] FIG. 15 is a flow diagram of a process to acquire image data according to some embodiments.DETAILED DESCRIPTION

[0022] The following description is provided to enable any person in the art to make and use the described embodiments and sets forth the various modes contemplated for carry ing out the described embodiments. Various modifications, however, will remain apparent to those in the art. Independent of the grammatical term usage, individuals with male, female or other gender identities are included within the term.

[0023] FIG. 1 illustrates a SPECT imaging system according to some embodiments.SPECT detector 110 consists of a housing supporting a collimator and a converter as will be described below. The converter detects gamma photons (i. e. , radiation) emitted by a radioisotope within object 120 disposed on table 130 and generates two-dimensional projection images therefrom. Table 130 is controllable to move object 120 in the x, y and z-directions.

[0024] Articulated robotic arm 140 is coupled to detector 110. Robotic arm 140 may be manipulated to move detector 110 to a desired position and orientation with respect to object 120. Arm 140 may include sensors 142a-142d at each of its joints to provide feedback on and control of the positioning of each limb and, by extension, of detector 110.

[0025] Arm 140 is mounted to base 150. Base 150 may also be moved to a desired position and orientation with respect to object 120. Accordingly, bed 130, arm 140 and base 150 are each movable to place detector 110 in a desired position relative to object 120. In some embodiments, detector 110 is placed at several positions around object 120, eachAtty. Docket No. 2024P11030WOcorresponding to a different projection angle. Detector 110 generates one or more projection images while located at each position.

[0026] Detector 110 defines an imaging plane at which radiation is received. A desired position of detector 110 may be a position of the imaging plane with respect to object 120. The position may be defined by a normal distance from the imaging plane to a point of object 120 and by a projection angle relative to object 120. In the latter regard, object patient 120 rotates about its longitudinal axis (i.e., parallel to a longitudinal axis of table 130), the imaging plane must be rotated to a same degree about the longitudinal axis in order to maintain its position relative to object 120.

[0027] One or more sensors (not shown) are coupled to detector 110, and may be proximate to (e.g., coplanar with) the imaging plane of detector 110. During operation, and as will be described below, the one or more sensors may be used to determine a position of the imaging plane relative to object 120. This determination may assist in accurately positioning detector 110 and also in determining any positioning errors during projection image acquisition. The positioning errors may be input to a reconstruction algorithm to improve reconstruction of an image volume from acquired projection images.

[0028] Embodiments may include two or more detectors, and one or more of the detectors may be located on a rotatable gantry as is known in the art. Moreover, embodiments are not limited to SPECT imaging systems. For example, embodiments may include a CT detector and an X-ray source mounted to a robotic arm or gantry such that the CT detector and the X-ray source may be positioned on opposite sides of object 120.

[0029] Control system 160 may comprise any general -purpose or dedicated computing system. Accordingly, control system 160 includes one or more processing units 161 configured to execute program code to cause system 160 to operate as described herein, and storage device 162 for storing the program code. Storage device 162 may comprise one or more fixed disks, solid-state random-access memory, and / or removable media (e.g., a thumb drive) mounted in a corresponding interface (e.g., a USB port).

[0030] Storage device 162 stores program code of control program 163, which one or more processing units 161 may execute to, in conjunction with arm interface 164, control motors, servos, encoders and sensors 142a-142d to cause arm 140 to move detector 110 to a plurality of positions. One or more processing units 161 may also execute control program 163 toAtty. Docket No. 2024P11030WOcause SPECT system interface 165 to control detector 110 to acquire one or more projection images at each position. During this movement, SPECT system interface 165 may also control one or more sensors of detector 110 to determine positions of the imaging plane relative to object 120. The determined positions may be used to assist in positioning detector 110 at the desired positions and to identify any differences between the desired positions and the actual positions of detector 110 during image acquisition.

[0031] Acquired projection images 166 and position data 167 are stored in storage device 162. Position data 167 may describe actual positions of detector 110 during image acquisition as determined using one or more sensors proximate to the imaging plane of detector 110. and / or differences between the actual positions and desired positions. One or more processing units 161 may execute control program 163 to generate reconstructed volumes 168 from projection images 166 and position data 167.

[0032] Terminal 170 may comprise a display device and an input device coupled to terminal interface 169 of system 160. Terminal 170 may be operated to display projection images 166, position data 167 and / or reconstructed volumes 168, and may receive user input for controlling display of the data, operation of the SPECT imaging system, and / or the processing described herein. In some embodiments, terminal 170 is a separate computing device such as, but not limited to, a desktop computer, a laptop computer, a tablet computer, and a smartphone.

[0033] Each component of FIG. 1 may include other elements which are necessary for the operation thereof, as well as additional elements for providing functions other than those described herein.

[0034] FIG. 2 is a perspective view of detector 110 according to some embodiments. FIG.2 illustrates a radiation-receiving side of detector 110. e.g., the side of detector 110 facing object 120 in FIG. 1. It is assumed that the plane of the FIG. 2 drawing sheet is parallel to, and possibly coplanar with, the imaging plane of detector 110.

[0035] Housing 200 of detector 110 supports collimator 210 and a position sensing system consisting of projector 220 and receiver 230. To facilitate tomographic reconstruction, collimator 210 restricts the angle from which photon-detecting elements of detector 110 may receive photons (i. e. , the photon acceptance angle). Collimator 210 may comprise a parallelAtty. Docket No. 2024P11030WOhole collimator, a slanthole collimator, a converging collimator, a diverging collimator, a pinhole collimator, a fanbeam collimator, etc.

[0036] According to some embodiments, projector 220 and receiver 230 are proximate to the imaging plane of detector 110. Projector 220 projects a pattern of light onto a surface and receiver 230 detects the pattern from the surface. The pattern may comprise dots, stripes and / or any structured light pattern that is or becomes known. Based on differences between the projected pattern and the detected pattern, a three-dimensional depth profile of the surface may be determined. The three-dimensional depth profile provides the relative position of the detector normal to the surface. Some embodiments include more than one projector and / or more than one receiver. A position sensing system supported by the housing of detector 110 and proximate to the imaging plane may implement any other technologies, including but not limited to LIDAR.

[0037] FIG. 3 is a schematic view of elements of detector 110 according to some embodiments. As mentioned above, collimator 210 defines the lines-of-response of incoming gamma rays and filters out scattered or stray gamma radiation. Collimator 210 may exhibit any aperture size, aperture shape, aperture length, aperture angle, septa thickness, etc.Projector 220 and receiver 230 are recessed into housing 200.

[0038] Cathode 240 may comprise a continuous conductive layer which is generally transparent to gamma rays within the energy' bands to be detected. Converter 250 may comprise a single-crystal semiconductor material such as Cadmium Zinc Telluride (CZT) or Cadmium Telluride (CdTe). Sensors 260 may comprise a grid of hexagonal or otherwiseshaped conductive anodes. Each sensor of sensors 260 is coupled to a dedicated signal line and is not in direct electrical contact with its adjacent neighboring sensors.

[0039] During operation, collimator 210 is positioned to detect gamma rays 125 emitted from volume 120. Certain ones of the gamma rays 125 are collimated by collimator 210, and the collimated gamma rays pass through cathode 240 due to its transparency to gamma rays. A gamma ray which passes through cathode 240 and penetrates into direct conversion material 250 interacts with direct conversion material 250 to generate electron-hole pairs. Cathode 240 is held at a negative bias potential while sensors 260 are held at a less-repelling potential. Consequently, the positively-charged holes drift towards cathode 240, while theAtty. Docket No. 2024P11030WOnegatively -charged electrons drift towards sensors 260. As the electrons approach a given sensor 260. a signal is induced at the given sensor and at its neighboring sensors.

[0040] After collection of the electrons by the given sensor, readout electronics 270 may use the signals received from the neighboring sensors to determine a sub-pixel position of the given sensor at which the gamma ray will be assumed to have been received. The sub-pixel positions at which all gamma rays are received over a given time period may then be used to generate a projection image.

[0041] In the case of an indirect converter-based detector, the collimated gamma rays pass directly to an indirect converter material (e.g., aNal scintillator) and interact therewith to generate photons. The photons may pass through a light guide before being received by a matrix of PMTs. The PMTs generate electrical signals based on the received photons, which are used by readout electronics 270 to generate a projection image as described above.

[0042] FIG. 4 is a flow diagram of process 400 to generate an image volume according to some embodiments. Process 400 and the other processes described herein may be performed using any suitable combination of hardware and software. Software program code embodying these processes may be stored by any non-transitory tangible medium, including a fixed disk, a volatile or non-volatile random-access memory, a DVD, a Flash drive, or a magnetic tape. Embodiments are not limited to the examples described below.

[0043] Prior to process 400, a patient is positioned on a table in preparation for image acquisition. The patient may be positioned according to a predetermined image acquisition plan. For example, a prior scan or examination may determine a particular volume of the patient to be imaged, and the patient is positioned on the table such that the volume is within the field of view of the detector(s) of an imaging system. According to some embodiments, and depending on the type of imaging to be conducted, a contrast agent or a radiotracer may also be injected into the patient prior to process 400.

[0044] At S410, an imaging plane of a detector is moved toward a predetermined position relative to a patient. The predetermined position may be associated with a first projection angle relative to the patient. The predetermined position may with a distance and an orientation of an imaging plane of the detector relative to the patient.Atty. Docket No. 2024P11030WO

[0045] Movement at S410 may comprise instructing the elements of a robotic arm to which the detector is mounted to move the detector toward the predetermined position. Such control may utilize signals received from on-arm sensors such as sensors 142a-142d of arm 140 which indicate positions of the limbs of the robotic arm. According to some embodiments of S410, the robotic arm is instructed to move the detector to a position in space relative to an expected position of the patient. Positioning the detector via the robotic arm is therefore subject to error due to positioning tolerances of the arm itself and due to possible movement of the patient with respect to the robotic arm. S410 may also include movement of the table on which the patient is positioned.

[0046] A current position of the imaging plane relative to the patient is determined at S420 using sensors proximate to the imaging plane. The current position may be determined at S420 as the imaging plane of the detector is moved toward the predetermined position or after the robotic arm has completed movement of the imaging plane to a position believed to be the predetermined position. S420 may comprise operating sensors (e.g.. a projector and a receiver) proximate to the imaging plane to determine a depth profile of the patient normal to the imaging plane.

[0047] FIG. 5 illustrates determination of a current position at S420 according to some embodiments. Projector 220 may project a known pattern of light onto object 120 and receiver 230 receives light from object 120. A depth profile of patient 120 relative to detector 110 is then determined based on the received light as is known in the art.

[0048] Next at S430, it is determined whether the detector is at the predetermined position. The determination at S430 may comprise a comparison between the current position and the predetermined position. In some embodiments, a current depth profile acquired at S420 may be compared to an expected depth profile at the predetermined position. If it is determined at S430 that the detector is not at the predetermined position, flow returns to S410 to move the imaging plane of the detector.

[0049] After returning, the movement at S410 may be based on a difference between the current position determined at S420 and the predetermined position. For example, the robotic arm may be controlled by a proportional-integral-derivative (PID) controller in which the error value to be minimized is the difference between the current position and the predetermined position. S410-S430 are executed until it is determined that the detector is atAtty. Docket No. 2024P11030WOthe predetermined position. FIG. 6 illustrates detector 110 moved to a current position which is determined to match the predetermined position at S430.

[0050] The detector is operated as is known in the art to acquire image data at S440. FIG. 7 illustrates reception of radiation 710 from object 120 at S440. Radiation 710 may be emitted from within object 120 (e.g.. in the case of SPECT imaging), or may be emitted by an X-ray source (not shown) for passage through patient 120 and reception be detector 110 (e.g., in the case of CT imaging).

[0051] Image data may be acquired at the predetermined position over a designated period of time, or frame. While the image data is being acquired, the current position of the imaging plane relative to the patient is recorded at S450. The current position may be recorded using the one or more sensors described above. The image data continues to be acquired at S440 and the current position continues to be recorded at S450 until it is determined at S460 to cease acquisition of image data at the predetermined position. For example, it may be determined at S460 that the time period associated with a frame has elapsed.

[0052] The current position of the imaging plane relative to the patient may change during S440-S460. For example, environmental factors may cause the robotic arm and / or the table to move slightly. In addition, the patient may rotate or otherwise shift position during image data acquisition. FIG. 8 illustrates movement of object 120 while detector 110 maintains the position shown in FIGS. 6 and 7. As a result of this movement, the profile of object 120 presented to detector 110 changes from that illustrated in FIG. 7. Accordingly, the position of detector 110 relative to object 120 has also changed. This changed position is recorded at S450 throughout image acquisition and is to be used during image reconstruction as described below.

[0053] S450 may also include recording other data related to patient movement and / or bodily process. For example, heartbeat cycle data, respiration cycle data, external camera data, etc. may be obtained to identify phases of patient motion. The acquired image data may be segmented based on the phases of motion in order to provide phase-specific images as is known in the art.

[0054] Once it is determined at S460 to cease acquisition of image data, flow7proceeds to S470 to determine whether image data is to be acquired at a next predetermined position (e.g., a next angular position relative to the patient). If so, flow returns to S410 and proceedsAtty. Docket No. 2024P11030WOas described above, but with respect to a next predetermined position. Again, the current position of the detector is periodically recorded at S450 while the detector is operated to acquire image data at the predetermined position. Flow cycles through S410-S470 until it is determined at S470 that image data has been acquired from each predetermined position.

[0055] An image volume is reconstructed at S480 based on the acquired image data and the recorded positions. FIG. 9 illustrates image reconstruction according to some embodiments. Image data 910 may comprise planar projections associated with each of a plurality of predetermined positions and acquired as described above. Position data 920 may provide information indicating a position of a detector imaging plane relative to a patient at different time points during acquisition of image data 910. For example, position data 920 may indicate a change to a depth profile during acquisition of a single projection image of images 910.

[0056] Reconstruction component 930 receives image data 910. position data 920 and Linear Attenuation Coefficient (LAC) map (“mu-map”) 940. As is known, mu-map 940 provides attenuation information for the voxels of the imaged patient volume.Reconstruction component 930 generates image volume 950 as is known in the art.Reconstruction component 930 may utilize analytic or iterative reconstruction algorithms, including but not limited to filtered backproj ection (FBP), conjugate gradient, maximum likelihood expectation maximization, and maximum a posteriori expectation maximization algorithms.

[0057] Image volume 950 may exhibit improved uality as compared to prior systems. In particular, S410-S430 may provide improved accuracy in the placement of a detector at a predetermined position, while position data 920 may allow further refinement of the reconstruction in view of changes to the predetermined position during image acquisition.

[0058] FIG. 10 is a flow diagram of process 1000 to generate an image volume according to some embodiments. S1010 through S1040 may proceed as described above with respect to S410 through S440.

[0059] As image data is acquired, it is determined at SI 050 whether the detector is at the intended predetermined position. The determination may comprise determination of the current position as described above with respect to S450 and comparison of the current position with the predetermined position. If the determination at SI 050 is negative, theAtty. Docket No. 2024P11030WOimaging plane is moved toward the predetermined position at SI 060 as described with respect to S410. The movement at SI 060 occurs while image data continues to be acquired.

[0060] The determination at SI 050 may be negative as a result of detector movement, patient movement, or both. FIG. 11 illustrates reception of radiation 710 from patient 120 while detector 110 is at a predetermined position during S1040-S1060 according to some embodiments. Next, as shown in FIG. 12, patient 120 has moved while detector 110 has not moved. Accordingly, detector 110 of FIG. 12 is not in the same position relative to patient 120 as illustrated in FIG. 11. As a result, and as illustrated in FIG. 13, detector 110 is moved at S1060 such that detector 110 is in the same position relative to patient 120 as shown in FIG. 11.

[0061] Flow returns from S1060 to S1050 to again determine whether the detector is at the predetermined position. SI 050 and SI 060 therefore comprise a loop for maintaining the detector at the predetermined position while image data is acquired. If the detector is at the predetermined position, it is determined at SI 070 whether image acquisition at the predetermined position should end (e.g., due to elapsing of a frame period). Flow returns to SI 040 if the determination at SI 070 is negative.

[0062] If the determination at SI 070 is positive, flow proceeds to SI 080 to determine whether image data is to be acquired at a next predetermined position. If so, flow returns to SI 010 and proceeds as described above with respect to the next predetermined position. Flow cycles through S1010-S1070 until it is determined at S1080 that image data has been acquired from each predetermined position.

[0063] An image volume is reconstructed at SI 090 based on the acquired image data. FIG.14 illustrates image reconstruction at S1090 according to some embodiments. Image data 1410 may comprise planar projections associated with each of a plurality of predetermined positions. Reconstruction component 1430 generates image volume 1450 from image data 1410 and mu-map 1440 as is known in the art. Contrary to the reconstruction depicted in FIG. 9, reconstruction component 1430 is not provided with position data representing relative movement of a detector at each of the predetermined positions. Rather, such movement is addressed by the loop consisting of SI 050 and SI 060, resulting in an improved image volume 1450.Atty. Docket No. 2024P11030WO

[0064] FIG. 15 is a flow diagram of process 1500 according to some embodiments. Process 1500 may comprise a combination of the steps of process 400 and process 1000 described above. In particular, while a detector is operated to acquire image data at a predetermined position beginning at S 1540, a current position of the imaging plane relative to the patient is monitored and recorded at S1550 as described with respect to S450. Additionally, S1560 and SI 570 are executed to maintain the predetermined position during data acquisition as described with respect to SI 050 and SI 060. Therefore, once image data is acquired at all predetermined positions, an image volume may be reconstructed at SI 595 based on the acquired image data and the recorded detector positions. The image data is more consistent with the predetermined positions than conventional image data due to the position corrections applied at S1570, while the detector positions recorded at S1550 provide data for additionally improving the quality of the reconstruction.

[0065] Those in the art will appreciate that various adaptations and modifications of the above-described embodiments can be configured without departing from the claims.Therefore, it is to be understood that the claims may be practiced other than as specifically described herein.NON-LIMITING ILLUSTRATIVE EMBODIMENTS

[0066] The following is a list of non-limiting illustrative embodiments disclosed herein:

[0067] Illustrative embodiment 1. A system comprising a radiation detector defining an imaging plane, one or more sensors coupled to the detector, and a control system to move the detector toward a predetermined position relative to an obj ect while using the one or more sensors to determine a position of the imaging plane relative to the object, operate the detector to acquire radiation at the predetermined position, and reconstruct an image volume based on the acquired radiation.

[0068] Illustrative embodiment 2. The system of illustrative embodiment 1, wherein the one or more sensors are proximate to the imaging plane.

[0069] Illustrative embodiment 3. The system of any of illustrative embodiments 1 or 2, further comprising a robotic arm coupled to the detector, wherein movement of the detector comprises control of the robotic arm to move the detector toward the predetermined position.Atty. Docket No. 2024P11030WO

[0070] Illustrative embodiment 4. The system of any of illustrative embodiments 1-3, the robotic arm comprising one or more joints and one or more joint sensors to indicate positions of the one or more joints, wherein control of the robotic arm to move the detector toward the predetermined position comprises control of the robotic arm to move the detector toward the predetermined position based on positions indicated by the one or more joint sensors and a determined position of the imaging plane relative to the obj ect.

[0071] Illustrative embodiment 5. The system of any of illustrative embodiments 1-4, the control system further to move the detector toward a second predetermined position relative to the object while using the one or more sensors to determine a position of the imaging plane relative to the object and operate the detector to acquire second radiation at the second predetermined position, wherein the image volume is reconstructed based on the acquired radiation and the acquired second radiation.

[0072] Illustrative embodiment 6. The system of any of illustrative embodiments 1-5, the control system further to, while operating the detector to acquire radiation at the predetermined position, use the one or more sensors to monitor a position of the imaging plane relative to the object.

[0073] Illustrative embodiment 7. The system of any of illustrative embodiments 1-6, the control system further to, while operating the detector to acquire radiation at the predetermined position, use the one or more sensors to determine that the imaging plane is not in the predetermined position relative to the object and, in response to the determination that the imaging plane is not in the predetermined position, move the imaging plane to the predetermined position relative to the object.

[0074] Illustrative embodiment 8. The system of any of illustrative embodiments 1-7, wherein the image volume is reconstructed based on the acquired radiation and the monitored position of the imaging plane relative to the object.

[0075] Illustrative embodiment 9. The system of any of illustrative embodiments 1-8, wherein the image volume is reconstructed based on the acquired radiation and the monitored position of the imaging plane relative to the object.

[0076] Illustrative embodiment 10. A method comprising moving a radiation detector toward a predetermined position relative to an object while using one or more sensorsAtty. Docket No. 2024P11030WOdisposed on the detector to determine a position of the detector relative to the object, operating the radiation detector to acquire radiation while the detector is disposed at the predetermined position, and reconstructing an image volume based on the acquired radiation.

[0077] Illustrative embodiment 11. The illustrative embodiment of Claim 10, wherein moving the radiation detector comprises controlling a robotic arm to move the radiation detector toward the predetermined position.

[0078] Illustrative embodiment 12. The illustrative embodiment of Claims 10 or 11, wherein controlling the robotic arm to move the radiation detector toward the predetermined position comprises controlling the robotic arm to move the radiation detector toward the predetermined position based on positions indicated by one or more joint sensors and a determined position of the detector relative to the object.

[0079] Illustrative embodiment 13. The illustrative embodiment of any of Claims 10-12. further comprising moving the radiation detector toward a second predetermined position relative to an object while using the one or more sensors disposed on the detector to determine the position of the detector relative to the object, and operating the radiation detector to acquire second radiation while the detector is disposed at the second predetermined position, wherein reconstructing the image volume based on the acquired radiation comprises reconstructing the image volume based on the acquired radiation and on the acquired second radiation.

[0080] Illustrative embodiment 14. The illustrative embodiment of any of Claims 10-13, further comprising using the one or more sensors to monitor a position of the imaging plane relative to the object while operating the radiation detector to acquire radiation at the predetermined position.

[0081] Illustrative embodiment 15. The illustrative embodiment of any of Claims 10-14, further comprising, while operating the radiation detector to acquire radiation at the predetermined position, using the one or more sensors to determine that the radiation detector is not in the predetermined position relative to the object and. in response to the determination that the radiation detector is not in the predetermined position, move the radiation detector to the predetermined position relative to the object.Atty. Docket No. 2024P11030WO

[0082] Illustrative embodiment 16. The illustrative embodiment of any of Claims 10-15, wherein the image volume is reconstructed based on the acquired radiation and the monitored position of the radiation detector relative to the object.

[0083] Illustrative embodiment 17. The illustrative embodiment of any of Claims 10-16, wherein the image volume is reconstructed based on the acquired radiation and the monitored position of the radiation detector relative to the object.

[0084] Illustrative embodiment 18. A system comprising a radiation detector disposed in a housing, one or more sensors coupled to the housing, and a control system to move the radiation detector toward a predetermined position relative to an object while using the one or more sensors to determine a position of the radiation detector relative to the object, operate the radiation detector to acquire radiation at the predetermined position, and reconstruct an image volume based on the acquired radiation.

[0085] Illustrative embodiment 19. The illustrative embodiment of Claim 18, wherein the one or more sensors are proximate to an imaging plane of the radiation detector.

[0086] Illustrative embodiment 20. The illustrative embodiment of Claims 18 or 19, the control system further to move the radiation detector toward a second predetermined position relative to the object while using the one or more sensors to determine the position of the radiation detector relative to the object, and operate the radiation detector to acquire second radiation at the second predetermined position, wherein reconstructing the image volume comprises reconstructing the image volume based on the acquired radiation and the acquired second radiation.

Claims

Atty. Docket No. 2024P11030WOWHAT IS CLAIMED IS:

1. A system comprising:a radiation detector defining an imaging plane;one or more sensors coupled to the detector; anda control system to:move the detector toward a predetermined position relative to an object while using the one or more sensors to determine a position of the imaging plane relative to the object;operate the detector to acquire radiation at the predetermined position; and reconstruct an image volume based on the acquired radiation.

2. The system of Claim 1, wherein the one or more sensors are proximate to the imaging plane.

3. The system of Claim 1. further comprising a robotic arm coupled to the detector, wherein movement of the detector comprises control of the robotic arm to move the detector toward the predetermined position.

4. The system of Claim 3, the robotic arm comprising one or more joints and one or more joint sensors to indicate positions of the one or more joints.wherein control of the robotic arm to move the detector toward the predetermined position comprises control of the robotic arm to move the detector toward the predetermined position based on positions indicated by the one or more joint sensors and a determined position of the imaging plane relative to the object.Atty. Docket No. 2024P11030WO5. The system of Claim 1, the control system further to:move the detector toward a second predetermined position relative to the obj ect while using the one or more sensors to determine a position of the imaging plane relative to the object; andoperate the detector to acquire second radiation at the second predetermined position, wherein the image volume is reconstructed based on the acquired radiation and the acquired second radiation.

6. The system of Claim 1, the control system further to, while operating the detector to acquire radiation at the predetermined position, use the one or more sensors to monitor a position of the imaging plane relative to the object.

7. The system of Claim 6, the control system further to. while operating the detector to acquire radiation at the predetermined position, use the one or more sensors to determine that the imaging plane is not in the predetermined position relative to the object and, in response to the determination that the imaging plane is not in the predetermined position, move the imaging plane to the predetermined position relative to the object.

8. The system of Claim 7, wherein the image volume is reconstructed based on the acquired radiation and the monitored position of the imaging plane relative to the object.

9. The system of Claim 6, wherein the image volume is reconstructed based on the acquired radiation and the monitored position of the imaging plane relative to the object.Atty. Docket No. 2024P11030WO10. A method comprising:moving a radiation detector toward a predetermined position relative to an object while using one or more sensors disposed on the detector to determine a position of the detector relative to the object;operating the radiation detector to acquire radiation while the detector is disposed at the predetermined position; andreconstructing an image volume based on the acquired radiation.

11. The method of Claim 10, wherein moving the radiation detector comprises controlling a robotic arm to move the radiation detector toward the predetermined position.

12. The method of Claim 11, wherein controlling the robotic arm to move the radiation detector toward the predetermined position comprises controlling the robotic arm to move the radiation detector toward the predetermined position based on positions indicated by one or more joint sensors and a determined position of the detector relative to the object.

13. The method of Claim 10, further comprising:moving the radiation detector toward a second predetermined position relative to an object while using the one or more sensors disposed on the detector to determine the position of the detector relative to the object; andoperating the radiation detector to acquire second radiation while the detector is disposed at the second predetermined position,wherein reconstructing the image volume based on the acquired radiation comprises reconstructing the image volume based on the acquired radiation and on the acquired second radiation.Atty. Docket No. 2024P11030WO14. The method of Claim 10, further comprising using the one or more sensors to monitor a position of the imaging plane relative to the object while operating the radiation detector to acquire radiation at the predetermined position.

15. The method of Claim 14, further comprising, while operating the radiation detector to acquire radiation at the predetermined position, using the one or more sensors to determine that the radiation detector is not in the predetermined position relative to the object and, in response to the determination that the radiation detector is not in the predetermined position, move the radiation detector to the predetermined position relative to the object.

16. The method of Claim 15, wherein the image volume is reconstructed based on the acquired radiation and the monitored position of the radiation detector relative to the object.

17. The method of Claim 14, wherein the image volume is reconstructed based on the acquired radiation and the monitored position of the radiation detector relative to the object.

18. A system comprising:a radiation detector disposed in a housing;one or more sensors coupled to the housing; anda control system to:move the radiation detector toward a predetermined position relative to an object while using the one or more sensors to determine a position of the radiation detector relative to the object;operate the radiation detector to acquire radiation at the predetermined position; and reconstruct an image volume based on the acquired radiation.Atty. Docket No. 2024P11030WO19. The system of Claim 18, wherein the one or more sensors are proximate to an imaging plane of the radiation detector.

20. The system of Claim 18, the control system further to:move the radiation detector toward a second predetermined position relative to the object while using the one or more sensors to determine the position of the radiation detector relative to the object; andoperate the radiation detector to acquire second radiation at the second predetermined position,wherein reconstructing the image volume comprises reconstructing the image volume based on the acquired radiation and the acquired second radiation.

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