WO2008053777A1 - Reconfiguration d'image tomographique aux rayons x convenant pour orbite à courbure large - Google Patents

Reconfiguration d'image tomographique aux rayons x convenant pour orbite à courbure large Download PDF

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Publication number
WO2008053777A1
WO2008053777A1 PCT/JP2007/070812 JP2007070812W WO2008053777A1 WO 2008053777 A1 WO2008053777 A1 WO 2008053777A1 JP 2007070812 W JP2007070812 W JP 2007070812W WO 2008053777 A1 WO2008053777 A1 WO 2008053777A1
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Prior art keywords
vertex
reconstruction
ray
trajectory
curve
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PCT/JP2007/070812
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English (en)
Japanese (ja)
Inventor
Haiquan Yang
Meihua Li
Kazuhito Koizumi
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Uni-Hite System Corporation
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Publication of WO2008053777A1 publication Critical patent/WO2008053777A1/fr

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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/002D [Two Dimensional] image generation
    • G06T11/003Reconstruction from projections, e.g. tomography
    • G06T11/006Inverse problem, transformation from projection-space into object-space, e.g. transform methods, back-projection, algebraic methods
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/027Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis characterised by the use of a particular data acquisition trajectory, e.g. helical or spiral
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2211/00Image generation
    • G06T2211/40Computed tomography
    • G06T2211/416Exact reconstruction

Definitions

  • the present invention relates to an X-ray CT (computed tomography) method or cone beam CT image reconstruction, and more particularly to a method, apparatus, and program for cone beam CT image reconstruction effective for a wide curved trajectory.
  • X-ray CT computed tomography
  • the present invention also relates to a reconstruction method that can be mounted accurately and easily, particularly for various easy-to-mount tracks that satisfy certain conditions.
  • the present invention makes it possible to apply various easy-to-implement tracks to actual devices.
  • the present invention can be applied in various fields regardless of industrial use, medical use, and academic use.
  • the most commonly used trajectory is the force S, which is a circular trajectory, and CT data taken with this circular trajectory does not satisfy the Tuy's condition (described later) and accurately reconstructs the target object. Can not do it.
  • Non-Patent Document 1 Johnson RH, Hu H, Haworth ST, Cho PS, Daw son CA and Linehan JH eldkamp and circle— and— line cone— beam reconstruction for 3D micro— and ⁇ of vascular networks, “Ph ys. Med. Biol., Vol. 43, pp. 92940, 1998.
  • Patent Document 2 Katsevich A I "A general scheme for constructing inversion algorithms for cone beam CT," Int. J. Math. Math. Sci., Vol. 21, pp. 130521, 2003.
  • Patent Document 3 Katsevich A I Image reconstruction for the circle and line traj ectory ,, Phys. Med. Biol., Vol. 49, pp. 50595072, 20 04.
  • Non-Patent Document 4 Katsevich A I Image reconstruction for the circle— an d-arc traj ectory,, Phys. Med. Biol., Vol. 50, pp. 22492265, 2 005.
  • Patent Document 5 Kudo H and Saito T “Derivation and implementation of a cone— beam reconstruction algorithm for non—planar orbits, IEEE Trans. Med. Imag., 13, pp. 196—21 1, 1994.
  • Patent Document 6 Pack J D, Noo F and H Kudo "Investigation of saddl e trajectory for cardiac CT imaging in cone—beam geometry,, Phys. Med. Biol., Vol. 49, pp. 231736, 2004.
  • Patent Document 7 Pack J D and Noo F "Cone— beam reconstruction using ID filtering along the projection of M—lines, Inverse Problem s, Vol. 21, pp. 1 10520, 2005.
  • Patent Document 8 Pack JD and Noo F "Cone— beam reconstruction outs ide R— lines using the backprojection of ID filtered data, The Eighth International Meeting on Fully 3D Reconstruction in Radiology and Nuclear Medicine, Ed F. Noo, H Kudo and LG Zeng (Salt Lake City), pp. 28790, 2005.
  • Non-Patent Document 9 Yang H, Li M, Koizumi K and Kudo H "Exact cone beam reconstruction for saddle trajectory, Phys. Med. Biol., Vol. 51, pp. 1 15772, 2006.
  • Non-Patent Document 10 Zeng GL, Gullberg GT and Foresti SA "Eigen—a nalysis of cone beam scanning geometries, "Three ⁇ Dimensional Image Reconstruction in Radiology and Nuclear Medicine, Ed PG rangeat and J— L Amans (Dordrecht: Kluwer), pp. 7586, 1996.
  • Cone beam CT device in circular orbit Since the integrity condition (Tuy's condition) of cone beam CT data is not satisfied, the quality of the reconstructed image is lowered.
  • Helical orbit cone beam CT device Since overscan is required, there is a problem that the measurement time is increased and the amount of exposure to the target object is large. In addition, since it does not return to the original position after one rotation, it is difficult to continuously shoot data.
  • Zeng et al. First considered the characteristics of the standard saddle curve (Non-Patent Document 10). Since 2003, the saddle orbit defined by the intersection of curved surfaces S and S by Pack et al.
  • Non-patent Document 6 The advantages and properties of Cardiac CT, a cardiology test for heart disease using a tablet, have been studied (Non-patent Document 6).
  • Non-patent Document 6 due to the rigorous definition of the trajectory by Pack et al., The various curved trajectories desired to be used were excluded from the definition of the saddle trajectory.
  • Pack et al. S The proposed Shift-variant CB-FBP image reconstruction method is very complex to implement, and it is difficult to apply filtering using a one-dimensional convolution function. There was a lot of calculation.
  • Non-Patent Document Pack As is, the principle of the FBP reconstruction method itself is known! /, And (Non-Patent Document Pack, etc.), but there has been a power that a simple and effective reconstruction algorithm has not been proposed in the past. It was extremely difficult to obtain a CT image on the saddle track, and it was not in practical use as an actual CT inspection device. Under such circumstances, the present inventors and others made a broad sense of saddle cone beam CT device and 3 A dimension construction method has been proposed (Non-Patent Document 9). However, this is limited to the saddle orbit.
  • Non-Patent Document 2 the reconstruction method derived from the general curve trajectory (Non-Patent Document 2) has shown application examples for helical trajectories, circumference + arc, circumference + linear trajectory, etc. We did not discuss the orbit. Furthermore, the applicability of this technique in truncation (whether or not an object enters the camera) is unknown.
  • An object of the present invention is to realize a CT image reconstruction that can be mounted accurately and easily on various easy-to-mount tracks.
  • the trajectory of the X-ray source has a plane determined by the slice to be reconstructed and three or more intersections, and these intersections are curves forming a convex polygon
  • the image is taken with this trajectory.
  • the present invention proposes an FBP (filter-corrected backprojection) type reconstruction method similar to the conventional FDK method, which is easy to implement, with respect to projection data photographed with the proposed curved trajectory. This allows a wide range of curved trajectories to be put into practical use in X-ray CT equipment.
  • FBP filter-corrected backprojection
  • the trajectory of the X-ray source has three or more intersections with the section of the target object to be reconstructed, and these intersections are set to form a convex polygon.
  • the vertices of the convex polygon and the adjacent vertices can be connected with a single curve in the trajectory of the X-ray source.
  • the cross section of the target object is reconstructed using an FBP type reconstruction method that can be easily implemented.
  • FBP type reconstruction NPL 9 The method described in No. 11 can be used.
  • the target object is displayed as a set of parallel cross sections, and the trajectory of the X-ray source is set to satisfy the above conditions in each cross section. . Further, it is assumed that the convex polygon obtained in each parallel section is quasi-parallel. In such a case, according to the present invention, the force S can be used to three-dimensionally reconstruct the target object using the FBP reconstruction method that can be easily implemented.
  • Adjacent vertices of convex polygons can be connected by one curve part.
  • an arbitrary vertex of the convex polygon is a first vertex, and a vertex adjacent to the first vertex is a second vertex.
  • the solid direction connecting the vertices is the reference direction.
  • the first direction is the vector that forms the smallest angle with the reference direction from all vectors that connect the measurement target point from the first vertex, and all the vectors that connect the measurement target point from the second vertex
  • the second direction is the direction opposite to the direction of the vector that forms the largest angle with the reference direction.
  • (c3) Reconstruct-record the cross section of the measurement target to be reconstructed using the direction between the first direction and the second direction as the filter direction in the trajectory part connecting the first vertex to the second vertex.
  • X-ray CT image reconstruction method characterized by comprising: (Method 1)
  • the method is characterized in that the measurement object is three-dimensionally reconstructed by repeating the steps of Method Form 1 for a plurality of cross sections parallel to each other.
  • (Form 2) Is the point to be measured in the convex polygon plane
  • the i-th vertex is the single vertex in the filter direction defined by (c), with (c) as the first vertex;
  • the i-th vertex is the first vertex in (c)! /, The unit vector in the filter direction defined in (c) above;
  • the trajectory is a curve composed of a circle and a line that intersects the plane formed by the circle at a predetermined angle, a curve composed of two circles (or partial circles) that intersect each other at a predetermined angle, a broad Sadnor curve, or a three-dimensional closed sinusoid It is selected from curves. (Form 5)
  • the trajectory is a curve that can be implemented by or using a C-arm system. (Form 6)
  • the reconstruction is performed according to the FBP reconstruction algorithm. (Form 7)
  • the FBP-type reconstruction is preferably a shift-no-relation system.
  • Mode 8 In a second aspect of the present invention, the following X-ray CT image reconstruction apparatus is provided.
  • intersections As a relative trajectory with respect to the measurement target of the X-ray source, there are three or more intersections and a plane that forms the cross section of the measurement target to be reconstructed, and these intersections are curves that form a convex polygon. Adjacent vertices of convex polygons use a curve that can be connected by a curved portion, and a relative orbital movement mechanism that moves the X-ray source relative to the measurement object along the orbit;
  • an arbitrary first vertex of the convex polygon is defined as a first vertex, and a vertex adjacent to the first vertex is defined as a second vertex.
  • a first vertex of the convex polygon is defined as a first vertex
  • a vertex adjacent to the first vertex is defined as a second vertex.
  • the direction of the vector that forms the smallest angle with the reference direction is the first direction
  • all connecting the point to be measured from the second vertex is the direction opposite to the direction of the vector that makes the largest angle with the reference direction from among the vectors of
  • the following X-ray CT image reconstruction program useful for implementing the method and apparatus for applying power to the first viewpoint or the second viewpoint.
  • an arbitrary first vertex of the convex polygon is defined as a first vertex, and a vertex adjacent to the first vertex is defined as a second vertex.
  • a first vertex of the convex polygon is defined as a first vertex
  • a vertex adjacent to the first vertex is defined as a second vertex.
  • the first direction is the vector that forms the smallest angle with the reference direction from all vectors that connect the measurement target point from the first vertex, and all the vectors that connect the measurement target point from the second vertex
  • the second direction is the direction opposite to the direction of the vector that forms the largest angle with the reference direction.
  • An X-ray CT image reconstruction program characterized by comprising: (program Basic form 1)
  • a predetermined problem is achieved by each aspect of the present invention.
  • accurate and easy CT image reconstruction is realized using various easy-to-implement trajectories.
  • an X-ray CT image reconstruction method and apparatus effective for a wide curved trajectory are provided.
  • the trajectory of the X-ray source has a plane determined by the slice to be reconstructed and three or more intersections, and these intersections are set to form a convex polygon.
  • the target object can be reconstructed by an FBP-type reconstruction method that is easy to implement by effectively determining the filter direction during reconstruction.
  • the orbit proposed in the present invention has the advantage of accurately reconstructing the target object in theory.
  • the trajectory proposed in the present invention and the reconstruction method in the trajectory play a role in accurately evaluating the object.
  • the proposed orbit with an effective meter is suitable for practical use in the same way as the circular orbit scanning method.
  • FIG. 1 A broad saddle (Saddle) orbit is shown.
  • FIG.3 Shows circular and straight trajectories.
  • FIG. 4 Shows a cubic closed sinusoidal orbit.
  • Equation (14) shows two circular orbits.
  • FIG. 10 A conceptual diagram showing an example of how to determine the filtering direction.
  • FIG. 11 A conceptual diagram showing an example of (relative drive mechanism) of the C-arm geometric system.
  • FIG. 12 is a flowchart showing an example of a CT image reconstruction procedure of the present invention.
  • FIG. 13 is a block conceptual diagram of the X-ray CT image reconstruction apparatus of the present invention.
  • the X-ray trajectory L satisfies the following conditions: P curves
  • S 2 represents the unit vector in three-dimensional space.
  • the reconstruction operator (parameter) is defined as follows.
  • Non-Patent Document 7 Is the force defined for the first time in Non-Patent Document 7 and its idea was derived from Non-Patent Document 2 (Katse V ich).
  • Non-Patent Document 8 (Pack, Noo) uses this operator for reconstruction.
  • a reconstruction method was proposed for an umbrella-shaped orbit in which the slice to be processed has an X-ray trajectory and three intersections.
  • the reconstruction method in Non-Patent Document 9 proposed by the inventors of the present application is an FBP type that is easy to mount on a saddle orbit where the slice to be reconstructed has four intersections with the X-ray orbit. It is a reconstruction method.
  • a case where the slice to be reconstructed forms a convex polygon having an X-ray trajectory and n (n 3) intersections is relevant to the present invention.
  • the X-ray trajectory is first displayed by the following mathematical formula.
  • the cross section of the target object to be reconstructed is displayed with ⁇ , and this plane is the intersection of the above X-ray trajectory and n (n 3) or more.
  • the plane corresponding to each slice is displayed as ⁇ ( ⁇ ), and when the value of ⁇ changes, the corresponding plane set ⁇ ( ⁇ ) Parallel to In such a case, the convex polygon ⁇ corresponding to each plane ⁇ ( ⁇ ) is
  • the convex polygon set ⁇ is said to be quasi-parallel. That is, for any i
  • Equation (5b) has the advantage that it can be implemented using the FBP reconstruction method.
  • Non-Patent Document 1 is a shift-variant method that is different from the shift-invariant method.
  • the force S which proposed the shift-invariant FBP reconstruction method for the first time, requires two filter directions for any point on the trajectory. It is necessary to apply the filter twice.
  • the method of Non-Patent Document 3 has the advantage that it can be applied to two circular orbits, but the backprojection range is not fixed, so a different orbital section must be used for each point to be reconstructed. So there is a problem of non-uniformity with respect to noise characteristics.
  • the method of determining the filter direction in Non-Patent Document 4 is complicated. The present invention proposes a simplified method.
  • the plane ⁇ ( ⁇ ) has two circular orbits and four intersections (A, ⁇ , C, D), and these four intersections constitute a rectangle.
  • the pair of parallel opposing sides of this rectangle is parallel to the vector (0, l, 0) T (y-axis direction), and the other pair of opposing sides is the vector normal.
  • Figure 2 Shows two circular orbits.
  • Non-Patent Document 6 is a shift variant type, not a shift invariant type.
  • the shift variant FBP reconstruction method was first proposed.
  • the range is not fixed when performing the back projection operation. There is a problem. For this reason, different orbital sections must be used for different points to be reconstructed, resulting in non-uniformity in noise characteristics.
  • the method of Non-Patent Document 9 is more complicated in determining the filter direction than the proposed method of the present invention.
  • reconstruction is considered for a curve composed of a circle and a linear trajectory defined as follows.
  • This orbit is a curve composed of a straight line that intersects the plane formed by the circle at a predetermined angle.
  • the equation of circumference is
  • the plane ⁇ ( ⁇ ) has three intersections with this trajectory, and these three intersections form a triangle. In this embodiment, it is assumed that the straight line is sufficiently long.
  • a slice on the plane ⁇ ( ⁇ ) can be reconstructed using the FBP reconstruction algorithm by using Equation (4).
  • the filtering direction for each slice is different, so it is difficult to reconstruct with FBP type. is there.
  • the FBP reconstruction can be performed using Equation (5).
  • this circle and straight orbit some slices to be reconstructed are on the plane ⁇ ( ⁇ ) determined by the triangle ABC as shown in Fig. 3.
  • a slice on the plane ⁇ ( ⁇ ) determined by the triangle ABC can be reconstructed without an arc BDC.
  • the m-th order closed sinusoidal curve trajectory of m 2 (m is an integer) is defined as follows.
  • a parallel plane set P (z) ⁇ x ⁇ ) exists for a single continuous and bounded closed curve C, and the following condition is satisfied, this curve C is expressed as an m-th order closed sinusoid curve. Call it. For any z value, curve C has 2m intersections with plane P (z)
  • Configure. ⁇ ( ⁇ ) is a continuous function with respect to the variable ⁇ .
  • the convex polygon set ⁇ ( ⁇ ) is quasi-parallel.
  • Fig. 4 shows a cubic closed sinusoidal orbit.
  • ⁇ ( ⁇ ) corresponding to the imaginary line constitutes a parallel convex polygon
  • ⁇ ( ⁇ ) corresponding to the solid line constitutes a quasi-parallel convex polygon.
  • the saddle orbit in the broad sense is a quadratic closed sinusoidal orbit, it is an example of a closed sinusoid.
  • Examples of other closed sinusoids include the following three.
  • (2) and (3) can be implemented with a C-arm system.
  • the target object can be reconstructed three-dimensionally using the reconstruction formula (5b) that can be implemented in the FBP type.
  • Non-Patent Document 11 For the principle of the FBP reconstruction method, see Non-Patent Document 11. The description of this document is incorporated herein by reference.
  • FIG. 10 illustrates how to determine the filter direction.
  • the vector closest to the reference vector (in terms of angle) among the vectors from the first vertex to any point in the FOV is defined as the first direction.
  • the opposite direction is the second direction.
  • the direction of an arbitrary vector between the first direction and the second direction is taken as the reconstruction filter direction. It is clear from Fig. 10 that typically the direction of the reference vector can be adopted as the filter direction.
  • FIG. 12 shows a flowchart showing an example of the CT image reconstruction procedure of the present invention
  • FIG. 13 shows a block conceptual diagram of the apparatus of the present invention.
  • the control unit 3 includes two-dimensional and three-dimensional reconstruction units, and includes a relative drive control unit 33 of the relative drive mechanism 23. These are recorded in a program, stored in a storage device, read out as needed, and used.
  • the CT image reconstruction program is stored in each reconstruction unit and operated in conjunction with each recording device to which it belongs.
  • the loop of steps 31 to 36—37—32 of the start sequence is expanded, and when it is Yes, the image is output in S8.
  • Projection data g (A, is created from the image data taken at vertex 5 () in S2 Projection data g (is differentiated into: — d _
  • Fig. 13 is a block diagram conceptually showing an example of an X-ray CT image reconstruction device.
  • the X-spring CT image reconstruction device 1 has an X-spring CT device 2, a control unit 3, an input unit 4, and an image display unit 5.
  • the X-ray CT device 2 is an X-ray source 21.
  • a detection device (detection surface) 2 A relative drive mechanism 23 (for example, “C-arm drive system”) that relatively drives the 2 2 along a predetermined trajectory, and a holding mechanism (not shown) for the measurement object 24 .
  • the control unit 3 includes an X-ray emission control unit 31, a detection signal processing / recording unit 32, a relative movement control unit 33, and an arithmetic processing unit 39.
  • the arithmetic processing unit 39 includes a control program recording unit 34, a two-dimensional reproduction unit.
  • a configuration unit 35, a recording unit 36, a three-dimensional reconstruction unit 37, a recording unit 38, and a CPU are provided.
  • the control program recording unit stores necessary information such as a curved trajectory, a convex polygon, a reference vector, a reconstruction filter direction vector, a control procedure, and an operator.
  • Input operation unit Step 4 sets the required trajectory each time, selects or designates the corresponding convex polygon or other information, and traverses the program.
  • the relative drive mechanism 23 moves the X-ray source 21 and the detection device 22 relative to each other along a predetermined trajectory from the control signal of the relative movement control unit 33, and the X-ray radiation control unit 31 moves the relative drive mechanism 23 to a predetermined position on the trajectory.
  • X-ray image data is obtained from the detection, and converted into a digital signal by the detection processing / recording unit 32 and stored.
  • the stored photographed image data is two-dimensionally reconstructed in a predetermined filter direction by the secondary reconstruction unit 35 and recorded as cross-sectional data in the recording unit 36.
  • the relative movement on the orbit is performed to perform imaging, and this procedure is repeated.
  • the 3D reconstruction unit 37 Based on the projection image data at each required position on the orbit (especially 2D reconstruction data), the 3D reconstruction unit 37 performs 3D reconstruction of the image according to the specified filter direction, and the recording unit.
  • the 3D reconstruction unit 37 performs 3D reconstruction of the image according to the specified filter direction, and the recording unit.
  • the desired 2D! /, 3D reconstructed image can be retrieved and displayed via the input operation unit.
  • the arithmetic processing unit 39 can be configured as a central processing unit CPU, and each recording unit is not limited to being built-in but can be arranged externally.
  • Each component (unit) in the control unit is connected by a path, and if necessary, remote from the X-ray CT device (through a protective wall) d *
  • a CT image reconstruction program having each step shown as a flowchart in FIG. 12 can be used.
  • FIG. 7 shows the cross-sectional and vertical cross-sectional images of the three-dimensional image reconstructed by the proposed method. As can be seen from these figures, it can be seen that the proposed method can accurately reconstruct the target object.
  • Fig. 6, 7] is the intersection angle of two circular orbit angles, and R is the radius.
  • Fig. 7 shows the cross-sectional and vertical cross-sectional images of the three-dimensional image reconstructed for the Shep bite-gan phantom and disc phantom in the case of Fig. 6.
  • Figure 9 shows the cross-sectional and vertical cross-sectional images of the three-dimensional image reconstructed by the proposed method. As you can see from these figures, It can be seen that the method can accurately reconstruct the target object.
  • Figure 8
  • Fig. 9 shows a good success image in any of the simulation experiments, which are the cross-sectional and vertical cross-sectional images of the three-dimensional image reconstructed for the Siep Logan phantom and the disk phantom in the case of Fig. 8. This confirms the effect of the present invention.

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Abstract

La présente invention concerne un procédé de reconfiguration d'une image tomographique aux rayons X convenant pour une orbite à courbure large. La présente invention considère que l'orbite de la source de rayons X comporte trois points d'intersection ou plus avec un plan plat décidé par une tranche à reconfiguré et que ces points d'intersection constituent u polygone convexe. L'invention propose donc un procédé de reconfiguration d'image 3D qui est précise, efficace, et simple pour les données projetées imagées par l'orbite.
PCT/JP2007/070812 2006-10-30 2007-10-25 Reconfiguration d'image tomographique aux rayons x convenant pour orbite à courbure large WO2008053777A1 (fr)

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GB2505998A (en) * 2012-07-18 2014-03-19 Rigaku Denki Co Ltd Conversion of X-Ray intensity distribution data
CN109344521A (zh) * 2018-10-16 2019-02-15 江西科技学院 一种正矢差闭合的曲线轨道拨距计算方法

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JP2007198866A (ja) * 2006-01-25 2007-08-09 Uni-Hite System Corp 広義サドルコーンビームct装置および3次元再構成法

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JP2007198866A (ja) * 2006-01-25 2007-08-09 Uni-Hite System Corp 広義サドルコーンビームct装置および3次元再構成法

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2505998A (en) * 2012-07-18 2014-03-19 Rigaku Denki Co Ltd Conversion of X-Ray intensity distribution data
GB2505998B (en) * 2012-07-18 2018-05-02 Rigaku Denki Co Ltd X-ray analysis apparatus, x-ray analysis system, x-ray analysis method, and x-ray analysis program
CN109344521A (zh) * 2018-10-16 2019-02-15 江西科技学院 一种正矢差闭合的曲线轨道拨距计算方法
CN109344521B (zh) * 2018-10-16 2022-09-27 江西科技学院 一种正矢差闭合的曲线轨道拨距计算方法

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