WO2011070519A1 - Système de balayage pour imagerie à contraste de phase différentielle - Google Patents

Système de balayage pour imagerie à contraste de phase différentielle Download PDF

Info

Publication number
WO2011070519A1
WO2011070519A1 PCT/IB2010/055662 IB2010055662W WO2011070519A1 WO 2011070519 A1 WO2011070519 A1 WO 2011070519A1 IB 2010055662 W IB2010055662 W IB 2010055662W WO 2011070519 A1 WO2011070519 A1 WO 2011070519A1
Authority
WO
WIPO (PCT)
Prior art keywords
ray
arrangement
grating
detector
emitter
Prior art date
Application number
PCT/IB2010/055662
Other languages
English (en)
Inventor
Klaus Jürgen ENGEL
Dieter Geller
Gereon Vogtmeier
Thomas Koehler
Original Assignee
Koninklijke Philips Electronics N.V.
Philips Intellectual Property & Standards Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics N.V., Philips Intellectual Property & Standards Gmbh filed Critical Koninklijke Philips Electronics N.V.
Priority to EP10807735.5A priority Critical patent/EP2509504B1/fr
Priority to CN201080055835.7A priority patent/CN102651998B/zh
Priority to JP2012542671A priority patent/JP5739902B2/ja
Priority to US13/514,312 priority patent/US9750465B2/en
Publication of WO2011070519A1 publication Critical patent/WO2011070519A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/42—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis
    • A61B6/4291—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis the detector being combined with a grid or grating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/48—Diagnostic techniques
    • A61B6/484—Diagnostic techniques involving phase contrast X-ray imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/48—Diagnostic techniques
    • A61B6/488—Diagnostic techniques involving pre-scan acquisition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computerised tomographs
    • A61B6/032—Transmission computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
    • A61B6/5241—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT combining overlapping images of the same imaging modality, e.g. by stitching

Definitions

  • the invention relates to the field of X-ray imaging.
  • the invention relates to an X-ray device for imaging an object, a method for controlling an X-ray device, a computer-readable medium and a program element.
  • X-ray differential phase-contrast imaging visualizes the phase information of coherent X-rays passing a scanned object.
  • DPCI may determine not only the absorption properties of the object along a projection line, but also the phase-shift of the transmitted X-rays, and thus may provide valuable additional information.
  • a phase-shifting grating also known as phase grating
  • the resulting interference pattern contains the required information about the beam phase-shift in the relative position of its minima and maxima, typically in the order of several micrometers.
  • the interference is sampled with a analyzer grating (also known as absorber grating), which features a periodic pattern of transmitting an absorbing strip with a periodicity similar to that of the interference pattern.
  • the similar periodicity produces a Moire pattern behind the grating with a much larger periodicity, which is detectable by a common X- ray detector.
  • the absorber grating and the phase grating are shifted laterally with respect to each other by fractions of the grating pitch, which is typically of the order of 1 ⁇ . This movement is referred to as phase stepping or phase scanning.
  • the phase-shift can be extracted from the particular Moire pattern measured for each position of the absorber grating.
  • an X-ray interferometer arrangement is shown that can be used to execute grating-based differential phase-contrast imaging.
  • the X- ray interferometer comprises an incoherent X-ray source with a source grating and a detector arrangement with a phase grating and an absorber grating.
  • gratings with high aspect ratio are used. These gratings may need to be aligned well with the optical axis of the system. From a practical and of manufacturing point of view, the trenches or lamellae of the gratings may have to be preferable orthogonal to a flat substrate. If such a flat grating/detector arrangement is used, the visibility of structures of the object may drop quickly with the distance of the object to the optical axis. In particular, if the distance orthogonal to the grating orientation is considered, the visibility may drop quickly due to the misalignment between the trenches of the gratings and the X-rays. In the direction parallel to the orientation of the gratings, due to the increasing distance to the X-ray source, also the visibility may decrease.
  • the grating lamellae may need to be aligned almost parallel to the incident X-ray wave vector. Otherwise, intended rectangular profiles for X-ray absorption or X-ray phase-shift become trapezoidal distant from the optical center, which may result in a strong decrease in the visibility of interference pattern and therefore in a
  • a further problem may arise from incoherently scattered X-ray radiation, which may be scattered by the object.
  • the additionally scattered photons may create an unwished signal offset in the absorption image and may decrease the contrast to noise ratio not only in absorption image but also in the differential phase-contrast image.
  • a first aspect of the invention relates to an X-ray device for imaging an object.
  • the X-ray device comprises an
  • the X-ray emitter arrangement is adapted to emit an X-ray beam through the object onto the X-ray detector arrangement.
  • the X-ray emitter arrangement may be a device on one side of the object and the X-ray detector arrangement may be a further device on another side of the object, for example opposite to the X-ray emitter arrangement.
  • the object may be a human or an animal lying on a table and the X-ray emitter arrangement is located over the object and the X-ray detector arrangement is located below the object on the table.
  • the X-ray emitter arrangement is adapted to generate an X-ray beam that is at least partial spatial coherent. It has to be understood, that an at least partial spatial coherent X-ray beam may comprise X-rays that are only locally spatial coherent. For example, only X-rays that are separated from each other less than 1 ⁇ may have to be coherent.
  • the X-ray emitter arrangement may comprise an X-ray source for generating spatial incoherent X-rays, for example an X-ray tube, and a source grating for creating an at least partial spatial coherent X-ray beam from the incoherent X-rays from the X-ray source.
  • a beam of at least partial spatial coherent X-rays may be formed.
  • the X-ray emitter arrangement is adapted to generate a fan-shaped X-ray beam.
  • a fan-shaped X-ray beam may be a beam substantially in the form of a cone, i.e. the X-rays of the beam are coming from a region that is very small with respect to the object of interest, wherein the dimensions of the cone orthogonal to the axis of the cone substantially differ from each other. These two dimensions may be defined by a fan angle and a cone angle of the beam, wherein the fan angle is the small angle and the cone angle is the large angle, which may be as large that the fan-shaped beam covers the whole region of interest of the object.
  • a fan- shaped beam may be a beam in the form of a pie slice, wherein thickness or width of the pie slice is small compared to the length of the pie slice.
  • the X-rays are parallel with respect to the thickness direction and spread with respect to another direction.
  • a first dimension of the fan-shaped beam may be much larger than a second dimension, when the first dimension of the beam is at least 5 to 10 times longer than the second dimension of the beam.
  • the fan-shaped beam may have a rectangular cross-section orthogonal to the optical axis of the system wherein the one side of the rectangle is at least 5 to 10 times longer than the other side of the rectangle.
  • the X-ray emitter arrangement comprises a collimator for limiting the X-ray beam to a fan- shaped X-ray beam.
  • the X-ray emitter arrangement may comprise an X-ray source that generates a coherent X-ray beam and the collimator generates a fan-shaped coherent X-ray beam from the X-rays emitted from the X-ray source.
  • the X-ray emitter arrangement may be equipped with a collimator generating a fan-beam and a source grating which generates a number of X-ray lines near the X-ray focal spot.
  • the size of the detector along the axial direction may be limited to a range within which no significant degradation effects due to misaligned grating lamellae or slits may be expected.
  • the X-ray detector arrangement comprises a phase grating and an absorber grating.
  • a grating may be a plurality of parallel aligned slits or trenches, wherein the grating is more transparent to X-rays at the slits or trenches as between them.
  • the slits or trenches may be formed by lamellae that are formed on a substrate.
  • the X-ray device is adapted to move the phase grating and the absorber grating relative to each other, in particular for executing a phase scanning step.
  • the X-ray device may comprise a step motor or piezo actuator for moving the phase grating with respect to the absorber grating or vice versa.
  • the X-ray device may be adapted to move the phase grating, the absorber grating and/or the source grating for executing a phase scanning step.
  • the X-ray detector arrangement may comprise a detector for detecting X-rays.
  • the interference patterns created by the phase grating and the absorber grating may be analyzed.
  • a detector may comprise detector elements that are adapted to detect the intensity of X-rays falling on the respective detector element, i. e. the detector may be a detector for detecting intensities of X-rays.
  • the X-ray detector may be a detector adapted for counting photons, i. e. the detection of X-rays may be executed by counting X-ray photons falling onto the detector.
  • the X-ray detector is an area detector.
  • An area detector may be a detector that is adapted to detect a two-dimensional image.
  • an area detector may comprise detector elements or pixels that are arranged at a face of the detector in two dimensions for example in a rectangular pattern. It may be possible that the detection area of the detector does not have to be planar.
  • the area detector, the phase grating and/or the absorber grating are adapted to the fan-shaped X-ray beam.
  • This may mean that the area detector, the phase grating and the absorber grating may substantially have the same shape as the fan-shaped X-ray beam at the respective position of the respective component of the X-ray detector arrangement (i.e. the phase grating, the absorber grating and/or the area detector).
  • the phase grating, the absorber grating and/or the X-ray detector may have a rectangular form.
  • the phase grating, the absorber grating and the X-ray detector may have the same dimensions as the fan-shaped X-ray beam. For example, if the distance between the X-ray source or the X-ray emitter arrangement and the detector or the X-ray detector arrangement is about 1 m, the width of the detector in the direction orthogonal the fan-shaped beam may be about 6 cm. However, the (maximal) width of the detector may be smaller or larger. The width of the detector may be dependent on the aspect ratio, i. e. the relationship between height and pitch, of the used grating.
  • a detector with a small fan angle, but a large cone angle that covers the entire object may be used.
  • several projections may be taken with different relative grating positions, i.e. a phase scanning is performed, in order to allow phase retrieval.
  • the X-ray device is adapted to generate image data from the detected X-rays and to extract phase information from the X-ray image data wherein the phase information relates to a phase-shift of X-rays caused by the object.
  • the phase information relates to a phase-shift of X-rays caused by the object.
  • the object has a region of interest which is larger than a detection area of the X-ray detector.
  • the X-ray device may be adapted to generate image data of the region of interest by moving the object and the X-ray detector arrangement relative to each other.
  • the X-ray device may adapted to move the object and the X-ray detector arrangement relative to each other, such that a region of interest of the object may be scanned that is larger than the X-ray detector arrangement.
  • a phase scanning of a first part of the region of interest of the object may be done. I.e. at the first relative position, a series or plurality of raw data images with different relative positions of the phase grating and the absorber grating are recorded. With this series of raw data images, the X-ray device may create first image data, representing phase information of the first part of the region of interest. After that, in a second step, the X-ray device may move the object and the X-ray detector arrangement into a second relative position different from the first relative position. At this second relative position, the X-ray device scans a second part of the region of interest of the object.
  • the X-ray device may create second image data containing phase information of the second part of the region of interest.
  • the X-ray device may add the second image data to the first image data, to create aggregated image data containing phase information of the first part of the region of interest and of the second part of the region of interest.
  • the X-ray device may be adapted to aggregate first image data containing phase information of a first part of the region of interest with second image data containing phase information of a second part of the region of interest to aggregated image data.
  • the single image data may be put together to aggregated image data.
  • steps may be repeated, i.e. a third part of the region of interest may be scanned and so on.
  • the steps may be repeated until the whole region of interest is scanned.
  • the X-ray emitter arrangement comprises an X-ray source with X-ray emitter lines adapted to generate the fan-shaped spatial at least partial coherent X-ray beam.
  • the X-ray emitter arrangement may comprise a structured X-ray source comprising emitter lines, wherein the emitter lines fulfil substantially the same functions as the slits of the source grating.
  • the emitter lines themselves may generate the X-rays.
  • the X-ray emitter lines comprise a cathode with carbon nanotubes or other distributed X-ray sources for emitting electrons.
  • Such an arrangement may have the advantage, that carbon nanotubes may be adapted to emit electrons at room temperature.
  • the grating lines or grating slits of the source grating, the phase grating and/or the absorber grating are aligned parallel to the fan-shaped X-ray beam. The gratings may be aligned with the long edge of the detector.
  • the X-ray device is adapted to move the object and the X-ray detector arrangement relative to each other in an axial direction orthogonal to the fan-shaped X-ray beam. Further, the X-ray device may be adapted to move the object and the X-ray detector arrangement together with the X-ray emitter arrangement relative to each other in the axial direction. In other words, the X-ray detector arrangement and the X-ray emitter arrangement may be rigidly mechanically connected with each other.
  • the X-ray device may be adapted to conduct the movement in steps. Further each step may be adapted to the width or thickness of the detector, such that the image data taken at the different relative positions may be easily aggregated. It may also be possible, that the steps are such that the image data slightly overlap.
  • the X-ray device comprises an actuator for moving the object with respect to the X-ray emitter arrangement and the X-ray detector arrangement.
  • the X-ray emitter arrangement and the X-ray detector arrangement may be stationary with respect to the vicinity of the X-ray device or with respect to the ground and with respect to each other.
  • the object may be attached to a component of the X-ray device movable by the X-ray device, for example the object is a human being lying on a movable table, wherein the X-ray device is able to move the component into the axial direction in defined steps, while differential phase contrast imaging snapshots or image data of object slices are performed at each scan position.
  • This may have the advantage that the field of view is not limited in the axial direction except for the possible limits of the X-ray device, which can be extended very easily.
  • a further advantage may be that no cone beam has to be used, i.e.
  • a beam with a large fan angle and thus the incoherently scattered X-ray radiation may be limited to arise only in that volume of the object which is illuminated by the fan-beam, which may be quite smaller than the volume which would be illuminated for a large field of view detector.
  • the X-ray device may comprise an actuator for moving the X-ray emitter arrangement and/or the X-ray detector arrangement with respect to the object.
  • the object may be stationary with respect to the vicinity of the X-ray device.
  • the object may be fixed stationary, while the X-ray emitter arrangement and the X-ray detector arrangement which may be connected with each other may be moved in defined steps or continuously with respect to the object.
  • the X-ray device comprises an actuator for moving the X-ray emitter arrangement and/or the X-ray detector arrangement around the object, for example in a rotational movement.
  • the X-ray detector arrangement may be moved around the object to different positions, for example with the help of a rail the detector arrangement is sliding on, and the X-ray emitter arrangement may be rotated around an axis, such that the emitted fan-shaped X-ray beam falls onto the detector.
  • the X-ray emitter arrangement and the X-ray detector may be moved around the object to different positions, for example with the help of a rail the detector arrangement is sliding on, and the X-ray emitter arrangement may be rotated around an axis, such that the emitted fan-shaped X-ray beam falls onto the detector.
  • the X-ray emitter arrangement and the X-ray detector may be rotated around an axis, such that the emitted fan-shaped X-ray beam falls onto the detector.
  • a large field of view may be covered by rotating the detector arrangement around an axis through the focal spot.
  • the X-ray device performing a rotational motion of the detector and/or the X- ray emitter arrangement may be used for mammography.
  • the relative movement of the object and the X-ray detector arrangement may be together with the X-ray emitter arrangement either linear or rotational may comprise a plurality of steps.
  • image data which has a small dimension with respect to the moving direction due to the fan-shaped beam, but which may comprise the whole region of interest in the direction orthogonal to the movement, may be recorded.
  • the image data may be joined to a complete image of this complete region of interest of the object.
  • the X-ray device is adapted to move at least one grating, for example the phase grating, the absorber grating or the source grating (for example in the axial direction) such that the one grating remains fixed with respect to the object, when the object moves relative to the X-ray emitter arrangement or the X-ray detector arrangement.
  • at least one of the gratings is moved such that in the moving reference system of the object a phase scanning of the object may be executed.
  • the grating lines may be aligned orthogonal to the scan axis or axial direction. Therefore, the phase stepping direction may be parallel to the axial direction (linear relative movement) or substantially parallel to the rotation direction (rotational movement of the object).
  • the movement of at least one grating may be performed in large steps, wherein the relative movement of the object and the detector arrangement may be performed in small steps or continuously.
  • the movement of the at least one grating in a large step may be executed between two phase stepping sequences.
  • the phase stepping may be performed in large steps for the source grating (for example by a scanning actuator means) and in smaller steps (or continuously) for either the object or the detector arrangement.
  • the large steps may be also performed for the phase grating and/or the absorber grating.
  • a large step may be identical to n small steps with n being the number of total phase steps per view or per phase scanning.
  • This arrangement may have the advantage, that larger masses (for example the object or the whole X-ray device except the source grating) have not to be accelerated during single steps, but can be instead moved in a constant speed.
  • the grating lines are aligned orthogonal to the axial direction.
  • one of the gratings may be kept at a fixed position during a phase stepping cycle or phase stepping step, while the other gratings (in general combined with the X-ray emitter and/or detector arrangement as an inertial mass) may be moved with constant speed.
  • the fixed grating (with low mass) can be moved in a large step by a slice width.
  • the X-ray emitter arrangement comprises an X-ray source with switchable emitter lines. This means, that not all the emitter lines may be activated together but that some or all of the emitter lines may be switched on and off independently from each other. For example, this may be done with an anode above a cathode with carbon nanotubes, wherein the anode comprises different strips they may be independently from each other connected with a voltage source.
  • the X-ray emitter arrangement is larger in the direction of movement than the X-ray detector arrangement, wherein the X-ray device is adapted to switch the emitter lines such that solely the emitter lines opposite to the X-ray detector arrangement are switched on for a phase scan.
  • the X-ray source may be spatially fixed but may provide individually switchable emitter lines over the whole scanning range. While the detector may be moved continuously or in steps, the emitter lines currently opposite of the detector arrangement may be individually switched on and off.
  • the X-ray device is adapted to analyze an X-ray intensity of the X-rays at the X-ray detector arrangement during a first scan step.
  • the detected X-ray intensity is analyzed by the X-ray device during the scan for each position in order to evaluate the dose efficiency.
  • the X-ray device is adapted to set an intensity of the X-rays emitted by the X-ray emitter arrangement for a second scan step based on the analyzed X-ray intensity of the first scan step.
  • the X-ray intensity for each line or for each scan position is adapted for dose efficiency using the dose efficiency analysis results of prior scanned lines or positions.
  • the X-ray device is adapted to set the scan speed of a second scan step based on the analyzed X-ray intensity of the first scan step.
  • the scan speed during a scan step may be the speed of the movement of the object or the X-ray emitter arrangement or the X-ray detector arrangement.
  • the scan speed may also be the speed of the grating during one phase scanning step. For example, the scan speed and thus the
  • X-ray exposure per line or per scan step is adapted for dose efficiency using the dose efficiency analysis results of prior scanned lines or prior scan steps.
  • the first scan step and the second scan step may be individually phase scanning steps at different relative positions of the components of the X-ray device, when the X-ray device is moving the object and the X-ray detector arrangement relative to each other continuously or in small steps.
  • the image data of a line or the image data generated during one phase scanning step may be real-time analyzed for dose efficiency, in order to maintain a homogeneous contrast to noise ratio.
  • dose efficiency analysis either the X- ray intensity or the scan speed may be adjusted or set. Also a combination thereof may be adjusted or set. For example, in a medical imaging application only a thin object slice may be scanned for a phase scanning step and the dose spent for the next step and therefore the total harmfulness to the patient due to X-ray exposure may be reduced.
  • a local illuminating X-ray intensity is directly coupled to the tube load, which means that the dose which may be optimally adapted to a first part of the image area might not be optimally adapted to another area of the image area, which, for example, may be caused by different object thicknesses at the two areas.
  • the applied X-ray intensity is adapted to the local object properties during the overall scan, in order to optimize the deposited dose for a more homogeneous contrast to noise ratio in the image.
  • a further aspect of the invention is a method for controlling an X-ray device.
  • the method comprises the steps of: generating a fan-shaped at least partial spatial coherent X-ray beam; transmitting the X-ray beam through an object, a phase grating and an absorber grating onto an X-ray area detector; generating image data from X-rays detected by the X-ray area detector; extracting phase information from the image data, the phase information relating to a phase-shift of X-ray caused by the obj ect.
  • the method comprises the steps of: moving the object and the X-ray detector arrangement relative to each other; generating image data of a region of interest of the object, wherein the region of interest is larger than a detection area of the X-ray area detector.
  • the method comprises the step of: Generating the fan-shaped at least partial spatial coherent X-ray beam with an X-ray source having X-ray emitter lines, in particular X-ray emitter lines comprising a cathode with carbon nanotubes.
  • the method comprises the step of: Moving at least one grating, for example the phase grating, the absorber grating or the source grating such that the at least one grating remains fixed with respect to the object, when the object, the X-ray emitter arrangement and/or the X-ray detector arrangement move relative to each other.
  • at least one grating for example the phase grating, the absorber grating or the source grating
  • the method comprises the steps of:
  • the method comprises the step of:
  • the method comprises the step of:
  • the method comprises the step of:
  • the X-ray device and the method for controlling an X-ray device may be used in stationary transmission geometries (i.e. mammography, fluoroscopy) but also for computed tomography (CT) or related rotational X-ray imaging technologies.
  • CT computed tomography
  • a further aspect of the invention relates to a computer-readable medium, in which a computer program for controlling an X-ray device is stored, which, when being executed by a processor (for example a processor of the X-ray device), is adapted to carry out the steps of the method as described in the above and in the following.
  • a processor for example a processor of the X-ray device
  • a computer-readable medium may be a floppy disk, a hard disk, an USB (Universal Serial Bus) storage device, a RAM (Random Access Memory), a ROM (Read Only memory) and an EPROM (Erasable Programmable Read Only Memory).
  • a computer readable medium may also be a data communication network, e.g. the Internet, which allows downloading a program code.
  • a further aspect of the invention relates to a program element (for example a computer program) for controlling an X-ray device, which, when being executed by a processor (for example a processor of the X-ray device), is adapted to carry out the steps of the method as described in the above and in the following.
  • a program element for example a computer program
  • a processor for example a processor of the X-ray device
  • Fig. 1 shows an X-ray device according to an exemplary embodiment of the invention.
  • Fig. 2 shows an X-ray device according to an exemplary embodiment of the invention in a different direction.
  • Fig. 3 shows an X-ray emitter arrangement according to an exemplary embodiment of the invention.
  • Fig. 4 shows an X-ray emitter arrangement according to an exemplary embodiment of the invention.
  • Fig. 5 shows an X-ray detector arrangement according to an exemplary embodiment of the invention.
  • Fig. 6 shows a three-dimensional view of an X-ray beam and a detector according to an exemplary embodiment of the invention.
  • Fig. 7 shows an X-ray device according to an exemplary embodiment of the invention.
  • Fig. 8 shows an X-ray device according to a further exemplary embodiment of the invention.
  • Fig. 9 shows an X-ray device according to a further exemplary embodiment of the invention.
  • Fig. 10 shows a flow diagram for a method for controlling an X-ray device according to an exemplary embodiment of the invention.
  • Fig. 1 shows schematically an X-ray device 10 with an X-ray emitter arrangement 12 and an X-ray detector arrangement 14.
  • the X-ray emitter arrangement 12 is adapted to emit a fan-shaped and at least partial coherent X-ray beam 16.
  • the X-ray beam 16 is transmitted through an object 18 for example a human being, on a table 19.
  • the X-ray emitter arrangement 12 and the X-ray detector arrangement 14 are stationary with respect to the environment of the X-ray device 10 and the object 18 may be moved in an axial direction A orthogonal to the optical axis O of the X-ray device 10.
  • the X-ray device 10 comprises an actuator 20, for example step motor 20, that is adapted to move the table 19 with the object 18 in small steps in the axial direction A.
  • the X-ray device 10 further has a controller 22 with a processor 24.
  • the controller 22 is connected to the X-ray emitter arrangement 12 over a signal line 26, to the X- ray detector arrangement 14 over a signal line 28 and to the actuator 20 over a signal line 30. Over these signal lines 26, 28, 30, the controller 22 controls the X-ray emitter arrangement 12, the X-ray detector arrangement 14 and the actuator 20. Further, the controller 22 is adapted to receive image data taken by the X-ray detector arrangement 14 over the signal line 28.
  • the fan-shaped beam 16 has a small fan angle f and the detector 14 has a width w that is adapted to this small fan angle f.
  • the width w of the detector arrangement 14 may be 6 cm, or even smaller. This may guarantee a good visibility even at the ends of the detector arrangement 14 in the direction A.
  • Fig. 2 shows an X-ray emitter arrangement 12 and an X-ray detector arrangement 14 that may be used together with all the embodiments of X-ray devices shown in the figures.
  • Fig. 2 shows a view of the X-ray beam 16 in the direction A of Fig. 1.
  • the X- ray beam 16 has a cone angle c that is much larger than the fan angle f.
  • the detector arrangement 14 has a length 1 that is much larger than the width w of the X-ray detector arrangement 14. For example, the length 1 may be about 50 cm. Due to the large cone angle c of the beam 16, the entire object 18 or the entire region of interest 32 is covered by the fan- shaped beam 16 in a plane orthogonal to the axial direction A.
  • Fig. 3 shows an embodiment of an X-ray emitter arrangement 12.
  • the X-ray emitter arrangement 12 comprises an incoherent X-ray source 34, for example an X-ray tube 34, a source grating 36 and a collimator 38. All these components 34, 36, 38 may be situated inside a housing 40 of the X-ray detector arrangement 12.
  • the X-ray source 34 may be activated and deactivated by the controller 22 over the signal line 26. When the X-ray source 34 is working, it emits incoherent X-ray beams, which fall on the source grating 36. After leaving the source grating 36, the X-ray beam 16 is locally coherent. With the collimator 38 the X-ray beam 16 is limited to a small fan angle f and to the cone angle c.
  • the X-ray emitter arrangement 12 may further comprise an actuator 37 for moving the source grating 36 (for example a piezo drive or step motor 37).
  • Fig. 4 shows a further embodiment of an X-ray emitter arrangement 112.
  • the X-ray emitter arrangement 112 comprises a cathode 42 with carbon nanotube based emitters (or other cold cathode emitters) 44 and an anode 46.
  • the anode 46 comprises several elements they may be connected to a voltage source or high voltage generator independently from each other by the controller 22 Alternatively, the single carbon nanotube emitters 44 may be switched independently from each other and the anode 46 has a connection to a high voltage generator. As indicated in Fig. 4, only certain anode elements are radiating and X-rays are produced only at the (activated) anode elements.
  • the X-ray emitter arrangement 112 has therefore several emitter lines 48 that may be activated independent from each other by the controller 22.
  • the X-ray beam 16 produced by the X-ray emitter arrangement 112 has parallel X-rays.
  • a bent anode 42 a X-ray beam 16 as shown in Fig. 6, which has X-rays that are spreading in two directions or an X-ray beam with X-rays that are only spreading in one direction, for example as for the X-ray device of Fig. 9, may be produced.
  • Fig. 5 shows a X-ray detector arrangement 14 with phase grating 50, absorber grating 52 and an area detector 54.
  • the components 50, 52, 54 of the X-ray detector arrangement 14 all may be situated in a housing 56.
  • the X-ray detector arrangement 14 comprises an actuator 53 for moving the phase grating 50 and absorber grating 52 relative to each other in the direction P.
  • the controller 22 may move the phase grating 50 and the absorber grating 52 relative to each other in the direction P (which may be parallel to the direction A) in small steps. Due to the X-rays 16 which have passed the object 18 and are falling onto the phase grating 50 and the absorber grating 52, patterns of different intensity of X-rays are formed on the area detector 54. At each of the plurality of relative positions of the phase grating 50 and the absorber grating 52, the detector 54 takes an image of the respective intensities and sends this raw image data to the controller 22. From the plurality of different raw image data taken during one phase scan, the controller 22 calculates image data containing phase information of the X-rays passed through the object 18.
  • Fig. 6 shows a three-dimensional view of the cone-beam 16 and the X-ray detector arrangement 14.
  • the grating lines 58 of the phase grating 50 and the absorber grating 52 are parallel to the longer sides of the X-ray detector arrangement 14.
  • the grating lines 58 may be orthogonal to the axial direction A.
  • the X-ray device shown in Fig. 1 may be controlled by the controller 22 in the following way:
  • the object 18 is moved by the table 19 (and the actuator 20) to a position wherein a first slice of the region of interest 32 may be imaged.
  • a first phase stepping i.e. scanning of the part of the region of interest 32 is conducted and the respective image data is produced.
  • the object 18 is moved to the next position wherein the next slice of the region of interest 32 is scanned. Also, image data of this second slice is produced by the controller 22.
  • the distance between the two positions is such that the image data obtained at the two positions slightly overlap, such that aggregated image data may be obtained.
  • the X-ray device 10 takes image data from further slices of the region of interest 32 until the whole region of interest 32 is scanned.
  • the entire image data taken at the different positions of the object containing phase information of the different slices of the region of interest 32 may at the end be aggregated to one image containing information on the whole region of interest 32.
  • the whole region of interest 32 is scanned and the phase scanning is combined with the movement of the object 18.
  • at least one of the gratings 36, 50, 52 has to be kept at a fixed position with respect to the object 18 during a phase stepping cycle.
  • the fixed grating(s) 36, 50, 52 has to be moved in a large step by a slice.
  • image data from the respective slices of the region of interest 32 are taken, which at the end can be put together or aggregated to aggregated image data showing the whole region of interest 32.
  • Fig. 7 shows a further embodiment of an X-ray device 110.
  • the X-ray device 110 has a stationary table 19.
  • the X-ray emitter arrangement 12 and the X-ray detector arrangement 14 of the X-ray device 110 are rigidly connected with each other, for example by an arm 60, with which both the arrangements 12 and 14 may be moved in the axial direction A with the aid of an actuator 62.
  • the movement of the combination of the X-ray emitter 12 and the X-ray detector 14 can be executed either in steps or continuously. If the movement is conducted in steps, at each step, the X-ray device 110 may take image data of the region of interest 32 and at the end may aggregate an overall image of the region of interest 32. If the movement is done continuously or in small steps, the phase scanning and the movement have to be combined as described above with respect to the embodiment of Fig. 1.
  • Fig. 8 shows a further embodiment of an X-ray device 210.
  • the X-ray device 210 is adapted to rotate the X-ray detector arrangement 14 about the focal spot 64 of the X-ray device 210.
  • Fig. 8 shows the detector arrangement 14 in three different positions, in which the X-ray beams 16 directed to the X-ray detector arrangement 14 covers the whole region of interest 32.
  • the X-ray device 210 For the movement of the X-ray detector arrangement 14, the X-ray device 210 comprises an actuator 66. Further, the X-ray emitter arrangement 12 is rotatable about the focal spot 64. For example, the X-ray emitter arrangement 12 and the X-ray detector arrangement 14 are connected with each other by an arm, which may be rotated around an axis. Contrary as indicated in Fig. 8, this rotation also may be around an axis that is different from an axis through the focal spot 64.
  • the rotational movement of the X-ray detector arrangement 14 may either be conducted in large steps or continuously (or in small steps), wherein in the first case, phase scanning is executed at each position and in the second case the phase scanning is combined with the continuous movement of the detector arrangement 14 with respect to the object 18.
  • Fig. 9 shows a further embodiment of an X-ray device 310.
  • the X-ray device 310 comprises an X-ray emitter arrangement 312 wherein the X-ray emitter arrangement 312 comprises an X-ray emitter that is adapted to generate an emitter beam 16 within the whole scanning region.
  • the X-ray emitter arrangement 312 may be designed like the X- ray emitter arrangement 112 shown in Fig. 4 with a plurality of emitter lines distributed over the extension of the X-ray emitter arrangement 312 in the direction A.
  • the X-ray emitter device 310 comprises an X-ray detector arrangement 14 that is movable along the direction A, for example by an actuator 66 like a step motor or piezo drive 66.
  • an actuator 66 like a step motor or piezo drive 66.
  • the movement of the X-ray detector arrangement may be conducted in large steps or continuously, wherein either at each position a phase scan is conducted or the phase scanning is combined with the continuous movement.
  • Fig. 10 shows a flow diagram of a method of controlling an X-ray device 10, 110, 210, 310 that may be executed by the processor 24 of the controller 22.
  • a step S10 the scanning of the region of interest 32 is initiated by moving either the object 18 or the detector arrangement 14 to the start position, where the scanning has to be started.
  • step S12 image data of a first slice of the region of interest 32 is recorded.
  • step S14 either the object 18 or the X-ray detector arrangement 14 are moved in a large step to the next relative position were the next phase scanning has to be made.
  • the phase scanning of a slice of the region of interest 32 may be done while the object 18 or the X-ray detector arrangement 14 is moving continuously or in small steps.
  • step SI 6 a continuous movement or a movement in small steps of the object 18 and the X-ray detector arrangement 14 relative to each other is started during which the phase scanning is performed.
  • step SI 8 the fixed grating, 36, 50, 52 has to be moved in a large step by a slice width.
  • a step S20 the X-ray intensity is analyzed by analysing the recorded image data to evaluate the dose efficiency of the actual scan.
  • the X-ray intensity of the X-ray emitter arrangement 12, 112, 312 may be adapted or set, using the dose efficiency analysis results of step S20.
  • the scan speed i.e. the speed of the movement of the gratings 36, 50, 52 and/or the speed of the movement of the object 18 relative to the arrangements 12, 14, is adapted or set, using the dose efficiency analysis results of step S20.
  • step S 12 the method continues either at step S 12 or at step S 16 for executing a phase scan for the next slice.
  • step S24 the image data scanned for the different slices covering the region of interest 32 are aggregated or put together to form an overall image data containing a scan of the whole region of interest 32.

Abstract

L'invention concerne le domaine de l'imagerie à contraste de phase différentielle par rayons X. Pour le balayage d'objets de grande dimension et pour un rapport contraste sur bruit amélioré, un dispositif à rayons X (10) pour l'imagerie d'un objet (18) est proposé. Le dispositif à rayons X (10) comprend un agencement émetteur de rayons X (12) et un agencement détecteur de rayons X (14), l'agencement émetteur de rayons X (14) étant apte à émettre un faisceau de rayons X (16) à travers l'objet (18) sur l'agencement détecteur de rayons X (14). Le faisceau de rayons X (16) est au moins partiellement cohérent spatialement et en forme d'éventail. L'agencement détecteur de rayons X (14) comprend un réseau de phase (50) et un réseau absorbeur (52). L'agencement détecteur de rayons X (14) comprend un détecteur de surface (54) pour détecter des rayons X, le dispositif à rayons X étant apte à générer des données d'image à partir des rayons X détectés et à extraire des informations de phase à partir des données d'image de rayons X, les informations de phase concernant un déphasage des rayons X provoqué par l'objet (18). L'objet (18) a une région d'intérêt (32) qui est plus importante qu'une surface de détection du détecteur de rayons X (18) et le dispositif à rayons X (10) est apte à générer des données d'image de la région d'intérêt (32) par déplacement de l'objet (18) et de l'agencement détecteur de rayons X (14) l'un par rapport à l'autre.
PCT/IB2010/055662 2009-12-10 2010-12-08 Système de balayage pour imagerie à contraste de phase différentielle WO2011070519A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP10807735.5A EP2509504B1 (fr) 2009-12-10 2010-12-08 Système de balayage pour imagerie à contraste de phase différentielle
CN201080055835.7A CN102651998B (zh) 2009-12-10 2010-12-08 用于微分相衬成像的扫描系统
JP2012542671A JP5739902B2 (ja) 2009-12-10 2010-12-08 Ｘ線デバイス及び方法
US13/514,312 US9750465B2 (en) 2009-12-10 2010-12-08 Scanning system for differential phase contrast imaging

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP09178696.2 2009-12-10
EP09178696 2009-12-10

Publications (1)

Publication Number Publication Date
WO2011070519A1 true WO2011070519A1 (fr) 2011-06-16

Family

ID=43827279

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2010/055662 WO2011070519A1 (fr) 2009-12-10 2010-12-08 Système de balayage pour imagerie à contraste de phase différentielle

Country Status (5)

Country Link
US (1) US9750465B2 (fr)
EP (1) EP2509504B1 (fr)
JP (1) JP5739902B2 (fr)
CN (1) CN102651998B (fr)
WO (1) WO2011070519A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104582575A (zh) * 2012-08-17 2015-04-29 皇家飞利浦有限公司 处置差分相衬成像中的未对准
WO2016075140A1 (fr) * 2014-11-11 2016-05-19 Koninklijke Philips N.V. Agencement source-détecteur

Families Citing this family (121)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US10653497B2 (en) 2006-02-16 2020-05-19 Globus Medical, Inc. Surgical tool systems and methods
US9308050B2 (en) 2011-04-01 2016-04-12 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system and method for spinal and other surgeries
US20120307970A1 (en) * 2011-05-31 2012-12-06 General Electric Company Multispot x-ray phase-contrast imaging system
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
JP2015528713A (ja) 2012-06-21 2015-10-01 グローバス メディカル インコーポレイティッド 手術ロボットプラットフォーム
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11589771B2 (en) 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US10350013B2 (en) 2012-06-21 2019-07-16 Globus Medical, Inc. Surgical tool systems and methods
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US10842461B2 (en) 2012-06-21 2020-11-24 Globus Medical, Inc. Systems and methods of checking registrations for surgical systems
US10799298B2 (en) 2012-06-21 2020-10-13 Globus Medical Inc. Robotic fluoroscopic navigation
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US10646280B2 (en) 2012-06-21 2020-05-12 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US10874466B2 (en) 2012-06-21 2020-12-29 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
CN104394770B (zh) * 2012-06-27 2018-06-08 皇家飞利浦有限公司 基于光栅的差分相位对比成像
CN104837409B (zh) * 2013-09-30 2019-08-13 皇家飞利浦有限公司 具有可移动光栅的微分相位衬度成像装置
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
CN104622492A (zh) * 2013-11-11 2015-05-20 中国科学技术大学 一种x射线光栅相位衬度成像装置和方法
WO2015107099A1 (fr) 2014-01-15 2015-07-23 KB Medical SA Appareil entaillé pour guider un instrument pouvant être introduit le long d'un axe pendant une chirurgie rachidienne
WO2015121311A1 (fr) 2014-02-11 2015-08-20 KB Medical SA Poignée stérile de commande d'un système chirurgical robotique à partir d'un champ stérile
US10004562B2 (en) 2014-04-24 2018-06-26 Globus Medical, Inc. Surgical instrument holder for use with a robotic surgical system
US10828120B2 (en) 2014-06-19 2020-11-10 Kb Medical, Sa Systems and methods for performing minimally invasive surgery
WO2016008880A1 (fr) 2014-07-14 2016-01-21 KB Medical SA Instrument chirurgical anti-dérapage destiné à être utilisé pour préparer des trous dans un tissu osseux
US10765438B2 (en) 2014-07-14 2020-09-08 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
RU2674650C2 (ru) * 2014-08-05 2018-12-12 Конинклейке Филипс Н.В. Устройство-решетка для устройства рентгеновской визуализации
JP6731920B2 (ja) 2014-12-02 2020-07-29 カーベー メディカル エスアー 外科手術中のロボット支援式体積除去
WO2016104008A1 (fr) * 2014-12-22 2016-06-30 株式会社島津製作所 Dispositif d'imagerie par contraste de phase de rayonnement
US10013808B2 (en) 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
EP3258872B1 (fr) 2015-02-18 2023-04-26 KB Medical SA Systèmes pour pratiquer des micromanipulations chirurgicales à la colonne vertébrale avec un système chirurgical robotique en utilisant une technique percutanée
US10646298B2 (en) 2015-07-31 2020-05-12 Globus Medical, Inc. Robot arm and methods of use
US10058394B2 (en) 2015-07-31 2018-08-28 Globus Medical, Inc. Robot arm and methods of use
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
JP6422123B2 (ja) * 2015-08-27 2018-11-14 国立大学法人東北大学 放射線画像生成装置
US10687905B2 (en) 2015-08-31 2020-06-23 KB Medical SA Robotic surgical systems and methods
US10034716B2 (en) 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
US9771092B2 (en) 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
EP3241518A3 (fr) 2016-04-11 2018-01-24 Globus Medical, Inc Procédés et systèmes d'outil chirurgical
JP6750310B2 (ja) * 2016-05-30 2020-09-02 コニカミノルタ株式会社 タルボ撮影装置
CN109691238B (zh) * 2016-07-14 2024-02-13 拉皮斯坎系统股份有限公司 用于改善放射成像扫描仪的穿透力的系统与方法
US11039893B2 (en) 2016-10-21 2021-06-22 Globus Medical, Inc. Robotic surgical systems
EP3551077A1 (fr) * 2016-12-09 2019-10-16 Koninklijke Philips N.V. Appareil d'acquisition de données de projection et dispositif de support de sujet
EP3351202B1 (fr) 2017-01-18 2021-09-08 KB Medical SA Guide d'instrument universel destiné à des systèmes chirurgicaux robotiques
JP2018114280A (ja) 2017-01-18 2018-07-26 ケービー メディカル エスアー ロボット外科用システムのための汎用器具ガイド、外科用器具システム、及びそれらの使用方法
EP3360502A3 (fr) 2017-01-18 2018-10-31 KB Medical SA Navigation robotique de systèmes chirurgicaux robotiques
US11071594B2 (en) 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
US10441234B2 (en) * 2017-06-15 2019-10-15 Shimadzu Corporation Radiation-phase-contrast imaging device
US11135015B2 (en) 2017-07-21 2021-10-05 Globus Medical, Inc. Robot surgical platform
EP3459461A1 (fr) * 2017-09-25 2019-03-27 Koninklijke Philips N.V. Balayage de référence d'imagerie à rayons x
US11382666B2 (en) 2017-11-09 2022-07-12 Globus Medical Inc. Methods providing bend plans for surgical rods and related controllers and computer program products
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
US10898252B2 (en) 2017-11-09 2021-01-26 Globus Medical, Inc. Surgical robotic systems for bending surgical rods, and related methods and devices
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
WO2019130848A1 (fr) * 2017-12-26 2019-07-04 株式会社島津製作所 Dispositif d'imagerie par rayons x
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
WO2019239624A1 (fr) * 2018-06-15 2019-12-19 株式会社島津製作所 Dispositif d'imagerie à rayons x
JP7159700B2 (ja) * 2018-08-30 2022-10-25 株式会社島津製作所 Ｘ線分析装置
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
CN111643100B (zh) * 2019-11-21 2021-10-15 清华大学 相衬成像系统信息表征方法及系统
US11464581B2 (en) 2020-01-28 2022-10-11 Globus Medical, Inc. Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
DE102020209714A1 (de) * 2020-07-31 2022-02-03 Siemens Healthcare Gmbh Verfahren zur abschnittsweisen Aufnahme einer Röntgenaufnahme
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US11941814B2 (en) 2020-11-04 2024-03-26 Globus Medical Inc. Auto segmentation using 2-D images taken during 3-D imaging spin
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
US11857273B2 (en) 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
US11918304B2 (en) 2021-12-20 2024-03-05 Globus Medical, Inc Flat panel registration fixture and method of using same

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0291299A1 (fr) * 1987-05-11 1988-11-17 General Electric Company Dispositif et méthode d'obtention d'une image à rayons X numérique
EP1731099A1 (fr) 2005-06-06 2006-12-13 Paul Scherrer Institut Interféromètre pour l'imagerie et la tomographie à contraste de phase avec une source de rayons X incohérente et polychromatique
US20070183558A1 (en) * 2006-02-01 2007-08-09 Eckhard Hempel Method and CT system for detecting and differentiating plaque in vessel structures of a patient
US20070183583A1 (en) * 2006-02-01 2007-08-09 Joachim Baumann Focus-detector arrangement of an X-ray apparatus for generating projective or tomographic phase contrast recordings
EP1879020A1 (fr) * 2006-07-12 2008-01-16 Paul Scherrer Institut Interféromètre par rayons X pour l'imagerie à contraste de phase
US20090168951A1 (en) * 2007-12-29 2009-07-02 Xiongwei Yan Method for controlling x-ray exposure in x-ray ct system
WO2009115966A1 (fr) * 2008-03-19 2009-09-24 Koninklijke Philips Electronics N.V. Dispositif à rayons x rotatif pour une imagerie à contraste de phase
US20100272235A1 (en) * 2009-04-28 2010-10-28 Fujifilm Corporation Radiation phase contrast imaging apparatus

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4242583A (en) * 1978-04-26 1980-12-30 American Science And Engineering, Inc. X-ray imaging variable resolution
US5319693A (en) * 1992-12-30 1994-06-07 General Electric Company Three dimensional computerized tomography scanning configuration for imaging large objects with smaller area detectors
JP4159188B2 (ja) 1999-07-30 2008-10-01 ジーイー横河メディカルシステム株式会社 管電流調節方法および装置並びにｘ線ｃｔ装置
SE524380C2 (sv) 2002-03-12 2004-08-03 Xcounter Ab Exponeringsstyrning i scannerbaserad detektering av joniserande strålning
US7092482B2 (en) * 2003-04-11 2006-08-15 Fischer Imaging Corporation Signal profiling for medical imaging systems
JP2005000261A (ja) * 2003-06-10 2005-01-06 Fuji Photo Film Co Ltd 放射線画像形成方法および放射線撮影装置
SE528366C2 (sv) * 2004-02-13 2006-10-31 Sectra Mamea Ab Metod och anordning avseende röntgenbildtagning
DE102006015356B4 (de) * 2006-02-01 2016-09-22 Siemens Healthcare Gmbh Verfahren zur Erzeugung projektiver und tomographischer Phasenkontrastaufnahmen mit einem Röntgen-System
DE102006046034A1 (de) * 2006-02-01 2007-08-16 Siemens Ag Röntgen-CT-System zur Erzeugung projektiver und tomographischer Phasenkontrastaufnahmen
WO2007088497A1 (fr) 2006-02-02 2007-08-09 Philips Intellectual Property & Standards Gmbh Appareil de prise d'images utilisant des sources de rayons x reparties et son procede d'utilisation
US20070189455A1 (en) * 2006-02-14 2007-08-16 Accuray Incorporated Adaptive x-ray control
US7664222B2 (en) * 2007-03-30 2010-02-16 General Electric Co. Portable digital tomosynthesis imaging system and method
JP4998279B2 (ja) 2008-01-16 2012-08-15 株式会社島津製作所 放射線撮像装置
US7693256B2 (en) * 2008-03-19 2010-04-06 C-Rad Innovation Ab Phase-contrast X-ray imaging

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0291299A1 (fr) * 1987-05-11 1988-11-17 General Electric Company Dispositif et méthode d'obtention d'une image à rayons X numérique
EP1731099A1 (fr) 2005-06-06 2006-12-13 Paul Scherrer Institut Interféromètre pour l'imagerie et la tomographie à contraste de phase avec une source de rayons X incohérente et polychromatique
US20070183558A1 (en) * 2006-02-01 2007-08-09 Eckhard Hempel Method and CT system for detecting and differentiating plaque in vessel structures of a patient
US20070183583A1 (en) * 2006-02-01 2007-08-09 Joachim Baumann Focus-detector arrangement of an X-ray apparatus for generating projective or tomographic phase contrast recordings
EP1879020A1 (fr) * 2006-07-12 2008-01-16 Paul Scherrer Institut Interféromètre par rayons X pour l'imagerie à contraste de phase
US20090168951A1 (en) * 2007-12-29 2009-07-02 Xiongwei Yan Method for controlling x-ray exposure in x-ray ct system
WO2009115966A1 (fr) * 2008-03-19 2009-09-24 Koninklijke Philips Electronics N.V. Dispositif à rayons x rotatif pour une imagerie à contraste de phase
US20100272235A1 (en) * 2009-04-28 2010-10-28 Fujifilm Corporation Radiation phase contrast imaging apparatus

Non-Patent Citations (7)

* Cited by examiner, † Cited by third party
Title
ATSUSHI, WATARU,MASAFUMI: "Biomedical Imaging by Talbot-T X-Ray Phase Tomography", SPIE, PO BOX 10 BELLINGHAM WA 98227-0010 USA, vol. 6318, 2006, XP040229042 *
GUANG-HONG CHEN ET AL: "Image reconstruction for fan-beam differential phase contrast computed tomography", PHYSICS IN MEDICINE AND BIOLOGY, TAYLOR AND FRANCIS LTD. LONDON, GB, vol. 53, no. 4, 21 February 2008 (2008-02-21), pages 1015 - 1025, XP020127374, ISSN: 0031-9155 *
LI ZHANG ET AL: "3D reconstruction algorithm for cone-beam differential phase contrast computed tomography", NUCLEAR SCIENCE SYMPOSIUM CONFERENCE RECORD, 2008. NSS '08. IEEE (19-25 OCT. 2008), IEEE, PISCATAWAY, NJ, USA, 19 October 2008 (2008-10-19), pages 4193 - 4197, XP031418475, ISBN: 978-1-4244-2714-7 *
PFEIFFER F ET AL: "Phase retrieval and differential phase-contrast imaging with low-brilliance X-ray sources", NATURE PHYSICS, NATURE PUBLISHING GROUP, LONDON, GB, vol. 2, 26 March 2006 (2006-03-26), pages 258 - 261, XP002518081, ISSN: 1745-2473, [retrieved on 20090305], DOI: DOI:10.1038/NPHYS265 *
WANG GE ET AL: "An outlook on x-ray CT research and development", MEDICAL PHYSICS, AIP, MELVILLE, NY, US, vol. 35, no. 3, 25 February 2008 (2008-02-25), pages 1051 - 1064, XP012115939, ISSN: 0094-2405, DOI: DOI:10.1118/1.2836950 *
ZHIFENG HUANG ET AL: "X-ray phase contrast computed tomographic elementary experiments under incoherent conditions", NUCLEAR SCIENCE SYMPOSIUM CONFERENCE RECORD, 2008. NSS '08. IEEE (19-25 OCT. 2008), IEEE, PISCATAWAY, NJ, USA, 19 October 2008 (2008-10-19), pages 593 - 596, XP031419391, ISBN: 978-1-4244-2714-7 *
ZHIHUA QI, GUANG-HONG CHEN: "An FBP image reconstruction algorithm for x-ray differential phase contrast CT", SPIE, PO BOX 10 BELLINGHAM WA 98227-0010 USA, vol. 6913, 2008, XP040434633 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104582575A (zh) * 2012-08-17 2015-04-29 皇家飞利浦有限公司 处置差分相衬成像中的未对准
CN104582575B (zh) * 2012-08-17 2017-12-19 皇家飞利浦有限公司 处置差分相衬成像中的未对准
CN104582575B8 (zh) * 2012-08-17 2018-06-29 皇家飞利浦有限公司 处置差分相衬成像中的未对准
WO2016075140A1 (fr) * 2014-11-11 2016-05-19 Koninklijke Philips N.V. Agencement source-détecteur
CN106999125A (zh) * 2014-11-11 2017-08-01 皇家飞利浦有限公司 源‑检测器布置结构
US10485492B2 (en) 2014-11-11 2019-11-26 Koninklijke Philips N.V. Source-detector arrangement
CN106999125B (zh) * 2014-11-11 2021-02-02 皇家飞利浦有限公司 源-检测器布置结构

Also Published As

Publication number Publication date
EP2509504A1 (fr) 2012-10-17
JP2013513417A (ja) 2013-04-22
JP5739902B2 (ja) 2015-06-24
CN102651998B (zh) 2015-08-05
CN102651998A (zh) 2012-08-29
US9750465B2 (en) 2017-09-05
US20120236992A1 (en) 2012-09-20
EP2509504B1 (fr) 2018-07-18

Similar Documents

Publication Publication Date Title
US9750465B2 (en) Scanning system for differential phase contrast imaging
US7817777B2 (en) Focus detector arrangement and method for generating contrast x-ray images
US7885378B2 (en) Imaging system and related techniques
US10485492B2 (en) Source-detector arrangement
JP7044764B2 (ja) Ｘ線撮像のための線源格子
CN107743379B (zh) 用于差分相位对比ct的平铺探测器布置
JP5226523B2 (ja) Ｘ線撮像に関する方法および装置
JP5575666B2 (ja) 分散型線源によるｘ線イメージングのための高解像度の略静的セットアップ
US7983381B2 (en) X-ray CT system for x-ray phase contrast and/or x-ray dark field imaging
JP4726995B2 (ja) 二重エネルギＣＴのための高速ｋＶｐ切換えのシステム及び方法
EP2509503B1 (fr) Appareil destiné à l'imagerie par contraste de phase comprenant un élément détecteur de rayons x mobile, et procédé associé
EP1959835B1 (fr) Systemes et procedes pour balayage et acquisition de donnees dans des applications de tomographie informatisee (ct)
JP2009519471A (ja) ずれた放射線によるｃｔ検査
JP2011516116A (ja) コーンビームボリュームｃｔマンモグラフィー撮像に使用するための、管が連続して移動している間、焦点を動かさない回転式のステップ・アンド・シュート画像取得に基づく、高速トモシンセシススキャナ装置及びｃｔベースの方法
US10045749B2 (en) X-ray system, in particular a tomosynthesis system and a method for acquiring an image of an object
US10660595B2 (en) Apparatus for x-ray imaging an object
CN108289649B (zh) 用于对对象进行x射线成像的装置
JP6475315B2 (ja) Ｘ線イメージング装置
US7212603B2 (en) Device for capturing structural data of an object
JP6148415B1 (ja) コンピュータ断層撮影（ｃｔ）ハイブリッドデータ収集
JP2007185358A (ja) Ｘ線ｃｔ装置
JP2010540063A (ja) コンピュータ断層撮影装置
KR20070005036A (ko) 2차원 참조검출기 및 참조 검출기용 콜리메이터를 포함하는고해상도 콘빔 엑스선 단층 촬영 장치
US7839967B2 (en) Electron computer tomography method and electron computer tomograph
JP6619268B2 (ja) 放射線画像生成装置

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 201080055835.7

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10807735

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 4407/CHENP/2012

Country of ref document: IN

WWE Wipo information: entry into national phase

Ref document number: 2012542671

Country of ref document: JP

Ref document number: 13514312

Country of ref document: US

Ref document number: 2010807735

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE