Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
  • A61B6/03—Computed tomography [CT]
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
  • A61B6/03—Computed tomography [CT]
  • A61B6/032—Transmission computed tomography [CT]
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/46—Arrangements for interfacing with the operator or the patient
  • A61B6/461—Displaying means of special interest
  • A61B6/466—Displaying means of special interest adapted to display 3D data
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
  • A61B6/51—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for dentistry
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
  • A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T3/00—Geometric image transformations in the plane of the image
  • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
  • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
  • A61B6/44—Constructional features of apparatus for radiation diagnosis
  • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
  • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure

Definitions

• the invention generally relates to dental panoramic imaging and, more particularly, to generating digital dental panoramic images from multiple frame images acquired during a dental panoramic imaging scan about a patient's head.
• a traditional operation principle of panoramic X-ray apparatuses includes driving an X-ray source and a film cassette around a patient's head while a film is moved with respect to the X- ray beam in such a way that the dental arch will be imaged as a planar picture on the film.
• This basic operation of the traditional dental panoramic imaging includes creating a respective mutual movement between the X-ray source, the image information receiver and the patient. While there are number of possibilities to create such movement, the most common arrangement has been to attach the X-ray source and the image information receiver to a support arm at a distance from each other, which arm is then moved in a specific way with respect to a stationary patient.
• the velocity of movement of the film in order to obtain a sharp image of a desired layer within the object, i.e. the layer of a dental arch within a patient's head, the velocity of movement of the film has to be specifically correlated with the sweep velocity of the X-ray beam along the desired layer to be imaged.
• the undesirable structures in front of and behind the desired layer within the patient's head are blurred invisible.
• the thickness of the lay- er that will be photographed sharp is directly proportional to the distance of the instantaneous center of rotation of the support arm from the film level, and inversely proportional to the magnification and to the width of the beam.
• L0 distance from the X-ray tube focus F to a point of the object being imaged at a given moment
• LI distance from the X-ray tube focus F to the X-ray film (or detector) plane;
• ⁇ angular velocity of rotational movement about the instanta- neous center of rotation
• r distance of the point of the object being imaged from the instantaneous center of rotation
• vl velocity of the image point on the film (detector) plane.
• the velocity vl thus relates to the speed by which the film is moved during the panoramic imaging scan relative to the x-ray beam hitting the film.
• digital imaging when a so-called TDI imaging technique (Time Delayed Integration) is used, the transfer velocity of pixel charges across the detector is made to correspond to the velocity of film movement.
• the image data read out from the sensor will correspond to the panoramic film image in the sense that blurring of the layers outside the desired layer is already done when the scanning process and charge transfer are carried out so as to follow this imaging equation.
• Prior art digital panoramic imaging also includes a so-called FT (Frame Transfer) technique.
• FT Fram Transfer
• FT Fast Transfer
• the degree of overlap of the frames when constructing the layer to be viewed as sharp shall be made to correspond to the velocity vl .
• the frame technique brings along is that since the degree of overlap of the frames used in the image processing determines the layer that will be relatively intensified while the others will be blurred, by altering the degree of overlap on can change the tomographic layer to a certain de- gree after the exposure.
• the extent one is able to alter the layer depends on how and by which kind of means the frame data has been acquired. Typically, however, only marginal changes in the location of the layer are possible.
• the prior art frame panoramic systems include the possibility to marginally alter the sharp layer
• the degree of overlap used in the image construction is based on some predetermined scheme. These schemes typically include using a standard overlap of the frames and the actual calculation of the panoramic image does not include any parameter which would relate to the actual imaging geometry of the imaging system at the exposure positions of the frames.
• the prior art systems are stuck with that viewing direction as they lack means to alter a viewing direction from which the panoramic images or sections of them are shown.
• the frame imaging technique makes it possible to use wider detector areas than possible in practice when using the more traditional continuous scanning techniques, there are criteria such as those relating to the necessity to be able to read out a frame fast enough during the imaging scan, as well as not to have major alterations in the magnification ratio within a single frame, which have set practical limits also to the width of the detectors one can use in the prior art dental panoramic frame imaging.
• the main objective of the invention and its preferable embodiments is to provide a system by which the frame image data ac- quired in a single panoramic imaging scan can be used in relation to knowledge of the true imaging geometry used in the imaging procedure, regarding each exposure position, so as to provide new possibilities for generating dental panoramic images from the frame data after the exposure.
• Secondary objectives of the invention include making it possible to not only generate more than one tomogaphic layer from the frame image data acquired in a single panoramic imaging scan but also to construct and display images or partial images of dental arch as viewed from different directions.
• the core of the invention is to implement the panoramic scan so that information of the imaging geometry, that is location and orientation of the detector and of the focus of the x-ray tube and, thus of the x-ray beam, is known at their exposure positions and this information is then used in calculating a dental panoramic image.
• Advantages the various embodiments of the invention provide includes a possibility to be able to generate dental panoramic images from a single frame data set as viewed from more than one direction. When it is possible to virtually change the viewing angle, features of an anatomy may become visible which are not visible from a particular other viewing direction. Thus, e.g.
• Fig. 1 shows an example of a panoramic imaging apparatus
• Fig. 2 shows some of the basic components of a system to implement the embodiments discussed below
• Fig. 3a shows a dental panoramic image and Fig. 3B an individual frame image out of number of which a dental panoramic image may be generated
• Fig. 4 shows individual overlapping frames together with a line representing a vertical section of an anatomy which is projected at different locations of the frames as an imaging detector is moved to new exposure positions
• Fig. 5 shows a schematic drawing of the principle of the panoramic imaging process according to an embodiment of the invention
• Fig. 6 shows steps of a method in which principles of the in- vention are applied and Fig. 7 shows a schematic drawing illustrating a hardware configuration of an information handling/computer system which can be used when implementing the invention.
• Fig. 1 presents a structure of an exemplary panoramic X-ray imaging apparatus.
• the apparatus comprises a base 27 and a column-like frame part 12 fixed by its lower end to the base 27.
• a supporting arm 13 (shown without its cover) is rotatably mounted on the upper end of the frame part 12.
• rotatably mounted on the outer end of the supporting arm 13 is another, intermediate supporting arml4 on the outer end of which is further rotatably mounted an imaging arm 15, or a C-arm as it is often called.
• the C-arm 15 supports the imaging means, i.e. an x-ray source 26 and an image detector 16.
• a positioning support 25 is attached to the column-like frame part 12 to help in positioning the person to be imaged.
• the rotatable supporting arm 13 may as well be mounted on wall or ceiling structures.
• Fig. 1 The structure illustrated in Fig. 1 has been simplified for the sake of clarity.
• force receiving means serving as transmission means of the arm structures 13-15 are not shown in the figure.
• the stepping motors 1 to rotate the arm structures 13-15 are depicted in a simplified form.
• the apparatus as shown in Fig. 1 and its control system provides an example of a structure for moving the rotation centre of the C-arm 15 which carries the imaging means to perform a panoramic imaging scan about a patients head using basically any shape of trajectory of the rotation centre one desires. Structures of dental panoramic imaging apparatus vary and at the simplest, the imaging apparatus may allow for just one fixed imaging geometry.
• the basic components of a system to implement the invention, as shown in Fig. 2, include a control system CS of the imaging apparatus, which includes or is in operational connection with motors 1 that drive the arm or the arms 13-15 of the apparatus, and with operating electronics of the detector 16.
• the system includes a memory for, amongst other, recording frame image information and information regarding the related imaging geometry, processing means IP to create a panoramic image, a screen S on which to show images and a user interface UI .
• Fig. 3A shows a typical dental panoramic image 200.
• Fig. 3B can be considered representing one of hundreds or thousands of partially overlapping frame images 300 that are taken during the scan.
• Fig.4 shows a principle of how overlapping individual frames 310, 315, 320 acquired during a panoramic imaging scan can be used in constructing the digital panoramic image 200.
• Line 210 which vertically spans the frames 310, 315, 320 repre- sents location of a pixel column in each of the frames which includes image information of the same thin vertical section of the anatomy being imaged.
• the image information these columns include is used to construct a pixel column C of the final digital panoramic image 200 to be generated, as to be discussed in more detail below.
• Frames taken before frame 310 and after frame 320 which do not intersect the line 210 and thus do not include information concerning the particular section of the anatomy the line 210 represents, will not contribute to that particular column C of the panoramic image 200 being generated.
• Fig. 5 shows a schematic drawing to explain principles of the panoramic imaging process of the invention.
• the process uses what will be called here a virtual panoramic curve 400, together with data of location of and orientation of the imaging means during exposure in the coordinate system of this curve.
• the process includes placing a virtual panoramic curve 400, which represents location and shape of the tomographic layer to be generated, in the coordinate system of the imaging geometry used when shooting the frame data.
• a number of points are shown on the virtual panoramic curve 400, each of which can be considered corresponding to a location of a section of anatomy to be shown in the panoramic image.
• each point (PI, P2, etc.) represents location of a vertical layer of a dental arch which is to be shown as an individual pixel column in the generated digital panoramic image.
• Fig. 5 further shows two exposure positions, i.e. positions ( ⁇ ', E 11 ) of the x-ray source and the detector at the time of an exposure and, thus, that of the x-ray beam which penetrates the anatomy being imaged and hits the detector.
• positions ( ⁇ ', E 11 ) of the x-ray source and the detector at the time of an exposure and, thus, that of the x-ray beam which penetrates the anatomy being imaged and hits the detector.
• the imaging geometry i.e. location and orientation of the X-ray source and the detector during the imaging scan
• This feature of the invention can be understood by considering that the panoramic curve 400 of Fig. 5 would be say slightly turned counter-clockwise about point P4. Considering the imaging posi- tions E' and E 1 ', this would bring projections P'2 and P' '2 more to the left on the detector (on a frame, as viewed from the direction of the focus of the x-ray source) and thus, different pixel column information would be selected to be used in constructing the panoramic image. These different columns would then represent not only a different layer but also a different angle of view of the object than that according to Fig 5.
• a virtual panoramic curve 400 of any shape and arranged in any orientation in the coordinate system of the imaging geometry This allows for constructing tomographic layers having shapes even the very versatile apparatus of Fig. 1 could not create by mere mechanical movements of the arm construction of the apparatus.
• an individual local viewing vector D for any number of points PI, P2 etc. may be determined.
• a vector D is included in the drawing to denote a desired local viewing direction of point P2.
• Such vectors D can be used to determine weighting factors for pixel values of the columns of the frames representing particular points PI, P2 etc. of the anatomy. For example, as one can see in Fig.
• step 500 of the Fig. 7 method frames and respective exposure positions of the frames during a panoramic imaging scan which has been performed are read.
• step 510 the virtual pano- rama curve one wishes to use in the image construction is obtained, which curve is then divided in step 520 into a plurality of points P - or, in other words, a plurality of points P are selected from the curve, preferably equidistantly, to define points of the anatomy which are to correspond columns C of the panoramic image being generated.
• An individual viewing direction D for points P may be determined in step 530.
• generating columns C of the panoramic image 200 to be constructed may commence (step 540) .
• a point P which corresponds to a column C of the panoramic image, and a related local viewing direction D if such has been determined for a point P is found in step 550.
• a process can be performed for each of the frames (step 560) in which, first, a point P is projected to a frame along a line which originates from the focus of the radiation source in step 570.
• the projected point P' on a frame will define the pixel column of that particular frame which is to be used in constructing the column C of the panoramic image the point P in question represents (steps 580 and 610) .
• the process further includes determining the angle between the local viewing direction D and the line originating from the focus of the x-ray source and crossing the point P in question in step 590.
• This angle can be used as a weighting factor in step 600 to give the less weight in the image construction (step 610) to the frames (i.e. to the pixel values of the projected point P' of the frame) the more the direction of a projection of the point P (or, in other words, in reference to Fig 5, a vector from P to P') deviates from the desired local viewing direction D.
• the pixel values of each column C of the final panoramic image are normalized by dividing values of a given column by the total sum of the weighting factors of that column.
• the procedure discussed above can be presented in more general terms to include using several individual overlapping frames 300 taken along a dental arch by a dental panoramic x-ray imaging apparatus, said apparatus including an x-ray source for generating an x-ray beam and having a focus, and an image detector having pixel columns, the frames 300 being taken by mov- ing the x-ray source and the image detector around a patient's head, and calculating the panoramic image 200 by summing information of the frames 300, and generating the panoramic image 200 by summing information of the frames 300 with respect to information of location and orientation of the x-ray beam and the x-ray detector at times when taking the frames.
• Summing of information may then include determining location of a desired point or points P with respect to information of location and orientation of the x-ray beam and the x-ray detector at times when taking the frames, whereby the summing of information of the frames 200 then includes summing a column or columns C of the panoramic image 200 with respect to the point or points P.
• at least two panoramic images 200 as viewed from different directions can be generated and at least two images representing views from different directions then be pre- sented on the display simultaneously, in succession, as a combination image or as a moving image.
• An embodiment can also include generating a virtual panorama curve 400 which represents a tomographic layer to be shown by the panoramic image 200, placing this curve 400 and information of location and orientation of the x-ray beam and the x-ray de ⁇ tector in the same set of coordinates, and generating a panoramic image 200 which represents a tomographic layer according to location of the curve 400 in this set of coordinates.
• Yet another embodiment can include generating a virtual panorama curve 400 with respect to information of location and orientation of the x-ray beam and the x-ray detector which represents a desired tomographic layer to be shown by the panoramic image 200 and, for a column C of the panoramic image 200 being generated, determining the desired point P on the curve 400, and generating a column C of the panoramic image 200 by summing those columns of the individual frames 300 to which the point P as viewed from the focus of the radiation source is projected, this projection P -> P' defining a projection direction of the point P concerning the particular individual frame 300.
• the related process can be presented to include determining a desired viewing direction D for at least one point P whereby a weighting factor is calculated for a column on an individual frame 300 as based on an angle between the viewing direction D and a direction defined by a line from the focus of the radiation source to said point P, the weighting factor then being used when summing infor- mation of the frames 300 so as to give the less weight to a column of a frame the greater the angle between said directional vector D representing the desired viewing direction and the direction defined by a line from the focus of the radiation source to the point P.
• the virtual panoramic curve used in the embodiment discussed above can be considered to be a tool which makes it possible to alter the tomographic layer in a controlled manner with respect to the imaging geometry used in acquiring the frame data and it can also be used to alter the direction from which the anatomy or a part thereof is viewed.
• a virtual panorama curve 400 to be used in generating a panoramic image may be defined in a number of different ways. One preferred way is to first generate a curve that fulfils the basic panorama equation discussed above with respect to movements of the imaging means .
• a panorama curve 400 corresponding to a particular imaging proce- dure can be created and stored for later use.
• a previously used or stored virtual panorama curve, or a virtual panorama curve just having been used may be modified e.g. by means which include a linear transformation of all points P and the related viewing directions.
• the linear transformation may include rotational and translational parts.
• the modification can also include using a non-linear mapping function such as a two dimensional spline surface, which can be used to deform the panorama curve .
• Embodiments of the invention include, as noted, novel ways not only to create dental panoramic images as such but also to show them on a display.
• two or more panoramic images as viewed from different directions can be generated by summing the frame information differently with respect to information of location and orientation of the x-ray beam and the x-ray detector, which in turn makes it possible to display images as viewed from different directions on a display e.g. simultaneously, in succession, as a combination image or as a moving image .
• a first and a second virtual panoramic curve with respect to information of location and orientation of the x-ray beam and the x-ray detector can be generated, both of the curves representing a desired layer to be shown by a panoramic image, the second curve being generated from the first one by changing orientation of the first curve, and the two panoramic images then be calculated by summing information of the frames acquired in the panoramic imaging process with respect to these different curves.
• more than two curves can be used and e.g. an illusion of turning the dental arch can be generated by showing in succession panoramic images of altering viewing direction.
• this type of embodiment may include presenting images on a display in succession according to the order of their viewing direction so as to give an impression of the dental arch turning on the display.
• a further embodiment can include generating several panoramic images as viewed from different directions, generating for each such viewing direction several images representing different sharp layers and then, concerning each such viewing direction, one of the several images representing different sharp layers can be selected to represent said viewing direction, after which the images thus selected can be presented on the display - in reference to above, e.g. simultaneously, in succession, as a combination image or as a moving image.
• weighting factor may enhance the effect of different viewing angles by emphasizing columns that have a primary x-ray travel path more in line with the viewing angle of the panoramic curve at a given point P.
• weighting factors also contributes to the possibility to use wider detector surfaces than commonly used in dental frame panorama applications.
• the prior art summing of the frame data is based on some standard overlapping procedure, the more likely it becomes that columns that are summed together do not represent the same section of the anatomy the further one goes from the centre of the detector. This is due to the summing protocol not knowing the exact changes in the overall imaging geometry during the exposure process, i.e. the changes there are in mutual positions and orientations of the imaging means and the layer desired to be generated.
• the weighting factor can also be used to compensate for an altering magnification.
• one possibility to create an illusion of turning an imaged anatomy is to use only one virtual panorama curve yet generate various panoramic images based on it by systematically changing orientation of the local viewing direction vectors D of points P discussed above.
• the scope of the invention in view of displaying the imaged anatomy based on a frame data acquired in a single panoramic imaging scan includes any combination of modifying the virtual panorama curve 400 and orientation of the local direction vectors D of points P, including modifying only a selected number of the vectors D, so as to display different layers of the anatomy and from different angles of view, or only either of these.
• a den- tal panoramic imaging apparatus which includes an x-ray source having a focus and an image detector having a number of pixel columns, the x-ray source and the image detector being arranged to the apparatus at a first distance from each other, a drive means for moving the x-ray source and the detector around a pa- tient's head, a control system including means to control the apparatus to take several individual overlapping frames along a dental arch.
• the detector may be implemented as wide or wider than a second distance and the control system arranged to control the apparatus to take frames whose width is equal to the second distance, the second distance being of about 2-10 % of said first distance.
• the distance between the x-ray source and the image detector may preferably be about 500 - 550 mm.
• embodiments discussed here may also make it pos- sible for one being able to display anatomies which otherwise could not be made visible, not at least without exposing the patient to a further panoramic irradiation process.
• details of the imaged anatomy may become visible which otherwise would not be visible.
• a tooth filling may hamper getting a tooth on the other side of the dental arch visible, but changing the viewing direction may be able to bring such tooth visible after all.
• FIG. 7 Shown in Fig. 7 is a schematic drawing which illustrates a hardware configuration of an information handling/computer system by which embodiments of the invention may be realized.
• System 1000 of Fig. 7 comprises at least one processor or central processing unit (CPU) 1010.
• the CPUs 1010 are interconnected via system bus 1012 to various devices such as a random access memory (RAM) 1014, read-only memory (ROM) 1016, and an input/output (I/O) adapter 1018.
• the I/O adapter 1018 can connect to peripheral devices, such as disk units 1011 and tape drives 1013, or other program storage devices that are readable by system 1000.
• System 1000 can read the inventive instructions on the program storage devices and follow these instructions to execute the methodology of the embodiments herein.
• the system further includes a user interface adapter 1019 that connects a keyboard 1015, mouse 1017, speaker 1024, microphone 1022, and/or other user interface devices such as a touch screen de- vice (not shown) to the bus 1012 to gather user input.
• a communication adapter 1020 connects the bus 1012 to a data processing network 1025
• a display adapter 1021 connects the bus 1012 to a display device 1023 which may be embodied as an output device such as a monitor, printer, or trans - mitter, for example.
• a further embodiment includes a dental panoramic imaging apparatus which includes an x-ray source having a focus and an image detector having a number of pixel columns, the x-ray source and said image detector being arranged to the apparatus at a distance from each other, a drive means for moving the x- ray source and the detector around a patient's head, a control system including means to control the apparatus to take several individual overlapping frames along a dental arch, and a user interface to send control commands to said control system, the control system including recorded information on location and orientation of the x-ray source and the x-ray detector at times when taking the frames, and a means for calculating a panoramic image by summing information of the frames with respect to said information so as to generate panoramic images as viewed from at least two different directions, the user interface including a means to give at least one control command relating to showing the at least two panoramic images as viewed from the at least two different directions.
• a dental panoramic imaging apparatus with structural features of the paragraph above may also be used as including a control system and/or

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