WO2025008366A1 - Computer-implemented method for correcting artefacts due to electromagnetic disturbances caused in x-ray projection images - Google Patents

Computer-implemented method for correcting artefacts due to electromagnetic disturbances caused in x-ray projection images Download PDF

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Publication number
WO2025008366A1
WO2025008366A1 PCT/EP2024/068643 EP2024068643W WO2025008366A1 WO 2025008366 A1 WO2025008366 A1 WO 2025008366A1 EP 2024068643 W EP2024068643 W EP 2024068643W WO 2025008366 A1 WO2025008366 A1 WO 2025008366A1
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ray
image
corrected
artefacts
computer
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French (fr)
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Oliver Bachmann
Stefan Eichner
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Sirona Dental Systems GmbH
Dentsply Sirona Inc
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Sirona Dental Systems GmbH
Dentsply Sirona Inc
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Priority to AU2024289700A priority Critical patent/AU2024289700A1/en
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T12/00—Tomographic reconstruction from projections
    • G06T12/10—Image preprocessing, e.g. calibration, positioning of sources or scatter correction
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2211/00—Image generation
    • G06T2211/40—Computed tomography
    • G06T2211/436—Limited angle

Definitions

  • the present invention relates to methods and systems for x-ray imaging of patients in the dental field.
  • the present invention more particularly relates to extraoral x-ray imaging in which artefacts due to electromagnetic disturbances caused in x-ray projection images are suppressed in the reconstruction of three-dimensional (3D) volume images, tomosynthesis based images (panoramic images), and/or cephalometric (ceph) images.
  • 3D three-dimensional
  • tomosynthesis based images panoramic images
  • cephalometric (ceph) images cephalometric
  • Volume images, tomosynthesis based images such as panoramic images, and ceph images are among the standard imaging procedures of all extraoral dental radiographic examinations. Volume images, tomosynthesis based images, and ceph images provide the dentist with information about the patient's dental condition. These images are used by dentists to diagnose problem cases and prepare for treatment.
  • an extraoral x-ray imaging system has an x-ray source and an x-ray detector that are rotated around the patient's head during the x-ray imaging.
  • the trajectory of the x-ray source and the x-ray detector during the imaging can describe various paths.
  • the x-ray detector acquires x-ray projection images of the patient.
  • the panoramic image is generally reconstructed from the x-ray projection images using standard techniques such a shift-and-add or other techniques known to those skilled in the art.
  • a panoramic image shows the structures located in a physical layer to be sharply viewed within the patient's jaw.
  • the Volume image is generally reconstructed from the x-ray projection images using a standard technique such as the filtered back projection algorithm (e.g., the Feldkamp algorithm).
  • the cheph image can be generated from the volume image.
  • a separate x-ray detector on a cantilever arm can be used for generating a ceph image.
  • Ambient electromagnetic fields can adversely affect the proper functioning of the x-ray detector, its electrical components, and cabling, so that the acquired x-ray projection images may contain image artefacts due to the electromagnetic disturbances. These image artefacts may lead to misdiagnosis and incorrect therapies, which must, however, be avoided accordingly.
  • the inventors are not aware of any prior art technique in which the image artefacts due to electromagnetic disturbances are determined in a frequency domain of the Fourier transformed x-ray projections images, and then subsequently suppressed in the frequency domain or, alternatively, in the spatial domain accordingly to obtain artefact-corrected x- ray projection images for the reconstruction of a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image.
  • the inventors are also not aware of any prior art technique in which the image artefacts due to electromagnetic disturbances are determined at least in a region of the x- ray projection image which has been obscured by the x-ray collimator (i.e., unexposed region of the acquired projection image), and subsequently suppressed in the spatial domain accordingly to obtain artefact-corrected x-ray projection images for the reconstruction of a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image.
  • An objective of the present invention is to provide computer-implemented methods for reducing image artefacts in dental volume images and/or dental tomosynthesis based images and/or ceph images caused by electromagnetic interferences.
  • a further objective of the present invention is to provide an extraoral x-ray imaging system that performs the methods according to the present invention.
  • the methods according to the present invention are computer-implemented methods and are each used to correct artefacts in x-ray projection images caused by electromagnetic disturbances on an x-ray detector. These methods are respectively used to generate a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image of a patient.
  • the image artefacts due to electromagnetic disturbances are determined in a two-dimensional frequency domain of the Fourier transformed x-ray projections images, and then suppressed in the frequency domain.
  • the method comprises the steps of: providing one or more projection images by means of an x-ray source, an x-ray collimator and the x-ray detector, wherein each projection image is a two-dimensional data array which extends along a first direction and a second direction which is perpendicular to the first direction; Fourier transforming each projection image into a two-dimensional frequency domain; determining for each projection image the frequency components corresponding to the artefacts in the two-dimensional frequency domain; suppressing the determined frequency components in each corresponding Fourier transformed projection image in the two-dimensional frequency domain; Inverse Fourier transforming each suppressed projection image in the frequency domain to the two-dimensional spatial domain to obtain an artefact corrected projection image; reconstructing a corrected three- dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image based on the artefact corrected projection images.
  • An advantageous effect of the present invention is that the artefact correction method reduces the risk of misdiagnosis and incorrect treatment, and avoids repeat exposures.
  • the corrected three-dimensional volume image, the corrected tomosynthesis based image, and the corrected ceph image are substantially free of image artefacts such as ripples and the like.
  • the x-ray projection images can be represented as a two dimensional data array, namely a matrix containing the image values.
  • the matrix can correspond to the rows and columns of the x-ray detector.
  • the Fourier transformation of the x-ray projection images are performed numerically as a discrete Fourier transformation with respect to the rows and the columns.
  • the analysis of the frequency components in the two-dimensional frequency domain has revealed that the frequency components are characteristically sorted into different ranges which are distinguishable.
  • the first frequency range corresponds to the fundamental frequency.
  • the second frequency range corresponds the frequencies caused by the x-ray collimator.
  • the third frequency range corresponds to the frequencies caused by the artefacts.
  • the fourth frequency range corresponds the frequencies caused by the patient anatomy.
  • the third frequency range can be distinguished from the others, e.g., by setting a mask or a filter that locates the frequency components corresponding to the artefacts in the two-dimensional frequency domain.
  • the frequency components corresponding to the artefacts are set to zero in the two dimensional Fourier domain during the suppressing step.
  • the image artefacts due to electromagnetic disturbances are determined in the frequency domain of the Fourier transformed x-ray projections images, but subsequently suppressed in the spatial domain to obtain artefact corrected x-ray projection images for the reconstruction of a corrected three-dimensional volume image or a corrected tomosynthesis based image or a ceph image.
  • the method comprises: a providing step in which the projection images are provided by means of an x-ray source, an x-ray collimator and the x-ray detector, wherein each projection image is a two-dimensional data array which extends along a first direction and a second direction which is perpendicular to the first direction; a summing step in which the image values in the plurality of onedimensional data arrays of each projection image, each along the first direction, are respectively summed up to form a plurality of amplitudes; a Fourier transforming step in which the plurality of amplitudes along the second direction, resulting from the preceding summing step are Fourier transformed into one-dimensional frequency components so as to form a one-dimensional frequency domain; a determining step in which for each projection image the frequency components corresponding to the artefacts in the onedimensional frequency domain are determined; an inverse Fourier transforming step in which the frequency components determined in the determining step are inverse Fourier transformed to the one-dimensional spatial domain;
  • the first frequency range corresponds the fundamental frequency of the projection image.
  • the second frequency range corresponds to the frequencies due to the x- ray collimator.
  • the third frequency range corresponds to the frequencies due to the artefacts.
  • the fourth frequency range corresponds the frequencies caused by the patient anatomy.
  • the third frequency range can be distinguished from the others, e.g., by setting a mask or a filter that locates the frequency components corresponding to the artefacts in in the frequency domain.
  • the inverse Fourier transformed frequency components due to the artefacts are entirely subtracted from the corresponding projection image.
  • the image artefacts due to electromagnetic disturbances are determined at least in a region of the x-ray projection image which has been obstructed by the x-ray collimator, and are suppressed in the spatial domain accordingly to obtain artefact corrected x-ray projection images for the reconstruction of a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image.
  • the method comprises the steps of: providing the projection images by means of an x-ray source, an x-ray collimator and the x-ray detector; determining for each projection image the spatial components corresponding to the artefacts in the two-dimensional spatial domain respectively, wherein the spatial components corresponding to the artefacts are determined in one or more separate regions of the projection image which has been obscured by the x-ray collimator; suppressing the artefacts by subtracting the determined spatial components corresponding to the artefact from the corresponding projection image to obtain an artefact corrected projection image, wherein in the suppressing step the determined artefacts are subtracted at least from one or more regions in the corresponding projection image which has not been obscured by the x-ray collimator; reconstructing a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image based on the artefact corrected projection images.
  • the amplitude of the artefacts may spatially vary over the projection images.
  • This antitropy of the electromagnetic disturbance can be detected by comparing the amplitudes of the artefacts in the regions of the projection image which has been obscured by the x-ray collimator.
  • the artefacts determined in said one or more separate regions of the projection image which has been obscured by the x-ray collimator are preferably weighed, and then subtracted at least from one or more regions in the corresponding projection image which has not been obstructed by the x-ray collimator.
  • the artifact correction of the projection images can be more effectively adapted to the actual electromagnetic disturbance pattern/profile.
  • Fig. 1 - shows a schematic drawing of an x-ray imaging system according to an embodiment according to the preset invention
  • Fig. 2A - shows a flowchart of a computer-implemented method according to a first embodiment according to the preset invention
  • Fig. 2B - shows a flowchart of a computer-implemented method according to a second embodiment according to the preset invention
  • Fig. 2C - shows a flowchart of a computer-implemented method according to a third embodiment according to the preset invention
  • Fig. 3 - shows an x-ray projection image having artefacts caused by electromagnetic disturbances on an x-ray detector
  • Fig. 4 - shows an x-ray projection image which has been Fourier transformed into the two-dimensional frequency domain according the first embodiment of the preset invention
  • Fig. 5 - shows the frequency components corresponding to the artefacts in the two- dimensional frequency domain of Fig. 4, after the DC noise has been removed for ease of illustration;
  • Fig. 6 - shows the Fourier transformed projection image in the two-dimensional frequency domain of Fig. 5 after the frequency components corresponding to the artefacts have been suppressed;
  • Fig. 7 - shows an artefact corrected x-ray projection image obtained by inverse Fourier transforming the artefact suppressed Fourier transformed projection image of Fig. 6;
  • Fig. 8 - shows a graphically augmented flowchart of the computer-implemented method according to the second embodiment of the present invention
  • Fig. 9A - shows various exposed and unexposed regions of a projection image to be artifact corrected according to the computer-implemented method according to the third embodiment of the present invention
  • Fig. 9B - shows a graphically augmented flowchart of the computer-implemented method according to a variation of the third embodiment of the present invention
  • Fig. 10 - shows a tomosynthesis based image according to the prior art which has been reconstructed using x-ray projection images having artefacts caused by electromagnetic disturbances, wherein the artefacts are visually conspicuous;
  • Fig. 11 - shows a corrected tomosynthesis based image obtained through reconstruction of the artefact corrected projection images as shown in Fig. 7.
  • the present invention also includes corresponding computer programs having computer- readable codes respectively implementing these methods.
  • the computer programs are provided on computer readable storage media (not shown) accessible to the computerized x-ray imaging system (1).
  • the x-ray imaging system (1) will be explained in more detail.
  • the computerized x-ray imaging system (1) (hereinafter shortly referred to as the system (1)) comprises an x-ray imaging device (2) for performing patient dental imaging.
  • the x-ray device (1) has different dental imaging modalities such as volume imaging, panoramic imaging, and ceph imaging.
  • the x-ray system (1) is preferably configurable as an loT system which can be bidirectionally connected via a local area network and/or the Internet (not shown) to other dental devices such as optical intraoral scanners (not shown), dental milling machines (not shown), additive manufacturing machines (not shown), and the like for data exchange, remote control, cloud computing, and the like.
  • dental devices such as optical intraoral scanners (not shown), dental milling machines (not shown), additive manufacturing machines (not shown), and the like for data exchange, remote control, cloud computing, and the like.
  • the x-ray device (2) has an x-ray source (3), an x-ray collimator (not shown), and an x-ray detector (4) that are rotated around the patient's head during the imaging by means of a driving mechanism (not shown).
  • the x-ray system (1) may also have an additional x-raydetector on a cantilever arm (not shown) for acquiring one or more x-ray projection images for cephalometric imaging.
  • the trajectory of the x-ray source (3) and the x-ray detector (4) during the imaging can describe a circular path. However, it can also assume a form deviating from this. If at least some actuators (not shown) of the driving mechanism are controlled simultaneously, a trajectory deviating from a pure circular path around the patient's head can be achieved.
  • the patient's head can be optionally positioned in the x-ray device (2) with a bite block (6) and/or a head fixation (7).
  • the x-ray detector (4) detects the x-rays emitted by the x-ray source (3) during the rotation.
  • the x-ray projection images (I) are acquired, namely read out from the x-ray detector (4) in synchronization with x-ray source (3) and the driving mechanism.
  • the computerized x-ray system (1) comprises an operating unit (5) such as a user interface, a computing unit (8) such as a computer (8) which can be connected to the x-ray device (2), a display device (9) such as a screen for visualizing data sets, and input devices such as a keyboard (10) and a mouse (11).
  • the operating unit (5) can be connected to x-ray system
  • the operating unit (5) has a display, preferably with a touchscreen for controlling, setting and operation of the x- ray device (2).
  • the computer (8) may be connected to the x-ray device (2) through a wired or alternatively through a wireless communication via a local area network (not shown) or, alternatively, via the Internet.
  • the computer (8) may be also part of a cloud.
  • the computer (8) may be integrated into the x-ray device (2).
  • all or some of the computations of the computer-implemented methods may take place in the cloud as cloud computing.
  • the screen (9) may be provided spatially separate from or integrated with the x-ray device
  • the computer (8) may also be used to control all functions, settings, and operation of the x-ray device (2).
  • one or more computers (8) may be used for controlling the setting and operation of the x-ray system (1).
  • the computer (8) executes the computer program and provides the data sets, e.g., the projection images, the three-dimensional volume images or tomosynthesis based images or ceph images for visualization on the screen (9).
  • the data sets e.g., the projection images, the three-dimensional volume images or tomosynthesis based images or ceph images for visualization on the screen (9).
  • Embodiment 1 and Embodiment 2 are examples for better understanding the invention. These are outside the scope of the invention as claimed.
  • FIG. 2A A flowchart of a method according to the first embodiment for correction of artefacts due to electromagnetic disturbances (herein shortly referred to as “artefacts”) caused in x-ray projection images is shown in Fig. 2A.
  • step (SI) the x-ray projection images (I) as shown in Fig. 3 are acquired by means of the x-ray source (3), the x-ray collimator and the x-ray detector (4) of the x-ray system (1).
  • Each x-ray projection image (I) (herein also shortly referred to “projection image”) is a two-dimensional data array which extends along a first direction (x) and a second direction (y) which is perpendicular to the first direction.
  • the first direction (x) and the second direction (y) are preferably aligned with the rows and columns of the x-ray detector (4).
  • each projection image is Fourier transformed into a two-dimensional frequency domain as shown in Fig. 4 (see eq. 1 below).
  • the plurality of one-dimensional data arrays of the projection image, each along the first direction (x) are respectively Fourier transformed into a plurality of one-dimensional frequency components each along the first direction (x).
  • the plurality of onedimensional frequency components, each along the second direction (y), resulting from the preceding step are Fourier transformed into a plurality of one-dimensional frequency components each along the second direction (y) so as to form a two-dimensional frequency domain.
  • Eq.l is:
  • the x-ray projection images can be represented as a two-dimensional data array, namely as matrix with size M times N including the image values a m n in the spatial domain.
  • a k i denotes the image values in the frequency domain.
  • the matrix can be coincided with the rows (M) and columns (N) of the x-ray detector (4).
  • step (S3) for each projection image the frequency components corresponding to the artefacts in the two-dimensional frequency domain are determined. The frequency components corresponding to the artefacts are shown in Fig. 5 by the dashed line.
  • the DC noise has been optionally removed for better illustration.
  • the frequency components of the two-dimensional frequency domain are sorted increasingly according to their frequencies so as to correspond to at least four frequency ranges.
  • the artifacts can be identified as those frequency components in the 3rd frequency range, viewed from the counting direction from lowest to the highest frequency range.
  • the first frequency range comprises the fundamental frequency of the projection image.
  • the second frequency range comprises the frequencies due to the x-ray collimator.
  • the third frequency range comprises the frequencies due to the artefacts.
  • the fourth frequency range comprises the frequencies due the patient anatomy.
  • the third frequency range is determined to correspond to the artefacts in the two-dimensional frequency domain.
  • the identification of the artefacts can be implemented by using a mask for the first column in Fig. 5. As a result, the first column represent the low frequency part and allows to identify the fundamental frequency, and the spectral range due the collimator and the patient anatomy, wherein the rest allows to identify the spectral range for the artefacts.
  • step (S4) the determined frequency components in the corresponding Fourier transformed projection image are suppressed in the two-dimensional frequency domain as shown in Fig. 6.
  • the frequency components corresponding to the artefacts are preferably set to zero.
  • a k i denotes the image values in the frequency domain after suppression of the artefacts in a k
  • step (S5) the suppressed projection images in the frequency domain are inverse Fourier transformed to the two-dimensional spatial domain to obtain the artefact-corrected projection images as shown in Fig. 7.
  • n 0, . . . , N — 1.
  • a m n denotes the artefact- corrected projection image.
  • step (S6) a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image is reconstructed based on the artefact corrected projection images.
  • the corrected tomosynthesis based image is shown in Fig. 11.
  • a tomosynthesis based image according to the prior art is shown in Fig 10.
  • the tomosynthesis based image of Fig. 10 has been reconstructed by using x-ray projection images having artefacts caused by electromagnetic disturbances.
  • the artefacts are visually conspicuous (see ripple shaped structures).
  • the artefacts are substantially reduced, thus corrected as seen in Fig. 11.
  • FIG. 2B An artefact correction method according to the second embodiment is shown in Fig. 2B.
  • step (S10) the x-ray projection images (I) as shown in Fig. 3 are acquired by means of the x-ray source (3), the x-ray collimator and the x-ray detector (4) of the x-ray system (1).
  • Each x-ray projection image (I) is a two-dimensional data array which extends along a first direction (x) and a second direction (y) which is perpendicular to the first direction.
  • the first direction (x) and the second direction (y) are preferably aligned with the rows and columns of the x-ray detector (4).
  • step (S20) a summing operation is performed.
  • a m n represents the image value in the data array (M x N) of the projection image along long the first direction (x).
  • a m represents the amplitudes along the second direction (y) which result after the summation.
  • step (S21) the plurality of amplitudes along the second direction (y), resulting from the preceding summing step (S20) are Fourier transformed into one-dimensional frequency components so as to form a one-dimensional frequency domain. This is shown in the second frame (b) of Fig. 8.
  • step (S30) for each projection image the frequency components corresponding to the artefacts in the one-dimensional frequency domain are determined. This is schematically shown in the third frame (c) of Fig. 8.
  • the frequency components of the onedimensional frequency domain are sorted increasingly according to their frequencies so as to correspond to at least four frequency ranges.
  • the first frequency range comprises the fundamental frequency of the projection image.
  • the second frequency range comprises the frequencies due to the x-ray collimator.
  • the third frequency range comprises the frequencies due to the artefacts.
  • the fourth frequency range comprises the frequencies due the patient anatomy.
  • the third frequency range is determined to correspond to the artefacts in the spatial domain.
  • a k are the artefacts.
  • Artifacts are identified as the frequency components in the 3rd frequency range, viewed from the counting direction from lowest to the highest frequency range. This can be implemented as above by using a mask which identifies the fundamental frequency and the spectral range due the collimator and the patient anatomy. The rest is identified as the spectral range for the artefacts.
  • step (S40) the frequency components determined in the determining step (S30) are inverse transformed to the one-dimensional spatial domain. This is shown in the fourth frame (d) of Fig. 8.
  • step (S50) the inverse Fourier transformed frequency components in step (S40) are suppressed in the corresponding projection image. This is shown in the last frame (e) of Fig. 8.
  • step (S50) the inverse Fourier transformed frequency components in step (S40) are subtracted column wise from the corresponding projection image to obtain an artefact corrected projection image.
  • step (S60) step a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image based on the artefact corrected projection images is reconstructed.
  • FIG. 2C An artefact correction method according to the third embodiment is shown in Fig. 2C.
  • step (SI 00) the x-ray projection images (I) as shown in Fig. 3 (see also Fig. 9A) are acquired by means of the x-ray source (3), the x-ray collimator and the x-ray detector (4) of the x-ray system (1).
  • Each x-ray projection image (I) is a two-dimensional data array which extends along a first direction (x) and a second direction (y) which is perpendicular to the first direction.
  • the first direction (x) and the second direction (y) are preferably aligned with the row and column direction of the x-ray detector (4).
  • step (S300) for each projection image (I) the spatial components corresponding to the artefacts are determined in the two-dimensional spatial domain respectively, wherein specifically the spatial components corresponding to the artefacts are determined in one or more separate regions (Rl; R2) of the projection image as shown in Fig. 9A, which have been obscured by the x-ray collimator.
  • the dashed lines show example regions which have been (see Rl; R2) and have not been (see Rl’; R2’) obstructed by the x-ray collimator.
  • step (S400) the determined spatial components corresponding to the artefact are suppressed by subtracting them from the corresponding projection image.
  • the determined artefacts are subtracted at least from one or more regions (Rl', R2 ) as shown in Fig. 9A in the corresponding projection image which has not been obstructed by the x-ray collimator.
  • step (S600) a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image is reconstructed based on the artefact corrected projection images.
  • the artefacts are weighted.
  • the spatial components corresponding to the artefacts determined in said one or more separate regions (Rl, R2) are weighted as shown in part (a) of Fig 9B.
  • the weighted artefacts are subtracted at least from one or more regions (RF, R2') in the corresponding projection image which has not been obstructed by the x-ray collimator.
  • Fig. 9B an example for the weighing has been illustrated graphically for a random electromagnetic disturbance profile.
  • the spatial components corresponding to the artefacts in one or more regions (R1',R2') are weighted e.g, summed up on the unexposed region in the second direction (y), and interpolated towards the exposed region of the projection image in the second direction (y).
  • the effect of the amplitude of the artefact may vary spatially. Therefore, the interpolation between the opposed unexposed regions can be performed linearly and/or non-linearly, and can preferably assume decreasing/increasing amplitude value (third direction (z)) in view of the mentioned orientation of the electromagnetic noise source.
  • the third direction (z) is perpendicular to both the first and the second direction and denotes the image / artefact Amplitude.

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Abstract

The present invention relates to computer-implemented methods for correcting artefacts in x-ray projection images caused by electromagnetic disturbances on an x-ray detector (4) and for generating a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected cephalometric image of a patient based on the artefact corrected projection images.

Description

COMPUTER-IMPLEMENTED METHOD FOR CORRECTING ARTEFACTS DUE TO ELECTROMAGNETIC DISTURBANCES CAUSED IN X-RAY PROJECTION IMAGES
TECHNICAL FIELD OF THE INVENTION
The present invention relates to methods and systems for x-ray imaging of patients in the dental field. The present invention more particularly relates to extraoral x-ray imaging in which artefacts due to electromagnetic disturbances caused in x-ray projection images are suppressed in the reconstruction of three-dimensional (3D) volume images, tomosynthesis based images (panoramic images), and/or cephalometric (ceph) images.
BACKGROUND ART OF THE INVENTION
Volume images, tomosynthesis based images such as panoramic images, and ceph images are among the standard imaging procedures of all extraoral dental radiographic examinations. Volume images, tomosynthesis based images, and ceph images provide the dentist with information about the patient's dental condition. These images are used by dentists to diagnose problem cases and prepare for treatment.
Generally, an extraoral x-ray imaging system has an x-ray source and an x-ray detector that are rotated around the patient's head during the x-ray imaging. The trajectory of the x-ray source and the x-ray detector during the imaging can describe various paths. During the rotation, the x-ray detector acquires x-ray projection images of the patient. The panoramic image is generally reconstructed from the x-ray projection images using standard techniques such a shift-and-add or other techniques known to those skilled in the art. A panoramic image shows the structures located in a physical layer to be sharply viewed within the patient's jaw. The Volume image is generally reconstructed from the x-ray projection images using a standard technique such as the filtered back projection algorithm (e.g., the Feldkamp algorithm). The cheph image can be generated from the volume image. Alternatively, a separate x-ray detector on a cantilever arm can be used for generating a ceph image.
Ambient electromagnetic fields can adversely affect the proper functioning of the x-ray detector, its electrical components, and cabling, so that the acquired x-ray projection images may contain image artefacts due to the electromagnetic disturbances. These image artefacts may lead to misdiagnosis and incorrect therapies, which must, however, be avoided accordingly.
SUMMARY OF THE INVENTION
The inventors are not aware of any prior art technique in which the image artefacts due to electromagnetic disturbances are determined in a frequency domain of the Fourier transformed x-ray projections images, and then subsequently suppressed in the frequency domain or, alternatively, in the spatial domain accordingly to obtain artefact-corrected x- ray projection images for the reconstruction of a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image.
Furthermore, the inventors are also not aware of any prior art technique in which the image artefacts due to electromagnetic disturbances are determined at least in a region of the x- ray projection image which has been obscured by the x-ray collimator (i.e., unexposed region of the acquired projection image), and subsequently suppressed in the spatial domain accordingly to obtain artefact-corrected x-ray projection images for the reconstruction of a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image.
An objective of the present invention is to provide computer-implemented methods for reducing image artefacts in dental volume images and/or dental tomosynthesis based images and/or ceph images caused by electromagnetic interferences.
A further objective of the present invention is to provide an extraoral x-ray imaging system that performs the methods according to the present invention.
These objectives have been achieved by the computer-implemented methods as defined in claim 1, and the x-ray imaging system as defined in claim 4. The subject-matters of the dependent claims define further developments and preferred embodiments.
The methods according to the present invention are computer-implemented methods and are each used to correct artefacts in x-ray projection images caused by electromagnetic disturbances on an x-ray detector. These methods are respectively used to generate a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image of a patient.
According to a first aspect of the present invention the image artefacts due to electromagnetic disturbances are determined in a two-dimensional frequency domain of the Fourier transformed x-ray projections images, and then suppressed in the frequency domain.
According to this first aspect of the present invention the method comprises the steps of: providing one or more projection images by means of an x-ray source, an x-ray collimator and the x-ray detector, wherein each projection image is a two-dimensional data array which extends along a first direction and a second direction which is perpendicular to the first direction; Fourier transforming each projection image into a two-dimensional frequency domain; determining for each projection image the frequency components corresponding to the artefacts in the two-dimensional frequency domain; suppressing the determined frequency components in each corresponding Fourier transformed projection image in the two-dimensional frequency domain; Inverse Fourier transforming each suppressed projection image in the frequency domain to the two-dimensional spatial domain to obtain an artefact corrected projection image; reconstructing a corrected three- dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image based on the artefact corrected projection images.
An advantageous effect of the present invention is that the artefact correction method reduces the risk of misdiagnosis and incorrect treatment, and avoids repeat exposures. The corrected three-dimensional volume image, the corrected tomosynthesis based image, and the corrected ceph image are substantially free of image artefacts such as ripples and the like.
According to the first aspect of the present invention, the x-ray projection images can be represented as a two dimensional data array, namely a matrix containing the image values. The matrix can correspond to the rows and columns of the x-ray detector. The Fourier transformation of the x-ray projection images are performed numerically as a discrete Fourier transformation with respect to the rows and the columns. According to the first aspect of the present invention, the analysis of the frequency components in the two-dimensional frequency domain, has revealed that the frequency components are characteristically sorted into different ranges which are distinguishable. The first frequency range corresponds to the fundamental frequency. The second frequency range corresponds the frequencies caused by the x-ray collimator. The third frequency range corresponds to the frequencies caused by the artefacts. The fourth frequency range corresponds the frequencies caused by the patient anatomy. Thus, for each projection image the third frequency range can be distinguished from the others, e.g., by setting a mask or a filter that locates the frequency components corresponding to the artefacts in the two-dimensional frequency domain.
According to the first aspect of the present invention, the frequency components corresponding to the artefacts are set to zero in the two dimensional Fourier domain during the suppressing step.
The above mentioned advantageous effects can also be achieved accordingly through further alternative methods of the present invention. These alternative methods represent further aspects of the present invention, and are summarized below:
According to a second aspect of the present invention the image artefacts due to electromagnetic disturbances are determined in the frequency domain of the Fourier transformed x-ray projections images, but subsequently suppressed in the spatial domain to obtain artefact corrected x-ray projection images for the reconstruction of a corrected three-dimensional volume image or a corrected tomosynthesis based image or a ceph image.
According to the second aspect of the present invention the method comprises: a providing step in which the projection images are provided by means of an x-ray source, an x-ray collimator and the x-ray detector, wherein each projection image is a two-dimensional data array which extends along a first direction and a second direction which is perpendicular to the first direction; a summing step in which the image values in the plurality of onedimensional data arrays of each projection image, each along the first direction, are respectively summed up to form a plurality of amplitudes; a Fourier transforming step in which the plurality of amplitudes along the second direction, resulting from the preceding summing step are Fourier transformed into one-dimensional frequency components so as to form a one-dimensional frequency domain; a determining step in which for each projection image the frequency components corresponding to the artefacts in the onedimensional frequency domain are determined; an inverse Fourier transforming step in which the frequency components determined in the determining step are inverse Fourier transformed to the one-dimensional spatial domain; a suppressing step in which the inverse Fourier transformed frequency components are suppressed in the corresponding projection image to obtain an artefact corrected projection image; a reconstructing step in which a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image is reconstructed based on the artefact corrected projection images.
According to the second aspect of the present invention, when analyzing the frequency components of the one-dimensional frequency domain, it has been found that the frequency components characteristically sort them into different ranges which are distinguishable. The first frequency range corresponds the fundamental frequency of the projection image. The second frequency range corresponds to the frequencies due to the x- ray collimator. The third frequency range corresponds to the frequencies due to the artefacts. The fourth frequency range corresponds the frequencies caused by the patient anatomy. Thus, for each projection image the third frequency range can be distinguished from the others, e.g., by setting a mask or a filter that locates the frequency components corresponding to the artefacts in in the frequency domain.
According to the second aspect of the present invention, the inverse Fourier transformed frequency components due to the artefacts are entirely subtracted from the corresponding projection image.
According to a third aspect of the present invention, the image artefacts due to electromagnetic disturbances are determined at least in a region of the x-ray projection image which has been obstructed by the x-ray collimator, and are suppressed in the spatial domain accordingly to obtain artefact corrected x-ray projection images for the reconstruction of a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image. According to the third aspect of the present invention the method comprises the steps of: providing the projection images by means of an x-ray source, an x-ray collimator and the x-ray detector; determining for each projection image the spatial components corresponding to the artefacts in the two-dimensional spatial domain respectively, wherein the spatial components corresponding to the artefacts are determined in one or more separate regions of the projection image which has been obscured by the x-ray collimator; suppressing the artefacts by subtracting the determined spatial components corresponding to the artefact from the corresponding projection image to obtain an artefact corrected projection image, wherein in the suppressing step the determined artefacts are subtracted at least from one or more regions in the corresponding projection image which has not been obscured by the x-ray collimator; reconstructing a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image based on the artefact corrected projection images.
According to the third aspect of the present invention, depending on the local orientation of the electromagnetic noise source, the amplitude of the artefacts may spatially vary over the projection images. This antitropy of the electromagnetic disturbance can be detected by comparing the amplitudes of the artefacts in the regions of the projection image which has been obscured by the x-ray collimator. In case of such anisotropy the artefacts determined in said one or more separate regions of the projection image which has been obscured by the x-ray collimator, are preferably weighed, and then subtracted at least from one or more regions in the corresponding projection image which has not been obstructed by the x-ray collimator. By the weighing process, the artifact correction of the projection images can be more effectively adapted to the actual electromagnetic disturbance pattern/profile.
BRIEF DESCRIPTION OF THE DRAWINGS
In the following description, the present invention will be explained in more detail with reference to the exemplary embodiments and with reference to the drawings, wherein.
Fig. 1 - shows a schematic drawing of an x-ray imaging system according to an embodiment according to the preset invention; Fig. 2A - shows a flowchart of a computer-implemented method according to a first embodiment according to the preset invention;
Fig. 2B - shows a flowchart of a computer-implemented method according to a second embodiment according to the preset invention;
Fig. 2C - shows a flowchart of a computer-implemented method according to a third embodiment according to the preset invention;
Fig. 3 - shows an x-ray projection image having artefacts caused by electromagnetic disturbances on an x-ray detector;
Fig. 4 - shows an x-ray projection image which has been Fourier transformed into the two-dimensional frequency domain according the first embodiment of the preset invention;
Fig. 5 - shows the frequency components corresponding to the artefacts in the two- dimensional frequency domain of Fig. 4, after the DC noise has been removed for ease of illustration;
Fig. 6 - shows the Fourier transformed projection image in the two-dimensional frequency domain of Fig. 5 after the frequency components corresponding to the artefacts have been suppressed;
Fig. 7 - shows an artefact corrected x-ray projection image obtained by inverse Fourier transforming the artefact suppressed Fourier transformed projection image of Fig. 6;
Fig. 8 - shows a graphically augmented flowchart of the computer-implemented method according to the second embodiment of the present invention;
Fig. 9A - shows various exposed and unexposed regions of a projection image to be artifact corrected according to the computer-implemented method according to the third embodiment of the present invention; Fig. 9B - shows a graphically augmented flowchart of the computer-implemented method according to a variation of the third embodiment of the present invention;
Fig. 10 - shows a tomosynthesis based image according to the prior art which has been reconstructed using x-ray projection images having artefacts caused by electromagnetic disturbances, wherein the artefacts are visually conspicuous;
Fig. 11 - shows a corrected tomosynthesis based image obtained through reconstruction of the artefact corrected projection images as shown in Fig. 7.
The reference numbers shown in the drawings designate the elements listed below, which are referred to in the following description of the exemplary embodiments.
1. X-ray imaging system
2. X-ray imaging device
3. X-ray source
4. X-ray detector
5. Operating unit (user interface)
6. Head fixation
7. Bite block
8. Computing unit (Computer)
9. Display device (Screen)
10. Input device (Keyb oard)
11. Input device (Mouse)
I: X-ray projection image
X: First direction
Y: Second direction
Z: Third direction
DETAILED DESCRIPTION OF THE EMBODIMENTS In the following description, an x-ray imaging system (1) and alternative x-ray imaging methods according to the present invention will be explained in more detail. These methods are computer-implemented methods and can be carried out on a computer- implemented x-ray imaging system (1) as schematically shown in an embodiment in Fig. 1.
The present invention also includes corresponding computer programs having computer- readable codes respectively implementing these methods. The computer programs are provided on computer readable storage media (not shown) accessible to the computerized x-ray imaging system (1). In the following description, the x-ray imaging system (1) will be explained in more detail.
The X-ray imaging system
The computerized x-ray imaging system (1) (hereinafter shortly referred to as the system (1)) comprises an x-ray imaging device (2) for performing patient dental imaging. The x- ray device (1) has different dental imaging modalities such as volume imaging, panoramic imaging, and ceph imaging.
The x-ray system (1) is preferably configurable as an loT system which can be bidirectionally connected via a local area network and/or the Internet (not shown) to other dental devices such as optical intraoral scanners (not shown), dental milling machines (not shown), additive manufacturing machines (not shown), and the like for data exchange, remote control, cloud computing, and the like.
The x-ray device (2) has an x-ray source (3), an x-ray collimator (not shown), and an x-ray detector (4) that are rotated around the patient's head during the imaging by means of a driving mechanism (not shown). The x-ray system (1) may also have an additional x-raydetector on a cantilever arm (not shown) for acquiring one or more x-ray projection images for cephalometric imaging.
The trajectory of the x-ray source (3) and the x-ray detector (4) during the imaging can describe a circular path. However, it can also assume a form deviating from this. If at least some actuators (not shown) of the driving mechanism are controlled simultaneously, a trajectory deviating from a pure circular path around the patient's head can be achieved. The patient's head can be optionally positioned in the x-ray device (2) with a bite block (6) and/or a head fixation (7).
The various possible trajectories (course) of the x-ray source (3) and the x-ray detector (4) with respect to the bite block (7) and the head fixation (6) are calibrated for the system (1).
The x-ray detector (4) detects the x-rays emitted by the x-ray source (3) during the rotation. The x-ray projection images (I) are acquired, namely read out from the x-ray detector (4) in synchronization with x-ray source (3) and the driving mechanism.
The computerized x-ray system (1) comprises an operating unit (5) such as a user interface, a computing unit (8) such as a computer (8) which can be connected to the x-ray device (2), a display device (9) such as a screen for visualizing data sets, and input devices such as a keyboard (10) and a mouse (11). The operating unit (5) can be connected to x-ray system
(1) through wireless or alternatively through a wire communication. The operating unit (5) has a display, preferably with a touchscreen for controlling, setting and operation of the x- ray device (2).
The computer (8) may be connected to the x-ray device (2) through a wired or alternatively through a wireless communication via a local area network (not shown) or, alternatively, via the Internet. The computer (8) may be also part of a cloud. Alternatively, the computer (8) may be integrated into the x-ray device (2). Alternatively, all or some of the computations of the computer-implemented methods may take place in the cloud as cloud computing.
The screen (9) may be provided spatially separate from or integrated with the x-ray device
(2). Preferably, the computer (8) may also be used to control all functions, settings, and operation of the x-ray device (2). Alternatively, one or more computers (8) may be used for controlling the setting and operation of the x-ray system (1).
The computer (8) executes the computer program and provides the data sets, e.g., the projection images, the three-dimensional volume images or tomosynthesis based images or ceph images for visualization on the screen (9).
X-ray imaging methods for Artefact Correction In the following description Embodiment 1 and Embodiment 2 are examples for better understanding the invention. These are outside the scope of the invention as claimed.
1st Embodiment
A flowchart of a method according to the first embodiment for correction of artefacts due to electromagnetic disturbances (herein shortly referred to as “artefacts”) caused in x-ray projection images is shown in Fig. 2A.
In step (SI), the x-ray projection images (I) as shown in Fig. 3 are acquired by means of the x-ray source (3), the x-ray collimator and the x-ray detector (4) of the x-ray system (1). Each x-ray projection image (I) (herein also shortly referred to “projection image”) is a two-dimensional data array which extends along a first direction (x) and a second direction (y) which is perpendicular to the first direction. The first direction (x) and the second direction (y) are preferably aligned with the rows and columns of the x-ray detector (4).
In step (S2), each projection image is Fourier transformed into a two-dimensional frequency domain as shown in Fig. 4 (see eq. 1 below). In the Fourier transforming step (S2), the plurality of one-dimensional data arrays of the projection image, each along the first direction (x), are respectively Fourier transformed into a plurality of one-dimensional frequency components each along the first direction (x). Subsequently, the plurality of onedimensional frequency components, each along the second direction (y), resulting from the preceding step, are Fourier transformed into a plurality of one-dimensional frequency components each along the second direction (y) so as to form a two-dimensional frequency domain. Eq.l is:
Figure imgf000012_0001
Wherein k = 0, . . . , M — 1 and I = 0, . . . , N — 1. Wherein the x-ray projection images can be represented as a two-dimensional data array, namely as matrix with size M times N including the image values am n in the spatial domain. And ak i denotes the image values in the frequency domain. The matrix can be coincided with the rows (M) and columns (N) of the x-ray detector (4). In step (S3), for each projection image the frequency components corresponding to the artefacts in the two-dimensional frequency domain are determined. The frequency components corresponding to the artefacts are shown in Fig. 5 by the dashed line. The DC noise has been optionally removed for better illustration. In the determining step (S3), the frequency components of the two-dimensional frequency domain are sorted increasingly according to their frequencies so as to correspond to at least four frequency ranges. The artifacts can be identified as those frequency components in the 3rd frequency range, viewed from the counting direction from lowest to the highest frequency range. The first frequency range comprises the fundamental frequency of the projection image. The second frequency range comprises the frequencies due to the x-ray collimator. The third frequency range comprises the frequencies due to the artefacts. The fourth frequency range comprises the frequencies due the patient anatomy. Herein, for each projection image the third frequency range is determined to correspond to the artefacts in the two-dimensional frequency domain. The identification of the artefacts can be implemented by using a mask for the first column in Fig. 5. As a result, the first column represent the low frequency part and allows to identify the fundamental frequency, and the spectral range due the collimator and the patient anatomy, wherein the rest allows to identify the spectral range for the artefacts.
In step (S4), the determined frequency components in the corresponding Fourier transformed projection image are suppressed in the two-dimensional frequency domain as shown in Fig. 6. In the suppressing step (S4), the frequency components corresponding to the artefacts are preferably set to zero. Wherein ak i denotes the image values in the frequency domain after suppression of the artefacts in ak
In step (S5), the suppressed projection images in the frequency domain are inverse Fourier transformed to the two-dimensional spatial domain to obtain the artefact-corrected projection images as shown in Fig. 7.
Figure imgf000014_0001
Wherein m = 0, . . . , M — 1 and n = 0, . . . , N — 1. Wherein am n denotes the artefact- corrected projection image.
In step (S6), a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image is reconstructed based on the artefact corrected projection images. As an example, the corrected tomosynthesis based image is shown in Fig. 11. For comparison, a tomosynthesis based image according to the prior art is shown in Fig 10. The tomosynthesis based image of Fig. 10 has been reconstructed by using x-ray projection images having artefacts caused by electromagnetic disturbances. The artefacts are visually conspicuous (see ripple shaped structures). In contrast thereto, the artefacts are substantially reduced, thus corrected as seen in Fig. 11.
2nd Embodiment
An artefact correction method according to the second embodiment is shown in Fig. 2B.
In step (S10), the x-ray projection images (I) as shown in Fig. 3 are acquired by means of the x-ray source (3), the x-ray collimator and the x-ray detector (4) of the x-ray system (1). Each x-ray projection image (I) is a two-dimensional data array which extends along a first direction (x) and a second direction (y) which is perpendicular to the first direction. The first direction (x) and the second direction (y) are preferably aligned with the rows and columns of the x-ray detector (4).
In step (S20), a summing operation is performed. In Step (20), the image values in the plurality of one-dimensional data arrays of the projection image, each along the first direction (x), are respectively summed up to form a plurality of amplitudes. This is shown in the first frame (a) of Fig. 8. This can be described as follows:
Figure imgf000015_0001
to -.= e~2ni^
Wherein am n represents the image value in the data array (M x N) of the projection image along long the first direction (x). And Am represents the amplitudes along the second direction (y) which result after the summation.
In step (S21), the plurality of amplitudes along the second direction (y), resulting from the preceding summing step (S20) are Fourier transformed into one-dimensional frequency components so as to form a one-dimensional frequency domain. This is shown in the second frame (b) of Fig. 8.
Figure imgf000015_0002
In step (S30) for each projection image the frequency components corresponding to the artefacts in the one-dimensional frequency domain are determined. This is schematically shown in the third frame (c) of Fig. 8. In step (S30), the frequency components of the onedimensional frequency domain are sorted increasingly according to their frequencies so as to correspond to at least four frequency ranges. The first frequency range comprises the fundamental frequency of the projection image. The second frequency range comprises the frequencies due to the x-ray collimator. The third frequency range comprises the frequencies due to the artefacts. The fourth frequency range comprises the frequencies due the patient anatomy. Herein, for each projection image the third frequency range is determined to correspond to the artefacts in the spatial domain. Wherein Ak are the artefacts.
Artifacts are identified as the frequency components in the 3rd frequency range, viewed from the counting direction from lowest to the highest frequency range. This can be implemented as above by using a mask which identifies the fundamental frequency and the spectral range due the collimator and the patient anatomy. The rest is identified as the spectral range for the artefacts. In step (S40), the frequency components determined in the determining step (S30) are inverse transformed to the one-dimensional spatial domain. This is shown in the fourth frame (d) of Fig. 8.
Figure imgf000016_0001
In step (S50), the inverse Fourier transformed frequency components in step (S40) are suppressed in the corresponding projection image. This is shown in the last frame (e) of Fig. 8.
In the suppressing (S50) step, the inverse Fourier transformed frequency components in step (S40) are subtracted column wise from the corresponding projection image to obtain an artefact corrected projection image.
In step (S60) step, a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image based on the artefact corrected projection images is reconstructed.
3rd Embodiment
An artefact correction method according to the third embodiment is shown in Fig. 2C.
In step (SI 00), the x-ray projection images (I) as shown in Fig. 3 (see also Fig. 9A) are acquired by means of the x-ray source (3), the x-ray collimator and the x-ray detector (4) of the x-ray system (1). Each x-ray projection image (I) is a two-dimensional data array which extends along a first direction (x) and a second direction (y) which is perpendicular to the first direction. The first direction (x) and the second direction (y) are preferably aligned with the row and column direction of the x-ray detector (4).
In step (S300) for each projection image (I), the spatial components corresponding to the artefacts are determined in the two-dimensional spatial domain respectively, wherein specifically the spatial components corresponding to the artefacts are determined in one or more separate regions (Rl; R2) of the projection image as shown in Fig. 9A, which have been obscured by the x-ray collimator. The dashed lines show example regions which have been (see Rl; R2) and have not been (see Rl’; R2’) obstructed by the x-ray collimator.
In step (S400), the determined spatial components corresponding to the artefact are suppressed by subtracting them from the corresponding projection image. In particular, in the suppressing step (S400) the determined artefacts are subtracted at least from one or more regions (Rl', R2 ) as shown in Fig. 9A in the corresponding projection image which has not been obstructed by the x-ray collimator.
In step (S600), a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image is reconstructed based on the artefact corrected projection images.
Weighing of Artefacts
In a variation of the third embodiment, the artefacts are weighted. In the determining step (S300), the spatial components corresponding to the artefacts determined in said one or more separate regions (Rl, R2) are weighted as shown in part (a) of Fig 9B.
In the subtracting step (S400), the weighted artefacts are subtracted at least from one or more regions (RF, R2') in the corresponding projection image which has not been obstructed by the x-ray collimator.
In Fig. 9B an example for the weighing has been illustrated graphically for a random electromagnetic disturbance profile. According thereto, the spatial components corresponding to the artefacts in one or more regions (R1',R2') are weighted e.g, summed up on the unexposed region in the second direction (y), and interpolated towards the exposed region of the projection image in the second direction (y). Depending on the local orientation of the electromagnetic noise source, the effect of the amplitude of the artefact may vary spatially. Therefore, the interpolation between the opposed unexposed regions can be performed linearly and/or non-linearly, and can preferably assume decreasing/increasing amplitude value (third direction (z)) in view of the mentioned orientation of the electromagnetic noise source. The third direction (z) is perpendicular to both the first and the second direction and denotes the image / artefact Amplitude.

Claims

1. Computer-implemented method for correcting artefacts in x-ray projection images caused by electromagnetic disturbances on an x-ray detector (4) and for generating a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected cephalometric image of a patient, comprising the steps of: providing (SI 00) one or more projection images by means of an x-ray source (3), an x-ray collimator and the x-ray detector (4); characterized by further comprising the steps of: determining (S300) for each projection image the spatial components corresponding to the artefacts in the two-dimensional spatial domain respectively, wherein the spatial components corresponding to the artefacts are determined in one or more separate regions (Rl, R2) of the projection image which has been obscured by the x-ray collimator; suppressing (S400) the artefacts by subtracting the determined spatial components corresponding to the artefact from the corresponding projection image to obtain an artefact corrected projection image, wherein in the suppressing step (S400) the determined artefacts are subtracted at least from one or more regions (Rl', R2') in the corresponding projection image which has not been obscured by the x-ray collimator; reconstructing (S600) a corrected three-dimensional volume image or a corrected tomosynthesis based image or a corrected ceph image based on the artefact corrected projection images.
2. The computer-implemented method according to claim 1, characterized in that in the determining step (S300) the spatial components corresponding to the artefacts determined in said one or more separate regions (Rl, R2) are weighted, and in the subtracting step (S400) the said weighted artefacts are subtracted at least from one or more regions (Rl', R2') in the corresponding projection image which has not been obstructed by the x-ray collimator.
3. A computer program comprising computer-readable code which, when executed by a computer-assisted x-ray imaging system (1), causes said system (1) to perform the method of any one of the preceding claims.
4. A computer-assisted x-ray imaging system (1) comprising a computing unit (8) configured to execute the computer program according to claim 3.
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