WO2017172641A1 - Robotics driven radiological scanning systems and methods - Google Patents

Abstract

A scanner usable for horse health and human health is disclosed. The scanner comprises a platform and a robot arm extending form the platform. The robot arm is movable within three degrees of freedom. A scanner is attached to a distal end of each of the robotic arm. The robotic arms is further configured to scan an object on the platform to produce a 3D image of the object via a computer.

Description

ROBOTICS DRIVEN RADIOLOGICAL SCANNING SYSTEMS AND METHODS CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U. S. Provisional Application No.

62/313,968, filed March 28, 2016, the entire disclosure of which is incorporated by reference herein in its entirety.

FIELD OF THE INVENTION

[0002] Exemplary embodiments of the present invention are related to radiological robotics-driven scanning systems and, in particular, scanning systems and methods associated with radiology.

BACKGROUND OF THE INVENTION

[0003] Robotic systems, such as robot arms, are used to assist in various industries such as automobile, construction, etc. Additionally, scanning and x-ray systems are used for medical purposes. However, typical radiological scanning systems produce images that either have deficiencies or do not provide complete views. This is especially true in the case of medical treatment for horses or mechanical parts of moving machines and composite materials during destructive and non-destructive testing.

[0004] Therefore, what is desired is a system and method that can provide accurate radiological scanning which can be used to scan horses, humans, or inanimate industrial objects. The disclosed embodiments of the invention overcomes one more of the

disadvantages referenced above by providing a radiological scanning system and method that can provide accurate radiological scanning with advantages on the field of view and special and temporal accuracy.

BRIEF SUMMARY OF THE INVENTION

[0005] Embodiments of the present invention are directed to radiological scanning systems and methods for generating robotics (and cobotics (collaborative robots) -driven) radiological scanning imagery in multiple dimensions. Other features and advantages of the present invention will be apparent from the following more detail description of the exemplary embodiments.

[0006] In accordance with an exemplary embodiment, the present invention provides a mobile robotic scanning system, comprising: a robotic array having at least one set of automated scanning robots configured to perform a radiological scan on a subject; a control unit in electrical communication with the robotic array, the control unit configured to control the set of scanning robots to perform the radiological scan; a work station in electrical communication with the control unit, the work station being configured to receive scan settings from a user and to direct the control unit to perform the radiological scan, the work station being configured to direct the control unit to perform any of a plurality of different types of radiological scans selectable by the user; and an image processing device in electrical communication with the control unit, the image processing device configured to receive scan data from the robotic array and to produce image data indicative of a multi- dimensional image of at least a portion of the subject, wherein the set of scanning robots includes first and second scanning robots, each of the first and second scanning robots being attached to a respective radiological unit, the radiological unit being constructed as a module configured to be selectively attachable from at least one of the first and second scanning robots. The mobile robotic scanning system includes at least one of the first and second scanning robots is configured to selectively attach itself to the radiological unit, wherein a first radiological unit is attached to the first scanning robot and a second radiological unit is attached to the second scanning robot, the first radiological unit attached to the first scanning robot being an emitter and the second radiological unit attached to the second scanning robot being a detector, wherein the plurality of different types of radiological scans include a panoramic scan, a tomosynthesis scan, a volumetric computerized axial tomography scan, a densitometry scan, a biplane dynamic radiographic roentgen stereophotogrammetric scan, and a molecular (gamma) scan, wherein the robotic array includes a plurality of sets of automated scanning robots, the plurality of different types of radiological scans including a roentgen stereophotogrammetric panoramic scan, a roentgen stereophotogrammetric tomosynthesis scan, and a biplane dynamic radiographic roentgen stereophotogrammetric scan, wherein each set of scanning robots includes first and second scanning robots, each of the first and second scanning robots being attached to a respective radiological unit, wherein at least one of the first and second scanning robots is configured to selectively attach itself to the radiological unit, and wherein a first radiological unit is attached to the first scanning robot and a second radiological unit is attached to the second scanning robot, the first radiological unit attached to the first scanning robot being an emitter and the second radiological unit attached to the second scanning robot being a detector.

[0007] The mobile robotic scanning system of claim includes the radiological unit includes an emitter, the system further comprising: a high-speed shutter coupled to the emitter and configured to operate synchronously with an x-ray generator to intermittently block emission of a beam emitted from the emitter, a vision system device in electrical communication with the control unit; and a plurality of cameras in electrical communication with the vision system device, the plurality of cameras being configured to view a plurality of markers positioned within an operational envelope of the robotic array, each marker having a respective location within the operational envelope, wherein the vision system device is configured to generate correction information in accordance with the locations of the plurality of markers within the operational envelope, wherein the correction information is used to at least one of (i) correct for offsets of frames of an image set and (ii) modify a trajectory of at least one of the scanning robots, wherein the correction information is used to modify a trajectory of at least one of the scanning robots to avoid a collision of the scanning robot with the subject or with another object, wherein the plurality of markers positioned within the operational envelope include subject markers positioned on the subject and system markers positioned on at least one of the scanning robots of the robotic array, wherein at least some of the plurality of markers are positioned within the operational envelope in a predefined geometric pattern to assist the vision system device to distinguish between the subject and system markers, wherein the radiological unit attached to the first scanning robot is an emitter and the radiological unit attached to the second scanning robot is a detector, wherein the correction information is generated by the vision system device at least in part by (i) determining a position of a first origin of a first coordinate system assigned to the subject, (ii) determining a position of a second origin of a second coordinate system assigned to the robotic array, and (iii) generating at least one correction vector in accordance with the positions of the first and second origins with respect to an origin of a fixed third coordinate system, wherein the subject is an animal or an inanimate object, and wherein the correction information is used by the image processing device to at least one of (i) correct for offsets of frames of an image set and (ii) modify a trajectory of at least one of the scanning robots, wherein the animal is a horse having a head, the radiological scan being conducted on the head of the horse, the system further comprising: a stand having a base unit, an arm coupled to the base unit, and a cradle coupled to the arm and configured to receive the head of the horse during the radiological scan, wherein the plurality of markers positioned within the operational envelope include stand markers positioned on the stand, and wherein the correction information is generated by the vision system device at least in part by (i) determining a position of a first origin of a first coordinate system assigned to the horse, (ii) determining a position of a second origin of a second coordinate system assigned to the robotic array, (iii) determining a position of a third origin of a third coordinate system assigned to the stand, and (iii) generating at least one correction vector in accordance with the positions of the first, second and third origins with respect to an origin of a fixed fourth coordinate system.

[0008] The mobile robotic scanning system further comprising a mobile vehicle, and wherein the robotic array, control unit, work station, and image processing device are carried by the mobile vehicle, wherein the mobile vehicle is a trailer, a motorized vehicle, or a mobile platform, and further comprising a platform for supporting the subject.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0009] The foregoing summary, as well as the following detailed description of the exemplary embodiments of the invention, will be better understood when read in conjunction with the appended drawings. For the purpose of illustrating the invention, there are shown in the drawings exemplary embodiments of the present invention. It should be understood, however, that the invention is not limited to the precise arrangements and instrumentalities shown.

[0010] FIG. 1 shows panoramic scan via TOMOSYNETHESIS, 360 digital radiography with corrected projections and automatic stitching;

[0011] FIG. 2 shows scans rendering soft and hard tissue;

[0012] FIG. 3 A shows scan images of an equine head-teeth tomosynthesis;

[0013] FIG. 3B shows scan images of an equine stifle-joint tomosynthesis;

[0014] FIG. 4 shows a CT of an equine bone;

[0015] FIG. 5 shows a scanned image of a lower extremity;

[0016] FIG. 6 shows a radiological scanning system of the present invention performing various different scans on a horse;

[0017] FIG. 7 shows an aspect of scanning protocols; tomosynthesis CT, 36DR, DR, dual and single panoramic, dual fluoroscopy, single fluoroscopy, stereo-tomosynthesis, 4D soft and hard tissue stereo-tactic kinematics, 4D image based navigation densitometry;

[0018] FIGS. 8-23 shows system presentations of various aspects of the present invention for all application domain (Human, Mobile scanning stations, Industrial, Veterinary,

Logistics scanning);

[0019] FIG. 24 shows a system presentation of an aspect of the present invention, and specifically a horse stand;

[0020] FIGS. 25a-c show a head stand supported by magnetic based to the floor, the magnetics installation for supporting veterinary equine support of small animal support structures; front view of the stand for Equine and small animal support, respectively;

[0021] FIGS. 26-27 show various views of a horse stand and scanning system in accordance with the present invention including overhanging cameras structure for motion correction during high resolution reconstruction in the human, industrial or equine/veterinary systems;

[0022] FIGS. 28-37 show various aspects of a horse stand in accordance with the present invention; [0023] FIG. 38 shows an aspect of four dimensional digital imaging for human diagnostics, veterinary diagnostics, and industrial inspections, in accordance with the present invention;

[0024] FIG. 39 shows an aspect of FIG. 38;

[0025] FIG. 39A-C show images of an industrial scanner, a human scanner, and logistics for food packaging and product packaging, quality control, and aviation quality control scanner, respectively;

[0026] FIG. 40 shows an aspect of conventional linear scanning;

[0027] FIG. 41 shows an aspect of kinemagine industrial (petrochemical core sample) scanning;

[0028] FIG. 42 shows an aspect of scanning of complex geometry with varying (SOD) source to object distance and varying SID-source to imaging detector distance that the system can vary dynamically with different protocols;

[0029] FIG. 43 shows an aspect of scanning of dynamic beam entry angle;

[0030] FIG. 44 shows an aspect of scanning of offcenter geometry;

[0031] FIG. 45 shows a view of an aspect of the present invention;

[0032] FIGS. 46-52 show various views of FIG. 45;

[0033] FIG. 53 shows another aspect of the present invention used with horses;

[0034] FIGS. 54-61 show various other aspects of FIG. 53;

[0035] FIG. 62 shows a schematic of a x-ray scan variable dynamically altered positions to calculate effective dynamically-altered Field of view (FOV) unique to the robotics driven system;

[0036] FIG. 63 shows another schematic of an x-ray scan and alternative changes of the scanning z-axis for all modalities that include ad dynamic flat panel;

[0037] FIG. 64 shows another schematic of an x-ray scan;

[0038] FIG. 65 shows sample data from a scan, showing an aspect of the present invention for large and small animals (or humans) demonstrating the process of calculating dosage, dynamic SID and SOD and the resulting scanning protocol preprogrammed in the system for which a multitude of those protocols exist for the robotic system;

[0001] FIG. 66 shows a schematic scan using an x-ray source (dynamic SID variations);

[0002] FIG. 67 shows a schematic scan using protocol 1 (definition of source to object distance (SOD) and source to image detector distance);

[0003] FIGS. 68-76 show various aspects of a resulting scan using a multitude of protocols with dynamically changing SID and SOD; [0004] FIG. 77 shows a schematic of a scan with an x-ray source with dynamically varying focal spot and magnification parameters during the scanning process of the system;

[0005] FIG. 78 shows a camera for motion correction overhang;

[0006] FIGS. 79-87 show various aspects of a resulting scan using multiple scanning protocols varying exposure, and SID-SOD dynamically;

[0007] FIG. 88 shows an aspect of the scanner of the present invention;

[0008] FIG. 89 shows another aspect of the scanner of the present invention;

[0009] FIG. 90 shows another aspect of the scanner of the present invention;

[0010] FIG. 91 shows a schematic of a horse with identified variables for dynamic scaling of the living subject to be scanned;

[0011] FIG. 92 shows sample robotic arm offsets applicable to an exemplary embodiment of the present invention;

[0012] FIG. 93 shows an exemplary embodiment of the present invention;

[0013] FIGS. 94-95 show various aspects of the exemplary embodiment of the dual fluoroscopy and stereotactic four dimensional imaging unique to the scanner;

[0014] FIG. 96-98 show various sample data for scans of FIG. 93;

[0015] FIG. 99 shows an aspect of a 4DDI calibration cube;

[0016] FIG. 100 shows an aspect of 4DDI distortion correction;

[0017] FIG. 101 shows an aspect of an x-ray image distortion correction phantom;

[0018] FIG. 102 shows an aspect of FIG. 101 with distortion corrected;

[0019] FIG. 103 shows a sample display panel (human machine interface-UMI) applicable to an exemplary embodiment of the present invention;

[0020] FIG. 104 shows a flow chart of an exemplary embodiment of the present invention;

[0021] FIG. 105 shows another flow chart of an exemplary UMI embodiment of the present invention;

[0022] FIG. 106 shows an exemplary embodiment of the present invention;

[0023] FIG. 107 shows aspects of the exemplary embodiment of the present invention;

[0024] FIG. 108 shows aspects of the exemplary embodiment of the present invention;

[0025] FIG. 109 shows scanning areas applicable to the exemplary embodiment of the present invention;

[0026] FIG. 110 shows an aspect of marker placement and motion correction the scanning of a horse's head applicable to the present invention;

[0027] FIG. I l l shows another aspect of the scanning of a horse's head applicable to the marker placement and motion correction present invention; [0028] FIG. 112 shows an exemplary aspect of a horse being scanned applicable to the present invention in a mobile station of the present invention;

[0029] FIG. 113 shows an exemplary aspect of a horse being scanned applicable to the present invention in a mobile station;

[0030] FIG. 114 shows an exemplary embodiment of the present invention in a mobile station;

[0031] FIGS. 115-117 show various exemplary aspects of a horse being scanned applicable to the present invention;

[0032] FIGS. 118-125 show various exemplary embodiments of the present invention installed in a specifically designed mobile truck for scanning with the same scanner in various different physical locations;

[0033] FIGS. 126-138 show various exemplary additional patient stabilization (horse locking mechanisms) applicable to an exemplary embodiment of the present invention;

[0034] FIG. 139 shows features applicable to an exemplary embodiment of the present invention;

[0035] FIGS. 140-142 show additional features applicable to an exemplary embodiment of the present invention;

[0036] FIGS. 143-145 show various flow charts showing an aspect of the present invention;

[0037] FIG. 146 shows an example of metrology at micro levels;

[0038] FIG. 147 shows an example of high detail scans using an exemplary embodiment of the present invention;

[0039] FIGS. 148-160 show example detailed views of a scan using an exemplary embodiment of the present invention;

[0040] FIGS. 161-162 show non-destructive testing of amputee sockets;

[0041] FIG. 163 shows a flow chart of non-destructive testing of amputee sockets;

[0042] FIGS. 164-171 show various example detailed views of a scan using an exemplary embodiment of the present invention;

[0043] FIG. 172 shows cone-beam scanning applicable to an exemplary embodiment of the present invention;

[0044] FIG. 173 shows another example of scanning applicable to an exemplary embodiment of the present invention;

[0045] FIG. 174 shows another example of scanning applicable to an exemplary embodiment of the present invention with varying BEA (beam entering angle based on the vertical z-axis); [0046] FIG. 175 shows dynamic collimation and local tomography applicable to the present invention;

[0047] FIGS. 176-182 show various examples of a scan using an exemplary embodiment of the present invention;

[0048] FIG. 183 shows a flow chart of an algorithmic image matching process applicable to the present invention;

[0049] FIGS. 184-191 show various aspects for high density data acquisition

(oversampling during the panel variable equatorial plane) associated with variable scanning geometry and multi-panel geometry, offset panel geometry, scanning axes of rotation with respect to an organ or anatomical structure applicable to an exemplary embodiment of the present invention;

[0050] FIG. 192 shows a flow chart of aspects related to biomedical implants applicable to an exemplary embodiment of the present invention;

[0051] FIG. 193 shows an example of minimal pulsed emission;

[0052] FIG. 194 shows another example of minimal pulsed emission;

[0053] FIG. 195 shows another example of minimal pulsed emission using mechanically shuttered collimator (flywheel) synchronized with the cameras data acquisition framerate;

[0054] FIG. 196 shows a comparison of soft tissue balancing and bone Total Joint

(example: Knee) reconstruction virtual surgery, analysis and prediction using the present invention;

[0055] FIG. 197 shows a comparison of soft tissue balancing and bone Total Joint (example: Knee) reconstruction virtual surgery, analysis and prediction using the present invention;

[0056] FIGS. 198-207 show comparison of soft tissue balancing and bone Total Joint (example: Knee) reconstruction virtual surgery, analysis using an exemplary embodiment of the present invention; and

[0057] FIG. 208 shows intra-operative (OP) Navigation systems and operating room systems associated with the invention applicable to an exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

[0058] Reference will now be made in detail to the various embodiments of the present invention illustrated in the accompanying drawings. Wherever possible, the same or like reference numbers will be used throughout the drawings to refer to the same or like features. It should be noted that the drawings are in simplified form and are not drawn to precise scale. Certain terminology is used in the following description for convenience only and is not limiting. Directional terms such as top, bottom, left, right, above, below and diagonal, are used with respect to the accompanying drawings. The term "distal" shall mean away from the center of a body. The term "proximal" shall mean closer towards the center of a body and/or away from the "distal" end. The words "inwardly" and "outwardly" refer to directions toward and away from, respectively, the geometric center of the identified element and designated parts thereof. Such directional terms used in conjunction with the following description of the drawings should not be construed to limit the scope of the present invention in any manner not explicitly set forth. Additionally, the term "a," as used in the specification, means "at least one." The terminology includes the words above specifically mentioned, derivatives thereof, and words of similar import.

[0059] "About" as used herein when referring to a measurable value such as an amount, a temporal duration, and the like, is meant to encompass variations of ±20%, ±10%, ±5%, ±1%), or ±0.1%) from the specified value, as such variations are appropriate.

[0060] Throughout this disclosure, various aspects of the present invention can be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the present invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as from 1 to 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within that range, for example, 1, 2, 2.7, 3, 4, 5, 5.3, and 6. This applies regardless of the breadth of the range.

[0061] Furthermore, the described features, advantages and characteristics of the exemplary embodiments of the present invention may be combined in any suitable manner in one or more embodiments. One skilled in the relevant art will recognize, in light of the description herein, that the present invention can be practiced without one or more of the specific features or advantages of a particular exemplary embodiment. In other instances, additional features and advantages may be recognized in certain embodiments that may not be present in all exemplary embodiments of the present invention.

[0062] Various embodiments of the present invention describe radiological scanning equipment and methods for performing radiological scans. The attached drawings and below description ("the disclosure") describe various robotic-based technologies for capturing and processing radiographic images and for static or videographic display of the captured images. Furthermore, the systems described in the disclosure provide for three-dimensional modeling of anatomical structures and use real-time radiographic data to visualize movement of a three-dimensional model (i.e., four-dimensional capture and display). The disclosure also describes various assemblies, accessories, and mechanisms for using such robotic positioning and data acquisition devices.

[0063] The disclosure describes a robotic positioning system configured to provide for multiple different imaging modalities. The imaging modalities and how they are implemented by the robotic system are described in significant detail throughout the disclosure. The disclosure contains illustrations of a multi-dimensional imaging configuration and various parameters and settings for conducting radiological scans using the inventive system and method, including protocols for conducting such scans. The disclosure also describes and illustrates various mobile embodiments of a scanning system and the resultant imagery generated from such a system. The disclosure also describes and illustrates various embodiments of the scanning system intended to be used on animals, such as horses, or in industrial settings.

[0064] Referring to FIGS. 1-5, there is shown exemplary scans in accordance with the present invention.

[0065] EQUIMAGINE BEYOND THE STANDARDS.

[0066] An open architecture, robotics-driven, multimodality, high-data acquisition imaging platform to diagnose, prognose and evaluate equine patients.

[0067] A PARADIGM SHIFT IN:

Image Quality / Dynamic Accuracy Matters: Embodiments of the present invention offer the highest n-plane and out-of-plane resolution for our 3D and 4D modalities. Safety / Ultimate Dosage Reduction Matters: Embodiments of the present invention offer the highest dosage reduction available in the market - fraction of the

competition.

- Efficiency/Workflow Efficiency and Operational Costs Matter: Embodiments of the present invention are designed for the radiologist and surgeon and reduce significantly the operating costs for the private office, small clinic and large hospital.

[0068] Specifically, referring to FIG. 1, there is shown Panoramic tomosynthesis scan. Referring to FIG. 2, there is shown head soft and hard tissue rendering. Referring to FIG. 3, there is shown 140 micron teeth close up. Referring to FIG. 4, there is shown bone CT.

Referring to FIG. 5, there is shown lower extremity.

[0069] CHANGE IS INEVTTABLE, PROGRESS IS OPTIONAL; "TRUE LOAD BEARING EQUINE IMAGING FOR THE STANDING AND MOVING PATIENT" VALUE PROPOSITION FOR YOUR CLINIC: In contrast to the substantial financial commitments necessary to achieve the multiple- modality capability, embodiments of the present invention deliver value and versatility through innovation and improved technology: a) in one embodiment, one 4D imaging solution replaces six existing products: These cost savings and mobility provide easier and more accessible exposure to a level of care currently available only through large community/private equine hospitals; b) Paradigm shift technology with state of the art, ultra high-speed-definition (significant improvement compared with existing systems), four dimensional (40) high-definition video-radiography leading to improved patient outcomes;

[0070] The equine Imaging Center; Paving the way to major contribution in equine medicine: a) Equine athletic performance (direct assessment joint arthrokinematics, skeletal kinematics with one order of magnitude higher accuracy than current indirect measurement techniques), assessment of trauma at the level of micro-crack propagation

(TOMOSYNTHESIS for prevention of catastrophic events) and cartilage deformation mapping and its association with the onset of subchondral damage), tendon mechanics, lameness characterization, head-neck-back problems characterization with 3D and 4D dynamic scanning among a multitude of other musculoskeletal issues of the competitive athlete, b) Additional niche areas also include the small veterinary and remotely located equine service providers with limited access to imaging equipment and facilities.

[0071] Elimination of three barriers in general radiology that are more prominent in equine diagnostics: a) Patient can be scanned in a natural state (i.e. standing), b) No need for the patient to be static - motion during scanning creates a dynamic view allowing for a much more effective diagnosis, c) No need for the patient to be anesthetized.

[0072] one embodiment of the present invention, referred to generally and with respect to other embodiments as EQUIMAGINE™, is a robotics-driven, multimodality, high-data acquisition imaging platform, capable of producing up to 16,000 F/S, that is Ultra safe (up to 300% dosage reduction) that is able to image an entire patient in a single series.

[0073] WHOLE BODY SCANNING IN ONE SESSION IS AVAILABLE FOR THE FIRST TIME. The highest resolution CT-TOMOSYNTHESIS-TRUE-4D system of one embodiment comes from re-designing imaging architecture. Resolution of the CT is up to 140 micron (compared to 0.5-3.0mm with a standard CT) with enhanced soft tissue contrast resolution due to the ability to switch between sensors during a single imaging session without patient repositioning.

[0074] Referring to FIG. 6, in another embodiment of the present invention,

EQUIMAGINE™' s four robot system is capable of operating several multi-sensing panel intensifiers, high speed cameras, 3D surface scanners and emitters in an unhindered, unlimited geometry which allows for six distinctive modalities from one device: 1.

Panoramic Scanner 2. Densitometry; 3. Digital radiography; 4. Computed Tomography; 5. TOMOSYNTHESIS; 6. true Stereo-Dynamic 4D scanner.

[0075] Unlimited geometry reach of the robots results in novel scanning protocols for the standing patient. Referring to FIG. 7, these scanning protocols include: cyclical concentric or non-concentric pathways with multiple SIDs and SODs; Dynamic alteration of the infiltration angle following inhomogeneous pathways; and Automatic co-registration of multiple acquired coaxial projection data sets.

[0076] FIVE COMPELLING REASONS TO USE EMBODIMENTS OF THE

PRESENT INVENTION TO PERFORM RADIOLOGICAL SCANS:

1. Equine imaging with the current conventional methods is not possible with the patient standing or moving; embodiments of the present invention remove this limitation.

2. Robotics-Driven imaging employed by various embodiments of the present invention diagnose, prognose and evaluate athletic performance at the event and in real time; it is believed that 3D and 4D imaging of this quality has never existed before.

3. Embodiments of the present invention may prevent catastrophic damage and

significant impact on the patient's health.

4. Embodiments of the present invention may permit saddles to be customized to

mitigate injury and enhance performance.

5. Embodiments of the present invention may expandthe EQUINE IMAGING domain to a vast array of new applications with significant scientific and commercially profitable opportunities currently unavailable in Equine Medical Diagnostics.

[0077] Embodiments of the present invention are the first solutions for true four- dimensional imaging.

[0078] FIGS. 8-24 show various embodiments of the inventive scanning system on a mobile track. The system is cable of multiple varients with two, four or more robots that can be deployed inside and outside a truck after transportation since they are fixed in ways that allow lowering and moving of robotic arms inside and outside the truck. Horses, humans or other small or large animals can move in and around the truck and the inventive

multimodality robotics imaging systems can provide different scan options.

[0079] Referring to FIGS. 25 A-C, there is shown potential scalability and orientations of the robots on fixed positions or using rails and a track, or a wheeled system with respect to treadmills, with two,four or more robots. Referring now to FIGS. 26 and 27, there are shown additional views of the horse stand with respect to the robot arms. Robotics-Driven imaging will diagnose, prognose and evaluate athletic performance at the event and in real time. [0080] Referring to FIGS. 28-37, there is shown aspects of a horse stand in accordance with the present invention. Embodiments of the stand are fully adjustable. The stand goes up and down (a) and the arms become longer or shorter (b). Lateral bars (c) don't touch the horse directly but they carry a series of "cushions" (d) which are also adjustable and designed with a "ball joint" to rotate and embrace better the body's morphology. The bars are supported by a couple of columns (f) placed beyond the back of the horse so the robots can work without obstacles. Both sides of the lateral bars (gl + g2) are capable to host switchable plugins (h) for helping with the scans. The stand is designed to receive future improvements or patient-specific plugins. The back of the stand can be opened or closed by two "doors" (i) providing a safe place for the operators. The whole stand is mobile and can be removed if needed.

[0081] Referring to FIG. 38, there is shown Four Dimensional Digital Imaging (4DDI) for human diagnostics, veterinary diagnostics, and industrial inspection, in accordance with the present invention. Referring to FIG. 39, there is shown robotics-driven four dimensional imaging devices, in accordance with the present invention. Referring to FIGS. 40 and 41, there is shown a conventional linear scanner and an inventive scanner with six modalities: 1. Panoramic scanner, 2. DEXA, 3. DR, 4. Cone Beam and Volumetric CT, 5. Tomosynthesis, 6. DRSA stereo - Dynamic 4D scanner.

[0082] KINEMAGINE ADVANTAGES (linear Scanner): Programmable unattended operation; Adjustable SOD and SID; Integrated software instead of post processing; Can do CT as well as linear or variable scanning geometry (variable SID SOD) with software change; Automated multi-core linear scanning- dynamic stereotactic scanning of high speed moving objects.

[0083] KINEMAGINE ADVANTAGES- Upgrade from linear scanner: Programmable unattended operation; Adjustable SOD and SID; Interchangeable sources and tubes using tool changer; Upgrade to leaded system without box; Integrated software instead of post processing; can do CT as well as linear with software change; Automated multi-core scanning-dynamic stereotactic scanning of high speed moving objects.

[0084] Relative perm data: X-ray can be used to monitor in real time the fluid saturations (crude oil, water and gas (nitrogen) in the core at reservoir pressure and temperature.

[0085] Referring to FIGS. 42-44, KINEMAGINE Variable Scan Methods are shown, in accordance with the present invention. Complex Geometry: Complex rotation paths;

Variable Source to Detector distance (SID), Source to Object distance (SOD), Beam Entry Angle (BEA); Dynamic Collimation. Dynamic Beam Entry Angle: Over a continuum of angles at any position in the scan trajectory; Enables high quality stereo-Tomosynthesis; Enables advanced algorithms for scatter correction. Offcenter Geometry: Enables scanning of Large diameter objects; Data from the two Offcenter rotations are combined to reconstruct image (with Bow tie).

[0086] Referring to FIGS. 45-48, various features of the scanning modes are shown, in accordance with the present invention. Specifically, operational video: volumetric CT. Full Volumetric CT coverage shown with two stereo detectors. Variable SID, SOD and BEA illustrated. With 4 robots, the 360° sweep can also be achieved with 180° sweeps for each source/detector pair. Three linear scanning modes (variable SID/SOD/BEA): 1. Panoramic Scanner; 2. DEXA; 3. DR. A Tomosynthesis human scanning geometry sample. Intensifiers can also be replaced by flat panels. A stereo-tomo synthesis elliptical-variable with variable SID-SOD-BEA. A Cone Beam CT - small and large variable SID-SOD-BEA.

[0087] Coreholding and coreflooding non-destructive Tests: 1. Able to handle long or short coreholders using some bracket system (1-3' long cores). 2. Handle 1 ", 1.5", 2", 2.125" and 4" diameter core plug diameters. 3. Handle steam injection, supercritical C0₂, N₂, methane injection into coreflood system. 4. Handle dead and live crude oil systems. 5.

Temperature and pressure rating would be 450-500 deg. F and up to 20,000 psi coreholders. 6. Coreholder and flow system (valves, BPR, pumps) should be able to mount on a vertical or horizontal axis. However almost 95% of our corefloods are done vertically to run gravity stable tests for water or gas floods. 7. Registration of the x-ray position relative to the core is critical and how accurate and repeatable the registration may be for vertical, horizontal and rotated robot positions if a CT image.

[0088] Core Screening. 1. Able to switch out small core plugs for CT screening. 2.

Switch to whole core ~4" diameter and 3' long to find best whole core sections to cut core plugs. 3. CT scan full core 4" diameter / 1-2 foot long. 4. Ability to move core plugs and whole core in and out to facilitate quick imaging, provide some automated system.

[0089] Versatility 1. Provide functionality to have a coreflood system in place while able to move over to do simple core plug or whole core CT scan screening. 2. Lead lined room is not an option for this systems. 3. Lead shielding localized to centralize the beam to avoid a big lead box. 4. Weight may be a consideration when embodiments of the present invention are positioned on a concrete floor but not beefed up for ultra heavy applications, a. Our other x-ray system weighs 2 tons without any structural issues to the floor 5. Capability to swap x- ray tubes of varying spot sizes and energies to be able to obtain maximum resolution for small to larger core sizes. 6. Capability to swap or replace detectors

[0090] Control Software and Image Processing 1. Software should be Open architecture to enable user to edit, modify the Operation configuration file to customize each coreflood, core size, type of test. 2. User should have an option to fine tune the test operation to adjust for X-ray image speed or Image quality parameters to decide which is more critical for each test to capture a front for fast injection processes or capture highest image quality for a very slow process such as imbibition in Shale. 3. Reconstruction of CT can be done post processed.

[0091] In one embodiment of the present invention, the Temco linear scanner is used for steady state relative permeability to primarily quantify for either water/oil tests and for gas/oil tests. It has been used mostly for heavy oil reservoirs as in the past the vendors ran unsteady state relative permeability tests where there were major artifacts due to viscous fingering due to the adverse mobility ratio or in another words with very high viscosity crude oil such as 9 API oil injection of a waterflood showed very high Sor (residual oil saturation) leaving a lot of oil still not displaced and left in the core. Falsely high Krw, low Kro may be seen, which may lead to inaccurate relative permeability curves. Also, vendor labs had clay/brine interactions possibly clay migration, dissolution and/or poor brine selection causing formation damage as in some cases the Krw ar Sorw was extremely low such as 10^"2. In other cases there were signs of capillary pressure end effects as often the waterflood injection rates were extremely low and the core was extremely short. Sometimes, not run ramped injection rates to see if additional oil is produced and did not x-ray to investigate the end effect issue.

[0092] Embodiments of the present invention run routinely all heavy oil rel. perm, tests at laboratory and on side conditions and use steady state techniques with x-ray and fine tuned tests to minimize end effects and to also minimize viscous fingering artifacts.

[0093] The x-ray is used to monitor in real time the fluid saturations (crude oil, water and gas (nitrogen) in the core at reservoir pressure and temperature. Run the tests with dead crude oil but have sometimes run rel. perm. Tests with live oil. The water can vary in composition but generally one can add sodium iodide or potassium iodide dopant to the water to add more contrast and increase the density to make it heavier than the crude oil. Since heavy oils may be close to water density, as much as 0.02 GM/CC difference, which is difficult to distinguish the oil and water by x-ray. 7-15% iodide to increase the density depending on the crude oil density. Often the water also contains NaCl, KC1, NaC0 , NaHC0 etc.

[0094] For the gas/oil rel. perm, we use humidified nitrogen saturated at reservoir temperature and pressure to hopefully minimize drying out the core which has initial water saturation. It is advantageous to keep the initial weather at Swi to remain distributed in the core and not become mobile or being picked up by a dry gas that is contacting the core when being injected. [0095] Various embodiments of the present invention use a low temperature analog to correlate a steam injection test to obtain rel. perm, curve. With heavy crude oil as the issue of heat loss and steam condensation may be an issue and steam viscosity in situ at elevated temp. And pressure is problem arc A. Various embodiments of the present invention can handle this issue with a more powerful x-ray system with ideally CT capability.

[0096] The core may be a reservoir core which is in a typical hydrostatic coreholder which is either an aluminum body sleeve with wrapped carbon fiber over the aluminum to create more tensile strength. This cell is limited to 300 deg. F and roughly 1000 psig. One end of the coreholder is fixed and other end is a floating head which has a sliding O-ring seal and allows the head to move and adjust to the mechanical stress with the overburden pressure. As the aluminum/carbon fiber wrap coreholder pressure limit is low, it is preferable to use a 100% Titanium coreholder, e.g., 5000-9000 psig models and 400 deg. F limits. The Temco linear scanner with its Siemens X-ray tube has limits of only 60kev and current up to 50 mA but a limit of 2000 watts.

[0097] Ability to run: Run at 10,000-20,000 psig levels if enough x-ray power is provided to image the thicker coreholders.

[0098] To avoid penetration of the higher pressure coreholders, various embodiments of the present invention run only at 3000 psig coreholders. Runs at 10,000-20,000 psig levels may be accommodated with sufficient x-ray power to image thicker coreholders.

[0099] Various embodiments of the present invention scan along the entire length of the core, covering a quarter- silver dollar circle near the center. The cores are generally 3-5 core plugs composites to make an 8-12" long composite. Other embodiments of the present invention run 2-2.125" diameter core plugs and others run 1.5" diameter. Various

embodiments of the present invention use composites to increase the core length to minimize end effects and be able to run at lower water injection rates to also minimize viscous fingering.

[00100] FIGS. 49-52 show additional views of the present invention. FIGS. 53-61 show exemplary embodiments of the present invention used with horses. Additionally, there is shown

- Head, Neck, Nose & Jaw: 2-3 (360°) cone-beam sweeps, short SID and SOD.

Shoulder including C7: 4 (360°) cone-beam sweeps, two for each off-center detector position, longer SID and SOD.

- Back, Flank & Barrel: 6 (360°) cone-beam sweeps, two for each off-center detector position, longer SID and SOD. Croup & Hip-Stifle: 4 (360°) cone-beam sweeps, two for each off-center detector position, longer SID and SOD.

Extremities: 6 (360°) cone-beam sweeps, 3 for front legs, 3 for back legs.

Entire Horse: Panoramic imaging, acquired over the entire standing horse

selected regions.

[00101] Basic Principles of Equimagine Computed Tomography Imager Field of View variation in accordance to Source to Imager Distance. The focal spot tangential angle determines the fan beam x-ray incident distribution and infiltration of the target in question. The Source to Imager Distance (SID) is proportional to the matrix size of the effective Field of View (FOV). Referring to FIGS. 62-63, a schematic x-ray scan is shown to show the effective FOV. Based on the orthogonal triangle as depicted in FIGS. 62-63 :

Therefore, the FOV is effectively used, one hundred percent (100%), when the distance between the source and detector is 70 cm. Beyond this distance the active field of view remains the same, as determined by the manufacturer at 42.7x42.7 cm matrix. Automatic dynamic collimation tackles this issue. The remotely controlled collimator's blades adjust their position maintaining the predefined field of view determined by the operator.

[00102] Referring to FIG. 64, Magnification Factor is shown. Magnification Factor (M) relative to Source to Object Distance (SOD) and Object to Imager Distance (OID). The magnification factor describes the correlation of the projected x-ray image with respect to the actual scanned target. Magnification is very effective when one wishes to visualize targets with very tiny details on its structure. It is distance dependent and described by the following equation:

If SOD=OID then M = 2; If SOD>OID then M < 2; If SOD<OID then M > 2.

[00103] Referring to FIG. 65 and the table below, sample measurements are shown using the above techniques.

[00104] Protocols for Computed Tomography

[00105] Referring now to FIGS. 66-76 protocol 1 sample data and scans are shown.

Protocol 1 : Isocentric - congruent scan pattern. Example magnification and targets sizes are shown in the table below.

[00106] The fundamental principle of protocol 1 is that Source to Object Distance (SOD) and Object to Imager Distance (OID) are equal. Thus, by definition the magnification factor is constant and equal to two (2) (See eq. 1). Zones A to D describe the possibility of scanning various volumetric targets by adjusting the distance between the source and detector. The x- ray housing unit emits electrons at 32 degrees angle from a two position focal spot; Small = 0.6mm and Large = 1.0mm. In both cases the FOV increases according to SID variation. At a distance of 70cm the field of view reaches the maximum size that 4343CB panel can capture. Beyond the threshold of 70cm the possible target's size for scanning remains equal to 18x18x18 cm (i.e. equine lower extremities: Hoof, Fetlock etc.) and collimation is required for better results. The above table lists examples of possible target sizes to scan using the current system.

[00107] A robotically driven scanner in accordance with the present invention rotates about the target with constant speed capturing serial projections along the 190 degrees of rotation. The operator determines the amount of projections captured and the total scanning time. In average a full scan lasts 30s and 450 projections are captured. Protocol 1 is appropriate when patient specific regions are requiring magnification e.g. teeth roots, enhancing the physician's decision making and medical outcome.

[00108] Referring to FIGS. 77-87, an aspect of Protocol 2 is shown. Protocol 2: The open architecture robotically driven imager is capable of differentiating the SOD and OID determined by the size of the target in question. The axis of rotation translates closer to the detector which decreases significantly the magnification factor (1.2<M<1.9) and thus larger targets are possible to scan i.e. Equine Head and Neck. Therefore, detector and source perform two concentric cyclical pathways but with different diameters about the target. More than one scan might be required to capture the volume of large targets. Dynamic collimation limits diverse x-rays and small focal spot is recommended for sharper projections. Note bellow the protocol applied to different anatomical landmarks of the equine structure. The generator requires according settings for Head, Neck and Extremities.

[00109] Referring now to tables below, the equine computed tomography based on height using protocol 1 and 2 and comparative values are shown.

[00110] Referring to FIGS. 88-90, equine positioning in image space is shown, in accordance with the present invention. Front hoof prints determine the position of the horse in the image space. Offset value is determined by the size of the horse. Referring now to FIG. 91 and the table below, robotic arms offset of Protocol 1 is shown, in accordance with the present invention.

[00113] Referring now to FIGS. 93-98 and the table below, 4DDI three dimensional stereo fluoroscopy is shown. Dynamic Tracking of Equine Arthrokinematics - Real Time Tissue Deformation. 4DDI Three Dimensional Dynamic Stereo Fluoroscopy in accordance with the present invention captures high-resolution, high-speed full loaded equine osteo

arthrokinematics or soft tissue real time deformation performed under high-impact equine activities i.e. jogging, galloping. The fundamental principal of stereofluoroscopy, may require simultaneous continuous x-ray exposure of a predefined region of interest. The robotically driven imager adjusts the produced x-ray incidents to produce a rhomboid prism cross section. This three dimensional image space is captured by high-speed cameras attached at the rear end of the Image Intensifiers (lis) or Dynamic Flat Panels (DFPs) depending on the application. Thus, activities within the 3D imaging area may be captured from multiple angles, e.g., two different perspective angles, for further biomechanical analysis e.g. three dimensional kinematic behavior.

[00114] Technical Specifications: In one embodiment, the two beams' central x-ray are robotically positioned at a 60 degree angle apart from one another and 100cm distance in straight line. The opposed IIS or DFPs are 50cm apart creating a three dimensional imaging space of 936cm². Source to Imager Distance (SID): 150cm; Source to Object Distance (SOD): 100cm; Magnification Factor (M): 1.5.

[00115] "One Device Multiple Six Modalities." Various embodiments of the present invention provide a paradigm shift in modular workflow- efficient scalable series of imaging products. The design and system architecture of the imagers is based on the new

sustainability and cost-effective principles of hardware minimization. The removal of all redundant hardware components reduces production cost but also improves functionality and offers several different imaging modules as part of one system as opposed to offering different products for each modality. Such a logistics-based innovative design offers enhanced workflow and multimodality functionality while allowing for the highest emission control with significant improvements in four dimensional (4D) performance, image quality, diagnostic accuracy and patient safety, the highest currently offered in the market. Various embodiments of the present invention provide a unique imager capable of offering six imaging modules in one system (Advanced Unit with next generation Tomosynthesis, Digital Radiography, Fluoroscopy, Panoramic imaging, Computed Tomography, DEXA and

Dynamic Radiography modules). The modules can be operated independently with minor operator interaction but also as an assembled synergy system in orchestral mode. Multiple imaging techniques can therefore be offered to various specialties and hospital departments and hospital sizes without duplicating equipment within the same facility. The software assisted fusion of the data collected at the same physical space by all modalities in synch, removes the logistical burden of co-registration and presents the diagnostic environment with new diagnostic techniques, which are believed not to be present in the prior art. The scalability issue allows the imager of various embodiments to become the first true 4D system with the ability to employ region-of-interest (ROI) IMAGE-BASED 4D joint reconstruction preoperative planning, intra-operative installation of state-of-the art implants (using a satellite intra-op almost radiation-free navigator) and post- operative evaluation.

[00116] Capable of the next generation biplane panoramic scanning of the whole equine body (standing loaded anatomy). The panoramic scanner of various embodiments of the present invention provides a whole-body biplanar image, primarily to assess angulation and the relationship of the various anatomical axes and mechanical axes as well as the geometric relationship of the loaded structures.

[00117] Biplane dynamic radiographic stereophotogrammetry. Capable of 4D high- speed, high-definition, high accuracy-precision Fluoroscopy or high demanding surgical navigation Dynamic Roentgen Stereovideoradiography Analysis is performed with the region of interest under load and motion. This provides the most accurate, and most pertinent, analysis for diagnosis, planning, kinematic and mechanical reconstruction, and patient follow up. The Dynamic Stereo-lmager measures the equine body in motion even at high speeds such as jog gait, canter gait or galloping.

[00118] TOMOSYNTHESIS. Various embodiments of the present invention provide a next generation tomosynthesis scanner for high-contrast, high-definition (1000 or more slices) region of interest body areas or segments where very detailed morphological information is of prime significance. Tomosynthesis provides accurate 3D static morphologic data, with ultra-thin slices -out of plane resolution- to reduce the potential of interpretation error. Various embodiments of the present invention are capable of both whole body tomosynthesis scans and specific region of interest scans.

[00119] QUALITATIVE CT OR GAMMA CAMERA MOLECULAR IMAGING

(OPTIONAL). Measurement of region specific bone density as it associates with evaluation for implant fixation. Detection of increased blood flow associated with probable bone fracture or inflammation and hard tissue abnormalities related to ligament injury, arthritis or laminitis

[00120] VOLUMETRIC CT. Various embodiments of the present invention employ a computedTomography imager using next generation tomosynthesis technology for low - irradiation full 3D morphological imaging. The CT imager obtains specific 3D geometry data. A specific region of the anatomy can be isolated to further reduce exposure to radiation. The target stands at a full load bearing and predefined position whilst the scanners of the present invention rotate about the target capturing consistent high resolution x-ray images at axisymmetric or non-axisymmetric pathways to enable more precise positioning and reduce magnification factors and alignment inconsistencies.

[00121] DIGITAL RADIOGRAPHY 2D high speed dynamic imaging. Digital

Radiography (2D) system. It is capable of performing all DR high definition 2D imaging and 2D high speed fluoroscopy (offered with and without 4DDIs proprietary Minimal Pulsed Emission Technology (MPET) (optional)

[00122] EQUIMAGINE BEYOND THE STANDARDS. By employing open-architecture high-precision robotic technology, various embodiments of the present invention perform axisymmetric and non-axisymmetric scan pathways: enhanced accuracy and astounding image projection quality is the result.

[00123] Referring again to FIG. 7 (left to right), there is shown Cyclical concentric or non- concentric pathways with multiple SIDs and SODs; Dynamic alteration of the infiltration angle following inhomogeneous pathways; Automatic co-registration of multiple acquired coaxial projection data sets. [00124] OVERALL OF INNOVATION IN IMAGE QUALITY AND ACCURACY OF IMAGING SYSTEMS ACCORDING TO THE PRESENT INVENTION. The development and rapid commercialization the inventive and dynamic technology described herein may be used for musculoskeletal imaging and surgical navigation imaging areas, which increases general and specialist practitioner access to this imaging modality. Similar trends are expected in the general area of large and small animal industry as well as non-disruptive testing in industrial applications and all other areas of diagnostic imaging. Dynamic scanners of the present invention are capable of providing accurate, submillimeter resolution images in formats allowing 4D visualization of the complexity of any musculoskeletal region. Further enhancements to the system can include reducing scan time and data fusion time; providing multimodal imaging (conventional panoramic, in addition to CT - TOMOSYNTHESIS images); improving soft tissue contrast and incorporating task-specific protocols to minimize patient dose. The increasing availability of this technology provides the practitioner with a modality that is extending musculoskeletal imaging from diagnosis to image-based real-time guidance of operative and surgical procedures.

[00125] Various embodiments of the present invention perform at 0.03 mm translational and 0.5° rotational dynamic accuracy levels for very fast moving musculoskeletal structure and arthrokinematics (impact rates, jogging, galloping etc.). The technology employs the top of the line image intensifies (II) with the highest spatial resolution- II SPECS: Resolution is 52 Ip/cm. Magnification mode - allows a maximum resolution of 57 Ip/cm at the center of the screen; Stationary anti-scatter grid 10: 1, focused at 90 cm.

[00126] Various embodiments of the present invention customize the highest performance flat panels detectors (FPD) for modalities that do not require fluoro and lis for true 4D. FPD specs: variable screen thickness for the same data acquisition controller; resolution

2952x2820 (example: 8.3Mpixel as 30f/s and -2124x1890 at 200F/s;

dimensions:376x330x67mm stackable in parallel configurations forming four times the acquisition area; weight: 7kg; Pixel spacing (pitch): 100 pm; dynamic range 3000: 1 ; not available in the market. Other panels and future panel can be alternatively used in this invention.

[00127] Brightness and contrast advantages are further exploited through a state of a art customized CAMERA (highest data acquisition speed in the market) (optional specifications are customizable: high enough to detect and investigate rapid, short- (25-50 ms) duration and long duration fast movements (impact, running, jumping). The cameras offer higher granulation in the image- 16 and up to 32 bit enhancing significantly (orders of magnitude) the dynamic accuracy and contrast performance. The density of data acquisition indirectly affects brightness and contrast given also the fact that the format takes advantage of the 16bit information and highest in-plane resolution possible for any given data acquisition rate.

[00128] EXEMPLARY CAMERA SPECS: acquisition specs options a) 512x512 at 8000 F/s; b) 1280x800 at 7530 F/s; c) 1280x800 at 3210 F/s; d) 2400x 1800 at 800 F/s; e)

2580x1600 at 480F/s. Higher data acquisition frames up to 16,000 F/s are possible in high speed testing (human, veterinary, Industrial destructive and non-destructive testing).

[00129] Great workflow and picture quality for HD visualization and super HD

processing; 35mm or bigger sensor: PL Mount & B4 Mount compatible ISO rated 500, with 9 stops of latitude. 2560 x 1600 CMOS sensor; Minimum Exposure (shutter speed): 1 ps; High- resolution timing system: Better than 20 ns resolution; Extreme Dynamic Range (EDR): two different exposures within a single frame; Internal Shutter Mechanism: hands-free/remote current session reference (CSR); Memory Segmentation: Up to 63 segments; Non-volatile, hot-swappable CineMag; memory magazines (ultra memory) and data push function with large buffer data zones; CineMag to; Range Data input: Built-in Memory: 8 GB, 16 GB, 32 GB; available with advanced breakthrough Sensitivity: ISO (12232 SAT) 1200T Color, 8800T Mono: QE 60% peak; NEP 0.011 f j ; Pixel Bit-depth: 12-bit/16-bit (option). Not available in the radiologic imaging market. Other cameras are also available for these configurations.

[00130] Various embodiments of the present invention employ specially designed lenses that allow no light loss. Specs: APERTURE approximately 1. Coupling of lens to a controllable system that manipulates focal spot and optimum magnification geometry.

Highest offered camera sensitivity and range in the market. Subject and object contrast is optimized through Compton sampling database per musculoskeletal application and subject demographics (BMI, torso vs extremities adipose tissue % etc. preprogrammed in the scanning protocols).

[00131] The equine Imaging Center; Paving the way to major contribution in equine medicine: a. One 4D mobile imaging solution replaces six existing products: 1. Panoramic Scanner; 2. Densitometry; 3. Digital radiography; 4. Computed Tomography; 5.

TOMOSYNTHESIS; 6. true Stereo-Dynamic 4D scanner; b. Paradigm shift technology with state of the art, ultra high-speed-definition (significant improvement compared with existing systems), four dimensional (4D) high-definition video-radiography leading to improved patient outcomes; c. Equine athletic performance (direct assessment joint arthrokinematics, skeletal kinematics with one order of magnitude higher accuracy than current indirect measurement techniques), assessment of trauma at the level of micro-crack propagation (TOMOSYNTHESIS for prevention of catastrophic events) and cartilage deformation mapping and its association with the onset of subchondral damage-PROGNOSIS), tendon mechanics, lameness characterization, head neck-back problems characterization with 3D and 4D dynamic scanning among a multitude of other musculoskeletal issues of the competitive athlete.

[00132] Additional niche areas also include the small veterinary care providers with limited access to imaging equipment and facilities; Elimination of three barriers in general radiology that are more prominent in equine diagnostics: a. Patient can be scanned in a natural state (i.e. standing) and in motion. No need for the patient to be anesthetized, b.

switch between sensors during a single imaging session without patient repositioning;

Gamma camera, Dexa options, linear panels, Tomosynthesis panels, Intensifies, c. Saddle and shoe patient specific fitting.

[00133] WHOLE BODY SCANNING IN ONE SESSION PANORAMIC: full set of DR 2D images in panoramic mode for whole horse: (2 and 4 robots system). CT: head: neck: lower extremities: (2 and 4 robots system). PANEL BASED FLUOROSCOPY. (2 and 4 robots system). BACK OR FLANK OR BARREL: Croup or Hip-Stifle, hoof: (2 and 4 robots system). TOMOSYNTHESIS: Tomosynthesis of joints and extremities: Tomosynthesis of head and neck: tomosynthesis of large anatomical parts (back, barrel, flank; (2 and 4 robots system). 4D IMAGING: dynamic imaging arthrokinematics: per joint, skeletal kinematics: spineneck kinematics (4 robots system only). SADDLE-SHOE FIT: image in 3D and dynamic kinematics: includes horse specific 3D digital mold for alignment between saddle and horse; (2 and 4 robots system). DEXA: (2 and 4 robots system).

[00134] PaxScan 4343CB | Dynamic Flat Panel (DFP) The PaxScan 4343CB is a real time, digital X-ray imaging device, commonly referred to as a flat panel detector (FPD), specifically designed to meet the needs of Cone Beam X-ray imaging applications featuring multiple sensitivity ranges and extended dynamic range modes. The main system components of various embodiments of the present invention include: The 43 x 43cm 139pmpixel amorphous silicon FPD (Receptor) which houses the solid-state flat panel sensor and realtime image processor called Command Processor (CP2 LC which is also referred to as Command Processor throughout this manual. Excellent low dose performance is achieved by combining Varian's proprietary readout electronics with the high sensitivity of the custom direct deposit Csl scintillator.

[00135] Radiography modes allow image acquisition at 15f/s, whilst the fluoroscopy modes offer 25f/s. A full beam computed tomography scan, 180 degrees of rotation about the target, is fulfilled in 12 to 30 seconds depending on the sampling rate between each degree of rotation. The highest the data acquisition rate, the highest the out of plane resolution for the reconstructed computed tomography. The flat panel in question is designed as a subsystem, it cannot be used as a stand-alone device. It should be incorporated into a complete X-ray system by a qualified equipment manufacturer.

[00136] With respect to various embodiments of the present invention, a Windows based application program provided. The program provides a user friendly interface for data acquisition, displaying and exporting to dicom-pacs system, to external media or to a network long-term storage.

[00137] 4DDI Data Acquisition Station (DAS). The 4DDI Digital X-ray Imaging System of the present invention is a high-resolution digital imaging system intended to replace conventional film techniques, or existing digital systems, in multipurpose or dedicated applications specified below. The 4DDI data acquisition station enables an operator to acquire, display, process, export images to portable media, send images over a network for long-term storage, and distribute hard-copy images with a laser printer. Image processing algorithms enable the operator to bring out diagnostic details difficult to see using conventional imaging techniques. Images can be stored locally for temporary storage.

[00138] The system has the ability to interface with a variety of image receptors from CCD cameras to commercially available flat panel detectors. The major system components include an image receptor, computer, monitor, and imaging software. For RF and DSA applications, the 4DDI DAS is intended for use where general fluoroscopy, interventional fluoroscopy, or angiography imaging procedures are performed. For DR applications, the 4DDI DAS is intended for use in general radiographic examinations and applications (excluding fluoroscopy, angiography, and mammography). For all diagnostic medical imaging applications, 4DDI DAS requires a host x-ray generator that supports the exposure modes necessary to achieve the desired types of image acquisition.

[00139] The 4DDI Digital X-ray Imaging System may be used by an RT or other certified medical professional under the supervision of a physician in the use of x-ray equipment that has been appropriately trained by 4DDI. There are no further limitations on the patient population for this device since the patient is not the intended user.

[00140] B-150H | X-ray Housing Unit. The B-150H housing is designed for 4DDI rotating anode inserts having 102mm (4 inch) diameter targets.

[00141] Stator Power: Time to full speed of the anode is a function of the power rating of the "starter" and the weight / diameter of the anode. All 4DDI stator types are rated for regular speed and high speed starters. Time to full speed of 4 inch (102mm) anode series tubes is between 1.3 and 2.0 seconds. Immediately following high speed anode rotation, the rotor speed should be reduced to 4000 r/min or less within 10 seconds using a suitable dynamic braking device. No more than two high speed starts per minute are permissible. The starting voltage should not exceed 500 volts rms.

[00142] B-147 | X-ray Housing Unit. The B-147 housing is designed for 4DDI rotating Anode inserts having 102 mm (4 inch) diameter targets.

[00143] Stator Power: Time to full speed of the anode is a function of the power rating of the "starter" and the weight / diameter of the anode. The stator is rated for regular speed and high speed starters. Time to full speed of 102 mm (4 inch) anode series tubes is between 1.3 and 2.0 seconds. Immediately following high speed anode rotation, the rotor speed should be reduced to 3600 r/min or less within 10 seconds using a suitable dynamic braking device. No more than two high speed starts per minute are permissible. The starting voltage should not exceed 400 volts rms.

[00144] Digital X-Ray Generator. Various embodiments of a 4DDI x-ray generator in accordance with the present invention were was developed to meet the demand in the medical field providing the power and interface for multiple operations i.e. X-ray tubes, Buckys, Rad tables, Gl (gastro-intestinal) tables, remote R&F tables, tomographic devices, and digital imaging systems. In one embodiment, a remote console is provided. The remote control console is a fast easy to use programmable interface offering both hardware (using the operator console) and software interference (using appropriate software). The generator is capable of single or serial radiography exposures, up to 30 pulses/s, and continuous or pulsed fluoroscopy.

[00145] One embodiment of the inventive system consists of a power supply and control systems housed in the upper and lower cabinets, a control console, and an optional remote fluoro control along with the necessary interconnecting cables). Major items provided are: · X-ray generator housed in upper and lower cabinets. · Control console. 'Optional remote fluoro control. · Interconnecting cable(s). · Operator's manual. · Sen/ice and installation manual.

[00146] Geometry Calibration for Computed Tomography Reconstruction. Computed Tomography (CT) volumetric data is acquired from reconstructed projections of consisting number of radiographic images. Geometrical misalignment of the system during the scanning of an object may cause serious artifacts in the 3D reconstruction process. Accurate assessment of the system's geometry parameters determine the image quality of the reconstructed volumetric data whilst the in-and-out of plane resolution. Thus, the geometry calibration process is critical to provide precise description of the geometry parameters in question. A cylindrical phantom with twenty (20) high density tantalum markers attached on the periphery of the phantom placed on predefined positions is used for the calibration process (See figures). [00147] The cylindrical phantom's size and dimensions depend upon the Field of View (FOV), the Source to Imager Distance (SID) and Source to Object Distance (SOD).

Therefore, a 16cm diameter cylinder is preferable for a FOV larger than 30x30 cm. The specially designed phantom is positioned in the field of view coaxially with the axis of rotation of the CT scanner. Embodiments of the inventive scanners rotate about the phantom acquiring continuous x-ray projections at every angle for 180 degrees. The x-ray energy levels should be configured accordingly so that all attached tantalum markers are visible at each projection. The goal of this process is to determine the geometry factors for each projection at each angle of rotation. Thus, the scanning procedure of the calibration phantom should be identical with the scanning process of the target of interest (e.g. equine head or lower extremity). Specifically, angular velocity of the scanner about the axis of rotation, Euler angles of detector and source, Source to Imager Distance (SID) and Source to Object Distance (SOD) are parameters that may be configured the same for the calibration process as well as for the CT scanning. The geometry calibration determines the accuracy of the volumetric reconstruction of the target which affects the medical outcomes.

[00148] 3D Image Space Calibration | Field of View (FOV). A 4DDI calibration cube in accordance with the present invention is characterized for its capability to adapt to any given imaging space (scalable by adding or removing parts) and is manufactured with macro level precision using robotic driven CNC machines. A Plexiglas 35x35cm frame with 1.5cm thickness is prepared with appropriately designed fixators in a 15x15 positions (holes) matrix (125 holes 2cm apart); twenty- five cylindrical rods of various known length scan be attached using pop-up fixators with macro level tolerances (0.04mm). Specially designed 4mm tantalum spherical markers were embedded at the end of each rod. These markers leave a characteristic clean and precise x-ray signature when exposed. The positioning of the rods depends on the specific demands of the imaging space per application. The proportion of source to imager/detector (SID) over source to object (SOD) distance determines the final rod matrix so that a specific field of view is quantitatively defined per application (e.g. Torso versus extremities).

[00149] A robotically driven video-fluoroscopy system according to the present invention acquires continuous high-speed, high-resolution arthrokinematics of hard and soft tissue. Tracking algorithms track specific user defined areas of the target (marker based or markerless tracking) important to clinical outcomes, determining the kinematic behavior of the musculoskeletal structure of the target in the field of view. The 3D image space calibration determines the equation describing the relationship between the measurement unit in the digital image dimension (i.e. pixel) and the measurement unit used in the world coordinate system (i.e. mm or cm). The outcome of the calibration procedure, pixels per mm, become input parameter for the tracking algorithms mentioned above.

[00150] Referring to FIG. 99 there is shown an exemplary 4DDI calibration cube in accordance with the present invention. The cube is specifically designed for multiple fields of view. Referring to FIG. 100, there is shown a 4DDI distortion correction chessboard in accordance with the present invention. Referring to FIG. 101, there is shown X-ray image of the distortion correction phantom in accordance with the present invention. Referring to FIG. 102, there is shown the previously acquired image with distortion corrected.

[00151] Distortion Co-efficient Calibration. The accuracy of digitalization and calibration of images produced with various embodiment of the Robotically driven Dynamic

Radiography system in accordance with the present invention determines the quality of high resolution biplane stereo-video-radiography data. Tracking of implanted bone markers or bone and soft-tissue texture can then deliver skeletal and soft tissue kinematics of high accuracy and precision. So any initial errors due to distortion or poor alignment and calibration, can propagate and accumulate through the series of data processing steps for kinematics tracking.

[00152] Optical systems using image intensifiers convert the incident x-ray distribution into corresponding light through several internal optical and electronic structures. The resultant image captured by the vision camera show distortion artifacts mainly known as barrel or pincushion phenomena differentiating among receptors.

[00153] One element of calibration is finding the distortion coefficients related to each of the camera systems individually which is routinely done with calibration images from a chessboard pattern that are processed by specific algorithms. Further the correlation of the two imaging systems in the 3D space needs to be defined, in order to allow for dynamic marker tracking. The software used is based on multi-camera motion capturing routines. An evaluation of those calibration methods is difficult, as the resulting data can hardly be compared to any known reference.

[00154] The 4DDI distortion chessboard correction may include a 40x40 cm stainless steel sheet characterized by 39x39 square matrix of lxl cm square dimensions manufactured with macro level precision using laser CNC machines. Multiple acquired x-ray images of the chessboard at different angles and orientations determine the distortion coefficients applied on all acquired data sets.

[00155] 4DDI Four Dimensional (4D) Tracking Module. 4DDI Four dimensional Tracking windows based software in accordance with one embodiment of the present invention provides all the tools for tracking predefined musculoskeletal landmarks of any given equine structure moving in the field of view of the 4ddi robotically driven dynamic radiography instrument. The software combines stereo video-radiography with proprietary hardware (x- ray emitter-detector driven by robotic arms) to capture the three-dimensional coordinates of moving targets in the x-ray beam prism.

[00156] The calculated coordinates produce accurate biomechanical data, including velocities, accelerations, center of mass, distances and angles. This information may be of major significance for further analysis of the kinematic patterns of hard and soft tissue that influences the clinical outcomes and enhances the decision making of the veterinary physician. In one embodiment, the software provides a customizable report where synchronized information e.g. graphs, x-ray videos, numerical data etc. can be presented in way that the medical personnel are trained to interpret.

[00157] AVGR+ | 3D Computed Tomography Reconstruction. A 4DDI robotically-driven open-architecture x-ray scanner with unlimited scanning geometry in accordance with one embodiment of the present invention is capable of performing computed tomography scans with various SIDs (Source to Imager Distance) and SODs (Source to Object Distance) at cyclical or inhomogeneous or coaxial pathways dynamically altering the infiltration angle of the x-ray beam.

[00158] AVRG+, a Windows based software, can reconstruct CT scans when a geometrical hardware setup gets different characteristics in every trajectory point. When x- ray orbit is flat then a comprehensive description can be made by a set of files representing distances, angular coordinate, detector tilt and translation displacements in every position of trajectory. A typical example of application is non- equiangular tube trajectory.

[00159] Fidex (3D visualization software) can then use this geometry information per projection during the back-projection process. Multiple filters available to the end user can manipulate the reconstructed data emphasizing or isolating regions of interest.

[00160] COBRA. Fidex was developed for 3D CT reconstruction using the filtered back- projection algorithm (Feldkamp) and specific algebraic algorithm for extended view technology.

[00161] Fidex and AVRG + software performs a 3D reconstruction of the scanned volume by processing N projections acquired as X-Ray/optical 2D-images and offering state-of-art visualization tools for viewing the reconstruction results (and any imported DICOM data sets). The software allows visualization of the data at orthogonal and oblique cuts, slab view, measurement tools, scrolling in all dimensions (axial, coronal, sagittal), zoom in/out, inversion and snapshot storage. The 3D tab produces a volume rendered image with template-controlled opacity functions, cut planes, interactive image rotation, zoom and measurement functions.

[00162] 4DDI High-Speed, High-Resolution Data Acquisition Camera in accordance with various embodiments of the present invention. Dynamic assessment of three-dimensional (3D) skeletal kinematics is essential for understanding normal joint function as well as the effects of injury or disease. High-speed impact activities i.e. walking, jumping etc. occur in 10ms time interval, therefore an x-ray optical system requires high-speed, high-resolution vision camera to capture joint arthrokinematics and/or soft tissue real time deformation tackling at the same time motion blurriness effects.

[00163] on embodiment of the 4DDI Camera CMOS sensor offers 480 frames per second at its full resolution of 2,400 x 1,800 active pixels. At the HD resolution of 1920 x 1080 the vlO records 978 fps (standard mode), or 519 fps (enhanced mode). While continuing the feature rich tradition, sensitivity and "ease-of-use" offered in previous camera models, the current model offers new features such as an HD-SDI interface, Gigabit Ethernet, 14-bit depth, and larger DRAM image memory optioning to record more images over a longer record time.

[00164] Note the characteristic differences capturing the event of the braking cup using three different cameras of 30f/s, lOOOf/s and lOOOOf/s. The event takes place in the exact time frame, though the time intervals 1 to 8 depict the ability of high speed cameras to freeze the sequence of time lapsing.

[00165] Alternative PACS - DICOM Viewers. OsiriX is a software device intended for the viewing of images acquired from CT, MR, CR, DR, US and other DICOM compliant medical imaging systems when installed on suitable commercial standard hardware. Images and data can be captured, stored, communicated, processed and displayed within the system and/ or across computer networks at distributed locations.

[00166] Various embodiments of the present invention provide this alternative dicom-pacs viewer accompanied with FDA approved high-resolution monitor for medical presentation. The software supports multiple predefined and/or user defined filters that isolate regions or the whole target of interest. Surface and volumetric visualization is also available. Last but not least a flight-through tool gives the opportunity to clinicians to "see" though the volumetric object in a fashion that real time endoscopy performs.

[00167] OsiriX is compatible with any Mac computers, running OS X 10.8, 10.9 or 10.10. It is recommended that a minimum of 6GB of RAM be used. Any graphic boards are compatible, it is recommended that an SSD hard disk be used for best performances. [00168] Another alternative option for dicom viewer is Cobra GUI Dicom Viewer developed by Exxim computing corporation (available online at:

http://www.exxim.com/free_DICOMviewer.html). The Cobra application is compatible with windows operating systems whilst Osirix operates only on MacOS. Upgrading to a professional license Cobra becomes a powerful software for computed tomography reconstruction and visualization.

[00169] COBRA efficiently utilizes multi-CPU platforms (dual- or quad), networked PCs (cluster solutions, v.2 and higher) and modern graphics accelerators to achieve fast CT reconstruction.

[00170] 4DDI - ABB ROBOTICS FOR MEDICAL APPLICATIONS. The 4DDI EQUIMAGINE robotic arms in accordance with various embodiments of the present invention ensure high payload, high performance robots, applied for the first time in the medical field. The specific robots offer large working range with very high wrist torque, compact design and low weight. Simple service and low maintenance cost are some of the advantageous features of this generation.

[00171] In one embodiment, the robots are equipped with the IRC5 controller and robot control software, RobotWare. RobotWare supports every aspect of the robot system, such as motion control, development and execution of application programs, communication etc. The robot consists of six (6) axis of rotation, offering unlimited scanning pathways about any given geometry.

[00172] In one embodiment, the robotic arms can reach up to 3.25m on vertical position creating a scanning area of 2.8m radius about the robots base. This capability offers multiple scanning possibilities for small or large, short or tall, wide or narrow targets of interest. In the equine environment all these aspects are present and the 4DDI robots meet these

requirements.

[00173] In one embodiment, the robot is painted with two-component epoxy on top of a primer for corrosion protection. To further improve the corrosion protection additional rust preventive are applied to exposed and crucial areas, e.g. has the tool flange a special preventive coating. Although, continuous splashing of water or other similar rust formation fluids may cause rust attach on the robots unpainted areas, joints, or other unprotected surfaces. Under these circumstances it is recommended to add rust inhibitor to the fluid or take other measures to prevent potential rust formation on the mentioned.

[00174] In one embodiment, the entire robot is IP67 compliant according to IEC 60529 - from base to wrist, which means that the electrical compartments are sealed against water and solid contaminants. [00175] 4DDI X-Ray Beam Automatic-Dynamic Collimation. In one embodiment of the present invention, dynamic collimation is used. Dynamic collimation eliminates the divergent portion of a produced x-ray beam, limiting the size of the beam to the required region of interest on the scanning subject. Therefore, prevention of irradiating the remainder areas of the subject and reduction of the scattering effects are the two major advantages that 4DDI's dynamic collimators provide. The produced x-ray beam is collimated in a manner that low energy x-rays are restricted (mitigating image artifacts i.e. scattering) and direct x-rays (distributed along the beam's central axis) are allowed to infiltrate the target in question.

[00176] Various embodiments of the 4DDI Equimagine dynamic radiography system according to the present invention offer the possibility of dynamic variation of the Source-to- lmager Distance (SID) whilst following cyclical or inhomogeneous pathways. Automatic- dynamic collimation adjusts the collimator's blades to maintain the predefined field of view (defined by the operator) and restrict divergent irradiation while the equimagine's robotic arms perform the scan.

[00177] Referring to FIGS. 103-138, aspects of the present invention are shown. Referring specifically to FIG. 110, there is a marker on the other side of the horses head. Additionally, the present invention allows the distance to be included when the size of the muzzle is included. Referring specifically to FIG. 111, the Χ,Υ,Ζ, coordinates on markers X, Y,Z, help calculate the axis of rotation for the head of from the triangle or cone, it can be estimated from the markers that - the stand marker may be used with respect to the head markers to micro-align the robot correctly with respect to the head.

[00178] Automation employed by various embodiments of the present invention allows multiple samples of any target to be scanned multiple times as in the example of

petrochemical core being scanned here with variable set-ups in parallel and in series

[00179] Referring to FIGS. 139-142 and the table below, the advantages of the present invention are clearly shown. It is shown 0.043 mm in translation Dynamic Accuracy due to high image quality blur free four dimensional Videoradiography 0.003 static accuracy.

[00180] A flow chart showing an aspect of the present invention is shown in FIGS. 143- 145. 3D metrology at micro levels is shown in FIG. 146.

[00181] 2D and 3D high accuracy measurements can be performed anywhere within the part and automatic 3D dimensional comparison with original CAD model is provided. Various embodiments of the present invention allow for real time Four dimensional inspection of moving parts or processes such as those shown in FIG. 147. From traditional non-destructive testing, gauging, detection and modification of materials to in-line, highspeed inspection. Many applications exist and are still emerging that rely on x-rays for purposes as varied as detecting material and design flaws, fighting trafficking and helping to identify contraband or sterilize food.

[00182] Various embodiments of the present invention offer applications characterized by a broad range of requirements: from high to low penetration, high dose/low resolution to low dose/high resolution, from single exposure to continuous to highly cyclic in-line operation.

[00183] APPLICATION EXAMPLES : Failure Analysis; Assembly Verification;

Advanced Material Analysis; Weld Quality Analysis; Food, Medical and Pharmaceutical Device Inspection Plastic; Welding/Bonding Quality Verification Inspection Research and Development; Museum Artifact Digitization; Product Quality Compliance/ Screening Product Contamination; Food Products Inspection; logistics and packaging handling, Electronic Component Inspection Aluminum and Steel Castings Inspection, airplane cabin, plane parts and wing quality control and radiographic inspection (static and dynamic).

[00184] Various embodiments of the present invention allow for the creation of images of industrial products facilitating high precision and accuracy metrology for part assembly and quality control pre-and post-production, as shown in FIGS. 148-157. As another example, FIGS. 158 and 159 shows asphalt composite with 4DDI testing. As another example, FIG. 160 shows effect of focal spot size on resolution/sharpness of a hairline crack within an Inconel turbine blade.

[00185] Referring now to FIGS. 161-163, non-destructive testing of amputee socket is shown.

[00186] Referring now to FIGS. 164-171, there are shown examples of solutions to help improve product quality: Metal detection; Bottle crown and cap inspection; Glass-in-glass detection; Detection of contaminants in liquids and packaged food. Food Quality

Improvement Solutions Bottle fill level inspection; X-ray bone detection; Fat content determination; Product count (checking for empty cells in q multi-packs)

[00187] SPECIFICATIONS OVERALL · Ideal for submicron X-ray and CT applications · X-ray Energies from 10kV-160kV · Geometric Magnification: Up to 4000x · Overall Maximum System Resolution: 0.5 micron

[00188] CABINET BASED OR ROBOTICS DRIVEN · External Dimensions: 73 " Wide, 38" Deep, 71 "Tall (185.4cm Wide, 96.5cm Deep, 180.3 cm Tall) · Transportable through standard 35" wide doors (removable light curtains) · Cabinet Features: Cable access port with cover, interior lighting, powered sliding access door(s), leaded glass viewing window, safety light curtains · Steel/lead/steel construction · Meets or exceeds all federal and state radiation safety regulations (21 CFR 1020.40) · Touch screen operation · Vibration isolation system · System includes one ergonomic desk and chair MANIPULATOR · Each axis is

independently controlled · Control-X: Programmable CNC controlled automated scanning with automatic image processing and archiving capabilities X-RAY SOURCE · SOFTWARE • Comprehensive acquisition, processing and archival program with user-friendly interface · High performance image processing and measurement functions · Non-proprietary multiple image format output/input. · Automated program functions for fast analysis · Multiple window interface for display of raw image, processed image, density data, etc. Optional 3D Computed Tomography calibration, reconstruction and visualization · Optional 4D

Computed Tomography [00189] The TKR example to demonstrate the benefits of IMAGE-BASED SURGICAL GUIDANCE The most important predictor of clinical outcome in total knee arthroplasty (TKA) is placement of the femoral-tibial components. Performing a TKR depends on: · The accurate execution of key bone cuts in the correct orientation to the appropriate axes. · There fact that huge potential for cumulative errors to occur, which may have significant and dramatic effects on function and longevity. True dynamic Tissue balancing.

[00190] Tissue balancing inaccuracies can lead to pain and poor function because... · Inaccurate alignment of the patellofemoral joint... because it depends on the rotation of the implanted femoral and tibial component; of excessive internal rotation of the tibial component - relative external rotation of the tibial tuberosity, - increasing subluxation or dislocation of the patella; and of excessive external rotation of the tibial component - posterolateral overhang of the prosthesis with soft-tissue impingement and relative internal rotation of the tibial tuberosity.

[00191] Errors in computer navigation based systems. Computer navigation relies on accurate data input in order to calculate the mechanical axis from the center of hip rotation, through the center of the knee, to the center of the ankle. It may not take into account variations in anatomy, such as a very bowed tibia or a pronounced femoral bow in the sagittal plane. In the latter situation it is possible to cause femoral notching.

[00192] 3D static knee alignment data obtained intraoperatively have limited capacity to explain the variance in functional outcome. Although alignment and component position can be precisely measured intraoperatively, dynamic tissue balance and other intrinsic patient factors remain dominant in determining the outcome.

[00193] Intraoperative navigation data were collected prospectively for 134 knees undergoing cemented, posterior-stabilized total knee arthroplasty.

[00194] Computer-assisted navigation system (coronal alignment, ligament balance, range of motion, external tibiofemoral rotation) with 1-year outcomes (36-item Short-Form Health Survey, Oxford Knee Score, range of motion).

[00195] Referring to FIG. 172, there is seen a cone-beam scanning option with stable reproducible geometry, accordance with the present invention. Referring to FIG. 173, there is seen an asymmetric detector and multiple gantry positions driven by robotics with accurate and precise positioning. This very complicated geometry is critical for Equine anatomical areas that normal closed-fixed gantries may fail by default. Referring to FIG. 174, Nonuniform reproducible geometry and flat or non-flat xray source orbit is shown. This very complicated geometry is critical for Equine anatomical areas that normal closed-fixed gantries may fail by default when the patient is standing. Referring to FIG. 175, Dynamic Collimation and Local Tomography.

[00196] As shown in FIG. 176, NO IMAGE CO-REGISTRATION REQUIRED. Fusion of multitude of data sets in common coordinate systems readily available by the robotics system

[00197] Multimodal planning is shown in FIGS. 177-182. Robotically driven Accurate fusion of image modalities in one ground coordinate system using the robots. Generic segmentation methods for target and risk structure identification; Flexible workflow definition. Fuzzy fingerprint matching for data classification. Optimized visualization of an arbitrary image data combination. Individual setups with synchronized views and flexible lenses.

[00198] Referring now to FIGS. 183-191 and the table below, aspects of the present invention are shown. Using bi-linear interpolation during back-projecting (filtered back projection FBP) Cone-beam setup defined by projective transform matrices Correction of Feldkamp artifact (Algebraic reconstruction -ART-) Detector offset and direction of rotation as seen in the xy-plane. Detector configuration for the 3X View mode with the option of moving the detector while in turntable mode Angular-dependent cropping and dynamic collimation.

[00199] It is thought that the femoral joint line should be evaluated relative to both the distal and posterior condylar surfaces because the posterior joint line, together with soft tissue tension, plays an important role in kinematics when the knee is flexed. DISTAL FEMORAL CURVATURE AND PROFILE MAPPING USING IMPLANT DESIGN AND ANALYSIS SUITE (IDAS) SOFTWARE.

[00200] FIG. 192 shows a flow chart related to biomedical implants.

[00201] Robotics: Key facts; introducing imaging scanning robots. For logistics with multiple robots in one location to scan insides of containers, boxes. All types of packaging in two and three and four dimensional imaging including flow assessment and paletization using deep 3Da and 4D imaging of the contents. Robots with multiple detectors and emitter in one robots or multiple detectors and emitter in multiple robots. Combination of logistical food industry scanning for safety using micro CT.

[00202] Robots; Overview. Comprehensive range from 1kg to 650kg payload capacity. Robust, rigid, reliable, easy to use. Customization through modular design concept up to seven axis per robot by default and multiple axes by custom design. Protection with IP67, Clean Room, Foundry Plus, Foundry Prime, Wash Down.

[00203] Robot family applied Range suitable for a wide range of applications. Robot control family. Overview - Multi-robot control, up to 36 axis, with MultiMove.

Programmable user interface with intuitive joystick control via FlexPendant. World leading motion control with TrueMove & QuickMove. "Next generation safety" with SafeMove. Powerful connectivity through network interfaces. Remote Service option.

[00204] Automotive systems. Press Automation: Complete press-line solutions using standard, pre-tested modular products to reduce project risk, time and costs. Body in White Standard modules deliver high uptime, lower life-cycle costs, shorter lead times and high flexibility for your body shop. Paint Automation: A complete range of solutions to help you improve the productivity and quality of your paint shop operations. Powertrain Assembly Standard configurable modules for assembly and test systems for engine, transmission and axle lines.

[00205] Referring to FIG. 194, Minimal Pulsed Emission Technology© (MPET) is shown. Continuous Fluoro. Patients are overexposed even if image quality does not improve.

[00206] Referring to FIG. 195, This is the principle of the most used pulsed irradiation x- Ray systems that irradiate the patient at a frequency of 30-60Hz so during the interval between 60 F/s acquisition the unnecessary radiation does not produce image and is cut off (- 20%) so it is not absorbed by the patient.

[00207] Referring to FIG. 196, 1000Hz x-Ray-pulses (1000 X-ray pulses per second) synchronized with image capturing camera of 1000 Frames per second capturing speed leads to 85% reduction in irradiation increasing the frequency reduces the irradiation mre.

[00208] The most important predictor of clinical outcome in total knee arthroplasty (TKA) is placement of the femoral-tibial components. Performing a TKR depends on: The accurate execution of key bone cuts in the correct orientation to the appropriate axes. There fact that huge potential for cumulative errors to occur, which may have significant and dramatic ' effects on function and longevity.

[00209] Joint reconstruction example of possible errors: Anatomical axis: entry point selection and orientation of intramedullary rod-guides cutting block (F) and jigs (T). (20-30% error) Accurate rotation of the femoral component is based on accurate selection of transepicondylar axis and whiteside's line selection. (50% error) Tissue balancing

inaccuracies can lead to pain and poor function because... Inaccurate alignment of the patellofemoral joint... because it depends on the rotation of the implanted femoral and tibial component » of excessive internal rotation of the tibial component - relative external rotation of the tibial tuberosity, - increasing subluxation or dislocation of the patella » of excessive external rotation of the tibial component - posterolateral overhang of the prosthesis with soft- tissue impingement and relative internal rotation of the tibial tuberosity. Similar algorithmic calculation can be applied to any joint- not just to the knee joint that is presented as an example here.

[00210] Errors in computer navigation based systems. Computer navigation relies on accurate data input in order to calculate the mechanical axis from the center of hip rotation, through the center of the knee, to the center of the ankle. It may not take into account variations in anatomy, such as a very bowed tibia or a pronounced femoral bow in the sagittal plane. In the latter situation it is possible to cause femoral notching.

[00211] 3D static knee alignment data obtained intraoperatively have limited capacity to explain the variance in functional outcome. Although alignment and component position can be precisely measured intraoperatively, dynamic tissue balance and other intrinsic patient factors remain dominant in determining the outcome. Intraoperative navigation data were collected prospectively for 134 knees undergoing cemented, posterior-stabilized total knee arthroplasty. Computer-assisted navigation system (coronal alignment, ligament balance, range of motion, external tibiofemoral rotation) with 1 -year outcomes (36-item Short-Form Health Survey, Oxford Knee Score, range of motion).

[00212] Dynamic tissue balance remains the Holly Grail of joint replacement surgery Pre- op planning depends on 2D radiographs at 0 degrees F / 1 All planar two-dimensional (2D) projections have errors in true geometry due to magnification, distortion, superimposition, and misrepresentation of structures (30-50%) error). Use of 3D geometry data solves some of the above problems but still the patient is lying down during 3D imaging i.e. no physiological load is applied -the passively loaded or unloaded knee gap data should not be used to align the prosthesis. [00213] For the same reasons robotically driven installations are very precise systems that still depend on static 3D joint shape information input. Therefore, they suffer the same accuracy problems and imperfections, often delivering inappropriate bone cutting levels and no tissue balancing feedback to the surgeon.

[00214] In reality i.e. true 4D the 3D mechanical axes change at the different stages of the range of motion. Note this is a loaded knee during walking. Kinematics of someone walking demonstrates that the knee is rotating, translating, rolling, sliding and gliding during the full range of motion

[00215] The Hinge Joint Assumption Is the current state of the art hypothesis in analyzing knee arthrokinematics pre-operatively, intra-operatively and postoperatively i.e. cancels out all realistic rolling, sliding and gliding during the full range of motion of the joint-leading to significant errors in joint gap, flexion-extension cuts, tibial cuts, recession estimates etc.

[00216] Hinge joint: one flexion/extension axis for the whole range of motion Referring now to FIG. 196, Three examples of changing the radius of rotation of the knee: Hinge Joint / Large radius of rotation Hinge Joint / Small radius of rotation 4D Joint GAP / Appropriate tissue balancing The mechanical axes relates to the gap mechanics at the different stages of the range of motion. Imaging techniques should be able to accurately characterize 4D dynamic gap? What is the error between the true gap and the gap of a hinge joint

assumption? It is obvious that there are three different shapes and thickness for the space between the femur and tibia, depending upon assumptions made regarding rotation of the tibia about an axis, an axode, or the location of the axes. Only one can be correct and physiologic: The true joint 4D gap.

[00217] The knee example: The guides for the femoral cuts should be decided based on the loaded knee dynamic joint gap for the whole active joint contact envelop i.e. the tibiofemoral contact area for the loaded range of motion of several dynamic tasks (running, fast turning, etc.) blue to yellow is 1 to 4 mm. If the goal is to treat each patient individually, then all aspects of the patient's anatomy and kinematics should be used to determine their treatment. Here we see how two patients can differ in loading and gapping, yet may not be treated any differently using traditional 2D images. They may have similar sizes but the positioning of the prosthesis and tissue balancing may be very different (dictated by the patient specific dynamic interaction of tibiofemoral surfaces).

[00218] As seen in FIG. 197 ERRORS IN ESTIMATION OFTRUE FLEXION

EXTENSION GAPS CAN BE AS HIGH AS 30-50% Leading to shallow or deep cuts and inappropriate tissue balancing before closing. As further illustration that the assumption of a hinged knee joint can lead to error, the red areas shown in the gap analysis here indicate the discrepancy between a gap planned using a 2D hinge joint assumption versus that of a dynamic 4D analysis shown in red.

[00219] When true 4D gaps is used to calculate the knee cuts, not only do embodiments of the present invention improve outcomes, but they also improve the workflow over the entire process, from planning through follow-up. One of the key aspects in the workflow equation is the simplification of the surgical procedure. 4DDI enables overall efficiency by shortening the procedure and eliminating the array of instrumentation that is time consuming and costly to process.

[00220] FIG. 198 shows a data fusion image sample using the disclosed invention. That data demonstrates morphology, dynamic articular cartilage deformation patterns, deformation due to the mechanical stress of loading, and soft tissue tension and strain. Most importantly, all these functional factors are made available for every phase of gait or other strenuous activities, continuously and dynamically throughout the range of motion. It is for the first time the true 4D dynamic active functional envelope of the healthy or pathological joint.

[00221] Referring to FIGS. 199 and 200, a process of the present invention is shown, a/ Plan for the proximal tibial and distal femur cut use virtual cutting guides from the pre-op plan bl Employ true 40 patient specific gap guide form the in- vivo loaded knee d Size and align tibial component d/ Size and align tibial component e/ Apply patient geometry (distal femur) and find inconsistencies computer based and surgeon-based in the size and shape Prosthetic selection f/ Size the step-wise cuts based on the perfectly fit prosthesis g/ Prepare cuts in stepwise fashion bJ Final computer check for new installation.

[00222] Computer repeats patient specific kinematics check Establish virtual cuts based on the final prostheses selection for all range of motion. Surgeon has option to overwrite the kinematics for highly degenerative joint pathologies.

[00223] EVALUATION OF VIRTUAL SURGERY BASED ON THE PATIENT

SPECIFIC 4D KINEMATIC ID. The surgeon can, with the 4DDI software, TEST the in- vivo PATIENT KINEMATIC ID with new virtual Prosthesis. Once sizing of the implant has been concluded TESING of this prosthesis size and alignment scenario with the true in-vivo PATIENT KINEMATIC ID allows better pre-OP evaluation of the new Prosthesis to be installed. The pre-op model quantifies not only kinematics, but soft tissue strain.

Comparisons between the 4D patient specific kinematic ID of the intact contralateral knee and the surgical plan can be visualized. This visualization assists in symmetry assessment between reconstructed and intact joints. The surgeon has the option through TRIAL & ERROR of different prosthesis sizes and shape characteristics or other geometry parameters of the candidate implant to visualize possible desired outcome of the post-op joint behavior The surgeon can also use TEMPLATES FROM SUCCESSFUL TK reconstruction CASES OR A DATABASE OF HEATLY KNEE KINEMATIC DATA AS GUIDES to plan the outcome of the candidate joint if the contralateral knee is also degenerative this software function is an invaluable educational tool for introducing patient specific installation methods to surgeons in training or to those learning the installation of a new type of prosthesis.

[00224] Referring to FIG. 201, patient specific joint surface velocities with and without the implant and how they compare to the contralateral healthy joint. Referring to FIG. 202 the plurality of data allows joint surface velocities, proximity maps and cartilage deformation maps to be fused together towards optimal joint soft tissue balancing. Note here a toolkit comparing patient specific arthrokinematics (left) and simulation (right) and suggesting alignment so that knee arthrokinematics may be restored to those of the healthy contralateral knee

[00225] FIGS. 203-205 show some animations demonstrating the soft tissue behavior under in-vivo load that can assist the surgeon in determining the optimum cuts and prosthesis alignment virtually.

[00226] TEST TISSUE BALANCE WITH NEW VIRTUAL PROSTHESIS UNDER IN- VIVO LOAD AND KINEMATICS (4D PATIENT KINEMATIC ID) OBTAINED USING 4DDI TECHNOLOGY.

[00227] As seen in FIG. 206, the algorithm assists in finding the FINAL OPTIMAL PROSTHESIS and alignment scenario that satisfies the in-vivo patient-specific kinematic 10 and true in-vivo tissue balancing data but the surgeon will have the option to overwrite any step of this process.

[00228] The software simulates variations on a different set of variables that determine the outcome of the installation 1. load-bearing axis for whole range of motion 2. mechanical vs shaft 4-5°using the full range 3. Condylar hip angle 4. Condylar-plateau angle with "4D" and not 2D or 3D characteristics that is the current practice 5. plateau-ankle angle 6. hip-knee- ankle angle 7. Mechanical Vs Tibia-angle.

[00229] FIG. 207 shows test tissue balance with new virtual prosthesis under in-vivo load.

[00230] Referring to FIG. 208 configuration for Intra-OP Navigation Systems During Surgery. Maximizing the mobility, maneuverability and ease of use of all IMEROSIN

IMAGERS. The detector or X-ray source systems can be fixed both on the ceiling (Figure 208(1) by appropriately sized retractable robotic arms (Figure 208(2a,b)) on rails and/or on the floor (Figures 208(4a,b)) with the assistance of rails or wheels. The rails are used on our heavy-duty imagers with larger intensifies and detector/camera options. The lighter systems use a system of wheeled assisted mobility. The X-ray source and detector components may be maneuvered by telescopic/rotating robotic arms. Figure 208 (1 demonstrates the support options for the suspended system) while figure 208 (6 shows the minimal/optimal spatial requirements for such configuration).

[00231] Maintenance: The ergonomic design of the space unfolds around the principle of roundness (Figure 208(5)). This concept enhances the sterilization and expeditious cleaning of the room (operating room and radiographic room). The design allows careful structural relief of the loading (Figure 208(2a)), particularly if the imagers move fast between predefined calibration positions during dynamic imaging or image enhanced surgery. The design focuses in carefully storing of the basic support equipment in engulfed "walled in" structures and engages the principle of automatic self- sterilization with minimal operator support. Accessibility for equipment maintenance is warranted and the processes take place while the room is prepared for another protocol or used as a radiographic clinic. The flexible design enhances the cleaning and preparation logistics of the room thus minimizing the delays between protocols and procedures, a particularly useful aspect in the emergency hospital environment. The intermediate space between the inside surface of the room and the outside cover contains a sophisticated accessible area that allows fast replacement and maintenance of the functional components of the imagers (Figure 208(2b)).

[00232] Ambiance and anthropocentric room design: Larger open spaces are left in the room to remove claustrophobic disadvantages. Appropriately chosen wall color and X-ray shielded glass (at both long ends of the room) are used for the same reason. This design allows a very user-friendly task management from the operator that now controls the room more effectively while interface with the waiting room or classroom is warranted. The room employs wall screens and audio feedback systems for the enhancement of patient experience (Figure 208(3a,b)). Physiological Comfort: This includes quality of air, monitoring of liquids, humidity, temperature and gasses that are available to the room and optimization of the high intensity zones during complicated procedures (Figure 208(4a, b, c)). Materials in the surfaces are appropriately chosen to allow expeditious cleaning in the autonomous mode regardless of the additional supportive equipment that is brought in the room for a particular procedure. Lighting: The systems of air and light are contained in a hybrid design that allows selective lighting of specific areas without interference with the air-filtering system. Again the materials here are chosen to magnify luminosity and permeability of air (Figure 208(5)).

[00233] Safety: The design is fully X-ray-shield homologated and in Figure 208(6a b, c, d), the supporting layers of the room walls are shown in simplification: a) X-ray shielding, b) Storage space and area of machinery, power, generators, electrical and digital

instrumentation), c) Structural enforcement, d) engulfed area for placement of the self- cleaning instrumentation. The choice of alternative shielding materials (and not lead based introduces more GREEN components in the concept. To allow for modular designs of rooms with different sizes, widths and lengths a modular STRUCTURAL UNIT is defined as the base of the structure. The modules shown in page can be assembled in the fashion of prefab constructions with minimal assembly requirements. This modular principle includes inherently a high level of accessibility to every portion of the room.

[00234] Primer To Grid-Control X-Ray Tube Emissions: Grid-Control- Vacuum-Tubes are a staple of Electronics History. Each and every one of us has likely owned products that contained grid-controlled vacuum tubes (prior to the invention of the transistor). Still today, vacuum tube technology produces the absolute best in capability— An example is Home Audio Equipment. The finest home audio equipment is still made from Vacuum Tube Technology. Transistors to match Vacuum Tube quality for home audio don't exist. A cousin of consumer vacuum tubes, the X-Ray tube, functions in a similar way. The difference being that X-Ray-vacuum-tubes operate at much higher voltages and one of the bi-products of such a vacuum tube is X-Ray creation. Our Grid-Control system, is paired with a commercially available modern Grid Controlled X-Ray Tube.

[00235] How Does It Work: When a system CPU commands an X-Ray exposure, a generator turns on high voltage (kV), but the tube current (and X-Ray creation) is restricted by the presence of previously applied negative high voltage (applied by the system CPU), upon the X-Ray tube grid. Without this tube current, X-Rays are not generated. This technology may be used to minimize radiation dose for patient safety. In situations requiring minimal patient dose, the technical objective is to create X-Rays, when the imaging camera is "looking", and to not create X-Ray, when the camera is "blinking". The physics of the energy involved dictate that High-Speed-X-Ray / Camera Looking-Blinking, synchronization, can only work with grid-control technology. This grid control technology is simply a way to control tube current. Tube current, and related releases of X-Ray, are commanded by the system CPU when it calls for specific length, and quantity of releases (releases come from the switching of the grid potential, from its previously applied negative voltage, to Zero volts, relative to Cathode). Speed of each release is expected to be at full X-Ray potential in no more than 2 microseconds after the CPU's command for said pulse. This super-fast "up" time is one of the ways the Grid-Control system produces the remarkable dose savings. Time thereafter for actual X-Rays to reach the receptor are even faster. After initiation of these X- Ray pulses, each pulse will begin to stop when commanded to do so by the system CPU (this happens when the system commands reapplication of negative voltage to the grid). This same sequence of events happens for each-and-every pulse (each frame). For reference, upon the termination of each pulse, most radiation stops when the grid reaches -lkV and time of this complete shut off of radiation is approximately 2 microseconds. Full -3.5kV is reached at the grid in approximately 15 microseconds. All the while, the Generator KV remains constant during all the multiple pulses. This superfast "down" time is the primary way Grid-Control technology produces remarkable dose savings and removes nearly all "soft", non-useful, radiation.

[00236] The sequence of turning on, then off of the X-Ray emissions by the Grid Control system can happen very fast - much faster than 30-60 frames per second currently available systems. Our multiple Grid-Control designs have not been pushed to the limit but are currently capable to operate at a 4-5 kHz frequency (and thus can be paired with a camera operating at high frequency - up to 16,000 frames per second). Each and every one of the time-gaps, between frames, is an opportunity to remove unwanted and unneeded X-Ray dose. The amount of the dose that can be saved is directly linked to the amount of time that the X- Ray is turned off between camera frames. Such savings can be very dramatic. Below are some samples of radiation and dose.

[00237] OUT PULSED GRID-BASED GENERATOR: 4DDI synchronizes its novel generator that offers switching frequency of 5-7 kHz with high speed cameras that can match this frame rate. By manipulating the duty cycle of the camera-generator complex the level of irradiation may be reduced to 1/10 or even to 1/50 of fluoro irradiation for same blur free images at 7 kHz switching capacity. This means that values of 0.005mSv/min may be reached within a fraction of normal fluoro or abdomen CT -lOmSv given the specific region of interest principle and type of target. Obese patients may be considered as a special case- but the reduction proportionally will be at the same levels.

[00238] DATA ACQUISITION RATES : 4DDI hiDEF videoradiography captures 1152 x 1152 image matrix at 1000 f/s. However, the camera includes a proprietary widescreen 1280 x 800 CMOS sensor, which allows to keep moving targets in the frame longer and see more of the event being recorded. The wide sensor also enables true 1280 x 720 HD images from a IMpx camera. Coupled with lens of aperture of ~1 capability. With these cameras one can achieve a maximum speed of 7530 frames-per-second at full resolution.

[00239] An additional mechanical (flywheel, eye-shape, curtain-rectangular) shutter electronically controlled frame functions at the level of the collimator. Similar to a dynamic filter only with a high shutter speed capable of 200 to 1000 Frame per second shutter speeds. Linking this system with the grid based generator and the high speed cameras can optimize the dosage reduction by keeping minimal dosage delivered when the cameras are shot in conjunction with the mechanically and electronically discretized X-ray quanta escaping the dynamic collimator. Emission reductions due to the opportunity to remove more harmful X- ray absorption by the patient if irradiation is not delivered when the camera is in the off position. Various embodiments of the present invention demonstrate up to 85% reduction. Higher synchronicities are expected to reveal much higher reductions.

[00240] Principle of the continuous irradiation: the patient is irradiated even when the camera is in the "off position i.e. c This is unnecessary radiation that does not produce image This is the principle of the most used pulsed irradiation x-Ray systems that irradiate the patient at a frequency of 30-60Hz so during the interval does not produce image and is cut off (-20%) so it is not absorbed by the 1000Hz x-Ray-pulses (1000 X-ray pulses per second) synchronized with 1000 Frames per second capturing speed leads to 85% reduction in dosage reduces the irradiation more.

[00241] While the present invention has been illustrated by description of various exemplary embodiments and while those embodiments have been described in considerable detail, it is not the intention of applicant to restrict or in any way limit the scope of the invention to such details. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of the invention.

[00242] In addition, modifications may be made to adapt a particular situation or material to the teachings of exemplary embodiments of the present invention without departing from the essential scope thereof. It is to be understood, therefore, that the present invention not be limited to the particular aspects disclosed, but it is intended to cover modifications within the spirit and scope of the present invention as defined by the appended claims.

Claims

CLAIMS I/We claim:

1. A mobile robotic scanning system, comprising:

a robotic array having at least one set of automated scanning robots configured to perform a radiological scan on a subject;

a control unit in electrical communication with the robotic array, the control unit configured to control the set of scanning robots to perform the radiological scan;

a work station in electrical communication with the control unit, the work station being configured to receive scan settings from a user and to direct the control unit to perform the radiological scan, the work station being configured to direct the control unit to perform any of a plurality of different types of radiological scans selectable by the user; and

an image processing device in electrical communication with the control unit, the image processing device configured to receive scan data from the robotic array and to produce image data indicative of a multi-dimensional image of at least a portion of the subject,

wherein the set of scanning robots includes first and second scanning robots, each of the first and second scanning robots being attached to a respective radiological unit, the radiological unit being constructed as a module configured to be selectively attachable from at least one of the first and second scanning robots.

2. The mobile robotic scanning system of claim 1, wherein at least one of the first and second scanning robots is configured to selectively attach itself to the radiological unit.

3. The mobile robotic scanning system of claim 1, wherein a first radiological unit is attached to the first scanning robot and a second radiological unit is attached to the second scanning robot, the first radiological unit attached to the first scanning robot being an emitter and the second radiological unit attached to the second scanning robot being a detector.

4. The mobile robotic scanning system of claim 1, wherein the plurality of different types of radiological scans include a panoramic scan, a tomosynthesis scan, a volumetric

computerized axial tomography scan, a densitometry scan, a biplane dynamic radiographic roentgen stereophotogrammetric scan, and a molecular (gamma) scan.

5. The mobile robotic scanning system of claim 4, wherein the robotic array includes a plurality of sets of automated scanning robots, the plurality of different types of radiological scans including a roentgen stereophotogrammetric panoramic scan, a roentgen stereophotogrammetric tomosynthesis scan, and a biplane dynamic radiographic roentgen stereophotogrammetric scan.

6. The mobile robotic scanning system of claim 5, wherein each set of scanning robots includes first and second scanning robots, each of the first and second scanning robots being attached to a respective radiological unit.

7. The mobile robotic scanning system of claim 6, wherein at least one of the first and second scanning robots is configured to selectively attach itself to the radiological unit.

8. The mobile robotic scanning system of claim 7, wherein a first radiological unit is attached to the first scanning robot and a second radiological unit is attached to the second scanning robot, the first radiological unit attached to the first scanning robot being an emitter and the second radiological unit attached to the second scanning robot being a detector.

9. The mobile robotic scanning system of claim 1, wherein the radiological unit includes an emitter, the system further comprising:

a high-speed shutter coupled to the emitter and configured to operate synchronously with an x-ray generator to intermittently block emission of a beam emitted from the emitter.

10. The mobile robotic scanning system of claim 1, further comprising:

a vision system device in electrical communication with the control unit; and a plurality of cameras in electrical communication with the vision system device, the plurality of cameras being configured to view a plurality of markers positioned within an operational envelope of the robotic array, each marker having a respective location within the operational envelope,

wherein the vision system device is configured to generate correction information in accordance with the locations of the plurality of markers within the operational envelope.

11. The mobile robotic scanning system of claim 10, wherein the correction information is used to at least one of (i) correct for offsets of frames of an image set and (ii) modify a trajectory of at least one of the scanning robots.

12. The mobile robotic scanning system of claim 11, wherein the correction information is used to modify a trajectory of at least one of the scanning robots to avoid a collision of the scanning robot with the subject or with another object.

13. The mobile robotic scanning system of claim 10, wherein the plurality of markers positioned within the operational envelope include subject markers positioned on the subject and system markers positioned on at least one of the scanning robots of the robotic array.

14. The mobile robotic scanning system of claim 13, wherein at least some of the plurality of markers are positioned within the operational envelope in a predefined geometric pattern to assist the vision system device to distinguish between the subject and system markers.

15. The mobile robotic scanning system of claim 13, wherein the radiological unit attached to the first scanning robot is an emitter and the radiological unit attached to the second scanning robot is a detector.

16. The mobile robotic scanning system of claim 1 1, wherein the correction information is generated by the vision system device at least in part by (i) determining a position of a first origin of a first coordinate system assigned to the subject, (ii) determining a position of a second origin of a second coordinate system assigned to the robotic array, and (iii) generating at least one correction vector in accordance with the positions of the first and second origins with respect to an origin of a fixed third coordinate system.

17. The mobile robotic scanning system of claim 10, wherein the subject is an animal or an inanimate object.

18. The robotic scanning system of claim 17, wherein the correction information is used by the image processing device to at least one of (i) correct for offsets of frames of an image set and (ii) modify a trajectory of at least one of the scanning robots,

wherein the animal is a horse having a head, the radiological scan being conducted on the head of the horse, the system further comprising:

a stand having a base unit, an arm coupled to the base unit, and a cradle coupled to the arm and configured to receive the head of the horse during the radiological scan, wherein the plurality of markers positioned within the operational envelope include stand markers positioned on the stand, and

wherein the correction information is generated by the vision system device at least in part by (i) determining a position of a first origin of a first coordinate system assigned to the horse, (ii) determining a position of a second origin of a second coordinate system assigned to the robotic array, (iii) determining a position of a third origin of a third coordinate system assigned to the stand, and (iii) generating at least one correction vector in accordance with the positions of the first, second and third origins with respect to an origin of a fixed fourth coordinate system.

19. The mobile robotic scanning system of claim 1, further comprising a mobile vehicle, and wherein the robotic array, control unit, work station, and image processing device are carried by the mobile vehicle.

20. The mobile robotic scanning system of claim 19, wherein the mobile vehicle is a trailer, a motorized vehicle, or a mobile platform.

21. The mobile robotic scanning system of claim 19, further comprising a platform for supporting the subject.