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WO2017133846A1 - Procédé de reconstruction d'un objet de test lors d'un procédé de tomographie assistée par ordinateur à rayons x dans une installation de tomographie assistée par ordinateur à rayons x - Google Patents

Procédé de reconstruction d'un objet de test lors d'un procédé de tomographie assistée par ordinateur à rayons x dans une installation de tomographie assistée par ordinateur à rayons x Download PDF

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Publication number
WO2017133846A1
WO2017133846A1 PCT/EP2017/000140 EP2017000140W WO2017133846A1 WO 2017133846 A1 WO2017133846 A1 WO 2017133846A1 EP 2017000140 W EP2017000140 W EP 2017000140W WO 2017133846 A1 WO2017133846 A1 WO 2017133846A1
Authority
WO
WIPO (PCT)
Prior art keywords
markers
test object
ray
projection
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2017/000140
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German (de)
English (en)
Inventor
Frank Herold
Philipp Klein
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Comet Yxlon GmbH
Original Assignee
Yxlon International GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yxlon International GmbH filed Critical Yxlon International GmbH
Priority to PCT/EP2017/000140 priority Critical patent/WO2017133846A1/fr
Priority to DE112017000656.2T priority patent/DE112017000656A5/de
Publication of WO2017133846A1 publication Critical patent/WO2017133846A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/003—Reconstruction from projections, e.g. tomography
    • G06T11/005—Specific pre-processing for tomographic reconstruction, e.g. calibration, source positioning, rebinning, scatter correction, retrospective gating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
    • G01N23/046—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material using tomography, e.g. computed tomography [CT]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/30—Accessories, mechanical or electrical features
    • G01N2223/33—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts
    • G01N2223/3307—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts source and detector fixed; object moves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/40—Imaging
    • G01N2223/401—Imaging image processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/40—Imaging
    • G01N2223/419—Imaging computed tomograph
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • G06T2207/10081—Computed x-ray tomography [CT]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2211/00—Image generation
    • G06T2211/40—Computed tomography
    • G06T2211/416—Exact reconstruction

Definitions

  • the invention relates to a method for the reconstruction of a
  • Test object in an X-ray CT method in an X-ray CT system having a focus X-ray source, an X-ray detector and a manipulator.
  • Markers are special objects with known properties. If at least three positions within a projection that are not in a plane belonging to the trajectory are determined by a marker or a combination of markers, then the projection geometry can be calculated. Even small errors in the position determination can lead to large errors in the reconstructed projection geometry. Typically, the projections used are on a circle around the test object. The range of the focal point of the
  • X-ray source is here as a trajectory or more precisely as
  • the projections must be taken from different projection directions. Depending on how completely the test object has been imaged along the so-called trajectory in the sense of the Tuy-Smith theorem (all planes through a test object have to intersect the trajectory of the x-ray source in at least one point), the more detailed the image of the reconstructed
  • a manipulator for industrial computed tomography consists of an arrangement of orthogonal
  • a standard circular trajectory and a detector of 1,000 pixels wide typically requires more than 1,000 projections to reconstruct the volume.
  • the circle trajectory fulfills the Tuy-Smith theorem only for the middle layer, so more complex trajectories are preferable.
  • the more different details are displayed from as few projection directions as possible, the fewer projections are required to represent a volume of high quality.
  • a different arrangement of axes is required, which is given for example by a versatile 6-axis robot, which is characterized by a flexible positioning, arbitrary trajectories, a separate control (for inverse
  • Kinematics including its own crash protection and a favorable price / axle ratio.
  • the repeatability for such a robot is much better than the absolute accuracy.
  • the absolute accuracy describes the maximum deviation of the robot when controlling any desired Position to actually reached actual position;
  • Repeat accuracy describes the maximum deviation of all achieved actual positions when driving N times the same target position.
  • the repeatability of good robots is in the range of ⁇ 0.02 mm. For optimal reconstruction, as described above, such a positioning accuracy is not sufficient. Therefore, it is very important to know the actual projection geometry exactly.
  • the object of the invention is to provide a method with which an improved reconstruction of a test object can be carried out, which is attached to an industrial robot as manipulator during an X-ray CT method.
  • the object is achieved by a method having the features of patent claim 1.
  • the method according to the invention describes how a reconstruction of a test object can be carried out satisfactorily even if the
  • Projection geometries of the individual images are not known in advance.
  • the projection geometry can be determined for each projection by an external observer. He can do that
  • Projection geometries made.
  • the positions of each individual projected marker on the projection surface are determined for each image.
  • the minimum required number of positions per marker depends on the number of positions
  • Degrees of freedom of the object manipulator It must be at least as large as the number of degrees of freedom.
  • a suitable Optimization calculation including the projection model can be used to determine the position of the markers in three-dimensional space. Not all markers need to be visible in each projection, but enough positions of all the markers - at least as many as the manipulator has degrees of freedom - must have been found in the projection plane.
  • Arrangement of the markers may be necessary to move or rotate the manipulator to bring all markers in the imaging area. It must be ensured that the markers are recognized correctly for different projection directions. This can be facilitated by a random arrangement of the markers, since symmetrical position distribution of the markers makes it easier to overlay and hence to mix up, depending on the perspective. By using the markers, the exact position of the test object in three-dimensional space (projection geometry) can be subsequently determined.
  • test object is fixed in a vessel, in particular a mesh basket or a hollow body, which in particular has the shape of a cylinder, and the markers are attached to the vessel, the vessel being at the free end of the vessel
  • the vessel must be able to fix the test object, for example by overpressure or underpressure or by appropriate filling material or conventional
  • a cylinder is an advantageous shape; this can be designed as a barrel-shaped vessel.
  • a further advantageous embodiment of the invention provides that the vessel made of a material with the lowest possible Mass attenuation coefficient exists. As a result, the smallest possible superimposition of the image of the test object through the vessel is achieved.
  • a further advantageous development of the invention provides that the material of the at least one marker has a mass attenuation coefficient which is significantly different from that of the test object, in particular deviates from it by at least 20%. This ensures that the fluoroscopic image shows a clear difference between the image of the marker (s) and the structures of the test object.
  • a further advantageous development of the invention provides that all markers are made of the same material. As a result, the segmentation of the markers within the projection can be simplified, since only a certain gray scale range has to be searched for.
  • markers are balls.
  • the spherical shape is an extremely suitable shape for a marker, because the center of gravity of a sphere due to the point symmetry of all
  • Projection directions can be accurately determined and balls can be machined very precisely. It is therefore particularly preferable if all markers are spheres. By incorporating the properties of the markers as spherical, this can be exploited as prior knowledge, because due to the symmetry of the center of gravity of the sphere is always mapped to the same point in space in the projection.
  • Industrial robot has six degrees of freedom. With such industrial robots, any positions of the object to be inspected, which is fixed to the manipulator, can be approached within the X-ray CT apparatus.
  • a further advantageous development of the invention provides that the markers have as far as possible a distance from each other, but during the Investigation so in the beam path of the X-ray tube are that they are still detected in the X-ray detector. Positioning the markers becomes more robust the farther individual markers are from each other. The larger the distance between two markers, the more accurate the distance of the markers on the projection can be measured. Ideally, therefore, the markers are imaged near the edges of the projection, thus using the relative distances of remotely located markers.
  • the inventive method runs in a conventional X-ray CT system (for example, the model "Y.MU56TB” YXLON International GmbH), where there as a manipulator an industrial robot (for example, the model "MOTOMAN MH5" Yaskawa Electric Corporation) exclusively used for two-dimensional X-ray inspection.
  • the X-ray tube used is, for example, the model "Y.TU-225-D04" from YXLON International GmbH
  • the x-ray detector used is, for example, the model "XRD 0822 AP18 IND" from PerkinElmer.
  • the control of the industrial robot takes place, for example, via the software platform solution "NEXIS” from YXLON International GmbH, into which the regular "DX 100" robot controller from Yaskawa Electric Corporation for the industrial robot "MOTOMAN MH5" has been implemented.
  • the method according to the invention is based on the use of a three-dimensional arrangement of markers which are visible in the x-ray projection and attached to the manipulator or to the test object so that some of the markers are imaged in all the projection images of the test object.
  • the Arrangement of the markers is preferably random (although it is also possible to arrange the markers symmetrically, in each case adjacent markers have approximately equal distances to each other, but this can be easier to
  • the relative position of the markers to each other is either fed from a-priori knowledge (for example, one-time measurement of the positions of the markers by a coordinate measuring device) or the relative position is determined by a one-time automated learning step.
  • the position of each individual marker - related to the object position in the system coordinate system - is found.
  • the information about the arrangement of the markers thus obtained can then be used to predict, based on a known system geometry, which of the markers are projected onto the X-ray detector. This prediction, when ideally placed by the manipulator, corresponds to the positions of the markers in the actual projection image.
  • the optimizer used has the task of minimizing the distance between the predicted and the actual position of the markers in the image by determining the optimal object position required for this.
  • Test object defined in a hollow cylinder to which the markers are attached.
  • the markers can be attached directly to the test object or integrated into the test object (for example by taking into account the markers already in the design phase of the test object), which, however, generally restricts the further usability or an additional effort per Test object means.
  • the markers visible in the projection images must be found and identified.
  • the determination of the position of the manipulator is based on the assumption that a rigid three-dimensional arrangement of at least three markers connected to the manipulator results in an illustration of the markers in the projection image which is unique for the respective position of the test object. It is assumed that at least three of the markers are visible in each projection image.
  • a basic requirement for the markers is therefore that they can be seen in the X-ray parameters selected for the test object to be examined in the projection image. In this case, parameters such as the acceleration voltage, the size of the focus, the distance between the focus and the X-ray detector, the distance between the focus and the test object or the sensitivity and frame rate of the X-ray detector must be taken into account. Since these can vary greatly for different test objects, the choice of material and the size of the markers must be made individually according to the purpose.
  • marker projection The structure resulting from the imaging of a marker in the X-ray image is referred to below as marker projection.
  • Orientation of the spherical marker As an anchor point for the marker projection is therefore their focus.
  • the determination of the centroid of a circular area provides robust results even on digital image data, as long as the marker projection extends over a sufficient number of pixels.
  • the actual resolution of the X-ray detector and thus of the entire X-ray CT system then plays a subordinate role. Thanks to the sub-pixel-accurate determination of the center of gravity of a marker projection are Deviations on a scale that are extremely low, almost negligible.
  • the size, number and material of the markers is also to be considered.
  • the choice of a suitable size and the material are highly dependent on each other.
  • the number of markers should be based on the size, shape and magnification of the volume to be reconstructed. Since there is only a limited space available for the markers, size and number can also compete with each other.
  • an unfavorable choice of material may entail unwanted side effects, such as X-ray scattering, and must therefore also be matched to the application.
  • a general rule for the correct choice of the three factors can not be
  • Projection image of a CT scan enough markers are displayed.
  • the markers are arranged around the test object.
  • the distribution of the markers can be completely arbitrary, as long as the aforementioned condition is not violated.
  • the number of markers may not be less than a minimum of three markers, but may be of any size, provided that the previous criteria are not violated.
  • projection images with test object can its
  • the challenge in extracting the marker projections is the distinction between these and other structures depicted in the projection image.
  • parts of the manipulator or the attachment of the marker can also be located within the projected to the X-ray detector volume.
  • the extraction of the marker projections takes place in two steps. First of all, all structures shown in the picture are recorded separately. Then it is determined on the basis of suitable criteria which of these structures corresponds to a marker projection and which not.
  • the algorithm for determining the visible markers in a projection image can be divided into three logical steps. First, the visible structures are separated from the background.
  • the result is a binary image of the same size, which classifies each pixel as foreground or background.
  • the assumption can be made that there are no other objects in the beam path except the markers, their holder and the manipulator. This assumption allows a binary classification of each pixel as foreground or background. This classification is based on a percentile-based threshold. On the basis of the binary image thus generated, a segmentation of the individual structures can then take place. All pixels marked as foreground are assigned the same structure as their direct neighbors of the same
  • Foreground classified pixels assigned to one of several structures Due to the spherical shape of the markers, some assumptions about the mapping by this generated structure can be used in the projection image for identification. So it can be assumed that a minimal enclosing rectangle, which is spanned along the axes in the image coordinate system around a marker structure, is almost square. Accordingly, its aspect ratio is almost equal to one. In addition, the entire structure must be within a maximum radius of the center of the structure, with no background pixels within that radius. The area of the structures can also be used to evaluate whether it can be a marker structure. It should be noted, however, that the markers are located at different positions in the room and are therefore displayed differently magnified. So it makes sense to define the permissible area in an interval, as long as their position in the room can be limited accordingly.
  • the focus is determined for each structure that represents a marker.
  • the information extracted from the projection image then corresponds to a set of image coordinates, which respectively represent the position of a marker projection in the X-ray image. After that, the above closes
  • the projection geometry is known for each projection image and thus also the exact position and orientation of the test object in the X-ray CT system.
  • Assigned projection images can be done by applying from the prior art known methods and algorithms a very good three-dimensional reconstruction of the test object - for example by means of the software "CERA Xplorer” from Siemens Healthcare GmbH.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pulmonology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Abstract

L'invention concerne un procédé de reconstruction d'un objet de test lors d'un procédé de tomographie assistée par ordinateur à rayons X dans une installation de tomographie assistée par ordinateur à rayons X qui comprend une source de rayons X avec un foyer, un détecteur de rayons X et un manipulateur qui peut déplacer un objet de test dans un espace intermédiaire entre le foyer et le détecteur de rayons X. Des marqueurs, dont les positions relatives les unes par rapport aux autres sont connues, sont composés de matériaux transparents aux rayons X et sont disposés, durant l'exécution du procédé, à une position fixe par rapport à l'objet de test. Une trajectoire définissable au préalable est parcourue sur laquelle des radiographies de l'objet de test sont prises sous différentes géométries de projection ; les géométries de projection de chaque radiographie sont calculées à partir des positions des marqueurs en tenant compte des positions relatives les unes par rapport aux autres dans les radiographies respectives ; et ensuite, à l'aide de l'association des différentes radiographies à la géométrie de projection respective, une reconstruction de tomographie assistée par ordinateur de l'objet de test est effectuée à l'aide d'un algorithme approprié.
PCT/EP2017/000140 2016-02-04 2017-02-03 Procédé de reconstruction d'un objet de test lors d'un procédé de tomographie assistée par ordinateur à rayons x dans une installation de tomographie assistée par ordinateur à rayons x Ceased WO2017133846A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/EP2017/000140 WO2017133846A1 (fr) 2016-02-04 2017-02-03 Procédé de reconstruction d'un objet de test lors d'un procédé de tomographie assistée par ordinateur à rayons x dans une installation de tomographie assistée par ordinateur à rayons x
DE112017000656.2T DE112017000656A5 (de) 2016-02-04 2017-02-03 Verfahren zur Rekonstruktion eines Prüfobjekts bei einem Röntgen-CT-Verfahren in einer Röntgen-CT-Anlage

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016001247 2016-02-04
DE102016001247.1 2016-02-04
PCT/EP2017/000140 WO2017133846A1 (fr) 2016-02-04 2017-02-03 Procédé de reconstruction d'un objet de test lors d'un procédé de tomographie assistée par ordinateur à rayons x dans une installation de tomographie assistée par ordinateur à rayons x

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115060747A (zh) * 2022-04-13 2022-09-16 中国兵器科学研究院宁波分院 一种工业ct系统用x射线源的焦点尺寸定量方法

Citations (1)

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Publication number Priority date Publication date Assignee Title
DE102012013500A1 (de) * 2012-07-06 2014-01-09 Yxlon International Gmbh Verfahren zum Einziehen von Röntgendurchleuchtungsbildern im Rahmen eines digitalen Laminographieverfahrens sowie Verwendung eines mehrachsigen Manipulatorsystems zur Durchführung eines solchen Verfahrens

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
DE102012013500A1 (de) * 2012-07-06 2014-01-09 Yxlon International Gmbh Verfahren zum Einziehen von Röntgendurchleuchtungsbildern im Rahmen eines digitalen Laminographieverfahrens sowie Verwendung eines mehrachsigen Manipulatorsystems zur Durchführung eines solchen Verfahrens

Non-Patent Citations (3)

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Title
FABIAN STOPP ET AL: "A Geometric Calibration Method for an Open Cone-Beam CT System", 12TH INTERNATIONAL MEETING ON FULLY 3D IMAGE RECONSTRUCTION, 16 June 2013 (2013-06-16), Lake Tahoe, California, pages 106 - 109, XP055361289 *
PHILIPP KLEIN ET AL: "Automatic Object Position Recognition: Increasing the Position-Accuracy in Robot CT", 6TH CONFERENCE ON INDUSTRIAL COMPUTED TOMOGRAPHY, February 2016 (2016-02-01), Wels, Austria, XP055361576, Retrieved from the Internet <URL:http://www.ndt.net/search/docs.php3?id=18752> [retrieved on 20170404] *
PHILIPP KLEIN ET AL: "Comparison of Reconstruction Methods for Computed Tomography with Industrial Robots using Automatic Object Position Recognition", 19TH WORLD CONFERENCE ON NON-DESTRUCTIVE TESTING 2016, 13 June 2016 (2016-06-13), pages 1 - 8, XP055361119, Retrieved from the Internet <URL:http://www.ndt.net/article/wcndt2016/papers/mo1c2.pdf> [retrieved on 20170403] *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115060747A (zh) * 2022-04-13 2022-09-16 中国兵器科学研究院宁波分院 一种工业ct系统用x射线源的焦点尺寸定量方法

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