Joint ICTP-TWAS Workshop on Portable X-ray Analytical Instruments for Cultural Heritage. 29 April - 3 May, 2013

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1 Joint ICTP-TWAS Workshop on Portable X-ray Analytical Instruments for Cultural Heritage 29 April - 3 May, 2013 Lecture NoteBasic principles of X-ray Computed Tomography Diego Dreossi Elettra, Trieste Italy

2 Workshop on Portable X-ray Analytical Instruments for Cultural Heritage ICTP, Trieste, 29 april - 3 may, 2013 Basic principles of X-ray Computed Tomography Diego Dreossi Sincrotrone Trieste, S.S. 14 km AREA Science Park Basovizza (TS), Italy

3 Acknowledgements Thanks to the big CT community for all the information and material available on the web!

4 Tomography The word tomography is derived from the Greek ("part" or "section") and ("to write") Object Projected image Sections

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10 Basic interactions

11 Ni No N o N i e x x Ni No N o N i e ( 3 ) x 1 2 x Attenuation

12 Ni No N o x N e k i x k x k k ln N N i o ( x) dx ln N N i o Line integral

13 p (t) t A y ds t 1 B x The projection function is also determined by the angle of view.

14 y A t 1 y 1 x 1 x B The equation of line AB is x cosy sin t

15 The projection function can be written as p ( t) (, t) line ( x, y) ds p ( t) ( x, y) ( x cos y sin t) dxdy p (t) is known as the Radon Transform of the function x,y). A projection is formed by combining a set of line integrals. The simplest projection is a collection of parallel ray integrals as given by p (t) for a constant. This is known as parallel projection. Laminar beam object detector

16 Image reconstruction algorithms are derived to construct x,y) from p (t). Classification of Algorithms Backprojection Fourier Domain Approach Filtered Backprojection Iterative Methods Algebraic Reconstruction Technique (ART) Iterative Least Squares Simultaneous Iterative Reconstruction Technique (SIRT)

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19 The above given process can be expressed mathematically. The reconstructed back-projection image b (x,y) at a particular view is : b ( x, y) p ( t) ( x cos y sin t) dt Adding up the images at all angles (0-) f b ( x, y) 0 b ( x, y) d 0 p ( t) ( x cos y sin t) dtd

20 dudv e v u F v u F F y x f dxdy e y x f y x f F v u F vy ux j vy ux j ) ( 2 1 ) ( 2 ), ( ), ( ), ( ), ( ), ( ), ( f(x,y) F(u,v) Image Space Fourier Space

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22 Thus the Fourier Transform of a projection at angle forms a line in the 2-D Fourier plane at this angle. After filling the entire F(,) plane with the transforms of the projections at all angles, the object can be reconstructed using 2-D Inverse Fourier Transform

23 Convolution Back-projection Algorithm The back-projected function can rewritten in space domain as follows: ) ( ) ( ) ( t c F t p t p F F Thus, instead of filtering in the frequency domain, p (t) can be convolved with a function c (t) and then back-projected.

24 rampa Shepp-Logan gen-hamming RamLak Shepp-Logan gen-hamming ampiezza (u.a.) ampiezza (u.a.) frequenza (1/step) pixel Ramp filter (RamLak): enhancement of high frequencies noise Gen-Hamming, Shepp-Logan: enhancement of intermediate frequencies Convolution theorem convolution in the direct space as an alternative to multiplication in the Fourier space

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26 Projection Projection t Image t Sinogram

27 Back Projection Sinogram Filtration Image

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29 Reconstruction in frequency domain

30 ART x y 12 z w

31 First generation EMI Mark I (Hounsfield), pencil beam or parallel-beam scanner rotation angle, angular step ~1 Scan time 5 min, reconstruction time 20 min Resolution: 80 x 80 pixels (ea. 3 x 3 mm 2 ), Slice thickness 13 mm

32 Second generation Hybrid system: Fan beam + linear array (~30 elements) traslation and rotation total scan time ~30 s more complex agorithms ( fan geometry)

33 Third generation the fan beam is covering all the sample elements (ionizating chambers or scintillators) No traslations total scan time ~ seconds reconstruction time ~ seconds

34 Fourth generation Stationary ring of detectors ( scintillators) Rotating X-ray source total scan time ~ seconds reconstruction time ~ seconds Slice thickness 1mm 3D volumes constructed as a series of 2D slices Fifth: electron beam scanner

35 Helical (sixth generation)

36 Conventional CT Helical CT scanning N 360 scans at positions z 1 to z n One scan of n-360 from positions z 1 to z n Pre-processing corrections corrections intermediate Z-interpolation reconstruction Convolution and backprojection Convolution and backprojection result N images at positions z 1 to z n Images at arbitrary positions from z 1 to z n

37 Acq. time Data 360 Data helical Matrix Power Slice thick. Spatial res. Contrast res

38 Status 3D medical CT: Helical trajectory Similar to 3 rd generation CT but with multiple rows of detectors (4, 8, 16, 32, 64, now even up to 640 rows) FDK-like approximate reconstruction 3D lab-based CT: 3D cone-beam micro-ct using circular trajectory 512 2, , (flat-panel CCD II detectors- ) FDK approximate reconstruction

39 Design concepts Source Energy Current Focal spot size Focal spot stability Detector Screen: efficiency, spatial resolution Pixel size: spatial resolution,signal, Fov Dynamic range, daq time Magnification x-ray flux Penumbra field of view

40 Source Focal spot size Emission angle Material Technology 5-20

41 Source unsharpness Heat dissipation Stability Phase effects M 1 U FS M FS

42 Source 100 kvp, = 15, 0.2 mm Be window 500 mm air Internal filtering Characteristic Radiation lines 1.50 mm Al Mean energy 46.2 kev 1 st HVL 2.38 mm Al, 2 nd HVL 4.20 mm Al, HVL1/HVL2 = mm Cu Mean energy 57.3 kev 1 st HVL 6.46 mm Al, 2 nd HVL 8.00 mm Al, HVL1/HVL2 = 0.807

43 Source

44 1.E+05 1.E+04 1.E+03 Bone Calcium Carbonate paraffin wax cm 1.E+02 1.E+01 1.E+00 1.E E (kev) 1.0 N o k N e x Lower energy i k Rel. intensity 1 2 Higher energy x transmission > 5 n

45 Detector Xray screen Direct (ase, Si) Powders Structured light guide Detector Fov High energy

46 Detector CCD Area, scmos Flat Panel (large area CMOS) GOS (+FOP) CsI (+FOP) Flat Panel (asi/ase) Photodiode array Single photon counting Direct conversion CsI Ceramic MediPix, Pixirad,.

47 Detector Dynamic range 72 db ~ 4000:1 -> 12 bit

48 Detector LAG: not suitable for CT!

49 Reconstruction Volume 150 x 150 x 150 mm 3 Isotropic voxel size 50 m dataset = x 4 = 108 GB Isotropic voxel size 60 m dataset = x 4 = 62.5 GB DATA I/O / PROCESSING / STORAGE

50 Reconstruction Pre-processing Cone beam Fan Helical Helical+cone pct HBCT Local Area CT Post-processing Artifacts reduction

51 Geometry Intensity~1/d 2 FDK filtered back-projection is reasonable up to ~10 With microfocus sources phase contrast imaging possible

52 Unsharpness Pixel Size 2 U PS M PS Focal spot M 1 U FS M FS ASTM E 2698 Examples U TOT U TOT 1 M U 2 FS ( M U 1) 2 PS FS (1.6PS) FS = 8 m, PS = 25 m, M =5 U TOT = 9.2 m PS eq = 5 m FS = 16 m, PS = 50 m, M =1.25 U TOT = 64 m PS eq = 40 m

53 Number of projections Spatial and angular sampling on Fourier space K Projections N Samples K /2 N Reconstruction of an ellipse

54 pn pixel noise (standard deviation evaluated on 2D slices) pn PS Np I 1 t Na k = constant dependend on rec algorithm (smooth kernel reduces noise, but also spatial resolution) PS = pixel size (mm 2 ) Np = number of projections I = source current (ma) t = integration time of the detector (s) Na = image averaging number

55 Artifacts Sample 1- motion 2- metallic materials 3- dimension > scan field Scanner 1- rings 2- geometry 3- stability Physics 1- Beam Hardening Cupping & Streaks 2- Undersampling 3- Photon starvation 4- Partial Volume Technique 1- helical in transverse plane 2- helical in multislice 3- multiplanar and 3D reconstrucion 4- cone beam effect

56 Artifacts simulation

57 Artifacts simulation

58 Artifacts simulation single pixel traversed by individual rays: I PIXEL will underestimate the attenuation Motion artifacts rod moved during acquisition

59 More realistic cases Beam hardening: cupping Beam hardening: streaks Undersampling Photon starvation

60 More realistic cases Metal artifacts Rings

61 More realistic cases Dimensions > FOV

62 Imaging Requirements Something to know: 1. The size of the object you want to scan 2. The material the object is made of 3. The level of fine detail or density differences you want to see 4. How fast you want to see the results 5. Where you want to place the instrument 6. Who will use it

63 New high-speed Computed Tomography system for 3D mass production process control

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