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1. INTRODUCTION error that cannot easily be rectified. Herman1 and Lewitt and
Direct reconstruction in three dimensions from projection McKay14 have described use of the unmodified fan-beam re-
data has been the subject of many studies.' As used here, construction method to handle cone-beam data. The latter
direct three-dimensional (3D) reconstruction implies use of authors also have described a modification in which
two-dimensional (2D)projection data with reconstruction on backprojection in three dimensions is used. When the cone
a 3D mesh of points, which may or may not be organized as angle is small, as it is in the scanner being developed at the
parallel slices. In medical applications, direct 3D recon- Mayo Clinic,2 these convolution-backprojection procedures
work quite well.
struction is at the forefront of investigation 2 ; to our knowledge,
no commercial tomographic scanners employ direct 3D re- Since none of the methods mentioned above is fully satis-
construction. Industrial use of tomography as a nonde- factory for our applications, we describe in this paper an al-
structive evaluation (NDE) technique is still quite limited. gorithm appropriate to our geometrythat can be implemented
Use of x-ray image-intensifier easily. Like that of Lewitt and McKay,14 our procedure in-
images as tomographic input
volves convolution and 3D backprojection; it further includes
is a natural extension of electronic radiography and is being
pursued in our laboratory in a system of minimum mechanical the crucial step of correctly weighting the data. This is ex-
complexity. The system consists of a microfocus x-ray source,
tremely important if the cone angle is large and ensures that
a single-axis rotational stage, and the x-ray image intensifier certain desirable properties will be present. Our method is
with associated electronics. Hence a fast and reliable direct necessarily faster than iterative methods and for reasonable
reconstruction procedure should be valuable. cone angles produces reconstructions not significantly inferior
Several methods of attacking the full 3D problem have been to those of slice-by-slice reconstruction using parallel- or
3
proposed. Altschuler et al. have reviewed many of these. fan-beam data, acquisition of which for 3D reconstruction
Colsher4 described iterative methods that can be applied to requires a system of significantly greater mechanical com-
the problem. Altschuler et al.5 proposed a basis-function plexity.
method of reducing the dimensionality of the problem; how- In Section 2 we review the fan-beam method from our
ever, no examples of application to real or mathematical perspective. In Section 3 we present the cone-beam algorithm
objects have appeared. Altschuler et al. 6 has also used an and discuss some of its important properties. In Section 4 we
interative technique based on Bayesian optimization. The present results of application to a mathematically constructed
"twin cone-beam" geometry has been discussed by Schlind- phantom.
wein7 (iterative method) and by Kowalski8 (basis-function
method). Knutsson et al.9 have discussed a different method 2. FAN-BEAM RECONSTRUCTION FORMULA
for a geometry similar to that used in traditional (noncom- In this section, we rewrite the Radon transform for two di-
puterized) axial transverse tomography. Their method is mensions in the form of a convolution and backprojection.
based on the projection-slice theorem, applied as if rays from This results in a fan-beam reconstruction formula and is a step
the source were parallel, and involves 2D filtering and preliminary to the determination of an algorithm for 3D re-
weighting. Nalcioglu and Cho'0 and Denton et al." have construction. The planar detector system may, for conve-
presented convolution-backprojection methods that are ap- nience, be represented by its projection on a plane parallel to
plicable if the source positions encompass a sphere about the it that contains the axis of rotation. This axis is a distance
object, rather than just a circle as in the present case. Tuy12 d from the x-ray point source, as in Fig. 1. Hereafter, we refer
has given an inversion formula that is appropriate when the to the detector plane as if it were in the plane containing the
source positions lie on two intersecting circles. Minerbo13 has rotation axis. A simple scaling by d/D converts data from the
used the 3D form of the Radon inversion formula to derive an actual physical arrangement to this form. We refer to the
approximate solution for the geometry of interest here, i.e., direction defined by the axis of rotation as the axial (or z)
a single circle of source positions. Unfortunately, his method direction and refer to the plane that contains the point source
is computationally intensive, and his derivation contains an and is perpendicular to the axis as the midplane. Planes
The angle 0 from the x axis (fixed with respect to the object) X exp [ ( dr sin( - 4)) (12)
I. d + r cos(4, -4' 11-
to the perpendicular is given by
Since the detector spacing dc is finite, the frequency range
0='b+ir/2+ a, (2) is limited to w < 7r/d8, and it becomesnecessary to bandlimit
where Eq. (12). We can therefore write
and
A
g(Y) = Re W exp(ico"Y)cdco. (16)
A
___ m
The function g( Y) is the convolution function, and P.(Y) is
the convolution of g and P 1.(Y). Equation (13) represents the - ~~~~~~~~x
backprojection of the convoluted data, since Y depends ex-
plicitly on the reconstruction point (r, 4) and is the desired Source
result. This result, although written differently, is substan- Fig. 3. Coordinate system for describing projection and recon-
tially the same as that given by Herman et al. 15 struction in the midplane of a 3Dsystem. The unit vectors mh,n,and
k form an orthonormal set. The axis of rotation is along k.
In practice, P., (Y) is sampled for discrete values of 4' and
Y (or averages about such values). Hence we have tP.>(i)(Yj)}j
t4 = 4'i- 4'i- and A Y = Yj - Yj-.., assumingequally
with A A
spaced samples. We assume that P.,,(Y)cos 0 is slowly varying Iz
compared tog(Y) and define [cos 0 =d/(d 2 + y 2 )1/2]
5rm = 64"'k X mh
= b4"i.
(19a)
(19b)
gy (Y) = Re f odw exp(icWY), (32)
and
Equating Eqs. (18) and (19), we have
g, (Z) = sin wOZ/7rZ. (33)
34" = 34'd/(d 2 + Z 2 )1/2. (20)
As it was in Eq. (16) for Y, band limiting that is due to the fi-
Let us calculate the contribution to the reconstructed
nite detector spacing has been introduced in Eqs. (32) and (33)
density. Any reconstruction point in the plane can be written
for both Y and Z.
as I, Eq. (28) goes into the correct
It is clear that, as d -
Phantom Details
Position Diameters
Object x y z x y z Density
1 0 0 0 40 40 2
2 0 0 0 34 34 - -1.21
3 0 0 0 30 20 20.98 0.21
4 -5 0 5 10.95 10.95 10.95 0.053
5 -7 -6 -5 14.14 16.73 10.95 0.316
6 8 8 2 12 8 16 0.158
7 -13.3 0 8.16 9 9 2.5 0.21
8 4.44 -11.71 8.16 9 9 2.5 0.21
a (After Ref. 7.) The phantom is constructed by superposing the density contributions of six ellipsoids. The first
two have been elongated to generate an inner
cylinder and an outer cylindrical shell. Ellipsoids 7 and 8 apply to Figs. 7 and 8 only.
opmental system designed primarily to explore applications In order to suggest the efficacy of the algorithm, we illus-
of x-ray tomography to industrial nondestructive evaluation. trate its application to a mathematically derived phantom
The system is also being applied successfully to the exami- based closely on that given by Schlindwein 7 ; ours differs only
nation of bone biopsy specimens. in that it is constructed purely of superposed ellipsoids. Table
Implementation of the algorithm is relatively straightfor- 1 gives the details of the phantom. This particular phantom
ward. The weighting of the projection data is performed with embodies potential difficulties, such as abrupt large density
point-by-point multiplication by a precalculated 2D array. changes, asymmetrically placed objects, and an object with
The convolution step may be carried out as a series of one- a density differing only slightly from that of the surrounding
dimensional convolutions. The backprojection is performed region. Use of this phantom also provides an opportunity to
by projecting a reconstruction point into the detector plane compare the present method with a previously described
and then interpolating among the four relevant detector po- procedure.
sitions. The interpolation itself separates into horizontal and Projection data were formed from the phantom as analyt-
vertical parts. Since the horizontal interpolation coefficients ically derived line integrals of the density from the origin to
are the same for all reconstruction points with the same (x, each detector position. The detector arrangement described
y), the associated computation time is shared among the in Table 1 approximates the amount of information used in
number of vertical reconstruction points. Consequences of Ref. 7.
this are that (1) the amount of computation per reconstruction The reconstruction mesh bears no necessary relationship
point is comparable with or less than that for the fan-beam to the detector array. To encompass the objects of interest,
case, (2) the efficiency of the procedure increases with in- the space extends 40 cm by 40 cm horizontally and 20 cm
creasing number of vertical reconstruction positions, and (3) vertically and contains 99 X 99 X 49 points. For display, we
a single vertically oriented plane requires much less compu- have chosen five horizontal planes, equally spaced and sym-
tation than a horizontally oriented plane with the same metrically located about the midplane.
number of sampling points. We have programmed the pro- In Fig. 5 we compare the reconstruction of the selected
cedure for a general-purpose computer (VAX 11/780) with planes with an exact, digitized representation of the phantom.
attached array processor (FPS AP-120B). The array pro- The large range of density encompassed in the gray scale used
cessor is typically used for the computationally intensive here for display renders difficult the observation of low-con-
operations of convolution and backprojection, the host com- trast features such as the sphere (object 4), which is only §7o
puter being used to control the apparatus and preprocess the denser than its surroundings. However, as the plot of a single
incoming data. selected line shows, the density difference is indeed reflected
Vol. 1, No. 6/June 1984/J. Opt. Soc. Am. A 617
Feldkamp et al.
II
11
I', which it may be regarded as a natural extension.
- IIAI
11
II
iI APPENDIX A
In this appendix, we prove two properties of the 3D algorithm:
ana 4i (1) The integral S:c, dzf(r) is reproduced accurately and (2),
if the density is independent of z, the algorithm is exact.
*k'"'.11; i II
As a preliminary, consider a 2D reconstruction for a density
6(p 0) (Dirac delta function). Since Pp(Y) is the line in-
tegral of the density,
these generally are reduced with the number of angles and f d-1)(d + )2 g[(p- 9'd)/(d+ p *)
could be reduced further by spatial averaging. The fan-beam 47r2 (d + p .. ~)2
aproximation' results in considerably greater distortion,
especially for ellipsoids whose centers are off axis. The flat - (poo9'd)/(d + Po x)i d + dpor (p-po),2 (A )
ellipsoids are essentially unrecognizable.
In Fig. 8, we show what happens when the cone angle is in- to within the limitations of the 2D algorithm. Band limiting
creased by reducing the source-axis distance by one third, such in the convolutionfunction g eliminates the components with
that it is equal to the diameter of the outer cylinder and also high spatial frequency. As yo -> a, expression (A2) becomes
equal to the projection of the reconstructed volume on the Z exact. We use this result in the proof of property (1).
axis. This represents a cone angle of about 53 deg. The de- In three dimensions, we can write [ro = (Po, zo)]
tector system is extended to accommodate the increased
projected area. The present method continues to result in
well-defined objects, although blurring greater than in Fig.
7 is evident. Under these conditions, the stack-of-fans
PN(Y Z) =
fCd f 2po
(d
+po..~')
2
dzofo(ro)d(d 2 + y2 +Z2)1/2
where fo(r) is the actual density. [If the algorithm were exact, dimensional problem. Further substitution into Eq. (28)
the reconstruction f(r) would equal fo(r).] Substituting Eq. gives a z-independent f(r) that is correct for the plane z = 0
(A3)into Eq. (31) in Section 3 and taking the integral over z and hence correct for all z.
of Eq. (28), we find that
S 7f (d+
dzf(r = 4 -
X gy [Y(r) -
1
d (d +
d
2