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Outline of presentation
1
History of digital fluoroscopic imaging
• ……. 1980’s
– Clinical DSA angiography systems
– Qualitative and quantitative improvements
– Image processing advances
– Temporal and recursive filtering
• ……. 1990’s
– Quantitative correction of image data
– Rotational fluoroscopic imaging
– Micro-
Micro-fluoroscopic imaging capabilities
– CT fluoroscopy (using fan-
fan-beam scanners)
– Cone-
Cone-beam CT reconstructions
2
Why digital fluoroscopy / fluorography?
3
Fluoroscopic Acquisition Components
TV Camera
Side View: C arm System
C-Arm Image
Apparatus Intensifier TV Monitor
Peripherals
Cine Camera
Photospot Camera
Collimator Spot Film Device
Digital Photospot
DSA System
X-ray Tube
e-
Output
Video or CCD
phosphor camera to ADC
to Digital Image
X-rays in
~25,000 Volts
acceleration
Grid -
e- e- e-
Light out → Recorder
e
-
e- e- e-
- ZnCdS:Ag
ZnCdS:Ag
ee output phosphor
CsI input SbCs3
phosphor photocathode Electrons → Light
4
Structured Phosphor: Cesium Iodide (CsI)
Crystals grow in long columns that act as light pipes
CsI
5
TV camera specifications
• Low resolution:
– 525 line, interlaced, 30 Hz (RS-
(RS-170)
• High resolution:
– 1023 - 1049 line, interlaced, 30 Hz (RS-
(RS-343)
• Highest resolution
– 2048 line systems
6
Flat-panel Fluoroscopy / Fluorography
• Thin-Film-Transistor arrays
– Proven with radiography applications
– Just becoming available in fluoroscopy
• CsI scintillator systems (indirect conversion)
• a-Se systems (direct conversion)
7
Amorphous Silicon
TFT active matrix array
Gate
Amplifiers – Signal out
G1 switches
Active
Area Thin-
Thin-Film
Transistor
Dead G2
Zone Storage
Fill Factor = Active area ÷ (Active area + Dead Zone) Capacitor
G3
Large pixels: ~ 70%
Small pixels: ~ 30 % Charge
Collector
D1 D2 D3 Electrode
CR1 CR2 CR3
Analog to
Data lines Charge Digital
Amplifiers Converters
Amorphous Silicon
TFT active matrix array
Amplifiers – Signal out
G1 Expose to x-
x-rays
G2
Active Readout
Activate gates
Amplify charge
Convert to Digital
8
Cross section of detector:
a-Si TFT/ CsI phosphor
X-ray
Structured X-
X-ray
Light phosphor (CsI)
Source
Gate S G D +
Drain
TFT Adjacent gate line
Charge
Storage capacitor
Photodiode
II
Field coverage / size advantage to flat panel Image distortion advantage to flat panel
9
Output Total over-framing Digital
phosphor sampling
image Maximum horizontal framing matrix
4:3 aspect ratio 23 cm nominal 512 × 480 matrix (% digital area used)
input diameter 1023 x 960 matrix
10
Flat-panel fluoro detector:
efficient use of x-
x-ray detector / x-
x-ray field
11
Flat panel vs. Image Intensifier
• Electronic noise limits flat-
flat-panel amplification
(1-5 µR/frame)
gain at fluoro levels (1-
• Prediction:
– II’s will likely go the way of the CRT…….
X-ray
system Arithmetic
Logic Unit
Analog
ADC
signal
Array DAC
Processor
Micro-
Processor
Display
Peripheral Processor
equipment
Video
Patient memory:
Image Workstation
monitor 64 MB to Digital Local Image Modality Interface
512 MB Disk Array Cache
DICOM HL-7
Interface Interface
System information (kV, mA, etc) Modality Worklist
12
• Introduction to digital fluoroscopy
• Digital fluoroscopy components
• Analog and digital image characteristics
• Image digitization (quantization/sampling)
• Image processing
• Summary
Uniformly irradiated
II with lead disk
13
Conventional raster scan: RS-170
4:3 aspect ratio, 525 lines, 483 active
700 mV
voltage
image
height:
0 mV
3 39 µsec
-300 mV
sync signals determine
image location
• Contrast resolution
– Ability to differentiate subtle differences in
x-ray attenuation (integer numbers)
• Spatial Resolution
– Ability to discriminate and detect small objects
(typically of high attenuation)
14
Digital Image Matrix
700 mV
voltage
0 mV
39 µsec
-300 mV
• Digitization
– Sampling (temporal / spatial)
– Quantization (conversion to integer value)
15
Digital Image Characteristics
• Advantages
– Separation of acquisition and display
– Image processing applications
– Electronic display, distribution, archive
Consequences of digitization
• Negative:
– Loss of spatial resolution
• Positive:
– Image processing and manipulation
16
• Introduction to digital fluoroscopy
• Digital fluoroscopy components
• Analog and digital image characteristics
• Image digitization (quantization/sampling)
• Image processing
• Summary
Computer
Fluoro unit Softcopy
hardware
Peripheral ADC and DAC CRT or
components software
FlatPanel
algorithms
Analog to Digital to
digital analog
conversion conversion
RAID-
RAID-5
online
Storage / Archive
17
Analog to Digital Conversion:
Digitization
Sampling
2∆x
• Nyquist frequency = 1 / 2∆
18
Sampling: discrete spatial measurement
infinite bits, 3 samples / line
Input
Input
relative error
Sampling aperture Sampling points
0.8
Modulation
0.6
0.4
0.2
0
0 1 2 3 4 5 6
Frequency (lp/mm)
Cutoff frequency = 1 / ∆x
Sampling Sampling
pitch aperture MTF of sampling aperture
19
Phase Effects
Input signal equal to Nyquist frequency
Bar pattern
pixel matrix
Pixel Sampling
Low frequency
High frequency
20
Aliasing effects:
Input signal frequency, f > Nyquist frequency, fN
Aliasing
Input signal frequency spectrum, fin
Input signal BW
Sampling BW
amplitude
-fN 0 fN fS 2fS
Frequency
21
How important is aliasing?
• Most objects have relatively low contrast
• Sources of blur
– Light spread in phosphor
– Geometric blurring: magnification / focal spot
– Pixel aperture of detector and display
22
FOV and digital sampling
12 cm
24 cm
12 cm
1k x 1k: 120 µm
24 cm
~4 lp/mm
1k x 1k : 240 µm
~2 lp/mm
2 k x 2k: 120 µm
~4 lp/mm
23
Quantization: conversion to digital number
2 bits (4 discrete levels) and infinite sampling
3
350 mV
Reference
voltage, V 710 mV
3 bit Analog to
Video
Digital Converter
input Comparators
R
+
7V -
8
R Digital
+ Output
6V
-
8
R MSB
Successive +
fractional 5V -
0
voltage at each 8
R
comparator + Priority
4V Encoder 1 8 discrete output values
-
8 Logic
R
+
3V 1
-
8
R LSB
+
2V
-
8
R
+
V -
8
24
Quantization
Quantization Effects
25
Dynamic range considerations
26
Digital Image Display
355 mV
MSB Ref / 2
1 178 mV
Ref / 4
0 89 mV
Ref / 8 Voltage
0 44 mV adder
Ref / 16 432 mV
Digital 1 22 mV
input Ref / 32
1 11 mV
Ref / 64
Voltage
1 out
6 mV
Ref / 128
0 3 mV video
Ref / 256 synchronization
0 electronics
LSB source gate drain
Transistor (switch)
27
MSB
0 0 0 0 0
0 1 1 0 0
000 0
0 0 0
0 1 1 1
0 0 0 0 1 1 1 1
0 0 Bit depth
0 0 0 0 0 0 1 1 1 1 1
0 0 0 0 0 0 1 1 1 1 1 1
0 0 0 0 0 1 1 1 1 1 1 1
0 0 LSB
0 0 0 1 1 1 1 1 1 1 1
0 0 0
0 0 0 0 0 1 1 1 1 1 1 1 1 1
0
0 0 0 Numerical
0 0 0 0 1 1 1 1 1 1 1 1 1
0 0 0 representation
0 0 0 0 0 1 1 1 1 1 1 1 1 1
0 0 0
0 0 0 0 0 1 1 1 1 1 1 1 1 1
0 0 0
0 0 0 0 0 1 1 1 1 1 1 1 1 1
y
0 0 0
0 0 0 0 0 1 1 1 1 1 1 1 1 1
0 0 0
0 0 0 0 1 1 1 1 1 1 1 1 1
0 0
0 0 0 1 1 1 1 1 1 1 1 1
0 0 1 1 1 1 1 1 1 1 1
Image bit 0
0 1 1 1 1 1 1 1 1 1
planes
x Linear DAC
Image
representation
digital number 0 255
appearance: dark bright
Display adjustments
– Non-
Non-destructive variation of image brightness and
contrast
28
Display of digital data
Look-up-table 8 bit output
(LUT)
255 255
Logarithmic
transform Linear
transform
WL WW
Exponential
transform
0 0
4095 2048 0
8 bit output
12 bit input display range
Grayscale Processing
• Look-up-table Transformation
– Window (contrast, c) and level (brightness, b)
• Histogram equalization
– Redistribution of grayscale frequencies over
the full output range
29
Window Width / Window Level
Contrast Resolution
• Fluoroscopic Speed
– Dependent on light-
light-limiting aperture (f-
(f-stop)
– Variable for digital flat-
flat-panel detectors
– ? secondary quantum sink at higher frequencies
• Electronic noise
– shot noise, dark noise, fixed pattern noise
• Structured noise
– Anatomy, overlying objects
30
Low Contrast Resolution
Temporal
No Temporal
Averaging
Averaging
4 frames
1 mR 0.1 mR 0.01 mR
Image subtraction low contrast phantom
Noise Sources
• Digital acquisition: SNR-
SNR-limited detection
– quantum mottle and secondary quantum sink
– fixed pattern (equipment) structured noise
– electronic and shot noise
– digitization: sampling and quantization noise
– anatomic (patient) noise
31
• Introduction to digital fluoroscopy
• Digital fluoroscopy components
• Analog and digital image characteristics
• Image digitization (quantization/sampling)
• Image processing
• Summary
Image Processing
32
Image Processing Operations
• Point
– Pixel to pixel manipulation
• Local
– Small pixel area to pixel manipulation
• Global
– Large pixel area to pixel manipulation
Temporal Averaging
Iout(x,y) = N Σ Ii(x,y)
• Reduces noise
fluctuations by N 0.5
• Increases SNR
• Decreases temporal
resolution
33
Image Subtraction (DSA)
Logarithmic amplification
• Linearizes exponential x-
x-ray attenuation
− µ bg tbg
Mask image: I m = N 0e
34
Linear to Log LUT
10 bit to 8 bit
250
Output Digital Number
200
150
100
50
0
0 200 400 600 800 1,000
Input Digital Number
35
Digital
Fluoro
Subtracted
images
36
DSA examples
• Pixel shifting
(correct for
misregistration)
• Add anatomy
(visualize
landmarks)
• Measurements /
densitometry
37
Matched Filtration
C(t)
Cmax
Cavg
time
Average ROI signal in image i.
ki = C(t) - Cavg
+
-
time
Matched Filtration
k6 × I6(x,y)
k5 × I5(x,y)
k4 × I4(x,y)
k3 × I3(x,y) +
k2 × I2(x,y)
Scaling factor ki
38
Image comparisons
Recursive filtration
• Digital image buffer adds a fraction, k, of the incoming
image to the previous output image; temporal averaging
with exponentially decreasing signal
Iin(x,y) ×k
+ Iout(x,y)
× (1-
(1-k) feedback
Image
Memory
Buffer
39
Image Processing Operations
• Point
– Pixel to pixel manipulation
• Local
– Small pixel area to pixel manipulation
• Global
– Large pixel area to pixel manipulation
Spatial Filtration
• “Real-
“Real-time” filtration uses special hardware
and filter kernels of small spatial extent
40
Convolution
• Pixel by pixel multiplication and addition
of filter kernel with image:
( N −1)/ 2
I out ( x ) = ∑ g(i ) I
i =− ( N −1)/ 2
in ( x + i)
I out ( x ) = g ( x ) * I in ( x )
MTF
LSF
width: ∆ x ~ 0 1
0.8
Modulation
0.6
0.4
height: 0.2
1/ ∆x
0
-0.2
0 0.5 1 1.5 2 2.5 3
Frequency
(units of 1/ ∆x)
41
Finite sampling aperture:
frequency response
MTF
1
sinc (x)
Single element LSF 0.8
Modulation
width: ∆x 0.6
0.4
0.2
height: 0
1/ ∆x
-0.2
0 0.5 1 1.5 2 2.5 3
Frequency
fN fS (units of 1/ ∆x)
Filter kernels
0.6
0.4
3 element
0.2
Three element LSF
width: 3 ∆x 0
-0.2
height:
1/(3∆x)
1/(3∆ 0 0.2 0.4 0.6 0.8 1 1.2
Frequency
Units of 1/ ∆x
42
Low pass filtration – smoothing
• Reduces resolution
1 1 1 10 10 10 1 1 4 7 10 10
1 1 1 1 1 1 10 10 10 1 1 4 7 10 10
1 1 1 1 1 1 10 10 10 1 1 4 7 10 10
**
1 1 1 1 1 1 10 10 10 1 1 4 7 10 10
1 1 1 10 10 10 1 1 4 7 10 10
÷9
1 1 1 10 10 10 1 1 4 7 10 10
43
Variable weight low-pass filter kernel
Modulation
0.6
0.4
0.2
Break into parts:
0
-0.2
+
0 0.2 0.4 0.6 0.8 1 1.2
Frequency
1/∆x
Units of 1/∆
• Noise is increased
44
High-pass filter kernel
Single kernel LSF
Frequency response
high-
high-pass filter
Highpass LSF 1
Difference
0.8
Modulation
+ 0.6
-
0.4
-
0.2
Lowpass LSF 0
-0.2
0 0.2 0.4 0.6 0.8 1 1.2
Frequency
1/∆x
Units of 1/∆
1 1 1 10 10 10 1 1 -26 35 10 10
-1 -1 -1 1 1 1 10 10 10 1 1 -26 35 10 10
-1 9 -1 1 1 1 10 10 10 1 1 -26 35 10 10
**
-1 -1 -1 1 1 1 10 10 10 1 1 -26 35 10 10
1 1 1 10 10 10 1 1 -26 35 10 10
1 1 1 10 10 10 1 1 -26 35 10 10
45
Example filtered images
• Point
– Pixel to pixel manipulation
• Local
– Small pixel area to pixel manipulation
• Global
– Large pixel area to pixel manipulation
46
Global Image Processing
Inverse filtering
• 2D – FT methods:
– Measure PSF
– Generate FT of inverse filter
– Multiply by 2D-
2D-FT of image
– Re-
Re-inverse transform
X-ray scatter PSF and inverse filter:
47
Quantitative Algorithms
Limits to Quantitation
• Non-
Non-linear / non-
non-stationary degradations
– Beam Hardening
– Scatter
– Veiling Glare
– Non-
Non-uniform bolus / diffusion
• Geometric effects
– Pincushion distortion
– Vignetting
– Rotational accuracy (CT)
48
Summary
Summary
• Fluoroscopic / Fluorographic
image processing can provide
49
References / further information
• Seibert JA. Digital Image Processing Basics, in A
Categorical Course in Physics: Physical and
Technical Aspects of Interventional Radiology, Balter
S and Shope T, Eds,
Eds, RSNA Publications, 1995
……The End……
50