a system 4 embodying the invention is shown in fig3 . the system 4 includes a controller 8 , a digital image processor 10 , an x - ray source 12 , and a planar digital x - ray detector 14 lying in an image plane ip . a support structure 16 supports the source 12 with respect to the detector 14 , so that x - rays from the source 12 are directed toward the detector 14 , as described below . an object region 20 is defined between the source 12 and the detector 14 and extending along and about an object plane op , and in the path of x - rays passing from source 12 to the detector 14 . in the illustrated embodiment , the detector 14 is a digital detector lying in an image plane ip , having a two dimensional planar array of x - ray detector elements . in the illustrated embodiment , the support structure 16 is articulated , and includes a first portion 16a and a second portion 16b . portion 16a extends from a proximal end 16a in a direction along an axis a , which is perpendicular to the image plane ip , to a distal end 16b and the second portion 16b extends from the distal end 16b of the first portion 16a along an axis b to the x - ray source 12 . the first portion 16a and second portion 16b are pivotally coupled about an axis p at the distal end of portion 16a , where axis p is perpendicular to axis a . an actuator 30 is selectively controlled to determine the angle of portion 16b ( and axis b ) with respect to portion 16a ( and axis a ), in response to control signals from controller 8 . while in the present embodiment , the axis p is between the object plane op and the source 12 , the axis p may be at or below the object plane in other embodiments . by way of example , the x - ray source 12 and support structure 16 may be a general electric medical systems model dmr mammography system . in the preferred embodiment , the controller 8 is a digital computer which is programmed to control the angular position of portion 16b with respect to portion 16a ( and thus the position of source 12 ). the image data processor 10 is also preferably a digital computer programmed to the process data produced by the detector 14 in response to incident x - rays . such a processor 10 can , in addition , function to control the emission of x - rays from source 12 such as by techniques known in the art . in other embodiments , a single programmed computer may perform the functions of both controller 8 and processor 10 . as noted above , the detector 14 in the preferred embodiment is a planar , or flat - field , detector including a two dimensional planar array of x - ray detection elements or pixels . each of those pixel elements may include a scintillator element ( which is responsive to incident x - rays to produce light photons ) and a photodiode , which in turn produces a digitized signal representation of the x - ray flux incident on the scintillator element of that detector element . other types of digital x - ray detectors may be used , flat or curved . each of the pixel elements is interrogated by the processor 10 to provide at processor 10 digital data representative of the distribution of x - ray intensities at the image plane ip . preferably , the pixel elements of detector 14 are part of a small geometry integrated circuit array , so that a high resolution image representation may be obtained . in alternative embodiments , either a charge coupled device ( ccd ) or a direct digital detector ( converts x - rays directly to digital signals ) can be used . the digital image processor 10 may be a conventional digital computer programmed to perform the transformations described below . fig4 shows an exemplary configuration of a similar computer 10 &# 39 ;. specifically , the computer 10 &# 39 ; of fig4 includes a digital arithmetic unit 21 , digital image memory 22 , a x - ray controller 24 , and digital disk storage 26 . the digital arithmetic unit 21 interfaces with digital image data 28 ; while the controller 24 interfaces with actuator 30 , fig3 driving the support structure so as to move the source 12 to correct angular locations . the computer 10 can further include a display section 10a ; or it can command video on a separate monitor 10b . the controller 24 can also be connected to drive other devices , such as a multiformat camera 10c ; and the controller 24 can further command and control irradiation by the x - ray source such as through control signals 29 . fig5 shows an operational representation of the system 10 of fig4 controlling the irradiation of the object 20 and image plane ip with x - ray radiation generated by the source 12 . as shown in fig5 the angle φ is given by the angle of the support arm 16b , fig3 relative to the perpendicular to the image plane ip . in contrast , for any given point j ( x , z ) in the object 20 , an angle θ is defined as the angle of the x - rays intersecting the point j ( x , z ) relative to the perpendicular to the image plane ip . the angle θ is a function of φ , x , and z , and is given by : ## equ1 ## where x and z correspond to axes in the plane of source rotation , and where l and d are defined in fig5 . from this angle θ , the point x i is the projection of the object point j ( x , z ) onto the image plane ip : ## equ2 ## x i ( φ , x , z ) is thus the image point formed by x - rays emitted from an x - ray tube that is moved by rotation along arc c about the axis p . with this type of motion , the perpendicular distance of the focal spot from the image plane depends on the angle φ . this is in contrast to images that are formed based on the twinning principle , where the focal spot moves in a horizontal source plane sp parallel to the image plane ip . thus , points in the object are magnified by a function not only of the position , but also of the angle φ : ## equ3 ## with rotation of the x - ray tube along arc c , the magnification of object points varies with φ . therefore , a tomosynthetic reconstruction of an object plane defined by z =( a constant ) cannot be accomplished by simply shifting the image points by a function of z , as may be done with images formed by the twinning principle . in accordance with the invention , the image that is formed by rotation of the tube is transformed to construct a new image that approximates that which would have been formed if the focal spot were moved in a source plane sp parallel to the image plane ip i . e . along broken line sp as shown in fig5 . this new image data is utilized to reconstruct a tomographic plane in the object by a simple shifting and addition of image data sets . more particularly , if the x - ray source 12 were rotated by an angle φ , but constrained to remain in the horizontal plane a distance ( l + d ) from the image -- such as shown by source positions 12 &# 39 ;-- then the angle of the x - rays intersecting an object point would be given by : ## equ4 ## from eq . 4 , the image point x i &# 39 ; , which would be the projection of the object point j ( x , z ) from sp onto the image plane ip , is given by : ## equ5 ## in accordance with the invention , the x - ray gantry thus produces images with image points as defined by eq . 2 . for every x i in the image , a known value of φ is used with a selected z to determine an object point x from eq . 2 . the values of φ , x , and z are then applied to eq . 5 to determine a value for x i &# 39 ; in the new image . the set of new images produced are then utilized to reconstruct a tomographic plane op at z by a simple linear shifting process analogous to the twinning method . the technique for construction of a new set of images for each desired tomographic plane results in a small distortion of image information for structures outside the plane op . this is because the x - ray paths through the object 20 that occur with rotation of the focal spot about an axis p are slightly different from those that occur when the focal spot is moved within a horizontal plane . the magnitude of the distortion increases with the distance from the reconstructed plane , and also increases with the distance from the central axis of the image , i . e ., where x = 0 . the distortion for all points that lie exactly on the reconstructed plane op is zero . for purposes of illustration , assume an imaging system of the invention is constructed with values of l = 44 cm , d = 22 cm , φ = 15 °, and with a reconstructed plane z = 4 cm above the image plane . for a reconstructed plane at x = 10 cm , the maximal distortion for an object positioned 5 cm above the reconstructed is approximately 195 microns . since the linear tomographic shift for this imaging geometry is approximately 7 , 606 microns , this distortion corresponds 2 . 5 % of the tomographic shift . thus , the magnitude of the distortion caused by creation of the new image is small compared to the amount of linear shift utilized for the tomographic reconstruction . for this reason , distortion produced by the invention does not have a significant effect on the tomographic image quality . the invention is thus particularly useful in imaging breasts utilizing a full field digital mammography system . tomosynthesis in this manner allows reconstruction of &# 34 ; in - focus &# 34 ; tomographic planes at any level in the breast . the radiation dose is low and comparable to a single - view conventional mammogram . preliminary results indicate that the visibility of masses is increased with tomosynthesis according to the invention . tomosynthesis of the invention further has the potential to improve the specificity of mammography with improved lesion margin visibility and to improve early breast cancer detection , especially for women with radiographically dense breasts . in particular , the invention provides advantages which allow the radiologist to see through &# 34 ; structured noise &# 34 ; of normal breast tissue so as to improve detection and characterization of the breast cancer . in conventional film - screen tomography , the x - ray source and the film - screen detector move in opposite directions , so that only features in one plane of the image remain in sharp focus . in the tomosynthesis methods of the invention , such as shown in fig6 multiple images are acquired as the x - ray tube , i . e ., the &# 34 ; source &# 34 ; 60 , is moved in an are 61 above the stationary breast 62 and detector 63 . the images obtained at each angle φ by the detector 63 are of low radiation dose , with the total radiation dose for all of the images being equivalent to , or slightly higher than , the dose used for a standard single view mammogram . by shifting and adding the digital images , and after transformation of the images by equation ( 5 ) above , it is possible to reconstruct any plane 64 in the breast that is parallel to the detector 63 , i . e ., at any selected value for &# 34 ; z &# 34 ; in the breast . the technique of the invention thus provides a series of images of the entire breast 62 , with each image displaying only one plane 64 of the breast in sharp focus . note , with reference to fig5 that the source 12 spans an arc c defined by angle φ and within a plane 13 formed by axes x and z . thus , the plane 13 preferably extends through approximately the centers of the object 20 and the detector or image plane ip . the invention preferably makes use of full - field flat digital detectors that exhibit rapid readout times . such detectors make tomosynthesis imaging of the breast practical in clinical settings because of low noise , large flat surface area with minimal image distortion , and rapid image readout times . the invention can take advantage and utilize existing hardware in forming , for example , a mammography system according to the invention . fig7 illustrates one system 70 , constructed according to the invention , which utilizes a general electric model dmr mammography gantry 71 with a full - field digital image receptor 72 . the system allows imaging at any angle φ up to ± 27 degrees from the perpendicular to the detector 72 . as shown in fig7 the x - ray source 73 pivots from an arm 75 and about a point 74 above the detector 72 . the x - ray source 73 is stationary during the exposure and then is moved to the next position before obtaining the next image . preferably , the motion of the x - ray source is motorized and controlled by a computer ; however , the source can also be moved manually . in one embodiment of the invention , the digital detector 72 , fig7 is composed of a cesium iodide ( csi ) phosphor on an amorphous - silicon transistor / photodiode array by general electric corporation . this detector 72 has a pixel pitch of one hundred microns and the image readout time is three hundred milliseconds . the invention preferably incorporates an actuator or control mechanism 76 to determine and acquire a selected angle φ of the arm 75 . by way of example , the angle φ can be determined with a lucas control system products ( hampton , va .) high resolution precision inclinometer ( model 02538 - 01 ) with a range of ± 20 degrees and an accuracy of ± 0 . 1 degrees from zero to ten degrees , and ± 1 % for ten to twenty degrees . fig8 illustrates the acquisition of tomosynthesis projection images , according to the invention , from discrete x - ray source positions 82a - d along an arc 84 above the target breast 81 . for clarity of illustration , only four x - ray source positions 82 are shown . however , those skilled in the art should appreciate that the source 80 can be moved to any number of x - ray source positions 82 selectively . tomosynthesis images of any plane 83 in the breast 81 are then reconstructed using the methods described herein . in particular , the projection images 85a - d from the x - ray source positions 82a - d , respectfully , are transformed by a digital processor 86 to simulate images 87a - 8d that would be obtained from an x - ray source located at positions 82a &# 39 ;- 82d &# 39 ;. in these transformations , the detector 88 does not move ; rather , detector motion is simulated by shifting the images 87 in the computer 86 . the transformation and shifting algorithms are repeated , if desired , to reconstruct the tomography image 89 for any plane 83 along the z axis above the detector 88 . the mathematical reconstruction algorithms to obtain the image 89 were previously described . typical images obtained through a system of the invention can be made at 26 - 30 kvp , 10 - 40 mas per view , and six to ten views between about ± 20 degrees ( i . e ., range of the angle φ ). the summed mean glandular radiation dosage for the tomosynthesis images can be , for example , larger than or less than that of the conventional film - screen image . tomosynthesis images of the invention can be reconstructed , for example , on a sun microsystems sparc 20 workstation . after initial images are acquired for each angle φ , reconstructed tomography images at 1 . 5 to 3 mm spacing can be made to acquire in - focus images of entire breasts . in the preferred embodiment of the invention , images are acquired at discrete tube positions , rather than continuously as the tube moved such as in the prior art . consequently , the blurring of structures is not a smooth blurring typical of continuous image acquisition . for example , if nine images are used in the tomosynthesis data set , objects above or below the in - focus plane will be displayed as nine separate objects in the reconstructed image . each object will have approximately one ninth the contrast of the original object . for high contrast objects such as a large calcification , nine images of the calcification may be visible . image structures outside of the in - focus plane are essentially repeated in the direction of x - ray source motion . high frequency information is retained , although the contrast of out - of - plane structures in greatly reduced . the reconstructed image can be improved further . for example , self - masking tomosynthesis reduces low frequency information in the direction of the x - ray source motion . because of discrete sampling , other image processing methods can also be used to reduce the contribution of out - of - focus structures such as from planes above or below the in - focus plane . by way of example , one suitable technique identifies the plane of an out - of - focus structure such as a dense calcification and computes its contribution to all other planes . the image of the structure is then removed from all planes except the plane containing the structure &# 34 ; in - focus &# 34 ;. in accord with the invention , there are several potential uses of tomosynthesis for breast imaging . first , tomosynthesis may prove to be a valuable screening tool for women with radiographically dense breasts . the ability to &# 34 ; see into the middle of the breast &# 34 ; by blurring the superimposed structures can permit significant improvements in the sensitivity of mammography screening in the early detection of breast cancer . tomosynthesis according to the invention may also have the potential to detect cancers in dense breasts or multi focal cancers at a small fraction of the cost of magnetic resonance imaging . tomosynthesis of the invention may also be used for problem solving or diagnostic breast imaging . current mammographic techniques have poor specificity , since 70 - 90 % of all breast biopsies are negative , whereas tomosynthesis of the invention may provide the radiologist with an improved image of a potential lesion . the invention can also provide advantages in providing a radiologist with greater confidence in lesion classification and in decreasing the number of benign biopsies . the invention further facilitates performing the entire diagnostic evaluation of a lesion with diagnostic examinations , saving time and reducing patient radiation exposure . other advantages are also realized by the invention . for example , tomosynthesis according to the invention will provide three dimensional information concerning the dimensions of a lesion , whether micro calcifications are associated with a mass , and how they are distributed . the three dimensional distribution of calcifications is thought to be a useful indicator in discriminating benign versus malignant lesions and thus may also have a positive impact on clinical patient management . further , the tomosynthesis methods of the invention are adaptable to current mammography systems with minor modifications . by way of example , the image acquisition geometry of the invention has several advantages : 1 ) there are no moving parts near the breast or abdomen , 2 ) existing mammography machines may be easily altered to allow this type of motion , since many already provide the ability for the tube to move in an arc above the breast , and 3 ) a unit modified to do tomosynthesis imaging will still be completely useable for routine breast imaging , thereby eliminating the need for a dedicated tomosynthesis system . motorized motion of the x - ray tube allows for the acquisition of all of the tomosynthesis images in approximately three to five seconds , a time which is sufficiently rapid to make the system clinically applicable since these exposure times are similar to magnification views with current systems . the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof . the present embodiments are therefore to be considered in all respects as illustrative and not restrictive , the scope of the invention being indicated by the appended claims rather than by the foregoing description , and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein .
the invention includes both systems and methods for tomosynthesis x - ray imaging . an x - ray source is moved at various positions in an arc around an object , e . g ., a breast , to illuminate a stationary digital detector placed at an image plane behind the object . a digital image data processor collects data from the detector and a motion controller moves the source around the object . as the source moves along the arc , the detector generates , for a succession of points along the arc , a corresponding succession of image data sets , each set being representative of the intensity of x - rays incident on the detector for the then current position of the source . the image data processor is responsive to the image data sets to generate an output image signal representative of the x - ray absorption of points within the object region . the processor transforms the image plane data to a form corresponding to that which would have been generated had the x - ray source moved in a linear motion in a source plane parallel to the image plane , rather than an arc . the resultant image data thus corresponds in form to that produced by a conventional linear motion , e . g ., twinning - type , system , so that conventional techniques and equipment may be used to produce a final representation of the x - ray absorption of the object region .