Automatic tool alignment in a backscatter x-ray scanning system

• US 9,055,886 B1
• Filed: 12/23/2011
• Issued: 06/16/2015
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: National Technology & Engineering Solutions Of Sandia LLC (Honeywell International Inc.)
• Original Assignee: Sandia Corporation (Martin Marietta Corporation)
• Inventors: Garretson, Justin, Hobart, Clinton G., Gladwell, Thomas S., Monda, Mark J.
• Primary Examiner(s): Midkiff, Anastasia
• Application Number:
  US13/336,146
• Time in Patent Office: 1,271 Days
• Field of Search: 378/65, 378/91, 378/95, 378/98, 378/98.6, 378/146, 378/98.8, 378162-164, 378193-198, 378/204, 378/205, 378/207, 378/210, 600/407, 600425-429
• US Class Current: 1/1
• CPC Class Codes: A61B 6/04 Positioning of patients; Tiltable beds or the like operating tables A61G13/00; operating chairs A61G15/00
• CPC Class Codes: A61B 6/08 Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
• CPC Class Codes: A61B 6/483 involving scattered radiation
• CPC Class Codes: B64D 7/08 Arrangements of rocket launchers or releasing meansrocket launchers per se, e.g. rocket pods, F41F3/06
• CPC Class Codes: F41C 27/06 Adaptations of smallarms for firing grenades, e.g. rifle grenades, or for firing riot-control ammunition; Barrel attachments therefor signal pistols F41C3/02
• CPC Class Codes: F41F 3/04 for rockets
• CPC Class Codes: F41H 11/136 Magnetic, electromagnetic, acoustic or radiation systems, e.g. ground penetrating radars or metal-detectors
• CPC Class Codes: F42B 30/00 Projectiles or missiles, not otherwise provided for, characterised by the ammunition class or type, e.g. by the launching apparatus or weapon used F42B10/00, F42B12/00, F42B14/00 take precedence
• CPC Class Codes: G01N 23/10 the material being confined in a container, e.g. in a luggage X-ray scanners
• CPC Class Codes: G01N 23/20 by using diffraction of the radiation by the materials, e.g. for investigating crystal structure; by using scattering of the radiation by the materials, e.g. for investigating non-crystalline materials; by using reflection of the radiation by the materials
• CPC Class Codes: G01N 23/203 Measuring back scattering
• CPC Class Codes: G01V 5/222 measuring scattered radiation
• CPC Class Codes: H01J 37/3045 Object or beam position registration

Abstract

Technologies pertaining to backscatter x-ray scanning systems are described herein. The backscatter x-ray scanning system includes an x-ray source, which directs collimated x-rays along a plurality of output vectors towards a target. A detector detects diffusely reflected x-rays subsequent to respective collimated x-rays impacting the target, and outputs signals indicative of parameters of the detected x-rays. An image processing system generates an x-ray image based upon parameters of the detected x-rays, wherein each pixel in the image corresponds to a respective output vector. A user selects a particular portion of the image, and a tool is positioned such that its directional axis is coincident with the output vector corresponding to at least one pixel in the portion of the image.

Claims

1. A system, comprising:

a backscatter x-ray system, comprising;

an x-ray source, the x-ray source transmitting collimated x-rays toward a target over a first vector; and

a detector that detects reflected x-rays that are diffusely reflected from the target responsive to the collimated x-rays impacting the target;

a tool that comprises a directional axis;

an angle motor that is operably coupled to the tool;

a display screen;

a user input device; and

a computing device that is in electronic communication with the detector, the angle motor, and the display screen, the computing device comprising;

an image processing component that receives signals from the detector that are indicative of parameters of the reflected x-rays detected by the detector, the parameters are at least one of attenuation of the reflected x-rays and magnitude of the reflected x-rays, the image processing component causing an x-ray image of the target to be displayed on the display screen based at least in part upon the signals received from the detector, wherein the x-ray image comprises a pixel with an intensity value that is based upon the signals received from the detector; and

a control component that receives a first signal from the user input device that indicates that a user has selected the pixel of the x-ray image displayed on the display screen, the control component transmitting a second signal to the angle motor responsive to receiving the first signal from the user input device, the second signal causing the angle motor to position the tool such that the directional axis of the tool is coincident with the first vector and aimed towards a region of the target corresponding to the pixel.

2. The system of claim 1, the tool being a diffuser that outputs a projectile towards the region of the target corresponding to the pixel subsequent to the directional axis of the tool being positioned coincident with the first vector.

3. The system of claim 1, wherein the target is a portion of a human body, the tool being a medical instrument that performs a medical procedure with respect to the region of the target corresponding to the pixel subsequent to the directional axis of the tool being positioned coincident with the first vector.

4. The system of claim 3, wherein the medical instrument is a radiation emitter, and wherein the medical treatment is provision of radiation to a region of the human body corresponding to the pixel.

5. The system of claim 1, further comprising a motor that is operably coupled to the x-ray source and the tool, wherein the x-ray source is positioned at a first position in three-dimensional space, wherein the control component transmits a third signal to the motor responsive to receiving the first signal from the user input device, and wherein the motor transitions the x-ray source to a second position in three-dimensional space and transitions the tool to the first position responsive to receiving the third signal.

6. The system of claim 1, further comprising a motor that is operably coupled to the tool, wherein the control component transmits a third signal to the motor responsive to receiving the first signal from the user input device, and wherein the motor positions the tool between the x-ray source and the target responsive to receiving the third signal from the control component.

7. The system of claim 1, further comprising a motor that is operably coupled to the tool, wherein the control component transmits a third signal to the motor responsive to receiving the first signal from the user input device, and wherein the motor positions the tool such that the x-ray source is between the tool and the target responsive to receiving the third signal from the control component.

8. The system of claim 1, the x-ray source being a point source that remains in a constant position in three-dimensional space when performing a scan of the target.

9. The system of claim 8, wherein the control component transmits the second signal based upon a known correlation between pixels in images generated by the image processing component and azimuth and elevation angles of the first vector relative to a reference point.

10. The system of claim 1, wherein a mobile robot comprises the backscatter x-ray system, the tool, the angle motor, and the computing device.

11. A method comprising:

receiving a selection of a pixel in an x-ray image of a concealed target, the x-ray image generated by a backscatter x-ray scanning system, a location of the pixel in the x-ray image corresponding to an output vector over which an x-ray source in the backscatter x-ray scanning system transmits collimated x-rays; and

responsive to receiving the selection of the pixel in the x-ray image, generating a signal that causes an angle motor to position a tool such that a directional axis of the tool is coincident with the output vector, wherein the selection of the pixel in the x-ray image is received from a computer-executable program that automatically selects the pixel based at least in part upon an intensity value of the pixel.

12. The method of claim 11, wherein the selection of the pixel in the x-ray image is received from a user input device.

13. The method of claim 11, further comprising:

responsive to generating the signal, transmitting a second signal that causes the tool to engage the target.

14. The method of claim 13, wherein the tool is a diffuser, and wherein the operation comprises directing a projectile from the diffuser towards a portion of the target that corresponds to the pixel.

15. The method of claim 11, wherein the x-ray source is located at a first location in three-dimensional space, and wherein the signal causes the x-ray source to transition to a second location in three-dimensional space and causes the tool to be transitioned to the first location.

16. The method of claim 11, wherein the x-ray source and the tool are attached to a moveable robot.

17. The method of claim 11, wherein the motor positions the tool on the vector between the x-ray source and the target.

18. The method of claim 11, wherein the tool is a medical instrument.

19. A computer-readable medium comprising instructions that, when executed by a processor, cause the processor to perform acts comprising:

receiving data from a detector that detects x-rays that have diffusely reflected from a concealed target, the x-rays originating from an x-ray source that directs collimated x-rays on a vector towards the concealed target;

subsequent to receiving the data from the detector, generating an x-ray image of the target, wherein the x-ray image comprises a pixel with an intensity value that is based upon the data received from the detector that identifies at least one of attenuation of the x-rays diffusely reflected and magnitude of the x-rays diffusely reflected, wherein a location of the pixel in the image corresponds to the vector;

receiving a selection of the pixel in the x-ray image;

responsive to receiving the selection of the pixel in the x-ray image, transmitting a first signal to a motor that causes the motor to position a tool relative to the target such that a directional axis of the tool is coincident with the vector;

receiving a second signal that indicates that the directional axis of the tool is coincident with the vector; and

subsequent to receiving the second signal, transmitting a third signal to the tool that causes the tool to engage the target on the vector, such that the tool engages the target at a location thereon that corresponds to the pixel in the x-ray image.