Automatic tool alignment in a backscatter X-ray scanning system

• US 9,186,116 B2
• Filed: 05/13/2015
• Issued: 11/17/2015
• 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:
  US14/711,518
• Publication Number:
  US 20150247946A1
• Time in Patent Office: 188 Days
• Field of Search: 378/65, 378/91, 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 medical device 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 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.

2. The method of claim 1, 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 of the pixel.

3. The method of claim 1, wherein the selection of the pixel in the x-ray image is received from a user input device.

4. The method of claim 1, further comprising:

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

5. The method of claim 4, 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.

6. The method of claim 1, 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.

7. The method of claim 1, wherein the x-ray source and the tool are attached to a moveable robot.

8. The method of claim 1, wherein the motor positions the tool on the vector between the x-ray source and the target.

9. The method of claim 1, wherein the tool is a medical instrument.

10. 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 medical instrument such that a directional axis of the medical instrument is coincident with the output vector.

11. The method of claim 10, 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 of the pixel.

12. The method of claim 10, wherein the selection of the pixel in the x-ray image is received from a user input device.

13. The method of claim 10, further comprising:

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

14. The method of claim 10, 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 medical instrument to be transitioned to the first location.

15. The method of claim 10, wherein the x-ray source and the medical instrument are attached to a moveable robot.

16. The method of claim 10, wherein the motor positions the medical instrument on the vector between the x-ray source and the target.

17. The method of claim 10, wherein the medical instrument is a laser or scalpel.

18. 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 that is based upon the data received from the detector, 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 medical instrument such that a directional axis of the medical instrument is coincident with the output vector.