1

Cone Beam Reconstruction

Jiang Hsieh, Ph.D.
Applied Science Laboratory, GE Healthcare Technologies
2
Image Generation

Reconstruction of images from projections.
Reconstruction of images from projections.

textbook reconstruction
textbook reconstruction

advanced acquisition (helical, multi
advanced acquisition (helical, multi
-
-
slice)
slice)

advanced application (cardiac, perfusion)
advanced application (cardiac, perfusion)

Formulation of 2D images to 3D volume.
Formulation of 2D images to 3D volume.
Presentation
reconstruction
3
Textbook Reconstruction

The mathematical foundation of CT can be traced
The mathematical foundation of CT can be traced
back to 1917 to Radon.
back to 1917 to Radon.

The algorithms can be classified into two classes:
The algorithms can be classified into two classes:
analytical and iterative.
analytical and iterative.

Some of the commonly used reconstruction
Some of the commonly used reconstruction
formula was developed in the late 70s and early
formula was developed in the late 70s and early
80s.
80s.

With the introduction of multi
With the introduction of multi
-
-
slice helical CT,
slice helical CT,
new cone beam reconstruction algorithms are
new cone beam reconstruction algorithms are
developed.
developed.
4
CT Data Measurement
-Under Ideal Conditions

x
x
-
-
ray attenuation follows Beers law.
ray attenuation follows Beers law.
I
o
I I e
o
x
=

x

I
o
x x x
o
n
e e e I


2 1
x

4

n
( ) x
o
n
e I
+ + +
=
2 1
x-ray
tube
, 0 x
detector

= dx x
I
I
P
o
) ( ln
5
Ideal Projections

The measured data are not line integrals of
The measured data are not line integrals of
attenuation coefficients of the object.
attenuation coefficients of the object.

beam hardening
beam hardening

scattered radiation
scattered radiation

detector and data acquisition non
detector and data acquisition non
-
-
linearity
linearity

patient motion
patient motion

others
others

The data need to be calibrated prior to the
The data need to be calibrated prior to the
tomographic reconstruction to obtain artifact
tomographic reconstruction to obtain artifact
-
-
free
free
images.
images.
6
Sampling Geometries

The sampling geometry of CT scanners can be described
The sampling geometry of CT scanners can be described
three configurations.
three configurations.

Due to time constraints, we will not conduct in
Due to time constraints, we will not conduct in
-
-
depth
depth
discussions on each geometry.
discussions on each geometry.
detector
source
detector
source
detector
source
parallel beam parallel beam fan beam fan beam cone beam cone beam
7
Fourier Slice Theorem
(Central Slice Theorem)
2D FT
) , ( y x f
dy dx e y x f v u F
vy ux i

+
=
) ( 2
) , ( ) , (

= dy y x f x p ) , ( ) (

= dxdy e y x f u P
ux i 2
) , ( ) (

= dxdy e y x f u P
ux i 2
) , ( ) (
0
2000
4000
1 255
0
500
1000
1 255
FT
=
v=0 PROJECTION
0
500
1000
1 255
8
Fourier Slice Theorem
(central slice theorem)

Fourier transform of projections at different angles fill up
Fourier transform of projections at different angles fill up
the Fourier space.
the Fourier space.

Inverse Fourier transform recovers the original object.
Inverse Fourier transform recovers the original object.
2D FFT
FFT
9
Implementation Difficulty

Due to sampling pattern, direct implementation of
Due to sampling pattern, direct implementation of
the Fourier slice theorem is difficult.
the Fourier slice theorem is difficult.
Cartesian grid Cartesian grid
sample location sample location
(Polar grid) (Polar grid)
10
Filtered Backprojection

The filtered backprojection formula can be derived from
The filtered backprojection formula can be derived from
the Fourier transform pair, coordinate transformation, and
the Fourier transform pair, coordinate transformation, and
the Fourier slice theory:
the Fourier slice theory:
pre pre- -processed data processed data
backprojection
filter the data filter the data
backprojection backprojection

=

2
) ( d d e u P
t j

0
) , ( y x f
filtering
parallel beam reconstruction
11
Filter Implementation

The filter as specified does not exist.
The filter as specified does not exist.

=

d e t k
t j 2
) (

The filter needs to be band
The filter needs to be band
-
-
limited:
limited:

=
W
W
t j
d e t k
2
) (
K( K( ) )

- -w w
w w
12
Filtered Backprojection
-an intuitive explanation

Filtered backprojection uses weighting function to
Filtered backprojection uses weighting function to
approximate ideal condition.
approximate ideal condition.
weighting function
weighting function
for approximation
ideal frequency data
from one projection
actual frequency data
from one projection
13
Filtering

Consider an example of reconstructing a phantom object of
Consider an example of reconstructing a phantom object of
two rods.
two rods.
Object Object
Original Sinogram Original Sinogram Filtered Sinogram Filtered Sinogram
v
i
e
w
s
single
projection
detector sample
14
Backprojection

Backprojection is performed by painting the intensity of the
Backprojection is performed by painting the intensity of the
entire ray path with the filtered sample
entire ray path with the filtered sample
.
.
filtered projection
15
Backprojection
0 0
o o
- -30 30
o o
0 0
o o
- -60 60
o o
0 0
o o
- -90 90
o o
0 0
o o
- -150 150
o o
0 0
o o
- -120 120
o o
0 0
o o
- -180 180
o o
16
Fan Beam Reconstruction
pre pre- -processed data processed data
filter the data filter the data
backprojection backprojection

Each ray in a fan beam can be specified by
Each ray in a fan beam can be specified by

and
and

.
.

Reconstruction process is similar to parallel reconstruction
Reconstruction process is similar to parallel reconstruction
except additional apodization step and weighting in the
except additional apodization step and weighting in the
backprojection.
backprojection.
fan beam geometry
x
y


Apodizaton Apodizaton
fan beam reconstruction
17
Equiangular Fan Beam Reconstruction

2
0
2
cos ) ' ( ) , ( ) , (
m
m
d D h p d L y x f

The projection is first multiplied by the cosine of the
The projection is first multiplied by the cosine of the
detector angle.
detector angle.

In the backprojection process, the filtered sample is
In the backprojection process, the filtered sample is
scaled by the distance to the source.
scaled by the distance to the source.
18
Fan Beam Reconstruction

Alternatively, the fan beam data can be converted to a set of
Alternatively, the fan beam data can be converted to a set of
parallel samples. Parallel reconstruction algorithms can be
parallel samples. Parallel reconstruction algorithms can be
used for image formation.
used for image formation.
detector angle,
p
r
o
j
e
c
t
i
o
n

a
n
g
l
e
,

=
0

p
a
r
a
l
l
e
l

s
a
m
p
l
e
s
19
Helical Scanning

In helical scanning, the patient is translated at a constant
In helical scanning, the patient is translated at a constant
speed while the gantry rotates.
speed while the gantry rotates.

Helical pitch:
Helical pitch:
d
q
h =
distance gantry travel in one rotation
collimator aperture
q q
20
Helical Scanning

Advantages of helical scanning
Advantages of helical scanning

nearly 100% duty cycle (no inter
nearly 100% duty cycle (no inter
-
-
scan delay)
scan delay)

improved contrast on small object
improved contrast on small object
(reconstruction at any z location)
(reconstruction at any z location)

improved 3D images (overlapped
improved 3D images (overlapped
reconstruction)
reconstruction)
z z
21
Helical Scanning

The helical data collection is inherently inconsistent. If
The helical data collection is inherently inconsistent. If
proper correction is not rendered, image artifact will result.
proper correction is not rendered, image artifact will result.
reconstructed helical scan without correction
22
Helical Reconstruction

The plane of reconstruction is typically at the mid
The plane of reconstruction is typically at the mid
-
-
point
point
between the start and end planes.
between the start and end planes.

Interpolation is performed to estimate a set of projections at
Interpolation is performed to estimate a set of projections at
the plane of reconstruction.
the plane of reconstruction.
data sampling helix data sampling helix
plane of reconstruction plane of reconstruction
start of data set plane start of data set plane
end of data set plane end of data set plane
23
Helical Reconstruction
-360
o
interpolation

Samples at the plane
Samples at the plane
-
-
of
of
-
-
reconstruction is estimated using
reconstruction is estimated using
two projections that are 360
two projections that are 360
o o
apart.
apart.
) 2 , ( ) 1 ( ) , ( ) , ( ' + + = p w wp p
data sampling data sampling
helix helix
p(,) p(,+2)
p( p(, ,) )
x x
q q
where
where
q
x q
w

=
24
Helical Reconstruction
-180
o
interpolation

In fan beam, each ray path is sampled by two conjugate
In fan beam, each ray path is sampled by two conjugate
samples that are related by:
samples that are related by:

+ + =
=


2 '
'
For helical scan, these two
samples are taken at
different z location because
of the table motion.
25
Helical Reconstruction
-180
o
interpolation
Linear interpolation is used to estimate the projection
samples at the plane of reconstruction.
Because samples are taken at different view angles, the
weights are and dependent.
plane of reconstruction plane of reconstruction
p p
k k
( (, ,) )
p p
n n
( (- -,+ ,+ 2 2) )
) 2 , ( ) 1 ( ) , ( + + p w wp
z z- -axis axis
26
Artifact Suppression

Helical reconstruction algorithm effectively suppresses
Helical reconstruction algorithm effectively suppresses
helical artifacts.
helical artifacts.
without
helical
correction
with
helical
correction
27
Multi-slice CT

Multi
Multi
-
-
slice CT contains multiple
slice CT contains multiple
detector rows.
detector rows.

For each gantry rotation, multiple
For each gantry rotation, multiple
slices of projections are acquired.
slices of projections are acquired.

Similar to the single slice
Similar to the single slice
configuration, the scan can be taken in
configuration, the scan can be taken in
either the step
either the step
-
-
and
and
-
-
shoot mode or
shoot mode or
helical mode.
helical mode.
x x- -ray source ray source
detector detector
28
Advantages of Multi-slice

Large coverage and
Large coverage and
faster scan speed
faster scan speed

Better contrast
Better contrast
utilization
utilization

Less patient motion
Less patient motion
artifacts
artifacts

Isotropic spatial
Isotropic spatial
resolution
resolution
29
Cone Beam Reconstruction
FDK Algorithm
Each ray in a cone beam can be specified by , , and.
FDK algorithm was derived from fan-beam algorithm by
studying the impact of cone angle to the rotation angle.
z
pre pre- -processed data processed data
filter the data along row filter the data along row
3D backprojection 3D backprojection

x
y
x
weighting weighting
fan beam reconstruction
30
Cone Beam Artifact
center
slice
z
edge
slice
multi-slice
31
Multi-slice Helical

When acquiring data in a helical mode, the N detector rows
When acquiring data in a helical mode, the N detector rows
form N interweaving helixes.
form N interweaving helixes.

Because multiple detector rows are used in the data
Because multiple detector rows are used in the data
acquisition, the acquisition speed is typically higher.
acquisition, the acquisition speed is typically higher.
d
q
h =
distance gantry travel in one rotation
collimator aperture
multi-slice
d
plane-of-reconstruction
32
Cone Beam Helical
Reconstruction
Exact algorithms produce mathematically exact solutions
when input projections are perfect.
Katsevich
Grangeat
Rebin PHI
FBP PHI
Approximate algorithms, although non-exact, generate
clinically accurate images.
FDK-type
N-PI
CB-virtual circle
Tilted Plane
ZB
33
Cone Beam Algorithm
small cone angle

From a computational point of view, 3D backprojection is
From a computational point of view, 3D backprojection is
more expensive than 2D backprojection.
more expensive than 2D backprojection.

To overcome the discrepancy, tilted planes are defined as
To overcome the discrepancy, tilted planes are defined as
the plane of reconstruction so that 2D reconstruction
the plane of reconstruction so that 2D reconstruction
algorithm can still be used.
algorithm can still be used.
source
helix
z z
tilted plane
conventional POR
interpolated
sample
plane of
reconstruction
34
Tilted Plane Reconstruction

For small cone angles, the flat plane and source helix
For small cone angles, the flat plane and source helix
match quite well.
match quite well.

When the same weighting function is used,
When the same weighting function is used,
reconstructions with the tilted plane produces better
reconstructions with the tilted plane produces better
image quality than the conventional reconstruction plane
image quality than the conventional reconstruction plane
with 2D backprojection.
with 2D backprojection.
tilted plane conventional plane
35
Cone Beam Reconstruction
moderate cone angle

For larger cone angles, tilted plane
For larger cone angles, tilted plane
reconstruction is no longer sufficient,
reconstruction is no longer sufficient,
due to the larger difference between the
due to the larger difference between the
flat plane and the curved helix.
flat plane and the curved helix.

FDK
FDK
-
-
type algorithm with appropriate
type algorithm with appropriate
weighting is often used.
z
weighting is often used.
helical
path
z z
tilted plane
conventional POR
multi-slice
36
FDK-type Algorithm

FDK
FDK
-
-
type algorithm can be combined with different
type algorithm can be combined with different
weighting functions to optimize its performance in different
weighting functions to optimize its performance in different
performance parameters.
performance parameters.

Cone beam artifacts are suppressed but not eliminated.
Cone beam artifacts are suppressed but not eliminated.
original FDK-based
37
Tangential Filtering

x
y
z
S



O
tangential filtering
conventional filtering
Conventional filtering process is carried out along detector
rows.
Tangential filtering is carried out along the tangential
direction of the source trajectory.
38
Tangential Filtering
conventional filtering tangential filtering
39
3D Helical Weighting
z

The helical weighting

function changes with
projection angle ,
detector angle , and cone
angle .
Experiments show that 3D
weighting function
provides significant
improvement in image
quality.
40
3D Helical Weighting
off the shelf
recon
3D weighting
more expensive
exact recon
41
Slice Thickness Change With
Algorithm

Slice thickness can be selected
Slice thickness can be selected
by modifying the reconstruction
by modifying the reconstruction
process.
process.

By low
By low
-
-
pass filtering in the z
pass filtering in the z
-
-
direction, the slice sensitivity
direction, the slice sensitivity
profile can be broadened to any
profile can be broadened to any
desired shape and thickness.
desired shape and thickness.

From an image artifact point of
From an image artifact point of
view, images generated with the
view, images generated with the
thinner slice aperture is better.
Filtering Filtering
z
z
thinner slice aperture is better.
42
Example

Z filtering can be applied in either the projection domain or
Z filtering can be applied in either the projection domain or
the image domain.
the image domain.

In general, z
In general, z
-
-
smoothing provides artifact suppression
smoothing provides artifact suppression
capability.
capability.
16x0.625mm detector aperture at 1.75:1 helical pitch
FWHM=0.625mm FWHM=2.5mm
43
Cardiac Scans

The most challenging problem in cardiac scanning is
The most challenging problem in cardiac scanning is
motion.
motion.

Unlike respiratory motion, cardiac motion cannot be
Unlike respiratory motion, cardiac motion cannot be
voluntarily controlled.
voluntarily controlled.

For motion suppression, we could either reduce the
For motion suppression, we could either reduce the
acquisition time and/or acquire the data during the
acquisition time and/or acquire the data during the
minimum cardiac motion.
minimum cardiac motion.

In cardiac motion, there are relative quiescent period:
In cardiac motion, there are relative quiescent period:
diastolic phase of the heart motion.
diastolic phase of the heart motion.
44
Halfscan

In fan beam, each ray path is sampled by two conjugate samples.
In fan beam, each ray path is sampled by two conjugate samples.

We need only 180 + fan angle data for complete reconstruction.
We need only 180 + fan angle data for complete reconstruction.
360
o
180
o
+fan angle
0
o
detector channels
45
Single-cycle Cardiac Reconstruction

Projection data used in the reconstruction is selected
Projection data used in the reconstruction is selected
based on the EKG signal to minimize motion artifacts.
based on the EKG signal to minimize motion artifacts.
-350
-300
-250
-200
-150
-100
-50
0 0.5 1 1.5 2 2.5 3 3.5 4
t ime (sec)
m
a
g
n
i
t
u
d
e
acquisition
interval for
image No. 1
acquisition
interval for
image No. 2
acquisition
interval for
image No. 3
acquisition
interval for
image No. 4
46
Cardiac Imaging
Bypass Graft Follow-Up
Gated Cardiac
20cm in 11s @ 0.625mm
curved reformation
47
Summary

CT Image reconstruction techniques have been
CT Image reconstruction techniques have been
continuously developed over the years to match the
continuously developed over the years to match the
advancement in new acquisition hardware and new
advancement in new acquisition hardware and new
acquisition techniques.
acquisition techniques.

With image explosion from the new CT scanners,
With image explosion from the new CT scanners,
advanced visualization tools are needed to improve the
advanced visualization tools are needed to improve the
productivity of radiologists. Faster and better tools are
productivity of radiologists. Faster and better tools are
constantly developed.
constantly developed.
48
References
J . Hsieh, J . Hsieh, Computed Tomography: Computed Tomography:
principles, design, artifacts, and principles, design, artifacts, and
recent advances recent advances, SPIE Press, 2002. , SPIE Press, 2002.
J . Hsieh, CT Image J . Hsieh, CT Image
Reconstruction, in RSNA Reconstruction, in RSNA
Categorical Course in Categorical Course in Diagnostic Diagnostic
Radiology Physics: CT and US Radiology Physics: CT and US
Cross Cross- -sectional Imaging 2000 sectional Imaging 2000, ed. , ed.
L. W. Goldman and J . B. L. W. Goldman and J . B. Fowlkes Fowlkes, ,
RSNA, 2000; pp. 53 RSNA, 2000; pp. 53- -64. 64.
A. A. Kak Kak and M. and M. Slaney Slaney, , Principles of Principles of
Computed Computed Tomographic Tomographic Imaging Imaging, ,
IEEE Press, 1988. IEEE Press, 1988.