Automatic tool alignment in a backscatter X-ray scanning system
View Patent ↗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.
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.