Design and Performance Characteristics of Digital Radiographic Receptors J. Anthony Seibert, Ph.D. University of California, Davis Medical Center Sacramento, California Learning Objectives • Describe digital detector technologies for radiography and mammography • Review functional attributes • Compare detectors in terms of IQ and dose • Summarize advantages/disadvantages Presentation Outline • Acquisition System Overview • Digital Detector Attributes • Digital Detector Technologies • Factors affecting Image Quality & Dose • Clinical Implementation and QC 1 Image acquisition, display, & interpretation X -rays X-rays Patient Detector Computer kVp Size Efficiency Digitization kVp Size Efficiency Digitization mAs Restraints mAs Restraints Resolution Resolution Preprocessing Preprocessing Tube Tube filtration filtration Exam Exam type type Scatter Scatter grid grid Postprocessing Postprocessing Collimation DQE Configuration Collimation ESE, ESE, dose dose DQE Configuration PACS Human Data Radiologist Data delivery delivery Radiologist Data Physician Data display display Physician Experience Data storage Experience Data storage Condition Workflow Condition Workflow Acquisition to Interpretation: Image Quality • Image quality is an indicator of the relevance of information presented in the image to the task we seek to accomplish using the image • Considered in terms of portrayal of – Normal anatomy – Depiction of potential pathology • Not necessarily the ““same” same” same” in all images • A constraining factor is radiation dose Image Quality • Screen-film radiography Screen Screen-film – – – IQ ““built built in” in” to the characteristics of the film Film is acquisition, display and archive medium Dose is determined by screen-film speed screen screen-film • Digital radiography – – – IQ dependent on Signal to Noise Ratio (SNR) Separation of acquisition, display, and archive Dose is variable and dependent on required SNR 2 Presentation Outline • Acquisition System Overview • Digital Detector Attributes • Digital Detector Technologies • Factors affecting Image Quality & Dose • Clinical Implementation and QC Conventional screen/film detector Transmitted xx-rays through patient Optical Density 1. Acquisition, Display, Archiving Log Relative Exposure Film processing: light to optical density Film Gray Scale encoded on film Intensifying Screens x-rays → light Digital XX-ray Detector 1. Acquisition Digital Pixel Matrix 2. Display Digital to Analog Conversion Transmitted xx-rays through patient Digital processing Analog to Digital Conversion Charge collection device X-ray converter x-rays → electrons 3. Archiving 3 Analog versus Digital Spatial Resolution Exposure Latitude M o d u latio n MTF of pixel aperture (DEL) 1 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 100 µm Film Signal output Detector Element, “DEL” DEL” Sampling Pitch 200 µm Digital 100:1 1000 µm 10000:1 0.1 0 0 1 2 3 4 5 6 7 8 9 10 11 Log relative exposure Freque ncy (lp/mm) Digital Detectors • Separation of acquisition, display and archive • Digital acquisition is not contrast limited – Image processing • Signal to Noise Ratio (SNR) and Contrast to Noise Ratio (CNR) impacts ““image image quality” quality” • Detector DQE determines the exposure required to achieve a required SNR Digital Detectors • Sampling and quantization (new noise sources) • Detector pre-processing (correct imperfections) pre pre-processing • Image post-processing (enhance image contrast) post post-processing 4 Presentation Outline • Acquisition System Overview • Digital Detector Attributes • Digital Detector Technologies • Factors affecting Image Quality & Dose • Clinical Implementation and QC Digital Detector Technologies • Photostimulable Storage Phosphor (PSP or CR) • Charge Coupled Device (CCD) • Complementary MetalOxide Semiconductor (CMOS) • Thin-FilmThin Film-Transistor array (TFT) Thin-Film-Transistor • Photon counters (not discussed) Computed Radiography (CR) ...is the generic term applied to an imaging system comprised of: Photostimulable Storage Phosphor to acquire the x-ray projection image xx-ray CR Reader to extract the electronic latent image Digital electronics to convert the signals to digital form 5 CR Detector • Photostimulable Storage Phosphor (PSP) • Direct replacement for S/F; positioning flexibility Phosphor Plate Cassette Holder CR Image Acquisition 1. X-ray Exposure Patient 5. unexposed 2. Image Reader X-ray system 3. Image Scaling Computed Radiograph 4. Image Record exposed Phosphor plate Image Acquisition CR QC Workstation Patient information Latent image produced CR Reader Latent image extracted DICOM / PACS Laser film printer Display / Archive 6 CR: How does it work? Photostimulated Luminescence τ phonon Conduction band tunneling τ recombination 4f 6 5d Laser stimulation F/F+ e- PSL 3.0 eV Energy Band BaFBr 8.3 eV 2.0 eV τ Eu 4f 7 / Eu 3+ Eu 2+ e Valence band PSLC complexes (F centers) are created in numbers proportional to incident xx-ray intensity Incident x-rays Stimulation and Emission Spectra Relative intensity BaFBr: Eu2+ Stimulation 1.0 Emission Optical Barrier 0.5 Diode 680 nm 0.0 800 1.5 700 1.75 600 2 500 2.5 400 300 λ (nm) 3 4 Energy (eV) Photostimulated Luminescence Incident Laser Beam Light guide PSL Signal PMT Exposed Imaging Plate Light Scattering Photostimulated Luminescence Protective Layer Phosphor Layer Laser Light Spread "Effective" readout diameter Base Support 7 CR: Latent Image Readout Reference detector f -θ lens Cylindrical mirror Light channeling guide Laser Source Output Signal Polygonal Mirror ADC ADC PMT Laser beam: Scan direction x= 1279 image y=To1333 z=processor 500 Plate translation: SubSub-scan direction SubSub-scan Direction Plate translation Typical CR resolution: 35 x 43 cm -- 2.5 lp/mm (200 µm) 24 x 30 cm -- 3.3 lp/mm (150 µm) 18 x 24 cm -- 5.0 lp/mm (100 µm) Screen/film resolution: Scan Direction 7-10 lp/mm (80 µm - 25 µm) Laser beam deflection Phosphor Plate Cycle PSP x-ray exposure Base support plate exposure: create latent image reuse laser beam scan plate readout: extract latent image light erasure plate erasure: remove residual signal 8 CR Innovations • High-speed line scan systems (<10 sec) High High-speed • Dual-side readout capabilities (increase DQE) Dual Dual-side • Structured phosphors • Mammography applications ???? • Low cost table-top CR readers table table-top CR “lineline-scan” scan” Laser Line Source Linear CCD Array Shaping Lens Lens Array Sub-scan Direction Line excitation Linear Laser Source PSL Stationary IP 5 sec scan Linear CCD Array Side View Light Collection Lens Charge Coupled Device: CCD • • • • • • X -rays on scintillator X-rays Light collection: optical or fiberoptical Emitted light to CCD photo-sensor photo photo-sensor Electronic charge created on silicon Charge transfer moves packets Charge to voltage conversion & amplification 9 CCD Charge Collection Light photons -Vo +Vo -Vo Transparent polysilicon “gate” gate” electrode Silicon dioxide PhotoPhotogenerated electrons e- Potential Potential Barrier Barrier Potential eeWell eee ee- eeee- Silicon substrate CCD charge transfer • Voltage potential of gate electrode pushes electrons towards collection amplifiers • • • 24 volts bias for good transfer efficiency Larger pixel dimension has inefficient transfer Pixel dimensions: – 8, 10, 15, 20 micron • Form factor of CCD array very small Light emission & Optical coupling Scintillator Light Large loss of light!!! Optical coupling inefficiency X-rays CCD Detector Lens Demagnification >10:1 10 CCD detector • Silicon chip with photosensitive layer High fill factor ~ 100 % Good light conversion efficiency (~85%) 2.5 cm Scintillator 5 cm 5 cm 2.5 cm 35 cm x 43 cm Larger CCD arrays Optical de-magnification Lens efficiency? Secondary Quantum Sink CCD acquisition and readout Parallel CCD clocks Masking Pixel Electrode Silicon dioxide Horizontal Readout Register Serial clocks Serial Register CMOS Complementary Metal Oxide Semiconductor • ““RAM” RAM” RAM” with photodiode converter • Random access readout • Low voltage operation (5V) • ? NOISE …… • Large FOV detector available (tiled CMOS) • High sampling resolution possible 11 DECODER LATCHES COUNTER ROW DRIVERS CMOS detector on a chip PIXEL ARRAY COLUMN SIGNAL CONDITIONING CLK RUN DEFAULT LOAD ADDRESS DATA +5V TIMING AND CONTROL VS_OUT VR_OUT DECODER READ COUNTER FRAME LATCHES Available: “Tiled” matrix array of CMOS in large FOV Array of tiled CMOS sensors Xrays Scintillator Fiberoptic plate Microlens optics CMOS sensors Controller electronics 7000x7000 element array, 17” 17” x 17” 17” FOV for one implementation Amorphous Silicon TFT active matrix array Amplifiers – Signal out G1 Active Area G2 Dead Zone G3 D1 Data lines CR1 D2 CR2 D3 CR3 Gate switches ThinThin-Film Transistor Storage Capacitor Charge Collector Electrode Charge Amplifiers Analog to Digital Converters 12 Amorphous Silicon TFT active matrix array Amplifiers – Signal out G1 Expose to xx-rays G2 Store the charge G3 Active Readout Activate gates Amplify charge Convert to Digital Indirect detector: a-Si TFT/ CsI phosphor X-ray Structured XX-ray phosphor (CsI) Light Source Gate Drain G S + D Adjacent gate line TFT Photodiode Charge Storage capacitor X-rays to light to electrons to electronic signal Direct detector: a-Se / TFT array Incident xx-rays High voltage + - - - - - + - + + - + + + +++ + - Top electrode Dielectric layer Selenium photoconductor Charge collection electrode (pixel size) ThinThin-FilmFilm-Transistor Storage capacitor Glass substrate Stored charge X-rays to electrons to electronic signal 13 Presentation Outline • Acquisition System Overview • Digital Detector Attributes • Digital Detector Technologies • Factors affecting Image Quality & Dose • Clinical Implementation and QC Image acquisition and display Acquisition Uncorrected “Raw” Raw” PostPost-processing PrePre-processing Corrected “Raw” Raw” X-ray system - Spectrum - Detector “For display” display” enhanced Outside images Display ? Image comparisons Enhancement: - Equalization - Contrast/Detail Dead pixels Column/line defects Shading/flatShading/flat-fielding Signal amplification Hard/Soft Copy Perceptual linearization VOI LUT -- DICOM GSDF Hanging / Viewing Signal to Noise Ratio (SNR) • Determines detectability of an object • The signal is derived from the x-ray quanta xx-ray • The noise is from a variety of sources: – – – – – X -ray quantum statistics X-ray Electronic noise Fixed pattern noise Sampling noise (aliasing) Anatomical noise • System pre and post processing are crucial 14 Pre-Processing Pre Pre-Processing Two major steps correct and adjust for: • Detector / x-ray system flaws xx-ray – Pixel defects – Sensitivity variations – Offset gain variations • Wide detector dynamic range – – – Identify image location Scale image data Optimize quantization levels for ““post-processing” postpost-processing” processing” Preprocessing, Step 1: correct flaws • Detector origin – – – – stationary patterns (structured), fixed-point noise fixed fixed-point thickness non-uniformities non non-uniformities drop-outs, dead pixels, dead columns drop drop-outs, dark current variation • Equipment origin – heel effect – stationary patterns/artifacts (e.g., tube filter, grid) Pre-processing schemes Pre Pre-processing • 11-D -D shading correction – Computed Radiography (CR) – Linear CCD • 22-D -D flat-field correction flat flat-field – Area CCD, CMOS – TFT arrays 15 Shading correction techniques: 11-D data Apply offset correction to uniform exposures, n averages: IO (x) = I(x)i - O(x)i ; i = 1, n Create normalized shading correction array: Sh(x) = IO x IO (x) Implement shading correction (line by line): C(x) = (I(x) - O(x) ) × Sh ( x) 1 -D shading correction 1-D Response PrePre-processing Corrected response Scan Direction Low noise, inverted, normalized correction trace 2 -D flat-field correction flat 2-D flat-field • Non-functioning components: Non Non-functioning – Dead pixels in columns and/or rows • Intensity variations: – Uneven phosphor coating – Optical coupling (vignetting, barrel distortion) – Converter sensitivity • Variation in offset and gain of sub-panels sub sub-panels • Variation in black-level correction black black-level 16 Uncorrected flat-panel image flat flat-panel Background signal +,column defects row defects pixel defects SubSub-panel offset gain variation FlatFlat-field techniques: 2D image (fixed detector) Apply offset and average of <n> uniform exposures: IO (x, y) = I(x, y) i - O(x, y) i ; i = 1, n Create normalized flatflat-field correction matrix: IO FF(x, y) = IO (x, y) Implement flatflat-field correction on acquired image: C(x, y) = (I(x, y) - O(x, y) ) × FF ( x, y) 2 -D Flat-field correction Flat 2-D Flat-field PrePre-processing Raw, Raw Background variations Column, line defects “Del” Del” dropouts Correction “mask” mask” Avg, inverted background Column, line, pixel repair Normalized values Raw PrePre-processed image Image pixel value to exposure relationship? Processed Contrast, resolution enhancement; proprietary processing 17 Preprocessing, Step 2: find / scale image Determine Collimation Collimation Border Shift and Subtract Create / analyze Histogram Distribution Collimated area Direct x-ray area Frequency Anatomy Pixel value Useful signal The shape is dependent on radiographic study, positioning and technique Data conversion Grayscale transformation Input to output digital number 1,000 Output digital number Relative PSL Exposure into digital number 102 101 100 10-1 511 1023 10-1 100 101 102 103 0 Raw Digital Output Exposure input 800 600 400 200 0 200 600 1,000 Raw Input digital number Histogram min max 1. Find the signal 2. Scale to range 3. Create film looklook-alike 18 Histogram: pediatric image to 8323 to 9368 Frequency 800 600 400 200 0 0 200 400 600 800 1000 Digital value Useful image range for anatomy PrePre-processed “raw” raw” image Scaled and inverted: “For Processing” Processing” image Data conversion for overexposure Exposure into digital number Relative PSL Reduce overall gain 102 101 100 10-1 Exposure input 10-1 100 101 102 103 0 511 1023 Raw Digital Output overexposure min max (scaled and log amplified) 19 Screen – Film Identical exposure Digital Data conversion for wide latitude Exposure into digital number: less kV dependence Change gradient (auto mode) Relative PSL 102 101 100 10-1 Exposure input 10-1 100 101 102 103 0 511 1023 Raw Digital Output low kVp (scaled and log amplified) (broad histogram) min max Contrast Enhancement • Optimize image contrast via non-linear non non-linear transformation curves • Unprocessed images: ““subject subject contrast” contrast” • Proprietary processing: – – – – ““Gradation Gradation processing” processing” (Fuji) ““Tone Tone scaling” scaling” (Kodak) ““MUSICA” MUSICA” MUSICA” (Agfa) …….. …….. And others by the various manufacturers 20 Look-upLook up-table transformation Look-up-table Output digital number 1,000 M L E A 800 600 Fuji System Example LUTs 400 200 0 0 200 400 600 800 1,000 Input digital number Types of image output: Raw “PrePre-processed” processed” No scaling No flatfield Unprocessed “For processing” processing” CAD VOI LUT Contrast Enhanced “For presentation” presentation” Proprietary Limited variability VOI LUT: a more flexible approach • Value Of Interest Look-UpLook Up-Table (DICOM) Look-Up-Table • Adjustment of contrast, brightness with non-linear non non-linear LUT adjustment • Provides for manipulation of raw data ((“For “For Processing” Processing” images) • Universal support (modalities, PACS) not available • Future universal image processing workstation? 21 DICOM VOI LUT • Configure CR/DX modality to send specific VOI LUT – Eliminates ““burned-in” burnedburned-in” in” LUT LUT and potential information loss • PACS must be able to use and vary VOI LUT Adjustable VOI LUT 4095 0 Raw image histogram values P - values Adapted from Mike Flynn presentation Spatial Frequency Processing ““Edge Edge Enhancement” Enhancement” Solid: original response response MTF: original Edge Enhanced: Difference: Response Response Dash: low- pass filtered Difference +filtered Original Original low low low low Sum Original Blurred high high high high Spatial frequency Difference Edge enhanced Multi-band Frequency Processing Multi Multi-band NonNon-linear weighting Optimize subsubband weighting NonNon-linear weighting NonNon-linear weighting NonNon-linear weighting “Multi frequency” frequency” enhanced image 22 Standard Processing MultiMulti-frequency Processing Compliments of Keith Strauss, Boston Childrens Hospital SNR and CNR (dSNR dSNR)) ((dSNR) • SNR: Average value / Std Dev of background • CNR: ∆ Attenuation / Std Dev of background – Contrast: tissue differences, tissue/bone differences – Subject contrast: X-ray energy X X-ray • Detection: CNR of 3 to 5 – Size (diameter); image processing SNR and CNR Background 420.3 ±3.3 Object 411.8 ±3.3 SNR = 420.3 = 127.4 3.3 CNR = 420.3 - 411.8 = 2.6 3.3 23 Noise Sources • Incomplete x-ray absorption: η x x-ray • Secondary quantum noise: quantum sink – # secondary quanta ≤ incident q • Spatial gain variation (flat-field) (flat (flat-field) • Aliasing (insufficient sampling) • Swank Factor – Different x-ray photons produce variable signal xx-ray • Lubberts Effect – Different x-ray photons ’s xx-ray PSF photons produce produce variable variable PSF’ PSF’s • Additive system noise – Electronic, quantization, shot, etc. Visual Detection of Object • SNR (CNR) is x-ray quanta dependent xx-ray • Detection is determined by CNR and object size • k = SNR × d × C C = contrast d = diameter k = 3 to 5 for detection Low Contrast Response: Leeds TO-16 TO TO-16 3.5 mR 70 kVp 0.5 mR 24 What determines necessary dose? • Patient thickness • X -ray technique; GRID or NO GRID X-ray • Detector absorption AND conversion efficiency • Detector electronic and stationary noise • Detector Detective Quantum Efficiency (DQE) • Required SNR / CNR of examination • Pre and post processing algorithms • Display and viewing conditions X-ray absorption Efficiency: CsI, BaFBr, Gd2O2S % Absorption Fraction 100 CsI: 175 mg/cm2 90 80 Gd2O2S: 120 mg/cm2 70 60 50 BaFBr: 100 mg/cm2 40 30 20 10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 Energy (keV) Detective Quantum Efficiency (DQE) DQE(f ) = 22 SNR out MTF(f ) 22 out = 22 SNR inin NPSNN ( f ) × q • A measure of the information transfer efficiency of a detector system • Dependent on: – – – – – – Absorption efficiency Conversion efficiency Spatial resolution (MTF) Conversion noise Electronic noise Detector non-uniformities / pattern noise non non-uniformities 25 ““Pre-sampled” PrePre-sampled” sampled” MTF 1.0 0.9 a-Selenium: 0.13 mm 0.8 Modulation 0.7 0.6 CsICsI-TFT: 0.20 mm 0.5 0.4 CR: 0.05 mm 0.3 ScreenScreen-film 0.2 0.1 CR: 0.10 mm 0.0 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 Frequency (lp/mm) Noise Power Spectrum • Noise transfer characteristics of detector • Analyze sub-images, Fourier Transform, average sub sub-images, – (IEC 62220-1 standard, AAPM Task Group on NPS) 62220 62220-1 • Output is the noise power estimate as a function of spatial frequency, NPS(f f) in 2 dimensions NPS( NPS(f) CR Image NPS Scan direction Detective Quantum Efficiency, Radiography 0.8 DQE( f ) CsI - TFT 0.6 a-Se - TFT 0.4 CR “dual-side” Screen-film 0.2 CR Conventional 0.0 0.0 0.5 1.0 CCD 1.5 2.0 2.5 Spatial Frequency (cycles/mm) 26 ScreenScreen-Film FlatFlat-field prepre-processing MDACC: Chris Shaw, et al aSi/CsI aSi/CsI FlatFlat-Panel Low contrast resolution CR 125 kVp 2 mAs Image quality depends on more than quantum mottle! FlatFlat-field, absorption efficiency, scatter … Shading, Flat-Field correction Flat Flat-Field • Reduce structured noise • Eliminate variable background DQE(f) • Increase DQE( f ) 0.5 0.4 0.3 0.2 0.1 0 Flatfield Raw 0 2 4 6 8 10 f (mm -1) Digital Radiography: Radiation Exposure • CR and DR tolerate poor radiographic technique • Dose is dependent on DQE and ““required” required” required” SNR • Dose is roughly proportional to inverse of DQE 27 Exposure issues • Incident exposure can be ““hidden” hidden” hidden” • Low exposures have excessive image noise • High exposures lead to saturation signal loss • Technique complacency, instead of ““just just enough” enough” • Feedback is necessary!! – S number, Exposure Index, LgM, -number, other? LgM, fff-number, Characteristic Curve: Response of screen/film vs. digital detectors 5 Useless 10,000 FilmFilm-screen (400 speed) Digital 1,000 3 2 Overexposed Useless 100 Correctly exposed 1 10 Relative intensity Film Optical Density 4 Underexposed 0 0.01 20000 0.1 1 10 100 1 Exposure, mR 2000 200 20 2 Sensitivity (S) How do manufacturers indicate estimated exposure? • Fuji: ““S” S” – sensitivity number •• S S ≅≅ 200 200 // Exposure Exposure (mR) (mR) • Kodak: ““Exposure Exposure Index” Index” – EI •• EI EI ≅≅ 1000 1000 ×× log log (Exposure (Exposure [mR] [mR] )) ++ 2000 2000 • Agfa: ““lg lg M M”” – relative exposure database • IDC: ““f-number” f-number” number” – provides analogy to camera speed •• +1 +1 == 2x 2x exposure; exposure; +2 +2 = 4x 4x exposure • DR: most systems currently do not have a feedback signal… signal… but use phototiming (AEC) 28 CR vs DR and dose efficiency • CR ~ 2X more exposure than a 400 speed film ~200 equivalent speed • DR DQE(0) values vary substantially (20 - 80%) • Dose efficiency related to DQE for given SNR • Slot-scan systems most efficient Slot Slot-scan Presentation Outline • Acquisition System Overview • Digital Detector Attributes • Digital Detector Technologies • Factors affecting Image Quality & Dose • Clinical Implementation and QC CR/DR implementation • Modality interface: DICOM & HL-7 HL HL-7 – PACS, RIS connections, Modality Worklist • Image Size & Storage considerations • 8 - 32 Mbytes Uncompressed – 10 - 12 Pixels/mm – Up to 4000 x 4000 x 2 Bytes • 3 - 13 Mbytes: ~2.5:1 Lossless Compression • Network Transmission • 100 Mbit/sec Mbit/sec minimum 29 CR/DR implementation • Uniformity for CR/DR images and Display – Acceptance Testing • Measurement of Performance • Correction of Substandard Performance – Calibration of CR/DR Response (presentation state) – Calibration of Monitors • Maximum brightness • Look-upLook up-Tables, DICOM GSDF, Part 14 Look-up-Tables, – Periodic Quality Control • Evaluation of resolution, contrast, artifacts • Monitor technologist performance, exposure indices CR/DR implementation • Image Processing optimization – – – Establish Contrast Scale Balance Edge Enhancement with perceived noise Multi-frequency Enhancement parameter Multi Multi-frequency adjustments – Determine DC offset (brightness) for display monitors • Provide processing ““looks” looks” looks” to Radiologists • Verify image display conditions – Soft copy and hard copy What is emerging as the lead technology? Attribute CR DR CCD Positioning flexibility **** ** ** Replacement for S/F **** ** ** DQE / dose efficiency ** *** ** Patient throughput * *** ** X-ray system integration ** **** **** PACS integration ** **** **** Cost per pat. throughput *** ** *** Technologist ease of use * *** *** 30 Digital Radiography Considerations • Replacement of S/F, aging CR • High throughput, ambulatory imaging • Advanced image acquisition and processing – Digital tomosynthesis and CT – Dual energy radiography – Replacement of image intensifiers • Low dose screening devices with CAD – Lung cancer screening with dual energy – Quantitative bone density analysis? Conclusions • CR is the most flexible and costcost-effective technology • Direct digital radiographic devices have advantages in efficiency and throughput • The distinction between CR and DR is blurring – Portable versus integrated; active versus passive – “Cassette” Cassette” versus “Cassetteless” Cassetteless” • All technologies are becoming faster, better, cheaper • The digital solution is best accomplished as a complementary mix of technologies 31