Patent Description:
<CIT> may be considered to disclose a portable radiography scanning system, comprising: a radiation detector configured to generate digital images based on incident radiation; a radiation source configured to output the radiation toward the radiation detector; a camera having a thermal sensor configured, in an imaging mode, to capture thermal images and having a field of view that at least partially overlaps a projection field of the radiation, wherein the camera is switchable to an optical mode to capture thermal images and having a field of view that at least partially overlaps a projection field of the radiation; and a computing device configured to: control the radiation source; receive the digital images from the radiation detector; receive the thermal images or optical images from the camera; and output the digital images and the thermal images, or optical images, to a display device.

Systems and methods for combining thermal and/or optical imaging with digital radiographic imaging are disclosed, substantially as illustrated by and described in connection with at least one of the figures, as set forth more completely in the claims.

Disclosed example systems and methods provide for a digital X-ray scanning system that can provide additional context about digital X-ray images to operators and other users of the digital X-ray information. In some examples, a digital X-ray system includes an X-ray detector and an X-ray generator, as well as optical and/or thermal sensor(s) that can be synchronized to the X-ray feed. The optical and thermal image feeds have at least partially overlapping fields of view with the digital X-ray images, so that image(s) of interest may be displayed and/or stored with optical and thermal images that provide context for the digital X-ray images.

Disclosed example systems and methods may be implemented on a handheld frame (e.g., a C-frame or other arrangement), on a lift or other movable framework, on one or more robotic manipulators (e.g., pipe bugs, or motorized, wheeled buggies that move along a pipe or other structure), on one or more "drones" (e.g., quadcopters or other automatic or manually controlled flying devices), and/or any other mechanisms for holding the components of the digital X-ray scanning system in the desired arrangement for scanning.

Disclosed example systems and methods display the X-ray images with the thermal and optical images on a display device in real-time (e.g., as the images are generated). In some examples, the display device displays a first feed (e.g., the X-ray feed of X-ray images, the thermal feed of thermal images, or the optical feed of optical images) as primary images having a first (e.g., largest) size, and displays a second feed (e.g., another of the X-ray feed of X-ray images, the thermal feed of thermal images, or the optical feed of optical images) as secondary images having a second (e.g., smaller) size. For example, the primary images may be the main display, with the secondary images shown in or near a corner of the display so as to limit obstruction of the main display. In some such examples, the display device further displays another secondary feed (e.g., having the same size as the other secondary feed) or a tertiary feed (e.g., having an even smaller size than the secondary feed). In some examples, the two or three feeds have equivalent sizes on the display device. The operator may be permitted to select a secondary or tertiary feed to change that feed to be the primary feed, in which case the former primary feed may be relegated to be the secondary or tertiary feed.

As used herein, the term "real-time" refers to the actual time elapsed in the performance of a computation by a computing device, the result of the computation being required for the continuation of a physical process (i.e., no significant delays are introduced). For example, real-time display of captured images includes processing captured image data and displaying the resulting output images to create the perception to a user that the images are displayed immediately upon capture. As used herein, the term "portable" includes handheld (e.g., capable of being carried and operated by a single person) and/or wheeled (e.g., capable of being transported and operated while wheels are attached and/or placed on wheels).

While example systems and methods are disclosed below with reference to X-rays, the disclosure is similarly applicable to other electromagnetic energy ranges. For example, other X-ray energies, gamma rays, and/or any other types of electromagnetic radiation may be used based on the application and using with the appropriate personnel techniques and/or equipment.

Disclosed example portable radiography scanning systems include: a radiation detector configured to generate digital images based on incident radiation; a radiation source configured to output the radiation toward the radiation detector; a thermal sensor configured to capture thermal images and having a field of view that at least partially overlaps a projection field of the radiation; and a computing device configured to: control the radiation source; receive the digital images from the radiation detector; receive the thermal images from the thermal camera; and output the digital images and the thermal images, in real-time, to a display device.

Some example portable X radiography scanning systems further include an optical sensor configured to capture optical images and having a field of view that at least partially overlaps a projection field of the radiation and at least partially overlaps the field of view of the thermal camera. Some example portable X radiography scanning systems further include a display device configured to display the digital images, the thermal images, and the optical images in real-time.

In some example portable radiography scanning systems, the display device is configured to display a first one of a radiography feed of the digital images, a thermal feed of the thermal images, or an optical feed of the optical images as primary images on the display device, and display a second one of the radiography feed, the thermal feed, or the optical feed as secondary images on the display device. In some examples, the display device is configured to display a third one of the radiography feed, the thermal feed, or the optical feed as secondary images or tertiary images on the display device. In some examples, the display device is configured to, in response to a selection of the secondary images, switch the display of the selected secondary images to be displayed as primary images and switch display of the primary images to be displayed as secondary images. In some example portable radiography scanning systems, the display device is configured to display the primary images at a first size and display the secondary images at a second size, the second size being smaller than the first size.

In some example portable radiography scanning systems, the display device is communicatively coupled to the computing device via wireless communications. In some examples, the display device is communicatively coupled to the computing device via a wired connection. In some examples, the display device includes at least one of a desktop computer, a laptop computer, a smartphone, a tablet computer, a head worn display, or a display screen attached to the frame.

In some examples, the computing device is configured to store the digital images, the thermal images, and the optical images on a storage device such that the digital images, the thermal images, and the optical images are synchronized. Some example portable radiography scanning systems further include a display device configured to display the digital images and the thermal images in real-time. In some example portable radiography scanning systems, the display device is configured to display a first one of a radiography feed of the digital images or a thermal feed of the thermal images as primary images on the display device, and display a second one of the radiography feed or the thermal feed as secondary images on the display device. In some example portable radiography scanning systems, the display device is configured to, in response to a selection of the secondary images, switch the display of the selected secondary images to be displayed as primary images and switch display of the primary images to be displayed as secondary images. In some example portable radiography scanning systems, the display device is configured to display the primary images at a first size and display the secondary images at a second size, the second size being smaller than the first size. In some example portable radiography scanning systems, the computing device is configured to store the digital images and the thermal images on a storage device such that the digital images and the thermal images.

Some example portable radiography scanning systems include a frame configured to: hold the radiation detector and the computing device; hold the radiation source such that the radiation source directs the radiation to the radiation detector; and hold the thermal sensor such that the field of view of the thermal sensor at least partially overlaps the projection field of the radiation. Some example portable radiography scanning systems include an optical sensor configured to capture optical images, wherein the frame is configured to hold the optical sensor such that a field of view of the optical camera at least partially overlaps a projection field of the radiation and at least partially overlaps the field of view of the thermal sensor. In some example portable radiography scanning systems, the frame includes at least one a robotic device, a drone aircraft, or a movable support structure. In some example portable radiography scanning systems, the frame includes a first section configured to hold the radiation detector and a second section configured to hold the radiation source and hold the thermal sensor such that the field of view of the thermal sensor at least partially overlaps the projection field of the radiation, and the first section and the second section of the frame are separately manipulable.

<FIG> is a perspective view of an example handheld X-ray imaging system <NUM> to generate and output digital images and/or video based on incident X-rays. The example handheld X-ray imaging system <NUM> may be used to perform non-destructive testing (NDT), medical scanning, security scanning, and/or any other scanning application.

The system <NUM> of <FIG> includes a frame <NUM> that holds an X-ray generator <NUM> and an X-ray detector <NUM>. In the example of <FIG>, the frame <NUM> is C-shaped, such that the X-ray generator <NUM> directs X-ray radiation toward the X-ray detector <NUM>. As described in more detail below, the frame <NUM> is positionable (e.g., held by an operator, supported by an external support structure and/or manipulated by the operator, etc.) around an object to be scanned with X-rays. The example frame <NUM> is constructed using carbon fiber and/or machined aluminum.

The X-ray generator <NUM> is located on a first section <NUM> of the C-shaped frame <NUM> generates and outputs X-ray radiation, which traverses and/or scatters based on the state of the object under test. The X-ray detector <NUM> is located on a second section <NUM> of the frame <NUM> (e.g., opposite the first section <NUM>) and receives incident radiation generated by the X-ray generator <NUM>.

The example frame <NUM> may be manipulated using one or more handles <NUM>, <NUM>. A first one of the handles <NUM> is an operator control handle, and enables an operator to both mechanically manipulate the frame <NUM> and control the operation of the handheld X-ray imaging system <NUM>. A second one of the handles <NUM> is adjustable and may be secured to provide the operator with leverage to manipulate the frame <NUM>. The example handle <NUM> may be oriented with multiple degrees of freedom and/or adjusted along a length of a central section <NUM> of the frame <NUM>.

During operation, the handheld X-ray imaging system <NUM> generates digital images (e.g., digital video and/or digital still images) from the X-ray radiation. The handheld X-ray imaging system <NUM> may store the digital images on one or more storage devices, display the digital images on a display device <NUM>, and/or transmit the digital images to a remote receiver. The example display device <NUM> is attachable to the example frame <NUM> and/or may be oriented for viewing by the operator. The display device <NUM> may also be detached from the frame <NUM>. When detached, the display device <NUM> receives the digital images (e.g., still images and/or video) via a wireless data connection. When attached, the display device <NUM> may receive the digital images via a wired connection and/or a wireless connection.

A power supply <NUM>, such as a detachable battery, is attached to the frame <NUM> and provides power to the X-ray generator <NUM>, the X-ray detector <NUM>, and/or other circuitry of the handheld X-ray imaging system <NUM>. An example power supply <NUM> that may be used is a lithium-ion battery pack. The display device <NUM> may receive power from the power supply <NUM> and/or from another power source such as an internal battery of the display device <NUM>.

The example central section <NUM> of the frame <NUM> is coupled to the first section <NUM> via a joint <NUM> and to the second section <NUM> via a joint <NUM>. The example joints <NUM>, <NUM> are hollow to facilitate routing of cabling between the sections <NUM>, <NUM>, <NUM>. The joints <NUM>, <NUM> enable the first section <NUM> and the second section <NUM> to be folded toward the center section to further improve the compactness of the handheld X-ray imaging system <NUM> when not in use (e.g., during storage and/or travel).

<FIG> is a block diagram of an example digital X-ray imaging system <NUM> that may be used to implement the handheld X-ray imaging system <NUM> of <FIG>. The example digital X-ray imaging system <NUM> of <FIG> includes a frame <NUM> holding an X-ray generator <NUM>, an X-ray detector <NUM>, a computing device <NUM>, a battery <NUM>, one or more display device(s) <NUM>, one or more operator input device(s) <NUM>, and one or more handle(s) <NUM>.

The X-ray generator <NUM> includes an X-ray tube <NUM>, a collimator <NUM>, and a shield switch <NUM>. The X-ray tube <NUM> generates X-rays when energized. In some examples, the X-ray tube <NUM> operates at voltages between 40kV and 120kV. In combination with a shielding device, X-ray tube voltages between 70kV and 120kV may be used while staying within acceptable X-ray dosage limits for the operator. Other voltage ranges may also be used.

The collimator <NUM> filters the X-ray radiation output by the X-ray tube <NUM> to more narrowly direct the X-ray radiation at the X-ray detector <NUM> and any intervening objects. The collimator <NUM> reduces the X-ray dose to the operator of the system <NUM>, reduces undesired X-ray energies to the detector <NUM> resulting from X-ray scattering, and/or improves the resulting digital image generated at the X-ray detector <NUM>.

The shield switch <NUM> selectively enables and/or disables the X-ray tube <NUM> based on whether a backscatter shielding device <NUM> is attached to the frame. The backscatter shielding device <NUM> reduces the dose to the operator holding the frame <NUM> by providing shielding between the collimator <NUM> and an object under test. The example backscatter shielding device <NUM> includes a switch trigger configured to trigger the shield switch <NUM> when properly installed. For example, the shield switch <NUM> may be a reed switch or similar magnetically-triggered switch, and the backscatter shielding device <NUM> includes a magnet. The reed switch and magnet are respectively positioned on the frame <NUM> and the backscatter shielding device <NUM> such that the magnet triggers the reed switch when the backscatter shielding device <NUM> is attached to the frame <NUM>. The shield switch <NUM> may include any type of a capacitive sensor, an inductive sensor, a magnetic sensor, an optical sensor, and/or any other type of proximity sensor.

The shield switch <NUM> is configured to disable the X-ray tube <NUM> when the backscatter shielding device <NUM> is not installed. The shield switch <NUM> may be implemented using, for example, hardware circuitry and/or via software executed by the computing device <NUM>. In some examples, the computing device <NUM> may selectively override the shield switch <NUM> to permit operation of the X-ray tube <NUM> when the backscatter shielding device <NUM> is not installed. The override may be controlled by an administrator or other authorized user.

The X-ray detector <NUM> of <FIG> generates digital images based on incident X-ray radiation (e.g., generated by the X-ray tube <NUM> and directed toward the X-ray detector <NUM> by the collimator <NUM>). The example X-ray detector <NUM> includes a detector housing <NUM>, which holds a scintillation screen <NUM>, a reflector <NUM>, and a digital imaging sensor <NUM>. The scintillation screen <NUM>, the reflector <NUM>, and the digital imaging sensor <NUM> are components of a fluoroscopy detection system <NUM>. The example fluoroscopy detection system <NUM> is configured so that the digital imaging sensor <NUM> (e.g., a camera, a sensor chip, etc.) receives the image indirectly via the scintillation screen <NUM> and the reflector <NUM>. In other examples, the fluoroscopy detection system <NUM> includes a sensor panel (e.g., a CCD panel, a CMOS panel, etc.) configured to receive the X-rays directly, and to generate the digital images. An example implementation of the X-ray detector <NUM> is described below with reference to <FIG>.

In some other examples, the scintillation screen <NUM>, may be replaced with a solid state panel that is coupled to the scintillation screen <NUM> and has pixels that correspond to portions of the scintillation screen <NUM>. Example solid state panels may include CMOS X-ray panels and/or CCD X-ray panels.

In addition to the digital X-ray detector <NUM>, the example digital X-ray imaging system <NUM> includes one or more optical sensor(s) <NUM> and thermal sensor(s) <NUM>. The optical sensor(s) <NUM> capture optical (e.g., visible spectrum) images and provide the images to the computing device <NUM>. Similarly, the thermal sensor(s) <NUM> capture thermal (e.g., infrared spectrum) images and provide the images to the computing device <NUM>.

The computing device <NUM> controls the X-ray tube <NUM>, receives digital images from the X-ray detector <NUM> (e.g., from the digital imaging sensor <NUM>), the optical sensor(s) <NUM>, and the thermal sensor(s) <NUM>, and outputs the digital images to the display device <NUM>. Additionally or alternatively, the computing device <NUM> may store digital images to a storage device. The computing device <NUM> may output the digital images as digital video to aid in real-time non-destructive testing and/or store digital still images.

As mentioned above, the computing device <NUM> may provide the digital images to the display device(s) <NUM> via a wired connection or a wireless connection. To this end, the computing device <NUM> includes wireless communication circuitry. For example, the display device(s) <NUM> may be detachable from the frame <NUM> and held separately from the frame <NUM> while the computing device <NUM> wirelessly transmits the digital images to the display device(s) <NUM>. Additionally or alternatively, the display device(s) <NUM> may be implemented using a separate display or computing device. The display device(s) <NUM> may include a smartphone, a tablet computer, a laptop computer, a wireless monitoring device, and/or any other type of display device equipped with wired and/or wireless communications circuitry to communicate with (e.g., receive digital images from) the computing device <NUM>.

The example display device(s) <NUM> display the X-ray images with the thermal and optical images on a display device in real-time (e.g., as the images are generated). In some examples, the display device(s) <NUM> display a first feed (e.g., the X-ray feed of X-ray images, the thermal feed of thermal images, or the optical feed of optical images) as primary images having a first (e.g., largest) size, and display a second feed (e.g., another of the X-ray feed of X-ray images, the thermal feed of thermal images, or the optical feed of optical images) as secondary images having a second (e.g., smaller) size. For example, the primary images may be the main display shown on the display device(s) <NUM>, with the secondary images shown in or near a corner of the main display so as to limit obstruction of the main display. In some such examples, the display device(s) <NUM> further display another secondary feed (e.g., having the same size as the other secondary feed) or a tertiary feed (e.g., having an even smaller size than the secondary feed). In some examples, the two or three feeds have equivalent sizes on the display device(s) <NUM>. The operator may be permitted to select a secondary or tertiary feed to change that feed to be the primary feed, in which case the former primary feed may be relegated to be the secondary or tertiary feed.

In some other examples, the display device(s) <NUM> may show two or three feeds in an overlapping manner by controlling an opacity of the image(s) in the feeds.

In some examples, the computing device <NUM> adds data to the digital images to assist in subsequent analysis of the digital images. Example data includes a timestamp, a date stamp, geographic data, or a scanner inclination. The example computing device <NUM> adds the data to the images by adding metadata to the digital image file(s) and/or by superimposing a visual representation of the data onto a portion of the digital images.

The operator input device(s) <NUM> enable the operator to configure and/or control the example digital X-ray imaging system <NUM>. For example, the operator input device(s) <NUM> may provide input to the computing device <NUM>, which controls operation and/or configures the settings of the digital X-ray imaging system <NUM>. Example operator input device(s) <NUM> include a trigger (e.g., for controlling activation of the X-ray tube <NUM>), buttons, switches, analog joysticks, thumbpads, trackballs, and/or any other type of user input device.

The handle(s) <NUM> are attached to the frame <NUM> and enable physical control and manipulation of the frame <NUM>, the X-ray generator <NUM>, and the X-ray detector <NUM>. In some examples, one or more of the operator input device(s) <NUM> are implemented on the handle(s) <NUM> to enable a user to both physically manipulate and control operation of the digital X-ray imaging system <NUM>.

While the example frame <NUM> includes features to enable the digital X-ray imaging system <NUM> to be held and manipulated by an operator during output of the X-rays, in other examples the frame <NUM> includes one or more sections or portions, and/or may be implemented and/or held by one or more robotic device(s), drone aircraft (e.g., quadcopters or other remote-controlled and stable aircraft), and/or other movable support structures. <FIG> illustrates another example digital X-ray imaging system <NUM> having multiple frame sections <NUM>, <NUM>. For example, a first frame section <NUM> may hold the X-ray generator <NUM>, the optical sensor(s) <NUM>, and/or the thermal sensor(s) <NUM>, and a second, separate frame section <NUM> may hold the X-ray detector <NUM>. The frame sections <NUM>, <NUM> can be separately maneuvered and positioned so that the X-ray radiation is directed from the X-ray generator <NUM> at the X-ray detector <NUM> at the time of operation. Additionally, the frame sections <NUM>, <NUM> may include corresponding power sources (e.g., batteries 210a, 210b), separate computing devices 208a, 208b or other processing and/or communication circuitry, and/or separate operator input device(s) 214a, 214b.

<FIG> is a perspective view of the first portion <NUM> of the handheld X-ray imaging system <NUM> of <FIG>, including the X-ray generator <NUM>, the power supply <NUM>, and the operator control handle <NUM>. <FIG> is illustrated with a portion of a housing <NUM>, while a second portion of the housing (shown in <FIG>) is omitted for visibility of other components.

The example first portion <NUM> is further coupled to a computing device <NUM>, such as the computing device <NUM> of <FIG>. The computing device <NUM> is attached to the frame <NUM> via a printed circuit board <NUM>.

An X-ray tube <NUM> (e.g., the X-ray tube <NUM> of <FIG>) is coupled to a collimator <NUM> (e.g., the collimator <NUM> of <FIG>) and controlled by the computing device <NUM> and/or by an operator input device on the handle <NUM>. As shown in <FIG>, the handle <NUM> may include an X-ray trigger <NUM> (e.g., one of the operator input device(s) <NUM> of <FIG>). When actuated (e.g., by the operator of the handheld X-ray imaging system <NUM>), the X-ray trigger <NUM> activates the X-ray tube <NUM> to generate X-ray radiation. The X-ray trigger <NUM> may activate the X-ray tube <NUM> directly and/or via the computing device <NUM>.

The collimator <NUM> filters X-ray radiation generated by the X-ray tube <NUM> to reduce the X-ray radiation that is not directed at the X-ray detector <NUM> and/or to increase the proportion of X-ray radiation that is directed at the X-ray detector <NUM> (e.g., radiation that ends up being incident on a scintillator of the X-ray detector <NUM>) relative to radiation not directed at the X-ray detector <NUM>.

A targeting camera <NUM> (e.g., the optical sensor(s) <NUM> of <FIG>) is coupled to the computing device <NUM> to enable an operator of the handheld X-ray imaging system <NUM> to determine a target of generated X-rays. The example targeting camera <NUM> generates and outputs digital images (e.g., digital video, digital still images, etc.) to the computing device <NUM> for display to the operator via the display device <NUM>. The digital images of the target (e.g., an exterior of the target) may be saved in association with the digital images of the X-ray scanning to provide contextual information about the location or object from which digital X-ray images are captured. Additionally or alternatively, a laser may be projected from the location of the targeting camera <NUM> toward the X-ray detector <NUM>. The laser illuminates an approximate location on a workpiece that is being scanned by the digital X-ray imaging system <NUM> and/or output to the display device <NUM>.

A thermal camera <NUM> (e.g., the thermal sensor(s) <NUM> of <FIG>) is also provided adjacent the targeting camera <NUM>. The thermal camera <NUM> is coupled to the computing device <NUM> to provide thermal images having a field of view that at least partially overlaps the projection field of the X-ray tube <NUM>.

<FIG> is a more detailed view of the first portion <NUM> of the handheld X-ray imaging system of <FIG> including the example handle <NUM>. To improve the handling of the digital X-ray imaging system <NUM>, the handle <NUM> is capable of attachment to multiple locations on the frame <NUM>. The handle <NUM> is illustrated at a first location <NUM> on the frame <NUM> in <FIG>. In the example of <FIG>, the handle <NUM> is secured to the housing <NUM> via multiple screws.

The handle <NUM> may be detached from the first location <NUM> and attached at a second location <NUM>. As illustrated in <FIG>, the second location <NUM> on the housing <NUM> includes multiple screw nuts 406a-406c and a data connector <NUM>, which match screw nuts and a data connector at the first location <NUM>. The example handle <NUM> may be attached to the second location <NUM> by connecting a corresponding connector on the handle <NUM> to the data connector <NUM> and screwing the handle into the screw nuts 406a-406c.

<FIG> illustrate perspective views of the example handle <NUM> of <FIG> and <FIG>. As mentioned above, the handle <NUM> includes the trigger <NUM>, which enables and/or activates the X-ray tube <NUM> to output the X-ray radiation. The handle <NUM> includes additional input devices <NUM>, <NUM> (e.g., operator input devices <NUM> of <FIG>). The input device <NUM> is a thumbstick, which can be used to input commands to the computing device <NUM>, such as navigating menus, confirming selections, configuring the X-ray tube <NUM> and/or the X-ray generator <NUM>, changing views and/or any other type of operator input. The input device <NUM> is a push button that may be used by an operator to confirm and/or cancel a selection. The computing device <NUM> controls the X-ray tube <NUM>, the X-ray detector <NUM> (e.g., the X-ray generator <NUM> and/or the digital imaging sensor <NUM> of <FIG>), the display device <NUM>, and/or any other aspect of the digital X-ray imaging system <NUM> based on input from the trigger <NUM>, the input devices <NUM>, <NUM>, and/or any other input devices.

The handle <NUM> includes a data connector <NUM>, which mates to the data connector(s) <NUM> on the housing <NUM>. The data connectors <NUM>, <NUM> establish a hard-wired connection between the trigger <NUM> and/or the input devices <NUM>, <NUM> and the computing device <NUM> and/or other circuitry.

The handle <NUM> includes input guards <NUM>, which protect the input devices <NUM>, <NUM> from accidental damage. The input guards <NUM> extend from the handle <NUM> adjacent the input devices <NUM>, <NUM> and farther than the input devices <NUM>, <NUM>.

The example handle <NUM> further includes a trigger lock <NUM>. The trigger lock <NUM> is a mechanical lock that, when activated, mechanically prevents activation of the trigger <NUM>. The example trigger lock <NUM> is a push-button safety that locks the trigger <NUM> against depression by the operator.

<FIG> is a partially exploded view of the example digital X-ray detector <NUM> of <FIG>. <FIG> is a perspective view of the example digital X-ray detector <NUM> of <FIG>. As illustrated in <FIG>, the X-ray detector <NUM> includes a detector housing <NUM>, a scintillation screen <NUM>, and a reflector <NUM>. The scintillation screen <NUM> and the reflector <NUM> are held within the housing <NUM> and are illustrated in <FIG> to show the relationship between the shape of the housing <NUM> and the geometries of the scintillation screen <NUM> and the reflector <NUM>.

The detector housing <NUM> may be constructed using carbon fiber, aluminum, and/or any other material and/or combination of materials. The example detector housing <NUM> may function as a soft X-ray filter to reduce undesired X-ray radiation at the scintillation screen <NUM>, thereby reducing noise in the resulting digital image. The scintillation screen <NUM> and/or the reflector <NUM> may be attached to the detector housing <NUM> using adhesive (e.g., epoxy, glue, etc.) and/or any other attachment technique. In some examples, the detector housing <NUM> is lined with a layer of lead or another backscatter shielding material to lower the dose to the operator in a handheld system.

<FIG> is a side view of the example digital detector housing, the scintillator, and the reflector. <FIG> is a side view of the example digital X-ray detector <NUM> of <FIG>, illustrating imaging of incident X-rays by the digital X-ray detector. As illustrated in <FIG>, a digital imaging sensor <NUM> is oriented to capture light generated by the scintillation screen <NUM> in response to incident X-ray radiation.

The scintillation screen <NUM> converts incident X-rays <NUM> to visible light <NUM>. An example scintillation screen <NUM> that may be used in a handheld X-ray scanner has a surface area of <NUM> inches by <NUM> inches. The size and material of the scintillation screen <NUM> at least partially determines the size, brightness, and/or resolution of the resulting digital images. The example scintillation screen is Gadox (Gadolinium oxysulphide) doped with Terbium, which emits a peak visible light at a wavelength of substantially <NUM>.

The example reflector <NUM> is a mirror that reflects visible light generated by the scintillation screen <NUM> to the digital imaging sensor <NUM> (e.g., via a lens <NUM>). The example reflector <NUM> has the same surface area (e.g., <NUM> inches by <NUM> inches) as the scintillation screen <NUM>, and is oriented at an angle <NUM> to direct the visible light <NUM> to the digital imaging sensor <NUM> and/or the lens <NUM>. An example angle <NUM> is <NUM> degrees, which enables a <NUM> inch by <NUM> inch scintillation screen and a <NUM> inch by <NUM> inch reflector <NUM> to fit within a housing having a thickness <NUM> of less than <NUM> inches. In other examples, the angle <NUM> is an angle less than <NUM> degrees. Other sizes and/or geometries may be used for the scintillation screen <NUM> and/or the reflector <NUM>. Additionally or alternatively, the digital X-ray detector <NUM> may include optics such as prisms to direct the visible light <NUM> to the digital imaging sensor <NUM>.

The example digital imaging sensor <NUM> is a solid state sensor such as a CMOS camera. In the illustrated example using the scintillation screen <NUM> and the reflector <NUM>, and a <NUM> lens <NUM>, the digital imaging sensor <NUM> has a field of view of <NUM> degrees to capture light from substantially the entirety of the reflector <NUM>.

The digital imaging sensor <NUM> is coupled to an imager bracket <NUM> via a mounting brackets <NUM>. The detector housing <NUM> is also coupled to the imager bracket <NUM>. The imager bracket <NUM> couples both the detector housing <NUM> and the digital imaging sensor <NUM> to the frame <NUM> of the handheld X-ray imaging system <NUM>.

The mounting brackets <NUM> includes slots <NUM> to which an imaging bracket <NUM> is adjustably coupled. The digital imaging sensor <NUM> is attached to the imaging bracket <NUM> (e.g., via a printed circuit board). The imaging bracket <NUM> may be adjusted and secured along the length of the slots <NUM> to adjust an angle of the digital imaging sensor <NUM> relative to the reflector <NUM>. The field of view of the digital imaging sensor <NUM> is oriented substantially perpendicularly to the scintillation screen, within the angular limits permitted using the slots <NUM> and the imaging bracket <NUM>.

The example imager bracket <NUM> may include a data connector <NUM> (<FIG>) to enable sufficient data throughput from the digital imaging sensor <NUM> to a computing device or other image display and/or image storage devices. An example data connector <NUM> may be a USB <NUM> connector to connect a USB <NUM> bus between the digital imaging sensor <NUM> and the receiving device. The USB <NUM> bus provides sufficient bandwidth between the digital imaging sensor <NUM> and the receiving device for high-definition video or better resolution.

While an example implementation of the X-ray detector <NUM> is described above, other example implementations of the X-ray detector <NUM> include using a solid state image sensor, such as a CMOS panel or a CCD panel, coupled directly to a scintillator. The CMOS panel produces digital images based on visible light generated by the scintillator, and outputs the digital images to the computing device <NUM>.

<FIG> is a side view of the handheld X-ray imaging system of <FIG>, illustrating scanning of an object <NUM> under test by directing X-rays <NUM> from the X-ray tube <NUM> to the X-ray detector <NUM>. As mentioned above, the collimator <NUM> reduces X-ray radiation that is not directed at the X-ray detector <NUM>, so the concentration of the X-ray radiation <NUM> that is not scattered by the object <NUM> is incident on the X-ray detector <NUM>.

<FIG> illustrates an example display device <NUM> that may be used to implement the display device(s) <NUM> of <FIG>, configured to simultaneously display thermal and optical image(s) in combination with digital X-ray images. The example display device <NUM> may be a display screen, a touchscreen, or any other type of display device coupled with an input. In the example of <FIG>, the display device <NUM> receives X-ray images <NUM> (e.g., generated by the X-ray detector <NUM>), thermal image(s) <NUM> (e.g., generated by the thermal sensor(s) <NUM>), and optical image(s) <NUM> (e.g., generated by the optical sensor(s) <NUM>).

As illustrated in <FIG>, the display device <NUM> displays the X-ray images <NUM> as the primary, largest images to enable the operator to see the features of the X-ray images <NUM> most clearly. Conversely, the display device <NUM> displays the thermal images <NUM> and the optical images <NUM> as secondary images, which are smaller than the primary image.

Using an input device, an operator may select the optical images <NUM> to cause the display device <NUM> to output the optical images <NUM> as the primary, large images and output the X-ray images <NUM> as the secondary, smaller images, as illustrated in <FIG>.

The operator may also be permitted to resize any of the primary images or the secondary images, to rearrange the location(s) of the secondary images, to change the display from larger and smaller images to side-by-side or top-bottom arrangements, and/or otherwise modify the display of the X-ray images <NUM>, the thermal images <NUM>, and the optical images <NUM>.

<FIG> illustrates another example display device <NUM> configured to simultaneously display thermal images and optical images in combination with digital X-ray images by controlling opacity of one or more sets of images. In the example of <FIG>, the display device <NUM> has the X-ray images captured with the X-ray detector <NUM> overlaid with the optical images captured with the optical sensor(s) <NUM>. By controlling (e.g., reducing) the opacity of one or both of the images, the images may be overlaid on the display device <NUM> to simultaneously show the observable features of each of the images. In some examples, the images may be offset in one or two dimensions to physically align the images, based on differences or offsets in the fields of view.

In some examples, the computing device <NUM> calculates and overlays a nominal image of the object over the primary image (e.g., the X-ray image <NUM> in <FIG>). For example, the computing device <NUM> may identify a prior scan or other representation of the object as a "digital twin" of the object for visual comparison in real-time by the operator during the scanning operation. The computing device <NUM> may use positioning data (e.g., accelerometer and/or gyroscope data related to orientation of the scanning system <NUM>, a GPS signal from a GPS sensor, image comparisons, and/or any other positioning information or technique) to calculate an overlay location of the digital twin on the display device <NUM> to align with the X-ray image <NUM>.

<FIG> is a flowchart representative of example machine readable instructions <NUM> which may be executed by the example computing device <NUM> of <FIG> to perform digital X-ray imaging. The example machine readable instructions <NUM> of <FIG> are described below with reference to the digital X-ray imaging system <NUM> of <FIG>, but may be performed by the digital X-ray imaging system <NUM> of <FIG>.

At block <NUM>, the example computing device <NUM> initializes the X-ray detector <NUM>. For example, the computing device <NUM> may verify that the X-ray detector <NUM> is in communication with the computing device <NUM> and/or is configured to capture digital images of X-ray radiation. At block <NUM>, an operator of the digital X-ray imaging system <NUM> may position the frame <NUM> adjacent on object under test, such that the object under test is located between the X-ray detector <NUM> and the X-ray tube <NUM>.

At block <NUM>, the computing device <NUM> captures digital thermal image(s) with the thermal sensor(s) <NUM>. At block <NUM>, the computing device <NUM> captures digital optical image(s) with the optical sensor(s) <NUM>. The digital thermal image(s) and the digital optical image(s) may include continuous live streams of image frames, periodic images, and/or any other image frequency.

At block <NUM>, the computing device <NUM> determines whether a trigger is activated. For example, the computing device <NUM> may activate the X-ray tube <NUM> in response to activation of a trigger (e.g., a physical trigger, a button, a switch, etc.) by an operator. If the trigger has not been activated (block <NUM>), control returns to block <NUM> to continue capturing thermal and optical images.

When the trigger is activated (block <NUM>), at block <NUM> the X-ray tube <NUM> generates and outputs X-ray radiation. At block <NUM>, the X-ray detector <NUM> (e.g., via the scintillation screen <NUM>, the reflector <NUM>, and the digital imaging sensor <NUM>, and/or via a solid state panel coupled to a scintillator) captures digital image(s) (e.g., digital still images and/or digital video). The X-ray detector <NUM> provides the captured digital image(s) to the computing device <NUM>. At block <NUM>, the computing device <NUM> adds the auxiliary data to the digital X-ray, thermal, and optical image(s). Example auxiliary data includes a timestamp, a date stamp, geographic data, and/or an inclination of the frame <NUM>, the X-ray detector <NUM>, the X-ray tube <NUM>, and/or any other component of the digital X-ray imaging system <NUM>. At block <NUM>, the computing device <NUM> outputs the digital image(s) to the display device(s) <NUM> (e.g., via a wired and/or wireless connection). In some examples, the computing device <NUM> outputs the digital image(s) to an external computing device such as a laptop, a smartphone, a server, a tablet computer, a personal computer, and/or any other type of external computing device.

At block <NUM>, the computing device <NUM> determines whether the digital image(s) are to be stored (e.g., in a storage device). If the digital image(s) are to be stored (block <NUM>), at block <NUM> the example computing device <NUM> stores the image(s). In some examples, the computing device <NUM> stores the digital X-ray images with the thermal image(s) and optical image(s) such that the image(s) are synchronized for subsequent playback. The example computing device <NUM> may be configured to store the digital image(s) in one or more available storage devices, such as a removable storage device.

After storing the image(s) (block <NUM>), or if the digital image(s) are not to be stored (block <NUM>), control returns to block <NUM>. In some examples, blocks <NUM>-<NUM> may be iterated substantially continuously until the trigger is deactivated.

<FIG> is a flowchart representative of example machine readable instructions <NUM> which may be executed by the example display device(s) <NUM> of <FIG> to display digital X-ray images in combination with thermal and optical images. The instructions <NUM> may be performed by an included or separate display device <NUM>, which may be implemented using the example computing system disclosed below with reference to <FIG>.

At block <NUM>, the display device <NUM> initializes a display. The display may be, for example, an LCD screen, a touchscreen, an OLED screen, or any other display type. At block <NUM>, the display device <NUM> determines whether digital X-ray image(s) have been received. For example, the display device <NUM> may communicate with the computing device <NUM> of the digital X-ray imaging system <NUM> via wired or wireless communications. If digital X-ray image(s) have been received (block <NUM>), at block <NUM> the display device <NUM> receives the digital X-ray images from the X-ray detector <NUM>.

After receiving the digital X-ray image(s) (block <NUM>), or if the digital X-ray image(s) are not received (block <NUM>), at block <NUM> the display device <NUM> receives digital thermal image(s) from the thermal sensor(s) <NUM>. At block <NUM> the display device <NUM> receives digital optical image(s) from the optical sensor(s) <NUM>. In some examples, digital X-ray image(s) are provided while the X-ray output is active and the X-ray detector <NUM> is receiving the X-ray radiation for generation of images. In some examples, block <NUM> or <NUM> may be omitted or skipped if the applicable sensor type is not present or not generating output images.

At block <NUM>, the display device <NUM> determines a selection of the thermal image(s), the optical image(s), and/or the X-ray image(s) as primary image(s). For example, the selection may be a default, may be automatic based on one or more variables (e.g., automatically selecting the X-rays as primary images when the X-ray image(s) are being received), and/or based on an operator selection. At block <NUM>, the display device <NUM> outputs the thermal image(s), the optical image(s), and the X-ray image(s) in real-time as primary image(s) and secondary/tertiary image(s).

At block <NUM>, the display device <NUM> determines whether an input has been received to select the secondary or tertiary feed of image(s) as the primary image(s). For example, the operator may touch or click on the secondary optical image(s) of <FIG> to make the optical image(s) the primary image(s) and change the X-ray image(s) to the secondary images as shown in <FIG>.

If an input has not been received to select the secondary or tertiary feed (block <NUM>), control returns to block <NUM> to continue receiving images. If an input to select the secondary or tertiary feed has been received (block <NUM>), control returns to block <NUM> to update the selection of the primary image(s) based on the input.

<FIG> is a block diagram of an example computing system <NUM> that may be used to implement either or both of the computing devices <NUM>, 208a, 208b and/or the display device(s) <NUM> of <FIG> and/or 2B. The example computing system <NUM> may be implemented using a personal computer, a server, a smartphone, a laptop computer, a workstation, a tablet computer, and/or any other type of computing device.

The example computing system <NUM> of <FIG> includes a processor <NUM>. The example processor <NUM> may be any general purpose central processing unit (CPU) from any manufacturer. In some other examples, the processor <NUM> may include one or more specialized processing units, such as RISC processors with an ARM core, graphic processing units, digital signal processors, and/or system-on-chips (SoC). The processor <NUM> executes machine readable instructions <NUM> that may be stored locally at the processor (e.g., in an included cache or SoC), in a random access memory <NUM> (or other volatile memory), in a read only memory <NUM> (or other non-volatile memory such as FLASH memory), and/or in a mass storage device <NUM>. The example mass storage device <NUM> may be a hard drive, a solid state storage drive, a hybrid drive, a RAID array, and/or any other mass data storage device.

A bus <NUM> enables communications between the processor <NUM>, the RAM <NUM>, the ROM <NUM>, the mass storage device <NUM>, a network interface <NUM>, and/or an input/output interface <NUM>.

The example network interface <NUM> includes hardware, firmware, and/or software to connect the computing system <NUM> to a communications network <NUM> such as the Internet. For example, the network interface <NUM> may include IEEE <NUM>. X-compliant wireless and/or wired communications hardware for transmitting and/or receiving communications.

The example I/O interface <NUM> of <FIG> includes hardware, firmware, and/or software to connect one or more input/output devices <NUM> to the processor <NUM> for providing input to the processor <NUM> and/or providing output from the processor <NUM>. For example, the I/O interface <NUM> may include a graphics processing unit for interfacing with a display device, a universal serial bus port for interfacing with one or more USB-compliant devices, a FireWire, a field bus, and/or any other type of interface. Example I/O device(s) <NUM> may include a keyboard, a keypad, a mouse, a trackball, a pointing device, a microphone, an audio speaker, an optical media drive, a multi-touch touch screen, a gesture recognition interface, a display device (e.g., the display device(s) <NUM>, <NUM>) a magnetic media drive, and/or any other type of input and/or output device.

The example computing system <NUM> may access a non-transitory machine readable medium <NUM> via the I/O interface <NUM> and/or the I/O device(s) <NUM>. Examples of the machine readable medium <NUM> of <FIG> include optical discs (e.g., compact discs (CDs), digital versatile/video discs (DVDs), Blu-ray discs, etc.), magnetic media (e.g., floppy disks), portable storage media (e.g., portable flash drives, secure digital (SD) cards, etc.), and/or any other type of removable and/or installed machine readable media.

Example wireless interfaces, protocols, and/or standards that may be supported and/or used by the network interface(s) <NUM> and/or the I/O interface(s) <NUM>, such as to communicate with the display device(s) <NUM>, include wireless personal area network (WPAN) protocols, such as Bluetooth (IEEE <NUM>); near field communication (NFC) standards; wireless local area network (WLAN) protocols, such as WiFi (IEEE <NUM>); cellular standards, such as <NUM>/<NUM>+ (e.g., GSM/GPRS/EDGE, and IS-<NUM> or cdmaOne) and/or <NUM>/<NUM>+ (e.g., CDMA2000, UMTS, and HSPA); <NUM> standards, such as WiMAX (IEEE <NUM>) and LTE; Ultra-Wideband (UWB); etc. Example wired interfaces, protocols, and/or standards that may be supported and/or used by the network interface(s) <NUM> and/or the I/O interface(s) <NUM>, such as to communicate with the display device(s) <NUM>, include comprise Ethernet (IEEE <NUM>), Fiber Distributed Data Interface (FDDI), Integrated Services Digital Network (ISDN), cable television and/or internet (ATSC, DVB-C, DOCSIS), Universal Serial Bus (USB) based interfaces, etc..

The processor <NUM>, the network interface(s) <NUM>, and/or the I/O interface(s) <NUM>, and/or the display device <NUM>, may perform signal processing operations such as, for example, filtering, amplification, analog-to-digital conversion and/or digital-to-analog conversion, up-conversion/down-conversion of baseband signals, encoding/decoding, encryption/decryption, modulation/demodulation, and/or any other appropriate signal processing.

The computing device <NUM> and/or the display device <NUM> may use one or more antennas for wireless communications and/or one or more wired port(s) for wired communications. The antenna(s) may be any type of antenna (e.g., directional antennas, omnidirectional antennas, multi-input multi-output (MIMO) antennas, etc.) suited for the frequencies, power levels, diversity, and/or other parameters required for the wireless interfaces and/or protocols used to communicate. The port(s) may include any type of connectors suited for the communications over wired interfaces/protocols supported by the computing device <NUM> and/or the display device <NUM>. For example, the port(s) may include an Ethernet over twisted pair port, a USB port, an HDMI port, a passive optical network (PON) port, and/or any other suitable port for interfacing with a wired or optical cable.

Claim 1:
A portable radiography scanning system (<NUM>), comprising:
a radiation detector (<NUM>) configured to generate digital images based on incident radiation;
a radiation source (<NUM>) configured to output the radiation toward the radiation detector;
a thermal sensor (<NUM>) configured to capture thermal images and having a field of view that at least partially overlaps a projection field of the radiation;
an optical sensor (<NUM>) configured to capture optical images and having a field of view that at least partially overlaps a projection field of the radiation and at least partially overlaps the field of view of the thermal camera; and
a computing device (<NUM>) configured to:
control the radiation source;
receive the digital images from the radiation detector;
receive the thermal images from the thermal camera;
and
output the digital images, the thermal images and the optical images, in real-time, to a display device (<NUM>).