# US 2019/0170667 A1 · Apparatus and method for calculating a recording trajectory > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0170667 A1 - Document ID: US20190170667A1 - Status: Published application - Kind: A1 - Application number: 16/252,130 - Filed: 2019-01-18 - Published: 2019-06-06 - Earliest claimed: 2016-07-21 - Assignees: Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V.; Julius-Maximilians-Universitaet Wuerzburg - Applicants: Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V.; Julius-Maximilians-Universitaet Wuerzburg - Inventors: Richard SCHIELEIN; Wolfgang HOLUB - Web page: https://patentgrep.com/patent/US20190170667A1 ## CPC - G01N 23/046: using tomography, e.g. computed tomography [CT] - G01N 23/18: Investigating the presence of flaws defects or foreign matter - G01N 23/083: the radiation being X-rays - G01N 2223/1016: X-ray - G01N 2223/306: computer control - G01N 2223/33: scanning, i.e. relative motion for measurement of successive object-parts - G01N 2223/405: mapping of a material property - G01N 2223/41: imaging specifically internal structure - G01N 2223/419: computed tomograph - G01N 2223/427: stepped imaging (selected area of sample is changed) - G01N 2223/606: texture - G01N 2223/648: voids - G01N 2223/66: multiple steps inspection, e.g. coarse/fine - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) ## Abstract A calculating unit for calculating a recording trajectory of a CT system has a receive interface, an optimizer and a control unit. The receive interface serves for receiving measurement and simulation data relative to the object to be recorded. The optimizer is configured to determine the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and simulation data and based on a test task from a group having a plurality of test tasks. The control unit is configured to output data in correspondence with the recording trajectory for controlling the CT system. ## Claims ### Claim 1 A calculating unit for calculating a recording trajectory of a CT system, comprising: a receive interface for receiving measurement and/or simulation data relative to the object to be recorded; an optimizer configured to determine the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks; and a control unit configured to output data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the CT system. ### Claim 2 (depends on 1) The calculating unit in accordance with claim 1, wherein the measurement and/or simulation data comprise an optimum model generated during a measurement or a non-optimum model generated during a measurement, a geometry model and/or a volume model. ### Claim 3 (depends on 1) The calculating unit in accordance with claim 1, wherein the measurement and/or simulation data are taken when recording the object to be recorded using the CT system. ### Claim 4 (depends on 3) The calculating unit in accordance with claim 3, wherein the measurement and/or simulation data comprise intermediate images and/or interim data output by image processing. ### Claim 5 (depends on 3) The calculating unit in accordance with claim 3, wherein the measurement and/or simulation data comprise a data object calculated by the image processing in correspondence with the test task. ### Claim 6 (depends on 1) The calculating unit in accordance with claim 1, wherein the calculating unit comprises a user interface using which the test task is selected. ### Claim 7 (depends on 1) The calculating unit in accordance with claim 1, wherein the group comprising a plurality of test tasks comprises the test task of establishing a geometrical structure and/or geometrical surface structure. ### Claim 8 (depends on 7) The calculating unit in accordance with claim 7, wherein the positions on the recording trajectory are selected such that high-frequency features of the object to be recorded and/or gradients are detectable when recording the object to be recorded. ### Claim 9 (depends on 1) The calculating unit in accordance with claim 1, wherein the group of test tasks comprises detecting characteristics of the materials using the volume of the object to be recorded. ### Claim 10 (depends on 9) The calculating unit in accordance with claim 9, wherein the positions of the recording trajectories are selected such that attenuation coefficients and/or the density of the materials in the volume of the object to be recorded are detectable in the recordings. ### Claim 11 (depends on 1) The calculating unit in accordance with claim 1, wherein the group of test tasks comprises establishing deviations in the volume of the object to be recorded. ### Claim 12 (depends on 11) The calculating unit in accordance with claim 11, wherein the positions on the recording trajectory are selected such that local variations in attenuation coefficients are detectable in the recordings. ### Claim 13 (depends on 1) The calculating unit in accordance with claim 1, wherein every further position on the recording trajectory is selected such that a successive improvement of the image to be recorded is achieved; and/or wherein the positions on the recording trajectory are selected with a variable magnification and/or decreasing distance between the object to be recorded and the image detector. ### Claim 14 (depends on 1) The calculating unit in accordance with claim 1, wherein the optimizer is configured to select the positions on the recording trajectory such that a collision between the recording unit and the object to be recorded is prevented. ### Claim 15 (depends on 1) The calculating unit in accordance with claim 1, wherein the positions of the recording trajectory are selected such that a collision between the recording unit and the surroundings of the object to be recorded is prevented. ### Claim 16 (depends on 1) The calculating unit in accordance with claim 1, wherein the optimizer is configured to predetermine the recording parameters per position on the recording trajectory, and wherein the recoding parameters vary between two positions on the recording trajectory; and/or wherein the recording parameters comprise exposure time, x-ray voltage, x-ray current and/or filtering. ### Claim 17 (depends on 1) The calculating unit in accordance with claim 1, wherein the optimizer establishes correction data from a set of stored correction data for each position on the recording trajectory or calculates corrected correction data based on the stored correction data for neighboring positions; and/or wherein the optimizer establishes correction data from a memory for the recording parameters selected or calculates corrected correction data based on the correction data stored for similar parameters. ### Claim 18 A calculating unit for calculating a recording trajectory of a CT system, comprising: a receive interface for receiving measurement and/or simulation data relative to the object to be recorded; an optimizer configured to determine the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks; and a control unit configured to output data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the CT system; wherein the group comprising a plurality of test tasks comprises the test task of establishing a geometrical structure and/or geometrical surface structure; wherein the group of test tasks comprises detecting characteristics of the materials using the volume of the object to be recorded; wherein the group of test tasks comprises establishing deviations in the volume of the object to be recorded; wherein the optimizer is configured to predetermine the recording parameters per position on the recording trajectory, and wherein the recording parameters vary between two positions on the recording trajectory; and wherein the recording parameters comprise exposure time, x-ray voltage, x-ray current and/or filtering. ### Claim 19 A method for calculating a recording trajectory of a computer tomography system, comprising: receiving measurement and/or simulation data relative to the object to be recorded; determining the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks, and outputting data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the computer tomography system. ### Claim 20 A calculating unit for calculating a recording trajectory of a CT system, comprising: a receive interface for receiving measurement and/or simulation data relative to the object to be recorded; an optimizer configured to determine the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks; and a control unit configured to output data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the CT system and thereby control the CT system in correspondence with the calculated recording trajectory; wherein the optimizer is configured to generate different trajectories for different test tasks. ### Claim 21 A calculating unit for calculating a recording trajectory of a CT system, comprising: a receive interface for receiving measurement data relative to the object to be recorded; an optimizer configured to determine the recording trajectory based on known degrees of freedom of the CT system, based on the measurement data and based on a test task from a group comprising a plurality of test tasks of determining the recording trajectory; and a control unit configured to output data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the CT system and thereby control the CT system in correspondence with the calculated recording trajectory, wherein each further position on the recording trajectory is selected such that a successive improvement of the image to be recorded is achieved. ### Claim 22 A calculating unit for calculating a recording trajectory of a CT system based on two robots, wherein an X-ray radiation source is arranged on a first robot, whereas the radiation detector is arranged on a second robot, comprising: a receive interface for receiving measurement and/or simulation data relative to the object to be recorded; an optimizer configured to determine the recording trajectory based on known degrees of freedom of the CT system with its robots, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks of determining the recording trajectory; and a control unit configured to output data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the CT system and thereby control the CT system in correspondence with the calculated recording trajectory; wherein the positions of the recording trajectory are selected such that a collision between the recording unit and the surroundings of the object to be recorded is prevented. ### Claim 23 (depends on 1) A computer tomography system comprising a calculating unit in accordance with claim 1. ### Claim 24 (depends on 18) A computer tomography system comprising a calculating unit in accordance with claim 18. ### Claim 25 (depends on 20) A computer tomography system comprising a calculating unit in accordance with claim 20. ### Claim 26 (depends on 21) A computer tomography system comprising a calculating unit in accordance with claim 21. ### Claim 27 (depends on 22) A computer tomography system comprising a calculating unit in accordance with claim 22. ### Claim 28 A method for calculating a recording trajectory of a computer tomography system, comprising: receiving measurement and/or simulation data relative to the object to be recorded; determining the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks, and outputting data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the computer tomography system in order to control the CT system in correspondence with the calculated recording trajectory; wherein different trajectories are generated for different test tasks. ### Claim 29 A method for calculating a recording trajectory of a computer tomography system, comprising: receiving measurement data relative to the object to be recorded; determining the recording trajectory based on known degrees of freedom of the CT system, based on the measurement data and based on a test task from a group comprising a plurality of test tasks, and outputting data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the computer tomography system in order to control the CT system in correspondence with the calculated recording trajectory; wherein each further position on the recording trajectory is selected such that a successive improvement of the image to be recorded is achieved. ### Claim 30 A method for calculating a recording trajectory of a computer tomography system based on two robots, wherein an X-ray radiation source is arranged on a first robot, whereas the radiation detector is arranged on a second robot, comprising: receiving measurement and/or simulation data relative to the object to be recorded; determining the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks, and outputting data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the computer tomography system in order to control the CT system in correspondence with the calculated recording trajectory; wherein the positions of the recording trajectory are selected such that a collision between the recording unit and the surroundings of the object to be recorded is prevented. ### Claim 31 A non-transitory digital storage medium having stored thereon a computer program for performing a method for calculating a recording trajectory of a computer tomography system, comprising: receiving measurement and/or simulation data relative to the object to be recorded; determining the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks, and outputting data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the computer tomography system, when said computer program is run by a computer. ### Claim 32 A non-transitory digital storage medium having stored thereon a computer program for performing a method for calculating a recording trajectory of a computer tomography system, comprising: receiving measurement and/or simulation data relative to the object to be recorded; determining the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks, and outputting data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the computer tomography system in order to control the CT system in correspondence with the calculated recording trajectory; wherein different trajectories are generated for different test tasks, when said computer program is run by a computer. ### Claim 33 A non-transitory digital storage medium having stored thereon a computer program for performing a method for calculating a recording trajectory of a computer tomography system, comprising: receiving measurement data relative to the object to be recorded; determining the recording trajectory based on known degrees of freedom of the CT system, based on the measurement data and based on a test task from a group comprising a plurality of test tasks, and outputting data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the computer tomography system in order to control the CT system in correspondence with the calculated recording trajectory; wherein each further position on the recording trajectory is selected such that a successive improvement of the image to be recorded is achieved, when said computer program is run by a computer. ### Claim 34 A non-transitory digital storage medium having stored thereon a computer program for performing a method for calculating a recording trajectory of a computer tomography system based on two robots, wherein an X-ray radiation source is arranged on a first robot, whereas the radiation detector is arranged on a second robot, comprising: receiving measurement and/or simulation data relative to the object to be recorded; determining the recording trajectory based on known degrees of freedom of the CT system, based on the measurement and/or simulation data and based on a test task from a group comprising a plurality of test tasks, and outputting data in correspondence with the calculated recording trajectory for controlling a manipulation unit of the computer tomography system in order to control the CT system in correspondence with the calculated recording trajectory; wherein the positions of the recording trajectory are selected such that a collision between the recording unit and the surroundings of the object to be recorded is prevented, when said computer program is run by a computer.