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Part I Techniques
Part II Neuro/ENT
vii
viii Contents
Part III Chest
Part IV Abdomen
Part V Cardiovascular
Part VI Interventions
Part VII Pediatrics
Contents Abstract
1 Introduction 3 Since its introduction in the early seventies of
the past century, computed tomography (CT)
2 System Design 6
2.1 Gantry 6 has undergone tremendous improvements in
2.2 X-Ray Tube and Generator 7 terms of technology, performance, and clinical
2.3 MDCT Detector Design and Slice applications. Based on the historic evolution of
Collimation 8 CT and basic CT physics this chapter describes
2.4 Dual Source CT 10
the status quo of the technology and tries to
3 Measurement Techniques 11 anticipate future developments. Besides the
3.1 MDCT Sequential (Axial) Scanning 11
3.2 MDCT Spiral (Helical) Scanning 12
description of key components of CT systems,
3.3 ECG-Synchronized Cardiovascular CT 17 a special focus is laid on breakthrough devel-
3.4 Dual Energy Computed Tomography 21 opments such as multi-slice CT and dedicated
4 Radiation Dose Reduction 23 scan modes for cardiac imaging.
4.1 Anatomical Tube Current Modulation 23
4.2 Adaptation of the X-Ray Tube Voltage 24
4.3 Spectral Shaping 25
4.4 Iterative Reconstruction 26
1 Introduction
5 Future Developments 27 In 1972, the English engineer G.N. Hounsfield
References 30 built the first commercial medical X-ray com-
puted tomography (CT) scanner for the company
EMI Ltd. as a pure head scanner with an X-ray
S. Ulzheimer
Siemens Healthcare GmbH, Computed Tomography, tube and two detector elements moving incre-
Forchheim, Germany mentally around the patient. It was able to acquire
e-mail: [email protected] twelve slices with 13 mm slice thickness each
M. Bongers (*) and reconstruct the images with a matrix of
Institute for Diagnostic and Interventional Radiology, 80 × 80 pixels (Fig. 1a) in approximately 35 min.
Eberhard-Karls-University, Tübingen, Germany
Even though the performance of CT scanners
e-mail: [email protected]
increased dramatically over time there were no
T. Flohr
principally new developments in conventional
Siemens Healthcare GmbH, Computed Tomography,
Forchheim, Germany CT until 1989. By then the acquisition time for
one image decreased from 300 s in 1972 to 1–2 s,
Institute for Diagnostic and Interventional Radiology,
Eberhard-Karls-University, Tübingen, Germany thin slices of down to 1 mm became possible and
e-mail: [email protected] the in-plane resolution increased from 3 line pairs
Fig. 1 Development of computed tomography over time. sectional slices in the year 2007 (Image courtesy of Mayo
(a) Cross-sectional image of a brain in the year 1971 and Clinic Rochester)
(b) the whole brain with sagittal, coronal, and cross-
per cm (lp/cm) to 15 lp/cm with typically 5122 overlapping image reconstruction could be used
matrices. to improve through-plane resolution. Volume
As acquisition times of mechanical CT scan- data became the very basis for applications such
ners were expected to be far too long for high as CT angiography (CTA) (Rubin et al. 1995),
quality cardiac imaging for the next years or even which has revolutionized noninvasive assessment
decades to come, a completely new technical of vascular disease. The ability to acquire volume
concept for a CT scanner without moving parts data was the prerequisite for the development of
for extremely fast data acquisition within 50 ms three-dimensional image processing techniques
was suggested and promoted as cardiovascular such as multiplanar reformations (MPR), maxi-
CT (CVCT) scanner. These scanners were also mum intensity projections (MIP), surface shaded
called “Ultrafast CT” scanners or “Electron displays (SSD), or volume rendering techniques
Beam CT” (EBT or EBCT) scanners. High cost (VRT), which have become a vital component of
and limited image quality combined with low medical imaging today.
volume coverage prevented the wide propagation Main drawbacks of single-slice spiral CT are
of the modality, and the production and distribu- either insufficient volume coverage within one
tion of these scanners were soon discontinued. breath-hold time of the patient or missing spatial
Based on the introduction of slip ring technol- resolution in z-axis due to wide collimation. With
ogy to get power to and data off the rotating gan- single-slice spiral CT the ideal isotropic resolu-
try, continuous rotation of the X-ray tube and the tion, i.e., of equal resolution in all three spatial
detector became possible. The ability of continu- axes, can only be achieved for very limited scan
ous rotation led to the development of spiral CT ranges (Kalender 1995).
scanners in the early nineties (Kalender et al. Larger volume coverage in shorter scan times
1990; Crawford and King 1990). Volume data and improved through-plane resolution became
could be acquired without the danger of mis- or feasible after the broad introduction of 4-slice CT
double-registration of anatomical details. Images systems by all major CT manufacturers in 1998
could be reconstructed at any position along the (Klingenbeck-Regn et al. 1999; Mccollough and
patient axis (through-plane axis, z-axis), and Zink 1999; Hu et al. 2000). The increased perfor-
Multi-slice CT: Current Technology and Future Developments 5
mance allowed for the optimization of a variety collimated slice width, and further reduced rota-
of clinically relevant scan parameters. tion times (down to 0.33 s). GE, Philips, and
Examination times for standard protocols could Toshiba aimed at an increase in volume coverage
be significantly reduced; alternatively, scan speed by using detectors with 64 rows instead of
ranges could be significantly extended. 16, thus providing 32–40 mm z-coverage.
Furthermore, a given anatomic volume could be Siemens used 32 physical detector rows in com-
scanned within a given scan time with substan- bination with double z-sampling, a refined
tially reduced slice width. This way, for many z-sampling technique enabled by a z-flying focal
clinical applications the goal of isotropic resolu- spot (see Sect. 3.2.4), to simultaneously acquire
tion was within reach with 4-slice CT systems. 64 overlapping 0.6 mm slices with the goal of
Multi-detector row CT (MDCT) also dramati- pitch-independent increase of through-plane res-
cally expanded into areas previously considered olution and reduction of spiral artifacts (Flohr
beyond the scope of third-generation CT scanners et al. 2004, 2005). With 64-slice CT systems, CT
based on the mechanical rotation of X-ray tube scans with submillimeter resolution became fea-
and detector, such as cardiac imaging with the sible even for extended anatomical ranges. The
addition of ECG gating capability enabled by improved temporal resolution due to faster gantry
gantry rotation times down to 0.5 s (Ohnesorge rotation increased clinical robustness of ECG-
et al. 2000; Kachelriess et al. 2000). Despite all gated scanning, thereby facilitating the success-
these promising advances, clinical challenges and ful integration of CT coronary angiography into
limitations remained for 4-slice CT systems. True routine clinical algorithms (Leber et al. 2005;
isotropic had not yet been achieved for many rou- Leschka et al. 2005), although higher and irregu-
tine applications requiring extended scan ranges, lar heart rates were still problematic.
since wider collimated slices (4 × 2.5 mm or In 2007, one vendor introduced a MDCT sys-
4 × 3.75 mm) had to be chosen to complete the tem with 128 simultaneously acquired slices,
scan within a breath-hold time of the patient. For based on a 64-row detector with 0.6 mm colli-
ECG-gated coronary CTA, stents or severely cal- mated slice width (38.4 mm z-axis coverage) and
cified arteries constituted a diagnostic dilemma, double z-sampling by means of a z-flying focal
mainly due to partial volume artifacts as a conse- spot. Later, simultaneous acquisition of 256
quence of insufficient through- plane resolution slices became available with a CT system
(Nieman et al. 2001), and reliable imaging of equipped with a 128-row detector (0.625 mm
patients with higher heart rates was not possible collimated slice width, 80 mm z-axis coverage)
due to limited temporal resolution. and double z-sampling.
As a next step, the introduction of an 8-slice Clinical experience with 64-, 128-, or 256-
CT system in 2000 enabled shorter scan times, slice CT indicated that adding even more detector
but did not yet provide improved through-plane rows would not by itself translate into increased
resolution (thinnest collimation 8 × 1.25 mm). clinical benefit. Instead, new CT concepts were
This was achieved with the introduction of introduced to solve remaining limitations of
16-slice CT (Flohr et al. 2002a, b), which made it MDCT.
possible to routinely acquire substantial anatomic One remaining challenge for MDCT is the
volumes with isotropic submillimeter spatial res- visualization of dynamic processes in extended
olution. ECG-gated cardiac scanning was anatomical ranges, e.g., to characterize the inflow
enhanced by both improved temporal resolution and outflow of contrast agent in the arterial and
achieved by gantry rotation time down to 0.375 s venous system in dynamic CTAs, or to determine
and improved spatial resolution (Nieman et al. the enhancement characteristics of the contrast
2002; Ropers et al. 2003). agent in volume perfusion studies. Dynamic CT
In 2004, all major CT manufacturers intro- examinations are enabled by CT systems with
duced MDCT systems with simultaneous acqui- area detectors large enough to cover entire
sition of 64-slices at 0.5, 0.6 mm, or 0.625 mm organs, such as the heart, the kidneys, or the
6 S. Ulzheimer et al.
field of view (SFOV) of usually 50 cm diameter. In components on it, such as X-ray tube, tube colli-
a MDCT system, the detector comprises several mator, and data measurement system (DMS), have
detector rows in the z-axis direction (patient direc- to be designed to withstand the high gravitational
tion). The X-ray attenuation of the object is mea- forces associated with fast gantry rotation.
sured by the individual detector elements. All
measurement values acquired at the same angular
position of the measurement system form a “pro- 2.2 X-Ray Tube and Generator
jection” or “view.” About 1000 projections are
measured during each 360° rotation. State-of-the-art X-ray tube/generator combina-
Key requirement for the mechanical design of tions provide a peak power of 60–120 kW, usu-
the gantry is the stability of both focal spot and ally at various, user-selectable voltages, e.g.,
detector position during rotation, in particular with 70–140 kV in steps of 10 kV. In a conventional
regard to the rapidly increasing rotational speeds tube design, an anode plate of typically 160–
of modern CT systems (from 0.75 s in 1994 to 220 mm diameter rotates in a vacuum housing
0.25 s in 2017). Hence, the gantry as well as all the (Fig. 3). The heat storage capacity of anode
Anode
Cooling oil
X-rays
Anode
Deflection unit
e-beam
Cathode
X-rays
Fig. 3 Schematic drawings and pictures of a conven- envelope tube, the anode plate constitutes an outer wall of
tional X-ray tube (top) and a rotating envelope tube (bot- the tube housing and is in direct contact with the cooling
tom). The electrons emitted by the cathode are represented oil. Heat is more efficiently dissipated via thermal con-
by green lines, the X-rays generated in the anode are duction, and the cooling rate is significantly increased.
depicted as purple arrows. In a conventional X-ray tube Rotating envelope tubes have no moving parts and no
the anode plate rotates in a vacuum housing. Heat is bearings in the vacuum. (Images not to scale)
mainly dissipated via thermal radiation. In a rotating
8 S. Ulzheimer et al.
Fig. 4 Principle of MDCT slice collimation. Example of combination of the signals of every 2 central rows—16
a 16-slice detector, which consists of 24 detector rows and collimated 1.2 mm slices (bottom)
provides either 16 collimated 0.6 mm slices (top) or—by
mode the X-ray beam width is adjusted such detector, in total 16 collimated 1.2 mm slices
that only the central 16 rows are irradiated (Fig 5, bottom). The 16-slice detectors of other
which are read-out individually (Fig. 4, top). To vendors are similarly designed, providing, e.g.,
obtain 16 collimated 1.2 mm slices, the pre- 16 collimated 0.625 mm slices or 16 collimated
patient collimator is opened. The full z-width of 1.25 mm slices.
the detector is irradiated, and the signals of MDCT detectors with 64 detector rows pro-
every 2 central rows are electronically com- vide 64 collimated 0.5, 0.6 mm, or 0.625 mm
bined. This results in 8 central 1.2 mm slices slices, depending on the manufacturer. They
plus 4 outer 1.2 mm slices on either side of the allow acquisition of thicker slices by electronic
10 S. Ulzheimer et al.
90° 95°
Detector A
Detector A
26 cm
33 cm
Detector B Detector B
Fig. 5 Dual source CT scanner with two independent angle of 90°. One detector (a) covers the entire SFOV
measurement systems. A scanner of this type provides with a diameter of 50 cm, while the other detector (b) is
temporal resolution equivalent to a quarter of the gantry restricted to a smaller, central field of view. Second gen-
rotation time, independent of the patient’s heart rate. First eration (right). To enlarge the SFOV of detector B, the
generation (center). The measurement systems are at an system angle was increased to 95°
combination of every two detector rows. This 0.6 mm slices per rotation. The shortest gantry
results in 32 collimated 1.0, 1.2 mm, or 1.25 mm rotation time is 0.33 s. Meanwhile, newer gen-
slices. One CT system has a detector with 128 erations of DSCT systems have been intro-
collimated 0.625 mm slices (z-width 80 mm at duced, which are equipped with 128- and
isocenter). Meanwhile, CT systems with 80 or 196-slice detectors, respectively, and provide
160 collimated 0.5 mm slices have been intro- gantry rotation times down to 0.25 s. To enlarge
duced. Third-generation DSCT systems provide the SFOV of detector B, the system angle was
96 collimated 0.6 mm slices with both detectors increased to 95°.
(z-width 57.6 mm). The widest commercially One key benefit of DSCT is improved tem-
available CT detectors cover 16 cm at isocenter, poral resolution for the examination of moving
either by acquiring 320 collimated 0.5 mm slices organs, such as the heart, the lung, and the tho-
or 256 collimated 0.625 mm slices, depending on racic vessels. The shortest data interval needed
the vendor. for image reconstruction at the isocenter is half
a rotation of scan data—a so-called half scan
sinogram. In a DSCT scanner, the halfscan sin-
2.4 Dual Source CT ogram can be split up into two quarter scan
sinograms which are simultaneously acquired
A dual source CT (DSCT) is a CT system with by the two measurement systems in the same
two X-ray tubes and two detectors, see Fig. 5. relative phase of the patient’s cardiac cycle and
Both measurement systems operate simultane- at the same anatomical level due to the 90°
ously and acquire CT scan data at the same ana- angle between both detectors. With this
tomical level of the patient (same z-position). approach, constant temporal resolution equiva-
In 2005, the first DSCT system was commer- lent to a quarter of the gantry rotation time trot/4
cially introduced (Flohr et al. 2006). The two is achieved in a centered region of the SFOV—
acquisition systems are mounted onto the rotat- 83 ms for the first-generation DSCT, 75 ms for
ing gantry with an angular offset of 90°. One the second-generation DSCT, and 66 ms for
detector (A) covers the entire SFOV with a the third-generation DSCT, independent of the
diameter of 50 cm, while the other detector (B) patient’s heart rate. DSCT is sufficiently accu-
is restricted to a smaller, central field of view rate to diagnose coronary artery disease in
because of space limitations on the gantry. patients with high and even irregular heart
Figure 5 illustrates the principle. Using the rates, and in difficult-to-image patients (e.g.,
z-flying focal spot technique (Flohr et al. 2004, Sun et al. 2011; Lee et al. 2012; Paul et al.
2005), each detector acquires 64 overlapping 2013; Westwood et al. 2013). The good tempo-
Multi-slice CT: Current Technology and Future Developments 11