PET digitization chain for Monte Carlo simulation in GATE

Objective. We introduce a versatile methodology for the accurate modelling of PET imaging systems via Monte Carlo simulations, using the Geant4 application for tomographic emission (GATE) platform. Accurate Monte Carlo modelling involves the incorporation of a complete analytical signal processing chain, called the digitizer in GATE, to emulate the different count rates encountered in actual positron emission tomography (PET) systems.Approach. The proposed approach consists of two steps: (1) modelling the digitizer to replicate the detection chain of real systems, covering all available parameters, whether publicly accessible or supplied by manufacturers; (2) estimating the remaining parameters, i.e. background noise level, detection efficiency, and pile-up, using optimisation techniques based on experimental single and prompt event rates. We show that this two-step optimisation reproduces the other experimental count rates (true, scatter, and random), without the need for additional adjustments. This method has been applied and validated with experimental data derived from the NEMA count losses test for three state-of-the-art SiPM-based time-of-flight (TOF)-PET systems: Philips Vereos, Siemens Biograph Vision 600 and GE Discovery MI 4-ring.Main results. The results show good agreement between experiments and simulations for the three PET systems, with absolute relative discrepancies below 3%, 6%, 6%, 7% and 12% for prompt, random, true, scatter and noise equivalent count rates, respectively, within the 0-10 kBq·ml-1activity concentration range typically observed in whole-body18F scans.Significance. Overall, the proposed digitizer optimisation method was shown to be effective in reproducing count rates and NECR for three of the latest generation SiPM-based TOF-PET imaging systems. The proposed methodology could be applied to other PET scanners.

The detection instrumentation and geometric design of clinical PET scanner: towards better performance and broader clinical applications

Positron emission tomography (PET) is a powerful medical imaging modality used in nuclear medicine to diagnose and monitor various clinical diseases in patients. It is more sensitive and produces a highly quantitative mapping of the three-dimensional biodistribution of positron-emitting radiotracers inside the human body. The underlying technology is constantly evolving, and recent advances in detection instrumentation and PET scanner design have significantly improved the medical diagnosis capabilities of this imaging modality, making it more efficient and opening the way to broader, innovative, and promising clinical applications. Some significant achievements related to detection instrumentation include introducing new scintillators and photodetectors as well as developing innovative detector designs and coupling configurations. Other advances in scanner design include moving towards a cylindrical geometry, 3D acquisition mode, and the trend towards a wider axial field of view and a shorter diameter. Further research on PET camera instrumentation and design will be required to advance this technology by improving its performance and extending its clinical applications while optimising radiation dose, image acquisition time, and manufacturing cost. This article comprehensively reviews the various parameters of detection instrumentation and PET system design. Firstly, an overview of the historical innovation of the PET system has been presented, focusing on instrumental technology. Secondly, we have characterised the main performance parameters of current clinical PET and detailed recent instrumental innovations and trends that affect these performances and clinical practice. Finally, prospects for this medical imaging modality are presented and discussed. This overview of the PET system's instrumental parameters enables us to draw solid conclusions on achieving the best possible performance for the different needs of different clinical applications.

Application of NEMA protocols to verify GATE models based on the Digital Biograph Vision and the Biograph Vision Quadra scanners

PURPOSE

The Monte Carlo method is an effective tool to simulate and verify PET systems. Furthermore, it can help in the design and optimization of new medical imaging devices and algorithms. In this framework, the goal of this work is to verify the GATE toolkit performance when applied to simulate two Siemens Healthineers PET scanners: a standard axial field-of-view Biograph Vision scanner and the new long axial field-of-view Biograph Vision Quadra scanner.

METHODS

The simulation toolkit GATE is based on GEANT4, comprising its main functionalities and a set of domain-specific features in the field of medical physics. To accomplish our purpose, the guidelines described in the NEMA NU 2-2018 protocol are reproduced. Then the simulated results are compared to experimental data available in the literature for both PET scanners. The assessment of the models includes different studies of sensitivity, count rate performances, spatial resolution and image quality. These tests are intended to evaluate the image quality of PET devices.

RESULTS

In the spatial resolution test, relative errors lower than 8% are obtained between the experiments and GATE models. The sensitivity is 17.2 cps/kBq (Vision) and 175.9 cps/kBq (Quadra), representing relative differences with the experiment of 6% and 0.3%, respectively. Deviations from peak NECR are less than 9%. In the Image Quality test, the contrast recovery coefficient for hot spheres, with 8 iterations and 5 subsets, ranges between 57-83% for Vision and 54-86% for Quadra. These values represent a maximum deviation between the simulations and the experiments of 10% for the Quadra scanner. In the case of the Vision scanner, the highest difference is observed for the 10 mm sphere (∼38%) due to the higher contrast recovery of the experiment caused by the Gibbs artifact from the use of PSF reconstruction.

CONCLUSIONS

The results of the simulations have provided evidence of a good agreement between the experimental data and the results obtained with GATE. Thus, this work supports the capability of this MC toolkit to accurately simulate the models of the Vision and Quadra scanners. This study has laid the basis for further research in this field and has identified several areas that could be explored.

Validation of a discovery MI 4-ring model according to the NEMA NU 2-2018 standards: from Monte Carlo simulations to clinical-like reconstructions

BACKGROUND

We propose a comprehensive evaluation of a Discovery MI 4-ring (DMI) model, using a Monte Carlo simulator (GATE) and a clinical reconstruction software package (PET toolbox). The following performance characteristics were compared with actual measurements according to NEMA NU 2-2018 guidelines: system sensitivity, count losses and scatter fraction (SF), coincidence time resolution (CTR), spatial resolution (SR), and image quality (IQ). For SR and IQ tests, reconstruction of time-of-flight (TOF) simulated data was performed using the manufacturer's reconstruction software.

RESULTS

Simulated prompt, random, true, scatter and noise equivalent count rates closely matched the experimental rates with maximum relative differences of 1.6%, 5.3%, 7.8%, 6.6%, and 16.5%, respectively, in a clinical range of less than 10 kBq/mL. A 3.6% maximum relative difference was found between experimental and simulated sensitivities. The simulated spatial resolution was better than the experimental one. Simulated image quality metrics were relatively close to the experimental results.

CONCLUSIONS

The current model is able to reproduce the behaviour of the DMI count rates in the clinical range and generate clinical-like images with a reasonable match in terms of contrast and noise.

The quest for multifunctional and dedicated PET instrumentation with irregular geometries

We focus on reviewing state-of-the-art developments of dedicated PET scanners with irregular geometries and the potential of different aspects of multifunctional PET imaging. First, we discuss advances in non-conventional PET detector geometries. Then, we present innovative designs of organ-specific dedicated PET scanners for breast, brain, prostate, and cardiac imaging. We will also review challenges and possible artifacts by image reconstruction algorithms for PET scanners with irregular geometries, such as non-cylindrical and partial angular coverage geometries and how they can be addressed. Then, we attempt to address some open issues about cost/benefits analysis of dedicated PET scanners, how far are the theoretical conceptual designs from the market/clinic, and strategies to reduce fabrication cost without compromising performance.

Performance evaluation of the PennPET explorer with expanded axial coverage

Objective.This work evaluated the updated PennPET Explorer total-body (TB) PET scanner, which was extended to 6 rings with updated readout firmware to achieve a 142 cm axial field of view (AFOV) without 7.6 cm inter-ring axial gaps.Approach.National Electrical Manufacturers Association (NEMA) NU 2-2018 measurements were performed with modifications including longer phantoms for sensitivity and count-rate measurements and additional positions for spatial resolution and image quality. A long uniform phantom and the clinical trials network (CTN) phantom were also used.Main results.The total sensitivity increased to 140 kcps MBq-1for a 70 cm line, a gain of 1.8x compared to the same system with axial gaps; an additional 47% increase in total counts was observed with a 142 cm line at the same activity per cm. The noise equivalent count rate (NECR) increased by 1.8x without axial gaps. The peak NECR is 1550 kcps at 25 kBq cc-1for a 140 cm phantom; due to increased randoms, the NECR is lower than with a 70 cm phantom, for which NECR is 2156 kcps cc-1at 25 kBq cc-1and continues increasing. The time-of-flight resolution is 250 ps, increasing by <10 ps at the highest activity. The axial spatial resolution degrades by 0.6 mm near the center of the AFOV, compared to 4 mm resolution near the end. The NEMA image quality phantom showed consistent contrast recovery throughout the AFOV. A long uniform phantom demonstrated axial uniformity of uptake and noise, and the CTN phantom demonstrated quantitative accuracy for both18F and89Zr.Significance. The performance evaluation of the updated PennPET Explorer demonstrates significant gains compared to conventional scanners and shows where the current NEMA standard needs to be updated for TB-PET systems. The comparisons of systems with and without inter-ring gaps demonstrate the performance trade-offs of a more cost-effective TB-PET system with incomplete detector coverage.

The potential of a medium-cost long axial FOV PET system for nuclear medicine departments

PURPOSE

Total body positron emission tomography (TB-PET) has recently been introduced in nuclear medicine departments. There is a large interest in these systems, but for many centers, the high acquisition cost makes it very difficult to justify their current operational budget. Here, we propose medium-cost long axial FOV scanners as an alternative.

METHODS

Several medium-cost long axial FOV designs are described with their advantages and drawbacks. We describe their potential for higher throughput, more cost-effective scanning, a larger group of indications, and novel research opportunities. The wider spread of TB-PET can also lead to the fast introduction of new tracers (at a low dose), new methodologies, and optimized workflows.

CONCLUSIONS

A medium-cost TB-PET would be positioned between the current standard PET-CT and the full TB-PET systems in investment but recapitulate most advantages of full TB-PET. These systems could be more easily justified financially in a standard academic or large private nuclear medicine department and still have ample research options.

Total-body PET: a new paradigm for molecular imaging

Total body (TB) positron emission tomography (PET) instruments have dramatically changed the paradigm of PET clinical and research studies due to their very high sensitivity and capability to image dynamic radiopharmaceutical distributions in the major organs of the body simultaneously. In this manuscript, we review the design of these systems and discuss general challenges and trade-offs to maximize the performance gains of current TB-PET systems. We then describe new concepts and technology that may impact future TB-PET systems. The manuscript summarizes what has been learned from the initial sites with TB-PET and explores potential research and clinical applications of TB-PET. The current generation of TB-PET systems range in axial field-of-view (AFOV) from 1 to 2 m and serve to illustrate the benefits and opportunities of a longer AFOV for various applications in PET. In only a few years of use these new TB-PET systems have shown that they will play an important role in expanding the field of molecular imaging and benefiting clinical practice.

Active-PET: a multifunctional PET scanner with dynamic gantry size featuring high-resolution and high-sensitivity imaging: a Monte Carlo simulation study

Organ-specific PET scanners have been developed to provide both high spatial resolution and sensitivity, although the deployment of several dedicated PET scanners at the same center is costly and space-consuming. Active-PET is a multifunctional PET scanner design exploiting the advantages of two different types of detector modules and mechanical arms mechanisms enabling repositioning of the detectors to allow the implementation of different geometries/configurations. Active-PET can be used for different applications, including brain, axilla, breast, prostate, whole-body, preclinical and pediatrics imaging, cell tracking, and image guidance for therapy. Monte Carlo techniques were used to simulate a PET scanner with two sets of high resolution and high sensitivity pixelated Lutetium Oxyorthoscilicate (LSO(Ce)) detector blocks (24 for each group, overall 48 detector modules for each ring), one with large pixel size (4 × 4 mm2) and crystal thickness (20 mm), and another one with small pixel size (2 × 2 mm2) and thickness (10 mm). Each row of detector modules is connected to a linear motor that can displace the detectors forward and backward along the radial axis to achieve variable gantry diameter in order to image the target subject at the optimal/desired resolution and/or sensitivity. At the center of the field-of-view, the highest sensitivity (15.98 kcps MBq−1) was achieved by the scanner with a small gantry and high-sensitivity detectors while the best spatial resolution was obtained by the scanner with a small gantry and high-resolution detectors (2.2 mm, 2.3 mm, 2.5 mm FWHM for tangential, radial, and axial, respectively). The configuration with large-bore (combination of high-resolution and high-sensitivity detectors) achieved better performance and provided higher image quality compared to the Biograph mCT as reflected by the 3D Hoffman brain phantom simulation study. We introduced the concept of a non-static PET scanner capable of switching between large and small field-of-view as well as high-resolution and high-sensitivity imaging.

Silicon photomultiplier signal readout and multiplexing techniques for positron emission tomography: a review

In recent years, silicon photomultiplier (SiPM) is replacing the photomultiplier tube (PMT) in positron emission tomography (PET) systems due to its superior properties, such as fast single-photon timing response, small gap between adjacent photosensitive pixels in the array, and insensitivity to magnetic fields. One of the technical challenges when developing SiPM-based PET systems or other position-sensitive radiation detectors is the large number of output channels coming from the SiPM array. Therefore, various signal multiplexing methods have been proposed to reduce the number of output channels and the load on the subsequent data acquisition (DAQ) system. However, the large PN-junction capacitance and quenching resistance of the SiPM yield undesirable resistance–capacitance delay when multiple SiPMs are combined, which subsequently causes the accumulation of dark counts and signal fluctuation of SiPMs. Therefore, without proper SiPM signal handling and processing, the SiPMs may yield worse timing characteristics than the PMTs. This article reviews the evolution of signal readout and multiplexing methods for the SiPM. In this review, we focus primarily on analog electronics for SiPM signal multiplexing, which allows for the reduction of DAQ channels required for the SiPM-based position-sensitive detectors used in PET and other radiation detector systems. Although the applications of most technologies described in the article are not limited to PET systems, the review highlights efforts to improve the physical performance (e.g. spatial, energy, and timing resolutions) of PET detectors and systems.

High-resolution and high-sensitivity PET for quantitative molecular imaging of the monoaminergic nuclei: A GATE simulation study

PURPOSE

Quantitative in vivo molecular imaging of fine brain structures requires high-spatial resolution and high-sensitivity. Positron emission tomography (PET) is an attractive candidate to introduce molecular imaging into standard clinical care due to its highly targeted and versatile imaging capabilities based on the radiotracer being used. However, PET suffers from relatively poor spatial resolution compared to other clinical imaging modalities, which limits its ability to accurately quantify radiotracer uptake in brain regions and nuclei smaller than 3 mm in diameter. Here we introduce a new practical and cost-effective high-resolution and high-sensitivity brain-dedicated PET scanner, using our depth-encoding Prism-PET detector modules arranged in a conformal decagon geometry, to substantially reduce the partial volume effect and enable accurate radiotracer uptake quantification in small subcortical nuclei.

METHODS

Two Prism-PET brain scanner setups were proposed based on our 4-to-1 and 9-to-1 coupling of scintillators to readout pixels using1.5 × 1.5 × 20 $1.5 \times 1.5 \times 20$  mm3 and0.987 × 0.987 × 20 $0.987 \times 0.987 \times 20$  mm3 crystal columns, respectively. Monte Carlo simulations of our Prism-PET scanners, Siemens Biograph Vision, and United Imaging EXPLORER were performed using Geant4 application for tomographic emission (GATE). National Electrical Manufacturers Association (NEMA) standard was followed for the evaluation of spatial resolution, sensitivity, and count-rate performance. An ultra-micro hot spot phantom was simulated for assessing image quality. A modified Zubal brain phantom was utilized for radiotracer imaging simulations of 5-HT1A receptors, which are abundant in the raphe nuclei (RN), and norepinephrine transporters, which are highly concentrated in the bilateral locus coeruleus (LC).

RESULTS

The Prism-PET brain scanner with 1.5 mm crystals is superior to that with 1 mm crystals as the former offers better depth-of-interaction (DOI) resolution, which is key to realizing compact and conformal PET scanner geometries. We achieved uniform 1.3 mm full-width-at-half-maximum (FWHM) spatial resolutions across the entire transaxial field-of-view (FOV), a NEMA sensitivity of 52.1 kcps/MBq, and a peak noise equivalent count rate (NECR) of 957.8 kcps at 25.2 kBq/mL using 450-650 keV energy window. Hot spot phantom results demonstrate that our scanner can resolve regions as small as 1.35 mm in diameter at both center and 10 cm away from the center of the transaixal FOV. Both 5-HT1A receptor and norepinephrine transporter brain simulations prove that our Prism-PET scanner enables accurate quantification of radiotracer uptake in small brain regions, with a 1.8-fold and 2.6-fold improvement in the dorsal RN as well as a 3.2-fold and 4.4-fold improvement in the bilateral LC compared to the Biograph Vision and EXPLORER, respectively.

CONCLUSIONS

Based on our simulation results, the proposed high-resolution and high-sensitivity Prism-PET brain scanner is a promising cost-effective candidate to achieve quantitative molecular neuroimaging of small but important brain regions with PET clinically viable.

Performance evaluation of dedicated brain PET scanner with motion correction system

OBJECTIVE

Various motion correction (MC) algorithms for positron emission tomography (PET) have been proposed to accelerate the diagnostic performance and research in brain activity and neurology. We have incorporated MC system-based optical motion tracking into the brain-dedicated time-of-flight PET scanner. In this study, we evaluate the performance characteristics of the developed PET scanner when performing MC in accordance with the standards and guidelines for the brain PET scanner.

METHODS

We evaluate the spatial resolution, scatter fraction, count rate characteristics, sensitivity, and image quality of PET images. The MC evaluation is measured in terms of the spatial resolution and image quality that affect movement.

RESULTS

In the basic performance evaluation, the average spatial resolution by iterative reconstruction was 2.2 mm at 10 mm offset position. The measured peak noise equivalent count rate was 38.0 kcps at 16.7 kBq/mL. The scatter fraction and system sensitivity were 43.9% and 22.4 cps/(Bq/mL), respectively. The image contrast recovery was between 43.2% (10 mm sphere) and 72.0% (37 mm sphere). In the MC performance evaluation, the average spatial resolution was 2.7 mm at 10 mm offset position, when the phantom stage with the point source translates to ± 15 mm along the y-axis. The image contrast recovery was between 34.2 % (10 mm sphere) and 66.8 % (37 mm sphere).

CONCLUSIONS

The reconstructed images using MC were restored to their nearly identical state as those at rest. Therefore, it is concluded that this scanner can observe more natural brain activity.

Physical performance of adaptive axial FOV PET scanners with a sparse detector block rings or a checkerboard configuration

Objective. Using Monte-Carlo simulations, we evaluated the physical performance of a hypothetical state-of-the-art clinical PET scanner with adaptive axial field-of-view (AFOV) based on the validated GATE model of the Siemens Biograph VisionTM PET/CT scanner. Approach. Vision consists of 16 compact PET rings, each consisting of 152 mini-blocks of 5 × 5 Lutetium Oxyorthosilicate crystals (3.2 × 3.2 × 20 mm3). The Vision 25.6 cm AFOV was extended by adopting (i) a sparse mini-block ring (SBR) configuration of 49.6 cm AFOV, with all mini-block rings interleaved with 16 mm axial gaps, or (ii) a sparse mini-block checkerboard (SCB) configuration of 51.2 cm AFOV, with all mini-blocks interleaved with gaps of 16 mm (transaxial) × 16 mm (axial) width in checkerboard pattern. For sparse configurations, a ‘limited’ continuous bed motion (limited-CBM) acquisition was employed to extend AFOVs by 2.9 cm. Spatial resolution, sensitivity, image quality (IQ), NECR and scatter fraction were assessed per NEMA NU2-2012. Main Results. All IQ phantom spheres were distinguishable with all configurations. SBR and SCB percent contrast recovery (% CR) and background variability (% BV) were similar (p-value > 0.05). Compared to Vision, SBR and SCB %CRs were similar (p-values > 0.05). However, SBR and SCB %BVs were deteriorated by 30% and 26% respectively (p-values < 0.05). SBR, SCB and Vision exhibited system sensitivities of 16.6, 16.8, and 15.8 kcps MBq−1, NECRs of 311 kcps @35 kBq cc−1, 266 kcps @25.8 kBq cc−1, and 260 kcps @27.8 kBq cc−1, and scatter fractions of 31.2%, 32.4%, and 32.6%, respectively. SBR and SCB exhibited a smoother sensitivity reduction and noise enhancement rate from AFOV center to its edges. SBR and SCB attained comparable spatial resolution in all directions (p-value > 0.05), yet, up to 1.5 mm worse than Vision (p-values < 0.05). Significance. The proposed sparse configurations may offer a clinically adoptable solution for cost-effective adaptive AFOV PET with either highly-sensitive or long-AFOV acquisitions.

Monte Carlo evaluation of hypothetical long axial field-of-view PET scanner using GE discovery MI PET front-end architecture

PURPOSE

The development of total-body PET scanners is of growing interest in the PET community. Investigation into the imaging properties of a hypothetical extended axial field-of-view (AFOV) GE Healthcare SiPM-based Discovery MI (DMI) system architecture has not yet been performed. In this work, we assessed its potential as a whole-body scanner using Monte Carlo simulations. The aim of this work was to (1) develop and validate a Monte Carlo model of a 4-ring scanner and (2) extend its AFOV up to 2 m to evaluate performance gain through NEMA-based evaluation.

METHODS

The DMI 4-ring geometry and its pulse digitization scheme were modeled within the GATE Monte Carlo platform using published literature. The GATE scanner model was validated by comparing results against published NEMA performance measurements. Following the validation of the 4-ring model, the model was extended to simulate 8, 20, 30, and 40-ring systems. Spatial resolution, sensitivity, NECR, and scatter fraction were characterized with modified NEMA NU-2 2018 standards; however, the image quality measurements were not acquired due to computational limitations. Spatial resolutions were simulated for all scanner ring configurations using point sources to examine the effects of parallax errors. NEMA count rates were estimated using a standard 70 cm scatter phantom and an extended version of scatter phantom of length 200 cm with (1-800) MBq of ¹⁸ F for all scanners. Sensitivity was evaluated using NEMA methods with a 70 cm standard and a 200 cm long line source.

RESULTS

The average FWHM of the radial/tangential/axial spatial resolution reconstructed with filtered back-projection at 1 and 10 cm from the scanner center were 3.94/4.10/4.41 mm and 5.29/4.89/5.90 mm for the 4-ring scanner. Sensitivity was determined to be 14.86 cps/kBq at the center of the FOV for the 4-ring scanner using a 70 cm line source. Sensitivity enhancement up to 21-fold and 60-fold were observed for 1 m and 2 m AFOV scanners compared to 4-ring scanner using a 200 cm long line source. Spatial resolution simulations in a 2 m AFOV scanner suggest a maximum degradation of ∼23.8% in the axial resolution compared to the 4-ring scanner. However, the transverse resolution was found to be relatively constant when increasing the axial acceptance angle up to ±70°. The peak NECR was 212.92 kcps at 22.70 kBq/mL with a scatter fraction of 38.9% for a 4-ring scanner with a 70 cm scatter phantom. Comparison of peak NECR using the 200 cm long scatter phantom relative to the 4-ring scanner resulted in a NECR gain of 15 for the 20-ring and 28 for the 40-ring geometry. Spatial resolution, sensitivity, and scatter fraction showed an agreement within ∼7% compared with published measured values.

CONCLUSIONS

The 4-ring DMI scanner simulation was successfully validated against published NEMA measurements. Sensitivity and NECR performance of extended 1 and 2 meters AFOV scanners based upon the DMI architecture were subsequently simulated. Increases in sensitivity and count-rate performance are consistent with prior simulation studies utilizing extensions of the Siemens mCT architecture and published NEMA measurements with the uEXPLORER system. This article is protected by copyright. All rights reserved.

Time of Flight in Perspective: Instrumental and Computational Aspects of Time Resolution in Positron Emission Tomography

The first time-of-flight positron emission tomography (TOF-PET) scanners were developed as early as in the 1980s. However, the poor light output and low detection efficiency of TOF-capable detectors available at the time limited any gain in image quality achieved with these TOF-PET scanners over the traditional non-TOF PET scanners. The discovery of LSO and other Lu-based scintillators revived interest in TOF-PET and led to the development of a second generation of scanners with high sensitivity and spatial resolution in the mid-2000s. The introduction of the silicon photomultiplier (SiPM) has recently yielded a third generation of TOF-PET systems with unprecedented imaging performance. Parallel to these instrumentation developments, much progress has been made in the development of image reconstruction algorithms that better utilize the additional information provided by TOF. Overall, the benefits range from a reduction in image variance (SNR increase), through allowing joint estimation of activity and attenuation, to better reconstructing data from limited angle systems. In this work, we review these developments, focusing on three broad areas: 1) timing theory and factors affecting the time resolution of a TOF-PET system; 2) utilization of TOF information for improved image reconstruction; and 3) quantification of the benefits of TOF compared to non-TOF PET. Finally, we offer a brief outlook on the TOF-PET developments anticipated in the short and longer term. Throughout this work, we aim to maintain a clinically driven perspective, treating TOF as one of multiple (and sometimes competitive) factors that can aid in the optimization of PET imaging performance.