In 1980 DSA provided a real time series of digitally processed angiographic images that facilitated and reduced the risk of angiographic procedures. This technique has become an enabling technology for interventional radiology. Initially it was hoped that intravenous DSA could eliminate the need for arterial injections. However the 2D nature of the images resulted in overlap of vessels and repeat injections were often required. Ultimately the use of smaller arterial catheters and reduced iodine injections resulted in significant reduction in complications. During the next two decades time resolved MR DSA angiographic methods were developed that produced time series of 3D images. These 4D displays were initially limited by tradeoffs in temporal and spatial resolution when acquisitions obeying the Nyquist criteria were employed. Then substantial progress was made in the implementation of undersampled non-Cartesian acquisitions such as VIPR and constrained reconstruction methods such as HYPR, which removed this tradeoff and restored SNR usually lost by accelerated techniques. Recently, undersampled acquisition and constrained reconstruction have been applied to generate time series of 3D x-ray DSA volumes reconstructed using rotational C-arm acquisition completing a 30 year evolution from DSA to 4D DSA. These 4D DSA volumes provide a flexible series of roadmaps for interventional procedures and solve the problem of vessel overlap for intravenous angiography. Full time-dependent behavior can be visualized in three dimensions. When a biplane system is used, 4D fluoroscopy is also possible, enabling the interventionalist to track devices in vascular structures from any angle without moving the C-arm gantrys. Constrained reconstruction methods have proved useful in a broad range of medical imaging applications, where substantial acquisition accelerations and dose reductions have been reported.