The developments in positron emission tomography (PET) are reviewed with an emphasis on instrumentation for clinical PET imaging. After a brief summary of positron imaging before the advent of computed tomography, various improvements are highlighted including the move from PET scanners with septa to fully 3D scanners, changes in the preferred scintillators, efforts to improve the energy discrimination, and improvements in attenuation correction. Time-of-flight PET imaging is given special attention due to the recent revival of this technique, which promises significant improvement. Besides technical instrumentation efforts, other factors which influenced the acceptance of clinical PET are also discussed.