阅读说明：本技术 X射线拍摄控制装置以及x射线诊断装置 (X-ray imaging control device and X-ray diagnostic device ) 是由 政桥顺史 小林由昌 小高达昭 有川信弘 小谷笃司 杜儒霖 屋代正二 田中秀明 于 2021-03-19 设计创作，主要内容包括：本发明的技术问题是在使用了辅助工具的X射线拍摄中减轻拍摄者的负担而适当地进行X射线的拍摄。解决手段是,实施方式的X射线拍摄控制装置具备相机图像取得部和移动控制部。相机图像取得部取得包含辅助工具的相机图像,所述辅助工具配置于X射线的拍摄范围内、且对被检体的对位进行辅助。移动控制部使X射线拍摄装置移动到与所述相机图像所包含的辅助工具对应的拍摄位置。(The technical problem of the invention is to reduce the burden of a photographer and properly perform X-ray shooting in X-ray shooting using an auxiliary tool. The solution is that the X-ray shooting control device of the embodiment is provided with a camera image acquisition part and a movement control part. The camera image acquisition unit acquires a camera image including an auxiliary tool that is disposed within an X-ray imaging range and that assists in positioning of a subject. The movement control unit moves the X-ray imaging device to an imaging position corresponding to an auxiliary tool included in the camera image.)

1. An X-ray imaging control device is provided with:

a camera image acquisition unit that acquires a camera image including an auxiliary tool that is disposed within an X-ray imaging range and that assists in positioning of a subject; and

and a movement control unit that moves the X-ray imaging device to an imaging position corresponding to the auxiliary tool included in the camera image.

2. The X-ray photographing control apparatus according to claim 1,

further comprises a storage unit for storing the auxiliary tool in association with the shooting position,

the movement control unit recognizes an auxiliary tool included in the camera image and moves the X-ray imaging device to an imaging position corresponding to the recognized auxiliary tool.

3. The X-ray photographing control apparatus according to claim 2,

the storage unit stores an auxiliary tool in association with a shooting position for each shooting part,

the movement control unit receives an operation to set an imaging region, and moves the X-ray imaging apparatus to the imaging position corresponding to the recognized auxiliary tool for the set imaging region.

4. The X-ray photographing control apparatus according to claim 2,

the storage unit stores auxiliary tools in association with imaging positions for each inspection purpose,

the movement control unit receives an operation for setting an examination purpose, and moves the X-ray imaging device to the imaging position corresponding to the identified auxiliary tool for the set examination purpose.

5. The X-ray photographing control apparatus according to claim 1,

the photographing position includes a position of an X-ray tube that irradiates X-rays.

6. The X-ray photographing control apparatus according to claim 1,

the photographing position includes a position of an X-ray aperture that forms an irradiation range of X-rays.

7. The X-ray photographing control apparatus according to claim 1,

the photographing position includes a position of an X-ray detector that detects X-rays.

8. The X-ray photographing control apparatus according to claim 1,

the imaging position includes a position of a top plate on which the subject is placed.

9. The X-ray photographing control apparatus according to claim 2,

when there are a plurality of imaging positions associated with the recognized auxiliary tool in the storage unit, the movement control unit displays candidates for the plurality of imaging positions and accepts an operation to select the imaging position.

10. The X-ray photographing control apparatus according to claim 2,

the storage unit stores the auxiliary tool and the imaging position in association with the X-ray imaging conditions,

the X-ray imaging control device further includes an X-ray imaging control unit that reads out, from the storage unit, X-ray imaging conditions associated with the auxiliary tool recognized by the movement control unit, and executes X-ray imaging based on the read-out X-ray imaging conditions.

11. The X-ray photographing control apparatus according to claim 10,

the X-ray imaging control unit displays the X-ray imaging conditions and accepts an operation for changing the X-ray imaging conditions.

12. The X-ray photographing control apparatus according to claim 5, wherein,

when the imaging position of the X-ray tube is outside the movable range of the X-ray tube, the movement control unit calculates a recommended auxiliary tool position of an auxiliary tool so that the imaging position of the X-ray tube is within the movable range.

13. The X-ray photographing control apparatus according to claim 12,

the movement control unit determines a recommended top plate position of a top plate based on the recommended aid position, and moves the top plate to the recommended top plate position, thereby moving the aid to the recommended aid position.

14. The X-ray photographing control apparatus according to claim 12,

the recommendation assistance device is further provided with a display control unit that causes a display to display the recommendation assistance tool position.

15. The X-ray photographing control apparatus according to any one of claims 1 to 14,

the auxiliary tool is a jig for fixing the subject to the top plate in a desired posture.

16. The X-ray photographing control apparatus according to any one of claims 1 to 14,

the auxiliary tool is a marker attached to an X-ray detector that detects X-rays irradiated from an X-ray irradiation unit.

17. An X-ray diagnostic device is provided with:

the X-ray imaging control apparatus according to any one of claims 1 to 16; and

and a camera capable of imaging a range including the auxiliary tool, the auxiliary tool being disposed within an imaging range of the X-ray.

18. An X-ray diagnostic device is provided with:

the X-ray imaging control apparatus according to any one of claims 1 to 16; and

and a plurality of cameras capable of imaging a range including the auxiliary tool, the auxiliary tool being disposed within an imaging range of the X-ray.

Technical Field

The present embodiment relates to an X-ray imaging control device and an X-ray diagnostic device.

Background

Conventionally, when X-ray imaging is generally performed in orthopedic surgery or the like, an auxiliary tool such as a fixing tool for positioning an imaging target such as a knee joint in an appropriate posture is used. The photographer arranges an auxiliary tool on the bed, for example, and performs X-ray imaging after positioning the imaging target. In this case, in order to appropriately perform X-ray imaging, the photographer needs to perform an operation of placing the X-ray tube at an appropriate position with respect to the positioned imaging target.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 2012-050525

Disclosure of Invention

One of the technical problems to be solved by the embodiments disclosed in the present specification and the drawings is to reduce the burden on the operator and to appropriately perform X-ray imaging in X-ray imaging using an auxiliary tool. However, the technical problems to be solved by the embodiments disclosed in the present specification and the drawings are not limited to the above technical problems. Technical problems corresponding to the respective effects of the respective configurations shown in the embodiments described below can be also positioned as other technical problems.

An X-ray imaging control device according to an embodiment includes a camera image acquisition unit and a movement control unit. The camera image acquisition unit acquires a camera image including an auxiliary tool that is disposed within an X-ray imaging range and that assists in positioning of a subject. The movement control unit moves the X-ray imaging device to an imaging position corresponding to an auxiliary tool included in the camera image.

Effects of the invention

In X-ray imaging using an auxiliary tool, the burden on the operator can be reduced and X-ray imaging can be performed appropriately.

Drawings

Fig. 1 is a diagram showing an example of a case where an auxiliary tool is imaged by the X-ray diagnostic apparatus according to the first embodiment.

Fig. 2 is a diagram illustrating a configuration of an X-ray diagnostic apparatus according to a first embodiment.

Fig. 3 is a flowchart illustrating a processing procedure of registration processing of the X-ray diagnostic apparatus of the first embodiment.

Fig. 4 is a flowchart illustrating a processing procedure of the position adjustment processing of the X-ray diagnostic apparatus according to the first embodiment.

Fig. 5 is a diagram showing an example of imaging of an auxiliary tool set at the time of examination in the position adjustment process of the X-ray diagnostic apparatus according to the first embodiment.

Fig. 6 is a diagram showing an example of moving the X-ray irradiation device to the imaging position in the position adjustment process of the X-ray diagnostic apparatus according to the first embodiment.

Fig. 7 is a diagram showing an example of a state in which the patient is fixed to the bed after the position adjustment processing of the X-ray diagnostic apparatus according to the first embodiment.

Fig. 8 is a diagram showing an example of a state in which the patient is fixed to the bed after the position adjustment processing of the X-ray diagnostic apparatus according to the first embodiment.

Fig. 9 is a diagram illustrating a configuration of an X-ray diagnostic apparatus according to a second embodiment.

Fig. 10 is a flowchart illustrating a processing procedure of the position adjustment processing of the X-ray diagnostic apparatus according to the third embodiment.

Fig. 11 is a flowchart illustrating a processing procedure of the position adjustment processing of the X-ray diagnostic apparatus according to the modification of the third embodiment.

Fig. 12 is a diagram illustrating a configuration of an X-ray diagnostic apparatus according to a fourth embodiment.

Fig. 13 is a flowchart illustrating a processing procedure of registration processing of the X-ray diagnostic apparatus of the fourth embodiment.

Fig. 14 is a flowchart illustrating a processing procedure of the position adjustment processing of the X-ray diagnostic apparatus according to the fourth embodiment.

Fig. 15 is a diagram illustrating a configuration of an X-ray diagnostic apparatus according to a fifth embodiment.

Description of the reference numerals

1 … X-ray diagnostic apparatus

10 … imaging part

11 … high voltage generating part

12 … X-ray irradiation unit

14 … supporting arm

16 … camera

30 … bed part

31 … base part

32 … driving part of bed

33 … top plate

34 … support frame

40 … Console part

41 … memory

42 … display

43 … input interface

44 … processing circuit

50 … X-ray detector

60 … auxiliary tool

441 … System control function

442 … Camera image acquisition function

443 … registration function

444 … decision function

445 … movement control function

446 … radiography control function

P … subject

Detailed Description

In general, in one embodiment, an X-ray imaging control apparatus includes a camera image acquisition unit and a movement control unit. The camera image acquisition unit acquires a camera image including an auxiliary tool that is disposed within an X-ray imaging range and that assists in positioning of a subject. The movement control unit moves the X-ray imaging device to an imaging position corresponding to an auxiliary tool included in the camera image.

Hereinafter, embodiments of an X-ray imaging control apparatus and an X-ray diagnostic apparatus will be described in detail with reference to the drawings. In the following description, components having substantially the same functions and configurations are denoted by the same reference numerals, and repeated description will be made only when necessary.

(first embodiment)

As shown in fig. 1, the X-ray diagnostic apparatus 1 images an auxiliary tool 60 disposed on the bed unit 30 with the camera 16, and automatically moves the X-ray irradiation unit 12 to an appropriate imaging position based on the recognition result of the captured image. In the present embodiment, the imaging position of the X-ray irradiation unit 12 is the position of an X-ray tube that irradiates X-rays.

The assisting tool 60 is a jig (fixing tool) for positioning an imaging target such as a knee joint in an appropriate posture when X-ray imaging is performed in general in orthopedic surgery or the like. The auxiliary tool 60 is disposed on the bed portion 30. The auxiliary tool 60 may have various shapes and sizes, and may be used separately as appropriate depending on the size of the subject, the purpose of examination, and the like. For example, when the subject is a knee, a triangular prism-shaped auxiliary tool is used to fix the knee in a state of being bent at a predetermined angle. When the subject is a head, an auxiliary tool such as a rectangular parallelepiped or an L-shape is used to fix the head at a predetermined position.

The camera 16 is provided at a position where it can capture an image of the auxiliary tool 60 disposed on the bed portion 30. That is, the camera 16 is provided at a position where it can capture an image of a range including an auxiliary tool for assisting the positioning of the subject disposed in the X-ray imaging range. The camera 16 is, for example, an optical digital camera.

As shown in fig. 2, the X-ray diagnostic apparatus 1 includes an imaging unit 10, a bed unit 30, a console unit 40, and an X-ray detector 50. The imaging unit 10, the bed unit 30, and the X-ray detector 50 form an X-ray imaging apparatus 2. The X-ray imaging apparatus 2 is an example of an imaging apparatus.

The imaging unit 10 includes a high voltage generation unit 11, an X-ray irradiation unit 12, a support arm 14, and a camera 16.

The high voltage generator 11 generates a high voltage to be applied between an anode and a cathode in order to accelerate thermal electrons generated from the cathode of the X-ray tube, and outputs the generated high voltage to the X-ray tube.

The X-ray irradiation unit 12 includes an X-ray tube and an X-ray diaphragm. An X-ray tube is a vacuum tube that generates X-rays. The X-ray tube includes a tube bulb, a filament (cathode) provided on the tube bulb, and a tungsten anode. The X-ray tube accelerates thermal electrons emitted from the filament by a high voltage. The X-ray tube generates X-rays by causing the accelerated electrons to collide with a tungsten anode.

The X-ray diaphragm is made of a metal plate such as lead. The X-ray diaphragm reduces an irradiation range of the subject P with X-rays generated by the X-ray tube (hereinafter, referred to as an X-ray irradiation range) by shielding X-rays outside the aperture area. The X-ray aperture adjusts the size of the X-ray irradiation range by adjusting the size of the X-ray shielded region to an arbitrary size.

The support arm 14 supports the X-ray irradiation unit 12. The X-ray irradiation unit 12 supported by the support arm 14 irradiates X-rays onto the top plate 33. The support arm 14 is supported to be slidable and rotatable about each of a plurality of rotation axes. The support arm 14 is provided at an appropriate position corresponding to a plurality of power sources for realizing the sliding and rotating operations. These power sources constitute a support arm driving device. The support arm driving device reads a drive signal from the processing circuit 44, and causes the support arm 14 to perform a sliding motion, a rotational motion, and a linear motion.

The bed unit 30 includes a base unit 31, a bed driving unit 32, and a top plate 33. The base portion 31 is a housing that is installed on the floor surface and supports the support frame 34 so as to be movable in the vertical direction (Z direction).

The couch driving unit 32 is a motor or an actuator which is housed in the housing of the couch portion 30 and moves the top plate 33 on which the subject P is placed in the longitudinal direction (Y direction) of the top plate 33. The couch driving unit 32 reads a driving signal from the processing circuit 44, and moves the top plate 33 horizontally or vertically with respect to the floor surface. The positional relationship of the imaging axis with respect to the subject P changes by the movement of the support arm 14 or the top plate 33. The couch driving unit 32 may move the support frame 34 in the longitudinal direction of the top plate 33 in addition to the top plate 33.

The top plate 33 is provided on the upper surface of the support frame 34, and the radiation detector 50 and the auxiliary tool 60 of the subject P, X are provided.

The table portion 30 may be such that the top 33 is movable relative to the support frame 34, or the top 33 and the support frame 34 are movable together relative to the base portion 31.

The X-ray detector 50 is used by being provided on the top plate 33. The X-ray detector 50 detects X-rays emitted from the X-ray tube and transmitted through the subject P. As such an X-ray detector 50, a detector that directly converts X-rays into electric charges and a detector that converts X-rays into light and then converts the light into electric charges can be used, and the former is described as an example herein, but the latter may be used. That is, the X-ray Detector 50 includes, for example, a Flat Panel Detector (FPD) that converts X-rays transmitted through the subject P into electric charges and accumulates the electric charges, and a gate driver that generates a drive pulse for reading the electric charges accumulated in the FPD. The size of the FPD is, for example, a value in the range of 8 to 16 inches. An FPD is configured by two-dimensionally arranging minute detection elements in a column direction and a row direction. Each detection element includes: a photoelectric film for sensing X-rays and generating charges according to the amount of incident X-rays; a charge storage capacitor for storing charges generated in the photoelectric film; and a TFT (thin film transistor) that outputs the charge stored in the charge storage capacitor at a predetermined timing. The accumulated electric charges are sequentially read out by a drive pulse supplied from a gate driver.

The console section 40 includes a memory 41, a display 42, an input interface 43, and a processing circuit 44.

The memory 41 is a storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), and an integrated circuit, which stores various information. The memory 41 may be a removable storage medium such as a cd (compact disc), a dvd (digital Versatile disc), or a flash memory, in addition to an HDD, an SSD, or the like. The Memory 41 may be a drive device for reading and writing various information with a semiconductor Memory element such as a flash Memory or a RAM (Random Access Memory). The storage area of the memory 41 may be in the X-ray diagnostic apparatus 1 or in an external storage device connected via a network.

The memory 41 stores, for example, an X-ray image, a program executed by the processing circuit 44, various data used in processing by the processing circuit 44, and the like. In the memory 41, the auxiliary tool 60 is stored in association with the imaging position of the X-ray irradiation unit 12. The memory 41 is an example of a storage unit.

The display 42 displays various information. For example, the display 42 outputs a medical image (X-ray image) generated by the processing circuit 44, a gui (graphical User interface) for accepting various operations from the operator, and the like. The display 42 is, for example, a liquid crystal display or a CRT (Cathode Ray Tube) display. The display 42 is an example of a display unit. The display 42 may be provided in the imaging unit 10. The display 42 may be a desktop type, or may be a tablet terminal or the like capable of wireless communication with the console section 40 main body.

The input interface 43 receives various input operations from an operator, converts the received input operations into electrical signals, and outputs the electrical signals to the processing circuit 44. For example, the input interface 43 receives subject information, imaging conditions, and various command signals from an operator. For example, the input interface 43 is implemented by a trackball, a mouse, a keyboard, a trackball, a switch, a button, a joystick, a touch panel that performs input operations by touching an operation surface, a touch panel display in which a display screen and the touch panel are integrated, a foot switch, and the like, for instructing movement of the support arm 14, setting an X-ray irradiation range, executing X-ray imaging, and performing various processes by the processing circuit 44. The input interface 43 is an example of an input unit and an operation unit. In addition, the input interface 43 may be provided to the imaging section 10. The input interface 43 may be configured by a tablet terminal or the like capable of wireless communication with the console section 40 main body. The input interface 43 is not limited to an interface including a physical operation member such as a mouse or a keyboard. For example, a processing circuit that receives an electric signal corresponding to an input operation from an external input device provided separately from the apparatus and outputs the electric signal to the processing circuit 44 is also included in the input interface 43. The input interface 43 is an example of an operation unit.

The processing circuit 44 controls the overall operation of the X-ray diagnostic apparatus 1. The processing circuit 44 is a processor that calls and executes programs in the memory 41 to execute a system control function 441, a camera image acquisition function 442, a registration function 443, a determination function 444, a movement control function 445, and an X-ray imaging control function 446.

In fig. 2, the description has been given on the case where the system control function 441, the camera image acquisition function 442, the registration function 443, the determination function 444, the movement control function 445, and the X-ray imaging control function 446 are realized by a single processing circuit 44, but each function may be realized by a processing circuit configured by combining a plurality of independent processors and executing a program by each processor. The system control function 441, the camera image acquisition function 442, the registration function 443, the determination function 444, the movement control function 445, and the X-ray imaging control function 446 may be referred to as a system control circuit, a camera image acquisition circuit, a registration circuit, a determination circuit, a movement control circuit, and an X-ray control circuit, respectively, or may be mounted as separate hardware circuits.

The term "processor" used in the above description refers to, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or circuits such as an ASIC (application specific integrated circuit), a Programmable Logic Device (e.g., a Simple Programmable Logic Device (SPLD), a Complex Programmable Logic Device (CPLD), and a Field Programmable Gate Array (FPGA)), and the processor may be configured to read and execute a program stored in the memory 41 to realize a function, or may be configured to directly program a circuit of the processor instead of storing a program in the memory 41, and in this case, the processor may be configured to read and execute a program programmed in a circuit to realize a function, and each processor of the present embodiment is not limited to a case where each processor is configured as a single circuit, a plurality of independent circuits may be combined to form 1 processor, and the functions may be realized. Moreover, a plurality of components in fig. 2 may be integrated into one processor to realize the functions thereof. The above description of the "processor" is also the same in the following embodiments and modifications.

The processing circuit 44 controls each of the plurality of components in the X-ray diagnostic apparatus 1 by the system control function 441 based on an input operation received from the operator via the input interface 43. For example, the processing circuit 44 controls various components in the imaging unit 10 according to the imaging conditions. The processing circuit 44 for realizing the system control function 441 is an example of a means for realizing the system control unit.

For example, the processing circuit 44 controls the support arm driving device and the bed driving unit 32 based on the information on the driving of the support arm 14 and the top plate 33 input from the input interface 43 through the system control function 441. The processing circuit 44 adjusts the position of the X-ray irradiation unit 12 and the X-ray irradiation direction (hereinafter, referred to as X-ray irradiation direction) by controlling the support arm driving device. In addition, the processing circuit 44 generates an X-ray image based on data output from the X-ray detector 50. The processing circuit 44 may perform various kinds of synthesis processing, subtraction (subtraction) processing, and the like on the generated X-ray image. The processing circuit 44 acquires a desired X-ray image from the memory 41 and displays the acquired X-ray image on the display 42.

The processing circuit 44 controls the camera 16 via the camera image acquisition function 442. The processing circuit 44 controls the camera 16 to cause the camera 16 to generate a captured image on the top plate 33. The processing circuit 44 can cause the camera 16 to generate a captured image including the X-ray detector 50, the auxiliary tool 60, and the like by causing the camera 16 to generate a captured image in a state where the X-ray detector 50, the auxiliary tool 60, and the like are provided on the top plate 33. In this way, the processing circuit 44 obtains a camera image including the auxiliary tool 60 which is arranged within the X-ray imaging range and assists the positioning of the subject. Then, the processing circuit 44 causes the generated captured image to be sent to the console section 40. The processing circuit 44 causes the camera 16 to generate a captured image (hereinafter, referred to as a registration image) in which the aid 60 of the registration target is captured at the time of registration, for example, in a registration process described later. The processing circuit 44 causes, for example, the camera 16 to generate a captured image (hereinafter, referred to as a detection image) obtained by capturing an image of the auxiliary tool 60 provided at the time of inspection, and acquires the detection image. The processing circuit 44 that realizes the camera image acquisition function 442 is an example of a means for realizing the camera image acquisition unit.

The processing circuit 44 registers a registration image obtained by imaging the assistant tool 60 at the time of registration by the registration function 443. Specifically, for example, the processing circuit 44 saves a registered image of an auxiliary tool that is likely to be used in the memory 41 for each kind of the auxiliary tool 60. The term "registering" may also be referred to as "saving" or "storing". The term "registration image" may be replaced with another term as appropriate as with the term "reference image". The registration is performed, for example, when the X-ray diagnostic apparatus 1 is mounted or when a new type of auxiliary tool is introduced. The processing circuit 44 that realizes the registration function 443 is an example of a means for realizing the registration unit.

Further, the processing circuit 44 sets the relative position of the X-ray irradiation unit 12 with respect to the auxiliary tool to be registered for each type of auxiliary tool by the registration function 443. The processing circuit 44 that realizes the registration function 443 is an example of the means for realizing the setting unit.

The processing circuit 44 determines the position and type of the auxiliary tool 60 provided on the top plate 33 at the time of inspection by using the detection image and the registered image stored for each type of auxiliary tool by the determination function 444. At this time, the processing circuit 44 detects the assistant tool 60 from the detection image by using the registration image, for example, by an image recognition technique or the like. Then, based on the detection result of the auxiliary tool 60, the position of the auxiliary tool 60 in the inspection room is determined. Then, the similarity between the detection result of the assistant tool 60 and, for example, the registered image is calculated, and the kind of the assistant tool corresponding to the registered image having a similarity greater than a predetermined similarity is determined as the kind of the assistant tool set at the time of the inspection. The processing circuit 44 that realizes the decision function 444 is an example of a means for realizing a determination unit that determines the position of the assisting tool 60 based on the detection image and the registration image.

In addition, a machine learning model that has been learned may be used to determine the type and position of the auxiliary tool for inspection. In this case, for example, a multi-layer network model that receives an input of the detection image and outputs the type and position of the auxiliary tool included in the detection image is used as the learned machine learning model. The multilayered Network model may be, for example, a Deep Neural Network (DNN) that simulates a Neural circuit of a biological brain, or a Convolutional Neural Network (CNN).

Further, the processing circuit 44 acquires the relative position of the X-ray irradiation unit 12 corresponding to the type of the auxiliary tool set at the time of the examination by the determination function 444, and determines the imaging position of the X-ray irradiation unit 12 based on the position of the auxiliary tool specified by the determination function 444 and the acquired relative position of the X-ray irradiation unit 12. At this time, the processing circuit 44 reads the relative position of the X-ray irradiation unit 12 with respect to the auxiliary tool corresponding to the type of the auxiliary tool set at the time of the examination, and determines the imaging position of the X-ray irradiation unit 12 corresponding to the type of the auxiliary tool set at the time of the examination. The processing circuit 44 for realizing the determination function 444 is an example of a means for realizing a position determination unit for determining the imaging position of the X-ray irradiation unit 12 based on the relative position of the X-ray irradiation unit 12 and the position of the auxiliary tool.

The processing circuit 44 moves the X-ray tube to a shooting position corresponding to the auxiliary tool included in the camera image by the movement control function 445. Specifically, the processing circuit 44 recognizes an auxiliary tool included in the camera image, and moves the X-ray tube to a shooting position corresponding to the recognized auxiliary tool. At this time, the processing circuit 44 moves the X-ray tube by moving the X-ray irradiation unit 12 to the imaging position. The processing circuit 44 for realizing the movement control function 445 is an example of a means for realizing the movement control unit.

The processing circuit 44 reads information from the system control function 441, for example, by the X-ray imaging control function 446, and controls the X-ray conditions such as the tube current, the tube voltage, the focal size, the irradiation time, the pulse width, and the X-ray irradiation range (the range of the aperture of the X-ray irradiation unit 12) in the high voltage generation unit 11. The processing circuit 44 for realizing the X-ray imaging control function 446 is an example of a means for realizing the X-ray imaging control unit.

The X-ray diagnostic apparatus 1 configured as described above executes registration processing and position adjustment processing. The registration process is a process of registering the positional relationship between the auxiliary tool and the X-ray irradiation unit 12. The registration processing is executed by the camera image acquiring function 442 and the registration function 443.

The position adjustment process is a process of moving the X-ray irradiation unit 12 to an appropriate position based on the auxiliary tool 60 imaged by the camera 16. The position adjustment processing is executed by the camera image acquisition function 442, the determination function 444, and the movement control function 445.

The processing procedure in the registration processing described below is merely an example, and each processing can be appropriately changed if possible. In addition, the process procedure described below can be omitted, replaced, and added as appropriate according to the embodiment.

The registration process is explained with reference to fig. 3. The user inputs an instruction to start the registration process into the input interface 43 in a state where the supporting tool to be registered is set on the top plate 33 and the position and the orientation of the X-ray irradiation unit 12 are adjusted to an appropriate imaging position corresponding to the supporting tool to be registered. The processing circuit 44 starts the registration processing based on the input of an instruction to start the registration processing to the input interface 43.

(registration processing)

(step S101)

As shown in fig. 1, the processing circuit 44 causes the camera 16 to capture an image of the accessory 60 to be registered provided on the top plate 33 by the camera image acquisition function 442, and generates a registered image including the accessory 60 to be registered.

(step S102)

The processing circuit 44 stores the registration image for each type of the assistant tool by the registration function 443. This sets the registration target assisting tool 60.

(step S103)

The processing circuit 44 registers the position of the X-ray irradiation unit 12 with respect to the auxiliary tool 60 to be registered by the registration function 443. Thus, the processing circuit 44 stores the relative positional relationship between the auxiliary tool 60 and the X-ray irradiation unit 12. The registered position of the X-ray irradiation unit 12 is a position at which the X-ray irradiation unit 12 appropriately performs X-ray imaging on the imaging target on the auxiliary tool 60.

Fig. 4 is a flowchart showing an example of the procedure of the position adjustment processing according to the present embodiment. The processing circuit 44 starts the position adjustment processing based on, for example, the fact that the auxiliary tool 60 is set on the top plate 33 at the time of inspection and an instruction to start the position adjustment processing is input to the input interface 43.

(position adjustment processing)

(step S111)

The processing circuit 44 causes the camera 16 to capture an image of the auxiliary tool 60 provided on the top plate 33 by the camera image obtaining function 442, thereby generating a detection image. Fig. 5 is a diagram showing an example of imaging the auxiliary tool 60 set on the top plate 33 at the time of inspection.

(step S112)

The processing circuit 44 determines the position and kind of the set auxiliary tool based on the detection image by the decision function 444.

(step S113)

The processing circuit 44 reads the relative position of the X-ray irradiation unit 12 corresponding to the determined type of the auxiliary tool by the determination function 444, and determines the imaging position of the X-ray irradiation unit 12 by applying the read relative position of the X-ray irradiation unit 12 to the position of the auxiliary tool.

(step S114)

The processing circuit 44 controls the support arm driving device by the movement control function 445 to move the X-ray irradiation unit 12 to the imaging position. Fig. 6 is a diagram showing an example of moving the X-ray irradiation unit 12 to the imaging position.

When the X-ray irradiation unit 12 is moved to the imaging position, the imaging technician fixes the patient in a desired posture on the top plate 33 using the auxiliary tool 60. Fig. 7 is a diagram showing an example of a state in which a patient is fixed to the top plate 33. After the patient is fixed using the assisting tool 60, the imaging technician performs X-ray imaging for the imaging part. Fig. 8 is a diagram showing an example of a case where X-ray imaging is performed in a state where a patient is fixed to a bed. When performing X-ray imaging, as shown in fig. 8, after the orientation of the X-ray irradiation unit 12 is changed to the X-ray tube to face the X-ray detector 50, X-rays are irradiated toward the X-ray detector 50, and X-ray imaging is performed.

The following describes the effects of the X-ray diagnostic apparatus 1 according to the present embodiment.

The X-ray diagnostic apparatus 1 of the present embodiment includes: a bed unit 30 having a top plate 33 on which a subject and an auxiliary tool are placed; an X-ray irradiation unit 12 having an X-ray tube and an aperture for generating X-rays; and a console section 40. The console unit 40 of the present embodiment can store the registration image in association with the auxiliary tool to be registered, set the relative position of the X-ray radiation unit 12 with respect to the auxiliary tool to be registered, specify the position of the auxiliary tool provided on the top 33 at the time of examination based on the detection image and the registration image, specify the imaging position of the X-ray radiation unit 12 based on the relative position and the specified position of the auxiliary tool, and move the X-ray radiation unit 12 to the imaging position. The X-ray diagnostic apparatus 1 further includes a camera 16 that can photograph the top plate 33. The auxiliary tool 60 is a jig for fixing the subject in a desired posture. When the X-ray irradiation unit 12 is moved to the imaging position, the imaging technician can perform X-ray imaging of the imaging portion after fixing the patient in a desired posture on the top plate 33 using the auxiliary tool 60. The console unit 40 of the present embodiment corresponds to an X-ray imaging control device. The X-ray imaging control apparatus may also be referred to as a medical image processing apparatus.

That is, with the above-described configuration and operation, according to the X-ray diagnostic apparatus 1 of the present embodiment, the relative position of the X-ray irradiation section 12 to the auxiliary tool is set at the time of introduction or installation of the auxiliary tool. Therefore, at the time of examination, by specifying the position of the auxiliary tool provided at the time of examination in a state where the auxiliary tool 60 provided at the time of examination is provided on the top plate 33, it is possible to calculate an appropriate imaging position of the X-ray irradiation unit 12 and automatically move the X-ray irradiation unit 12 to the calculated imaging position. When the X-ray irradiation unit 12 is moved to the imaging position, the imaging technician can fix the patient in a desired posture on the top plate 33 using the auxiliary tool 60 and then perform X-ray imaging of the imaging portion. In this way, since the position of the X-ray tube/diaphragm can be automatically determined according to the recognized placement mode of the auxiliary tool, the time required for adjusting the position of the X-ray irradiation apparatus can be shortened, and thus the inspection time can be shortened. Further, since the relative position of the X-ray irradiation unit 12 is set before the examination, the position of the X-ray irradiation unit 12 can be adjusted in a process with less time constraints than in the case where the position of the X-ray irradiation unit 12 is adjusted at the time of the examination. Therefore, a more suitable position can be set as the imaging position, and the inspection accuracy can be improved. In addition, by the configuration in which the X-ray irradiation unit 12 is moved to the imaging position based on the position of the auxiliary tool and the relative position of the X-ray irradiation unit 12, the reproducibility of the imaging position of the X-ray irradiation unit 12 can be improved.

The X-ray diagnostic apparatus 1 according to the present embodiment can store the registration image in association with the auxiliary tool to be registered for each type of auxiliary tool, set the relative position of the X-ray irradiation unit 12, specify the type and position of the auxiliary tool provided on the top plate 33 based on the registration image and the detection image, and determine the imaging position of the X-ray irradiation device based on the specified position of the auxiliary tool and the relative position of the X-ray irradiation unit 12 corresponding to the specified type of auxiliary tool.

That is, with the above-described configuration and operation, according to the X-ray diagnostic apparatus 1 of the present embodiment, by setting the appropriate relative position of the X-ray irradiation unit 12 for each type of the auxiliary tool at the time of introduction or attachment of the auxiliary tool, it is possible to specify the type and position of the auxiliary tool provided at the top plate 33 at the time of examination and calculate the appropriate imaging position of the X-ray irradiation unit 12 corresponding to the type of the auxiliary tool provided at the time of examination. Further, by automatically moving the X-ray irradiation unit 12 to the calculated imaging position, the position of the X-ray tube/diaphragm can be automatically determined according to the type and position of the identified auxiliary tool, and therefore, the inspection time can be shortened and the inspection accuracy can be improved.

In the position adjustment process, the X-ray irradiation range (the range of the aperture in the X-ray irradiation unit 12) may be automatically adjusted in addition to the position of the X-ray irradiation unit 12, depending on the type of the identified auxiliary tool. In this case, the processing circuit 44 sets an X-ray irradiation range according to the type of the auxiliary tool to be registered, for example, by the registration function 443, acquires an X-ray irradiation range corresponding to the type of the auxiliary tool set at the time of the examination in addition to the imaging position of the X-ray irradiation unit 12 by the determination function 444, determines the acquired X-ray irradiation range as the X-ray irradiation range at the time of the examination, and adjusts the X-ray irradiation range to the determined X-ray irradiation range by controlling the aperture of the X-ray irradiation unit 12 by the X-ray imaging control function 446. The processing circuit 44 reduces (narrows) the X-ray irradiation range in a case where the auxiliary tool provided at the time of examination is of a type used when the imaging portion is a knee, for example, as compared with a case where the auxiliary tool is of a type used when the imaging portion is a head.

Further, an example is shown in which both the position and the kind of the assisting tool 60 are determined based on the recognized camera image, but only the position of the assisting tool 60 may be determined. For example, 1 type of the support tool 60 and the imaging position of the X-ray irradiation unit 12 for the support tool 60 may be set for each imaging region. In this case, the processing circuit 44 registers the position of the assisting tool 60 and the imaging position of the X-ray irradiation unit 12 in association with each other for each imaging region by the registration function 443. The memory 41 stores the auxiliary tool 60 in association with the imaging position of the X-ray irradiation unit 12 for each imaging region. The processing circuit 44 receives an operation of setting an imaging region by a user. The processing circuit 44 recognizes the auxiliary tool 60 included in the camera image by the determination function 444, and moves the X-ray irradiation unit 12 to the imaging position corresponding to the recognized auxiliary tool 60 with respect to the set imaging region.

Further, 1 type of the auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 for the auxiliary tool 60 may be set for each inspection purpose. The examination purpose is, for example, a technique performed during examination. In this case, the processing circuit 44 registers the position of the auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 in association with each other for each examination purpose by the registration function 443. The memory 41 stores the auxiliary tool 60 in association with the imaging position of the X-ray irradiation unit 12 for each examination purpose. The processing circuit 44 receives an operation for setting an inspection purpose by a user. The processing circuit 44 recognizes the auxiliary tool 60 included in the camera image by the determination function 444, and moves the X-ray irradiation unit 12 to the imaging position corresponding to the recognized auxiliary tool 60 for the set inspection purpose.

In the case where a plurality of imaging positions of the X-ray irradiation unit 12 corresponding to the recognized auxiliary tools 60 are stored in the memory 41, the user may select the imaging position to be used. In this case, the processing circuit 44 sets the relative positions of the plurality of X-ray irradiation units 12 with respect to the auxiliary tool to be registered for each auxiliary tool by the registration function 443. Further, when a plurality of imaging positions corresponding to the recognized auxiliary tool exist in the memory 41 by the system control function 441 and the determination function 444, the processing circuit 44 displays a plurality of candidates of the imaging positions on the display 42 and accepts an operation of selecting the imaging position by the user.

In addition, the processing circuit 44 may determine the X-ray irradiation direction by the X-ray irradiation unit 12 in addition to the imaging position of the X-ray irradiation unit 12 by the determination function 444. In this case, for example, at the time of registration of the auxiliary tool, the processing circuit 44 registers the X-ray irradiation direction in advance by the registration function 443 in addition to the relative position of the X-ray irradiation unit 12 with respect to the auxiliary tool to be registered. The irradiation direction of the X-ray irradiation unit 12 is preferably set to a position where the X-ray detector 50 is disposed. For example, the X-ray detector 50 is detected from the captured image generated by the camera 16, and the irradiation direction of the X-ray irradiation unit 12 is set so that the X-ray is irradiated toward the X-ray detector 50. When performing X-ray imaging using the auxiliary tool, the processing circuit 44 adjusts the orientation of the X-ray irradiation unit 12 by changing the orientation of the X-ray irradiation unit 12 to the registered irradiation direction after moving the X-ray irradiation unit 12 to the imaging position, and irradiates X-rays toward the X-ray detector 50.

In the registration process, the processing circuit 44 may register the X-ray conditions of the auxiliary tool 60 to be registered, in addition to the position of the X-ray irradiation unit 12. The registered X-ray conditions are parameters that can appropriately image an imaging target on the auxiliary tool 60, for example, tube current, tube voltage, focal size, irradiation time, pulse width, X-ray irradiation range (range of the aperture in the X-ray irradiation unit 12), and the like. In this case, the auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 are stored in the memory 41 in association with the X-ray imaging conditions. The processing circuit 44 reads out the X-ray imaging conditions corresponding to the support tool 60 recognized by the decision function 444 and the movement control function 445 from the memory 41 by the X-ray imaging control function 446, and executes X-ray imaging based on the read-out X-ray imaging conditions. Specifically, the processing circuit 44 reads the position of the X-ray irradiation unit 12 corresponding to the auxiliary tool 60 set at the time of examination and the X-ray conditions corresponding to the auxiliary tool 60 set at the time of examination in the position adjustment process. Then, the processing circuit 44 moves the X-ray irradiation unit 12 to the imaging position, and controls the X-ray conditions of the X-rays irradiated from the X-ray irradiation unit 12 based on the read X-ray conditions. This can further improve the inspection accuracy. In addition, the imaging technician may perform the examination after appropriately correcting the X-ray conditions set based on the read X-ray conditions. In this case, the processing circuit 44 displays the X-ray imaging conditions on the display 42 by the system control function 441 and the X-ray imaging control function 446, and receives an operation of changing the X-ray imaging conditions. The processing circuit 44 for realizing the X-ray imaging control function 446 is an example of a means for realizing the X-ray imaging control unit.

In the registration process, the processing circuit 44 may register an imaging region of the auxiliary tool 60 to be registered, in addition to the position of the X-ray irradiation unit 12. In this case, the registered imaging region is a region where X-ray imaging can be appropriately performed using the auxiliary tool 60 of the registration target. For example, in the case where the auxiliary tool 60 of the registration target is a triangular prism-shaped auxiliary tool, "knee" is registered as the imaging part. In this case, the processing circuit 44 acquires an imaging region in the position adjustment processing in addition to the type of the auxiliary tool 60 set at the time of the examination, and reads the type of the auxiliary tool 60 set at the time of the examination and the position of the X-ray irradiation unit 12 corresponding to the imaging region. Then, the processing circuit 44 moves the X-ray irradiation unit 12 to the imaging position. Thus, even when the auxiliary tool 60 that can be used for a plurality of imaging regions is used for the examination, the examination accuracy can be further improved by using an appropriate position of the X-ray irradiation unit 12 corresponding to the imaging region.

In fig. 1, an example is shown in which the auxiliary tool 60 is placed on the X-ray detector 50 provided on the top plate 33, but the X-ray detector 50 may be placed on the auxiliary tool 60 provided on the top plate 33 to perform X-ray imaging.

In addition, although fig. 1 shows an example in which X-ray imaging is performed in a state in which the subject P is placed on the bed unit 30, the X-ray diagnostic apparatus 1 may be an apparatus that performs X-ray imaging in a state in which the subject P stands or is seated. In this case, the camera 16 is also provided at a position where it can capture an image in a range including an auxiliary tool for assisting the positioning of the subject disposed in the X-ray imaging range.

(second embodiment)

A second embodiment will be explained. This embodiment is an embodiment in which the structure of the first embodiment is modified as follows. In the present embodiment, the X-ray diagnostic apparatus 1 includes 2 cameras 16. The same configuration, operation, and effects as those of the first embodiment will not be described. The number of cameras 16 provided in the X-ray diagnostic apparatus 1 or the examination room may be 3 or more.

Fig. 9 is a diagram showing a configuration example of the X-ray diagnostic apparatus 1 according to the second embodiment. As shown in fig. 9, the imaging unit 10 is provided with a plurality of cameras 16. The plurality of cameras 16 can photograph the auxiliary tools provided on the top plate 33. The camera 16 is fixed in different positions within the examination room. Therefore, a plurality of captured images obtained by capturing the auxiliary tool from different angles can be obtained by capturing images with the camera 16. The plurality of cameras 16 are capable of taking a registration image as well as a detection image.

The processing circuit 44 performs the above-described control of each of the cameras 16 through the camera image acquisition function 442.

The processing circuit 44 stores the accessory to be registered in association with 2 registered images for each type of accessory by the registration function 443.

The processing circuit 44 determines the position and type of the auxiliary tool set at the time of inspection, which is set on the top plate 33, by the determination function 444, based on the detection image obtained by capturing the auxiliary tool set at the time of inspection and the registration image stored for each type of auxiliary tool. At this time, the processing circuit 44 generates a three-dimensional image of the auxiliary tool set at the time of examination from the 2 detection images by, for example, a well-known image processing technique or the like. Then, based on the three-dimensional image and the registered image of the auxiliary tool set at the time of inspection, the position and kind of the auxiliary tool set at the time of inspection on the top plate 33 are determined.

The X-ray diagnostic apparatus 1 of the present embodiment includes a plurality of cameras 16 that can image the top plate 33. That is, with the above-described configuration and operation, according to the X-ray diagnostic apparatus 1 of the present embodiment, the accuracy of specifying the type and position of the auxiliary tool is improved by using a plurality of captured images obtained by capturing the auxiliary tool from different angles.

(third embodiment)

A third embodiment will be explained. This embodiment is an embodiment in which the structure of the first embodiment is modified as follows. In the present embodiment, a part of the position adjustment processing performed by the processing circuit 44 is different from that of the first embodiment. In the present embodiment, the processing circuit 44 adjusts the position of the auxiliary tool by moving the top plate 33 when the calculated imaging position deviates from the movable range of the X-ray irradiation unit 12. The same configuration, operation, and effects as those of the first embodiment will not be described.

When the imaging position of the X-ray irradiation unit 12 is out of the movable range of the X-ray irradiation unit 12, the processing circuit 44 calculates the position of the auxiliary tool (hereinafter referred to as a recommended auxiliary tool position) so that the imaging position of the X-ray irradiation unit 12 is within the movable range based on the relative position of the X-ray irradiation unit 12 by the determination function 444. The movable range of the X-ray irradiation unit 12 is set in advance according to structural restrictions of the support arm, the arrangement of various instruments in the examination room, the sitting position of the patient, and the like. Then, the processing circuit 44 calculates the position of the top 33 (hereinafter referred to as a recommended top position) based on the recommended assist tool position. Specifically, the processing circuit 44 calculates the recommended ceiling position in such a manner that the assist tool is located at the recommended assist tool position.

The processing circuit 44 controls the couch driving unit 32 by the movement control function 445 to move the top 33 to the recommended top position.

The operation of the position adjustment process performed by the X-ray diagnostic apparatus 1 will be described below. Fig. 10 is a flowchart showing an example of a procedure of the position adjustment process executed by the X-ray diagnostic apparatus 1 according to the present embodiment. The processing of steps S211 to S213 and S217 in fig. 10 is the same as the processing of steps S111 to S114 in the first embodiment, and therefore, the description thereof is omitted.

(position adjustment processing)

(step S214)

The processing circuit 44 determines by the determination function 444 whether or not the imaging position of the X-ray irradiation unit 12 determined in step S213 is within the range of the movable range of the X-ray irradiation unit 12. When the imaging position of the X-ray irradiation unit 12 is within the range of the movable range of the X-ray irradiation unit 12 (yes at step S214), the process proceeds to step S217, and the X-ray irradiation unit 12 is moved to the imaging position. When the imaging position of the X-ray irradiation unit 12 is out of the movable range of the X-ray irradiation unit 12 (no at step S214), the process proceeds to step S215.

(step S215)

The processing circuit 44 calculates the recommended auxiliary tool position based on the movable range of the X-ray irradiation unit 12 and the relative position of the X-ray irradiation unit 12 corresponding to the specified type of auxiliary tool by the determination function 444. Then, a recommended top plate position is calculated based on the recommended aid position.

(step S216)

The processing circuit 44 controls the couch driving unit 32 by the movement control function 445 to move the top 33 to the recommended top position. The top plate 33 is moved to the recommended top plate position, whereby the assist tool is moved to the recommended assist tool position.

The following describes the effects of the X-ray diagnostic apparatus 1 according to the present embodiment.

The X-ray diagnostic apparatus 1 according to the present embodiment can calculate the recommended auxiliary tool position of the auxiliary tool in the examination room such that the imaging position of the X-ray irradiation unit 12 is within the movable range of the X-ray irradiation unit 12, based on the relative positions of the movable range of the X-ray irradiation unit 12 and the X-ray irradiation unit 12, when the imaging position of the X-ray irradiation unit 12 is outside the movable range of the X-ray irradiation unit 12. In addition, the X-ray diagnostic apparatus 1 according to the present embodiment can move the auxiliary tool to the recommended auxiliary tool position by moving the top 33 with respect to the bed unit 30.

That is, according to the above configuration and operation, even when the auxiliary tool set at the time of examination is set at an inappropriate position that does not satisfy the conditions such as the movable range, the X-ray diagnostic apparatus 1 according to the present embodiment can automatically adjust the drive of the top plate 33 so that the auxiliary tool set at the time of examination moves to an appropriate position. Further, the imaging position of the X-ray irradiation unit 12 for the auxiliary tool set at the time of the examination after the movement to the recommended auxiliary tool position can be recalculated, and the X-ray irradiation unit 12 can be automatically moved to the appropriate imaging position. Therefore, the X-ray diagnostic apparatus 1 according to the present embodiment can also obtain the same effects as those of the first embodiment.

(modification of the third embodiment)

A modification of the third embodiment will be described. This embodiment is an embodiment in which the structure of the third embodiment is modified as follows. In the present embodiment, a part of the position adjustment processing performed by the processing circuit 44 is different from that of the third embodiment. In the present modification, the processing circuit 44 transmits the calculated recommended accessory tool position of the accessory tool to the imaging technician. The same configuration, operation, and effects as those of the third embodiment will not be described.

The processing circuit 44 causes the display 42 to display the recommended position of the assistant tool set at the time of the examination, through the system control function 441. The processing circuit 44 that realizes the system control function 441 is an example of a means for realizing the display control unit.

The operation of the position adjustment process performed by the X-ray diagnostic apparatus 1 will be described below. Fig. 11 is a flowchart showing an example of a procedure of the position adjustment process executed by the X-ray diagnostic apparatus 1 according to the present embodiment. The processing of steps S311 to S314 and S317 in fig. 11 is the same as the processing of steps S211 to S214 and S217 in the third embodiment, and therefore, the description thereof is omitted.

(position adjustment processing)

(step S315)

The processing circuit 44 calculates the recommended auxiliary tool position based on the movable range of the X-ray irradiation unit 12 and the relative position of the X-ray irradiation unit 12 corresponding to the specified type of auxiliary tool by the determination function 444.

(step S316)

The processing circuitry 44 causes the display 42 to display the recommended accessibility location.

The following describes the effects of the X-ray diagnostic apparatus 1 according to this modification.

In the X-ray diagnostic apparatus 1 of the present modification, when the imaging position of the X-ray irradiation unit 12 is outside the movable range of the X-ray irradiation unit 12, the recommended auxiliary tool position of the auxiliary tool in the examination room can be calculated such that the imaging position of the X-ray irradiation unit 12 is within the movable range of the X-ray irradiation unit 12, based on the relative positions of the movable range of the X-ray irradiation unit 12 and the X-ray irradiation unit 12. In addition, the X-ray diagnostic apparatus 1 according to the present embodiment can display the recommended aid position on the display 42.

That is, according to the above configuration and operation, according to the X-ray diagnostic apparatus 1 of the present modification, when the auxiliary tool set at the time of examination is set at an inappropriate position that does not satisfy the condition such as the movable range, the appropriate setting position of the auxiliary tool can be transmitted to the imaging technician by displaying the appropriate position set at the auxiliary tool set at the time of examination on the display 42.

Instead of displaying the recommended aid position of the aid on the display 42, the recommended aid position of the aid may be displayed on the top 33 by irradiating visible light onto the recommended aid position on the top 33 using a lamp, a projector, or the like.

(fourth embodiment)

A fourth embodiment will be explained. This embodiment is an embodiment in which the structure of the first embodiment is modified as follows. In the present embodiment, the position of the X-ray detector is automatically adjusted according to the type and position of the identified auxiliary tool for detecting the object, as compared with the first embodiment. The same configuration, operation, and effects as those of the first embodiment will not be described.

Fig. 12 is a diagram showing a configuration example of an X-ray diagnostic apparatus 1 according to a fourth embodiment. In the present embodiment, as shown in fig. 12, the bed unit 30 includes an X-ray detector 50.

The X-ray detector 50 is mounted inside the top plate 33. The X-ray detector 50 is supported slidably with respect to the top plate 33 and the bed unit 30. The X-ray detector 50 includes a power source for realizing a sliding motion at an appropriate position. These power sources constitute the detector driving means. The detector driving device reads a driving signal from the movement control function 445 and causes the X-ray detector 50 to perform a sliding motion. The X-ray detector 50 is the same as the X-ray detector of the first embodiment, and therefore, description thereof is omitted.

The processing circuit 44 sets the relative position of the X-ray detector 50 with respect to the supporting tool to be registered, in addition to the relative position of the X-ray irradiation unit 12 with respect to the supporting tool to be registered, for each type of supporting tool by the registration function 443. The relative position of the X-ray detector 50 is a position at which the X-rays irradiated from the X-ray irradiation unit 12 can be detected.

The processing circuit 44 acquires the relative position of the X-ray detector 50 corresponding to the auxiliary tool set at the time of the examination with respect to the auxiliary tool by the determination function 444, and determines the position of the X-ray detector 50 (hereinafter referred to as a detection position) capable of detecting the X-ray irradiated from the X-ray irradiation unit 12, based on the position of the auxiliary tool determined by the determination function 444 and the acquired relative position of the X-ray detector 50. At this time, the processing circuit 44 reads the relative position of the X-ray detector 50 with respect to the auxiliary tool corresponding to the type of auxiliary tool set at the time of the inspection, and determines the detection position of the X-ray detector 50 corresponding to the type of auxiliary tool set at the time of the inspection based on the position of the auxiliary tool set at the time of the inspection.

The processing circuit 44 controls the position of the X-ray detector 50 by controlling the detector driving device in addition to the support arm driving device and the bed driving unit 32, for example, based on the information on the driving of the X-ray detector 50 input from the input interface 43 by the movement control function 445. The processing circuit 44 for realizing the movement control function 445 is an example of a means for realizing a position control unit for moving the X-ray detector to the detection position.

The following describes the operation of the registration process executed by the X-ray diagnostic apparatus 1. Fig. 13 is a flowchart showing an example of the procedure of registration processing executed by the X-ray diagnostic apparatus 1 according to the present embodiment. The processing of steps S401 to S402 in fig. 13 is the same as the processing of steps S101 to S102 in the first embodiment, and therefore, the description thereof is omitted.

(registration processing)

(step S403)

The processing circuit 44 obtains, by the registration function 443, the relative position of the X-ray irradiation unit 12 and the relative position of the X-ray detector 50 with respect to the auxiliary tool to be registered in a state where the X-ray irradiation unit 12 is located at the appropriate imaging position with respect to the auxiliary tool to be registered. At this time, the position of the auxiliary tool to be registered may be automatically calculated by image processing on the registration image or may be input by an operation on the input interface 43. Then, the processing circuit 44 stores the relative position of the X-ray irradiation unit 12 and the relative position of the X-ray detector 50 in association with the type of the auxiliary tool to be registered. Thus, the relative position of the X-ray irradiation unit 12 and the relative position of the X-ray detector 50 are set to be appropriate for the auxiliary tool to be registered.

The operation of the position adjustment process performed by the X-ray diagnostic apparatus 1 will be described below. Fig. 14 is a flowchart showing an example of a procedure of the position adjustment process executed by the X-ray diagnostic apparatus 1 according to the present embodiment. The processing of steps S411 to S412 and S414 in fig. 14 is the same as the processing of steps S111 to S112 and S114 in the first embodiment, respectively, and therefore, the description thereof is omitted.

(position adjustment processing)

(step S413)

The processing circuit 44 reads the relative position of the X-ray irradiation unit 12 and the relative position of the X-ray detector 50 corresponding to the specified type of the auxiliary tool by the determination function 444, determines the imaging position of the X-ray irradiation unit 12 by applying the read relative position of the X-ray irradiation unit 12 to the specified position of the auxiliary tool, and determines the imaging position of the X-ray detector 50 by applying the read relative position of the X-ray detector 50 to the specified position of the auxiliary tool.

(step S415)

The processing circuit 44 controls the detector driving device by the movement control function 445, thereby moving the X-ray detector 50 to the detection position. When the imaging position of the X-ray detector 50 is out of the movable range of the X-ray detector 50, the X-ray detector 50 may be moved to the detection position by moving the top plate 33. The movable range of the X-ray detector 50 is set in advance in accordance with structural constraints of the top plate 33, the arrangement of various instruments in the examination room, and the like.

The following describes the effects of the X-ray diagnostic apparatus 1 according to the present embodiment.

The X-ray diagnostic apparatus 1 of the present embodiment is provided on the bed unit 30, is movable relative to the bed unit 30, includes an X-ray detector 50 that detects X-rays irradiated from the X-ray irradiation unit 12, sets the relative position of the X-ray detector 50 with respect to the auxiliary tool to be registered, determines the detection position of the X-ray detector 50 based on the position of the auxiliary tool to be detected and the relative position of the X-ray detector 50, and can move the X-ray detector 50 to the detection position.

That is, with the above-described configuration and operation, according to the X-ray diagnostic apparatus 1 of the present embodiment, the relative position of the X-ray detector 50 to the auxiliary tool is set appropriately at the time of introduction or installation of the auxiliary tool in addition to the relative position of the X-ray irradiation unit 12, and thus the appropriate detection position of the X-ray detector 50 can be calculated in addition to the imaging position of the X-ray irradiation unit 12 based on the determined position of the auxiliary tool set at the time of examination. Further, by automatically moving the X-ray detector 50 to an appropriate detection position, it is possible to reduce the time taken for the examination technician to adjust the position of the X-ray detector 50.

(fifth embodiment)

A fifth embodiment will be explained. This embodiment is an embodiment in which the structure of the first embodiment is modified as follows. In the present embodiment, the auxiliary tool 60 is a mark provided on the X-ray detector 50 in which the X-ray detector is housed. The support tool 60 is used separately as appropriate depending on the size of the subject, the purpose of examination, the type of X-ray detector 50 used, and the like. In the present embodiment, the X-ray diagnostic apparatus 1 captures an image of the auxiliary tool 60 with the camera 16, and specifies the auxiliary tool 60 from the image captured by the camera 16. The X-ray diagnostic apparatus 1 automatically moves the X-ray irradiation unit 12 to an appropriate imaging position corresponding to the position of the X-ray detector 50 based on the identified assisting tool 60. The same configuration, operation, and effects as those of the first embodiment will not be described.

Fig. 15 is a diagram showing a configuration example of the X-ray diagnostic apparatus 1 according to the fifth embodiment. As shown in fig. 15, a plurality of auxiliary tools 60 are attached to the surface of the X-ray detector 50. The auxiliary tool 60 is, for example, a seal that can be recognized in a captured image captured by the camera 16. The auxiliary tool 60 is preferably provided on a surface of the X-ray detector 50 that faces upward in a state of being provided on the top plate 33. In order to determine the orientation of the detection surface for detecting X-rays in the X-ray detector 50, etc., it is preferable to provide 3 or more auxiliary tools 60.

The X-ray detector 50 is provided with different types of auxiliary tools 60 depending on the type of the X-ray detector. The X-ray detector differs in at least 1 of size, number of elements, and the like depending on the type. The auxiliary tool 60 differs in at least 1 of size, color, shape, and the like depending on the type. The types of the auxiliary tools 60 correspond to 1 or more of the types of the X-ray detectors. Therefore, by determining the type of the assisting tool 60, the type of the X-ray detector 50 can be determined. In addition, by determining the position of the auxiliary tool 60, the position of the X-ray detector 50 can be determined.

The following describes the effects of the X-ray diagnostic apparatus 1 according to the present embodiment.

In the X-ray diagnostic apparatus 1 of the present embodiment, the auxiliary tool 60 is a marker attached to the X-ray detector 50.

That is, with the above-described configuration and operation, according to the X-ray diagnostic apparatus 1 of the present embodiment, the relative position of the X-ray irradiation unit 12 suitable for the X-ray detector 50 is set by setting the relative position of the X-ray irradiation unit 12 suitable for the auxiliary tool at the time of introduction or mounting of the X-ray detector 50. Then, the position of the X-ray detector 50 can be specified by specifying the position of the marker of the X-ray detector 50 based on the captured image of the X-ray detector 50 used for the examination. Further, by calculating the appropriate imaging position of the X-ray irradiation unit 12 and automatically moving the X-ray irradiation unit 12 to the calculated imaging position, the X-ray irradiation unit 12 can be automatically moved to the appropriate position with respect to the X-ray detector 50. This enables the position of the X-ray tube/diaphragm to be automatically determined based on the recognized position of the X-ray detector 50, thereby shortening the examination time. Further, since the relative position of the X-ray irradiation unit 12 is set before the examination, the position of the X-ray irradiation unit 12 can be adjusted in a process with less time constraints than in the case where the position of the X-ray irradiation unit 12 is adjusted at the time of the examination. Therefore, a more suitable position can be set as the imaging position, and the inspection accuracy can be improved.

In addition, according to the X-ray diagnostic apparatus 1 of the present embodiment, when the X-ray detector 50 is introduced or attached, the relative position of the X-ray irradiation unit 12 appropriate for each type of the X-ray detector 50 is set by setting the relative position of the X-ray irradiation unit 12 appropriate for each type of the X-ray detector 50, thereby setting the relative position of the X-ray irradiation unit 12 appropriate for each type of the X-ray detector 50. Then, by specifying the type and position of the mark of the X-ray detector 50 set at the time of the examination, the type of the X-ray detector 50 is specified, and the imaging position of the X-ray irradiation unit 12 corresponding to the type of the auxiliary tool set at the time of the examination is calculated, whereby the appropriate imaging position of the X-ray irradiation unit 12 corresponding to the type of the X-ray detector 50 can be calculated. Further, by automatically moving the X-ray irradiation unit 12 to the calculated imaging position, the position of the X-ray tube/diaphragm can be automatically determined according to the type and position of the identified X-ray detector 50, and therefore, the inspection time can be shortened and the inspection accuracy can be improved.

In addition, the auxiliary tool 60 may be a grid holder. The grid frame is provided on the X-ray detector 50, and fixes the grid of the X-ray detector 50 to the detection element. The grid frame is used separately as appropriate depending on the type of the X-ray detector 50 and the like. Therefore, the position of the X-ray detector 50 can be determined by capturing the auxiliary tool 60 with the camera 16 and determining the position of the auxiliary tool 60 from the image captured by the camera 16. In addition, the type of the X-ray detector 50 can be specified by specifying the type of the auxiliary tool 60 from the image captured by the camera 16.

(modification of the first to fifth embodiments)

In the position adjustment process, the type of the auxiliary tool to be set at the time of the examination may be input by the imaging technician. In this case, the processing circuit 44 reads out a registration image corresponding to the type of the input aid by the determination function 444, and specifies the position of the aid set at the time of inspection based on the read-out registration image and the detection image. Then, the processing circuit 44 reads the relative position of the X-ray irradiation unit 12 corresponding to the type of the input auxiliary tool by the determination function 444, and calculates the imaging position of the X-ray irradiation unit 12 based on the position of the auxiliary tool set at the time of the inspection and the relative position of the X-ray irradiation unit 12. The number of the auxiliary tools is 1 when the type of the auxiliary tool to be set at the time of examination is input by the imaging technician.

The position adjustment process is preferably performed before the subject P is placed on the top plate 33, with an auxiliary tool used for the inspection being provided on the top plate 33. However, in a case where the subject P is fixed by the aid, and a captured image in which the aid can be sufficiently recognized can be captured by the camera 16, the position adjustment process may be performed after the subject P is placed on the top plate 33. In this case, the position and the imaging portion of the subject P may be specified by performing image recognition processing on the detection image in which the subject P and the support tool are imaged, and the recommended position of the support tool may be calculated based on the specified position and the imaging portion of the subject P and displayed on the display 42. The position adjustment process may be performed before the subject P is placed on the top plate 33, and the position adjustment process may be performed again after the subject P is fixed by the auxiliary tool. In this case, even when the position of the auxiliary tool is shifted when the subject P is placed on the top plate 33, the imaging position of the X-ray irradiation unit 12 can be readjusted to an appropriate position.

In addition, the camera 16 may be fixed in the examination room. In this case, the camera 16 is connected to the X-ray diagnostic apparatus 1 via a network or the like, and the captured image captured by the camera 16 is transmitted to the X-ray diagnostic apparatus 1 via the network or the like. The camera 16 may be movable relative to the bed unit 30 by driving a driving device, not shown.

In the above-described embodiments and the like, an example in which the position of the X-ray tube is automatically moved to an appropriate imaging position has been described, but the present invention is not limited to this. For example, based on the recognition result of the image including the auxiliary tool 60 captured by the camera 16, the position of the X-ray diaphragm forming the X-ray irradiation range, the position of the X-ray detector 50 detecting the X-rays, or the position of the top plate 33 on which the subject is placed may be automatically moved to an appropriate imaging position instead of the position of the X-ray tube. Further, based on the recognition result of the image including the auxiliary tool 60 captured by the camera 16, each of 2 or more positions of the position of the X-ray tube, the position of the X-ray diaphragm, the position of the X-ray detector 50, and the position of the top plate 33 may be automatically moved to an appropriate capturing position.

In addition, when the auxiliary tool detected from the detection image in the position adjustment processing is different from the registered auxiliary tool, information indicating that the set auxiliary tool is an unknown auxiliary tool may be displayed on the display. In this case, the imaging technician may perform the aforementioned registration process on the set unknown assistive tool to register information on the unknown assistive tool. In addition, when the type of the identified assist tool is different from the type of the assist tool used in the previous examination, a content indicating that the type of the assist tool is different may be displayed on the display.

In addition, the X-ray diagnostic apparatus may support the installation of the auxiliary tool in accordance with the imaging instruction when the auxiliary tool is not found within the predetermined imaging range during the position adjustment processing. In this case, for example, when the position and type of the auxiliary tool provided on the top panel at the time of inspection are specified, if the auxiliary tool cannot be detected from the acquired detection image, a display indicating that the auxiliary tool is not found in the imaging range is displayed on the display. Then, the arrangement position of the auxiliary tool corresponding to the shooting instruction is displayed on the top panel, thereby prompting the user to arrange the auxiliary tool within the specified shooting range.

The auxiliary tool may be attached to a plurality of portions of the subject. Specifically, the assisting tool is formed in a sheet shape having adhesiveness to be attached to the subject, and the user attaches the assisting tool to a plurality of portions of the subject, such as the head, the arm, and the leg. Further, the positions of the plurality of support tools or the relationship between the posture of the subject specified by the plurality of support tools and the imaging position may be stored in the storage unit in association with each other. In this case, the camera image acquiring unit acquires a camera image including an auxiliary tool attached to the subject, and detects positions of the plurality of auxiliary tools indicated by the camera image or a posture of the subject specified by the plurality of auxiliary tools. The movement control unit moves the X-ray imaging device to perform X-ray imaging at imaging positions corresponding to the positions of the plurality of detected auxiliary tools or imaging positions corresponding to the detected posture of the subject.

Further, although the description has been given of the case where the console section 40 is configured to execute a plurality of functions by a single console, it may be configured that a plurality of functions are executed by different consoles. For example, the functions of the camera image acquisition function 442, the registration function 443, and the like of the processing circuit 44 may be distributed and mounted on different console devices.

In addition, the system control unit, the camera image acquisition unit, the registration unit, the setting unit, the determination unit, the position determination unit, the movement control unit, the X-ray imaging control unit, the display control unit, and the position control unit in the present specification may be realized by only hardware, only software, or a mixture of hardware and software, in addition to the processing circuit 44 described in the embodiment.

According to at least 1 embodiment described above, in X-ray imaging using an auxiliary tool, it is possible to reduce the burden on the imaging person and to appropriately perform X-ray imaging.

While several embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in other various ways, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.