阅读说明：本技术 放射线摄影装置 (Radiographic apparatus ) 是由 千代知成 于 2019-08-16 设计创作，主要内容包括：本发明提供一种放射线摄影装置,即使放射线源与放射线检测部能够单独移动时也支持可靠的摄影。放射线摄影装置(10)具备：放射线源(31)；放射线检测部(15)；摄影部(35)；第1识别部(61),识别放射线检测部(15)；第2识别部(62),使用由摄影部(35)拍摄的图像识别被摄体；判定部(52),使用第1识别部(61)及第2识别部(62)的识别结果确定放射线检测部(15)与被摄体的相对位置关系而判定被摄体是否在放射线检测部(15)的检测有效区域；及控制部(53),使用判定部(52)的判定结果进行操作支持。(The invention provides a radiation imaging apparatus which supports reliable imaging even when a radiation source and a radiation detection unit are capable of moving independently. A radiographic imaging device (10) is provided with: a radiation source (31); a radiation detection unit (15); a photographing unit (35); a 1 st recognition unit (61) that recognizes the radiation detection unit (15); a 2 nd recognition unit (62) that recognizes the subject using the image captured by the imaging unit (35); a judging section (52) for determining the relative positional relationship between the radiation detecting section (15) and the subject using the recognition results of the 1 st recognizing section (61) and the 2 nd recognizing section (62) to judge whether the subject is in the detection effective region of the radiation detecting section (15); and a control unit (53) that supports operations using the determination result of the determination unit (52).)

1. A radiographic apparatus includes:

a radiation source that generates radiation;

a radiation detection section that is movable independently of the radiation source and obtains an image of an object by detecting the radiation that has passed through the object;

an imaging unit that images at least the subject using light having a longer wavelength than the radiation line;

a 1 st recognition unit that recognizes the radiation detection unit;

a 2 nd recognition unit configured to recognize the subject using the image captured by the image capture unit;

a determination unit that determines a relative positional relationship between the radiation detection unit and the subject using the recognition results of the 1 st recognition unit and the 2 nd recognition unit, and determines whether or not the subject enters a detection effective region of the radiation detection unit; and

and a control unit for performing operation support using the determination result of the determination unit.

2. The radiographic apparatus according to claim 1,

the control section notifies that the subject enters the detection effective region or that the subject does not enter the detection effective region.

3. The radiographic apparatus according to claim 2,

when the object does not enter the detection effective region, the control section notifies the 2 nd recognition section that the object is recognized and that the object does not enter the detection effective region.

4. The radiographic apparatus according to claim 2 or 3,

when the object does not enter the detection effective region and the 2 nd recognition section fails to recognize the object, the control section notifies that the object cannot be recognized.

5. The radiographic apparatus according to claim 1,

the control section enables or disables the exposure of the radiation using the determination result.

6. The radiographic apparatus of claim 5,

the control section enables exposure of the radiation when the subject enters the detection effective region.

7. The radiographic apparatus of claim 5,

the control section invalidates exposure of the radiation when the object does not enter the detection effective region.

8. The radiographic apparatus according to claim 1,

when the object does not enter the detection effective region, the control section performs operation support of position adjustment for causing the object to enter the detection effective region.

9. The radiographic apparatus of claim 8,

the control section notifies a direction in which the radiation detection section should move in order to cause the object to enter the detection effective region.

10. The radiographic apparatus of claim 9,

the control section notifies a distance by which the radiation detection section is moved in order to cause the object to enter the detection effective region.

11. The radiographic apparatus according to any one of claims 8 to 10,

the control section notifies a direction, or an angle of rotating or tilting the radiation detection section in order to make the subject enter the detection effective region.

12. The radiographic apparatus according to claim 1,

the radiographic apparatus includes a collimator that determines an irradiation field of the radiation,

the control unit adjusts the irradiation field by controlling the collimator using the determination result.

13. The radiographic apparatus of claim 12,

the radiographic apparatus includes a collimator that determines an irradiation field of the radiation,

the control unit controls the collimator using the determination result to change the irradiation field, thereby causing the object to enter the detection effective region.

14. The radiographic apparatus of claim 12,

the radiographic apparatus includes a collimator that determines an irradiation field of the radiation,

when the object enters the detection effective region, the control unit controls the collimator and changes the irradiation field in accordance with the object.

15. The radiographic apparatus according to claim 1,

the 1 st recognition unit specifies a position and an orientation of the radiation detection unit.

16. The radiographic apparatus of claim 15,

the 1 st recognition unit recognizes the radiation detection unit using the image acquired by the imaging unit.

17. The radiographic apparatus of claim 16,

the radiation detection section has a mark indicating a position,

the 1 st recognition unit recognizes a position and an orientation of the radiation detection unit using the marker in the image acquired by the imaging unit.

18. The radiographic apparatus according to any one of claims 15 to 17,

the radiation detection section includes a position sensor for measuring a position of the radiation detection section,

the 1 st recognition unit recognizes the radiation detection unit using information obtained using the position sensor.

19. The radiographic apparatus according to claim 1,

the 2 nd recognition unit recognizes a region of the subject.

20. The radiographic apparatus of claim 19,

the 2 nd recognition unit recognizes a part of the subject by matching the image of the subject captured by the image capturing unit with a template.

21. The radiographic apparatus of claim 19,

the 2 nd recognition part is artificial intelligence.

22. The radiographic apparatus according to claim 1,

when the 1 st recognition portion recognizes the radiation detection portion, the control portion automatically moves the radiation source to a position directly facing the radiation detection portion.

23. The radiographic apparatus of claim 22,

the control section automatically moves the radiation source when the radiation detection section is horizontal and stationary.

24. The radiographic apparatus according to claim 22 or 23,

when the radiation source is automatically moved, the control unit notifies that the radiation source is moved.

25. The radiographic apparatus according to any one of claims 22 to 24,

the control unit maintains a distance between the radiation source and the radiation detection unit at a specific distance.

26. The radiographic apparatus according to claim 1,

when the 2 nd recognition unit does not recognize the object, the control unit moves the image capturing unit.

27. The radiographic apparatus according to claim 1,

the radiographic apparatus includes a body thickness measuring unit that measures a body thickness of the subject,

the control section performs operation support using the determination result and the body thickness of the object.

28. The radiographic apparatus of claim 27,

when the object enters the detection effective area, the control section sets a photographing condition using the thickness of the object.

29. The radiographic apparatus of claim 28,

the control unit sets a tube voltage of the radiation source using a body thickness of the subject.

30. The radiographic apparatus of claim 28,

the control unit inserts or extracts a filter that shields a part of the radiation between the radiation source and the subject using the body thickness of the subject.

31. The radiographic apparatus according to claim 1,

when the radiation source is manually moved, the control unit notifies that the radiation source is located at a position facing the radiation detection unit.

32. The radiographic apparatus according to claim 1,

when the radiation source is manually moved, the control unit notifies the direction in which the radiation source should be moved.

33. The radiographic apparatus according to claim 1,

the control portion restricts movement of the radiation source when the radiation detection portion is mounted on a main body including the control portion.

34. The radiographic apparatus according to claim 1,

when the body, which is a mobile type and includes the control unit, moves, the control unit restricts the movement of the radiation source.

Technical Field

The present invention relates to a radiographic apparatus for imaging a subject using radiation such as X-rays.

Background

The radiographic apparatus includes: a radiation source that generates radiation; and a radiation detection unit for detecting radiation. The subject is disposed between the radiation source and the radiation detection unit. Further, the radiographic apparatus acquires an image of the subject (particularly, the inside of the subject) by detecting the radiation that has penetrated the subject using the radiation detection portion.

In a radiation imaging apparatus, a radiation source and a radiation detection unit may be movable independently. For example, in a mobile X-ray imaging apparatus (so-called a cart), a radiation source and a radiation detection unit can be moved independently. When the radiation source and the radiation detection unit are movable independently, the radiation source and the radiation detection unit need to be aligned during imaging. In recent years, there has been known a radiation imaging apparatus that detects a position of a radiation detection unit and moves a radiation source in accordance with the position of the radiation detection unit (patent document 1 and patent document 2).

Prior art documents

Patent document

Patent document 1: japanese laid-open patent publication No. 2015-156896

Patent document 2: japanese laid-open patent publication No. 11-276463

Disclosure of Invention

Technical problem to be solved by the invention

When the radiation source and the radiation detection unit are movable independently, at least the radiation source and the radiation detection unit need to be aligned, but imaging may fail if only the relative positions of the radiation source and the radiation detection unit are aligned. The reason for this is that the subject can be arbitrarily disposed between the radiation source and the radiation detection unit. Specifically, when the radiation source is not located in the detection effective region of the radiation detection unit, even if the radiation source and the radiation detection unit are aligned, a problem occurs in that the entire subject is not captured in the acquired radiographic image. Therefore, it is desirable for a radiation imaging apparatus in which a radiation source and a radiation detection section are individually movable to perform imaging support in consideration of the arrangement of an object.

The invention provides a radiation imaging apparatus which supports reliable imaging even if a radiation source and a radiation detection unit can move independently.

Means for solving the technical problem

A radiographic imaging device of the present invention includes: a radiation source that generates radiation; a radiation detection section that is movable independently of a radiation source and obtains an image of an object by detecting radiation that has passed through the object; an imaging unit that images at least an object using light having a longer wavelength than a radiation line; a 1 st recognition unit that recognizes the radiation detection unit; a 2 nd recognition unit for recognizing the subject using the image captured by the image capture unit; a determination unit that determines the relative positional relationship between the radiation detection unit and the subject using the recognition results of the 1 st recognition unit and the 2 nd recognition unit, and determines whether or not the subject is in the detection effective region of the radiation detection unit; and a control unit for performing operation support using the determination result of the determination unit.

Preferably, the control section notifies that the subject is in the detection effective region or that the subject is not in the detection effective region.

Preferably, when the object is not in the detection effective region, the control section notifies the 2 nd recognition section that the object is recognized and that the object is not in the detection effective region.

Preferably, when the object is not in the detection effective region and the 2 nd recognition section fails to recognize the object, the control section notifies that the object cannot be recognized.

Preferably, the control section validates or invalidates the exposure of the radiation using the determination result.

Preferably, the control section validates exposure of the radiation when the subject is in the detection valid region.

Preferably, the control section invalidates exposure of the radiation when the object is not in the detection effective region.

Preferably, the control section performs operation support of adjusting the position of the object in the detection effective region when the object is not in the detection effective region.

Preferably, the control section notifies a direction in which the radiation detection section needs to move in order to make the subject in the detection effective region.

Preferably, the control section notifies a distance by which the radiation detection section is moved in order to cause the object to be in the detection effective region.

Preferably, the control section notifies a direction, or angle of rotating or tilting the radiation detection section in order to make the subject in the detection effective region.

Preferably, a collimator that specifies an irradiation field of the radiation is provided, and the control unit adjusts the irradiation field by controlling the collimator using the determination result.

Preferably, the radiation detector includes a collimator that specifies an irradiation field of the radiation, and the control unit controls the collimator using the determination result to change the irradiation field, thereby causing the object to be in the detection effective region.

Preferably, the radiation detector includes a collimator that specifies an irradiation field of the radiation, and the control unit controls the collimator to change the irradiation field according to the object when the object is in the detection effective region.

Preferably, the 1 st recognition section determines the position and the orientation of the radiation detection section.

Preferably, the 1 st recognition portion recognizes the radiation detection portion using the image acquired by the imaging portion.

Preferably, the radiation detection section has a mark indicating a position, and the 1 st recognition section recognizes the position and the orientation of the radiation detection section using the mark in the image acquired by the imaging section.

Preferably, the radiation detection section includes a position sensor that measures a position of the radiation detection section, and the 1 st recognition section recognizes the radiation detection section using information obtained using the position sensor.

Preferably, the 2 nd recognition section recognizes a part of the subject.

Preferably, the 2 nd recognition section recognizes the part of the subject by matching the image of the subject captured by the image capturing section with the template.

Preferably, the 2 nd recognition portion is artificial intelligence.

Preferably, the control section automatically moves the radiation source to a position directly facing the radiation detection section when the 1 st recognition section recognizes the radiation detection section.

Preferably, the control section automatically moves the radiation source when the radiation detection section is horizontal and stationary.

Preferably, when the radiation source is automatically moved, the control section notifies that the radiation source is moved.

Preferably, the control section maintains a distance between the radiation source and the radiation detection section at a specific distance.

Preferably, the control section moves the photographing section when the 2 nd recognition section does not recognize the object.

Preferably, the control unit performs operation support using the determination result and the body thickness of the object.

Preferably, the control section sets the photographing condition using a body thickness of the subject when the subject is in the detection effective region.

Preferably, the control section sets a tube voltage of the radiation source using a body thickness of the object.

Preferably, the control section inserts or extracts a filter shielding a part of the radiation between the radiation source and the object using the thickness of the object.

Preferably, when the radiation source is manually moved, the control section notifies that the radiation source is located at a position directly opposite to the radiation detection section.

Preferably, when the radiation source is manually moved, the control section notifies the direction in which the radiation source needs to be moved.

Preferably, the control section limits movement of the radiation source when the radiation detection section is mounted on the main body including the control section.

Preferably, when the body, which is a mobile type and includes the control portion, moves, the control portion restricts the movement of the radiation source.

Effects of the invention

According to the present invention, it is possible to provide a radiation imaging apparatus that supports reliable imaging even when a radiation source and a radiation detection unit are movable independently.

Drawings

Fig. 1 is a perspective view of a radiographic apparatus.

Fig. 2 is a perspective view of the radiographic apparatus.

Fig. 3 is a perspective view of the radiographic apparatus with the arm folded.

Fig. 4 is a plan view showing the structure of the tip portion.

Fig. 5 is an explanatory view of the mark provided on the surface of the radiation detection unit.

Fig. 6 is a block diagram of the radiographic imaging apparatus.

Fig. 7 is an explanatory diagram of template matching by the 2 nd recognition unit.

Fig. 8 is a block diagram of the control unit.

Fig. 9 is a flowchart showing an operation mode of the radiographic imaging apparatus.

Fig. 10 is an explanatory diagram showing an arrangement at the time of photographing.

Fig. 11 is an explanatory diagram showing the arrangement of the radiation detection unit and the subject on the bed.

Fig. 12 is a display example of a touch panel.

Fig. 13 is a block diagram of a radiographic imaging apparatus according to embodiment 2.

Fig. 14 is a flowchart showing an operation mode of the radiographic imaging apparatus according to embodiment 2.

Fig. 15 is a display example showing a mode of supporting the reconfiguration of the radiation source.

Fig. 16 is a display example showing a mode of supporting the reconfiguration of the radiation source.

Fig. 17 is a perspective view of a radiographic apparatus having a telescopic arm.

Detailed Description

[ embodiment 1 ]

As shown in fig. 1 and 2, the radiographic imaging device 10 includes a main body 11, an arm 12, a distal end portion 13, and a radiation detection portion 15.

The main body 11 incorporates a control board and the like for controlling each part of the radiographic imaging apparatus 10, such as the arm portion 12 and the distal end portion 13. The radiographic imaging apparatus 10 is of a mobile type (so-called diagnostic cart), and casters 21 are mounted on the main body 11. Therefore, not only radiography can be performed in a specific examination room, but also radiography can be performed by moving the radiographic apparatus 10 to a patient room where a patient 101 (see fig. 10) as an object is located. The caster 21 can be rotated manually or automatically by setting or the like (selection of an operation mode or the like). That is, the examiner, the doctor, or another medical staff (hereinafter, referred to as the examiner or the like) can manually move the radiographic apparatus 10 by pushing and pulling. Further, the radiographic imaging device 10 can automatically move or adjust the position of itself (the main body 11). The main body 11 is provided with a grip 22 that is gripped when the radiographic imaging device 10 is manually moved.

The main body 11 is provided with a touch panel 23. The touch panel 23 is a display portion of the radiographic imaging apparatus 10 and is an operation portion. The touch panel 23 displays an image of a subject obtained by radiography, and items related to operations, settings, and the like. The items related to the operation, the setting, and the like are touched by a finger or the like by the examiner or the like, whereby the setting, the operation instruction, and the like can be input to the radiographic imaging device 10.

In addition, the main body 11 has a plug-in type holder 24 into which the radiation detection section 15 is inserted. The holder 24 has a detection unit (not shown) therein for detecting whether the radiation detection unit 15 is inserted or not. Therefore, the radiographic imaging device 10 can detect the insertion and removal of the radiation detection section 15. The detection section is, for example, a switch that assumes an open state when the radiation detection section 15 is held by the cradle 24, and assumes a closed state when the radiation detection section 15 is pulled out from the cradle 24.

The arm portion 12 holds the leading end portion 13 with respect to the main body 11. The arm portion 12 can be folded. When the radiographic imaging apparatus 10 is moved to a ward or the like, the arm 12 is folded as shown in fig. 3, and the arm 12 is unfolded when imaging is performed (refer to fig. 1 and the like). By adjusting the deployment angle of the arm portion 12, the radiographic imaging device 10 can arrange the position of the distal end portion 13 at a position used for imaging (hereinafter referred to as an imaging position). The arm portion 12 has a lock mechanism (not shown) and can maintain an arbitrary deployment angle. Therefore, the arm 12 can maintain the position of the distal end portion 13 at the imaging position when imaging. The folding and unfolding of the arm portion 12 can be performed manually or automatically by setting.

The distal end portion 13 is attached to the distal end of the arm portion 12 so as to be rotatable with respect to the arm portion 12, and houses a radiation source 31 (see fig. 6) for generating radiation. Also, the front end portion 13 has a collimator 32 that determines an irradiation field 105 (refer to fig. 10) of radiation and 1 or more handles 33.

The radiation source 31 is an X-ray tube in the present embodiment. Therefore, the radiographic apparatus 10 is an X-ray imaging apparatus that images an object using X-rays. The energy, dose, and the like of the radiation generated by the radiation source 31 are one of imaging conditions in radiography, and can be manually or automatically set. In the present embodiment, the energy of the X-rays to be exposed can be changed by adjusting the tube voltage of the X-ray tube. Further, the dose of X-rays to be exposed can be changed by adjusting the tube current of the X-ray tube. As the radiation source 31, a radiation source that generates radiation (gamma rays or the like) other than X-rays can be used.

The collimator 32 incorporates 1 or more shielding plates (not shown) that shield the radiation generated by the radiation source 31, and adjusts the size and shape of the radiation field to be exposed by adjusting the position and/or orientation (angle) of the shielding plates. For example, the collimator 32 has 4 shielding plates, and the shape of the radiation subjected to exposure is adjusted to be rectangular using these 4 shielding plates, and the size thereof is adjusted. The adjustment of the irradiation field 105 using the collimator 32 can be performed manually or automatically by setting. The radiation irradiation field 105 is one of imaging conditions in radiography.

The handle 33 is gripped by, for example, an inspector who manually moves the distal end portion 13. When the distal end portion 13 is disposed close to the subject, the handle 33 also functions as a protector for keeping a minimum distance between the distal end portion 13 and the subject.

In addition to the above, as shown in fig. 4, the distal end portion 13 includes an imaging unit 35. The imaging unit 35 images at least the subject using light having a wavelength longer than the radiation line generated by the radiation source 31. The light having a longer wavelength than the radiation generated by the radiation source 31 is, for example, ultraviolet light, visible light, infrared light, or the like. Therefore, the imaging section 35 is a camera that images an object or the like using electromagnetic waves or the like other than radiation. More specifically, the image capturing unit 35 is, for example, a digital camera or a video camera.

The imaging range of the imaging section 35 includes at least the range of the radiation generated by the exposure radiation source 31. This is because the image captured by the imaging unit 35 (hereinafter referred to as a camera image 121. see fig. 10) is used in a recognition process for recognizing an object or the like, and as a result, is used in determination of whether or not the object is in the detection effective region of the radiation detection unit.

At least the subject to be imaged by the imaging unit 35 is a subject such as a patient to be imaged by the radiographic imaging device 10 using radiation. The imaging unit 35 may take the radiation detection unit 15 as an imaging target. This is because the radiographic imaging device 10 sometimes uses the image obtained by the imaging unit 35 in the recognition process for recognizing the radiation detection unit 15.

The radiation detection section 15 is movable independently of the radiation source 31, and obtains an image of the subject (hereinafter, referred to as a radiation image) by detecting radiation that has passed through the subject. The case where a radiation image is obtained using the radiation detection unit 15 is referred to as radiography. In the present embodiment, a so-called FPD (Flat Panel Detector) is used. As shown in fig. 5, the radiation detection unit 15 is provided with marks indicating positions, such as a mark 41 indicating the center position of the detection effective region, a mark 42 indicating the position and range of the detection effective region, and/or marks 43A to 43D indicating the corner positions of the radiation detection unit 15. This is to allow the examination technician and/or the radiographic apparatus 10 to easily recognize the position and orientation of the radiation detection unit 15 and to detect the effective region. The detection effective region means a region where there are pixels contributing to the radiation image and detection of radiation is actually effective. The marks 43A to 43D can be distinguished from each other by shape, color, or the like. In the present embodiment, the marks 43A to 43D are L-shaped, and the L-shaped sides of the marks 43A to 43D are different in length for mutual recognition.

As shown in fig. 6, the distal end portion 13 includes a filter 36 in addition to the radiation source 31, the collimator 32, and the imaging unit 35. The filter 36 is a member that shields a part of the radiation generated by the radiation source 31, and is freely inserted into and removed from the exposure path of the radiation generated by the radiation source 31. The filter 36 is, for example, a thin copper plate, and in the present embodiment, mainly shields low-energy components from the radiation generated by the radiation source 31. Therefore, when the filter 36 is inserted into the exposure path of the radiation, the low energy component of the radiation is reduced compared to the case where the filter 36 is not used, and the radiation including a relatively large amount of the high energy component reaches the object and the radiation detection section 15.

The radiation detection unit 15 includes an image acquisition unit 46, a communication unit 47, a position sensor 48, a battery 49 that supplies power to each unit of the radiation detection unit 15, and the like.

The image acquisition unit 46 receives radiation to acquire a radiation image. When the radiation detection section 15 is of a so-called indirect conversion type, the image acquisition section 46 is composed of a scintillator such as GOS (gadolinium oxysulfide), CsI (cesium iodide), or the like, which once converts radiation into an optical signal and then converts the optical signal into an electrical signal, a TFT (Thin Film Transistor), or the like. Also, when the radiation detection section 15 is of a so-called direct conversion type, the image acquisition section 46 is composed of amorphous selenium or the like that directly converts radiation into an electric signal, and TFTs or the like.

The communication section 47 communicates with the main body 11 by wire or wirelessly, and receives and transmits various control signals and the like. Then, the communication unit 47 transmits the radiographic image acquired by the image acquisition unit 46 to the main body 11.

The position sensor 48 is a sensor for detecting the position and orientation (including the direction and amount of change in position or orientation) of the radiation detection unit 15. The position sensor 48 is, for example, a gyro sensor that detects angular velocity or angular acceleration, a velocity sensor that detects velocity, an acceleration sensor that detects acceleration, or a combination of these. The radiation detection unit 15 is located at a position facing the main body 11, and is, for example, a focal point, which is particularly referred to as a radiation generation point 103 by the radiation source 31. Refer to fig. 9. ) Relative position. The orientation of the radiation detection unit 15 is the spatial rotation angle and the inclination angle of the radiation detection unit 15. In the present embodiment, the main body 11 tracks the radiation detection unit 15 by recognizing the position and orientation of the radiation detection unit 15 using information obtained by the position sensor 48 (for example, a signal directly output from the position sensor 48). However, the position sensor 48 may include a measurement unit that measures the position and orientation of the radiation detection unit 15 using signals directly output from various sensors. In this case, the position sensor 48 can directly output information on the position and orientation of the radiation detection unit 15.

The main body 11 includes an identification unit 51, a determination unit 52, a control unit 53, a communication unit 54 that communicates with the communication unit 47 of the radiation detection unit 15, a storage unit 56 that stores the radiographic image and the like acquired from the radiation detection unit 15, a battery 57 that supplies power to the various units such as the main body 11, and the like.

The recognition unit 51 recognizes a part or all of the subject and/or the radiographic imaging device 10. The recognition by the recognition unit 51 is a case of specifying a spatial position, orientation, size, shape, or the like. In the present embodiment, the recognition unit 51 includes at least the 1 st recognition unit 61 and the 2 nd recognition unit 62.

The 1 st recognition portion 61 recognizes the radiation detection portion 15. The recognition by the radiation detection unit 15 refers to a case where the position and orientation of the radiation detection unit 15 relative to the main body 11 are specified (calculated, etc.). In the present embodiment, the 1 st recognition unit 61 specifies the position and the orientation of the radiation detection unit 15 with reference to the radiation generation point 103. The 1 st recognition unit 61 recognizes the radiation detection unit 15 using the camera image 121 captured by the imaging unit 35 and/or using the output signal of the position sensor 48. Since the position and imaging range of the imaging unit 35 in the main body 11 are known, the 1 st recognition unit 61 can recognize the radiation detection unit 15 using the positions of the edge (side), vertex (corner), mark 41, mark 42, mark 43A to 43D, and the like of the radiation detection unit 15 in the camera image 121. The 1 st recognition unit 61 can recognize the radiation detection unit 15 by determining the position and orientation of the radiation detection unit 15 using the output signal of the position sensor 48 and the like. In the present embodiment, the 1 st recognition unit 61 recognizes the radiation detection unit 15 by combining the camera image 121 and the output signal of the position sensor 43 in principle. Also, when the radiation detection section 15 is not captured by the camera image 121 to a sufficient extent for recognition, etc., the 1 st recognition section 61 recognizes the radiation detection section 15 using the output signal of the position sensor 43, etc.

In addition, the recognition of the radiation detection section 15 by the 1 st recognition section 61 includes recognition (determination of the position and/or orientation) of the detection effective region of the radiation detection section 15. The reason for this is that since the detection effective region is set in advance for each radiation detection unit 15 and is known, the identification of the radiation detection unit 15 is substantially the same as the identification of the detection effective region of the radiation detection unit 15.

The 2 nd recognition unit 62 recognizes an object. Recognition of an object refers to a case where the position, orientation, shape, size, and/or the like of the object is determined. The recognition of the object includes recognition of the entire object and recognition of the part of the object. That is, the 2 nd recognition unit 62 can recognize the region of the subject. Specifically, the 2 nd recognition unit 62 can specify the position, orientation, shape, size, and/or the like of a region (for example, a chest (portion) of a patient (as a whole) to be imaged) in a subject as an imaging target of a radiographic image. In the present embodiment, the 2 nd recognition unit 62 specifies the position of the subject with reference to the radiation generation point 103. This is for matching the reference with the recognition by the radiation detection section 15 by the 1 st recognition section 61.

The 2 nd recognition unit 62 recognizes the subject using the camera image 121 captured by the image capturing unit 35. More specifically, the 2 nd recognition unit 62 recognizes the subject (in the present embodiment, the imaging region) by matching the camera image 121 of the subject captured by the imaging unit 35 with a template (so-called template matching). The template is, for example, a camera image 121 when a radiation image without a margin is obtained for a specific imaging region. The 2 nd recognition unit 62 has a plurality of templates according to characteristics such as age, sex, and/or physique of the subject, and recognizes the subject by matching using an appropriate template according to the characteristics of the subject or by cycle matching with an own template. Matching refers to finding a correlation with a template. The 2 nd recognition unit 62 specifies the object in the camera image 121, the position of the imaging portion of the object, and the like, using the magnitude of the correlation with the template. As shown in fig. 7, the 2 nd recognition unit 62 obtains a correlation by comparing the template 64 in which the chest 64a of the patient is captured with a part of the camera image 121 (the whole camera image 121 in accordance with the imaging range), for example. The correlation is small, such as when a deviation of the subject from the subject captured in the template 64 is large, as in the comparison range 65A, which is a part of the camera image 121. On the other hand, as in the comparison range 65B, the correlation is large when the position of the object or the like substantially coincides with the template 64. Therefore, the 2 nd recognition unit 62 can specify that the subject (particularly, the chest as the imaging region) is present in the comparison range 65B having a large correlation or a portion in the vicinity thereof.

The 2 nd recognition unit 62 changes the template to be used according to the shooting menu. Specifically, when there is a setting of a shooting menu for specifying a shooting location, the 2 nd recognition unit 62 changes the template to be used in accordance with the setting. The shooting menu refers to settings related to an object and/or shooting conditions. The 2 nd recognition unit 62 can use, for example, templates of the chest, head, abdomen, limbs, or the like as appropriate. When there is a setting of a shooting menu for specifying the characteristics of the subject such as sex or age, the 2 nd recognition unit 62 changes the template to be used in accordance with the setting. The 2 nd recognition unit 62 appropriately discriminates between the use of the male template and the use of the female template, for example. The 2 nd recognition unit 62 appropriately distinguishes between templates for old people, adults (normal adults other than old people and children), and children, for example. In this way, the 2 nd recognition unit 62 can recognize the position of the object and the like particularly accurately by appropriately using a plurality of types of templates in a differentiated manner according to the setting of the shooting menu.

When the photographing menu is not used for switching the templates, such as when there is no photographing menu or when the recognition processing of the 2 nd recognition unit 62 is not associated with the photographing menu, the 2 nd recognition unit 62 acquires the correlation using 1 or more representative templates among the plurality of owned templates and determines the template to be used from the template having the largest correlation. For example, when the camera image 121 captures the irradiation field 105 and its vicinity, the imaging region can be specified by acquiring the correlation with the templates for adults of the chest, head, abdomen, and four limbs. The same applies to sex, age, and the like of the subject. By thus obtaining the correlation with the representative template, the 2 nd recognition unit 62 can finally correctly select the template to be used.

In addition, instead of the template matching, the 2 nd recognition unit 62 may be configured by artificial intelligence (ai) learned by using an algorithm of mechanical learning or deep learning such as Neural network (nn), convolutional Neural network (cnn), adaptive boost (adaboost) or Random Forest (Random Forest). In this case, the accurate training data (so-called OK image) is, for example, the camera image 121 when a radiation image having no margin is obtained for a specific imaging region. The erroneous training data (so-called NG image) is, for example, the camera image 121 when a remaining radiation image is obtained.

The determination unit 52 determines the relative positional relationship between the radiation detection unit 15 and the subject using the recognition results of the 1 st recognition unit 61 and the 2 nd recognition unit 62, and determines whether or not the subject is in the detection effective region of the radiation detection unit 15. The criterion for determining whether or not the subject is in the detection effective region of the radiation detection section 15 is the generation point 103 of the radiation and the irradiation field 105 of the radiation. That is, the phrase "the detection effective region of the subject in the radiation detection section 15" means a positional relationship in which the imaging portion of the subject is within the irradiation field 105 of the radiation and the radiation having passed through the imaging portion of the subject reaches the effective detection region. The phrase "the subject is not present in the detection effective region of the radiation detection section 15" means that at least a part of the imaging region of the subject is distant from the radiation irradiation field 105, or at least a part of the radiation having passed through the imaging region of the subject does not reach the detection effective region.

Further, when the 2 nd recognition section 62 recognizes the object by template matching, the determination section 52 can determine whether or not the object is in the effective detection region of the radiation detection section 15 based on the information associated with the plurality of templates. In this case, it is possible to more accurately determine whether or not the subject is in the effective detection region of the radiation detection section 15 than when determining from the information associated with 1 template. The information related to the template refers to the type of the part or the like of the subject represented by the template and the correlation value between the template and the camera image 121. The correlation value between each template and the camera image 121 is calculated by the 2 nd recognition unit 62. For example, when the imaging region is a chest, a head is present in a predetermined direction with respect to the chest, and an abdomen is present in the opposite direction. Therefore, the determination unit 52 can determine whether or not the subject is in the detection effective region of the radiation detection unit 15 by specifying, as the "chest", a range in which the correlation value with the template of the chest is equal to or greater than the 1 st threshold (the lower limit correlation value that can be specified as the chest) and the correlation value with the template of the head is equal to or less than the 2 nd threshold (the upper limit correlation value that can be specified as the non-head). In this case, the boundary between the head and the chest of the subject is more accurate than when the range of the "chest" is determined from the correlation value of the template of the chest. The same applies to the boundary between the chest and abdomen, etc. As described above, the 2 nd recognition unit 62 can recognize the object from the information related to the plurality of templates. In this case, the determination unit 52 can accurately determine whether or not the subject is in the effective detection region of the radiation detection unit 15, using only the determination result of the 2 nd recognition unit 62.

The control unit 53 controls all the components of the radiographic imaging apparatus 10. In particular, the control section 53 supports the operation of the radiographic imaging apparatus 10 using the determination result of the determination section 52. For example, when the subject is not in the detection effective region in the determination result of the determination unit 52, the control unit 53 supports an operation of adjusting the position of the subject in the detection effective region. Specifically, as shown in fig. 8, the control unit 53 includes an imaging control unit 71, a radiation control unit 72, a position control unit 73, and a notification unit 75.

The photographing control section 71 controls the photographing section 35. For example, when the camera image 121 is required by either the 1 st recognition part 61 or the 2 nd recognition part 62, the photographing control part 71 photographs an object or the like using the photographing part 35 and supplies the camera image 121 to the 1 st recognition part 61 and/or the 2 nd recognition part 62. When the 2 nd recognition unit 62 does not recognize the object, the imaging control unit 71 moves the imaging unit 35 (the distal end portion 13 in the present embodiment). Thus, when the 2 nd recognition unit 62 does not recognize the object, the control unit 53 automatically searches for the object.

The radiation control unit 72 controls the radiation source 31, the collimator 32, and the filter 36. Specifically, the radiation control unit 72 includes a radiation source control unit 81, an irradiation field control unit 82, and a filter insertion/removal control unit 83.

The radiation control unit 72 controls the radiation source 31, and performs, for example, activation or deactivation of the radiation source 31, setting of the energy and dose of radiation generated by the radiation source 31 (in the present embodiment, setting of the tube voltage and the tube current of the X-ray tube), setting of enabling or disabling exposure of radiation, and control of the exposure time point of radiation. The control of the exposure time point is, for example, synchronous control of the exposure of the radiation source from the radiation source 31 and the operation of the image acquisition unit 46. The validation or invalidation of the exposure of the radiation means validation or invalidation of the input of the exposure instruction from the examination technician or the like or the input of the activation instruction of the radiation source 31. The radiation source control unit 81 can set and use the determination result of the determination unit 52 to enable or disable the exposure of the radiation. Thus, the control section 53 supports the operation of the radiographic imaging apparatus 10 (particularly, the exposure control appropriately). For example, when the subject is in the detection effective region in the determination result of the determination section 52, the radiation control section 72 makes the exposure of the radiation effective. This is because the radiography can be performed without failure. On the other hand, if the subject is not in the detection effective region in the determination result of the determination section 52, the exposure of the radiation is invalidated. This is because the subject cannot be radiographed without a margin, and the exposure amount of the subject increases due to the necessity of radiographing again or the like.

The irradiation field control unit 82 controls the collimator 32 to adjust the irradiation field 105 of the radiation. The irradiation field control section 82 basically aligns the irradiation field 105 of radiation with the detection effective region of the radiation detection section 15. The irradiation field control unit 82 can change the irradiation field 105 by setting and controlling the collimator 32 using the determination result of the determination unit 52. Thus, the control unit 53 supports the operation of the radiographic imaging device 10 (particularly, the collimator 32). For example, if a part of the imaging region is deviated from the irradiation field 105 set by the initial setting or the irradiation field 105 set by the technician or the like in the determination result of the determination unit 52, the irradiation field control unit 82 can control the collimator 32 to change the irradiation field 105 so that the object (at least the imaging region) is in the detection effective region. This is to obtain a radiographic image of the subject without a margin by 1 time of radiography. For example, when the object is in the detection effective region as a result of the determination by the determination unit 52, the irradiation field control unit 82 controls the collimator 32 in accordance with the magnitude relationship between the object and the detection effective region, and changes the irradiation field in accordance with the object. That is, when the imaging region of the subject is smaller than the detection effective region, the irradiation field control unit 82 reduces the irradiation field 105 in accordance with the imaging region of the subject. This is to reduce subject exposure.

The filter insertion/removal control unit 83 controls insertion/removal of the filter 36 with respect to the exposure path of the radiation. For example, when the tube voltage set by the radiation source control unit 81 is higher than a predetermined threshold, the filter insertion/removal control unit 83 inserts the filter 36 into the exposure path of the radiation. This is to reduce exposure to low-energy and low-transmittance radiation when the tube voltage is set high and radiation having high energy and high transmittance is used for radiography.

The position control unit 73 controls the arm portion 12, the tip portion 13, and the caster 21. Specifically, the position control unit 73 includes a radiation source position control unit 91 and a main body position control unit 92.

The source position control unit 91 controls the folding and unfolding of the arm 12 and the orientation of the distal end portion 13 with respect to the arm 12, thereby controlling the position of the radiation source 31 with respect to the radiation detection unit 15. The source position control unit 91 can control the position of the radiation source 31 by setting and using the recognition result of the 1 st recognition unit 61, the recognition result of the 2 nd recognition unit 62, the determination result of the determination unit 52, and/or a combination thereof. Thus, the control unit 53 supports the operation of the radiographic imaging device 10 (particularly, the position of the radiation source 31). For example, when the 1 st recognition unit 61 recognizes the radiation detection unit 15, the source position control unit 91 can automatically move the radiation source 31 to a position directly facing the radiation detection unit 15. This can reduce the operation load on the radiation source 31 such as an inspector and the like to position the radiation detection unit 15. The position facing the radiation detection section 15 is a position where the radiation can be exposed to the detection effective region.

Further, when the radiation source 31 is automatically moved, the source position control section 91 preferably automatically moves the radiation source 31 when the radiation detection section 15 is substantially horizontal and substantially stationary. This is because the radiation detector 15 is in a state of being disposed, and therefore the radiation source 31 can be safely moved without colliding with the examiner or the like. When the radiation source 31 is automatically moved, the control unit 53 preferably notifies that the radiation source 31 is moved. This is for safety. The notification of the movement of the radiation source 31 is a state in which the examiner or the like can recognize that the radiation imaging apparatus 10 has automatically moved the radiation source 31. The notification unit 75 notifies that the radiation source 31 is moved.

The source position control unit 91 keeps the distance between the radiation source 31 and the radiation detection unit 15 at a specific distance. The Distance between the radiation Source 31 and the radiation detector 15 is a so-called SID (Source to Image-receiver Distance). The specific distance is an appropriate distance in radiography according to the imaging region, imaging conditions, and the like.

The main body position control unit 92 controls the rotation of each caster 21, thereby adjusting the position and orientation of the main body 11 in, for example, a patient room or the like. When the radiation source position control unit 91 controls the position of the radiation source 31, the body position control unit 92 adjusts the position and orientation of the body 11 in cooperation with the radiation source position control unit 91 as necessary. The main body position control unit 92 can cause the radiographic imaging device 10 to automatically or semi-automatically operate when the radiographic imaging device 10 is carried to a hospital room or the like. The semi-automatic running is to assist the movement of the radiographic apparatus 10 by rotating the caster 21 in a direction to reduce the force pushing and pulling the radiographic apparatus 10.

The notification section 75 notifies information supporting the operation of the radiographic imaging apparatus 10. The notification means that the information is set to be recognizable to the inspector or the like. The notification unit 75 notifies the information by, for example, displaying characters, messages, graphics (icons, etc.), signs, etc. on the screen of the touch panel 23, and in addition thereto, by emitting a sound or voice using a speaker (not shown), turning on or off an indicator (not shown) such as a lamp, or changing the display lamp. In the present embodiment, the notification unit 75 performs the above notification by displaying a message on the screen of the touch panel 23.

The notification unit 75 can perform the notification using the determination result of the determination unit 52. Thus, the control unit 53 supports the operation of the radiographic imaging device 10. For example, the notification unit 75 notifies that the subject is in the detection effective region or that the subject is not in the detection effective region. When the object is not in the detection effective region, the notification unit 75 notifies the 2 nd recognition unit 62 that the object is recognized and that the object is not in the detection effective region. Also, when the object is not in the detection effective region and the 2 nd recognition section 62 fails to recognize the object, the notification section 75 notifies that the object has not been recognized.

In addition, the notification unit 75 notifies the direction in which the radiation detection unit 15 needs to move in order to detect the effective region of the subject. The notification unit 75 notifies the moving distance of the radiation detection unit 15 in order to detect the subject in the effective region. The notification section 75 notifies the direction, or angle of the radiation detection section to rotate or tilt the object in order to detect the effective region.

By any one or a combination of a plurality of the above-described various notifications, the examiner or the like can easily adjust (rearrange or the like) the subject, the radiation detection unit 15, and/or the radiation source 31 as necessary. As a result, the radiographic imaging of the imaging region can be performed reliably and without a margin by 1 imaging.

The radiographic imaging device 10 configured as described above operates as follows. As shown in fig. 9, the main body 11 is moved to a ward or the like where the patient 101 as an object is located (step S101), and the main body 11 is arranged at a position approximately suitable for radiography. Then, the examiner or the like takes out the radiation detection unit 15 from the cradle 24 and arranges the radiation detection unit 15 at a position corresponding to the imaging region (step S102). For example, as shown in fig. 10, a patient 101 as an object is lying on a bed 102, and the radiation detection unit 15 is disposed between the imaging region and the bed 102. At this time, the 1 st recognition unit 61 recognizes and tracks the radiation detection unit 15 based on the information obtained by using the position sensor 48, and when the radiation detection unit 15 is substantially horizontal and substantially stationary, the source position control unit 91 automatically moves the radiation source 31 to a position directly facing the radiation detection unit 15 (step S103). The main body position control unit 92 automatically adjusts the position of the main body 11 as necessary. As a result, the distance D1 between the radiation generation point 103 and the radiation detection unit 15 becomes SID preset in accordance with the imaging region or the like, and the radiation irradiation field 105 becomes a range including the detection effective region of the radiation detection unit 15. The Distance D2 is a so-called SOD (Source to Object Distance), and the Distance D3 is the thickness of the body (body thickness) on the imaging portion of the patient 101.

When the radiation detection unit 15 and the radiation source 31 are disposed as described above, the 1 st recognition unit 61 recognizes the radiation detection unit 15 (step S104), and the 2 nd recognition unit 62 recognizes the patient 101 as the subject (step S105).

That is, the image capturing unit 35 captures an image of the patient 101 or the like, and supplies the camera image 121 to the 1 st recognition unit 61 and the 2 nd recognition unit 62. When the radiation detection section 15 is captured in the camera image 121, the 1 st recognition section 61 specifies the position or the like of the radiation detection section 15 using at least one of the camera image 121 and the information obtained by the position sensor 48. When the radiation detection section 15 is not captured in the camera image 121 such as when the patient 101 blocks the radiation detection section 15, or is not captured to such an extent that the radiation detection section 15 can be used for the identification of the radiation detection section 15, the 1 st identification section 61 specifies the position of the radiation detection section 15 using the information obtained by the position sensor 48. Thereby, as a result, the 1 st recognition part 61 recognizes the detection effective region. The 2 nd recognition unit 62 specifies the position of the patient 101, particularly, the imaging part of the patient 101, using the camera image 121.

When the 1 st recognition unit 61 and the 2 nd recognition unit 62 respectively end the recognition processing, the determination unit 52 determines whether or not the imaging region of the patient 101 is in the detection effective region using the recognition results (step S106).

When the imaging part of the patient 101 is in the detection effective region (step S106: YES), the irradiation field control unit 82 determines whether the irradiation field 105 is appropriate or not using the determination result (step S107). When the irradiation field 105 is appropriate (step S107: YES), the radiation source control section 81 makes the exposure of the radiation effective (step S108). When the irradiation field 105 is inappropriate (step S107: NO), the irradiation field control section 82 automatically adjusts the irradiation field 105 (step S108), and then the radiation source control section 81 validates the exposure of the radiation. For example, when the imaging part is the chest 122 of the patient 101, as shown in fig. 10, when the chest 122 is small relative to the detection effective region (the region indicated by the mark 42) in the camera image 121 and white is increased in the radiation image, the irradiation field control section 82 adjusts the irradiation field 105 to the region 123 corresponding to the chest 122. When the exposure of radiation is enabled, the radiation source control unit 81 automatically sets imaging conditions and waits for an exposure instruction input by an inspector or the like. When the exposure instruction is input by the inspector or the like, the radiation source control unit 81 exposes radiation from the radiation source 31 and the radiation detection unit 15 acquires a radiation image (step S111).

On the other hand, when the imaging region of the patient 101 is not in the detection effective region (step S106: NO), the notification unit 75 displays a message on the screen of the touch panel 23 to notify that (step S112). For example, as shown in fig. 12, a console 131 showing a radiographic image or the like and an imaging condition setting unit 132 setting imaging conditions such as a tube voltage and a tube current are displayed on the screen of the touch panel 23, but the notification unit 75 also displays a message 135 indicating that the imaging region of the patient 101 is not in the detection effective region. If the message 135 is viewed, the examiner or the like can know that the imaging region of the patient 101 is not in the detection effective region and that there is a possibility that the radiography will fail. Therefore, the examination technician or the like moves the radiation detection unit 15 or the patient 101, thereby rearranging the radiation detection unit 15 for the patient 101 (step S114). When the imaging region of the patient 101 is not in the detection effective region, the radiation source control unit 81 invalidates the exposure of the radiation (step S113) and prevents erroneous radiation exposure. When the radiation detection unit 15 and the like are rearranged, the 1 st recognition unit 61 and the 2 nd recognition unit 62 perform the recognition processing again. This cycle is repeated until the determination unit 52 determines that the imaging region of the patient 101 is in the detection effective region.

As described above, the radiographic imaging device 10 recognizes the radiation detection unit 15 and the patient 101 (particularly, the imaging region) as the subject, and determines whether or not the patient 101 is in the detection effective region. The control unit 53 uses the determination result to perform operation support of the radiographic imaging apparatus 10, such as adjustment of the irradiation field 105, validation or invalidation of exposure, and notification of a message prompting rearrangement. As a result, according to the radiographic imaging device 10, reliable radiographic imaging can be supported even when the radiation source 31 and the radiation detection unit 15 can be moved independently. That is, a radiographic image of the imaging region to be imaged can be reliably obtained by 1 radiography.

In addition, the movement of the radiation source 31 in step S103 can be performed manually. Further, even when the radiation source 31 is manually moved to a position facing the radiation detection unit 15, the source position control unit 91 can automatically and finely adjust the position of the radiation source 31. The reason for this is that accurate alignment (including adjustment of the SID) can be supported. Similarly, the position adjustment of the main body 11 can be performed manually. Even when the main body 11 is manually moved, the main body position value control section 92 can automatically fine-adjust the position of the main body 11. This is because accurate alignment can be supported. In addition, it is also possible to manually perform setting of imaging conditions by the radiation source control unit 81, insertion and removal of the filter 36 by the filter insertion and removal unit 83, and the like, and to automatically perform fine adjustment such as setting even when the setting or the like is manually performed. This is to support accurate settings and the like. That is, part of the matters automatically performed by the radiography apparatus 10 in embodiment 1 described above can be manually performed. Furthermore, the manual setting items and the like can support accurate setting and the like by performing fine adjustment and the like by the radiographic imaging device 10.

[ 2 nd embodiment ]

In embodiment 1, the distal end portion 13 is provided with an image capturing unit 35, and as shown in fig. 13, a TOF camera 201(Time of Flight camera) may be provided instead of (or in addition to) the image capturing unit 35.

The TOF camera 201 is a camera that pulses near-infrared light and measures the reflection time of the near-infrared light from an object. Therefore, when the TOF camera 201 is provided, for example, the body thickness measuring section 202 that measures the body thickness (distance D2) of the imaging portion of the patient 101 using an image (hereinafter, referred to as a distance image) output by the TOF camera 201 is provided in the main body 11. The distance image is, for example, an image in which each pixel has a pixel value having a correlation with the distance from the TOF camera 201. The body thickness measuring unit 202 obtains a distance D3 from the radiation generation point 103 to the imaging site of the patient 101 using the distance image, and subtracts the distance D1, which is SID, from the distance D3 to measure the body thickness (distance D2).

When the radiographic apparatus 10 has the TOF camera 201 and the body thickness measuring section 202 measures the body thickness 101 of the subject, as shown in fig. 14, for example, after the determination of whether or not the subject is detecting the effective region (step S106), a body thickness measuring step S211 of measuring the body thickness of the subject and an imaging condition setting step S212 of setting imaging conditions using the body thickness of the subject can be included. The body thickness measurement step S211 is a step including distance image photographing by the TOF camera 201 and body thickness measurement by the body thickness measurement section 202. The photographing condition setting step S212 is a step in which the control unit 53 automatically sets the photographing condition relating to the body thickness of the subject using the body thickness of the subject when the subject detects the effective region. The setting of the imaging conditions includes, in addition to newly setting the imaging conditions, changing or adjusting the already set imaging conditions (preset imaging conditions or manually set imaging conditions). The imaging conditions relating to the body thickness of the subject include, for example, setting of a tube voltage of the radiation source 31 (X-ray tube in the present embodiment), insertion and removal of the filter 36, and the like. That is, in the imaging condition setting step S212, the control unit 53 sets the tube voltage of the radiation source 31 using the body thickness of the subject. In the imaging condition setting step S212, the control unit 53 inserts or extracts the filter 36 between the radiation source 31 and the subject using the subject thickness.

More specifically, in the imaging condition setting step S212, the radiation source control unit 81 increases the tube voltage in accordance with the body thickness of the subject. This improves the radiation transmission, and a clear radiographic image can be obtained even when the subject has a large thickness. On the other hand, in the photographing condition setting step S212, when the tube voltage is equal to or higher than the predetermined threshold, the filter insertion/removal control unit 83 inserts the filter 36 into the exposure path. Thus, exposure of the subject is reduced by shielding low-energy radiation that does not contribute to the low penetration of the radiographic image.

As described above, when the radiographic apparatus 10 is configured to measure the body thickness of the patient 101 as the subject, the control section 53 can perform the operation support of the radiographic apparatus 10 using the determination result of the determination section 52 and the body thickness of the patient 101 measured by the body thickness measurement section 202. Specifically, when the patient 101 as the subject is detecting the effective region, the control section 53 can automatically and appropriately set the imaging conditions using the body thickness of the patient 101 as the subject, as described above.

[ embodiment 3 ]

In the above-described embodiment 1 and the like, when the object is not in the effective detection region, this is notified and the rearrangement is prompted (step S114), but when the rearrangement is necessary, the radiographic imaging device 10 can more efficiently support the rearrangement of the radiation source 31, the radiation detection section 15, or the object. For example, as shown in fig. 15, the control unit 53 can notify the notification unit 75 of the direction in which the radiation detection unit 15 needs to move with respect to the subject by using a message 301 or the like. If the message 301 is viewed, the examiner or the like can more easily rearrange the radiation detection unit 15 with respect to the subject than in the case of no message 301. As a result, the subject can be accurately detected in the effective detection region in a short time.

In addition to the moving direction of the radiation detection unit 15, the control unit 53 can notify the notification unit 75 of the distance that the radiation detection unit 15 needs to move. In this case, the subject can be accurately detected in the effective detection region in a shorter time than when only the moving direction of the radiation detection unit 15 is notified.

As described above, when it is necessary to rearrange the radiation detection unit 15, the step of the control unit 53 notifying the direction and distance in which the radiation detection unit 15 needs to be moved using the notification unit 75 is particularly useful when the control unit 53 automatically moves the radiation source 31 to a position directly facing the radiation detection unit 15 using the radiation source position control unit 91. This is because, following the rearrangement of the radiation detection unit 15, the source position control unit 91 automatically rearranges the radiation source 31, and thus the rearrangement can be completed by moving only the radiation detection unit 15 to bring the subject into the effective detection region.

When the radiation source 31 is manually moved, as shown in fig. 16, the control unit 53 can notify the notification unit 75 of the direction in which the radiation source 31 needs to be moved, using a message 310 or the like. The control unit 53 can also notify the notification unit 75 of the distance the radiation source 31 needs to move. This makes it possible to easily complete the rearrangement even when the radiation source 31 is manually moved.

When the radiation source 31 is manually moved, the control unit 53 can notify the radiation source 31 of the position facing the radiation detection unit 15 through the notification unit 75, and also through display using a message, voice, light, or other methods. When the notification unit 75 notifies that the radiation source 31 is at the position facing the radiation detection unit 15, the examiner or the like can more easily end the rearrangement of the radiation source 31.

When the radiation source 31 is manually moved, the control unit 53 can control the movement direction of the radiation source 31 by the radiation source position control unit 91. For example, the radiation source position control unit 91 allows the radiation source 31 to move in a direction approaching the position facing the radiation detection unit 15, and restricts the radiation source 31 from moving in a direction away from the position facing the radiation detection unit 15. Thus, the examiner or the like can complete the rearrangement of the radiation source 31 by moving the radiation source 31 only in a direction in which the radiation source 31 can naturally move. The source position control unit 91 can physically restrict the movement of the radiation source 31 by an electromagnetic lock or the like of the arm 12. The source position control unit 91 can restrict the radiation source 31 from substantially moving by notification of calling attention using the notification unit 75, guidance of the movement direction of the radiation source 31, and the like.

In embodiment 3 described above, the operation support method has been described with respect to the rearrangement of the radiation detection unit 15 and the radiation source 31, but when the subject can be moved, the radiographic imaging device 10 can support notification of the direction of movement and the like of the subject, as described above.

In embodiment 3, the case where the radiation detection unit 15, the radiation source 31, and/or the subject are rearranged has been described, but the operation support of embodiment 3 can be performed when the radiation detection unit 15 is initially arranged. That is, the control unit 53 may notify that the radiation source 31 is at a position facing the radiation detection unit 15 when the radiation source 31 is manually moved, without being limited to the reconfiguration of the radiation detection unit 15. When the radiation source 31 is manually moved, the control unit 53 can notify the direction in which the radiation source 31 needs to be moved. The same applies to other points. The radiation detection section 15, the radiation source 31, and/or the subject are all easily arranged.

In the above-described embodiments 1, 2, 3, and the like, when the radiation detection unit 15 is attached to the main body 11 including the control unit 53 (when the radiation detection unit 15 is inserted into the cradle 24), the control unit 53 restricts movement of the radiation source 31. That is, when the radiation detection section 15 is attached to the main body 11 including the control section 53, the source position control section 91 does not move the radiation source 31. When the radiation source 31 is manually moved, the source position control unit 91 restricts the movement of the radiation source 31. This is to prevent the arm 12 and/or the distal end portion 13 including the radiation source 31 from colliding with an examination technician, a subject, other medical equipment, and the like.

When the main body 11 including the control unit 53 moves, the control unit 53 restricts the movement of the radiation source 53. That is, when the main body 11 moves, the source position control unit 91 does not move the radiation source 31. When the radiation source 31 is manually moved, the source position control unit 91 restricts the movement of the radiation source 31. As described above, the purpose is to prevent safety such as collision of the arm 12 and/or the distal end portion 13 including the radiation source 31 with the examination technician, the subject, other medical equipment, and the like.

When a sensor for detecting a peripheral object, such as an infrared sensor, is provided at the distal end portion 13 or the like, the control unit 53 may restrict the movement of the radiation source 31 when the sensor detects the peripheral object. The reason for this is the same as described above.

Although the imaging unit 35 is provided at the distal end portion 13 in the above-described embodiments 1, 2, 3, and the like, the imaging unit 35 may be provided at any portion other than the distal end portion 13 as long as it can image the subject located in the irradiation field 105.

In the above-described embodiments 1, 2, 3 and the like, the arm 12 is of a foldable type, but as shown in fig. 17, the present invention can also be applied to a radiographic apparatus 401 of a type in which the arm 12 is rotated and extended (so-called telescopic arm). The radiographic imaging device 10 and the radiographic imaging device 410 are so-called patrol cars, but the present invention can also be applied to a radiographic imaging device in which a part of the configuration of the radiographic imaging device 10 and the like is fixed in an examination room or the like.

Further, the above-described embodiment 1 and the like include a radiographic imaging system including: a radiation source 31 for generating radiation; a radiation detection section 15 that is movable independently of the radiation source 31 and obtains an image of the subject by detecting radiation that has passed through the subject; an imaging unit 35 that images at least an object using light having a longer wavelength than the radiation line; a 1 st recognition unit 61 for recognizing the radiation detection unit 15; a 2 nd recognition unit 62 for recognizing the subject using the image captured by the image capturing unit 35; a determination unit 52 that determines the relative positional relationship between the radiation detection unit 15 and the subject using the recognition results of the 1 st recognition unit 61 and the 2 nd recognition unit 62 to determine whether or not the subject is in the detection effective region of the radiation detection unit 15; and a control unit 53 for supporting the operation using the determination result of the determination unit 52. The radiography system is not limited to a mobile type (a patrol car), and includes a system in which some elements are fixed in an examination room or the like.

The above-described embodiment 1 and the like include a method of operating a radiographic imaging apparatus or a radiographic imaging system including: a radiation source 31 for generating radiation; a radiation detection section 15 that is movable independently of the radiation source 31 and obtains an image of the subject by detecting radiation that has passed through the subject; and an imaging unit 35 for imaging at least an object by using light having a wavelength longer than that of a radiation line, wherein the method for operating the radiation imaging system comprises the steps of: the 1 st recognition section 61 recognizes the radiation detection section 15; recognizing the subject by the 2 nd recognition section 62 using the image captured by the photographing section 35; the determination section 52 determines the relative positional relationship between the radiation detection section 15 and the subject using the recognition results of the 1 st recognition section 61 and the 2 nd recognition section 62 to determine whether or not the subject is in the detection effective region of the radiation detection section 15; and the control section 53 supports the operation using the determination result of the determination section 52.

In the above-described embodiments and the like, the hardware configuration of the processing unit (processing unit) that executes various processes, such as the recognition unit 51 (the 1 st recognition unit 61 and the 2 nd recognition unit 62) and the control unit 53 (the imaging control unit 71, the radiation control unit 72, the position control unit 73, the notification unit 75, and the units constituting these units) is a variety of processors (processors) as shown below. The various processors include a Programmable Logic Device (PLD) such as a CPU (Central Processing Unit), a GPU (graphics Processing Unit), an FPGA (Field Programmable Gate Array) or the like, which is a general-purpose processor that executes software (program) to function as various Processing units, and a dedicated circuit or the like, which is a processor capable of changing a circuit configuration after manufacture, and a processor having a circuit configuration specifically designed to execute various types of Processing.

The 1 processing unit may be constituted by 1 of these various processors, or may be constituted by a combination of 2 or more processors of the same kind or different kinds (for example, a plurality of FPGAs, a combination of a CPU and an FPGA, a combination of a CPU and a GPU, or the like). Further, a plurality of processing units may be constituted by 1 processor. As an example of configuring the plurality of processing units with 1 processor, there is a method in which 1 processor is configured by a combination of 1 or more CPUs and software, as typified by a computer such as a client or a server, and the processor functions as a plurality of processing units. Next, there is a System in which a processor is used, as typified by a System On Chip (SoC) or the like, which implements the functions of the entire System including a plurality of processing units by 1 IC (Integrated Circuit) Chip. In this manner, the various processing units are configured using 1 or more of the various processors described above as a hardware configuration.

More specifically, the hardware configuration of these various processors is a circuit (circuit) in which circuit elements such as semiconductor elements are combined.

Description of the symbols

10. 401-radiographic apparatus, 11-body, 12-arm, 13-tip, 15-radiation detection section, 21-caster, 22-grip, 23-touch panel, 24-stand, 31-radiation source, 32-collimator, 33-handle, 35-imaging section, 36-filter, 41, 42-marker, 43-position sensor, 46-image acquisition section, 47, 54-communication section, 48-position sensor, 49, 57-battery, 51-recognition section, 52-determination section, 53-control section, 56-storage section, 61-1 st recognition section, 62-2 nd recognition section, 64-template, 64 a-breast, 65A, 65B-comparison range, 71-imaging control section, 72-radiation control unit, 73-position control unit, 75-notification unit, 81-radiation source control unit, 82-irradiation field control unit, 83-filter insertion/extraction control unit, 91-radiation source position control unit, 92-subject position control unit, 101-patient, 102-bed, 103-generation point, 105-irradiation field, 121-camera image, 122-breast, 123-region, 131-console, 132-imaging condition setting unit, 135, 301, 310-message, 201-TOF camera, 202-body thickness measurement unit, D1, D2, D3-distance, S101-S111, S211, S212-operation step.