JP7555717B2 - X-ray imaging control device and X-ray diagnostic device - Google Patents

Description

Embodiments of the present invention relate to an X-ray imaging control device and an X-ray diagnostic device.

Conventionally, when general X-ray imaging is performed in orthopedics and the like, auxiliary devices such as fixation devices are used to position the imaging target, such as the knee joint, in an appropriate posture. For example, the radiographer places the auxiliary device on a bed, positions the imaging target, and then performs X-ray imaging. In this case, the radiographer must perform an operation to place the X-ray tube in an appropriate position relative to the positioned imaging target in order to perform X-ray imaging appropriately.

JP 2012-050525 A

The problem that this invention aims to solve is to reduce the burden on the operator when taking X-rays using an auxiliary device and to perform X-rays appropriately.

The X-ray imaging control device according to the 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 assists in aligning the subject and is placed in the X-ray imaging range. The movement control unit moves the X-ray imaging device to an imaging position according to the auxiliary tool included in the camera image.

FIG. 1 is a diagram showing an example of a state in which an auxiliary tool is imaged by an X-ray diagnostic apparatus according to the first embodiment. FIG. 2 is a diagram illustrating the configuration of the X-ray diagnostic apparatus according to the first embodiment. FIG. 3 is a flowchart illustrating a processing procedure of the registration processing by the X-ray diagnosis apparatus according to the first embodiment. FIG. 4 is a flowchart illustrating a processing procedure of the position adjustment processing by the X-ray diagnosis apparatus according to the first embodiment. FIG. 5 is a diagram showing an example of a state in which an auxiliary tool installed during an examination is imaged in a position adjustment process by the X-ray diagnostic apparatus according to the first embodiment. FIG. 6 is a diagram showing an example of how the X-ray irradiator is moved to an imaging position in the position adjustment process by the X-ray diagnostic apparatus according to the first embodiment. FIG. 7 is a diagram showing an example of a state in which a patient is fixed to a bed after a position adjustment process by the X-ray diagnostic apparatus according to the first embodiment. FIG. 8 is a diagram illustrating the configuration of an X-ray diagnostic apparatus according to the second embodiment. FIG. 9 is a flowchart illustrating a processing procedure of the position adjustment processing by the X-ray diagnosis apparatus according to the third embodiment. FIG. 10 is a flowchart illustrating a processing procedure of a position adjustment process performed by an X-ray diagnostic apparatus according to a modified example of the third embodiment. FIG. 11 is a diagram illustrating the configuration of an X-ray diagnostic apparatus according to the fourth embodiment. FIG. 12 is a flowchart illustrating a processing procedure of the registration processing by the X-ray diagnosis apparatus according to the fourth embodiment. FIG. 13 is a flowchart illustrating a processing procedure of the position adjustment processing by the X-ray diagnosis apparatus according to the fourth embodiment. FIG. 14 is a diagram illustrating the configuration of an X-ray diagnostic apparatus according to the fifth embodiment.

Below, an embodiment of an X-ray imaging control device and an X-ray diagnostic device will be described in detail with reference to the drawings. In the following description, components having substantially the same functions and configurations will be given the same reference numerals, and repeated explanations will be given only when necessary.

First Embodiment
1, the X-ray diagnostic apparatus 1 captures an image of an auxiliary tool 60 placed on a bed 30 with a camera 16, and automatically moves the X-ray irradiator 12 to an appropriate imaging position based on the recognition result of the captured image. In this embodiment, the imaging position of the X-ray irradiator 12 is the position of an X-ray tube that irradiates X-rays.

The auxiliary tool 60 is a jig (fixing tool) for positioning an object to be imaged, such as a knee joint, in an appropriate posture when performing general X-ray imaging in orthopedics and the like. The auxiliary tool 60 is placed on the bed unit 30. The auxiliary tools 60 come in a variety of shapes and sizes, and are used appropriately depending on the size of the subject and the purpose of the examination. For example, when the object to be imaged is the knee, a triangular prism-shaped auxiliary tool is used to fix the knee in a bent state at a predetermined angle. When the object to be imaged is the head, a rectangular, L-shaped, or other auxiliary tool is used to fix the head in a predetermined position.

The camera 16 is provided at a position where it can capture an image of the auxiliary tool 60 placed on the bed 30. In other words, the camera 16 is provided at a position where it can capture an image of an area including an auxiliary tool that assists in the alignment of a subject placed in the X-ray imaging area. The camera 16 is, for example, an optical digital camera.

As shown in FIG. 2, the X-ray diagnostic device 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 device 2. The X-ray imaging device 2 is an example of an imaging device.

The imaging unit 10 includes a high voltage generating 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 the anode and cathode and outputs it to the X-ray tube in order to accelerate the thermoelectrons generated from the cathode of the X-ray tube.

The X-ray irradiation unit 12 includes an X-ray tube and an X-ray aperture. The X-ray tube is a vacuum tube that generates X-rays. The X-ray tube includes a bulb, a filament (cathode) attached to the bulb, and a tungsten anode. The X-ray tube accelerates the thermal electrons emitted from the filament by using a high voltage. The X-ray tube generates X-rays by colliding these accelerated electrons with the tungsten anode.

The X-ray aperture is made of a metal plate such as lead. The X-ray aperture blocks X-rays outside the opening area, thereby narrowing the irradiation range of the X-rays generated by the X-ray tube onto the subject P (hereinafter referred to as the X-ray irradiation range). The X-ray aperture adjusts the size of the X-ray irradiation range by adjusting the area where X-rays are blocked to any 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 so that it can slide and rotate around each of a number of rotation axes. The support arm 14 is provided with a number of power sources at appropriate locations to realize the sliding and rotating operations. These power sources constitute a support arm drive device. The support arm drive device reads drive signals from the processing circuit 44 and causes the support arm 14 to perform sliding, rotating, and linear movement.

The bed unit 30 includes a base unit 31, a bed drive unit 32, and a top plate 33. The base unit 31 is a housing that is installed on the floor surface and supports a support frame 34 so that it can move in the vertical direction (Z direction).

The bed driving unit 32 is housed in the housing of the bed unit 30 and is a motor or actuator that moves the top plate 33, on which the subject P is placed, in the longitudinal direction (Y direction) of the top plate 33. The bed driving unit 32 reads a drive signal from the processing circuitry 44 and moves the top plate 33 horizontally or vertically relative to the floor surface. The positional relationship of the imaging axis to the subject P changes as the support arm 14 or the top plate 33 moves. Note that the bed 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 subject P, X-ray detector 50, and auxiliary equipment 60 are placed on it.

In addition, the bed section 30 may be configured so that the top plate 33 is movable relative to the support frame 34, or the top plate 33 and the support frame 34 may be movable together relative to the base section 31.

The X-ray detector 50 is used by being installed on the tabletop 33. The X-ray detector 50 detects X-rays emitted from an X-ray tube and transmitted through the subject P. As such an X-ray detector 50, one that directly converts X-rays into electric charges and one that converts X-rays into light and then converts them into electric charges can be used. Here, the former is described as an example, but the latter is also acceptable. That is, the X-ray detector 50 includes, for example, a flat FPD (Flat Panel Detector) that converts the X-rays transmitted through the subject P into electric charges and stores them, and a gate driver that generates a drive pulse for reading out the electric charges stored in the FPD. The size of the FPD is, for example, within a range of 8 to 16 inches. The FPD is configured by arranging tiny detection elements two-dimensionally in the column direction and line direction. Each detection element includes a photoelectric film that senses X-rays and generates electric charges according to the amount of incident X-rays, a charge storage capacitor that stores the electric charges generated on the photoelectric film, and a TFT (thin film transistor) that outputs the electric charges stored in the charge storage capacitor at a predetermined timing. The accumulated charges are read out sequentially by driving pulses supplied by the gate driver.

The console unit 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), SSD (Solid State Drive), or integrated circuit that stores various information. In addition to an HDD or SSD, the memory 41 may be a portable storage medium such as a CD (Compact Disc), DVD (Digital Versatile Disc), or flash memory. The memory 41 may be a drive device that reads and writes various information between the memory 41 and semiconductor memory elements 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 device 1 or in an external storage device connected via a network.

The memory 41 stores, for example, X-ray images, programs executed by the processing circuitry 44, and various data used in the processing of the processing circuitry 44. The memory 41 stores the assisting tool 60 and the imaging position of the X-ray irradiation unit 12 in association with each other. The memory 41 is an example of a storage unit.

The display 42 displays various information. For example, the display 42 outputs medical images (X-ray images) generated by the processing circuit 44, a GUI (Graphical User Interface) for receiving various operations from the operator, and the like. For example, the display 42 is a liquid crystal display or a CRT (Cathode Ray Tube) display. The display 42 is also 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 configured as a tablet terminal or the like capable of wireless communication with the console unit 40 main body.

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

The processing circuitry 44 controls the overall operation of the X-ray diagnostic apparatus 1. The processing circuitry 44 is a processor that executes a system control function 441, a camera image acquisition function 442, a registration function 443, a decision function 444, a movement control function 445, and an X-ray photography control function 446 by calling and executing programs in the memory 41.

2, the system control function 441, the camera image acquisition function 442, the registration function 443, the decision function 444, the movement control function 445, and the X-ray photography control function 446 are realized by a single processing circuit 44. However, a processing circuit may be configured by combining multiple independent processors, and each processor may execute a program to realize each function. Furthermore, the system control function 441, the camera image acquisition function 442, the registration function 443, the decision function 444, the movement control function 445, and the X-ray photography control function 446 may be called a system control circuit, a camera image acquisition circuit, a registration circuit, a decision circuit, a movement control circuit, and an X-ray control circuit, respectively, and may be implemented as individual hardware circuits.

The term "processor" used in the above description means, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a circuit such as an ASIC, a programmable logic device (for example, a Simple Programmable Logic Device (SPLD), a CompleX Programmable Logic Device (CPLD), and a Field Programmable Gate Array (FPGA)). The processor realizes its function by reading and executing a program stored in the memory 41. Note that instead of storing a program in the memory 41, the processor may be configured to directly incorporate the program into its circuit. In this case, the processor realizes its function by reading and executing the program incorporated in the circuit. Note that each processor in this embodiment is not limited to being configured as a single circuit for each processor, but may be configured as a single processor by combining multiple independent circuits to realize its function. Furthermore, the multiple components in FIG. 2 may be integrated into a single processor to realize its function. The above description of "processor" is the same for each of the following embodiments and modifications.

The processing circuitry 44 uses the system control function 441 to control each of the multiple components in the X-ray diagnostic apparatus 1 based on input operations received from the operator via the input interface 43. For example, the processing circuitry 44 controls various components in the imaging unit 10 according to imaging conditions. The processing circuitry 44 that realizes the system control function 441 is an example of a system control unit.

For example, the processing circuitry 44 controls the support arm driver and bed driver 32 using the system control function 441 based on information related to the drive of the support arm 14 and tabletop 33 input from the input interface 43. The processing circuitry 44 adjusts the position of the X-ray irradiation unit 12 and the direction of X-ray irradiation (hereinafter referred to as the X-ray irradiation direction) by controlling the support arm driver. The processing circuitry 44 also generates an X-ray image based on data output from the X-ray detector 50. The processing circuitry 44 may also perform various synthesis processes, subtraction processes, and the like on the generated X-ray image. The processing circuitry 44 also acquires a desired X-ray image from the memory 41 and displays it on the display 42.

The processing circuit 44 controls the camera 16 by the camera image acquisition function 442. The processing circuit 44 controls the camera 16 to generate a captured image on the top plate 33 in the camera 16. The processing circuit 44 causes the camera 16 to generate a captured image including the X-ray detector 50 and the auxiliary tool 60, etc., by causing the camera 16 to generate a captured image with the X-ray detector 50, the auxiliary tool 60, etc., installed on the top plate 33. As a result, the processing circuit 44 acquires a camera image including the auxiliary tool 60 that assists in the alignment of the subject, which is placed in the X-ray shooting range. Then, the processing circuit 44 causes the generated captured image to be transmitted to the console unit 40. For example, in a registration process described later, the processing circuit 44 causes the camera 16 to generate a captured image (hereinafter referred to as a registration image) in which the auxiliary tool 60 to be registered is captured at the time of registration. Furthermore, the processing circuitry 44, for example, causes the camera 16 to generate a captured image (hereinafter referred to as a detection image) of the assisting tool 60 placed during the examination, and acquires the detection image. The processing circuitry 44 that realizes the camera image acquisition function 442 is an example of a camera image acquisition unit.

The processing circuitry 44 uses the registration function 443 to register a registration image of the assisting tool 60 taken at the time of registration. Specifically, for example, the processing circuitry 44 stores in the memory 41 the registered images of the assisting tools that may be used for each type of assisting tool 60. The term "registration" may also be called "save" or "store". The term "registered image" may be appropriately replaced with other terms such as "reference image". The time of registration is, for example, when the X-ray diagnostic device 1 is installed or when a new type of assisting tool is introduced. The processing circuitry 44 that realizes the registration function 443 is an example of a registration unit.

The processing circuitry 44 also uses the registration function 443 to set 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. The processing circuitry 44 that realizes the registration function 443 is an example of a setting unit.

The processing circuit 44 uses the detection image and the registered image saved for each type of auxiliary tool to identify the position and type of the auxiliary tool 60 installed on the tabletop 33 during the examination using the determination function 444. At this time, the processing circuit 44 detects the auxiliary tool 60 from the detection image using the registered image, for example, by image recognition technology. Then, based on the detection result of the auxiliary tool 60, the position of the auxiliary tool 60 in the examination room is identified. Then, the similarity between the detection result of the auxiliary tool 60 and, for example, each of the registered images is calculated, and the type of auxiliary tool corresponding to the registered image that is greater than a predetermined similarity is identified as the type of auxiliary tool installed during the examination. The processing circuit 44 that realizes the determination function 444 is an example of an identification unit that identifies the position of the auxiliary tool 60 based on the detection image and the registered image.

A trained machine learning model may be used to identify the type and position of the auxiliary tool for the examination. In this case, for example, a multi-layer network model that receives the input of the detection image and outputs the type and position of the auxiliary tool contained in the detection image is used as the trained machine learning model. The multi-layer network model may be, for example, a deep neural network (DNN) that mimics the neural circuits of a biological brain, or a convolution neural network (CNN).

The processing circuit 44 also acquires the relative position of the X-ray irradiation unit 12 corresponding to the type of auxiliary tool installed during the examination using the determination function 444, and determines the imaging position of the X-ray irradiation unit 12 based on the position of the auxiliary tool identified 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 out the relative position of the X-ray irradiation unit 12 to the auxiliary tool corresponding to the type of auxiliary tool installed during the examination, and determines the imaging position of the X-ray irradiation unit 12 corresponding to the type of auxiliary tool installed during the examination. The processing circuit 44 that realizes the determination function 444 is an example of a position determination unit that determines 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 circuitry 44 uses the movement control function 445 to move the X-ray tube to an imaging position corresponding to the auxiliary tool included in the camera image. Specifically, the processing circuitry 44 recognizes the auxiliary tool included in the camera image, and moves the X-ray tube to an imaging position associated with the recognized auxiliary tool. At this time, the processing circuitry 44 moves the X-ray tube by moving the X-ray irradiation unit 12 to the imaging position. The processing circuitry 44 that realizes the movement control function 445 is an example of a movement control unit.

The processing circuit 44 uses the X-ray imaging control function 446 to read information from the system control function 441, for example, and controls X-ray conditions such as the tube current, tube voltage, focal spot size, exposure time, pulse width, and X-ray exposure range (aperture range of the X-ray exposure unit 12) in the high voltage generation unit 11. The processing circuit 44 that realizes the X-ray imaging control function 446 is an example of an X-ray control unit.

The X-ray diagnostic device 1 configured as described above executes a registration process and a position adjustment process. The registration process is a process for registering the positional relationship between the auxiliary tool and the X-ray irradiation unit 12. The registration process is executed by the camera image acquisition 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 assisting tool 60 photographed by the camera 16. The position adjustment process is executed by the camera image acquisition function 442, the decision function 444, and the movement control function 445.

Note that the registration process steps described below are merely examples, and each process can be modified as appropriate as possible. In addition, steps can be omitted, replaced, or added to the process steps described below as appropriate depending on the embodiment.

The registration process will be described with reference to FIG. 3. The user inputs an instruction to start the registration process in the input interface 43 when the assistive device to be registered is placed on the tabletop 33 and the position and orientation of the X-ray irradiation unit 12 is adjusted to an appropriate shooting position according to the assistive device to be registered. The processing circuitry 44 starts the registration process based on the instruction to start the registration process being input in the input interface 43.

(Registration process)
(Step S101)
As shown in FIG. 1, the processing circuit 44 causes the camera 16 to take an image of the auxiliary device 60 to be registered that is placed on the tabletop 33 using the camera image acquisition function 442, and generates a registered image including the auxiliary device 60 to be registered.

(Step S102)
The processing circuitry 44 stores a registration image for each type of assisting tool by the registration function 443. In this way, the assisting tool 60 to be registered is set.

(Step S103)
The processing circuitry 44 uses the registration function 443 to register the position of the X-ray irradiator 12 relative to the auxiliary tool 60 to be registered. As a result, the processing circuitry 44 stores the relative positional relationship between the auxiliary tool 60 and the X-ray irradiator 12. The registered position of the X-ray irradiator 12 is a position at which the imaging target on the auxiliary tool 60 is appropriately X-ray-imaged by the X-ray irradiator 12.

Figure 4 is a flowchart showing an example of the procedure for the position adjustment process according to this embodiment. For example, the processing circuitry 44 starts the position adjustment process based on the fact that the auxiliary tool 60 is placed on the tabletop 33 during an examination and an instruction to start the position adjustment process is input via the input interface 43.

(Position adjustment process)
(Step S111)
The processing circuitry 44 causes the camera 16 to capture an image of the auxiliary tool 60 placed on the top board 33 by the camera image acquisition function 442, and generates a detection image. Fig. 5 is a diagram showing an example of how the auxiliary tool 60 placed on the top board 33 is captured during an examination.

(Step S112)
The processing circuit 44 uses the determination function 444 to identify the position and type of the installed auxiliary tool based on the detection image. If it is determined that the auxiliary tool detected from the detection image is different from the registered auxiliary tool, information indicating that the installed auxiliary tool is an unknown auxiliary tool may be displayed on the display 42. At this time, the radiographer may execute the above-mentioned registration process for the installed auxiliary tool. In addition, if the type of the identified auxiliary tool is different from the type of auxiliary tool used in the previous examination, the display 42 may display that the type of auxiliary tool installed in the current examination is different from the type of auxiliary tool used in the previous examination.

(Step S113)
The processing circuitry 44 uses the determination function 444 to read out the relative position of the X-ray irradiation unit 12 corresponding to the identified type of auxiliary device, and applies the read-out relative position of the X-ray irradiation unit 12 to the position of the installed auxiliary device, thereby determining the shooting position of the X-ray irradiation unit 12.

(Step S114)
The processing circuitry 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 the manner in which the X-ray irradiation unit 12 is moved to the imaging position.

When the X-ray irradiation unit 12 moves to the imaging position, the radiologist uses the support tool 60 to fix the patient in the desired position on the tabletop 33, and then performs X-ray imaging of the imaging area. Figure 7 shows an example of the patient fixed to the bed after the position adjustment process.

The effects of the X-ray diagnostic device 1 according to this embodiment are described below.

The X-ray diagnostic device 1 of this embodiment includes a bed section 30 having a tabletop 33 on which the subject and the auxiliary tool are placed, an X-ray irradiation section 12 having an X-ray tube for generating X-rays and an aperture, and a console section 40. The console section 40 of this embodiment also associates and stores the registered image with the auxiliary tool to be registered, sets the relative position of the X-ray irradiation section 12 with respect to the auxiliary tool to be registered, and identifies the position of the auxiliary tool placed on the tabletop 33 during the examination based on the detected image and the registered image, and determines the shooting position of the X-ray irradiation section 12 based on the relative position and the identified position of the auxiliary tool, and moves the X-ray irradiation section 12 to the shooting position. The X-ray diagnostic device 1 also includes a camera 16 capable of shooting the top table 33. The auxiliary tool 60 is a tool used to fix the subject in a desired posture. When the X-ray irradiation unit 12 moves to the imaging position, the radiologist can use the support tool 60 to fix the patient in a desired position on the tabletop 33, and then perform X-ray imaging of the imaging area. The console unit 40 in this embodiment corresponds to an X-ray imaging control device. The X-ray imaging control device may also be called a medical image processing device.

That is, according to the X-ray diagnostic device 1 of the present embodiment, the appropriate relative position of the X-ray irradiation unit 12 with respect to the auxiliary tool is set when the auxiliary tool is introduced or installed by the above configuration and operation. Therefore, during the examination, the position of the auxiliary tool installed during the examination is specified while the auxiliary tool 60 installed during the examination is installed on the tabletop 33, and the appropriate shooting position of the X-ray irradiation unit 12 can be calculated and the X-ray irradiation unit 12 can be automatically moved to the calculated shooting position. Then, when the X-ray irradiation unit 12 moves to the shooting position, the radiographer can fix the patient in a desired posture on the tabletop 33 using the auxiliary tool 60, and then perform X-ray photography of the imaging site. In this way, the position of the X-ray tube/diaphragm can be automatically determined according to the recognized placement of the auxiliary tool, so that the time required to adjust the position of the X-ray irradiation device can be shortened, and thus the examination time can be shortened. In addition, 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 under less time constraints than when the position of the X-ray irradiation unit 12 is adjusted during the examination. This allows a more suitable position to be set as the imaging position, improving the accuracy of the examination. In addition, 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 improves the reproducibility of the imaging position of the X-ray irradiation unit 12.

The X-ray diagnostic device 1 of this embodiment also associates and saves the registered image and the auxiliary tool to be registered for each type of auxiliary tool, sets the relative position of the X-ray irradiation unit 12, identifies the type and position of the auxiliary tool installed on the tabletop 33 based on the registered image and the detected image, and determines the shooting position of the X-ray irradiation device based on the identified position of the auxiliary tool and the relative position of the X-ray irradiation unit 12 corresponding to the identified type of auxiliary tool.

In other words, with the above configuration and operation, the X-ray diagnostic device 1 of this embodiment can set an appropriate relative position of the X-ray irradiation unit 12 for each type of auxiliary tool when the auxiliary tool is introduced or installed, thereby identifying the type and position of the auxiliary tool installed on the tabletop 33 during the examination, and calculating an appropriate imaging position of the X-ray irradiation unit 12 according to the type of auxiliary tool installed during the examination. Then, 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 recognized type and position of the auxiliary tool, thereby shortening the examination time and improving the examination accuracy.

In addition, 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 according to the type of the identified auxiliary tool. In this case, the processing circuit 44, for example, sets the X-ray irradiation range according to the type of the auxiliary tool to be registered by the registration function 443, acquires the X-ray irradiation range corresponding to the type of auxiliary tool installed at the time of the examination in addition to the shooting position of the X-ray irradiation unit 12 by the decision function 444, decides 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 decided X-ray irradiation range by controlling the aperture of the X-ray irradiation unit 12 by the X-ray shooting control function 446. For example, when the auxiliary tool installed at the time of the examination is a type used when the imaging part is the knee, the processing circuit 44 makes the X-ray irradiation range smaller (narrower) than when the auxiliary tool installed at the time of the examination is a type used when the imaging part is the head.

Although an example in which both the position and type of the auxiliary tool 60 are identified based on the recognized camera image has been shown, only the position of the auxiliary tool 60 may be identified. For example, one type of auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 relative to the auxiliary tool 60 may be set for each imaging site. In this case, the processing circuit 44 uses the registration function 443 to register the position of the auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 in association with each imaging site. The memory 41 stores the auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 in association with each imaging site. The processing circuit 44 accepts an operation by the user to set the imaging site. The processing circuit 44 uses the determination function 444 to recognize the auxiliary tool 60 included in the camera image, and moves the X-ray irradiation unit 12 to the imaging position associated with the recognized auxiliary tool 60 for the set imaging site.

Also, one type of auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 relative to the auxiliary tool 60 may be set for each examination purpose. The examination purpose is, for example, a procedure performed in an examination. In this case, the processing circuit 44 uses the registration function 443 to register the position of the auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 in association with each examination purpose. The memory 41 stores the auxiliary tool 60 and the imaging position of the X-ray irradiation unit 12 in association with each examination purpose. The processing circuit 44 accepts an operation by the user to set the examination purpose. The processing circuit 44 uses the determination function 444 to recognize the auxiliary tool 60 included in the camera image, and moves the X-ray irradiation unit 12 to the imaging position associated with the recognized auxiliary tool 60 for the set examination purpose.

When multiple shooting positions of the X-ray irradiation unit 12 associated with the recognized auxiliary tool 60 are stored in the memory 41, the user may select the shooting position to be used. In this case, the processing circuit 44 uses the registration function 443 to set multiple relative positions of the X-ray irradiation unit 12 with respect to the auxiliary tool to be registered for each auxiliary tool. Furthermore, when multiple shooting positions associated with the recognized auxiliary tool are stored in the memory 41, the processing circuit 44 uses the system control function 441 and the decision function 444 to display multiple candidate shooting positions on the display 42 and accepts an operation by the user to select a shooting position.

The processing circuitry 44 may use the determination function 444 to determine the direction of X-ray irradiation by the X-ray irradiation unit 12 in addition to the imaging position of the X-ray irradiation unit 12. In this case, for example, the processing circuitry 44 uses the registration function 443 to set the X-ray irradiation direction in addition to the relative position of the X-ray irradiation unit 12 with respect to the auxiliary tool to be registered, and uses the movement control function 445 to adjust the orientation of the X-ray irradiation unit 12 to the set irradiation direction.

In addition, in the registration process, the processing circuit 44 may register X-ray conditions for 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, for example, parameters that enable the imaging target on the auxiliary tool 60 to be appropriately imaged, such as tube current, tube voltage, focal spot size, irradiation time, pulse width, X-ray irradiation range (the range of the aperture in the X-ray irradiation unit 12), etc. In this case, the imaging positions of the auxiliary tool 60 and 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 associated with the auxiliary tool 60 recognized by the determination function 444 and the movement control function 445 from the memory 41 by the X-ray imaging control function 446, and performs X-ray imaging based on the read X-ray imaging conditions. Specifically, in the position adjustment process, the processing circuit 44 reads out the X-ray conditions corresponding to the auxiliary tool 60 installed at the time of the examination together with the position of the X-ray irradiation unit 12 corresponding to the auxiliary tool 60 installed at the time of the examination. The processing circuitry 44 then moves the X-ray irradiator 12 to the imaging position and controls the X-ray conditions of the X-rays irradiated from the X-ray irradiator 12 based on the read-out X-ray conditions. This can further improve the inspection accuracy. The radiographer may perform the inspection after appropriately correcting the X-ray conditions set based on the read-out X-ray conditions. In this case, the processing circuitry 44 displays the X-ray imaging conditions on the display 42 using the system control function 441 and the X-ray imaging control function 446, and accepts an operation to change the X-ray imaging conditions. The processing circuitry 44 that realizes the X-ray imaging control function 446 is an example of an X-ray imaging control unit.

In addition, in the registration process, the processing circuitry 44 may register the imaging site for the auxiliary tool 60 to be registered in addition to the position of the X-ray irradiation unit 12. In this case, the imaging site to be registered is a site where X-ray imaging can be performed appropriately using the auxiliary tool 60 to be registered. For example, if the auxiliary tool 60 to be registered is a triangular prism-shaped auxiliary tool, the "knee" is registered as the imaging site. In this case, in the position adjustment process, the processing circuitry 44 obtains the imaging site in addition to the type of auxiliary tool 60 installed at the time of the examination, and reads out the type of auxiliary tool 60 installed at the time of the examination and the position of the X-ray irradiation unit 12 corresponding to the imaging site. Then, the processing circuitry 44 moves the X-ray irradiation unit 12 to the imaging position. As a result, even if an auxiliary tool 60 that can be used for multiple imaging sites is used in the examination, the examination accuracy can be further improved by using an appropriate position of the X-ray irradiation unit 12 according to the imaging site.

In addition, while FIG. 1 shows an example in which the auxiliary tool 60 is placed on the X-ray detector 50 installed on the top plate 33, the X-ray detector 50 may be placed on the auxiliary tool 60 installed on the top plate 33 to perform X-ray imaging.

In addition, while FIG. 1 shows an example in which X-ray imaging is performed with the subject P lying on the bed 30, the X-ray diagnostic device 1 may be an apparatus in which X-ray imaging is performed with the subject P standing or sitting. Even in this case, the camera 16 is provided in a position that allows imaging of an area including an auxiliary tool that assists in aligning the subject placed in the X-ray imaging area.

Second Embodiment
A second embodiment will be described. This embodiment is a modification of the configuration of the first embodiment as follows. In this embodiment, the X-ray diagnostic apparatus 1 includes two cameras 16. Descriptions of the configuration, operation, and effects similar to those of the first embodiment will be omitted. Note that the number of cameras 16 provided in the X-ray diagnostic apparatus 1 or the examination room may be three or more.

Fig. 8 is a diagram showing an example of the configuration of an X-ray diagnostic apparatus 1 according to the second embodiment. As shown in Fig. 8, the imaging unit 10 is provided with multiple cameras 16. Each of the multiple cameras 16 can capture an image of an auxiliary tool placed on the top board 33. The cameras 16 are fixed at different positions in the examination room. Therefore, multiple captured images of the auxiliary tool captured from different angles can be obtained by capturing images with the cameras 16. The multiple cameras 16 can capture registration images and detection images.

The processing circuit 44 performs the above-mentioned control for each camera 16 using the camera image acquisition function 442.

The processing circuit 44 uses the registration function 443 to associate the assistive device to be registered with two registered images for each type of assistive device and store them.

The processing circuit 44 uses the determination function 444 to identify the position and type of the auxiliary tool installed on the tabletop 33 during the examination based on the detection image of the auxiliary tool installed during the examination and the registered image saved for each type of auxiliary tool. At this time, the processing circuit 44 generates a three-dimensional image of the auxiliary tool installed during the examination from the two detection images, for example, using a known image processing technique. After that, the processing circuit 44 identifies the position and type of the auxiliary tool installed during the examination on the tabletop 33 based on the three-dimensional image of the auxiliary tool installed during the examination and the registered image.

The X-ray diagnostic device 1 of this embodiment is equipped with multiple cameras 16 capable of capturing images of the top plate 33. In other words, with the above-described configuration and operation, the X-ray diagnostic device 1 of this embodiment uses multiple captured images of the assistive device from different angles, improving the accuracy of identifying the type and position of the assistive device.

(Third embodiment)

A third embodiment will be described. This embodiment is a modification of the configuration of the first embodiment as follows. In this embodiment, a part of the position adjustment process executed by the processing circuitry 44 is different from that of the first embodiment. In this embodiment, when the calculated imaging position is outside the movable range of the X-ray irradiation unit 12, the processing circuitry 44 adjusts the position of the auxiliary tool by moving the top plate 33. Descriptions of the configuration, operation, and effects similar to those of the first embodiment will be omitted.

When the imaging position of the X-ray irradiation unit 12 is outside the movable range of the X-ray irradiation unit 12, the processing circuit 44 uses the determination function 444 to calculate the position of the auxiliary tool (hereinafter referred to as the recommended auxiliary tool position) based on the relative position of the X-ray irradiation unit 12 so that the imaging position of the X-ray irradiation unit 12 is within the movable range. The movable range of the X-ray irradiation unit 12 is set in advance based on the structural constraints of the support arm, the arrangement of various instruments in the examination room, the patient's seating position, etc. Then, the processing circuit 44 calculates the position of the tabletop 33 (hereinafter referred to as the recommended tabletop position) based on the recommended auxiliary tool position. Specifically, the processing circuit 44 calculates the recommended tabletop position so that the auxiliary tool is located at the recommended auxiliary tool position.

The processing circuit 44 controls the bed drive unit 32 using the movement control function 445 to move the tabletop 33 to the recommended tabletop position.

The operation of the position adjustment process executed by the X-ray diagnostic device 1 will be described below. FIG. 9 is a flowchart showing an example of the procedure of the position adjustment process executed by the X-ray diagnostic device 1 according to this embodiment. The processes of steps S211 to S213 and step S217 in FIG. 9 are similar to the processes of steps S111 to S114 in the first embodiment, respectively, and therefore will not be described.

(Position adjustment process)
(Step S214)
The processing circuitry 44 uses the determination function 444 to determine whether or not the imaging position of the X-ray irradiator 12 determined in step S213 is within the movable range of the X-ray irradiator 12. If the imaging position of the X-ray irradiator 12 is within the movable range of the X-ray irradiator 12 (step S214-Yes), the process proceeds to step S217, where the X-ray irradiator 12 is moved to the imaging position. If the imaging position of the X-ray irradiator 12 is outside the movable range of the X-ray irradiator 12 (step S214-No), the process proceeds to step S215.

(Step S215)
The processing circuitry 44 calculates a 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 identified type of auxiliary tool using the determination function 444. Then, the processing circuitry 44 calculates a recommended tabletop position based on the recommended auxiliary tool position.

(Step S216)
The processing circuitry 44 controls the bed driving unit 32 by the movement control function 445 to move the top 33 to the recommended top position. When the top 33 moves to the recommended top position, the support tool moves to the recommended support tool position.

The effects of the X-ray diagnostic device 1 according to this embodiment are described below.

When the imaging position of the X-ray irradiation unit 12 is outside the movable range of the X-ray irradiation unit 12, the X-ray diagnostic device 1 of this embodiment can calculate a recommended auxiliary device position of the auxiliary device in the examination room based on the movable range of the X-ray irradiation unit 12 and the relative position of the X-ray irradiation unit 12, such that the imaging position of the X-ray irradiation unit 12 is within the movable range of the X-ray irradiation unit 12. In addition, the X-ray diagnostic device 1 of this embodiment can move the auxiliary device to the recommended auxiliary device position by moving the top board 33 relative to the bed unit 30.

In other words, with the above configuration and operation, the X-ray diagnostic device 1 of this embodiment can automatically adjust the drive of the tabletop 33 so that the auxiliary tool installed during the examination moves to an appropriate position, even if the auxiliary tool is installed at an inappropriate position that does not satisfy conditions such as the movable range. Then, the imaging position of the X-ray irradiation unit 12 for the auxiliary tool installed during the examination after it has moved to the recommended auxiliary tool position can be recalculated, and the X-ray irradiation unit 12 can be automatically moved to an appropriate imaging position. Therefore, the X-ray diagnostic device 1 of this embodiment can also achieve the same effects as those of the first embodiment.

(Modification of the third embodiment)
A modified example of the third embodiment will be described. This embodiment is a modification of the configuration of the third embodiment as follows. In this embodiment, a part of the position adjustment process executed by the processing circuitry 44 is different from that of the third embodiment. In this modification, the processing circuitry 44 transmits the calculated recommended aid position of the aid to the radiographer. Descriptions of the same configuration, operation, and effects as those of the third embodiment will be omitted.

The processing circuit 44 causes the display 42 to display the recommended assisting device positions of the assisting devices installed during the examination using the system control function 441. The processing circuit 44 that realizes the system control function 441 is an example of a display control unit.

The operation of the position adjustment process executed by the X-ray diagnostic device 1 will be described below. FIG. 10 is a flowchart showing an example of the procedure for the position adjustment process executed by the X-ray diagnostic device 1 according to this embodiment. The processes of steps S311 to S314 and step S317 in FIG. 10 are similar to the processes of steps S211 to S214 and step S217 in the third embodiment, respectively, and therefore will not be described.

(Position adjustment process)
(Step S315)
The processing circuitry 44 uses the determination function 444 to calculate a recommended auxiliary tool position based on the movable range of the X-ray exposure unit 12 and the relative position of the X-ray exposure unit 12 corresponding to the identified type of auxiliary tool.

(Step S316)
The processing circuitry 44 causes the display 42 to display the recommended aid position.

The effects of the X-ray diagnostic device 1 according to this modified example are described below.

When the shooting position of the X-ray irradiator 12 is outside the movable range of the X-ray irradiator 12, the X-ray diagnostic device 1 of this modified example can calculate a recommended auxiliary tool position in the examination room based on the movable range of the X-ray irradiator 12 and the relative position of the X-ray irradiator 12, such that the shooting position of the X-ray irradiator 12 is within the movable range of the X-ray irradiator 12. In addition, the X-ray diagnostic device 1 of this embodiment can display the recommended auxiliary tool position on the display 42.

In other words, with the above configuration and operation, according to the X-ray diagnostic device 1 of this modified example, if an auxiliary tool is installed during an examination in an inappropriate position that does not satisfy conditions such as the range of motion, the appropriate position for installing the auxiliary tool installed during the examination can be displayed on the display 42, thereby communicating the appropriate installation position of the auxiliary tool to the radiographer.

In addition, instead of displaying the recommended assistive device position on the display 42, the recommended assistive device position may be displayed on the tabletop 33 by shining visible light using a light, projector, etc., on the recommended assistive device position on the tabletop 33.

Fourth Embodiment
A fourth embodiment will be described. This embodiment is a modification of the configuration of the first embodiment as follows. In this embodiment, the position of the X-ray detector is automatically adjusted according to the type and position of the identified auxiliary tool to be detected, in contrast to the first embodiment. Descriptions of the configuration, operation, and effects similar to those of the first embodiment will be omitted.

Fig. 11 is a diagram showing an example of the configuration of an X-ray diagnostic apparatus 1 according to the fourth embodiment. In this embodiment, as shown in Fig. 11, the bed unit 30 includes an X-ray detector 50.

The X-ray detector 50 is attached inside the tabletop 33. The X-ray detector 50 is supported so as to be slidable relative to both the tabletop 33 and the bed section 30. The X-ray detector 50 is provided with a power source at an appropriate location for realizing the sliding operation. These power sources constitute a detector drive device. The detector drive device reads a drive signal from the movement control function 445 and causes the X-ray detector 50 to perform a sliding movement. The X-ray detector 50 is similar to the X-ray detector of the first embodiment, so a description thereof will be omitted.

The processing circuit 44 uses the registration function 443 to set, for each type of assisting device, the relative position of the X-ray irradiator 12 with respect to the assisting device to be registered, as well as the relative position of the X-ray detector 50 with respect to the assisting device to be registered. The relative position of the X-ray detector 50 is a position where the X-rays irradiated from the X-ray irradiator 12 can be detected.

The processing circuit 44 uses the determination function 444 to acquire the relative position of the X-ray detector 50 to the auxiliary tool corresponding to the auxiliary tool installed during the examination, and determines the position of the X-ray detector 50 capable of detecting the X-rays irradiated from the X-ray irradiation unit 12 (hereinafter referred to as the detection position) based on the position of the auxiliary tool identified by the determination function 444 and the acquired relative position of the X-ray detector 50. At this time, the processing circuit 44 reads out the relative position of the X-ray detector 50 to the auxiliary tool corresponding to the type of auxiliary tool installed during the examination, and determines the detection position of the X-ray detector 50 corresponding to the type of auxiliary tool installed during the examination based on the position of the auxiliary tool installed during the examination.

The processing circuitry 44 uses a movement control function 445 to control the position of the X-ray detector 50 by controlling the detector drive device in addition to the support arm drive device and bed drive unit 32 based on information related to the drive of the X-ray detector 50 input from the input interface 43, for example. The processing circuitry 44 that realizes the movement control function 445 is an example of a position control unit that moves the X-ray detector to a detection position.

The operation of the registration process executed by the X-ray diagnostic apparatus 1 will be described below. FIG. 12 is a flowchart showing an example of the procedure of the registration process executed by the X-ray diagnostic apparatus 1 according to this embodiment. The processes in steps S401 to S402 in FIG. 12 are similar to the processes in steps S101 to S102 in the first embodiment, respectively, and therefore will not be described.

(Registration process)
(Step S403)
The processing circuitry 44 acquires, by the registration function 443, the relative position of the X-ray irradiator 12 and the relative position of the X-ray detector 50 with respect to the auxiliary tool to be registered, when the X-ray irradiator 12 is located at an appropriate shooting position for 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 of the registered image, or may be input by an operation on the input interface 43. Thereafter, the processing circuitry 44 stores the relative positions of the X-ray irradiator 12 and the X-ray detector 50 in association with the type of the auxiliary tool to be registered. As a result, the appropriate relative positions of the X-ray irradiator 12 and the X-ray detector 50 with respect to the auxiliary tool to be registered are set.

The operation of the position adjustment process executed by the X-ray diagnostic device 1 will be described below. FIG. 13 is a flowchart showing an example of the procedure for the position adjustment process executed by the X-ray diagnostic device 1 according to this embodiment. The processes of steps S411 to S412 and step S414 in FIG. 13 are similar to the processes of steps S111 to S112 and step S114 in the first embodiment, respectively, and therefore will not be described.

(Position adjustment process)
(Step S413)
The processing circuit 44 uses the determination function 444 to read out the relative position of the X-ray irradiation unit 12 and the relative position of the X-ray detector 50 corresponding to the identified type of auxiliary tool, and determines the shooting position of the X-ray irradiation unit 12 by applying the read-out relative position of the X-ray irradiation unit 12 to the identified position of the auxiliary tool, and determines the shooting position of the X-ray detector 50 by applying the read-out relative position of the X-ray detector 50 to the identified position of the auxiliary tool.

(Step S415)
The processing circuitry 44 controls the detector driving device by the movement control function 445 to move the X-ray detector 50 to the detection position. If the imaging position of the X-ray detector 50 is outside 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 board 33. The movable range of the X-ray detector 50 is set in advance depending on the structural constraints of the top board 33, the arrangement of various instruments in the examination room, etc.

The effects of the X-ray diagnostic device 1 according to this embodiment are described below.

The X-ray diagnostic device 1 of this embodiment is provided on the bed section 30, is movable relative to the bed section 30, and includes an X-ray detector 50 that detects X-rays irradiated from the X-ray irradiation section 12. The device can set the relative position of the X-ray detector 50 to the auxiliary tool to be registered, determine 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 move the X-ray detector 50 to the detection position.

In other words, with the above configuration and operation, the X-ray diagnostic device 1 of this embodiment sets an appropriate relative position of the X-ray detector 50 to the auxiliary tool when the auxiliary tool is introduced or installed in addition to the relative position of the X-ray irradiation unit 12, and can calculate an appropriate detection position of the X-ray detector 50 in addition to the shooting position of the X-ray irradiation unit 12 based on the position of the auxiliary tool installed during a specified examination. Then, by automatically moving the X-ray detector 50 to the appropriate detection position, the time required for the technician to adjust the position of the X-ray detector 50 can be reduced.

Fifth Embodiment
The fifth embodiment will be described. In this embodiment, the configuration of the first embodiment is modified as follows. In this embodiment, the auxiliary tool 60 is a marker provided on the X-ray detector 50 that houses the X-ray detector. The auxiliary tool 60 is appropriately used according to the size of the subject, the purpose of the examination, the type of the X-ray detector 50 used, and the like. In this embodiment, the X-ray diagnostic device 1 photographs the auxiliary tool 60 with the camera 16 and identifies the auxiliary tool 60 from the image photographed by the camera 16. The X-ray diagnostic device 1 automatically moves the X-ray irradiation unit 12 to an appropriate photographing position according to the position of the X-ray detector 50 according to the identified auxiliary tool 60. Descriptions of the configuration, operation, and effects similar to those of the first embodiment will be omitted.

Fig. 14 is a diagram showing an example of the configuration of an X-ray diagnostic apparatus 1 according to the fifth embodiment. As shown in Fig. 14, a plurality of auxiliary tools 60 are attached to the surface of the X-ray detector 50. The auxiliary tools 60 are, for example, stickers that can be recognized in an image captured by the camera 16. The auxiliary tools 60 are preferably provided on the surface of the X-ray detector 50 that faces upward when the X-ray detector 50 is placed on the top plate 33. It is preferable that three or more auxiliary tools 60 are provided in order to specify the direction of the detection surface that detects X-rays in the X-ray detector 50, etc.

The X-ray detector 50 is provided with different types of auxiliary tools 60 depending on the type of X-ray detector. The X-ray detectors differ in at least one of the following: size, number of elements, etc., depending on the type. The auxiliary tools 60 also differ in at least one of the following: size, color, shape, etc., depending on the type. Each type of auxiliary tool 60 is associated with one or more types of X-ray detectors. Therefore, by identifying the type of auxiliary tool 60, it is possible to identify the type of X-ray detector 50. Furthermore, by identifying the position of the auxiliary tool 60, it is possible to identify the position of the X-ray detector 50.

The effects of the X-ray diagnostic device 1 according to this embodiment are described below.

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

That is, according to the X-ray diagnostic device 1 of the present embodiment, the appropriate relative position of the X-ray irradiation unit 12 with respect to the auxiliary tool is set when the X-ray detector 50 is introduced or installed by the above configuration and operation, and the appropriate relative position of the X-ray irradiation unit 12 with respect to the X-ray detector 50 is set. Furthermore, 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 in the examination. Then, the X-ray irradiation unit 12 can be automatically moved to an appropriate position with respect to the X-ray detector 50 by calculating an appropriate shooting position of the X-ray irradiation unit 12 and automatically moving the X-ray irradiation unit 12 to the calculated shooting position. This allows the position of the X-ray tube/diaphragm to be automatically determined according to the recognized position of the X-ray detector 50, thereby shortening the examination time. In addition, 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 with less time constraints than when the position of the X-ray irradiation unit 12 is adjusted during the examination. This allows a more suitable position to be set as the imaging position, improving inspection accuracy.

In addition, according to the X-ray diagnostic device 1 of this embodiment, when the X-ray detector 50 is introduced or installed, an appropriate relative position of the X-ray irradiation unit 12 to the X-ray detector 50 is set for each type of X-ray detector 50 by setting the appropriate relative position of the X-ray irradiation unit 12 to the X-ray detector 50 for each type of X-ray detector 50. Furthermore, by identifying the type and position of the marker of the X-ray detector 50 installed during the examination, the type of the X-ray detector 50 is identified, and the shooting position of the X-ray irradiation unit 12 according to the type of auxiliary tool installed during the examination is calculated, so that the shooting position of the X-ray irradiation unit 12 appropriate for the type of X-ray detector 50 can be calculated. Then, by automatically moving the X-ray irradiation unit 12 to the calculated shooting position, the position of the X-ray tube/diaphragm can be automatically determined according to the type and position of the recognized X-ray detector 50, so that the examination time can be shortened and the examination accuracy can be improved.

The auxiliary tool 60 may be a grid holder. The grid holder is provided on the X-ray detector 50 and fixes the grid of the X-ray detector 50 to the detection element. The grid holder is used appropriately depending on the type of X-ray detector 50. Therefore, the position of the X-ray detector 50 can be identified by photographing the auxiliary tool 60 with the camera 16 and identifying the position of the auxiliary tool 60 from the image photographed by the camera 16. In addition, the type of the X-ray detector 50 can be identified by identifying the type of the auxiliary tool 60 from the image photographed by the camera 16.

(Modifications of the First to Fifth Embodiments)
In the position adjustment process, the type of the auxiliary tool installed during the examination may be input by the radiographer. In this case, the processing circuitry 44 reads out a registered image corresponding to the input type of auxiliary tool by the determination function 444, and specifies the position of the auxiliary tool installed during the examination based on the read registered image and the detected image. Then, the processing circuitry 44 reads out a relative position of the X-ray irradiation unit 12 corresponding to the input type of auxiliary tool by the determination function 444, and calculates the shooting position of the X-ray irradiation unit 12 based on the position of the auxiliary tool installed during the examination and the relative position of the X-ray irradiation unit 12. When the auxiliary tool is the above-mentioned marker and the type of the auxiliary tool installed during the examination is input by the radiographer, the number of markers provided as the auxiliary tool may be one.

The position adjustment process is preferably performed before the auxiliary tools used in the examination are placed on the tabletop 33 and the subject P is placed on the tabletop 33. However, if the camera 16 can capture an image in which the auxiliary tools can be fully recognized even when the subject P is fixed using the auxiliary tools, the position adjustment process may be performed after the subject P is placed on the tabletop 33. In this case, the position and imaging part of the subject P may be identified by performing an image recognition process on the detection image in which the subject P and the auxiliary tools are captured, and the recommended position of the auxiliary tool may be calculated based on the identified position and imaging part of the subject P and displayed on the display 42. The position adjustment process may also be performed before the subject P is placed on the tabletop 33, and the position adjustment process may be performed again after the subject P is fixed using the auxiliary tool. In this case, even if the position of the auxiliary tool is shifted when the subject P is placed on the tabletop 33, the imaging position of the X-ray irradiation unit 12 can be readjusted to an appropriate position.

The camera 16 may also be fixed in the examination room. In this case, the camera 16 is connected to the X-ray diagnostic device 1 via a network or the like, and the images captured by the camera 16 are transmitted to the X-ray diagnostic device 1 via the network or the like. The camera 16 may also be movable relative to the bed unit 30 by being driven by a drive device (not shown).

In the above-mentioned embodiment, an example of automatically moving the position of the X-ray tube to an appropriate shooting position has been described, but the present invention is not limited to this. For example, instead of the position of the X-ray tube, the position of the X-ray aperture that forms the X-ray irradiation range, the position of the X-ray detector 50 that detects X-rays, or the position of the tabletop 33 on which the subject is placed may be automatically moved to an appropriate shooting position based on the recognition result of an image including the auxiliary tool 60 captured by the camera 16. Also, based on the recognition result of an image including the auxiliary tool 60 captured by the camera 16, two or more of the position of the X-ray tube, the position of the X-ray aperture, the position of the X-ray detector 50, and the position of the tabletop 33 may be automatically moved to an appropriate shooting position.

Furthermore, the X-ray diagnostic apparatus may assist in setting up an auxiliary tool according to an imaging order if the auxiliary tool is not found within a specified imaging range in the position adjustment process. In this case, for example, when identifying the position and type of an auxiliary tool placed on the tabletop during an examination, if the auxiliary tool cannot be detected from the acquired detection image, a message indicating that the auxiliary tool is not found within the imaging range is displayed on the display. Then, the position of the auxiliary tool according to the imaging order is displayed on the tabletop, prompting the user to place the auxiliary tool within the specified imaging range.

The auxiliary tool may be attached to multiple locations on the subject. Specifically, the auxiliary tool is formed in a sheet shape having adhesiveness that allows it to be attached to the subject, and the user attaches the auxiliary tool to multiple locations on the subject, such as the head, arms, and legs. The storage unit may also store the positions of the multiple auxiliary tools or the subject's posture specified by the multiple auxiliary tools in association with the imaging position. In this case, the camera image acquisition unit acquires a camera image including the auxiliary tools attached to the subject, and detects the positions of the multiple auxiliary tools represented by the camera image, or the subject's posture specified by the multiple auxiliary tools. The movement control unit moves the X-ray imaging device so that X-ray imaging is performed at the imaging position corresponding to the detected positions of the multiple auxiliary tools, or the imaging position corresponding to the detected posture of the subject.

Although the console unit 40 has been described as a single console that executes multiple functions, multiple functions may be executed by separate consoles. For example, functions such as the camera image acquisition function 442 and the registration function 443 of the processing circuit 44 may be distributed and installed in different console devices.

According to at least one of the embodiments described above, it is possible to reduce the burden on the operator when taking X-rays using an auxiliary tool and to perform X-rays appropriately.

Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are within the scope of the invention and its equivalents as set forth in the claims, as well as the scope and gist of the invention.

1...X-ray diagnostic apparatus 10...imaging unit 11...high voltage generation unit 12...X-ray irradiation unit 14...support arm 16...camera 30...bed unit 31...base unit 32...bed drive unit 33...top plate 34...support frame 40...console unit 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...X-ray imaging control function P...subject

Claims (20)

a camera image acquisition unit that acquires a camera image including an auxiliary tool that assists in positioning of a subject, the camera image acquisition unit being arranged in an X-ray imaging range;
a storage unit in which the auxiliary tool and the imaging position are associated with the X-ray imaging conditions,
a movement control unit that recognizes an assisting tool included in the camera image and moves the X-ray imaging device to an imaging position corresponding to the recognized assisting tool;
an X-ray photography control unit that reads out from the storage unit an X-ray photography condition associated with the assisting tool recognized by the movement control unit, and executes X-ray photography based on the read out X-ray photography condition;
An X-ray imaging control device comprising: a camera image acquisition unit that acquires a camera image including an auxiliary tool that assists in positioning of a subject, the camera image acquisition unit being arranged in an X-ray imaging range;
a movement control unit that moves the X-ray imaging device to an imaging position corresponding to the assisting tool included in the camera image,
The auxiliary tool is a tool for fixing the subject on a top plate in a desired posture.
X-ray photography control device. a camera image acquisition unit that acquires a camera image including an auxiliary tool that assists in positioning of a subject, the camera image acquisition unit being arranged in an X-ray imaging range;
a movement control unit that moves the X-ray imaging device to an imaging position corresponding to the assisting tool included in the camera image,
The auxiliary tool is a marker attached to an X-ray detector that detects X-rays irradiated from an X-ray irradiation unit.
X-ray photography control device. Further comprising a storage unit in which the assisting tool and the photographing position are stored in association with each other,
The movement control unit recognizes an assisting tool included in the camera image, and moves the X-ray imaging device to an imaging position associated with the recognized assisting tool.
4. The X-ray imaging control device according to claim 2 or 3. The storage unit stores an auxiliary tool and an imaging position in association with each other for each imaging region,
the movement control unit receives an operation for setting an imaging region, and moves the X-ray imaging device to an imaging position corresponding to the recognized auxiliary tool for the set imaging region.
The X-ray imaging control device according to claim 4 . The storage unit stores an auxiliary tool and an imaging position in association with each other for each examination purpose,
the movement control unit receives an operation for setting an examination purpose, and moves the X-ray imaging device to an imaging position associated with the recognized auxiliary tool for the set examination purpose.
The X-ray imaging control device according to claim 4 . The imaging position includes a position of an X-ray tube that irradiates X-rays.
The X-ray imaging control device according to any one of claims 1 to 6 . The imaging position includes a position of an X-ray aperture that forms an X-ray irradiation range.
The X-ray imaging control device according to any one of claims 1 to 6 . The imaging position includes a position of an X-ray detector that detects X-rays.
The X-ray imaging control device according to any one of claims 1 to 6 . The imaging position includes a position of a tabletop on which a subject is placed.
The X-ray imaging control device according to any one of claims 1 to 6 . When there are a plurality of shooting positions associated with the recognized assisting tool in the storage unit, the movement control unit displays candidates of the plurality of shooting positions and accepts an operation to select the shooting position.
5. The X-ray imaging control device according to claim 1. The storage unit stores the auxiliary tool and the imaging position in association with the X-ray imaging conditions,
an X-ray photography control unit that reads out from the storage unit an X-ray photography condition associated with the assisting tool recognized by the movement control unit and executes X-ray photography based on the read out X-ray photography condition;
The X-ray imaging control device according to claim 4 . the X-ray imaging control unit displays the X-ray imaging conditions and accepts an operation to change the X-ray imaging conditions.
The X-ray imaging control device according to claim 12 . when the imaging position of the X-ray tube is outside a movable range of the X-ray tube, the movement control unit calculates a recommended assisting device position of an assisting device so that the imaging position of the X-ray tube is within the movable range.
The X-ray imaging control device according to claim 7 . The movement control unit determines a recommended tabletop position of a tabletop based on the recommended auxiliary tool position, and moves the tabletop to the recommended tabletop position, thereby moving the auxiliary tool to the recommended auxiliary tool position.
The X-ray imaging control device according to claim 14 . Further comprising a display control unit that displays the recommended assisting tool position on a display.
The X-ray imaging control device according to claim 14 . The auxiliary tool is a tool for fixing the subject on a top plate in a desired posture.
The X-ray imaging control device according to claim 1 . The auxiliary tool is a marker attached to an X-ray detector that detects X-rays irradiated from an X-ray irradiation unit.
The X-ray imaging control device according to claim 1 . An X-ray imaging control device according to any one of claims 1 to 18 ,
a camera capable of photographing an area including the auxiliary tool placed in an X-ray photographing range;
An X-ray diagnostic apparatus comprising: An X-ray imaging control device according to any one of claims 1 to 18 ,
A plurality of cameras capable of photographing an area including the auxiliary tool arranged in an X-ray photographing range;
An X-ray diagnostic apparatus comprising: