CN101342082A - X-ray apparatus, image processing display apparatus and computer program product - Google Patents

X-ray apparatus, image processing display apparatus and computer program product Download PDF

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Publication number
CN101342082A
CN101342082A CN200810136045.6A CN200810136045A CN101342082A CN 101342082 A CN101342082 A CN 101342082A CN 200810136045 A CN200810136045 A CN 200810136045A CN 101342082 A CN101342082 A CN 101342082A
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image
mentioned
blood vessel
dimensional
information
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CN101342082B (en
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川崎友宽
山形仁
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Canon Medical Systems Corp
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Toshiba Corp
Toshiba Medical Systems Corp
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Abstract

An X-ray imaging machine is configured such that a three-dimensional blood-vessel information creating unit creates information concerning a three-dimensional blood-vessel core line and a position of a plaque in a subject blood vessel based on three-dimensional volume data obtained from an image taken by an X-ray computed tomography apparatus. A plaque-depth information image creating unit creates a plaque-depth information image on which the plaque is differently displayed in accordance with whether the plaque is present in front of or in the back of the three-dimensional blood-vessel core line with respect to a projection direction, based on the created information concerning the three-dimensional blood-vessel core line and the position of the plaque. An X-ray image display unit displays the created plaque-depth information image over an X-ray image in a superimposed manner.

Description

X ray photographic attachment, image processing display and computer program
The application enjoys Japanese patent application No. 2007-180761 that filed an application on July 10th, 2007 and the preference interests that proposed Japanese patent application No. 2008-121516 on May 7th, 2008, all the elements of quoting this Japanese patent application in this application.
Technical field
The present invention relates to X ray photographic attachment, image processing display and computer programs such as X ray angiography device, particularly be used for supporting the technology that linear structure things such as seal wire is inserted into the treatment of carrying out in the blood vessel.
Background technology
In the past, have linear structure things such as seal wire or conduit are inserted in the coronary artery of heart the therapy that the part with part that narrows down coronarius or obstruction enlarges.This therapy is called " PCI (Percutaneous Coronary Intervention, percutaneous coronary interventional procedure) treatment ".In this PCI treatment, use X ray photographic attachment such as X ray angiography device.X ray angiography device shows radioscopy projected image (below be called " radioscopic image ") in PCI treatment, the derivation graph picture when seal wire being inserted into pathological changes portion (coronary stricture portion).
And then as being used for diagnosing mechanism coronarius, known have the clinical practice software towards X ray CT device (for example with reference to TOHKEMY 2004-283373 communique) that is called " coronary artery parsing software ".Resolve in software at this coronary artery, have the three-dimensional data that uses heart area is obtained vessel centerline coronarius, blood vessel, inferred normal blood vessels inwall etc. as three-dimensional data function.
In above-mentioned PCI treatment, only look like to be difficult to grasp the cavity shape in coronary stricture zone as derivation graph by the reference radioscopic image, cause the precise decreasing of performing the operation thus sometimes.In the case, develop on the other device that is different from X ray angiography device or on film by the pictorial display that will utilize above-mentioned coronary artery to resolve the coronary artery inwall that software obtains and to carry out reference etc., carry out support operator.
But, in the PCI treatment,, also be difficult to sometimes seal wire is advanced even use above-mentioned coronary artery to resolve software.
For example, make seal wire when narrow is advanced, sometimes the vascular lesion position of the preceding end in contact narrow of seal wire (for example speckle (arteriosclerosis plaque) etc.), seal wire is advanced in blood vessel.Figure 26 be used for illustrating seal wire towards with the figure of the relation of narrow.For example, shown in the epimere of this figure,, shown in the stage casing of this figure,, then shown in the hypomere of this figure, the front end of seal wire is passed through if make the seal wire rotation being formed with on the inwall coronarius under the situation at vascular lesion position.
But, for example to take under the situation coronarius from the direction of the arrow shown in the epimere of this figure, operator can not be grasped the vascular lesion position and be in nearby or be in the inboard.In the case, operator does not know to make seal wire to which direction rotation, thereby can not seal wire be advanced.
In addition, when making seal wire enter narrow, if its front end does not have the direct of travel towards blood vessel, then the front end of seal wire can be run on the blood vessel wall sometimes, and seal wire is advanced in blood vessel.Figure 27 be used for illustrating seal wire towards with the figure of the relation of the direct of travel of blood vessel.For example, shown in the left side of this figure, from nearby inwards under the bent such situation of lateral bending, shown in the central authorities of this figure,, shown in the right side of this figure, seal wire is advanced by making the seal wire rotation at the target place blood vessel of advancing of seal wire.
But for example under the direction of the arrow shown in the left side of this figure situation with the coronary artery shooting, the direct of travel that operator can not be grasped blood vessel is towards nearby or towards the inboard.In the case, operator does not know to make seal wire to which direction rotation yet, thereby can not seal wire be advanced.
In the past, used above-mentioned coronary artery to resolve software for fear of such situation.But, in method in the past, as mentioned above, carry out reference on other devices or on film because the pictorial display of coronary artery inwall developed to wait, thus be difficult to grasp the position of radioscopic image and blood vessel reach towards relation.And then, in treatment,, operator observes the situation that radioscopic image is operated seal wire, so do not turn one's attention to the free time of other images while being in.Like this, in technology in the past, can not support operator fully sometimes.
Summary of the invention
The present invention makes in order to solve above-mentioned prior art problems, and purpose provides a kind of X ray photographic attachment, image processing display and the computer program that can easily judge the suitable direction of rotation of seal wire when operator is advanced seal wire in blood vessel.
In order to address the above problem and to reach purpose of the present invention, the X ray photographic attachment of a relevant mode of the present invention possesses: radioscopic image photography portion, and to subject irradiation X ray, and the X ray of this subject of detection transmission, take radioscopic image; Three-dimensional vessel information generating unit based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generates the three-dimensional vessel centerline in the blood vessel with photography target and the relevant information in position at vascular lesion position; Vascular lesion position depth frame preparing department, based on by above-mentioned three-dimensional vessel information generating unit that generate with the relevant information in position three-dimensional vessel centerline and vascular lesion position, make vascular lesion position depth frame, this vascular lesion position depth frame according to the vascular lesion position with respect to projecting direction than this three-dimensional vessel centerline more close before still more by the lining, change the demonstration at this vascular lesion position; And the radioscopic image display part, will be by overlapping being presented on the above-mentioned radioscopic image of vascular lesion position depth frame of above-mentioned vascular lesion position depth frame preparing department making.
In addition, the image processing display of relevant another way of the present invention possesses: three-dimensional vessel information generating unit, based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generate the three-dimensional vessel centerline in the blood vessel with photography target and the relevant information in position at vascular lesion position; Vascular lesion position depth frame preparing department, based on by above-mentioned three-dimensional vessel information generating unit that generate with the relevant information in position three-dimensional vessel centerline and vascular lesion position, make vascular lesion position depth frame, this vascular lesion position depth frame according to the vascular lesion position with respect to projecting direction than this three-dimensional vessel centerline more close before still more by the lining, change the demonstration at this vascular lesion position; And the radioscopic image display part, will be presented on the radioscopic image of taking by the X ray photographic attachment by the vascular lesion position depth frame that above-mentioned vascular lesion position depth frame preparing department makes is overlapping.
In addition, the computer program of relevant another way of the present invention, based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generate the three-dimensional vessel centerline in the blood vessel with photography target and the relevant information in position at vascular lesion position; Based on that generate and the relevant information in position three-dimensional vessel centerline and vascular lesion position, make vascular lesion position depth frame, on the overlapping radioscopic image that is presented at by the shooting of X ray photographic attachment of the vascular lesion position depth frame of making, this vascular lesion position depth frame according to the vascular lesion position with respect to projecting direction than this three-dimensional vessel centerline more close before still more by the lining, change the demonstration at this vascular lesion position.
The X ray photographic attachment of relevant another way of the present invention possesses: radioscopic image photography portion, and to subject irradiation X ray, and the X ray of this subject of detection transmission, take radioscopic image; Three-dimensional vessel centerline generating unit based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generates the three-dimensional vessel centerline of the centrage of the blood vessel of representing photography target; Blood vessel direction of travel information image making portion based on the three-dimensional vessel centerline location information related that generates with above-mentioned three-dimensional vessel centerline generating unit, makes the blood vessel direction of travel information image that the demonstration that makes blood vessel changes the direct of travel of representing this blood vessel; And the radioscopic image display part, will be presented on the above-mentioned radioscopic image by the blood vessel direction of travel information doubling of the image that above-mentioned blood vessel direction of travel information image making portion makes.
In addition, the image processing display of relevant another way of the present invention possesses: three-dimensional vessel centerline generating unit, based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generate the three-dimensional vessel centerline of the centrage of the blood vessel of representing photography target; Blood vessel direction of travel information image making portion based on the three-dimensional vessel centerline location information related that generates with above-mentioned three-dimensional vessel centerline generating unit, makes the blood vessel direction of travel information image that the demonstration that makes blood vessel changes the direct of travel of representing this blood vessel; And the radioscopic image display part, will be presented on the radioscopic image of taking by the X ray photographic attachment by the blood vessel direction of travel information doubling of the image that above-mentioned blood vessel direction of travel information image making portion makes.
In addition, the computer program of relevant another way of the present invention based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generates the three-dimensional vessel centerline of the centrage of the blood vessel of representing photography target; Based on the three-dimensional vessel centerline location information related that generates, make the blood vessel direction of travel information image that the demonstration that makes blood vessel changes the direct of travel of representing this blood vessel; With the blood vessel direction of travel information doubling of the image made on above-mentioned radioscopic image and be presented at display part.
Description of drawings
Fig. 1 is the figure that is used for illustrating the notion that the depth information of the X ray angiography device of relevant present embodiment 1 shows.
Fig. 2 is the functional block diagram of structure of the X ray angiography device of the relevant present embodiment 1 of expression.
Fig. 3 is the functional block diagram of structure of the image processing part of the relevant present embodiment 1 of expression.
Fig. 4 A～Fig. 4 C is expression vessel centerline coronarius, blood vessel, infers the figure of an example in normal blood vessels inwall and speckle zone.
Fig. 5 is the figure that is used for illustrating the manufacture method of speckle depth frame.
Fig. 6 is the figure that is used for illustrating the position judgment in speckle zone.
Fig. 7 is the flow chart of processing sequence of the image processing part of the relevant present embodiment 1 of expression.
Fig. 8 is the figure that is used for illustrating the notion that the depth information of the X ray angiography device of relevant present embodiment 2 shows.
Fig. 9 is the functional block diagram of structure of the image processing part of the relevant present embodiment 2 of expression.
Figure 10 is the flow chart of processing sequence of the image processing part of the relevant present embodiment 2 of expression.
Figure 11 is the figure that is used for illustrating the notion that the blood vessel direction of travel information of the X ray angiography device of relevant present embodiment 3 shows.
Figure 12 is the functional block diagram of structure of the image processing part of the relevant present embodiment 3 of expression.
Figure 13 is the figure of an example of method of direct of travel that is used for illustrating the blood vessel at the front position place of calculating seal wire.
Figure 14 is the figure that is used for illustrating based on the painted processing of the two-dimentional vessel centerline of relative distance.
Figure 15 is the figure that is used for illustrating based on the painted processing of the two-dimentional vessel centerline that tilts.
Figure 16 is the figure that is used for illustrating based on the painted processing of the two-dimentional vessel centerline of curvature.
Figure 17 A～Figure 17 D is the figure of expression by the intermediate image of the image processing part making of relevant present embodiment 3.
Figure 18 is used for explanation to use the figure of the demonstration of the blood vessel direction of travel information under the situation of virtual endoscope (VE:Virtual Endoscopy) image.
Figure 19 is the flow chart of processing sequence of the image processing part of the relevant present embodiment 3 of expression.
Figure 20 is the figure that is used for illustrating the notion that the blood vessel direction of travel information of the X ray angiography device of relevant present embodiment 4 shows.
Figure 21 is the functional block diagram of structure of the image processing part of the relevant present embodiment 4 of expression.
Figure 22 is the flow chart of processing sequence of the image processing part of the relevant present embodiment 4 of expression.
Figure 23 A and Figure 23 B are the figure of an example of the expression user interface that is used for setting projecting direction.
Figure 24 is the figure that is used for illustrating the binaryzation of radioscopic image.
Figure 25 is the figure that expression shows the example that the picture under the situation of orthogonal image shows.
Figure 26 be used for illustrating seal wire towards with the figure of the relation of narrow.
Figure 27 be used for illustrating seal wire towards with the figure of the relation of the direct of travel of blood vessel.
The specific embodiment
Below, with reference to accompanying drawing, explain the preferred embodiment of relevant X ray photographic attachment of the present invention, image processing display and computer program.In addition, below the situation in the X ray angiography device that the present invention is applied in the X ray photography of carrying out blood vessels such as coronary artery is described.In addition, below as the example at the vascular lesion position that in blood vessel, takes place, lift speckle (arteriosclerosis plaque) for example describes, but in the vascular lesion position of other kinds, can be suitable for the present invention too.
At first, the notion that the depth information of the X ray angiography device of relevant present embodiment 1 is shown describes.Fig. 1 is the figure that is used for illustrating the notion that the depth information of the X ray angiography device of relevant present embodiment 1 shows.The X ray angiography device of relevant present embodiment 1 is before the PCI treatment, based on from (computed tomography: the computed tomography method) three-dimensional data (3 d image data) that obtains the CT image that device is taken generates the information of the position of three-dimensional vessel centerline in the blood vessel of relevant photography target and speckle by X ray CT in advance.
On the other hand, in the PCI treatment, X ray angiography device is based on the information of the position of relevant three-dimensional vessel centerline that generates before treatment and speckle, make the image of plaque region domain information, on the image of this plaque region domain information, still more by lining change demonstration than three-dimensional vessel centerline before more close with respect to projecting direction according to speckle.Particularly, as shown in the drawing, X ray angiography device is in the position of speckle than three-dimensional vessel centerline near the image of making red plaque region domain information under the preceding situation, at the image by the blue speckle image area information of making under the situation of lining.And X ray angiography device carries out the image of the plaque region domain information produced to overlap after the para-position on the radioscopic image of the blood vessel in the treatment and showing as shown in Figure 1.At this moment, nearby all exist under the situation of speckle with inboard these both sides, the pictorial display of the plaque region domain information of intersection is a purple.
Like this, main being characterised in that of the X ray angiography device of relevant present embodiment 1, in PCI treatment, will be in according to relative vessel centerline and nearby still be in the doubling of the image that the inboard changes the plaque region domain information of demonstration (being color) here and be presented on the radioscopic image of the blood vessel in the treatment.According to this feature, in the X ray angiography device of relevant present embodiment 1, can grasp narrow position, judgement should make seal wire to which direction rotation, can seal wire be advanced in blood vessel with not injuring speckle.
Then, the structure to the X ray angiography device of relevant present embodiment 1 describes.Fig. 2 is the functional block diagram of structure of the X ray angiography device of the relevant present embodiment 1 of expression.As shown in the drawing, this X ray angiography device has X ray generating unit 1, X ray test section 2, portion of mechanism 3, high voltage generating unit 4, C arm 5, top board 6, image processing part 100, display part 7, operating portion 8 and systems control division 9.
X ray generating unit 1 is the device that produces the X ray that the subject on the top board 6 is shone, and has high voltage that utilization supplies with from high voltage generating unit 4 and produces the X-ray tube of X ray and cover the X ray beam-defining clipper of controlling range of exposures by the part of X ray that X-ray tube is produced.
X ray test section 2 is the devices that detect the X ray of transmission subject and generate the radioscopic image data, has the area detector that detects X ray, takes out charge voltage changer that the gate drivers of electric charge, the charge-voltage converting that will be taken out by gate drivers are voltage, will be the A/D changer of digital value by the voltage transformation of charge voltage changer conversion from area detector.
Portion of mechanism 3 is devices that C arm 5 and top board 6 are moved, and has top board travel mechanism that makes 5 rotations of C arm or the C arm rotations-travel mechanism that moves, top board 6 is moved and the mechanism controls portion that controls C arm rotation-travel mechanism and top board travel mechanism based on the indication of systems control division 9.
High voltage generating unit 4 is to supply with the device of X ray generating unit 1 necessary high voltages in the generation of X ray, has based on the indication of systems control division 9 to control X ray control part and the high-tension high voltage generator of generation that the generation of X ray is controlled in high-tension generation.C arm 5 is the arms that keep X ray generating unit 1 and X ray test section 2, and top board 6 is plates of mounting subject.
Display part 7 is the devices that show various images such as radioscopic image, has the monitor of display image and the control display control unit to the demonstration of monitor.Operating portion 8 is made of mouse or keyboard, stick etc., is the control station of accepting the operation of operator.Systems control division 9 is based on the device of the operation control X ray angiography device integral body of operator.
Image processing part 100 is based on the handling part that the radioscopic image data that generated by X ray test section 2 generate radioscopic image.Fig. 3 is the functional block diagram of structure of the image processing part 100 of the relevant present embodiment 1 of expression.As shown in the drawing, this image processing part 100 has storage part 110 and control part 120.
Storage part 110 is to preserve the needed data of various processing of control part 120 and the preservation mechanism of program, as structure related to the present invention, has three-dimensional data preservation portion 111 and radioscopic image preservation portion 112.
Three-dimensional data preservation portion 111 preserves the storage part of three-dimensional data that carries out the image of the heart area that coronarography takes by X ray CT device.Suppose that this three-dimensional data preservation portion 111 preserves in advance the three-dimensional data of the image of taking by X ray CT device before PCI treatment.
Radioscopic image preservation portion 112 is storage parts of preserving the radioscopic image of the heart area of making a video recording by X ray angiography device.This radioscopic image preservation portion 112 collects radioscopic image at a certain time interval in real time and is preserved in the PCI treatment.In addition, at radioscopic image by I.I. (Image Intensifier: image intensifier) under She Xiang the situation, need the distortion of the image of calibration I.I. in real time.
The control part of the processing of the radioscopic image data of obtaining from X ray test section 2 is controlled in the control that control part 120 is based on systems control division 9, as structure related to the present invention, have three-dimensional vessel centerline extraction unit 121, three-dimensional blood vessel extraction unit 122, three-dimensional and infer normal blood vessels inwall extraction unit 123, three-dimensional speckle zone calculating part 124, para-position information calculations portion 125, speckle depth frame preparing department 126, speckle depth information overlap and show that radioscopic image preparing department 127 and speckle depth information overlap show radioscopic image display part 128.
The CT value that three-dimensional vessel centerline extraction unit 121 is based on the three-dimensional data of being preserved by three-dimensional data preservation portion 111 generates the handling part that the data of the centrage coronarius that PCI treats (below be called " three-dimensional vessel centerline data ") are carried out in expression.Fig. 4 A～Fig. 4 C is expression vessel centerline coronarius, blood vessel, infers the figure of an example in normal blood vessels inwall and speckle zone.
For example, this three-dimensional vessel centerline extraction unit 121 generates the three-dimensional vessel centerline data of the such vessel centerline of the three-dimensional vessel centerline shown in the presentation graphs 4A.Here, three-dimensional vessel centerline data are used as three-dimensional dot array data and generate, and its data structure and generating algorithm are used for example data structure and the generating algorithm in the known technologies such as technology of record in patent documentation 1.
Three-dimensional blood vessel extraction unit 122 is based on the CT value of the three-dimensional data of being preserved by three-dimensional data preservation portion 111 and is generated the handling part of the data (below be called " three-dimensional blood vessel data ") of the data of the relevant vessel centerline of expression blood vessel on every side by the three-dimensional vessel centerline that three-dimensional vessel centerline extraction unit 121 generates.
For example, this three-dimensional blood vessel extraction unit 122 generates the three-dimensional blood vessel data of the such blood vessel of the three-dimensional blood vessel shown in the presentation graphs 4A.Here, three-dimensional blood vessel data are used as three-dimensional dot array data and generate, and its data structure and generating algorithm are used for example data structure and the generating algorithm in the known technologies such as technology of record in patent documentation 1.
Three-dimensional is inferred the handling part that normal blood vessels inwall extraction unit 123 is based on the three-dimensional vessel centerline data that generated by three-dimensional vessel centerline extraction unit 121 and is generated data of inferring the normal blood vessels inwall around the expression vessel centerline (below be called " three-dimensional is inferred normal blood vessels inwall data ") by the three-dimensional blood vessel data that three-dimensional blood vessel extraction unit 122 generates.
For example, this three-dimensional is inferred normal blood vessels inwall extraction unit 123 and is generated the three-dimensional shown in the presentation graphs 4A and infer the such three-dimensional of inferring the normal blood vessels inwall of normal blood vessels inwall and infer normal blood vessels inwall data.Here, three-dimensional is inferred normal blood vessels inwall data and is used as three-dimensional dot array data and generates, and its data structure and generating algorithm are used for example data structure and the generating algorithm in the known technologies such as technology of record in patent documentation 1.
Three-dimensional speckle zone calculating part 124 is based on the three-dimensional blood vessel data that generated by three-dimensional blood vessel extraction unit 122 and infers three-dimensional that normal blood vessels inwall extraction unit 123 generates by three-dimensional and infer the handling part that normal blood vessels inwall data are calculated the data that expression is formed with the zone (speckle zone) of speckle (below be called " three-dimensional plaque region numeric field data ").
For example, the three-dimensional plaque region numeric field data in such speckle zone, the three-dimensional speckle zone shown in the calculating part 124 computer chart diagrammatic sketch 4A of this three-dimensional speckle zone.Particularly, the difference zone that three-dimensional speckle zone calculating part 124 calculates " three-dimensional intravascular space zone " (with reference to Fig. 4 B) that go out according to three-dimensional blood vessel data computation and infers " three-dimensional is inferred the normal blood vessels cavity region " (with reference to Fig. 4 C) that normal blood vessels inwall data computation goes out according to three-dimensional is as the speckle zone.
Para-position information calculations portion 125 is handling parts of obtaining the para-position parameter of the needed projecting direction of image, position and the amplification of making radioscopic image same projection direction, position and the amplification preserved with radioscopic image preservation portion 112 from the three-dimensional data of being preserved by three-dimensional data preservation portion 111 respectively.
Here, suppose that para-position information calculations portion 125 obtains each para-position parameter from systems control division 9.In addition, the coordinate system of supposing to become the benchmark of these parameters that coordinate system and the incidental information that becomes as the X ray CT image of benchmark of each location parameter of the projecting direction obtained, position, amplification obtain here equates or can 1 pair 1 ground conversion.
Three-dimensional plaque region numeric field data that speckle depth frame preparing department 126 is based on the three-dimensional vessel centerline data that generated by three-dimensional vessel centerline extraction unit 121, calculated by three-dimensional speckle zone calculating part 124 and the para-position parameter (projecting direction, position and amplification) that is obtained by para-position information calculations portion 125 are made the handling part of speckle depth frame.Fig. 5 is the figure that is used for illustrating the manufacture method of speckle depth frame.In the figure, represented as an example speckle zone with respect to projecting direction than three-dimensional vessel centerline more by the situation of lining.
Particularly, this speckle depth frame preparing department 126 is as shown in the drawing, being produced under the condition of the para-position parameter that is obtained by para-position information calculations portion 125 will be by the two-dimensional graphical image that forms after represented speckle zone 11 projections of the three-dimensional plaque region numeric field data that three-dimensional speckle zone calculating part 124 calculates, as speckle depth frame 10.
At this moment, speckle depth frame preparing department 126 makes with respect to projecting direction and is redness than the more close preceding speckle of three-dimensional vessel centerline zone 11, make than three-dimensional vessel centerline and more be blueness by the speckle zone 11 of lining, it is colourless making zone in addition, makes speckle depth frame 10.
This speckle depth frame 10 is that (RGBA (Red-Green-Blue-Alpha: R-G-B-transparency)) image, it is that 255 (opaque), in addition zone are 0 (transparent) that the A value of expression transparency is made into for the speckle zone to 32 colors.In addition, nearby all exist under the situation in speckle zone 11 with the inboard, the color of difference superposed part is synthetic, become purple.
Then, illustrate the speckle zone with respect to projecting direction than vessel centerline more close before still more by the determination methods of lining.Fig. 6 is the figure that is used for illustrating the position judgment in speckle zone.In the figure, as an example and expression speckle zone than three-dimensional vessel centerline more by the situation of lining.
For example, as shown in the drawing, consider the some pixel G on the speckle depth frame 2At first, calculating approaches pixel G most on speckle depth frame 2Two-dimentional vessel centerline on some C 2With corresponding to a C 2Three-dimensional vessel centerline on some C 3Between distance.Then, make pixel G 2The distance that moves and calculate along projection ray apart from equal length, with the point of this position as G 3
And, judge that the speckle zone that is on the projection ray is than some G 3Still more by the lining,, determine pixel G before more close based on this judged result 2Expression with respect to projecting direction than the speckle zone of vessel centerline before more close, still expression is more by the speckle zone of lining.That is, at a speckle zone ratio point G 3Under the situation before more close, make pixel G 2Color be red, by under the situation of lining, make pixel G more 2Color be blue.
In addition, being in than the color in the speckle zone under the situation of vessel centerline before more close and being in more color in the speckle depth frame by the speckle zone under the situation of lining, also can be respectively by user freely setpoint color (rgb value) and transparency (A value).
In addition, also can further in speckle depth frame, describe the image that three-dimensional vessel centerline data that will be generated by three-dimensional vessel centerline extraction unit 121 and the three-dimensional blood vessel data that generated by three-dimensional blood vessel extraction unit 122 form after projection under the condition of the para-position parameter that is obtained by para-position information calculations portion 125.Thus, even speckle depth frame becomes the image of also grasping corresponding relation separately under the situation about misplacing slightly in the position of radioscopic image that generates and speckle depth information easily.
Speckle depth information overlap shows that radioscopic image preparing department 127 is handling parts of obtaining the radioscopic image preserved by radioscopic image preservation portion 112, being produced on the two dimensional image that forms behind the overlapping speckle depth frame of being made by speckle depth frame preparing department 126 on this radioscopic image (below be called " speckle depth information overlap shows radioscopic image ").
For example, this speckle depth information overlap shows that the speckle depth information overlap that radioscopic image preparing department 127 makes as shown in Figure 1 shows radioscopic image.In addition, when making this speckle depth information overlap display image, speckle depth information overlap shows that radioscopic image preparing department 127 for synthetic speckle depth frame as 32 coloured images, is transformed to 24 colours (RGB) image with 8 radioscopic images.
Speckle depth information overlap shows that radioscopic image display part 128 is to be shown that by speckle depth information overlap the speckle depth information overlap that radioscopic image preparing department 127 makes shows that radioscopic image is presented at the handling part on the display part 7.
Then, the processing sequence to the image processing part 100 of relevant present embodiment 1 describes.Fig. 7 is the flow chart of processing sequence of the image processing part 100 of the relevant present embodiment 1 of expression.As shown in the drawing, in this image processing part 100, before the PCI treatment, at first, three-dimensional vessel centerline extraction unit 121 generates the coronarius three-dimensional vessel centerline data (step S101) of carrying out the PCI treatment based on the CT value of the three-dimensional data of being preserved by three-dimensional data preservation portion 111.
Then, three-dimensional blood vessel extraction unit 122 generates vessel centerline three-dimensional blood vessel data (step S102) on every side based on the CT value of the three-dimensional data of being preserved by three-dimensional data preservation portion 111 and the three-dimensional vessel centerline that is generated by three-dimensional vessel centerline extraction unit 121.
Follow again, three-dimensional is inferred normal blood vessels inwall extraction unit 123 based on by the three-dimensional vessel centerline data of three-dimensional vessel centerline extraction unit 121 generations and the three-dimensional blood vessel data that generated by three-dimensional blood vessel extraction unit 122, generates vessel centerline three-dimensional on every side and infers normal blood vessels inwall data (step S103).
Then, three-dimensional speckle zone calculating part 124 is based on the three-dimensional blood vessel data that generated by three-dimensional blood vessel extraction unit 122 and infer the three-dimensional that normal blood vessels inwall extraction unit 123 generates by three-dimensional and infer normal blood vessels inwall data, calculates three-dimensional plaque region numeric field data (step S104).
Then, in the PCI treatment, para-position information calculations portion 125 obtains the para-position parameter (step S105) of the needed projecting direction of image, position and the amplification of making radioscopic image same projection direction, position and the amplification preserved with radioscopic image preservation portion 112 respectively from the three-dimensional data of being preserved by three-dimensional data preservation portion 111.
Then, three-dimensional plaque region numeric field data that speckle depth frame preparing department 126 calculates based on the three-dimensional vessel centerline data that generated by three-dimensional vessel centerline extraction unit 121, by three-dimensional speckle zone calculating part 124 and the para-position parameter that is obtained by para-position information calculations portion 125 are made speckle depth frame (step S106).
Follow again, speckle depth information overlap shows that radioscopic image preparing department 127 obtains the radioscopic image of being preserved by radioscopic image preservation portion 112, is produced on the speckle depth information overlap that forms behind the overlapping speckle depth frame by 126 making of speckle depth frame preparing department on this radioscopic image and shows radioscopic image (step S107).
Then, speckle depth information overlap shows that radioscopic image display part 128 will show that the speckle depth information overlap that radioscopic image preparing department 127 makes shows that radioscopic image is presented at (step S108) on the display part 7 by speckle depth information overlap.
As mentioned above, in present embodiment 1, before the PCI treatment, based on the three-dimensional data that obtains according to the image of taking by X ray CT device, three-dimensional vessel centerline extraction unit 121 generates three-dimensional vessel centerline data, and three-dimensional blood vessel extraction unit 122 generates three-dimensional blood vessel data, and three-dimensional is inferred normal blood vessels inwall extraction unit 123 generation three-dimensionals and inferred normal blood vessels inwall data, and then three-dimensional speckle zone calculating part 124 calculates three-dimensional plaque region numeric field data.
Then, in the PCI treatment, para-position information calculations portion 125 calculates the para-position parameter of the needed projecting direction of image, position and the amplification of making and radioscopic image same projection direction, position and amplification respectively.Then, speckle depth frame preparing department 126 makes the speckle depth frame that still more changes the demonstration of this speckle according to speckle with respect to projecting direction than this three-dimensional vessel centerline before more close by the lining.
Follow, speckle depth information overlap demonstration radioscopic image preparing department 127 overlaps speckle depth frame and makes speckle depth information overlap demonstration radioscopic image on the radioscopic image again.Then, speckle depth information overlap shows that radioscopic image display part 128 shows that with speckle depth information overlap radioscopic image is presented on the display part 7.
By above structure, in present embodiment 1,, when operator is advanced seal wire in blood vessel, can easily judge the suitable direction of rotation of seal wire by showing the information of closing depth.In addition, can support operator, so that can seal wire be advanced in blood vessel with not injuring speckle.
In addition, in present embodiment 1, will be more shown in red than the more close preceding speckle zone of vessel centerline, to more be shown as blueness than vessel centerline by the speckle zone of lining, in addition, all have under the situation in speckle zone in inboard these both sides of nearby reaching of vessel centerline, speckle zone superposed part is shown as purple.But the present invention is not limited to this, for example also can change the concentration of the color in speckle zone according to the length of the depth direction in speckle zone.
In the case, particularly, speckle depth frame preparing department 126 makes the concentration change of the Show Color in speckle zone according to the length (length of the heavy black line part on the three-dimensional speckle zone among this figure) of the depth direction in the speckle zone on the projection ray shown in Figure 6.Here, as the concentration of Show Color, for example under situation about being in nearby, make the R value at (R, G, B)=(0～255,0,0) changes in the scope, make the B value at (R, G under the situation of depth being in, B)=(0,0,0～255) change in the scope, be under the situation of both sides, making R value and B value at (R, G for repeating the position, B)=(0～255,0,0～255) change in the scope.At this moment, owing to thickness coronarius is approximately about 3mm, so the value of the color that changes is for example calculated as length [the mm]/3mm in 255 * speckle zone.
In addition, in the present embodiment, the speckle depth frame that will include painted speckle zone always overlaps on the radioscopic image and shows, but the present invention is not limited to this, also can only speckle depth frame be shown official hour.
In the case, image processing part 100 for example utilizes mechanical botton or the GUI that on the picture of display device, shows (Graphical User Interface: button graphic user interface) etc. is accepted the indication from the user, only this button be pressed during with overlapping being presented on the radioscopic image of speckle depth frame.Perhaps, image processing part 100 also can utilize changeable open/close button to accept indication from the user, only during this button is for " opening " with overlapping being presented on the radioscopic image of speckle depth frame.Like this, by based on indicated number speckle depth frame, can only in the time that the user needs, show speckle depth frame from the user.
In addition, image processing part 100 also can be for example only during the radioscopic image that shows identical heartbeat phase place with three-dimensional data (for example expanding latter stage), after carrying out para-position with overlapping being presented on the radioscopic image of speckle depth frame.Under the heartbeat phase place of the radioscopic image situation different with the heartbeat phase place of three-dimensional data, the precision step-down of the para-position of speckle depth frame can be expected the situation of the position in speckle zone with respect to the transposition of vessels of radioscopic image.But, as mentioned above,, only can realize not have demonstration speckle depth frame under the situation of dislocation with respect to blood vessel in the position in speckle zone by only during heartbeat phase place unanimity, showing speckle depth frame.
Like this, only under the situation that the user needs or the situation that can position accurately, show speckle depth frame, can improve the visuognosis of the radioscopic image in the PCI treatment by image processing part 100.
In the foregoing description 1, to the overlapping situation about being presented on the radioscopic image of speckle depth frame is illustrated, but at the blood vessel of shooting object is under the situation of complicated shape etc., is difficult to observe because of speckle depth frame becomes radioscopic image sometimes.So, below, as embodiment 2, illustrate that (MaximumIntensity Projection: the image on the image also is presented at this image the locational situation that does not hinder the radioscopic image identification side by side at the MIP of three-dimensional data with speckle depth information overlap in making maximum intensity projection).
At first, the notion that the depth information of the X ray angiography device of relevant present embodiment 2 is shown describes.Fig. 8 is the figure that is used for illustrating the notion that the depth information of the X ray angiography device of relevant present embodiment 2 shows.Be presented on the radioscopic image speckle depth frame is overlapping with respect to the X ray angiography device of relevant embodiment 1, the X ray angiography device of relevant present embodiment 2 is as shown in the drawing, be created on the image of overlapping speckle depth frame on the MIP image of the three-dimensional data that obtains by the CT image (under the situation before more close for red, more by being the plaque region domain information of purple under blue, the situation under the situation of lining) in both sides than vessel centerline, this image is dwindled, be presented on the position of the regulation on the radioscopic image.
Like this, main being characterised in that of the X ray angiography device of relevant present embodiment 2, in PCI treatment, will according to be in vessel centerline nearby still the inboard image of doubling of the image back formation on the MIP image that changes the plaque region domain information of demonstrations (being color) here be presented on the radioscopic image side by side.By this feature, in the X ray angiography device of relevant present embodiment 2, can not hinder radioscopic image visuognosis show the information of closing depth, can seal wire be advanced in blood vessel with not injuring speckle.
Then, the structure to the X ray angiography device of relevant present embodiment 2 describes.In addition, basically the structure with shown in Figure 2 is identical about the structure of the X ray angiography device of present embodiment 2, because the details difference of image processing part just, so here the structure and the processing sequence of the image processing part of relevant present embodiment 2 described.In addition, here for convenience of explanation, give identical label and omit its detailed explanation for playing with the function portion of each same purpose shown in Figure 3.
Fig. 9 is the functional block diagram of structure of the image processing part 200 of the relevant present embodiment 2 of expression.As shown in the drawing, this image processing part 200 has storage part 110 and control part 220.
The control part of the processing of the radioscopic image data of obtaining from X ray test section 2 is controlled in the control that control part 220 is based on systems control division 9, as structure related to the present invention, has three-dimensional vessel centerline extraction unit 121, three-dimensional blood vessel extraction unit 122, three-dimensional is inferred normal blood vessels inwall extraction unit 123, three-dimensional speckle zone calculating part 124, para-position information calculations and MIP image making portion 225, speckle depth frame preparing department 126, speckle depth information overlap shows the MIP image making 227a of portion, have the 227b of radioscopic image preparing department that speckle depth information overlap shows the MIP image, with the radioscopic image display part 228 that has speckle depth information overlap demonstration MIP image.
Para-position information calculations and MIP image making portion 225 obtain the para-position parameter of the needed projecting direction of image, position and the amplification of making radioscopic image same projection direction, position and the amplification preserved with radioscopic image preservation portion 112 respectively, make MIP treatment of picture portion based on obtained location parameter again from the three-dimensional data of being preserved by three-dimensional data preservation portion 111.
For example, this para-position information calculations and MIP image making portion 225 make the MIP image by obtaining the para-position parameter with the para-position information calculations portion 125 of explanation in embodiment 1 same method.
Speckle depth information overlap shows that the MIP image making 227a of portion is the handling part that is produced on the two dimensional image that forms behind the overlapping speckle depth frame of being made by speckle depth frame preparing department 126 on the MIP image of being made by para-position information calculations and MIP image making portion 225 (below be called " speckle depth information overlap shows the MIP image ").
Have the 227b of radioscopic image preparing department that speckle depth information overlap shows the MIP image and be and obtain the radioscopic image preserved by radioscopic image preservation portion 112, will show that speckle depth information overlap that the MIP image making 227a of portion makes shows that the MIP image dwindle and overlap the handling part of two dimensional image on the position (for example bottom right) of the regulation on this radioscopic image (below be called " having the radioscopic image that speckle depth information overlap shows the MIP image ") by speckle depth information overlap.
The radioscopic image display part 228 that has speckle depth information overlap demonstration MIP image is the handling parts that will be presented at by the radioscopic image that has speckle depth information overlap demonstration MIP image that the 227b of radioscopic image preparing department that has speckle depth information overlap demonstration MIP image makes on the display part 7.
Then, the processing sequence to the image processing part 200 of relevant present embodiment 2 describes.Figure 10 is the flow chart of processing sequence of the image processing part 200 of the relevant present embodiment 2 of expression.As shown in the drawing, in this image processing part 200, before PCI treatment, at first carry out the processing same (step S201～S204) with step S101 shown in Figure 7～S104.
Then, in the PCI treatment, para-position information calculations and MIP image making portion 225 obtain the para-position parameter (step S205) of the needed projecting direction of image, position and the amplification of making radioscopic image same projection direction, position and the amplification preserved with radioscopic image preservation portion 112 respectively from the three-dimensional data of being preserved by three-dimensional data preservation portion 111, make MIP image (step S206) based on obtained location parameter again.
Then, the three-dimensional plaque region numeric field data that calculates based on the three-dimensional vessel centerline data that generate by three-dimensional vessel centerline extraction unit 121, by three-dimensional speckle zone calculating part 124 of speckle depth frame preparing department 126 and make speckle depth frame (step S207) by the para-position parameter that para-position information calculations and MIP image making portion 225 obtain.
Follow, speckle depth information overlap shows that the MIP image making 227a of portion is produced on the speckle depth information overlap that forms behind the overlapping speckle depth frame by 126 making of speckle depth frame preparing department on the MIP image of being made by para-position information calculations and MIP image making portion 225 and shows MIP image (step S208) again.
Then, the 227b of radioscopic image preparing department that has speckle depth information overlap demonstration MIP image obtains the radioscopic image of being preserved by radioscopic image preservation portion 112, and the radioscopic image (step S209) that has speckle depth information overlap demonstration MIP image that forms on the position of the regulation on this radioscopic image will be dwindled and overlap to making by the speckle depth information overlap demonstration MIP image that the speckle depth information overlap demonstration MIP image making 227a of portion makes.
Then, having the radioscopic image display part 228 that speckle depth information overlap shows the MIP image will be had the radioscopic image that speckle depth information overlap shows the MIP image and be presented at (step S210) on the display part 7 by what have that the 227b of radioscopic image preparing department that speckle depth information overlap shows the MIP image makes.
As mentioned above, in present embodiment 2, in the PCI treatment, para-position information calculations and MIP image making portion 225 obtain the para-position parameter of projecting direction, position and amplification respectively, make the MIP image based on obtained location parameter again.Then, speckle depth information overlap shows that the MIP image making 227a of portion is produced on the speckle depth information overlap that forms behind the overlapping speckle depth frame by 126 making of speckle depth frame preparing department on the MIP image of being made by para-position information calculations and MIP image making portion 225 and shows the MIP image.
Follow again, have the 227b of radioscopic image preparing department that speckle depth information overlap shows the MIP image and make speckle depth information overlap is shown that the MIP image dwindles and overlaps the radioscopic image that speckle depth information overlap shows the MIP image that has that forms on the position of the regulation on the radioscopic image.Then, having radioscopic image display part 228 that speckle depth information overlap shows the MIP image will have the radioscopic image that speckle depth information overlap shows the MIP image and be presented on the display part 7.
By above structure, in present embodiment 2, show the information of closing depth the visuognosis by not hindering the X photographed images, operator can easily be judged the suitable direction of rotation of seal wire when seal wire is advanced in blood vessel.In addition, can support operator, so that can seal wire be advanced in blood vessel with not injuring speckle.
In addition, in the foregoing description 1 and 2, change than more close preceding speckle zone of vessel centerline and the demonstration of more leaning on the speckle zone of lining by changing color, but the present invention is not limited to this, for example also can change pattern.
In the foregoing description 1 and 2, the situation of information of position that X ray angiography device is shown the depth direction at expression vascular lesion position (speckle) is illustrated, and below, as embodiment 3, the situation of the information of the direct of travel that shows the expression blood vessel is described.
At first, the notion that the blood vessel direction of travel information of the X ray angiography device of relevant present embodiment 3 is shown describes.The X ray angiography device of relevant present embodiment 3 is before the PCI treatment, based on the three-dimensional data (3 d image data) that the CT image of being taken by X ray CT (computer tomography) device in advance obtains, generate the three-dimensional vessel centerline of the centrage of expression shooting object blood vessel.Then, in the PCI treatment, X ray angiography device is based on the positional information of the relevant three-dimensional vessel centerline that generates before treatment, and making makes the blood vessel direction of travel information image of the demonstration variation of this blood vessel with the direct of travel of expression blood vessel.
Figure 11 is the figure that is used for illustrating the notion that the blood vessel direction of travel information of the X ray angiography device of relevant present embodiment 3 shows.As shown in the drawing, for example, X ray angiography device is made according to being in along projecting direction and nearby still is in the blood vessel travel information image that the inboard makes the change color of blood vessel.And X ray angiography device is as shown in the drawing, and the blood vessel travel information doubling of the image of producing is presented on the radioscopic image.
Like this, in the X ray angiography device of relevant present embodiment 3, owing to will nearby still be positioned at overlapping being presented on the radioscopic image of blood-vessel image that the inboard makes change color according to being positioned at, so operator can easily be grasped the direct of travel of blood vessel along projecting direction.That is, in the X ray angiography device of relevant present embodiment 3, by the information of the direct of travel of representing blood vessel is provided, operator can easily be judged the suitable direction of rotation of seal wire.
In addition, as shown in the drawing, the X ray angiography device of relevant present embodiment 3 also shows the graph image (three-dimensional arrow) of the preceding extreme direction of representing seal wire, reaches the graph image (three-dimensional arrow) of the direct of travel of the blood vessel on the front position of representing seal wire.In addition, surpassed in the size of the relative angle between the preceding extreme direction of the direct of travel of the blood vessel at the front position place of seal wire and seal wire about the X ray angiography device of present embodiment 3 under the situation of threshold value of regulation, also will urge the warning of the rotation of seal wire to be presented on the radioscopic image.
Then, the structure to the X ray angiography device of relevant present embodiment 3 describes.In addition, basically the structure with shown in Figure 2 is identical about the structure of the X ray angiography device of present embodiment 3, owing to have only the details difference of image processing part, so here the structure and the processing sequence of the image processing part of relevant present embodiment 3 described.
Figure 12 is the functional block diagram of structure of the image processing part 300 of the relevant present embodiment 3 of expression.As shown in the drawing, image processing part 300 has seal wire position sensor 310, warning tones efferent 320, storage part 330 and control part 340.
Seal wire position sensor 310 is mounted in the position sensor on the front end of seal wire, detect seal wire front position and before extreme direction.
Warning tones efferent 320 is devices of output alarm tone under the situation of the threshold value that surpassed regulation of the relative angle at the preceding extreme direction of the blood vessel direct of travel at the front position place of seal wire and seal wire.
Storage part 330 is to preserve the needed data of various processing of control part 340 and the preservation mechanism of program.This storage part 330 has radioscopic image preservation portion 331, three-dimensional data preservation portion 332 and seal wire position/orientation information storing section 333.
Radioscopic image preservation portion 331 is storage parts of preserving the radioscopic image of the heart area of being made a video recording by X ray angiography device.In this radioscopic image preservation portion 331, in the PCI treatment, collect and preserve radioscopic image at a certain time interval in real time.In addition, at radioscopic image by I.I. (Image Intensifier: image intensifier) under She Xiang the situation, need revise the distortion of the image of I.I. in real time.
Three-dimensional data preservation portion 332 preserves by X ray CT device to carry out coronarography and the storage part of the three-dimensional data of the image of the heart area taken.In this three-dimensional data preservation portion 332, before PCI treatment, preserve in advance the three-dimensional data of the image of taking by X ray CT device.
Seal wire position/orientation information storing section 333 is to preserve expression is reached the information of preceding extreme direction by the front position of seal wire position sensor 310 detected seal wires storage part.The expression front position of preserving and before the information of extreme direction be transformed the coordinate system of the three-dimensional data that obtains from three-dimensional data preservation portion 332.
The control part of the processing of the radioscopic image data of obtaining from X ray test section 2 is controlled in the control that control part 340 is based on systems control division 9.This control part 340 has para-position information calculations portion 341, three-dimensional vessel centerline extraction unit 342, three-dimensional blood vessel extraction unit 343, direction difference calculating/warning judging part 344, blood vessel direction of travel information image making portion 345, seal wire directional information image making portion 346, warning display image preparing department 347, blood vessel direction of travel information demonstration radioscopic image preparing department 348 and blood vessel direction of travel information and shows radioscopic image display part 349.
Para-position information calculations portion 341 is handling parts of obtaining the para-position parameter of the needed projecting direction of image, position and the amplification of making radioscopic image same projection direction, position and the amplification preserved with radioscopic image preservation portion 331 from the three-dimensional data of being preserved by three-dimensional data preservation portion 332 respectively.
Here, suppose that para-position information calculations portion 341 obtains each para-position parameter from systems control division 9.In addition, the coordinate system that becomes the benchmark of these parameters that coordinate system and the incidental information that becomes as the X ray CT image of benchmark of each location parameter of the projecting direction obtained, position, amplification obtain here equates or can 1 pair 1 ground conversion.
Three-dimensional vessel centerline extraction unit 342 be based on the three-dimensional data of preserving by three-dimensional data preservation portion 332 CT value, generate the handling part that the data of the centrage coronarius that PCI treats (below be called " three-dimensional vessel centerline data ") are carried out in expression.
Particularly, three-dimensional vessel centerline extraction unit 342 is generated as three-dimensional dot array data with three-dimensional vessel centerline data.In addition, as with the data structure and the generating algorithm that generate these three-dimensional vessel centerline data, use for example data structure and the generating algorithm of the known technologies such as technology of record in patent documentation 1.
The handling part of the data that three-dimensional blood vessel extraction unit 343 is based on the CT value of the three-dimensional data of being preserved by three-dimensional data preservation portion 332 and the three-dimensional vessel centerline that is generated by three-dimensional vessel centerline extraction unit 342, generate the relevant vessel centerline of expression blood vessel on every side (below be called " three-dimensional blood vessel data ").
Particularly, three-dimensional blood vessel extraction unit 343 is generated as three-dimensional dot array data with three-dimensional blood vessel data.In addition, as with the data structure and the generating algorithm that generate these three-dimensional blood vessel data, use for example data structure and the generating algorithm of the known technologies such as technology of record in patent documentation 1.
Direction difference calculating/warning judging part 344 is to judge whether the size of the relative angle between the preceding extreme direction of the direct of travel of blood vessel at front position place of seal wire and seal wire surpasses the handling part of the threshold value of regulation.Particularly, direction difference calculating/warning judging part 344 reaches preceding extreme direction based on the front position that the three-dimensional vessel centerline data that generated by three-dimensional vessel centerline extraction unit 342 reach by seal wire position sensor 310 detected seal wires, the relative angle between the direct of travel of the blood vessel at the front position place of calculating seal wire and the preceding extreme direction of seal wire.
And direction difference calculating/warning judging part 344 judges that whether the size of the relative angle that calculates has surpassed the threshold value of regulation (for example 45 degree), is being judged as under the situation about surpassing control warning tones efferent 320 output alarm tones.
Here, the example to the method for the direct of travel of the blood vessel at the front position place of calculating seal wire describes.Figure 13 is the figure of an example of method of direct of travel that is used for illustrating the blood vessel at the front position place of calculating seal wire.As shown in the drawing, for example direction difference calculating/warning judging part 344 is drawn under the situation of vertical line in the front position from seal wire to three-dimensional vessel centerline, calculate with the position that connects the intersection point between this vertical line and the three-dimensional vessel centerline and left the direction of the defined vector of line segment of the position of predetermined distance (for example preceding 1cm) from this intersection point, as the direct of travel of blood vessel.
Three-dimensional blood vessel data and the para-position parameter (projecting direction, position and amplification) that obtains by para-position information calculations portion 341 that blood vessel direction of travel information image making portion 345 is based on the three-dimensional vessel centerline data that generated by three-dimensional vessel centerline extraction unit 342, generated by three-dimensional blood vessel extraction unit 343, make the blood vessel direction of travel information treatment of picture portion that the demonstration that makes this blood vessel changes the direct of travel of representing blood vessel.
Particularly, blood vessel direction of travel information image making portion 345 carries out under the situation of projection in the para-position parameter that obtains based on para-position information calculations portion 341 to three-dimensional vessel centerline, position according to the existence of the each point on this three-dimensional vessel centerline, making is painted and to make zone in addition be the two-dimensional graphical image that colourless back forms with two-dimentional vessel centerline and two-dimentional angiosomes (by the blood vessel area surrounded that three-dimensional blood vessel data projection is obtained), as blood vessel direction of travel information image.
Here, the two-dimensional graphical image of making as blood vessel direction of travel information image is to represent 32 colours (RGBA (Red-Green-Blue-Alpha)) image of color by the combination of R value (red), G-value (green), B value (indigo plant), A value (transparency).And, blood vessel direction of travel information image making portion 345 is in blood vessel travel information image, and the pixel for reaching on the two-dimentional vessel centerline on the two-dimentional angiosomes is made as 128 (translucent) with the A value, pixel in addition zone is made as 0 (transparent) with the A value.
In addition, blood vessel direction of travel information image making portion 345 is by the set positions that exists according to the each point on the three-dimensional vessel centerline rgb value corresponding to the pixel of each point, is projected in the two-dimentional vessel centerline on the blood vessel direction of travel information image and the painted processing of two-dimentional angiosomes.As the method for painted processing used herein, 3 methods shown below are for example arranged.In addition, here the painted of two-dimentional vessel centerline is illustrated, but in present embodiment 3, the blood vessel institute area surrounded that 345 pairs of three-dimensional blood vessel data projections of blood vessel direction of travel information image making portion obtain is two-dimentional angiosomes, also similarly carries out painted with two-dimentional vessel centerline.
(A) based on the painted processing of relative distance
For example, blood vessel direction of travel information image making portion 345 according to the position along the three-dimensional vessel centerline of projecting direction, changes the rgb value of two-dimentional vessel centerline in blood vessel direction of travel information image.In the case, particularly, blood vessel direction of travel information image making portion 345 makes the pixel that is present in nearby for red on projecting direction, makes to be present in inboard pixel for blue.
Figure 14 is the figure that is used for illustrating based on the painted processing of the two-dimentional vessel centerline of relative distance.As shown in the drawing, if the pixel of for example establishing on the two-dimentional vessel centerline in the blood vessel direction of travel information image is n, point corresponding to pixel n on three-dimensional vessel centerline is pn, the point that is on projecting direction the most nearby is pmin, being in the most inboard point on projecting direction is pmax, and the distance of establishing on the projecting direction point pn is dn, distance to some pmin is dmin, distance to some pmax is dmax, and then blood vessel direction of travel information image making portion 345 is based on the rgb value of the pixel n on the two-dimentional vessel centerline in formula shown below (1) the decision blood vessel direction of travel information image.
(R，G，B)＝(255×(dmax-dn)/(dmax-dmin)，0，255×(dn-dmin)/(dmax-dmin))
……(1)
In addition, for dmin in the above-mentioned variable and dmax, also can be set by the user value arbitrarily respectively.
(B) based on the painted processing of tilting
Perhaps, for example blood vessel direction of travel information image making portion 345 according to the inclination of three-dimensional vessel centerline with respect to projecting direction, changes the rgb value of two-dimentional vessel centerline in blood vessel direction of travel information image.In the case, particularly, the pixel that blood vessel direction of travel information image making portion 345 makes the blood vessel direct of travel approach projecting direction (the inboard direction of picture) is blueness, and the pixel that makes the opposite direction (picture is direction nearby) that approaches projecting direction is for red.
Figure 15 is the figure that is used for illustrating based on the painted processing of the two-dimentional vessel centerline that tilts.As shown in the drawing, for example on three-dimensional vessel centerline, if establishing from the point of the distance (for example 1cm) of leaving regulation corresponding to the some pn of above-mentioned pixel n is pm and to establish unit vector by point of contact pn and the line segment definition of some pm be that the unit vector of vn, projecting direction is vproj, then blood vessel direction of travel information image making portion 345 is based on the rgb value of the pixel n on the two-dimentional vessel centerline in formula shown below (2) the decision blood vessel direction of travel information image.In addition, in formula (2), vnvproj represents the inner product of vector vn and vector vproj.
(R，G，B)＝(255×(1-vn·vproj)/2，0，255×(vn·vproj+1)/2) ……(2)
(C) based on the painted processing of curvature
Perhaps, for example blood vessel direction of travel information image making portion 345 according to three-dimensional blood vessel center curvature of a curve, changes the rgb value of two-dimentional vessel centerline in blood vessel direction of travel information image.In the case, particularly, blood vessel direction of travel information image making portion 345 makes and be redness under the curvature condition with higher that blood vessel is advanced, and is blue under lower situation.
Figure 16 is the figure that is used for illustrating based on the painted processing of the two-dimentional vessel centerline of curvature.As shown in the drawing, for example on three-dimensional vessel centerline, if establish the point that leaves predetermined distance (for example 1cm) from some pn and be p1, be pm to the point that leaves predetermined distance with a p1 rightabout from a pn corresponding to above-mentioned pixel n, and establish unit vector by point of contact pn and the line segment definition of some p1 and be v1, be vn by the unit vector of point of contact pn and the line segment definition of some pm, then blood vessel direction of travel information image making portion 345 is based on the rgb value of the pixel n on the two-dimentional vessel centerline in formula shown below (3) the decision blood vessel direction of travel information image.In addition, in formula (3), v1vn represents the inner product of vector v1 and vector vn.
(R，G，B)＝(255×(1-v1·vn)/2，0，255×(v1·vn+1)/2) ……(3)
In addition, in said method, will be made as redly, blue corresponding to the color of lower limit, the upper limit respectively, but color of lower limit, the upper limit (rgb value) and transparency (A value) also can freely be set by the user respectively.
In addition, show or show simultaneously for using the two-dimentional vessel centerline of stating which the method demonstration blood vessel direction of travel information image in 3 bright methods, preferably can switching according to user's indication.Here, as the method that shows simultaneously, can consider the method for the vector that uses in the method for (B), (C) with the angle representations of three-dimensional arrow in the painted back of carrying out two-dimentional vessel centerline based on the method for (A) etc.
And then, the three-dimensional vessel centerline data that 345 uses of blood vessel direction of travel information image making portion are generated by three-dimensional vessel centerline extraction unit 342 reach the front position of the relevant seal wire of being preserved by seal wire position/orientation information storing section 333 and the information of preceding extreme direction, calculate the blood vessel direct of travel at the front position place of seal wire.
Here, the method for the blood vessel direct of travel at the front position place of calculating seal wire is identical with the method for using Figure 13 explanation.And blood vessel direction of travel information image making portion 345 makes the image of the blood vessel direct of travel that expression calculates, with the doubling of the image of producing on the blood vessel direction of travel information image of above-mentioned explanation.
Figure 17 A～Figure 17 D is the figure of expression by the intermediate image of image processing part 300 making of relevant present embodiment 3.Blood vessel direction of travel information image making portion 345 is for example shown in Figure 17 A, the blood vessel direct of travel at the front position place of seal wire is expressed as the graph image 15 of the three-dimensional arrow of projection under the condition of the para-position parameter that obtains by para-position information calculations portion 341 (projecting direction, position and amplification), this graph image 15 is overlapped on blood vessel direction of travel information image.
In addition, for example as patent documentation 1 described technology, if use and from three-dimensional data, to extract vessel centerline, blood vessel, infer the technology of normal blood vessels inwall etc., then also the depth information overlap of relevant endovascular narrow zone can be presented on the radioscopic image.In the case, for example as depth information, the graph image that can make diseased regions such as expression speckle etc. according to be than vessel centerline more close before or more change color, and overlapping being presented on the radioscopic image by the lining.
Like this, under the situation about in the painted demonstration of for example depth information of the narrow zone of relevant blood vessel is painted, the blood vessel direct of travel that adds above-mentioned explanation to, further showing, overlap that just show can (for example for the blood vessel direction of travel information with red～blue demonstration, use Huang～green demonstration etc. for narrow zone depth information) as long as change the color matching etc. on each color rank.
Seal wire directional information image making portion 346 be based on by the front position of seal wire position sensor 310 detected seal wires and before extreme direction, make the handling part of the image that expression is inserted in the preceding extreme direction of the seal wire in the blood vessel (below be called " seal wire directional information image ").
For example, seal wire directional information image making portion 346 is shown in Figure 17 B, be produced on the graph image 16 of the three-dimensional arrow of projection under the condition of the para-position parameter (projecting direction, position and amplification) that obtains by para-position information calculations portion 341, as seal wire directional information image.
Warning display image preparing department 347 is that the size at the relative angle between the preceding extreme direction of the direct of travel of the blood vessel at the front position place that is judged as seal wire by direction difference calculatings/warning judging part 344 and seal wire has surpassed the handling part that the direct of travel of the seal wire warning display image different with the blood vessel direct of travel warned in making under the situation of the threshold value of stipulating.
For example, warning display image preparing department 347 makes the warning that comprises the rotation that is used for urging seal wire and shows 12 warning display image shown in Figure 17 C.
The blood vessel direction of travel information shows that radioscopic image preparing department 348 is to obtain the radioscopic image that is kept in the radioscopic image preservation portion 331, and be produced on the overlapping respectively blood vessel direction of travel information image of making by blood vessel direction of travel information image making portion 345 on this radioscopic image, be used as the handling part that the blood vessel direction of travel information shows radioscopic image by the seal wire directional information image of seal wire directional information image making portion 346 making and the two dimensional image that forms by the warning display image of warning display image preparing department 347 to make.
For example, the blood vessel direction of travel information shows that radioscopic image preparing department 348 passes through each doubling of the image shown in 17A～Figure 17 C on radioscopic image, and blood vessel direction of travel information such shown in the construction drawing 17D shows radioscopic image.In addition, when making this blood vessel direction of travel information demonstration radioscopic image, the blood vessel direction of travel information shows radioscopic image preparing department 348 for will be synthetic as blood vessel direction of travel information image, seal wire directional information image and the warning display image of 32 coloured image, and 8 radioscopic image is transformed to 24 colours (RGB) image.
The blood vessel direction of travel information shows that radioscopic image display part 349 is to be shown that by the blood vessel direction of travel information blood vessel direction of travel information that radioscopic image preparing department 348 makes shows that radioscopic image is presented at the handling part on the display part 7.
In addition, here illustrated by overlapping demonstration blood vessel direction of travel information on radioscopic image and shown that radioscopic image shows the situation of direct of travel of blood vessel at the front position place of seal wire, and then, as the visual three-dimensionally mechanism of the blood vessel direct of travel of the seal wire front position that makes vessel branch portion, also can utilize the direct of travel of virtual endoscope (VE:Virtual Endoscopy) the graphical representation blood vessel of three-dimensional data.
Figure 18 is the figure that is used for illustrating the demonstration of the blood vessel direction of travel information under the situation of using virtual endoscopic images.As shown in the drawing, particularly, based on the front position of the relevant seal wire of preserving by seal wire position/orientation information storing section 333 and the information of preceding extreme direction, to be on the virtual endoscopic images of three-dimensional data of viewpoint corresponding to the position on the vessel centerline of seal wire front end and blood vessel direct of travel, show the front position of describing the expression seal wire and before the image of 3-D graphic (for example three-dimensional arrow) of extreme direction.This virtual endoscopic images for example shows that with the blood vessel direction of travel information radioscopic image shows side by side.
Then, the processing sequence to the image processing part 300 of relevant present embodiment 3 describes.Figure 19 is the flow chart of processing sequence of the image processing part 300 of the relevant present embodiment 3 of expression.As shown in the drawing, in image processing part 300, before the PCI treatment, at first, three-dimensional vessel centerline extraction unit 342 is based on the CT value of the three-dimensional data of being preserved by three-dimensional data preservation portion 332, the coronarius three-dimensional vessel centerline data of PCI treatment are carried out in generation, and three-dimensional blood vessel extraction unit 343 generates the three-dimensional blood vessel data (step S301) around the vessel centerline.
Then, in the PCI treatment, para-position information calculations portion 341 obtains the para-position parameter (step S302) made from the needed projecting direction of image, position and the amplification of radioscopic image same projection direction, position and the amplification preserved by radioscopic image preservation portion 331 respectively from the three-dimensional data of being preserved by three-dimensional data preservation portion 332.
In addition, on the other hand, direction difference calculating/warning judging part 344 judges whether the size of the relative angle between the preceding extreme direction of the direct of travel of blood vessel at front position place of seal wire and seal wire has surpassed the threshold value (step S303) of regulation.
Then, blood vessel direction of travel information image making portion 345 utilizes three-dimensional vessel centerline data that generated by three-dimensional vessel centerline extraction unit 342 and the para-position parameter that is obtained by para-position information calculations portion 341, makes blood vessel direction of travel information image (step S304).
In addition, seal wire directional information image making portion 346 makes the seal wire directional information image (step S305) that expression is inserted in the preceding extreme direction of the seal wire in the blood vessel based on front position and preceding extreme direction by seal wire position sensor 310 detected seal wires.
In addition, warning display image preparing department 347 has surpassed under the situation of the threshold value of stipulating in the size by the relative angle between the preceding extreme direction of the direct of travel of the blood vessel at the front position place of direction difference calculatings/warning judging part 344 judgement seal wires and seal wire, make the direct of travel warning display image (step S306) different of warning seal wire with the blood vessel direct of travel, and then, warning tones efferent 320 output alarm tones (step S307).
Then, the blood vessel direction of travel information shows that radioscopic image preparing department 348 obtains the radioscopic image that is kept in the radioscopic image preservation portion 331, is produced on the overlapping respectively blood vessel direction of travel information image by 345 making of blood vessel direction of travel information image making portion on this radioscopic image, shows radioscopic image (step S308) by the seal wire directional information image of seal wire directional information image making portion 346 making and the blood vessel direction of travel information that is formed by the warning display image of warning display image preparing department 347 to make.
Then, the blood vessel direction of travel information shows that radioscopic image display part 349 will show that the blood vessel direction of travel information that radioscopic image preparing department 348 makes shows that radioscopic image is presented at (step S309) on the display part 7 by the blood vessel direction of travel information.
As mentioned above, according to present embodiment 3, three-dimensional vessel centerline extraction unit 342 based on the three-dimensional data that obtains, generates the three-dimensional vessel centerline of the centrage of expression shooting object blood vessel from the image of X ray CT device shooting before the PCI treatment.
In addition, in the PCI treatment, blood vessel direction of travel information image making portion 345 is based on the positional information of the relevant three-dimensional vessel centerline that is generated by three-dimensional vessel centerline extraction unit 342, make make projection should the three-dimensional vessel centerline the demonstration of two-dimentional vessel centerline change the blood vessel direction of travel information image of the direct of travel of representing blood vessel.And the blood vessel direction of travel information shows that the blood vessel direction of travel information doubling of the image that radioscopic image display part 349 will be made by blood vessel direction of travel information image making portion 345 is on the radioscopic image and be presented on the display 7.
Thereby according to present embodiment 3, by the information of the direct of travel of representing blood vessel is provided, operator can easily be judged the suitable direction of rotation of seal wire.In addition, seal wire is advanced smoothly, so can realize that the time of modus operandi shortens and precision improves owing to operator can cooperate the direct of travel of blood vessel.
In addition, according to present embodiment 3, seal wire position sensor 310 detects front position and the preceding extreme direction that is inserted into the seal wire in the blood vessel.And, the positional information of extreme direction and relevant three-dimensional vessel centerline before blood vessel direction of travel information image making portion 345 reaches based on the front position by seal wire position sensor 310 detected seal wires, make the graph image 15 of the blood vessel direct of travel at the front position place that represents seal wire, the graph image of making 15 is overlapped on the blood vessel direction of travel information image.Thereby according to present embodiment 3, which direction bending operator can easily grasp the target place blood vessel of advancing at seal wire to.
In addition, according to present embodiment 3, seal wire directional information image making portion 346 makes the graph image 16 of the preceding extreme direction of expression seal wire based on front position and preceding extreme direction by seal wire position sensor 310 detected seal wires.And the blood vessel direction of travel information shows that radioscopic image display part 349 will be by graph image 16 further overlapping being presented on the radioscopic image of seal wire directional information image making portion 346 making.Thereby according to present embodiment 3, which direction operator can easily grasp front end at intravascular guidewire towards.
In addition, according to present embodiment 3, direction difference calculating/warning judging part 344 based on the positional information of the relevant three-dimensional vessel centerline that generates by three-dimensional vessel centerline extraction unit 342 and by the front position of seal wire position sensor 310 detected seal wires and before extreme direction, relative angle between the blood vessel direct of travel at the front position place of calculating seal wire and the preceding extreme direction of seal wire judges whether the size of the relative angle that calculates has surpassed the threshold value of regulation.And, having surpassed under the situation of threshold value in the size that is judged as relative angle by direction difference calculating/warning judging part 344, warning display image preparing department 347 makes the warning display image, and then, warning tones efferent 320 output alarm tones.Thereby, according to present embodiment 3, under the situation that the direct of travel of the direct of travel of blood vessel and seal wire misplaces significantly, operator is noticed need be made the seal wire rotation.
In the foregoing description 3, the situation that the doubling of the image of blood vessel direction of travel information is presented on the radioscopic image is illustrated, but the blood vessel at treatment target is under the situations such as shape of complexity, is difficult to observe because of blood vessel direction of travel information image becomes radioscopic image sometimes.So, below, as embodiment 4, illustrate to make the blood vessel direction of travel information to be superimposed upon the image that forms on the MIP image of three-dimensional data and with this image and the radioscopic image situation of demonstration side by side.
At first, the notion that the blood vessel direction of travel information of the X ray angiography device of relevant present embodiment 4 is shown describes.Figure 20 is the figure that is used for illustrating the notion that the blood vessel direction of travel information of the X ray angiography device of relevant present embodiment 4 shows.X ray angiography device with respect to relevant embodiment 3 is presented at the doubling of the image of blood vessel direction of travel information on the radioscopic image, the X ray angiography device of relevant present embodiment 4 as shown in figure 20, generation forms the doubling of the image of blood vessel direction of travel information at the MIP of the three-dimensional data that obtains from CT image image image, this image is dwindled, be presented on the radioscopic image side by side.
Like this, the X ray angiography device of relevant present embodiment 4 changes the image that the blood vessel direction of travel information doubling of the image of the direct of travel of representing blood vessel forms with the demonstration of two-dimentional vessel centerline that the projection three-dimensional vessel centerline is formed and is presented on the radioscopic image side by side in PCI treatment on the MIP image.Thus, in the X ray angiography device of relevant present embodiment 4, by the information of the direct of travel of representing blood vessel is provided with not hindering the radioscopic image visuognosis, even at the treatment target blood vessel is that operator also can easily be judged the suitable direction of rotation of seal wire under the situation of complicated shape.
Then, the structure to the X ray angiography device of relevant present embodiment 4 describes.Basically the structure with shown in Figure 2 is identical about the structure of the X ray angiography device of present embodiment 4, has only the details difference of image processing part, so here the structure and the processing sequence of the image processing part of relevant present embodiment 4 described.In addition, here, for convenience of explanation, give identical label for performance with the function portion of each shown in Figure 12 same effect, and omit detailed explanation.
Figure 21 is the functional block diagram of structure of the image processing part 400 of the relevant present embodiment 4 of expression.As shown in the drawing, image processing part 400 has seal wire position sensor 310, warning tones efferent 320, storage part 330 and control part 440.
Control part 440 is based on the control part of the processing of the control of systems control division 9, radioscopic image data that control is obtained from X ray test section 2.This control part 440 has para-position information calculations and MIP image making portion 441, three-dimensional vessel centerline extraction unit 342, three-dimensional blood vessel extraction unit 343, direction difference calculating/warning judging part 344, blood vessel direction of travel information image making portion 345, seal wire directional information image making portion 346, warning display image preparing department 347, the blood vessel direction of travel information shows the MIP image making 448a of portion, having the blood vessel direction of travel information shows the 448b of radioscopic image preparing department of MIP image and has the radioscopic image display part 449 that the blood vessel direction of travel information shows the MIP image.
Para-position information calculations and MIP image making portion 441 obtain making respectively with the para-position parameter of the needed projecting direction of image, position and the amplification of radioscopic image equidirectional, position and the amplification preserved by radioscopic image preservation portion 331, again based on obtained location parameter making MIP treatment of picture portion from the three-dimensional data that three-dimensional data preservation portion 332 preserves.
For example, this para-position information calculations and MIP image making portion 441 make the MIP image by obtaining the para-position parameter with the para-position information calculations portion 341 of explanation in embodiment 3 same method.
The blood vessel direction of travel information shows that the MIP image making 448a of section is the respectively overlapping blood vessel direction of travel information image of being made by blood vessel direction of travel information image making section 345, the seal wire directional information image of being made by seal wire directional information image making section 346 and show that by warning the warning that image making section 347 makes shows that the two dimensional image that image forms is used as the handling part that the blood vessel direction of travel information shows the MIP image on the MIP image of being produced by contraposition information calculations and MIP image making section 441.
Have the 448b of radioscopic image preparing department that the blood vessel direction of travel information shows the MIP image and be obtain the radioscopic image that is kept in the radioscopic image preservation portion 331, make will by the blood vessel direction of travel information show that blood vessel direction of travel information that the MIP image making 448a of portion makes shows that the MIP image dwindle and this radioscopic image on the two dimensional image that forms be used as having the handling part that the blood vessel direction of travel information shows the radioscopic image of MIP image.
The radioscopic image display part 449 that has blood vessel direction of travel information demonstration MIP image is the handling parts that will be presented at by the radioscopic image that has blood vessel direction of travel information demonstration MIP image that the 448b of radioscopic image preparing department that has blood vessel direction of travel information demonstration MIP image makes on the display part 7.
Then, the processing sequence to the image processing part 400 of relevant present embodiment 4 describes.Figure 22 is the flow chart of processing sequence of the image processing part 400 of the relevant present embodiment 4 of expression.As shown in the drawing, in image processing part 400, before the PCI treatment, at first carry out the processing same (step S401) with step S301 shown in Figure 19.
Then, in PCI treatment, carry out the processing same (step S402～S404) with step S302 shown in Figure 19～S304.Except these were handled, para-position information calculations and MIP image making portion 441 made MIP image (step S405) based on the location parameter of obtaining from the three-dimensional data of being preserved by three-dimensional data preservation portion 332.And then, carry out the processing same (step S406～S408) with step S305 shown in Figure 19～S307.
Then, the blood vessel direction of travel information shows that the MIP image making 448a of portion is produced on the overlapping respectively blood vessel direction of travel information image by 345 making of blood vessel direction of travel information image making portion on the MIP image of being made by para-position information calculations and MIP image making portion 441, shows MIP image (step S409) by the seal wire directional information image of seal wire directional information image making portion 346 making with by the blood vessel direction of travel information that forms behind the warning display image of warning display image preparing department 347 to make.
Then, the 448b of radioscopic image preparing department that has blood vessel direction of travel information demonstration MIP image obtains the radioscopic image that is kept in the radioscopic image preservation portion 331, and the radioscopic image (step S410) that has blood vessel direction of travel information demonstration MIP image that forms on this radioscopic image will be dwindled and be listed in to making by the blood vessel direction of travel information demonstration MIP image that the blood vessel direction of travel information demonstration MIP image making 448a of portion makes.
Then, having the radioscopic image display part 449 that the blood vessel direction of travel information shows the MIP image will be had the radioscopic image that the blood vessel direction of travel information shows the MIP image and be presented at (step S411) on the display part 7 by what have that the 448b of radioscopic image preparing department that the blood vessel direction of travel information shows the MIP image makes.
As mentioned above, according to present embodiment 4, para-position information calculations and MIP image making portion 441 make the MIP image of blood vessel based on three-dimensional data.In addition, the blood vessel direction of travel information shows that the blood vessel direct of travel that the MIP image making 448a of portion is produced on the overlapping blood vessel direction of travel information image of being made by blood vessel direction of travel information image making portion 345 on 3 D rendering (rendering) image of being made by para-position information calculations and MIP image making portion 441 shows the MIP image.
In addition, have the 448b of radioscopic image preparing department that the blood vessel direction of travel information shows the MIP image make will by the blood vessel direction of travel information show that blood vessel direction of travel information that the MIP image making 448a of portion makes shows that the MIP image dwindle and with this radioscopic image radioscopic image that has blood vessel direction of travel information demonstration MIP image of forming of back side by side.And the radioscopic image display part 449 that has blood vessel direction of travel information demonstration MIP image will be presented on the display part 7 by the radioscopic image that has blood vessel direction of travel information demonstration MIP image that the 448b of radioscopic image preparing department that has blood vessel direction of travel information demonstration MIP image makes.
Thereby, according to present embodiment 4, by the information of direct of travel of expression blood vessel is provided with not hindering the radioscopic image visuognosis, even be that operator also can easily be judged the suitable direction of rotation of seal wire under the situation of complicated shape at the treatment target blood vessel.
In addition, in embodiment 1 and 3, illustrated that para-position information calculations portion 125 or 341 obtains the situation of para-position parameter (projecting direction, position and amplification) from systems control division 9, but the method that obtains the para-position parameter is not limited to this, also can use additive method.Following explanation obtains the additive method of para-position parameter, but the algorithm of the para-position of expression is an example here, also can use other general method.
For example, can not obtain under the situation of para-position parameter, also can use the user interface of regulation to make the user set projecting direction, based on this projecting direction calculating location and amplification from systems control division 9.
Figure 23 A and Figure 23 B are the figure of an example of the expression user interface that is used for setting projecting direction.For example, para-position information calculations portion 125 or 341 is shown in Figure 23 A, radioscopic image 13 is presented on the display part 7, and then, shown in Figure 23 B, (Maximum IntensityProjection: the maximum projection) image 14 is presented on the display part 7, accepts operation to MIP image 14 via mouse of operating portion 8 etc. from the user with the MIP of three-dimensional data.
And if the user utilizes mouse etc. to pull MIP image 14, then para-position information calculations portion 125 or 341 draws according to this operation, makes the rotation of MIP image.Thus, make MIP image rotation become the projecting direction identical, set the projecting direction of MIP image 14 with radioscopic image 13.
Be set by the user after the projecting direction of MIP image 14, para-position information calculations portion 125 or 341 cooperates radioscopic image 13 to set the position and the amplification of MIP image 14.Particularly, at first, with radioscopic image based on brightness value, the radiography angiosomes of binaryzation value of serving as reasons " 1 " expression and by the zone in addition of value " 0 " expression.Turn to two threshold values when regional as two-value, for example under the scope of brightness value is 0～255 situation, than 128 little zone values of being made as " 1 " (radiography angiosomes), is zone be made as value " 0 " (in addition zone) 128 or more with brightness value with brightness value.
Here, suppose that the radioscopic image after the binaryzation is f 1(x, y).Figure 24 is the figure that is used for illustrating the binaryzation of radioscopic image.As shown in the drawing, be f establishing radioscopic image 1(x is under situation y), with radiography angiosomes f 1(x, y)=1 expression is with zone f in addition 1(x, y)=0 expression.
Then, para-position information calculations portion 125 or 341 is produced on the MIP image under the situation of projection three-dimensional data on the projecting direction that is set by the user, with the MIP image made and radioscopic image binaryzation similarly.Turning to two threshold values when regional as two-value, for example is the zone value of being made as " 1 " (radiography angiosomes) more than 128 with the CT value, with the CT value than 128 little zone values of being made as " 0 " (zone in addition).Here, the MIP image of establishing after the binaryzation is f 2(x, y).
Then, the binary image f that is used for radioscopic image calculates in para-position information calculations portion 125 or 341 1(x is y) with the binary image f of MIP image 2(x, y) the parallel amount of movement and the amplification of para-position.Here, with f 1(x, y) and f 2(x, y) correlation function between is represented with the formula (4) shown in following.
r ( l , m , s ) = 1 N 2 Σ x = - N / 2 N / 2 - 1 Σ y = - N / 2 N / 2 - 1 f 1 ( x , y ) · f 2 ( ( x + 1 ) / s , ( y + m ) / s ) · · · ( 4 )
In this correlation function, (l, m s) become maximum (l, m, group (l s) to calculate r 1, m 1, s 1), if with (l 1, m 1) for the binary image f of the former MIP image of naming a person for a particular job 2(x y) is enlarged into s 1Doubly, then can make the binary image f of MIP image 2(x is y) with the binary image f of radioscopic image 1(x, y) para-position.The parallel amount of movement and the amplification of MIP image calculates by carrying out this calculating in para-position information calculations portion 141.
More than, by projecting direction, parallel amount of movement and the amplification of decision MIP image, para-position information calculations portion 125 or 341 can calculate respectively in order to make the para-position parameter with the needed projecting direction of image, position and the amplification of radioscopic image same projection direction, position and amplification.
In addition, in above-mentioned example, the situation of the user manually being set projecting direction is illustrated, but also can expand correlation function by the variable that appends the expression projecting direction in the variable of formula (4).In the case, also can determine projecting direction by binaryzation, the user can save the operation by manual setting.
Perhaps, para-position information calculations portion 125 or 341 also can generate two-dimentional vessel centerline data according to radioscopic image, the para-position parameter is calculated in non-linear para-position between the two-dimensional projection data of two-dimentional vessel centerline data that generate again and the three-dimensional vessel centerline data extracted by three-dimensional vessel centerline extraction unit 121 or 342.Thus, can improve the synthetic of the radioscopic image that undertaken by speckle depth frame preparing department 126 and speckle depth frame and show the radioscopic image that radioscopic image preparing department 348 carries out and the synthetic precision of blood vessel direction of travel information image by the blood vessel direction of travel information.
Perhaps, also can be after collecting 1 kinemic a plurality of volume datas the sequential from X ray CT device and being kept at three-dimensional data preservation portion 111 or 332, each volume data is implemented the order of step S101～S104 shown in Figure 7 or the order of step S301 shown in Figure 10, the volume data of the heartbeat phase place same phase when wherein selecting to collect with radioscopic image is as the object of the para-position of para-position information calculations portion 125 or 341.Thus, can further improve the synthetic of the radioscopic image that undertaken by speckle depth frame preparing department 126 and speckle depth frame and show the radioscopic image that radioscopic image preparing department 348 carries out and the synthetic precision of blood vessel direction of travel information image by the blood vessel direction of travel information.
In addition, in embodiment 2 and 4, para-position information calculations and MIP image making portion 225 or 441 also can obtain the para-position parameter by the method for above explanation.
In addition, in the foregoing description 1～4, illustrated that X ray angiography device shows any the situation in the information of direct of travel of the information of position of depth direction at expression vascular lesion position (speckle) or expression blood vessel.But the present invention is not limited to this, for example also can show speckle depth frame and blood vessel travel information image side by side respectively with radioscopic image.
In addition, for example also can X ray angiography device also possess to make and be orthogonal to the cross-sectional image of three-dimensional vessel centerline or above-mentioned radioscopic image or the orthogonal image preparing department that the 3 D rendering image is used as orthogonal image, and will show side by side by orthogonal image and the radioscopic image that orthogonal image preparing department makes based on three-dimensional data.Figure 25 is the figure that expression shows the example that the picture under the situation of orthogonal image shows.
For example, orthogonal image preparing department also can be based on the three-dimensional data that is kept in three-dimensional data preservation portion 111 or 332, (Multi-Planar Reconstruction: multiplanar reconstruction) cross-sectional image, virtual endoscope (VE:Virtual Endoscopy) image, volume drawing (VR:VolumeRendering) image that is orthogonal to radioscopic image are radioscopic image quadrature VR image etc., as orthogonal image to make the MPR of the vessel centerline be orthogonal to the seal wire front position respectively.
And, for example speckle depth information overlap shows radioscopic image display part 128, has radioscopic image display part 228, blood vessel direction of travel information that speckle depth information overlap shows the MIP image and show radioscopic image display part 349 or have radioscopic image display part 449 that the blood vessel direction of travel information shows the MIP image as shown in figure 25, and each orthogonal image that will be made by orthogonal image preparing department and speckle depth frame and blood vessel direct of travel image show side by side with radioscopic image respectively.
In addition, in the figure, in radioscopic image quadrature VR image, show and the identical speckle of speckle that on speckle depth frame, shows, give identical color for speckle corresponding between each image.In addition, as shown in the drawing, in the sign (" direction of visual lines " shown in this figure) of the imitation eyes that show on MPR cross-sectional image, virtual endoscopic images and radioscopic image quadrature VR image, the direction of visual lines of eyes is represented the projecting direction of radioscopic image respectively.
Like this, the cross-sectional image or the 3 D rendering image that will be orthogonal to three-dimensional vessel centerline or above-mentioned radioscopic image by X ray angiography device show as orthogonal image, even can not judge intuitively with respect to radioscopic image in the difference by color etc. to be under the nearby still inboard situation, also can be by easily grasp the position of depth direction with reference to orthogonal image.
Perhaps, X ray angiography device also can be accepted the request of the relevant switching that shows, the demonstration of switching speckle depth frame and blood vessel travel information image according to the request of accepting from the user via operating portion.Thus, in treatment, operator can suitably obtain being used for judging according to the shape of the blood vessel at the front position place of seal wire and direction the information of the direction of rotation of seal wire.
In addition, in the foregoing description 2 and 4, the situation of using the MIP image is illustrated, the weighted average projection), other 3 D rendering images such as VR (Volume Rendering) image but the present invention is not limited to this, for example also can use AvIP (Average Intensity Projection:.
In addition, in the foregoing description 1～4, the situation of the three-dimensional data of the image that uses the heart area of being taken by X ray CT device has been described, but the present invention is not limited to this, can use also that (Magnetic Resonance Imaging: nuclear magnetic resonance) device waits the three-dimensional data of the captured image of other medical diagnostic imaging apparatus by radiodiagnosis device, MRI.

Claims (25)

1, a kind of X ray photographic attachment is characterized in that possessing:
Radioscopic image photography portion, to subject irradiation X ray, and the X ray of this subject of detection transmission, take radioscopic image;
Three-dimensional vessel information generating unit based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generates the three-dimensional vessel centerline in the blood vessel with photography target and the relevant information in position at vascular lesion position;
Vascular lesion position depth frame preparing department, based on by above-mentioned three-dimensional vessel information generating unit that generate with the relevant information in position three-dimensional vessel centerline and vascular lesion position, make vascular lesion position depth frame, this vascular lesion position depth frame according to the vascular lesion position with respect to projecting direction than this three-dimensional vessel centerline more close before still more by the lining, change the demonstration at this vascular lesion position; And
The radioscopic image display part will be by overlapping being presented on the above-mentioned radioscopic image of vascular lesion position depth frame of above-mentioned vascular lesion position depth frame preparing department making.
2, X ray photographic attachment as claimed in claim 1, it is characterized in that, above-mentioned radioscopic image display part is obtained the information relevant with projecting direction, position and the amplification of above-mentioned blood vessel respectively, behind position, with overlapping being presented on the radioscopic image of above-mentioned vascular lesion position depth frame based on obtained information alignment blood vessel.
3, X ray photographic attachment as claimed in claim 2 is characterized in that,
Also possess the projecting direction configuration part, this projecting direction configuration part is based on the projecting direction of user's the above-mentioned blood vessel of operating and setting;
Above-mentioned radioscopic image display part is obtained and above-mentioned position and the relevant information of amplification based on the projecting direction of being set by above-mentioned projecting direction configuration part.
4, X ray photographic attachment as claimed in claim 1 is characterized in that,
Also possesses drawing image preparing department, this drawing image preparing department makes the 3 D rendering image of above-mentioned blood vessel based on above-mentioned three-dimensional data, and makes and will overlap the drawing image that has depth information that forms on the 3 D rendering image of producing by the vascular lesion position depth frame that above-mentioned vascular lesion position depth frame preparing department makes;
Above-mentioned radioscopic image display part will be shown side by side by drawing image that has depth information and the above-mentioned radioscopic image that above-mentioned drawing image preparing department makes.
5, X ray photographic attachment as claimed in claim 1 is characterized in that,
Also possess orthogonal image preparing department, this orthogonal image preparing department makes and above-mentioned three-dimensional vessel centerline or orthogonal cross-sectional image of above-mentioned radioscopic image or 3 D rendering image based on above-mentioned three-dimensional data, is used as orthogonal image;
Above-mentioned radioscopic image display part will be shown side by side by orthogonal image and the above-mentioned radioscopic image that above-mentioned orthogonal image preparing department makes.
6, a kind of image processing display is characterized in that, possesses:
Three-dimensional vessel information generating unit based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generates the three-dimensional vessel centerline in the blood vessel with photography target and the relevant information in position at vascular lesion position;
Vascular lesion position depth frame preparing department, based on by above-mentioned three-dimensional vessel information generating unit that generate with the relevant information in position three-dimensional vessel centerline and vascular lesion position, make vascular lesion position depth frame, this vascular lesion position depth frame according to the vascular lesion position with respect to projecting direction than this three-dimensional vessel centerline more close before still more by the lining, change the demonstration at this vascular lesion position; And
The radioscopic image display part will be presented on the radioscopic image of being taken by the X ray photographic attachment by the vascular lesion position depth frame that above-mentioned vascular lesion position depth frame preparing department makes is overlapping.
7, a kind of computer program has the recording medium of the embodied on computer readable that comprises a plurality of instructions that can be carried out by computer, be used for carrying out Flame Image Process and pictorial display, it is characterized in that above-mentioned a plurality of instructions are carried out the aforementioned calculation machine:
Based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generate the three-dimensional vessel centerline in the blood vessel with photography target and the relevant information in position at vascular lesion position;
Based on by that generate and the relevant information in position three-dimensional vessel centerline and vascular lesion position, make vascular lesion position depth frame, this vascular lesion position depth frame according to the vascular lesion position with respect to projecting direction than this three-dimensional vessel centerline more close before still more by the lining, change the demonstration at this vascular lesion position;
Overlap the vascular lesion position depth frame of making on the radioscopic image of taking by the X ray photographic attachment and be presented at display part.
8, a kind of X ray photographic attachment is characterized in that possessing:
Radioscopic image photography portion, to subject irradiation X ray, and the X ray of this subject of detection transmission, take radioscopic image;
Three-dimensional vessel centerline generating unit based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generates the three-dimensional vessel centerline of the centrage of the blood vessel of representing photography target;
Blood vessel direction of travel information image making portion based on the three-dimensional vessel centerline location information related that generates with above-mentioned three-dimensional vessel centerline generating unit, makes the blood vessel direction of travel information image that the demonstration that makes blood vessel changes the direct of travel of representing this blood vessel; And
The radioscopic image display part will be presented on the above-mentioned radioscopic image by the blood vessel direction of travel information doubling of the image that above-mentioned blood vessel direction of travel information image making portion makes.
9, X ray photographic attachment as claimed in claim 8, it is characterized in that, above-mentioned blood vessel direction of travel information image making portion changes the demonstration of the above-mentioned blood vessel in the above-mentioned blood vessel direction of travel information image according to the position along the above-mentioned three-dimensional vessel centerline of projecting direction.
10, X ray photographic attachment as claimed in claim 8, it is characterized in that, above-mentioned blood vessel direction of travel information image making portion changes the demonstration of the above-mentioned blood vessel in the above-mentioned blood vessel direction of travel information image according to the inclination of above-mentioned three-dimensional vessel centerline with respect to projecting direction.
11, X ray photographic attachment as claimed in claim 8 is characterized in that, above-mentioned blood vessel direction of travel information image making portion changes the demonstration of the above-mentioned blood vessel in the above-mentioned blood vessel direction of travel information image according to above-mentioned three-dimensional blood vessel center curvature of a curve.
12, X ray photographic attachment as claimed in claim 8 is characterized in that,
Also possess linear structure object location test section, this linear structure object location test section detects front position and the preceding extreme direction that inserts the linear structure thing in the above-mentioned blood vessel;
Above-mentioned blood vessel direction of travel information image making portion is based on the positional information by front position, preceding extreme direction and the relevant above-mentioned three-dimensional vessel centerline of the detected above-mentioned linear structure thing of above-mentioned linear structure object location test section, make the image of the direct of travel of the above-mentioned blood vessel on the front position of this linear structure thing of expression, with the doubling of the image of producing on above-mentioned blood vessel direction of travel information image.
13, X ray photographic attachment as claimed in claim 12 is characterized in that,
Also possesses the linear structure object space to frame preparing department, this linear structure object space is extreme direction before frame preparing department reaches based on the front position by the detected above-mentioned linear structure thing of above-mentioned linear structure object location test section, makes the image of the preceding extreme direction of this linear structure thing of expression;
Above-mentioned radioscopic image display part will be by above-mentioned linear structure object space to further overlapping being presented on the above-mentioned radioscopic image of the image of frame preparing department making.
14, X ray photographic attachment as claimed in claim 12 is characterized in that also possessing:
Judging part, based on the three-dimensional vessel centerline location information related that generates with above-mentioned three-dimensional vessel centerline generating unit and by the front position of the detected above-mentioned linear structure thing of above-mentioned linear structure object location test section and before extreme direction, calculate the relative angle between the preceding extreme direction of the direct of travel of the above-mentioned blood vessel on the front position of this linear structure thing and this linear structure thing, judge whether the size of the relative angle that calculates has surpassed the threshold value of regulation; And
The warning efferent has surpassed under the situation of above-mentioned threshold value in the size that by above-mentioned judgement section judges is above-mentioned relative angle, the output warning.
15, X ray photographic attachment as claimed in claim 8 is characterized in that,
Also possess para-position information calculations portion, this para-position information calculations portion will be by calculating projecting direction, position and amplification for above-mentioned subject based on the two dimensional image and the above-mentioned radioscopic image para-position of above-mentioned three-dimensional data generation;
Above-mentioned radioscopic image display part is with above-mentioned blood vessel direction of travel information pictorial display on above-mentioned radioscopic image the time, carry out making the doubling of the image of above-mentioned blood vessel direction of travel information on above-mentioned radioscopic image after the para-position based on the projecting direction, position and the amplification that calculate by above-mentioned para-position information calculations portion.
16, X ray photographic attachment as claimed in claim 8 is characterized in that,
Also possess:
Drawing image preparing department makes the 3 D rendering image based on above-mentioned three-dimensional data;
The blood vessel direct of travel shows drawing image preparing department, and the blood vessel direct of travel that the blood vessel direction of travel information doubling of the image that making will be made by above-mentioned blood vessel direction of travel information image making portion forms on the 3 D rendering image of being made by above-mentioned drawing image preparing department shows drawing image;
Above-mentioned radioscopic image display part will show that the blood vessel direct of travel that drawing image preparing department makes shows that drawing image and above-mentioned radioscopic image show side by side by above-mentioned blood vessel direct of travel.
17, X ray photographic attachment as claimed in claim 12 is characterized in that,
Also possesses the linear structure object space to frame preparing department, this linear structure object space is extreme direction before frame preparing department reaches based on the front position by the detected above-mentioned linear structure thing of above-mentioned linear structure object location test section, makes the image of the preceding extreme direction of this linear structure thing of expression;
Above-mentioned radioscopic image display part will be by above-mentioned linear structure object space to further overlapping being presented on the above-mentioned radioscopic image of the image of frame preparing department making.
18, X ray photographic attachment as claimed in claim 12 is characterized in that also possessing:
Judging part, based on the three-dimensional vessel centerline location information related that generates with above-mentioned three-dimensional vessel centerline generating unit and by the front position of the detected above-mentioned linear structure thing of above-mentioned linear structure object location test section and before extreme direction, calculate the relative angle between the preceding extreme direction of the direct of travel of the above-mentioned blood vessel on the front position of this linear structure thing and this linear structure thing, judge whether the size of the relative angle that calculates has surpassed the threshold value of regulation; And
The warning efferent has surpassed under the situation of above-mentioned threshold value in the size that by above-mentioned judgement section judges is above-mentioned relative angle, the output warning.
19, X ray photographic attachment as claimed in claim 12 is characterized in that,
Also possess para-position information calculations portion, this para-position information calculations portion will be by calculating projecting direction, position and amplification for above-mentioned subject based on the two dimensional image and the above-mentioned radioscopic image para-position of above-mentioned three-dimensional data generation;
Above-mentioned radioscopic image display part is with above-mentioned blood vessel direction of travel information pictorial display on above-mentioned radioscopic image the time, carry out making the doubling of the image of above-mentioned blood vessel direction of travel information on above-mentioned radioscopic image after the para-position based on the projecting direction, position and the amplification that calculate by above-mentioned para-position information calculations portion.
20, X ray photographic attachment as claimed in claim 12 is characterized in that,
Also possess:
Drawing image preparing department makes the 3 D rendering image based on above-mentioned three-dimensional data; And
The blood vessel direct of travel shows drawing image preparing department, and the blood vessel direct of travel that the blood vessel direction of travel information doubling of the image that making will be made by above-mentioned blood vessel direction of travel information image making portion forms on the 3 D rendering image of being made by above-mentioned drawing image preparing department shows drawing image;
Above-mentioned radioscopic image display part will show that the blood vessel direct of travel that drawing image preparing department makes shows that drawing image and above-mentioned radioscopic image show side by side by above-mentioned blood vessel direct of travel.
21, X ray photographic attachment as claimed in claim 17 is characterized in that also possessing:
Judging part, based on the three-dimensional vessel centerline location information related that generates with above-mentioned three-dimensional vessel centerline generating unit and by the front position of the detected above-mentioned linear structure thing of above-mentioned linear structure object location test section and before extreme direction, calculate the relative angle between the preceding extreme direction of the direct of travel of the above-mentioned blood vessel on the front position of this linear structure thing and this linear structure thing, judge whether the size of the relative angle that calculates has surpassed the threshold value of regulation; And
The warning efferent has surpassed under the situation of above-mentioned threshold value in the size that by above-mentioned judgement section judges is above-mentioned relative angle, the output warning.
22, X ray photographic attachment as claimed in claim 17 is characterized in that,
Also possess para-position information calculations portion, this para-position information calculations portion will be by calculating projecting direction, position and amplification for above-mentioned subject based on the two dimensional image and the above-mentioned radioscopic image para-position of above-mentioned three-dimensional data generation;
Above-mentioned radioscopic image display part is with above-mentioned blood vessel direction of travel information pictorial display on above-mentioned radioscopic image the time, after positioning based on the projecting direction, position and the amplification that calculate by above-mentioned para-position information calculations portion, make the doubling of the image of above-mentioned blood vessel direction of travel information on above-mentioned radioscopic image.
23, X ray photographic attachment as claimed in claim 17 is characterized in that,
Also possess:
Drawing image preparing department makes the 3 D rendering image based on above-mentioned three-dimensional data; And
The blood vessel direct of travel shows drawing image preparing department, and the blood vessel direct of travel that the blood vessel direction of travel information doubling of the image that making will be made by above-mentioned blood vessel direction of travel information image making portion forms on the 3 D rendering image of being made by above-mentioned drawing image preparing department shows drawing image;
Above-mentioned radioscopic image display part will show that the blood vessel direct of travel that drawing image preparing department makes shows that drawing image and above-mentioned radioscopic image show side by side by above-mentioned blood vessel direct of travel.
24, a kind of image processing display is characterized in that, possesses:
Three-dimensional vessel centerline generating unit based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generates the three-dimensional vessel centerline of the centrage of the blood vessel of representing photography target;
Blood vessel direction of travel information image making portion based on the three-dimensional vessel centerline location information related that generates with above-mentioned three-dimensional vessel centerline generating unit, makes the blood vessel direction of travel information image that the demonstration that makes blood vessel changes the direct of travel of representing this blood vessel; And
The radioscopic image display part will be presented on the radioscopic image of being taken by the X ray photographic attachment by the blood vessel direction of travel information doubling of the image that above-mentioned blood vessel direction of travel information image making portion makes.
25, a kind of computer program has the recording medium of the embodied on computer readable that comprises a plurality of instructions that can be carried out by computer, be used for carrying out Flame Image Process and pictorial display, it is characterized in that above-mentioned a plurality of instructions are carried out the aforementioned calculation machine:
Based on the three-dimensional data that obtains the image of taking from medical image diagnosing system, generate the three-dimensional vessel centerline of the centrage of the blood vessel of representing photography target;
Based on the three-dimensional vessel centerline location information related that generates, make the blood vessel direction of travel information image that the demonstration that makes blood vessel changes the direct of travel of representing this blood vessel;
With the blood vessel direction of travel information doubling of the image made on above-mentioned radioscopic image and be presented at display part.
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