JP2001104295A - Medical imaging system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide digital x-ray imaging system with an improved operational capability in setting position of supporting equipment for fluoroscopy. SOLUTION: Information on the imaging angle of the images taken and detected during rotation of rotational supporter 12 of supporting equipment for rotational stereo imaging l is transferred to image processing equipment 3. The image processing equipment memorizes projection images based on a series of three-dimensional images obtained by above imaging with added information on the imaging angle supplied by the above supporting equipment for rotational stereo imaging 1 or decided eye position. When one image that shows the optimum imaging angle to observe diagnosed area is selected by operational console 8 from a series of memorized images, the imaging processing equipment 3 teaches the information on the added imaging angle to the supporting equipment of fluoroscopic imaging 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical imaging system having a support for supporting an X-ray detector arranged opposite to an X-ray source, and more particularly to projecting a three-dimensional image at a predetermined viewpoint position. The present invention relates to a medical image photographing system for suitably linking a projected image obtained and a fluoroscopic photographing position of a support.

[0002]

2. Description of the Related Art In recent years, a treatment called an interventional radiology (IVR) using a medical image photographing system such as a digital X-ray image diagnostic apparatus has become popular. For example, a catheter is inserted into the subject and X
While observing a line image, a treatment is performed in which a stenotic portion of a blood vessel is pushed and spread with a balloon, and a shape maintaining member called a stent is placed in the stenotic portion to prevent restenosis. Such an IVR has less adverse effects such as an infectious disease and a less physical burden on a subject (patient) as compared with a conventional surgical operation, and thus has been developed as an effective treatment method replacing the surgical operation.

As described above, in the IVR, there is a demand for providing a variety of image information and improving operability for a person who performs an operation (an operator) to support treatment.

Japanese Patent Laid-Open Publication No. Hei 7-250829 discloses an example of such a request. The information about the photographing angle of each image photographed and detected during rotation by a rotating support of a rotating stereoscopic photographing supporting device. Is sent to an image processing device, and the image processing device stores the information of the shooting angle sent to the support device for rotating stereoscopic shooting for each of a series of a plurality of images obtained by the shooting, and stores the image. When one image indicating the optimal imaging angle for observing a diagnostic site from a series of stored images is selected by the operating device, information on the imaging angle added to the image is displayed as an image. The processing device controls the stereoscopic imaging and the fluoroscopic imaging of the imaging part of the subject in common by instructing the supporting device for the fluoroscopic imaging to capture the respective images.

[0005]

However, in the above-described prior art, the position of the fluoroscopic imaging support device can be set only within the range photographed by the rotary stereoscopic imaging support device.

In addition, since the X-ray tube and the X-ray detector are housed in a gantry housing, the X-ray tube and the X-ray detector are supported by a C-shaped arm. The angle of inclination of the subject in the body axis direction is more limited than that of the fluoroscopic support device.

Therefore, if the positioning of the support apparatus for fluoroscopy is slightly deviated from the position photographed by the support apparatus for rotating stereoscopic photography, the position must still be adjusted manually by trial and error. Has become more complicated, and there has been a concern that the X-ray irradiation will increase the X-ray exposure to patients and operators.

Accordingly, an object of the present invention is to provide a medical image photographing system that improves operability in setting a photographing position.

Another object of the present invention is to provide a medical image capturing system for reducing the dose of X-rays irradiated to a subject or an operator.

[0010]

An object of the present invention is to provide a three-dimensional image forming apparatus for acquiring a three-dimensional image of a subject and obtaining a projection image obtained by viewing the collected three-dimensional image from a predetermined viewpoint position. A two-dimensional image forming device for obtaining a two-dimensional image of the sample, the two-dimensional image forming device facing the X-ray source that irradiates the subject with X-rays and the X-ray source across the subject An X-ray imaging system having an X-ray detector arranged to detect transmitted X-rays of the subject, a support for supporting the X-ray source and the X-ray detector, and an image of the subject using the support A medical image photographing system which is a radiographic X-ray imaging apparatus comprising: means for setting and controlling a position; and means for forming a two-dimensional X-ray image from transmitted X-rays at the imaging position. Is converted to the photographing position of the support device and the setting control means It is achieved by the medical imaging system, characterized in that it comprises means for force.

[0011] Since the output means converts the viewpoint position of the projection image into the photographing position of the support device and outputs it to the setting control means, the viewpoint position of the projection image is set to the photographing position of the support device. Compared with the positioning by the trial and error of the related art, the operability of the operator can be improved, and the X-ray exposure to the patient and the operator can be reduced.

[0012] The apparatus further includes a two-dimensional image composing device for acquiring a two-dimensional image of the subject, and a three-dimensional image composing device for obtaining a three-dimensional image of the subject. Means for collecting a plurality of tomographic images, means for stacking the collected tomographic images to form a three-dimensional image, and arithmetic means for obtaining a projected image of the formed three-dimensional image viewed from a predetermined viewpoint position A medical image diagnostic system, which is a medical image diagnostic apparatus, including: a unit configured to convert an imaging position at which the two-dimensional image is collected into a viewpoint position of the projection image and output the viewpoint position to the arithmetic unit. This is achieved by a medical imaging system.

The output means converts the photographing position at which the two-dimensional image was collected into a viewpoint position of the projection image and outputs the same to the arithmetic means, so that the projection image corresponding to the two-dimensional image is displayed on the display means. Therefore, the imaging of the two-dimensional image forming apparatus can be omitted in some cases, so that the operability of the operator is improved by this omission, and when the two-dimensional image forming apparatus is an X-ray image fluoroscopy apparatus, X-ray exposure to the operator can be reduced.

[0014] The three-dimensional image composing device may include a X-ray imaging device obtained by a fluoroscopic imaging support device in addition to the rotary stereoscopic imaging support device.
Any medical image diagnostic apparatus that can form a three-dimensional image based on a diagnostic image of a subject such as a line image, a tomographic image of an X-ray CT apparatus, an MRI apparatus, and an ultrasonic image diagnostic apparatus may be used.

[0015]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing a configuration of a digital X-ray imaging apparatus as one of the medical image imaging systems according to the present invention, and FIG. 2 is a front view showing a specific structure example. This digital X-ray imaging apparatus captures respective images of a diagnostic part of a subject by controlling the rotation stereoscopic imaging and normal fluoroscopic imaging in common with one apparatus. As shown in FIG. A support device 1 for rotational stereoscopic photography, a support device 2 for fluoroscopic photography, an image processing device 3, a display device 4, a rotation control device 5, an arm control device 6,
It has a system control device 7 and an operation device 8.

The rotating stereoscopic imaging support apparatus 1 irradiates the subject 10 with X-rays while rotating the X-ray tube apparatus and the imaging system around the subject 10 on the subject table 9 to transmit X-rays. The display device according to claim 1, further comprising: performing rotation stereoscopic imaging for detecting a line image, performing image processing, and continuously displaying a captured image on a display device, and forming a three-dimensional image based on the transmitted X-ray image obtained while rotating. As shown in FIG. 2, the support device includes a gantry body 11, a rotary support device 12, an X-ray tube device 13, and an image system device 14. The gantry main body 11 is a main body that rotatably supports an X-ray tube apparatus 13 and an image system apparatus 14 to be described later and performs X-ray imaging of the subject 10. The gantry main body 11 is installed on the floor surface 15 and substantially at the center of an upright part. Has a substantially circular opening 16 for inserting the subject table 9 in the horizontal direction.

As shown in FIG. 3, a rotation support device 12 is provided inside the gantry main body 11. The rotation support device 12 rotatably supports the X-ray tube device 13 and the imaging device 14 and is formed in a ring shape having a rotation center at the center of the opening 16. It is provided to be rotatable around. The motor is rotated forward and backward in the directions of arrows C and D by a known drive mechanism (not shown). Note that, when the X-ray irradiation angle on the subject 10 is, for example, 360 degrees at the maximum, the rotation angle range of the rotation supporter 12 is such that the rotation starts from the stop position and starts rotating.
The maximum acceleration is set to, for example, about 500 degrees by adding an acceleration section until the start of the X-ray irradiation and a deceleration section from the end of the X-ray irradiation to the stop of the rotation.

The rotation support device 12 can be tilted in the head direction and the foot direction of the subject 10 as shown by arrows E and F in FIG. 2 by a known driving mechanism (not shown). The angle range of the tilting operation of the rotary supporter 12 in the directions of the arrows E and F is, for example, based on the position at which the rotation surface of the rotary supporter 12 is orthogonal to the body axis direction of the subject 10. The maximum is about 30 degrees in the head direction (E direction) and the maximum is about 30 degrees in the foot direction (F direction). Note that the angle of the rotation operation and the tilting operation of the rotation support device 12 is such that the rotation operation angle is the rotation support device 12 shown in FIG.
The angle of the tilting operation is detected by an encoder 17b provided on the support shaft of the rotating support 12 shown in FIG.

The X-ray tube device 13 is provided with the object table 9
The X-ray irradiates the subject 10 lying thereon with X-rays. The X-ray controller 36 is fixed to one position on the rotary supporter 12 and is supplied with a predetermined high voltage from an X-ray controller 36 described later. ing. The image system device 14 converts the transmitted X-ray image of the subject 10 into an optical image and captures the output optical image to convert the image into an image signal. I. an X-ray image transmitted through X.10 is incident and converted into an optical image. I. 18 and this I.I. I. TV camera 1 that captures the optical image output from 18 and converts it into an electric signal
9 Then, on the rotation supporter 12, the X
It is arranged facing the tube device 13.

As shown in FIG. 3, the gantry body 11 including the above components is entirely covered with a box-shaped outer cover 20. Further, the periphery of the opening 16 formed in the center portion for inserting the subject table 9 is covered with a cylindrical cover in order to protect the subject 10 laid on the subject table 9 and inserted. I have. Therefore, usually, the above X is invisible to the subject 10.
The tube device 13 and the image system device 14 rotate together with the rotation support device 12.

The subject table 9 has the subject 1 on its upper surface.
2 so that the diagnosis site can be positioned in the X-ray irradiation area by the X-ray tube apparatus 13 so that the horizontal plane parallel to the floor surface 15 shown in FIG. And is supported by a well-known support mechanism. In the rotation stereoscopic imaging, since the X-ray imaging is performed while rotating the X-ray tube device 13 and the imaging system device 14 around the subject 10,
If the diagnostic site of the subject 10 is not near the center of rotation, the diagnostic site may be removed from the X-ray irradiation area during imaging. For this reason, the diameter of the opening 16 provided in the gantry main body 11 shown in FIG. 3 is determined so that not only the object table 9 can be inserted but also the diagnostic site of the object 10 is positioned near the rotation center. Must be as large as possible. The subject table 9 can be moved so that the diagnostic site of the subject 10 can be positioned even in an X-ray irradiation area of the X-ray tube device 23 of the fluoroscopic support device 2 described later. I have.

On the other hand, in order to perform a precise diagnosis of a diagnostic portion of the subject 10 on the subject table 9 from a desired angle direction, the fluoroscopic support device 2 is brought into a stationary state of the X-ray tube device and the imaging system device. A support device for performing X-ray irradiation, detecting a transmitted X-ray image thereof, performing image processing, and displaying a picked-up image on a display device, as shown in FIG.
, A C-shaped arm 22, an X-ray tube device 23, and an imaging system device 24. The gantry portion 21 movably supports an arm 22, an X-ray tube device 23, and an imaging system device 24, which will be described later, and is installed on, for example, a ceiling surface 25 along the longitudinal direction and the width direction of the subject table 9. It is movably suspended by rail means or the like.

As shown in FIG. 4, a C-shaped arm 22 is provided at the lower end of the gantry 21. The C-shaped arm 22 supports the X-ray tube device 23 and the imaging system device 24 arbitrarily movable around the subject 10.
Slide connection part 2 provided at the lower end of the gantry part 21
6 are slidably fitted in the direction of an arc, and both ends extend so as to sandwich the subject table 9 therebetween. Then, by a known driving mechanism provided in the slide coupling portion 26, the C-shaped arm 22 moves around the body axis of the subject 10 as indicated by arrows G and H around the substantially center of the C-shape as a rotation center. As shown in FIG. 2, the subject 1 is moved as indicated by arrows J and K about a point L at the lower end of the gantry 21 as shown in FIG.
It can be tilted in the head direction and the foot direction of zero. In addition,
The angle of the sliding operation and the tilting operation of the C-shaped arm 22 in the arc direction is detected by the encoder 27a which is attached to the outer peripheral surface of the C-shaped arm 22 shown in FIG. An encoder 27b provided on a root support shaft of the slide connection portion 26 shown in FIG.
Is to be detected.

The angle range in which the subject 10 can be tilted in the head direction and the foot direction is not limited to the gantry as in the case of the support device for rotating stereoscopic photography, but is larger than the maximum tilt angle range of the gantry. Can be set with.

The X-ray tube apparatus 23 is provided with the object table 9
The X-ray irradiates the subject 10 placed and positioned on the X-ray with one end of the C-shaped arm 22 as shown in FIG. 4, and applies a predetermined high voltage from an X-ray controller 36 described later. It is being supplied. Also, the imaging system device 2
Numeral 4 converts the transmitted X-ray image of the subject 10 into an optical image and captures the output optical image to convert it into a video signal. The X-ray radiated from the X-ray tube device 23 and transmitted through the subject 10 I. Inputting a line image and converting it into an optical image I. 28
And this I. I. 4 and a television camera 29 for taking an optical image output from the camera 28 and converting it into an electric signal.
As shown in the figure, the other end of the C-shaped arm 22 is disposed so as to face the X-ray tube device 23 and approaches the subject 10.
It is provided so that it can be evacuated. That is, the other end of the C-shaped arm 22 is provided with an imaging system support 30 having a structure capable of linearly moving with respect to the X-ray tube device 23.
The above-mentioned I.D. I.
By attaching the camera 28 and the television camera 29, the camera is supported so as to be able to approach and retract as shown by arrows L and M by a known drive mechanism (not shown). Note that the imaging system device 24 is based on I.D. I. The X-ray film photographing apparatus is not limited to the apparatus including the camera 28 and the television camera 29, and may be an ordinary X-ray film photographing apparatus. In addition, in the embodiments of FIGS. 2 and 4, the gantry 21 is suspended from the ceiling surface 25. Is also good.

The image processing apparatus 3 shown in FIG. 1 digitizes image signals from the image system unit 14 of the support unit 1 for rotating stereoscopic photographing and the image system unit 24 of the support unit 2 for perspective photographing, and converts the digital signals into digital signals. A / D converter 31 that receives analog video signals output from the television cameras 19 and 29 of the supporting devices 1 and 2 and converts them into digital signals.
And a storage unit 32 for storing the image data output from the A / D converter 31, and a D / A converter 33 for inputting the image data read from the storage unit 32 and converting it again to an analog video signal. And a large-capacity storage 34 for storing a large number of image data output from the A / D converter 31
And a data operation unit 3 which takes in image data from the storage unit 32 and the large-capacity storage unit 34 and performs a required operation.
5 is comprised. The display device 4 receives the video signal output from the image processing device 3 and displays it as an image, and includes, for example, one or a plurality of television monitors.

The rotation control device 5 controls the rotation operation such as the rotation direction, speed, and angle of the rotation support device 12 of the support device 1 for stereoscopic photography, and detects the actual position of the rotation support device 12. Signals from the encoders 17a and 17b are input. Also, the arm control device 6
Is a sliding operation and a tilting operation of the C-shaped arm 22 of the fluoroscopic support device 2; I. 28 subjects 10
Encoders 27a and 27a for detecting the actual position of the C-shaped arm 22.
7b is input.

The system control device 7 controls the operation of each of the above-mentioned components, receives various operation commands input from the operation device 8, and controls the image processing device 3, the rotation control device 5, and the arm control device. A control signal is sent to the device 6, the X-ray controller 36, etc.
(Central processing unit). The X-ray controller 36
Supplies a high voltage to the X-ray tube devices 13 and 23 of the support device 1 for rotating stereoscopic imaging and the support device 2 for fluoroscopic imaging, and controls X-ray irradiation.

Next, the digital X constructed as described above
The operation of the radiographic apparatus will be described. Here, for example, in order to diagnose a vascular lesion in a subject, a catheter is first introduced to a diagnostic site under X-ray fluoroscopy using the support apparatus 2 for fluoroscopic imaging, and then the support apparatus 1 for rotary stereoscopic imaging is introduced. As shown in FIG. I. 18 starts the photographing from the position of the point Q, performs one rotation in the direction of the arrow C, and ends the photographing at the point Q, and implements the 360-degree photographing method. Finally, using the fluoroscopic photographing support device 2 again, An example in which imaging for precise diagnosis in a stationary state is performed will be described.

First, in FIG. 2, the subject 10 placed on the subject table 9 is connected to the X-ray tube device 23 of the fluoroscopic support device 2 and the I.D. I. The catheter is positioned at an X-ray irradiation area by X-ray and is introduced into a diagnostic site for injection of a contrast medium under fluoroscopy. In this case, at the time of introducing the catheter, the X-ray irradiation direction is not angled with respect to the subject 10 as shown in FIGS. I. 28 is the subject 1
It is in a state located just above 0. When the introduction of the catheter into the diagnostic site of the subject 10 is completed in such a state, the subject table 9 is horizontally moved in the direction of arrow N in FIG. 2, and the diagnostic site of the subject 10 is inserted into the gantry body 1 and rotated. Positioning is performed so as to be located near the shooting center of the rotation shooting by the stereoscopic shooting support device 1.

Next, when the operator operates a rotation support device operation switch provided on the operation device 8, the rotation support device 12 is tilted in the directions of arrows E and F shown in FIG. 1 and rotate in the directions of arrows C and D shown in FIG. I. 18 so as to be positioned and stop. Thereafter, when an imaging start operation is performed by the operating device 8, the contrast agent is injected from a known contrast agent injector (not shown) into the diagnostic site of the subject 10 through the catheter, and the rotation support device 12 is moved to the arrow C.
In the direction I. I. 18 is the shooting start position Q
Immediately before the point is reached, a predetermined rotational angular velocity is reached, and then steady rotation is continued.

The above I. I. When the encoder 17a detects that the point 18 has reached the Q point, a detection signal is sent to the rotation control device 5, and the rotation control device 5 sends the input detection signal to the system control device 7. The system controller 7 sends a control signal for starting the imaging to the X-ray controller 36 in response to the input of the detection signal. Then, from this point, the X-ray controller 36 generates a pulsed high voltage of, for example, 4 ms and supplies it to the X-ray tube device 13. As a result, pulse-shaped X-rays are emitted from the X-ray tube device 13 and are applied to the subject 10 on the subject table 9. The X-ray image transmitted through the subject 10 in this state is I.D. I.
The light enters the optical system 18 and is converted into an optical image. The output optical image is photographed by the television camera 19.

Next, the video signal output from the television camera 19 is input to an A / D converter 31 in the image processing device 3, converted into a digital signal and stored as image data in the storage unit 32. . At this time, the rotation support 12
The angle detection signals from the encoders 17a and 17b provided to the image processing device 3 are input to the image processing device 3 via the rotation control device 5 and the system control device 7, and are stored in the storage device 32 together with the image data. In this manner, the image data with the imaging angle information around the subject 10 sequentially imaged during the rotation in the direction of the arrow C shown in FIG. 1 is stored in the storage device 32 and read out from the storage device 32. Image data is D /
The signal is converted into an analog image signal by the A converter 33. Then, this image signal is sent to the display device 4, and a plurality of continuous images are sequentially displayed. Since the images continuously displayed on the display device 4 have different X-ray irradiation directions on the subject 10 for each image, the images are observed as a three-dimensional image due to the afterimage effect of the human eye.

The three-dimensional image is obtained by collecting X-ray images from a plurality of directions around the subject, storing the X-ray images in a storage means such as a memory in association with each X-ray image and the collected direction.
A tomographic image of a subject is obtained using an image reconstruction method performed by a line CT apparatus, and these tomographic images are continuously stacked to form a three-dimensional image.
The three-dimensional image cannot be displayed on a two-dimensional screen as it is by using a surface rendering method disclosed in Japanese Patent No. 426 or the like or a surface rendering method or a volume rendering method. The image is projected from the position onto a two-dimensional surface, displayed as a two-dimensional projected image, and can be observed as a three-dimensional image. Since the viewpoint position of this projected image can be set arbitrarily, information from a direction that cannot be obtained with the three-dimensional image, for example, image information from the body axis direction of the subject can be obtained by setting the viewpoint.

As described above, the rotation supporter 12 continuously rotates, and the subject 10 is subjected to rotational stereoscopic imaging.
I. When the reference numeral 18 rotates 360 degrees in the direction of arrow C shown in FIG.
a from the X-ray tube device 13 via the rotation control device 5, the system control device 7, and the X-ray controller 36.
The line emission is stopped. At the same time, the system control device 7 causes the rotation support device 12 to stop the rotation via the rotation control device 5, starts deceleration from the Q point, and stops the rotation at the R point. Thus, a series of rotation stereoscopic photography ends. Thereafter, in order to perform the rotation stereoscopic imaging or the three-dimensional image configuration on the same site or a different diagnostic site, the same procedure as described above may be repeated.

After the completion of the rotation stereoscopic imaging or the three-dimensional image formation as described above, to reproduce the photographed image, the image reproduction switch provided on the operation device 8 is operated. Then, the input reproduction command is sent to the image processing device 3 via the system control device 7, and a series of rotation stereoscopic images or projection images stored in the large-capacity storage device 34 are sequentially read out and D / A converted. A continuous image is reproduced and displayed on the display device 4 via the device 33. Accordingly, the operator observes a three-dimensional image of the vascular lesion by continuously displaying moving images, and then selects one image at an imaging angle at which the region of interest of the vascular lesion is most clearly seen. . Then, the image reproduction switch is operated again to select the selected 1
The images are displayed on the display device 4 as still images.

From this state, a shift is made to a fluoroscopic imaging in a stationary state using the fluoroscopic imaging support device 2. That is,
The operator operates an image selection switch provided on the operation device 8. Then, the input selection command is sent to the image processing device 3 via the system control device 7, and the shooting angle information recorded in addition to the image currently displayed on the display device 4 is read. Then, the photographing angle information is transmitted from the image processing device 3 to the system control device 7, and the system control device 7 uses the photographing angle information transmitted to the arm control device 6 as a target value and sets the C-shaped arm 22. Is issued so as to perform a sliding operation and a tilting operation in the arc direction. The arm control device 6 receives the command signal, controls a known driving mechanism (not shown) to move the C-shaped arm 22, and performs imaging by the C-shaped arm 22 based on the actual position signals from the encoders 27 a and 27 b. The movement of the C-shaped arm 22 is stopped at a position where the angle matches the target value.

When the position of the imaging angle by the C-shaped arm 22 is automatically set in this way, the subject table 9 is moved in the direction of arrow O in FIG. And I. I. Positioning is performed so as to enter the X-ray irradiation area according to. The I.V. I. By operating the movement switch, in FIG. I. 28 descends in the direction of arrow L, approaches the subject 10, and stops at an appropriate position enough to contact the subject surface. In this state, when the operator operates the operation device 8 to perform an imaging start operation, the injection of the contrast agent from the above-described contrast agent injector through the catheter is started, and the X-ray controller 36 is transmitted from the system controller 7 to the X-ray controller 36. The X-ray controller 36 supplies a high voltage to the X-ray tube device 23 to irradiate the subject 10 with X-rays.

The X-ray image transmitted through the subject 10 is I.D.
I. The video signal is converted into a video signal by the digital camera 28 and the television camera 29, and the video signal is input to the image processing device 3, where required image processing is performed to form and store an image.
In this manner, fluoroscopy is performed an appropriate number of times, and the obtained image is displayed on the display device 4. This image is observed, and a doctor or the like makes a precise diagnosis of a vascular lesion of the subject 10 or the like. In the case where there are two or more images at a suitable photographing angle by the above-described rotational stereoscopic photographing, the above procedure may be repeated to perform photographing a plurality of times while changing the photographing angle of the fluoroscopic photographing support device 2.

Next, a case where a three-dimensional image is used in the digital radiography apparatus shown in FIG. 1 will be described with reference to FIG. FIG. 5 is a flowchart illustrating the operation of the digital X-ray imaging apparatus of FIG.

Rotational photographing is performed using the support device 1 for rotational stereoscopic photographing (step 501).

A three-dimensional image is constructed from the X-ray transmission data obtained by the rotation imaging, and an initial projection image is formed from the constructed three-dimensional image, for example, a projection image viewed from the front of the subject 10 lying on his back. The image is displayed on the display device 4 as a projection image. Further, a projection image based on the three-dimensional image collected in advance by the support device for rotating stereoscopic photography and its viewpoint position are stored in an image storage device (not shown) in association with each other, and read out from the image storage device and displayed on the display device 4. To be displayed. (Step 502).

The operator inputs an instruction to the operating device 8 in a display direction from a desired viewpoint, for example, a direction of rotation and movement to a position where a desired lesion can be easily viewed, and the system controller 7 performs image processing on the instruction input information. The information is transmitted to the device 3. If the projection image and its viewpoint position are stored in the image storage device, the viewpoint position corresponding to the displayed projection image is read and transmitted to the image processing device 3 (step 503).

A projection image based on the display direction input with the instruction is displayed on the display device 4 as a set projection image (step 504).

The system control device 7 converts the display position and angle of the displayed set projection image into the set position and angle of the fluoroscopic imaging instruction device 2 and moves the fluoroscopic imaging instruction device 2 based on the set position and angle. Then, X-ray fluoroscopy is performed. This X
The fluoroscopy may be performed automatically, or the start of fluoroscopy may be manually operated in order to minimize X-ray exposure (step 505).

The system controller 7 determines whether or not a desired site such as a lesion has been reached. If the desired site has not been reached, steps 503 to 506 are repeated, and if it has reached, the process ends (step 506).

In the above description, in the rotation stereoscopic photography, the rotational photography is performed with the tilt angle of the rotation support unit 12 in the directions of arrows E and F shown in FIG. 2 fixed at a certain angle position. However, the present invention is not limited to this, and the rotation photographing may be performed while tilting the rotation support device 12 in the directions of the arrows E and F. Also, arrows C, shown in FIG.
In a state where the rotation operation in the D direction is stopped, the photographing may be performed by performing only the tilting operation in the directions of arrows E and F shown in FIG. Furthermore, the diagnosis site of the subject 10 can be applied not only to the diagnosis of a vascular lesion, but also to the diagnosis of another site where rotation stereoscopic imaging is effective, such as a lung cancer test.

Since the present invention is configured as described above, information on the photographing angle of each image photographed and detected by the rotating support of the rotating stereoscopic photographing supporting device during rotation is sent to the image processing device. The processing device stores a series of a plurality of images obtained by the photographing in a state where the information of the photographing angle sent from the rotation stereoscopic photographing support device is added, and stores the image sequence in the stored series of images. When one image indicating the optimum imaging angle for observing a certain diagnostic region from the camera is selected by the operating device, the image processing apparatus sends the information of the imaging angle added to the image to the fluoroscopic support device. Teach,
The above-mentioned perspective imaging support apparatus moves the arm so that the teaching angle is attained, and automatically reproduces the angular positions of the X-ray tube apparatus and the imaging system apparatus attached to both ends of the arm. Can be. This makes it possible to easily and quickly execute setting and reproduction of an imaging angle for precise diagnosis by ordinary fluoroscopic imaging after performing a rotational stereoscopic imaging around the subject to confirm, for example, a lesion. Therefore, the examination time for the diagnosis of the subject as a whole can be reduced, and the X-ray exposure to the subject can be reduced.

In the above-described embodiment, the description has been given of the case where the position of the support of the X-ray fluoroscopic apparatus, which is one of the two-dimensional image forming apparatuses, is adjusted using the projection image of the three-dimensional image forming apparatus. By converting the shooting position of the two-dimensional image of the two-dimensional image forming device into the viewpoint position of the projected image of the three-dimensional image forming device, it is possible to match the shooting position of the two-dimensional image with the viewpoint position of the projected image. Become. For this reason, since the projection image corresponding to the two-dimensional image is displayed on the display means, photographing of the two-dimensional image forming apparatus can be omitted in some cases. When the three-dimensional image forming apparatus is an X-ray image fluoroscopy apparatus, X-ray exposure to a patient and an operator can be reduced.

In the above description, the positioning of the supporter is performed by using the projection image. However, if the position of the supporter is adjusted to the position of the subject, the projection image of the viewpoint corresponding to the position of the supporter may be displayed. Good. Thus, if the position of the support is adjusted to the position to be photographed, a substantially equivalent projected image can be viewed without X-ray irradiation, so that operability such as omitting the operation related to X-ray irradiation can be improved. Since X-rays do not need to be exposed, X-ray exposure can be reduced.

The three-dimensional image is created based on the measurement using the support device for rotating stereoscopic imaging. In addition to this, the three-dimensional image of the subject such as an X-ray CT device, an MRI device, an ultrasonic image diagnostic device, etc. Any medical image diagnostic apparatus capable of forming a three-dimensional image based on a diagnostic image can be substituted for the support device for rotating stereoscopic imaging. Here, since the position of the three-dimensional image and the perspective imaging support device is determined by the projected image of the viewpoint position,
The measurement is the same as the measurement using the support device for rotating stereoscopic photography. Further, in the case of substituting an MRI apparatus or an ultrasonic image diagnostic apparatus, since a configuration of a three-dimensional image can be performed without performing X-ray exposure, the amount of X-ray exposure of a patient or an operator can be further reduced.

When the cone beam measurement or the like is performed by the fluoroscopic support device, a three-dimensional image can be formed based on the measurement by the visual support device. Even with the device, for example, if the measurement for the three-dimensional image configuration is performed for the first time, and the positioning of the fluoroscopic imaging support device is performed for the second time, the implementation of the present invention can be performed even with the configuration without the rotary stereoscopic imaging support device. It becomes possible.

In each of the above embodiments, if the display device is formed by the rotating stereoscopic photographing device, the fluoroscopic photographing device, and one monitor, the fluoroscopic image and the photographed image are displayed on the same monitor, and the fluoroscopic image and the photographed image are displayed. It is not necessary to change the line of sight when diagnosing a captured image, installation space and cost can be expected to be reduced compared to multiple installations.For multiple monitors, the difference in display characteristics for each monitor is the perspective image and the captured image Although this affects the diagnosis, the display characteristics of the single monitor are the same, so that the influence of the fluoroscopic image and the photographed image on the image diagnosis can be substantially eliminated.

[0054]

The present invention has an effect of providing a medical image photographing system which improves operability in setting a photographing position.

Also, there is an effect of providing a medical image photographing system for reducing the exposure dose of the X-ray irradiated to the subject or the operator.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a medical image photographing system according to the present invention.

FIG. 2 is a front view showing a specific structure example of the digital X-ray imaging apparatus.

FIG. 3 is a side view showing the support device for rotating stereoscopic photography as viewed from the line AA in FIG. 2;

FIG. 4 is a side view showing the fluoroscopy support device as viewed from the line BB in FIG. 2;

FIG. 5 is a flowchart for explaining the operation of the system in FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Support device for rotation stereoscopic photography, 2 ... Support device for perspective photography, 3 ... Image processing device, 4 ... Display device, 5 ... Rotation control device, 6 ... Arm control device, 7 ... System control device, 8 ...
Operating device, 9: subject table, 10: subject, 11: gantry body, 12: rotating support, 13, 23: X-ray tube device, 14: imaging system device, 16: opening, 18, 28 ...
I. I. , 19, 29 ... TV camera, 21 ... stand,
22: C-shaped arm, 24: imaging system device, 36: X-ray controller

Claims (2)

[Claims] 1. A three-dimensional image forming apparatus for acquiring a three-dimensional image of a subject and obtaining a projection image obtained by viewing the collected three-dimensional image from a predetermined viewpoint position, and obtaining a two-dimensional image of the subject. A two-dimensional image forming apparatus, wherein the two-dimensional image forming apparatus comprises: an X-ray source for irradiating the subject with X-rays; and an X-ray source arranged to face the X-ray source with the subject interposed therebetween.
An X-ray imaging system having an X-ray detector for detecting X-rays;
A support for supporting a radiation source and the X-ray detector, means for setting and controlling the support to an imaging position of the subject, and means for forming a two-dimensional X-ray image from transmitted X-rays at the imaging position A medical image photographing system which is an X-ray fluoroscopic apparatus comprising: a means for converting a viewpoint position of the projection image into a photographing position of the supporter and outputting the photographing position to the setting control means. Medical imaging system. 2. A device comprising: a two-dimensional image forming device for acquiring a two-dimensional image of a subject; and a three-dimensional image forming device for obtaining a three-dimensional image of the subject. Means for collecting a plurality of tomographic images, means for stacking the collected tomographic images to form a three-dimensional image, and arithmetic means for obtaining a projected image of the formed three-dimensional image viewed from a predetermined viewpoint position A medical image diagnostic system, which is a medical image diagnostic apparatus, including: a unit configured to convert an imaging position at which the two-dimensional image is collected into a viewpoint position of the projection image and output the viewpoint position to the arithmetic unit. Medical imaging system.