JP2016190009A - Radiographic image capturing apparatus, control method and program of radiographic image capturing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a radiographic image capturing apparatus capable of accurately detecting the position of a radiation detector in a captured image, and a control method and a program of the radiographic image capturing apparatus.SOLUTION: A radiographic image capturing apparatus 1 includes a radiation irradiation apparatus 10 for irradiating radiation to a subject H, a camera for imaging the subject H to acquire a captured image of the subject, and a radiation detector 30 for creating a radiation image of the subject H. When it is determined that a marker is included in the captured image, the radiographic image capturing apparatus detects the position of the radiation detector in the captured image based on the marker included in the captured image. When it is determined that a marker is not included in the captured image, it detects the position of the radiation detector in the captured image based on the motion information detected by motion detection means that the radiation detector includes, and the position of the radiation detector detected when a marker is included in the captured image.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a radiographic imaging apparatus that acquires a radiographic image of a subject, and a control method and program for the radiographic imaging apparatus.

  Conventionally, as disclosed in Patent Documents 1 to 3, for example, various radiographic imaging apparatuses using a movable radiation irradiation apparatus are known. Such a radiographic imaging device basically holds a leg portion that can be run by wheels, a battery for driving the radiation source, and an electric circuit for driving the radiation source, and is held on the leg portion. The subject is irradiated with radiation using a round-wheel-type radiation irradiating apparatus including a main body, an arm connected to the main body, and a radiation source attached to the arm. .

  In addition, a radiographic imaging device using a portable radiation irradiation device that is equipped with only the minimum components for radiation irradiation, such as a radiation source and an electric circuit, and is operated by an operator by hand is proposed. ing. Such a portable radiation irradiation device is light enough to be operated by an operator by hand, and can be photographed with a smaller turn than the above-described round-the-wheel radiation irradiation device. ing.

  When a radiographic image of a subject is captured by such a radiographic imaging device, a radiation detector (so-called “Flat Panel Detector”) that normally records a radiographic image representing the subject by irradiation of radiation that has passed through the subject. ) Is used. As such a radiation detector, a cassette type radiation detector in which a control unit such as an image detection unit, a driving battery, and an electric circuit related to driving is housed in a housing is well known. Then, if such a radiation detector is disposed at a position facing the radiation irradiation apparatus with the subject interposed therebetween, and the radiation irradiation apparatus is driven in this state, the radiation transmitted through the subject is detected by the radiation detector. A radiographic image represented by radiation that has been irradiated to the subject and transmitted through the subject is acquired.

  Further, in the radiographic imaging apparatus in which the radiation irradiation apparatus and the radiation detector as described above are separated, the subject is photographed with a camera to represent the surface of the subject for the purpose of recognizing the irradiation field or the like. A technique for acquiring a captured image and displaying it has been proposed (see Patent Documents 1 to 3). Further, in a radiographic imaging device in which the radiation irradiation device and the radiation detector are separate, a deviation between the radiation irradiation field and the detection range of the radiation detector is likely to occur. For this reason, Patent Documents 1 to 3 also propose a method in which a frame indicating the radiation field and a frame indicating the detection area of the radiation detector are superimposed on the displayed captured image.

  Thus, in order to display the detection region of the radiation detector on the captured image, it is necessary to detect the position of the radiation detector. For this reason, the position of the radiation detector is detected using a marker, an RF signal, or a combination of a reflective element and light or electromagnetic signal, and the detection area of the radiation detector is superimposed on the captured image based on the detected position. A display method has been proposed (see Patent Document 4).

JP 2009-131323 A JP 2007-029353 A JP 2010-119485 A Special table 2013-524477 gazette

  Here, when the radiation detector is moved in order to appropriately position the radiation detector with respect to the radiation irradiation apparatus, the radiation detector may be completely hidden behind the subject. If the radiation detector is hidden behind the subject in this way, the captured image does not include the radiation detector. If the radiation image is not included in the captured image as described above, the position of the radiation detector cannot be detected by the technique using the marker and the reflective element described in Patent Document 4. In the method using the RF signal described in Patent Document 4, the RF signal itself can be detected from the radiation detector hidden behind the subject, but the position of the radiation detector on the captured image is specified from the RF signal. It is difficult.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to accurately detect the position of a radiation detector in a captured image in a radiation image capturing apparatus, and a control method and program for the radiation image capturing apparatus.

A radiographic imaging device according to the present invention includes a radiation source for irradiating a subject with radiation,
Imaging means for imaging the subject and obtaining a captured image of the subject;
A radiation detector that detects radiation transmitted through a subject and generates a radiation image of the subject, and is provided with a marker on the radiation detection surface side to detect movement of the radiation detector and obtain motion information. A radiation detector having a motion detection means for outputting;
It is determined whether or not a marker is included in the captured image. When it is determined that the marker is included in the captured image, the position of the radiation detector in the captured image is detected based on the marker included in the captured image, and the captured image is captured. When it is determined that the marker is not included in the image, the position of the radiation detector in the captured image is detected based on the motion information and the position of the radiation detector detected when the marker is included in the captured image. And a position detecting means.

  The “photographed image of the subject” is an image that represents the surface of the subject and the surface of an object in the vicinity thereof within the imaging range of the imaging means. It should be noted that an infrared image representing the temperature distribution of the surface of the subject and the surface of the object around it obtained by imaging the subject using infrared rays is also included in the captured image of the subject.

  In the radiographic image capturing apparatus according to the present invention, the position detection unit determines that the marker is included in the captured image after determining that the marker is not included in the captured image. Based on the above, the position of the radiation detector in the captured image may be detected.

  The radiographic image capturing apparatus according to the present invention may further include display means for displaying a captured image.

  The radiographic image capturing apparatus according to the present invention further includes display control means for displaying the captured image on the display means so that an area corresponding to the radiation detector can be identified based on the detection result of the position of the radiation detector. It may be a thing.

  The “area corresponding to the radiation detector” is preferably an area where the radiation detector can detect radiation, but an area where the operator can grasp the area where radiation can be detected, for example, the case of the housing of the radiation detector. It may be a region surrounded by an outer frame.

  In the radiographic image capturing apparatus according to the present invention, the display control unit may display the captured image on the display unit so that the region corresponding to the radiation field irradiated to the subject can be identified.

  “Distinguishable” means that the region corresponding to the radiation detector or the irradiation field in the captured image is distinguished so that the region corresponding to the radiation detector or the irradiation field can be seen. For example, by changing the region corresponding to the radiation detector or the irradiation field to a predetermined color, or adding a frame to the region corresponding to the radiation detector or the irradiation field, the region corresponding to the radiation detector or the irradiation field is changed. It can be identifiable.

In the radiographic image capturing apparatus according to the present invention, the captured image is an infrared image,
The display means may display an infrared image and a radiation image of the subject.

  In the radiographic image capturing apparatus according to the present invention, the marker may represent identification information for identifying the radiation detector.

  In this case, the marker may be a barcode.

  The marker may represent color information that is different for each type of radiation detector as identification information.

  The marker may be a light emitting device, and the light emitting device may represent the identification information by at least one of the color of light emitted, the lighting pattern of light, and the blinking pattern of light.

  The radiographic image capturing apparatus according to the present invention may further include an identification information acquisition unit that acquires identification information of the radiation detector from a marker included in the captured image.

  In this case, it is good also as what further has the identification means which identifies a radiation detector based on identification information.

A method of controlling a radiographic imaging apparatus according to the present invention includes a radiation source that irradiates a subject with radiation,
Imaging means for imaging the subject and obtaining a captured image of the subject;
A radiation detector that detects radiation transmitted through a subject and generates a radiation image of the subject, and is provided with a marker on the radiation detection surface side to detect movement of the radiation detector and obtain motion information. A method for controlling a radiographic imaging device comprising a radiation detector comprising motion detection means for outputting,
Determine whether the captured image contains a marker,
When it is determined that the marker is included in the captured image, the position of the radiation detector in the captured image is detected based on the marker included in the captured image.
When it is determined that the marker is not included in the captured image, the position of the radiation detector in the captured image is detected based on the motion information and the position of the radiation detector detected when the marker is included in the captured image. It is characterized by doing.

  In addition, you may provide as a program for making a computer perform the control method of the radiographic imaging apparatus by this invention.

  According to the present invention, it is determined whether or not a marker of the radiation detector is included in the captured image, and when it is determined that the marker is included in the captured image, based on the marker included in the captured image, The position of the radiation detector is detected. Thereafter, when it is determined that the marker is not included in the captured image, the captured image is based on the motion information detected by the motion detection unit and the position of the radiation detector detected when the marker is included in the captured image. The position of the radiation detector at is detected. For this reason, even after the radiation detector is included in the captured image, even if the radiation detector is not included in the captured image because the radiation detector is hidden behind the subject, the position of the radiation detector in the captured image Can be detected.

Schematic of a radiographic imaging device according to an embodiment of the present invention Front perspective view of radiation irradiation device Rear perspective view of radiation irradiation device Schematic block diagram showing the internal configuration of the radiation irradiation device External perspective view of the radiation detector as seen from the front on the radiation side It is a schematic block diagram which shows the internal structure of a radiation detector. External perspective view of a radiation detector provided with LEDs as markers as seen from the front side on the radiation irradiation side Schematic block diagram showing the internal configuration of the console Diagram showing a captured image that includes only the subject The figure which shows the picked-up image in which a part of the radiation detector is included in addition to the subject A flowchart showing processing performed in the present embodiment A flowchart showing processing performed in the present embodiment The figure which shows the change of the irradiation field according to the body thickness of the subject The figure which shows the picked-up picture where various information is superimposed The figure for demonstrating acquisition of radiation detector position information based on movement information The figure which shows the picked-up image on which the information showing the direction where a radiation detector exists was superimposed. The figure which shows the state which made the center position of an irradiation field area | region correspond with the center position of a detection area | region The figure which shows the state which made the irradiation field field and detection field correspond Illustration showing icons such as thin person, normal figure person, fat person, etc. Perspective view showing the overall shape of a round-trip type radiation irradiation device Side view showing the condition when using a round-wheel-type radiation irradiation device

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic view of a radiographic imaging apparatus according to an embodiment of the present invention. As shown in FIG. 1, the radiographic imaging apparatus 1 according to the present embodiment includes a portable radiation irradiation apparatus 10, a radiation detector 30, and a console 50. Then, in order to acquire a radiographic image of the subject H sleeping on the bed 2, the radiation detector 30 is inserted between the subject H and the bed 2, and the portable radiation irradiation apparatus 10 moves to the subject H. The radiation detector 30 emits radiation, and the radiation detector 30 acquires a radiation image of the subject H. The console 50 is connected to a terminal 80 such as a doctor via a network.

  2 is a front perspective view of the radiation irradiation apparatus, FIG. 3 is a rear perspective view of the radiation irradiation apparatus, and FIG. 4 is a schematic block diagram showing an internal configuration of the radiation irradiation apparatus. As shown in the figure, the radiation irradiation apparatus 10 is provided with an exit window 12 from which radiation is emitted, a camera 13 for photographing the surface of the subject H, and a distance sensor 27 on the front surface of a rectangular parallelepiped housing 11. ing. A collimator 14 for narrowing the radiation irradiation range is visible from the exit window 12. A monitor 15 made of liquid crystal or the like is provided on the rear surface of the housing 11. On the monitor 15, a captured image acquired by the camera 13 capturing an image of the surface of the subject H, a radiation image of the subject H, various information for setting the radiation irradiation apparatus 10, and the like are displayed. The distance sensor 27 measures the distance between the apparatus 10 and the object by laser or ultrasonic waves. The camera 13 and the monitor 15 correspond to an imaging unit and a display unit, respectively.

  Grip portions 16 and 17 are attached to both side surfaces of the housing 11, respectively. The gripping part 16 includes two projecting parts 16A that project laterally from the upper part and the lower part of the side surface of the housing 11, and a connection part 16B that connects the two projecting parts 16A. The gripping portion 17 includes two projecting portions 17A that project laterally from the upper and lower sides of the side surface of the housing 11, and a connecting portion 17B that connects the two projecting portions 17A. The protruding portions 16A and 17A are curved from the protruding positions 11A and 11B toward the rear surface of the housing 11. Instead of bending, the protrusions 16A and 17A may be inclined from the protrusion positions 11A and 11B toward the rear surface of the housing 11. By holding the grip portions 16 and 17, the operator can move the radiation irradiation apparatus 10 to a position where the subject H can be imaged. Note that an imaging button 18 for imaging the subject H by emitting radiation is provided on the protruding portion 17A on the upper side of the gripping portion 17 that the operator holds with the right hand when imaging. .

  The housing 11 includes a monitor 15, a radiation source 19, an irradiation control unit 20, a collimator control unit 21, an imaging control unit 22, a drive control unit 23, an input unit 24, a communication unit 25, a battery 26, a distance sensor 27, and a motion sensor. 28 and an irradiation field lamp 29 are accommodated. The irradiation control unit 20, the collimator control unit 21, the imaging control unit 22, the drive control unit 23, and the communication unit 25 are configured by a program (software) that operates on a computer, dedicated hardware, or a combination of both. . The program is recorded and distributed on a recording medium such as a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disk Read Only Memory), and is installed in the radiation irradiation apparatus 10 from the recording medium. Alternatively, it is stored in a storage device of a server computer connected to a network or in a network storage in a state where it can be accessed from the outside, and is downloaded to the radiation irradiation apparatus 10 and installed on demand.

  The radiation source 19 includes, for example, an X-ray tube, a booster circuit, and a cooling unit that cools the X-ray tube.

  The irradiation control unit 20 drives the radiation source 19 to irradiate the subject H with radiation having intensity corresponding to preset imaging conditions so that the subject H is irradiated for a set time. Control the amount. The imaging conditions are a tube voltage (kV value) and a mAs value (tube current × irradiation time) corresponding to the body thickness of the subject H. The body thickness of the subject H is the SID (Source Image receptor Distance) that is the distance between the device 10 and the surface of the radiation detector 30 and the distance between the device 10 and the surface of the subject H by the distance sensor 27. It can be obtained by measuring SOD (Source Object Distance) and subtracting SOD from SID. Note that the operator may measure the body thickness, and input information for setting imaging conditions including the measured body thickness from the input unit 24 to the apparatus 10. In the present embodiment, information for setting such imaging conditions such as body thickness is transmitted to the console 50, the imaging conditions are set in the console 50, and the set imaging conditions are transmitted to the radiation irradiation apparatus 10. The The irradiation control unit 20 controls the irradiation of the subject H with radiation using the imaging conditions transmitted from the console 50.

  The collimator control unit 21 includes a drive mechanism such as a motor and an electric circuit for controlling the drive mechanism for changing the radiation field of radiation irradiated from the radiation source 19 to the subject H by driving the collimator 14. ing. The collimator control unit 21 controls driving of the collimator 14 in accordance with an instruction from the drive control unit 23.

  The imaging control unit 22 drives the camera 13 to image the surface of the subject H and obtains a captured image G1. Further, the shooting control unit 22 may perform image processing for improving the image quality on the shot image G1 acquired by the camera 13. The captured image G1 acquired by the camera 13 is a moving image having a predetermined frame rate of, for example, 30 fps.

  The drive control unit 23 controls the entire drive of the radiation irradiation apparatus 10. That is, the drive control unit 23 instructs the irradiation control unit 20 to drive the radiation source 19, instructs the collimator control unit 21 to process the collimator 14, and instructs the imaging control unit 22. A process of driving the camera 13 to acquire the captured image G1, a process of displaying various information including the captured image G1 on the monitor 15, a process of instructing the communication unit 25 to exchange various information with the console 50, a battery 26 A process for monitoring the state, a process for receiving an instruction from the input unit 24, a process for measuring the distance between the radiation irradiation apparatus 10 and the object by the distance sensor 27, and a process for detecting the movement of the radiation irradiation apparatus 10 by the motion sensor 28. Etc. Each process described above is performed according to an instruction from the input unit 24 or an instruction transmitted from the console 50 and received by the communication unit 25. The drive control unit 23 corresponds to display control means.

  The input unit 24 is a touch panel type input unit integrated with the monitor 15, receives an instruction from the operator, and outputs information representing the instruction to the drive control unit 23. Note that the photographing button 18 is also included in the input unit 24.

  The communication unit 25 communicates with the console 50 wirelessly to exchange information. In addition, it may replace with radio | wireless and the radiation irradiation apparatus 10 and the console 50 may be connected by a cable, and information may be exchanged by wire. In the latter case, the communication unit 25 has a connector to which a cable is connected.

  The motion sensor 28 is a 9-axis motion sensor that detects 3-axis acceleration, 3-axis angular velocity, and 3-axis tilt. The acceleration, angular velocity, and inclination detected by the motion sensor 28 are output to the drive control unit 23 as motion information, used for controlling the radiation irradiation apparatus 10 during imaging, and transmitted from the communication unit 25 to the console 50. Note that the inclination is determined with reference to the position where the radiation irradiation apparatus 10 is held horizontally in a state where the radiation irradiation axis, which is the axis that coincides with the radiation irradiation direction, coincides with the direction in which gravity acts. The motion sensor 28 corresponds to a motion detection unit.

  The irradiation field lamp 29 is formed of a light emitting element that emits visible light such as a light bulb or an LED (Light Emitting Diode), and is turned on and off by the drive control unit 23. When the irradiation field lamp 29 is turned on, visible light is irradiated to the irradiation field irradiated with radiation on the subject H.

  Next, the configuration of the radiation detector 30 will be described. FIG. 5 is an external perspective view of the radiation detector as seen from the front side on the radiation irradiation side, and FIG. 6 is a schematic block diagram showing the internal configuration of the radiation detector.

  As shown in FIG. 5, the radiation detector 30 is a cassette-type radiation detector including a housing 32 that houses the image detection unit 31. As is well known, the image detection unit 31 includes a scintillator (phosphor) that converts incident radiation into visible light, and a TFT (Thin Film Transistor) active matrix substrate. On the TFT active matrix substrate, a rectangular imaging region in which a plurality of pixels for accumulating charges corresponding to visible light from the scintillator is arranged is formed. In the case 32, in addition to the image detection unit 31, a gate driver that applies a gate pulse to the gate of the TFT to switch the TFT, and charges accumulated in the pixel are converted into an analog electric signal representing an X-ray image. A shooting control unit 35 and the like having a signal processing circuit and the like for output are incorporated.

  The casing 32 has a rectangular parallelepiped shape including a front surface 32A on the detection surface side on which radiation is incident, a back surface 32B facing the front surface 32A, and four side surfaces 32C, 32D, 32E, and 32F. The housing 32 is formed of, for example, a conductive resin, and also functions as an electromagnetic shield that prevents electromagnetic noise from entering the radiation detector 30 and radiating electromagnetic noise from the radiation detector 30 to the outside. The housing 32 has a size conforming to an international standard ISO (International Organization for Standardization) 4090: 2001, which is almost the same as, for example, a film cassette, an IP (Imaging Plate) cassette, or a CR (Computed Radiography) cassette.

  A transmission plate 33 that transmits radiation is attached to the front surface 32 </ b> A of the housing 32. The transmission plate 33 has a size that substantially coincides with the radiation detection region in the radiation detector 30, and is formed of a carbon material that is lightweight, highly rigid, and highly transparent.

  Markers 34 </ b> A to 34 </ b> D representing identification information for identifying the radiation detector 30 are attached to the four corners of the front surface 32 </ b> A of the housing 32. In the present embodiment, the markers 34A to 34D are each composed of two orthogonal barcodes. The two barcodes are attached to the front surface 30 </ b> A of the radiation detector 30 so as to define the four corners of the detection region of the radiation detector 30. As long as the radiation detector 30 can be identified, a tape or the like to which the radiation detector 30 is given a unique color may be used as a marker. In this case, the radiation detector 30 can be identified by the color of the marker.

  Here, the markers 34 </ b> A to 34 </ b> D are configured by a pair of two barcodes. In the present embodiment, one of the two barcodes is accommodated in the radiation detector 30. Information indicating the vertical direction of the image detection unit 31 is included. In the present embodiment, the side to which the markers 34A and 34B are provided is the top, that is, the top side. Therefore, in this embodiment, in the radiation detector 30, when the side on which the markers 34A and 34B are provided and the side on which the markers 34C and 34D are provided are defined, they are orthogonal to these two sides. The direction from the side on which the markers 34C and 34D are provided to the side on which the markers 34A and 34B are provided is the top-to-bottom direction. The top-and-bottom direction means a direction on the radiation detector 30 and does not mean a direction in a direction in which gravity acts.

  In addition, you may use light emitting elements, such as LED which light-emits the color intrinsic | native to the radiation detector 30, as a marker. In this case, the radiation detector 30 can be identified by the color of the light emitting element. In addition, as shown in FIG. 7, by providing markers 40 </ b> A to 40 </ b> D each composed of a plurality of light emitting elements at the four corners of the detection region of the radiation detector 30, the radiation detector can be changed depending on the lighting pattern, flashing pattern, or color scheme of the light emitting elements. 30 can be identified.

  Further, the marker is not limited to the barcode or the light emitting element, and it is sufficient that at least the position of the marker in the captured image G1 can be detected. For example, a symbol or a character may be used as the marker.

  The housing 32 accommodates an image detection unit 31, an imaging control unit 35, a drive control unit 36, a communication unit 37, a motion sensor 38, and a battery 39. The photographing control unit 35, the drive control unit 36, and the communication unit 37 are configured by a program (software) that operates on a computer, dedicated hardware, or a combination of both. The program is installed in the radiation detector 30 in the same manner as the radiation irradiation apparatus 10.

  As described above, the imaging control unit 35 includes a gate driver, a signal processing circuit, and the like, controls the driving thereof, generates an analog image signal representing the radiation image G2, and outputs the analog image signal to the driving control unit 36.

  The drive control unit 36 controls the entire drive of the radiation detector 30. That is, the drive control unit 36 instructs the imaging control unit 35 to generate an image signal representing the radiation image G2, and instructs the communication unit 37 to send the image signal representing the radiation image G2 and various information to the console 50. , A process for detecting the movement of the radiation detector 30 by the motion sensor 38, a process for monitoring the state of the battery 39, and the like.

  The communication unit 37 communicates with the console 50 wirelessly to exchange information. Instead of wireless, the radiation detector 30 and the console 50 may be connected by a cable, and information may be exchanged by wire. In the latter case, the communication unit 37 has a connector to which a cable is connected.

  The motion sensor 38 is a 9-axis motion sensor that detects 3-axis acceleration, 3-axis angular velocity, and 3-axis tilt. The acceleration, angular velocity, and inclination detected by the motion sensor 38 are output as motion information to the drive control unit 36 and transmitted from the communication unit 37 to the console 50. The inclination is an inclination based on the position where the radiation detector 30 is held horizontally.

  FIG. 8 is a schematic block diagram showing the internal configuration of the console. As shown in FIG. 8, the console 50 includes a radiation imaging data processing unit 51, an image processing unit 52, an output unit 54, a storage unit 55, an input unit 56, a communication unit 57, a monitor 58, and a control unit 59. The radiation imaging data processing unit 51, the image processing unit 52, the communication unit 57, and the control unit 59 are configured by a program (software) that operates on a computer, dedicated hardware, or a combination of both. The program is installed in the console 50 in the same manner as the radiation irradiation apparatus 10 described above.

  The radiographic data processing unit 51 performs data processing such as A / D conversion on the image signal representing the radiographic image G2 of the subject H input from the radiation detector 30. From the radiation imaging data processing unit 51, radiation image data representing the digital radiation image G2 after data processing is output.

  The image processing unit 52 performs predetermined image processing on the radiation image data output from the radiation imaging data processing unit 51 using the image processing parameters stored in the storage unit 55. Image processing performed by the image processing unit 52 includes, for example, image calibration including pixel defect correction, creation of a defect map for performing this, offset correction, gain correction using a predetermined uniform exposure image, and shading correction. Correction of radiographic image data by the image data), gradation correction processing, density correction processing, processing for removing scattered radiation caused by radiation transmitted through the subject H, and data for monitor display and print output Various image processing such as data conversion for converting data can be performed. The image processing unit 52 outputs radiographic image data that has undergone image processing.

  The output unit 54 outputs the radiographic image data that has been subjected to the image processing and is input from the image processing unit 52. The output unit 54 is, for example, a printer that prints out radiation images, or a storage device that stores radiation image data.

  The storage unit 55 stores the size of the detection region of the radiation detector 30, the image processing parameters for image processing performed in the image processing unit 52, the type of the radiation detector 30 for setting imaging conditions, and the body thickness of the subject H. And the like, and various information necessary for processing in the console 50, and the radiographic image G2 output from the image processing unit 52 and the captured image G1 transmitted from the radiation irradiation apparatus 10 are stored. The storage unit 55 may be a semiconductor memory or a recording medium such as a hard disk. Further, it may be built in the console 50, or may be arranged outside and used by being connected to the console 50.

  The input unit 56 includes a keyboard or the like for performing various inputs to the console 50. The input unit 56 may be a touch panel.

  The communication unit 57 communicates with the radiation irradiation apparatus 10 and the radiation detector 30 wirelessly to exchange information. Instead of wireless, the console 50, the radiation irradiation apparatus 10, and the radiation detector 30 may be connected by a cable, and information may be exchanged by wire. In the latter case, the communication unit 57 has a connector to which a cable is connected.

  The monitor 58 is composed of a liquid crystal panel or the like, and displays various information regarding the console 50, the radiation image G2 transmitted from the radiation detector 30, and the captured image G1 if necessary.

  The control unit 59 controls the entire drive of the console 50. That is, the control unit 59 instructs the radiation imaging data processing unit 51 to acquire the radiation image G2, performs processing to instruct the image processing unit 52 to perform image processing on the radiation image G2, and detects the detected markers 34A to 34A. The process of acquiring the identification information of the radiation detector 30 from any of 34D, the process of identifying the radiation detector 30 based on the identification information, the process of detecting the position of the radiation detector in the captured image G1, and the output unit 54 A process for outputting the radiation image G2, a process for instructing the communication unit 57 to exchange various information with the radiation irradiation apparatus 10 and the radiation detector 30, a process for receiving an instruction from the input unit 56, and a process for receiving various information on the monitor 58. Processing to display is performed. The control unit 59 corresponds to a position detection unit, an identification information acquisition unit, and an identification unit.

  Hereinafter, detection of the radiation detector 30 in the captured image G1 will be described. When acquiring a radiographic image of the subject H, the operator points the radiation irradiation device 10 at the subject H and images the subject H with the camera 13. In the present embodiment, the chest of the subject H is imaged. For this reason, before imaging, the captured image G1 includes the chest of the subject H as shown in FIG. Then, when the operation of inserting the radiation detector 30 between the bed 2 and the subject H is performed in order to acquire the radiation image G2 of the subject H, as shown in FIG. A part of the radiation detector 30 is included. Here, the radiation detector 30 is provided with markers 34A to 34D at the four corners. The control unit 59 determines whether or not any of the markers 34A to 34D is included in the captured image G1, and when it is determined that any of the markers 34A to 34D is included in the captured image G1, the captured image G1. It is determined that the radiation detector 30 is included.

  On the other hand, the control unit 59 transmits radiation detector position information indicating the position of the radiation detector 30 in the captured image G <b> 1 from the communication unit 57 to the radiation irradiation apparatus 10. The radiation detector position information is a coordinate position representing the position of the corner of the detection region of the radiation detector 30 on the captured image G1. In the present embodiment, the size of the detection area of the radiation detector 30 is stored in the storage unit 55 in advance. The control unit 59 obtains radiation detector position information from the position of any of the markers 34A to 34D detected from the captured image G1 and the size of the detection area. Further, if the radiation detector position information is known, the information on the center position of the radiation detector 30 can be calculated from the size of the detection region of the radiation detector 30. Therefore, the control unit 59 also transmits center position information indicating the center position of the radiation detector 30 to the radiation irradiation apparatus 10. Further, the vertical direction of the radiation detector 30 is recognized from any of the markers 34 </ b> A to 34 </ b> D, and information on the vertical direction is also transmitted to the radiation irradiation apparatus 10.

  Moreover, the control part 59 acquires the identification information of the radiation detector 30 from either of the markers 34A-34D. Moreover, the control part 59 discriminate | determines whether the radiation detector 30 is a radiation detector which should be used using identification information. Here, the type of radiation detector to be used is registered in the console 50 in advance. Specifically, the identification information of the radiation detector to be used is stored in the storage unit 55 as registered identification information. The control unit 59 compares the identification information of the radiation detector 30 with the registered identification information stored in the storage unit 55, and determines whether or not the acquired identification information is registered identification information. If this determination is positive, the control unit 59 transmits identification information to the radiation irradiation apparatus 10. In the radiation irradiation apparatus 10, identification information is displayed on the monitor 15 as described later. On the other hand, if the determination is negative, the control unit 59 transmits information indicating that the radiation detector 30 is not a radiation detector to be used to the radiation irradiation apparatus 10. The radiation irradiation apparatus 10 issues a warning that the radiation detector 30 is not a radiation detector to be used. Specifically, text or the like indicating that the radiation detector 30 is not a radiation detector to be used is displayed on the monitor 15. As a result, the operator can take measures such as replacing the radiation detector. Further, in the console 50, the identification information of the radiation detector 30 currently used may be registered again. Thereby, the operation | work which replaces the radiation detector 30 can be abbreviate | omitted.

  Next, processing performed in the present embodiment will be described. 11 and 12 are flowcharts showing processing performed in the present embodiment. In the radiographic imaging apparatus of the present embodiment, two operators handle the radiation irradiation apparatus 10 and the radiation detector 30, respectively, and position the radiation detector 30 behind the subject H, or the irradiation field. It is assumed that a pre-shooting operation for setting the camera is performed, and shooting is performed after the pre-shooting operation is completed. First, the radiation irradiation apparatus 10 is set above the subject H, the subject H is photographed by the camera 13, and a photographed image G1 of the subject H is acquired (step ST1). The radiation irradiating apparatus 10 transmits information of the irradiation field defined by the captured image G1, SID, SOD, and collimator 14 to the console 50 (transmission of captured image, etc .: step ST2). Further, the console 50 transmits information representing the driving status of the radiation detector 30, information representing the remaining battery level of the radiation detector 30, motion information detected by the motion sensor 38, and the like from the radiation detector 30. (Detector information transmission: step ST3).

  The controller 59 of the console 50 determines whether or not the radiation detector 30 is included in the captured image G1 by determining whether or not any of the markers 34A to 34D is included in the captured image G1 (step S1). ST4). As shown in FIG. 9, when the radiation image detector 30 is not included in the captured image G1, Step ST4 is denied and the process returns to Step ST1. As shown in FIG. 10, when any of the markers 34A to 34D is included in the captured image G1, and as a result, the radiation detector 30 is included in the captured image G1, step ST4 is affirmed, and the control unit 59 Based on any of the markers 34A to 34D of the radiation detector 30 included in the captured image G1, identification information of the radiation detector 30, radiation detector position information indicating the position of the radiation detector 30 on the captured image G1, and radiation Information relating to the detector, which is composed of information indicating the vertical direction of the detector 30 and center position information of the radiation detector 30, is acquired. Further, the control unit 59 calculates the body thickness of the subject H by subtracting the SOD from the SID, and sets the imaging condition from the body thickness.

  Note that the imaging conditions may be set according to the part of the subject H included in the captured image G1. Information on the part of the subject H may be acquired by receiving input from the operator in the radiation irradiation apparatus 10 or may be acquired by receiving input from the input unit 56 of the console 50. Moreover, the scintillator used for the image detection part 31 accommodated in the radiation detector 30 has the radiation quality (whether it is a high voltage | pressure or a low voltage | pressure) suitable for the kind. For this reason, you may set imaging conditions according to the material of the scintillator used for the image detection part 31 accommodated in the radiation detector 30 in addition to body thickness. In this case, a table in which the scintillator information used in the image detection unit 31 and the imaging conditions corresponding to the identification information of the radiation detector 30 are stored in the storage unit 55. Thereby, the imaging condition according to the identification information of the radiation detector 30 acquired from the captured image G1 with reference to the table can be set. In addition, in the case where imaging information when the same subject H is imaged using the same radiation irradiation device 10 and radiation detector 30, imaging conditions that take that into consideration may be set. .

  Here, as shown in FIG. 13, the size of the irradiation field of the radiation irradiated from the radiation irradiation apparatus 10 differs depending on whether the body thickness of the subject H is large or small. Specifically, the smaller the body thickness, the larger the irradiation field. For this reason, the control unit 59 calculates the body thickness of the subject H from the SID and SOD, and further, based on the information on the range defined by the collimator 14 transmitted from the radiation irradiation apparatus 10, the center position of the irradiation field region And information related to the irradiation field consisting of size information. And the control part 59 transmits detector information, detector related information, irradiation field related information, and imaging conditions to the radiation irradiation apparatus 10 (information transmission: step ST5). As described above, the identification information is transmitted when the acquired identification information is the identification information of the radiation detector to be used.

  Based on the information transmitted from the console 50, the drive control unit 23 of the radiation irradiation apparatus 10 adds the identification information of the radiation detector 30, the driving status of the radiation detector 30, to the captured image G1 displayed on the monitor 15. The vertical direction of the radiation detector 30, the remaining battery level of the radiation detector 30, the area corresponding to the radiation detector 30, the center position of the radiation detector 30, and the radiation field regulated by the collimator 14 are superimposed and displayed ( Information display: Step ST6).

  FIG. 14 is a diagram showing a captured image G1 on which various types of information are superimposed. As shown in FIG. 14, the captured image G1 displayed on the monitor 15 includes text 60 (here, “standby”) that indicates the driving state of the radiation detector 30, an arrow 61 that indicates the vertical direction of the radiation detector 30, An icon 62 representing the remaining battery level of the radiation detector 30, a detection area 63 corresponding to the detection area of the radiation detector 30, a center position 64 of the radiation detector 30, an irradiation field area 65, a center position 66 of the irradiation field area 65, The text 70 of Detector 1 that is identification information of the radiation detector 30 is superimposed and displayed. In the irradiation field area 65, the center position 66 of the irradiation field is also displayed. In addition, it is preferable to display the detection area 63 and the irradiation field area 65 in an identifiable manner. For example, the color of the detection area 63 and the color of the irradiation field area 65 are preferably different. The color may be specified by an instruction from the console 50.

  In the console 50, the control unit 59 detects the color of the clothing of the subject H from the captured image G1, and designates the colors of the detection region 63 and the irradiation field region 65 so as to be different from the color of the clothing. Is preferred. Thereby, it can prevent that the detection area | region 63 and the irradiation field area | region 65 which are superimposed on the picked-up image G1 are mixed with the clothing of the subject H.

  Then, the subject H is continuously photographed by the camera 13 of the radiation irradiation apparatus 10 to obtain a photographed image G1 of the subject H, and the radiation irradiation apparatus 10 transmits the photographed image G1 to the console 50 (shooting image transmission: step). ST7). The radiation detector 30 continuously transmits information indicating the driving state of the radiation detector 30, information indicating the remaining battery level of the radiation detector 30, motion information detected by the motion sensor 38, and the like.

  The control unit 59 of the console 50 continuously determines whether or not the radiation detector 30 is included in the captured image G1 by determining whether or not any of the markers 34A to 34D is included in the captured image G1 ( Step ST8). When step ST8 is affirmed, the control unit 59 continues to determine the position of the radiation detector 30 in the captured image G1 based on any of the markers 34A to 34D attached to the radiation detector 30 included in the captured image G1. The represented radiation detector position information is transmitted (step ST9). The drive control unit 23 of the radiation irradiation apparatus 10 superimposes and displays the detection region detection region 63 of the radiation detector 30 on the captured image G1 based on the radiation detector position information transmitted from the console 50 (information display: step ST10). ).

  On the other hand, when the radiation detector 30 is moved after the radiation detector 30 is included in the photographed image G1, the radiation detector 30 moves to a position outside the angle of view of the camera 13, and the radiation image is detected in the photographed image G1. The container 30 may not be included. If the radiation detector 30 is completely hidden by the subject H, the captured image G1 does not include the radiation detector. In such a case, the markers 34A to 34D are not included in the captured image G1, and therefore the position of the radiation detector 30 cannot be specified only from the captured image G1. In this case, step ST8 is denied. If step ST8 is negative, the control unit 59 of the console 50 acquires radiation detector position information based on the movement information of the radiation detector 30 detected by the motion sensor 38 transmitted from the radiation detector 30. (Step ST11).

  FIG. 15 is a diagram for explaining acquisition of radiation detector position information based on motion information. In FIG. 15, the position of any of the markers 34A to 34D in the radiation detector 30 when any of the markers 34A to 34D of the radiation detector 30 is included in the captured image G1 is set as the reference position P1. Then, the movement amount M1 from the reference position P1 of the radiation detector 30 is calculated using the motion information and the size of the detection region of the radiation detector 30. Based on the calculated movement amount M1, radiation detector position information is acquired. Thereby, even if the radiation detector 30 is not included in the captured image G1, the position of the radiation detector 30 can be tracked. Therefore, as shown in FIG. 15, the detection region 63 and the center position 64 of the radiation detector 30 can be superimposed and displayed on the captured image G1.

  When it is determined that any of the markers 34A to 34D is included in the captured image G1, and it is determined that any of the markers 34A to 34D is not included in the captured image G1, that is, the radiation is included in the captured image G1. If the radiation detector 30 is not included in the captured image G1 after the detector 30 is included, the radiation detector 30 is used by using the radiation detector position information obtained based on the motion information of the radiation detector 30. Information indicating the direction in which the image exists may be displayed on the captured image G1. FIG. 16 is a diagram illustrating a captured image in which information representing the direction in which the radiation detector 30 exists is superimposed in addition to various information. In FIG. 16, the position where the radiation detector 30 exists is indicated by a virtual line. As shown in FIG. 16, the captured image G1 displayed on the monitor 15 has an arrow 67 as information indicating the direction in which the radiation detector 30 exists in addition to the information superimposed on the captured image G1 shown in FIG. 14. It is displayed. Instead of the arrow 67, characters such as up, down, left, and right may be information indicating the direction in which the radiation detector 30 exists.

  The operators of the radiation irradiation apparatus 10 and the radiation detector 30 perform pre-imaging work in cooperation. That is, the operator of the radiation detector 30 moves the radiation detector 30 to an appropriate position behind the subject H, and the operator of the radiation irradiating apparatus 10 appropriately observes the image displayed on the monitor 15. It is confirmed whether or not the radiation detector 30 has moved to the position. Moreover, the position of the radiation irradiation apparatus 10 is moved if necessary. With this operation, as shown in FIG. 17, the center position 66 of the irradiation field region 65 and the center position 64 of the detection region 63 can be matched.

  Further, the control unit 59 determines whether or not the center position of the radiation detector 30 coincides with the center position 66 of the irradiation field region 65. You may make it transmit to. When the radiation irradiation apparatus 10 receives the information indicating the match, the radiation irradiation apparatus 10 indicates to the monitor 15 that the center position is matched, such as a text “center position is matched” or a mark indicating that the center position is matched. indicate. FIG. 17 shows that the center positions coincide with each other by a star-shaped mark 68. Instead of displaying on the monitor 15, the operator is notified that the center position of the radiation detector 30 coincides with the center position 66 of the irradiation field region 65 by, for example, outputting by sound or blinking the monitor 15. If possible, any method may be used.

  Further, when the center position of the radiation detector 30 and the center position 66 of the irradiation field region 65 coincide with each other, the radiation irradiation apparatus 10 is based on the inclination information of the radiation detector 30 included in the movement information of the radiation detector 30. Information on the inclination of the radiation detector 30 with respect to the image may be displayed superimposed on the captured image G1. Here, the inclination of the radiation detector 30 with respect to the radiation irradiation apparatus 10 is a two-dimensional inclination with reference to a plane perpendicular to the radiation irradiation optical axis. When the x axis and the y axis are set on the plane of the radiation detector 30, the inclination is an inclination angle around each of the x axis and the y axis. In the control unit 59 of the console 50, when the center position of the radiation detector 30 coincides with the radiation irradiation axis, information on the inclination of the radiation detector 30 is acquired and transmitted to the radiation irradiation apparatus 10. When receiving the information on the inclination of the radiation detector 30, the radiation irradiation apparatus 10 displays the angles around the x axis and the y axis on the monitor 15. In FIG. 17, angle information 69 representing angles around the x-axis and the y-axis is displayed. Accordingly, the operator adjusts the inclination of the radiation detector 30 so that the angles around the x-axis and the y-axis of the radiation detector 30 are 0, so that the radiation irradiation axis and the radiation detector 30 intersect perpendicularly. be able to.

  Note that the control unit 59 calculates the relative inclination between the radiation irradiation apparatus 10 and the radiation detector 30 using the movement information of the radiation irradiation apparatus 10, and transmits the calculated relative inclination to the radiation irradiation apparatus 10. You may make it do. In this case, after fixing the radiation detector 30, the relative inclination of the radiation detector 30 with respect to the radiation irradiation apparatus 10 can be adjusted by adjusting the inclination of the radiation irradiation apparatus 10. When the radiation irradiation axis and the radiation detector 30 are perpendicular to each other, the color of the detection area 63 superimposed on the captured image G1 may be changed, or the detection area 63 may be blinked. Thereby, the operator can easily recognize that the radiation irradiation axis and the radiation detector 30 are vertical.

  Here, in the state shown in FIG. 17, since the irradiation field area 65 is larger than the detection area 63, the radiation that has not passed through the radiation detector 30 among the radiation that has passed through the subject H can be imaged. It can't be done and it becomes useless. Further, irradiating the subject H with such useless radiation increases the exposure amount of the subject H.

  For this reason, the operator of the radiation irradiation apparatus 10 uses the input unit 24 to instruct the irradiation field region 65 and the detection region 63 to coincide with each other. For this reason, the drive control part 23 of the radiation irradiation apparatus 10 determines whether there was an area | region coincidence instruction | indication (step ST12). Note that the area matching instruction is an instruction for the operator to operate the irradiation field area 65 displayed on the monitor 15 with a finger or the like to match the irradiation field area 65 and the detection area 63 as shown in FIG.

  If step ST12 is negative, the process returns to step ST7. Thereby, the captured image G1 is continuously transmitted to the console 50, and the radiation detector position information is acquired in the console 50. If the movement of the radiation detector 30 is continued, any of the markers 34A to 34D in the captured image G1, that is, any of the markers 34A to 34D in the captured image G1 is determined again after it is determined that the radiation detector 30 is not included. That is, it may be determined that the radiation detector 30 is included. In this case, step ST8 is affirmed and radiation detector position information is acquired based on one of the markers 34A to 34D of the radiation detector 30 included in the captured image G1.

  Here, the collimator controller 21 may drive the collimator 14 in conjunction with the area matching instruction. However, when the collimator 14 is driven each time there is an instruction to match the irradiation field area 65 and the detection area 63, Power consumption increases. For this reason, in the present embodiment, when the input unit 24 receives an input indicating that the imaging field preparation is completed after the instruction to match the irradiation field region 65 and the detection region 63 using the input unit 24 is completed. In addition, the collimator 14 may be driven by the collimator controller 21.

  Furthermore, if step ST12 is affirmed, the drive control part 23 of the radiation irradiation apparatus 10 will determine whether preparation for imaging | photography was completed (step ST13). The completion of the preparation for photographing may be accepted by the input from the input unit 24 as described above. If step ST13 is negative, the process returns to step ST7.

  If step ST13 is positive, the drive control unit 23 turns on the irradiation field lamp 29, drives the collimator 14 with the collimator control unit 21, and sets the irradiation field (step ST14). At this time, it is preferable to notify the operator that the collimator 14 is being driven by blinking the irradiation field region 65 displayed on the monitor 15 or the like. The drive control unit 23 of the radiation irradiation apparatus 10 does not accept the operation of the imaging button 18 while the collimator 14 is being driven. When the driving of the collimator 14 is completed, the drive control unit 23 detects the movement of the radiation irradiation apparatus 10 by the motion sensor 28, and calculates the amount of movement per unit time of the radiation irradiation apparatus 10 (step ST15). The amount of movement of the radiation irradiation apparatus 10 per unit time corresponds to the hand movement of the operator. The drive control unit 23 determines whether or not the amount of motion per unit time is less than the threshold value Th1 (step ST16). If step ST16 is negative, the drive control unit 23 displays a warning on the monitor 15 (step ST17) and returns to step ST15. The operator can take measures such as firmly holding the radiation irradiation apparatus 10 by warning display.

  If step ST16 is negative, the drive control unit 23 controls the radiation source 19 so as not to emit radiation even when the imaging button 18 is operated. Instead of this, the shooting button 18 may not be operated by locking the shooting button 18 or the like. Further, the threshold value Th1 may be changed according to the radiation irradiation time included in the imaging conditions. For example, when the irradiation time of radiation is long, the influence of camera shake becomes large. Therefore, the threshold value Th1 may be changed so as to decrease as the irradiation time of radiation increases.

  If step ST16 is affirmed, the drive control unit 23 determines whether or not an imaging instruction has been given from the input unit 24 (step ST18). If step ST18 is negative, the process returns to step ST15. If step ST18 is affirmed, the drive control unit 23 irradiates the subject H with radiation by driving the radiation source 19 and emitting the radiation toward the subject H (step ST19). When step ST16 is affirmed, the drive control unit 23 may display on the monitor 15 that the photographing is possible. In addition, when it affirms after step ST16 is denied, the drive control part 23 stops the warning display to the monitor 15, and enables the radiation source 19 to be driven by operation of the imaging | photography button 18. FIG. If the shooting button 18 cannot be operated, the shooting button 18 can be operated by unlocking the shooting button 18 or the like.

  The radiation detector 30 detects the radiation that has passed through the subject H, and acquires a radiation image G2 of the subject H (step ST20). The acquired radiation image G <b> 2 is transmitted to the console 50, subjected to image processing for improving the image quality in the image processing unit 52, and output to the output unit 54. In addition, the control unit 59 transmits the image-processed radiation image G2 to the radiation irradiation apparatus 10 (step ST21).

  The drive control part 23 of the radiation irradiation apparatus 10 displays the radiation image G2 on the monitor 15 (step ST22), and complete | finishes a process. In this case, the captured image G1 and the radiation image G2 may be superimposed on the monitor 15 or only the radiation image G2 may be displayed. Thereby, it can be determined whether the radiographic image G2 was acquired appropriately.

  Thus, in the present embodiment, it is determined whether or not the captured image G1 includes the markers 34A to 34D of the radiation detector 30, and when it is determined that the captured image G1 includes the markers 34A to 34D, Based on the markers 34A to 34D included in the captured image G1, the position of the radiation detector 30 in the captured image G1 is detected. Thereafter, when it is determined that the markers 34A to 34D are not included in the captured image G1, the radiation detector detected when the markers 34A to 34D are included in the motion information detected by the motion sensor 38 and the captured image G1. Based on the position of 30, the position of the radiation detector 30 in the captured image G1 is detected. For this reason, even if the radiation detector 30 is once included in the captured image G1, the captured image G1 is not included in the captured image G1 even if the radiation detector 30 is hidden behind the subject. The position of the radiation detector 30 can be detected.

  In the above embodiment, the distance sensor 27 detects the SID and SOD, and the body thickness of the subject H is calculated from the SID and SOD. However, in the radiation irradiation apparatus 10, the operator uses the input unit 24. May input the body thickness of the subject H. In this case, the measured body thickness of the subject H may be input. However, as shown in FIG. 19, icons 90 such as a thin person, a normal body person, and a fat person are displayed on the monitor 15 and displayed. It is only necessary to accept input of body thickness by causing the operator to select one of the icons 90.

  In addition, since the radiation irradiation apparatus 10 according to the present embodiment is portable, radiation can be emitted in a direction in which the subject H is not present. In order to prevent such a situation, the drive control unit 23 controls the radiation source 19 so that radiation cannot be emitted in a state where the photographed image G1 does not include an object necessary for photographing such as the radiation detector 30. It is preferable to do.

  In the above-described embodiment, the SID and SOD are measured by the distance sensor 27 before the start of the pre-shooting work. However, the SID and SOD may be measured by the distance sensor 27 during the pre-shooting work. In this case, the position where the SID and SOD are measured may be designated on the monitor 15 and information on the position may be transmitted to the console 50. Thereby, in the console 50, it is possible to recognize which position the body thickness of the subject H is acquired.

  In the above embodiment, the imaging condition is set by the control unit 59 of the console 50. However, based on the information on the remaining amount of the battery 26 of the radiation irradiating apparatus 10, radiation can be emitted according to the set imaging condition. It may be determined whether or not there is. Then, when radiation irradiation according to the set imaging conditions is impossible, information to that effect may be transmitted to the radiation irradiation apparatus 10. In the radiation irradiation apparatus 10, the operator can recognize that the remaining amount of the battery 26 is insufficient by displaying information on the monitor 15 that the imaging is not possible. Therefore, the operator can take measures such as replacing the battery 26 or preparing another radiation irradiation apparatus 10.

  Moreover, in the said embodiment, the imaging | photography image G1, the identification information of the radiation detector 30, the radiation detector position information, the information and center position information indicating the top and bottom direction, and the information indicating the driving state of the radiation detector 30 from the console 50. The battery remaining amount information and the like may be transmitted to the terminal 80, and various information may be superimposed on the captured image G1 and displayed on the terminal 80 in the same manner as that displayed on the monitor 15. Thereby, a doctor or the like can monitor the state of the pre-imaging work of the subject H at his / her terminal 80.

  Moreover, in the said embodiment, the vertical direction of the radiation detector 30 may turn into the left-right direction of the picked-up image G1. Moreover, the top and bottom of the radiation detector 30 may be opposite to the top and bottom of the captured image G1. In such a case, since the acquired radiation image G2 does not coincide with the top and bottom of the captured image G1, if the acquired radiation image G2 is displayed as it is, the radiation image G2 becomes difficult to see. In this embodiment, since the top and bottom direction of the radiation detector 30 is detected in the console 50, the radiation image G2 can be rotated so that the top and bottom of the displayed radiation image G2 is correct. In this way, by rotating the radiation image G2 so that the top and bottom are correct, the top and bottom of the captured image G1 and the top and bottom of the radiation image G2 can be matched, and thus the displayed radiation image G2 can be easily viewed. it can.

  Moreover, in the said embodiment, the movement per unit time of the radiation irradiation apparatus 10 may become more than threshold value Th1 during radiation irradiation. In such a case, radiation emission is temporarily stopped, and when the movement of the radiation irradiation apparatus 10 per unit time becomes less than the threshold value Th1, radiation is emitted for the remaining radiation irradiation time. Also good. In this case, two radiographic images are acquired before and after the radiation emission is stopped, and the final radiographic image G2 may be generated by adding and synthesizing the two radiographic images in the console 50.

  In the above embodiment, the irradiation field lamp 29 is turned on when the preparation for photographing is completed. However, the irradiation field lamp 29 may be switched between on and off. For example, when acquiring the radiation image G2 of the animal's face, it is necessary to irradiate the animal's face with radiation. In such a case, when the irradiation field lamp 29 is turned on, the animal's face is irradiated with light, which may cause the animal to be exposed. For this reason, the control unit 59 of the console 50 determines the region of the subject H included in the captured image G1, and if the region is the face of an animal, the irradiation field lamp 29 is turned on also by an instruction to complete the preparation for imaging. It may not be turned on. Thereby, it is possible to prevent the animal from being surprised and exposed by the visible light emitted from the irradiation field lamp 29. Since the operator knows the site of the subject H, the irradiation field lamp 29 may be switched on or off according to an instruction from the input unit 24 by the operator.

  In the above embodiment, the amount of motion per unit time of the radiation irradiation apparatus 10 is calculated using the amount of motion detected by the motion sensor 28. Here, in the present embodiment, the captured image G1 is acquired at a predetermined frame rate. For this reason, the amount of motion per unit time of the radiation irradiation apparatus 10 may be calculated from two captured images acquired at different imaging timings and the imaging time difference between the two captured images.

  In the above embodiment, the captured image G1 is displayed so that the region corresponding to the radiation detector can be identified by superimposing the detection region 63 corresponding to the detection region of the radiation detector 30 on the captured image G1. However, by superimposing the region surrounded by the four side surfaces 32C, 32D, 32E, 32F of the housing 32 of the radiation detector 30 on the captured image G1, the captured image G1 can be identified so that the region corresponding to the radiation detector can be identified. It may be displayed.

  In the above embodiment, the camera 13 may be an infrared camera that can measure the temperature distribution of the shooting range using infrared rays, and an infrared image representing the temperature distribution of the shooting range may be used as the shot image G1. In this case, the captured image G1 acquired by the camera 13 represents the temperature distribution of the surface of the subject H and the surfaces of objects around it. By using the camera 13 that can acquire such an infrared image as the photographed image G1, even when the subject H is covered with a sheet or the like at a disaster site or the like, due to the temperature distribution represented by the photographed image G1, The position of the subject H can be specified on the captured image G1.

  The camera 13 is preferably a camera that can switch between photographing with visible light and photographing with infrared rays. When such a camera 13 capable of switching between photographing with visible light and photographing with infrared rays is used, first, the subject H is photographed with infrared rays to obtain a photographed image G1 representing the temperature distribution, and the photographed image representing the temperature distribution. The irradiation field is first positioned using G1. Thereafter, the camera 13 is switched to imaging using visible light, and the detector region and the irradiation field region of the radiation detector 30 are superimposed on the captured image G1 in the same manner as in the above-described embodiment, and the captured image G1 is used to display the radiation detector 30. The radiation detector 30 may be positioned so that the detection area matches the irradiation field area. Thereby, even if the subject H is covered with a sheet or the like, the radiation image G2 can be acquired by matching the irradiation field region with the detection region of the radiation detector 30.

  In addition, by displaying the captured image G1 that is an infrared image on the monitor 15 in this way, an abnormality in the body temperature of the subject H can be recognized. Further, the radiographic image G1 acquired by imaging and the captured image G1 that is an infrared image may be displayed side by side on the monitor 15. Thereby, an infrared image and the radiographic image G2 can be contrasted.

  Moreover, in the said embodiment, although the portable radiation irradiation apparatus 10 is used, you may use the round-wheel-type radiation irradiation apparatus made to be able to drive | work. FIG. 20 is a perspective view showing the entire shape of a round-wheel-type radiation irradiation apparatus, and FIG. The rounding wheel type radiation irradiation apparatus 100 includes a leg part 110 capable of traveling on the apparatus mounting surface, a main body part 120 held on the leg part 110, and an arm part 130 coupled to the main body part 120. And a radiation source part 140 attached to the tip of the arm part 130.

  The leg part 110 has four legs 111 and a wheel part 112 attached to the lower surface of the tip part of each leg 111. The wheel portion 112 is provided with a brake means (not shown).

  The main body 120 has an irradiation control unit 20, a collimator control unit 21, an imaging control unit 22, a drive control unit 23, the same as the radiation irradiation apparatus 10 in the above embodiment, in a housing 122 fixed on the base 121. The communication unit 25 and the battery 26 are accommodated. A handle 123 for pushing and pulling the radiation irradiation apparatus 100 is attached to the upper end of the housing 122. An operation unit 125 is attached to the upper part of the base 121.

  The operation unit 125 includes an input unit 126 such as operation buttons and switches for inputting signals or the like for instructing various operations of the radiation irradiation apparatus 100, a monitor 127 for displaying various information, and the like. Note that, similarly to the radiation irradiation apparatus 10 shown in the above embodiment, the input unit 126 may be configured from a touch panel.

  The arm unit 130 includes a plurality of members 131, 132, and 133 that have a nested structure. The member 132 and the member 133 are connected by a rotation holding mechanism 134, and the member 133 is turned in a direction in which the angle changes with respect to the member 132.

  The radiation source unit 140 is swingably attached to the tip of the member 133 of the arm unit 130. The radiation source unit 140 accommodates the camera 13, the collimator 14, the radiation source 19, the distance sensor 27, the motion sensor 28, and the irradiation field lamp 29 that are the same as those of the radiation irradiation apparatus 10 in the above embodiment. The oscillating position of the radiation source unit 140 that can be oscillated can be fixed by operating the lock lever 141.

  In such a round-trip-type radiation irradiation apparatus 100, the captured image G <b> 1 of the subject acquired by the camera 13 is displayed on the monitor 127 of the operation unit 125.

  When performing the pre-imaging work, the operator extends the arm unit 130, and the length of the arm unit 130 and the radiation source unit 140 so that the radiation source unit 140 is positioned directly above the subject H above the subject H. Set the swing position. By photographing the subject H with the camera 13 in this state, the radiation detector 30 in the photographed image G1 is captured based on the markers 34A to 34D of the radiation detector 30 included in the photographed image G1 as in the above embodiment. The position can be specified.

  Further, when the round-wheel-type radiation irradiating apparatus 100 is used, the arm portion 130 is expanded and contracted, the radiation source portion 140 is swung, and the collimator so that the detection region and the irradiation field region superimposed on the radiation image G1 coincide. 14 drive may be controlled.

  Hereinafter, the operation and effect of the embodiment of the present invention will be described.

  The position of the radiation detector in the captured image is more accurate when detected based on the marker than when detected based on motion information. For this reason, if it is determined that the marker is not included in the captured image and then it is determined that the marker is included in the captured image, the position of the radiation detector in the captured image is detected based on the marker included in the captured image. By doing so, the position of the radiation detector in the captured image can be detected more accurately.

  By displaying the captured image, the state of the subject to be imaged can be confirmed.

  By displaying the captured image so that the region corresponding to the radiation detector can be identified, the region corresponding to the radiation detector in the captured image can be easily recognized.

  By displaying the captured image so that the region corresponding to the irradiation field can be identified, the region corresponding to the irradiation field in the captured image can be easily recognized.

DESCRIPTION OF SYMBOLS 1 Radiographic imaging apparatus 10 Radiation irradiation apparatus 13 Camera 14 Collimator 15 Monitor 16, 17 Grasping part 19 Radiation source 20 Irradiation control part 21 Collimator control part 22 Imaging control part 23 Drive control part 24 Input part 25 Communication part 26 Battery 27 Distance sensor DESCRIPTION OF SYMBOLS 28 Motion sensor 29 Irradiation field lamp 30 Radiation detector 31 Image detection part 34A-34D Marker 35 Imaging | photography control part 36 Drive control part 37 Communication part 38 Motion sensor 39 Battery 50 Console 51 Radiography imaging data processing part 52 Image processing part 54 Output part 55 Storage Unit 56 Input Unit 57 Communication Unit 58 Monitor 59 Control Unit

Claims (14)

A radiation source for irradiating the subject with radiation;
Imaging means for imaging the subject and obtaining a captured image of the subject;
A radiation detector that detects the radiation transmitted through the subject and generates a radiation image of the subject, wherein a marker is attached to the radiation detection surface side to detect movement of the radiation detector A radiation detector provided with motion detection means for outputting motion information,
It is determined whether or not the marker is included in the captured image, and when it is determined that the marker is included in the captured image, the radiation detection in the captured image is performed based on the marker included in the captured image. When the position of the detector is detected and it is determined that the marker is not included in the captured image, the position of the radiation detector detected when the marker is included in the motion information and the captured image A radiation image capturing apparatus comprising: a position detecting unit configured to detect a position of the radiation detector in the captured image.   When it is determined that the marker is included in the captured image after it is determined that the marker is not included in the captured image, the position detection unit, based on the marker included in the captured image, The radiographic image capturing apparatus according to claim 1, wherein a position of the radiation detector in the captured image is detected.   The radiographic image capturing apparatus according to claim 1, further comprising display means for displaying the captured image.   The radiographic image according to claim 3, further comprising display control means for displaying the captured image on the display means so that an area corresponding to the radiation detector can be identified based on a detection result of the position of the radiation detector. Shooting device.   5. The radiographic image capturing apparatus according to claim 3, wherein the display control unit displays the captured image on the display unit so that an area corresponding to an irradiation field of the radiation irradiated on the subject can be identified. The captured image is an infrared image,
The radiographic image capturing apparatus according to claim 3, wherein the display unit displays the infrared image and the radiographic image of the subject.   The radiographic image capturing apparatus according to claim 1, wherein the marker represents identification information for identifying the radiation detector.   The radiographic image capturing apparatus according to claim 7, wherein the marker is a barcode.   The radiographic image capturing apparatus according to claim 7 or 8, wherein the marker represents color information different for each type of the radiation detector as the identification information.   The radiographic imaging apparatus according to claim 7, wherein the marker includes a light emitting device, and the light emitting device represents the identification information by at least one of a color of light emitted, a lighting pattern of the light, and a blinking pattern of the light. .   11. The radiographic image capturing apparatus according to claim 7, further comprising an identification information acquisition unit configured to acquire identification information of the radiation detector from the marker included in the captured image.   The radiographic image capturing apparatus according to claim 11, further comprising identification means for identifying the radiation detector based on the identification information. A radiation source for irradiating the subject with radiation;
Imaging means for imaging the subject and obtaining a captured image of the subject;
A radiation detector that detects the radiation transmitted through the subject and generates a radiation image of the subject, wherein a marker is attached to the radiation detection surface side to detect movement of the radiation detector And a radiation image capturing apparatus control method including a radiation detector including a motion detection means for outputting motion information,
Determine whether the marker is included in the captured image,
When it is determined that the marker is included in the captured image, the position of the radiation detector in the captured image is detected based on the marker included in the captured image;
If it is determined that the marker is not included in the captured image, based on the movement information and the position of the radiation detector detected when the marker is included in the captured image, A method for controlling a radiographic imaging apparatus, comprising detecting the position of the radiation detector. A radiation source for irradiating the subject with radiation;
Imaging means for imaging the subject and obtaining a captured image of the subject;
A radiation detector that detects the radiation transmitted through the subject and generates a radiation image of the subject, wherein a marker is attached to the radiation detection surface side to detect movement of the radiation detector A program for causing a computer to execute a control method of a radiographic imaging apparatus including a radiation detector including a motion detection unit that outputs motion information,
A procedure for determining whether or not the marker is included in the captured image;
A procedure for detecting the position of the radiation detector in the captured image based on the marker included in the captured image when it is determined that the marker is included in the captured image;
If it is determined that the marker is not included in the captured image, based on the movement information and the position of the radiation detector detected when the marker is included in the captured image, A program for causing a computer to execute a procedure for detecting the position of the radiation detector.