JP2023104733A - Medical image display device, medical image display method, and program - Google Patents

Abstract

To robustly acquire the position of a subject when projecting a medical image on the subject, while suppressing complication of an inspection procedure.SOLUTION: A medical image display device according to embodiment comprises an acquisition unit, a mapping unit, a generation unit, and a display control unit. The acquisition unit acquires a medical image of a subject. The mapping unit maps the position of the bed of a medical image diagnostic device with the position of the medical image. The generation unit generates a content to superimpose on the subject, based on the medical image in which an anatomical portion is detected. The display control unit controls a display unit such that the content may be superimposed and displayed on the subject, based on the position of the bed and that of the anatomical portion mapped with each other.SELECTED DRAWING: Figure 4

Description

The embodiments disclosed in the present specification and drawings relate to a medical image display device, a medical image display method, and a program.

By overlaying medical images such as CT (Computed Tomography) images and MR (Magnetic Resonance) images on the subject using image projection such as projection mapping and mixed reality, users such as doctors can intuitively view medical images. There is a need for a display method for observation. As a conventional technique, an infrared sensor is used to measure the position of a subject in order to overlay a medical image on the subject. It is known to measure position. However, since the conventional technology uses an infrared sensor or a camera, it may be difficult to robustly acquire the position of the subject depending on lighting conditions and positional relationships. Moreover, it is not desirable to attach an optical marker to the subject before the inspection because it complicates the inspection procedure.

JP 2020-110444 A

The problem to be solved by the embodiments disclosed in the present specification and drawings is to robustly acquire the position of a subject when projecting a medical image onto the subject while suppressing complication of examination procedures. be. However, the problems to be solved by the embodiments disclosed in this specification and drawings are not limited to the above problems. A problem corresponding to each effect of each configuration shown in the embodiments described later can be positioned as another problem.

A medical image display apparatus according to an embodiment has an acquisition unit, an association unit, a generation unit, and a display control unit. The acquisition unit acquires a medical image of a subject. The associating unit is installed in a medical image diagnostic apparatus that scans the subject and generates the medical image, and associates a position of a bed on which the subject is placed during scanning and a position of the medical image. Associate. The generation unit generates content to be superimposed on the subject based on the medical image. The display control unit controls the display unit so that the content is superimposed on the subject based on the position of the bed and the position of the medical image that are associated with each other.

1 is a diagram showing a configuration example of a medical image display system 1 according to a first embodiment; FIG. FIG. 2 is a diagram showing an example of a usage scene of the medical image display system 1 according to the first embodiment; FIG. 1 is a diagram showing a configuration example of an X-ray CT apparatus 100 according to a first embodiment; FIG. The figure showing the structural example of the AR goggles 200 in 1st Embodiment. 4 is a flow chart showing an example of the flow of a series of processes of the medical image display system 1 according to the first embodiment; FIG. 4 is a diagram showing an example of content CONT superimposed and displayed on a subject P2; FIG. 11 is a diagram showing another example of content CONT superimposed and displayed on the subject P2; The figure showing the structural example of the AR goggles 200 in 2nd Embodiment. FIG. 10 is a flow chart showing an example of a series of processes of the medical image display system 1 according to the second embodiment; FIG. FIG. 11 is a flow chart showing an example of a series of processes of the medical image display system 1 according to the third embodiment; FIG.

A medical image display apparatus, a medical image display method, and a program according to embodiments will be described below with reference to the drawings.

(First embodiment)
[Configuration of medical image display system]
FIG. 1 is a diagram showing a configuration example of a medical image display system 1 according to the first embodiment. The medical image display system 1 according to the first embodiment includes, for example, a medical image diagnostic apparatus 100, a projection apparatus 200, and a camera 300. The medical image diagnostic apparatus 100, the projection apparatus 200, and the camera 300 are communicably connected via a communication network NW.

The communication network NW means all information communication networks using telecommunication technology. The communication network NW includes a wireless/wired LAN such as a hospital backbone LAN (Local Area Network), an Internet network, a telephone communication network, an optical fiber communication network, a cable communication network, a satellite communication network, and the like.

The medical image diagnostic apparatus 100 is an apparatus that scans a subject P2 to generate a medical image and diagnoses the subject P2 based on the medical image. The medical image diagnostic apparatus 100 is, for example, an X-ray CT apparatus, and may also be an MRI apparatus, a general X-ray imaging apparatus, an ultrasonic diagnostic imaging apparatus, a nuclear medicine diagnostic apparatus, or the like. As an example, the medical image diagnostic apparatus 100 will be described below as an X-ray CT apparatus.

The projection device 200 is a device that projects a medical image of the subject P2 generated by the medical image diagnostic apparatus 100 and allows the medical staff P1 to visually recognize the inside of the body of the subject P2. The medical personnel P1 is, for example, a medical worker such as a doctor, an engineer, or a nurse. The projection device 200 may be, for example, a device using technologies such as AR (Augmented Reality), VR (Virtual Reality), MR (Mixed Reality), and projection mapping. As an example, the projection device 200 will be described below as wearable AR goggles to which AR technology is applied. Medical personnel P1 is an example of a "user."

The camera 300 is attached, for example, to the ceiling or wall of an examination room (hereinafter referred to as a CT room) in which the X-ray CT apparatus 100 is installed. The camera 300 photographs, for example, the subject P2 entering the CT room, and transmits the image in the CT room to the AR goggles 200 or the X-ray CT apparatus 100 via the communication network NW. The image captured by camera 300 may be a still image or a moving image. The camera 300 may transmit the picked-up image directly to the AR goggles 200 or indirectly to the AR goggles 200 via the X-ray CT apparatus 100 .

[Usage scene of medical image display system]
FIG. 2 is a diagram showing an example of a usage scene of the medical image display system 1 according to the first embodiment. When the medical personnel P1 wears the AR goggles 200, a CT image of the subject P2 placed on the bed device 130 of the X-ray CT apparatus 100 is projected onto the AR goggles 200. FIG. A CT image is a medical image obtained by X-ray imaging (scanning) by the X-ray CT apparatus 100 . A CT image may be a single tomographic image (that is, a two-dimensional image) or a three-dimensional image composed of a plurality of tomographic images. Also, the CT images may be images of a plurality of time phases, or may be captured images.

When the medical personnel P1 visually recognizes the subject P2 through the AR goggles 200, it is desirable that the CT image is accurately superimposed on the body of the subject P2. In other words, alignment between the CT image and the subject P2 is important. Therefore, in the medical image display system 1, the three-dimensional position of the X-ray CT apparatus 100 with respect to the CT room is measured before examining the subject P2. For example, an optical marker MK1 is attached to the gantry device 110 of the X-ray CT apparatus 100, and the optical marker MK1 is imaged using the cameras 300a and 300b. Thereby, the three-dimensional position of the gantry device 110 with respect to the CT room is calculated. The optical marker MK1 may be removed from the gantry 110 at or after the timing of inspecting the subject P2. The optical marker MK1 may be a reflector capable of reflecting infrared rays if the cameras 300a and 300b incorporate strobe lights that emit infrared rays. Also, the optical marker MK1 may be an emitter that spontaneously emits infrared rays when the cameras 300a and 300b do not incorporate a strobe light that emits infrared rays.

Next, in the medical image display system 1, the three-dimensional position of the AR goggles 200 worn by the medical personnel P1 with respect to the CT room is measured at the timing of examining the subject P2. For example, an optical marker MK2 is attached to the AR goggles 200, and an image of the optical marker MK2 is captured using the cameras 300a and 300b. Thereby, the three-dimensional position of the AR goggles 200 with respect to the CT room is calculated. Like the optical marker MK1, the optical marker MK2 may be a reflector capable of reflecting infrared rays, or may be an issuer that spontaneously emits infrared rays.

Next, in the medical image display system 1, based on the three-dimensional position of the X-ray CT apparatus 100 with respect to the CT room, the position of each part such as the heart and lungs on the CT image (that is, the two-dimensional or three-dimensional position on the image space) ) into 3D positions relative to the CT room. Next, in the medical image display system 1, the CT image and the subject P2 are aligned based on the three-dimensional position of the AR goggles 200 with respect to the CT room and the three-dimensional position of each region on the CT image with respect to the CT room. done. As a result, when the medical personnel P1 looks at the subject P2 through the AR goggles 200, the tomographic images of each part are superimposed and displayed on the subject P2 as if the body of the subject P2 can be seen through. be done. Details of alignment between the CT image and the subject P2 will be described later.

[Configuration of X-ray CT apparatus]
FIG. 3 is a diagram showing a configuration example of the X-ray CT apparatus 100 according to the first embodiment. The X-ray CT apparatus 100 includes, for example, a gantry device 110, a bed device 130, and a console device 140. For convenience of explanation, FIG. 3 shows both a view of the gantry device 110 viewed from the Z-axis direction and a view of the gantry device 110 viewed from the X-axis direction. In the embodiment, the rotation axis of the rotating frame 117 in the non-tilt state or the longitudinal direction of the top plate 133 of the bed device 130 is defined as the Z-axis direction, and the axis perpendicular to the Z-axis direction and horizontal to the floor surface is defined as the Z-axis direction. The X-axis direction and the direction perpendicular to the Z-axis direction and perpendicular to the floor surface are defined as the Y-axis direction.

The gantry device 110 includes, for example, an X-ray tube 111, a wedge 112, a collimator 113, an X-ray high voltage device 114, an X-ray detector 115, and a data acquisition system (DAS: Data Acquisition System) 116. , a rotating frame 117 and a controller 118 .

The X-ray tube 111 generates X-rays by applying a high voltage from the X-ray high voltage device 114 and irradiating thermal electrons from a cathode (filament) toward an anode (target). X-ray tube 111 includes a vacuum tube. For example, the X-ray tube 111 is a rotating anode type X-ray tube that generates X-rays by irradiating a rotating anode with thermal electrons.

The wedge 112 is a filter for adjusting the dose of X-rays irradiated from the X-ray tube 111 to the subject P2. The wedge 112 attenuates the X-rays passing through itself so that the X-ray dose distribution irradiated from the X-ray tube 111 to the subject P2 becomes a predetermined distribution. Wedge 112 is also called a wedge filter or a bow-tie filter. The wedge 112 is, for example, processed aluminum so as to have a predetermined target angle and a predetermined thickness.

The collimator 113 is a mechanism for narrowing down the irradiation range of X-rays transmitted through the wedge 112 . The collimator 113 narrows down the X-ray irradiation range by, for example, forming a slit by combining a plurality of lead plates. Collimator 113 is sometimes called an X-ray diaphragm.

The X-ray high voltage device 114 has, for example, a high voltage generator and an X-ray controller. The high voltage generator has an electric circuit including a transformer, a rectifier, etc., and generates a high voltage to be applied to the X-ray tube 111 . The X-ray controller controls the output voltage of the high voltage generator in accordance with the amount of X-rays to be generated by the X-ray tube 111 . The high voltage generator may be one that boosts the voltage with the transformer described above, or one that boosts the voltage with an inverter. The X-ray high-voltage device 114 may be provided on the rotating frame 117 or may be provided on the fixed frame (not shown) side of the gantry device 110 .

The X-ray detector 115 detects the intensity of X-rays generated by the X-ray tube 111 and incident through the subject P2. The X-ray detector 115 outputs to the DAS 116 an electrical signal (which may be an optical signal or the like) corresponding to the intensity of the detected X-rays. The X-ray detector 115 has, for example, multiple X-ray detection element arrays. Each of the multiple X-ray detection element arrays has multiple X-ray detection elements arranged in the channel direction along an arc centered on the focal point of the X-ray tube 111 . A plurality of X-ray detection element arrays are arranged in a slice direction (column direction, row direction).

X-ray detector 115 is, for example, an indirect detector having a grid, a scintillator array, and a photosensor array. The scintillator array has a plurality of scintillators. Each scintillator has a scintillator crystal. The scintillator crystal emits an amount of light corresponding to the intensity of incident X-rays. The grid has an X-ray shielding plate arranged on the surface of the scintillator array on which X-rays are incident and having a function of absorbing scattered X-rays. Note that the grid may also be called a collimator (one-dimensional collimator or two-dimensional collimator). The photosensor array has photosensors such as, for example, photomultiplier tubes (photomultipliers: PMTs). The photosensor array outputs an electrical signal corresponding to the amount of light emitted by the scintillator. The X-ray detector 115 may be a direct conversion detector having a semiconductor element that converts incident X-rays into electrical signals.

DAS 116 includes, for example, amplifiers, integrators, and A/D converters. The amplifier amplifies the electrical signal output from each X-ray detection element of the X-ray detector 115 . The integrator integrates the amplified electrical signal over a view period (described later). The A/D converter converts an electrical signal representing the result of integration into a digital signal. The DAS 116 outputs detection data based on digital signals to the console device 140 . Detected data is a digital value of x-ray intensity identified by the channel number of the x-ray detector element from which it was generated, the row number, and the view number indicating the acquired view. The view number is a number that changes according to the rotation of the rotating frame 117, and is a number that is incremented according to the rotation of the rotating frame 117, for example. Therefore, the view number is information indicating the rotation angle of the X-ray tube 111 . A view period is a period that falls between the rotation angle corresponding to a certain view number and the rotation angle corresponding to the next view number. The DAS 116 may detect view switching by a timing signal input from the control device 118, by an internal timer, or by a signal obtained from a sensor (not shown). . When X-rays are continuously emitted from the X-ray tube 111 when performing a full scan, the DAS 116 collects detection data groups for the entire circumference (360 degrees). When X-rays are continuously emitted from the X-ray tube 111 when half scanning is performed, the DAS 116 collects detection data for a half circumference (180 degrees).

The rotating frame 117 is an annular rotating member that rotates the X-ray tube 111, the wedge 112, the collimator 113, and the X-ray detector 115 while holding them facing each other. The rotating frame 117 is rotatably supported by the stationary frame around the subject P2 introduced therein. Rotating frame 117 also supports DAS 116 . The detected data output by DAS 116 is transmitted by optical communication from a transmitter having a light emitting diode (LED) mounted on rotating frame 117 to a photodiode mounted on a non-rotating portion (e.g., fixed frame) of mounting assembly 110. It is sent to the receiver and transferred to the console device 140 by the receiver. The method of transmitting the detection data from the rotating frame 117 to the non-rotating portion is not limited to the above-described method using optical communication, and any non-contact transmission method may be employed. The rotating frame 117 is not limited to an annular member, and may be a member such as an arm as long as it can support and rotate the X-ray tube 111 or the like.

The control device 118 has, for example, a processing circuit having a processor such as a CPU (Central Processing Unit), and a driving mechanism including a motor, an actuator, and the like. The control device 118 receives input signals from the console device 140 or the input interface 143 attached to the gantry device 110 and controls the operations of the gantry device 110 and the bed device 130 .

The control device 118 rotates the rotating frame 117, tilts the gantry device 110, and moves the top plate 133 of the bed device 130, for example. When tilting the gantry device 110 , the control device 118 rotates the rotating frame 117 about an axis parallel to the Z-axis direction based on the tilt angle (tilt angle) input to the input interface 143 . The control device 118 grasps the rotation angle of the rotating frame 117 from the output of a sensor (not shown) or the like. Controller 118 also provides the rotation angle of rotating frame 117 to processing circuit 150 at any time. The control device 118 may be provided in the gantry device 110 or may be provided in the console device 140 .

The bed device 130 is a device on which the subject P2 to be scanned is placed and introduced into the rotating frame 117 of the gantry device 110 . The bed device 130 has, for example, a base 131 , a bed driving device 132 , a top board 133 and a support frame 134 . The base 131 includes a housing that supports the support frame 134 so as to be movable in the vertical direction (Y-axis direction). The bed driving device 132 includes motors and actuators. The bed driving device 132 moves the tabletop 133 on which the subject P2 is placed in the longitudinal direction (Z-axis direction) of the tabletop 133 along the support frame 134 . The top plate 133 is a plate-like member on which the subject P2 is placed.

Console device 140 has, for example, memory 141 , display 142 , input interface 143 , communication interface 144 , and processing circuitry 150 . In this embodiment, the console device 140 is described as being separate from the gantry device 110 , but the gantry device 110 may include part or all of each component of the console device 140 .

The memory 141 is implemented by, for example, a RAM (Random Access Memory), a semiconductor memory device such as a flash memory, a hard disk, an optical disk, or the like. The memory 141 stores, for example, detection data, projection data, reconstructed images, CT images, and the like. These data may be stored in an external memory with which the X-ray CT apparatus 100 can communicate, instead of the memory 141 (or in addition to the memory 141). The external memory is controlled by the cloud server, for example, when the cloud server that manages the external memory receives a read/write request. The memory 141 may include non-transitory storage media such as ROM (Read Only Memory) and registers.

The display 142 displays various information. For example, the display 142 displays a CT image generated by the processing circuit 150, a GUI (Graphical User Interface) for receiving various operations by an operator (for example, the subject P2), and the like. The display 142 is, for example, an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube) display, an organic EL (Electro Luminescence) display, or the like. The display 142 may be provided on the gantry device 110 . The display 142 may be of a desktop type, or may be a display device capable of wireless communication with the main body of the console device 140 (for example, a tablet terminal).

The input interface 143 receives various input operations by an operator (for example, the subject P2) and outputs an electrical signal indicating the content of the received input operation to the processing circuit 150 . For example, the input interface 143 accepts acquisition conditions for acquiring detection data or projection data (described later), reconstruction conditions for reconstructing CT images, image processing conditions for generating post-processed images from CT images, and the like. accepts the input operation of For example, the input interface 143 is implemented by a mouse, keyboard, touch panel, drag ball, switch, button, joystick, foot pedal, camera, infrared sensor, microphone, and the like. The input interface 143 may be provided on the gantry device 110 . Also, the input interface 143 may be realized by a display device (for example, a tablet terminal) capable of wireless communication with the main body of the console device 140 . It should be noted that the input interface 143 in this specification is not limited to those having physical operation parts such as a mouse and a keyboard. For example, the input interface 143 also includes an electrical signal processing circuit that receives an electrical signal corresponding to an input operation from an external input device provided separately from the device and outputs the electrical signal to the control circuit.

The communication interface 144 includes, for example, a NIC (Network Interface Card), a wireless communication module, and the like. The communication interface 144 communicates with external devices such as the AR goggles 200 and the camera 300 via the communication network NW.

Processing circuit 150 controls the overall operation of X-ray CT apparatus 100 . The processing circuitry 150 executes, for example, a system control function 151, a preprocessing function 152, a reconstruction processing function 153, an image processing function 154, a scan control function 155, an output control function 156, and the like. The processing circuit 150 implements these functions by executing various programs stored in the memory 141 by a hardware processor, for example.

A hardware processor includes, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an application specific integrated circuit (ASIC), a programmable logic device (for example, a simple programmable logic device (Simple Programmable Logic Device (SPLD), Complex Programmable Logic Device (CPLD), Field Programmable Gate Array (FPGA)) or other circuitry. Instead of storing the program in the memory 141, the program may be directly embedded in the circuitry of the hardware processor. In this case, the hardware processor implements its functions by reading and executing the program embedded in the circuit. The above program may be stored in the memory 141 in advance, or may be stored in a non-temporary storage medium such as a DVD or CD-ROM. ), it may be installed in the memory 141 from a non-transitory storage medium. The hardware processor is not limited to being configured as a single circuit, and may be configured as one hardware processor by combining a plurality of independent circuits to implement each function. Also, a plurality of components may be integrated into one hardware processor to realize each function.

Each component of console device 140 or processing circuit 150 may be distributed and realized by a plurality of pieces of hardware. The processing circuit 150 may be realized by a processing device capable of communicating with the console device 140 instead of the configuration of the console device 140 . The processing device is, for example, a workstation connected to one X-ray CT device, or a device (eg, cloud server) connected to a plurality of X-ray CT devices and collectively executing processing equivalent to that of the processing circuit 150. be.

The system control function 151 controls various functions of the processing circuit 150 based on input operations received by the input interface 143 .

A preprocessing function 152 performs preprocessing such as logarithmic conversion processing, offset correction processing, inter-channel sensitivity correction processing, and beam hardening correction on the detection data output from the DAS 116 to generate projection data. The projection data thus obtained are stored in the memory 141 .

The reconstruction processing function 153 performs reconstruction processing on the projection data generated by the preprocessing function 152 using a filtered back projection method, an iterative reconstruction method, or the like, generates a CT image, and generates a CT image. The image is stored in memory 141 .

The image processing function 154 converts the CT image into a three-dimensional image or cross-sectional image data of an arbitrary cross-section by a known method based on the input operation received by the input interface 143 . Conversion to a three-dimensional image may be performed by preprocessing function 152 .

The scan control function 155 controls detection data collection processing in the gantry device 110 by instructing the X-ray high voltage device 114 , the DAS 116 , the control device 118 and the bed driving device 132 . A scan control function 155 controls the operation of each unit during main imaging and scano imaging.

For example, when performing scanography, the scan control function 155 fixes the position of the X-ray tube 111 at a predetermined rotation angle, moves the top board 133 of the bed device 130 in the Z-axis direction, and scans the X-ray tube 111 through the X-ray tube. Control the controller 118 to irradiate the subject P2 with the rays. A two-dimensional scanogram of the subject P2 is generated from detection data acquired under the control of scanography through preprocessing and reconstruction processing. Further, when helical scan imaging is performed, the scan control function 155 may control the control device 118 to collect detection data for the entire periphery of the subject P2. Here, the scan control function 155 scans a wide range such as the entire chest, the entire abdomen, the entire upper body, and the whole body of the subject P2 with a dose lower than that of the actual imaging. A three-dimensional scanogram (volume data) of the subject P2 is generated through preprocessing and reconstruction processing from detection data of the entire periphery of the subject P2 acquired under the control of helical scan imaging.

The output control function 156 controls the CT image generated through the reconstruction processing by the reconstruction processing function 153 and the image generated from the CT image by the image processing function 154 (for example, a three-dimensional image, a cross-sectional image, a high-resolution image). is displayed on the display 142 . Also, the output control function 156 transmits these images to the AR goggles 200 via the communication interface 144 .

[Configuration of AR goggles]
FIG. 4 is a diagram showing a configuration example of the AR goggles 200 according to the first embodiment. AR goggles 200 includes, for example, a communication interface 211 , an input interface 212 , an AR display 213 , a memory 214 and processing circuitry 220 .

The communication interface 211 communicates with external devices such as the X-ray CT apparatus 100 and the camera 300 via the communication network NW. The communication interface 211 includes, for example, a NIC.

The input interface 212 receives various input operations from an operator (for example, the medical staff member P1), converts the received input operations into electrical signals, and outputs the electrical signals to the processing circuit 220 . For example, input interface 212 includes a mouse, keyboard, trackball, switch, button, joystick, touch panel, and the like. The input interface 212 may be, for example, a user interface that accepts voice input such as a microphone.

It should be noted that the input interface 212 in this specification is not limited to having physical operation parts such as a mouse and a keyboard. For example, the input interface 212 also includes an electrical signal processing circuit that receives an electrical signal corresponding to an input operation from an external input device provided separately from the device and outputs the electrical signal to the control circuit.

The AR display 213 is a display that allows the medical staff member P1 wearing the AR goggles 200 to visually recognize the virtual content CONT. The content CONT is typically a CT image obtained during actual imaging, but is not limited to this, and may be a coronal cross-sectional image or a sagittal cross-sectional image in MPR (Multi-Planar Reconstruction). Also, the content CONT may be some numerical values, graphs, or graphics obtained by measuring the vitals of the subject P2 such as heart rate and blood pressure, or may be some other medical information. The CT image superimposed and displayed on the subject P2 as the content CONT may be a CT image of the subject P2 who is currently being examined, or a CT image obtained when the subject P2 was examined in the past. It may be an image. Further, the CT image superimposed and displayed on the subject P2 as the content CONT may be a CT image of a third party different from the subject P2 currently being examined, or may be a CT image of an unspecified number of subjects. It may be a CT image that has been processed. The AR display 213 is an example of a "display unit".

The memory 214 is implemented by, for example, a RAM (Random Access Memory), a semiconductor memory device such as a flash memory, a hard disk, or an optical disk. These non-transitory storage media may be realized by other storage devices such as NAS (Network Attached Storage) and external storage server devices connected via the communication network NW. The memory 214 may also include non-transitory storage media such as ROM (Read Only Memory) and registers.

The processing circuitry 220 includes, for example, an acquisition function 221 , an association function 223 , a generation function 224 and a display control function 225 . The acquisition function 221 is an example of an “acquisition unit”, the association function 223 is an example of a “association unit”, the generation function 224 is an example of a “generation unit”, and the display control function 225 is an example of a “display control unit”. is an example of

The processing circuit 220 implements these functions by, for example, executing a program stored in the memory 214 (storage circuit) by a hardware processor (computer).

A hardware processor includes, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an application specific integrated circuit (ASIC), a programmable logic device (for example, a simple programmable logic device (Simple Programmable Logic Device (SPLD), Complex Programmable Logic Device (CPLD), Field Programmable Gate Array (FPGA)) or other circuitry. Instead of storing the program in memory 214, the program may be configured to be directly embedded within the circuitry of the hardware processor. In this case, the hardware processor implements its functions by reading and executing the program embedded in the circuit. The above program may be stored in the memory 214 in advance, or stored in a non-temporary storage medium such as a DVD or CD-ROM, and the non-temporary storage medium is attached to the connection terminal of the AR goggles. may be installed into memory 214 from non-transitory storage media. The hardware processor is not limited to being configured as a single circuit, and may be configured as one hardware processor by combining a plurality of independent circuits to implement each function. Also, a plurality of components may be integrated into one hardware processor to realize each function.

The acquisition function 221 acquires images of the CT room from the cameras 300 a and/or 300 b via the communication interface 211 and acquires control information and CT images from the X-ray CT apparatus 100 via the communication interface 211 . The control information is various information for controlling the X-ray CT apparatus 100 so as to scan the subject P2. The amount of movement of the top plate 133 of the device 130 and the like are included.

The association function 223 associates the three-dimensional position of the couch device 130 with respect to the CT room and the position of the part of the subject P2 on the CT image (position on the two-dimensional or three-dimensional image space).

The generation function 224 generates content CONT to be superimposed and displayed on the subject P2 based on the CT image acquired by the acquisition function 221 .

The display control function 225 controls medical personnel wearing the AR goggles 200 based on the three-dimensional position of the bed device 130 associated with each other by the association function 223 and the position of the part of the subject P2 on the CT image. The content CONT generated by the generation function 224 is displayed on the AR display 213 so that the content CONT generated by the generation function 224 can be seen superimposed on the subject P2 when the subject P1 looks at the subject P2.

[Overall Flow of Medical Image Display System]
The flow of processing of the medical image display system 1 according to the first embodiment will be described below. FIG. 5 is a flowchart showing an example of the flow of a series of processes of the medical image display system 1 according to the first embodiment. This flowchart is executed, for example, at the time of main imaging or scanography. It shall be

First, the acquisition function 221 of the AR goggles 200 waits until the AR goggles 200 are worn by the medical personnel P1 (step S100). For example, when medical personnel P1 inputs an operation to declare that they have worn the AR goggles 200 to the input interface 212, the acquisition function 221 determines that the AR goggles 200 have been worn by the medical personnel P1. , when the above operation is not input, it may be determined that the AR goggles 200 are not worn by the medical personnel P1. Also, the acquisition function 221 may use a gyro sensor or other sensors to determine whether the AR goggles 200 are worn.

The acquisition function 221 acquires an image of the CT room from the cameras 300a and/or 300b via the communication interface 211 when the AR goggles 200 are worn by the medical staff member P1, and based on the acquired image, performs a CT scan. A three-dimensional position of the AR goggles 200 with respect to the room is calculated (step S102).

For example, the acquisition function 221 uses an object tracking method called the Lighthouse method to track the optical marker MK2 of the AR goggles 200 on the respective images of the cameras 300a and 300b corresponding to the base stations, The original position may be calculated. The three-dimensional position of the AR goggles 200 is repeatedly calculated while the AR goggles 200 are worn by the medical personnel P1.

On the other hand, the scan control function 155 of the X-ray CT apparatus 100 waits until the subject P2 is placed on the tabletop 133 of the couch device 130 (step S104), and the subject P2 is placed on the tabletop 133. Then, the top plate 133 is moved toward the gantry device 110 along the Z-axis direction, and the amount of movement of the top plate 133 is measured (step S106).

Next, the scan control function 155 controls the control device 118 to scan the subject P2 placed on the tabletop 133 as scanography (step S108). A CT image of the subject P2 is generated from detection data obtained by scanography through preprocessing and reconstruction processing.

Next, the acquisition function 221 of the AR goggles 200 acquires the CT image generated by the scanography from the X-ray CT apparatus 100 via the communication interface 211 and the control information when the scanography was performed. The control information includes the initial position of the tabletop 133 before movement and the amount of movement of the tabletop 133 measured in S0106. The initial position of the tabletop 133 is determined from the three-dimensional position of the gantry 110 with respect to the CT room that has been measured in advance.

Next, the association function 223 calculates the three-dimensional position of the table 133 after movement with respect to the CT room based on the initial position of the table 133 before movement and the amount of movement of the table 133 (step S112). ). For example, when the three-dimensional position is represented by the X, Y, and Z coordinates described with reference to FIG.

Next, the association function 223 associates the calculated three-dimensional position of the tabletop 133 with respect to the CT room with the position of the CT image (the position of the part of the subject P2 on the CT image) (step S114). “Associating” means converting the position of the CT image (the position of the part of the subject P2 on the CT image) into the three-dimensional position in the CT room based on the three-dimensional position of the tabletop 133 with respect to the CT room. means.

Next, the generation function 224 generates content CONT to be superimposed and displayed on the subject P2 based on the CT image acquired by the acquisition function 221 . As described above, the content CONT may typically be a CT image generated by actual imaging, but is not limited to this, and may be any information as long as it is medical information.

Next, the display control function 225 associates the position of the CT image (the position of the part of the subject P2 on the CT image) associated with the three-dimensional position of the tabletop 133 by the association function 223 with the tertiary position of the AR goggles 200. Based on the original position, the content CONT generated by the generation function 224 is superimposed on the subject P2 when the medical personnel P1 wearing the AR goggles 200 looks at the subject P2. CONT is displayed on the AR display 213 (step S116). The content CONT may be displayed in a superimposed manner at the timing when the scanography is finished or when the actual photography is finished. Further, when CT images are sequentially updated while scanography or main imaging is being performed, the content CONT may also be sequentially generated in accordance with the update of the CT images. The sequentially generated content CONT may be superimposed and displayed on the subject P2 in real time. The processing of this flowchart is completed by such a series of processing.

FIG. 6 is a diagram showing an example of the content CONT superimposed on the subject P2. As shown in FIG. 6, the content CONT may be a three-dimensional CT image (volume data) obtained by scanning the abdomen of the subject P2. Such content CONT is associated with the three-dimensional position where the abdomen of the subject P2 would exist in the three-dimensional space of the CT room, based on the three-dimensional position of the table top 133 . Therefore, the medical personnel P1 can visually recognize the content CONT overlapping the abdomen of the subject P2 through the AR goggles 200 .

FIG. 7 is a diagram showing another example of the content CONT superimposed and displayed on the subject P2. As shown in FIG. 7, the CT image superimposed and displayed as the content CONT may be a two-dimensional image such as a slice of the abdomen of the subject P2. For example, when medical personnel P1 wearing the AR goggles 200 operates the input interface 212 of the AR goggles 200 to select one cross section to be displayed from the three-dimensional CT image (volume data), A two-dimensional CT image corresponding to the selected cross section may be superimposed and displayed as the content CONT. Thus, the content CONT may be a two-dimensional CT image or a three-dimensional CT image.

Assuming a more specific usage scene, for example, the superimposed display of the content CONT can be used for a test called "puncture" in which a puncture needle is inserted into the body of the subject P2 to collect blood, bodily fluids, cells, or the like. Conceivable. In this case, the CT image of the affected area is displayed superimposed on the affected area where the puncture needle is to be inserted, so the medical staff P1 can perform the puncture as if they were seeing through the body of the subject P2.

According to the first embodiment described above, the processing circuit 220 of the AR goggles 200 acquires a medical image of the subject P2 (an example of the "subject"). The processing circuit 220 associates the three-dimensional position of the couch device 130 with respect to the CT room and the position of the medical image (the position of the part of the subject P2 on the medical image). The processing circuit 220 generates content CONT to be superimposed on the subject P2 based on the medical image. The processing circuit 220 superimposes the content CONT on the subject P2 based on the position of the couch device 130 and the position of the medical image (the position of the part of the subject P2 on the medical image) that are associated with each other. , causes the AR display 213 to display the content CONT. In this manner, since the three-dimensional position of the couch device 130 with respect to the CT room is associated with the position of the part of the subject P2 on the medical image, when the medical image is projected onto the subject P2, the image of the subject P2 can be robustly projected. position can be obtained. Furthermore, since no optical marker is attached to the subject P2 before the examination, a medical image can be projected onto the subject P2 while suppressing complication of the examination procedure.

(Modified example of the first embodiment)
Modifications of the first embodiment will be described below. In the above-described first embodiment, (i) the three-dimensional position of the bed device 130 with respect to the CT room is associated with the position of the medical image, and (ii) the content superimposed on the subject P2 is based on the medical image. (iii) display the content CONT on the AR display 213 so that the content CONT is superimposed on the subject P2 based on the position of the couch device 130 and the position of the medical image that are associated with each other; , is described as being executed by the processing circuit 220 of the AR goggles 200, but the present invention is not limited to this. For example, the console device 140 or the control device 118 of the X-ray CT apparatus 100 may perform some or all of (i) and (ii). That is, the processing circuitry 150 or the control device 118 of the X-ray CT apparatus 100 may have some or all of the functions of the processing circuitry 220 of the AR goggles 200 .

Further, in the first embodiment described above, as shown in FIGS. 1 to 3, the bed device 130 moves relative to the fixed gantry device 110, and the subject P2 in the supine position is scanned. Although the line CT apparatus 100 has been described, the present invention is not limited to this. For example, the X-ray CT apparatus 100 may move the gantry device 110 relative to the fixed bed device 130 to scan the subject P2 in an upright position. In this case, the amount of movement of the gantry device 110 is measured in the process of S106 of the flowchart described above, and the amount of movement of the gantry device 110 is measured in the process of S112 based on the initial position of the gantry device 110 before movement and the measured amount of movement of the gantry device 110. Then, the three-dimensional position of the gantry device 110 after movement with respect to the CT room may be calculated.

Further, in the first embodiment described above, the medical image diagnostic apparatus 100 is described as being an X-ray CT apparatus, but the present invention is not limited to this. If the amount of movement of the bed on which the subject P2 is placed can be measured and the three-dimensional position of the bed after movement can be calculated, the medical image diagnostic apparatus 100 can perform MRI as described above. It may be a device or the like.

(Second embodiment)
A second embodiment will be described below. In the above-described first embodiment, (i) the three-dimensional position of the bed device 130 with respect to the CT room is associated with the position of the medical image, and (ii) the content superimposed on the subject P2 is based on the medical image. (iii) display the content CONT on the AR display 213 so that the content CONT is superimposed on the subject P2 based on the position of the couch device 130 and the position of the medical image that are associated with each other; described as a thing.

In contrast, in the second embodiment, (i) an anatomical site is detected on a medical image, and (ii) the three-dimensional position of the couch device 130 with respect to the CT room and the anatomical site on the medical image are detected. (iii) generating a content CONT to be superimposed on the subject P2 based on the medical image in which the anatomical part is detected; (iv) the positions of the bed device 130 associated with each other; And the content CONT is displayed on the AR display 213 so that the content CONT is superimposed on the subject P2 based on the position of the anatomical part. In the following, differences from the first embodiment will be mainly described, and descriptions of common points with the first embodiment will be omitted. In addition, in description of 2nd Embodiment, the same code|symbol is attached|subjected and demonstrated about the same part as 1st Embodiment.

FIG. 8 is a diagram showing a configuration example of AR goggles 200 in the second embodiment. The processing circuit 220 of the AR goggles 200 in the second embodiment further includes a detection function 222 in addition to the acquisition function 221, the association function 223, the generation function 224, and the display control function 225 described above. The detection function 222 is an example of a "detector".

The detection function 222 analyzes a CT image (for example, a scan image obtained by scanography or helical scanography) acquired from the X-ray CT apparatus 100 by the acquisition function 221, thereby detecting anatomical land on the CT image. Marks (anatomical landmarks) are detected, and anatomical sites (organs, etc.) are detected based on the anatomical landmarks. For example, the detection function 222 detects one or more anatomical landmarks on the CT image by performing ALD (Adaptive Layer Distribution) analysis, and the anatomical landmarks are scattered on the CT image. Regions are detected as anatomical parts (organs, etc.).

The association function 223 in the second embodiment associates the three-dimensional position of the couch device 130 with respect to the CT room and the position of the anatomical site on the CT image (position on the two-dimensional or three-dimensional image space).

The generation function 224 in the second embodiment generates the content CONT to be superimposed and displayed on the subject P2 based on the CT image in which the anatomical part is detected.

The display control function 225 in the second embodiment wears the AR goggles 200 based on the three-dimensional position of the couch device 130 associated with each other by the association function 223 and the position of the anatomical part on the CT image. The content CONT generated by the generation function 224 is displayed on the AR display 213 so that the content CONT generated by the generation function 224 can be superimposed on the subject P2 when the medical staff member P1 looks at the subject P2.

FIG. 9 is a flow chart showing an example of the flow of a series of processes of the medical image display system 1 according to the second embodiment. This flowchart is executed, for example, at the time of main imaging or scanography. It shall be

First, the acquisition function 221 of the AR goggles 200 waits until the AR goggles 200 are worn by the medical personnel P1 (step S200).

The acquisition function 221 acquires an image of the CT room from the cameras 300a and/or 300b via the communication interface 211 when the AR goggles 200 are worn by the medical staff member P1, and based on the acquired image, performs a CT scan. A three-dimensional position of the AR goggles 200 with respect to the room is calculated (step S202).

On the other hand, the scan control function 155 of the X-ray CT apparatus 100 waits until the subject P2 is placed on the tabletop 133 of the couch device 130 (step S204), and the subject P2 is placed on the tabletop 133. Then, the top plate 133 is moved toward the gantry device 110 along the Z-axis direction, and the amount of movement of the top plate 133 is measured (step S206).

Next, the scan control function 155 controls the control device 118 to scan the subject P2 placed on the tabletop 133 as scanography (step S208). A CT image of the subject P2 is generated from detection data obtained by scanography through preprocessing and reconstruction processing.

Next, the acquisition function 221 of the AR goggles 200 acquires the CT image generated by the scanography from the X-ray CT apparatus 100 via the communication interface 211 and the control information when the scanography was performed. The control information includes the initial position of the tabletop 133 before movement and the amount of movement of the tabletop 133 measured in S0106. The initial position of the tabletop 133 is determined from the three-dimensional position of the gantry 110 with respect to the CT room that has been measured in advance.

Next, the detection function 222 performs ALD analysis on the CT image acquired by the acquisition function 221 to detect one or more anatomical landmarks on the CT image, and the detected one or more An anatomical site is detected based on the anatomical landmarks (step S210).

Next, the association function 223 calculates the three-dimensional position of the table 133 after movement with respect to the CT room based on the initial position of the table 133 before movement and the amount of movement of the table 133 (step S212). ).

Next, the association function 223 associates the calculated three-dimensional position of the tabletop 133 with respect to the CT room with the position of the anatomical site on the CT image (step S214). Here, "corresponding" means converting the position of the anatomical site on the CT image into the three-dimensional position in the CT room based on the three-dimensional position of the tabletop 133 with respect to the CT room.

Next, the generation function 224 generates content CONT to be superimposed and displayed on the subject P2 based on the CT image in which the anatomical part is detected. As described above, the content CONT may typically be a CT image generated by actual imaging, but is not limited to this, and may be any information as long as it is medical information.

Next, the display control function 225 controls the AR goggles 200 based on the position of the anatomical part associated with the three-dimensional position of the tabletop 133 by the association function 223 and the three-dimensional position of the AR goggles 200. The content CONT generated by the generation function 224 is displayed on the AR display 213 so that the content CONT generated by the generation function 224 can be superimposed on the subject P2 when the medical personnel P1 wearing the device looks at the subject P2 (step S216). ). The processing of this flowchart is completed by such a series of processing.

According to the second embodiment described above, the processing circuit 220 of the AR goggles 200 acquires a medical image of the subject P2 (an example of the "subject") and detects an anatomical site on the medical image. . The processing circuitry 220 associates the three-dimensional position of the couch device 130 with respect to the CT room with the position of the anatomical site on the medical image. The processing circuit 220 generates content CONT to be superimposed on the subject P2 based on the medical image in which the anatomical part is detected. The processing circuit 220 causes the AR display 213 to display the content CONT so that the content CONT is superimposed on the subject P2 based on the position of the couch device 130 and the position of the anatomical part that are associated with each other. In this way, since the three-dimensional position of the couch device 130 with respect to the CT room is associated with the position of the anatomical part on the medical image, the position of the subject P2 can be robustly determined when projecting the medical image onto the subject P2. can be obtained. Furthermore, since no optical marker is attached to the subject P2 before the examination, a medical image can be projected onto the subject P2 while suppressing complication of the examination procedure.

(Modification of Second Embodiment)
Modifications of the second embodiment will be described below. In the above-described second embodiment, (i) the anatomical site is detected on the medical image, and (ii) the three-dimensional position of the couch device 130 with respect to the CT room and the position of the anatomical site on the medical image are determined. (iii) generating content CONT to be superimposed on the subject P2 based on the medical image in which the anatomical region is detected; (iv) the position and anatomy of the couch device 130 that are associated with each other; It is assumed that the processing circuit 220 of the AR goggles 200 executes a series of processes of displaying the content CONT on the AR display 213 so that the content CONT is superimposed and displayed on the subject P2 based on the position of the target site. Although it was explained, it is not limited to this. For example, the console device 140 or the control device 118 of the X-ray CT apparatus 100 may perform some or all of the processes (i) to (iii). That is, the processing circuitry 150 or the control device 118 of the X-ray CT apparatus 100 may have some or all of the functions of the processing circuitry 220 of the AR goggles 200 .

(Third Embodiment)
A third embodiment will be described below. In the third embodiment, when the subject P2 moves during scanning, the position of the anatomical landmarks is corrected based on the amount of displacement associated with the body movement. differ from In the following, differences from the first embodiment and the second embodiment will be mainly described, and descriptions of points common to these embodiments will be omitted. In addition, in the description of the third embodiment, the same parts as those in the first embodiment or the second embodiment are denoted by the same reference numerals.

FIG. 10 is a flow chart showing an example of a series of processes of the medical image display system 1 according to the third embodiment.

First, the acquisition function 221 acquires an image via the communication interface 211 from the camera 300 capable of imaging the subject P2 placed on the top plate 133, and based on the image, the subject P2 in the CT room. is calculated (step S300). The camera 300 capable of imaging the subject P2 may be, for example, the cameras 300a and 300b corresponding to the base station of the AR goggles 200, or the rotating frame 117 of the gantry device 110 so that the top plate 133 is included in the field of view. It may be a dedicated camera 300c (not shown) installed on the top of the .

Next, the association function 223 determines whether or not the subject P2 has moved during scanning based on the three-dimensional position of the subject P2 with respect to the CT room (step S302). For example, the associating function 223 may be the three-dimensional position _P0 of the subject P2 when the tabletop 133 is at the initial position, and the subject P2 when the tabletop 133 has moved to the position where scanography or main imaging is performed. is calculated from the three-dimensional position _PS . In other words, the association function 223 associates the three-dimensional position _P0 of the subject P2 before scanography or main imaging with the three-dimensional position _PS of the subject P2 when scanography or main imaging is performed. Calculate the amount of change in The association function 223 determines that the subject P2 is not moving (no body movement) when the calculated amount of variation is within the allowable range, and determines that the subject P2 is not moving when the amount of variation is outside the allowable range. It may be determined that the body has been moved (there is body movement).

When the association function 223 determines that the subject P2 is not moving, the processing of this flowchart ends.

On the other hand, when determining that the subject P2 has moved the body, the association function 223 corrects the position of the anatomical site associated with the three-dimensional position of the tabletop 133 based on the calculated amount of change (step S304). . For example, if the amount of variation in the X-axis is outside the allowable range, the association function 223 cancels the amount of variation in the X-axis when associating the position of the anatomical site with the three-dimensional position of the tabletop 133. The position of the anatomical part may be corrected as follows.

Next, the display control function 225 redisplays the content CONT on the AR display 213 based on the position of the anatomical part corrected by the association function 223 and the three-dimensional position of the AR goggles 200 (step S306). ). This completes the processing of this flowchart.

According to the third embodiment described above, when the subject P2 moves during scanning, the content CONT and the subject P2 are corrected based on the displacement caused by the body movement. can improve the accuracy of the alignment.

(Modified example of the third embodiment)
Modifications of the third embodiment will be described below. In the third embodiment described above, the presence or absence of body movement of the subject P2 is determined on the premise that the three-dimensional position of the subject P2 can be accurately measured using the camera 300, and when there is no body movement of the subject P2 Although the correction of the position of the anatomical part is omitted in the above description, the present invention is not limited to this. For example, when the measurement accuracy of the three-dimensional position of the subject P2 is lowered, the correction of the position of the anatomical part may be omitted.

For example, when imaging the subject P2 using the camera 300, the medical personnel P1 may temporarily intervene between the camera 300 and the subject P2 and interfere with the imaging of the subject P2. In such cases, the number of anatomical landmarks (feature points) extracted from the image of camera 300 during ALD analysis is reduced. Therefore, when the number of anatomical landmarks (feature points) extracted from the image of the camera 300 by ALD analysis is equal to or less than the threshold during execution of the flowchart of FIG. It may be considered that the measurement accuracy of the three-dimensional position of is lowered, the processing of this flow chart may be terminated, and the flow may be switched to the flow chart of FIG.

While several embodiments have been described, these embodiments are provided by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, as well as the scope of the invention described in the claims and equivalents thereof.

DESCRIPTION OF SYMBOLS 1... Medical image display system 100... X-ray CT apparatus 110... Mounting apparatus 130... Bed apparatus 140... Console apparatus 141... Memory 142... Display 143... Input interface 144... Communication interface 150... Processing Circuit 151 System control function 152 Preprocessing function 153 Reconstruction processing function 154 Image processing function 155 Scan control function 156 Output control function 200 AR goggles 211 Communication interface 212 ... input interface, 213 ... AR display, 214 ... memory, 220 ... processing circuit, 221 ... acquisition function, 222 ... detection function, 223 ... correspondence function, 224 ... generation function, 225 ... display control function, 300 ... camera, NW … communication networks

Claims (10)

an acquisition unit that acquires a medical image of a subject;
an associating unit that associates a position of a bed, which is installed in a medical image diagnostic apparatus that scans the subject and generates the medical image and on which the subject is placed during scanning, with the position of the medical image;
a generation unit that generates content to be superimposed on the subject based on the medical image;
a display control unit that controls a display unit so that the content is superimposed and displayed on the subject based on the position of the bed and the position of the medical image that are associated with each other;
A medical image display device comprising: Further comprising a detection unit that detects an anatomical site on the medical image,
The associating unit associates the position of the bed with the position of the anatomical site,
The display control unit controls the display unit so that the content is superimposed on the subject based on the position of the bed and the position of the anatomical part that are associated with each other.
The medical image display device according to claim 1. The acquisition unit further acquires the position of the subject based on an image of the subject captured by a camera,
The associating unit corrects the position of the anatomical site associated with the position of the bed based on the position of the subject.
The medical image display device according to claim 2. The associating unit, based on the position of the subject before the subject is scanned and the position of the subject at the time when the subject is scanned, displaces the subject due to body movement. calculating an amount and correcting the position of the anatomical site according to the amount of displacement;
The medical image display device according to claim 3. The associating unit determines whether to correct the position of the anatomical part according to the accuracy of the position of the subject.
The medical image display device according to claim 3 or 4. The display unit is a wearable device that applies any technology of augmented reality, virtual reality, mixed reality, or projection mapping,
The display control unit displays the content on the wearable device such that the content appears to be superimposed on the subject to a user wearing the wearable device.
The medical image display device according to any one of claims 1 to 5. The content includes the medical image generated when the subject was scanned in the past by the medical image diagnostic device.
The medical image display device according to any one of claims 1 to 6. the content includes the medical image generated by scanography or helical scanography;
The medical image display device according to any one of claims 1 to 7. the computer
obtaining a medical image of a subject;
A position of a bed installed in a medical image diagnostic apparatus that scans the subject and generates the medical image and on which the subject is placed during scanning is associated with the position of the medical image,
generating content to be superimposed on the subject based on the medical image;
controlling a display unit so that the content is superimposed and displayed on the subject based on the position of the bed and the position of the medical image that are associated with each other;
Medical image display method. to the computer,
acquiring a medical image of a subject;
Correlating the position of a bed installed in a medical image diagnostic apparatus that scans the subject and generates the medical image and on which the subject is placed during scanning with the position of the medical image;
generating content to be superimposed on the subject based on the medical image;
controlling a display unit to superimpose and display the content on the subject based on the position of the bed and the position of the medical image that are associated with each other;
program to run the

Images