CN110755097A - Medical imaging method and system, computer readable storage medium - Google Patents
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Abstract
Embodiments of the invention provide a medical imaging method and system, and a computer-readable storage medium. The method comprises the following steps: generating a plurality of first perspective images and corresponding subtraction images in a subtraction imaging mode; before the road map imaging mode is started, automatically processing the plurality of first perspective images, automatically generating a road map mask based on the processing result, and automatically switching the state of the road map imaging mode to the imaging stage after the road map mask is generated.
Description
Technical Field
The present invention relates to the field of medical examination, and more particularly, to a medical imaging method and system, and a computer-readable storage medium.
Background
In vascular surgery, it is sometimes necessary to introduce a guide wire, catheter, or the like into a blood vessel and move it to a lesion to assist a doctor in performing surgical treatment.
Currently, real-time imaging of blood vessels by X-ray medical imaging devices is a main vessel navigation method, for example, by referring to real-time images, a guide wire, a catheter, etc. can be guided to move in the blood vessel.
Currently, a combination of multiple imaging modes is commonly used in vascular interventional procedures for the purpose of vessel navigation, for example, one of the imaging modes is: subtraction imaging (subtraction) performed before intervention, in which a fluoroscopic image, which is an image obtained by image reconstruction based on image data obtained by current exposure and in which blood vessels and other tissues around the blood vessels (such as bones and soft tissues) are generally displayed, and a corresponding subtraction image, which is an image showing only blood vessels obtained by subtracting the current fluoroscopic image from a previously acquired subtraction mask, are obtained in real time, a doctor can determine the position, the form, and the like of a lesion in advance by comparing and observing the fluoroscopic image and the corresponding subtraction image.
Yet another mode is the Roadmap imaging mode (Roadmap), which is used in some devices in combination with the above subtraction imaging mode to form a physician selectable mode pair, in which there are typically two imaging phases, the first phase (Roadmap1) being exposure without intervention to produce a plurality of fluoroscopic images with contrast enhancement, processing being performed based on the plurality of fluoroscopic images with contrast enhancement to obtain a Roadmap mask; the second stage (Roadmap2) is exposure during intervention to generate a plurality of fluoroscopic images, and subtracting the fluoroscopic images of the second stage from the road map mask can obtain a road image showing only the blood vessel and the interventional instrument therein, thereby enabling navigation of the interventional instrument.
In the prior art, there are two ways to obtain a road map Mask, one of which is that a doctor selects some images from stored related images to process them to generate a road map Mask (Roadmap Mask) for subtraction with a perspective image obtained by current exposure in a road map imaging mode to obtain a road image, and this way requires manual operations such as playback, selection, confirmation and the like on an interactive interface by the doctor, and since the hands of the doctor need to be kept in a sterile state during the operation, this way is not popular with the doctor.
To avoid these manipulations by the physician, another alternative is to perform the first stage of roadmap imaging before the second stage, i.e. re-inject the patient with image enhancer, re-expose to acquire multiple fluoroscopic images, and then generate a roadmap mask based on the multiple fluoroscopic images for use by the second stage to acquire the roadmap image. This increases the radiation dose and contrast agent dose to which the patient is exposed, thereby increasing patient pain and also increasing surgical costs.
Disclosure of Invention
It is an object of the present invention to provide a new medical imaging method and system that can reduce the radiation dose or contrast agent dose to which a patient is exposed while simplifying the physician procedure.
An embodiment of the present invention provides a medical imaging method, including:
generating a plurality of first perspective images and corresponding subtraction images in a subtraction imaging mode;
before the road map imaging mode is started, automatically processing the plurality of first perspective images, automatically generating a road map mask based on the processing result, and automatically switching the state of the road map imaging mode to an imaging stage after the road map mask is generated.
Another embodiment of the present invention also provides a computer-readable storage medium for storing a computer program comprising instructions for performing the above-described medical imaging method.
Another embodiment of the present invention also provides a medical imaging system having a subtraction imaging mode and a roadmap imaging mode, wherein:
displaying a plurality of first perspective images and corresponding subtraction images in a subtraction imaging mode;
before the road map imaging mode is started, automatically processing the plurality of first perspective images, automatically generating a road map mask based on the processing result, and automatically switching the state of the road map imaging mode to an imaging stage after the road map mask is generated.
Other features and aspects will become apparent from the following detailed description, the accompanying drawings, and the claims.
Drawings
The invention may be better understood by describing exemplary embodiments thereof in conjunction with the following drawings, in which:
FIG. 1 illustrates a flow chart of a medical imaging method provided by an embodiment of the invention;
FIG. 2 illustrates a flow chart of a medical imaging method provided by another embodiment of the invention;
FIG. 3 exemplarily shows a flow chart for performing a complete imaging mode pair once;
FIGS. 4-8 illustrate display interfaces generated at different stages in the flow chart shown in FIG. 3, respectively;
fig. 9 schematically shows a block diagram of an imaging system.
Detailed Description
While specific embodiments of the invention will be described below, it should be noted that in the course of the detailed description of these embodiments, in order to provide a concise and concise description, all features of an actual implementation may not be described in detail. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions are made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Unless otherwise defined, technical or scientific terms used in the claims and the specification should have the ordinary meaning as understood by those of ordinary skill in the art to which the invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The terms "a" or "an," and the like, do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalent, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, nor are they restricted to direct or indirect connections.
Fig. 1 shows a flowchart of a medical imaging method provided by an embodiment of the invention, and as shown in fig. 1, the method includes steps S110 and S120.
In step S110, in a subtraction imaging mode (subtrect), a plurality of first perspective images (fluoroimages) and a corresponding plurality of subtraction images are generated; the "fluoroscopic image" described above and below includes an image obtained by image reconstruction based on projection data of a region of interest of a patient, or an image obtained by preprocessing the reconstructed image, and is different from a subtraction image or a path image described below in that a blood vessel tissue of the patient and a background image, such as a bone tissue and a soft tissue image, are displayed in the fluoroscopic image. In this step, the plurality of first perspective images and the corresponding subtraction images may be obtained in sequence at a certain time interval.
In step S120, before the road map imaging mode is turned on, the plurality of first perspective images are automatically processed, a road map mask is automatically generated based on the result of the processing, and the state of the road map imaging mode is automatically switched to an imaging stage (i.e., a second stage) after the road map mask is generated. The processing specifically includes peak hold (peakOpacification) processing, or any other image processing method capable of generating a Roadmap Mask.
The road map mask can be used to subtract a normal exposure Image (i.e., a perspective Image) generated in a subsequent road map imaging mode to obtain a subtracted Image in the road map imaging mode, i.e., a road Image (Roadmap Image). The pathway image may show the blood vessel and interventional instruments such as Guide Wire, Catheter (cathter) etc. located in the blood vessel for reference by the physician to Guide the movement of these instruments in the blood vessel.
In the above embodiment, before the path map imaging mode is turned on, that is, the standby path map mask is generated in advance by automatically using the first perspective image generated in the subtraction imaging mode, so that after the path map imaging mode is turned on, the path map mask can be directly called, the second perspective image generated in real time in the path map imaging mode is subtracted from the pre-stored path map mask to generate the path image, manual operations such as image playback, image selection, mask confirmation and the like are not required by a doctor between the end of the subtraction imaging mode and the generation of the path image, and the path map mask is not required to be generated by executing the first stage of the path map imaging mode (that is, the stage of generating the path map mask), and since the state of the path map imaging mode is automatically switched to the second stage, the second stage of the path map imaging mode can be directly entered after the path map imaging mode is turned on, thus, an increase in the radiation dose required for contrast agent/contrast agent injection and re-exposure to the patient in the first stage is avoided, and the patient's pain and economic burden can be reduced.
In one embodiment, in step S120, the plurality of first perspective images may be automatically processed during the subtraction imaging mode (i.e., in the subtraction imaging mode), for example, the first perspective images generated in real time may be processed in real time, that is, the plurality of first perspective images may be subjected to peak hold processing in real time in the subtraction imaging mode until the subtraction imaging mode is ended, and there is no need to wait until the subtraction imaging mode is ended to perform a series of operations such as subtraction playback, mask frame selection, processing for starting to generate a mask (e.g., peak hold), and mask confirmation. In step S120, after the subtraction imaging mode is ended, a road map mask may be automatically generated based on the result of the above-described processing. In this way, on one hand, it can be ensured that all the first perspective images generated in the subtraction imaging have the opportunity to participate in the processing process, thereby increasing the accuracy of the road map mask, and on the other hand, the excessive waiting time for the generation of the road map mask can be avoided.
In other embodiments, the road map mask may also be generated before the subtraction imaging mode is ended, i.e. based on the results of previous processing, e.g. by the results of a timed or quantitative processing (processing a certain number of first fluoroscopic images). Those skilled in the art will appreciate that embodiments of the present invention also include the step of automatically saving the generated road map mask.
In one embodiment, the subtraction imaging mode may be turned on based on an instruction to turn on the subtraction imaging mode, the first perspective image and the subtraction image may be generated, and the first perspective image may be automatically processed. The subtraction imaging mode can be ended based on an instruction for ending the subtraction imaging mode, the path map mask is automatically generated based on the processing result, and the path map imaging mode to be started is automatically switched from the first phase to the second phase (the mask is generated and can be directly called, and the second phase is ready), so that the first phase can be directly skipped to enter the second phase after the path map imaging mode is started, the first phase is an imaging phase for generating the path map mask, and the second phase is an imaging phase after the path map mask is generated. The imaging phase after generation of the roadmap mask of the roadmap imaging mode may be enabled based on an instruction to enable the roadmap imaging mode: and generating a second perspective image, and subtracting the path map mask obtained before from the second perspective image to obtain a path image. In addition, the vessel navigation can be completed based on the instruction to end the road map imaging mode.
In one embodiment, the instruction to start the subtraction imaging mode may be generated based on a first operation of the first operation device by the user, the instruction to end the subtraction imaging mode may be generated based on a second operation of the first operation device by the user, the instruction to start the road map imaging mode may be generated based on a first operation of the second operation device by the user, or the instruction to end the road map imaging mode may be generated based on a first operation of the second operation device by the user. The first operating device and the second operating device may be foot operated or hand operated devices arranged in pairs. Taking pedals which are oppositely arranged at left and right as an example for explanation, when the right pedal is stepped, starting a subtraction imaging mode, and performing a processing process of generating a path diagram mask; when the right pedal is released, ending the subtraction imaging mode, generating a path diagram mask, and simultaneously switching the state of the path diagram imaging mode to a second stage; when the left pedal is stepped on, starting a path diagram imaging mode, and generating a path image based on the generated path diagram mask; when the left foot pedal is released, the roadmap imaging mode ends.
As an embodiment, the step S120 of switching the state of the road map imaging mode to the imaging stage after generating the road map mask includes: and switching the state of the displayed road map imaging mode from the imaging stage for generating the road map mask to the imaging stage after generating the road map mask, and through the step, displaying the current state of the road map imaging mode in real time.
Fig. 2 shows a flow chart of a medical imaging method provided by another embodiment of the invention, which is similar to the scheme and principle of the embodiment shown in fig. 1, except that: as shown in fig. 2, the medical imaging method provided by the present embodiment further includes step S150: in the road map imaging mode, a plurality of second perspective images are acquired, and the plurality of second perspective images are subtracted from the road map mask to obtain a road image. Since the state of the road map imaging mode is switched to the second stage before the road map imaging mode is started (for example, after the subtraction imaging mode is ended), the second perspective image obtained in real time and the road map mask can be subtracted to directly obtain the road map image in the step, and the step of generating the road map mask in the road map imaging mode is avoided. In one example, the second fluoroscopic image displays a blood vessel, an interventional instrument in the blood vessel, and a background image, and the path image displays the blood vessel and the interventional instrument therein.
The medical imaging method provided by the present embodiment further includes step S160: in the road map imaging mode, the current second perspective image and the corresponding road image are displayed.
In an embodiment, the plurality of first perspective images is subtracted from a pre-acquired subtraction mask to generate corresponding subtraction images.
The plurality of first fluoroscopic images are images with contrast enhancement, and the process of setting the subtraction mask may include: in the step of generating one or more third fluoroscopic images without contrast enhancement and generating a subtraction mask based on the one or more third fluoroscopic images, one of the third fluoroscopic images may be set as a subtraction mask or the third fluoroscopic images may be preprocessed to be set as a subtraction mask. Since the image not subjected to contrast enhancement is set as a subtraction mask, a subtraction image showing only blood vessels can be obtained by subtracting the image subjected to contrast enhancement from the image subjected to contrast enhancement.
Accordingly, the medical imaging method provided by the present embodiment further includes step S111: in the subtraction imaging mode, the current first perspective image and the corresponding subtraction image are displayed. By observing the first fluoroscopic image and the subtraction image, the doctor can preliminarily judge the position of the lesion, for example, find the position of stenosis or blockage of the blood vessel.
An embodiment of the invention further provides a computer-readable storage medium for storing a computer program comprising instructions for performing the medical imaging method of any of the embodiments described above.
Embodiments of the present invention also provide a medical imaging system having a subtraction imaging mode and a roadmap imaging mode, wherein:
displaying a plurality of first perspective images and corresponding subtraction images in a subtraction imaging mode;
before the path map imaging mode is started, automatically processing the plurality of first perspective images, automatically generating a path map mask based on the processing result, and displaying the state of the path map imaging mode as an imaging stage after the path map mask is generated.
Further, the plurality of first perspective images are automatically processed in a subtraction imaging mode.
Further, the plurality of first perspective images are subjected to the peak hold processing in real time in the subtraction imaging mode until the subtraction imaging mode ends.
Alternatively, the road map mask is automatically generated based on the result of this processing after the subtraction imaging mode is ended.
Further, the generated road map mask is automatically saved before the road map imaging mode is turned on.
Further, automatically processing the generated first perspective image based on an instruction of starting a subtraction imaging mode; automatically generating the path diagram mask based on an instruction of finishing the subtraction imaging mode, and automatically switching the state of the path diagram imaging mode to an imaging stage after the path diagram mask is generated; and starting an imaging stage of the path diagram imaging mode after generating the path diagram mask based on the instruction of starting the path diagram imaging mode.
The medical imaging system further comprises a first operating device and a second operating device, wherein the instruction for starting the subtraction imaging mode is generated based on a first operation of the first operating device by a user; generating an instruction to end the subtraction imaging mode based on a second operation of the first operation device by the user; the instruction to turn on the road map imaging mode is generated based on a first operation of the second operation device by the user.
Further, a plurality of second perspective images are obtained based on the instruction of opening the path map imaging mode, and the plurality of second perspective images are subtracted from the path map mask to obtain a path image.
Further, in a road map imaging mode, a plurality of second perspective images and corresponding road images are displayed, wherein the road images are obtained by subtracting the plurality of second perspective images from the road map mask.
Fig. 9 schematically illustrates a block diagram of an imaging system, such as that shown in fig. 9, where the imaging system 900 may image a patient 901 on a patient bed. In one embodiment, the imaging system 900 includes a C-shaped support 910, wherein one or more X-ray sources 911 and a detector 912 are disposed at opposite ends of the C-shaped support 910, respectively, the X-ray sources 911 may be used to project X-rays toward a patient, at least a portion of the X-rays are attenuated after penetrating through the patient's body, and the detector 912 is configured to receive an attenuation signal of the X-rays and generate projection data based on the received attenuation signal.
In some embodiments, the imaging system 900 may further comprise an image reconstruction unit 930, an image processing unit 940, a display unit 950, a storage unit 960, a control unit 970. Wherein the image reconstruction unit 930 is configured to reconstruct an image of a region of interest of the patient based on the projection data of the patient, the image processing unit 940 is configured to perform some editing or processing, such as segmentation, stitching and other forms, based on the reconstructed image, the display unit 950 is configured to display images generated at any imaging stage, a human-computer interface, etc., and the storage unit 960 is configured to store the projection data and the reconstructed and/or processed image. The control unit 970 is configured to control one or more of the above-described gantry 910, X-ray source 911, detector 912, image reconstruction unit 930, image processing unit 940, display unit 950, and storage unit 960 based on a control instruction input by a user through an operation device, a display, a mouse, a keyboard, voice, a gesture, or the like.
The imaging system 900 further includes a non-transitory computer readable storage medium for storing one or more sets of instructions for performing the above-described control, which when executed enable the control unit 970 to implement the medical imaging method provided by an embodiment of the invention by controlling one or more units of the imaging system 900.
Fig. 3 schematically shows a flow chart for performing a complete imaging mode pair (exemplarily comprising a subtraction imaging mode and a subtraction imaging mode) in connection with the medical imaging system shown in fig. 9, and fig. 4-8 respectively show display interfaces generated at different stages in the flow chart shown in fig. 3. As shown in fig. 3, in step S301, a Roadmap-subtraction pattern pair (such as Roadmap-subtrect in fig. 4) is selected from a plurality of alternative pattern pairs. After the mode is selected, the medical imaging system having the pair of modes, i.e., the components therein, is configured to operate in the pair of modes.
In step S302, it is detected that the right foot pedal is depressed, and the controller 170 controls the medical imaging system 100 to turn on the subtraction imaging mode. In the subtraction imaging mode, the X-ray source 110 is controlled to expose a region of interest of the patient before injecting the contrast agent into the patient, and the image reconstruction module 130 performs image reconstruction based on projection data obtained by the exposure to obtain one or more third perspective images, and one of the one or more third perspective images is set as a subtraction mask.
In step S303, after injecting a contrast agent into the patient, the X-ray source 110 is continuously controlled to expose, and a plurality of first perspective images are generated according to a time sequence, the image processing unit 140 subtracts the plurality of first perspective images from the subtraction mask to obtain corresponding subtraction images, and simultaneously the display 150 displays the second image and the subtraction images in real time, and displays the first perspective image shown on the right side of fig. 5 and the subtraction image shown on the left side of fig. 5 in a display interface, where the images displayed in this example are both non-human body images, and this is only used for illustration; at this time, the state of the Roadmap imaging mode in the operation interface is shown as Roadmap1 (first stage of the Roadmap imaging mode), and as shown in the upper left corner of fig. 5, the image display displays on the page the state of the Roadmap imaging mode as Roadmap1, i.e., if the Roadmap imaging mode is turned on, Roadmap1 will be entered.
In step S304, the first fluoroscopic image acquired in real time is automatically subjected to peak-hold processing until the subtraction imaging mode is finished.
In step S305, the controller 170 detects that the right foot pedal is released, the image processing unit 140 automatically ends the processing of the first perspective image, and automatically generates a road map mask based on the result of the processing of the first perspective image, and stores the road map mask in the storage unit 160. After the road map mask is generated, the saved road map mask can be viewed at any time by clicking on the image database on the interface, at which time the display interface displays the road map mask as shown on the right side of fig. 7.
In step S306, the medical imaging system 100 is controlled to end the subtraction imaging mode. At this time, the state of the Roadmap imaging mode in the operation interface is displayed as Roadmap2 (second stage of the Roadmap imaging mode), and as shown in the upper left corner of fig. 6, the state of the Roadmap imaging mode displayed on the image display becomes Roadmap2, i.e., if the Roadmap imaging mode is turned on, Roadmap2 will be entered.
In step S307, the controller 170 detects that the left pedal is depressed, and turns on the road map imaging mode. In this mode, a second perspective image is obtained by imaging a blood vessel of a patient into which an interventional instrument is introduced, the image processing module 140 subtracts the second perspective image from a pre-stored path image to obtain a path image, the second perspective image and the path image are displayed in real time by the display 150, and the second perspective image shown on the right side of fig. 8 and the path image shown on the left side of fig. 8 are displayed in the display interface.
In step S308, the controller 170 detects that the left foot pedal is released, and controls the medical imaging system 100 to end the road map imaging mode.
The example depicted in fig. 3 is merely an imaging procedure in one case to facilitate understanding of the scheme, and is not intended to limit the scope of the present invention.
In addition, it is exemplarily described above that the medical Imaging method provided by the embodiment of the present invention can be applied to a C-arm Imaging apparatus, but it should be understood that it can also be applied to other Imaging modes, such as X-ray Imaging, CT (computed tomography) Imaging, and MRI (Magnetic Resonance Imaging).
Some exemplary embodiments have been described above, however, it should be understood that various modifications may be made. For example, suitable results may be achieved if the described techniques are performed in a different order and/or if components in the described systems, architectures, devices, or circuits are combined in a different manner and/or replaced or supplemented by additional components or their equivalents. Accordingly, other embodiments are within the scope of the following claims.
Claims (20)
1. A medical imaging method, comprising:
generating a plurality of first perspective images and corresponding subtraction images in a subtraction imaging mode;
before the road map imaging mode is started, automatically processing the plurality of first perspective images, automatically generating a road map mask based on the processing result, and automatically switching the state of the road map imaging mode to an imaging stage after the road map mask is generated.
2. A medical imaging method according to claim 1, wherein the plurality of first perspective images are automatically processed in a subtraction imaging mode.
3. The medical imaging method according to claim 2, wherein the plurality of first perspective images are subjected to peak-hold processing in real time in a subtraction imaging mode until the subtraction imaging mode ends.
4. A medical imaging method according to claim 2, wherein a roadmap mask is automatically generated based on a result of the processing after a subtraction imaging mode is ended.
5. The medical imaging method of claim 3, further comprising: the generated road map mask is automatically saved before the road map imaging mode is turned on.
6. The medical imaging method according to claim 5, wherein the generated first perspective image is automatically processed based on an instruction to turn on a subtraction imaging mode; automatically generating the path diagram mask based on an instruction of finishing the subtraction imaging mode, and automatically switching the state of the path diagram imaging mode to an imaging stage after the path diagram mask is generated; and starting an imaging stage of the path diagram imaging mode after generating the path diagram mask based on the instruction of starting the path diagram imaging mode.
7. The medical imaging method of claim 6, further comprising the steps of:
generating an instruction to turn on the subtraction imaging mode based on a first operation of a first operation device by a user;
generating an instruction to end the subtraction imaging mode based on a second operation of the first operation device by the user; or,
and generating an instruction for starting the path diagram imaging mode based on a first operation of a second operation device by a user.
8. The medical imaging method of claim 6, further comprising: and acquiring a plurality of second perspective images based on the instruction of starting the path map imaging mode, and subtracting the path map mask from the plurality of second perspective images to obtain a path image.
9. The medical imaging method of claim 6, further comprising: the current second fluoroscopic image and the corresponding road image are displayed in the road map imaging mode.
10. The medical imaging method of claim 1, further comprising: in the subtraction imaging mode, the current first perspective image and the corresponding subtraction image are displayed.
11. A computer-readable storage medium for storing a computer program comprising instructions for performing the medical imaging method of any one of claims 1-10.
12. A medical imaging system having a subtraction imaging mode and a roadmap imaging mode, wherein:
displaying a plurality of first perspective images and corresponding subtraction images in a subtraction imaging mode;
and before the path map imaging mode is started, automatically processing the plurality of first perspective images, automatically generating a path map mask based on the processing result, and displaying that the state of the path map imaging mode is the imaging stage after the path map mask is generated.
13. The medical imaging system of claim 1, wherein the plurality of first perspective images are processed automatically in a subtraction imaging mode.
14. The medical imaging method according to claim 13, wherein the plurality of first perspective images are subjected to peak-hold processing in real time in a subtraction imaging mode until the subtraction imaging mode ends.
15. The medical imaging system of claim 13, wherein a roadmap mask is automatically generated based on a result of the processing after the subtraction imaging mode is ended.
16. The medical imaging system of claim 15, wherein the generated roadmap mask is automatically saved prior to the roadmap imaging mode being turned on.
17. The medical imaging system of claim 13, wherein the generated first fluoroscopic image is automatically processed based on an instruction to turn on a subtraction imaging mode; automatically generating the path diagram mask based on an instruction of finishing the subtraction imaging mode, and automatically switching the state of the path diagram imaging mode to an imaging stage after the path diagram mask is generated; and starting an imaging stage of the path diagram imaging mode after generating the path diagram mask based on the instruction of starting the path diagram imaging mode.
18. The medical imaging system of claim 17, comprising a first operating device and a second operating device, wherein the instruction to turn on the subtraction imaging mode is generated based on a first operation of the first operating device by a user; generating an instruction to end the subtraction imaging mode based on a second operation of the first operation device by the user; and generating an instruction for starting the path diagram imaging mode based on a first operation of a second operation device by a user.
19. The medical imaging system of claim 17, wherein a plurality of second fluoroscopic images are acquired based on the instruction to turn on the roadmap imaging mode, and the plurality of second fluoroscopic images are subtracted from the roadmap mask to obtain a roadmap image.
20. Medical imaging system according to claim 12, wherein in a roadmap imaging mode a plurality of second fluoroscopic images and a corresponding roadmap image are displayed, wherein the roadmap image is obtained by subtracting the plurality of second fluoroscopic images from the roadmap mask.
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