JP2003038477A - X-ray machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an X-ray machine capable of easily changing the fluoroscopic direction of a guide map image for displaying the present position of a target point. SOLUTION: This X-ray machine comprises a map image formation part 6 for forming the guide map image on the basis of image data for three- dimensionally reconfigured image collected by X-ray tomography; a target point position calculation part 9 for calculating the present three-dimensional position of the target point in a position to be imaged by stereo fluoroscopy, a target position display part 10 for displaying the present position of the target point in the guide map image. Accordingly, the fluoroscopic direction of the guide map image can be changed only by forming a new guide map image changed in fluoroscopic direction on the basis of the image data for three- dimensionally reconfigured image acquired by X-ray tomography without requiring the actual re-radiographing, and the change of fluoroscopic direction can be facilitated.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a subject imaging unit.
Move the imaged part to the guide map image
The current position of the moving point of interest is displayed in real time.
X-ray imaging apparatus, in particular, fluoroscopy of guide map images
The present invention relates to a technology that enables a direction to be easily changed. 2. Description of the Related Art A blood vessel of a subject (patient) is externally catheterized.
X-ray fluoroscopy for inspections and surgeries that send tels (capillaries)
The tip of a catheter (tubule) that travels through a blood vessel using a shadow device
While grasping the current position of the point, the tip of the catheter (capillary tube)
Is reached to a target site. FIG.
FIG. 1 is a schematic configuration diagram of a conventional X-ray fluoroscopic apparatus.
X-ray fluoroscopy by a conventional apparatus is performed by using the X-ray tube 51 and the top 5
X-rays are irradiated on the imaging region Ma of the subject M
X-rays transmitted through the image intensifier (II
Tube) 53, and then TV (television) camera 54
To the signal processing unit 55 as an X-ray detection signal
The signal processing unit 55 processes the X-ray detection signal and transmits the X-ray detection signal.
An image signal for a visual image is obtained, and this is displayed on an image display monitor 56.
To be displayed. [0003] However, a blood vessel image is X only if photographed normally.
Inject contrast agent into blood vessels because they do not appear in fluoroscopic images
To perform X-ray fluoroscopy
If you continue to inject the contrast agent while pushing,
The injection amount of the agent is too large, and the load on the subject M is large. There
Use the following guide map perspective image
Is being done. That is, before inserting a catheter,
Angiography in which a contrast agent is injected into blood vessels to perform X-ray fluoroscopy
The guide map has a clear shadow of the blood vessel image.
Obtain only visual images in advance and store them in an image storage unit (not shown)
You. And with the start of catheter insertion into the blood vessel
Then, start the fluoroscopy and advance the catheter inside the blood vessel
Of moving images continuously and the previously obtained guide
Read out the fluoroscopic image for the map and compare it with the moving image of the catheter.
At the same time, the image is superimposed and displayed on the image display monitor 56. like this
Then, the perspective image for the guide map with the blood vessels clearly reflected
Since the image of the catheter is displayed on the image in real time,
The current position of the tip of the catheter
While always grasping on the image, the tip point of the catheter is
Can be led quickly. [0005] As described above, the perspective image for the guide map is utilized.
Injection, the injection of contrast agent can provide a perspective image for the guide map.
The time required for injection of the contrast agent and the M
Burden is reduced. [0006] However, the above-mentioned problems
In the case of a conventional device, the perspective of the perspective image for the guide map is used.
There is a problem that it is not easy to change the direction.
Specifically, a blood vessel image is displayed in the perspective image for the guide map.
If the image bends in the depth direction of the image, the blood vessels
I can't tell if it's crooked or bent back
Then, change the perspective direction from the current direction, for example, 90 ° to the side.
If you change the perspective direction,
It is necessary to retake the perspective image for the camera. But guy
To retake the fluoroscopic image for demapping, a contrast agent
Must be re-injected, it is very time-consuming
In addition, a burden is placed on the subject M.
It is easy to change the perspective direction of the perspective image for demapping.
There is no. The present invention has been made in view of such circumstances.
Of the point of interest moving through the imaging region
Guide map screen where the current position is displayed in real time
X-ray imaging device that can easily change the perspective direction of the image
The purpose is to provide a device. [0008] The present invention provides such a device.
In order to achieve the purpose, the following configuration is adopted. Sandals
In other words, the X-ray imaging apparatus according to claim 1 includes:
An X-ray source for irradiating an X-ray to an imaging region, and (b) imaging of a subject
An X-ray detector for detecting X-rays transmitted through the shadow site; (c)
X-ray source and X-ray detector are arranged facing around the body axis of the subject
X-ray slice tomography by moving while maintaining the state
Layer imaging mode and a predetermined X-ray source and X-ray detector
Stereo X-ray transmission from two different directions corresponding to parallax
Shooting mode control that controls the shooting mode with the visual shooting mode
Means (d) X-ray tomography is performed
Imaging unit based on an X-ray detection signal output from the X-ray detector
Collect image data for 3D reconstructed images of positions
(E) the three-dimensional image reconstruction means;
Based on the image data for the synthesized image,
It is compatible with X-ray fluoroscopic images taken from any radiographic direction.
Map image creator to create the corresponding guide map image
Steps and (f) an image display hand for displaying an image for a guide map
And (g) collecting the data for the three-dimensional reconstructed image.
Stereo X-ray fluoroscopy is performed on the imaging site
Based on the X-ray detection signal output from the X-ray detector
Images for two real radiographs with a given parallax
Actual fluoroscopic image data collecting means for collecting data; (h)
Based on the image data for the two real radiographic fluoroscopic images,
The current three-dimensional position of the point of interest moving in the imaging region
Target point position calculating means for calculating; (i) the target point position
Perspective image for guide map according to the calculation result of calculation means
Target point position display hand that displays the current position of the target point of interest on the image
And a step. [Operation] Next, the operation of the present invention will be described.
You. That is, according to the first aspect of the present invention,
Of the image of the guide map,
The current position of the point of interest moving in
When displaying, as the X-ray tomography is executed,
Imaging based on the X-ray detection signal output from the X-ray detector.
The image data for the three-dimensional reconstructed image of the shadow part is 3
Collected by the two-dimensional image data collection means. Then, the map image
An image generating means for collecting the three-dimensional reconstructed image;
Arbitrary imaging of the imaging region of the subject based on image data
Guy equivalent to an X-ray fluoroscopic image taken by X-ray fluoroscopy from the direction
A map image is created and displayed by the image display means. Subsequently, data for a three-dimensional reconstructed image is collected.
Different corresponding to the predetermined parallax for the same imaging part
X-ray fluoroscopy from two directions (stereo X-ray fluoroscopy)
X-ray output from the X-ray detector as the operation is executed
Based on the detection signal, two real shots with a given parallax
The image data for the X-ray fluoroscopic image is collected by the actual fluoroscopic image data collection
After collecting in the column, the data is collected by the target point position calculation means.
Based on the image data for the two real X-ray fluoroscopic images
Calculates the current 3D position of the point of interest moving in the shadow area
After setting, perspective for guide map according to calculation result
The current position of the target point of interest is displayed on the image using the target point position display
Show. Also, the perspective direction of the guide map image is changed.
If you want to change it, 3D reconstruction already acquired by X-ray tomography
The new perspective direction has been changed based on the image data for the image.
Create a map image of a guide map image in the perspective direction
A new guide that has been recreated by means and changed the perspective direction
Image display means to update and display as map image
The current point of interest is displayed on the new guide map image.
The location is also displayed. That is, in the case of the first aspect,
An image for the guide map that displays the current position of the eye target point,
Collect X-ray tomography images of the subject
Created based on the image data for the three-dimensional reconstructed image
And the current position of the point of interest is
Predetermined view of the same imaging site where image data was collected
Image data for two real X-ray fluoroscopic images with a difference
Calculated by 3D position detection method based on data
To display the current position of the point of interest on the guide map image
To change the perspective direction of the guide map image.
If you want to change it, use a new guide map with a changed perspective direction.
3D reconstructed images acquired by X-ray tomography
Just recreate and display based on image data for images
In order to obtain the guide map image,
X-ray source and X-ray
There is no need to move the detector. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an X-ray imaging apparatus according to the present invention will be described.
One such embodiment will be described with reference to the drawings. FIG. 1 shows the overall structure of an X-ray imaging apparatus according to an embodiment.
It is a block diagram showing composition. This X-ray imaging device
X-ray which is an X-ray source for irradiating an imaging part Ma of the body M with X-rays
X-ray detector for detecting X-ray transmitted through tube 1 and subject M
Flat panel X-ray detector 2 (hereinafter referred to as
This is referred to as a flannel detector 2. ) And the subject M is placed
It has an X-ray imaging system that is arranged opposite to the top plate 3.
You. This X-ray imaging apparatus uses this X-ray imaging system to
Image for three-dimensional reconstructed image of imaging part Ma of sample M
X-ray tomography to acquire image data and 3D reconstruction
A predetermined value for the imaging part Ma from which the data for the synthesized image has been collected
Image data for two real X-ray fluoroscopic images with parallax
Data (hereinafter, appropriately referred to as stereo image data)
X-ray fluoroscopy (binocular imaging or
Also called stereoscopic photography. ) And run both shooting modes
It is configured to be able to. FIG. 2 shows the X-ray imaging system of the embodiment.
As described above, the X-ray tube 1 and the panel type detector 2
Rotation around O, that is, around the body axis of the subject M
The ring M is placed facing the ring RG with the subject M in between.
X-ray tomography mode (computer disconnection)
Layer imaging), the X-ray tube
1 and the panel-type detector 2 are arranged facing each other around the body axis of the subject M.
Angle range of at least 180 ° while maintaining the position
(360 degree angle range which is usually one round)
During this time, cone beam X-rays are emitted from the X-ray tube 1
From the panel type detector 2 for the three-dimensional reconstructed image
An X-ray detection signal serving as a source of image data is output. Returning to FIG. 1, the apparatus of this embodiment includes a panel
After X-ray tomography, the panel
Reconstructs the X-ray detection signal output from the
Performs signal processing such as convolution integration using synthetic functions
3D to collect image data for 3D reconstructed images
The image data collecting unit 4 and the three-dimensional image data collecting unit 4
An image storage unit 5 for storing image data collected in
Based on the image data collected by the three-dimensional image data collection unit 4
The imaging region Ma of the subject M is moved from any imaging direction to X
For guide map equivalent to X-ray fluoroscopic images taken by fluoroscopy
A map image creation unit 6 for creating an image, and a created guide
And an image display monitor 7 for displaying a map image.
I have. That is, the three-dimensional image data collection unit 4 collects
The obtained image data for the three-dimensional reconstructed image is
a, and the image for the guide map is taken.
Since this corresponds to the projection view of the perspective stereoscopic image of the shadow part Ma, the map
The image creating unit 6 is a three-dimensional perspective three-dimensional image of the imaging site Ma.
Image signal processing using image data for reconstructed images
The guide map image can be easily created. did
Therefore, in the apparatus according to the embodiment, the map image creation unit 6 performs the fluoroscopy.
Create a guide map image with the direction changed from the current direction.
When forming, based on the perspective stereoscopic image of the imaging site Ma,
Map a new guide map image with a changed perspective direction
It only needs to be created by image signal processing in the image creation unit 6,
There is no need to actually retake the X-ray. In the case of angiography, the subject M
Inject contrast medium into blood vessels and perform X-ray tomography for 3rd order
Collect image data for the original reconstructed image and clarify the blood vessel image
Create an image for the guide map shown. Furthermore, blood
In the case of angiography, do not inject a contrast medium into the blood vessel of the subject M.
Performing X-ray tomography and 3D reconstruction images
Data is also collected and 3D reconstruction with contrast agent injection
3D reconstruction without contrast agent injection from image data for synthetic images
Subtracts image data for synthesized image and 3D reconstruction of only blood vessel image
Image data for a composed image can also be used. in this case,
Blood vessel image can be grasped more clearly on the guide map image
You. Further, in the X-ray imaging system of the embodiment, FIG.
As shown in the figure, the X-ray tube 1 focuses the two left and right focal points 1R and 1L.
It is a so-called stereo tube with a stereo X-ray fluoroscopy
In the case of the mode, the focus 1 on the right side for one imaging region Ma
Right-eye imaging that irradiates X-rays from R and focus 1L on the left
X-ray irradiation and left-eye imaging are alternately performed in a time-sharing manner
X-ray transmission from two different directions corresponding to a predetermined parallax.
Stereo shooting for visual shooting is performed.
From the panel-type detector 2 with X-ray irradiation
An X-ray detection signal serving as a source of image data is output. Returning to FIG. 1, the apparatus of this embodiment includes a panel
In the subsequent stage of the type detector 2, there is a
The X-ray detection signal output from the panel type detector 2
Required filtering and signal strength adjustment
Stereo by performing signal processing such as (density adjustment)
An actual perspective image data collection unit 8 for collecting image data;
Stereo image data collected by the perspective image data collection unit 8
Of interest that moves through the imaging part Ma based on the
For example, calculate the current three-dimensional position of the tip of the catheter)
The target point position calculator 9 to calculate the current
Target point position display for displaying the current position on the guide map image
A part 10. The data collected by the actual perspective image data collection unit 8
The teleo image data is a so-called binocular image of the imaging site Ma.
Image (stereoscopic image), obtained by stereo fluoroscopy
Where the point of interest appears in the two images
It reflects the three-dimensional position of the target point of interest in the position Ma.
Normally, one X-ray fluoroscopic image contains only two-dimensional position information
The position of the target point in the vertical and horizontal directions
Can be calculated only, and the position in the near-far (depth) direction
Can not be calculated, but two sheets obtained by stereo fluoroscopy
In the case of an image, the appearance position of the target point of interest between the two images
The difference includes position information in the near and far (depth) directions. Specifically, X-rays are emitted from the focal point 1R.
Center of imaging in panel-type detector 2 for right-eye imaging
The distance NR between the projection point of the point O and the projection point of the target point Q,
Left-eye imaging with X-ray irradiation from point 1L
Projection point of photographing center point O in flannel type detector 2 and attention pair
The difference between the distance NL between the projection point of the elephant point Q and the depth of the target point Q is
It corresponds to the position in the direction. By the way, the point of interest is taken
For the same depth as the shadow center point O, the distance NR and the distance NL
Are equal and the difference is zero. That is, in the present invention, a so-called vertical
Using the three-dimensional position detection method of the stereoscopic method,
It is configured to be able to calculate the current 3D position
It is. Therefore, the target point position display unit 10 displays
Of the target point of interest in the image for the guide map
A signal indicating the corresponding position (coordinate) will be output.
You. Of course, in the embodiment apparatus, stereo X-ray
Coordinates of two images and guide map image obtained by fluoroscopy
Is the mechanical position of the X-ray imaging system so that there is a certain correspondence.
Necessary adjustments are made in advance, and the current
If the current three-dimensional position can be calculated, the guide map image
The corresponding position can be easily calculated. It should be noted that it is provided at a stage before the image display monitor 7.
The image display control unit 11 is displaying the image of the guide map image.
Corresponds to the current position of the target point of interest for simultaneous display in the image signal
For example, a signal indicating the position is superimposed. Further, the X-ray imaging apparatus of this embodiment
Perform the necessary operations and input necessary data for performing radiography, etc.
An input unit 17 including input devices such as a console and a mouse.
Input operation from the input unit 17 and the progress of X-ray imaging.
A photographing control unit 18 for transmitting a command signal to each unit at an appropriate time
And The radiographing controller 18 controls the X-ray tube 1
Power supply control of the high voltage generator 19 for supplying voltage, X-ray
Rotational movement and mechanical position of tube 1 and panel type detector 2
It is responsible for the control of the staff and the horizontal and vertical movement control of the top 3.
ing. The photographing control unit 18 controls photographing mode control.
It is also mode control means. The guide created by the map image creation section 6
The specification of the perspective direction of the image for map is performed in the
Normally, this is performed by the input unit 17, but can be specified by voice.
It may be configured as follows. Also, stereo X-ray fluoroscopy
The target point of interest in each of the two images obtained by the shadow is input unit 1
7 or automatically by image signal processing.
The specified configuration may be used. The X-ray tube 1 has a collimator 20 on the front.
And setting irradiation conditions such as tube voltage and tube current from the X-ray tube 1.
X-rays in the form of a cone beam that matches
Irradiated on Ma. The subject is placed on the surface of the panel-type detector 2.
An X-ray transmitted through M is projected. Irradiated on the imaging part Ma
Panel type detector 2
The shape of the X-ray projected on the surface of is rectangular. In the case of the X-ray imaging apparatus of the embodiment,
A flat panel detector that detects X-rays transmitted through the sample M
It is very useful to be a X-ray detector (FPD) 2
Therefore, about this flat panel type X-ray detector 2,
This will be specifically described. The flat panel X-ray detector 2 is an X-ray tube
1. The transmitted X-rays of the subject M caused by the X-ray irradiation by
Detect and convert to electric signal as X-ray detection signal and output
An X-ray detector having a configuration as shown in FIG.
Where a large number of X-ray detecting elements Du are arranged vertically and horizontally.
This is a so-called two-dimensional matrix type X-ray detector. Example
Of X-ray detecting element Du in panel type detector 2 of FIG.
Is, for example, a horizontal (Y) direction 1024 and a vertical (X) direction 102
4 is assumed to be a square matrix, and FIG.
A total of 9 matrices in a 3 x 3 matrix configuration
Only the configuration is shown. Panel with rectangular planar shape
The type detector 2 is different from an I / I tube whose detection surface is limited to a circular shape.
Suitable for shooting large parts such as the chest and abdomen
It is also a useful X-ray detector in that a shaped detection surface is possible. As shown in FIG. 5, the panel type detector 2
X-ray conversion layer 12 for converting incident X-rays into charges or light
And the charge or light generated in the X-ray conversion layer 12 is detected.
Elements are arranged vertically and horizontally in a matrix.
It has a laminated structure with the detection array layer 13. This panel
Examples of the plane dimensions of the X-ray conversion layer 12 of the
For example, about 30 cm vertically and horizontally. FIG. 6A shows the panel type detector 2.
The direct conversion type shown in FIG. 6 and the indirect conversion type shown in FIG.
There is a replacement type. For the former direct conversion type,
Selenium in which the X-ray conversion layer 12 directly converts incident X-rays into charges
Layer and a CdZnTe layer.
Formed opposite the surface electrode 15 as the charge detection element 14 on the surface
Charge detection is performed by the charge collection electrode group
Each of the charge detection elements.
14 and a part of the X-ray conversion layer 12 thereon, one X-ray
The detection element Du is formed. Indirect conversion of the latter
In the case of the type, the X-ray conversion layer 12 converts incident X-rays into light.
Consisting of a scintillator layer on the surface of the detection array layer 13.
A photodiode group formed as the light detecting element 16
A configuration in which light is detected and stored in a capacitor Cs
Each photodetector 16 and the X-ray conversion layer 1 thereon
2 to form one X-ray detecting element Du.
And As shown in FIG. 4, the panel type detector 2
X-ray on which X-ray conversion layer 12 and detection array layer 13 are formed
Detection substrate 41 and carrier collection electrode of X-ray detection substrate 41
(Collected charge) through the (charge collecting electrode)
The capacitor Cs to be stored and the capacitor Cs
Normally off (cut off) charge extraction to extract charge
The thin-film transistor (TF
T) and the multiplexer 4 of the read circuit in the X and Y directions
5 and a gate driver 47. The panel type detector 2 is shown in FIG.
Thus, the thin film transistor for the switch element 42 of the X-ray detection element Du
Vertical readout with transistor sources arranged in the X-axis direction
The gate is connected to the wiring 43 and the gate is arranged in the Y-axis direction.
It is connected to the read wiring 46. Read wiring 43
Is a matrix through a charge-voltage converter group (preamplifier group) 44.
Connected to the multiplexor 45 and read
The wiring 46 is connected to a gate driver 47. What
In the charge-voltage converter group 44, one read wiring
43, a charge-voltage converter group 44 (not shown)
Are connected respectively. In the case of the panel type detector 2, the multi
Signal extraction to plexer 45 and gate driver 47
Scan signal is sent. Panel type detection
The specification of each X-ray detection element Du in the detector 2 is performed in the X direction and Y direction.
Assigned to each X-ray detection element Du in order along the direction array
Address (1024 X-ray detection elements Du
Is performed based on, for example, 1 to 1024).
Therefore, the scanning signal for taking out is
Address or a signal for specifying a Y-direction address. Gate driver according to scanning signal in X direction
47 to the readout wiring 46 in the Y direction
As the voltage is applied, each X-ray detection element Du becomes a single column.
Selected by place. Then, according to the scanning signal in the X direction,
The selection is made by switching the multiplexor 45.
Stored in the capacitor Cs of the X-ray detection element Du in the column
Charge is transferred to the charge-voltage converter group 44 and the multiplex.
It is sent to the outside through the order of the sa 45. this
The X-ray detection signal detected by the panel type detector 2
Are sequentially output and processed in real time. Of course,
Each X-ray detection element Du corresponds to each pixel of the X-ray image
It has become something. The flat panel X-ray detector 2
In this case, it is uniquely determined by the geometrical arrangement of the X-ray detecting element Du.
Is only a simple linear distortion.
Image distortion can be easily corrected, and I / I
Since it is lighter than a tube, the weight of the X-ray detector
An image that is difficult to correct due to less mechanical distortion of the line imaging system
An accurate image without distortion can be obtained. But
Therefore, guides for guide map images are accurate.
In addition, the current three-dimensional position of the point of interest can be calculated accurately.
Wear. In addition, like the device of the embodiment,
X-rays are generated by the two-dimensional array panel detector 2 using X-rays.
In the case of X-ray tomography of the detection method, the fan-shaped beam
X-rays are detected with a one-dimensional array X-ray detector using X-rays
More slices than X-ray tomography
Since the surface can be photographed at a time, the photographing time can be shortened. Next, the X-ray imaging apparatus of the above-described embodiment will be described.
Depending on the position, for example, a guide showing a blood vessel image of the subject M
The point of the tip of the catheter that advances through the blood vessel (attention
The current position of the target point) is displayed in real time.
Then, a more specific description will be given with reference to the drawings.
FIG. 7 shows an apparatus according to the embodiment, in which attention points are displayed on the guide map image.
The current position of the catheter tip point in real time
It is a flowchart which shows the process at the time of a display. [Step S1] A contrast agent is applied to the blood vessel of the subject M.
To perform X-ray tomography and collect three-dimensional image data
The collection unit 4 is used for a three-dimensional reconstructed image of the imaging site Ma
Image data is collected and stored in the image storage unit 5. In addition,
If necessary, collect image data without contrast agent injection and
A process of subtracting from the image data with the injection of the contrast agent is performed. [Step S2] The operator operates the input unit 17
Specify the perspective direction of the guide map image with
The image data for the three-dimensional reconstructed image is read from the storage unit 5.
The guide map image P1 in the perspective direction specified by the
The image is created by the image creation unit 6, and as shown in FIG.
The image is displayed on the image display monitor 7. [Step S3] Categorizing the blood vessel of the subject M
-At the start of the insertion of the telescope, imaging of the subject M
Stereo X-ray fluoroscopy of the site Ma is continuously performed
Accordingly, the imaging part Ma is captured by the actual fluoroscopic image data collection unit 8.
Are repeatedly collected. [Step S4] The stereo image data is collected.
Each time it is collected, a stereo image is generated by the target point position calculator 9.
Calculate 3D position of catheter tip based on data
Then, the target point position is displayed as shown in FIG.
The current position q (refer to FIG.
(Corresponding to the noted target point Q)
It is displayed on the image P1. The operator operates the image display monitor 7
While checking the current position q of the tip of the catheter on the screen
Push the catheter. The tip of the catheter
The points are advanced, for example, in the direction of the arrow shown in FIG.
It is assumed. [Step S5] Transparency of guide map image
If the viewing direction needs to be changed, proceed to the next step S6.
No. For example, a blood vessel image is displayed on the guide map image P1.
Is bent in the depth direction, and the blood vessels are bent forward
If it is not possible to determine whether
Change perspective direction of image for map to 90 ° sideways
I do. If you need to change the perspective direction of the guide map image
If not, the process jumps to step S7. [Step S6] The operator operates the input unit 17
To specify the perspective direction to change the guide map image with
And image data for a three-dimensional reconstructed image from the image storage unit 5.
Is read out again and the new perspective direction
The image P2 for the id map is created by the map image creating unit 6.
10 and displayed on the image display monitor 7 as shown in FIG.
And returns to step S4. Of course,
If the process returns to step S4 in the image P2 for catheterization, the catheter
Is displayed immediately. like this
Then, the perspective direction is changed 90 ° horizontally by the map image
If the created guide map image P2 is created and displayed,
Is bent forward or backward
I understand. [Step S7] The current point of the catheter tip point
If it is necessary to continue to display the current position q, go to step S4.
Return, if not necessary, end the shooting. As described above, according to the X-ray imaging apparatus of the embodiment,
For example, the current position q of the tip point of the catheter is displayed.
Changing the perspective direction of the guide map image, that is, perspective
The display of the new guide map image whose direction has been changed is X
About the imaging part of the subject collected by X-ray tomography
Image signal processing based on image data for a three-dimensional reconstructed image
The imaging part Ma of the subject M is actually
Since there is no need to re-take the image at
The viewing direction can be easily changed. The above-described new guide map image
The display changes the X-ray tube and X-ray detector
No need to move the tip of the catheter
Stereo X-ray fluoroscopy for calculating position q is also an X-ray tube
And X-ray detector can be operated in a fixed state.
Specify the perspective direction of the image for id map
Is also associated with the movement of the X-ray tube and X-ray detector, etc.
In addition to the danger, there is no
There is no need to provide an oblique insertion mechanism for the X-ray imaging system.
Data (operator) has more freedom to access the subject M than before
Increase. The present invention is limited to the above embodiment.
Instead, modifications can be made as described below. (1) In the above embodiment, the stereo tube
Stereo X-ray fluoroscopy using an X-ray tube
It was a success, but instead of a stereo tube type X-ray tube
And stereo fluoroscopy using two single focus X-ray tubes
A device configured to perform shadows or a single-focus X-ray tube
One is continuously rotated at high speed around the body axis of the subject M
X-ray pulses are sequentially irradiated at two positions corresponding to a predetermined parallax.
An apparatus configured to perform stereo X-ray fluoroscopy by projecting
Each of them is mentioned as a modified example. (2) In the above embodiment, the X-ray detector is
It was a rat panel type X-ray detector.
.Other types of detectors, such as I-tubes and imaging plates
It may be. As is apparent from the above description, the claims
According to the X-ray imaging apparatus described in 1, the current position of the target point of interest
X-ray tomography of a guide map image
3D reconstruction collected for the subject's imaging site
Create based on image data for images
Collect the current position of the target point and 3D reconstructed image data
Given parallax for the same imaging part
Based on image data for two real radiographic fluoroscopic images
It is calculated by the three-dimensional position detection method of the visual
A configuration is provided to display the current position of the point of interest on the image
When changing the perspective direction of the guide map image
Is a new guide map image with a changed perspective direction,
Image data for 3D reconstructed images acquired by X-ray tomography
You just need to recreate it based on the data
There is no need to retake X-ray fluoroscopy
It is possible to easily change the perspective direction of the image for top-up.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an overall configuration of an X-ray imaging apparatus according to an embodiment. FIG. 2 is a schematic diagram illustrating an overview of an apparatus according to an embodiment at the time of X-ray tomography. FIG. 3 is a schematic diagram showing an overview of stereoscopic fluoroscopy of the apparatus of the embodiment. FIG. 4 is a configuration diagram of a flat panel X-ray detector. FIG. 5 is a perspective view showing a schematic configuration of a flat panel X-ray detector. FIGS. 6A and 6B are cross-sectional views showing the layer configuration of a flat panel X-ray detector. FIG. 7 is a flowchart illustrating a process when the current position of the target point of interest is displayed on the guide map image by the apparatus according to the embodiment. FIG. 8 is a schematic diagram showing an example of a guide map image. FIG. 9 is a schematic diagram illustrating an example of a guide map image displaying a current position. FIG. 10 is a schematic diagram showing another example of a guide map image displaying a current position. FIG. 11 is a schematic configuration diagram of a conventional X-ray fluoroscopic apparatus. [Description of Signs] 1… X-ray tube (X-ray source) 2… Flat panel X-ray detector (X-ray detector) 4… 3D image data acquisition unit (3D image data acquisition means) 6… Map image Creation unit (map image creation means) 7 ... image display monitor (image display means) 8 ... actual perspective image data collection unit (actual perspective image data collection means) 9 ... target point position calculation unit (target point position calculation means) 10 ... Target point position display section (target point position display means) 18 ... imaging control section (imaging mode control means) M ... subject Ma ... imaging part P1 ... guide map image P2 ... guide map image Q ... attention target point q ... catheter Current position of tip point (current position of target point of interest)

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Masahiro Kono             1 Nishinokyo Kuwabaracho, Nakagyo-ku, Kyoto Stock Exchange             Inside Shimadzu Corporation (72) Inventor Isao Nakata             1 Nishinokyo Kuwabaracho, Nakagyo-ku, Kyoto Stock Exchange             Inside Shimadzu Corporation (72) Inventor Hiroshi Miyata             1 Nishinokyo Kuwabaracho, Nakagyo-ku, Kyoto Stock Exchange             Inside Shimadzu Corporation (72) Inventor Katsunori Yuyasu             1 Nishinokyo Kuwabaracho, Nakagyo-ku, Kyoto Stock Exchange             Inside Shimadzu Corporation F term (reference) 4C093 AA07 AA10 AA16 AA22 AA24                       CA18 CA34 DA02 EB12 EB13                       EB17 EC16 EC28 FF35 FF42                       FG13

Claims (1)

Claims: 1. An X-ray source for irradiating an X-ray to an imaging region of an object, and (b) an X-ray detector for detecting X-ray transmitted through the imaging region of the object. (C) an X-ray tomography mode for tomography by moving the X-ray source and the X-ray detector around the body axis of the subject while maintaining the opposed arrangement state, and the X-ray source and the X-ray detector. An imaging mode control means for controlling an imaging mode from a stereo X-ray fluoroscopic imaging mode from two different directions corresponding to a predetermined parallax; and (d) an X-ray detector as X-ray tomography is performed Means for collecting image data for a three-dimensional reconstructed image of an imaged part based on the X-ray detection signal output from the device; and (e) based on the image data for the three-dimensional reconstructed image. , The imaging region of the subject is set in X from any imaging direction. A map image creating means for creating a guide map image corresponding to a fluoroscopic X-ray fluoroscopic image, (f) an image display means for displaying a guide map image, and (g) data for the three-dimensional reconstructed image. When stereoscopic X-ray fluoroscopy is performed on the imaging site, a predetermined parallax is applied based on an X-ray detection signal output from an X-ray detector.
A real fluoroscopic image data collecting means for collecting image data for two real radiographic fluoroscopic images; and (h) a target point of interest which moves through the imaging region based on the two real radiographic fluoroscopic image data. And (i) target point position display means for displaying the current position of the target point of interest in the guide map perspective image according to the calculation result of the target point position calculation means. An X-ray imaging apparatus comprising: