JP5121173B2 - 3D image generator - Google Patents

Description

  The present invention is applied to, for example, an X-ray diagnostic apparatus used for blood vessel diagnosis, acquires a still image data by imaging a subject such as a cardiovascular vessel from two directions, and reconstructs the still image data to obtain a three-dimensional image. The present invention relates to a three-dimensional image generation apparatus that constructs image data.

  During cardiovascular intervention surgery, for example, an image of a cardiovascular vessel is displayed using an X-ray diagnostic apparatus. There are many requests from users such as doctors to observe blood vessels as stereoscopic images (three-dimensional images) during cardiovascular intervention surgery. In recent years, such a technique of three-dimensional cardiovascular display (coronary 3D, coronary tree) has been proposed. In this cardiovascular stereoscopic display, a contrasted blood vessel is imaged from two directions, and a stereoscopic image is constructed using Epipolar geometric theory from these imaging data. This cardiovascular stereoscopic display application is not perfect in accuracy, but can easily construct a stereoscopic image. This has attracted attention among doctors. In particular, when the shape of a target disease changes during an operation, such as a cardiovascular intervention operation, it is highly appreciated that a cardiovascular stereoscopic image can be displayed easily and instantaneously in the operating room.

  FIG. 23 shows a schematic diagram of the construction of a stereoscopic image using Epipolar geometry theory. For example, a projection image 2 obtained by capturing an image of a subject 1 having a cardiac blood vessel or the like in a human body from one direction on the front side is referred to as a frontal image 2. A projected image acquired by imaging from another direction on the side surface different from the one direction is referred to as a lateral image 3. The subject 1 projected onto the point A on the front image 2 exists somewhere on the line B in the three-dimensional space, but cannot be specified. The line B is projected onto the line C on the lateral image 3. The subject 1 is projected somewhere on the line C. Therefore, when the user manually designates corresponding points on the frontal image 2, the position of the subject 1 in the three-dimensional space is determined. That is, in order to specify the three-dimensional position, it is necessary to specify the coordinates of corresponding points on the frontal image 2 and the lateral image 3. A technique for constructing a stereoscopic image using such Epipolar geometry theory is disclosed in Patent Documents 1 and 2, for example.

However, when the shape of the target disease changes during cardiovascular intervention surgery, it is necessary to update the display of the stereoscopic image in accordance with the change in the shape of the target disease. In order to update the display of the stereoscopic image, an operation in which the user manually designates corresponding points on the front image 2 is required many times. For example, if a cardiovascular stereoscopic image is displayed before the cardiovascular intervention operation, the stereoscopic image continues to be displayed during the progress of the cardiovascular intervention operation. Therefore, in order to change the 3D image of the cardiovascular to the latest image due to the necessity of cardiovascular intervention surgery, the user selects the latest 3D image and designates it manually on the Frontal image 2 as described above. You have to do the operation. Such an operation not only hinders the smooth progress of endovascular treatment surgery, but is also troublesome.
US Pat. No. 6,501,848 US Pat. No. 6,047,080

  An object of the present invention is to provide a three-dimensional image generation apparatus that can automatically acquire a stereoscopic image of a subject without requiring a complicated manual operation.

The three-dimensional image generating apparatus according to the first aspect of the present invention reconstructs each still image data acquired by each photographing from at least two directions with respect to a subject that periodically repeats a contraction motion, thereby reconstructing a three-dimensional image. In the three-dimensional image generation apparatus for constructing data, each moving image data composed of each still image data of a plurality of frames is acquired by each imaging from the at least two directions during a period in which the subject repeats the contraction motion a plurality of times. Then, each of the still images when the image density in the moving image data changes by a predetermined value or more due to the injection of the contrast agent at the timing when the contraction movement of the subject has the same cardiac phase at each different time from the moving image data. An image that selects image data, reconstructs the selected still image data, and sequentially constructs the three-dimensional image data Comprising a generating unit, and a display unit that displays and updates the three-dimensional image data sequentially constructed by the image generation unit.

  ADVANTAGE OF THE INVENTION According to this invention, the three-dimensional image generation apparatus which can acquire the stereo image of a subject automatically can be provided, without requiring complicated manual operation.

Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a configuration diagram of a single plane X-ray diagnostic apparatus to which a three-dimensional image generation apparatus is applied. On the bed 10, for example, a subject 1 such as a patient having a disease in a cardiovascular or the like is placed. The mechanism control unit 11 is provided with a C-arm 12 so as to be rotatable. An X-ray generation unit 13 and an X-ray detection unit 14 are provided at each end of the C arm 12 so as to face each other. The X-ray generator 13 includes an X-ray tube, and emits X-rays when a tube voltage and a tube current are supplied to the X-ray tube. The X-ray detection unit 14 detects the X-ray dose emitted from the X-ray generation unit 13 and transmitted through the subject 1, and outputs a signal corresponding to the X-ray detection amount. The X-ray detector 14 uses a flat panel detector (FPD) or I.I. (Image Intensifier).

The mechanism control unit 11 rotates the C arm 12. Thereby, the X-ray generation unit 13 and the X-ray detection unit 14 rotate around the subject 1 as a rotation center. For example, during the vascular intervention surgery, the bed 10 and the C arm 12 are rarely moved, and the C arm 12 is often fixed at the same angle. Further, during the cardiovascular intervention, the X-ray generator 13 and the X-ray detector 14 are moved in two imaging directions, that is, the first imaging direction A1 and the _first imaging direction by the rotational movement of the C-arm 12 as shown in FIG. In some cases, the subject 1 is observed with the imaging direction A ₂ set to ₂ . In this case also fixed the first and the photographing direction A ₁ and a second imaging direction A _2, X-ray generation unit 13 and the X between these first and photographing direction A ₁ and a second imaging direction A ₂ The subject 1 is often observed by reciprocating the line detector 14 in the R direction.

In such observation of the subject 1, the projection image acquired by imaging when the X-ray generation unit 13 and the X-ray detection unit 14 are set in the first imaging direction A ₁ is a frontal image 2 shown in FIG. Corresponding to Projection image obtained by imaging when setting the X-ray generation unit 13 and the X-ray detector 14 in the second imaging direction A ₂ corresponds to the Lateral image 3 shown in FIG. 23.

  The X-ray control unit 14 controls a tube voltage and a tube current supplied to the X-ray generation unit 13 and includes a high voltage control unit 15 and a high voltage generation unit 16. The high voltage control unit 15 controls the tube voltage value and the tube current generated by the high voltage generation unit 16. The high voltage generator 16 generates a tube voltage and a tube current controlled by the high voltage controller 15 and supplies them to the X-ray generator 13.

The control device body 20 is constituted by a computer. The control device main body 20 includes a system control unit 21 and an image calculation / storage unit 22 and is connected to a display unit 23 such as a liquid crystal display. The control device main body 20 is provided with a hand switch 24 as an operation unit, a switch holder 25 for holding the hand switch 24, and a display unit 26 as a user interface. The system control unit 21 controls the mechanism control unit 11 and the high voltage control unit 15, and rotates the C arm 12 so that the X-ray generation unit 21 and the X-ray detection unit 22 are rotated around the subject 1. Rotate and move. For example during vascular interventional procedures, the system control unit 21, between the first photographing direction A ₁ showing the X-ray generation unit 21 and the X-ray detection unit 22 in FIG. 2 for example and a second imaging direction A _2, etc. Move back and forth. The system control unit 21 sequentially inputs the output signals of the X-ray detection unit 14 and stores these output signals in the image calculation / storage unit 22 as moving image data (DA, RUN) composed of a plurality of frames of still image data.

FIG. 3 shows recording of each moving image data of one patient who is the subject 1 during the cardiovascular intervention operation. Each moving image data is stored in the image calculation / storage unit 22 for each number No. “1, 2, 3,...”. The date, time, shooting direction, number of frames, and the like are recorded for each moving image data. These moving image data are usually contrast images of about 3 seconds in time, and are composed of still image data of about 40 to 90 frames. One frame of still image data forming the moving image data has, for example, vertical 1024 pixels and horizontal 1024 pixels. Shooting direction is, for example, a first imaging direction A ₁ and a second imaging direction A _2, etc., is recorded, for example, by angle.

A stereoscopic image generation unit 28 is connected to the control device main body 20 via a communication line 27. The stereoscopic image generation unit 28 is configured by a computer, and a memory 29 and a display unit 30 such as a liquid crystal display are connected to each other. Stereoscopic image generating unit 28, when set to the X-ray generator 13 and the X-ray detector 14 and the rotate movement for example, the first imaging direction A ₁ or the second photographing direction A _2, and these first in a state of being set in the photographing direction a ₁ or the second imaging direction a _2, a first on the basis of the output signal of the X-ray detector 14 shooting direction a ₁ and the two second photographing direction a ₂ Each still image data of the subject 1 is acquired from the image calculation / storage unit 22 in the imaging direction and at a heart motion timing at which the heart phase of the patient's heart as the subject 1 has the same cardiac phase. The data is reconstructed to construct three-dimensional image data (hereinafter referred to as stereoscopic image data) of the subject 1.

FIG. 4 is a block configuration diagram of the stereoscopic image generation unit 28. The stereoscopic image generation unit 28 includes a moving image data acquisition unit 31, a selection unit 32, a reconstruction unit 33, a feature point setting unit 34, a pattern matching unit 35, and a measurement unit 36. In addition, an electrocardiograph 37 is connected to the stereoscopic image generation unit 28 via a communication line 27.
Moving picture data acquisition unit 31, two moving images captured from a plurality of moving image data stored in the image computing and storing unit 22 for example, the first imaging direction A ₁ and a second imaging direction A ₂ Metropolitan Get the data.

The selection unit 32 selects, from the two moving image data acquired by the moving image data acquisition unit 31, still image data at a timing at which the motion of the subject 1 has the same cardiac phase frame by frame. That is, the cardiovascular which is the subject 1 periodically repeats the contraction motion. The electrocardiograph 37 outputs an electrocardiogram waveform synchronized with the cardiovascular contraction motion. As shown in FIG. 5, this electrocardiogram waveform becomes a synchronization signal indicating the timing of periodic heartbeats having a sharp peak named R, for example. Thereby, the contraction motion of the heart becomes the same cardiac phase every time each peak R ₁ , R ₂ , R _3, etc. occurs.

Here, it is assumed that the still image data SR ₁ in the first and second imaging directions A ₁ and A ₂ is used to construct the three-dimensional image data of the cardiovascular before the cardiovascular intervention operation. These still image data SR ₁ is acquired by photography immediately after the occurrence of example peak R in the electrocardiogram waveform.

In a case where the heart moving in a contraction motion is imaged during the cardiovascular intervention operation and moving image data composed of still image data S _{1 to} Sn of a plurality of frames is sequentially acquired, the selection unit 32 generates, for example, a peak R in the electrocardiogram waveform. Each of the still image data SR ₂ , SR _3, etc. acquired by the shooting immediately after is searched, and it is set as a candidate for constructing stereoscopic image data based on these still image data SR ₂ , SR ₃ .

  On the other hand, in cardiovascular intervention surgery, a contrast medium is injected into the cardiovascular vessel. In general, the delay time from when a contrast medium is injected into a patient until the patient reaches the affected area is substantially equal for the same disease of the same patient. Therefore, when a delay time determined for each same disease of the same patient has elapsed since the contrast agent was injected into the patient, the injection amount of the contrast agent injected into the patient is optimal for angiography.

  However, the measurement unit 36 measures in advance timing information from when the contrast agent is injected until the optimal amount of contrast agent is injected, for example, until the contrast level of the cardiovascular image becomes the lowest. Specifically, the measurement unit 36 counts the number of frames of still image data constituting the moving image data acquired when the cardiovascular image is taken, and from the time when the contrast agent is injected until the optimum amount of contrast agent is injected. Get timing information. That is, the injection of the contrast agent into the patient is automatically performed by the injector. The control device body 20 detects the timing of automatically injecting the contrast medium into the patient based on the output signal of the injector.

FIG. 6 shows the acquisition timing of stereoscopic image data before the cardiovascular intervention operation. When a contrast medium is injected into a patient, the image density of moving image data acquired when a cardiovascular image is taken changes extremely at the instant of injection of the contrast medium. Thus, when the image density in the moving image data changes by a predetermined value or more, cardiovascular imaging is performed. Therefore, the time of injection of contrast medium into a patient and f _1, the still image data to construct a stereoscopic image data before cardiovascular intervention surgery (hereinafter, referred to as the original still image data) to the time of shooting of f ₂ Then, the measuring unit 36 counts the number of frames Fa of still image data between the contrast agent injection f ₁ and the imaging f ₂ .

However, the selection unit 32 performs still image data when the image density in each moving image data changes by a predetermined value or more due to the injection of the contrast agent during the cardiovascular intervention, that is, when the contrast agent is injected as shown in FIG. f ₁ from the still image data obtained by photography when the counted number of frames Fa measured by the measuring unit 36 (hereinafter, referred to as the new still image data) is selected.

Therefore, as shown in FIG. 5, the selection unit 32 searches each still image data SR ₂ , SR _{3 and the} like acquired by imaging immediately after the occurrence of the peak R in the electrocardiogram waveform, and these still image data SR ₂ , As a candidate for constructing stereoscopic image data based on SR _{3 and the} like, and during intravascular treatment surgery, as shown in FIG. 7, from among the still image data SR ₂ and SR _{3 of} each candidate, selecting a new still image data SR ₃ obtained by imaging when the counted number of frames Fa from f _1. In this case, if a count end timing of the new still image data SR ₃ acquisition timing and frame number Fa is perfectly matched, selector 32, acquired by the closest time interval at count end timing of the frame number Fa to select the still image data as the optimum new still image data SR _3. The selection unit 32 selects a respective one frame by the new still image data SR ₃ in the first shooting direction A ₁ and a second imaging direction A ₂ Prefecture.

The reconstruction unit 33 reconstructs each new still image data SR ₃ for each frame of the first shooting direction A ₁ and the second shooting direction A ₂ selected by the selection unit 32 using Epipolar geometric theory. Configure to construct stereoscopic image data.
Thus, before constructing the stereoscopic image data, the feature point setting unit 34 and the pattern matching unit 35 perform pattern matching between the original still image data SR ₁ and the new still image data SR ₃ . The original still image data SR ₁ acquired at the first time before the cardiovascular intervention operation is the original still image data SR _1F in the first imaging direction A _{1 and} the original still image in the second imaging direction A _2. Data SR _1L . As shown in FIG. 8, the feature point setting unit 34 stores the first feature point in the original still image data SR _1F and the original still image data SR _1L acquired at the first time before the cardiovascular intervention operation. configure each block _{P 1, P 2, P 3} . Each block P ₁ , P ₂ , P ₃ of these first feature points is provided, for example, at a cardiovascular branch point. Each block _P 1 of the first characteristic _point, P 2, _{P 3,} for example set by the user of the manual operation. The feature point setting unit 34 stores the coordinate information of each block P ₁ , P ₂ , P ₃ of the set first feature point in, for example, the memory 29.

The pattern matching unit 35 obtains each still image data acquired at a second time after the first time before the cardiovascular intervention operation, for example, as shown in FIG. 9, during the cardiovascular intervention operation. Each block P ₁ , P ₂ , P of the first feature point on the new still image data SR _{3F in} the first shooting direction A ₁ and on the new still image data SR _3L in the second shooting direction A ₂ , respectively. ₃ , each block P ₁ ′, P ₂ ′, P ₃ ′ of the second feature point corresponding to ₃ is detected by pattern matching, and each new still image data SR _3F , SR _3L is each original original image data SR _1F , SR. Match _1L on the information. The pattern matching on each new still image data SR _3F , SR _3L corresponding to each block P ₁ , P ₂ , P ₃ of the first feature point is performed in each block P ₁ , P ₂ , P ₃ . This is performed by retrieving an image pattern similar to the image pattern from each of the new still image data SR _3F and SR _3L .

Note that the pattern matching is not limited to searching for an image pattern similar to each image pattern in each of the blocks P ₁ , P ₂ , and P ₃ , but based on, for example, the similarity in running characteristics of the center line set in the cardiovascular system You may go. For example, each feature point P ₁₀ , P ₁₁ , P ₁₂ is set on each original still image data SR _1F , SR _1L , and lines L _1F , L _1L connecting these feature points P ₁₀ , P ₁₁ , P ₁₂ are set. Recognize driving. Next, feature points P ₁₀ ′, P ₁₁ ′, P ₁₂ ′ are set on each new still image data SR _3F , SR _3L , and these feature points P ₁₀ ′, P ₁₁ ′, P ₁₂ ′ are connected. Recognize the travel of the lines L _1F 'and L _1L '. Next, 'as well as determining the similarity of travel of the line _{L 1F} and the line _{L 1F'} line _{L 1F} and the line _{L 1F} determines similarity travel with. As a result of determining this similarity, each image having high travel similarity between the line L _1F and the line L _1F ′ is pattern-matched.

The reconstruction unit 33 reconstructs the new still image data SR _3F and SR _3L after pattern matching using Epipolar geometric theory to construct stereoscopic image data. In the construction of this stereoscopic image data, for example, as shown in FIG. 12, three-dimensionally using each block P ₁ ′, P ₂ ′, P ₃ ′ of the second feature point in each new still image data SR _3F , SR _3L The above-described coordinates Z ₁ , Z ₂ , and Z ₃ are specified to construct the stereoscopic image data Q. When constructing the stereoscopic image data Q, the three-dimensional coordinates Z ₁ , Z ₂ , Z ₃ can be specified using the feature points P ₁₀ ′, P ₁₁ ′, P ₁₂ ′ shown in FIG. Good.

The display unit 30 displays the stereoscopic image data Q of the subject 1 such as a cardiovascular constructed by the reconstruction unit 33. As described above, the three-dimensional image data Q of the subject 1 such as a cardiovascular vessel has the image density in the moving image data when the contraction motion of the cardiovascular is in the same cardiac phase during endovascular treatment surgery and by injection of contrast medium. It is possible to construct sequentially every time the predetermined value or more changes. Accordingly, the display unit 30 displays the stereoscopic image data Q of the subject 1 such as a cardiovascular vessel as shown in FIG. 13, and when new stereoscopic image data Q is constructed next, the new stereoscopic image data Q is displayed. The updatable U indicating that it can be updated is displayed. When receiving an instruction to update the stereoscopic image data Q via the user interface, the display unit 30 updates and displays new stereoscopic image data Q. The display unit 30 may automatically update and display new stereoscopic image data Q every time new stereoscopic image data Q is acquired.
Note that the stereoscopic image generation unit 28 may store each stereoscopic image data Q constructed sequentially, for example, in the memory 29.

Next, a display operation of stereoscopic image data by the apparatus configured as described above will be described.
For example cardiovascular interventional preoperative, the system control unit 21, between the X-ray generation unit 21 and the first imaging direction indicated by the X-ray detection unit 22 in FIG. 2, for example A ₁ and second imaging direction A ₂ Move back and forth. The system control unit 21 sequentially inputs the output signals of the X-ray detection unit 14 and stores these output signals in the image calculation / storage unit 22 as moving image data (DA, RUN) composed of a plurality of frames of still image data.

Selecting unit 32 reads out from the image computing and storing unit 22 of each still image data SR ₁ immediately after the occurrence of example peak R in the electrocardiogram waveform as shown in FIG. For example, as shown in FIG. 2, each of the still image data SR ₁ has the X-ray generation unit 13 and the X-ray detection unit 14 set to the first imaging direction A ₁ and the second imaging direction A ₂ . Are sometimes acquired and correspond to the frontal image 2 and the lateral image 3, respectively.
The reconstruction unit 33 reconstructs each still image data SR ₁ in the first imaging direction A ₁ and the second imaging direction A ₂ , that is, each original still image data SR ₁ to reconstruct the subject 1 such as a heart blood vessel. 3D image data is constructed.
The display unit 30 displays the stereoscopic image data Q of the subject 1 such as the cardiovascular constructed by the reconstruction unit 33 before the cardiovascular intervention operation.

At the same time, when constructing the stereoscopic image data Q of the subject 1 such as the cardiovascular before the cardiovascular intervention operation, the measuring unit 36 injects the optimal amount of the contrast agent from the injection of the contrast agent, for example, an image of the cardiovascular Timing information until the gray level becomes the lowest is measured in advance. That is, the measuring unit 36 detects the timing for automatically injecting a contrast medium into the patient by the output signal of the injector performing the injection of a contrast agent into a patient, based on the still and the injection time f ₁ of the contrast agent, as shown in FIG. 6 The number of frames Fa of still image data between the image data SR _{1 and} the shooting time f ₂ is counted.

Next, during the cardiovascular intervention operation, the system control unit 21 rotates and moves the X-ray generation unit 13 and the X-ray detection unit 14, for example, the first imaging direction A ₁ and the second imaging direction A ₂ . when set, these first and photographing direction a ₁ in each state set the second photographing direction a _2, a first imaging direction a ₁ based on the output signal of the X-ray detection unit 14 first perform imaging of the subject 1, such as cardiovascular by two shooting directions of the second imaging direction a _2. The system control unit 21 sequentially inputs the output signals of the X-ray detection unit 14 and stores these output signals in the image calculation / storage unit 22 as moving image data (DA, RUN) composed of a plurality of frames of still image data.

The cardiovascular which is the subject 1 periodically repeats the contraction motion. The electrocardiograph 37 outputs an electrocardiogram waveform synchronized with the contraction motion of the cardiovascular vessel as shown in FIG. This electrocardiogram waveform becomes a synchronizing signal indicating the timing of periodic heartbeats having a sharp peak named R, for example. Thereby, the contraction motion of the heart becomes the same cardiac phase every time each peak R ₁ , R ₂ , R _3, etc. occurs.

Therefore, if the still image data SR ₁ is obtained by imaging immediately after the occurrence of the peak R ₁ in the electrocardiogram waveform before the cardiovascular intervention operation, the selection unit 32 performs the operation in the electrocardiogram waveform during the cardiovascular intervention operation. For example, the respective still image data SR ₂ , SR _{3 and the} like acquired by photographing immediately after the occurrence of the peaks R ₂ and R ₃ are searched, and the stereoscopic image data Q is constructed based on these still image data SR ₂ and SR _3. Candidate for.

On the other hand, in cardiovascular intervention surgery, a contrast medium is injected into the cardiovascular vessel. The selection unit 32 displays still image data when the image density in each moving image data changes by a predetermined value or more by injection of a contrast agent during cardiovascular intervention, that is, as shown in FIG. 7, still image data SR of each candidate. _As shown in FIG. 7, new still image data SR ₃ acquired by imaging when the number of frames Fa is counted from f ₁ at the time of contrast agent injection is selected from ₂ , SR _{3 and the} like.

Next, when constructing stereoscopic image data, the feature point setting unit 34, as shown in FIG. 8, the original still image in the _first imaging direction A1 acquired at the first time before the cardiovascular intervention operation. For example, each block P ₁ , P ₂ , P ₃ of the first feature point is set at the branch point of the cardiovascular, for example, in the data SR _1F and the original still image data SR _1L in the second imaging direction A ₂ . Each block P ₁ , P ₂ , P ₃ of these first feature points is set, for example, by a user's manual operation. The feature point setting unit 34 stores the coordinate information of each block P ₁ , P ₂ , P ₃ of the set first feature point in, for example, the memory 29.

Next, for example, as shown in FIG. 9, the pattern matching unit 35 applies the new still image data SR _3F in the first shooting direction A ₁ and the new still image data SR _{3L in} the second shooting direction A ₂ , respectively. Each block P ₁ ′, P ₂ ′, P ₃ ′ of the second feature point corresponding to each block P ₁ , P ₂ , P ₃ of the first feature point is detected by pattern matching, and each new still image data SR _3F and SR _3L are matched with the original still image data SR _1F and SR _1L on the information.

In the case of the concentric phase, the position of, for example, the cardiovascular that is a lesion is substantially the same position. In the case of cardiovascular, the heart contracts, but if it is in a concentric phase, it can be assumed that the lesion site is in approximately the same position. Accordingly, the new still image data SR _3F and SR _3L can be identical in information to the original still image data SR _1F and SR _1L . When actually measuring the movement of the cardiovascular, it was found that the position slightly shifted, for example, about 2 mm. Such a deviation is in a range that can be detected by the pattern matching.

Next, the reconstruction unit 33 uses the Epipolar geometry theory for the two new still image data SR _3F and SR _3L after pattern matching, for example, as shown in FIG. 12, in the new still image data SR _3F and SR _3L . The three-dimensional coordinates Z ₁ , Z ₂ , and Z ₃ are specified using the blocks P ₁ ′, P ₂ ′, and P ₃ ′ of the _two feature points to construct the stereoscopic image data Q.

  The display unit 30 displays the stereoscopic image data Q of the subject 1 such as a cardiovascular constructed by the reconstruction unit 33. When new stereoscopic image data Q is constructed next, the display unit 30 displays an updatable U indicating that the new stereoscopic image data Q can be updated as shown in FIG. When receiving an instruction to update the stereoscopic image data Q via the user interface, the display unit 30 updates and displays the new stereoscopic image data Q.

As described above, according to the first embodiment, when the contraction motion of the subject 1 such as a cardiovascular vessel has the same cardiac phase, the image density in the moving image data changes by a predetermined value or more due to the injection of the contrast agent. The new still image data SR _3F in the first shooting direction A ₁ and the new still image data SR _{3L in} the second shooting direction A ₂ are selected, and the new still image data SR _3F and the new still image data SR are selected. _3L is reconstructed using Epipolar geometry theory, and stereoscopic image data Q of the subject 1 such as a cardiovascular vessel is constructed. As a result, the stereoscopic image data Q of the subject 1 such as a cardiovascular vessel can be automatically acquired without requiring a cumbersome manual operation.

  Since the shape of the target disease such as cardiovascular may change during cardiovascular intervention surgery, the stereoscopic image data Q of the subject 1 such as cardiovascular is automatically acquired and updated to the display unit 30 automatically. If it can be displayed, the change of the shape of the target disease such as cardiovascular can be confirmed, and cardiovascular interventional surgery can proceed smoothly.

Since reconstructing first the photographing direction A ₁ in two directions of the still image data with the second imaging direction A _2, the instantaneous and easily in the operating room of the stereoscopic image data Q of the subject 1 cardiovascular etc. Needless to say, the display can be realized.

  When the new stereoscopic image data Q is constructed, the display unit 30 displays an updatable U for notifying that the new stereoscopic image data Q can be updated. Therefore, during the cardiovascular intervention operation, before the update If the display of the stereoscopic image data Q is still possible, the display of the stereoscopic image data Q before the update can be continued without giving an instruction to update by the user. Thereafter, when it becomes necessary to update to display of the new stereoscopic image data Q, it can be updated to display of the new stereoscopic image data Q if an update instruction is given by the user.

During the cardiovascular interventional operation, the bed 10 and the C-arm 12 are rarely moved. Then, to secure the C-arm 12, fixed to the two directions of the X-ray generation unit 13 and the photographing direction of the X-ray detector 14, for example, a first imaging direction A ₁ and a second imaging direction A ₂ the The specimen 1 is often photographed. Note that the X-ray generation unit 13 and the X-ray detection unit 14, performs photographing reciprocates between the first and the photographing direction A ₁ and a second imaging direction A ₂ by the rotation of the C-arm 12. Therefore, this apparatus that reconstructs still image data obtained by imaging in two imaging directions and constructs stereoscopic image data at high speed is optimal for use in cardiovascular intervention surgery.

  Note that it is extremely rare to change the SID and FOV during the cardiovascular intervention. The variable information of these SIDs (radiation source image plane distance: for example, the distance between the X-ray generation unit 13 and the X-ray detection unit 14) and FOV (field of view: imaging field of view) is grasped by, for example, the system control unit 21 of this apparatus. it can. Therefore, the image can be enlarged or reduced according to the variable information of the SID or FOV.

Next, a second embodiment of the present invention will be described with reference to the drawings. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted.
FIG. 14 is a block configuration diagram of a stereoscopic image generation unit in an X-ray diagnostic apparatus to which the three-dimensional image generation apparatus is applied. The stereoscopic image generation unit 28 includes a projection unit 38. The projection portion 38 is, for example two projection directions stereoscopic image data Q of any stored in the memory 29, for example from the first shooting direction A ₁ as shown in FIG. 15 a second imaging direction A ₂ Metropolitan Two still image data G _F and G _L are generated by projecting each. The projection portion 38 is not limited to the projection from a first imaging direction A ₁ and a second imaging direction A ₂ Prefecture, it is possible to project respectively from the two projection directions of an arbitrary angle.

Next, a display operation of stereoscopic image data by the apparatus configured as described above will be described.
For example cardiovascular interventional preoperative, the system controller 21 in the same manner as described above, the first imaging direction A ₁ showing the X-ray generation unit 21 and the X-ray detection unit 22 in FIG. 2, for example, a second imaging direction A Reciprocate between ₂ and so on. The system control unit 21 sequentially inputs the output signals of the X-ray detection unit 14 and stores these output signals in the image calculation / storage unit 22 as moving image data (DA, RUN) composed of a plurality of frames of still image data.

Reconstruction unit 33 constructs a three-dimensional image data of the subject 1 cardiovascular such as for example a first imaging direction A ₁ and reconstruct the respective still image data SR ₁ and second imaging direction A _2. The display unit 30 displays the stereoscopic image data Q of the subject 1 such as a cardiovascular constructed by the reconstruction unit 33.

Next, during the cardiovascular intervention operation, the system control unit 21 rotates and moves the X-ray generation unit 13 and the X-ray detection unit 14 to select any two imaging directions, for example, the first imaging direction A1 and the _first imaging direction A1. When the second imaging direction A ₂ is set, the first imaging direction A ₁ and the second imaging direction A ₂ are set based on the output signal of the X-ray detection unit 14 in each state set. perform imaging of the subject 1, such as cardiovascular imaging direction a ₁ and the second of the two imaging directions of the imaging direction a _2. The system control unit 21 sequentially inputs the output signals of the X-ray detection unit 14 and stores these output signals in the image calculation / storage unit 22 as moving image data (DA, RUN) composed of a plurality of frames of still image data.

Next, during the cardiovascular intervention operation, the selection unit 32 searches each still image data SR ₂ , SR _3, etc. acquired by imaging immediately after the occurrence of, for example, the peaks R ₂ and R ₃ in the electrocardiogram waveform. Let it be a candidate for constructing the stereoscopic image data Q based on the still image data SR ₂ and SR ₃ .
Next, the selection unit 32 displays still image data when the image density in each moving image data changes by a predetermined value or more by injection of a contrast agent during cardiovascular intervention surgery, that is, as shown in FIG. As shown in FIG. 7, new still image data SR ₃ acquired by imaging when the number of frames Fa is counted from f ₁ at the time of contrast medium injection is selected from the image data SR ₂ , SR _{3 and the} like.

On the other hand, the projection unit 38 reads, for example, the stereoscopic image data Q stored before the cardiovascular intervention operation stored in the memory 29, and acquires the stereoscopic image data Q by any two projection directions, for example, the selection unit 32. projected at two shooting direction the same shooting direction when it acquires a new still image data SR _3, which is. However, the projection unit 38 projects two still image data G _F by projecting from any two projection directions, for example, the first imaging direction A ₁ and the second imaging direction A ₂ as shown in FIG. Create _GL .

Next, when constructing stereoscopic image data, the feature point setting unit 34, for example, a bifurcation of cardiovascular in the two still image data G _F and G _L projected by the projection unit 38, as shown in FIG. Each block P ₁ , P ₂ , P ₃ of the first feature point is set for each point. Each block P ₁ , P ₂ , P ₃ of these first feature points is set, for example, by a user's manual operation. The feature point setting unit 34 stores the coordinate information of each block P ₁ , P ₂ , P ₃ of the set first feature point in, for example, the memory 29.

Next, for example, as shown in FIG. 9, the pattern matching unit 35 applies the new still image data SR _3F in the first shooting direction A ₁ and the new still image data SR _{3L in} the second shooting direction A ₂ , respectively. Each block P ₁ ′, P ₂ ′, P ₃ ′ of the second feature point corresponding to each block P ₁ , P ₂ , P ₃ of the first feature point is detected by pattern matching, and each new still image data SR _3F and SR _3L are matched in information with the two still image data G _F and G _L projected by the projection unit 38.

Next, the reconstruction unit 33 uses the Epipolar geometry theory for the two new still image data SR _3F and SR _3L after pattern matching, for example, as shown in FIG. 12, in the new still image data SR _3F and SR _3L . The three-dimensional coordinates Z ₁ , Z ₂ , and Z ₃ are specified using the blocks P ₁ ′, P ₂ ′, and P ₃ ′ of the _two feature points to construct the stereoscopic image data Q.

  The display unit 30 displays the stereoscopic image data Q of the subject 1 such as a cardiovascular constructed by the reconstruction unit 33. Similarly to the above, when the new stereoscopic image data Q is constructed next, the display unit 30 displays an updatable U indicating that the new stereoscopic image data Q can be updated as shown in FIG. Do. When receiving an instruction to update the stereoscopic image data Q via the user interface, the display unit 30 updates and displays the new stereoscopic image data Q.

As described above, according to the second embodiment, already constructed by any stereoscopic image data Q are two projection directions by the projection portion 38, for example, a first shooting direction A ₁ as shown in FIG. 15 Two still image data G _F and G _L are respectively generated by projecting from the second shooting direction A _2, and the new still image data SR _3F and SR _3L on these still image data G _F and G _L Pattern matching is performed and reconstruction is performed using Epipolar geometry theory to construct stereoscopic image data Q of the subject 1 such as a cardiovascular vessel. Thereby, the same effects as those of the first embodiment can be obtained.

Since the projection unit 38 creates two still image data G _F and G _L in any two projection directions from the already-constructed stereoscopic image data Q, a plurality of pieces of information stored in the image calculation / storage unit 22 are created. There is no need to retrieve each piece of still image data in the same two shooting directions from the moving image data. Accordingly, the stereoscopic image data Q of the subject 1 such as a cardiovascular vessel can be constructed without being affected by the difference in imaging direction. That is, even if the two projection directions of the original still image data for which the already constructed stereoscopic image data Q is constructed and the two projection directions for which the new still image data SR _3F and SR _3L are acquired are not the same. Good.

Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.
For example, each of the above embodiments has been described as applied to a single plane X-ray diagnostic apparatus. However, the present invention is not limited to this, and can also be applied to a biplane X-ray diagnostic apparatus.
When constructing the stereoscopic image data Q, each still image data in two projection directions is reconstructed. However, the present invention is not limited to this, and two or more projection directions, for example, a plurality of projection directions such as 3 to 12 are used. 3D image data Q may be constructed by acquiring still image data of the image data and reconstructing the still image data.

Patients of the image computing and storing unit 22 in the moving picture data (DA, RUN) stored in two shooting directions of the photographing in the first direction A ₁ and a second imaging direction A _2, and the subject 1 When acquiring still image data having the same cardiac phase, the plurality of still image data having the same cardiac phase are all read from the image calculation / storage unit 22. Next, all the read still image data is correlated with the original still image data. As a result of this correlation, each still image data having the highest correlation is selected. Then, these still image data are reconstructed to construct stereoscopic image data of the subject 1. When all the still image data and the original still image data are correlated, the correlation between the entire still image data and the original still image data may be obtained, or some images, for example, the center of the cardiovascular Line correlation may be taken. The cardiovascular center line is obtained by binarizing still image data.

In the first and second embodiments, the display unit 30 can display the following. As shown in FIG. 16, the display unit 30 displays the stereoscopic image data Q of the subject 1, and for example, on a part of the display drawing 30 a, automatic update of new stereoscopic image data Q is turned on (ON) / off ( OFF) switching buttons 39a and 39b may be displayed. If the automatic update ON switch button 39a is validated, it is automatically updated to new stereoscopic image data Q and displayed on the display unit 30. If the automatic update OFF switching button 39b is validated, the original stereoscopic image data Q continues to be displayed without being automatically updated to the new stereoscopic image data Q.
The display unit 30 may display the switching buttons 39a and 39b on the display drawing 30a instead of icons. Further, when the display unit 30 constructs and displays new stereoscopic image data Q in a state where the automatic update ON switch button 39a is enabled, for example, the display unit 30 displays a display waiting for update on the display drawing 30a. You may go.

  For example, during a cardiovascular intervention operation, the cardiovascular stereoscopic image data Q is constructed before the cardiovascular intervention operation, and during the cardiovascular intervention operation, the cardiovascular stereoscopic image data Q is successively constructed. As shown in FIG. 17, the display unit 30 displays the stereoscopic image data Q before the cardiovascular intervention operation and the plurality of stereoscopic image data Q during the cardiovascular intervention operation, for example, tabs before, latest, and last time. You may display for each window by the display 40,41,42. In this display, the tab display increases each time new stereoscopic image data Q is constructed.

  The display unit 30 may perform the update NG display 43 when the new stereoscopic image data Q cannot be automatically updated as shown in FIG. The update NG is displayed when, for example, the pattern matching between the original still image data and the new still image data is extremely poor, or when there is no still image data in the same shooting direction.

  As shown in FIG. 19, the display unit 30 is constructed, for example, a pre-operation return switch 44 for returning to the display of the stereoscopic image data Q before the cardiovascular intervention operation, and the temporally previous one during the cardiovascular intervention operation. The previous return switch 45 for returning to the display of the stereoscopic image data Q may be displayed. If the preoperative return switch 44 is validated, the preoperative image data Q is displayed regardless of the currently displayed image data. If the previous return switch 45 is continuously enabled, the display returns to the display of the stereoscopic image data Q constructed one time before, and finally the display returns to the display of the stereoscopic image data Q before the operation.

As shown in FIG. 20, the display unit 30 may display a plurality of stereoscopic image data Q ₁ , Q ₂ , and Q ₃ constructed as thumbnails before and during a cardiovascular intervention operation, for example. At the same time, the display unit 30 enlarges and displays the latest stereoscopic image data Q ₃ among the stereoscopic image data Q ₁ , Q ₂ , and Q ₃ . In this case, the time t of the stereoscopic image data Q ₁ constructed first may be set to “0”, or the current time t may be set to “0”.
As shown in FIG. 21, the display unit 30 may display, for example, a plurality of stereoscopic image data Q ₁ , Q ₂ , Q ₃ constructed before and during the cardiovascular intervention surgery.

  Various measurements may be performed on the constructed stereoscopic image data Q. The various measurements are, for example, distances between feature points such as cardiovascular bifurcation points, blood vessel diameters, and the like. Further, the profile graph is obtained from the measured diameter of the blood vessel. The measurement results and the like are displayed on the display unit 30. FIG. 22 shows an example of the measurement result of the distance L between the feature points 47 and 48 in the blood vessel 46. Various measurement results such as the distance L change for each stereoscopic image data Q that is sequentially updated. Therefore, the display unit 30 performs various measurements such as the distance L for each stereoscopic image data Q that is sequentially updated, and updates and displays these various measurement results.

  Each of the above-described embodiments is directed to a cardiovascular that contracts as the subject 1, but is not limited to this, and can also be applied to the construction of stereoscopic image data of a stationary organ other than the cardiovascular. Examples of the stationary organ include a cerebral blood vessel, a carotid artery, an abdomen, and a lower limb. In this case, the selection unit 32 selects still image data when the image density in each moving image data changes by a predetermined value or more due to, for example, injection of a contrast agent into a stationary organ. As described above, in general, the delay time from when the contrast medium is injected into the patient until reaching the affected area is substantially the same in the same disease of the same patient. What is necessary is just to select the still image data when the delay time decided for every disease passes.

If the static organ is, for example, a cerebral blood vessel, a carotid artery, an abdomen, or a lower limb, the stereoscopic image generation unit 28 acquires each still image data at a specific timing, for example, every predetermined period. The three-dimensional image data is sequentially constructed by reconstructing the still image data. In this case, each still image data can be acquired for every predetermined period without injecting the contrast medium into the stationary organ. Then, the display unit 30 updates and displays the three-dimensional image data constructed sequentially. Further, the present invention is not limited to cardiovascular intervention surgery, and can be applied to a puncture operation device, forceps for endoscopic surgery, a biopsy, and the like.
The imaging of the subject 1 is not limited to the recording purpose and the dose of X-rays, and may be fluoroscopic imaging.

1 is a configuration diagram showing an X-ray diagnostic apparatus to which a first embodiment of a three-dimensional image generation apparatus according to the present invention is applied. The figure which shows two imaging directions of the X-ray generation part and X-ray detection part when acquiring the Frontal image and the Lateral image in the same apparatus. The figure which shows recording of each moving image data of the subject in the cardiovascular intervention operation memorize | stored in the image calculation and memory | storage part of the same apparatus. The block block diagram of the stereo image production | generation part in the same apparatus. The figure which shows the acquisition timing of the still image data for producing | generating the three-dimensional image data in the same apparatus. The acquisition timing figure of the three-dimensional image data before the cardiovascular intervention operation by the same apparatus. The acquisition timing figure of the three-dimensional image data in the cardiovascular intervention operation by the same apparatus. The schematic diagram which shows the setting of the feature point when performing the pattern matching by the feature point setting part of the apparatus. The schematic diagram which shows the new still image data pattern-matched by the pattern matching part of the apparatus. The schematic diagram which shows the pattern matching by the similarity of the driving | running | working of the line in the apparatus. The schematic diagram which shows the pattern matching by the similarity of the driving | running | working of the line in the apparatus. The schematic diagram which shows the construction | assembly of the stereo image using the Epipolar geometry theory in the same apparatus. The figure which shows the display which can update the stereo image data in the same apparatus. The block block diagram which shows the three-dimensional image generation part in 2nd Embodiment of the three-dimensional image generation apparatus which concerns on this invention. The schematic diagram which shows two still image data produced by projecting stereo image data with the projection part in the same apparatus. The figure which shows the deformation | transformation row | line | column of the display in the display part of the apparatus. The figure which shows the deformation | transformation row | line | column of the display in the display part of the apparatus. The figure which shows the deformation | transformation row | line | column of the display in the display part of the apparatus. The figure which shows the deformation | transformation row | line | column of the display in the display part of the apparatus. The figure which shows the deformation | transformation row | line | column of the display in the display part of the apparatus. The figure which shows the deformation | transformation row | line | column of the display in the display part of the apparatus. The figure which shows the example of a display of the various measurement results with respect to the stereo image data by this apparatus. The schematic diagram which shows the construction | assembly of the stereo image using Epipolar geometry theory.

Explanation of symbols

  1: subject, 2: frontal image, 3: lateral image, 10: bed, 11: mechanism control unit, 12: C arm, 13: X-ray generation unit, 14: X-ray detection unit, 15: high voltage control unit , 16: high voltage generation unit, 20: control device main body, 21: system control unit, 22: image calculation / storage unit, 23: display unit, 24: hand switch, 25: switch holder, 26: display unit, 27: Communication line, 28: stereoscopic image generation unit, 29: memory, 30: display unit, 31: moving image data acquisition unit, 32: selection unit, 33: reconstruction unit, 34: feature point setting unit, 35: pattern matching unit , 36: measurement unit, 37: electrocardiograph, 38: projection unit, 30a: display drawing, 39a: switching button on, 39b: switching button off, 40, 41, 42: tab display, 43: update NG Display, 44: Switch back before surgery , 45: previous return switch, 46: blood vessel, 47 and 48: the feature points.

Claims (16)

In a three-dimensional image generating apparatus that reconstructs each still image data acquired by imaging from at least two directions on a subject that periodically repeats contraction motion, and constructs three-dimensional image data.
Each moving image data composed of each of the still image data of a plurality of frames is acquired from each of the at least two directions during each imaging, and the subject repeats the contraction motion a plurality of times. And selecting each still image data when the image density in the moving image data changes by a predetermined value or more by the injection of the contrast agent at the timing when the contraction motion of the subject becomes the same cardiac phase, and the selected An image generator that reconstructs each still image data and sequentially constructs the three-dimensional image data;
A display unit that updates and displays the three-dimensional image data sequentially constructed by the image generation unit;
A three-dimensional image generation apparatus comprising: An X-ray generator for generating X-rays;
An X-ray detection unit that detects the X-rays generated from the X-ray generation unit and transmitted through the subject that periodically repeats the contraction motion;
A rotation mechanism that rotates the X-ray generation unit and the X-ray detection unit about the subject;
The X-ray diagnostic apparatus includes a control unit configured to rotate the X-ray generation unit and the X-ray detection unit by the rotation mechanism to set at least two imaging directions.
When the control unit rotates the X-ray generation unit and the X-ray detection unit by the rotation mechanism and sets the at least two imaging directions, the control unit sets the at least two imaging directions, During the period in which the subject repeats the contraction motion a plurality of times, each moving image data composed of each of the still image data of a plurality of frames by each imaging from the at least two imaging directions based on an output signal of the X-ray detection unit. And when the image density in the moving image data changes by a predetermined value or more due to the injection of a contrast agent at the timing when the contraction movement of the subject has the same cardiac phase at each different time from each moving image data Images for selecting each still image data, reconstructing each selected still image data, and sequentially constructing the three-dimensional image data And the generating unit,
A display unit that updates and displays the three-dimensional image data sequentially constructed by the image generation unit;
A three-dimensional image generation apparatus comprising: When the contrast medium is injected into the subject, the image generation unit obtains the still image data of the subject from the at least two directions at a timing at which an optimal amount of the contrast medium is injected into the subject. Acquiring and constructing the 3D image data;
The display unit updates and displays the three-dimensional image data sequentially constructed by the image generation unit;
The three-dimensional image generation apparatus according to claim 1 or 2. The three-dimensional image generation device according to claim 1, wherein the display unit displays at least update display permission of the three-dimensional image data, automatic update, or non-updateable display. The display unit arranges and displays the plurality of sequentially constructed 3D image data, or displays the desired 3D image data among the plurality of 3D image data in a selectable manner. The three-dimensional image generation apparatus according to claim 1 or 2. The image generation unit is a moving image data acquisition unit that acquires the at least two moving image data including the still image data of a plurality of frames by photographing the subject from the at least two directions;
A selection unit that selects each still image data frame by frame when the image density changes by the injection of the contrast agent from the moving image data acquired by the moving image data acquisition unit by one frame;
A reconstruction unit that reconstructs each still image data selected by the selection unit to construct the three-dimensional image data;
The three-dimensional image generation apparatus according to claim 1, wherein: The image generation unit is a moving image data acquisition unit that acquires the at least two moving image data including a plurality of frames of the still image data by imaging the subject from the at least two directions;
A feature point setting unit that sets a first feature point on each of the still image data acquired at a first time from the moving image data acquired by the moving image data acquisition unit;
A second feature point corresponding to the first feature point is detected by pattern matching on each still image data acquired at a second time after the first time, and the second feature point is detected. A pattern matching unit for matching the still image data acquired at the time of the first image with the still image data acquired at the first time;
A reconstruction unit that reconstructs each still image data of the second time acquired by pattern matching of the pattern matching unit to construct the three-dimensional image data;
The three-dimensional image generation apparatus according to claim 1, wherein: The image generation unit includes a three-dimensional image data storage unit that stores the three-dimensional image data that has already been sequentially constructed,
A projection unit that projects the three-dimensional image data stored in the three-dimensional image data storage unit to obtain the still image data from the at least two directions;
A reconstruction unit that reconstructs each still image data acquired by the projection unit to construct the three-dimensional image data;
The three-dimensional image generation apparatus according to claim 1, wherein: The reconstruction unit is configured to set a first feature point on each of the still image data acquired from the projection unit;
The second feature point corresponding to the first feature point is detected by pattern matching on each newly acquired still image data, and each of the newly acquired still image data is acquired by the projection. A pattern matching unit for matching each still image data;
Have
Reconstructing each of the newly acquired still image data pattern-matched by the pattern matching unit to construct the three-dimensional image data;
The three-dimensional image generation apparatus according to claim 8, wherein The timing when the image density in the moving image data changes by more than the predetermined value at the timing when the contraction movement of the subject becomes the same cardiac phase at each different time from the moving image data, and injection of the contrast agent A synchronization information generating unit for obtaining information synchronized with the contraction motion of the subject in order to select each still image data;
The image generation unit acquires the still image data of the timing of the contraction movement when the subject is in the same phase based on the synchronization information obtained by the synchronization information generation unit, and Among them, each of the still image data acquired when the image density has changed more than the predetermined value is reconstructed to sequentially construct the three-dimensional image data.
The three-dimensional image generation apparatus according to claim 1 or 2. The three-dimensional image generation apparatus according to claim 10, wherein the synchronization information generation unit obtains electrocardiogram information of the subject as the synchronization information. The image generation unit acquires the at least two moving image data including the plurality of frames of the still image data acquired by imaging the subject from the at least two directions;
Each still image data used for reconstruction of the three-dimensional image data already constructed when the subject is in a predetermined phase is searched, and the highest correlation is found with respect to each searched still image data An image selection unit that selects the still image data from the moving image data acquired by the moving image data acquisition unit;
Have
And each of the still image data selected by the image selection unit is reconstructed to sequentially build the three-dimensional image data.
The three-dimensional image generation apparatus according to claim 1 or 2, characterized in that The image generation unit acquires each moving image data including the still image data of the plurality of frames acquired by injecting the contrast medium into the subject and photographing the subject from the at least two directions. The moving image data acquisition unit, and from the moving image data acquired by the moving image data acquisition unit, at the timing of the contraction movement in which the subject is in the same phase, and in the subject The still image data when the optimum amount of contrast agent is injected is selected, the still image data is reconstructed, and the contrast agent is injected into the subject to construct the three-dimensional image data of the subject. The three-dimensional image generation apparatus according to claim 1 or 2. The three-dimensional image according to claim 13, wherein the image generation unit selects the still image data when the image density in the moving image data changes by the predetermined value or more due to the injection of the contrast agent. Generator. The image generation unit injects the contrast agent into the subject, sequentially acquires the still image data of the subject from the at least two directions, and constructs the three-dimensional image data. It has a measurement unit that measures in advance timing information from the time of injection until the optimal amount of the contrast medium is injected,
When the contrast agent is injected into the subject again, the image generating unit is configured to detect the subject from the at least two directions when the timing information measured in advance from the injection of the contrast agent into the subject. Acquiring each still image data of a specimen and injecting a contrast medium into the specimen to construct the three-dimensional image data of the specimen;
The three-dimensional image generation apparatus according to claim 1 or 2, characterized in that The three-dimensional image generation apparatus according to claim 15, wherein the measurement unit obtains the timing information by counting the number of frames of the still image data.

Images