JP6703470B2 - Data processing device and data processing method - Google Patents

Description

The present invention relates to a technique of a data processing device and a data processing method for calculating a three-dimensional position of a characteristic part captured in a two-dimensional image.

There is a conventional X-ray imaging system in which an X-ray source and a two-dimensional X-ray detector (hereinafter referred to as a detector) are installed so as to face each other. In addition, there is a conventional X-ray imaging system in which an X-ray source and a detector are installed so as to face each other on both ends of a column. There are C-shaped, U-shaped, U-shaped, and the like as the shape of the pillar of such an X-ray imaging system, and the shape of hanging the pillar from the ceiling, the shape of supporting the pillar from the floor, and the other shape of the pillar standing on the floor. There are shapes to be attached to the columns. There is also an X-ray imaging system in which an X-ray source and a detector are installed on the gantry so as to face each other. These X-ray imaging systems can obtain a still image or a moving image of the subject by X-rays while fixing or moving the X-ray source, the detector, and the subject. In addition, these X-ray imaging apparatuses can also perform X-ray measurement while moving the column or gantry while rotating the pair of X-ray source and detector around the subject. Further, these X-ray imaging devices can perform X-ray measurement while fixing the X-ray source and the detector and rotating the subject. By performing reconstruction calculation processing on a series of measurement images obtained by such rotation measurement, cone beam CT (Computed Tomography) measurement capable of obtaining a reconstruction image is possible.

Further, X-ray detection (rotation detection) is performed while rotating a pair of an X-ray source that irradiates the subject with X-rays and a detector that detects X-rays that have passed through the subject, around the subject. , There is a CT apparatus that obtains a three-dimensional image by performing reconstruction calculation processing on the obtained series of detection data. The CT device has a structure in which an X-ray source and a detector are housed in a housing and can rotate around a subject at high speed, so that the imaging time is short and a three-dimensional image can be acquired at high speed. Is. This CT device is widely used to diagnose various cancers.

On the other hand, examples of instruments used when inserting instruments into the body to perform examinations and treatments include endoscopes used for examinations in the bronchi, catheters used for intervention of the heart, and the like. An X-ray image obtained by an X-ray imaging system is widely used when these instruments are inserted into the bronchus or a blood vessel. Although the X-ray image is a two-dimensional image, the image can be acquired in real time, so it is optimal for confirming the position and orientation of the instrument during surgery.

In order to improve the visibility of these instruments on a projected X-ray image, the technique described in Patent Document 1 is disclosed. Patent Document 1 describes "an X-ray image generation unit that generates a series of a plurality of X-ray images regarding a subject, a storage unit 29 that stores data of a three-dimensional image regarding the subject, and a stored three-dimensional image. An image processing unit 40 that generates two-dimensional blood vessel image data from image data, a difference processing unit 34 that generates a plurality of difference images by subtracting X-ray images from each other, and a plurality of difference images are two-dimensional. The X-ray diagnostic apparatus is disclosed.

Moreover, in order to make a definite diagnosis of lung cancer, a test by a biopsy using a bronchoscope is widely performed. In this examination, the operator first inserts a tubular treatment instrument having a lumen called a guide sheath under the bronchoscope toward the peripheral part of the lung. Further, in the bronchus around the lung where the bronchoscope cannot be inserted, the operator guides and places the guide sheath in the peripheral lesion of the lung under the projected X-ray image of the X-ray imaging system, and inserts it into the lumen of this guide sheath. Insert forceps for inspection (biopsy forceps) or brush for cytology (cytology brush). In this way, the biopsy forceps and the brush are guided to the lesion area and the specimen is collected.

JP, 2009-39521, A

In the biopsy using the X-ray image by the X-ray imaging system, the treatment tools such as the biopsy forceps and the cytodiagnosis brush can be recognized in real time as described above. However, since the X-ray image is a two-dimensional image, when the axis connecting the center of the X-ray source and the center of the detector is considered, the treatment of the position and orientation of the treatment tool on the plane perpendicular to this axis is performed. Although the position and orientation of the treatment tool can be recognized, it is not easy to recognize the position of the treatment tool in the depth direction because it becomes the projection direction in the axial direction (hereinafter, depth direction).

Further, in a biopsy using an X-ray image, in order to accurately collect a sample from a lesion, the positional relationship between the affected area and the treatment tool must be correctly recognized. However, as described above, it is not easy to recognize the position in the depth direction in the X-ray image. Even if the lesioned part and the treatment tool are drawn so as to overlap each other on the X-ray image, the treatment tool does not always reach the lesioned part. That is, the positions of the lesion and the treatment tool do not always match in the depth direction.

Furthermore, the X-ray image visualizes the difference in the absorption amount of the substance in the body through which the X-ray passes. Therefore, in general, bone or the like having a high absorption amount is easily visualized on the image, and soft tissue or the like having a low absorption amount is difficult to be visualized on the image. That is, in the projected X-ray image, bones and the like have a high contrast, but soft tissues including a tumor and the like have a low contrast, and it is assumed that they cannot be easily distinguished from each other. Even in lung cancer, the type of cancer that produces ground glass opacity (GGO) has a low contrast and is not easy to recognize on a projected X-ray image. Further, it is not easy to recognize a blood vessel or a bronchus through which a treatment tool is passed on a projected X-ray image for the same reason (because the contrast becomes low).

In this way, in view of the fact that the visibility of soft tissues and the like on the projected X-ray image is assumed to be relatively low, the above-mentioned Patent Document 1 uses a three-dimensional image captured in advance. The three-dimensional image is an image in which a blood vessel passing through a treatment tool such as a catheter is imaged. In Patent Document 1, the three-dimensional image and the projected X-ray image are aligned. Then, Patent Document 1 discloses a method of improving the visibility of the treatment tool by superimposing the projection image generated from the three-dimensional image on the projection X-ray image.

In such a method, by using a three-dimensional image captured in advance, the blood vessel range and the position of the catheter on the projected X-ray image are clarified, and the visibility may be improved. However, since the projected X-ray image and the superimposed image are two-dimensional images, it is assumed that the positional relationship in the depth direction is still unclear. Also, a three-dimensional image such as a CT image captured in advance is an image captured at a different time from a device different from the X-ray imaging for performing the treatment. Therefore, since the body movement of the subject, especially the lungs, has respiratory movements, there may be a positional shift between the projection image and the projection X-ray image generated from the three-dimensional image captured in advance. It is assumed that the method described in Patent Document 1 does not necessarily support any of them.

The present invention has been made in view of such a background, and an object of the present invention is to improve the three-dimensional position calculation accuracy of a characteristic part.

In order to solve the above-mentioned problems, a data processing apparatus to which the present invention is applied is an image captured by a radiation imaging apparatus, and a two-dimensional image in which a predetermined characteristic part is captured, and the two-dimensional image. The same subject as the above-mentioned subject is captured as the two-dimensional image in a three-dimensional image captured at a different time from the two-dimensional image by a radiation imaging device different from the radiation imaging device. A data processing device for calculating the position of the characteristic part in the three-dimensional image, the two-dimensional image acquiring part acquiring the two-dimensional image, the three-dimensional image acquiring part acquiring the three-dimensional image, A calculation two-dimensional image generation unit that generates a calculation two-dimensional image that is a two-dimensional image corresponding to the two-dimensional image based on the three-dimensional image, and a rigid body region in the two-dimensional image based on the three-dimensional image. And a rigid body region weakening unit for generating a weakened two-dimensional image, and a calculated rigid body for generating a weakened two-dimensional image corresponding to a weakened region of the calculated two-dimensional image based on the three-dimensional image. A deviation degree calculation unit that calculates a degree of deviation between the attenuation two-dimensional image and the calculated attenuation two-dimensional image based on the area attenuation unit, the attenuation two-dimensional image, and the calculated attenuation two-dimensional image, A position calculation unit that calculates the position of the characteristic region in the three-dimensional image based on the calculated degree of deviation, and a display unit that displays the position of the characteristic region in the three-dimensional image. It is characterized by
Other solutions will be described in the embodiments.

According to the present invention, the three-dimensional position calculation accuracy of a characteristic part can be improved.

It is a figure which shows an example of a structure of the X-ray imaging system which concerns on this embodiment. It is a figure which shows the hardware block diagram of the data processing apparatus which concerns on this embodiment, and also shows the structure of a memory. It is a flow chart which shows an example of the procedure of the whole processing in the data processor concerning this embodiment. It is a figure which shows an example of the generation method of the calculation projection image which concerns on this embodiment. It is a flow chart which shows the detailed procedure of the bone field weakening processing concerning this embodiment. It is a figure which shows the example of the bone region attenuation X-ray image which concerns on this embodiment. It is a figure which shows the characteristic site|part in a bone region attenuation X-ray image. It is a flow chart which shows a detailed processing procedure of body movement amount calculation processing concerning this embodiment. It is a figure for explaining body movement amount calculation concerning this embodiment. It is a figure which shows the three-dimensional position calculation method of a characteristic site. It is a figure which shows the relationship of the produced|generated straight line. It is a figure which shows the example of a display screen which concerns on this embodiment. It is a figure which shows another example of the display screen which concerns on this embodiment.

Next, modes for carrying out the present invention (referred to as “embodiments”) will be described in detail with reference to the drawings as appropriate.
Hereinafter, as an example of a radiation imaging system, an embodiment of an X-ray imaging system will be described with reference to the drawings. The present embodiment is not limited to this, and can be applied to an appropriate radiation imaging system. In the present embodiment, the two-dimensional imaged X-ray image imaged by the X-ray source and the detector is simply referred to as an imaged X-ray image.
Further, the present invention is not limited to the X-ray source, the X-ray detector, the captured X-ray image, and the like, and can be appropriately applied to an appropriate measurement source and detector other than the X-ray, the captured image, the reflected image, and the like.

FIG. 1 is a diagram showing an example of the configuration of an X-ray imaging system according to this embodiment.
The X-ray imaging system 1 includes a data processing device 100, an X-ray source 201, a detector 202, a control device 300, a display device (display unit) 401, and a storage device 402. Further, the X-ray imaging system 1 is connected to the medical image server 2 via a wired or wireless network.
The medical image server 2 stores various medical images such as a CT image, an MRI (Magnetic Resonance Imaging) image, a PET (Positron Emission Computed Tomography) image, and an ultrasonic image. For communication and storage of these images and information via a network, for example, it is desirable to use a DICOM (Digital Imaging and Communication in Medicine) format generally used in the medical field.

The X-ray source 201 emits X-rays, and the detector 202 detects the emitted X-rays.
The control device 300 controls movement, rotation, and the like of the X-ray source 201 and the detector 202, and acquires detection data from the detector 202, and includes a drive unit 301 and a data collection unit 302.
The drive unit 301 drives the X-ray source 201 and the detector 202, which are not shown, to drive the X-ray source 201 and the detector 202, thereby moving and rotating the X-ray source 201 and the detector 202.
The data collection unit 302 collects the information of the captured X-ray image (two-dimensional image) from the detector 202 and sends it to the storage device 402.
The display device 401 displays various images, and also displays the corrected characteristic part of the treatment tool and the like. That is, the display device 401 displays the captured X-ray images collected by the data collection unit 302 and the processing result by the data processing device 100.
The storage device 402 stores the captured X-ray image captured by the detector 202 and sent from the data collection unit 302. Further, the storage device 402 stores the processing result and the like by the data processing device 100.

The data processing device 100 includes an image acquisition unit (two-dimensional image acquisition unit, three-dimensional image acquisition unit) 111, a calculated projection image generation unit (calculated two-dimensional image generation unit) 112, an image registration unit 113, and a rigid body region weakening unit 114. have. Further, the data processing device 100 includes a characteristic part extraction unit 115, a body movement amount calculation/correction unit (calculated rigid body region attenuation unit, deviation degree calculation unit, position calculation unit) 116, a three-dimensional position calculation unit (position calculation unit). It has a 117, a position mapping section 118, and a display processing section 119. Details of the processing performed by each unit in the data processing device 100 will be described later.
The image acquisition unit 111 acquires a three-dimensional image from the medical image server 2 and acquires a captured X-ray image from the storage device 402.
The calculation projection image generation unit 112 generates a two-dimensional calculation projection image (calculation two-dimensional image) from the three-dimensional image. The calculation projection image will be described later.

The image alignment unit 113 aligns the captured X-ray image and the three-dimensional image.
The rigid region weakening unit 114 performs a bone region weakening process from the captured X-ray image. The process of reducing the bone area will be described later.
The characteristic part extraction unit 115 extracts a characteristic part (hereinafter, referred to as a characteristic part) of a treatment tool or the like from the captured X-ray image in which the bone region is weakened (referred to as a bone region weakened X-ray image (weakened two-dimensional image)). To do. The bone area attenuated X-ray image will be described later.
The body movement amount calculation/correction unit 116 calculates the body movement amount from the bone region attenuated X-ray image and the calculated projection image, and corrects the position of the characteristic part.
The three-dimensional position calculation unit 117 calculates the three-dimensional position of the characteristic part based on the body movement amount calculated by the body movement amount calculation/correction unit 116. In the present embodiment, the three-dimensional position means a spatial position in the X-ray imaging system 1.
The position mapping unit 118 adds the characteristic region to the three-dimensional image or the like based on the three-dimensional position of the characteristic region calculated by the three-dimensional position calculation unit 117.
The display processing unit 119 displays various images and causes the display device 401 to display the corrected characteristic portion and the like.

(Hardware configuration diagram)
FIG. 2 is a diagram showing the hardware configuration of the data processing apparatus according to the present embodiment and the configuration of the memory.
The data processing device 100 includes a memory 101, a CPU (Central Processing Unit) 102, and a communication device 103.
The programs stored in the storage device 402 (see FIG. 1) and the like are expanded in the memory 101. Then, the program expanded in the memory 101 is executed by the CPU 102, so that the image acquisition unit 111, the calculated projection image generation unit 112, the image registration unit 113, the rigid body region attenuation unit 114, the characteristic portion extraction unit 115, and the body movement. A movement amount calculation/correction unit 116, a three-dimensional position calculation unit 117, a position mapping unit 118, and a display processing unit 119 are embodied. The image acquisition unit 111, the calculated projection image generation unit 112, the image alignment unit 113, the rigid body region attenuation unit 114, the characteristic portion extraction unit 115, the body movement amount calculation/correction unit 116, the three-dimensional position calculation unit 117, and the position mapping unit. The 118 and the display processing unit 119 have already been described with reference to FIG. 1, so description thereof will be omitted here.

(Overall processing)
FIG. 3 is a flowchart showing an example of the procedure of the overall processing in the data processing device according to the present embodiment. Hereinafter, FIG. 1 will be referred to as appropriate.
Hereinafter, as an example, a case where two captured X-ray images are acquired will be described, but the present embodiment is also applicable to a case where three or more captured X-ray images are acquired. Further, in the present embodiment, the characteristic portion (hereinafter referred to as the characteristic portion) is the forceps tip and the guide sheath marker, but other than the forceps tip or the guide sheath marker, an appropriate marker or an appropriate portion/portion may be used. Further, in the present embodiment, the characteristic parts are two, the tip of the forceps and the guide sheath marker, but may be one or three or more. Further, it is not limited to the treatment tool, and other instruments may be used.

First, prior to the processing, the X-ray imaging system 1 drives the X-ray source 201 and the detector 202 by the driving unit 301 of the device control unit 104. For example, the X-ray source 201 and the detector 202 are rotated and moved to the imaging position. Then, X-rays are emitted from an X-ray tube (not shown) or the like that constitutes the X-ray source 201, a panel (not shown) of the detector 202 or the like detects the X-rays, and detection data is generated. This detection data is configured as a two-dimensional captured X-ray image by the data collection unit 302 of the control device 300. The captured X-ray image is temporarily stored in the storage device 402 and then sent to the data processing device 100. The captured X-ray image may be sent directly from the detector 202 to the data processing device 100. Further, the driving unit 301 changes the angles or directions of the X-ray source 201 and the detector 202 and performs similar imaging, so that another captured X-ray image is acquired.

In the present embodiment, two sets of X-ray images are picked up by rotating the set of X-ray source 201 and detector 202 and picking up images twice. Two imaged X-ray images may be taken by the source 201 and the detector 202 by taking two images at the same time.

Then, the image acquisition unit 111 acquires the two captured X-ray images (S101).
Then, before and after the two captured X-ray images are acquired in step S101, the image acquisition unit 111 acquires a three-dimensional image captured in advance from the medical image server 2 (S102). Here, the three-dimensional image is captured separately from the captured X-ray image. The three-dimensional image is captured, for example, one week before the captured X-ray image (not limited to one week before).

The three-dimensional image is, for example, an image used for diagnosing a lesion site and for planning a route for inserting a treatment tool to the lesion site in advance. As described above, a CT image, an MRI image, a PET image or the like can be generally used as the three-dimensional image, but the three-dimensional image is not limited thereto. Here, as an example, an example in which a CT image is used as a three-dimensional image will be described.
Note that, for example, a plurality of three-dimensional images obtained by continuously capturing images in the body axis direction are acquired.

Then, the calculated projection image generation unit 112 generates a two-dimensional calculated projection image from the acquired three-dimensional images (CT images) based on the positions of the X-ray source 201 and the detector 202. (S111).
Here, the calculation projection image is generated by the following procedure.
(A1) The simulated projection image generation unit 112 simulates a three-dimensional image (CT image or the like) captured in advance in a spatial arrangement of the X-ray source 201 and the detector 202 in the actual X-ray imaging system 1. Generate a system.
(A2) Then, the calculation projection image generation unit 112 projects a simulated X-ray (ray) from the X-ray source 201 to the detector 202 with the generated simulation system, and the detected image at the detector 202 by the simulated X-ray ( For example, the calculated projection image is generated by calculating (ray trace) the passing distance and the pixel value.
That is, the calculation projection image is an X-ray image reconstructed in a simulated manner from a three-dimensional image.
The calculated projection image is generally called a DRR (Digital Reconstructed Radiograph) image.

(Computational projection image generation process)
FIG. 4 is a diagram showing an example of a method of generating a calculated projection image according to this embodiment.
First, as described above, in the X-ray imaging system 1, the three-dimensional positions of the X-ray source 201 and the detector 202 when the captured X-ray image 501 is acquired can be easily acquired from the device configuration at the time of imaging. Is. Here, the three-dimensional position is a three-dimensional position in the X-ray imaging system 1.

Further, the imaging angles of the X-ray source 201 and the detector 202 with respect to the subject at the time of imaging the captured X-ray image 501 can also be easily acquired. Therefore, it is possible to generate the calculated projection image 502 from the three-dimensional image 503 with an arrangement simulating the rotation angle and the position of the acquired X-ray source 201 and detector 202. For example, the calculation projection image generation unit 112 generates the calculation projection image 502 by calculating the numerical value obtained by adding the pixel values of the CT image, which is the three-dimensional image 503, in the ray direction using the ray tracing method described above. Further, the calculation projection image generation unit 112 generates the calculation projection image 502 for each position of the X-ray source 201 that has captured the captured X-ray image 501.

For example, the calculated projection image generation unit 112 generates a calculated projection image 502a at the position P1 of the X-ray source 201 and a calculated projection image 502b at the position P2 of the X-ray source 201 from the three-dimensional image 503. The calculated projection image 502a corresponds to the captured X-ray image 501a, and the calculated projection image 502b corresponds to the captured X-ray image 501b.

(Alignment process)
Returning to the explanation of FIG.
Next, the image alignment unit 113 aligns the calculated projection image and the captured X-ray image (S112).
In the combination of the calculated projection image and the captured X-ray image, since each image is a two-dimensional image, it is easy to align them. Here, the combination of the calculated projection image and the captured X-ray image means the captured X-ray image actually captured at the same position of the X-ray source 201 and the detector 202 and the simulated projection image generated. Is a combination of. For example, in FIG. 4, if the imaged X-ray images 501a and 501b are imaged at the position P1 and the position P2 of the X-ray source 201, the imaged X-ray image 501a imaged at the position P1 of the X-ray source 201, One combination is a combination with the calculated projection image 502a that is generated by simulation assuming that the X-ray source 201 is at the position P1. Similarly, the combination of the captured X-ray image 501b imaged at the position P2 of the X-ray source 201 and the calculated projection image 502b that is generated as a simulation assuming that the X-ray source 201 is at the position P2 is one combination. ..

In step S112, the image alignment unit 113 moves/rotates the calculated projection image 501a in FIG. 4, for example, and calculates the similarity between the calculated projection image 502a and the captured X-ray image 501a. As the degree of similarity, for example, the mutual information amount between the captured X-ray image 501a and the calculated projection image 502a is used. Here, the mutual information amount is a mutual information amount using pixel values of the captured X-ray image 501a and the calculated projection image 502a.
Then, the image registration unit 113 obtains the movement/rotation parameter that maximizes the similarity. That is, the image alignment unit 113 obtains the movement/rotation parameter of the calculated projection image 502a that maximizes the similarity between the calculated projection image 502a in FIG. 4 and the captured X-ray image 501a.
The image registration unit 113 performs similar registration between the captured X-ray image 501b and the calculated projection image 502b.

In addition to the similarity, the following method may be used. That is, first, the image alignment unit 113 sets a common reference part in the captured X-ray image 501 and the calculated projection image 502. The reference part is a part having the same characteristics (for example, a predetermined part in an organ), and is designated by the user via an input device (not shown). Then, the image alignment unit 113 calculates a movement/rotation parameter at which the reference parts of the captured X-ray image 501 and the calculated projection image 502 match.

By moving/rotating the three-dimensional image 503 in accordance with the moving/rotating parameter calculated in step S112, the position of the subject at the time of capturing the captured X-ray image 501 in FIG. 4 and the three-dimensional image 503 can be matched. It will be possible. It should be noted that in the present embodiment, alignment is performed by rotating and moving the calculated projection image 502, but the movement/rotation parameter may be obtained by moving/rotating the captured X-ray image 501.

For example, in the alignment using the calculated projection image 502 generated from the three-dimensional image 503 and the captured X-ray image 501 in FIG. 4, rotation about the parallel movement 3 degrees of freedom and the imaging direction (in-plane rotation) 2 It is possible to calculate movement/rotation parameters with a total of 5 degrees of freedom. Furthermore, in the method of calculating the movement amount by generating the calculation projection images 502 corresponding to various positions of the X-ray source 201 and comparing the pixel value with the captured X-ray image 501 corresponding to each calculation projection image 502, Since it is possible to generate the omnidirectional calculation projection image 502 from the three-dimensional image 503, there are a total of 6 degrees of freedom of translation (orthogonal axis) 3 degrees of freedom and rotation around each orthogonal axis. The rotation parameter can be calculated. In the image registration of the present embodiment, any registration method may be used, and another registration method may be used as appropriate.
In this embodiment, five parameters are calculated as the movement/rotation parameters. Further, the alignment performed in step S112 is so-called rigid alignment, and is therefore suitable mainly for alignment of a rigid region such as bone.
Since the captured X-ray image 501 and the three-dimensional image 503 have different imaging times, the imaging positions of the subject are different. However, by performing such alignment, the accuracy of the subsequent processing is improved. be able to.

(Bone area attenuation processing)
Returning to the explanation of FIG.
Next, the rigid body region weakening unit 114 performs a bone region weakening process for weakening the bone region (rigid body region) of the captured X-ray image using the captured X-ray image and the three-dimensional image (S113).

Details of the processing of reducing the bone region in step S113 will be described with reference to FIG.
FIG. 5 is a flowchart showing a detailed procedure of the bone region attenuation processing according to this embodiment.
First, the rigid region weakening unit 114 acquires all of the captured X-ray images and the three-dimensional image (S201).
Next, the rigid region weakening unit 114 extracts a bone region from the three-dimensional image (S202).
In a CT image that is a three-dimensional image, pixel values are standardized numerical values called CT values. This CT value is a relative value where water is 0 and gas such as air is -1000, and indicates the density of the imaged substance. Therefore, the soft tissue region, the air region, the bone region, etc. can be identified by the CT value. Thereby, the rigid region weakening unit 114 can extract each region by specifying the pixel value corresponding to, for example, the soft tissue region, the air region, the bone region, or the like.

Then, the rigid body region weakening unit 114 generates a calculated projection image corresponding to the same position of the X-ray source 201 as the input captured X-ray image, based on the three-dimensional image in which only the bone region is extracted. That is, the rigid body region weakening unit 114 generates a bone region calculation projection image which is a calculation projection image obtained by projecting only the bone region (S203).
Since the three-dimensional image in which only the bone region is extracted can be projected and calculated in the same manner as the original three-dimensional image, the rigid region weakening unit 114 generates a calculated projection image (bone region calculation and projection image) in which only the bone region is projected. can do.

Subsequently, the rigid region attenuation unit 114 generates a bone region attenuated X-ray image by subtracting the bone region calculation projection image from the captured X-ray image (imaging X-ray image-bone region calculation projection image) (S204), The process is returned to step S114 of FIG. In this way, the rigid body region weakening portion 114 weakens the bone region of the captured X-ray image. An image obtained as a result of subtracting the bone region calculation projection image from the captured X-ray image is referred to as a bone region attenuated X-ray image. It should be noted that since the bone region is little changed by body movement, such a bone region attenuated X-ray image can be generated.

FIG. 6 is a diagram showing an example of a bone area attenuated X-ray image according to the present embodiment.
In step S112, the captured X-ray image 501 and the three-dimensional image 503 (see FIG. 4) are aligned. As mentioned above, this registration is also a rigid registration mainly in the bone area. Therefore, it is possible to make a difference between the captured X-ray image 501 and the bone region calculation projection image 511 generated from the three-dimensional image 503.
Then, the rigid body region weakening unit 114 generates the bone region weakening X-ray image 521 by subtracting the bone region calculation projection image 511 from the captured X-ray image 501 in which the bone weakening has not been performed.
The rigid region attenuation unit 114 performs this process for the number of bone region attenuated X-ray images 521.

(Feature part extraction process)
Returning to the explanation of FIG.
Then, the characteristic part extraction unit 115 extracts the characteristic part from the bone region attenuated X-ray image (S114). In this embodiment, the tip of the forceps and the guide sheath marker are the characteristic parts.

FIG. 7 is a diagram showing characteristic parts in a bone region attenuated X-ray image.
The bone area attenuated X-ray image 521a is a bone area attenuated X-ray image 521 generated based on the imaged X-ray image 501a imaged at the position P1 of the X-ray source 201 in FIG. Similarly, the bone area attenuated X-ray image 521b is a bone area attenuated X-ray image 521 generated based on the captured X-ray image 501b imaged at the position P2 of the X-ray source 201 in FIG. In the bone region attenuated X-ray images 521a and 521b, some bone regions remain, but the bone regions have low contrast as compared with the captured X-ray images 501a and 501b before the bone regions are attenuated.

As shown in FIG. 7, the treatment tool is a high X-ray absorption region. Therefore, the treatment tool has a high contrast on the bone region attenuated X-ray image 521 as compared with other human body structures. Therefore, due to the difference in contrast, it is possible to detect the forceps tip 531 from the bone region attenuated X-ray image 521 as a characteristic site. Further, among the treatment tools, the guide sheath marker 532 is drawn with different contrast. Therefore, the characteristic part extraction unit 115 can also extract the guide sheath marker 532 from the bone region attenuated X-ray image 521 due to the difference in contrast. In the imaged X-ray image 501 (see FIG. 4 ), the bone region and the like are drawn with high contrast, but if the bone region is attenuated, the treatment tool can be drawn more clearly, so the forceps tip 531 and It is possible to recognize the characteristic parts such as the guide sheath marker 532 with high accuracy.
Since the forceps tip 531 and the other portions of the treatment tool have different contrasts, the characteristic portion extraction unit 115 can extract the forceps tip 531 from the image of the entire treatment tool based on the contrast.

In the present embodiment, the characteristic region is recognized by recognizing a region having a contrast within a predetermined range in the bone region attenuated X-ray image 521, but the bone region attenuated X-ray image 521 is displayed on the display device 401. Alternatively, the user may extract the characteristic portion by designating the area with a mouse or the like.

(Body movement amount calculation process)
Returning to the explanation of FIG.
After step S114, the body movement amount calculation/correction unit 116 performs a body movement amount calculation process for calculating the body movement amount using the bone region attenuated X-ray image and the three-dimensional image (S115).
First, the captured X-ray image and the three-dimensional image captured separately from the captured X-ray image are not captured at the same time because the image capturing devices are different. Therefore, the posture, environment, etc. of the subject are different when the captured X-ray image is captured and when the three-dimensional image is captured. In addition, the human body is deformed in a non-rigid manner due to the body movement of the subject, such as the movement of the heart or breathing. Therefore, each image (captured X-ray image, three-dimensional image) having a different image capturing time includes a shift due to body movement.

Further, even when the X-ray imaging system 1 captures captured X-ray images from different directions, if there is only one set of the X-ray source 201 and the detector 202, it is not possible to perform simultaneous imaging. That is, when one X-ray source 201 and one detector 202 rotate to pick up a plurality of picked-up X-ray images, the picked-up picked-up X-ray images are displaced due to body movement. It is possible that

Here, the inventors have found that the body movement hardly affects a hard region such as a bone, a so-called rigid body region, but occurs in a soft region such as a soft tissue region. That is, the inventors have found that the position of a rigid body region such as bone does not change due to body movement, but the position of soft tissue such as soft tissue changes due to body movement.
Since the treatment tool is inserted into the soft tissues such as the bronchus and blood vessels, it is affected by the body movement together with the soft tissues. A method of correcting the influence of such body movement will be described below.

FIG. 8 is a flowchart showing a detailed processing procedure of the body movement amount calculation processing (S115 in FIG. 3) according to the present embodiment.
First, the body movement movement amount calculation/correction unit 116 acquires all bone region attenuated X-ray images and three-dimensional images (S301).
Next, the body movement amount calculating/correcting unit 116 generates a bone region-attenuation calculation projection image (calculation-attenuation two-dimensional image) by generating a calculation projection image in which the bone region is attenuated from the three-dimensional image (S302). .. The bone area attenuation X-ray image 521 generated in FIG. 5 and FIG. 6 is obtained by reducing the bone area from the captured X-ray image 501, whereas the bone area attenuation calculation projection image generated in step S302 is 3 It is an image generated by simulation from a three-dimensional image. Note that it is possible to generate an image in which the bone region is attenuated from the three-dimensional image by using the CT value as described above. The bone region attenuation calculation projection image is generated corresponding to the captured X-ray image. The bone region attenuation calculation projection image generated in this way corresponds to the calculation projection image with the rigid region attenuated.
Subsequently, the body movement movement amount calculation/correction unit 116 non-rigidly transforms the bone region attenuated X-ray image. (S303).

(Non-rigid conversion process)
Here, the non-rigid transformation will be described with reference to FIG.
FIG. 9 is a diagram for explaining the body movement amount calculation (S303 in FIG. 8) according to the present embodiment.
Here, the bone area attenuated X-ray image 521a is a bone area attenuated X-ray image 521 generated based on the captured X-ray image 501a when the X-ray source 201 is located at the position P1 in FIG. The bone area attenuation calculation projection image 541a is a bone area attenuation calculation projection image 541 corresponding to the bone area attenuation X-ray image 521a.
Similarly, the bone area attenuated X-ray image 521b is a bone area attenuated X-ray image 521 generated based on the captured X-ray image 501b when the X-ray source 201 is located at the position P2 in FIG. The bone area attenuation calculation projection image 541b is a bone area attenuation calculation projection image 541 corresponding to the bone area attenuation X-ray image 521b.

By the non-rigid body conversion, the body movement amount calculating/correcting unit 116 sets a grid-like mesh in the bone region attenuation X-ray image 521 as shown in FIG. Then, a smooth curve is set so that the line connecting each point on the grid in the mesh becomes a curve by a spline function, for example. Then, the body movement movement amount calculation/correction unit 116 moves this curve along, for example, a spline function, and converts pixels accordingly. That is, the body movement amount calculating/correcting unit 116 performs non-rigid body conversion by distorting (distorting) the bone region attenuated X-ray image 521. At this time, the bone region attenuation X-ray image 521 becomes a distorted image, and the bone region attenuation calculation projection image 541 becomes a non-distorted image.
Note that the user may preset the selection of one or a plurality of grid points to be moved, the movement amount, and the movement direction.
Further, in the present embodiment, the non-rigid body transformation is performed on the bone region attenuation X-ray image 521, but the non-rigid body transformation may be performed on the bone region attenuation calculation projection image 541.

The body movement amount calculation/correction unit 116 calculates the degree of similarity between the non-rigid body-transformed bone area attenuation X-ray image and the bone area attenuation calculation projection image (S304 in FIG. 8).
The degree of similarity is a mutual information amount or the like of each pixel between the non-rigid body-transformed bone region attenuation X-ray image 521 (see FIG. 9) and the bone region attenuation calculation projection image 541 (see FIG. 9). An index other than the mutual information amount may be used as the degree of similarity.

Then, the body movement amount calculating/correcting unit 116 determines whether or not the degree of similarity is maximum (S305 in FIG. 8).
As shown in FIG. 9, in the bone area attenuation X-ray image 521 and the bone area attenuation calculation projection image 541. The relationship between the light and dark is reversed. In such a case, the body movement amount calculating/correcting unit 116 determines that the degree of similarity is maximum when the mutual information amount is minimum. In the bone area attenuation X-ray image 521 and the bone area attenuation calculation projection image 541. When the lightness and darkness are not reversed, the body movement amount calculating/correcting unit 116 determines that the similarity is maximum when the mutual information amount is maximum.

If the result of step S305 shows that the degree of similarity is not the maximum (S305→No), the body movement amount calculation/correction unit 116 returns the processing to step S303, and performs non-rigid body conversion of the bone region attenuated X-ray image again.
As a result of step S305, when the similarity is the similarity (S305→Yes), the body movement movement amount calculation/correction unit 116 uses the non-rigid body transformation parameter in the non-rigid body transformed X-ray image of the bone region, The body movement amount (degree of deviation) indicating how much the characteristic portion has moved is calculated (S306), and the process returns to step S121 in FIG. The body movement amount is indicated as a vector (movement amount vector), for example. This movement amount vector is calculated from the position of the characteristic portion before the non-rigid transformation (step S302) and the position of the characteristic portion at the step S306. This movement amount vector is calculated for each pixel.
The body movement amount calculation/correction unit 116 performs the processes of steps S301 to S306 for each bone region attenuated X-ray image.
By performing the processes of steps S301 to S306, the body movement amount can be calculated quantitatively.

(Calculation of three-dimensional position of characteristic part)
Returning to the description of FIG. 3, after step S115, the body movement movement amount calculation/correction unit 116 determines, based on the body movement parameter such as the movement amount vector calculated in step S115, the characteristic region in the bone region attenuation X-ray image. The position is corrected (S121).

Next, the three-dimensional position calculation unit 117 selects one of a plurality of characteristic parts (S122). In this embodiment, the three-dimensional position calculation unit 117 selects either the forceps tip or the guide sheath marker as the processing target.
Then, the three-dimensional position calculation unit 117 on the detector 202 corresponding to the position on the bone region attenuation X-ray image of the characteristic part (the tip of the forceps or the guide sheath marker in the present embodiment) to be processed. A three-dimensional position is calculated (S123). Here, the three-dimensional position is a spatial position in the X-ray imaging system 1, as described above.

The three-dimensional position of the detector 202 in the X-ray imaging system 1 corresponding to the bone area attenuated X-ray image is obtained from the device configuration of the detector 202 on the X-ray imaging system 1. Then, the three-dimensional position calculation unit 117 can calculate, for example, the position of the extracted forceps tip position on the detector 202 (reference symbols K1 and K2 in FIG. 10).
With respect to the guide sheath marker, the three-dimensional position on the detector 202 (on the captured X-ray image) can be calculated by the same process.

Here, as the position of the characteristic part on the detector 202, the position of the characteristic part after body movement correction (hereinafter referred to as the position after body movement correction) is used. That is, the three-dimensional position calculation unit 117 calculates where on the detector 202 the position after the body movement correction is located.

After step S122, the three-dimensional position calculation unit 117 connects the two points of the three-dimensional position on the detector 202 and the corresponding three-dimensional position of the X-ray source 201 with respect to the characteristic portion to be processed. Is generated (S131).

The process of step S131 will be described with reference to FIG.
FIG. 10 is a diagram showing a method for calculating the three-dimensional position of a characteristic part.
The three-dimensional position calculation unit 117 obtains the three-dimensional position of the X-ray source 201 in the X-ray imaging system 1 at the time of capturing the captured X-ray image 501 from the device configuration of the X-ray source 201 on the X-ray imaging system 1. You can Therefore, the three-dimensional position calculation unit 117 determines a characteristic part, for example, the three-dimensional position (K1 in FIG. 10) of the extracted forceps tip position on the detector 202 and the two points from the position P1 of the X-ray source 201. A connecting straight line L1 is generated. The reference numeral K2, the position P2, the straight line L2, and the reference numerals Q1, Q, Q2 will be described later.

After that, the three-dimensional position calculation unit 117 determines whether or not the generation of straight lines has been completed for all the bone area attenuated X-ray images (S132).
As a result of step S132, when there is a bone region attenuated X-ray image for which the generation of the straight line is not complete (S132→No), the three-dimensional position calculation unit 117 returns to step S123, and the bone that has not been processed yet. A straight line connecting the position of the characteristic part on the detector 202 and the X-ray source 201 is calculated based on the area-reduced X-ray image. In the example of this embodiment, a straight line L2 connecting the symbol K2 and the position P2 in FIG. 10 is calculated.

As a result, for each characteristic region, as many straight lines connecting the position of the characteristic region on the detector 202 and the X-ray source 201 as the number of characteristic regions are generated (two in the example of the present embodiment).
In the present embodiment, the straight line connecting the position of the characteristic part on the detector 202 and the X-ray source 201 is generated once, but all the straight lines are generated by one processing. You can

In step S132, when the generation of the straight line is completed for all the bone area attenuated X-ray images (S132→Yes), the three-dimensional position calculation unit 117 determines the characteristic region from the positional relationship of the generated straight lines. A three-dimensional position in the X-ray imaging system 1 is calculated (S141).
FIG. 11 is a diagram showing the relationship of the generated straight lines.
Here, FIG. 10 corresponds to the straight lines L1 and L2 shown in FIG. 11 as viewed from the z-axis direction.

As shown in FIG. 10, a straight line L1 connecting the position P1 of the X-ray source 201 and the three-dimensional position K1 of the characteristic portion on the captured X-ray image 501a, the position P2 of the rotated X-ray source 201, and the captured X-ray image 501b. The point at which the straight line L2 connecting the three-dimensional position K2 of the characteristic part intersects with each other indicates the three-dimensional position of the characteristic part in the X-ray imaging system 1. Therefore, it is ideal that the straight line L1 and the straight line L2 intersect at one point. However, as shown in FIG. 11, the straight line L1 and the straight line L2 do not necessarily intersect with each other due to actual measurement error and the like, and in many cases, there is a so-called twisted position relationship. By the way, in the example of FIG. 11, the straight line L1 passes below the straight line L2.

Therefore, as shown in FIG. 11, the three-dimensional position calculation unit 117 obtains a point Q1 on the straight line L1 and a point Q2 on the straight line L2 at which the distance between the two straight lines is the shortest, and, for example, the midpoint between the two points. Let Q be the three-dimensional position of the characteristic part.

The points Q1 and Q2 can be obtained from the following equations (1) and (2).
Q1=K1+(D1-D2*Dv)/(1-Dv*Dv)*v1...(1)
Q2=K2+(D2-D1*Dv)/(Dv*Dv-1)*v2 (2)

Here, K1 and K2 are three-dimensional positions of the characteristic parts on the detector 202, as shown in FIG. Also, v1 is the vector of the straight line L1, and v2 is the vector of the straight line L2. Further, D1, D2 and Dv are defined by the following equations (3) to (5).

D1=(K2-K1)*v1...(3)
D2=(K2-K1)*v2...(4)
Dv=v1·v2 (5)

Then, the three-dimensional position calculation unit 117 calculates the three-dimensional position Q of the characteristic part from the obtained three-dimensional positions of the points Q1 and Q2 using the following equation (6).
Q=(Q1+Q2)/2 (6)

When three or more straight lines are generated, the three-dimensional position calculation unit 117 may set the point closest to each straight line as the three-dimensional position Q of the characteristic portion.
By doing so, even if the calculated body movement amount includes a measurement error or the like, it is possible to accurately calculate the three-dimensional position of the characteristic portion.

Returning to the explanation of FIG.
The three-dimensional position calculation unit 117 determines whether or not the calculation of the three-dimensional position in the X-ray imaging system 1 has been completed for all the characteristic parts (S142).
As a result of step S142, when the calculation of the three-dimensional positions of all the characteristic parts has not been completed (S142→No), the three-dimensional position calculation unit 117 returns the process to step S122, and the three of the remaining characteristic parts are calculated. Calculate the dimensional position.

(display)
As a result of step S142, when the calculation of the three-dimensional position has been completed for all the characteristic parts (S142→Yes), the position mapping unit 118 adds the position information of each characteristic part calculated in step S141 to the three-dimensional image. Yes (S151).
At this time, the position mapping unit 118 uses the movement/rotation parameters calculated in step S112 to add the position information of the characteristic part calculated in step S141 to the three-dimensional image.
Due to the alignment performed in step S112, the position of the subject to be imaged matches the position of the three-dimensional image. In that state, since the body movement correction and the calculation of the three-dimensional position of the characteristic part are performed, the three-dimensional position information of each characteristic part can be correctly added to the three-dimensional image.

Then, the display processing unit 119 displays the three-dimensional image to which the three-dimensional position information of the characteristic part is added on the display device 401 (S152). Further, the three-dimensional image to which the three-dimensional position information is added is stored in the storage device 402 as needed.

FIG. 12 is a diagram showing an example of a display screen according to this embodiment.
The display screen shown in FIG. 12 is the screen displayed in step S152 of FIG.
The display screen 600 shown in FIG. 12 includes a three-dimensional image display unit 601, a first captured X-ray image display unit 602, and a second captured X-ray image display unit 603.
In the example shown in FIG. 12, the captured X-ray images acquired by the X-ray imaging system 1 in different imaging directions are displayed on the first captured X-ray image display unit 602 and the second captured X-ray image display unit 603, respectively. ing. Then, on the three-dimensional image display unit 601, a CT image (a tomographic image of a three-dimensional image) additionally displaying the position 611 of the characteristic region (forceps tip position and guide sheath marker) calculated in step S141 of FIG. It is displayed.

In the example shown in FIG. 12, a tomographic image of a captured X-ray image and a CT image as a three-dimensional image is displayed, but the present invention is not limited to this. For example, a three-dimensional stereoscopic image of the subject reconstructed by stacking the tomographic images of the CT images may be displayed. Further, the display of the captured X-ray image may be omitted. Alternatively, the three-dimensional image display unit 601, the first captured X-ray image display unit 602, and the second captured X-ray image display unit 603 may be selectively displayed.
By displaying such a display screen 600, the operator can visually recognize the tip of the forceps and the guide sheath marker in real time.

FIG. 13 is a diagram showing another example of the display screen according to the present embodiment.
In FIG. 13, only a three-dimensional image display unit 601a corresponding to the three-dimensional image display unit 601 in FIG. 12 is shown. In the example shown in FIG. 13, the position of the characteristic part estimated by the method so far is shown by the broken line (reference numeral 612), and the position of the characteristic part estimated by the method according to the present embodiment is shown by the solid line (reference numeral 611). Indicated by. That is, the position of the characteristic part shown by the broken line shows the position estimated before the body movement amount correction, and the position of the characteristic part shown by the solid line shows the position estimated after the body movement amount correction.
By displaying the three-dimensional image display unit 601a as shown in FIG. 13, the user can confirm to what extent body movement correction has been performed.

According to the present embodiment, it is possible to estimate the three-dimensional position of the characteristic part in consideration of the body movement of the subject. This can improve the estimation accuracy of the three-dimensional position of the characteristic part.

Further, according to the present embodiment, it is possible to clarify the three-dimensional positional relationship between the lesioned part and the treatment tool such as the tip of the forceps, which has not been easy to recognize only with the captured X-ray images. Become. In addition, the structure around the lesion, which is not always easy to recognize in the captured X-ray image, is clearly drawn on the three-dimensional image, so that the route of the characteristic site toward the lesion can be confirmed. Becomes
As described above, according to the present embodiment, the relative positional relationship between the lesion site and the characteristic site such as the treatment tool is highly accurate by using the two-dimensional imaged image by the X-ray imaging system 1 and the three-dimensional image captured in advance. The structure around the characteristic part such as the treatment instrument including the lesion can be recognized with high accuracy.

Further, in the present embodiment, as shown in FIG. 9, the amount of body movement is independently adjusted in each of the bone region attenuated X-ray images generated from the acquired (two in the present embodiment) captured X-ray images. Is calculated. Therefore, even if the imaging times of the plurality of captured X-ray images are different and the body movement occurs in each of the captured X-ray images, the data processing device 100 can correct the body movement.

(Appendix)
In the above-described embodiment, the DICOM format is used as the image format (data format), but of course, other formats such as JPEG (Joint Photographic Experts Group) image and bitmap image can be used.
Further, in the present embodiment, the data of the three-dimensional image is stored in the medical image server 2, but the treatment planning device (not shown) and the data processing device 100 may directly communicate with each other to exchange the data files.
Further, although the mode of using communication of a data file or the like via a network has been described, another storage medium, for example, a large-capacity storage medium such as a flexible disk or a CD-R may be used as the data file exchanging means.

In addition, in the present embodiment, an imaged X-ray image by the X-ray source 201 and the detector 202 will be described, but the present embodiment is not limited to this, and may be a two-dimensional image other than an image by X-ray such as an ultrasonic echo. Can also be applied.
Further, in the present embodiment, the characteristic region is extracted (S114) after the bone region attenuation process (S113) in FIG. 3, but the present invention is not limited to this. After the body movement amount calculation process (S115), the characteristic part extraction unit 115 may extract the characteristic part from the non-rigid body-transformed bone area attenuated X-ray image.

The present invention is not limited to the above-described embodiment, but includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described.

Further, the above-described respective configurations and functions, the respective units 101 to 109, the storage device 402 and the like may be realized by hardware by designing a part or all of them, for example, with an integrated circuit. Further, as shown in FIG. 2, each configuration, function, and the like described above may be realized by software by a processor such as the CPU 102 interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function is stored in a hard disk (HD), a memory, a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, or the like. , SD (Secure Digital) card, DVD (Digital Versatile Disc) and the like.
Further, in each embodiment, the control lines and information lines are shown to be necessary for explanation, and not all the control lines and information lines on the product are necessarily shown. In reality, almost all configurations can be considered as interconnected.

1 X-ray imaging system 2 Medical image server 100 Data processing device 101 Memory 102 CPU
103 communication device 110 processing unit 111 image acquisition unit (two-dimensional image acquisition unit, three-dimensional image acquisition unit)
112 Calculation Projection Image Generation Unit (Calculation Two-Dimensional Image Generation Unit)
113 Image Positioning Unit 114 Rigid Body Region Attenuating Unit 115 Characteristic Region Extracting Unit 116 Body Movement Amount Calculation/Correction Unit (Calculated Rigid Body Region Attenuating Unit, Deviation Degree Calculating Unit, Position Calculating Unit)
117 Three-dimensional position calculation unit (position calculation unit)
118 position mapping unit 119 display processing unit 201 X-ray source 202 detector 401 display device (display unit)
402 Storage devices 501, 501a, 501b Captured X-ray image (two-dimensional image)
502, 502a, 502b Computational projection image (computation two-dimensional image)
503 3D image 511 Bone region calculation projection image 521, 521a, 521b Bone region attenuated X-ray image (attenuated 2D image)
531 Forceps tip (characteristic region)
532 Guide sheath marker (characteristic part)
541, 541a, 541b Bone region attenuation calculation projection image (calculation attenuation two-dimensional image)
600 display screen 601, 601a three-dimensional image display unit 602 first captured X-ray image display unit 603 second captured X-ray image display unit L1, L2 straight line

Claims (7)

A radiation image captured by a radiation imaging apparatus, in which a two-dimensional image in which a predetermined characteristic portion is captured, and a subject identical to the subject in which the two-dimensional image is captured are different from the radiation imaging apparatus. A data processing device for calculating a position in the three-dimensional image of the characteristic part captured in the two-dimensional image in the three-dimensional image captured at a different time from the two-dimensional image in the image capturing device. hand,
A two-dimensional image acquisition unit for acquiring the two-dimensional image,
A three-dimensional image acquisition unit for acquiring the three-dimensional image,
A calculation two-dimensional image generation unit that generates a calculation two-dimensional image that is a two-dimensional image corresponding to the two-dimensional image based on the three-dimensional image;
A rigid body region weakening unit for weakening a rigid body region in the two-dimensional image to generate a weakened two-dimensional image based on the three-dimensional image;
A calculation rigid region weakening unit for generating a calculation weakened two-dimensional image corresponding to a weakened body region attenuated from the calculated two-dimensional image based on the three-dimensional image;
A deviation degree calculation unit that calculates a degree of deviation between the attenuation two-dimensional image and the calculation attenuation two-dimensional image based on the attenuation two-dimensional image and the calculation attenuation two-dimensional image,
A position calculation unit that calculates the position of the characteristic region in the three-dimensional image based on the calculated degree of deviation;
A display unit that displays the position of the characteristic region in the three-dimensional image;
A data processing device comprising: The display unit is
The data processing apparatus according to claim 1, wherein the position of the characteristic portion calculated without considering the degree of the deviation in the three-dimensional image is displayed together with the calculated position of the characteristic portion. .. A plurality of the two-dimensional images are picked up by detecting X-rays emitted from an X-ray source with a detector,
The position calculation unit,
Based on the characteristic part captured in the two-dimensional image, the position of the characteristic part corrected based on the calculated degree of deviation at the position of the detector at the time of capturing the two-dimensional image. Calculate,
Generating a straight line that connects the position of the corrected characteristic part at the position of the detector that captured the two-dimensional image and the position of the X-ray source when the two-dimensional image was captured. As a result of doing it on the three-dimensional image, calculate the closest point to each generated straight line,
The data processing apparatus according to claim 1, wherein the position of the characteristic portion in the three-dimensional image is calculated based on the calculated points. The deviation degree calculation unit,
Either one of the image of the attenuation two-dimensional image and the calculated attenuation two-dimensional image is distorted in a predetermined skewness, of pre-Symbol attenuation 2-dimensional image and the calculated attenuation two-dimensional image, is the distorted image The distorted image and the distorted image that maximizes the similarity between the non-distorted image that is the non-distorted image and the non-distorted image, and the amount of movement of each pixel in the distorted image is the degree of deviation. The data processing device according to claim 1. A plurality of the two-dimensional images are captured,
The deviation degree calculation unit,
The data processing apparatus according to claim 4, wherein the movement amount of each pixel is calculated for each of the attenuated two-dimensional images generated from each two-dimensional image. An image registration unit that performs registration between the two-dimensional image and the three-dimensional image by performing registration between the two-dimensional image and the calculated two-dimensional image. The data processing device according to. A radiation image captured by a radiation imaging apparatus, in which a two-dimensional image in which a predetermined characteristic portion is captured, and a subject identical to the subject in which the two-dimensional image is captured are different from the radiation imaging apparatus. Data by a data processing device that calculates the position in the three-dimensional image of the characteristic part captured in the two-dimensional image in the three-dimensional image captured by the imaging device at a different time from the two-dimensional image A processing method,
The data processing device,
Acquiring the two-dimensional image,
Acquiring the three-dimensional image,
Generating a calculated two-dimensional image, which is a two-dimensional image corresponding to the two-dimensional image, based on the three-dimensional image,
Attenuating a rigid body region in the two-dimensional image based on the three-dimensional image to generate an attenuated two-dimensional image,
Generating a computationally attenuated two-dimensional image corresponding to the rigid body region attenuated from the computational two-dimensional image based on the three-dimensional image;
Calculating the degree of deviation between the attenuation two-dimensional image and the calculated attenuation two-dimensional image based on the attenuation two-dimensional image and the calculation attenuation two-dimensional image,
Calculating the position of the characteristic part in the three-dimensional image based on the calculated degree of deviation,
A data processing method, wherein the position of the characteristic part is displayed on the display unit in the three-dimensional image.