JP7465629B2 - X-ray diagnostic equipment - Google Patents

Description

An embodiment of the present invention relates to an X-ray diagnostic device.

Among X-ray diagnostic equipment, there is a circulatory system X-ray diagnostic equipment that takes images of the circulatory system, such as the blood vessels of the brain, the heart, and the coronary arteries. A circulatory system X-ray diagnostic equipment is also called an X-ray angiography equipment. In a circulatory system X-ray diagnostic equipment, a pair of an X-ray source and an X-ray detector is held at both ends of a holding device called a C-arm, for example, and images can be taken while arbitrarily changing the direction of X-ray irradiation relative to the region of interest of the subject.

In procedures such as embolization, doctors perform procedures such as coil placement and clipping on the aneurysm while closely watching X-ray fluoroscopic images using an X-ray diagnostic device. In such procedures, it is necessary to magnify and observe the area where the aneurysm was imaged.

However, conventional X-ray diagnostic equipment uses a center zoom method for enlarging an image, which enlarges the image from the center. For this reason, when an image is enlarged when a target such as an aneurysm is not in the center of the image, the target often escapes to the edge of the image or goes outside the image.

In such cases, the user must manipulate the position of the C-arm or bed during the procedure to position the target, such as an aneurysm, in the center of the magnified image, which can hinder smooth treatment. In addition, manipulating the C-arm or bed lengthens the treatment time, which also lengthens the time for X-ray fluoroscopy, which is inconvenient in terms of radiation exposure for the patient.

JP 2014-158697 A

The problem that this invention aims to solve is to make it possible to always set the center of the object to be observed at the center of the image, even when the X-ray fluoroscopic image taken during the procedure is enlarged in real time.

The X-ray diagnostic apparatus of one embodiment includes an arm, a three-dimensional image acquisition unit, a target designation unit, an X-ray image generation unit, and a magnification processing unit. The arm supports an X-ray source and an X-ray detector. The three-dimensional image acquisition unit acquires a three-dimensional image of a subject. The target designation unit designates the position of a target to be observed in the three-dimensional image. The X-ray image generation unit sequentially generates X-ray images by X-ray fluoroscopy using the X-ray source and the X-ray detector. The magnification processing unit performs magnification processing by identifying the target position in the X-ray image using position information of the target in the three-dimensional image, so that the target is positioned at the center of the X-ray image after magnification, even if the target has shifted from the center of the X-ray image before magnification.

1 is a block diagram showing the overall configuration of an X-ray diagnostic apparatus according to a first embodiment. FIG. 2 is a block diagram showing an example of a detailed configuration and a functional configuration of a console according to the first embodiment. 4 is a flowchart showing an example of the operation of the X-ray diagnostic apparatus according to the first embodiment. 11A and 11B are diagrams for explaining the concept of processing from setting a target and an observation angle for an acquired three-dimensional image to generating a projected image projected from the observation angle direction. 1A and 1B are diagrams for explaining the concept of processing from starting X-ray fluoroscopy to identifying the position of a target in a fluoroscopic image. 11A and 11B are diagrams for explaining the concept of processing for enlarging a perspective image so that a target is positioned at the center of the perspective image. 10 is a flowchart showing an example of the operation of the X-ray diagnostic apparatus according to the second embodiment. 10 is a flowchart showing an example of the operation of the X-ray diagnostic apparatus according to the third embodiment. FIG. 13 is a block diagram showing an example of a detailed configuration and a functional configuration of a console according to a fourth embodiment. 13 is a flowchart showing an example of the operation of the X-ray diagnostic apparatus according to the fourth embodiment.

The following describes an embodiment of the present invention with reference to the attached drawings.

First Embodiment
1 is a block diagram showing the overall configuration of an X-ray diagnostic apparatus according to the first embodiment. The X-ray diagnostic apparatus 1 of the first embodiment includes a console 10, a bed 20, and a scanner 30.

The scanner 30 has an X-ray source 34, an X-ray detector 36, a C-arm 33, a C-arm drive mechanism 32, etc. The C-arm 33 holds the X-ray source 34 at one end and the X-ray source 33 at the other end, with the X-ray source 34 and the X-ray detector 36 positioned facing each other with the subject at the center.

The C-arm 33 is supported by a C-arm drive mechanism 32. The C-arm drive mechanism 32 moves the X-ray source 34 and the X-ray detector 36 in an arc together along the arc direction of the C-arm 33 under the control of the console 10. Furthermore, the C-arm drive mechanism 32 rotates the C-arm 33 around the axis of rotation shown by the dashed line in FIG. 1 under the control of the console 10, so that the X-ray source 34 and the X-ray detector 36 can be rotated in an arc together around the subject.

When the midpoint of the line segment connecting the X-ray source 34 and the X-ray detector 36 is taken as the isocenter, the X-ray source 34 and the X-ray detector 36 can be rotated along a circular orbit on a plane of any inclination that passes through this isocenter, under control of the console 10.

The X-ray source 34 is equipped with an X-ray tube that receives a supply of high-voltage power and irradiates X-rays in the direction of the subject, an X-ray irradiation field aperture consisting of multiple lead blades, and a compensation filter made of silicone rubber or the like that attenuates a predetermined amount of irradiated X-rays to prevent halation.

The X-ray detector 36 includes a flat panel detector (FPD) and uses detection elements arranged on a two-dimensional plane to detect X-rays that have passed through the subject and convert them into electrical signals. Instead of an FPD, the X-ray detector 36 may include an image intensifier (I.I.) and a TV. The X-ray detector 36 further converts the analog electrical signal converted from the X-rays into a digital signal and outputs it to the console 10.

The bed 20 is composed of a top plate 22 on which the subject is placed, a top plate support unit 21 that supports the top plate, and a bed drive mechanism 23 that drives the top plate 22 horizontally and vertically in response to instructions from the console.

The console 10 controls the scanner 30 and the bed 20, and generates X-ray images (still images) and X-ray fluoroscopic images (live images) based on the signal output from the X-ray detector 36.

Figure 2 is a block diagram showing an example of a detailed configuration and an example of a functional configuration of the console 10 of the first embodiment. As shown in Figure 2, the console 10 has an operation panel 11, a memory circuit 12, a display 13, an external communication I/F 14, and a processing circuit 15.

The operation panel 11 is equipped with input devices for inputting various information and data, such as settings for various imaging conditions of the scanner 30 and specifications for driving the C-arm 33 and the bed 20. The operation panel 11 is equipped with input devices, such as a joystick, a trackball, switches, buttons, a mouse, a keyboard, a numeric keypad, and a touch panel, for inputting various information and data.

The display 13 is configured as a general display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) display, and displays images such as X-ray fluoroscopic images and X-ray images, as well as various types of information and data.

The external communication I/F 14 connects the X-ray diagnostic apparatus 1 to other devices according to various communication protocols. This connection can be made using various communication networks, such as a wireless/wired hospital LAN (Local Area Network) or the Internet, as well as a telephone communication line network, an optical fiber communication network, and a cable communication network.

The memory circuitry 12 includes a processor-readable recording medium, such as a magnetic or optical recording medium or a semiconductor memory. The memory circuitry 12 stores data related to images and various imaging conditions, as well as various software programs executed by the processor.

The processing circuit 15 is a circuit equipped with, for example, a CPU (Central Processing Unit) or a dedicated or general-purpose processor. The processor executes various programs stored in the memory circuit 12 to realize various functions described below. The processing circuit 15 may be configured with hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The various functions described below can also be realized by such hardware. The processing circuit 15 can also realize various functions by combining software processing by a processor and a program with hardware processing.

A processing circuit may also be configured by combining multiple independent processors, with each processor implementing each function. In addition, when multiple processors are provided, a storage medium for storing the programs may be provided separately for each processor, or a single storage medium may store all of the programs corresponding to the functions of all of the processors.

Next, the functions realized by the processing circuit 15 will be described. As shown in FIG. 2, the processing circuit 15 realizes each of the functions of a three-dimensional image generation function 101, a three-dimensional image acquisition function 102, a target position detection/designation function (three-dimensional image) 103, an imaging condition setting function (three-dimensional image) 104, an imaging condition setting function (perspective image) 105, a perspective image generation function 106, and an enlargement processing function 107. The enlargement processing function 107 includes each of the functions of a target position identification function (perspective image) 110, and a target shift/perspective image enlargement function 111.

Figure 3 is a flowchart showing an example of the operation of the X-ray diagnostic device 1 of the first embodiment. Each function shown in Figure 2 will be explained in more detail with reference to the flowchart in Figure 3.

First, in step ST10, a three-dimensional image of the subject is acquired. Specifically, a plurality of projection data pieces are collected while rotating the X-ray source 34 and the X-ray detector 36 around the subject using the C-arm 33, and a three-dimensional image of the subject's region of interest, for example, the subject's head, is acquired by reconstructing the data using a known technique such as the Feldkamp method.

Step ST10 is a process corresponding to the imaging condition setting function (three-dimensional image) 104, the three-dimensional image generation function 101, and the three-dimensional image acquisition function 102. The imaging conditions set by the imaging condition setting function (three-dimensional image) 104 include imaging conditions related to the size of the object to be imaged in the image, such as SID (Source Image Distance: the distance between the X-ray source 34 and the X-ray detector 36), the height position of the bed, the size of the FOV (Field Of View), the magnification ratio of the digital zoom, etc.

Next, in step ST11, a target is specified for the three-dimensional image. Then, in step ST12, the observation angle of the target is set based on the rotation operation of the three-dimensional image by the user. Furthermore, in step ST13, a projected image is generated by projecting the three-dimensional image from the observation angle direction.

Steps ST12 and ST13 are usually performed simultaneously in parallel. In other words, a user such as a doctor changes the projection angle of the projected image by performing a rotation operation on the three-dimensional image, identifies the angle most suitable for observing the target, and sets that angle as the observation angle.

The processing of step ST11 may be performed before steps ST12 and ST13, as shown in the flowchart of FIG. 3, or conversely, after steps ST12 and ST13.

In step ST11, a three-dimensional image is displayed on the display 13, and the position of the target can be manually specified based on a user's operation on the displayed three-dimensional image. For example, the position of the target can be manually specified by moving a pointer on the displayed three-dimensional image using an input device such as a mouse.

In addition, in step ST11, instead of such manual designation, the target position can be automatically designated by automatically detecting the target position through analysis processing such as target shape recognition. Step ST11 is processing corresponding to the target position detection/designation function (three-dimensional image) 103.

The target here refers to a site that is the subject of observation for examination or treatment, such as the site of an aneurysm in a cerebral blood vessel or a stenosis in a carotid artery. The target can also be the subject of catheter treatment, such as coiling or clipping performed on an affected area such as an aneurysm, or stent placement performed on a stenosis.

Figure 4 is a diagram explaining the concept of the processing from step ST10 to step ST13. The left diagram in Figure 4 illustrates a three-dimensional image of cerebral blood vessels as a three-dimensional image generated by reconstructing data collected by rotating the C-arm 33. The left diagram in Figure 4 also illustrates an example in which an aneurysm in a cerebral blood vessel is specified as a target (part indicated by a black circle in the right diagram in Figure 4). Furthermore, the left diagram in Figure 4 illustrates the direction of the observation angle set by the user with a thick arrow.

On the other hand, the right side of Figure 4 shows a projection image (projection image generated in step ST13) of the 3D image in the left side of Figure 4 projected from the direction of the set observation angle.

Returning to FIG. 3, in step ST14, X-ray fluoroscopy is started. Then, in step ST15, the C-arm 33 is controlled so that the fluoroscopy angle of X-ray fluoroscopy matches the observation angle set in step ST12. Then, a fluoroscopic image seen from the fluoroscopy angle set in this manner is generated. Steps ST14 and ST15 are processes corresponding to the shooting condition setting function (fluoroscopic image) 105 and the fluoroscopic image generation function 106.

Next, in step ST16, the target position in the fluoroscopic image is identified using a) the target position in the projection image obtained by projecting the three-dimensional image from the observation angle direction, b) the shooting conditions when the three-dimensional image was acquired, and c) the current X-ray fluoroscopic shooting conditions. Step ST16 is a process that corresponds to the target position identification function (fluoroscopic image) 110 of the enlargement processing function 107.

Fig. 5 is a diagram for explaining the concept of the process from step ST13 to step ST16. The left diagram of Fig. 5 is substantially the same as the right diagram of Fig. 4, and is a projected image obtained by projecting a three-dimensional image from the observation angle direction. In the left diagram of Fig. 5, the position of the specified target is indicated by a black circle, as in the right diagram of Fig. 4. Here, when the center of the projected image is the origin (0, 0), the position ( _xp , _yp ) of the target in the projected image is known, since it is a position specified by the user or a position automatically detected by this device.

The central figure in Figure 5 shows a fluoroscopic image (i.e., a live image) obtained when X-ray fluoroscopy is performed by moving the C-arm 33 in the observation angle direction set for the three-dimensional image. In other words, the fluoroscopic image obtained immediately after the processing of step ST15 corresponds to the central figure in Figure 5.

The right diagram in Fig. 5 shows the perspective image after the position of the target in the perspective image has been specified by the process of step ST16. In the right diagram in Fig. 5, when the center of the perspective image is taken as the origin (0, 0), the position ( _xf , _yf ) of the target specified in the perspective image is indicated by a black triangle.

In the first embodiment, the projection direction in the projected image and the perspective direction in the perspective image match. In addition, the imaging conditions related to the size of the object to be photographed when the 3D image is acquired (SID, position of the bed, size of the FOV, magnification rate of the digital zoom, etc.) and the imaging conditions related to the size of the object to be photographed when the current perspective image (live image) is acquired (SID, position of the bed, size of the FOV, magnification rate of the digital zoom, etc.) are both known.

Therefore, as described above, by converting a) the target position ( _xp , _yp ) in the projection image obtained by projecting the three-dimensional image from the observation angle direction using b) the shooting conditions when the three-dimensional image was acquired, and c) the current X-ray fluoroscopy shooting conditions, it is possible to calculate the target position ( _xf , _yf ) in the fluoroscopy image.

Returning to FIG. 3, in step ST17, the perspective image is enlarged so that the target is positioned at the center of the perspective image. Step ST17 is processing that corresponds to the target shift/perspective image enlargement function 111 of the enlargement processing function 107.

Figure 6 is a diagram explaining the concept of the processing of step ST17. The left diagram in Figure 6 shows the fluoroscopic image before enlargement, and the right diagram in Figure 6 shows the fluoroscopic image after enlargement.

The square outer frame in the left diagram of Fig. 6 indicates the FOV, and the thick inner frame in the positive direction in the left diagram of Fig. 6 indicates a partial image centered on the target position before enlargement. The target position ( _xf , _yf ) in the perspective image has already been specified in step ST16. Therefore, by translating the partial image before enlargement by the coordinates ( _xf , _yf ), the target position can be positioned at the center of the perspective image. At the same time, by enlarging the partial image centered on the target position around the target position, the target position can also be positioned at the center in the perspective image after enlargement.

According to the X-ray diagnostic apparatus 1 according to the first embodiment described above, even if the target is shifted from the center in the fluoroscopic image before magnification, magnification processing can be performed so that the target is located at the center in the fluoroscopic image after magnification.

Second Embodiment
7 is a flowchart showing an example of the operation of the X-ray diagnostic apparatus 1 according to the second embodiment. In step ST20, similar to step ST10 in the first embodiment, a three-dimensional image is reconstructed from data collected by rotating the C-arm 33 around the subject.

In the next step ST21, similar to step ST11 in the first embodiment, the position of the target is specified in the reconstructed 3D image based on manual operation by the user or based on automatic detection of the target.

Step ST22 is a process specific to the second embodiment, and is not performed in the first embodiment. In step ST22, the absolute position of the target is calculated as three-dimensional coordinates ( _xt , _yt , _zt) from the target position specified in step ST21 and the imaging conditions when the three-dimensional image is acquired. The absolute position of the target may be, for example, the target position expressed in the room coordinate system of the examination room, or the target position expressed in the device coordinate system based on a specific position of a predetermined part of this device (X-ray diagnostic device 1).

Next, in step ST23, a projection image is generated by projecting the three-dimensional image from the observation angle direction set for the three-dimensional image. Note that in the second embodiment, the processing of step ST23 can be omitted.

In step ST24, X-ray fluoroscopy is started. Then, in step ST25, the user adjusts the fluoroscopy angle of X-ray fluoroscopy by moving the C-arm 33 while monitoring the fluoroscopic image, and sets the C-arm 33 to the desired observation angle. Note that, unlike the first embodiment, the observation angle set for the C-arm 33 in step ST25 and the observation angle set for the three-dimensional image in step ST23 do not necessarily have to match.

Next, in step ST26, the target position relative to the center in the fluoroscopic image is calculated and specified using the absolute target position and the current X-ray fluoroscopic imaging conditions. The specified target position in the fluoroscopic image is expressed as two-dimensional coordinates ( _xf , _yf ) with the center of the fluoroscopic image as the origin (0, 0), as shown in the right diagram of Fig. 5 and the left diagram of Fig. 6 in the first embodiment.

Step ST27 is the same as step ST17 in the first embodiment, and enlarges the perspective image so that the target is positioned at the center of the perspective image, as shown in Figure 6.

As in the first embodiment, the X-ray diagnostic apparatus 1 according to the second embodiment can perform enlargement processing so that the target is located at the center in the enlarged fluoroscopic image even if the target is shifted from the center in the fluoroscopic image before enlargement. In addition, in the second embodiment, the target coordinates in the fluoroscopic image are calculated using the absolute position of the target expressed in three-dimensional coordinates. Therefore, although the calculation processing is slightly more complicated than in the first embodiment, it is not necessary to match the observation angle set for the C-arm 33 after the start of X-ray fluoroscopy with the observation angle set for the three-dimensional image.

Third Embodiment
8 is a flowchart showing an example of the operation of the X-ray diagnostic apparatus 1 according to the third embodiment. In the third embodiment, the operation of the X-ray diagnostic apparatus 1 after the fluoroscopic image is enlarged so that the target is located at the center of the fluoroscopic image according to the first or second embodiment described above is specified.

Steps ST30 to ST37 in FIG. 8 are the same as steps ST10 to ST17 in the first embodiment. In step ST38, after the processing of step ST37, it is determined whether or not at least one of the C-arm 33 and the top plate 22 of the bed 20 has moved. If no movement has occurred, the presence or absence of movement is continuously monitored.

On the other hand, if it is determined that at least one of the C-arm 33 and the top plate 22 of the bed 20 has moved, the amount of movement is calculated in step ST39. When at least one of the C-arm 33 and the top plate 22 of the bed 20 has moved, the FOV and partial image in the left diagram of FIG. 6 move relative to the position of the target. Therefore, if the position of the partial image cut out from the FOV in the left diagram of FIG. 6 is moved so that the calculated amount of movement is offset, the fluoroscopic image can be enlarged with the target always located at the center.

In this way, according to the X-ray diagnostic device 1 of the third embodiment, even if at least one of the C-arm 33 and the top plate 22 of the bed 20 moves, the enlargement process can be performed to follow these movements so that the target is always located at the center of the enlarged fluoroscopic image.

If the target position falls outside the FOV due to movement of at least one of the C-arm 33 and the top plate 22 of the bed 20, the target position will also fall outside the FOV in the enlarged fluoroscopic image. In such a case, the enlargement process is stopped.

Fourth Embodiment
9 is a block diagram showing a detailed configuration example and a functional configuration example of the console 10 of the fourth embodiment. The hardware configuration of the console 10 of the X-ray diagnostic apparatus 1 of the fourth embodiment includes an operation panel 11, a storage circuitry 12, a display 13, an external communication I/F 14, and a processing circuitry 15, similarly to the first embodiment (similar to the second and third embodiments).

On the other hand, the functions realized by the processing circuitry 15 of the fourth embodiment are slightly different from those of the first embodiment. As shown in FIG. 9, the processing circuitry 15 has a three-dimensional image acquisition function 200 and a registration function 201. The other functions shown in FIG. 9, namely, the target position detection/designation function (three-dimensional image) 103, the shooting condition setting function (fluoroscopic image) 105, the fluoroscopic image generation function 106, and the enlargement processing function 107, are the same as those of the first to third embodiments.

Figure 10 is a flowchart showing an example of the operation of the X-ray diagnostic apparatus 1 of the fourth embodiment. In the first to third embodiments, a target is specified for a three-dimensional image generated by this apparatus (X-ray diagnostic apparatus 1). In contrast, in the X-ray diagnostic apparatus 1 of the fourth embodiment, a three-dimensional image of the same subject collected by a medical imaging apparatus other than this apparatus, for example, an X-ray CT apparatus, an MRI apparatus, or an ultrasound imaging diagnostic apparatus, is acquired in step ST40. Step ST40 is a process corresponding to the three-dimensional image acquisition function 200.

Next, in step ST41, X-ray fluoroscopy is started. Then, in step ST42, a registration process, i.e., alignment processing, is performed between the fluoroscopic image generated by X-ray fluoroscopy and the three-dimensional image acquired in step ST40. In step ST40, 2D-3D registration may be performed between a two-dimensional fluoroscopic image viewed from a desired direction and a three-dimensional image. Alternatively, in step ST40, a three-dimensional fluoroscopic image may be reconstructed from multiple fluoroscopic images viewed from multiple directions, and 3D-3D registration may be performed between this three-dimensional fluoroscopic image and the three-dimensional image acquired in step ST40.

The registration performed in step ST40 provides registration information, i.e., alignment information, between the 3D image acquired from an external source and the fluoroscopic image captured by this device.

Next, in step ST43, the position of the target is specified with respect to the three-dimensional image. Then, in step ST44, the absolute position of the target is calculated as three-dimensional coordinates ( _xt , _yt , _zt ) from the specified target position and the registration information. The absolute position of the target may be, for example, the target position expressed in the room coordinate system of the examination room as in the second embodiment, or the target position expressed in the device coordinate system of this device (X-ray diagnostic device 1).

The processing of steps ST45 to ST46 is the same as the processing of steps ST25 to ST27 in the second embodiment (FIG. 7). Specifically, in step ST45, the user adjusts the fluoroscopy angle of the X-ray fluoroscopy by moving the C-arm 33 while monitoring the fluoroscopy image, and sets the C-arm 33 to the desired observation angle. In step ST46, the target position relative to the center of the fluoroscopy image is calculated and specified using the absolute position of the target calculated in step ST44 and the current X-ray fluoroscopy shooting conditions. Then, in step ST47, the fluoroscopy image is enlarged so that the target is positioned at the center of the fluoroscopy image.

As described above, according to the fourth embodiment of the X-ray diagnostic device 1, it is possible to perform enlargement processing so that the target is positioned at the center of the fluoroscopic image by using a three-dimensional image acquired by a medical imaging device other than this device, such as an X-ray CT device.

As described above, the X-ray diagnostic apparatus of each embodiment can always set the center of the observation subject to the center of the image, even when the X-ray fluoroscopic image taken during the procedure is enlarged in real time.

The three-dimensional image acquisition function, target position detection/designation function (three-dimensional image), fluoroscopic image generation function, enlargement processing function, and registration function in the description of each embodiment are examples of the three-dimensional image acquisition section, target designation section, fluoroscopic image generation section, enlargement processing section, and alignment section in the description of the claims, respectively. The target position detection/designation function (three-dimensional image) and shooting condition setting function (fluoroscopic image) in the description of each embodiment are examples of the observation angle setting section and arm control section in the description of the claims, respectively. The term "fluoroscopic image" or a term combined with "fluoroscopic image" in the description and drawings of each embodiment is an example of the term "X-ray image" or a term combined with "X-ray image" in the description of the claims.

Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are within the scope of the invention and its equivalents as set forth in the claims, as well as the scope and gist of the invention.

REFERENCE SIGNS LIST 1 X-ray diagnostic apparatus 10 Console 13 Display 15 Processing circuit 20 Bed 33 C-arm 34 X-ray source 36 X-ray detector 101 Three-dimensional image generating function 102 Three-dimensional image acquiring function 103 Target position detection/designation function (three-dimensional image)
104 Shooting condition setting function (3D image)
105 Shooting condition setting function (fluoroscopic image)
106 Fluoroscopic image generation function 107 Enlargement processing function 200 Three-dimensional image acquisition function 201 Registration function

Claims (11)

an arm supporting an X-ray source and an X-ray detector;
a three-dimensional image acquisition unit for acquiring a three-dimensional image of a subject;
a target designation unit that designates a position of a target to be observed in the three-dimensional image;
an X-ray image generating unit that sequentially generates X-ray images by X-ray imaging using the X-ray source and the X-ray detector;
an enlargement processing unit that performs at least three steps of: a step of identifying the position of the target relative to the center of the X-ray image before magnification displayed on a display using position information of the target in the three-dimensional image ; a step of performing a translation process to translate the target within a display area of the display so that the target is located at the center of the X-ray image before magnification ; and a step of performing a enlargement process of the X-ray image centered on the position of the target so that the target is located at the center of the X-ray image after the translation process. The X-ray diagnostic apparatus according to claim 1, wherein the target designation unit manually designates the position of the target based on a user's operation on the three-dimensional image, or automatically designates the position based on an analysis process on the three-dimensional image. The X-ray diagnostic device according to claim 1 or 2, wherein the three-dimensional image is generated by reconstructing data collected by rotating the X-ray source and the X-ray detector around the subject using the arm. an observation angle setting unit that sets an observation angle of the target based on a rotation operation of the three-dimensional image by a user, and generates a projected image by projecting the three-dimensional image from the observation angle direction;
an arm control unit that controls the arm so that a fluoroscopy angle of X-ray fluoroscopy using the X-ray source and the X-ray detector matches the observation angle,
The X-ray diagnostic apparatus according to claim 1 , wherein the target designation unit designates a position of the target with respect to a projected image of the three-dimensional image. The X-ray diagnostic device according to claim 4, wherein the enlargement processing unit performs enlargement processing so that the target is positioned at the center of the enlarged X-ray image by identifying the position of the target relative to the center of the X-ray image using the center position in the projection image and the position of the target, the imaging conditions when the three-dimensional image was acquired, and the imaging conditions when the X-ray image was acquired. The X-ray diagnostic apparatus according to claim 5, wherein the imaging conditions include at least one of the distance between the X-ray source and the X-ray detector, the height of the bed, the size of the FOV, and the magnification ratio of the digital zoom. the target designation unit calculates the position of the target as three-dimensional coordinates based on the position of the target in the three-dimensional image and on imaging conditions when the three-dimensional image was acquired;
4. The X-ray diagnostic apparatus according to claim 1, wherein the enlargement processing unit performs enlargement processing so that the target is positioned at the center of the enlarged X-ray image by identifying the position of the target relative to the center of the X-ray image using the calculated position of the target on the three-dimensional coordinates and the shooting conditions when the X-ray image is acquired. The X-ray diagnostic apparatus according to claim 7, wherein the imaging conditions include at least one of the distance between the X-ray source and the X-ray detector, the height of the bed, the size of the FOV, and the magnification ratio of the digital zoom. The X-ray diagnostic device according to claim 1, wherein the enlargement processing unit performs enlargement processing when at least one of the arm and the bed moves, so that the target is positioned at the center of the enlarged X-ray image by following the movement of at least one of the arm and the bed. The X-ray diagnostic device according to claim 9, wherein the enlargement processing unit stops the enlargement process when the position of the target falls outside the range of the enlarged X-ray image. The three-dimensional image is a three-dimensional image acquired by an imaging device other than the present device,
A positioning unit that aligns a three-dimensional image acquired by the other imaging device with a two-dimensional image or a three-dimensional image captured by the present device,
2. The X-ray diagnostic apparatus according to claim 1, wherein the enlargement processing unit performs enlargement processing using a target position specified for the three-dimensional image and alignment information obtained by the alignment so that the target is positioned at the center of the enlarged X-ray image.

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