WO2020240653A1 - Dispositif d'imagerie par rayons x et procédé pour éviter un contact avec un obstacle pour un dispositif d'imagerie à rayons x - Google Patents

Dispositif d'imagerie par rayons x et procédé pour éviter un contact avec un obstacle pour un dispositif d'imagerie à rayons x Download PDF

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WO2020240653A1
WO2020240653A1 PCT/JP2019/020873 JP2019020873W WO2020240653A1 WO 2020240653 A1 WO2020240653 A1 WO 2020240653A1 JP 2019020873 W JP2019020873 W JP 2019020873W WO 2020240653 A1 WO2020240653 A1 WO 2020240653A1
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ray imaging
main body
imaging apparatus
apparatus main
image
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PCT/JP2019/020873
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English (en)
Japanese (ja)
Inventor
和俊 谷
真二 ▲浜▼▲崎▼
淳平 坂口
健 代田
皓史 奥村
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株式会社島津製作所
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Priority to JP2021521585A priority Critical patent/JP7173321B2/ja
Priority to PCT/JP2019/020873 priority patent/WO2020240653A1/fr
Publication of WO2020240653A1 publication Critical patent/WO2020240653A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/10—Safety means specially adapted therefor

Definitions

  • the present invention relates to an X-ray imaging apparatus and a method for avoiding obstacle contact of the X-ray imaging apparatus.
  • An obstacle contact avoiding method for an X-ray imaging device and an X-ray imaging device has been known.
  • An obstacle contact avoidance method for an X-ray imaging apparatus and an X-ray imaging apparatus is disclosed in, for example, Japanese Patent Application Laid-Open No. 2012-205681.
  • the above-mentioned Japanese Patent Application Laid-Open No. 2012-205681 discloses an X-ray imaging apparatus including a holding device movably installed on a ceiling portion of a room.
  • the holding device holds an X-ray tube or the like that irradiates X-rays.
  • the X-ray imaging apparatus calculates a movement route for moving the holding apparatus according to a predetermined condition. Then, the holding device is automatically moved along the calculated movement route.
  • the X-ray imaging apparatus of JP2012-205681A is provided with a camera used for photographing the room. Further, the X-ray imaging apparatus is provided with an obstacle position calculation unit that calculates the position of an obstacle in the room based on the information captured by the camera. Further, the main CPU of the X-ray imaging device suppresses (stops or decelerates) the movement of the holding device when the distance between the obstacle on the moving route of the holding device and the holding device becomes less than the set distance. Take control.
  • a method for calculating the position of an obstacle in a conventional X-ray imaging apparatus as disclosed in Japanese Patent Application Laid-Open No. 2012-205681 One method is to calculate the vertical distance from the camera to an obstacle based on the parallax image taken by the camera. In this method, the height of the obstacle is calculated based on the calculated vertical distance. Then, an obstacle having a height equal to or higher than the height of the X-ray tube or the like is determined as an obstacle that may come into contact with the X-ray tube or the like. Then, the movement of the holding device is controlled so that the X-ray tube or the like does not come into contact with the obstacle.
  • the main body of the X-ray imaging apparatus such as an X-ray tube may be photographed.
  • the present invention has been made to solve the above-mentioned problems, and one object of the present invention is to use an obstacle and an X-ray imaging apparatus main body even when an obstacle is detected based on a differential image. It is an object of the present invention to provide an obstacle contact avoiding method of an X-ray photographing apparatus and an X-ray photographing apparatus capable of appropriately controlling the movement of the X-ray photographing apparatus main body so that
  • the X-ray apparatus has the X-ray apparatus main body configured to be movable at least in the horizontal direction and the same region around the X-ray apparatus main body.
  • the imaging unit that acquires visible images as a plurality of two-dimensional images in the above and the differential image as a three-dimensional image generated from the plurality of visible images acquired by the imaging unit.
  • the X-ray imaging apparatus main body and X-ray An image processing unit that identifies an object to be detected including an obstacle around the main body of the radiographing device and a control unit that controls to avoid contact between the main body of the X-ray radiographing device and the obstacle are provided.
  • the processing unit is based on the learning result of machine learning that identifies the X-ray machine main body based on a plurality of visible images for teachers as two-dimensional images including the image of the X-ray machine main body as the teacher data given in advance.
  • the X-ray imaging apparatus main body identified in the above is identified in at least one of a plurality of visible images acquired by the imaging unit, the X-ray imaging apparatus main body in the visible image identified based on the learning result.
  • the X-ray imaging device main body and the obstacle are discriminated in the object to be detected, and the horizontal distance between the discriminated X-ray imaging device main body and the obstacle is calculated.
  • the unit is configured to perform control for avoiding contact between the X-ray imaging apparatus main body and an obstacle based on the horizontal distance calculated by the image processing unit.
  • the method of avoiding obstacle contact of the X-ray apparatus in the second aspect is a plurality of teachers as a two-dimensional image including an image of the X-ray apparatus main body as the teacher data given in advance.
  • the step of identifying the detected object and the X-ray apparatus main body identified based on the learning result of machine learning are identified in at least one of the plurality of acquired visible images.
  • a step of calculating the horizontal distance and a step of performing control for avoiding contact between the main body of the X-ray imaging apparatus and an obstacle based on the calculated horizontal distance are provided.
  • the X-ray imaging device main body is specified based on a plurality of visible images for teachers as two-dimensional images including an image of the X-ray imaging device main body as teacher data given in advance.
  • the X-ray machine body and the X-ray machine body in the object to be detected identified based on the differential image based on the image of the X-ray machine body in the visible image identified based on the learning result of machine learning. It is identified as an obstacle.
  • the X-ray imaging apparatus main body and the obstacle can be easily discriminated in the object to be detected based on the parallax image, so that even when the obstacle is detected based on the parallax image, the obstacle and the obstacle can be easily distinguished.
  • the movement of the X-ray imaging apparatus main body can be appropriately controlled so as not to come into contact with the X-ray imaging apparatus main body.
  • the X-ray imaging apparatus 100 includes an X-ray imaging apparatus main body 100a configured to be movable in the horizontal direction.
  • the X-ray imaging apparatus main body 100a is provided in the room 200. Further, the X-ray imaging apparatus main body 100a is provided so as to be suspended from the ceiling surface 201 of the room 200.
  • a rail 202 extending in the X direction is attached to the ceiling surface 201 of the room 200.
  • a rail 203 extending in the Y direction is attached to the lower portion of the rail 202 via a roller or the like.
  • the rail 203 is configured to be movable in the X direction along the rail 202.
  • the X-ray imaging apparatus main body 100a is attached to the rail 203 via a roller or the like.
  • the X-ray imaging apparatus main body 100a is configured to be movable in the Y direction along the rail 203. Therefore, the rail 202 and the rail 203 make the X-ray imaging apparatus main body 100a movable in the horizontal direction (in the XY plane).
  • the X and Y directions are orthogonal to each other.
  • the X-ray imaging apparatus main body 100a includes an X-ray generator 10 including an X-ray tube 11 that irradiates X-rays.
  • the X-ray generating unit 10 includes a collimator 12 provided in the lower part of the X-ray tube 11. Further, the X-ray generating unit 10 is provided with an operation panel 13 for manually moving the X-ray tube 11 and the collimator 12.
  • the X-ray generating unit 10 (X-ray tube 11, collimator 12, and operation panel 13) is configured to be rotatable around an axis along the horizontal direction and an axis along the vertical direction as rotation axes.
  • the X-ray irradiation direction by the X-ray generating unit 10 can be changed, so that it is possible to correspond to each of the case where the imaging method is the standing position and the case where the imaging method is the lying position.
  • the X-ray imaging apparatus main body 100a includes a holding unit 20 that holds the X-ray generating unit 10.
  • the holding unit 20 is provided with a connecting unit 21 connected to the X-ray generating unit 10.
  • the holding portion 20 is provided with a strut portion 22 connected to the connecting portion 21.
  • the strut portion 22 is provided so as to extend in the vertical direction (Z direction).
  • the support column portion 22 is configured so that the X-ray generating portion 10 of the X-ray photographing apparatus main body 100a can be moved in the vertical direction.
  • the lower end 100b (X-ray generating portion 10) of the X-ray photographing apparatus main body 100a is moved in the vertical direction as the support column portion 22 expands and contracts.
  • the strut portion 22 is an example of a “vertical moving portion” within the scope of the claims.
  • the lower end 100b (X-ray generating portion 10) is configured to be movable to an arbitrary position in the horizontal direction and the vertical direction (that is, in the three-dimensional space) by the support column portion 22, the rail 202, and the rail 203. There is.
  • the holding portion 20 is provided with a housing portion 23 attached to the rail 203 of the ceiling surface 201.
  • the strut portion 22 is provided at the lower part of the housing portion 23.
  • the X-ray imaging apparatus main body 100a includes a cable 24 for supplying a current to the X-ray generating unit 10 (X-ray tube 11).
  • the X-ray photographing apparatus 100 includes a stereo camera 30.
  • the stereo camera 30 is attached to the side surface 23a of the housing portion 23.
  • the stereo camera 30 is configured to (simultaneously) acquire a plurality of (two) visible images 31 in the same region around (lower) the X-ray imaging apparatus main body 100a.
  • the stereo camera 30 is an example of the "imaging unit" in the claims.
  • control board 40 is attached to the side surface 23a.
  • the stereo camera 30 is integrally attached to the control board 40.
  • the control board 40 may be provided inside the housing portion 23.
  • the X-ray imaging apparatus 100 includes a control controller 300 that controls the X-ray imaging apparatus main body 100a.
  • the control controller 300 is provided with an emergency stop button 301, a shooting program button 302, four auto-positioning buttons 303, an emergency stop release button 304, a position registration button 305, and a drive status display LED 306. There is.
  • the emergency stop button 301 When the emergency stop button 301 is pressed during the automatic operation of the X-ray imaging apparatus main body 100a, the operation of the X-ray imaging apparatus main body 100a is urgently stopped. Further, by pressing the photographing program button 302, the photographing program of the X-ray photographing apparatus main body 100a is changed. Further, when the auto-positioning button 303 is pressed, the X-ray imaging apparatus main body 100a is automatically moved to a position registered in advance corresponding to each auto-positioning button 303.
  • the emergency stop release button 304 by pressing the emergency stop release button 304, the movement of the X-ray imaging apparatus main body 100a that has been emergency stopped is restarted. Further, when the position registration button 305 is pressed at a predetermined position, the predetermined position is registered as a position where the X-ray imaging apparatus main body 100a is automatically moved when the auto-positioning button 303 is pressed. To. Further, the drive status display LED 306 changes, for example, the blinking pattern of the LED and the color of the LED based on the drive status (for example, during an emergency stop) of the X-ray imaging apparatus main body 100a.
  • the X-ray imaging apparatus main body 100a is controlled by the control unit 42 described later of the control board 40 according to the transmission signal transmitted from the control controller 300 to the X-ray imaging apparatus main body 100a.
  • the control board 40 includes an image processing unit 41 and a control unit 42.
  • the image processing unit 41 acquires image data of a plurality of (two) visible images 31 (see FIG. 7A) captured by the stereo camera 30 from the stereo camera 30.
  • the image processing unit 41 includes a CPU 41a and an image processing circuit 41b.
  • the image processing circuit 41b is composed of an FPGA (Field-Programmable Gate Array).
  • the control unit 42 includes the CPU 42a. Both the CPU 41a and the image processing circuit 41b may be configured as one FPGA.
  • step S1 machine learning for identifying the X-ray imaging apparatus main body 100a is executed in the visible image 31 (see FIG. 7) acquired by the stereo camera 30.
  • This machine learning is performed based on a plurality of visible images for teachers 30a (see FIG. 6) given in advance.
  • the teacher visible image 30a is a two-dimensional image including an image of the X-ray imaging apparatus main body 100a as teacher data.
  • a plurality of (for example, tens of thousands) visible images for teachers 30a having different positions and orientations of the X-ray imaging apparatus main body 100a (for example, the X-ray generating unit 10) are provided. , Is imaged by the stereo camera 30.
  • the plurality of visible images for teachers 30a are given as teacher data, so that the X-ray imaging apparatus 100 learns the shape of the X-ray imaging apparatus main body 100a.
  • deep learning AI
  • the machine learning in step S1 is performed in advance prior to the use of the X-ray imaging apparatus 100 in the medical field (steps S2 to S8).
  • step S2 the visible image 31 and the parallax image 32 are acquired. Specifically, a plurality of (two) visible images 31 (see FIG. 7A) are captured by the stereo camera 30, and an image processing unit 41 (image processing circuit 41b) is imaged based on the two visible images 31. ) Generates a disparity image 32 (see FIG. 7B) as an image for obtaining a three-dimensional depth (distance distance D1 from the stereo camera 30 (see FIG. 8)).
  • a person 401, a person 402, an instrument 403, and a part of the X-ray imaging apparatus main body 100a (X-ray generating unit 10) are displayed as the object to be detected P displayed on the parallax image 32.
  • a bed, a stand for standing photography, a tsuit for X-ray protection, a shelf, a display device, and the like can be considered.
  • the imaging of the visible image 31 and the generation of the parallax image 32 are performed every about 30 fps.
  • "fps" represents a frame rate.
  • step S3 the height H1 (see FIG. 8) of the object to be detected P is calculated by the image processing unit 41 (CPU 41a) based on the parallax image 32.
  • the object to be detected P is color-coded according to the distance D1 (see FIG. 8) from the stereo camera 30 (in FIG. 7B, it is shown by diagonal lines in the parallax image 32).
  • the object to be detected P having a height H1 (see FIG. 8) equal to or higher than the height H2 (see FIG. 8) of the X-ray imaging apparatus main body 100a is the image processing unit 41 (image processing circuit 41b).
  • the height H2 of the X-ray imaging apparatus main body 100a means the height of the lower end 100b (see FIG. 8) of the X-ray imaging apparatus main body 100a from the floor surface 204 (see FIG. 8).
  • the height H2 of the X-ray imaging apparatus main body 100a changes (moves).
  • binarization processing is performed by the image processing unit 41 (image processing circuit 41b) based on the parallax image 32. That is, the image processing unit 41 (image processing circuit 41b) has a height H1 (see FIG. 8) calculated by the image processing unit 41 based on the parallax image 32 among the objects to be detected P displayed on the parallax image 32.
  • the object to be detected P having a height H2 (see FIG. 8) or more of the X-ray imaging apparatus main body 100a and the object to be detected P having a height H1 smaller than the height H2 are distinguished. As shown in FIG.
  • the binarized image 33 displayed by painting is generated by the image processing unit 41 (image processing circuit 41b).
  • the person 401, the person 402, and the instrument 403 are extracted as the object to be detected P having a height H1 equal to or higher than the height H2 of the X-ray apparatus main body 100a.
  • the X-ray imaging apparatus main body 100a itself is also extracted as the object to be detected P having a height H1 equal to or higher than the height H2 of the X-ray imaging apparatus main body 100a.
  • the height H3 of the stereo camera 30 means the height of the stereo camera 30 from the floor surface 204. Further, the information on the height H3 of the stereo camera 30 is owned by the X-ray imaging apparatus 100 in advance.
  • the information on the height H4 of the X-ray generating unit 10 itself is owned by the X-ray photographing apparatus 100 in advance.
  • the image processing unit 41 (image processing circuit 41b) has a plurality of visible images acquired by the stereo camera 30 of the X-ray imaging apparatus main body 100a specified based on the learning result of machine learning.
  • the X-ray apparatus main body 100a and the obstacle in the object P to be detected are based on the image of the X-ray apparatus main body 100a in the visible image 31 identified based on the learning result. It is configured to discriminate from 400.
  • the image processing unit 41 identifies the region R1 in which the X-ray imaging apparatus main body 100a is photographed in the visible image 31 acquired by the stereo camera 30, and also displays the parallax image 32. Based on this, among the regions R in which the object to be detected P is photographed, the regions R other than the region R1a corresponding to the region R1 are configured to be identified as the region R2 in which the obstacle 400 is photographed.
  • the region R1 and the region R2 are examples of the "first region” and the "second region” of the claims, respectively.
  • step S5 the image processing unit 41 (image processing circuit 41b) determines the learning result of machine learning in at least one of the plurality of visible images 31. Based on this, the X-ray imaging apparatus main body 100a is identified by the image processing unit 41 (image processing circuit 41b).
  • FIG. 7D a plurality of extraction unit regions R10 (hatched portions) are shown so as to include the region R1 in which the X-ray imaging apparatus main body 100a exists in the visible image 31.
  • the extraction unit area R10 is the smallest unit area used when the image processing unit 41 (image processing circuit 41b) performs image recognition.
  • step S6 the region R1a in the binarized image 33 corresponding to the region R1 in which the X-ray imaging apparatus main body 100a is identified in the visible image 31 is removed from the region R in the binarized image 33.
  • a digitized image 34 (see FIG. 7E) is generated by the image processing unit 41 (image processing circuit 41b). That is, by discriminating between the X-ray imaging apparatus main body 100a and the obstacle 410 (around the X-ray imaging apparatus main body 100a), the obstacle 400 (person) with respect to the X-ray imaging apparatus main body 100a in the binarized image 34. Only 401, person 402, and instrument 403) have been extracted. As a result, as shown in FIG. 7 (F), the image processing unit 41 (image processing circuit 41b) identifies each of the person 401, the person 402, and the instrument 403 as an obstacle 410.
  • the image processing unit 41 (CPU 41a) is adjacent to the region R1 identified in the visible image 31 based on the parallax image 32, and is smaller than the extraction unit region R10 based on the learning result.
  • the region R excluding P is configured to be identified as the region R3. Further, among the regions R in which the object to be detected P is photographed, the regions R other than the regions R corresponding to the regions R1 and R3 are configured to be identified as the region R2 in which the obstacle 410 is photographed. There is.
  • the region R3 is an example of the "third region".
  • the extraction unit region R10 when the extraction unit region R10 is relatively large, a portion R1b that is not identified as the region R1 may occur.
  • the binarized image 33 in the binarized image 34a in which the region R1 is removed from the binarized image 33 (see FIG. 7C), the binarized image 33 (see FIG. 7C).
  • a region R3 smaller than the extraction unit region R10 is extracted at a position corresponding to the region R1. Since the region R3 is a portion where the X-ray imaging apparatus main body 100a cannot be identified in the visible image 31, the image processing unit 41 (CPU 41a) interferes with the region R1 and the region R other than the region R corresponding to the region R3.
  • the object 410 is identified as the area R2 in which the image is taken. That is, the image processing unit 41 (CPU 41a) removes the region R3 from the binarized image 34a to generate the binarized image 33 (see FIG. 7C).
  • step S7 the distance L (see FIG. 7 (F)) between the X-ray imaging apparatus main body 100a determined in step S6 and the obstacle 410 (around the X-ray imaging apparatus main body 100a) is an image. It is calculated by the processing unit 41 (image processing circuit 41b).
  • FIG. 7 (F) the horizontal distance La between the person 401 and the X-ray imaging apparatus main body 100a, the horizontal distance Lb between the person 402 and the X-ray imaging apparatus main body 100a, the instrument 403 and the X-ray.
  • the horizontal distance Lc from the photographing apparatus main body 100a is shown.
  • the object to be detected P (X-ray imaging apparatus main body 100a and obstacle 400) is extracted as having a height H1 equal to or higher than the height H2 of the X-ray imaging apparatus main body 100a. .. That is, the image processing unit 41 (image processing circuit 41b) calculates the distance L (see FIG. 7 (F)) when the height of the obstacle 410 is equal to or higher than the height of the X-ray imaging apparatus main body 100a. It is configured in.
  • the distance L is an example of the "horizontal distance" in the claims.
  • the distance L is calculated based on the position of the X-ray imaging apparatus main body 100a identified based on the learning result of machine learning. Specifically, the position (coordinates) of the X-ray apparatus main body 100a identified based on the learning result of machine learning on the image and the position (coordinates) of the obstacle 410 identified by the above control on the image ( The distance L is calculated by calculating the difference from the coordinates) by the image processing unit 41 (CPU 41a).
  • the image processing unit 41 (CPU 41a) is configured to calculate the shortest distance between the X-ray imaging apparatus main body 100a and the obstacle 410.
  • control unit 42 (CPU 42a) has the X-ray imaging apparatus main body 100a and the obstacle 410 based on the distance L (La, Lb and Lc) calculated by the image processing unit 41 (CPU 41a). It is configured to perform control to avoid contact with. Specific explanations will be given in the following steps S8 and S9.
  • step S8 the control unit 42 (CPU 42a) determines whether or not the distance L (La, Lb, and Lc) calculated by the image processing unit 41 (CPU 41a) is equal to or less than a predetermined value. Is determined by. If the distance L (La, Lb and Lc) is equal to or less than a predetermined value, the process proceeds to step S9, and each of the distance L1 (L1a, L1b and L1c) and the distance L2 (L2a) has a predetermined value. If it is larger than, the process returns to step S2. A plurality of values may be set as the predetermined value.
  • the control unit 42 performs X-ray imaging when the horizontal distance L between the X-ray imaging apparatus main body 100a and the obstacle 410 (510) is equal to or less than a predetermined value. It is configured to decelerate or stop the device body 100a. For example, the control unit 42 (CPU 42a) decelerates the X-ray imaging apparatus main body 100a when the distance L is 40 cm or less, and stops the X-ray imaging apparatus main body 100a when the distance L is 20 cm or less. .. Further, the control unit 42 (CPU 42a) may perform control to generate an alarm when the distance L is equal to or less than a predetermined value.
  • step S9 the process returns to step S2.
  • steps S2 to S9 are performed when the X-ray imaging apparatus main body 100a is automatically moving (or when the X-ray generating unit 10 is automatically rotating). Further, since the visible image 31 (parallax image 32) is acquired (generated) (step S2) in a relatively short time of 30 fps, the patient suddenly gets up when the obstacle 410 moves (for example, in tomography). In the case of), it is possible to suppress the contact between the obstacle 410 and the X-ray imaging apparatus main body 100a. Further, the X-ray imaging apparatus main body 100a can be moved at a relatively high speed.
  • the image processing unit 41 (CPU 41a) is adjacent to the region R1 identified in the visible image 31 based on the parallax image 32, and is smaller than the extraction unit region R10 based on the learning result.
  • the region R excluding P is configured to be identified as the region R3. Further, among the regions R in which the object to be detected P is photographed, the regions R other than the regions R corresponding to the regions R1 and R3 are configured to be identified as the region R2 in which the obstacle 410 is photographed. There is.
  • the region R3 is an example of the "third region".
  • the extraction unit region R10 when the extraction unit region R10 is relatively large, a portion R1b that is not identified as the region R1 may occur.
  • the binarized image 33 in the binarized image 34a in which the region R1 is removed from the binarized image 33 (see FIG. 7C), the binarized image 33 (see FIG. 7C).
  • a region R3 smaller than the extraction unit region R10 is extracted at a position corresponding to the region R1. Since the region R3 is a portion where the X-ray imaging apparatus main body 100a cannot be identified in the visible image 31, the image processing unit 41 (CPU 41a) interferes with the region R1 and the region R other than the region R corresponding to the region R3.
  • the object 410 is identified as the area R2 in which the image is taken. That is, the image processing unit 41 (CPU 41a) removes the region R3 from the binarized image 34a to generate the binarized image 33 (see FIG. 7C).
  • the X-ray imaging apparatus 100 is based on a plurality of visible images for teachers 30a as two-dimensional images including an image of the X-ray imaging apparatus main body 100a as teacher data given in advance.
  • the object to be detected P identified based on the differential image 32 based on the image of the X-ray imaging apparatus main body 100a in the visible image 31 identified based on the learning result of the machine learning that identifies the X-ray imaging apparatus main body 100a. It is configured so that the X-ray imaging apparatus main body 100a and the obstacle 400 around the X-ray imaging apparatus main body 100a can be discriminated from each other.
  • the X-ray imaging apparatus main body 100a and the obstacle 400 can be easily discriminated in the object P identified based on the parallax image 32, so that the obstacle 400 is detected based on the parallax image 32. Even in this case, the movement of the X-ray imaging apparatus main body 100a can be appropriately controlled so that the obstacle 400 and the X-ray imaging apparatus main body 100a do not come into contact with each other. Further, since only the X-ray imaging apparatus main body 100a among the detected objects P identified based on the disparity image 32 is specified based on the learning result of machine learning, a plurality of types of detected objects P can be machine-learned. It is possible to suppress an increase in the learning result of machine learning required for specifying the object P to be detected, as compared with the case of specifying based on the learning result of.
  • the image processing unit 41 is in the visible image 31 acquired by the stereo camera 30 (imaging unit), and the region R1 (first) in which the X-ray imaging apparatus main body 100a is photographed. It is configured to identify the area). Further, in the image processing unit 41, the obstacle 400 covers the area R other than the area R1a corresponding to the area R1 (first area) in the area where the object P to be detected is photographed based on the parallax image 32. It is configured to be identified as the area R2 (second area) in which the image is being photographed.
  • the X-ray imaging apparatus main body 100a region R1 (first region) in the visible image 31) and the obstacle 400 (region R2 (second region) in the parallax image 32). Area)) can be easily identified.
  • the image processing unit 41 is adjacent to the region R1 (first region) identified in the visible image 31 based on the parallax image 32, and image recognition based on the learning result is performed.
  • the region excluding the object to be detected P which is smaller than the extraction unit region R10, which is the minimum unit region at the time of the operation, is configured to be identified as the region R3 (third region).
  • the image processing unit 41 sets the image processing unit 41 to a region other than the region R1 (first region) and the region R3 (third region) in the region where the object P to be detected is photographed based on the parallax image 32.
  • the area R is configured to be identified as the area R2 (second area) where the obstacle 400 is photographed.
  • the extraction unit region R10 is relatively large, in the visible image 31, a part of the region (region R3 (third region)) in which the X-ray imaging apparatus main body 100a is photographed is learned by machine learning. Even if it cannot be identified based on the result, the region R3 (third region) is identified based on the parallax image 32, so that the X-ray imaging apparatus main body 100a can be appropriately identified in the object P to be detected.
  • the X-ray imaging apparatus main body 100a is configured to be provided so as to be suspended from the ceiling surface 201 of the room 200 in which the X-ray imaging apparatus main body 100a is provided.
  • the image processing unit 41 is configured to calculate the distance L (horizontal distance) when the height H1 of the obstacle 400 is equal to or higher than the height H2 of the X-ray imaging apparatus main body 100a.
  • the distance L (horizontal distance) is calculated only when there is a possibility that the X-ray imaging apparatus main body 100a and the obstacle 400 come into contact with each other, so that the processing load of the image processing unit 41 is suppressed from becoming large. Can be done.
  • the support column portion 22 (vertical direction moving portion) configured so that the X-ray photographing apparatus main body 100a and the lower end 100b of the X-ray photographing apparatus main body 100a can be moved in the vertical direction.
  • the image processing unit 41 is configured to calculate the distance L (horizontal distance) when the height H1 of the obstacle 400 is equal to or higher than the height D2 of the support column 22.
  • the distance L horizontal distance
  • the imaging unit is configured as the stereo camera 30.
  • the parallax image 32 can be easily acquired by using a stereo camera that images the object P to be detected from a plurality of different directions.
  • the method of avoiding contact with obstacles of the X-ray imaging apparatus 100 is used for a plurality of teachers as a two-dimensional image including an image of the X-ray imaging apparatus main body 100a as teacher data given in advance. Identifying the X-ray imaging apparatus main body 100a based on the visible image 30a Based on the image of the X-ray imaging apparatus main body 100a in the visible image 31 identified based on the learning result of machine learning, it is identified based on the parallax image 32.
  • the object to be detected P is configured to include a step of discriminating between the X-ray imaging apparatus main body 100a and the obstacle 400 around the X-ray imaging apparatus main body 100a.
  • the X-ray imaging apparatus main body 100a and the obstacle 400 can be easily discriminated in the object P identified based on the disparity image 32, so that the obstacle 400 is detected based on the disparity image 32.
  • a method for avoiding obstacle contact of the X-ray imaging apparatus 100 capable of appropriately controlling the movement of the X-ray imaging apparatus main body 100a so that the obstacle 400 and the X-ray imaging apparatus main body 100a do not come into contact with each other. can do.
  • the X-ray imaging apparatus main body 100a is provided so as to be suspended from the ceiling surface 201, but the present invention is not limited to this.
  • the X-ray imaging apparatus main body 100a may be mounted on a wall surface or the like.
  • the height H2 of the lower end 100b of the X-ray imaging apparatus main body 100a is calculated by the image processing unit 41 based on the parallax image 32, but the present invention is not limited to this. ..
  • the height H2 may be calculated based on the amount of movement of the X-ray generating portion 10 or the like in the vertical direction due to the expansion and contraction of the holding portion 20.
  • the present invention is not limited to this.
  • the X-ray imaging apparatus main body 100a controls the contact avoidance of the X-ray imaging apparatus main body 100a with the obstacle 400 based on the learning result of machine learning acquired from the outside of the X-ray imaging apparatus main body 100a. It may be configured as.
  • the imaging unit is configured as a stereo camera 30
  • the present invention is not limited to this.
  • a visible image and a parallax image may be acquired by using an imaging unit other than the stereo camera.
  • the image processing unit 41 is adjacent to the region R1 identified in the visible image 31 based on the parallax image 32, and is the minimum unit region for performing image recognition based on the learning result.
  • An example is shown in which a region excluding the object to be detected P smaller than the region R10 is identified as the region R3, but the present invention is not limited to this.
  • the image processing unit may be configured not to perform the process of identifying the region R3.
  • the image processing unit 41 is configured to include the CPU 41a and the image processing circuit 41b (FPGA) is shown, but the present invention is not limited to this.
  • the image processing unit may be configured to include only one of the CPU and the image processing circuit.
  • control unit 42 and the image processing unit 41 has been described using a “flow-driven” flowchart, but the present invention is not limited to this.
  • the processing of the control unit 42 and the image processing unit 41 may be performed by an "event-driven type" that executes the processing in event units. In this case, it may be completely event-driven, or it may be a combination of event-driven and flow-driven.
  • (Item 1) At least the main body of the X-ray imaging device that is configured to be movable in the horizontal direction, An imaging unit that acquires visible images as a plurality of two-dimensional images in the same region around the main body of the X-ray imaging apparatus, and an imaging unit. Based on the parallax image as a three-dimensional image generated from the plurality of visible images acquired by the imaging unit, the detected object including the X-ray imaging apparatus main body and obstacles around the X-ray imaging apparatus main body.
  • An image processing unit that identifies objects and A control unit that controls to avoid contact between the X-ray imaging apparatus main body and the obstacle, With
  • the image processing unit is a machine learning device that identifies the X-ray imaging apparatus main body based on a plurality of teacher visible images as two-dimensional images including an image of the X-ray imaging apparatus main body as teacher data given in advance.
  • the X-ray imaging apparatus main body specified based on the learning result is identified in at least one of the plurality of visible images acquired by the imaging unit, the X-ray imaging apparatus main body is identified based on the learning result.
  • the X-ray imaging apparatus main body and the obstacle are discriminated in the detected object, and the discriminated X-ray imaging apparatus main body and the obstacle are It is configured to calculate the horizontal distance between
  • the control unit is configured to perform control for avoiding contact between the X-ray imaging apparatus main body and the obstacle based on the horizontal distance calculated by the image processing unit. Shooting device.
  • the image processing unit identifies a first region in which the X-ray imaging apparatus main body is photographed in the visible image acquired by the imaging unit, and the object to be detected is photographed based on the parallax image.
  • the X-ray imaging apparatus according to item 1 wherein an region other than the region corresponding to the first region is identified as a second region in which the obstacle is photographed. ..
  • the image processing unit is adjacent to the first region identified in the visible image based on the parallax image, and is smaller than the extraction unit region, which is the minimum unit region for performing image recognition based on the learning result.
  • the area excluding the object to be detected is identified as the third area, and the area other than the area corresponding to the first area and the third area among the areas where the object to be detected is photographed is the obstacle.
  • the X-ray imaging apparatus according to item 2 which is configured to identify an object as a second region in which an object is photographed.
  • the X-ray imaging apparatus main body is provided so as to be suspended from a ceiling surface in a room where the X-ray imaging apparatus main body is provided.
  • the image processing unit is configured to calculate the horizontal distance when the height of the obstacle is equal to or higher than the height of the main body of the X-ray imaging apparatus, any one of items 1 to 3.
  • the X-ray imaging apparatus according to.
  • a vertical moving unit is provided so that the lower end of the X-ray imaging apparatus main body can be moved in the vertical direction.
  • the X-ray imaging apparatus according to item 4 wherein the image processing unit is configured to calculate the horizontal distance when the height of the obstacle is equal to or higher than the height of the vertical moving unit.
  • the X-ray is performed by performing machine learning to identify the X-ray imaging apparatus main body based on a plurality of teacher visible images as two-dimensional images including an image of the X-ray imaging apparatus main body as teacher data given in advance. Steps to identify the main body of the imaging device and A step of acquiring a plurality of visible images as two-dimensional images in the same region around the main body of the X-ray imaging apparatus, and Based on the parallax image as a three-dimensional image generated from the plurality of acquired visible images, the object to be detected including the X-ray imaging apparatus main body and obstacles around the X-ray imaging apparatus main body is identified.

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Abstract

L'invention concerne un dispositif d'imagerie par rayons X (100) qui est configuré pour faire la distinction entre un corps de dispositif d'imagerie par rayons X (100a) et un obstacle (400) au voisinage du corps de dispositif d'imagerie par rayons X (100a) dans des objets détectés (P) identifiés sur la base d'une image de parallaxe (32), à partir d'une image du corps de dispositif d'imagerie par rayons X (100a) dans une image visible (31) qui est identifié sur la base des résultats d'apprentissage de l'apprentissage automatique visant à identifier le corps de dispositif d'imagerie par rayons X (100a) sur la base d'une pluralité d'images visibles destinées à l'apprentissage (30a).
PCT/JP2019/020873 2019-05-27 2019-05-27 Dispositif d'imagerie par rayons x et procédé pour éviter un contact avec un obstacle pour un dispositif d'imagerie à rayons x WO2020240653A1 (fr)

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JP2021521585A JP7173321B2 (ja) 2019-05-27 2019-05-27 Ｘ線撮影装置およびｘ線撮影装置の障害物接触回避方法
PCT/JP2019/020873 WO2020240653A1 (fr) 2019-05-27 2019-05-27 Dispositif d'imagerie par rayons x et procédé pour éviter un contact avec un obstacle pour un dispositif d'imagerie à rayons x

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11178818A (ja) * 1997-10-01 1999-07-06 Siemens Ag 医療装置
JP2012205681A (ja) * 2011-03-29 2012-10-25 Toshiba Corp Ｘ線撮影装置
JP2014097131A (ja) * 2012-11-13 2014-05-29 Toshiba Corp Ｘ線診断装置
US20150117601A1 (en) * 2012-04-25 2015-04-30 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. X-ray source with module and detector for optical radiation
JP2015156896A (ja) * 2014-02-21 2015-09-03 キヤノン株式会社 放射線撮影装置、その制御方法およびプログラム
WO2017043040A1 (fr) * 2015-09-08 2017-03-16 富士フイルム株式会社 Procédé et dispositif d'assistance au déplacement pour dispositif d'émission de rayonnement, et dispositif d'imagerie radiologique
WO2017043041A1 (fr) * 2015-09-08 2017-03-16 富士フイルム株式会社 Procédé d'affichage d'image de moniteur pour dispositif d'émission de rayonnement, et dispositif d'émission de rayonnement

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11178818A (ja) * 1997-10-01 1999-07-06 Siemens Ag 医療装置
JP2012205681A (ja) * 2011-03-29 2012-10-25 Toshiba Corp Ｘ線撮影装置
US20150117601A1 (en) * 2012-04-25 2015-04-30 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. X-ray source with module and detector for optical radiation
JP2014097131A (ja) * 2012-11-13 2014-05-29 Toshiba Corp Ｘ線診断装置
JP2015156896A (ja) * 2014-02-21 2015-09-03 キヤノン株式会社 放射線撮影装置、その制御方法およびプログラム
WO2017043040A1 (fr) * 2015-09-08 2017-03-16 富士フイルム株式会社 Procédé et dispositif d'assistance au déplacement pour dispositif d'émission de rayonnement, et dispositif d'imagerie radiologique
WO2017043041A1 (fr) * 2015-09-08 2017-03-16 富士フイルム株式会社 Procédé d'affichage d'image de moniteur pour dispositif d'émission de rayonnement, et dispositif d'émission de rayonnement

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