Imaging support device, method and program, and radiography apparatus

Abstract

The imaging support device, method, and program are designed to enable seamless alignment between the radiation source and the target image. [Solution] In order to assist in the imaging of a radiographic imaging apparatus comprising a radiation source that emits radiation and an optical camera attached to the radiation source that acquires an optical image in the direction of the subject from the radiation source, a processor derives the relative angle between the radiation source and the target plane, and displays the optical image, as well as angle indicators representing the relative angle and the target angle, on a display attached to the radiation source.

Description

Technical Field

[0001] The present disclosure relates to a photographing support device, method, and program, and a radiation imaging device.

Background Art

[0002] When performing radiation imaging at a patient's visit location using a mobile radiation imaging device (mobile X-ray unit), it is necessary to align the radiation source and the radiation detector. Specifically, it is necessary to adjust the relative position and relative angle of the radiation source and the radiation detector so that the center of the radiation emitted from the radiation source coincides with the imaging center of the subject and the optical axis of the radiation intersects the radiation detector perpendicularly, in order to perform alignment of the radiation source. For this reason, a method has been proposed in which an optical camera is provided near the radiation source, an image acquired by the optical camera is displayed on goggles worn by an operator, and a graphic for guiding the position of the radiation source, such as the relative angle between the radiation source and the radiation detector and the imaging center position, is displayed on the display screen (see Patent Document 1).

[0003] In addition, a method has been proposed in which an optical camera and a display are provided in a portable X-ray source that is manually held and operated by an operator, the optical image acquired by the optical camera is displayed on the display, and the relative angle between the radiation source and the radiation detector is displayed numerically (see Patent Document 2).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in mobile medical units, the radiation source attached to the arm is sometimes rotated around the optical axis of the radiation to align it. When the radiation source is rotated around the optical axis, the optical camera attached to the radiation source also rotates, and therefore the acquired optical image also rotates. As a result, when the optical image is displayed on goggles as described in Patent Document 1, the orientation of the displayed optical image may not match the orientation of the subject being viewed by the operator. When the orientation of the optical image does not match the orientation of the actual subject, it can cause discomfort when positioning the radiation source.

[0006] This disclosure is made in view of the above circumstances and aims to enable the alignment of a radiation source with a target plane such as a radiation detector to be performed without any sense of incongruity. [Means for solving the problem]

[0007] The imaging support device disclosed herein includes a radiation source that emits radiation, A radiography support device for a radiography apparatus, comprising an optical camera attached to a radiation source and which acquires an optical image in the direction of the subject from the radiation source, A display attached to the radiation source, Equipped with a processor, The processor is Derive the relative angle between the radiation source and the target plane, The optical image, as well as angle indicators representing relative and target angles, are displayed on the screen.

[0008] In the imaging support device according to this disclosure, the display may be attached to the radiation source so as to be rotatable together with the optical camera.

[0009] The imaging support device according to this disclosure further includes a first angle sensor for measuring the angle of the radiation source and a second angle sensor for measuring the angle of the target plane. The processor may derive the relative angle from the difference between the angle of the radiation source measured by the first angle sensor and the angle of the target plane measured by the second angle sensor.

[0010] In the imaging support device according to this disclosure, the processor obtains distance information from a sensor provided in the radiation source, which obtains distance information representing the imaging distance in the direction from the radiation source to the subject. The relative angle may be derived based on the difference in shooting distance at multiple positions in the direction from the radiation source to the subject.

[0011] In the imaging support device according to this disclosure, the target plane may be the detection surface of a radiation detector that detects radiation transmitted through the subject and acquires a radiation image of the subject.

[0012] In the imaging support device according to this disclosure, the target plane may be the surface of the bed on which the subject is placed.

[0013] In the imaging support device according to this disclosure, the angle indicator may include a figure for matching the relative angle to the target angle.

[0014] In the imaging support device according to this disclosure, the angle index may further include an adjustment value for matching the relative angle to the target angle.

[0015] In the imaging support device disclosed herein, the figure includes a first indicator representing the target angle and a second indicator representing the relative angle. The processor may change the position of the second index relative to the position of the first index according to the relative angle.

[0016] In the imaging support device according to this disclosure, the figure includes a first linear figure and a second linear figure for the vertical and horizontal directions of the optical image, respectively. The processor may display a first linear figure and a second linear figure at the vertical and horizontal edges of the optical image.

[0017] In the imaging support device described herein, the figure has a predetermined standard shape. The processor may change the reference shape according to the relative angle. In the imaging support apparatus according to the present disclosure, the processor may further display on the display an imaging center index representing the imaging center of the subject and an irradiation center index representing the center position of the radiation emitted from the radiation source.

[0018] The imaging support method according to the present disclosure is an imaging support method for a radiation imaging apparatus including a radiation source that emits radiation and an optical camera attached to the radiation source and configured to acquire an optical image in the direction of the subject from the radiation source, where a computer derives the relative angle between the radiation source and the target plane, and displays the optical image, as well as angle indicators representing the relative angle and the target angle, on a display attached to the radiation source.

[0019] The imaging support program according to the present disclosure is an imaging support program for a radiation imaging apparatus including a radiation source that emits radiation and an optical camera attached to the radiation source and configured to acquire an optical image in the direction of the subject from the radiation source, where a computer is caused to execute procedures for deriving the relative angle between the radiation source and the target plane and for displaying the optical image, as well as angle indicators representing the relative angle and the target angle, on a display attached to the radiation source.

[0020] Note that the technology of the present disclosure may be applied to a program product.

[0021] The radiation imaging apparatus according to the present disclosure includes a radiation source that irradiates radiation and a sensor that acquires information representing the imaging distance in the direction of the subject from the radiation source, an optical camera that acquires an optical image in the direction of the subject from the radiation source, and the imaging support apparatus according to the present disclosure.

[0022] In the radiation imaging apparatus according to the present disclosure, a travelable main body and The device may also include a foldable arm that connects the main body to the radiation source. [Effects of the Invention]

[0023] According to this disclosure, the angle between the radiation source and the target plane can be aligned without any sense of incongruity. [Brief explanation of the drawing]

[0024] [Figure 1] External perspective view of a radiography apparatus to which the imaging support device according to this embodiment is applied. [Figure 2] A diagram showing the state of the radiography apparatus when in use according to this embodiment. [Figure 3] Diagram showing the detailed configuration of the radiation source unit. [Figure 4] This figure shows the hardware configuration of the imaging support device according to this embodiment. [Figure 5] Functional configuration diagram of the imaging support device according to this embodiment [Figure 6] Diagram showing the display screen shown on the display. [Figure 7] Flowchart showing the process performed in this embodiment [Figure 8] Diagram showing the display screen shown on the display. [Figure 9] Diagram showing the display screen shown on the display. [Figure 10] Diagram showing the display screen shown on the display. [Figure 11] Diagram showing the display screen on the display. [Figure 12] Diagram showing the display screen shown on the display. [Figure 13] Diagram showing the display screen shown on the display. [Figure 14] Diagram showing the display screen shown on the display. [Figure 15] Diagram showing the display screen shown on the display. [Figure 16] Diagram showing the display screen on the display. [Figure 17] Diagram showing the display screen on the display. [Figure 18] Diagram showing the display screen on the display. [Figure 19] Diagram showing the display screen on the display. [Figure 20] Diagram showing the display screen on the display. [Figure 21] Diagram showing the display screen on the display. [Figure 22] A diagram to explain plane detection. [Modes for carrying out the invention]

[0025] Embodiments of this disclosure will be described below with reference to the drawings. Figure 1 is an external perspective view of a radiography apparatus to which the imaging support device according to this embodiment is applied, and Figure 2 is a diagram showing the state of the radiography apparatus to which the imaging support device according to this embodiment is applied when in use. The radiography apparatus 1 to which the imaging support device according to this embodiment is applied is a mobile radiography apparatus and has legs 2 that can travel on the apparatus mounting surface, a main body 3 held on the legs 2, an arm 4 connected to the main body 3, and a radiation source unit 5 attached to the tip of the arm 4.

[0026] The leg section 2 has four legs 11 and wheel sections 12 attached to the underside of the tip of each leg 11. The wheel sections 12 are equipped with stoppers (not shown) to prevent the wheels from rotating unintentionally.

[0027] The main unit 3 houses a computer 10 and battery, etc., for controlling the radiography apparatus 1 within the housing 3A. The computer 10 incorporates the radiography support device according to this embodiment. A handle 13 for pushing and pulling the radiography apparatus is attached to the upper end of the housing 3A. An operation panel 14 is also attached to the upper part of the housing 3A.

[0028] The control panel 14 employs a touch panel system integrated with the display, receiving operator instructions such as setting imaging conditions and starting imaging, and inputting these instructions into the radiography device 1. Imaging menus that can be set include chest radiography, limb radiography, and upper body radiography.

[0029] The arm 4 consists of a foldable first member 15 and a second member 16. The first member 15 is connected to the main body 3 so as to be rotatable in the vertical direction. The first member 15 and the second member 16 are connected so as to be rotatable relative to each other.

[0030] The radiation source unit 5 is attached to the tip of the second member 16 of the arm 4 by a mounting member 17. The mounting member 17 supports the radiation source unit 5 so that it can swing freely. The mounting member 17 is also rotatably mounted around the long axis of the second member 16.

[0031] When using the radiography apparatus 1, for example, as shown in Figure 2, the upper body of the subject H is raised on the bed 30, and a radiation detector 31 is inserted between the raised portion of the bed 30 and the subject H to generate a radiographic image by detecting the radiation that has passed through the subject H. The operator moves the radiography apparatus 1 close to the bed 30, unfolds the folded arm 4, and adjusts the radiation source unit 5 so that radiation is irradiated to a predetermined part of the subject H according to the set SID, and the radiation is irradiated perpendicularly to the radiation detector 31. The adjustment of the radiation source unit 5 will be described later.

[0032] The radiation detector 31 is a cassette-type detector configured to acquire a radiation image of the subject H by detecting radiation. Furthermore, the radiation detector 31 is a wireless type detector and transmits the radiation image acquired by radiation irradiation to the computer 10 wirelessly.

[0033] In this embodiment, the radiation detector 31 has a motion sensor 32. The motion sensor 32 is a 9-axis motion sensor that detects the acceleration in 3 axes, the angular velocity in 3 axes, and the tilt in 3 axes of the radiation detector 31. The acceleration, angular velocity, and tilt detected by the motion sensor 32 are output to the computer 10 as motion information. Processing using the motion information will be described later. The motion sensor 32 is an example of the second angle sensor of this disclosure.

[0034] Figure 3 shows a detailed configuration of the radiation source unit. As shown in Figure 3, the radiation source unit 5 has a tube housing 18 for housing a radiation tube such as an X-ray tube, and a collimator 19 that is rotatably mounted on the tube housing 18 around the optical axis of the radiation. A radiation emission window 20, an optical camera 21, a stereo camera 22, and two handles 23 and 24 are attached to the radiation emission surface of the collimator 19. A display 25 is attached to the side of the collimator 19. In Figure 3, the handle 23 is shown by a dashed line to illustrate the configuration of the collimator 19. A motion sensor 9 is attached to the radiation source unit 5.

[0035] The collimator 19 sets the radiation field by changing the size of the emission window 20. The radiation field is set according to instructions from the control panel 14. A visible light source, the field lamp, is installed inside the emission window 20 of the collimator 19. By turning on the field lamp, visible light is emitted onto the subject, and the range of visible light illumination changes according to the size of the emission window 20. This allows the operator to confirm the radiation field on the subject H.

[0036] The optical camera 21 acquires an optical image G1 in the direction from which radiation is emitted from the radiation source unit 5. The optical image G1 is a moving image at a predetermined frame rate, representing objects on the side from which radiation is irradiated from the radiation source unit 5 using RGB color pixels. The acquired optical image G1 is displayed on the display 25 as described later. The optical camera 21 is designed to acquire a color optical image G1, but it may also acquire a monochrome optical image G1.

[0037] The stereo camera 22 has two cameras 22A and 22B and acquires a shooting distance image G2 by measuring the distance using the principle of triangulation. The shooting distance image G2 is also a moving image with a predetermined frame rate. In the shooting distance image G2, each pixel represents the shooting distance in the direction from the light source unit 5 to the subject. Instead of the stereo camera 22, a TOF (Time-of-Flight) camera that measures the distance by the time it takes for light to return may be used. The shooting distance image may also be derived using a LiDAR (Light Detection And Ranging) sensor. The stereo camera 22, TOF camera, and LiDAR sensor are examples of sensors that acquire distance information representing the shooting distance in this disclosure. The shooting distance image G2 is an example of distance information representing the shooting distance in this disclosure. Note that the distance information is not limited to an image format and may be the numerical value itself that represents the shooting distance.

[0038] Handles 23 and 24 are used by the operator to grasp them and change the position and angle of the radiation source unit 5. Here, assuming the x, y, and z axes are set as shown in Figure 3, the collimator 19 is rotatably mounted on the tube housing 18 around the z axis. Therefore, the radiation field on the subject H can be rotated. Furthermore, as shown in Figure 1, the radiation source unit 5 is rotatably mounted around the long axis of the second member 16 and is swingably attached to the second member 16 by the mounting member 17. Therefore, it is possible to adjust the angles around the x and y axes shown in Figure 3.

[0039] The optical image G1 captured by the optical camera 21 is displayed on the display 25. The display on the display 25 will be described later. The display 25 is attached to the collimator 19. For this reason, the display 25 is attached to the radiation source, i.e., the tube housing 18, so as to be rotatable together with the optical camera 21.

[0040] The motion sensor 9 is a 9-axis motion sensor that detects the acceleration, angular velocity, and tilt of the three axes of the radiation source unit 5. The acceleration, angular velocity, and tilt detected by the motion sensor 9 are output to the computer 10 as motion information. The motion sensor 9 is an example of the first angle sensor of this disclosure. Processing using the motion information will be described later.

[0041] Next, a computer for executing the processing of the imaging support device according to this embodiment will be described. Figure 4 is a diagram showing the hardware configuration of the computer for executing the processing of the imaging support device. As shown in Figure 4, the computer 10 includes a CPU (Central Processing Unit) 41, non-volatile storage 43, and memory 46 as a temporary storage area. The computer 10 also includes an operation panel 14, a network I / F (Interface) 47 connected to a network (not shown), and wired and wireless I / F 45 for connecting the optical camera 21, stereo camera 22, and display 25 to the computer 10. The motion sensor 9 of the radiation source unit 5 and the motion sensor 32 of the radiation detector 31 are connected to the computer 10 wirelessly via the I / F 45. The CPU 41, storage 43, operation panel 14, I / F 45, memory 46, and network I / F 47 are connected to a bus 48. Note that the CPU 41 is an example of a processor in this disclosure.

[0042] The computer 10 processes the display of the radiation image acquired by the radiation detector 31 and transmits it to external devices, but a detailed explanation of these processes is omitted here. The computer 10 also incorporates the imaging support device according to this embodiment. Therefore, in the following description, the imaging support device according to this embodiment will also be referred to as 10.

[0043] The storage 43 is implemented by an HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, etc. The storage 43, as a storage medium, stores the shooting support program 42. The CPU 41 reads the shooting support program 42 from the storage 43, expands it into memory 46, and executes the expanded shooting support program 42.

[0044] Next, the functional configuration of the imaging support device according to this embodiment will be described. Figure 5 is a diagram showing the functional configuration of the imaging support device according to this embodiment. As shown in Figure 5, the imaging support device 10 includes an information acquisition unit 51, an output unit 52, and a display control unit 53. When the CPU 41 executes the imaging support program 42, the CPU 41 functions as the information acquisition unit 51, the output unit 52, and the display control unit 53.

[0045] The information acquisition unit 51 acquires the optical image G1 acquired by the optical camera 21. The information acquisition unit 51 also acquires motion information output by the motion sensors 9 and 32.

[0046] The derivation unit 52 derives the relative angle between the radiation source unit 5 and the target plane. In this embodiment, the target plane is the detection surface of the radiation detector 31. The derivation unit 52 then derives the relative angle between the radiation source unit 5 and the target plane based on motion information acquired from the motion sensor 9 of the radiation source unit 5 and the motion sensor 32 of the radiation detector 31.

[0047] In this embodiment, the radiography apparatus 1 is assumed to be moved to the leg side of the subject H relative to the bed 30, as shown in Figure 2. In this situation, the derivation unit 52 obtains the rotation angles of the radiation source unit 5 around the x-axis and y-axis from a reference angle, and the rotation angles of the radiation detector 31 around the x-axis and y-axis from a reference angle, respectively, from the motion sensor 9 of the radiation source unit 5 and the motion sensor 32 of the radiation detector 31. Then, the relative angles αx and αy of the radiation source unit 5 and the radiation detector 31 around the x-axis and y-axis are derived. For example, if the rotation angle of the radiation source unit 5 around the x-axis is 8.2° and the rotation angle of the radiation detector 31 is 10 degrees, the relative angle αx is derived by the calculation αx = 10 - 8.2 = 1.8°.

[0048] The display control unit 53 displays a display screen on the display 25 that includes angle indicators representing the relative angle and target angle derived by the derivation unit 52, and the optical image G1. Figure 6 is a diagram showing the display screen on the display 25. As shown in Figure 6, the display screen 60 has an information area 61 for displaying information about the subject H, an image area 62 for displaying the optical image G1, and an indicator area 63 for displaying the angle indicator.

[0049] Information area 61 displays the subject H's name, patient number, date of birth, and gender, etc. Image area 62 displays the optical image G1.

[0050] The indicator area 63 displays a figure 64 for matching the relative angle to the target angle. The figure 64 consists of multiple concentric circles of different diameters. In the figure 64, the central area 65, which is the smallest circle, represents the target angle, and it is shown that the relative angle increases as you move away from the central area 65. The figure 64 also includes a mark 66 that represents the relative angle. In Figure 6, the mark is shown as a black circle, but it is not limited to this. The central area 65 is an example of the first indicator in this disclosure, and the mark 66 is an example of the second indicator in this disclosure.

[0051] The operator can adjust the angle of the radiation source unit 5 relative to the radiation detector 31 by changing the angle of the radiation source unit 5 using the handles 23 and 24 of the radiation source unit 5 while looking at the display screen 60, so that the mark 66 moves to the central area 65.

[0052] After aligning the angle, the operator uses the control panel 14 to turn on the irradiation field lamp and direct visible light representing the irradiation field toward the subject H. After adjusting the irradiation field, the operator gives a command to take a picture from the control panel 14, and the subject H is photographed, and a radiographic image is acquired.

[0053] Next, the processing performed in this embodiment will be described. Figure 7 is a flowchart showing the processing performed in this embodiment. First, the information acquisition unit 51 acquires the optical image G1 acquired by the optical camera 21 (step ST1). The derivation unit 52 acquires motion information from the motion sensor 9 of the radiation source unit 5 and the motion sensor 32 of the radiation detector 31, respectively (step ST2), and derives the relative angle between the radiation source unit 5 and the detection surface of the radiation detector 31 (step ST3). The display control unit 53 displays the optical image G1 and angle indicators representing the relative angle and target angle on the display 25 (step ST4), and returns to step ST1.

[0054] In this embodiment, the relative angle between the radiation source unit 5 and the detection surface of the radiation detector 31 is displayed on the display 25 along with the optical image G1. Here, the display 25 is attached to the collimator 19 of the radiation source unit 5 so as to be rotatable together with the optical camera 21. Therefore, when the radiation source unit 5 is aligned to rotate around the optical axis of the radiation, the relationship between the top and bottom of the optical image G1 displayed on the display 25 and the top and bottom of the optical camera 21 is easy to understand. As a result, in this embodiment, the alignment of the radiation source unit 5 and the radiation detector 31 can be performed without any sense of incongruity.

[0055] In the above embodiment, the concentric circular figures 64 shown in Figure 6 are displayed as angle indicators, but the invention is not limited to this. As shown in Figure 8, linear figures 69 and 70 representing the target angle and relative angle in the X and Y directions, respectively, may be displayed as angle indicators. Figure 69 displays a mark 69A representing the target angle and a line 69B representing the relative angle in the X direction. Figure 70 displays a mark 70A representing the target angle and a line 70B representing the relative angle in the Y direction. In Figure 8, marks 69A and 70A are examples of the first indicators in this disclosure, and lines 69B and 70B are examples of the second indicators in this disclosure. The X direction is the horizontal direction of the displayed optical image G1, and the Y direction is the vertical direction of the optical image G1.

[0056] In this case, the operator can adjust the angle of the radiation source unit 5 relative to the radiation detector 31 by using the handles 23 and 24 of the radiation source unit 5 to change the angle of the radiation source unit 5 so that lines 69B and 70B in figures 69 and 70 respectively fall within the range of marks 69A and 70A, while viewing the display screen 60. The range of marks 69A and 70A can be, for example, about ±2°.

[0057] As shown in Figure 9, linear figures 69 and 70 may also be displayed on the top edge (i.e., the horizontal edge) and left edge (i.e., the vertical edge) of the optical image G1.

[0058] Alternatively, as shown in Figure 10, a region 71 of a predetermined width that vertically bisects the optical image G1 and a region 72 of a predetermined width that horizontally bisects the optical image G1 may be set, and a bar 71A representing the relative angle in the X direction may be displayed in region 71, and a bar 72A representing the relative angle in the Y direction may be displayed in region 72. In this case, bars 71A and 72A move linearly within regions 71 and 72 according to the relative angle between the radiation source unit 5 and the radiation detector 31. When the relative angle matches the target angle, bars 71A and 72A intersect, and a cross-shaped figure is displayed in the region where regions 71 and 72 intersect. In Figure 10, bars 71A and 72A are examples of angle indicators in this disclosure, specifically figures for matching the relative angle to the target angle.

[0059] Furthermore, the target position on the subject H at the time of shooting may be detected from the optical image G1, and an indicator representing the target position may be displayed on the optical image G1. For example, as shown in Figure 11, a ring-shaped indicator 73 surrounding the target position may be displayed. In this case, a ring-shaped indicator 74 of the same shape as indicator 73 may be displayed as an indicator representing the relative angle. To make it clear that indicator 74 represents the relative angle, its color or density may be different from that of indicator 73. In Figure 11, indicators 73 and 74 are shown as ring-shaped figures, but they may be any shape other than circles, such as polygons and star shapes. In this case, by making the colors of indicator 73 and indicator 74 different, the color of the area where indicators 73 and 74 overlap can be made a mixed color of indicators 73 and 74, thereby making it easy to confirm that the relative angle matches the target angle. In this case, indicator 73 is an example of the first indicator in this disclosure, and indicator 74 is an example of the second indicator in this disclosure.

[0060] Furthermore, the indicator representing the target position and the angle indicator may be displayed separately. For example, as shown in Figure 12, in addition to indicators 73 and 74, a ring-shaped indicator 75 representing the target position may be displayed. In this case, first, the angle between the radiation source unit 5 and the radiation detector 31 is aligned so that indicators 73 and 74 coincide. Then, the radiation source unit 5 is moved parallel to the radiation detector 31 to align the overlapping indicators 73 and 74 so that they coincide with the indicator 75 representing the target position.

[0061] Furthermore, as shown in Figure 13, a frame 76 defining the center of the irradiated radiation may be displayed, and an angle indicator may be displayed at the center of the frame 76. In Figure 13, an arrow 77 is displayed as the angle indicator. The direction of the arrow 77 represents the direction in which the relative angle is inclined, and the length or thickness of the arrow 77 represents the magnitude of the relative angle. Arrow 77 is an example of an angle indicator in this disclosure. Frame 76 is an example of an irradiation center indicator representing the center position of the radiation emitted from the radiation source in this disclosure. In this case, indicator 75 is an example of an imaging center indicator representing the imaging center of the subject.

[0062] Furthermore, when displaying the arrow 77 shown in Figure 13, instead of translation, a curved arrow 77A may be displayed as shown in Figure 14 to indicate the direction of angle change. Alternatively, an arrow 77B may be displayed, as shown in Figure 15, whose width increases as it moves away from the indicator 75.

[0063] Furthermore, as shown in Figure 16, indicators 73, 74, 75 and frame 76 may be displayed. Additionally, a numerical value 78 representing the relative angle in the X direction may be displayed on the upper edge of the optical image G1, and a numerical value 79 representing the relative angle in the Y direction may be displayed on the left edge. In this case, arrows 77, 77A, and 77B shown in Figures 13 to 15 may be displayed instead of indicators 73 and 74.

[0064] Furthermore, as shown in Figure 17, icons 78 and 79 representing the direction of rotation of the angle may be displayed, and the magnitude of the relative angle may be displayed on icons 78 and 79. Icons 78 and 79 are examples of angle indicators according to this disclosure. In this case, an icon 80 representing the amount of parallel movement to align the target position of the subject H with the center of photography may also be displayed together with a numerical value representing the amount of movement.

[0065] Furthermore, as shown in Figure 18, a semi-transparent rectangular figure that deforms according to the relative angle may be displayed as an angle indicator. For example, when the relative angle matches the target angle, the rectangular figure 82 may be displayed, and as the relative angle increases, the rectangle may be deformed so that the side in the direction of inclination becomes shorter. The rectangular figure 82 is an example of a reference shape according to this disclosure. Although figure 82 is shown as semi-transparent, it may be a transparent figure with only an outline, or it may be an opaque figure. In Figure 18, the fact that the relative angles in the vertical direction match and there is a relative angle in the horizontal direction is shown by displaying a trapezoidal figure 81 with a shorter right side. If the slope of the relative angle in the horizontal direction is reversed compared to Figure 18, a trapezoid with a shorter left side will be displayed.

[0066] Furthermore, if the relative angles in the left-right direction are the same and there is a relative angle in the up-down direction, a trapezoid with a shorter top or bottom side will be displayed depending on the direction of the tilt. If there are relative angles in both the up-down and left-right directions, a distorted rectangle will be displayed instead of a trapezoid.

[0067] It is preferable to perform the deformation of the rectangular figure discretely. For example, it is preferable to gradually increase the degree of deformation in five stages, such as 0-5°, 5-7°, 7-9°, 9-11°, and 11° or more relative angles. This prevents flickering when the rectangle is deformed, making the angle indicator easier to see. However, the degree of deformation of the figure may be in a single stage. For example, the rectangular figure may not be deformed when the relative angle is below a threshold (e.g., less than 5°), and the figure may be deformed when the relative angle is above the threshold (e.g., 5° or more). In this case, it is possible to check whether the relative angle matches the target angle depending on whether the rectangular figure is deformed or not.

[0068] Furthermore, as shown in Figure 19, an indicator 75 representing the target position of the subject H during shooting may be displayed, and an indicator 81A representing the centroid of the figure 81 may be displayed. In this case, parallel alignment can be performed by aligning the relative angles so that the figure 81 becomes a rectangle, and moving the source unit 5 so that the indicator 81A representing the centroid of the figure 81 coincides with the indicator 75.

[0069] Furthermore, as shown in Figure 20, marks 83 representing the four corners of the irradiation field may be displayed as the target position when photographing the subject H. In this case, it is preferable to match the size of the area enclosed by marks 83 with the size of the figure 81, and to further color the figure 81. This allows the radiation source unit 5 and the radiation detector 31 to be aligned by moving the radiation source unit 5 so that the figure 81 matches the area enclosed by marks 83.

[0070] Furthermore, as shown in Figure 21, an indicator 84 representing the relative angle in the X direction and an indicator 85 representing the relative angle in the Y direction may be displayed. In this case, indicators 84 and 85 represent the relative angles in the X and Y directions of the radiation source unit 5, rather than the relative angles of the image captured by the optical camera 21. In this case, for indicator 84, when the relative angle in the X direction changes, the bar 86 moves up and down. For indicator 85, when the relative angle in the Y direction changes, the bar 86 rotates around the center point of indicator 85. This makes it possible to represent the relative angles in the X and Y directions of the radiation source unit 5.

[0071] In the above embodiment, the target plane is the detection surface of the radiation detector 31, but it is not limited to this. The surface of the bed 30 may also be used as the target plane. In this case, the relative angle between the radiation source unit 5 and the target plane is derived using the shooting distance image acquired by the stereo camera 22. The shooting distance image can be acquired by the information acquisition unit 51. The derivation of the relative angle using the shooting distance image acquired by the stereo camera 22 will be described below.

[0072] When deriving relative angles using the shooting distance image, the derivation unit 52 derives the difference in shooting distances of two or more points in the shooting distance image. In this case, the derivation unit 52 detects a plane in the shooting distance image G2 and derives the difference only on the detected plane. Figure 22 is a diagram to explain the detection of a plane. As shown in Figure 22, for distances from the stereo camera 22 within a certain field of view near the subject H on the bed 30, the surface of the bed 30 is flat and has a certain area, so the shooting distances of multiple pixels are within a predetermined range, and the group of pixels whose shooting distances are within the predetermined range (shown as black circles in Figure 22) has an area of ​​a certain size or larger. On the other hand, since the surface of the subject H is curved, the shooting distances of multiple pixels representing the surface of the subject H (shown as × marks in Figure 22) will exceed the predetermined range. The predetermined range can be, for example, ±2 cm.

[0073] Therefore, the derivation unit 52 determines that a group of pixels in the captured distance image G2 constitutes a plane if the captured distances of multiple pixels are within a predetermined range and the group of pixels within the predetermined range has an area greater than or equal to a certain amount. The determined plane becomes the surface of the bed 30. The derivation unit 52 derives the difference only for the determined plane. Since a group of pixels within a predetermined range is determined to be a plane if it has an area greater than or equal to a certain amount, it is possible to prevent detecting a small object with a flat surface near the bed 30 as a plane.

[0074] The derivation unit 52 can derive the relative angle of the detected plane, i.e., the plane of the bed 30, with respect to the radiation source unit 5, based on the magnitude of the differences at two or more positions derived in the plane of the shooting distance image G2. In this case, the exact numerical value of the relative angle is unknown, but the magnitude of the relative angle can be determined according to the magnitude of the differences.

[0075] In this manner, the display control unit 53 can display an angle indicator on the display 25 in accordance with the magnitude of the relative angle derived by the derivation unit 52, as in the embodiment described above.

[0076] In the above embodiment, the derivation unit 52 detects a plane in the shooting distance image G2 and derives the difference only in the detected plane, but it is not limited to this. The difference may be derived over the entire area of ​​the shooting distance image G2.

[0077] Furthermore, in the above embodiment, the radiation source unit 5 includes the optical camera 21 and the stereo camera 22 as separate components, but it is not limited to this. A camera in which the optical camera and the stereo camera are built into a single housing may also be used.

[0078] In this embodiment, each process is executed on any computer. Furthermore, any computer may execute these processes using a processor as hardware, a program as software, or a combination thereof. In that case, the processor is configured to work in cooperation with the program to execute the various processes in this embodiment, and can function as a unit or means in this embodiment. Also, the execution order of the processes by the processor is not limited to the order described and may be changed as appropriate. Any computer may be a general-purpose computer, a computer designed for a specific purpose, a workstation, or any other system capable of executing each process.

[0079] A processor may consist of one or more hardware components, and the type of hardware is not limited. For example, a processor may consist of a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a programmable logic device such as an FPGA (Field Programmable Gate Array), a dedicated circuit for executing a specific process such as an ASIC (Application Specific Integrated Circuit), a GPU (Graphic Processing Unit), or an NPU (Neural Processing Unit). Furthermore, the type of hardware may be a combination of different types of hardware. When multiple hardware components are configured to execute one or more processes of a processor, these components may reside in physically separate devices or in the same device. Also, in any embodiment, the order of each process performed by the processor is not limited to the order described above and may be changed as appropriate. Hardware is composed of electrical circuits (circuitry) that combine circuit elements such as semiconductor elements.

[0080] Furthermore, the program may be firmware or software such as microcode. Alternatively, the program may be, for example, a set of program modules, each function of which may be implemented by a processor configured to perform its respective function. The program may be program code or multiple code segments stored on one or more non-temporary computer-readable media (e.g., storage media or other storage). The program may be divided and stored on multiple non-temporary computer-readable media located in physically separate devices. Program code or code segments may represent any combination of procedures, functions, subprograms, routines, subroutines, modules, software packages, classes, or instructions, data structures, or program statements. Program code or code segments may be connected to other code segments or hardware circuits by sending and receiving information, data, arguments, parameters, or memory contents.

[0081] Furthermore, although the above embodiment describes a configuration in which the shooting support program 42 is pre-stored (installed) in the storage 43, the invention is not limited to this configuration. The shooting support program 42 may be provided in the form of a recording medium such as a CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory), or USB (Universal Serial Bus) memory. Alternatively, the shooting support program 42 may be provided in the form of a download from an external device via a network.

[0082] The technology disclosed herein extends to all program products. Program products include all forms of products for providing programs. For example, program products include programs provided via networks such as the Internet, and non-temporary computer-readable recording media such as CD-ROMs, DVDs, and USB memory sticks on which programs are stored.

[0083] The following are additional notes to this disclosure. (Additional note 1) A radiation source that emits radiation, A radiography apparatus imaging support device comprising an optical camera attached to the radiation source and which acquires an optical image in the direction of the subject from the radiation source, A display attached to the aforementioned radiation source, Equipped with a processor, The aforementioned processor, The relative angle between the radiation source and the target plane is derived, A shooting support device that displays the optical image and angle indicators representing the relative angle and target angle on the display. (Additional note 2) The imaging support device according to Appendix 1, wherein the display is attached to the radiation source so as to be rotatable together with the optical camera. (Additional note 3) The system further includes a first angle sensor for measuring the angle of the radiation source and a second angle sensor for measuring the angle of the target plane. The imaging support device according to Appendix 1 or 2, wherein the processor derives the relative angle from the difference between the angle of the radiation source measured by the first angle sensor and the angle of the target plane measured by the second angle sensor. (Additional note 4) The processor obtains distance information from a sensor provided in the radiation source, which obtains distance information representing the shooting distance in the direction from the radiation source to the subject. A radiation irradiation device according to appendix 1 or 2, which derives the relative angle based on the difference in the shooting distance at multiple positions in the direction of the subject from the radiation source. (Additional note 5) The imaging support device according to any one of the appendices 1 to 4, wherein the target plane is the detection surface of a radiation detector that detects radiation transmitted through the subject and obtains a radiation image of the subject. (Additional note 6) The photographic support device according to any one of the appendices 1 to 4, wherein the target plane is the surface of the bed on which the subject is placed. (Additional note 7) The shooting support device according to any one of the appendix items 1 to 6, wherein the angle indicator includes a figure for matching the relative angle to the target angle. (Additional note 8) The imaging support device according to Appendix 7, wherein the angle index further includes an adjustment value for matching the relative angle to the target angle. (Additional note 9) The figure includes a first indicator representing the target angle and a second indicator representing the relative angle. The imaging support device according to Appendix 7, wherein the processor changes the position of the second index relative to the position of the first index according to the relative angle. (Additional note 10) The aforementioned figure includes a first linear figure and a second linear figure in the vertical and horizontal directions of the optical image, respectively. The imaging support device according to Appendix 9, wherein the processor displays the first linear figure and the second linear figure on the vertical and horizontal edges of the optical image. (Additional note 11) The aforementioned figure has a predetermined standard shape, The processor is a shooting support device according to Appendix 7, which changes the reference shape according to the relative angle. (Additional note 12) The imaging support device according to any one of the appendices 1 to 11, wherein the processor further displays on the display an imaging center index representing the imaging center of the subject and an irradiation center index representing the central position of the radiation emitted from the radiation source. (Additional note 13) A radiation source that emits radiation, A method for assisting the imaging of a radiographic apparatus, comprising an optical camera attached to the radiation source and which acquires an optical image in the direction of the subject from the radiation source, The computer derives the relative angle between the radiation source and the target plane, A method for assisting imaging, which displays the optical image and angle indicators representing the relative angle and target angle on a display attached to the radiation source. (Additional note 14) A radiation source that emits radiation, A radiography apparatus comprising an optical camera attached to the radiation source and which acquires an optical image in the direction of the subject from the radiation source, is a radiography apparatus imaging support program, A procedure for a computer to derive the relative angle between the radiation source and the target plane, A shooting support program that causes a computer to perform the procedure of displaying the optical image and angle indicators representing the relative angle and target angle on a display attached to the radiation source. (Additional note 15) A radiation source that emits radiation, A sensor that acquires information representing the shooting distance in the direction of the subject from the aforementioned radiation source, An optical camera that acquires an optical image in the direction of the subject from the radiation source, A radiography apparatus equipped with a radiography support device as described in any one of the appendices 1 to 12. (Additional note 16) A mobile unit, The radiography apparatus according to Appendix 15, further comprising a foldable arm connecting the main body and the radiation source. [Explanation of symbols]

[0084] 1. Radiography equipment 2 legs 3 Main unit 3A enclosure 4 Arms 5. Source Unit 9 Motion Sensors 10 Computers 11 legs 12 Wheel section 13 Handle 14. Control Panel 15. First Member 16. Second Member 17 Mounting components 18. Tube housing 19. Collimator 20 Ejection window 21 Optical Camera 22 Stereo Cameras 22A, 22B Camera 23, 24 Handle 25 displays 30 berths 31. Radiation detector 32 motion sensors 41 CPU 42. Filming Support Program 43 Storage 46 memory 45 I / F 47 Network Interface 48 bus 51 Information Acquisition Department 52 Derivation part 53 Display Control Unit 60 display screen 61 Information area 62 Image Area 63 Indicator area 64, 69, 70, Shapes 65 Central area 66, 69A, 70A mark 69B,70B line 71,72 area 71A, 72A, 86 Bar 73,74,75,81A,84,85 Indicator 76 frames 77, 77A, 77B Arrows 78, 79, 80 icons 81,82 Shapes 83 Mark G1 Optical Image H Subject

Claims

1. A radiation source that emits radiation, A radiography apparatus imaging support device comprising an optical camera attached to the radiation source and which acquires an optical image in the direction of the subject from the radiation source, A display attached to the aforementioned radiation source, Equipped with a processor, The aforementioned processor, The relative angle between the radiation source and the target plane is derived, A shooting support device that displays the optical image and angle indicators representing the relative angle and target angle on the display.

2. The imaging support device according to claim 1, wherein the display is attached to the radiation source so as to be rotatable together with the optical camera.

3. The system further includes a first angle sensor for measuring the angle of the radiation source and a second angle sensor for measuring the angle of the target plane. The imaging support device according to claim 1 or 2, wherein the processor derives the relative angle from the difference between the angle of the radiation source measured by the first angle sensor and the angle of the target plane measured by the second angle sensor.

4. The processor obtains distance information from a sensor provided in the radiation source, which obtains distance information representing the shooting distance in the direction from the radiation source to the subject. The imaging support device according to claim 1 or 2, wherein the relative angle is derived based on the difference in the imaging distance at a plurality of positions in the direction from the radiation source to the subject.

5. The imaging support device according to claim 1 or 2, wherein the target plane is the detection surface of a radiation detector that detects radiation transmitted through the subject and obtains a radiation image of the subject.

6. The photographic support device according to claim 1 or 2, wherein the target plane is the surface of the bed on which the subject is placed.

7. The shooting support device according to claim 1 or 2, wherein the angle indicator includes a figure for matching the relative angle to the target angle.

8. The shooting support device according to claim 7, wherein the angle index further includes an adjustment value for matching the relative angle to the target angle.

9. The figure includes a first indicator representing the target angle and a second indicator representing the relative angle, The imaging support device according to claim 7, wherein the processor changes the position of the second index relative to the position of the first index according to the relative angle.

10. The aforementioned figure includes a first linear figure and a second linear figure in the vertical and horizontal directions of the optical image, respectively. The imaging support device according to claim 9, wherein the processor displays the first linear figure and the second linear figure on the vertical and horizontal edges of the optical image.

11. The aforementioned figure has a predetermined standard shape, The imaging support device according to claim 7, wherein the processor changes the reference shape according to the relative angle.

12. The imaging support device according to claim 1 or 2, wherein the processor further displays on the display an imaging center index representing the imaging center of the subject and an irradiation center index representing the central position of the radiation emitted from the radiation source.

13. A radiation source that emits radiation, A method for assisting the imaging of a radiographic apparatus, comprising an optical camera attached to the radiation source and which acquires an optical image in the direction of the subject from the radiation source, The computer derives the relative angle between the radiation source and the target plane, A method for assisting imaging, which displays the optical image and angle indicators representing the relative angle and target angle on a display attached to the radiation source.

14. A radiation source that emits radiation, A radiography apparatus comprising an optical camera attached to the radiation source and an optical camera that acquires an optical image in the direction of the subject from the radiation source, is a radiography support program, A procedure for a computer to derive the relative angle between the radiation source and the target plane, A shooting support program that causes a computer to perform the procedure of displaying the optical image and angle indicators representing the relative angle and target angle on a display attached to the radiation source.

15. A radiation source that emits radiation, A sensor that acquires information representing the shooting distance in the direction of the subject from the aforementioned radiation source, An optical camera that acquires an optical image in the direction of the subject from the radiation source, A radiography apparatus comprising the imaging support device described in claim 1.

16. A mobile unit, The radiography apparatus according to claim 15, further comprising a foldable arm connecting the main body and the radiation source.

Images