Fpd navigation device and fpd system

Abstract

An FPD navigation device includes: an image acquisition unit that acquires a first image and a second image from an FPD, the first image including an image of a target blood vessel captured at a first position, the second image including an image of the target blood vessel captured at a second position different from the first position, the FPD being a flat panel detector; a position information acquisition unit that acquires position information of the target blood vessel based on the first image and the second image, position information of the first position, and position information of the second position; and a recommended range output unit that outputs a recommended FPD capturing position range indicating a range of a capturing position of the FPD recommended for acquiring the image of the target blood vessel based on the position information of the target blood vessel.

Description

Technical Field

[0001] This invention relates to FPD navigation devices and FPD systems. Background Technology

[0002] In recent years, FPDs (Flat Panel Detectors) have been used in angiography for examination or treatment. An FPD is a device that acquires images by capturing X-rays transmitted through the human body and converting them into digital signals. Compared to conventional CR (Computed Radiography) systems, such FPDs offer advantages such as high-resolution image quality, shorter image display time, and lower radiation dose. For example, Patent Document 1 discloses the generation of a composite view of a segment of interest to the surgeon based on image data generated by an X-ray imaging device such as an FPD.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: US Patent No. 7,725,164 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Here, surgeons use field-detector cameras (FPDs) to acquire images of the blood vessel to be examined or treated (hereinafter referred to as the "target vessel"). While confirming the positions of the blood vessel, lesion, and medical devices such as guidewires inserted into the vessel within the image, the surgeon operates the medical device. Therefore, if the FPD's position (in other words, the position of the FPD relative to the target vessel) is inappropriate, the surgeon may be unable to accurately determine the positional relationship between the blood vessel, lesion, and medical device, making it impossible to advance the medical device in the desired direction. This problem is particularly pronounced in cases such as chronic total occlusion (CTO), where the blood vessel is blocked by a lesion, especially when attempting to open (reopen) the CTO by re-entering the subendothelial region from the false lumen into the true lumen.

[0008] Regarding this point, the system described in Patent Document 1 merely describes generating a composite view based on already obtained vascular images, without considering guiding the FPD to the appropriate imaging position. Furthermore, this issue is not limited to the vascular system; it also exists when using FPD for X-ray imaging of the lumens of organisms such as the lymphatic system, biliary system, urinary tract, respiratory system, digestive system, secretory glands, and reproductive organs.

[0009] The present invention was made to solve at least part of the above-mentioned problems, and its object is to guide the recommended FPD imaging position for obtaining images of the target blood vessels.

[0010] Methods for solving problems

[0011] The present invention was made to solve at least a part of the above-mentioned problems and can be implemented in the following ways.

[0012] (1) According to one aspect of the present invention, an FPD navigation device is provided. The FPD navigation device includes: an image acquisition unit that acquires a first image and a second image from an FPD (flat panel detector), the first image containing an image of a target blood vessel captured at a first location, and the second image containing an image of the target blood vessel captured at a second location different from the first location; a location information acquisition unit that acquires location information of the target blood vessel based on the first image and the second image, and location information of the first location and the second location; and a recommended range output unit that outputs a recommended range of FPD shooting locations based on the location information of the target blood vessel, the recommended range of FPD shooting locations representing a range of shooting locations of the FPD recommended for acquiring an image of the target blood vessel.

[0013] According to this structure, the position information acquisition unit can acquire the position information of the target blood vessel using a first image and a second image captured at two different shooting positions (a first position and a second position), position information of the first position, and position information of the second position. Furthermore, the recommended range output unit uses the acquired position information of the target blood vessel to calculate a recommended range for the FPD shooting position (the range of FPD shooting positions recommended for acquiring an image of the target blood vessel) and outputs the recommended FPD shooting position range. The surgeon sets the FPD shooting position to overlap with the output recommended FPD shooting position range, thereby guiding the FPD to an appropriate shooting position. The surgeon performs surgery while confirming the obtained FPD image (image of the target blood vessel), thereby accurately grasping the positional relationship between the blood vessel, the lesion, and the medical device, and advancing the medical device in the desired direction. As a result, according to this structure, the recommended FPD shooting position for acquiring an image of the target blood vessel can be guided.

[0014] (2) In the FPD navigation device described above, the recommended range output unit causes the display unit to display a guide screen containing an image representing the recommended range of the FPD shooting location.

[0015] According to this structure, the recommended range output unit causes the display unit to display a guide screen containing an image indicating the recommended range of FPD shooting position. Therefore, the surgeon can easily confirm the recommended range of FPD shooting position by checking the guide screen displayed on the display unit.

[0016] (3) In the FPD navigation device of the above manner, when the recommended range output unit determines the first shooting position when the FPD shoots the target blood vessel at multiple shooting positions, the recommended range output unit displays the guidance screen containing the second shooting range image, the second shooting range image representing the range of the shooting position of the FPD recommended as the second shooting position.

[0017] According to this structure, the recommended range output unit displays a guide screen containing a second imaging range image. This second imaging range image represents the range of FPD imaging positions recommended as the second imaging position when the first imaging position is determined by the FPD when imaging the target blood vessel at multiple imaging positions. Therefore, for example, in a blood vessel imaging device equipped with two FPDs capable of simultaneous imaging from two directions such as the vertical direction (longitudinal) and the normal direction (lateral), it is possible to guide the recommended range of FPD imaging positions for each FPD.

[0018] (4) In the FPD navigation device of the above manner, the recommended range output unit displays the guide screen having a first screen and a second screen, the first screen including a first shooting range image representing the range of the shooting position of the FPD recommended as the first shooting position, the second screen including a second shooting range image, and the recommended range output unit changing the second shooting range image of the second screen according to the first shooting position determined from the first shooting range image of the first screen.

[0019] According to this structure, the recommended range output unit displays a guide screen with a first screen and a second screen. The first screen contains a first imaging range image for a first imaging position, and the second screen contains a second imaging range image for a second imaging position. Therefore, the surgeon can easily determine the recommended range of FPD imaging positions for each FPD. Furthermore, the recommended range output unit changes the second imaging range image of the second screen based on the first imaging position determined from the first imaging range image of the first screen. Therefore, in a vascular imaging device equipped with two FPDs capable of simultaneous imaging from two directions, such as the vertical direction (longitudinal) and the normal direction (lateral), the recommended range of FPD imaging positions for each FPD can be guided more appropriately.

[0020] (5) In the FPD navigation device of the above manner, in the guidance screen, the first shooting range image of the first screen is represented as the portion where the range of the shooting position of the FPD in the direction orthogonal to the extension direction of the object blood vessel intersects with the movable range of the FPD, and the second shooting range image of the second screen is represented as including a predetermined range of the shooting position of the FPD in the second shooting direction, wherein the second shooting direction is the direction orthogonal to the first shooting direction at the shooting position of the FPD specified in the first screen.

[0021] According to this structure, in the guide screen, the first shooting range image of the first frame is represented as the portion where the range of the FPD's shooting position, which is orthogonal to the extension direction of the target blood vessel, intersects with the movable range of the FPD. Therefore, the first shooting range image of the first frame can be used to guide a recommended range of FPD shooting positions in the vertical direction (longitudinal). Furthermore, in the guide screen, the second shooting range image of the second frame is represented as a defined range including the shooting position of the FPD in the second shooting direction, where the second shooting direction is orthogonal to the first shooting direction at the shooting position of the FPD specified in the first frame. Therefore, the second shooting range image of the second frame can be used to guide a recommended range of FPD shooting positions in the normal direction (lateral).

[0022] (6) In the FPD navigation device of the above manner, in addition to the first screen and the second screen, the guidance screen also has a third screen that includes a third shooting range image, the third shooting range image representing the range of shooting positions of the FPD recommended as shooting positions from a third shooting direction, wherein the third shooting direction is a direction orthogonal to the first shooting direction and opposite to the second shooting direction.

[0023] According to this structure, the guidance screen also includes a third screen containing a third shooting range image, which represents the range of FPD shooting positions recommended as shooting positions from a third shooting direction, which is orthogonal to the first shooting direction and opposite to the second shooting direction. Therefore, the second shooting range image of the second screen can be used to guide the recommended range of FPD shooting positions in one direction of the normal (e.g., the right side), and the third shooting range image of the third screen can be used to guide the recommended range of FPD shooting positions in the other direction of the normal (e.g., the left side). Furthermore, the third screen is displayed together with the first and second screens, allowing the surgeon to easily grasp the recommended range of FPD shooting positions from multiple directions.

[0024] (7) In the FPD navigation device of the above manner, the guidance screen, in addition to having the first screen and the second screen, also has a fourth screen that includes a fourth shooting range image, the fourth shooting range image representing the range of the shooting position of the FPD recommended as a shooting position from the fourth shooting direction, wherein the fourth shooting direction is a direction located on a plane that includes the extension direction of the object blood vessel and the first shooting direction, and is inclined relative to the first shooting direction.

[0025] According to this structure, the guidance screen has a fourth frame containing a fourth imaging range image, which represents the range of FPD imaging positions recommended as imaging positions from a fourth imaging direction. The fourth imaging direction is located on a plane encompassing the extension direction of the target blood vessel and the first imaging direction, and is inclined relative to the first imaging direction. Therefore, the fourth imaging range image of the fourth frame can be used to guide the recommended range of FPD imaging positions in the oblique direction. Furthermore, the fourth frame is displayed together with the first and second frames, allowing the surgeon to easily grasp the recommended range of FPD imaging positions from multiple directions.

[0026] (8) According to one aspect of the present invention, an FPD system is provided. The FPD system includes an FPD (flat panel detector) and an FPD navigation device of the above-described manner.

[0027] According to this structure, in an FPD system equipped with an FPD, it is possible to guide the recommended FPD imaging position for obtaining images of the target blood vessels.

[0028] (9) In the FPD system described above, it further includes: an arm that supports the FPD and changes the shooting position of the FPD; and a control unit that controls the drive of the arm, wherein the FPD navigation device sends a recommended range of FPD shooting positions to the control unit, and the control unit uses the received recommended range of FPD shooting positions to control the drive of the arm.

[0029] According to this structure, the FPD navigation device sends the recommended range of FPD shooting positions to the control unit, and the control unit uses the received recommended range of FPD shooting positions to control the drive of the arm, thus enabling the operation of the FPD to be automated according to the recommended range of FPD shooting positions.

[0030] Furthermore, the present invention can be implemented in various ways, for example, by means of an information processing device that outputs a recommended range of FPD shooting locations, an FPD (flat panel detector) that includes a calculation function for the recommended range of FPD shooting locations, a system that includes these devices, a computer program that implements the functions of these devices and the system, a server device for distributing the computer program, and a non-transitory storage medium that stores the computer program. Attached Figure Description

[0031] Figure 1 This is an illustrative diagram illustrating the structure of an FPD system.

[0032] Figure 2 Indicate the shooting position of the first FPD.

[0033] Figure 3 This is a flowchart illustrating an example of the bootstrapping process.

[0034] Figure 4 This is an explanatory diagram showing an example of an input screen used in the boot process.

[0035] Figure 5 Steps S14 and S24 of the boot process are explained.

[0036] Figure 6 The steps of the boot process, S30, are explained.

[0037] Figure 7 The steps of the boot process, S32, are explained.

[0038] Figure 8 The steps of the boot process, S32, are explained.

[0039] Figure 9 Step S34 of the boot process will be explained.

[0040] Figure 10 This is an explanatory diagram showing an example of a boot screen used in the boot process.

[0041] Figure 11 The shooting location range is described.

[0042] Figure 12 This represents the relationship between the blood vessel axis vector and the H2 plane.

[0043] Figure 13 This indicates the relationship between the H2 plane and the P plane.

[0044] Figure 14 The calculation of axial vascular measurement is explained.

[0045] Figure 15 This is an explanatory diagram showing an example of a guide screen for the second embodiment.

[0046] Figure 16 This is an explanatory diagram showing an example of a guide screen for the third embodiment.

[0047] Figure 17 This is an explanatory diagram showing an example of a guide screen for the fourth embodiment.

[0048] Figure 18 This is an explanatory diagram showing an example of a guide screen for the fifth embodiment.

[0049] Figure 19 This is a flowchart illustrating an example of the guidance process in the sixth embodiment. Detailed Implementation

[0050] <First Implementation>

[0051] Figure 1 This is an explanatory diagram illustrating the structure of FPD system 1. FPD system 1 is a system for acquiring X-ray images of the human body for examination and treatment, and is also called a "vascular imaging system". FPD system 1 includes an FPD navigation device 10, a vascular imaging device 20 with an FPD (Flat Panel Detector), a display device 30, a worktable 40, and an operation unit 50. The FPD system 1 of this embodiment, by including the FPD navigation device 10 (described later), can guide the recommended range of FPD imaging positions (the range of recommended FPD imaging positions for acquiring images of the target blood vessel) in the vascular imaging device 20. In addition, "target blood vessel" refers to the blood vessel that is the object of examination or treatment, but FPD system 1 is not limited to the vascular system, and can also be used in the lumen of organisms such as the lymphatic system, biliary system, urinary system, respiratory system, digestive system, secretory glands, and reproductive organs.

[0052] exist Figure 1 The diagram illustrates mutually orthogonal X, Y, and Z axes. The X-axis corresponds to the width direction of the angiography device 20, the Y-axis corresponds to the height direction of the angiography device 20, and the Z-axis corresponds to the depth direction of the angiography device 20. In the following description, the patient ( Figure 1 The direction of the head (92) of the human body (90) is referred to as the "Z-axis direction", or simply "Z".

[0053] The FPD navigation device 10 determines and outputs a recommended range for FPD imaging positions during the guidance processing described later. The FPD navigation device 10 is configured to include a CPU, ROM, and RAM. The CPU executes a computer program stored in the ROM, thereby implementing the functions of the main control unit 11, the image acquisition unit 12, the position information acquisition unit 13, and the recommended range output unit 14. The FPD navigation device 10 is electrically connected to the control unit 29, the display device 30, and the operation unit 50 of the angiography device 20.

[0054] The main control unit 11 sends and receives information with the control unit 29, display device 30, and operation unit 50 of the angiography device 20, and controls the entire FPD navigation device 10. In addition, the main control unit 11 controls the entire guidance process described later.

[0055] During the guidance process, the image acquisition unit 12 acquires a first image and a second image from the angiography device 20. The "first image" is an image containing a picture of the target blood vessel captured by placing the FPD at any shooting position. The shooting position of the FPD when acquiring the first image is also referred to as the "first position." The "second image" is an image containing a picture of the target blood vessel captured by placing the FPD at any shooting position different from the first position. The shooting position of the FPD when acquiring the second image is also referred to as the "second position."

[0056] In the guidance process, the location information acquisition unit 13 uses the first image, the second image, the location information of the FPD when acquiring the first image (i.e., the location information of the first position), and the location information of the FPD when acquiring the second image (i.e., the location information of the second position) to acquire the location information of the target blood vessel. Details will be described later.

[0057] In the guidance processing, the recommended range output unit 14 calculates and outputs a recommended range of FPD shooting positions (the range of FPD shooting positions recommended for obtaining an image of the target blood vessel) based on the location information of the target blood vessel. In this embodiment, the recommended range output unit 14 generates a guidance screen containing an image representing the recommended range of FPD shooting positions and displays it on the monitor 31 of the display device 30. Details will be described later.

[0058] The angiography device 20 has an FPD (field-to-field device) that captures X-rays transmitted through the human body and converts them into digital signals to obtain an image. The angiography device 20 includes a first FPD 21, a first X-ray tube device 22, a first C-arm 23, a first support 24, a second FPD 25, a second X-ray tube device 26, a second C-arm 27, a second support 28, and a control unit 29.

[0059] The first FPD 21 includes an X-ray planar detector that converts X-rays incident from the first X-ray tube device 22 into electrical signals, performs A / D (analog-to-digital) conversion, and generates an X-ray image. The first X-ray tube device 22 receives a high-voltage output from an X-ray high-voltage device (not shown) to irradiate the X-ray beam. Figure 1 As shown by the thick dashed line extending along the Y-axis, the X-ray beam irradiated from the first X-ray tube device 22 enters the first FPD 21 via the human body 90. The first C-arm 23 is a C-shaped arm (support) that fixes the first FPD 21 and the first X-ray tube device 22 in opposite positions. The first support portion 24 rotatably supports the first C-arm 23. That is, the first FPD 21 and the first X-ray tube device 22, while fixed in opposite positions by the first C-arm 23, can be moved to any imaging position around the human body 90 lying on the bed 41. Hereinafter, the first FPD 21 and the first X-ray tube device 22 fixed to the first C-arm 23 will also be referred to simply as "first FPD 21".

[0060] The structure of the second FPD 25 is the same as that of the first FPD 21. The structure of the second X-ray tube device 26 is the same as that of the first X-ray tube device 22. For example... Figure 1 As shown by the thick dashed line extending along the X-axis, the X-ray beam irradiated from the second X-ray tube device 26 enters the second FPD 25 via the human body 90. The second C-arm 27 is a C-shaped arm (support) that fixes the second FPD 25 and the second X-ray tube device 26 in opposite positions. The second support portion 28 rotatably supports the second C-arm 27. That is, the second FPD 25 and the second X-ray tube device 26, while fixed in opposite positions by the second C-arm 27, can be moved to any imaging position around the human body 90. Hereinafter, the second FPD 25 and the second X-ray tube device 26 fixed to the second C-arm 27 will also be referred to simply as "second FPD 25".

[0061] Typically, the second FPD25 is positioned in the normal direction of the first FPD21. For example, as Figure 1 As shown, with the first FPD 21 set to the shooting position facing the front of the human body 90 (vertical direction of the human body 90, longitudinal direction of the human body 90), the second FPD 25 is set to the shooting position facing the horizontal direction of the human body 90 (lateral direction of the human body 90). Additionally, the angiography device 20 is sometimes simply referred to as "FPD" or "FPD device," etc.

[0062] The control unit 29 is configured to include a CPU, ROM, and RAM. The CPU controls the entire angiography apparatus 20 by executing a computer program stored in the ROM. The control unit 29 is electrically connected to the first FPD 21, the second FPD 25, the first support 24, the second support 28, the display device 30, the worktable 40, and the operation unit 50. The control unit 29 displays the X-ray images generated by the first FPD 21 and the second FPD 25 on the display device 30. In addition, according to the operation from the operation unit 50, the control unit 29 drives the first support 24 to rotate the first C-arm 23 and drives the second support 28 to rotate the second C-arm 27. Furthermore, according to the operation from the operation unit 50, the control unit 29 changes the height of the bed 41 by extending and retracting the telescopic part 42 and changes the position of the bed 41 by moving the worktable 40 in the Z-axis direction.

[0063] The display device 30 is connected to the control unit 29 of the FPD navigation device 10 and the angiography device 20, and functions as an output interface for the FPD navigation device 10 and the angiography device 20. The display device 30 has a monitor 31 and an arm 32. The monitor 31 is a "display unit" composed of known units such as liquid crystal displays, smart glasses, and projectors. The arm 32 supports and fixes the monitor 31.

[0064] The workbench 40 is a platform for accommodating a person 90 lying horizontally near the first FPD 21 and the second FPD 25. The workbench 40 includes a bed 41, a telescopic section 42, and legs 43. The bed 41 has a mattress for accommodating the person lying horizontally. The bed 41 is supported by the workbench 40 in a position capable of moving along the Z-axis. The telescopic section 42 is configured to change the height of the bed 41 by extending and retracting along the Y-axis. The legs 43 support the bed 41 and the telescopic section 42. Figure 1 As shown by the dashed line, the human body 90 lies face up on the bed 41 with its head 92 positioned close to the first FPD 21 and the second FPD 25, and its feet 93 positioned away from the first FPD 21 and the second FPD 25. In this way, images of the target blood vessels located at the heart 91 can be easily obtained through the first FPD 21 and the second FPD 25.

[0065] The operation unit 50 is connected to the control unit 29 of the FPD navigation device 10 and the angiography device 20, and functions as an input interface for the FPD navigation device 10 and the angiography device 20. The operation unit 50 is an "input unit" composed of known units such as a touch panel, operation buttons, a joystick, an operation switch, a keyboard, a mouse, a voice input unit, and a foot switch. In the illustrated example, the operation unit 50 is fixed to the worktable 40.

[0066] Figure 2 This is a diagram illustrating the shooting position of the first FPD21. Figure 2(A) is a diagram illustrating LAO. Figure 2 (B) is a diagram illustrating RAO. For example... Figure 2 As shown in (A), the configuration where the first FPD21 is positioned to the left of the body at a 90° angle is called LAO (Left Anterior Oblique view). For example... Figure 2 As shown in (B), the situation in which the first FPD21 is located on the right side of the human body at 90 degrees is called RAO (Right Anterior Oblique view). Figure 2 (C) is a diagram illustrating CRA. Figure 2 (D) is a diagram illustrating CAU. For example... Figure 2 As shown in (C), the situation where the first FPD21 is located in the upper direction of the human body at 90 degrees is called CRA (CRAnial). Figure 2 As shown in (D), the position of the first FPD21 below the human body at 90 degrees is called CAU (CAUdal). That is, the "shooting position of the first FPD21" is determined by the combination of the left-right position A1 and the up-down position A2 shown below.

[0067] (A1) The angle θ1 formed by LAO or RAO and the center O of the human body (90 degrees).

[0068] (A2) The angle θ2 formed by CRA or CAU and the center O of the human body at 90 degrees.

[0069] For example, “RAO28 CRA5” means that the first FPD21 is located at 28 degrees to the right of the human body and 5 degrees to the top of the human body.

[0070] Figure 3 This is a flowchart illustrating an example of the guided processing. In step S10, the first FPD 21 is moved to a first position to capture an X-ray image. The first position can be any position (RAOXX CRAXX: X is any natural number). In step S10, the main control unit 11 can automatically move the first FPD 21 to the first position to perform the image capture, or the surgeon can manually perform the image capture. The image acquisition unit 12 acquires the captured image (first image) from the angiography device 20.

[0071] Figure 4 This is an explanatory diagram showing an example of the input screen W1 used in the boot process. Figure 3 In step S12, the main control unit 11 makes Figure 4The input screen W1 shown is displayed on the monitor 31 (display unit). Input screen W1 is used to input and confirm the position information of the first position and the position information of the second position. Input screen W1 includes first image information E1, second image information E2, human body image E3, and display button B1.

[0072] The first image information E1 is information related to the first image, including the position information of the first FPD21's shooting position when the first image was acquired (in other words, the position information of the first position). The first image information E1 includes input fields EF1, EF2, and EF3. Input field EF1 is used to determine the left and right positions of the first FPD21. Figure 2 : LAO / RAO, θ1). Input field EF2 is used to determine the vertical position of the first FPD21 ( Figure 2 (CRA / CAU, θ2). That is, input fields EF1 and EF2 of the first image information E1 are used to input the "position information of the first location". Input field EF3 is used to determine the tilt of the object's blood vessel.

[0073] The second image information E2 is information related to the second image, which contains positional information of the shooting position of the first FPD21 when the second image was acquired (in other words, the positional information of the second position). Similar to the first image information E1, the second image information E2 includes input fields EF1, EF2, and EF3 for the second position. That is, input fields EF1 and EF2 of the second image information E2 are used to input the "positional information of the second position." The human body image E3 displays a model image of a human body 90 lying on the bed 41 and its Z-axis. Furthermore, in the initial state of the input screen W1, all input fields EF1 to EF3 in both the first image information E1 and the second image information E2 are blank.

[0074] Furthermore, in step S12, the position information (position information of the first position) of the first FPD21 when the first image was obtained is input to the first image information E1 of the input screen W1. This input can be performed automatically by the main control unit 11 or manually by the surgeon.

[0075] Figure 5 This diagram illustrates steps S14 and S24 of the guidance process. Figure 5 (A) represents an example of the first image IM1. Figure 5 (B) represents an example of the second image IM2. Figure 3 In step S14, the tilt Δ of the object blood vessel within the first image is measured. For example, an example is obtained... Figure 5The following explanation will focus on the case of the first image IM1 as shown in (A). The first image IM1 includes the coronary artery 100, and a branch of the coronary artery 100 is designated as the target vessel 101. At this time, the angle Δ between the target vessel 101 reflected in the first image IM1 and the Z-axis (the direction in which the head 92 of the human body 90 is located) is measured. The measurement of angle Δ can be performed automatically by the main control unit 11 using known image processing techniques, or it can be performed manually by the surgeon.

[0076] exist Figure 3 In step S16, the angle Δ measured in step S14 is input into the input field EF3 of the first image information E1 on the input screen W1. Step S16 can be performed automatically by the main control unit 11 or manually by the surgeon.

[0077] In step S20, the first FPD 21 is moved to the second position to capture an X-ray image. The second position can be any position different from the first position (RAOYY CRAYY: Y is any natural number). In step S20, the main control unit 11 can automatically move the first FPD 21 to the second position for image capture, or the surgeon can manually perform the image capture. The image acquisition unit 12 acquires the captured image (second image) from the angiography device 20.

[0078] In step S22, the position information (position information of the second position) of the first FPD21 when the second image is acquired is input to the second image information E2 of the input screen W1. This input can be performed automatically by the main control unit 11 or manually by the surgeon.

[0079] In step S24, the tilt δp2 of the target blood vessel within the second image is measured. For example, an example is obtained... Figure 5 The following explanation will focus on the second image IM2 as shown in (B). The angle δp2 between the target blood vessel 101 reflected in the second image IM2 and the Z-axis (the direction in which the head 92 of the human body 90 is located) is measured. The measurement of angle δp2 can be performed automatically by the main control unit 11 using known image processing techniques, or it can be performed manually by the surgeon. Furthermore, the target blood vessel 101 described in step S14 and the target blood vessel 101 described in step S24 refer to the same blood vessel.

[0080] exist Figure 3 In step S26, the angle δp2 measured in step S24 is input into the input field EF3 of the second image information E2 on the input screen W1. Step S26 can be performed automatically by the main control unit 11 or manually by the surgeon.

[0081] In step S28, the main control unit 11 determines whether the display button B1 of the input screen W1 has been pressed. If the display button B1 has not been pressed (step S28: No), the main control unit 11 transfers the processing to step S28 and waits until the display button B1 is pressed. If the display button B1 has been pressed (step S28: Yes), the position information acquisition unit 13, after acquiring the first image information E1 and the second image information E2 from the input screen W1, transfers the processing to step S30. Furthermore, the surgeon can change the first position to acquire the first image again before pressing the display button B1, or change the second position to acquire the second image again.

[0082] Figure 6 This diagram illustrates step S30 of the guidance process. Figure 6 (A) represents an example of coronary artery 100 viewed from the same angle as the first image IM1. Figure 6 (B) represents an example of coronary artery 100 viewed from a different angle than in the first image IM1. Figure 3 In step S30, the position information acquisition unit 13 calculates the blood vessel presence surface H2 and the H2 vector observed from the first position. Specifically, the viewpoint of the first FPD21 at the first position (in other words, the normal vector of the first image IM1) is set as "vector a". The position information acquisition unit 13 defines the surface containing vector a and in which the target blood vessel 101 exists, and designates this surface as "blood vessel presence surface H2". Hereinafter, the blood vessel presence surface H2 is also referred to as "H2 surface". In addition, the position information acquisition unit 13 sets the normal vector of the H2 surface as "vector H2".

[0083] Figure 7 as well as Figure 8 This diagram illustrates step S32 of the boot process. Figure 7 This represents an example of coronary artery 100 observed from the same angle as in the second image IM2. Figure 8 (A) and Figure 8 (B) represents an example of coronary artery 100 observed from a different angle than that of the second image IM2. Figure 3 In step S32, the position information acquisition unit 13 calculates the blood vessel presence surface S observed from the second position. Specifically, the viewpoint of the first FPD21 at the second position (in other words, the normal vector of the second image IM2) is set as the "P vector" ( Figure 7 ).like Figure 8 As shown in (A), the position information acquisition unit 13 draws a vector orthogonal to the P vector from the P vector to the Z-axis, and designates this vector as the "Pz vector". Next, as... Figure 8As shown in (B), the position information acquisition unit 13 rotates the Pz vector by δp2 degrees around the P vector. Then, the position information acquisition unit 13 defines the surface formed by the rotated Pz vector and the P vector, and designates this surface as the "blood vessel presence surface S". Hereinafter, the blood vessel presence surface S will also be referred to as the "S surface".

[0084] Figure 9 This diagram illustrates step S34 of the boot process. Figure 9 (A) represents an example of coronary artery 100 observed from the same angle as the second image IM2. Figure 9 (B) represents an example of coronary artery 100 viewed from a different angle than in the second image IM2. Figure 9 In the diagram, the points marked on surface H2 are represented by shading, and the diagonal lines marked on surface S are represented by shading. Figure 3 In step S34, the position information acquisition unit 13 calculates the target blood vessel axis VO based on the H2 plane and the S plane. Specifically, the position information acquisition unit 13 defines the straight line intersecting the H2 plane obtained in step S30 and the S plane obtained in step S32 as the "target blood vessel axis VO". Hereafter, the target blood vessel axis VO is referred to as the "blood vessel axis vector VO". The three-dimensional position of the target blood vessel can be determined by the blood vessel axis vector VO obtained in this way. The blood vessel axis vector VO is equivalent to "position information of the target blood vessel". Furthermore, steps S30 to S34 are equivalent to solving the problem of calculating a spatial vector based on projection vectors onto two screens.

[0085] Figure 10 This is an explanatory diagram showing an example of the boot screen W2 used in the boot process. Figure 3 In step S40, the recommended range output unit 14 is generated. Figure 10 The guide screen W2 shown is displayed on the monitor 31 (display unit). The guide screen W2 is a screen used to output the recommended range of FPD shooting positions for the first FPD 21 and the second FPD 25 (in other words, the range of the first FPD 21 shooting position recommended for obtaining an image of the target blood vessel 101, and the range of the second FPD 25 shooting position recommended for obtaining an image of the target blood vessel 101). The guide screen W2 includes a first screen V1, a second screen V2, a third screen V3, and a fourth screen V4. In this embodiment, the first screen V1 is also referred to as a "vertical view", the second screen V2 as a "first normal view", the third screen V3 as a "second normal view", and the fourth screen V4 as an "oblique view".

[0086] The first screen V1 includes the shooting position range T1, the movable range OB1, the shooting position P11, the shooting position P12, the position display OB2, and the position display OB3.

[0087] Figure 11 This diagram illustrates the shooting position ranges T1 and T2. The background, represented by the four-part division of the FPD's left-right and up-down positions and corresponding scale markings, is overlaid with the shooting position range T1 and the movable range OB1. Figure 2 (A1, A2). For example... Figure 11 As shown, the shooting position range T1 is a curve representing the range of shooting positions of the first FPD21 in a direction orthogonal to the vessel axis vector VO of the target vessel 101 (in other words, the extension direction of the target vessel 101). The recommended range output unit 14 can calculate the shooting position range T1 using the known Rodrigues rotation formula, etc., based on the vessel axis vector VO obtained in step S34. Furthermore, the images obtained by the first FPD21 moving within the shooting position range T1 are compared with... Figure 11 The X-plane shown is a cross-sectional image of the target blood vessel 101 after being rotated 360 degrees around the blood vessel axis vector VO. The movable range OB1 is an image representing the movable range of the first FPD21 (in other words, the range within which the first FPD21 can actually move). The portion where the shooting position range T1 in the first frame V1 intersects with the movable range OB1 corresponds to the recommended shooting position range of the first FPD21 for obtaining an image of the target blood vessel 101, i.e., the "first shooting range image." The first shooting range image corresponds to the "recommended FPD shooting position range."

[0088] The shooting position P11 is a point that can move within the shooting position range T1. Shooting position P11 represents any shooting position of the first FPD21 in a direction orthogonal to the vessel axis vector VO of the target vessel 101. Position display OB2 represents the combination of the left-right and up-down positions of the first FPD21 at shooting position P11. Figure 2 (a1, a2). Additionally, the "X" in OB2 indicates any natural number. This is important for... Figure 10 The other parts are the same. Shooting position P12 is the point that moves within the shooting position range T1 as shooting position P11 moves. Shooting position P12 indicates the shooting position of the first FPD21 in the opposite direction (opposite direction) to shooting position P11. Position display OB3 indicates the combination of the left-right and up-down positions of the first FPD21 at shooting position P12. Figure 2 (a1, a2). Alternatively, the positions can be omitted when displaying OB2, OB3.

[0089] The second screen V2 includes the shooting position P2, the recommended range L1, the movable range OB9, and the position display OB4. Similar to the first screen V1, the shooting position P2, the recommended range L1, and the movable range OB9 are overlaid on the background representing the left-right and up-down positions of the FPD. Figure 2 (a1, a2). Shooting position P2 represents the shooting position of the second FPD25 corresponding to the shooting position of the first FPD21. Specifically, shooting position P2 represents the shooting position of the second FPD25 in a direction orthogonal to the shooting direction (hereinafter also referred to as the "first shooting direction") at the shooting position P11 of the first FPD21 specified in the first frame V1 and orthogonal to the vessel axis vector VO of the object vessel 101. The shooting direction of shooting position P2 is also referred to as the "second shooting direction". Shooting position P2 moves as the shooting position P11 of the first frame V1 moves. Movable range OB9 is an image representing the movable range of the second FPD25 (in other words, the range within which the second FPD25 can actually move).

[0090] The recommended range L1 corresponds to the range of the second FPD25 imaging position recommended for obtaining an image of the target blood vessel 101, i.e., the "second imaging range image". The recommended range L1 is a defined range including the imaging position P2, and the size, shape, etc., of range L1 can be arbitrarily determined. Figure 10 In this example, the recommended range L1 is set to a gradient display where the color changes as the device approaches the movable range OB9. The second shooting range image is equivalent to the "FPD shooting position recommended range". The position display OB4 represents the combination of the left-right and up-down positions of the second FPD25 at the shooting position P2. Figure 2 (a1, a2). Alternatively, the position can be omitted when displaying OB4.

[0091] The third screen V3 includes the shooting position P3, recommended range L2, movable range OB9, and position display OB5. Similar to the first screen V1, the shooting position P3, recommended range L2, and movable range OB9 are overlaid on the background representing the left-right and up-down positions of the FPD. Figure 2 (a1, a2). Shooting position P3 refers to another shooting position of the second FPD25 that is different from shooting position P2, corresponding to the shooting position of the first FPD21. Specifically, shooting position P3 refers to the shooting position of the second FPD25 that is orthogonal to the first shooting direction of the first FPD21 and opposite to the second shooting direction of the second FPD25. The shooting direction of shooting position P3 is also referred to as the "third shooting direction". Shooting position P3 moves as the shooting position P11 of the first frame V1 moves.

[0092] The recommended range L2 corresponds to the range of the second FPD25 imaging position recommended for obtaining an image of the target blood vessel 101, i.e., the "third imaging range image". The recommended range L2 encompasses the specified range of the imaging position P3, and the size, shape, etc., of range L2 can be arbitrarily determined. Figure 10 In the example, the recommended range L2 is set to a gradient display where the color changes as it approaches the movable range OB9. The third shooting range image is equivalent to the "FPD shooting position recommended range". The position display OB5 indicates the combination of the left-right and up-down positions of the second FPD25 at the shooting position P3. Figure 2 (a1, a2). Alternatively, the position can be omitted when displaying OB5.

[0093] The fourth frame V4 includes the shooting position range T2, the movable range OB1, the shooting position P41, the shooting position P42, the shooting position P43, the position display OB6, the position display OB7, and the position display OB8. Similar to the first frame V1, the shooting position range T1 and the movable range OB1 are overlaid on the background representing the left-right and up-down positions of the FPD. Figure 2 (a1, a2). For example... Figure 11 As shown, the shooting position range T2 is a plane containing the vessel axis vector VO of the target vessel 101 (in other words, the extension direction of the target vessel 101) and the first shooting direction. Figure 11 The curve representing the range of the first FPD21's shooting position is located on the X-plane and is tilted relative to the first shooting direction. Therefore, the curve of the shooting position range T2 changes with the movement of the first shooting direction (i.e., with the movement of the shooting position P11 of the first frame V1). The recommended range output unit 14 can calculate the shooting position range T2 using the known Rodriguez rotation formula, etc., based on the blood vessel axis vector VO obtained in step S34. The portion where the shooting position range T2 in the fourth frame V4 intersects with the movable range OB1 corresponds to the range of the first FPD21's shooting position recommended for obtaining an image of the target blood vessel 101, i.e., the "fourth shooting range image". The fourth shooting range image corresponds to the "FPD shooting position recommended range".

[0094] Shooting position P41 represents the same point as shooting position P11, and moves as the shooting position P11 of the first frame V1 moves. The same content as position display OB2 is displayed in position display OB6. Similarly, shooting position P42 represents the same point as shooting position P12, and moves as the shooting position P12 of the first frame V1 moves. The same content as position display OB3 is displayed in position display OB7. Shooting position P43 is a point that can be specified at any position within the shooting position range T2. Shooting position P43 represents a plane located on the blood vessel axis vector VO containing the object blood vessel 101 and the first shooting direction (…). Figure 11 The shooting position of the first FPD21 is any position on the X-plane that is tilted relative to the first shooting direction. Position display OB8 indicates the combination of the left-right and up-down positions of the first FPD21 at shooting position P43. Figure 2 (a1, a2). In addition, the shooting direction at the shooting position P43 of the first FPD21 specified in the fourth screen V4 is also referred to as the "fourth shooting direction".

[0095] Return to Figure 3 Continuing with the explanation, in step S42, the recommendation range output unit 14 determines whether an operation has been performed in the first screen V1 (vertical view) of the guide screen W2. Specifically, the recommendation range output unit 14 determines whether the shooting position P11 of the first screen V1 has been moved. If an operation has been performed (step S42: Yes), the recommendation range output unit 14 transfers the processing to step S40, updates the first to fourth screens V1 to V4 according to the changed shooting position P11, and displays them on the monitor 31. If no operation has been performed (step S42: No), the recommendation range output unit 14 transfers the processing to step S44.

[0096] In step S44, the recommendation range output unit 14 determines whether the termination condition is met. The termination condition can be arbitrarily determined; for example, if the termination button B2 on the guide screen W2 is pressed, the termination condition can be determined to be met. If the termination condition is not met (step S44: No), the recommendation range output unit 14 transfers the processing to step S42 and enters standby mode. If the termination condition is met (step S44: Yes), the recommendation range output unit 14 terminates the guide processing.

[0097] Thus, in the guide screen W2 of this embodiment, the first shooting range image of the first screen V1 represents the range of shooting positions of the FPD recommended as the first shooting position (in other words, as the shooting position of the first FPD21), and the second shooting range image of the second screen V2 represents the range of shooting positions of the FPD recommended as the second shooting position (in other words, as the shooting position of the second FPD25). Furthermore, as explained in step S40, the recommendation range output unit 14 displays the second shooting range image corresponding to the determination of the first shooting position (the shooting position P11 of the first FPD21). Moreover, as explained in step S42, the recommendation range output unit 14 changes the second shooting range image of the second screen V2 based on the first shooting position (the shooting position P11 of the first FPD21) determined from the first shooting range image of the first screen V1.

[0098] As described above, according to the FPD navigation device 10 of the first embodiment, the location information acquisition unit 13 can use a first image and a second image captured at two different shooting positions (a first position and a second position), and location information of the first position and the second position, to acquire the location information (vessel axis vector VO) of the target blood vessel 101. Figure 3 (Steps S30-S32). Additionally, the recommended range output unit 14 uses the acquired position information (vessel axis vector VO) of the target blood vessel 101 to calculate the recommended range of FPD imaging positions (the range of FPD 21 and 25 imaging positions recommended for acquiring an image of the target blood vessel 101), and outputs the recommended range of FPD imaging positions. The surgeon sets the imaging positions of FPD 21 and 25 to overlap with the output recommended range of FPD imaging positions, thereby guiding FPD 21 and 25 to appropriate imaging positions. The surgeon performs surgery while confirming the acquired images of FPD 21 and 25 (images of the target blood vessel 101), thereby accurately grasping the positional relationship between the blood vessel 101, the lesion, and the medical device, and being able to advance the medical device in the desired direction. As a result, the FPD navigation device 10 according to the first embodiment can guide the imaging positions of FPD 21 and 25 recommended for acquiring an image of the target blood vessel 101.

[0099] In addition, according to the FPD navigation device 10 of the first embodiment, the recommended range output unit 14 causes the monitor 31 (display unit) to display a guide screen W2 containing an image indicating the recommended range of FPD shooting position. Therefore, the surgeon can easily confirm the recommended range of FPD shooting position by checking the guide screen W2 displayed on the monitor 31.

[0100] Furthermore, according to the FPD navigation device 10 of the first embodiment, the recommended range output unit 14 displays a guidance screen W2, which includes a second shooting range image showing the range of shooting positions of FPDs recommended as the second shooting position when the first shooting position is determined by FPDs 21 and 25 when the target blood vessel 101 is photographed from multiple shooting positions. Therefore, for example, in a blood vessel imaging device 20 equipped with two FPDs 21 and 25 that can simultaneously shoot from two directions such as the vertical direction (longitudinal: first FPD 21) and the normal direction (lateral: second FPD 25), it is possible to guide the recommended range of FPD shooting positions for each FPD 21 and 25.

[0101] Furthermore, according to the FPD navigation device 10 of the first embodiment, the recommended range output unit 14 displays a guide screen W2 having a first screen V1 and a second screen V2. The first screen V1 includes a first shooting range image for a first shooting position (first FPD 21), and the second screen V2 includes a second shooting range image for a second shooting position (second FPD 25). Therefore, the surgeon can easily grasp the recommended range of FPD shooting positions for each FPD 21, 25. In addition, the recommended range output unit 14 changes the second shooting range image of the second screen V2 based on the first shooting position P11 determined from the first shooting range image of the first screen V1. Therefore, for example, in a vascular imaging device 20 equipped with two FPDs 21, 25 that can simultaneously shoot from two directions such as the vertical direction (longitudinal: first FPD 21) and the normal direction (lateral: second FPD 25), the recommended range of FPD shooting positions for each FPD 21, 25 can be guided more appropriately.

[0102] Furthermore, according to the FPD navigation device 10 of the first embodiment, in the guidance screen W2, the first shooting range image of the first screen V1 is represented as the portion where the shooting position range T1 of the first FPD21, which is orthogonal to the extension direction (vascular axis vector VO) of the target blood vessel 101, intersects with the movable range OB1 of the first FPD21. Therefore, the first shooting range image of the first screen V1 can be used to guide the recommended range of FPD shooting positions in the vertical direction (longitudinal: first FPD21). Additionally, in the guidance screen W2, the second shooting range image of the second screen V2 is represented as a defined range L1 including the shooting position P2 of the second FPD25, which is the second shooting direction, wherein the second shooting direction is orthogonal to the first shooting direction at the shooting position P11 of the first FPD21 specified in the first screen V1. Therefore, the second shooting range image of the second screen V2 can be used to guide the recommended range of FPD shooting positions in the normal direction (lateral: second FPD25).

[0103] Furthermore, according to the FPD navigation device 10 of the first embodiment, the guidance screen W2 also includes a third screen V3 containing a third shooting range image. This third shooting range image represents the range of shooting positions of the second FPD 25 recommended as shooting positions from a third shooting direction, wherein the third shooting direction is orthogonal to the first shooting direction and opposite to the second shooting direction. Therefore, the second shooting range image of the second screen V2 can be used to guide the recommended range of FPD shooting positions in one direction of the normal direction (e.g., the right side), and the third shooting range image of the third screen V3 can be used to guide the recommended range of FPD shooting positions in the other direction of the normal direction (e.g., the left side). In addition, the third screen V3 is displayed together with the first screen V1 and the second screen V2, so the surgeon can easily grasp the recommended range of FPD shooting positions from multiple directions.

[0104] Furthermore, according to the FPD navigation device 10 of the first embodiment, the guidance screen W2 has a fourth screen V4 that includes a fourth shooting range image. This fourth shooting range image represents the range of shooting positions of the first FPD 21 recommended as shooting positions from a fourth shooting direction. This fourth shooting direction lies on a plane including the extension direction (vascular axis vector VO) of the target blood vessel 101 and the first shooting direction, and is inclined relative to the first shooting direction. Therefore, the fourth shooting range image of the fourth screen V4 can be used to guide the recommended range of FPD shooting positions in the oblique direction. In addition, the fourth screen V4 is displayed together with the first screen V1 and the second screen V2, so the surgeon can easily grasp the recommended range of FPD shooting positions from multiple directions.

[0105] Thus, according to the FPD system 1 of the first embodiment, the FPD system 1 with FPDs 21 and 25 can guide the recommended imaging positions of FPDs 21 and 25 for obtaining images of the target blood vessel 101. As a result, the surgeon can accurately grasp the positional relationship between the target blood vessel 101, the lesion, and the medical device, and can advance the medical device in the desired direction. Therefore, even in cases where the blood vessel is occluded by a lesion, such as in chronic total occlusion (CTO), even relatively difficult procedures such as re-entering the subendothelial region of the true lumen from the false lumen to open (reopen) the CTO can be performed safely and quickly.

[0106] <Other methods for determining blood vessel axis vectors>

[0107] Furthermore, in the guidance process of the first embodiment ( Figure 3 In the process, the blood vessel axis vector VO described in steps S30 to S34 can also be obtained through... Figure 12 , Figure 13 as well as Figure 14 The method described in the text is used to obtain it. In addition, in the following explanations, the blood vessel axis vector VO will be referred to as the "blood vessel axis vector δ2".

[0108] Figure 12 This is a graph showing the relationship between the vessel axis vector and the H2 plane. The H2 vector is the H2 plane ( Figure 6 : The normal vector of the surface where the blood vessels are observed from the first position. The Hz2 vector lies on the H2 plane and is a unit vector intersecting the Z-axis (the direction where the head 92 of the human body 90 is located). It overlaps with the Z-axis on the first image and always faces the head 92 side. The blood vessel axis vector δ2 of the object is obtained by rotating the Hz2 vector by δ2 degrees on the H2 plane. Therefore, the blood vessel axis vector δ2 can be calculated according to the well-known Rodriguez rotation formula as shown in Equation 1 below. Furthermore, Equation 1 And θ2 is the polar coordinate representation of the H2 vector. Figure 12 The X and Y axes shown are not parallel to Figure 1 The X and Y axes correspond to each other.

[0109] [Formula 1]

[0110]

[0111] Hz2 vector and Figure 12 Since the H vector is perpendicular to the Z-axis, the coordinates of the Hz2 vector can be calculated using the inner product as shown in Equation 2. Furthermore, the H vector is the normal vector to the plane formed by the H2 vector and the Z-axis.

[0112] [Formula 2]

[0113]

[0114] Figure 13 This is a diagram showing the relationship between the H2 plane and the P plane. Figure 13 As shown, the H2 surface is in Figure 6 As explained, this is the surface where the blood vessels are observed from the first position. The P-plane is the projection plane of the first FPD21 at the second position (in other words, the projection plane of the second image IM2). The P-vector is the viewpoint of the first FPD21 at the second position (in other words, the position vector of the first FPD21 at the second position, which is the normal vector of the P-plane). Here, the blood vessel axis vector projected onto the P-plane is δp2 (…). Figure 13 The angle δp2 is formed by the dashed line and the unit vector Pz on the P plane pointing towards the Z-axis. Furthermore, this angle δp2 is... Figure 3 The “tilt δp2 of the target blood vessel” is measured in step S24. Figure 13 The X and Y axes shown are not parallel to Figure 1 The X and Y axes correspond to each other.

[0115] Furthermore, the P-side is related to... Figure 7 as well as Figure 8 The S-plane described herein is different from the plane described above. The Pz vector exists on the P-plane, but it is not the vector projected onto the P-plane by the Hz2 vector. The vessel axis vector δp2 is the vector projected onto the P-plane by the δ2 ​​vector, lies on the P-plane, and is orthogonal to the P-vector. In this case, the orthogonal coordinates of the P-vector are expressed as shown in Equation 3 below. In addition, the coordinates of the Pz vector can be calculated as shown in Equation 4. Furthermore, Equation 3... and θ P It is the polar coordinate representation of vector P.

[0116] [Formula 3]

[0117]

[0118]

[0119] Figure 14 This is a diagram illustrating the calculation of axial length of blood vessels. Figure 14 OP is the longitudinal midline on plane P, intersecting the Z-axis. Figure 14 In this equation, the vectors mP, δ2 + H2, and P lie on the same plane, therefore the relationship in Equation 5 holds. Furthermore, since... Therefore, the relationship in Equation 6 holds true regarding the mP vector and the nP vector.

[0120] [Formula 5]

[0121] m|P|+|δ z +H2|cosθ”=|P|=1…(5)

[0122] [Formula 6]

[0123]

[0124] According to Equations 5 and 6, the vessel axis vector δp2 projected onto the P plane is expressed as in Equation 7. Furthermore, the dot product of the Pz vector and the vessel axis vector δp2 projected onto the P plane is expressed as in Equation 8. Here, the Pz vector is orthogonal to the P vector, therefore the dot product of the Pz vector and the P vector is 0. Therefore, Equation 8 can be transformed as in Equation 9.

[0125] [Formula 7]

[0126]

[0127] [Formula 8]

[0128]

[0129] [Formula 9]

[0130]

[0131] On the other hand, based on the right triangle formed by the blood vessel axis vectors δp2, (mn)P, and δ2 projected onto the P plane, the relationship in Equation 10 is obtained. Equation 11 is derived from Equation 10. Furthermore, the inner product of the H2 vector and the P vector is represented by Equation 12. Therefore, based on Equation 12, the relationship in Equation 13 is derived with respect to cosθ′.

[0132] [Formula 10]

[0133]

[0134] [Formula 11]

[0135]

[0136] [Formula 12]

[0137]

[0138] [Formula 13]

[0139]

[0140] For cosθ″, the same relationship between Equations 14 and 15 is derived as for cosθ′.

[0141] [Formula 14]

[0142]

[0143] [Formula 15]

[0144]

[0145] If we substitute cosθ′ and cosθ″ into Equation 11, we get Equation 16, and finally Equation 17.

[0146] [Formula 16]

[0147]

[0148] [Formula 17]

[0149]

[0150] Here, δp2 in Equation 17 is Figure 3The "tilt δp2 of the target blood vessel" is measured in step S24. Therefore, the blood vessel axis vector δ2 can be obtained by using Equation 17 and the measurement value in step S24. Equation 18 is the solution to the equation shown in Equation 17. The blood vessel axis vector δ2 can be obtained by substituting the polar coordinates of vector H2 (in other words, the position information of the first position) and vector P (in other words, the position information of the second position) into Equation 18.

[0151] [Formula 18]

[0152]

[0153] <Second Implementation>

[0154] Figure 15 This is an explanatory diagram showing an example of the guide screen W2A in the second embodiment. In the second embodiment, the FPD system 1A includes an FPD navigation device 10A instead of the FPD navigation device 10. The FPD navigation device 10A performs guidance processing ( Figure 3 In step S40, instead of in Figure 10 The guide screen W2 described in the text is generated. Figure 15 The boot screen W2A shown is displayed on monitor 31. Boot screen W2A only has the first screen V1 and is not included in the main screen. Figure 10 The second screen V2, the third screen V3, and the fourth screen V4 are described in the text. Furthermore, the FPD navigation device 10A does not execute the guidance processing step S42.

[0155] In this way, the guide screen W2A can be modified in various ways, and a guide screen W2A that does not include guide screen W2, third screen V3, and fourth screen V4 can be used. Additionally, the first screen V1 can also be omitted. Figure 10 The second embodiment of the FPD navigation device 10A describes at least a portion of the shooting position range T1, movable range OB1, shooting position P11, shooting position P12, position display OB2, and position display OB3. In this second embodiment, the same effects as the first embodiment can be achieved. Furthermore, in the second embodiment of the FPD navigation device 10A, by reducing the amount of information in the guide screen W2A, the guide screen W2A can be constructed more simply.

[0156] <Third Implementation Method>

[0157] Figure 16 This is an explanatory diagram showing an example of the guide screen W2B in the third embodiment. In the third embodiment, the FPD system 1B includes an FPD navigation device 10B instead of the FPD navigation device 10. The FPD navigation device 10B performs guidance processing ( Figure 3 In step S40, instead of in Figure 10The guide screen W2 described in the text is generated. Figure 16 The boot screen W2B shown is displayed on monitor 31. Boot screen W2B has a first screen V1, a second screen V2, and a fourth screen V4, but is not included in... Figure 10 The third screen, V3, is described in the text.

[0158] In this way, the guide screen W2B can be modified in various ways. It can be a guide screen W2B that does not include the third screen V3. Alternatively, it can be a guide screen W2B that includes the third screen V3 but does not include the second screen V2. Furthermore, the second screen V2 can also be omitted. Figure 10 The shooting position P2, recommended range L1, movable range OB9, and position display OB4 described in the text are at least a portion thereof. Similarly, the third frame V3 may not be included. Figure 10 The shooting position P3, recommended range L2, movable range OB9, and position display OB5 are described in the text. Similarly, the fourth frame V4 may not be included. Figure 10 The description includes at least a portion of the shooting position range T2, movable range OB1, shooting position P41, shooting position P42, shooting position P43, position display OB6, position display OB7, and position display OB8. In this third embodiment of the FPD navigation device 10B, the same effects as the first embodiment described above can be achieved.

[0159] <Fourth Implementation>

[0160] Figure 17 This is an explanatory diagram showing an example of the guide screen W2C in the fourth embodiment. In the fourth embodiment, the FPD system 1C includes an FPD navigation device 10C instead of the FPD navigation device 10. The FPD navigation device 10C performs guidance processing ( Figure 3 In step S40, instead of in Figure 10 The guide screen W2 described in the text is generated. Figure 17 The boot screen W2C shown is displayed on monitor 31. The boot screen W2C has a first screen V1, a second screen V2, and a third screen V3, and is not included in... Figure 10 The fourth screen V4 is described in the text. Thus, the guide screen W2C can be modified in various ways, and a guide screen W2B that does not include the fourth screen V4 can be used. In this fourth embodiment of the FPD navigation device 10C, the same effects as in the first embodiment described above can be achieved.

[0161] <Fifth Implementation>

[0162] Figure 18This is an explanatory diagram showing an example of the guide screen W2D in the fifth embodiment. In the fifth embodiment, the FPD system 1D includes an FPD navigation device 10D instead of the FPD navigation device 10. The FPD navigation device 10D performs guidance processing ( Figure 3 In step S40, instead of in Figure 10 The guide screen W2 described in the text is generated. Figure 18 The W2D boot screen shown is displayed on monitor 31.

[0163] Similar to the first embodiment, the guide screen W2D includes a first screen V1, a second screen V2, a third screen V3, and a fourth screen V4. The first screen V1 includes, in addition to the structures described in the first embodiment, an FPD movement button B11. Similarly, the second screen V2 includes, in addition to the structures described in the first embodiment, an FPD movement button B12. When the main control unit 11 of the FPD navigation device 10D detects that the FPD movement button B11 is pressed in step S40, it sends information about the imaging position P11 to the control unit 29 of the angiography device 20. The control unit 29 drives the first support unit 24 to rotate the first C-arm 23, causing the first FPD 21 to move towards the imaging position indicated by the received imaging position P11. Similarly, when the main control unit 11 detects that the FPD movement button B12 is pressed in step S40, it sends information about the imaging position P2 to the control unit 29 of the angiography device 20. The control unit 29 drives the second support unit 28 to rotate the second C-arm 27, causing the second FPD 25 to move toward the shooting position indicated by the received shooting position P2.

[0164] In this way, the guide screen W2D and guide processing can be modified in various ways, and can be configured to automatically move the shooting positions of the first FPD21 and the second FPD25 to the designated shooting positions P11 and P2. Additionally, the FPD movement button can also be located on the third screen V3 or the fourth screen V4. Furthermore, the position displays OB2, OB3, OB4, OB5, OB6, and OB7 can be omitted. In this fifth embodiment of the FPD navigation device 10D, the same effects as the first embodiment described above can be achieved. Furthermore, in the fifth embodiment of the FPD navigation device 10D, the operation of the first FPD21 and the second FPD25 can be automated, thus improving the ease of use of the FPD system 1D.

[0165] <Sixth Implementation Method>

[0166] Figure 19 This is a flowchart illustrating an example of the guidance process in the sixth embodiment. In the sixth embodiment, the FPD system 1E includes an FPD navigation device 10E instead of the FPD navigation device 10. The FPD navigation device 10E performs... Figure 19 The shown guide processing replaces Figure 3 The guidance process described in the previous section. In the guidance process of the sixth embodiment, instead of... Figure 3 The steps S40 to S44 described herein are executed, while steps S50 to S54 are performed.

[0167] In step S50, the recommendation range output unit 14 calculates the recommended range of FPD imaging positions based on the vessel axis vector VO obtained in step S34. The recommended range of FPD imaging positions can be represented in various ways. For example, the recommended range of FPD imaging positions can be set as a candidate (there can be one or more candidates) of the imaging positions of the first FPD21 whose range in the direction orthogonal to the vessel axis vector VO overlaps with the movable range of the first FPD21.

[0168] In step S52, the recommended range output unit 14 outputs (sends) the calculated recommended range of FPD imaging positions to the control unit 29 of the angiography device 20. In step S54, the control unit 29 of the angiography device 20 drives the first support unit 24 to rotate the first C-arm 23 according to the received recommended range of FPD imaging positions, so that the first FPD 21 moves to the imaging position represented by the received recommended range of FPD imaging positions. In addition, when multiple imaging position candidates are received, the control unit 29 selects one imaging position from the multiple candidates using any method, and moves the first FPD 21 to that imaging position.

[0169] In this way, the guidance process can be modified in various ways, and the recommended range output unit 14 of the FPD navigation device 10E can also be omitted. Figure 10 The guide screen W2 described herein outputs the recommended range of FPD imaging position. The recommended range output unit 14 can replace the recommended range of the first FPD 21, or output the recommended range of the second FPD 25 together with the recommended range of the first FPD 21. The output destination (sending destination) of the recommended range of FPD imaging position can also be another device other than the vascular imaging device 20. Other devices could be, for example, a server device connected via a network, or a medical device other than the FPD.

[0170] In this sixth embodiment of the FPD navigation device 10E, the same effects as in the first embodiment described above can be achieved. Furthermore, according to the sixth embodiment of the FPD navigation device 10E, the recommended range of FPD imaging positions is sent to the control unit 29 of the angiography device 20. The control unit 29 uses the received recommended range of FPD imaging positions to control the driving of the first C-arm 23 and the first support 24 (and the second C-arm 27 and the second support 28), thus automating the operation of the first FPD 21 (and the second FPD 25) according to the recommended range of FPD imaging positions. As a result, the ease of use of the FPD system 1E can be improved.

[0171] <Modifications of this embodiment>

[0172] The present invention is not limited to the embodiments described above, and can be implemented in various ways without departing from its spirit, for example, the following modifications can also be made.

[0173] [Variation Example 1]

[0174] In the first to sixth embodiments described above, the structures of FPD systems 1, 1A to 1E are shown. However, the structure of FPD system 1 can be modified in various ways. For example, in FPD system 1, the FPD navigation device 10 can be connected to the angiography device 20, etc., via the Internet. For example, the display device 30 can also be a monitor or touch panel built into the FPD navigation device 10. For example, the angiography device 20 can also be a structure with a single FPD (in other words, a structure without a second FPD 25). For example, FPD system 1 can also include other medical devices not shown (e.g., CT device, MRI device), etc. In this case, Figure 10 The guide screen W2 described in the text may also contain images obtained from other medical devices.

[0175] [Variation Example 2]

[0176] In the first to sixth embodiments described above, the structures of FPD navigation devices 10, 10A to 10E are shown. However, the structure of the FPD navigation device 10 can be modified in various ways. For example, in Figure 3 , Figure 19 The steps of the guided process described herein can be modified in various ways. The execution order of each step can be changed, at least some steps can be omitted, and other steps not described can be executed.

[0177] For example, the image acquisition unit 12 may acquire the first and second images via a network or storage medium instead of from the angiography device 20. For example, the location information acquisition unit 13 may also be used in conjunction with... Figures 5-9 The method described in the text, in Figures 12-14Different methods are described in the text to obtain the vessel axis vector (position information of the target vessel). For example, the position information acquisition unit 13 can also obtain information other than the vessel axis vector (e.g., the three-dimensional coordinates of the start and end points of the target vessel) as the position information of the target vessel. For example, it is also possible not to display it. Figure 4 The input screen W1 is described in the text. For example, it can also be omitted. Figure 4 The input screen W1 described herein may contain at least some items, and may also include other items.

[0178] For example, in the guidance process of the sixth embodiment ( Figure 19 In step S52, instead of outputting the recommended FPD imaging location range to the angiography device 20, the recommended FPD imaging location range can be output via text or sound. In this case, step S54 is omitted. Alternatively, step S52 can be configured to output the recommended FPD imaging location range to a simulator or similar device such as the angiography device 20 to simulate FPD operation.

[0179] [Variation Example 3]

[0180] The structures of the FPD navigation devices 10, 10A to 10E in the first to sixth embodiments described above, as well as the structures of the modifications 1 and 2 described above, can be appropriately combined. For example, the FPD movement button described in the fifth embodiment can also be provided in the guide screen W2 described in the second to fourth embodiments.

[0181] The present invention has been described above based on embodiments and variations. However, the embodiments described above are for the purpose of facilitating the understanding of the present invention and are not intended to limit the present invention. The present invention can be modified and improved without departing from its spirit and the scope of patent protection, and the present invention includes its equivalents. In addition, any technical feature that is not described as an essential feature in this specification can be appropriately deleted.

[0182] Explanation of reference numerals in the attached figures

[0183] 1. 1A~1E…FPD System

[0184] 10, 10A~10E…FPD navigation devices

[0185] 11…Main Control Unit

[0186] 12…Image Acquisition Department

[0187] 13…Location Information Acquisition Department

[0188] 14…Recommended range output department

[0189] 20…vascular imaging device

[0190] 22…First X-ray tube apparatus

[0191] 23…First C-arm

[0192] 24…First Support Section

[0193] 26…Second X-ray tube device

[0194] 27…Second C Arm

[0195] 28…Second Support Section

[0196] 29…Control Department

[0197] 30… Display device

[0198] 31…monitor

[0199] 32…arm

[0200] 40…workbench

[0201] 41…bed

[0202] 42… Telescopic section

[0203] 43…Legs

[0204] 50… Operations Department

[0205] 90…human body

[0206] 91…heart

[0207] 92…head

[0208] 93…foot

[0209] 100…coronary arteries

[0210] 101…Target blood vessels

[0211] B1… Display button

[0212] B11, B12…FPD Movement Buttons

[0213] B2…End button

[0214] E1…First Image Information

[0215] E2…Second Image Information

[0216] E3…Human Image

[0217] EF1, EF2, EF3... Input fields

[0218] H2…blood vessels exist on the surface

[0219] IM1…First Image

[0220] IM2…Second Image

[0221] L1, L2... Recommended range

[0222] OB1, OB9... Range of motion

[0223] Position display for OB2, OB3, OB4, OB5, OB6, OB7, OB8…

[0224] Shooting positions: P11, P12, P2, P3, P41, P42, P43…

[0225] S…vascular surface

[0226] T1, T2... Shooting location range

[0227] V1…First Screen

[0228] V2…Second Screen

[0229] V3…Third Screen

[0230] V4…Fourth screen

[0231] VO…vascular axis vector

[0232] W1…Input Screen

[0233] W2, W2A, W2B, W2C, W2D... Guide screens.

Claims

1. An FPD navigation device, characterized in that, have: The image acquisition unit acquires a first image and a second image from the FPD. The first image contains an image of the target blood vessel captured at a first location, and the second image contains an image of the target blood vessel captured at a second location different from the first location. The FPD is a flat panel detector. A location information acquisition unit acquires the location information of the target blood vessel based on the first image and the second image, and the location information of the first location and the location information of the second location; and The recommended range output unit outputs a recommended range of FPD shooting positions based on the location information of the target blood vessel. This recommended range of FPD shooting positions represents the range of FPD shooting positions recommended for obtaining an image of the target blood vessel.

2. The FPD navigation device according to claim 1, characterized in that, The recommended range output unit causes the display unit to display a guide screen containing an image representing the recommended range of the FPD shooting location.

3. The FPD navigation device according to claim 2, characterized in that, When the recommended range output unit determines the first shooting position of the FPD when it is shooting the blood vessel of the object at multiple shooting positions, it displays the guide screen containing a second shooting range image, the second shooting range image representing the range of the shooting position of the FPD recommended as the second shooting position.

4. The FPD navigation device according to claim 3, characterized in that, The recommended range output unit displays the guide screen having a first screen and a second screen. The first screen includes a first shooting range image representing the range of the FPD's shooting position recommended as the first shooting position, and the second screen includes a second shooting range image. The recommended range output unit changes the second shooting range image of the second screen based on the first shooting position determined from the first shooting range image of the first screen.

5. The FPD navigation device according to claim 4, characterized in that, In the guidance screen, the first shooting range image of the first screen is represented as the portion where the shooting position of the FPD in a direction orthogonal to the extension direction of the target blood vessel intersects with the movable range of the FPD. The second shooting range image of the second frame is represented as a defined range including the shooting position of the FPD that becomes the second shooting direction, wherein the second shooting direction is a direction orthogonal to the first shooting direction at the shooting position of the FPD specified in the first frame.

6. The FPD navigation device according to claim 5, characterized in that, In addition to the first screen and the second screen, the guide screen also has a third screen that includes a third shooting range image. The third shooting range image represents the range of shooting positions of the FPD recommended as shooting positions from a third shooting direction, wherein the third shooting direction is a direction orthogonal to the first shooting direction and opposite to the second shooting direction.

7. The FPD navigation device according to claim 5 or 6, characterized in that, In addition to the first screen and the second screen, the guide screen also has a fourth screen that includes a fourth shooting range image. The fourth shooting range image represents the range of the shooting position of the FPD recommended as a shooting position from a fourth shooting direction, wherein the fourth shooting direction is located on a plane that includes the extension direction of the object's blood vessel and the first shooting direction, and is inclined relative to the first shooting direction.

8. An FPD system, characterized in that, have: FPD, the FPD being a flat panel detector; and The FPD navigation device according to any one of claims 1 to 7.

9. The FPD system according to claim 8, characterized in that, The FPD system also features: An arm that supports the FPD and changes the shooting position of the FPD; and The control unit controls the drive of the arm. The FPD navigation device sends the recommended range of FPD shooting locations to the control unit. The control unit uses the received recommended range of FPD shooting positions to control the arm's drive.

10. An FPD navigation method, characterized in that, have: The image acquisition process acquires a first image and a second image captured by an FPD. The first image contains an image of the target blood vessel captured at a first location, and the second image contains an image of the target blood vessel captured at a second location different from the first location. The FPD is a flat panel detector. The location information acquisition process involves obtaining the location information of the object's blood vessel based on the first image and the second image, and the location information of the first location and the location information of the second location; and The recommended range output process outputs a recommended range of FPD shooting positions based on the location information of the target blood vessel. This recommended range of FPD shooting positions represents the range of FPD shooting positions recommended in order to obtain an image of the target blood vessel.

11. The FPD navigation method according to claim 10, characterized in that, In the recommended range output process, the display unit displays a guide screen containing an image representing the recommended range of the FPD shooting location.

12. The FPD navigation method according to claim 11, characterized in that, In the recommended range output process, when the first shooting position of the FPD when shooting the blood vessel of the object at multiple shooting positions is determined, the guide screen containing a second shooting range image is displayed, the second shooting range image representing the range of the shooting position of the FPD recommended as the second shooting position.

13. The FPD navigation method according to claim 12, characterized in that, In the recommended range output process, a guide screen with a first screen and a second screen is displayed. The first screen includes a first shooting range image representing the range of the shooting position of the FPD recommended as the first shooting position, and the second screen includes a second shooting range image. In the recommended range output process, the second shooting range image of the second screen is changed according to the first shooting position determined from the first shooting range image of the first screen.

14. The FPD navigation method according to claim 13, characterized in that, In the guidance screen, the first shooting range image of the first screen is represented as the portion where the shooting position of the FPD in a direction orthogonal to the extension direction of the target blood vessel intersects with the movable range of the FPD. The second shooting range image of the second frame is represented as a defined range including the shooting position of the FPD that becomes the second shooting direction, wherein the second shooting direction is a direction orthogonal to the first shooting direction at the shooting position of the FPD specified in the first frame.

15. The FPD navigation method according to claim 14, characterized in that, In addition to the first screen and the second screen, the guide screen also has a third screen that includes a third shooting range image. The third shooting range image represents the range of shooting positions of the FPD recommended as shooting positions from a third shooting direction, wherein the third shooting direction is a direction orthogonal to the first shooting direction and opposite to the second shooting direction.

16. The FPD navigation method according to claim 14 or 15, characterized in that, In addition to the first screen and the second screen, the guide screen also has a fourth screen that includes a fourth shooting range image. The fourth shooting range image represents the range of the shooting position of the FPD recommended as a shooting position from a fourth shooting direction, wherein the fourth shooting direction is located on a plane that includes the extension direction of the object's blood vessel and the first shooting direction, and is inclined relative to the first shooting direction.

17. A computer-readable storage medium storing a computer program, characterized in that, The computer program causes the computer to perform the following steps: The image acquisition step involves acquiring a first image and a second image captured by an FPD. The first image contains an image of the target blood vessel captured at a first location, and the second image contains an image of the target blood vessel captured at a second location different from the first location. The FPD is a flat panel detector. The location information acquisition step involves obtaining the location information of the object's blood vessel based on the first image and the second image, and the location information of the first location and the location information of the second location; and The recommended range output step outputs a recommended range of FPD shooting positions based on the location information of the target blood vessel. This recommended range of FPD shooting positions represents the range of FPD shooting positions recommended in order to obtain an image of the target blood vessel.

18. The computer-readable storage medium according to claim 17, characterized in that, In the recommended range output step, the display unit displays a guide screen containing an image representing the recommended range of the FPD shooting location.

19. The computer-readable storage medium according to claim 18, characterized in that, In the recommended range output step, when the first shooting position of the FPD when shooting the blood vessel of the object at multiple shooting positions is determined, the guide screen containing a second shooting range image is displayed, the second shooting range image representing the range of the shooting positions of the FPD recommended as the second shooting position.

20. The computer-readable storage medium according to claim 19, characterized in that, In the recommended range output step, a guide screen with a first screen and a second screen is displayed. The first screen contains a first shooting range image representing the range of the FPD's shooting position recommended as the first shooting position, and the second screen contains a second shooting range image. In the recommended range output step, the second shooting range image of the second frame is changed according to the first shooting position determined from the first shooting range image of the first frame.

21. The computer-readable storage medium according to claim 20, characterized in that, In the guide screen, the first shooting range image of the first screen is represented as the portion where the shooting position of the FPD in a direction orthogonal to the extension direction of the target blood vessel intersects with the movable range of the FPD. The second shooting range image of the second frame is represented as a defined range including the shooting position of the FPD that becomes the second shooting direction, wherein the second shooting direction is a direction orthogonal to the first shooting direction at the shooting position of the FPD specified in the first frame.

22. The computer-readable storage medium according to claim 21, characterized in that, In addition to the first screen and the second screen, the guide screen also has a third screen that includes a third shooting range image. The third shooting range image represents the range of shooting positions of the FPD recommended as shooting positions from a third shooting direction, wherein the third shooting direction is a direction orthogonal to the first shooting direction and opposite to the second shooting direction.

23. The computer-readable storage medium according to claim 21 or 22, characterized in that, In addition to the first screen and the second screen, the guide screen also has a fourth screen that includes a fourth shooting range image. The fourth shooting range image represents the range of the shooting position of the FPD recommended as a shooting position from a fourth shooting direction, wherein the fourth shooting direction is located on a plane that includes the extension direction of the object's blood vessel and the first shooting direction, and is inclined relative to the first shooting direction.

Images