Medical image processing apparatus, X-ray diagnostic apparatus, and medical image processing method

Abstract

Embodiments relate to a medical image processing apparatus, an X-ray diagnostic apparatus, and a medical image processing method. The purpose of the present invention is to improve the visibility of an X-ray image. A medical image processing apparatus according to an embodiment includes an acquisition unit, a processing unit, and an output unit. The acquisition unit acquires a plurality of X-ray images including a device inserted into the body of a subject. The processing unit suppresses the movement of a feature portion between the X-ray images, the feature portion being located at a position separated from the tip of the device and having a feature in shape. The output unit outputs the plurality of X-ray images in which the movement of the feature portion is suppressed.

Description

[0001] This application is a divisional application of the invention patent application with the Chinese patent application number 202110869584.6 and the invention name "Medical Image Processing Device, X-ray Diagnostic Device and Medical Image Processing Method" submitted by the applicant on July 30, 2021.

[0002] Reference to related applications

[0003] This application claims the benefit of the priority of Japanese Patent Application No. 2020-129283 filed on July 30, 2020, Japanese Patent Application No. 2020-131435 filed on August 3, 2020, and Japanese Patent Application No. 2021-124826 filed on July 29, 2021. The entire contents of the Japanese patent applications are incorporated herein by reference. Technical field

[0004] The embodiments relate to a medical image processing device, an X-ray diagnostic device, and a medical image processing method. Background art

[0005] Various intravascular therapies are known in which devices such as catheters and guidewires are inserted into the blood vessels of a subject. In addition, during intravascular therapy, X-ray images are collected and displayed to assist the operator in operating the device. Here, depending on the treatment target site, the device moves on the X-ray image, and it sometimes becomes difficult to observe.

[0006] In addition, the shape of blood vessels usually does not appear in X-ray images. To assist in operating the device inside the blood vessels, the display of previously collected blood vessel images is sometimes also performed. Here, depending on the treatment target site, the image moves due to the influence of heartbeat or breathing, and it sometimes becomes difficult to observe. Summary of the invention

[0007] The technical problem to be solved by the present invention is to improve the visual recognition of X-ray images.

[0008] The medical image processing device according to the embodiment includes an acquisition unit, a processing unit, and an output unit. The acquisition unit acquires a plurality of X-ray images including a device inserted into the body of a subject. The processing unit suppresses the movement of a feature portion between the X-ray images, the feature portion being separated from the front end of the device and having a characteristic shape. The output unit outputs the plurality of X-ray images in which the movement of the feature portion is suppressed.

[0009] The medical image processing apparatus according to the embodiment includes: an acquisition unit that acquires a plurality of blood vessel images collected for a part having a periodic motion and a plurality of X-ray images collected for the part; a processing unit that selects a blood vessel region in the blood vessel images, determines a first process for suppressing the motion of the blood vessel region between the plurality of blood vessel images, and performs a second process, the second process being a process of applying the first process to the plurality of X-ray images to suppress motion between the plurality of X-ray images; and an output unit that outputs the X-ray images whose motion has been suppressed by the second process. The processing unit determines, as the first process, a process of aligning the second blood vessel image such that the position of the blood vessel region in the first blood vessel image of the reference frame is substantially the same as the position of the blood vessel region in the second blood vessel image of a frame different from the reference frame, and performs the alignment process on the X-ray image corresponding to the phase in the periodic motion and the second blood vessel image, as the second process.

[0010] Effect

[0011] The medical image processing apparatus according to the embodiment can improve the visual recognition of X-ray images. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 FIG. is a block diagram showing an example of the configuration of the medical image processing system according to the first embodiment.

[0013] Figure 2 FIG. is a block diagram showing an example of the configuration of the X-ray diagnostic apparatus according to the first embodiment.

[0014] Figure 3 FIG. is a diagram showing an example of the process of the processing function according to the first embodiment.

[0015] Figure 4 FIG. is a diagram showing an example of the process of the processing function according to the first embodiment.

[0016] Figure 5 FIG. is a diagram showing an example of the matching process according to the first embodiment.

[0017] Figure 6 FIG. is a flowchart for explaining a series of processes of the processing of the medical image processing apparatus according to the first embodiment.

[0018] Figure 7 FIG. is a diagram showing an example of the matching process according to the second embodiment.

[0019] Figure 8 FIG. is a diagram showing an example of the display according to the second embodiment.

[0020] Figure 9 FIG. is a diagram showing an example of the device according to the second embodiment.

[0021] Figure 10 It is a block diagram showing an example of the structure of the X-ray diagnostic apparatus according to the second embodiment.

[0022] Figure 11A It is a diagram showing a display example according to the first embodiment.

[0023] Figure 11B It is a diagram showing a display example according to the third embodiment.

[0024] Figure 12A It is a diagram for explaining the first process and the second process according to the third embodiment.

[0025] Figure 12B It is a diagram for explaining the first process and the second process according to the third embodiment.

[0026] Figure 12C It is a diagram for explaining the first process and the second process according to the third embodiment.

[0027] Figure 13 It is a diagram for explaining the fixed position according to the third embodiment.

[0028] Figure 14 It is a flowchart showing a series of processes of the medical image processing apparatus according to the third embodiment. Specific Embodiments

[0029] Hereinafter, embodiments of a medical image processing apparatus, an X-ray diagnostic apparatus, and a program will be described in detail with reference to the accompanying drawings.

[0030] (First Embodiment)

[0031] In the first embodiment, Figure 1 The medical image processing system 1 shown is taken as an example for explanation. For example, the medical image processing system 1 includes an X-ray diagnostic apparatus 10 and a medical image processing apparatus 30. In addition, the X-ray diagnostic apparatus 10 and the medical image processing apparatus 30 are connected to each other via a network NW. In addition, Figure 1 It is a block diagram showing an example of the structure of the medical image processing system 1 according to the first embodiment.

[0032] The X-ray diagnostic apparatus 10 is a device that collects X-ray images from a subject P1. For example, during intravascular treatment of the subject P1, the X-ray diagnostic apparatus 10 collects two-dimensional X-ray images from the subject P1 over time, and sequentially transmits the collected X-ray images to the medical image processing apparatus 30. In addition, the structure of the X-ray diagnostic apparatus 10 will be described later.

[0033] The medical image processing device 30 acquires the X-ray image collected by the X-ray diagnostic device 10 and performs various processes using the X-ray image. For example, the medical image processing device 30 performs a process for improving the visual recognition of the device on the X-ray image and presents the processed X-ray image to the user. For example, as Figure 1 shown, it has an input interface 31, a display 32, a memory 33, and a processing circuit 34.

[0034] The input interface 31 accepts various input operations from the user, converts the accepted input operation into an electric signal, and outputs it to the processing circuit 34. For example, the input interface 31 is implemented by a mouse, a keyboard, a trackball, a switch, a button, a joystick, a touchpad for input operations through a touch operation surface, a touch screen formed by integrating a display screen and a touchpad, a non-contact input circuit using an optical sensor, a voice input circuit, etc. In addition, the input interface 31 may be constituted by a tablet terminal or the like that can perform wireless communication with the processing circuit 34. Further, the input interface 31 may be a circuit that accepts an input operation from the user through motion capture. For example, the input interface 31 processes the signal acquired via a tracker and the image collected by the user, thereby being able to accept the body movement, line of sight, etc. of the user as an input operation. In addition, the input interface 31 is not limited to an interface having physical operation components such as a mouse and a keyboard. For example, a processing circuit that receives an electric signal corresponding to an input operation from an external input device separately provided from the main body of the medical image processing device 30 and outputs the electric signal to the main body of the medical image processing device 30 is also included in the example of the input interface 31.

[0035] The display 32 displays various information. For example, the display 32 displays the X-ray image processed by the processing circuit 34 described later. In addition, for example, the display 32 displays a GUI (Graphical User Interface) for accepting various instructions, settings, etc. from the user via the input interface 31. For example, the display 32 is a liquid crystal display or a CRT (Cathode Ray Tube) display. The display 32 may be a desktop type or may be constituted by a tablet terminal or the like that can perform wireless communication with the main body of the medical image processing device 30.

[0036] In addition, in Figure 1 , it is described that the medical image processing device 30 is provided with the display 32, but the medical image processing device 30 may also be provided with a projector instead of or in addition to the display 32. The projector can project onto a screen, a wall, a floor, the body surface of the subject P1, etc. under the control of the processing circuit 34. For example, the projector can also perform projection onto an arbitrary plane, object, space, etc. through projection mapping.

[0037] The memory 33 stores various data. For example, the memory 33 stores X-ray images before and after the processing of the processing circuit 34 described later. In addition, the memory 33 stores programs for the circuits included in the medical image processing apparatus 30 to implement their functions. For example, the memory 33 is implemented by semiconductor memory elements such as a RAM (Random Access Memory), a flash memory, a hard disk, an optical disc, or the like. Alternatively, the memory 33 may be implemented by a server group (cloud) connected to the medical image processing apparatus 30 via a network.

[0038] The processing circuit 34 controls the overall operation of the medical image processing apparatus 30 by executing the control function 34a, the acquisition function 34b, the processing function 34c, and the output function 34d. Here, the acquisition function 34b is an example of an acquisition unit. In addition, the processing function 34c is an example of a processing unit. In addition, the output function 34d is an example of an output unit.

[0039] For example, the processing circuit 34 reads and executes a program corresponding to the control function 34a from the memory 33, and thereby controls various functions such as the acquisition function 34b, the processing function 34c, and the output function 34d based on an input operation received from a user via the input interface 31.

[0040] In addition, for example, the processing circuit 34 reads and executes a program corresponding to the acquisition function 34b from the memory 33, and thereby acquires an X-ray image of the subject P1. In addition, for example, the processing circuit 34 reads and executes a program corresponding to the processing function 34c from the memory 33, and thereby performs processing on the X-ray image. In addition, for example, the processing circuit 34 reads and executes a program corresponding to the output function 34d from the memory 33, and thereby outputs the processed X-ray image based on the processing function 34c. In addition, details of the processing based on the acquisition function 34b, the processing function 34c, and the output function 34d will be described later.

[0041] In Figure 1 In the medical image processing apparatus 30 shown, each processing function is stored in the memory 33 in the form of a computer-executable program. The processing circuit 34 is a processor that implements functions corresponding to the respective programs by reading and executing the programs from the memory 33. In other words, the processing circuit 34 in the state where the program has been read becomes equipped with the functions corresponding to the read program.

[0042] In addition, in Figure 1In this case, it is described that the control function 34a, the acquisition function 34b, the processing function 34c, and the output function 34d are implemented by a single processing circuit 34. However, it is also possible to configure the processing circuit 34 by combining multiple independent processors and have each processor execute a program to implement the functions. Additionally, each processing function of the processing circuit 34 can also be appropriately dispersed or combined in a single or multiple processing circuits for implementation.

[0043] Furthermore, the processing circuit 34 can also implement functions by using the processors of external devices connected via the network NW. For example, the processing circuit 34 reads and executes programs corresponding to the respective functions from the memory 33, and uses a server group (cloud) connected to the medical image processing device 30 via the network NW as computing resources to thereby implement Figure 1 the respective functions shown.

[0044] Next, the X-ray diagnostic apparatus 10 will be described using Figure 2 FIG. Figure 2 FIG. is a block diagram showing an example of the configuration of the X-ray diagnostic apparatus 10 according to the first embodiment. As Figure 2 shown, the X-ray diagnostic apparatus 10 includes an X-ray high voltage device 101, an X-ray tube 102, an X-ray collimator 103, a top plate 104, a C-arm 105, an X-ray detector 106, an input interface 107, a display 108, a memory 109, and a processing circuit 110.

[0045] The X-ray high voltage device 101 supplies high voltage to the X-ray tube 102 under the control of the processing circuit 110. For example, the X-ray high voltage device 101 includes: a high voltage generating device having circuits such as a transformer and a rectifier to generate the high voltage applied to the X-ray tube 102; and an X-ray control device to control the output voltage corresponding to the X-ray irradiated by the X-ray tube 102. Additionally, the high voltage generating device can be of a transformer type or an inverter type.

[0046] The X-ray tube 102 is a vacuum tube having a cathode (filament) that generates thermoelectrons and an anode (target) that generates X-rays when bombarded by the thermoelectrons. The X-ray tube 102 uses the high voltage supplied from the X-ray high voltage device 101 to irradiate thermoelectrons from the cathode toward the anode, thereby generating X-rays.

[0047] The X-ray collimator 103 includes: a collimator that narrows the irradiation range of the X-rays generated by the X-ray tube 102; and a filter that adjusts the X-rays irradiated from the X-ray tube 102.

[0048] The collimator in the X-ray diaphragm 103, for example, has four slidable diaphragm blades. The collimator shrinks the X-rays generated by the X-ray tube 102 by sliding the diaphragm blades and irradiates the subject P1. Here, the diaphragm blades are plate-shaped members made of lead or the like and are provided near the X-ray irradiation port of the X-ray tube 102 to adjust the irradiation range of the X-rays.

[0049] The filter in the X-ray diaphragm 103 aims to reduce the radiation dose to the subject P1 and improve the image quality of the X-ray image. Depending on its material and thickness, it changes the quality of the transmitted X-rays, reduces the soft-ray components that are easily absorbed by the subject P1, or reduces the high-energy components that cause a decrease in the contrast of the X-ray image. In addition, the filter changes the dose and irradiation range of the X-rays according to its material, thickness, position, etc., and attenuates the X-rays so that the X-rays irradiated from the X-ray tube 102 to the subject P1 become a predetermined distribution.

[0050] For example, the X-ray diaphragm 103 has a drive mechanism such as a motor and an actuator. Under the control of the processing circuit 110 described later, the drive mechanism is operated to control the irradiation of the X-rays. For example, the X-ray diaphragm 103 applies a drive voltage to the drive mechanism according to the control signal received from the processing circuit 110, thereby adjusting the opening degree of the diaphragm blades of the collimator and controlling the irradiation range of the X-rays irradiated to the subject P1. In addition, for example, the X-ray diaphragm 103 applies a drive voltage to the drive mechanism according to the control signal received from the processing circuit 110, thereby adjusting the position of the filter and controlling the dose distribution of the X-rays irradiated to the subject P1.

[0051] The top plate 104 is a bed for placing the subject P1 and is arranged above the examination table (not shown). In addition, the subject P1 is not included in the X-ray diagnostic apparatus 10. For example, the examination table has a drive mechanism such as a motor and an actuator. Under the control of the processing circuit 110 described later, by operating the drive mechanism, the movement and tilt of the top plate 104 are controlled. For example, the examination table applies a drive voltage to the drive mechanism according to the control signal received from the processing circuit 110, thereby moving or tilting the top plate 104.

[0052] The C-arm 105 holds the X-ray tube 102, the X-ray diaphragm 103, and the X-ray detector 106 so as to face each other with the subject P1 interposed therebetween. For example, the C-arm 105 has a drive mechanism such as a motor and an actuator. Under the control of the processing circuit 110 described later, it rotates or moves by operating the drive mechanism. For example, the C-arm 105 applies a drive voltage to the drive mechanism according to the control signal received from the processing circuit 110, thereby rotating and moving the X-ray tube 102, the X-ray diaphragm 103, and the X-ray detector 106 relative to the subject P1 and controlling the irradiation position and irradiation angle of the X-rays. In addition, inFigure 2 In the above, the case where the X-ray diagnostic apparatus 10 is a single plane has been described as an example, but the embodiment is not limited thereto, and it may also be a dual-plane case.

[0053] The X-ray detector 106 is, for example, an X-ray flat panel detector (Flat Panel Detector: FPD) having detection elements arranged in a matrix. The X-ray detector 106 detects the X-rays that have been irradiated from the X-ray tube 102 and transmitted through the subject P1, and outputs a detection signal corresponding to the detected X-ray amount to the processing circuit 110. In addition, the X-ray detector 106 may be an indirect conversion type detector having a grid, a scintillator array, and a photosensor array, or a direct conversion type detector having semiconductor elements that convert incident X-rays into electrical signals.

[0054] The input interface 107 can be configured in the same manner as the above-described input interface 31. For example, the input interface 107 accepts various input operations from the user, converts the accepted input operations into electrical signals, and outputs them to the processing circuit 110.

[0055] The display 108 can be configured in the same manner as the above-described display 32. For example, the display 108 displays the X-ray image collected from the subject P1 under the control of the processing circuit 110. In addition, the X-ray diagnostic apparatus 10 may be provided with a projector instead of or in addition to the display 108.

[0056] The memory 109 can be configured in the same manner as the above-described memory 33. For example, the memory 109 stores the X-ray image collected from the subject P1, or stores a program used by the circuits included in the X-ray diagnostic apparatus 10 to implement their functions.

[0057] The processing circuit 110 executes a control function 110a, a collection function 110b, and an output function 110c to control the overall operation of the X-ray diagnostic apparatus 10. In addition, the collection function 110b is an example of a collection unit. Further, the output function 110c is an example of an output unit.

[0058] For example, the processing circuit 110 reads and executes a program corresponding to the control function 110a from the memory 109, and thereby controls various functions such as the collection function 110b and the output function 110c based on the input operations accepted from the user via the input interface 107.

[0059] In addition, for example, the processing circuit 110 reads and executes a program corresponding to the collection function 110b from the memory 109, thereby collecting an X-ray image from the subject P1. In addition, for example, the processing circuit 110 reads and executes a program corresponding to the output function 110c from the memory 109, thereby outputting the X-ray image collected from the subject P1. Details of the processing performed by the collection function 110b and the output function 110c will be described later.

[0060] In Figure 2 In the X-ray diagnostic apparatus 10 shown, each processing function is stored in the memory 109 in the form of a computer-executable program. The processing circuit 110 is a processor that realizes functions corresponding to the respective programs by reading and executing programs from the memory 109. In other words, the processing circuit 110 in the state where the program has been read becomes equipped with functions corresponding to the read program.

[0061] In addition, in Figure 2 it has been described that the control function 110a, the collection function 110b, and the output function 110c are realized by a single processing circuit 110, but it may be configured such that a plurality of independent processors are combined to form the processing circuit 110, and each processor executes a program to thereby realize the functions. In addition, each processing function possessed by the processing circuit 110 may also be appropriately dispersed or combined in a single or a plurality of processing circuits for realization.

[0062] In addition, the processing circuit 110 may also realize functions by using the processor of an external device connected via the network NW. For example, the processing circuit 110 reads and executes programs corresponding to the respective functions from the memory 109, and uses a server group connected to the X-ray diagnostic apparatus 10 via the network NW as computing resources, thereby realizing Figure 2 the respective functions shown.

[0063] Above, a structural example of the medical image processing system 1 has been described. Under this structure, the medical image processing apparatus 30 in the medical image processing system 1 improves the visual recognition of the device inserted into the body of the subject P1 through the processing of the processing circuit 34.

[0064] First, the collection of the X-ray image from the subject P1 will be described. For example, the collection function 110b collects an X-ray image including the device within the imaging range over time during the performance of intravascular treatment with the device inserted into the body of the subject P1. Here, the imaging range may be set by a user such as a physician performing intravascular treatment, or the collection function 110b may be automatically set based on patient information or the like.

[0065] Specifically, the collection function 110b controls the operation of the X-ray diaphragm 103, adjusts the opening degree of the diaphragm blades of the collimator, and thus controls the irradiation range of the X-rays irradiated on the subject P1. In addition, the collection function 110b controls the operation of the X-ray diaphragm 103, adjusts the position of the filter, and thus controls the dose distribution of the X-rays. In addition, the collection function 110b controls the operation of the C-arm 105, and thus rotates or moves the C-arm 105. In addition, for example, the collection function 110b controls the operation of the fluoroscopy table, and thus moves or tilts the top plate 104. That is, the collection function 110b controls the operation of mechanical systems such as the X-ray diaphragm 103, the C-arm 105, and the top plate 104, and thus controls the imaging range and imaging angle of the collected X-ray image.

[0066] In addition, the collection function 110b controls the X-ray high-voltage device 101, adjusts the voltage supplied to the X-ray tube 102, and thus controls the amount of X-rays irradiated on the subject P1 and the on / off. In addition, the collection function 110b generates an X-ray image based on the detection signal received from the X-ray detector 106. Here, the collection function 110b can also perform various image processing operations on the generated X-ray image. For example, the collection function 110b can perform noise reduction processing and scatter correction based on an image processing filter on the generated X-ray image.

[0067] In addition, the device inserted into the body of the subject P1 is generally linear. Examples of such a linear device include a catheter and a guide wire used in endovascular treatment. For example, in cardiac PCI (Percutaneous Coronary Intervention), a user such as a physician operates the guide wire inserted into the body of the subject P1 to make it travel to the lesion site. Here, the lesion site is, for example, a stenosis site of a blood vessel such as a chronic total occlusion (CTO). In this case, the collection function 110b collects X-ray images including the tip of the guide wire in the imaging range over time. In addition, when the tip position of the guide wire moves, the collection function 110b can continue to collect X-ray images while appropriately adjusting the imaging range in a manner that follows the tip position of the guide wire.

[0068] Next, acquisition function 34b acquires the X-ray image collected by X-ray diagnostic apparatus 10 via network NW. For example, first, output function 110c transmits the X-ray image collected by collection function 110b to the image storage device via network NW. In this case, acquisition function 34b can acquire the X-ray image from the image storage device via network NW. As an example of such an image storage device, for example, a server of PACS (Picture Archiving Communication System) can be cited. Alternatively, acquisition function 34b can also directly acquire the X-ray image from X-ray diagnostic apparatus 10 without going through other devices.

[0069] Next, processing function 34c performs processing for suppressing the movement of the device on the X-ray image. That is, depending on the treatment target site, the device may move due to the heartbeat or breathing in the subject P1. In addition, when the collected X-ray image is displayed as it is, the device sometimes moves on the X-ray image, making it difficult for the user to visually recognize the device. Therefore, processing function 34c performs processing for suppressing the movement of the device on the X-ray image before display.

[0070] Here, Figure 3 An example of the processing performed by processing function 34c will be described. Figure 3 FIG. is a diagram showing an example of the processing of processing function 34c according to the first embodiment. Figure 3 The X-ray images I111 and I112 are X-ray images that include the device D1 inserted into the body of the subject P1 within the imaging range. For example, X-ray image I112 is the X-ray image in the next frame of X-ray image I111.

[0071] In Figure 3 In the case shown, processing function 34c performs processing for suppressing the movement of the front end position of device D1 on the image. Specifically, processing function 34c first determines the front end position of device D1 in each of X-ray images I111 and I112. Next, processing function 34c processes X-ray image I112 so that the front end position of device D1 on the image is the same between X-ray image I111 and X-ray image I112. For example, processing function 34c moves X-ray image I112 in parallel in matching with the front end position of device D1 determined in X-ray image I111. In addition, output function 34d causes the display 32 to sequentially display X-ray image I111 and the processed X-ray image I112. In this case, since the front end position of device D1 is fixed on the image, the user can more easily observe device D1.

[0072] However, in the case Figure 3 shown, even when the user moves the device D1 forward or backward, the front-end position of the device D1 does not move on the image. That is, Figure 3 the fixed display shown is useful for observing the front end and the surrounding area of the device D1, but it is sometimes difficult to recognize its movement when operating the device D1.

[0073] Therefore, as shown in Figure 4 , the processing function 34c further improves the visual recognition of the device D1 by performing processing to suppress the movement of a feature portion that exists separately from the front end of the device D1 and has a characteristic shape. Figure 4 is a diagram showing an example of the processing of the processing function 34c of the first embodiment. In addition, Figure 4 the X-ray images I121 and I122 are X-ray images that include the device D1 inserted into the body of the subject P1 within the imaging range. For example, the X-ray image I122 is the X-ray image in the next frame of the X-ray image I121.

[0074] Here, the device D1 is inserted into the blood vessel of the subject P1 and deforms along the shape of the blood vessel. That is, the device D1 has a portion that deforms due to being inserted into the blood vessel and has a characteristic shape. Hereinafter, the portion of the device D1 that has a characteristic shape due to being inserted into the blood vessel is also referred to as a feature portion. The feature portion is, for example, a portion with a large curvature in the linear device D1. That is, in the case Figure 4 shown, the processing function 34c performs processing to suppress the movement of the feature portion between the X-ray image I121 and the X-ray image I122.

[0075] For example, the processing function 34c can perform processing to suppress the movement of the feature portion by performing image matching processing. Here, an example of the image matching processing is described using Figure 5 . Figure 5 is a diagram showing an example of the matching processing of the first embodiment.

[0076] In addition, in Figure 5 , as an example of the image matching processing, free-endpoint DP (Dynamic Programming) matching is described. In addition, in Figure 5 , the case where the X-ray image I131 in frame 1 is used as a reference frame and the movement of the feature portion is suppressed for the X-ray image I13t in frame t after frame 1 is described. That is, in Figure 5In the case shown, the processing function 34c suppresses the movement of the feature part by performing a matching process between the X-ray image I131 and the X-ray image I13t.

[0077] Specifically, the processing function 34c first extracts the contour of the device D1 from the X-ray image I131. Next, the processing function 34c generates a contour model C1 by generating a plurality of vertices on the extracted contour. Similarly, the processing function 34c extracts the contour of the device D1 from the X-ray image I13t and generates a contour model Ct.

[0078] Next, the processing function 34c obtains corresponding points between the X-ray image I131 and the X-ray image I13t. For example, the processing function 34c defines a cost corresponding to the corresponding association between the plurality of vertices in the contour model C1 and the plurality of vertices in the contour model Ct, and obtains the corresponding points by minimizing the cost. Here, the cost can be defined, for example, based on the difference in the feature amounts possessed by the corresponding vertices.

[0079] For example, the processing function 34c attaches the curvature of the device D1 at that position and the pixel values in the periphery as feature amounts to each vertex in the contour model C1 and the contour model Ct. In addition, the pixel values in the periphery are, for example, the average of the pixel values within a specified range from the vertex. In addition, the processing function 34c defines the cost based on the difference in the feature amounts, and solves the minimization problem of minimizing the cost, whereby corresponding points can be obtained in such a way that vertices having the same degree of feature amounts become corresponding relationships.

[0080] Furthermore, the processing function 34c aligns the X-ray image I13t with respect to the X-ray image I131 based on the corresponding relationship of the vertices. For example, the processing function 34c calculates a rotation translation matrix W using singular value decomposition or the like based on the corresponding relationship of the vertices. Then, the processing function 34c translates and rotates the X-ray image I13t by applying the rotation translation matrix W and aligns it with respect to the X-ray image I131.

[0081] Here, in the calculation of the rotation translation matrix W, the curvature possessed by each vertex is used as a feature amount. In addition, in the straight part of the device D1, the curvature is approximately 0, and in the calculation of the rotation translation matrix W, the feature part of the device D1 where the curvature changes contributes more. Therefore, when aligning the X-ray image I13t with the X-ray image I131 by the rotation translation matrix W, as Figure 5 shown, the feature part is preferentially aligned and its movement is suppressed. And the output function 34d sequentially displays the X-ray image I131 and the X-ray image I13t after applying the rotation translation matrix W on the display 32.

[0082] In addition, the processing function 34c can generate the contour model C1 for the entire device D1 appearing in the X-ray image I131, or can also generate the contour model C1 for a part of the device D1. For example, the processing function 34c generates the contour model C1 for a part of a specified length starting from the front end of the device D1. In addition, for example, the processing function 34c generates vertices at regular intervals starting from the front end of the device D1, and ends the generation of vertices when the number of vertices reaches a specified number, thereby generating the contour model C1. In addition, for example, the processing function 34c generates vertices at regular intervals starting from the front end of the device D1, and ends the generation of vertices when the distribution of the feature amounts at the generated vertices exceeds a specified variance, thereby generating the contour model C1. The same applies to the contour model Ct.

[0083] In addition, in Figure 5 it is shown that vertices in the contour model are generated at substantially regular intervals, but the intervals of the vertices can also be changed appropriately. For example, the processing function 34c can also arrange vertices densely for a part with a large curvature of the contour model and arrange vertices sparsely for a part with a small curvature.

[0084] In addition, in Figure 5 it is described that corresponding points are obtained for explanation, but the embodiment is not limited thereto. For example, the processing function 34c creates a curve graph showing changes in feature amounts such as curvature along the contour model for each X-ray image. And the processing function 34c can align the X-ray images by optimizing the positional relationship between the curve graphs to suppress the movement of the feature parts.

[0085] In addition, in Figure 5 it is illustrated that one feature part appears in each image for explanation, but the embodiment is not limited thereto, and it can also be applied in the same way to the case where multiple feature parts appear in each image. In addition, the processing function 34c can also generate the contour model C1 and the contour model Ct according to the number of feature parts. For example, the processing function 34c generates vertices at regular intervals starting from the front end of the device D1, and ends the generation of vertices when it is determined that a specified number of feature parts are included, thereby generating the contour model C1 and the contour model Ct.

[0086] That is, the processing function 34c can control the number of feature parts used. When performing the process of suppressing the movement of the feature parts, the more feature parts are considered, the higher the accuracy, and on the other hand, the larger the amount of calculation. The processing function 34c can either accept the adjustment of the user for the number of feature parts used, or automatically adjust the number of feature parts used according to the processing ability in the medical image processing device 30, the frame rate of the collected X-ray images, etc.

[0087] Next, the process of the medical image processing apparatus 30 will be described using Figure 6 as an example. Figure 6 FIG. 4 is a flowchart showing a series of processes of the medical image processing apparatus 30 according to the first embodiment. Step S101, step S102, and step S104 are steps corresponding to the acquisition function 34b. Step S103, step S105, step S106, and step S107 are steps corresponding to the processing function 34c. Step S108 and step S109 are steps corresponding to the output function 34d.

[0088] First, the processing circuit 34 determines whether to start the process of suppressing the movement of the device D1 (step S101). For example, even after the device D1 is inserted into the body of the subject P1, depending on the position of the device D1, the process of suppressing the movement of the device D1 may not be necessary. For example, in cardiac PCI, the device D1 is inserted from the femoral artery of the subject P1 and travels in the blood vessel toward the heart. Here, the process of suppressing the movement of the device D1 is not required when the device D1 is located in the lower limb of the subject P1, and is necessary when the device D1 approaches the heart and is affected by the heartbeat. Therefore, the processing circuit 34 can determine to start the process of suppressing the movement of the device D1 when the device D1 reaches near the heart.

[0089] In addition, the determination in step S101 can be made either by accepting an input operation from a user such as a doctor or automatically by the processing circuit 34 by analyzing the position of the device D1. When the processing circuit 34 does not start the process (negation in step S101), it enters a standby state, and when it starts the process (affirmation in step S101), it proceeds to step S102.

[0090] Next, the processing circuit 34 acquires the X-ray image I131 (step S102) and generates the contour model C1 (step S103). In addition, the processing circuit 34 acquires the X-ray image I13t (step S104) and generates the contour model Ct (step S105). In addition, the X-ray image I13t is an X-ray image of a frame after the X-ray image I131. The X-ray image I13t can be either an X-ray image of the frame immediately after the X-ray image I131 or an X-ray image of multiple frames later.

[0091] Next, the processing circuit 34 calculates the rotation translation matrix W (step S106). For example, the processing circuit 34 performs end-point free DP matching between the contour model C1 and the contour model Ct to find corresponding points, thereby calculating the rotation translation matrix W. In addition, the processing circuit 34 applies the calculated rotation translation matrix W to the X-ray image I13t (step S107). As a result, the X-ray image I13t is aligned with respect to the X-ray image I131, and the movement of the characteristic portion of the shape of the device D1 in the X-ray image I131 and the X-ray image I13t is suppressed.

[0092] In addition, the processing circuit 34 causes the X-ray image I13t to which the rotation translation matrix W has been applied to be displayed on the display 32 (step S108). That is, in step S108, the processing circuit 34 causes the X-ray image in which the movement of the characteristic portion has been suppressed to be displayed on the display 32.

[0093] Next, the processing circuit 34 determines whether to continue the process of suppressing the movement of the device D1 (step S109). If so (step S109 is affirmative), the process returns to step S104 again. For example, when the X-ray image I13t of frame t is obtained and the process of suppressing the movement of the device D1 is performed, and the process returns from step S109 to step S104 again, the processing circuit 34 can obtain the X-ray image of frame (t + 1) and perform the process of suppressing the movement of the device D1 again. On the other hand, if the process of suppressing the movement of the device D1 is not continued (step S109 is negative), the processing circuit 34 ends the process.

[0094] In addition, in Figure 6 the processing flow shown, the X-ray image I131 obtained in step S102 becomes the reference frame. That is, in Figure 6 the processing flow shown, the characteristic portion of the shape of the device D1 at the time when the X-ray image I131 is collected is used to perform the process of suppressing the movement of the device D1. However, a case where the X-ray image I131 is not preferable as the reference frame is also assumed. For example, it is assumed that at the time when the X-ray image I131 is collected, most of the device D1 is located in the straight portion of the blood vessel and no characteristic portion is generated in the device D1. In addition, for example, it is assumed that there is body movement of the subject P1 at the time when the X-ray image I131 is collected and noise is generated in the X-ray image I131.

[0095] Therefore, the processing circuit 34 can also appropriately change the reference frame. For example, the processing circuit 34 causes the display 32 to display an X-ray image of the amount of multiple frames just collected before, accepts a selection operation from the user to select a certain X-ray image as the reference frame, and thus resets the reference frame. Additionally, for example, the processing circuit 34 accepts an input operation from the user intended to change the reference frame, and resets the X-ray image just collected before as the reference frame. Moreover, the processing circuit 34 can use the X-ray image of the reset reference frame as the X-ray image I131 and execute Figure 6 the processing after step S103 in

[0096] In addition, during the execution of Figure 6 the processing, for example, there is a case where the user operates the C-arm 105 and the working angle changes accordingly. That is, there is a case where the imaging angle changes between the X-ray image I131 and the X-ray image I13t. In such a case, there is a situation where the shape of the device D1 changes on the image, and the processing for suppressing the movement of the feature part cannot be executed.

[0097] Therefore, the processing circuit 34 can also automatically end the processing for suppressing the movement of the feature part when the imaging angle changes. Additionally, the processing circuit 34 can also automatically restart the processing for suppressing the movement of the feature part when the imaging angle returns to the original. Or, the processing circuit 34 can also reset the reference frame when the imaging angle changes.

[0098] In addition, during the execution of Figure 6 the processing, not only does the device D1 travel within the blood vessel, but there is also a case where it retreats (withdraws). Additionally, in the case where the device D1 retreats after passing through a blood vessel bend or the like, sometimes the feature part does not appear in the X-ray image I13t. Therefore, the processing circuit 34 can also automatically end the processing for suppressing the movement of the feature part when the device D1 retreats and the feature part does not appear in the X-ray image I13t.

[0099] Alternatively, when the device D1 moves backward and the feature part does not appear in the X-ray image I13t, the processing circuit 34 can also continue the process of suppressing the movement of the feature part based on the past processing results. For example, the influence of the movement caused by the heartbeat or breathing is roughly the same and appears periodically with respect to the entire imaging range. Therefore, even after the device D1 moves backward and the feature part does not appear in the X-ray image I13t, by applying the past rotation-translation matrix W with the same phase as the heartbeat or breathing, it is possible to roughly suppress the movement of the part where the feature part is located in the X-ray image I13t. For example, whenever the processing circuit 34 calculates the rotation-translation matrix W, it stores it in the memory 33 in correspondence with the phase information such as the heartbeat or breathing of the subject P1. And when the device D1 moves backward and the feature part does not appear in the X-ray image I13t, the processing circuit 34 reads out the rotation-translation matrix W with the same phase from the memory 33 and applies it to the X-ray image I13t.

[0100] In addition, assume a case where corresponding points cannot be obtained between the contour model C1 and the contour model Ct due to various reasons. For example, there is a case where it is difficult to obtain corresponding points because the device D1 moves forward or backward significantly, resulting in a large change in the shape between the contour models. For example, when generating the contour model C1 and the contour model Ct for a part at a specified length from the front end of the device D1, if the device D1 moves more than the amount of the specified length, the contour model C1 and the contour model Ct represent other parts in the device D1, so corresponding points cannot be obtained between the contour models. Also, when there is body movement of the subject P1 at the moment when the X-ray image I13t is collected, noise is generated in the X-ray image I13t, making it sometimes difficult to obtain corresponding points.

[0101] Therefore, when the processing circuit 34 cannot obtain corresponding points between the contour model C1 and the contour model Ct, it can also automatically end the process of suppressing the movement of the feature part. For example, the processing circuit 34 calculates the sum of the distances between corresponding points, etc. as the alignment error at any time, and automatically ends the process of suppressing the movement of the feature part when the alignment error exceeds the threshold. Additionally, for example, the processing circuit 34 calculates the similarity between the contour models, and automatically ends the process of suppressing the movement of the feature part when the similarity is lower than the threshold.

[0102] Alternatively, when corresponding points cannot be found between the contour model C1 and the contour model Ct, the processing circuit 34 can also continue the process of suppressing the movement of the feature portion based on past processing results. For example, when corresponding points cannot be found between the X-ray image I131 and the X-ray image I13t, the processing circuit 34 reads out the rotation and translation matrix W that was calculated and stored in the memory 33 in the past and is a rotation and translation matrix W with the same phase such as heartbeat or breathing, and applies it to the X-ray image I13t.

[0103] In addition, for example, when corresponding points cannot be found between the contour model C1 and the contour model Ct, the processing circuit 34 can also use the rotation and translation matrix W that was just calculated previously. Hereinafter, the case where the X-ray image I13(t - 1) was collected in the frame immediately before the X-ray image I13t will be described. In most cases, the time from when the X-ray image I13(t - 1) was collected to when the X-ray image I13t was collected is short, and the movement between the images is small. Therefore, by applying the rotation and translation matrix W that was calculated to suppress the movement of the feature portion in the X-ray image I13(t - 1) as it is to the X-ray image I13t, the movement of the feature portion in the X-ray image I13t can also be substantially suppressed. Thus, for example, even when corresponding points cannot be found between the contour model C1 and the contour model Ct in just one frame where noise has occurred, the process of suppressing the movement of the feature portion can continue.

[0104] Alternatively, the processing circuit 34 can also update the reference frame regularly. For example, when Figure 6 the processing from step S104 to step S109 is repeated a specified number of times, the processing circuit 34 reset the X-ray image that was just collected previously as the reference frame. In addition, the processing circuit 34 uses the X-ray image of the reset reference frame as the X-ray image I131 and executes the processing after step S103 again. Thus, the processing circuit 34 can continue the process of suppressing the movement of the feature portion even when the device D1 moves forward or backward and the shape of the contour model changes greatly, or when the shape of the feature portion on the image changes due to a change in the working angle, etc.

[0105] As described above, according to the first embodiment, the acquisition function 34b acquires a plurality of X-ray images including the device D1 inserted into the body of the subject P1. In addition, the processing function 34c suppresses the movement of the feature portion between the X-ray images, and the feature portion is located at a position separated from the front end of the device D1 and has a characteristic shape. In addition, the output function 34d causes the plurality of X-ray images in which the movement of the feature portion has been suppressed to be displayed on the display 32. Therefore, the medical image processing apparatus 30 according to the first embodiment can improve the visual recognition of the device D1 inserted into the body of the subject P1. That is, the medical image processing apparatus 30 according to the first embodiment can improve the visual recognition of the X-ray images. Furthermore, the medical image processing apparatus 30 can reduce the burden on the user's eyes and mental stress, and it is easy to perform intravascular treatment.

[0106] In particular, the medical image processing apparatus 30 according to the first embodiment can easily grasp whether the device D1 is traveling in the desired direction when the user operates the device D1. That is, in the case of performing the process of suppressing the movement of the feature portion, according to the operation of the device D1 by the user, the front end of the device D1 moves on the image. Thereby, the user can grasp the progress of the device D1 and more easily perform intravascular treatment.

[0107] In addition, in the case where a marker is attached to the device D1, the device D1 can also be fixedly displayed by detecting the markers from the plurality of X-ray images respectively and performing alignment. Here, the marker is, for example, a metal piece having a predetermined shape and size. However, from the viewpoints of invasiveness to the subject P1 and operability of the device D1, it is preferable not to label the device D1. In addition, in the case of targeting thin blood vessels, there is also a case where the device D1 cannot be labeled. In contrast, the medical image processing apparatus 30 according to the first embodiment can suppress the movement of the feature portion having a characteristic shape of the device D1 and display it regardless of whether the device D1 is labeled.

[0108] In addition, the following situation is also assumed: for example, when the operation of the device D1 is completed and only the vicinity of the front end of the device D1 is desired to be observed, etc., it is preferable to perform the process of suppressing the movement of the front end of the device D1. Therefore, the medical image processing apparatus 30 can also switch and execute the process of suppressing the movement of the feature portion and the process of suppressing the movement of the front end according to an input operation from the user.

[0109] (Second Embodiment)

[0110] In addition, heretofore, the first embodiment has been described, but in addition to the above-described embodiment, it can also be implemented in various different ways.

[0111] For example, in the above-described embodiment, asFigure 5 As shown, an explanation will be given by suppressing the movement of the feature part by obtaining corresponding points through free-endpoint DP matching. However, the embodiment is not limited to this.

[0112] For example, the processing function 34c can also suppress the movement of the feature part by separately extracting the feature part from a plurality of X-ray images and performing a matching process of the feature part between the X-ray images. Hereinafter, Figure 7 An explanation will be given of the case where the matching process of the feature part is performed. Figure 7 FIG. is a diagram showing an example of the matching process of the second embodiment.

[0113] Specifically, the processing function 34c first extracts the contour of the device D1 from the X-ray image I131 of frame 1. Next, the processing function 34c generates a contour model C1 by generating a plurality of vertices on the extracted contour. In addition, the processing function 34c cuts out the part corresponding to the feature part in the contour model C1 as a pattern A1. For example, the processing function 34c compares the curvature at each vertex of the contour model C1 with a threshold value, and cuts out the part corresponding to the plurality of vertices whose curvature exceeds the threshold value as the pattern A1.

[0114] Next, the processing function 34c performs pattern matching on the X-ray image I13t of frame t using the pattern A1. Thereby, the processing function 34c determines the position and orientation of the feature part in the X-ray image I13t. In addition, the processing function 34c calculates a rotation and translation matrix W based on the position and orientation of the feature part in the X-ray image I131 and the position and orientation of the feature part in the X-ray image I13t. In addition, the processing function 34c applies the rotation and translation matrix W to the X-ray image I13t, thereby translating and rotating the X-ray image I13t in parallel to suppress the movement of the feature part.

[0115] In addition, in the above embodiment, an explanation has been given that the X-ray image I13t is processed to suppress the movement of the feature part, and the processed X-ray image I13t is displayed on the display 32. However, the embodiment is not limited to this. For example, the processing circuit 34 can also process the X-ray image I13t to suppress the movement of the feature part, generate a composite image using the processed X-ray image I13t, and display the generated composite image on the display 32.

[0116] Hereinafter, Figure 8 An explanation will be given of the case where the composite image is displayed. Figure 8 FIG. is a diagram showing a display example of the second embodiment. In Figure 8 an explanation will be given of the case where a composite image of the X-ray image I13t and the blood vessel image is displayed.

[0117] For example, the acquisition function 34b acquires in advance the blood vessel images collected from the subject P1 and stores them in the memory 33. As an example, the blood vessel images can be collected by imaging the subject P1 in a state where a contrast agent has been injected into the blood vessels in the X-ray diagnostic apparatus 10. In addition, the type of the contrast agent is not particularly limited, and it can be a positive contrast agent mainly composed of iodine, barium sulfate, etc., or a gas contrast agent such as carbon dioxide. In addition, the injection of the contrast agent can be manually performed by a user such as a doctor, or can be automatically performed by an injector provided in the X-ray diagnostic apparatus 10.

[0118] As an example, the collection function 110b collects a plurality of mask images by repeatedly irradiating X-rays before injecting a contrast agent into the blood vessels of the subject P1. In addition, the collection function 110b collects a plurality of contrast images by repeatedly irradiating X-rays after injecting a contrast agent into the blood vessels of the subject P1. And, the collection function 110b generates the Figure 8 shown blood vessel images I141 to I14n by performing differential processing between the plurality of mask images and the plurality of contrast images. Alternatively, the collection function 110b may omit the collection of the mask images, perform threshold processing, etc. on the contrast images, and generate the blood vessel images I141 to I14n.

[0119] Here, for example, when collecting blood vessel images of the coronary artery of the subject P1, the collection function 110b performs electrocardiogram synchronization in the generation process of the blood vessel images I141 to I14n. For example, the collection function 110b measures the heartbeat of the subject P1 while collecting the mask images, and attaches phase information to each mask image. In addition, the collection function 110b measures the heartbeat of the subject P1 while collecting the contrast images, and attaches phase information to each contrast image. In addition, the collection function 110b generates the blood vessel images I141 to I14n by performing differential processing between the mask image and the contrast image at the corresponding phase. At this time, the collection function 110b can attach phase information to the blood vessel images I141 to I14n respectively.

[0120] The blood vessel images I141 to I14n collected by the collection function 110b are sent to the medical image processing apparatus 30 via the network NW. For example, the output function 110c sends the blood vessel images I141 to I14n to an image storage device such as a PACS server. In this case, the acquisition function 34b can acquire the blood vessel images I141 to I14n from the image storage device. Alternatively, the acquisition function 34b may directly acquire the blood vessel images I141 to I14n from the X-ray diagnostic apparatus 10 without passing through the image storage device. In addition, the acquisition function 34b stores the acquired blood vessel images I141 to I14n in the memory 33.

[0121] Next, the medical image processing device 30 acquires a plurality of X-ray images including a device inserted into the body of the subject P1 within the imaging range, and performs processing to suppress the movement of a feature portion located at a position separated from the front end of the device D1 and having a characteristic shape. For example, the processing function 34c performs Figure 5 image matching processing between the X-ray image I131 and the X-ray image I13t by methods such as end-point free DP matching shown, thereby calculating the rotation and translation matrix W. Additionally, for example, the processing function 34c performs Figure 7 feature portion matching processing between the X-ray image I131 and the X-ray image I13t by methods such as pattern matching shown, thereby calculating the rotation and translation matrix W. Then, the processing function 34c suppresses the movement of the feature portion in the X-ray image I13t by applying the calculated rotation and translation matrix W to the X-ray image I13t.

[0122] Furthermore, the processing function 34c synthesizes the blood vessel image I14t with the X-ray image I13t. For example, when the X-ray image I13t is an image collected at the phase Et, the processing function 34c determines the blood vessel image I14t at the phase Et from the blood vessel images I141 to I14n and synthesizes it with the X-ray image I13t. Here, the processing function 34c can perform correction processing of the blood vessel image I14t in order to improve the accuracy of the synthesis.

[0123] For example, the processing function 34c performs correction processing T1 for the blood vessel image I14t based on the result of the matching processing between the X-ray image I131 and the X-ray image I13t. That is, although both the X-ray image I13t and the blood vessel image I14t are images collected at the phase Et, for the X-ray image I13t, the rotation and translation matrix W is applied, and its position and orientation change. Therefore, the processing function 34c also applies the rotation and translation matrix W to the blood vessel image I14t, and changes the position and orientation in the same manner as the X-ray image I13t, thereby being able to improve the accuracy of the synthesis of the X-ray image I13t and the blood vessel image I14t.

[0124] In addition, for example, the processing function 34c performs a correction process T2 on the blood vessel image I14t based on the feature portion extracted from the X-ray image I13t. That is, since the feature portion is a part of the device D1 inserted into the blood vessel, in order to appropriately synthesize the X-ray image I13t and the blood vessel image I14t, at least the position and shape of the feature portion of the X-ray image I13t need to be consistent with the blood vessel region shown in the blood vessel image I14t. Therefore, the processing function 34c corrects the blood vessel image I14t so that the position and shape of the blood vessel region shown in the blood vessel image I14t are consistent with the feature portion extracted from the X-ray image I13t. In addition, the processing function 34c can perform both the above-described correction process T1 and correction process T2, or can perform only either one of them.

[0125] Then, the processing function 34c generates a composite image I15t of the corrected blood vessel image I14t and the X-ray image I13t, and the output function 34d causes the composite image I15t to be displayed on the display 32. Thus, the blood vessel image I14t and the X-ray image I13t are synthesized with high precision, and the movement of the portion corresponding to the feature portion in the blood vessel image I141 is suppressed, so that the user can more easily grasp the positional relationship between the blood vessel and the device D1.

[0126] In addition, in the above-described embodiment, as an example of the feature portion, a portion with a large curvature in the device has been described. However, the embodiment is not limited thereto. For example, as shown in Figure 9 the processing function 34c may also use the branch portion B1 in the device D2 as the feature portion and perform a process of suppressing the movement of the feature portion. In addition, Figure 9 is a diagram showing an example of the device D2 of the second embodiment.

[0127] For example, the processing function 34c first extracts the contour of the device D2. Next, the processing function 34c determines the branch portion B1 in the contour of the device D2, and creates a contour model for the portion on the user's hand side of the branch portion B1 (the portion shown by the solid line in Figure 9 ). Then, the processing function 34c suppresses the movement of the branch portion B1 by obtaining corresponding points on the contour model between a plurality of X-ray images. In addition, when obtaining the corresponding points, the processing function 34c may also set a constraint condition in such a way that the branch portions B1 in each image correspond to each other.

[0128] In addition, in the above-described embodiment, in the description of the process of suppressing the movement of the feature portion, for example, as shown in Figure 5It has been described that the feature portions are aligned between X-ray images as shown. That is, in the above-described embodiment, as a process for suppressing the movement of the feature portions, a process for fixing the feature portions has been described. However, the embodiment is not limited thereto. For example, as a process for suppressing the movement of the feature portions, the processing function 34c may also perform a process of reducing the difference between images in the position and orientation of the feature portions. That is, the process for suppressing the movement of the feature portions may be either a process of fixing the feature portions or a process of reducing the degree of movement of the feature portions.

[0129] In addition, in the above-described embodiment, it has been described that a plurality of X-ray images in which the movement of the feature portions has been suppressed are displayed on the display 32. However, the embodiment is not limited thereto. For example, the output function 34d may also send a plurality of X-ray images in which the movement of the feature portions has been suppressed to another device such as the X-ray diagnostic apparatus 10. In this case, the images are displayed in the device that has received the images, so that a plurality of X-ray images in which the movement of the feature portions has been suppressed can be provided to the user.

[0130] In addition, in the above-described embodiment, it has been described that the medical image processing apparatus 30 performs a process for suppressing the movement of the feature portions. However, the embodiment is not limited thereto. For example, a function corresponding to the above-described processing function 34c may be executed by the processing circuit 110 of the X-ray diagnostic apparatus 10. Hereinafter, this point will be described using Figure 10 for explanation. Figure 10 is a block diagram showing an example of the structure of the X-ray diagnostic apparatus 10 according to the second embodiment. As Figure 10 shown, the processing circuit 110 executes a control function 110a, a collection function 110b, an output function 110c, and a processing function 110d. In addition, the processing function 110d is an example of a processing unit.

[0131] For example, the collection function 110b irradiates the subject P1 in which the device D1 is inserted into the body with X-rays, detects the X-rays that have passed through the subject P1, and collects a plurality of X-ray images. In addition, the processing function 110d suppresses the movement of a characteristic portion between the plurality of collected X-ray images, the characteristic portion being located at a position separated from the front end of the device D1 and having a characteristic shape. For example, the processing function 110d uses the X-ray image I131 as a reference frame, performs matching processing with the X-ray image I13t collected after the X-ray image I131, and thereby calculates the rotation and translation matrix W. In addition, the processing function 110d suppresses the movement of the characteristic portion between the X-ray image I131 and the X-ray image I13t by applying the calculated rotation and translation matrix W to the X-ray image I13t. In addition, the output function 110c causes the plurality of X-ray images whose characteristic portion movement has been suppressed by the processing function 110d to be displayed on the display 108.

[0132] In the first and second embodiments described above, for example, Figure 4 As shown in the figure, the case where the motion of the characteristic portion located at a position separated from the front end of the device and having a characteristic shape is suppressed is described. However, it is also assumed that the portion located at a position separated from the front end of the device does not have a characteristic. For example, it is assumed that the blood vessel into which the device is inserted has a shape close to a straight line, and the device is also straight and the portion with a large curvature cannot be determined.

[0133] Therefore, in the third embodiment, instead of suppressing the motion of the characteristic part of the device, a process of suppressing the motion of the characteristic part included in the vascular image of the corresponding time phase is performed, thereby improving the visual recognition of the X-ray image. For example, when the condition related to the positional relationship between the front end and the characteristic part is satisfied, the processing circuit 34 determines the vascular image of the corresponding time phase from the vascular images of the multiple time phases for each of the multiple X-ray images. In addition, the processing circuit 34 determines the process of suppressing the motion of the characteristic part included in the vascular image of the corresponding time phase. And, instead of suppressing the motion of the characteristic part of the device, the processing circuit 34 performs a process of suppressing the motion of the characteristic part included in the vascular image of the corresponding time phase on the X-ray image.

[0134] In the third embodiment, Figure 1The medical image processing system 1 shown will be described as an example. For example, before the start of intravascular treatment of the subject P1, the X-ray diagnostic device 10 collects a blood vessel image from the subject P1 and sends the collected blood vessel image to the medical image processing device 30. Further, for example, during the intravascular treatment of the subject P1, the X-ray diagnostic device 10 collects two-dimensional X-ray images from the subject P1 over time and sequentially sends the collected X-ray images to the medical image processing device 30.

[0135] The medical image processing device 30 acquires the blood vessel image and the X-ray image collected by the X-ray diagnostic device 10 and performs various processes using the blood vessel image and the X-ray image. For example, the medical image processing device 30 performs a first process on the blood vessel image and, based on the result of the first process, performs a second process on the X-ray image. Further, the medical image processing device 30 displays the X-ray image after the second process is performed.

[0136] The processing circuit 34 reads and executes, for example, a program corresponding to the acquisition function 34b from the memory 33, thereby acquiring the blood vessel image and the X-ray image of the subject P1. Further, for example, the processing circuit 34 reads and executes a program corresponding to the processing function 34c from the memory 33, thereby performing a first process on the blood vessel image and, based on the result of the first process, performing a second process on the X-ray image. Further, for example, the processing circuit 34 reads and executes a program corresponding to the output function 34d from the memory 33, thereby outputting the processed X-ray image based on the processing function 34c.

[0137] For example, the collection function 110b collects X-ray images over time during the intravascular treatment of the subject P1. For example, the collection function 110b collects X-ray images including the coronary artery within the imaging range over time during the performance of cardiac PCI. Further, the imaging range may be set by a user such as a physician performing intravascular treatment, or the collection function 110b may be automatically set based on patient information or the like.

[0138] Specifically, the collection function 110b controls the operation of the X-ray collimator 103, adjusts the opening degree of the diaphragm blades of the collimator, and thereby controls the irradiation range of the X-rays irradiated on the subject P1. Further, the collection function 110b controls the operation of the X-ray collimator 103, adjusts the position of the filter, and thereby controls the dose distribution of the X-rays. Further, the collection function 110b rotates or moves the C-arm 105 by controlling the operation of the C-arm 105. Further, for example, the collection function 110b moves or tilts the top plate 104 by controlling the operation of the examination table. That is, the collection function 110b controls the imaging range and the imaging angle of the collected X-ray images by controlling the operation of the mechanical system such as the X-ray collimator 103, the C-arm 105, and the top plate 104.

[0139] In addition, the collection function 110b controls the X-ray high voltage device 101 and adjusts the voltage supplied to the X-ray tube 102, thereby controlling the amount of X-rays irradiated to the subject P1 and the on / off. In addition, the collection function 110b generates an X-ray image based on the detection signal received from the X-ray detector 106. Here, the collection function 110b can also perform various image processing on the generated X-ray image. For example, the collection function 110b can perform noise reduction processing and scattered ray correction based on an image processing filter on the generated X-ray image. In addition, the output function 110c sends the collected X-ray images to the medical image processing device 30 in sequence.

[0140] In addition, the collection function 110b collects blood vessel images from the subject P1 before the start of the intravascular treatment of the subject P1. Here, the collection function 110b collects blood vessel images according to the imaging range of the X-ray images collected during the treatment. For example, in the case of cardiac PCI, it is planned to collect X-ray images including the coronary arteries in the imaging range, so the collection function 110b collects blood vessel images including the coronary arteries in the imaging range.

[0141] Specifically, the collection function 110b captures the subject P1 in a state where a contrast agent is injected into the blood vessel, and collects a plurality of X-ray images. In addition, the X-ray images collected in a state where a contrast agent is injected into the blood vessel are also recorded as contrast images. Here, there is no particular limitation on the type of contrast agent, and it can be a positive contrast agent with iodine, barium sulfate, etc. as the main component, or a gas contrast agent such as carbon dioxide. In addition, the injection of the contrast agent can be performed manually by a user such as a physician, or automatically by an injector provided in the X-ray diagnosis device 10.

[0142] For example, the collection function 110b repeatedly irradiates X-rays after injecting a contrast agent into the blood vessels of the subject P1, thereby collecting a plurality of contrast images. In addition, the collection function 110b repeatedly irradiates X-rays before injecting a contrast agent into the blood vessels of the subject P1, thereby collecting a plurality of mask images. Furthermore, the collection function 110b generates a plurality of vascular images by performing differential processing between a plurality of mask images and a plurality of contrast images. Alternatively, the collection function 110b may omit the collection of mask images, perform threshold processing on the pixel values ​​of the contrast image, or perform semantic segmentation processing on the contrast image, thereby extracting pixels representing contrast-enhanced blood vessels in the contrast image, and generating a vascular image. In addition, the output function 110c sends the collected vascular images to the medical image processing device 30.

[0143] Below, use Figure 11A and Figure 11BAn example of the display of the X-ray image of the medical image processing apparatus 30 will be described. Figure 11A and Figure 11B are diagrams showing a display example of the third embodiment. Additionally, in Figure 11A and Figure 11B a case of displaying the X-ray images collected for the coronary artery of the subject P1 will be described. Additionally, in Figure 11A and Figure 11B a case of synthesizing and displaying the X-ray image with the blood vessel image will be described.

[0144] First, before starting the endovascular treatment, the blood vessel image is collected. For example, the collection function 110b images the subject P1 in a state where a contrast agent has been injected into the blood vessel, and collects Figure 11A the X-ray images I211 to I21n shown. That is, Figure 11A the X-ray images I211 to I21n shown are contrast images. Additionally, the collection function 110b collects Figure 11A the blood vessel images I221 to I22n shown by extracting blood vessels from the X-ray images I211 to I21n. For example, the collection function 110b performs threshold processing on the pixel values of the X-ray images I211 to I21n, thereby extracting pixels corresponding to blood vessels and generating the blood vessel images I221 to I22n. Additionally, for example, the collection function 110b collects a plurality of mask images by imaging the subject P1 before injecting the contrast agent into the blood vessel, and performs differential processing with the X-ray images I211 to I21n, thereby generating the blood vessel images I221 to I22n.

[0145] Next, the acquisition function 34b acquires the blood vessel images I221 to I22n. For example, the output function 110c transmits the blood vessel images I221 to I22n to the image storage device via the network NW. In this case, the acquisition function 34b can acquire the blood vessel images I221 to I22n from the image storage device via the network NW. As an example of such an image storage device, for example, a server of a PACS (Picture Archiving Communication System) can be cited. Alternatively, the acquisition function 34b can also directly acquire the blood vessel images I221 to I22n from the X-ray diagnostic apparatus 10 without going through other devices.

[0146] After the start of the endovascular treatment, the collection function 110b images the subject P1 in a state where a device has been inserted into the blood vessel, and collects Figure 11AThe X-ray image I231 shown. Additionally, the acquisition function 34b acquires the X-ray image I231. For example, the output function 110c transmits the X-ray image I231 to the image storage device via the network NW. In this case, the acquisition function 34b can acquire the X-ray image I231 from the image storage device via the network NW. Alternatively, the acquisition function 34b can also directly acquire the X-ray image I231 from the X-ray diagnostic device 10 without going through other devices.

[0147] In addition, the device inserted into the body of the subject P1 is generally linear. Examples of such linear devices include catheters and guidewires used in endovascular treatment. For example, in cardiac PCI, a user such as a physician operates the guidewire inserted into the body of the subject P1 and advances it to the lesion site. Here, the lesion site is, for example, a stenosis of a blood vessel such as a chronic total occlusion (CTO). In this case, the collection function 110b collects the X-ray image I231 in such a way that the tip of the guidewire is included in the imaging range. Additionally, the collection function 110b can also appropriately adjust the imaging range in a way that follows the tip position of the guidewire when the tip position of the guidewire moves.

[0148] Next, the output function 34d synthesizes a blood vessel image with the X-ray image I231. Here, the blood vessel images I221 to I22n and the X-ray image I231 are collected for the coronary artery of the subject P1 and are affected by the movement caused by the heartbeat. Therefore, the output function 34d selects the image corresponding to the X-ray image I231 in terms of the heartbeat phase from the blood vessel images I221 to I22n and synthesizes it with the X-ray image I231.

[0149] For example, the output function 34d can select a blood vessel image corresponding to the phase of the X-ray image I231 based on the phase information. Here, the phase information is, for example, information indicating in which situation of the cardiac cycle the image was collected. For example, the collection function 110b measures the heartbeat of the subject P1, collects the X-ray images I211 to I21n, and attaches phase information to each of the X-ray images I211 to I21n. This phase information is also inherited by the blood vessel images I221 to I22n generated based on the X-ray images I211 to I21n. In addition, the collection function 110b measures the heartbeat of the subject P1 and collects the X-ray image I231, and attaches phase information to the X-ray image I231. Then, the output function 34d compares the phase information attached to the blood vessel images I221 to I22n with the phase information attached to the X-ray image I231, and selects a blood vessel image corresponding to the phase of the X-ray image I231 from the blood vessel images I221 to I22n. In addition, the output function 34d synthesizes the selected blood vessel image with the X-ray image I231 to generate a synthesized image I241, and displays it on the display 32.

[0150] In the synthesized image I241, for example, as Figure 11B shown, the blood vessel B2 in the blood vessel image overlaps and is displayed with the device D3 in the X-ray image I231. Thus, a user performing endovascular treatment can operate the device D3 while grasping the positional relationship between the device D3 and the blood vessel B2.

[0151] In addition, similar to the X-ray image I231, the collection function 110b collects a plurality of X-ray images over time. In addition, for each of the plurality of X-ray images, the output function 34d selects a blood vessel image corresponding to the corresponding phase from the blood vessel images I221 to I22n to generate a synthesized image. In addition, each time the output function 34d generates a synthesized image, it causes the display 32 to sequentially display the newly generated synthesized image. That is, the output function 34d displays the synthesized image in real time. Thus, a user performing endovascular treatment can grasp the current position of the device D3 relative to the blood vessel B2 and move the device D3 to a lesion such as a CTO.

[0152] Here, in the plurality of synthesized images displayed sequentially, the device D3 and the blood vessel B2 move dynamically in accordance with the heartbeat. And it can sometimes be a burden for the user to follow with the eyes the device D3 and the blood vessel B2 whose observed positions change for each frame.

[0153] In addition, there is a known technique for suppressing movement and displaying an X-ray image collected from a moving part. For example, when a marker is attached to device D3, the marker is detected and aligned from multiple X-ray images, and thus the marker part of device D3 can be fixedly displayed. Additionally, the marker is, for example, a metal piece having a prescribed shape and size.

[0154] However, when performing such fixed display, although the visual recognition of the vicinity of the marker of device D3 is improved, the visual recognition of blood vessel B2 is not necessarily improved. For example, blood vessel B2 not only moves as a whole due to the heartbeat but also deforms. Therefore, even if the marker of device D3 is fixed, blood vessel B2 is often not fixed.

[0155] In addition, there are cases where the user pays attention to device D3 and cases where the user pays attention to blood vessel B2. For example, the user sometimes pays attention to a predetermined blood vessel area where device D3 is to travel next and observes a composite image, and operates device D3. However, when detecting the marker of device D3 and performing fixed display, the fixed position cannot be changed according to the marker. And, for example, due to the movement of the predetermined blood vessel area where device D3 travels, the visual recognition during the operation of device D3 sometimes becomes insufficient.

[0156] Therefore, the processing circuit 34 in the medical image processing apparatus 30 can suppress the movement of an arbitrary position on the image and improve the visual recognition by executing the first process and the second process described in detail below. Hereinafter, Figure 12A 、 Figure 12B and Figure 12C are used to explain the processes performed by the processing circuit 34. Figure 12A 、 Figure 12B and Figure 12C are diagrams for explaining the first process and the second process of the third embodiment.

[0157] First, the processing function 34c selects a blood vessel area to be the object of the movement suppression process in the blood vessel image. For example, the processing function 34c selects the blood vessel area based on an input operation from the user.

[0158] For example, the output function 34d causes one or more of the blood vessel images I221 to I22n to be displayed on the display 32. As an example, the output function 34d causes the blood vessel image I221 to be displayed on the display 32. Further, the user configures a rectangular ROI on the blood vessel image I221 according to the predetermined blood vessel region to which the device D3 is to reach. For example, the user configures an ROI on the blood vessel image I221 according to the target blood vessel region to which the device D3 is to reach. As an example, the user configures an ROI in the blood vessel region that is the path to the target blood vessel region to be reached. Alternatively, the user may also configure an ROI in the target blood vessel region itself. Thereby, the processing function 34c can select the blood vessel region within the ROI as the blood vessel region for suppressing movement. Further, in Figure 12A a rectangular ROI is shown, but the shape and size of the ROI can be arbitrarily changed.

[0159] Next, the processing function 34c determines a first process for suppressing the movement of the selected blood vessel region among a plurality of blood vessel images. Further, in Figure 12A the case where the rotation and translation process is determined as the first process is described. In this rotation and translation process, the blood vessel images are moved and rotated so that the position and orientation of the blood vessel region are substantially the same among the plurality of blood vessel images. For example, the processing function 34c first obtains the blood vessel pattern VP of the blood vessel region selected in the blood vessel image I221. Next, the processing function 34c searches for a pattern VP' that is close to the blood vessel pattern VP in other blood vessel images such as the blood vessel image I222 and the blood vessel image I223.

[0160] As an example, the processing function 34c manages the blood vessel patterns included in each blood vessel image such as the blood vessel image I222 and the blood vessel image I223 in a tree structure. Here, a blood vessel generally has a branch portion and has a shape in which the number of branches gradually increases toward the upstream or downstream of the blood flow. Therefore, the processing function 34c can set nodes for each branch portion and manage the shape of each branch portion in a tree structure. Further, the processing function 34c can search for the pattern VP' at high speed by sequentially comparing the shape of each branch portion with the blood vessel pattern VP from the root node toward the leaf node.

[0161] Next, the processing function 34c calculates a rotation and translation matrix W based on the position and orientation of the blood vessel pattern VP in the blood vessel image I221 and the position and orientation of the pattern VP' in other blood vessel images. For example, the processing function 34c calculates a rotation and translation matrix W1 based on the blood vessel pattern VP in the blood vessel image I221 and the pattern VP' in the blood vessel image I222. Additionally, the processing function 34c calculates a rotation and translation matrix W2 based on the blood vessel pattern VP' in the blood vessel image I222 and the pattern VP' in the blood vessel image I223. That is, the processing function 34c determines the rotation and translation processing as the first processing by calculating the rotation and translation matrix W1 and the rotation and translation matrix W2.

[0162] Then, the processing function 34c performs the first processing to suppress the movement of the selected blood vessel region by applying the calculated rotation and translation matrix W to each blood vessel image. For example, as shown in Figure 12A , the processing function 34c aligns the blood vessel image I222 with respect to the blood vessel image I221 by applying the rotation and translation matrix W1 to the blood vessel image I222. Additionally, the processing function 34c aligns the blood vessel image I223 with respect to the blood vessel image I221 by applying the rotation and translation matrix W1 and the rotation and translation matrix W2 to the blood vessel image I223. Thus, as shown in the lower part of Figure 12A , the selected blood vessel regions are aligned among the multiple blood vessel images. That is, in the case shown in Figure 12A , the processing function 34c performs the rotation and translation processing as the first processing, which moves and rotates each blood vessel image so that the position and orientation of the blood vessel region in the blood vessel image I221 as the reference frame are substantially the same as those of the blood vessel region in the blood vessel image of a frame different from the reference frame.

[0163] Next, the processing function 34c performs a second processing based on the result of the first processing shown in Figure 12A . Specifically, the processing function 34c performs the second processing to suppress the movement among the multiple X-ray images by applying the first processing determined in Figure 12A to the multiple X-ray images. For example, the processing function 34c performs the second processing to align the multiple X-ray images as shown in Figure 12B .

[0164] In Figure 12BIn this case, it is assumed that the phase of the X-ray image I231 corresponds to the phase of the blood vessel image I221, the phase of the X-ray image I232 corresponds to the phase of the blood vessel image I222, and the phase of the X-ray image I233 corresponds to the phase of the blood vessel image I223 for explanation. In this situation, the processing function 34c aligns the X-ray image I232 with respect to the X-ray image I231, for example, by applying the rotation and translation matrix W1 to the X-ray image I232. In addition, the processing function 34c aligns the X-ray image I233 with respect to the X-ray image I231 by applying the rotation and translation matrix W1 and the rotation and translation matrix W2 to the X-ray image I233. Thus, similar to the blood vessel images, multiple X-ray images are aligned.

[0165] That is, as the second process for suppressing motion between X-ray images, the processing function 34c performs the rotation and translation process performed on the blood vessel image as it is on the X-ray images of the corresponding phases. Thus, even if no blood vessels appear on the X-ray images, the regions corresponding to the blood vessel pattern VP in the X-ray images are aligned with each other.

[0166] And, as shown in Figure 12C the output function 34d generates a composite image of the aligned blood vessel image and the aligned X-ray image, and sequentially displays the composite image on the display 32. For example, the output function 34d generates a composite image I241 of the aligned blood vessel image I221 and the aligned X-ray image I231, and displays the composite image I241 on the display 32. In addition, the output function 34d generates a composite image I242 of the aligned blood vessel image I222 and the aligned X-ray image I232, and displays the composite image I242 on the display 32. In addition, the output function 34d generates a composite image I243 of the aligned blood vessel image I223 and the aligned X-ray image I233, and displays the composite image I243 on the display 32. That is, the output function 34d outputs a composite image of the blood vessel image with motion suppressed by the first process and the X-ray image with motion suppressed by the second process.

[0167] As shown in Figure 12A 、 Figure 12B and Figure 12C by performing the first process and the second process, the processing function 34c can suppress the motion of an arbitrarily selected blood vessel region. For example, in Figure 13In the case shown, the processing function 34c selects the blood vessel region shown as a rectangle as the fixed position and suppresses the movement within the rectangular region. Thereby, in the X-ray image, the movement of the device D3 within the rectangular region is suppressed. In addition, in the blood vessel image, the movement of the blood vessel B2 within the rectangular region is suppressed. Further, the device D3 and the blood vessel B2 are synthesized and displayed in a state where the movement within the rectangular region is suppressed. Therefore, in the operation of the device D3 within the rectangular region, the user can obtain high visual recognition, and for example, can easily perform an operation to move the device D3 to reach the target. In addition, Figure 13 FIG. is a diagram for explaining the fixed position of the third embodiment.

[0168] In addition, Figure 12A The blood vessel images I221, I222, and I223 shown may be a series of blood vessel images collected in one photographing, or a combination of blood vessel images collected in other photographings. That is, the processing function 34c can perform the above-described first processing and second processing using a single cut blood vessel image, or can further utilize the other cut blood vessel image when there is another cut blood vessel image whose phase and imaging range in the cardiac cycle are substantially the same as those of the X-ray image.

[0169] As an example, a case is assumed where it is impossible to determine the blood vessel image corresponding to a part of the X-ray image, such as when the blood vessel image is collected at a frame rate of 10 f / s (frame / seat) and the X-ray image is collected at a frame rate of 20 f / s. Here, in the past, the blood vessel image was also collected at a frame rate of 10 f / s for the same part, and when the phase in the cardiac cycle deviated by an amount of 0.05 s, the processing function 34c can combine these two cut blood vessel images and determine the blood vessel image whose phase corresponds to each X-ray image. Thereby, the processing function 34c can avoid a decrease in the frame rate even when the frame rates between the blood vessel image and the X-ray image are different or the phase in the cardiac cycle is deviated.

[0170] Next, use Figure 14 to illustrate an example of the process of the processing of the medical image processing apparatus 30. Figure 14 FIG. is a flowchart showing a series of processes of the processing of the medical image processing apparatus 30 of the third embodiment. Steps S201, S202, S203, S204, S205, S206, and S208 are steps corresponding to the processing function 34c. Step S207 is a step corresponding to the output function 34d.

[0171] First, the processing circuit 34 determines whether to start the process of suppressing the movement of the X-ray image (step S201). For example, in the case of controlling the imaging range in a manner that follows the front-end position of the tracking device D3, depending on the position of the device D3, the process of suppressing the movement of the X-ray image may not be required. For example, regarding cardiac PCI, the device D3 is inserted from the femoral artery of the subject P1 and travels within the blood vessels towards the heart. Here, the process of suppressing the movement of the X-ray image is not required when the device D3 is located in the lower limbs of the subject P1, and is necessary when the device D3 approaches the heart and is affected by the heartbeat. Therefore, the processing circuit 34 can determine to start the process of suppressing the movement of the X-ray image when the device D3 reaches near the heart.

[0172] In addition, the determination in step S201 can be made either by accepting an input operation from a user such as a physician or automatically by the processing circuit 34 through analyzing the position of the device D3. When the processing circuit 34 does not start the process (negation in step S201), it enters the standby state, and when it starts the process (affirmation in step S201), it proceeds to step S202.

[0173] Next, the processing circuit 34 selects a blood vessel region (step S202). For example, the processing circuit 34 displays the blood vessel image I221 on the display 32 and accepts an input operation from the user to select the blood vessel region. Next, the processing circuit 34 searches for a pattern VP' in each blood vessel image other than the blood vessel image I221 that is close to the blood vessel pattern VP of the selected blood vessel region (step S203). Here, when the pattern VP' is not found (negation in step S204), the processing circuit 34 ends the process. On the other hand, when the pattern VP' is found (affirmation in step S204), the processing circuit 34 calculates the rotation and translation matrix W based on the position and orientation of the blood vessel pattern VP in the blood vessel image I221 and the position and orientation of the pattern VP' in other blood vessel images (step S205).

[0174] Next, the processing circuit 34 applies the rotation and translation matrix W to each image (step S206). Specifically, the processing circuit 34 suppresses the movement of the blood vessel region between multiple blood vessel images by applying the rotation and translation matrix W to the blood vessel images. That is, the processing circuit 34 performs the first process of suppressing the movement of the blood vessel region between the blood vessel images. In addition, the processing circuit 34 suppresses the movement of the region corresponding to the blood vessel region between the X-ray images by applying the rotation and translation matrix W to the X-ray images. That is, the processing circuit 34 performs the second process of suppressing the movement between the X-ray images based on the result of the first process. Then, the processing circuit 34 displays the composite image of the blood vessel image whose movement has been suppressed by the first process and the X-ray image whose movement has been suppressed by the second process on the display 32 (step S207).

[0175] Next, the processing circuit 34 determines whether to continue the process of suppressing the movement of the selected blood vessel region (step S208). If it continues (affirmative in step S208), it transfers back to step S203 again. On the other hand, if the process is not continued (negative in step S208), the processing circuit 34 ends the process. For example, in the case of treating a CTO, during the period before the device D3 reaches the CTO, the processing circuit 34 continues to perform the process of suppressing the movement of the blood vessel region of the path that becomes the CTO to make it easier for the device D3 to travel. On the other hand, when the device D3 reaches the CTO, the processing circuit 34 switches to the process of suppressing the movement of the device D3 to facilitate operations such as expanding the CTO using the device D3. That is, when the device D3 reaches the CTO, the processing circuit 34 determines in step S208 not to continue the process of suppressing the movement of the selected blood vessel region. For example, when the device D3 reaches the CTO, the processing circuit 34 starts the following process: determines the position of the marker attached to the device D3 in each of the multiple X-ray images and fixedly displays the marker.

[0176] In addition, during the execution Figure 14 of the process, for example, there is a case where the working angle changes due to the user operating the C-arm 105. That is, there is a case where the imaging angle changes between the blood vessel image and the X-ray image. In such a case, sometimes the result of the first process performed on the blood vessel image cannot be used to suppress the movement of the X-ray image.

[0177] Therefore, the processing circuit 34 can also be set to automatically end the process of suppressing the movement of the X-ray image when the imaging angle changes. In addition, the processing circuit 34 can also automatically restart the process of suppressing the movement of the X-ray image when the imaging angle returns to the original. Alternatively, the processing circuit 34 can obtain a blood vessel image corresponding to the changed imaging angle when the imaging angle changes and continue the process of suppressing the movement of the X-ray image.

[0178] As described above, according to the third embodiment, the acquisition function 34b acquires a plurality of blood vessel images and a plurality of X-ray images collected for a part with periodic movement. In addition, the processing function 34c selects a blood vessel region in the blood vessel image and determines a first process for suppressing the movement of the blood vessel region between the plurality of blood vessel images. In addition, the processing function 34c performs a second process of suppressing the movement between the plurality of X-ray images by applying the first process to the plurality of X-ray images. In addition, the output function 34d outputs the X-ray image whose movement is suppressed by the second process. Therefore, the medical image processing apparatus 30 of the third embodiment can improve the visual recognition of the X-ray images collected for the moving part.

[0179] For example, for an X-ray image collected from a moving part, it is also possible to identify a marker attached to device D3 and perform fixed display. However, for such fixed display, there are fewer options related to the fixed position, and in addition, it is not possible to perform fixed display on a blood vessel area not reached by device D3. In contrast, the medical image processing apparatus 30 according to the third embodiment can increase the degree of freedom related to the fixed position. For example, the medical image processing apparatus 30 can also perform fixed display on a blood vessel area not reached by device D3.

[0180] In addition, in an X-ray image collected from a moving part, device D3 is not necessarily always included. For example, in the treatment planning stage, X-ray images may sometimes be collected without inserting device D3 into the body of subject P1. In addition, even when device D3 is included in the X-ray image, attaching a marker to device D3 is not a limitation. That is, there are also cases where the X-ray image does not include features that can be used for alignment. Even in such a case, the medical image processing apparatus 30 can suppress the movement of the X-ray image by means of the blood vessel image.

[0181] (Fourth Embodiment)

[0182] In addition, previously, the third embodiment has been described, but in addition to the above-described embodiments, it can also be implemented in various different ways.

[0183] For example, in the third embodiment, a case where, instead of performing processing to suppress the movement of the characteristic part of the device, processing to suppress the movement of the characteristic part included in the blood vessel image of the corresponding phase is performed. However, the embodiment is not limited thereto. For example, it is also possible to perform processing to suppress the movement of the characteristic part included in the blood vessel image of the corresponding phase regardless of whether processing to suppress the movement of the characteristic part of the device is performed. For example, the processing circuit 34 may perform processing to suppress the movement of the characteristic part included in the blood vessel image of the corresponding phase without determining whether a condition related to the positional relationship between the front end and the characteristic part is satisfied.

[0184] Alternatively, the processing circuit 34 may perform processing to suppress the movement of the characteristic part of the device instead of performing processing to suppress the movement of the characteristic part included in the blood vessel image of the corresponding phase. For example, as Figure 11BAs shown, when the device D3 travels within a blood vessel, there are cases where the blood vessel in which the device D3 is located gradually becomes finer. Also, for example, it is assumed that it becomes impossible to determine the blood vessel region in a blood vessel image such as I221. In this case, the processing circuit 34 can perform processing to suppress the movement of the characteristic part of the device, instead of processing to suppress the movement of the characteristic part included in the blood vessel image for the corresponding phase. For example, the processing circuit 34 can be configured to determine whether the blood vessel region can be determined in a blood vessel image such as I221, and when it is determined that the blood vessel region cannot be determined, perform processing to suppress the movement of the characteristic part of the device.

[0185] In addition, in the above-described embodiment, the case where the blood vessel region for suppressing movement is selected by displaying the blood vessel image such as I221 on the display 32 and accepting an input operation from a user who has referred to the blood vessel image has been described. However, the embodiment is not limited to this.

[0186] For example, the processing function 34c can also accept an input operation from the user via an image other than the blood vessel image and select the blood vessel region. As an example, the output function 34d causes a blood vessel model collected from the subject P1 to be displayed on the display 32. Such a blood vessel model can be collected, for example, by scanning the subject P1 in a state where a contrast agent has been injected using an X-ray CT (Computed Tomography) device. Here, for example, the user configures an ROI on the blood vessel model or designates any blood vessel on the blood vessel model according to the target blood vessel region to which the device D3 is to reach. In addition, the processing function 34c determines a blood vessel region corresponding to the blood vessel within the ROI configured on the blood vessel model or the designated blood vessel in the blood vessel image. In this way, the processing function 34c can select the blood vessel region for suppressing movement based on the input operation accepted from the user via the blood vessel model.

[0187] In addition, the processing function 34c can be configured to accept an input operation from the user without going through an image and select the blood vessel region. As an example, the processing function 34c analyzes the blood vessel image and attaches anatomical labels indicating blood vessel names to each blood vessel region included in the blood vessel image. Then, the processing function 34c can select the blood vessel region for suppressing movement by accepting the designation of a blood vessel name from the user.

[0188] As an example, the output function 34d causes a list showing the blood vessel names included in the blood vessel image to be displayed on the display 108. And the processing function 34c can accept an operation from the user for selecting any blood vessel name within the list. In addition, for example, the processing function 34c can also accept an operation from the user for inputting text of a blood vessel name using a keyboard or the like, or a voice input of a blood vessel name.

[0189] Alternatively, the processing function 34c may also automatically select the blood vessel region. For example, the processing function 34c may also select a region with a specified size and specified shape at the center of the blood vessel image as the blood vessel region for suppressing motion.

[0190] In addition, for example, the processing function 34c may also automatically select the blood vessel region for suppressing motion based on the position of the device D3. For example, when the user performs an operation to move the device D3 toward the lesion, the processing function 34c may also determine the branch of the nearest blood vessel existing in the traveling direction of the device D3 in the blood vessel image and select it as the blood vessel region for suppressing motion.

[0191] In addition, in the above-described embodiment, it is assumed that the composite image of the blood vessel image whose motion has been suppressed by the first processing and the X-ray image whose motion has been suppressed by the second processing is displayed. However, the embodiment is not limited thereto, and the output function 34d may also display the X-ray image whose motion has been suppressed by the second processing on the display 32 without being synthesized with the blood vessel image. That is, the medical image processing apparatus 30 may also use only the blood vessel image to suppress the motion of the X-ray image and omit the display of the blood vessel image.

[0192] In addition, in the above-described embodiment, it has been described that the rotation translation matrix W is calculated by searching for the pattern VP' in the blood vessel image, and the motion of the blood vessel region is suppressed between a plurality of blood vessel images. That is, in the above-described embodiment, the case where the first processing is performed by pattern matching has been described. However, the embodiment is not limited thereto.

[0193] For example, even if the processing function 34c does not perform a search for a specific pattern, the first processing can be executed by performing image matching processing. As an example, the processing function 34c can also execute the first processing by end-point free DP (Dynamic Programming) matching.

[0194] For example, the processing function 34c extracts the contour of the blood vessel region from Figure 12A the shown blood vessel image I221. Next, the processing function 34c generates a contour model C1 based on the extracted contour. For example, the processing function 34c extracts the core line of the blood vessel region as the contour, generates a plurality of vertices along the core line, and thereby generates the contour model C1. Similarly, the processing function 34c generates a contour model C2 based on the blood vessel image I222 and generates a contour model C3 based on the blood vessel image I223.

[0195] Next, the processing function 34c finds corresponding points between the contour models. For example, the processing function 34c defines a cost corresponding to the establishment of correspondence between a plurality of vertices in the contour model C1 and a plurality of vertices in the contour model C2, and finds the corresponding points by minimizing the cost. Here, the cost can be defined, for example, based on the difference in the feature amounts possessed by the corresponding vertices. For example, the processing function 34c attaches the curvature of the blood vessel at that position as a feature amount to each vertex in the contour model C1 and the contour model C2. In addition, the processing function 34c defines the cost based on the difference in the feature amounts, and solves the minimization problem of minimizing the cost, whereby the corresponding points can be found in such a way that vertices having the same degree of feature amounts correspond to each other.

[0196] Furthermore, the processing function 34c aligns the blood vessel image I222 with respect to the blood vessel image I221 based on the correspondence of the vertices. For example, the processing function 34c calculates a rotation-translation matrix W1 for aligning the blood vessel image I222 with the blood vessel image I221 using singular value decomposition or the like based on the correspondence of the vertices. Similarly, the processing function 34c calculates a rotation-translation matrix W2 for aligning the blood vessel image I223 with the blood vessel image I222. Then, the processing function 34c aligns the blood vessel image I222 with respect to the blood vessel image I221 by applying the rotation-translation matrix W1 to the blood vessel image I222. In addition, the processing function 34c aligns the blood vessel image I223 with respect to the blood vessel image I221 by applying the rotation-translation matrix W1 and the rotation-translation matrix W2 to the blood vessel image I223.

[0197] That is, the processing function 34c can calculate the rotation-translation matrix W1 and the rotation-translation matrix W2 by end-point free DP matching and perform the first processing. In addition, Figure 12B In the same manner as the case shown, the processing function 34c can perform alignment of each X-ray image using the rotation-translation matrix W1 and the rotation-translation matrix W2. That is, the processing function 34c can perform a second processing for suppressing motion between the X-ray images based on the processing result of the end-point free DP matching.

[0198] In addition, in the above-described embodiment, the case where motion in a plurality of blood vessel images is suppressed by performing the first processing on the plurality of blood vessel images has been described. However, the execution of the first processing for the plurality of blood vessel images may be omitted. That is, the processing function 34c may also determine the first processing for suppressing the motion of the blood vessel region between the plurality of blood vessel images, not perform the first processing on the plurality of blood vessel images, but apply the first processing to the plurality of X-ray images, thereby performing the second processing for suppressing motion between the plurality of X-ray images.

[0199] In addition, in the above-described embodiment, the coronary artery was described as an example of a certain part undergoing periodic motion. However, the embodiment is not limited thereto, and it can be similarly applied to various parts affected by the heartbeat. In addition, it can also be similarly applied to various parts affected by breathing. In this case, the processing function 34c performs rotational translation processing on the blood vessel image for the X-ray image corresponding to the phase in the respiratory cycle, thereby enabling the second processing of suppressing motion between X-ray images.

[0200] In addition, in the above-described embodiment, in the description of the processing for suppressing the motion of the blood vessel region, for example, as Figure 12A shown, the blood vessel regions in each blood vessel image were made to coincide with each other. That is, in the above-described embodiment, as the processing for suppressing the motion of the blood vessel region, the processing for fixing the blood vessel region was described. However, the embodiment is not limited thereto. For example, as the processing for suppressing the motion of the blood vessel region, the processing function 34c may also perform processing to reduce the difference in the position and orientation of the blood vessel region between images. That is, the processing for suppressing the motion of the blood vessel region may be either the processing for fixing the blood vessel region or the processing for reducing the motion of the blood vessel region to a certain extent. Similarly, the processing for suppressing the motion of the X-ray image may be either the processing for fixing the region corresponding to the blood vessel region selected in the X-ray image or the processing for reducing the motion of that region to a certain extent.

[0201] In addition, in the above-described embodiment, the case where the rotational translation processing is determined as the first processing was described. That is, in the above-described embodiment, the case where the position and orientation of the blood vessel region are corrected in the processing for suppressing the motion of the blood vessel region was described. However, the embodiment is not limited thereto, and the processing function 34c may also correct only either the position or the orientation of the blood vessel region.

[0202] In the case of correcting the position of the blood vessel region, the processing function 34c, for example, determines as the first processing the processing of aligning each blood vessel image so that the position of the blood vessel region in the blood vessel image I221 serving as the reference frame and the position of the blood vessel region in the blood vessel image of a frame different from the reference frame are substantially the same. For example, the processing function 34c determines the translation matrix for translating each blood vessel image as the first processing. And the processing function 34c performs the alignment processing determined as the first processing on the X-ray images corresponding to the phase and each blood vessel image as the second processing. Thereby, the processing function 34c can suppress motion between a plurality of X-ray images.

[0203] In addition, in the case of correcting the position of the blood vessel region, the processing function 34c determines, for example, the process of rotating each blood vessel image so that the orientations of the blood vessel regions in the blood vessel image in I221 as the reference frame and the blood vessel regions in the blood vessel images of frames different from the reference frame are substantially the same as the first process. For example, the processing function 34c determines the rotation matrix for rotating each blood vessel image as the first process. Then, the processing function 34c performs the rotation process determined as the first process on the X-ray images whose phases correspond to the respective blood vessel images as the second process. Thereby, the processing function 34c can suppress motion between a plurality of X-ray images.

[0204] In addition, in the above-described embodiment, it has been described that the X-ray image whose motion has been suppressed by the second process is displayed on the display 32. However, the embodiment is not limited thereto. For example, the output function 34d may also send the X-ray image whose motion has been suppressed to another device such as the X-ray diagnostic apparatus 10. In this case, by displaying the image in the device that has received the image, the X-ray image whose motion has been suppressed can be provided to the user.

[0205] In addition, in the above-described embodiment, it has been described that the X-ray diagnostic apparatus 10 performs the collection of the blood vessel images from the subject P1. However, the embodiment is not limited thereto. That is, the collection of the blood vessel images may also be performed in another X-ray diagnostic apparatus other than the X-ray diagnostic apparatus 10.

[0206] In addition, in the above-described embodiment, it has been described that the medical image processing apparatus 30 performs the process of suppressing the motion of the X-ray image. However, the embodiment is not limited thereto. For example, the processing circuit 110 of the X-ray diagnostic apparatus 10 may also execute a function equivalent to the above-described processing function 34c. Hereinafter, this will be described using Figure 10 This will be described. As Figure 10 shown, the processing circuit 110 executes a control function 110a, a collection function 110b, an output function 110c, and a processing function 110d. In addition, the processing function 110d is an example of a processing unit.

[0207] For example, the collection function 110b collects a plurality of X-ray images for a part with periodic motion in the subject P1. In addition, the processing function 110d selects a blood vessel region in the blood vessel image collected for the part with periodic motion in the subject P1. Here, the blood vessel image can be collected from the subject P1 by the collection function 110b, or a blood vessel image collected in another device can be obtained via the network NW. Next, the processing function 110d performs a first process of suppressing the motion of the selected blood vessel region among a plurality of blood vessel images. Next, the processing function 110d performs a second process of suppressing the motion among a plurality of X-ray images based on the result of the first process. Then, the output function 110c outputs the X-ray image whose motion has been suppressed by the second process. For example, the output function 110c causes a composite image of the blood vessel image whose motion has been suppressed by the first process and the X-ray image whose motion has been suppressed by the second process to be displayed on the display 108.

[0208] Terms such as "processor" used in the above description are, for example, a CPU, a GPU (Graphics Processing Unit), or an application specific integrated circuit (ASIC), a programmable logic device (for example, a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA)), etc. In the case where the processor is, for example, a CPU, the processor realizes its functions by reading and executing a program stored in a storage circuit. On the other hand, in the case where the processor is, for example, an ASIC, instead of storing a program in a storage circuit, the function is directly incorporated into the circuit of the processor as a logic circuit. In addition, each processor of the present embodiment is not limited to the case where it is configured as a single circuit for each processor, and a plurality of independent circuits can also be combined to form one processor to realize its functions. Furthermore, the functions can also be realized by integrating a plurality of components in each figure into one processor.

[0209] In addition, in Figure 1 , it has been described that a single memory 33 stores programs corresponding to the respective processing functions of the processing circuit 34. In addition, in Figure 2 and Figure 7In this case, it has been described that a single memory 109 stores programs corresponding to the respective processing functions of the processing circuit 110. However, the embodiment is not limited thereto. For example, it may be configured such that a plurality of memories 33 are dispersedly arranged, and the processing circuit 34 reads out the corresponding programs from the individual memories 33. Similarly, it may be configured such that a plurality of memories 109 are dispersedly arranged, and the processing circuit 110 reads out the corresponding programs from the individual memories 109. Alternatively, instead of storing the programs in the memories, it may be configured to directly incorporate the programs into the circuit of the processor. In this case, the processor realizes the functions by reading out and executing the programs loaded into the circuit.

[0210] Each constituent element of each device in the above-described embodiment is a functional concept, and it is not necessarily required to be physically configured as shown in the drawings. That is, the specific manner of dispersion and combination of each device is not limited to the manner shown in the drawings, and all or part of them can be functionally or physically dispersed and combined in any unit according to various loads, usage conditions, etc. Furthermore, all or any part of the respective processing functions performed in each device can be realized by a CPU and a program analyzed and executed by the CPU, or can be realized as hardware based on wiring logic.

[0211] In addition, the medical information processing method described in the above embodiment can be realized by a computer such as a personal computer or a workstation executing a previously prepared medical information processing program. This program can be distributed via a network such as the Internet. In addition, this program can also be recorded in a computer-readable non-transitory recording medium such as a hard disk, a floppy disk (FD), a CD-ROM, an MO, or a DVD, and read out and executed by the computer from the recording medium.

[0212] According to at least one of the embodiments described above, the visual recognition of the X-ray image collected for the moving part can be improved.

[0213] Several embodiments have been described, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, changes, and combinations of the embodiments can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope or gist of the invention, and are equally included in the invention described in the claims and its equivalents.

Claims

1. A medical image processing apparatus, comprising: An acquisition unit that acquires a plurality of blood vessel images collected for a part with periodic motion and a plurality of X-ray images collected for the part; A processing unit that selects a blood vessel region in the blood vessel images, determines a first process for suppressing the motion of the blood vessel region among the plurality of blood vessel images, and performs a second process, where the second process is a process of applying the first process to the plurality of X-ray images to suppress motion among the plurality of X-ray images; and An output unit that outputs the X-ray images whose motion has been suppressed by the second process, The processing unit determines, as the first process, a process of aligning the second blood vessel image such that the position of the blood vessel region in the first blood vessel image of the reference frame is substantially the same as the position of the blood vessel region in the second blood vessel image of a frame different from the reference frame, and performs the alignment process on the X-ray image corresponding to the phase of the periodic motion and the second blood vessel image, as the second process.

2. The medical image processing apparatus according to claim 1, wherein The processing unit performs the first process on the plurality of blood vessel images to suppress motion in the plurality of blood vessel images, The output unit outputs a composite image of the blood vessel images whose motion has been suppressed by the first process and the X-ray images whose motion has been suppressed by the second process.

3. An X-ray diagnostic apparatus, comprising: A collection unit that collects a plurality of X-ray images for a part with periodic motion; A processing unit that selects a blood vessel region in the blood vessel images collected for the part, determines a first process for suppressing the motion of the blood vessel region among the plurality of blood vessel images, and performs a second process, where the second process is a process of applying the first process to the plurality of X-ray images to suppress motion among the plurality of X-ray images; and An output unit that outputs the X-ray images whose motion has been suppressed by the second process, The processing unit determines, as the first process, a process of aligning the second blood vessel image such that the position of the blood vessel region in the first blood vessel image of the reference frame is substantially the same as the position of the blood vessel region in the second blood vessel image of a frame different from the reference frame, and performs the alignment process on the X-ray image corresponding to the phase of the periodic motion and the second blood vessel image, as the second process.

4. A medical image processing method, including the following steps: Acquire a plurality of blood vessel images collected for a part with periodic motion and a plurality of X-ray images collected for the part; Select a blood vessel region in the blood vessel images, determine a first process for suppressing the motion of the blood vessel region among the plurality of blood vessel images, and perform a second process, where the second process is a process of applying the first process to the plurality of X-ray images to suppress motion among the plurality of X-ray images; and Output the X-ray images whose motion has been suppressed by the second process, The process of aligning the second blood vessel image so that the positions of the blood vessel regions in the first blood vessel image of the reference frame are substantially the same as those in the second blood vessel image of a frame different from the reference frame is determined as the first process, and the alignment process is performed on the X-ray image corresponding to the phase of the periodic motion and the second blood vessel image as the second process.

5. A medical image processing apparatus, comprising: An acquisition unit that acquires a plurality of blood vessel images collected for a part with periodic motion and a plurality of X-ray images collected for the part; A processing unit that selects a blood vessel region in the blood vessel images, determines a first process for suppressing the motion of the blood vessel region among the plurality of blood vessel images, and performs a second process, which is a process of applying the first process to the plurality of X-ray images to suppress motion among the plurality of X-ray images; and An output unit that outputs the X-ray images whose motion has been suppressed by the second process, The processing unit determines the process of rotating the second blood vessel image so that the orientations of the blood vessel regions in the first blood vessel image of the reference frame and the second blood vessel image of a frame different from the reference frame are substantially the same as the first process, and performs the rotation process on the X-ray image corresponding to the phase of the periodic motion and the second blood vessel image as the second process.

6. A medical image processing apparatus, comprising: An acquisition unit that acquires a plurality of blood vessel images collected for a part with periodic motion and a plurality of X-ray images collected for the part; A processing unit that selects a blood vessel region in the blood vessel images, determines a first process for suppressing the motion of the blood vessel region among the plurality of blood vessel images, and performs a second process, which is a process of applying the first process to the plurality of X-ray images to suppress motion among the plurality of X-ray images; and An output unit that outputs the X-ray images whose motion has been suppressed by the second process, The processing unit determines the rotation and translation process of moving and rotating the second blood vessel image so that the positions and orientations of the blood vessel regions in the first blood vessel image of the reference frame and the second blood vessel image of a frame different from the reference frame are substantially the same as the first process, and performs the rotation and translation process on the X-ray image corresponding to the phase of the periodic motion and the second blood vessel image as the second process.

7. An X-ray diagnostic apparatus, comprising: A collection unit that collects a plurality of X-ray images for a part with periodic motion; A processing unit that selects a blood vessel region in the blood vessel images collected for the part, determines a first process for suppressing the motion of the blood vessel region among the plurality of blood vessel images, and performs a second process, which is a process of applying the first process to the plurality of X-ray images to suppress motion among the plurality of X-ray images; and An output unit that outputs the X-ray images whose motion has been suppressed by the second process, The processing unit determines the processing of rotating the second blood vessel image so that the orientations of the blood vessel regions in the first blood vessel image of the reference frame and the blood vessel region in the second blood vessel image of a frame different from the reference frame are substantially the same as the first processing, and performs the rotation processing on the X-ray image corresponding to the phase in the periodic motion and the second blood vessel image as the second processing.

8. An X-ray diagnostic apparatus, comprising: a collection unit that collects a plurality of X-ray images for a part having a periodic motion; a processing unit that selects a blood vessel region from the blood vessel images collected for the part, determines a first processing for suppressing the motion of the blood vessel region between the plurality of blood vessel images, and performs a second processing, where the second processing is a processing of applying the first processing to the plurality of X-ray images to thereby suppress the motion between the plurality of X-ray images; and an output unit that outputs the X-ray image whose motion has been suppressed by the second processing, The processing unit determines the rotation and translation processing of moving and rotating the second blood vessel image so that the positions and orientations of the blood vessel regions in the first blood vessel image of the reference frame and the blood vessel region in the second blood vessel image of a frame different from the reference frame are substantially the same as the first processing, and performs the rotation and translation processing on the X-ray image corresponding to the phase in the periodic motion and the second blood vessel image as the second processing.

9. A medical image processing method, comprising the following steps: acquiring a plurality of blood vessel images collected for a part having a periodic motion and a plurality of X-ray images collected for the part; selecting a blood vessel region from the blood vessel images, determining a first processing for suppressing the motion of the blood vessel region between the plurality of blood vessel images, and performing a second processing, where the second processing is a processing of applying the first processing to the plurality of X-ray images to thereby suppress the motion between the plurality of X-ray images; and outputting the X-ray image whose motion has been suppressed by the second processing, The processing of rotating the second blood vessel image so that the orientations of the blood vessel regions in the first blood vessel image of the reference frame and the blood vessel region in the second blood vessel image of a frame different from the reference frame are substantially the same is determined as the first processing, and the rotation processing is performed on the X-ray image corresponding to the phase in the periodic motion and the second blood vessel image as the second processing.

10. A medical image processing method, comprising the following steps: acquiring a plurality of blood vessel images collected for a part having a periodic motion and a plurality of X-ray images collected for the part; selecting a blood vessel region from the blood vessel images, determining a first processing for suppressing the motion of the blood vessel region between the plurality of blood vessel images, and performing a second processing, where the second processing is a processing of applying the first processing to the plurality of X-ray images to thereby suppress the motion between the plurality of X-ray images; and outputting the X-ray image whose motion has been suppressed by the second processing, A rotational translation process that moves and rotates the second blood vessel image so that the positions and orientations of the blood vessel regions in the first blood vessel image of the reference frame and the second blood vessel image of a frame different from the reference frame are substantially the same is determined as the first process, and the rotational translation process is performed on the X-ray image corresponding to the phase in the periodic motion and the second blood vessel image as the second process.

Images