Mammography apparatus, control apparatus, and program

Abstract

To provide a mammography apparatus, a control apparatus, and a program capable of improving visibility of a projection image in comparison to a conventional technique.SOLUTION: A mammography apparatus 2 comprises: a biopsy unit 26; a photographing table; and an arm which is provided with a radiation irradiator for ejecting radiation for capturing a radiation image toward a photographing surface of the photographing table and a projector 40, on its one end side, the relative angle between the radiation irradiator and the photographing surface being changeable. The mammography apparatus 2 comprises a control unit 52A which controls the arm so that the relative angle becomes a predetermined inclination angle, in a case where the biopsy unit 26 executes biopsy of perpendicular punctuation.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a mammography device, a control device, and a program. [Background technology]

[0002] Conventionally, there is known a technique for providing a mammography apparatus with a projector to project various information (see, for example, Patent Documents 1 and 2).

[0003] In this technology, considering that information is projected onto the upper surface of the compression plate of the mammography device, the imaging surface of the imaging table, the upper side of the breast, etc., it is preferable that the projection port of the projector is located near the radiation emission port of the radiation irradiator located at the top of the arm of the mammography device. For example, if the necessary information is projected onto the upper surface of the compression plate, the radiologist can position the subject's breast while checking the information without moving his or her line of sight significantly.

[0004] Similarly, in a mammography device equipped with a biopsy device, a technology has been disclosed for projecting necessary information such as puncture position and target information (see, for example, Patent Document 3). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2022-057948 [Patent Document 2] Patent Publication No. 2022-057951 [Patent Document 3] JP 2010-194194 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the technology disclosed in Patent Document 3, each part, such as the biopsy needle of the biopsy device, the biopsy needle unit having a holder for holding the biopsy needle, and the moving mechanism for moving the biopsy needle unit, are positioned directly above the breast when performing vertical puncture. Therefore, depending on the position of each of the above parts, they may block the image projected from the projector, which reduces the visibility of the projected image.

[0007] The present disclosure has been made in consideration of the above circumstances, and aims to provide a mammography device, a control device, and a program that can improve the visibility of projected images compared to conventional techniques. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, a mammography apparatus of a first aspect of the present disclosure is a mammography apparatus comprising a biopsy device, an imaging table, and an arm having an irradiation irradiator and a projector at one end side which emit radiation for capturing a radiographic image toward the imaging surface of the imaging table, and the relative angle between the irradiation irradiator and the imaging surface can be changed, and the mammography apparatus has at least one processor which controls the arm so that when a vertical puncture biopsy is performed with the biopsy device, the relative angle becomes a predetermined inclination angle.

[0009] A mammography apparatus of a second aspect of the present disclosure is a mammography apparatus of the first aspect, in which the predetermined inclination angle is an angle corresponding to inclined photography other than photography in which the imaging table, the radiation irradiator, and the biopsy device are aligned in a straight line, when inclined photography is performed.

[0010] A mammography apparatus according to a third aspect of the present disclosure is the mammography apparatus according to the second aspect, wherein the tilt imaging is at least one of stereo imaging and tomosynthesis imaging.

[0011] A mammography apparatus of a fourth aspect of the present disclosure is a mammography apparatus of any one of the first to third aspects, wherein the processor controls the arm so that the relative angle becomes the predetermined inclination angle and the arm is tilted away from the position of an operator who is taking the radiographic image.

[0012] A mammography apparatus of a fifth aspect of the present disclosure is a mammography apparatus of any one of the first to third aspects, wherein the processor controls the arm so that the relative angle becomes the predetermined inclination angle and is inclined opposite the left-right direction of the breast on which the biopsy is to be performed.

[0013] A mammography apparatus of a sixth aspect of the present disclosure is a mammography apparatus of any one of the first to third aspects, wherein the processor controls the arm so that the relative angle becomes the predetermined inclination angle and so that the arm tilts away from the position of an operator who takes the radiation image, and when controlling the arm so that the relative angle becomes the predetermined inclination angle and so that the arm tilts opposite the left-right direction of the breast on which the biopsy is to be performed, if the side away from the operator's position and the side opposite the left-right direction of the breast are different sides, the processor controls the arm to tilt away from the operator's position.

[0014] A seventh aspect of the mammography apparatus of the present disclosure is the mammography apparatus of the first aspect, wherein the processor adjusts the relative angle depending on the drive position of the biopsy device.

[0015] A mammography apparatus according to an eighth aspect of the present disclosure is the mammography apparatus according to the first aspect, wherein the processor adjusts the projection position of the image projected by the projector according to the drive position of the biopsy device.

[0016] A ninth aspect of the mammography apparatus of the present disclosure is a mammography apparatus of the first aspect, in which the processor adjusts the relative angle depending on the position of a compression plate provided on the imaging surface side of the imaging table.

[0017] A mammography device of a tenth aspect of the present disclosure is a mammography device of the first aspect, in which the processor corrects distortion of the image projected by the projector that occurs when the relative angle is set to the inclination angle.

[0018] A mammography apparatus of an eleventh aspect of the present disclosure is a mammography apparatus of the first aspect, wherein the processor controls the arm so that the relative angle becomes a preset inclination angle regardless of the shooting conditions when a vertical puncture biopsy is performed with the biopsy device.

[0019] In addition, in order to achieve the above-mentioned object, a control device of a twelfth aspect of the present disclosure is a control device that controls a mammography device having a biopsy device, an imaging stand, and an arm having a radiation irradiator and projector at one end side that emit radiation for capturing a radiographic image toward the imaging surface of the imaging stand, and the arm has an adjustable relative angle between the radiation irradiator and the imaging surface, and the control device has at least one processor, and the processor controls the arm so that when the biopsy device interferes with the projection area of ​​the projector, the relative angle becomes a predetermined angle such that the light-blocking area of ​​the image projected by the projector caused by the biopsy device is less than a predetermined area.

[0020] In addition, in order to achieve the above-mentioned object, the program of a thirteenth aspect of the present disclosure is a program executed in a mammography device having a biopsy device, an imaging stand, and an arm having an irradiation irradiator and a projector at one end side that emit radiation for capturing a radiographic image toward the imaging surface of the imaging stand, and the relative angle between the radiation irradiator and the imaging surface can be changed, which causes a computer to execute processing to control the arm so that the relative angle becomes a predetermined inclination angle when a vertical puncture biopsy is performed with the biopsy device.

[0021] Furthermore, in order to achieve the above-mentioned object, the program of a fourteenth aspect of the present disclosure is a program executed in a control device that controls a mammography apparatus having a biopsy device, an imaging stand, and an arm having a radiation irradiator and projector at one end side that emit radiation for capturing a radiographic image toward the imaging surface of the imaging stand, and an arm in which the relative angle between the radiation irradiator and the imaging surface can be changed, and causes a computer to execute a process to control the arm so that, when the biopsy device interferes with the projection area projected by the projector, the relative angle becomes a predetermined angle such that the light-blocking area caused by the biopsy device in the projected image by the projector is equal to or smaller than a predetermined area. Effect of the Invention

[0022] According to the present disclosure, it is possible to improve the visibility of a projected image compared to conventional techniques. [Brief description of the drawings]

[0023] [Figure 1] 1 is a schematic diagram showing an example of a mammography apparatus according to an embodiment. [Diagram 2] 2 is a schematic plan view of a compression plate in a mammography apparatus according to an embodiment, viewed from above. FIG. [Diagram 3] 13A and 13B are diagrams showing an example of a state in which a radiation irradiator in a mammography apparatus according to an embodiment is tilted to the left or right from a direction aligned with the arm. [Figure 4] 2 is a diagram showing an example of the relationship between the position of a radiation irradiator and two scout images in a mammography apparatus according to an embodiment. FIG. [Diagram 5] 2 is a block diagram showing an example of the electrical configuration of a mammography apparatus according to an embodiment. FIG. [Figure 6] 2 is a functional block diagram showing the functional configuration of a control device provided in a mammography apparatus according to an embodiment. FIG. [Figure 7] 4 is a schematic diagram showing an example of a configuration of a distortion correction information database according to the embodiment; FIG. [Figure 8] FIG. 4 is a schematic diagram showing an example of a configuration of a tilt angle database according to the embodiment. [Figure 9] 10 is a flowchart illustrating an example of a projection process according to the embodiment. [Figure 10A] FIG. 13 is a diagram for explaining a projection process according to an embodiment, and is a front view showing the positional relationship of main parts when serial imaging is performed. [Figure 10B] FIG. 13 is a diagram for explaining the projection processing according to the embodiment, and is a front view showing the positional relationship of the main parts when the relative angle of the arm with respect to the imaging surface is set to an inclination angle. [Figure 11A] FIG. 13 is a diagram for explaining a modified example of the projection processing according to the embodiment, and is a front view showing the positional relationship of the main parts when the height of the compression paddle is height D1. [Figure 11B] FIG. 13 is a diagram for explaining a modified example of the projection processing according to the embodiment, and is a front view showing the positional relationship of the main parts when the height of the compression paddle is at height D2, which is lower than height D1. [Figure 12A] FIG. 13 is a diagram for explaining a modified example of the projection processing according to the embodiment, and is a front view showing the positional relationship of the main parts when the biopsy device is located at the center. [Figure 12B] FIG. 13 is a diagram for explaining a modified example of the projection processing according to the embodiment, and is a front view showing the positional relationship of the main parts when the biopsy device is located to the left of the center. [Figure 13A]FIG. 13 is a diagram for explaining a modified example of the projection processing according to the embodiment, and is a front view showing the positional relationship of the main parts when the biopsy device is located to the left of the center. [Figure 13B] FIG. 13 is a diagram for explaining a modified example of the projection processing according to the embodiment, and is a front view showing the positional relationship of the main parts when the biopsy device is located at the center. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, examples of embodiments for carrying out the technology of the present disclosure will be described in detail with reference to the drawings. First, a mammography device 2 of this embodiment will be described in detail with reference to Figures 1 to 4. Figure 1 is a schematic diagram showing an example of a mammography device 2 according to this embodiment.

[0025] As an example, as shown in Figure 1, in a mammography device 2 according to this embodiment, a radiation storage section 16 that stores a radiation irradiator 17 therein and an imaging table 14 are connected to an arm 13 so that they face each other. An image recording medium such as a radiation detector 15 is set inside the imaging table 14 while being stored in a recording medium holder such as a cassette. The arm 13 is attached to a base 11 by a C-axis 12. The arm 13 is provided on the base 11 with the C-axis 12, which serves as the center of rotation, attached to the central position of the radiation detector 15 so that the center of rotation of the arm 13 is the center of the radiation detector 15 in the X direction (see Figure 2).

[0026] The base 11 is provided with an operation unit 28 that receives radiation irradiation instructions from the radiation irradiator 17 and enables an operator (hereinafter also referred to as the "operator") to adjust the height of the imaging table 14 (i.e., the height of the arm 13) and the inclination of the imaging table 14 (i.e., the inclination of the arm 13), and an arm control unit 31 that moves the arm 13 up and down and rotates it in accordance with input from the operation unit 28.

[0027] The arm control unit 31 adjusts the inclination of the arm 13 by rotating the C-axis 12 attached to the base 11, and adjusts the height of the imaging table 14 by moving the arm 13 up and down.

[0028] At the center of the arm 13, there are provided a compression plate 18 that is disposed above the imaging table 14 and presses down on the breast, a support section 20 that supports the compression plate 18, and a movement mechanism 19 that moves the support section 20 up and down along the arm 13. The position and compression pressure of the compression plate 18 are controlled by a compression plate controller 34.

[0029] Fig. 2 is a top view of the compression plate 18. As shown in Fig. 2, the compression plate 18 has an opening 25 of about 10 x 10 cm square so that a biopsy can be performed with the breast fixed by the imaging table 14 and the compression plate 18.

[0030] 1 as an example, a biopsy unit 26 as a biopsy device of the present disclosure has a biopsy needle 21 that is inserted into a breast and a biopsy needle unit 22, and further includes a moving mechanism 24 that moves the biopsy needle unit 22 in the X, Y, and Z directions. The position of the tip of the biopsy needle 21 of the biopsy needle unit 22 is controlled by a needle position controller 35 included in the moving mechanism 24. Note that the horizontal direction in FIG. 2 is the X direction, the vertical direction is the Y direction, and the direction perpendicular to the XY plane is the Z direction.

[0031] Meanwhile, inside the radiation storage unit 16, a projector 40 having a projection unit 40A is built in on the lower surface of the radiation storage unit 16 and in the vicinity of the radiation outlet of the radiation irradiator 17. The projector 40 mainly projects an image (hereinafter referred to as a "projected image") showing various information onto the upper surface of the compression plate 18, but when the compression plate 18 is removed, it can project a projected image onto the upper surface of the imaging table 14 (hereinafter also referred to as an "imaging surface") or onto a breast not compressed by the compression plate 18. As the projector 40, a known projector such as a liquid crystal projector, a DLP (Digital Light Processing) (registered trademark) projector, or a laser projector can be used.

[0032] Thus, the mammography apparatus 2 of this embodiment is provided with a biopsy unit 26, and an arm 13 having at one end thereof a radiation irradiator 17 and a projector 40 which emit radiation for capturing a radiographic image toward the imaging surface of the imaging table 14, and at the other end thereof the imaging table 14 is provided.

[0033] Before puncturing, the mammography device 2 obtains scout images taken from two directions so as to include the target area of ​​the breast to be biopsied. The scout images are images taken from different viewpoints to confirm the position for pathological examination. For example, as shown in Fig. 3, two partial images taken from directions tilted to the left and right from the direction along the arm 13 (tilted by, for example, 15° in the +θ and -θ directions shown in Fig. 3) are used as the scout images.

[0034] 4 is a diagram showing an example of the relationship between the position of the radiation irradiator 17 and two scout images. In the scout image Img1 obtained by photographing with the radiation irradiator 17 placed at position P1, the position of the target T appears to the left, and in the scout image Img2 obtained by photographing with the radiation irradiator 17 placed at position P2, the position of the target T appears to the right. From the deviation of the target T in the two scout images Img1 and Img2, the distance z from the bottom surface (the side pressing the breast) of the compression paddle 18 to the target T and its position on the XY plane can be obtained, and three-dimensional position information of the target T can be obtained.

[0035] The mammography device 2 can also perform stereoscopic imaging. In stereoscopic imaging, radiation is applied to the breast from two irradiation positions with different irradiation angles by the radiation irradiator 17, and two radiation images of the breast are taken. That is, in stereoscopic imaging, the angles of the imaging table 14, compression plate 18, breast, etc. are kept fixed, and imaging is performed by changing the rotation angle of the radiation irradiator 17 relative to the base 11.

[0036] Furthermore, the mammography device 2 can also perform tomosynthesis imaging. In tomosynthesis imaging, radiation is irradiated from a plurality of irradiation positions with different irradiation angles toward the breast by the radiation irradiator 17, and a plurality of radiation images of the breast are taken. That is, in tomosynthesis imaging as well, the angles of the imaging table 14, the compression plate 18, the breast, etc. are kept fixed, and imaging is performed by changing the rotation angle of the radiation irradiator 17 relative to the base 11.

[0037] For this reason, in the mammography apparatus 2 according to this embodiment, the arm 13 is capable of changing the relative angle between the radiation irradiator 17 and the imaging surface of the imaging table 14 (hereinafter simply referred to as the "relative angle").

[0038] When the needle position controller 35 of the biopsy unit 26 receives the position information of the target T, it moves the position of the tip of the biopsy needle 21 to the position of the target T, and causes the biopsy needle 21 to puncture the breast.

[0039] Next, the electrical configuration of the mammography apparatus 2 according to this embodiment will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of the electrical configuration of the mammography apparatus according to this embodiment.

[0040] The mammography apparatus 2 according to this embodiment is configured to include an operation panel 29 and a control device 50 in addition to the radiation detector 15, radiation irradiator 17, biopsy unit 26, arm control unit 31, and projector 40 described above.

[0041] The control device 50 has a function of controlling the overall operation of the mammography apparatus 2, and is configured with a CPU (Central Processing Unit) 52 as a processor, memory 54 including ROM (Read Only Memory) and RAM (Random Access Memory), and a non-volatile storage unit 56 consisting of an HDD (Hard Disk Drive), flash memory, etc. The control device 50 is also connected to the radiation irradiator 17, radiation detector 15, biopsy unit 26, arm control unit 31, projector 40, and operation panel 29.

[0042] When the control device 50 receives an irradiation instruction from the operator via the operation panel 29 (exposure switch), it causes the radiation source 30 provided in the radiation irradiator 17 to irradiate radiation onto the upper surface of the imaging table 14 in accordance with the imaging menu set based on the specified exposure conditions.

[0043] The radiation detector 15 is irradiated with radiation carrying image information, records the image information, and outputs the recorded image information, and is configured, for example, as an FPD (Flat Panel Detector) having a radiation sensitive layer and converting the radiation into digital data for output. When irradiated with radiation, the radiation detector 15 outputs image information indicative of a radiation image to the control device 50. In this embodiment, the radiation detector 15 is irradiated with radiation that has passed through the breast M, and obtains image information indicative of a radiation image.

[0044] The operation panel 29 has a function for setting various types of operation information such as exposure conditions and posture information, and various operation instructions.

[0045] The exposure conditions set on the operation panel 29 include information such as tube voltage, tube current, and irradiation time. The posture information specified on the operation panel 29 includes information indicating the imaging positions (imaging postures, angles) when imaging the breast M from multiple directions.

[0046] The exposure conditions, various operation information such as posture information, and various operation instructions may be set by an operator using the operation panel 29, or may be obtained from another control device (RIS: Radiology Information System, a system that manages information on medical treatment, diagnosis, etc. using radiation), or may be stored in a memory unit in advance.

[0047] When various information is set from the operation panel 29, the control device 50 performs radiography by irradiating the imaging site (breast M) of the subject with radiation from the radiation irradiator 17 in accordance with an imaging menu set based on the various set information. When performing tomosynthesis imaging in which imaging is performed from multiple directions, the control device 50 adjusts the attitude of the arm 13 so that the radiation irradiator 17 is positioned above the upper surface of the imaging table 14. Then, in a state substantially similar to that shown in FIG. 3, the control device 50 rotates the arm 13 to move the radiation irradiator 17 in an arc shape from a predetermined initial angle by angles of predetermined intervals, and causes the radiation source 30 provided in the radiation irradiator 17 to individually irradiate radiation at different angles to the upper surface of the imaging table 14 based on the imaging conditions. In this way, multiple radiation images are obtained.

[0048] The needle position controller 35 provided in the biopsy unit 26 drives the biopsy unit 26 in response to instructions from the control device 50 to move the biopsy needle 21 to a predetermined position and hold the biopsy needle 21 inclined at an insertion angle.

[0049] 1 and 3, the biopsy unit 26 according to this embodiment is capable of vertical puncture in which the puncture direction of the biopsy needle 21 is perpendicular to the imaging surface of the imaging table 14, as well as horizontal puncture in which the puncture direction of the biopsy needle 21 is parallel to the imaging surface of the imaging table 14, but is not limited thereto. For example, the biopsy unit 26 may be configured to be capable of only vertical puncture.

[0050] The projector 40 of this embodiment includes a projection unit 40A and a power supply unit 40B. In the projector 40, the power supply unit 40B is controlled to be turned on and off in response to an instruction from the control device 50. In addition, a projection image is projected from the projection unit 40A onto the upper surface of the compression plate 18 in response to an instruction from the control device 50.

[0051] Furthermore, when performing the above-mentioned scout image capturing, stereoscopic imaging, and tomosynthesis imaging, the control device 50 controls the arm control unit 31 so that the rotation angle of the arm 13 becomes an angle appropriate for the imaging.

[0052] Furthermore, a projection processing program 56A is stored in a storage unit 56 serving as a storage medium provided in the control device 50 according to this embodiment. The CPU 52 reads out the projection processing program 56A from the storage unit 56, loads it in the memory 54, and executes the loaded projection processing program 56A. The storage unit 56 also stores a distortion correction information database 56B and an inclination angle database 56C. These databases will be described in detail later.

[0053] Next, the functional configuration of the control device 50 according to this embodiment will be described with reference to Fig. 6. Fig. 6 is a functional block diagram showing the functional configuration of the control device 50 provided in the mammography apparatus 2 according to this embodiment.

[0054] 6, the control device 50 includes a control unit 52A and a correction unit 52B. The CPU 52 executes a projection processing program 56A to function as the control unit 52A and the correction unit 52B.

[0055] When a vertical puncture biopsy is performed by the biopsy unit 26, the control unit 52A according to this embodiment controls the arm 13 so that the above-mentioned relative angle becomes a predetermined inclination angle.

[0056] In particular, in this embodiment, when performing oblique imaging other than imaging in which the imaging table 14, the radiation irradiator 17, and the biopsy unit 26 are aligned in a straight line, an angle corresponding to the oblique imaging is applied as the oblique angle. In this embodiment, both stereo imaging and tomosynthesis imaging are applied as the oblique imaging, but the present invention is not limited to this. Only one of stereo imaging and tomosynthesis imaging may be applied as the oblique imaging.

[0057] Moreover, the control unit 52A according to this embodiment controls the arm 13 so that the relative angle becomes the tilt angle and the arm 13 tilts away from the position of the operator who captures the radiological image (hereinafter referred to as "first control"). The control unit 52A according to this embodiment controls the arm 13 so that the relative angle becomes the tilt angle and the arm 13 tilts opposite the left-right direction of the breast to be biopsy-targeted (hereinafter referred to as "second control"). Note that "opposite the left-right direction of the breast" here means the right side when the breast to be biopsy-targeted is the left breast, and means the left side when the breast to be biopsy-targeted is the right breast.

[0058] Here, the tilt direction of the arm 13 by the first control and the tilt direction of the arm 13 by the second control may differ, in which case the control unit 52A prioritizes the first control and controls the arm 13 to tilt away from the operator's position. However, this is not limited to the above, and the second control may be prioritized, or the priority order between the first control and the second control may be appropriately switched depending on the subject's condition, the purpose of the biopsy, etc.

[0059] On the other hand, the correction unit 52B according to this embodiment corrects the distortion of the projected image by the projector 40 that occurs when the relative angle is set as the inclination angle. In this embodiment, as a method for correcting the distortion of the projected image, a method using a coordinate conversion table that can convert the projected image into an image that is not distorted when projected on the upper surface of the compression plate 18 is applied. In this embodiment, the coordinate conversion table is prepared in advance for each predetermined interval of the inclination angle (2 degrees in this embodiment), and the one corresponding to the closest inclination angle is selectively applied to correct the distortion, but this is not limited to this. For example, instead of the coordinate conversion table, a method using a coordinate conversion formula that can convert the projected image into an image that is not distorted when projected on the upper surface of the compression plate 18 may be applied as a method for correcting the distortion of the projected image. In addition, the method is not limited to the method using these coordinate conversion tables or coordinate conversion formulas, and a conventionally known algorithm such as projective transformation that is used to correct the distortion of an image may be applied as a method for correcting the distortion of a projected image.

[0060] As described above, the mammography device 2 according to this embodiment has a built-in control device 50, but this is not limited to this. For example, the control device 50 may be configured as a device separate from the mammography device 2. The control device 50 according to this embodiment corresponds to the control device in the technology of the present disclosure.

[0061] As described above, the control unit 52A in this embodiment controls the arm 13 so that the above-mentioned relative angle becomes a predetermined inclination angle when a vertical puncture biopsy is performed by the biopsy unit 26, with the purpose of avoiding or suppressing interference of the biopsy unit 26 with the projection area by the projector 40.

[0062] Therefore, the control unit 52A according to the present embodiment may be configured to control the arm 13 so that, when the biopsy unit 26 interferes with the projection area of ​​the projector 40, the above-mentioned relative angle becomes a predetermined angle such that the light-blocking area of ​​the image projected by the projector 40 caused by the biopsy unit 26 is equal to or smaller than a predetermined area. In this configuration, it is most preferable that the above-mentioned predetermined area is 0 (zero), but if even a part of the projected image is outside the light-blocking area, an effect of improving the visibility of the projected image can be obtained.

[0063] Next, the distortion correction information database 56B according to this embodiment will be described with reference to Fig. 7. Fig. 7 is a schematic diagram showing an example of the configuration of the distortion correction information database 56B according to this embodiment.

[0064] The distortion correction information database 56B according to the present embodiment is a database in which the above-mentioned coordinate conversion table is registered. As shown in Fig. 7, the distortion correction information database 56B according to the present embodiment stores information on the tilt angle and the coordinate conversion table.

[0065] The tilt angle is information indicating the tilt angle itself, and the coordinate conversion table is information indicating the coordinate conversion table itself corresponding to the corresponding tilt angle.

[0066] Next, the tilt angle database 56C according to this embodiment will be described with reference to Fig. 8. Fig. 8 is a schematic diagram showing an example of the configuration of the tilt angle database 56C according to this embodiment.

[0067] As shown in FIG. 8, the tilt angle database 56C according to this embodiment stores information on the imaging conditions and the tilt angles.

[0068] The imaging conditions are information indicating whether the imaging is stereo imaging or tomosynthesis imaging, and the tilt angle is information indicating the tilt angle itself to be applied when imaging under the corresponding imaging conditions is performed.

[0069] In the example shown in Figure 8, information is registered indicating that, for example, when performing stereoscopic imaging, a tilt angle of -15 degrees or +15 degrees is applied, and when performing tomosynthesis imaging, a tilt angle of -20 degrees or +20 degrees is applied.

[0070] Next, referring to FIG. 9, the operation of the mammography device 2 according to this embodiment in the case of executing a projection process, which is a process of projecting a projection image onto the upper surface of the compression plate 18 by the projector 40, will be described. The projection process shown in FIG. 9 is executed by the CPU 52 in the control device 50 of the mammography device 2 executing the projection process program 56A. The projection process shown in FIG. 9 is executed, for example, when a biopsy examination is performed by the biopsy unit 26 while radiography is performed in the mammography device 2. Note that, in order to avoid confusion, a case where a distortion correction information database 56B and an inclination angle database 56C have already been constructed will be described here. Also, a case where puncture method information indicating whether the puncture method to be applied in the biopsy examination is vertical puncture or horizontal puncture has already been registered will be described here. Furthermore, a case where imaging method information indicating which imaging method is to be performed, imaging with the imaging table 14, the radiation irradiator 17, and the biopsy unit 26 arranged in a straight line (hereinafter referred to as "serial imaging"), stereo imaging, or tomosynthesis imaging, will be described here.

[0071] In step 100 of FIG. 9, the CPU 52 acquires the above-mentioned puncture method information, and in step 102, the CPU 52 acquires the above-mentioned imaging method information.

[0072] In step 104, CPU 52 generates image information (hereinafter referred to as "projected image information") indicating a projection image to be projected by projector 40. Here, CPU 52 generates projection image information on which information indicating the puncture position, the target, etc., which is useful to display at this point, is displayed.

[0073] In step 106, the CPU 52 determines whether the acquired puncture method information indicates that vertical puncture is to be applied, and if the determination is negative, the process proceeds to step 124, whereas if the determination is positive, the process proceeds to step 108.

[0074] In step 108, CPU 52 identifies the position of the operator of mammography device 2 (hereinafter simply referred to as "operator"). In this embodiment, an imaging device that captures images using visible light is provided near mammography device 2, with the area in which the operator may be present when operating mammography device 2 as the imaging range, and the position of the operator is identified from image information obtained by imaging using the imaging device. However, this is not limited to this form, and for example, a method using a human detection sensor or the like may be used as a method of identifying the operator's position.

[0075] In step 110, the CPU 52 specifies the left-right direction of the target breast. In this embodiment, the left-right direction is specified by having the operator input the direction via the operation panel 29, but it is needless to say that the present invention is not limited to this.

[0076] In step 112, the CPU 52 determines the inclination direction of the arm 13 as described above, using the position of the operator and the left-right direction of the target breast identified by the above processing.

[0077] In step 114, the CPU 52 determines whether or not the acquired imaging method information indicates that stereoscopic imaging or tomosynthesis imaging is to be performed, that is, whether or not oblique imaging is to be performed.

[0078] In step 116, the CPU 52 reads out information indicating the tilt angle corresponding to the imaging method from the tilt angle database 56C. In step 118, the CPU 52 controls the arm control section 31 so that the above-mentioned relative angle with respect to the determined tilt direction becomes the read tilt angle, and then proceeds to step 122.

[0079] On the other hand, if a negative determination is made in the process of step 114, it is assumed that the above-mentioned serial imaging is to be performed, and the process proceeds to step 120. In step 120, the CPU 52 controls the arm control unit 31 so that the above-mentioned relative angle with respect to the determined tilt direction becomes a preset tilt angle (10 degrees in this embodiment), and then the process proceeds to step 122. In this embodiment, the tilt angle applied in step 120 is set by the operator, but it goes without saying that this is not limited to this.

[0080] In step 122, the CPU 52 reads out from the distortion correction information database 56B a coordinate conversion table that corresponds to the tilt direction of the arm 13 at this time and that corresponds to the tilt angle closest to the tilt angle at this time. Then, the CPU 52 performs coordinate conversion on the generated projection image information using the read coordinate conversion table, thereby executing distortion correction on the projection image.

[0081] In step 124, the CPU 52 controls the projector 40 to project an image using the projection image information that has been subjected to the above processing.

[0082] Thereafter, the mammography apparatus 2 performs any one of the scheduled stereo, tomosynthesis, or serial imaging. In step 126, the CPU 52 waits until any one of the scheduled imaging is completed, and then ends this projection process.

[0083] Fig. 10A is a diagram for explaining the projection process according to the present embodiment, and is a front view showing the positional relationship of the main parts when serial shooting is performed, and Fig. 10B is a diagram for explaining the projection process according to the present embodiment, and is a front view showing the positional relationship of the main parts when the relative angle of the arm with the shooting surface is set to an inclination angle.

[0084] As shown in Fig. 10A, when serial imaging is performed, each part such as the biopsy needle 21 of the biopsy unit 26, the biopsy needle unit 22 having a holder for holding the biopsy needle 21, the moving mechanism 24 for moving the biopsy needle unit 22, etc. are placed directly above the breast when performing vertical puncture. Therefore, depending on the position of each of the above parts, the projected image P from the projector 40 may be blocked, in which case there is a problem that the visibility of the projected image is reduced. Note that, although the example shown in Fig. 10A illustrates a case where serial imaging is performed, this problem can also occur when performing oblique imaging.

[0085] Therefore, in this embodiment, regardless of whether oblique imaging or serial imaging is performed, the arm 13 is controlled so that the above relative angle becomes the above-mentioned tilt angle, as shown in Fig. 10B as an example. This control eliminates or at least narrows the area of ​​the projected image P blocked by each of the above-mentioned parts, and as a result, the visibility of the projected image can be improved compared to the conventional technology.

[0086] As described above, according to this embodiment, when a vertical puncture biopsy is performed by the biopsy unit 26, the arm 13 is controlled so that the above-mentioned relative angle becomes a predetermined inclination angle. Therefore, the visibility of the projected image can be improved compared to the conventional technology.

[0087] According to this embodiment, when performing oblique imaging in which the imaging table 14, the radiation irradiator 17, and the biopsy unit 26 are aligned in a straight line, i.e., in series imaging, the predetermined tilt angle is set to an angle corresponding to the oblique imaging. Therefore, after the projection image is projected, the oblique imaging can be performed promptly.

[0088] According to the present embodiment, the oblique imaging is performed by applying stereo imaging and tomosynthesis imaging, so that the stereo imaging or tomosynthesis imaging can be quickly performed after the projection image is projected.

[0089] Furthermore, according to this embodiment, the arm 13 is controlled so that the relative angle becomes the predetermined tilt angle and the arm 13 is tilted away from the position of the operator who captures the radiographic image, thereby improving the operability of the mammography apparatus 2 by the operator.

[0090] Furthermore, according to this embodiment, arm 13 is controlled so that the relative angle becomes the predetermined tilt angle and is tilted to the opposite side to the left-right direction of the breast on which biopsy is to be performed. This makes it possible to secure an area for the operator to operate mammography device 2, thereby improving the operability of mammography device 2 by the operator.

[0091] Furthermore, according to this embodiment, when controlling the tilt direction of arm 13, if the side away from the operator's position and the side opposite the left-right direction of the breast are different sides, arm 13 is controlled to tilt toward the side away from the operator's position. This makes it possible to more reliably improve the operability of mammography device 2 by the operator.

[0092] Furthermore, according to this embodiment, the distortion of the image projected by the projector 40, which occurs when the relative angle is set to the tilt angle, is corrected, thereby making it possible to further improve the visibility of the projected image.

[0093] Furthermore, according to this embodiment, when a vertical puncture biopsy is performed by the biopsy unit 26 and serial imaging is performed, the arm 13 is controlled so that the above-mentioned relative angle becomes a preset inclination angle. Therefore, the visibility of the projected image can be improved compared to the conventional technology.

[0094] In the above embodiment, the driving position of the biopsy unit 26 and the position of the compression plate 18 were not taken into consideration, but at least one of the relative angle and the projection position of the image projected by the projector 40 may be adjusted according to the driving position of the biopsy unit 26. Also, the relative angle may be adjusted according to the position of the compression plate 18. These embodiments will be specifically described below.

[0095] First, referring to Fig. 11A and Fig. 11B, an embodiment example in which the above-mentioned relative angle is adjusted according to the position of the compression plate 18 will be described. Fig. 11A is a diagram for explaining a modified example of the projection process according to this embodiment, and is a front view showing the positional relationship of the main parts when the height of the compression plate 18 is height D1. Fig. 11B is a diagram for explaining a modified example of the projection process according to this embodiment, and is a front view showing the positional relationship of the main parts when the height of the compression plate 18 is height D2, which is lower than height D1.

[0096] 11A and 11B, when the height of the compression paddle 18 is height D2, it is possible to prevent each part of the biopsy unit 26 from blocking the projected image even if the relative angle a is small, compared to when the height of the compression paddle 18 is height D1. On the other hand, the smaller the relative angle a, the less the amount of distortion of the projected image.

[0097] Therefore, in this modification, the arm 13 is controlled so that the relative angle a becomes smaller as the height of the compression plate 18 becomes lower. This control makes it possible to simultaneously improve the visibility of the projected image and reduce distortion.

[0098] Next, referring to Fig. 12A and Fig. 12B, an embodiment example in which the above-mentioned relative angle is adjusted according to the driving position of the biopsy unit 26 will be described. Fig. 12A is a diagram for explaining a modified example of the projection process according to this embodiment, and is a front view showing the positional relationship of the main parts when the biopsy device is located at the center. Fig. 12B is a diagram for explaining a modified example of the projection process according to this embodiment, and is a front view showing the positional relationship of the main parts when the biopsy device is located to the left of the center.

[0099] 12A and 12B, when the drive position of biopsy unit 26 is shifted in the left-right direction, it is possible to prevent each part of biopsy unit 26 from blocking the projected image, even if the relative angle a is small, compared to when it is located in the center. On the other hand, as described above, the smaller the relative angle a, the less the amount of distortion of the projected image.

[0100] Therefore, in this modification, the arm 13 is controlled so that the relative angle a is made smaller as the drive position of the biopsy unit 26 is shifted from the center. This control also makes it possible to simultaneously improve the visibility of the projected image and reduce distortion.

[0101] Further, referring to Fig. 13A and Fig. 13B, an embodiment example in which the projection position of the projection image is adjusted according to the drive position of the biopsy unit 26 will be described. Fig. 13A is a diagram for explaining a modified example of the projection process according to this embodiment, and is a front view showing the positional relationship of the main parts when the biopsy device is located to the left of the center. Fig. 13B is a diagram for explaining a modified example of the projection process according to this embodiment, and is a front view showing the positional relationship of the main parts when the biopsy device is located at the center.

[0102] 13A and 13B, when the drive position of biopsy unit 26 is located at the center, the region blocked by the projected image by biopsy unit 26 becomes wider compared to when the drive position is shifted to the left or right. On the other hand, as described above, the smaller the relative angle a, the smaller the amount of distortion of the projected image becomes.

[0103] Therefore, in this modified example, the relative angle a is fixed at a relatively small inclination angle, and the closer the driving position of the biopsy unit 26 is to the center, the more the projection position of the projection image is shifted to the left or right. This control also makes it possible to improve the visibility of the projection image and reduce distortion at the same time.

[0104] In the above embodiment, the relative angle is set to a preset tilt angle during serial imaging, but the present invention is not limited to this. For example, the relative angle may be set to a preset tilt angle regardless of the imaging method.

[0105] In the above embodiment, the CPU 52 provided in the control device 50 of the mammography device 2 is used as the processor of the technology of the present disclosure, but the present disclosure is not limited to this. For example, the needle position controller 35 of the biopsy unit 26 may be used as the processor of the technology of the present disclosure.

[0106] In the above embodiment, for example, the hardware structure of the processing unit that executes various processes, such as the control unit 52A and the correction unit 52B, may be the various processors shown below. As described above, the various processors include a CPU, which is a general-purpose processor that executes software (programs) and functions as various processing units, as well as a programmable logic device (PLD), which is a processor whose circuit configuration can be changed after manufacture, such as an FPGA (Field Programmable Gate Array), a dedicated electric circuit, which is a processor having a circuit configuration designed specifically for executing specific processes, such as an ASIC (Application Specific Integrated Circuit), etc.

[0107] A single processing unit may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Also, multiple processing units may be configured with a single processor.

[0108] As an example of configuring multiple processing units with one processor, first, there is a form in which one processor is configured with a combination of one or more CPUs and software, and this processor functions as multiple processing units, as represented by computers such as client and server. Second, there is a form in which a processor is used to realize the functions of the entire system including multiple processing units with one IC (Integrated Circuit) chip, as represented by a system on chip (SoC). In this way, the various processing units are configured using one or more of the above various processors as a hardware structure.

[0109] Furthermore, more specifically, the hardware structure of these various processors can be an electric circuit that combines circuit elements such as semiconductor elements.

[0110] In the above embodiment, the projection processing program 56A is pre-stored (installed) in the memory unit 56 of the mammography apparatus 2, but the present invention is not limited to this. The projection processing program 56A may be provided in a form recorded on a recording medium such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), or a USB (Universal Serial Bus) memory. The projection processing program 56A may also be downloaded from an external device via a network.

[0111] From the above description, the invention described in the following appendix can be understood.

[0112] [Appendix 1] 1. A mammography apparatus comprising: a biopsy device; an imaging stand; and an arm having an arm at one end thereof, the arm being provided with a radiation irradiator and a projector for emitting radiation for capturing a radiographic image toward an imaging surface of the imaging stand, the arm being capable of changing a relative angle between the radiation irradiator and the imaging surface, at least one processor; The processor, When a vertical puncture biopsy is performed with the biopsy device, the arm is controlled so that the relative angle becomes a predetermined inclination angle. Mammography machine. [Appendix 2] When performing oblique imaging other than imaging in which the imaging table, the radiation irradiator, and the biopsy device are aligned in a straight line, the predetermined tilt angle is an angle corresponding to the oblique imaging. 2. A mammography apparatus as described in appendix 1. [Appendix 3] The tilt imaging is at least one of stereo imaging and tomosynthesis imaging. 10. A mammography apparatus as described in appendix 2. [Appendix 4] The processor, controlling the arm so that the relative angle becomes the predetermined inclination angle and the arm is inclined away from a position of an operator who captures the radiation image; 4. A mammography device according to any one of claims 1 to 3. [Appendix 5] The processor, controlling the arm so that the relative angle becomes the predetermined inclination angle and the arm is inclined to the opposite side to the left-right direction of the breast to be subjected to the biopsy; 4. A mammography device according to any one of claims 1 to 3. [Appendix 6] The processor, controlling the arm so that the relative angle becomes the predetermined tilt angle and the arm is tilted away from a position of an operator who captures the radiographic image; when controlling the arm so that the relative angle becomes the predetermined inclination angle and is inclined to the opposite side to the left-right direction of the breast to be subjected to the biopsy, When the side away from the operator's position and the side opposite to the left-right direction of the breast are different sides, the arm is controlled so as to incline toward the side away from the operator's position. 4. A mammography device according to any one of claims 1 to 3. [Appendix 7] The processor, adjusting the relative angle in accordance with a driving position of the biopsy device; 7. A mammography device according to any one of claims 1 to 6. [Appendix 8] The processor, adjusting a projection position of an image projected by the projector in accordance with a driving position of the biopsy device; 8. A mammography device according to any one of claims 1 to 7. [Appendix 9] The processor, adjusting the relative angle according to the position of a compression plate provided on the imaging surface side of the imaging table; 9. A mammography apparatus according to any one of claims 1 to 8. [Appendix 10] The processor, correcting distortion of an image projected by the projector that occurs when the relative angle is set to the tilt angle; 10. A mammography device according to any one of claims 1 to 9. [Appendix 11] The processor, when a vertical puncture biopsy is performed with the biopsy device, the arm is controlled so that the relative angle becomes a preset inclination angle regardless of the imaging conditions. 2. A mammography apparatus as described in appendix 1. [Appendix 12] 1. A control device for controlling a mammography device, the control device comprising: a biopsy device; an imaging stand; and an arm having an arm at one end thereof, the arm being provided with a radiation irradiator and a projector for emitting radiation for capturing a radiographic image toward an imaging surface of the imaging stand, the arm being capable of changing a relative angle between the radiation irradiator and the imaging surface, the control device comprising: at least one processor; The processor, when the biopsy device interferes with the projection area of ​​the projector, the arm is controlled so that the relative angle becomes a predetermined angle such that a light-blocking area of ​​the image projected by the projector that is blocked by the biopsy device becomes equal to or smaller than a predetermined area. Control device. [Appendix 13] 1. A program executed in a mammography apparatus including a biopsy device, an imaging stand, and an arm having an arm at one end thereof equipped with a radiation irradiator and a projector for emitting radiation for capturing a radiographic image toward an imaging surface of the imaging stand, the arm being capable of changing a relative angle between the radiation irradiator and the imaging surface, the program comprising: When a vertical puncture biopsy is performed with the biopsy device, the arm is controlled so that the relative angle becomes a predetermined inclination angle. A program that causes a computer to carry out processing. [Appendix 14] A program executed in a control device for controlling a mammography device including a biopsy device, an imaging stand, and an arm having an arm at one end of which a radiation irradiator and a projector are provided for emitting radiation for capturing a radiographic image toward an imaging surface of the imaging stand, the arm being capable of changing a relative angle between the radiation irradiator and the imaging surface, the program comprising: when the biopsy device interferes with the projection area of ​​the projector, the arm is controlled so that the relative angle becomes a predetermined angle such that a light-blocking area of ​​the image projected by the projector that is blocked by the biopsy device becomes equal to or smaller than a predetermined area. A program that causes a computer to carry out processing. [Explanation of symbols]

[0113] 2 Mammography equipment 11 Foundation 12 C-axis 13 Arm 14. Shooting stand 15 Radiation detector 16 Radiation storage section 17 Radiation Irradiator 18 Compression plate 19 Moving mechanism 20 Support part 21 Biopsy Needle 22 Biopsy Needle Unit 24 Moving mechanism 25 Opening 26 Biopsy unit (biopsy device) 28 Control section 29 Operation Panel 30 Radiation source 31 Arm control section 34 Compression plate controller 35 Needle Position Controller 40 Projector 40A projection section 40B Power supply section 50 Control device 52 CPU 52A Control section 52B Correction section 54 Memory 56 Memory section 56A Projection Processing Program 56B Distortion correction information database 56C Tilt Angle Database a Relative angle M Breast P projection image P1, P2 irradiation position T Target Img1, Img2 Scout images z distance

Claims

1. 1. A mammography apparatus comprising: a biopsy device; an imaging stand; and an arm having an arm at one end thereof, the arm being provided with a radiation irradiator and a projector for emitting radiation for capturing a radiographic image toward an imaging surface of the imaging stand, the arm being capable of changing a relative angle between the radiation irradiator and the imaging surface, At least one processor; The processor, When a vertical puncture biopsy is performed with the biopsy device, the arm is controlled so that the relative angle becomes a predetermined inclination angle. Mammography machine.

2. When performing oblique imaging other than imaging in which the imaging table, the radiation irradiator, and the biopsy device are aligned in a straight line, the predetermined tilt angle is an angle corresponding to the oblique imaging.

2. The mammography apparatus according to claim 1.

3. The tilt imaging is at least one of stereo imaging and tomosynthesis imaging.

3. The mammography apparatus according to claim 2.

4. The processor, controlling the arm so that the relative angle becomes the predetermined inclination angle and the arm is inclined away from a position of an operator who captures the radiation image; A mammography apparatus according to any one of claims 1 to 3.

5. The processor, controlling the arm so that the relative angle becomes the predetermined inclination angle and the arm is inclined to the opposite side to the left-right direction of the breast to be subjected to the biopsy; A mammography apparatus according to any one of claims 1 to 3.

6. The processor, controlling the arm so that the relative angle becomes the predetermined tilt angle and the arm is tilted away from a position of an operator who captures the radiographic image; when controlling the arm so that the relative angle becomes the predetermined inclination angle and is inclined to the opposite side to the left-right direction of the breast to be subjected to the biopsy, When the side away from the operator's position and the side opposite to the left-right direction of the breast are different sides, the arm is controlled so as to incline toward the side away from the operator's position. A mammography apparatus according to any one of claims 1 to 3.

7. The processor, adjusting the relative angle in accordance with a driving position of the biopsy device; 2. The mammography apparatus according to claim 1.

8. The processor, adjusting a projection position of an image projected by the projector in accordance with a driving position of the biopsy device; 2. The mammography apparatus according to claim 1.

9. The processor, adjusting the relative angle according to the position of a compression plate provided on the imaging surface side of the imaging table; 2. The mammography apparatus according to claim 1.

10. The processor, correcting distortion of an image projected by the projector that occurs when the relative angle is set to the tilt angle; 2. The mammography apparatus according to claim 1.

11. The processor, When a vertical puncture biopsy is performed with the biopsy device, the arm is controlled so that the relative angle becomes a preset inclination angle regardless of the imaging conditions.

2. The mammography apparatus according to claim 1.

12. 1. A control device for controlling a mammography device, the control device comprising: a biopsy device; an imaging stand; and an arm having an arm at one end thereof, the arm being provided with a radiation irradiator and a projector for emitting radiation for capturing a radiographic image toward an imaging surface of the imaging stand, the arm being capable of changing a relative angle between the radiation irradiator and the imaging surface, the control device comprising: At least one processor; The processor, when the biopsy device interferes with the projection area of ​​the projector, the arm is controlled so that the relative angle becomes a predetermined angle such that a light-blocking area of ​​the image projected by the projector that is blocked by the biopsy device becomes equal to or smaller than a predetermined area. Control device.

13. 1. A program executed in a mammography apparatus including a biopsy device, an imaging stand, and an arm having an arm at one end thereof equipped with a radiation irradiator and a projector for emitting radiation for capturing a radiographic image toward an imaging surface of the imaging stand, the arm being capable of changing a relative angle between the radiation irradiator and the imaging surface, the program comprising: When a vertical puncture biopsy is performed with the biopsy device, the arm is controlled so that the relative angle becomes a predetermined inclination angle. A program that causes a computer to carry out processing.

14. A program executed in a control device for controlling a mammography device including a biopsy device, an imaging stand, and an arm having an arm at one end of which a radiation irradiator and a projector are provided for emitting radiation for capturing a radiographic image toward an imaging surface of the imaging stand, the arm being capable of changing a relative angle between the radiation irradiator and the imaging surface, the program comprising: when the biopsy device interferes with the projection area of ​​the projector, the arm is controlled so that the relative angle becomes a predetermined angle such that a light-blocking area of ​​the image projected by the projector that is blocked by the biopsy device becomes equal to or smaller than a predetermined area. A program that causes a computer to carry out processing.

Images