Radiographic system, and control method and program thereof

Abstract

To facilitate positioning between a radiation generation apparatus and a radiographic apparatus.SOLUTION: A radiographic system 100 including a radiation generation apparatus 102 for generating a radioactive ray and a radiographic apparatus 103 for detecting the radioactive ray radiated from the radiation generation apparatus 102 and generating an image includes: acquisition means for acquiring a value indicating relationships between the radiation generation apparatus 102 and the radiographic apparatus 103 on the basis of information that changes according to the movement of the radiation generation apparatus 102 and information that changes according to the movement of the radiographic apparatus 103; and control means 201 for executing control to carry out first photographing support by sound using sound notification means 211 and 212 when the value falls within a first range, and to finish the first photographing support when the value falls within a second range.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a radiation imaging system including a radiation generating device and a radiation imaging device, a radiation imaging device, and a control method and program thereof. [Background technology]

[0002] At present, flat panel detectors (FPDs) made of semiconductor materials are widely used as radiography devices for medical image diagnosis and non-destructive testing using radiation such as X-rays. Radiography systems are used that combine such radiography devices (FPDs) with radiation generators that generate radiation. 2. Description of the Related Art In radiation imaging systems, a function for supporting alignment between a radiation generating device and a radiation imaging device during imaging has been put to practical use. Patent Document 1 discloses a radiographic imaging system including a first tilt angle detection unit that detects the tilt angle of a radiographic imaging device, a second tilt angle detection unit that detects the tilt angle of a radiation source of a radiation generating device, and a support control unit that performs imaging support processing based on the detection by the first tilt angle detection unit and the detection by the second tilt angle detection unit. The first tilt angle detection unit and the second tilt angle detection unit each have an acceleration sensor and a gyro sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-007923 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the display unit is configured to support the alignment of the radiation generating device and the radiation imaging device, the following inconveniences arise: For example, when a display unit is provided on a mobile cart on which a radiation generating device is mounted, when a user is moving the radiation imaging device to align it, the user needs to stop the alignment and check the display unit. A configuration may be considered in which voice is used to support the alignment between the radiation generating device and the radiation imaging device so that the alignment does not have to be interrupted. However, if the timing of starting and ending the voice support is not appropriate, more voice than necessary may be generated, which may be annoying to the user.

[0005] The present invention has been made in consideration of the above-mentioned points, and an object of the present invention is to facilitate alignment between a radiation generating device and a radiation imaging device. [Means for solving the problem]

[0006] The radiography system of the present invention is a radiography system comprising a radiation generating device that generates radiation, and a radiography device that detects radiation emitted from the radiation generating device and generates an image, and is characterized in comprising an acquisition means for acquiring a value representing a relationship between the radiation generating device and the radiography device based on information that changes in accordance with the movement of the radiation generating device and information that changes in accordance with the movement of the radiography device, and a control means for performing first radiography support by voice using an audio notification means when the value falls within a first range, and for controlling to terminate the first radiography support when the value falls within a second range. Effect of the Invention

[0007] According to the present invention, it becomes easier to align the radiation generating device and the radiation imaging device. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing a schematic configuration of a radiation imaging system according to a first embodiment. [Diagram 2] 1 is a block diagram showing the configuration of a radiation imaging system according to a first embodiment. [Diagram 3] FIG. 2 is a diagram showing the relationship between coordinates on the FPD side and coordinates on the radiation detector side. [Figure 4] 5 is a flowchart showing a processing operation of the radiation imaging system according to the first embodiment. [Diagram 5] 10 is a diagram for explaining values ​​representing a relationship between a radiation generating device and an FPD. [Figure 6] 3 is a diagram showing a display example of a display device of the radiation imaging system according to the first embodiment. FIG. [Figure 7] 10 is a flowchart showing a processing operation of a radiation imaging system according to the second embodiment. [Figure 8] 13 is a diagram showing a display example of a display device of a radiation imaging system according to the second embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. (First embodiment) 1 is a diagram showing a schematic configuration of a radiation imaging system 100 according to a first embodiment, where (a) shows the overall configuration and (b) shows the configuration of a radiation generating device 102. Also, FIG. 2 is a block diagram showing the configuration of the radiation imaging system 100. The radiation imaging system 100 includes a radiation generating device 102 that generates radiation, and an FPD 103 that is a radiation imaging device that generates an image by detecting radiation emitted from the radiation generating device 102. Note that the term "radiation" typically refers to X-rays, but may also include α-rays, β-rays, γ-rays, particle rays, and cosmic rays.

[0010] 1, a radiation generating device 102 is mounted on a medical cart 101. The medical cart 101 is a movable cart having a mechanism for moving such as wheels. When imaging, the FPD 103 is placed behind a subject 105 lying on a bed 104. The FPD 103 is provided with a radiation detection unit 200. The radiation detection unit 200 includes a scintillator that converts irradiated radiation into light, and a pixel array in which photoelectric conversion elements that convert the light from the scintillator into electric charges are arranged in a two-dimensional array. The electric charges based on radiation generated by the radiation detection unit 200 are sequentially flowed to a readout circuit (not shown) by scanning the pixel array with a drive circuit (not shown), and an image based on the radiation is generated. Thus, in the radiation imaging system 100, the FPD 103 generates an image based on the radiation of the subject 105 (hereinafter referred to as a radiation image) based on the radiation emitted from the radiation generating device 102, transmitted through the subject 105, and irradiated onto the radiation detection unit 200.

[0011] 2, the medical cart 101 includes a first control device 201, a first storage determination device 112, a display device 111, and a first information transmission / reception device 202. The radiation generation device 102 includes a first attitude measurement unit 113 and a speaker 212 that is a voice notification means. The FPD 103 also includes a radiation detection unit 200, a second control device 203, a second storage determination device 114, a second information transmission / reception device 204, a second attitude measurement unit 118, and a speaker 211 which is a voice notification means.

[0012] The radiation imaging system 100 will be described in further detail below. 1, the medical cart 101 includes a base 109 having wheels, a housing 108 mounted on the base 109, and an FPD storage unit 110 provided in the housing 108. The medical cart 101 also includes a first arm 106 and a second arm 107 for supporting a radiation generating device 102 and changing its position. The first arm 106 is connected to the radiation generating device 102 and the second arm 107. The second arm 107 is connected to the first arm 106 and the base 109.

[0013] A display device 111 is provided in the housing 108. The display device 111 includes a touch panel that constitutes an input device, and receives input from a user. Note that, as the input device, for example, a keyboard, a mouse, a voice recognition device, etc. may be provided separately from the touch panel or in place of the touch panel. A radiation switch 120 is also connected to the housing 108. The radiation switch 120 includes a preparation request switch 1201 for a preparation request operation to request the start of preparation for radiation irradiation, and an operation request switch 1202 for an irradiation request operation to request radiation irradiation. The preparation request switch 1201 and the irradiation request switch 1202 are configured, for example, as a two-stage switch.

[0014] The housing 108 also has a built-in battery 150 that supplies power to drive the medical cart 101. The medical cart 101 can operate for a certain period of time without requiring power supply via a wired cable. The battery 150 may be provided with an electrical connector on the housing 108 so that it can be connected to an external power source to supply power, or the battery 150 may be detached from the housing 108 so that it can be supplied with power. The battery 150 also functions as a power supply unit that supplies power to the battery 160 of the FPD 103 via electrical connectors of the first storage determination device 112, the second storage determination device 114, etc. Furthermore, the housing 108 includes a high-voltage generator (not shown), a first control device 201 (see FIG. 2), and a first information transmitting / receiving device 202 (see FIG. 2).

[0015] The FPD storage unit 110 is a pocket provided in the medical cart 101 so that the FPD 103 can be stored in the medical cart 101. When the medical cart 101 is transported together with the FPD 103, the FPD 103 is stored in the FPD storage unit 110. When performing imaging, a user removes the FPD 103 stored in the FPD storage unit 110 and places it behind the subject 105. The FPD storage unit 110 includes a first storage determination device 112 for determining whether or not the FPD 103 is stored. For example, the first storage determination device 112 and a second storage determination device 114 of the FPD 103 are configured as a pair of electrically connectable connectors, and when the connectors are connected to each other, it can be determined that the FPD 103 is stored in the FPD storage unit 110.

[0016] The FPD 103 has a built-in battery 160 that supplies power for driving the FPD 103. The FPD 103 can be driven for a certain period of time without requiring power supply via a wired cable. The battery 160 can be connected to an external power source and powered by providing an electrical connector on the FPD 103. The battery 160 may also be electrically connected to the battery 150 of the medical cart 101 so that power can be supplied to the battery 160. The battery 160 may also be made removable from the FPD 103 so that power can be supplied to the battery 160 from an external power source or the like.

[0017] The FPD 103 also includes a second storage determination device 114, a second attitude measurement unit 118, a second control device 203 (see FIG. 2), a second information transmission / reception device 204 (see FIG. 2), and a speaker 211 (see FIG. 2). The second attitude measurement unit 118 is a second measurement means for measuring information that changes according to the movement of the FPD 103, and an acceleration sensor is used, for example. The second attitude measurement unit 118 may be an angular velocity sensor (gyro sensor) or a geomagnetic sensor, or may be a combination of an acceleration sensor and an angular velocity sensor, or a combination of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor. The second control device 203 performs image processing, etc., on the image generated by the radiation detection unit 200 as necessary.

[0018] 1(b), the radiation generating device 102 includes a tube 115 and an aperture 116. The aperture 116 is equipped with a mechanism that operates according to commands from a computer mounted in a housing 108, such as a stepping motor, in order to change the size of the radiation irradiation field and the rotation angle of the FPD 103. Moreover, the radiation generating device 102 includes a first attitude measuring unit 113 and a speaker 212. The first attitude measuring unit 113 is a first measuring means that measures information that changes according to the movement of the radiation generating device 102, and an acceleration sensor is used, for example. The first attitude measuring unit 113 may be an angular velocity sensor (gyro sensor) or a geomagnetic sensor, or may be a combination of an acceleration sensor and an angular velocity sensor, or a combination of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor.

[0019] As described above, the first storage determination device 112 and the second storage determination device 114 are configured with a pair of electrical connectors. This pair of connectors may also function to charge the FPD 103 from the battery 150, which is a power supply unit mounted on the medical cart 101. For example, when the connectors of the medical cart 101 and the FPD 103 are connected and the FPD 103 is being charged, it can be determined that the FPD 103 is stored in the FPD storage unit 110 of the medical cart 101. In this embodiment, when the FPD 103 is stored, the medical cart 101 and the FPD 103 are electrically connected through the first storage determination device 112 and the second storage determination device 114, but this is not limited to the above. The purpose of the first storage determination device 112 and the second storage determination device 114 is to obtain information indicating that the FPD 103 is in a specific location, so the two do not necessarily need to be electrically connected to determine whether the FPD 103 is stored. For example, a proximity determination device such as Bluetooth (registered trademark) or NFC (Near Field Communication) may be used to realize a function of confirming that the FPD 103 is in a specific location. Also, for example, a weight scale that measures the weight of the FPD 103 may be attached to the FPD storage unit 110 of the medical cart 101. In this case, it is possible to determine whether the FPD 103 is stored or not based on the value of the weight scale. If the imaging surface of the FPD 103 is rectangular and it is necessary to check the orientation of the storage, the orientation is determined using, for example, a gravity sensor mounted on the FPD 103. Also, a camera may be mounted on the medical cart 101, and the presence or absence of the FPD 103 may be determined based on the captured image. Also, a sensor may be provided on the FPD 103 to determine whether the FPD 103 is stored. For example, sensors that detect light and dark are placed at the four corners of the FPD 103, and when two specific corners are bright and two specific corners are dark, it can be determined that the FPD 103 is stored in the FPD storage unit 110. With this implementation, the orientation of the FPD 103 can also be confirmed. Furthermore, if the presence or absence of the FPD 103 is determined only on the FPD 103 side, the implementation of the medical cart 101 can be facilitated.

[0020] 2, in the medical cart 101, the first control device 201 has a control unit 205 and a reference calculation unit 208. The first control device 201 can be a general-purpose computer configured with hardware such as a CPU, a main storage device such as a DRAM, and an auxiliary storage device such as an SSD or HDD. The first control device 201 is connected to the radiation generation device 102 and performs control related to radiation control, such as whether or not exposure is possible.

[0021] Moreover, the first control device 201 is connected to the first attitude measurement unit 113 in order to calculate the reference attitude of the radiation generation device 102. The reference calculation unit 208 calculates the reference attitude of the radiation generation device 102 based on the measurement value of the first attitude measurement unit 113. Moreover, the first control device 201 is connected to the second attitude measurement unit 118 via the first information transmission / reception device 202 and the second information transmission / reception device 204 in order to calculate the reference attitude of the FPD 103. The reference calculation unit 208 calculates the reference attitude of the FPD 103 based on the measurement value of the second attitude measurement unit 118. The control unit 205 sets the reference attitudes of the radiation generation device 102 and the FPD 103. The reference attitude is a reference attitude at a certain time for calculating the attitude of the device based on the measurement value of the acceleration sensor. To calculate attitude using an acceleration sensor, the acceleration measured by the acceleration sensor is integrated once to calculate the velocity at a certain time, and then the velocity is integrated again to convert it to displacement (position), and added to the reference attitude.

[0022] The first control device 201 is connected to the first information transmitting / receiving device 202. For example, the first information transmitting / receiving device 202 may be a wireless LAN (Local Area Network) device, a Bluetooth device, or a UWB (Ultra Wide Band) device. The first control device 201 transmits and receives information to and from the FPD 103 by connecting to the second information transmitting / receiving device 204 of the FPD 103 using the first information transmitting / receiving device 202. In this embodiment, since the control unit 205 is mounted on the mobile cart 101 side, information on the reference posture of the FPD 103 is transmitted to the FPD 103 via the first information transmitting / receiving device 202 and the second information transmitting / receiving device 204. In addition, the first information transmitting / receiving device 202 and the second information transmitting / receiving device 204 also have a role of transferring information determined by the posture determination unit 209 of the FPD 103 to the first control device 201. Furthermore, the first information transmitting / receiving device 202 and the second information transmitting / receiving device 204 can also be used for exchanging information regarding radiation control, such as whether or not exposure is possible, and for transmitting radiation images generated by the FPD 103 to the medical cart 101. In this embodiment, the first information transmitting / receiving device 202 and the second information transmitting / receiving device 204 are connected wirelessly, but may be connected by wire.

[0023] The display device 111 is connected to the first control device 201. A user can input an imaging protocol from the display device 111 equipped with a touch panel. The input of the imaging protocol is detected by the first control device 201.

[0024] In the FPD 103, the second control device 203 has a control unit 210 and a posture determination unit 209. As with the first control device 201, the second control device 203 may be a computer equipped with a CPU, a main storage device, an auxiliary storage device, and the like. Since the FPD 103 is required to be small, lightweight, and energy-saving, it is preferable that the second control device 203 be simpler than the first control device 201 on the medical cart 101 side. In order to meet these requirements, the second control device 203 equipped in the FPD 103 may be an FPGA (Field Programmable Gate Array) or a dedicated IC circuit.

[0025] The attitude determination unit 209 calculates the attitude of the FPD 103 based on the reference attitude set by the control unit 205 and the measurement value of the second attitude measurement unit 118 . Let time be t, and the rotation angle and angular velocity around the x-axis be θ(t) and ω. θ (t), the rotation angle and angular velocity around the y-axis are φ(t) and ω φ (t), the rotation angle and angular velocity around the z-axis are η(t) and ω η (t), the measurement time interval of the angular velocity is Δt, and the number of measurements is n (the relationship is t=nΔt). In this case, the rotation angles θ(t), φ(t), and η(t) at time t are calculated using equations (1) to (3).

[0026]

number

[0027] By mounting a gyro sensor as the second attitude measurement unit 118, it is possible to obtain the value of the angular velocity in the coordinate system of the gyro sensor. When calculating an angle from the angular velocity measured using the gyro sensor, the angular velocity in the coordinate system of the gyro sensor is converted into an angular velocity in a desired coordinate system. A known method can be used for this conversion.

[0028] For position, the acceleration is integrated once to calculate the velocity, and then the velocity is integrated again to convert it to displacement (position). The x-axis components of the position, velocity, and acceleration at time t are x(t), v x (t), a x (t), the y-axis component is y(t), and v y (t), a y (t), the z-axis component is z(t), v z (t), a z As in the case of angular velocity, if the measurement time interval is Δt and the number of measurements is n (t=nΔt), the velocity v at time t is x (t), v y (t), v z (t) is calculated using equations (4) to (6).

[0029]

number

[0030] Therefore, the positions x(t), y(t), and z(t) at time t are calculated using equations (7) to (9).

[0031]

number

[0032] In addition, in order to improve the accuracy of the sum in the formulas (1) to (9), known numerical integration methods such as the trapezoidal rule and Simpson's rule may be applied. x (t), a y (t), a z Since (t) includes a gravity component, the direction of gravity acting on the FPD 103 may be calculated using the rotation angles θ(t), φ(t), and η(t) measured using a gyro sensor, and the x, y, and z components of the gravitational acceleration may be subtracted from the acceleration.

[0033] Figure 3 shows the coordinate X on the FPD103 side. D , Y D , Z Dand the coordinate X S , Y S , Z S FIG. 1A is a perspective view showing the relationship between the above and gravity, FIG. 1B is a view seen from a direction parallel to gravity, and FIG. 1C is a view seen from a direction perpendicular to gravity. The coordinates on the FPD 103 side and the coordinates on the radiation generation device 102 side are each defined as relative coordinates from a certain reference point O. In this embodiment, the reference point O is defined as a certain point at a location where the first storage determination device 112 and the second storage determination device 114 are connected. For example, a point such as a corner or a center of gravity at a location where the first storage determination device 112 and the second storage determination device 114 are connected is defined as the reference point O. The coordinates on the FPD103 side are the center (e.g. center of gravity) P D With gravity as the base, the Z axis is parallel to and opposite to gravity, and the XY plane is taken as the horizontal plane (a plane perpendicular to the direction in which gravity acts). The y direction is taken parallel to the base 109, and the x direction is defined to be perpendicular to the y direction (and exists within the XY plane). Similarly, the coordinates on the radiation generator 102 side are based on the center P4 of the surface from which radiation is emitted, with the Z axis parallel to and opposite to gravity, and the XY plane taken on a horizontal plane (a plane perpendicular to the direction in which gravity acts). The y direction is taken parallel to the pedestal 109, and the x direction is defined to exist perpendicular to the y direction. When calculating SID (Source Image Receptor Distance, here referring to the distance from the focal point to the entrance surface of the FPD), the focal position P3 of the tube 115 is used instead of P4.

[0034] The coordinates on the FPD103 side are vector OP D and the attitude of FPD103 is X D , Y D , Z D When the FPD 103 is stored in the FPD storage unit 110 of the medical cart 101, the orientation of the FPD 103 is determined only by the geometric arrangement of the FPD 103 and the FPD storage unit 110 when stored. In other words, when the FPD 103 is stored in the FPD storage unit 110 and the first storage determination device 112 and the second storage determination device 114 are connected, a vector OP Dand X D , Y D , Z D The rotation angle around the azimuth axis is a value that depends only on the exterior shape. Therefore, the reference position of FPD103 is the vector OP D and X D , Y D , Z D The angle of rotation around the center of the

[0035] Similarly, the coordinates on the radiation generating device 102 side are represented by vector OP4. Vector OP4 is represented by the sum of four vectors, namely, vector OP1, vector P1P2, vector P2P3, and vector P3P4. Vector OP1 is a vector from reference point O to one end of second arm 107. Vector P1P2 is a vector from one end of second arm 107 to the other end of second arm 107 (contacting first arm 106). Vector P2P3 is a vector from one end of first arm 106 to the focal point of tube 115. Vector P3P4 is a vector from the focal point of the tube to the center P4 of the surface of the aperture from which radiation is emitted. Therefore, equation (10) is established, and the coordinates of the focal point are represented by equation (11).

[0036]

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[0037] Of these, vector OP1 is determined by the dimensions of base 109. Vector P1P2 is determined by the length (degree of extension / retraction of the arm) and rotation of second arm 107. Vector P2P3 is determined by the length (degree of extension / retraction of the arm) and rotation of first arm 106. Vector P3P4 is fixed (depends on the focal position of tube 115 and the dimensions of aperture 116). In other words, the amounts of vector OP4 that change during actual use by a user are the length (degree of extension / retraction of the arm), orientation, and rotation of first arm 106, and the length, orientation, and rotation of second arm 107. From this information, the initial state of radiation generating device 102 can be calculated. Incidentally, when the medical cart 101 is transported, the first arm 106 and the second arm 107 are transported in a state where they are retracted as much as possible to facilitate transportation. In other words, it can be considered that each arm of the medical cart 101 is in a specific state when it is transported. Therefore, this state can be set as the reference state of the arms. Whether each arm is in the reference state can be measured using a known configuration. The orientation and rotation can be measured, for example, using a potentiometer at each contact. The extension and retraction state of each arm can also be obtained using a range finder or the like. Each arm may also be equipped with a mechanical or electrical switch that responds only when each axis of each arm is in the reference state.

[0038] In this embodiment, X of the radiation generating device 102 S , Y S , Z S The rotation around the vector P2P3 is calculated from the posture of the first arm 106 and the posture of the second arm 107. As described above, the first arm 106 can control the direction and magnitude of the vector P2P3 as well as the rotation around the vector P2P3, and the second arm 107 can control the direction and magnitude of the vector P1P2 as well as the rotation around the vector P1P2. By changing the direction, magnitude, and rotation of these arms, S , Y S , Z S It is possible to control the rotation around the

[0039] FIG. 4 is a flowchart showing the processing operation of the radiation imaging system 100 according to the first embodiment. In step S401, the user stores the FPD 103 in the FPD storage unit 110 of the medical cart 101, and moves the medical cart 101 to a predetermined location for performing imaging. The predetermined location is, for example, near the bed 104 on which the subject 105 is lying. When the medical cart 101 and the FPD 103 are powered on, the first attitude measurement unit 113 and the second attitude measurement unit 118 start measurement. The attitude determination unit 209 acquires the measurement values ​​of the first attitude measurement unit 113 and the second attitude measurement unit 118, and calculates the attitudes of the radiation generation device 102 and the FPD 103 based on the measurement values.

[0040] In step S402, the control unit 205 determines whether or not an imaging protocol has been input by the user. The imaging protocol is input through the display device 111 equipped with a touch panel. The imaging protocol may be input before starting the rounds, that is, before step S401. The process waits until the imaging protocol is input, and if the input of the imaging protocol is detected, the process proceeds to step S403.

[0041] In step S403, the control unit 205 determines whether or not the FPD 103 is stored in the FPD storage unit 110 via the first storage determination device 112 and the second storage determination device 114. If the FPD 103 is stored, the process proceeds to step S405. If the FPD 103 is not stored, the reference attitude cannot be calculated correctly, so a warning is displayed in step S404 and the process returns to step S403.

[0042] In step S405 , the control unit 205 sets the reference attitude of the radiation generation device 102 and the FPD 103 , which is calculated based on the measurement values ​​of the first attitude measurement unit 113 and the second attitude measurement unit 118 .

[0043] In step S406, the control unit 205 displays on the display device 111 a message to the user indicating that the radiation generation device 102 and the FPD 103 can be moved for positioning, i.e., imaging, and the control unit 205 also notifies the user by voice, using the speaker 212 or the speaker 211, that the radiation generation device 102 and the FPD 103 can be moved. In response to this display and voice notification, the user starts moving the radiation generation device 102 and the FPD 103.

[0044] In step S407, the attitude determination unit 209 acquires the measurement values ​​of the first attitude measurement unit 113 and the second attitude measurement unit 118, and calculates the attitudes of the radiation generation device 102 and the FPD 103 based on the measurement values. Specifically, from the reference attitude set in step S405, the angles of the three components X, Y, and Z and the positions of the three components X, Y, and Z are calculated using equations (1) to (9). When calculating SID, the value is calculated by dividing the vector OP D The focus as seen from the origin is vector OP3, and the vector from the focus to the center of FPD103 is vector P3P D , SID is vector P3P D Since the length of the sigma-based filter is 1, it can be calculated using formula (12). In formula (12), ( ) x represents the magnitude of the x-component of a vector. Similarly, the y-component and z-component are the same.

[0045]

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[0046] In step S408, the attitude determination unit 209 calculates a value indicating the relative relationship in attitude between the radiation generation device 102 and the FPD 103, and determines whether or not the value falls within a first range. With reference to Fig. 5, values ​​representing the relative relationship in posture between the radiation generating device 102 and the FPD 103 will be described. Fig. 5 is a diagram for explaining values ​​representing the relative relationship in posture between the radiation generating device 102 and the FPD 103. Fig. 5(a) is a diagram for explaining values ​​representing the positional relationship between the radiation generating device 102 and the FPD 103, and Fig. 5(b) is a diagram for explaining values ​​representing the angular relationship between the radiation generating device 102 and the FPD 103.

[0047] A method for confirming whether the center of the FPD 103 coincides with the center of the radiation field will be described with reference to FIG. D If the center of the radiation field is expressed as vector OP3+T×vector e (where T is a positive constant. Also, the end point of vector e is Q), then the difference d between the center of the FPD103 and the center of the radiation field ismin can be calculated using equation (13).

[0048]

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[0049] And the central difference d min and a threshold T p By using these to make a determination as in equation (14), it is possible to confirm whether the center of the FPD 103 coincides with the center of the radiation irradiation field.

[0050]

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[0051] Coordinate P D If we express the vector P3Q as an equation in three-dimensional coordinates, then the point P D and the half line P3Q are calculated by substituting them into a commonly known formula, and then the distance and the threshold T p By comparing the above, it is possible to determine whether the position is correct or not. Vector e represents the traveling direction of radiation emitted from the tube. Vector e can be determined from dimensional information of the medical cart 101 and the current attitude of the radiation generator 102 (the current attitude is measured by the first attitude measurement unit 113). For example, the difference between the position of the radiation generator 102 at position P3 and the position of the aperture 116 at position P4 can be set as vector e.

[0052] 5(b), a method for checking the parallelism between the radiation irradiation field surface and the incident surface of the FPD 103 will be described. If a normal vector n1 perpendicular to the surface from which radiation is emitted of the radiation generating device 102 and a normal vector n2 perpendicular to the incident surface of the FPD 103 are in the same but opposite directions, the radiation irradiation field surface and the incident surface of the FPD 103 are parallel. It is sufficient to check that the angle between the two normal vectors is approximately 180 degrees, so cos θ expressed by equation (15) is calculated (· represents the dot product of the two vectors).

[0053]

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[0054] Then, the threshold T represents the tolerance of cosθ and the angle a By using these to make a determination as in equation (16), it is possible to confirm the parallelism between the radiation irradiation field surface and the incidence surface of the FPD 103.

[0055]

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[0056] At this time, the three angles (X S , Y S , Z S Angle around and X D , Y D , Z D This makes it possible to check whether the irradiation field surface of the radiation irradiated from the radiation generating device 102 is parallel to the incidence surface of the FPD 103. To calculate the normal vectors of both, for example, the normal vectors of the two surfaces in the reference posture before rotation are calculated, and then the normal vectors are rotated based on angles calculated from the values ​​of various sensors. The normal vector of the radiation generating device 102 can be set to n1, and the vector e used in the case of Fig. 5(a) can also be used. When calculating the normal vector after rotation, a known format of a rotation matrix can be used.

[0057] A simple determination can be made by using at least one of the six components, namely, the three components around the three axes of position and the three components around the three axes of angle. When making a determination based only on the angles of rotation around two axes, excluding the rotation around the axis parallel to gravity, it is also possible to make the determination using only the angles calculated from the values ​​measured using an acceleration sensor, for example. When making a determination around three axes, the rotation around the axis parallel to gravity may be calculated from the values ​​measured using a direction sensor (magnetic sensor) and the three axes may be determined. Furthermore, the distance may be determined using values ​​measured using a Bluetooth device.

[0058] As described above, the center difference d min and cos θ are obtained, and if both are within the allowable range (equations (14) and (16)), it can be determined that the two are facing each other directly.

[0059] Returning to the explanation of FIG. 4, in step S408, the posture determination unit 209 calculates the center difference d min , cosθ is determined to be within a first range. The first range is set by using a threshold T p1 , and a threshold T a1 is determined in advance. p1 , T a1 is a threshold value for setting a range for fine adjustment to make the radiation generation device 102 and the FPD 103 face each other, and the first range is set as the range for fine adjustment. min If cos θ is not within the first range, the process returns to step S407, and if it is within the first range, the process proceeds to step S409.

[0060]

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[0061] In step S409, the control unit 205 determines whether or not one of the radiation generating device 102 and the FPD 103 is moving, based on the measurement values ​​of the first attitude measurement unit 113 and the second attitude measurement unit 118. That is, it determines whether the user is moving the radiation generating device 102 or the FPD 103.

[0062] In step S410, the attitude determination unit 209 acquires the measurement values ​​of the first attitude measurement unit 113 and the second attitude measurement unit 118, and calculates the attitudes of the radiation generation device 102 and the FPD 103 based on the measurement values.

[0063] In step S411, the control unit 205 starts the first imaging support by voice. The speaker 212 of the radiation generating device 102 determined to have moved in step S409 or the speaker 211 of the FPD 103 guides the user to change the position and angle. If it is determined in step S409 that the radiation generating device 102 has moved, the user has moved the radiation generating device 102, so the speaker 212 guides the user. The speaker 212 generates a voice, for example, "Please move the radiation generating device 10 cm toward the FPD and rotate it by +5 degrees on the X axis, +10 degrees on the Y axis, and +15 degrees on the Z axis." This voice may be synthesized by AI in the control unit 205 to guide the user with a natural voice. The voice may be repeated at a predetermined timing. At this time, the display device 111 displays +5° on the X axis, +10° on the Y axis, and +15° on the Z axis of the radiation generating device (Xray), as shown in FIG. 6. The arrow direction in Fig. 6 is the positive direction, and the opposite direction is the negative direction. At this time, the FPD 103 has not moved, so the angle is not displayed. On the other hand, if it is determined in step S409 that the FPD 103 has moved, the user has moved the FPD 103, so guidance is provided from the speaker 211. For example, a voice message may be output from the speaker 211 saying, "Move the FPD 10 cm toward the radiation generator, and rotate it by plus 5 degrees on the X-axis, plus 10 degrees on the Y-axis, and plus 15 degrees on the Z-axis."

[0064] In step S412, the posture determination unit 209 calculates the center difference d min , cosθ is determined to be within a second range. The second range is set by using a threshold T p2 ( <T p1 ), and a threshold T a2 ( <T p1 ) is determined in advance. p2 , T a2 is a threshold value for determining that the radiation generating device 102 and the FPD 103 are facing each other, in other words, a threshold value for setting a range in which imaging is possible. In this way, the second range is set so as to represent a relative relationship in the postures of the radiation generating device 102 and the FPD 103 that is more suitable for imaging than the first range. min If cos θ is not within the second range, the process returns to step S409, and if it is within the second range, the process proceeds to step S413. In this embodiment, the center difference d min However, it is also possible to allow irradiation while displaying a warning. In this case, irradiation may be allowed if the button is pressed for a certain period of time or more, or if the button is pressed again after the warning is displayed.

[0065]

number

[0066] In step S413, the control unit 205 ends the first photographing support and performs the second photographing support by voice at a predetermined timing. min After it is determined that cosθ falls within the second range, a voice for guiding the image capture is generated when a predetermined time has elapsed. For example, in step S412, min After it is determined that cosθ is in the second range, a voice such as "Take a breath and hold it" is generated 10 seconds later.min After it is determined that cosθ falls within the second range, a sound guiding the user during shooting may be generated when it is detected that a preparation request operation has been performed (when it is detected that the preparation request switch 1201 has been pressed).

[0067] In step S414, under the control of the first control device 201 and the second control device 203, the radiation generator 102 irradiates the FPD 103 with radiation through the subject 105, and imaging is performed.

[0068] In step S415, the first control device 201 acquires a radiographic image generated by the FPD 103 by the imaging in step S414. The first control device 201 adds information on the attitude of the radiation generator 102 and the FPD 103 to the radiographic image. The method of addition is not limited to, for example, adding to the header of the radiographic image, embedding in the radiographic image itself (the numerical value of the attitude can be embedded by, for example, lowering the pixel value of a certain area of ​​the image), generating a dedicated file in which the attitude information is recorded, and the like. The added attitude information is, for example, the angle and position (focus-to-image-receiving-surface distance of the tube, hereinafter referred to as SID) between the radiation generator 102 and the FPD 103. In addition, as shown in FIG. 6, the first control device 201 displays the attitude information on the display device 111. The user can confirm whether the imaging was successful or not based on the radiographic image and the attitude information, and can consider the reason for the imaging failure (imaging failure).

[0069] As described above, when the value indicating the relative relationship of the postures of the radiation generating device 102 and the FPD 103 falls within the first range, the first imaging support is performed by voice, and when the value falls within the second range, the first imaging support is terminated. In the first imaging support, the user is guided to change the relative relationship of the postures of the radiation generating device 102 and the FPD 103 so as to approach the second range suitable for imaging. When the technician aligns the radiation generating device 102 and the FPD 103, the first imaging support is started by voice at the stage of fine adjustment. Then, when imaging is possible, the first imaging support is terminated. This makes it possible to align the radiation generating device 102 and the FPD 103 without having to interrupt the alignment and check the display unit. In addition, the start and end of the first imaging support by voice is controlled according to the relative relationship of the postures of the radiation generating device 102 and the FPD 103, so that it is possible to avoid unnecessary generation of voice and prevent the user from feeling annoyed. In this way, it is easy to align the radiation generating device 102 and the FPD 103.

[0070] In this embodiment, the first attitude measurement unit 113 does not necessarily have to be a sensor for various things such as acceleration, geomagnetism, and angular velocity, and may be a sensor for measuring, for example, the rotation, extension and contraction of the first arm 106 and the second arm 107, and the rotation of the aperture. For example, by using a stepping motor, which is a known electric component, and the first control device 201 on the medical cart side, it is possible to configure a mechanism for controlling the rotation and extension and contraction. In this case, instead of calculating the attitude based on the measurement value of the sensor, it is also possible to calculate the attitude using parameters (attitude control parameters) used in these control mechanisms. In addition, although the distance is derived using an acceleration sensor in this embodiment, a wireless LAN device, a Bluetooth device, or a UWB device may also be used. Alternatively, a magnetic sensor may be used to derive the distance, and the position may be identified by artificially generating a magnetic field. The accuracy of distance measurement may be further improved by combining an acceleration sensor with a wireless LAN device, a Bluetooth device, a UWB device, and a magnetic sensor. Using an imaging device, a value (center difference d min and cos θ) may be acquired. For example, an imaging device may be mounted on the radiation generating device 102 to image the FPD 103. Similarly, for angles, the accuracy of measurement can be improved by combining, for example, an angle obtained by a gravity sensor with an angle calculated from angular velocity or an azimuth angle calculated from geomagnetism. The functions of the control unit 205 and the reference calculation unit 208, which are supposed to be included in the first control device 201, may be included in the second control device 203. In addition, the function of the attitude determination unit 209, which is supposed to be included in the second control device 203, may be included in the first control device 201.

[0071] Second Embodiment In the first embodiment, the center difference d is used as a value representing the relative relationship between the postures of the radiation generation device 102 and the FPD 103. min and cos θ are acquired, and it is determined whether the value falls within the first range or the second range. In this case, as shown in equations (1) to (9), the acceleration is integrated once to calculate the velocity, and then the velocity is integrated again to convert it into displacement (position). Therefore, if the error of the acceleration sensor is large, it is considered that the position error will become large due to integration. In this case, it may not be possible to use the position in terms of accuracy. Therefore, in this embodiment, the position is measured using a measuring device such as a tape measure, and only cosθ, which is a value that represents the angular relationship between the radiation generating device 102 and the FPD 103, is used to determine whether the position falls within the first range or the second range. The configuration of the radiation imaging system according to this embodiment is the same as that of the first embodiment, and therefore a description thereof will be omitted. Below, only the differences from the first embodiment will be described.

[0072] FIG. 7 is a flowchart showing the processing operation of the radiation imaging system 100 according to the second embodiment. Steps S501 to S505 are similar to steps S401 to S405 in the flowchart of FIG. 4, and the description thereof will be omitted.

[0073] In step S506, the control unit 205 displays on the display device 111 a message to the user indicating that the radiation generation device 102 and the FPD 103 can be moved for positioning, i.e., imaging, to perform imaging. The control unit 205 also notifies the user by voice, using the speaker 212 or the speaker 211, that the radiation generation device 102 and the FPD 103 can be moved. Upon receiving this display and voice notification, the user starts moving the radiation generation device 102 and the FPD 103. In this embodiment, the user uses a measuring device such as a tape measure (not shown) to move the FPD 103 to a position that provides a desired SID with respect to the radiation generation device 102.

[0074] In step S507, the attitude determination unit 209 acquires the measurement values ​​of the first attitude measurement unit 113 and the second attitude measurement unit 118, and calculates the attitudes of the radiation generation device 102 and the FPD 103 based on the measurement values. Specifically, the angles of the three components X, Y, and Z are calculated from the reference attitude set in step S405 using equations (1) to (3).

[0075] In step S508, the attitude determination unit 209 calculates a value representing the relative relationship in attitude between the radiation generation device 102 and the FPD 103, and determines whether or not the value falls within a first range. In this embodiment, the attitude determination unit 209 determines whether or not cos θ falls within the first range by equation (16-1). In this embodiment, a threshold value T a1 is determined in advance. If cos θ is not within the first range, the process returns to step S507, and if it is within the first range, the process proceeds to step S509.

[0076] In step S509, the control unit 205 determines whether or not one of the radiation generating device 102 and the FPD 103 is moving, based on the measurement values ​​of the first attitude measurement unit 113 and the second attitude measurement unit 118. In other words, it determines whether the user is moving the radiation generating device 102 or the FPD 103.

[0077] In step S510, the attitude determination unit 209 acquires the measurement values ​​of the first attitude measurement unit 113 and the second attitude measurement unit 118, and calculates the attitudes of the radiation generation device 102 and the FPD 103 based on the measurement values.

[0078] In step S511, the control unit 205 starts the first imaging support by voice. The speaker 212 of the radiation generation device 102 or the speaker 211 of the FPD 103 determined to have moved in step S509 guides the user to change the angle. If it is determined in step S509 that the FPD 103 has moved, the user has moved the FPD 103, so the speaker 211 provides guidance. For example, the speaker 211 generates a voice saying, "Please rotate the FPD by plus 10 degrees on the X axis, plus 15 degrees on the Y axis, and minus 10 degrees on the Z axis." This voice may be synthesized by AI in the control unit 205 to guide the user with a natural voice. The voice may be repeated at a predetermined timing. At this time, the display device 111 displays, as shown in FIG. 8, +10° on the X axis, +15° on the Y axis, and -10° on the Z axis of the FPD 103 (FPD). The arrow direction in Fig. 8 is the plus direction, and the opposite direction is the minus direction. At this time, the radiation generating device 102 has not moved, so the angle is not displayed. On the other hand, if it is determined in step S509 that the radiation generating device 102 has moved, the user has moved the radiation generating device 102, so guidance is provided from the speaker 212. For example, a voice is generated from the speaker 212 saying, "Please rotate the radiation generating device plus 10 degrees on the X axis, plus 15 degrees on the Y axis, and minus 10 degrees on the Z axis."

[0079] In step S512, the posture determination unit 209 determines whether or not cos θ is within the second range by (16-2). In this embodiment, the threshold value for setting the second range is a threshold value T a2 is determined in advance. If cos θ is not within the first range, the process returns to step S509, and if it is within the second range, the process proceeds to step S513. In this embodiment, if cosθ is not within the second range, irradiation is not permitted, but irradiation may be permitted while displaying a warning. In this case, irradiation may be permitted if the button is pressed for a certain period of time or more, or if the button is pressed again after the warning is displayed.

[0080] Steps S513 to S515 are similar to steps S413 to S415 in the flowchart of FIG. 4, and the description thereof will be omitted.

[0081] Although the present invention has been described above with reference to the embodiments, the above embodiments are merely illustrative of the specific examples of the present invention, and the technical scope of the present invention should not be interpreted as being limited by these embodiments. In other words, the present invention can be embodied in various forms without departing from its technical concept or main features. (Other embodiments) The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0082] The disclosure of this embodiment includes the following configuration. [Configuration 1] A radiation imaging system including a radiation generating device that generates radiation, and a radiation imaging device that detects radiation emitted from the radiation generating device and generates an image, an acquisition means for acquiring a value representing a relationship between the radiation generating device and the radiation imaging device based on information that changes in accordance with a movement of the radiation generating device and information that changes in accordance with a movement of the radiation imaging device; A radiography system characterized by comprising a control means that performs a first radiography support by voice using a voice notification means when the value falls within a first range, and controls to end the first radiography support when the value falls within a second range. [Configuration 2] the second range is a range representing a relationship between the radiation generation device and the radiation imaging device that is more suitable for imaging than the first range, The radiation imaging system described in configuration 1, wherein the control means guides, as the first imaging assistance, a change in the relationship between the radiation generating device and the radiation imaging device so as to approach the second range. [Configuration 3] the value represents an angular relationship between the radiation generation device and the radiation imaging device, 3. The radiation imaging system according to configuration 1 or 2, wherein the first range and the second range are set as the angle range. [Configuration 4] the value is a value representing an angular relationship between the radiation generating device and the radiation imaging device, and a value representing a positional relationship between the radiation generating device and the radiation imaging device, 3. The radiation imaging system according to configuration 1 or 2, wherein the first range and the second range are set as the angle range and the position range. [Configuration 5] The radiation imaging system according to any one of configurations 1 to 4, characterized in that when the value falls within the first range, the control means performs the first imaging support in accordance with a result of determining the movement of the radiation generation device and the radiation imaging device. [Configuration 6] The radiation imaging system according to any one of configurations 1 to 5, wherein the control means performs a second imaging support by voice at a predetermined timing using a voice notification means when the value falls within the second range. [Configuration 7] 7. The radiation imaging system according to configuration 6, wherein the control means performs the second imaging support at a timing when a predetermined time has elapsed after the value enters the second range. [Configuration 8] The radiation imaging system of configuration 6, wherein the control means performs the second imaging support at a timing when it detects that a preparation request operation has been performed to request the radiation generating device to start preparing for radiation irradiation after the value has entered the second range. [Configuration 9] 9. The radiation imaging system according to any one of configurations 1 to 8, further comprising a first measuring means for measuring information that changes in accordance with the movement of the radiation generating device. [Configuration 10] 10. The radiation imaging system according to configuration 9, wherein at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor is used as the first measuring means. [Configuration 11] 11. The radiation imaging system according to any one of configurations 1 to 10, further comprising a second measuring means for measuring information that changes in accordance with the movement of the radiation imaging apparatus. [Configuration 12] 12. The radiation imaging system according to configuration 11, wherein at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor is used as the second measuring means. [Configuration 13] 13. The radiation imaging system according to any one of configurations 1 to 12, wherein the acquisition means acquires the value by utilizing an image of an imaging device that images at least one of the radiation generating device and the radiation imaging device. [Explanation of symbols]

[0083] 100: Radiography system, 101: Medical cart, 102: Radiation generator, 103: FPD (radiography device), 112: First storage determination device, 113: First attitude measurement unit, 114: Second storage determination device, 118: Second attitude measurement unit, 120: Radiation switch, 201: First control device, 202: First information transmission / reception device, 203: Second control device, 204: Second information transmission / reception device, 205: Control unit, 208: Reference calculation unit, 209: Attitude determination unit, 210: Control unit, 211, 212: Speakers

Claims

1. A radiation imaging system including a radiation generating device that generates radiation, and a radiation imaging device that detects radiation emitted from the radiation generating device and generates an image, an acquisition means for acquiring a value representing a relationship between the radiation generating device and the radiation imaging device based on information that changes in accordance with a movement of the radiation generating device and information that changes in accordance with a movement of the radiation imaging device; A radiography system characterized by comprising a control means that performs a first radiography support by voice using a voice notification means when the value falls within a first range, and controls to end the first radiography support when the value falls within a second range.

2. the second range is a range representing a relationship between the radiation generation device and the radiation imaging device that is more suitable for imaging than the first range, The radiation imaging system according to claim 1 , wherein the control means provides guidance for changing a relationship between the radiation generation device and the radiation imaging device so as to approach the second range as the first imaging assistance.

3. the value represents an angular relationship between the radiation generation device and the radiation imaging device, 3. The radiation imaging system according to claim 1, wherein the first range and the second range are set as the angle range.

4. the value is a value representing an angular relationship between the radiation generating device and the radiation imaging device, and a value representing a positional relationship between the radiation generating device and the radiation imaging device, 3. The radiation imaging system according to claim 1, wherein the first range and the second range are set as the angle range and the position range.

5. 3. The radiation imaging system according to claim 1, wherein the control means performs the first imaging support in accordance with a result of determining movement of the radiation generating device and the radiation imaging device when the value falls within the first range.

6. 3. The radiography system according to claim 1, wherein the control means performs a second radiography support by voice at a predetermined timing using a voice notification means when the value falls within the second range.

7. 7. The radiation imaging system according to claim 6, wherein the control means performs the second imaging support at a timing when a predetermined time has elapsed after the value enters the second range.

8. The radiation imaging system according to claim 6, wherein the control means performs the second imaging support at a timing when it detects that a preparation request operation has been performed to request the radiation generating device to start preparing for radiation irradiation after the value has entered the second range.

9. 3. The radiation imaging system according to claim 1, further comprising a first measuring device for measuring information that changes in accordance with a movement of the radiation generating device.

10. 10. The radiation imaging system according to claim 9, wherein at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor is used as the first measuring device.

11. 3. The radiation imaging system according to claim 1, further comprising a second measuring device for measuring information that changes in accordance with a movement of the radiation imaging apparatus.

12. 12. The radiation imaging system according to claim 11, wherein at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor is used as the second measuring device.

13. 3. The radiation imaging system according to claim 1, wherein the acquisition unit acquires the value by using an image of an imaging device that images at least one of the radiation generating device and the radiation imaging device.

14. 1. A method for controlling a radiation imaging system including a radiation generating device that generates radiation and a radiation imaging device that detects radiation emitted from the radiation generating device and generates an image, comprising: acquiring a value representing a relationship between the radiation generating device and the radiation imaging device based on information that changes in accordance with a movement of the radiation generating device and information that changes in accordance with a movement of the radiation imaging device; a step of controlling the first imaging support by voice using a voice notification means when the value falls within a first range, and controlling the first imaging support to be terminated when the value falls within a second range.

15. A radiation imaging apparatus that detects radiation emitted from a radiation generating apparatus and generates an image, an acquisition means for acquiring a value representing a relationship between the radiation generating device and the radiation imaging device based on information that changes in accordance with a movement of the radiation generating device and information that changes in accordance with a movement of the radiation imaging device; a control means for controlling the radiography device to perform a first radiography support by voice using a voice notification means when the value falls within a first range, and to terminate the first radiography support when the value falls within a second range.

16. 1. A method for controlling a radiation imaging apparatus that detects radiation emitted from a radiation generating apparatus and generates an image, comprising: acquiring a value representing a relationship between the radiation generating device and the radiation imaging device based on information that changes in accordance with a movement of the radiation generating device and information that changes in accordance with a movement of the radiation imaging device; a step of controlling the radiography apparatus so that, when the value falls within a first range, a first radiography support is performed by voice using a voice notification means, and, when the value falls within a second range, the first radiography support is terminated.

17. 1. A program for controlling a radiation imaging system including a radiation generating device that generates radiation, and a radiation imaging device that detects radiation emitted from the radiation generating device and generates an image, acquiring a value representing a relationship between the radiation generating device and the radiation imaging device based on information that changes in accordance with a movement of the radiation generating device and information that changes in accordance with a movement of the radiation imaging device; A program for causing a computer to execute a process of controlling the computer to provide a first shooting support by voice using a voice notification means when the value falls within a first range, and to terminate the first shooting support when the value falls within a second range.

Images