Radiographic system, control method, and control program

Abstract

To provide a radiographic system, a control method, and a control program capable of performing positioning between a radiation source unit and a panel unit easily.SOLUTION: In a radiographic system, a radiation source unit includes: a radiation irradiation unit including a radiation source; a radiation source base unit that supports the radiation irradiation unit and includes a radiation source travelling mechanism for travelling movement; and a first detection unit provided in the radiation source base unit. A panel unit includes: a panel for detecting a radiation emitted from the radiation irradiation unit; a panel base unit that supports the panel and includes a panel travelling mechanism for travelling movement; and a second detection unit provided in the panel base part. The radiation source base unit and the panel base unit are of a common shape. A processor includes a control device for controlling at least one of relative positions and relative postures of the radiation source unit and the panel unit on the basis of at least one of a detection result of the first detection unit and a detection result of the second detection unit.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present disclosure relates to a radiation imaging system, a control method, and a control program.

Background Art

[0002] In radiation image imaging, a radiation source and a panel for detecting radiation are arranged to face each other. As a technique therefor, for example, Patent Document 1 discloses a technique for controlling the positions of the robot arms of two robots, one having an X-ray source arranged on a robot arm and the other having an X-ray receiver, which is a panel for detecting radiation, arranged on a robot arm, such that the X-ray source faces the X-ray receiver.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, there is a radiation imaging system in which a source unit including a radiation source and a panel unit including a panel for detecting radiation are separate bodies and each can travel individually. As described above, when the source unit and the panel unit can each travel individually, it may be difficult to align the positions of the radiation source and the panel.

[0005] The present disclosure has been made in consideration of the above circumstances, and an object thereof is to provide a radiation imaging system, a control method, and a control program capable of easily aligning the positions of a source unit and a panel unit.

Means for Solving the Problems

[0006] To achieve the above object, a radiation imaging system according to a first aspect of the present disclosure is a radiation imaging system including a radiation source unit, a panel unit, and at least one processor. The radiation source unit includes a radiation irradiation unit including a radiation source, a source base unit supporting the radiation irradiation unit and including a source traveling mechanism for traveling and moving, and a first detection unit provided on the source base unit. The panel unit includes a panel for detecting radiation irradiated from the radiation irradiation unit, a panel base unit supporting the panel and including a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit. The source base unit and the panel base unit have a common shape. The processor further includes a control device for controlling at least one of the relative position and the relative orientation of the radiation source unit and the panel unit based on at least one of the detection result of the first detection unit and the detection result of the second detection unit.

[0007] A radiation imaging system according to a second aspect of the present disclosure is the radiation imaging system according to the first aspect, wherein the first detection unit and the second detection unit include an optical camera, the detection result of the first detection unit is a first optical image captured by the optical camera of the first detection unit, and the detection result of the second detection unit is a second optical image captured by the optical camera of the second detection unit.

[0008] A radiation imaging system according to a third aspect of the present disclosure is the radiation imaging system according to the second aspect, wherein markers are provided on each of the housing of the source base unit and the housing of the panel base unit, and the control device is based on at least one of the image of the marker provided on the panel base unit included in the first optical image and the image of the marker provided on the source base unit included in the second optical image. Control at least one of the relative position and the relative orientation of the radiation source unit and the panel unit.

[0009] In the radiographic system according to the fourth aspect of the present disclosure, in the radiographic system according to the third aspect, when the control device determines that the states of the images of the markers provided on the panel base portion included in the first optical image and the states of the images of the markers provided on the source base portion included in the second optical image are the same, it is determined that the source unit and the panel unit are facing each other.

[0010] In the radiographic system according to the fifth aspect of the present disclosure, in the radiographic system according to the second aspect, a plurality of markers including a predetermined marker are provided on each of the housing of the source base portion and the housing of the panel base portion, and the control device controls at least one of the relative position and the relative orientation of the source unit and the panel unit based on the optical image including the image of the predetermined marker among the first optical image and the second optical image.

[0011] In the radiographic system according to the sixth aspect, in the radiographic system according to the first aspect, the control device derives at least one of the moving amounts and the moving directions of at least one of the source unit and the panel unit for making the positions of the source unit and the panel unit be at least one of a predetermined relative position and a predetermined relative orientation based on at least one of the detection results of the first detection unit and the second detection unit.

[0012] In the radiographic system according to the seventh aspect, in the radiographic system according to the sixth aspect, when the control device derives the moving amount and the moving direction of the source unit, it causes the source traveling mechanism to travel and move the source unit based on the derived moving amount and moving direction, and when it derives the moving amount and the moving direction of the panel unit, it causes the panel traveling mechanism to travel and move the panel unit based on the derived moving amount and moving direction.

[0013] In the radiographic system according to the eighth aspect, in the radiographic system according to the sixth aspect, the control device causes the display unit to display the derived moving amounts and moving directions.

[0014] To achieve the above object, a radiation imaging system according to a ninth aspect is a control method including an X-ray source unit and a panel unit. The X-ray source unit includes an X-ray irradiation unit including an X-ray source, an X-ray source base unit supporting the X-ray irradiation unit and including an X-ray source traveling mechanism for traveling and moving, and a first detection unit provided on the X-ray source base unit. The panel unit includes a panel for detecting X-rays irradiated from the X-ray irradiation unit, a panel base unit supporting the panel and including a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit. The X-ray source base unit and the panel base unit have a common shape. The control method of the radiation imaging system is such that a processor executes a process of controlling at least one of the relative position and the relative attitude of the X-ray source unit and the panel unit based on at least one of the detection result of the first detection unit and the detection result of the second detection unit.

[0015] To achieve the above object, a control program according to a tenth aspect is for causing a processor of a control device that controls a radiation imaging system including an X-ray source unit and a panel unit. The X-ray source unit includes an X-ray irradiation unit including an X-ray source, an X-ray source base unit supporting the X-ray irradiation unit and including an X-ray source traveling mechanism for traveling and moving, and a first detection unit provided on the X-ray source base unit. The panel unit includes a panel for detecting X-rays irradiated from the X-ray irradiation unit, a panel base unit supporting the panel and including a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit. The X-ray source base unit and the panel base unit have a common shape, to execute a process of controlling at least one of the relative position and the relative attitude of the X-ray source unit and the panel unit based on at least one of the detection result of the first detection unit and the detection result of the second detection unit.

Advantages of the Invention

[0016] According to the present disclosure, alignment between the X-ray source unit and the panel unit can be easily performed.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

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Figure 5

Figure 6A

Figure 6B

Figure 7

Figure 8

Figure 9

Figure 10

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Figure 12

Figure 13

Figure 14

Figure 15

Best Mode for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that this embodiment does not limit the present invention.

[0019] First, an example of the overall configuration of the radiation imaging system according to this embodiment will be described. FIG. 1 shows a configuration diagram representing an example of the overall configuration of the radiation imaging system 1 according to this embodiment.

[0020] As shown in FIG. 1, the radiation imaging system according to this embodiment includes a radiation source unit 10 and a panel unit 12.

[0021] First, the configuration of the radiation source unit 10 will be described with reference to FIG. 2 as well. Note that FIG. 1 shows a schematic external view of the radiation source unit 10 as seen from the side, and FIG. 2 shows a schematic external view of the radiation source unit 10 as seen from the front.

[0022] As shown in FIGS. 1 and 2, the radiation source unit 10 includes a radiation irradiation unit 20 including a radiation source 21, a source base unit 28 including four wheels 29 for supporting and traveling the radiation irradiation unit 20, and an optical camera 40 provided on the source base unit 28.

[0023] The radiation irradiation unit 20 including the radiation source 21 is provided on the arm 22. The arm 22 is held by the holding unit 24. The support unit 26 supports the radiation irradiation unit 20 by supporting the holding unit 24. The holding unit 24 is movable in the vertical direction, in other words, in the direction away from and approaching the source base unit 28. One end of the arm 22 opposite to the end where the radiation irradiation unit 20 is provided is connected to a shaft provided on the holding unit 24, and the arm 22 rotates about the shaft, so that the radiation irradiation unit 20 can move in a direction away from the holding unit 24. In the radiation source unit 10, the holding unit 24 moves in the vertical direction, and the arm 22 rotates, so that the position of the radiation source 21 of the radiation irradiation unit 20 in the height direction can be adjusted.

[0024] Further, on the upper surface of the support portion 26, an operation portion 30 and a display portion 32, the details of which will be described later, are provided so as to be storable. Further, the support portion 26 is provided with a gripping portion 27 to be gripped when a user such as an engineer moves the radiation source unit 10. The support portion 26 is supported by a radiation source base portion 28.

[0025] Four wheels 29 are provided at the four corners of the radiation source base portion 28, and by rotating the four wheels 29, traveling on a floor surface 16 or the like is enabled. The wheels 29 of the present embodiment are an example of the radiation source traveling mechanism of the present disclosure. Further, an optical camera 40 is provided on the front surface of the housing of the radiation source base portion 28. The optical camera 40 is capable of photographing at least the panel base portion 58 of the panel unit 12 in a state of facing the radiation source unit 10. Further, markers 42A to 42D are provided at the four corners of the housing of the radiation source base portion 28. Since they are in the shadow of the radiation source base portion 28, in FIG. 1, markers 42C and 42D are not shown, and in FIG. 2, markers 42B and 42C are not shown. The markers 42A to 42D are markers that can be individually identified, and at least in an optical image photographed by the optical camera 60 of the panel unit 12, the markers 42A to 42D can be identified. For example, each of the markers 42A to 42D is different from the others in at least one of shape and color. Hereinafter, when collectively referring to the markers 42A to 42D, they are simply referred to as "markers 42". The optical camera 40 of the present embodiment is an example of the first detection unit of the present disclosure.

[0026] Furthermore, with reference to FIG. 3, the configuration of the radiation source unit 10 will be described. As shown in FIG. 3, the radiation source unit 10 of the present embodiment further includes a control unit 70, a storage unit 72, a radiation source control unit 76, and a display control unit 77. The operation unit 30, the display unit 32, the optical camera 40, the control unit 70, the storage unit 72, the radiation source control unit 76, and the display control unit 77 are connected to each other via a bus 79 such as a system bus or a control bus so as to be able to exchange various information.

[0027] The control unit 70 includes a CPU (Central Processing Unit) 70A, a ROM (Read Only Memory) 70B, and a RAM (Random Access Memory) 70C. The CPU 70A controls the entire X-ray source unit 10. Various programs including a position control program 71 to be executed by the CPU 70A are pre-stored in the ROM 70B. The RAM 70C temporarily stores various data.

[0028] The storage unit 72 stores various information related to imaging, etc. The storage unit 72 is realized by a storage medium such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), and a flash memory, for example.

[0029] The I / F unit 74 communicates various information with the panel unit 12 and external devices by wired communication or wireless communication.

[0030] The operation unit 30 is used for the user to input instructions related to imaging and various information, etc. Note that the operation unit 30 is not particularly limited, and examples include various switches, a touch panel, a touch pen, and a mouse. According to the control of the display control unit 77, the display unit 32 displays various information. As an example, in the present embodiment, a touch panel display integrating the operation unit 30 and the display unit 32 is used.

[0031] The X-ray source control unit 76 controls the X-ray source 21 of the radiation irradiation unit 20 based on the control of the control unit 70. The X-ray source 21 irradiates X-rays according to the control of the control unit 70.

[0032] Next, the configuration of the panel unit 12 will be described with reference to FIG. 4 as well. Note that FIG. 1 shows a schematic external view seen from the side of the panel unit 12, and FIG. 4 shows a schematic external view seen from the front of the panel unit 12.

[0033] As shown in FIGS. 1 and 4, the panel unit 12 includes a panel 50 that detects radiation irradiated from the radiation irradiation unit 20, a panel base unit 58 that supports the panel 50 and includes four wheels 59 for traveling and moving, and an optical camera 60 provided on the panel base unit 58.

[0034] The panel 50 is provided on an arm 52. The arm 52 is held by a holding portion 54. The holding portion 54 supports the panel 50 by supporting the holding portion 54. The holding portion 54 is movable in the vertical direction, that is, in the direction away from and approaching the panel base unit 58. One end of the arm 52 opposite to the end where the panel 50 is provided is connected to a shaft provided on the holding portion 54, and when the arm 52 rotates about the shaft, the panel 50 is movable in a direction away from the holding portion 54. In the panel unit 12, the height position of the panel 50 can be adjusted by the holding portion 54 moving in the vertical direction and the arm 52 rotating.

[0035] Further, the support portion 56 is provided with a gripping portion 57 for gripping when a user such as an engineer moves the panel unit 12. The support portion 56 is supported by the panel base unit 58.

[0036] The panel base unit 58 has the same shape as the source base unit 28. Specifically, the area occupied by the panel base unit 58 when the panel base unit 58 is projected onto the floor surface 16 is the same shape as the area occupied by the source base unit 28 when the source base unit 28 is projected onto the floor surface 16. Also, in the present embodiment, the housing of the panel base unit 58 and the housing of the source base unit 28 have the same shape except for the upper surface.

[0037] Four wheels 59 are provided at the four corners of the panel base portion 58, and the four wheels 59 rotate to enable travel on the floor surface 16 or the like. The wheel 59 of the present embodiment is an example of the panel traveling mechanism of the present disclosure. Further, an optical camera 60 is provided on the front surface of the housing of the panel base portion 58. The optical camera 60 is capable of photographing the source base portion 28 of the source unit 10 at least in a state facing the source unit 10. Further, markers 62A to 62D are provided at the four corners of the housing of the panel base portion 58. Since the markers 62A to 62D are in the shadow of the panel base portion 58, in FIG. 1, markers 62A and 62B are not shown, and in FIG. 3, markers 62B and 62C are not shown. The markers 62A to 62D are markers that can be individually identified, and at least in the optical image photographed by the optical camera 40 of the source unit 10, the markers 62A to 62D can be identified. In the present embodiment, the marker 42A and the marker 62A are the same marker, the marker 42B and the marker 62B are the same marker, the marker 42C and the marker 62C are the same marker, and the marker 42D and the marker 62D are the same marker. Hereinafter, when collectively referring to the markers 62A to 62D, they are simply referred to as "markers 62". The optical camera 60 of the present embodiment is an example of the second detection unit of the present disclosure.

[0038] Furthermore, with reference to FIG. 5, the configuration of the source unit 10 will be described. As shown in FIG. 7, the source unit 10 of the present embodiment further includes a control unit 80, a storage unit 82, an operation unit 85, and a panel control unit 86. The optical camera 60, the control unit 80, the storage unit 82, the panel base portion 58, and the panel control unit 86 are connected to each other via a bus 89 such as a system bus or a control bus so as to be able to exchange various information.

[0039] The control unit 80 includes a CPU 80A, a ROM 80B, and a RAM 80C. The CPU 80A controls the entire panel unit 12. Various programs including a position control program 81 to be executed by the CPU 80A are stored in advance in the ROM 80B. The RAM 80C temporarily stores various data. Note that the above-described control unit 70 and control unit 80 are examples of the control device of the present disclosure.

[0040] The storage unit 82 stores various types of information related to imaging and the like. The storage unit 82 is realized by a storage medium such as an HDD, an SSD, and a flash memory, for example.

[0041] The I / F unit 84 communicates various types of information with the radiation source unit 10 and external devices by wired communication or wireless communication.

[0042] The operation unit 65 is used for the user to input instructions related to imaging and various types of information and the like. Note that the operation unit 65 is not particularly limited, and examples include various switches, a touch panel, a touch pen, and a mouse.

[0043] The panel control unit 86 controls the driving of the panel 50 based on the control of the control unit 80. The panel 50 detects radiation and outputs a radiation image according to the control of the control unit 80.

[0044] Next, the operation of the radiation imaging system 1 of the present embodiment will be described. In the radiation imaging system 1 of the present embodiment, the positions of the radiation source unit 10 and the panel unit 12 are controlled so that the radiation source unit 10 and the panel unit 12 face each other. Here, the operation of controlling the positions of the radiation source unit 10 and the panel unit 12 will be described.

[0045] In the radiation imaging system 1 of the present embodiment, the images of the marker 42 included in the first optical image and the images of the marker 62 included in the second optical image are different according to the relative position and relative orientation between the radiation source unit 10 and the panel unit 12. Specifically, among the four types (A to D) of markers, which marker image is included is different.

[0046] Figures 6A and 6B schematically show a line source base portion 28, an optical camera 40, and a marker 42, and a panel base portion 58, an optical camera 60, and a marker 62. FIG. 6A shows a case where the line source unit 10 and the panel unit 12 face each other. On the other hand, FIG. 6B shows a case where the line source unit 10 and the panel unit 12 do not face each other, the relative positions are shifted, and the relative postures are also different.

[0047] As shown in FIG. 6A, when the line source unit 10 and the panel unit 12 face each other, the first optical image obtained by the optical camera 40 includes the markers 62A and 62D. Further, the second optical image obtained by the optical camera 60 includes the markers 42A and 42D. The markers 42A to 42D and the markers 62A to 62D are the same, and since the line source base portion 28 and the panel base portion 58 have a common shape, when the line source unit 10 and the panel unit 12 face each other, the states of the markers 62 included in the first optical image and the states of the markers 42 included in the second optical image are the same.

[0048] On the other hand, as shown in FIG. 6B, when the line source unit 10 and the panel unit 12 do not face each other, the first optical image obtained by the optical camera 40 includes the markers 62A, 62C, and 62D. Further, the first optical image obtained by the optical camera 60 includes the markers 62A and 62C. The markers 62A, 62C, 62D are also included in the second optical image obtained by the optical camera 60, and the markers 42A and 42D are included.

[0049] Thus, when the line source unit 10 and the panel unit 12 do not face each other, the states of the markers 42 included in the first optical image and the states of the markers 42 included in the second optical image are not the same. Also, both the first optical image and the second optical image are images in which the states of the markers 42 and 62 are different from the case where the line source unit 10 and the panel unit 12 face each other.

[0050] Therefore, in the radiation imaging system 1 of the present embodiment, based on at least one of the first optical image and the second optical image, the relative position and the relative attitude of the source unit 10 and the panel unit 12 are controlled.

[0051] FIG. 7 shows a functional block diagram representing an example of the functional configuration of the source unit 10 and the panel unit 12. In the present embodiment, as shown in FIG. 7, both the source unit 10 and the panel unit 12 include an acquisition unit 90, a marker detection unit 92, a movement amount derivation unit 94, and an information output unit 96.

[0052] First, the functions of each part in the source unit 10 will be described. In the source unit 10, the CPU 70A of the control unit 70 functions as the acquisition unit 90, the marker detection unit 92, the movement amount derivation unit 94, and the information output unit 96 by executing the position control program 71. The acquisition unit 90 acquires an optical image (referred to as the "first optical image" in the present embodiment) captured by the optical camera 40. Further, the acquisition unit 90 acquires at least one of the facing information and the movement information, which will be described in detail later, from the panel unit 12.

[0053] The marker detection unit 92 detects an image of the marker 62 included in the first optical image acquired from the optical camera 40. Note that the method by which the marker detection unit 92 detects the image of the marker 62 from the first optical image is not limited. For example, image analysis may be performed on the first optical image to detect whether there is an image corresponding to the color or shape that is a feature amount of each marker 62.

[0054] The movement amount derivation unit 94 derives the variation amount of the position of the image of the marker 62 detected by the marker detection unit 92 from the position of the image of the marker 62 included in the first optical image (hereinafter referred to as the "reference first optical image") captured by the optical camera 40 when the radiation source unit 10 and the panel unit 12 are facing each other. Further, the movement amount derivation unit 94 derives the movement amount and the movement direction of the panel unit 12 from the derived variation amount. Note that the method by which the movement amount derivation unit 94 derives the movement amount and the movement direction is not limited. For example, correspondence information representing the correspondence between the variation amount of the image of the marker 62 and the movement amount and the movement direction of the panel unit 12 may be obtained in advance, and the movement amount and the movement direction may be derived based on the correspondence information.

[0055] In addition, when the variation amount is "0", the movement amount derivation unit 94 determines that the radiation source unit 10 and the panel unit 12 are facing each other.

[0056] The information output unit 96 outputs the derivation result of the movement amount derivation unit 94. Specifically, when the movement amount derivation unit 94 determines that they are facing each other, the information output unit 96 of the radiation source unit 10 outputs facing information indicating that they are facing each other to the display unit 32. On the other hand, when the movement amount derivation unit 94 derives the movement amount and the movement direction, the movement information representing the derived movement amount and the movement direction is output to the display unit 32.

[0057] Next, the functions of each part in the panel unit 12 will be described. In the panel unit 12, the CPU 80A of the control unit 80 functions as the acquisition unit 90, the marker detection unit 92, the movement amount derivation unit 94, and the information output unit 96 by executing the position control program 81. The acquisition unit 90 acquires the optical image (referred to as the "second optical image" in this embodiment) captured by the optical camera 60. Further, the acquisition unit 90 acquires reference unit information, the details of which will be described later, from the radiation source unit 10.

[0058] The marker detection unit 92 detects an image of the marker 42 included in the second optical image acquired from the optical camera 60. Note that the method by which the marker detection unit 92 detects the image of the marker 42 is not limited. For example, image analysis may be performed on the second optical image to detect whether there is an image corresponding to the color or shape that is a feature amount of each marker 42. Since the markers 42 and 62 are similar markers arranged in a similar state in each of the line source base unit 28 and the panel base unit 58, the method of detecting the image of the marker 62 from the first optical image and the method of detecting the image of the marker 42 from the second optical image can be the same method.

[0059] The movement amount derivation unit 94 derives the variation amount of the position of the image of the marker 42 from the position of the image of the marker 42 detected by the marker detection unit 92 and the position of the image of the marker 42 included in the second optical image (hereinafter referred to as the "reference second optical image") taken by the optical camera 60 when the line source unit 10 and the panel unit 12 are facing each other. Further, the movement amount derivation unit 94 derives the movement amount and the movement direction of the line source unit 10 from the derived variation amount. Note that the method by which the movement amount derivation unit 94 derives the movement amount and the movement direction is not limited. For example, correspondence relation information representing the correspondence relation between the variation amount of the image of the marker 42 and the movement amount and the movement direction of the line source unit 10 may be obtained in advance, and the movement amount and the movement direction may be derived based on the correspondence relation information.

[0060] Note that when the variation amount is "0", the movement amount derivation unit 94 determines that the line source unit 10 and the panel unit 12 are facing each other.

[0061] The information output unit 96 outputs the derivation result of the movement amount derivation unit 94. Specifically, when the movement amount derivation unit 94 determines that they are facing each other, the information output unit 96 of the panel unit 12 outputs facing information indicating that they are facing each other to the line source unit 10. On the other hand, when the movement amount derivation unit 94 derives the movement amount and the movement direction, the movement information representing the derived movement amount and the movement direction is output to the line source unit 10.

[0062] Next, the position control process executed by the radiation source unit 10 will be described. FIG. 8 shows a flowchart representing an example of the flow of the position control process executed by the radiation source unit 10.

[0063] In step S100 of FIG. 8, the acquisition unit 90 acquires reference unit information. In the present embodiment, of the radiation source unit 10 and the panel unit 12, the position of one of them is fixed, and the other unit is moved with the position of the fixed unit as a reference, so that the radiation source unit 10 and the panel unit 12 face each other. Therefore, the acquisition unit 90 acquires reference unit information indicating which of the radiation source unit 10 and the panel unit 12 is the reference unit. The reference unit information is input by the user using the operation unit 30, for example.

[0064] In the next step S102, the acquisition unit 90 outputs the acquired reference unit information to the panel unit 12.

[0065] In the next step S104, the acquisition unit 90 determines whether it is the reference unit itself. That is, it is determined whether the reference unit is the radiation source unit 10. If the reference unit is the radiation source unit 10, the determination in step S104 is an affirmative determination, and the process proceeds to step S106.

[0066] In step S106, the acquisition unit 90 acquires a first optical image from the optical camera 40.

[0067] In the next step S108, the marker detection unit 92 detects the image of the marker 62 from the first optical image as described above.

[0068] In the next step S110, the movement amount derivation unit 94 derives the displacement amount of the position of the marker 62 image included in the first optical image with respect to the position of the marker 62 image included in the reference first optical image as described above.

[0069] In the next step S112, as described above, based on the derived displacement amount, the movement amount derivation unit 94 derives the movement amount and the movement direction of the panel unit 12.

[0070] In the next step S114, the movement amount derivation unit 94 determines whether the radiation source unit 10 and the panel unit 12 are facing each other. If they are not facing each other, the determination in step S114 is negative, and the process proceeds to step S116.

[0071] In step S116, as described above, the information output unit 96 outputs movement information representing the movement amount and the movement direction to the display unit 32. The user refers to the movement information displayed on the display unit 32 and moves the panel unit 12.

[0072] In the next step S118, the acquisition unit 90 determines whether to end the position control process shown in FIG. 8. If not, the determination is negative, and the process returns to step S106, and the processes of steps S106 to S116 are repeated. On the other hand, when an instruction to end is received, etc., the determination in step S118 is affirmative, and the position control process shown in FIG. 8 is ended.

[0073] On the other hand, when the radiation source unit 10 and the panel unit 12 are facing each other, the determination in step S114 is affirmative, and the process proceeds to step S122.

[0074] In step S122, as described above, the information output unit 96 outputs to the display unit 32 information indicating that the radiation source unit 10 and the panel unit 12 are facing each other, that is, information indicating that the radiation source unit 10 and the panel unit 12 are arranged in the correct state. The user refers to the facing information displayed on the display unit 32 and recognizes that the arrangement of the radiation source unit 10 and the panel unit 12 is completed. When step S122 ends, the position control process shown in FIG. 8 ends.

[0075] On the one hand, when the reference unit is the panel unit 12, the determination in step S104 is a negative determination, and the process proceeds to step S120. In step S120, the acquisition unit 90 determines whether it has received the facing information from the panel unit 12. If the facing information has been received, the determination in step S120 is an affirmative determination, and the process proceeds to step S122 above. On the other hand, if the facing information has not been received, the determination in step S120 is a negative determination, and the process proceeds to step S124.

[0076] In step S124, the acquisition unit 90 determines whether it has received the movement information from the panel unit 12. If the movement information has not been received, the determination in step S124 is a negative determination, and the process returns to step S120. On the other hand, if the movement information has been received, the determination in step S124 is an affirmative determination, and the process proceeds to step S126. In step S126, as described above, the information output unit 96 outputs the movement information indicating the movement amount and the movement direction to the display unit 32. The user refers to the movement information displayed on the display unit 32 and moves the line source unit 10.

[0077] In the next step S128, the acquisition unit 90 determines whether to end the position control process shown in FIG. 8. If not, the determination is a negative determination, and the process returns to step S120, and the processes of steps S120 to S126 are repeated. On the other hand, when an instruction to end is received, etc., the determination in step S128 is an affirmative determination, and the position control process shown in FIG. 8 is ended.

[0078] Next, the position control process executed in the panel unit 12 will be described. FIG. 9 shows a flowchart representing an example of the flow of the position control process executed in the panel unit 12. As an example, in the present embodiment, the position control process shown in FIG. 9 is executed when the reference unit information is received from the line source unit 10.

[0079] In step S200 of FIG. 9, the acquisition unit 90 determines whether it is the reference unit itself. That is, it determines whether the reference unit is the panel unit 12.

[0080] If the reference unit is not the panel unit 12, the determination is a negative determination, and the position control process shown in FIG. 9 is terminated. On the other hand, if the reference unit is the panel unit 12, the determination in step S200 is an affirmative determination, and the process proceeds to step S202.

[0081] In step S202, the acquisition unit 90 acquires a second optical image from the optical camera 60.

[0082] In the next step S204, the marker detection unit 92 detects the image of the marker 42 from the second optical image as described above.

[0083] In the next step S206, the movement amount derivation unit 94 derives the displacement amount of the position of the image of the marker 42 included in the second optical image with respect to the position of the image of the marker 42 included in the reference second optical image as described above.

[0084] In the next step S208, the movement amount derivation unit 94 derives the movement amount and movement direction of the radiation source unit 10 based on the derived displacement amount as described above.

[0085] In the next step S210, the movement amount derivation unit 94 determines whether the radiation source unit 10 and the panel unit 12 are facing each other. If they are not facing each other, the determination in step S210 is a negative determination, and the process proceeds to step S212.

[0086] In step S212, the information output unit 96 outputs movement information representing the movement amount and movement direction to the radiation source unit 10 as described above. Thereby, as described above, movement information representing the movement direction and movement amount for moving the radiation source unit 10 is displayed on the display unit 32 of the radiation source unit 10. The user refers to the movement information displayed on the display unit 32 and moves the radiation source unit 10.

[0087] In the next step S214, the acquisition unit 90 determines whether to end the position control process shown in FIG. 9. If not, the determination is a negative determination, and the process returns to step S202, and the processes of steps S202 to S212 are repeated. On the other hand, when an instruction to end is received or the like, the determination in step S214 is an affirmative determination, and the position control process shown in FIG. 9 is ended.

[0088] On the other hand, when the X-ray source unit 10 and the panel unit 12 are facing each other, the determination in step S210 is an affirmative determination, and the process proceeds to step S216.

[0089] In step S216, as described above, the information output unit 96 outputs to the X-ray source unit 10 information indicating that the X-ray source unit 10 and the panel unit 12 are facing each other, that is, information indicating that the X-ray source unit 10 and the panel unit 12 are arranged in a correct state. As a result, as described above, the facing information is displayed on the display unit 32 of the X-ray source unit 10. Thereby, the user refers to the facing information displayed on the display unit 32 of the X-ray source unit 10 and recognizes that the arrangement of the X-ray source unit 10 and the panel unit 12 is completed. When step S216 ends, the position control process shown in FIG. 9 ends.

[0090] As described above, in the radiation imaging system 1 of the above embodiment, the X-ray source base portion 28 of the X-ray source unit 10 and the panel base portion 58 of the panel unit 12 have the same shape,

[0091] Based on at least one of the optical image captured by the optical camera 60 and the optical image captured by the optical camera 40, the relative position and relative orientation of the X-ray source unit 10 and the panel unit 12 are controlled.

[0092] Therefore, according to the radiation imaging system 1 of the above embodiment, the alignment between the X-ray source unit and the panel unit can be easily performed.

[0093] Further, in the above-described embodiment, since the line source base portion 28 and the panel base portion 58 have a common shape and also have the same mechanism (the combination of the optical camera 40 and the marker 62 and the combination of the optical camera 60 and the marker 42) for detecting their relative positions and relative postures, the robustness can be improved. Also, the costs associated with the line source unit 10 and the panel unit 12 can be reduced.

[0094] Note that in the above, the form in which the user moves the line source unit 10 and the panel unit 12 has been described, but it may also be a form in which the line source units 10 and 12 automatically move under the control of the control unit 70 or the control unit 80.

[0095] Further, in the above-described embodiment, the form in which the reference unit derives the movement information for moving the other unit has been described, but it may also be a form in which the other unit itself derives the movement information for moving its own unit.

[0096] In addition, in the above-described embodiment, a form in which only one of the first optical image and the second optical image is used has been described, but both may be used. For example, based on the first optical image, it is determined that the line source unit 10 and the panel unit 12 are facing each other, and when the state of the image of the marker 62 included in the first optical image and the state of the image of the marker 42 included in the second optical image can be regarded as the same, it may be determined that the line source unit 10 and the panel unit 12 are facing each other. In this case, before the process of step S122 in the above-described position control process (see FIG. 8), as shown in FIG. 10, the processes of steps S121A and S121B are added. In step S121A of FIG. 10, the acquisition unit 90 acquires the second optical image captured by the optical camera 60 from the panel unit 12. Specifically, an instruction for causing the optical camera 60 to capture the line source unit 10 is output to the panel unit 12, and the acquisition unit 90 acquires the second optical image captured according to the instruction. In the next step S121B, the movement amount derivation unit 94 determines whether the state of the image of the marker 62 included in the first optical image and the state of the image of the marker 42 included in the second optical image can be regarded as the same. If they can be regarded as the same, the determination in step S121B becomes an affirmative determination, and the process proceeds to step S122. On the other hand, if they cannot be regarded as the same, the determination in step S121B becomes a negative determination, and the process returns to step S106, and the above-described process is repeated.

[0097] Similarly, based on the second optical image, it may be determined that the source unit 10 and the panel unit 12 are facing each other, and it may be determined that the source unit 10 and the panel unit 12 are facing each other when the state of the image of the marker 62 included in the first optical image can be regarded as the same as the state of the image of the marker 42 included in the second optical image. In this case, before the process of step S216 in the above-described position control process (see FIG. 9), as shown in FIG. 11, the processes of steps S215A and S215B are added. In step S215A of FIG. 11, the acquisition unit 90 acquires the first optical image captured by the optical camera 40 from the source unit 10. Specifically, an instruction for causing the optical camera 40 to capture the panel unit 12 is output to the source unit 10, and the acquisition unit 90 acquires the first optical image captured according to the instruction. In the next step S215B, the movement amount derivation unit 94 determines whether the state of the image of the marker 62 included in the first optical image can be regarded as the same as the state of the image of the marker 42 included in the second optical image. If the state of the image of the marker 42 can be regarded as the same, the determination in step S215B becomes an affirmative determination, and the process proceeds to step S216. On the other hand, if the state of the image of the marker 42 cannot be regarded as the same, the determination in step S215B becomes a negative determination, and the process returns to step S202 to repeat the above-described process.

[0098] In this way, by using both the first optical image and the second optical image, the accuracy of alignment between the source unit 10 and the panel unit 12 can be further improved.

[0099] Also, in the first optical image or the second optical image, the marker 42 or the marker 62 may be hidden by a subject or the like. For example, in the example shown in FIG. 12, the marker 62C provided on the panel base portion 58 of the panel unit 12 is hidden by the subject W. In the case shown in FIG. 12, even when the source unit 10 and the panel unit 12 are facing each other, the first optical image taken by the optical camera 40 of the source unit 10 does not originally include the image of the marker 62A that should be included. On the other hand, the second optical image taken by the optical camera 60 of the panel unit 12 includes the images of both the markers 42A and 42D. Therefore, it is preferable to perform alignment between the source unit 10 and the panel unit 12 using the second optical image without using the first optical image. Thus, among the first optical image and the second optical image, a form may be adopted in which an optical image that does not include an image of a predetermined marker that should appear when facing each other is not used, and an optical image that includes an image of a predetermined marker is used to derive the movement amount and the movement direction.

[0100] For example, in the above-described position control process (see FIGS. 8 and 9), before the source unit 10 and the panel unit 12 face each other, if a subject W enters between the source unit 10 and the panel unit 12, the first optical image or the second optical image may not include an image of a predetermined marker. In this case, a form may be adopted in which the movement amount and the movement direction are derived based on an optical image that includes an image of a predetermined marker among the first optical image and the second optical image. An example of this form will be described with reference to the flowchart showing an example of the flow of the position control process shown in FIGS. 13 and 14.

[0101] FIG. 13 shows a flowchart representing an example of the flow of the position control process executed by the radiation source unit 10 in this embodiment. The position control process shown in FIG. 13 differs from the process after the negative determination in step S104 in the position control process (see FIG. 8) of the above embodiment. In this embodiment, as shown in FIG. 13, when the determination in step S104 is negative, the process proceeds to step S105. Note that, as shown in FIG. 13, in this embodiment, when the determination in step S124 is negative and when the determination in step S128 is negative, the process also proceeds to step S105.

[0102] In step S105, the acquisition unit 90 determines whether it has received an instruction in charge of position control from the panel unit 12. The instruction in charge of position control is an instruction regarding the responsibility for the process of deriving the movement amount and movement direction for aligning the radiation source unit 10 and the panel unit 12. In the radiation source unit 10, when it has received the instruction in charge of position control, it executes the processes of steps S106 to S112 to derive the movement amount and movement direction of the panel unit 12. Therefore, when the instruction in charge of position control has been received, the determination in step S105 becomes affirmative, and the process proceeds to step S106. On the other hand, when the instruction in charge of position control has not been received, the determination in step S105 becomes negative, and the process proceeds to step S120.

[0103] Also, the position control process shown in FIG. 13 differs from the process after the negative determination in step S118 in the position control process (see FIG. 8) of the above embodiment. In this embodiment, as shown in FIG. 13, when the determination in step S118 is negative, the process proceeds to step S119A.

[0104] In step S119A, the acquisition unit 90 acquires a first optical image from the optical camera 40.

[0105] In the next step S119B, the marker detection unit 92 determines whether an image of a predetermined marker is included in the acquired first optical image. Here, as an example, it is determined whether an image of markers 62A and 62D is included in the first optical image as an image of a predetermined marker. If an image of a predetermined marker is included in the first optical image, since position control is performed based on the first optical image as it is, the determination in step S119B is an affirmative determination, and the process proceeds to step S108. On the other hand, if an image of a predetermined marker is not included in the first optical image, the determination in step S119B is a negative determination, and the process proceeds to step S119C.

[0106] In step S119C, after the information output unit 96 outputs the above-described position control responsible instruction to the panel unit 12, the process proceeds to step S120.

[0107] On the other hand, FIG. 14 shows a flowchart representing an example of the flow of the position control process executed by the panel unit 12 in this embodiment. The position control process shown in FIG. 14 is different from the process after a negative determination is made in step S200 in the position control process (see FIG. 9) of the above embodiment. In this embodiment, as shown in FIG. 14, when a negative determination is made in step S200, the process proceeds to step S201A.

[0108] In step S201A, the acquisition unit 90 determines whether it has received a position control responsible instruction from the radiation source unit 10. In the panel unit 12, when it has received a position control responsible instruction, it executes the processes of steps S202 to S208 to derive the movement amount and movement direction of the radiation source unit 10. Therefore, when it has received a position control responsible instruction, the determination in step S201A is an affirmative determination, and the process proceeds to step S201B. On the other hand, when it has not received a position control responsible instruction, the determination in step S201A is a negative determination, and the process proceeds to step S201B.

[0109] In step S201B, the acquisition unit 90 determines whether to end the position control process shown in FIG. 13. If not, the determination is a negative determination, and the process returns to step S201A. On the other hand, when an instruction to end is received, etc., the determination in step S201B is an affirmative determination, and the position control process shown in FIG. 14 is ended.

[0110] Also, the position control process shown in FIG. 14 is different from the process after the negative determination in step S214 in the position control process (see FIG. 9) of the above embodiment. In this embodiment, as shown in FIG. 14, when the negative determination is made in step S2148, the process proceeds to step S215A.

[0111] In step S215A, the acquisition unit 90 acquires a second optical image from the optical camera 60.

[0112] In the next step S215B, the marker detection unit 92 determines whether the acquired second optical image contains an image of a predetermined marker. Here, as an example, it is determined whether the second optical image contains images of markers 42A and 42D as images of a predetermined marker. If the acquired second optical image contains an image of a predetermined marker, since position control is performed based on the second optical image as it is, the determination in step S215B is an affirmative determination, and the process proceeds to step S204. On the other hand, if the acquired second optical image does not contain an image of a predetermined marker, the determination in step S215B is a negative determination, and the process proceeds to step S215C.

[0113] In step S215C, after the information output unit 96 outputs the above-described position control responsibility instruction to the radiation source unit 10, the process proceeds to step S215C.

[0114] As described above, in the forms shown in FIGS. 13 and 14, when, during the position control process, due to the subject W entering or the like, the images of the predetermined markers are not included in the first optical image or the second optical image, alignment of the source unit 10 and the panel unit 12 is performed using the optical image that includes the images of the predetermined markers among the first optical image and the second optical image. Therefore, in the forms shown in FIGS. 13 and 14, the alignment accuracy can be further improved, and the robustness can also be improved.

[0115] In addition to the above-described embodiment, after imaging after radiation, a position confirmation process may be executed to determine whether or not misalignment has occurred between the source unit 10 and the panel unit 12 by determining whether or not the source unit 10 and the panel unit 12 are facing each other during the imaging of the radiation image. Such a position confirmation process will be described with reference to FIG. 15. FIG. 15 shows a flowchart representing an example of the flow of the position confirmation process executed by the panel unit 12. The position confirmation process shown in FIG. 15 is executed after the above-described position control process (see FIG. 9) is completed.

[0116] In step S250 of FIG. 15, the acquisition unit 90 acquires the first optical image captured by the optical camera 40 from the source unit 10. Specifically, an instruction for causing the optical camera 40 to image the panel unit 12 is output to the source unit 10, and the acquisition unit 90 acquires the first optical image captured according to the instruction.

[0117] In the next step S252, the acquisition unit 90 acquires the second optical image from the optical camera 60.

[0118] In the next step S254, the movement amount derivation unit 94 determines whether the state of the image of the marker 62 included in the first optical image can be regarded as the same as the state of the image of the marker 42 included in the second optical image. After the X-ray source unit 10 and the panel unit 12 are in a facing state by the position control process, the subject W is positioned in front of the panel 50 of the panel unit 12. Therefore, there are cases where the marker 62 is hidden by the subject W (for example, see FIG. 12), or the optical camera 60 is hidden by the writing data WD. Therefore, in the position confirmation process shown in FIG. 15, when the state of the image of the marker 62 included in the first optical image and the state of the image of the marker 42 included in the second optical image are not the same, it is considered that the subject W has been positioned for taking a radiation image.

[0119] Therefore, when the state of the image of the marker 62 included in the first optical image can be regarded as the same as the state of the image of the marker 42 included in the second optical image, the determination in step S254 is an affirmative determination, and the process returns to step S250, and the processes of S250 and S252 are repeated. On the other hand, when the state of the image of the marker 62 included in the first optical image and the state of the image of the marker 42 included in the second optical image cannot be regarded as the same, the determination in step S254 is a negative determination, and the process proceeds to step S256. In this case, as described above, the subject W is positioned and a radiation image is taken.

[0120] Therefore, in step S256, the acquisition unit 90 determines whether the shooting of the radiation image has ended. The method by which the acquisition unit 90 determines whether the shooting of the radiation image has ended is not limited. For example, when a radiation image is output from the panel 50, the acquisition unit 90 may determine that the shooting of the radiation image has ended. Also, for example, when the panel unit 12 receives an instruction to end shooting input by the user via the operation unit 30 of the panel unit 12, the acquisition unit 90 may determine that the shooting of the radiation image has ended. Until the shooting of the radiation image ends, the determination in step S256 is a negative determination. On the other hand, when the shooting of the radiation image ends, the determination in step S256 is an affirmative determination, and the process proceeds to step S258.

[0121] In step S258, the acquisition unit 90 acquires the first optical image captured by the optical camera 40 from the radiation source unit 10, in the same manner as in S250 above.

[0122] In the next step S260, the acquisition unit 90 acquires a second optical image from the optical camera 60.

[0123] In the next step S262, the movement amount derivation unit 94 determines, in the same manner as in step S254 above, whether the state of the image of the marker 62 included in the first optical image and the state of the image of the marker 42 included in the second optical image can be regarded as the same. If the state of the image of the marker 62 included in the first optical image and the state of the image of the marker 42 included in the second optical image can be regarded as the same, the determination in step S262 becomes an affirmative determination, and the process proceeds to step S264. In this case, it can be regarded that the radiation source unit 10 and the panel unit 12 were maintained in a facing state even during the shooting of the radiation image.

[0124] Therefore, in step S264, the information output unit 96 outputs normal end information indicating that the shooting of the radiation image has ended while the radiation source unit 10 and the panel unit 12 are in a facing state, that is, in a normal state. When the process of step S264 ends, the position confirmation process shown in FIG. 15 ends. Note that the output destination of the normal end information is not limited. For example, the normal end information may be output to the radiation source unit 10. In this case, information indicating that the shooting has ended with the radiation source unit 10 and the panel unit 12 in a facing state may be displayed on the display unit 32 of the radiation source unit 10 based on the normal end information. Also, for example, it may be output to the storage destination of the captured radiation image, and the normal end information may be stored in association with the captured radiation image.

[0125] On the other hand, if the state of the image of the marker 62 included in the first optical image cannot be regarded as the same as the state of the image of the marker 42 included in the second optical image, the determination in step S262 becomes a negative determination, and the process proceeds to step S266. In this case, it can be considered that the source unit 10 and the panel unit 12 are not in the facing state during the imaging of the radiation image.

[0126] Therefore, in step S266, the information output unit 96 outputs abnormality termination information indicating that the imaging of the radiation image has ended in an abnormal state where the positions of the source unit 10 and the panel unit 12 are not in the facing state. When the process of step S266 ends, the position confirmation process shown in FIG. 15 ends. Note that the output destination of the abnormality termination information is not limited. For example, the abnormality termination information may be output to the source unit 10. In this case, information indicating that the imaging has ended in a state where the source unit 10 and the panel unit 12 are not in the facing state may be displayed on the display unit 32 of the source unit 10 based on the abnormality termination information. Also, for example, it may be output to the storage destination of the captured radiation image, and the abnormality termination information may be stored in association with the captured radiation image.

[0127] As described above, according to the position confirmation process shown in FIG. 15, it is possible to determine whether or not the source unit 10 and the panel unit 12 remain in the facing state even during the imaging of the radiation image. In the radiation imaging system 1, when it is determined that the source unit 10 and the panel unit 12 do not remain in the facing state, the user can be notified to that effect. For example, the user can determine whether or not to re-capture the radiation image based on the notified abnormality termination information.

[0128] Therefore, by performing the position confirmation process shown in FIG. 15, the user can determine whether or not the positions of the source unit 10 and the panel unit 12 are normal during the imaging of the radiation image. Therefore, the user can, for example, re-capture the radiation as necessary.

[0129] In the above-described embodiment, the form of controlling the relative position and relative orientation of the line source unit 10 and the panel unit 12 has been described. However, any form that controls at least one of the relative position and relative orientation may be used.

[0130] In the above-described embodiment, the form using the markers 42 and 62 has been described. However, the present invention is not limited to a form in which the feature points of the line source base portion 28 and the panel base portion 58 can be detected by the first detection unit and the second detection unit, respectively. For example, instead of the markers, beacons that can be individually identified by varying the types of signals may be used. Further, as a form, a distance measuring device or a distance measuring camera that can detect the distance to the feature point may be used instead of, or together with, the optical camera. Further, for example, a magnetic sensor or the like may be used.

[0131] In the above-described embodiment and each modification, as the hardware structure of a processing unit that executes various processes such as, for example, the acquisition unit 90, the marker detection unit 92, the movement amount derivation unit 94, and the information output unit 96, the following various processors can be used. In addition to the CPU, which is a general-purpose processor that executes software (program) and functions as various processing units as described above, the above-described various processors include a programmable logic device (PLD), such as an FPGA (Field Programmable Gate Array), which is a processor whose circuit configuration can be changed after manufacturing, and a dedicated electric circuit, which is a processor having a circuit configuration designed specifically to execute specific processing, such as an ASIC (Application Specific Integrated Circuit).

[0132] One processing unit may be composed of one of these various processors, or may be composed of a combination of two or more processors of the same type or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Also, a single processor may be used to constitute a plurality of processing units.

[0133] As an example of configuring a plurality of processing units with a single processor, first, as typified by computers such as clients and servers, one processor is configured by a combination of one or more CPUs and software, and this processor functions as a plurality of processing units. Second, as typified by a System On Chip (SoC), etc., a form in which a processor that realizes the functions of an entire system including a plurality of processing units with a single IC (Integrated Circuit) chip is used can be cited. Thus, various processing units are configured using one or more of the above-described various processors as a hardware structure.

[0134] Furthermore, as a hardware structure of these various processors, more specifically, an electric circuit (circuitry) that combines circuit elements such as semiconductor elements can be used.

[0135] Also, in the above-described embodiment, an aspect in which the position control program 71 is pre-stored (installed) in the ROM 70B and the position control program 81 is pre-stored in the ROM 80B has been described, but the present invention is not limited thereto. Each of the position control program 71 and the position control program 81 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), and a USB (Universal Serial Bus) memory. Also, each of the position control program 71 and the position control program 81 may be in a form downloaded from an external device via a network.

[0136] In addition, the configurations and operations of the radiation imaging system 1, the source unit 10, the panel unit 12, etc. described in each of the above embodiments are examples, and it goes without saying that they can be changed according to the situation without departing from the gist of the present invention. Also, it goes without saying that the above embodiments and modification examples may be appropriately combined.

[0137] Regarding the above embodiments, the following additional remarks are further disclosed.

[0138] (Supplementary Note 1) A radiation imaging system comprising a source unit, a panel unit, and at least one processor, wherein the source unit includes a radiation irradiation unit including a radiation source, a source base unit that supports the radiation irradiation unit and includes a source traveling mechanism for traveling and moving, and a first detection unit provided on the source base unit; the panel unit includes a panel that detects radiation irradiated from the radiation irradiation unit, a panel base unit that supports the panel and includes a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit; the source base unit and the panel base unit have a common shape; and the processor further includes a control device that controls at least one of the relative position and relative orientation of the source unit and the panel unit based on at least one of the detection results of the first detection unit and the detection results of the second detection unit. Radiation imaging system.

[0139] (Supplementary Note 2) The first detection unit and the second detection unit include an optical camera, the detection result of the first detection unit is a first optical image captured by the optical camera of the first detection unit, and the detection result of the second detection unit is a second optical image captured by the optical camera of the second detection unit. The radiation imaging system according to Supplementary Note 1.

[0140] (Supplementary Note 3) Markers are provided on each of the housing of the line source base portion and the housing of the panel base portion. Based on at least one of the image of the marker provided on the panel base portion included in the first optical image and the image of the marker provided on the line source base portion included in the second optical image, the control device controls at least one of the relative position and the relative attitude of the line source unit and the panel unit. The radiation imaging system according to appended claim 1 or appended claim 2.

[0141] (Appended claim 4) When the control device determines that the states of the image of the marker provided on the panel base portion included in the first optical image and the image of the marker provided on the line source base portion included in the second optical image are the same, the control device determines that the line source unit and the panel unit are facing each other. The radiation imaging system according to appended claim 3.

[0142] (Appended claim 5) A plurality of markers including a predetermined marker are provided on each of the housing of the line source base portion and the housing of the panel base portion. Based on the optical image including the image of the predetermined marker among the first optical image and the second optical image, the control device controls at least one of the relative position and the relative attitude of the line source unit and the panel unit. The radiation imaging system according to appended claim 2.

[0143] (Appended claim 6) Based on the detection result of at least one of the first detection unit and the second detection unit, the control device derives at least one of the moving amount and the moving direction of at least one of the line source unit and the panel unit so that the positions of the line source unit and the panel unit are at least one of a predetermined relative position and a predetermined relative attitude. The radiation imaging system according to any one of appended claims 1 to 5.

[0144] (Appendix 7) When the control device derives the moving amount and moving direction of the radiation source unit, based on the derived moving amount and moving direction, it causes the radiation source unit to travel and move by the radiation source traveling mechanism, When the moving amount and moving direction of the panel unit are derived, based on the derived moving amount and moving direction, it causes the panel unit to travel and move by the panel traveling mechanism The radiographic system according to Appendix 6.

[0145] (Appendix 8) The control device causes the display unit to display the derived moving amount and moving direction The radiographic system according to Appendix 6.

[0146] (Appendix 9) A control method for a radiographic system including a radiation source unit and a panel unit, the radiation source unit including a radiation irradiation unit including a radiation source, a radiation source base unit supporting the radiation irradiation unit and including a radiation source traveling mechanism for traveling and moving, and a first detection unit provided on the radiation source base unit, the panel unit including a panel for detecting radiation irradiated from the radiation irradiation unit, a panel base unit supporting the panel and including a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit, the radiation source base unit and the panel base unit having a common shape, comprising: The processor Based on at least one of the detection results of the first detection unit and the detection results of the second detection unit, controls at least one of the relative position and relative attitude of the radiation source unit and the panel unit A control method for executing the process.

[0147] (Appendix 10) A radiation imaging system includes a radiation source unit and a panel unit. The radiation source unit includes a radiation irradiation unit including a radiation source, a source base unit that supports the radiation irradiation unit and includes a source traveling mechanism for traveling and moving, and a first detection unit provided on the source base unit. The panel unit includes a panel that detects radiation irradiated from the radiation irradiation unit, a panel base unit that supports the panel and includes a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit. The source base unit and the panel base unit have a common shape, and a processor of a control device that controls the radiation imaging system causes at least one of the relative position and the relative attitude of the radiation source unit and the panel unit to be controlled based on at least one of the detection result of the first detection unit and the detection result of the second detection unit to execute a control program.

Explanation of Signs

[0148] 1 Radiation imaging system 10 Radiation source unit 12 Panel unit 16 Floor surface 20 Radiation irradiation unit 21 Radiation source 22 Arm 24 Holding part 26 Support part 27, 57 Gripping part 28 Source base unit 29, 59 Wheel 30, 65 Operation part 32 Display part 40, 60 Optical camera 42A~42D, 62A~62F Marker 50 Panel 52 Arm 54 Holding part 56 Support part 70, 80 Control part, 70A, 80A CPU, 70B, 80B ROM, 70C, 80C RAM 71, 81 Position control program 72, 82 Storage part 74, 84 I / F Unit 76 Line Source Control Unit 77 Display Control Unit 79, 89 Bus 90 Acquisition Unit 92 Marker Detection Unit 94 Movement Amount Derivation Unit 96 Information Output Unit W Subject

Claims

1. A radiation imaging system comprising a radiation source unit, a panel unit, and at least one processor, wherein: the radiation source unit includes a radiation irradiation unit containing a radiation source, a source base unit supporting the radiation irradiation unit and including a source traveling mechanism for traveling and moving, and a first detection unit provided on the source base unit; the panel unit includes a panel for detecting radiation irradiated from the radiation irradiation unit, a panel base unit supporting the panel and including a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit; the source base unit and the panel base unit have a common shape; and the processor further includes a control device for controlling at least one of the relative position and relative orientation of the radiation source unit and the panel unit based on at least one of the detection results of the first detection unit and the detection results of the second detection unit. A radiation imaging system.

2. The first detection unit and the second detection unit include an optical camera, the detection result of the first detection unit is a first optical image captured by the optical camera of the first detection unit, and the detection result of the second detection unit is a second optical image captured by the optical camera of the second detection unit. The radiation imaging system according to Claim 1.

3. Markers are provided on each of the housing of the source base unit and the housing of the panel base unit, and the control device controls at least one of the relative position and relative orientation of the radiation source unit and the panel unit based on at least one of the image of the marker provided on the panel base unit included in the first optical image and the image of the marker provided on the source base unit included in the second optical image. The radiation imaging system according to Claim 2.

4. When the control device determines that the states of the image of the marker provided on the panel base unit included in the first optical image and the image of the marker provided on the source base unit included in the second optical image are the same, it determines that the radiation source unit and the panel unit are facing each other. The radiation imaging system according to Claim 3.

5. A plurality of markers including predetermined markers are provided on each of the housing of the source base unit and the housing of the panel base unit. The control device controls at least one of the relative position and the relative attitude of the radiation source unit and the panel unit based on an optical image including an image of the predetermined marker among the first optical image and the second optical image. The radiographic system according to claim 2.

6. The control device derives at least one of the moving amount and the moving direction of at least one of the radiation source unit and the panel unit for making at least one of the positions of the radiation source unit and the panel unit be a predetermined relative position and a relative attitude based on at least one of the detection results of the first detection unit and the second detection unit. The radiographic system according to claim 1.

7. When the control device derives the moving amount and the moving direction of the radiation source unit, the control device causes the radiation source unit to travel and move by the radiation source traveling mechanism based on the derived moving amount and moving direction. When the control device derives the moving amount and the moving direction of the panel unit, the control device causes the panel unit to travel and move by the panel traveling mechanism based on the derived moving amount and moving direction. The radiographic system according to claim 6.

8. The control device causes the derived moving amount and moving direction to be displayed on a display unit. The radiographic system according to claim 6.

9. A control method of a radiographic system including a radiation source unit and a panel unit, wherein the radiation source unit includes a radiation irradiation unit including a radiation source, a source base unit supporting the radiation irradiation unit and including a source traveling mechanism for traveling and moving, and a first detection unit provided on the source base unit, the panel unit includes a panel for detecting radiation irradiated from the radiation irradiation unit, a panel base unit supporting the panel and including a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit, and the source base unit and the panel base unit have a common shape. A processor executes a process of controlling at least one of the relative position and the relative attitude of the radiation source unit and the panel unit based on at least one of the detection result of the first detection unit and the detection result of the second detection unit. A control method.

10. A radiation imaging system includes a line source unit and a panel unit. The line source unit includes a radiation irradiation unit containing a radiation source, a line source base unit that supports the radiation irradiation unit and includes a line source traveling mechanism for traveling and moving, and a first detection unit provided on the line source base unit. The panel unit includes a panel that detects radiation irradiated from the radiation irradiation unit, a panel base unit that supports the panel and includes a panel traveling mechanism for traveling and moving, and a second detection unit provided on the panel base unit. The line source base unit and the panel base unit have a common shape, and the processor of a control device that controls the radiation imaging system is configured to control at least one of the relative position and the relative orientation of the line source unit and the panel unit based on at least one of the detection result of the first detection unit and the detection result of the second detection unit. A control program for causing the execution of the process.

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