Imaging control device, method, and program

Abstract

To reduce an influence of a radioactive ray emitted in another fluoroscopic imaging apparatus when performing fluoroscopic imaging at mutually different timings using a plurality of fluoroscopic imaging apparatuses in an imaging control device, an imaging method, and an imaging program.SOLUTION: A processor mutually registers another fluoroscopic imaging apparatus other than the fluoroscopic imaging apparatuses that control fluoroscopic imaging by themselves, and in the fluoroscopic imaging apparatuses that control fluoroscopic imaging by themselves, when an instruction to start emission of a radioactive ray is given, the processor notifies another fluoroscopic imaging apparatus of an imaging condition by a pulse-like radioactive ray, and in the fluoroscopic imaging apparatuses that control fluoroscopic imaging by themselves, when an imaging condition is notified from another fluoroscopic imaging apparatus in the case where an instruction to start emission of a radioactive ray is not given, and an instruction to start emission of a radioactive ray is given later, the processor controls fluoroscopic imaging so as to emit the pulse-like radioactive ray at a timing when emission of the pulse-like radioactive ray is stopped in another fluoroscopic imaging apparatus on the basis of the imaging condition.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to an imaging control device, method, and program. [Background technology]

[0002] In surgical operations and catheter treatments, it is necessary to understand the positional relationship between surgical instruments and human body structures such as bones and blood vessels. To this end, during surgery, a subject is photographed using a fluoroscopic imaging device, and the resulting radiographic fluoroscopic images are displayed on a display screen to understand the positional relationship between the surgical instruments and the human body structures. However, while the surgical instruments and the human body structures have a three-dimensional positional relationship, the fluoroscopic images are two-dimensional images. It is difficult to understand the three-dimensional positional relationship between the surgical instruments and the human body structures by looking at such two-dimensional fluoroscopic images.

[0003] For this reason, a fluoroscopic imaging device has been proposed that includes two sets of detectors and radiation sources, and captures images of a subject from two directions to grasp the three-dimensional positional relationship between a surgical instrument and a human body structure (see Patent Document 1). In the device described in Patent Document 1, the timing of imaging is controlled so that the period during which radiation is irradiated to the first of the two detectors does not overlap with the period during which radiation is irradiated to the second detector.

[0004] On the other hand, two fluoroscopic imaging devices are used to perform imaging of a subject from two directions (see Patent Document 2). In the device described in Patent Document 2, the control device alternately outputs the irradiation timing to two X-ray irradiation units, thereby shifting the timing of X-ray irradiation by the two X-ray irradiation units and performing X-ray imaging from two different directions. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-087892 [Patent Document 2] Japanese Patent Application Laid-Open No. 2015-009012 Summary of the Invention [Problem to be solved by the invention]

[0006] When two fluoroscopic imaging devices are used, radiation irradiated onto a subject from one device may be scattered by the subject, resulting in unintended detection of radiation by the other device. In this case, the quality of the fluoroscopic images acquired by both devices decreases. In the method described in Patent Document 2, the timing of X-ray irradiation by two X-ray irradiators is shifted. However, with the method described in Patent Document 2, even when only one fluoroscopic imaging device is in use, imaging is performed by the other fluoroscopic imaging device. Furthermore, with the method described in Patent Document 2, it is not possible to set the timing of X-ray irradiation when imaging by one fluoroscopic imaging device is started after imaging by the other fluoroscopic imaging device is started.

[0007] The present disclosure has been made in consideration of the above circumstances, and aims to reduce the influence of radiation emitted by other fluoroscopic imaging devices when fluoroscopic imaging is performed using multiple fluoroscopic imaging devices at mutually different timings. [Means for solving the problem]

[0008] An imaging control device according to the present disclosure is an imaging control device that controls fluoroscopic imaging in each of multiple fluoroscopic imaging devices that are used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from multiple directions, and at least one processor; The processor mutually registers other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the processor controls for fluoroscopic imaging; When an instruction to start emitting radiation is given in the fluoroscopic imaging device that controls the fluoroscopic imaging, the fluoroscopic imaging device notifies other fluoroscopic imaging devices of imaging conditions using pulsed radiation, When a fluoroscopic imaging device that controls itself is notified of imaging conditions from another fluoroscopic imaging device when no instruction to start emitting radiation has been given, and then an instruction to start emitting radiation is given, the fluoroscopic imaging device controls the fluoroscopic imaging so that pulsed radiation is emitted at a timing when the other fluoroscopic imaging device has stopped emitting pulsed radiation based on the imaging conditions.

[0009] In the imaging control device according to the present disclosure, the processor sets the fluoroscopic imaging apparatus that it controls to a registration waiting state, Search for other fluoroscopic imaging devices that are waiting to be registered, The other fluoroscopic imaging apparatuses found may be mutually registered.

[0010] In the imaging control device according to the present disclosure, the instruction to start emitting radiation may be given by turning on a radiation irradiation switch of the fluoroscopic imaging device.

[0011] Furthermore, in the imaging control device according to the present disclosure, when an instruction to stop radiation emission is given, the processor may notify other fluoroscopic imaging devices that radiation emission has been stopped.

[0012] In addition, in the imaging control device according to the present disclosure, the instruction to stop the emission of radiation is given by turning off a radiation irradiation switch of the fluoroscopic imaging device, The processor may notify the other fluoroscopic imaging apparatus that the emission of radiation has been stopped by transmitting a radiation irradiation stop flag to the other fluoroscopic imaging apparatus.

[0013] Further, an imaging control method according to the present disclosure is an imaging control method for controlling fluoroscopic imaging in each of multiple fluoroscopic imaging apparatuses used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from multiple directions, the method comprising: The computer mutually registers other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the computer controls for fluoroscopic imaging; When an instruction to start emitting radiation is given in the fluoroscopic imaging device that controls the fluoroscopic imaging, the fluoroscopic imaging device notifies other fluoroscopic imaging devices of imaging conditions using pulsed radiation, When a fluoroscopic imaging device that controls itself is notified of imaging conditions from another fluoroscopic imaging device when no instruction to start emitting radiation has been given, and then an instruction to start emitting radiation is given, the fluoroscopic imaging device controls the fluoroscopic imaging so that pulsed radiation is emitted at a timing when the other fluoroscopic imaging device has stopped emitting pulsed radiation based on the imaging conditions.

[0014] An imaging control program according to the present disclosure is an imaging control program that causes a computer to execute a process for controlling fluoroscopic imaging in each of multiple fluoroscopic imaging devices that are used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from multiple directions, and a procedure for mutually registering other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the fluoroscopic imaging apparatus controls; a procedure for notifying other fluoroscopic imaging devices of imaging conditions using pulsed radiation when an instruction to start emitting radiation is given in the fluoroscopic imaging device that controls the fluoroscopic imaging; When the fluoroscopic imaging device that controls the fluoroscopic imaging itself is notified of imaging conditions from another fluoroscopic imaging device when an instruction to start emitting radiation has not been given, and when an instruction to start emitting radiation is thereafter given, the computer executes a procedure for controlling the fluoroscopic imaging so that pulsed radiation is emitted at a timing when the other fluoroscopic imaging device has stopped emitting pulsed radiation based on the imaging conditions. [Effects of the Invention]

[0015] According to the present disclosure, when fluoroscopic imaging is performed at mutually different timings using a plurality of fluoroscopic imaging apparatuses, the influence of radiation emitted by the other fluoroscopic imaging apparatuses can be reduced. [Brief explanation of the drawings]

[0016] [Figure 1]FIG. 1 is a diagram illustrating an overview of a fluoroscopic imaging system including a plurality of fluoroscopic imaging apparatuses each equipped with an imaging control device according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a diagram showing the positional relationship between the first and second fluoroscopic imaging devices. [Figure 3] FIG. 1 is a diagram showing a schematic configuration of an imaging control device according to an embodiment of the present invention; [Figure 4] FIG. 1 is a diagram showing the functional configuration of an imaging control device according to an embodiment of the present invention; [Figure 5] A diagram for explaining the timing of radiation irradiation [Figure 6] A diagram showing a display screen for a fluoroscopic image. [Figure 7] A flowchart showing the processing performed in this embodiment [Figure 8] A flowchart showing a registration process performed in this embodiment. [Figure 9] A flowchart showing the processing performed in the fluoroscopic imaging apparatus that has been notified of the imaging conditions in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic block diagram showing the configuration of a fluoroscopic imaging system including multiple fluoroscopic imaging apparatuses each equipped with an imaging control device according to an embodiment of the present disclosure. As shown in Fig. 1, a fluoroscopic imaging system 100 according to this embodiment includes first and second fluoroscopic imaging apparatuses 1A and 1B that are used simultaneously.

[0018] As shown in Fig. 1, a first fluoroscopic imaging apparatus 1A according to this embodiment includes a C-arm 2. A detector 3 is attached to one end of the C-arm 2, and a radiation irradiator 4 is attached to the other end thereof so as to face the detector 3. The second fluoroscopic imaging apparatus 1B has a similar configuration to the first fluoroscopic imaging apparatus 1A, but Fig. 1 shows only the C-arm 2, detector 3, and radiation irradiator 4, and does not show the other components.

[0019] Fig. 2 is a diagram showing the positional relationship between the first and second fluoroscopic imaging apparatuses 1A and 1B. In this embodiment, the x-axis is set to the left-right direction in Fig. 1, the y-axis is set to the depth direction in Fig. 1, and the z-axis is set to the direction perpendicular to the surface on which the first and second fluoroscopic imaging apparatuses 1A and 1B shown in Fig. 1 are placed. Fig. 2(A) shows the fluoroscopic imaging system 100 as viewed from the z-direction, and Fig. 2(B) shows the fluoroscopic imaging system 100 as viewed from the x-direction. In the states shown in Figs. 1 and 2, the first fluoroscopic imaging apparatus 1A is arranged to image the subject H in the z-direction, and the second fluoroscopic imaging apparatus 1B is arranged to image the subject H in the x-direction.

[0020] The configuration of the first fluoroscopic imaging apparatus 1A will be described in detail below. Note that the configuration of the second fluoroscopic imaging apparatus 1B is the same as that of the first fluoroscopic imaging apparatus 1A, so a detailed description of the second fluoroscopic imaging apparatus 1B will be omitted.

[0021] The detection unit 3 is provided with a radiation detector 5 such as a flat panel detector. The detection unit 3 also contains a circuit board on which are mounted a charge amplifier that converts charge signals read out from the radiation detector 5 into voltage signals, a correlated double sampling circuit that samples voltage signals output from the charge amplifier, and an AD (Analog-Digital) converter that converts voltage signals into digital signals. Although the present embodiment uses the radiation detector 5, the device is not limited to the radiation detector 5 as long as it can detect radiation and convert it into an image. For example, a detection device such as an image intensifier can also be used.

[0022] The radiation detector 5 is capable of repeatedly recording and reading out radiation images, and may be a so-called direct type radiation detector that directly converts radiation such as X-rays into electric charges, or a so-called indirect type radiation detector that first converts radiation into visible light and then converts the visible light into an electric charge signal. Furthermore, the radiation image signal is preferably read out by turning a TFT (Thin Film Transistor) switch on and off (a so-called TFT readout system), or by irradiating the device with readout light (a so-called optical readout system), but is not limited to these and other systems may also be used.

[0023] The radiation irradiation unit 4 contains a radiation source 6, which emits radiation toward the detection unit 3. The radiation source 6 emits X-rays as radiation, and the timing at which the radiation is emitted from the radiation source 6 and the timing at which the radiation is detected by the radiation detector 5 are controlled by an imaging control unit, which will be described later. The radiation generation conditions of the radiation source 6, i.e., the selection of target and filter materials, tube voltage, irradiation time, etc., are also controlled by the imaging control unit.

[0024] In this embodiment, the C-arm 2 is held by a C-arm holder 7 so that it can move in the direction of arrow A in Fig. 1, so that the angles of the detection unit 3 and the radiation irradiation unit 4 relative to the z direction (vertical direction) shown in Fig. 1 can be changed together. The C-arm holder 7 also has a shaft 8, which rotatably connects the C-arm 2 to a bearing 9. This allows the C-arm 2 to rotate in the direction of arrow B in Fig. 1 around the shaft 8 as the rotation axis.

[0025] As shown in Fig. 1, the first fluoroscopic imaging apparatus 1A includes a main body 10. A plurality of wheels 11 are attached to the bottom of the main body 10, making the first fluoroscopic imaging apparatus 1A movable. A support shaft 12 that extends and contracts in the z-axis direction in Fig. 1 is provided at the top of the housing of the main body 10 in Fig. 1. A bearing 9 is held at the top of the support shaft 12 so as to be movable in the direction of arrow C.

[0026] A foot switch 13 is also connected to the main body 10 for turning on and off the emission of radiation from the radiation source 6 of the radiation irradiation unit 4. When the surgeon during surgery steps on the foot switch 13, it is turned on, causing radiation to be emitted from the radiation source 6. When the surgeon takes his foot off the foot switch 13, it is turned off, causing the emission of radiation from the radiation source 6 to stop. The foot switch 13 is an example of a radiation irradiation switch. The foot switch 13 of the first fluoroscopic imaging apparatus 1A and the foot switch 13 of the second fluoroscopic imaging apparatus 1B may be arranged next to each other so that both can be turned on simultaneously or only one can be turned on.

[0027] The first fluoroscopic radiography apparatus 1A has the above-described configuration, and irradiates radiation onto subject H lying supine on the radiography table 15 from below, and the radiation that has passed through subject H is detected by the radiation detector 5 of the detection unit 3, thereby obtaining a fluoroscopic image of subject H from the front. On the other hand, the second fluoroscopic radiography apparatus 1B irradiates subject H lying supine on the radiography table 15 from the side, and detects the radiation that has passed through subject H by the radiation detector 5 of the detection unit 3, thereby obtaining a fluoroscopic image of subject H from the side. By displaying the two fluoroscopic images obtained in this manner, which are taken from different directions, the internal state of subject H can be grasped in three dimensions.

[0028] Here, the C-arm 2 is movable in the directions of arrows A, B, and C, and the first and second fluoroscopic radiography apparatuses 1A and 1B are movable on wheels 11. Therefore, the first and second fluoroscopic radiography apparatuses 1A and 1B can adjust their own positions and the positions of the C-arm 2 to radiograph a desired part of the subject H lying supine on the radiography table 15 from a desired direction.

[0029] The main body 10 includes an imaging control device 20 according to the present embodiment for controlling imaging by the first and second fluoroscopic imaging apparatuses 1A and 1B. FIG. 3 is a diagram showing the hardware configuration of the imaging control device. As shown in FIG. 3, the imaging control device 20 is a computer such as a workstation, a server computer, or a personal computer, and includes a CPU (Central Processing Unit) 21, nonvolatile storage 23, and memory 26 as a temporary storage area. The imaging control device 20 also includes a display 24 such as a liquid crystal display, an input device 25 such as a keyboard and a mouse, and a wired or wireless network I / F (Interface) 27 connected to the detection unit 3, the radiation irradiation unit 4, and the foot switch 13 and for exchanging information with external devices. The CPU 21, the storage 23, the display 24, the input device 25, the memory 26, and the network I / F 27 are connected to a bus 28. The CPU 21 is an example of a processor in the present disclosure.

[0030] The storage 23 is realized by a hard disk drive (HDD), a solid state drive (SSD), a flash memory, etc. The storage 23 as a storage medium stores the imaging control program 22 installed in the imaging control device 20. The CPU 21 reads the imaging control program 22 from the storage 23, expands it in the memory 26, and executes the expanded imaging control program 22.

[0031] The imaging control program 22 is stored in a state accessible from the outside in a storage device of a server computer connected to a network or in a network storage, and is downloaded and installed in the imaging control device 20 upon request. Alternatively, the imaging control program 22 is recorded on a recording medium such as a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disc Read Only Memory) and distributed, and is installed in the imaging control device 20 from the recording medium.

[0032] Next, the functional configuration of the imaging control device according to this embodiment will be described. Fig. 4 is a diagram showing the functional configuration of the imaging control device according to this embodiment. As shown in Fig. 4, the imaging control device 20 includes an imaging control unit 31, a registration unit 32, a notification unit 33, and a display control unit 34. When the CPU 21 executes the imaging control program 22, the CPU 21 functions as the imaging control unit 31, the registration unit 32, the notification unit 33, and the display control unit 34.

[0033] When the foot switch 13 is turned on and an ON signal is input from the foot switch 13, the imaging control unit 31 causes the radiation source 6 of the radiation irradiator 4 to emit radiation based on imaging conditions set by a console (not shown). Furthermore, the imaging control unit 31 detects the radiation that has passed through the subject H using the radiation detector 5 of the detection unit 3 in accordance with the timing at which radiation is emitted from the radiation source 6, and generates a fluoroscopic image of the subject H. The generated fluoroscopic image is displayed on the display 24.

[0034] In this embodiment, while the foot switch 13 is turned on, the imaging control unit 31 controls the radiation source 6 to emit radiation in pulses. As a result, pulsed radiation is emitted from the radiation source 6, and fluoroscopic images are generated by the radiation detector 5 at timings corresponding to the emission of radiation. Therefore, the display 24 displays the fluoroscopic images continuously like a moving image at timings corresponding to the emission of pulsed radiation.

[0035] Furthermore, as will be described later, when the imaging control unit 31 receives imaging conditions from the other fluoroscopic imaging apparatus, it controls the timing of radiation emission from its own fluoroscopic imaging apparatus.

[0036] The registration unit 32 mutually registers fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus for which the imaging control device 20 itself controls fluoroscopic imaging. Specifically, pairing is performed with fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus for which the imaging control device 20 itself controls fluoroscopic imaging. In this embodiment, the registration unit 32 of the first fluoroscopic imaging apparatus 1A pairs with the second fluoroscopic imaging apparatus 1B, and the registration unit 32 of the second fluoroscopic imaging apparatus 1B pairs with the first fluoroscopic imaging apparatus 1A.

[0037] The pairing may be performed using a technique similar to short-range wireless communication such as Bluetooth (registered trademark). That is, the first fluoroscopic imaging apparatus 1A and the second fluoroscopic imaging apparatus 1B are made to recognize each other, and an instruction to perform pairing is given from the input device 25, thereby performing pairing.

[0038] During registration, a user such as a doctor or medical assistant performs an operation using the input device 25 for each of the first fluoroscopic imaging apparatus 1A and the second fluoroscopic imaging apparatus 1B to place the first fluoroscopic imaging apparatus 1A and the second fluoroscopic imaging apparatus 1B in a registration waiting state. This causes the registration unit 32 to set the fluoroscopic imaging apparatuses equipped therein to a registration waiting state. The registration unit 32 then searches for other fluoroscopic imaging apparatuses that are in a registration waiting state. For example, in this embodiment, since both the first and second fluoroscopic imaging apparatuses 1A and 1B are set to a registration waiting state, when the registration unit 32 of the imaging control device 20 of the first fluoroscopic imaging apparatus 1A searches for apparatuses in a registration waiting state, it finds the second fluoroscopic imaging apparatus 1B. On the other hand, when the registration unit 32 of the imaging control device 20 of the second fluoroscopic imaging apparatus 1B searches for apparatuses in a registration waiting state, it finds the first fluoroscopic imaging apparatus 1A.

[0039] The registration unit 32 of the imaging control device 20 of the first fluoroscopic imaging apparatus 1A pairs with the found second fluoroscopic imaging apparatus 1B, and mutually registers the found second fluoroscopic imaging apparatus 1B. The registration unit 32 of the imaging control device 20 of the second fluoroscopic imaging apparatus 1B pairs with the found first fluoroscopic imaging apparatus 1A, and mutually registers the found first fluoroscopic imaging apparatus 1A.

[0040] When the foot switch 13 is turned on, the notification unit 33 notifies the other mutually registered fluoroscopic imaging apparatuses of the imaging conditions. That is, when the foot switch 13 is turned on in the first fluoroscopic imaging apparatus 1A, the notification unit 33 of the imaging control device 20 of the first fluoroscopic imaging apparatus 1A notifies the second fluoroscopic imaging apparatus 1B of the imaging conditions. When the foot switch 13 is turned on in the second fluoroscopic imaging apparatus 1B, the notification unit 33 of the imaging control device 20 of the second fluoroscopic imaging apparatus 1B notifies the first fluoroscopic imaging apparatus 1A of the imaging conditions. The notification is performed, for example, via short-range wireless communication. In this embodiment, since radiation is emitted from the radiation source 6 in pulsed form, the imaging conditions include an irradiation start time, a pulse rate (pulse / s), and a pulse width (ms).

[0041] When the imaging conditions are notified, the imaging control unit 31 of the notified fluoroscopic imaging apparatus controls the timing of radiation irradiation when the foot switch 13 is turned on. Fig. 5 is a diagram for explaining the timing of radiation irradiation. Note that Fig. 5 shows the timing of radiation irradiation when the foot switch 13 of the first fluoroscopic imaging apparatus 1A is turned on first, but the same applies when the foot switch 13 of the second fluoroscopic imaging apparatus 1B is turned on first.

[0042] The horizontal axis of Figure 5 represents time, and from top to bottom, it shows the on / off of the foot switch 13 of the first fluoroscopic imaging apparatus 1A, the timing of radiation emitted from the radiation source 6 when the foot switch 13 of the first fluoroscopic imaging apparatus 1A is turned on, the on / off of the foot switch 13 of the second fluoroscopic imaging apparatus 1B that has received notification of the imaging conditions, and the timing of radiation emitted from the radiation source 6 when the foot switch 13 of the second fluoroscopic imaging apparatus 1B is turned on.

[0043] 5, in this embodiment, when the foot switch 13 of the first fluoroscopic imaging apparatus 1A is turned on from an off state, pulsed radiation is emitted from the radiation source 6. At the timing when the foot switch 13 is turned on, the notification unit 33 notifies the mutually registered second fluoroscopic imaging apparatus 1B of the imaging conditions. The first fluoroscopic imaging apparatus 1A captures an image of the subject H. The second fluoroscopic imaging apparatus 1B stores the notified imaging conditions in the storage 23.

[0044] When the foot switch 13 is turned on in the second fluoroscopic imaging apparatus 1B while imaging of the subject H is being performed in the first fluoroscopic imaging apparatus 1A, the imaging control unit 31 of the second fluoroscopic imaging apparatus 1B derives the timing at which emission of pulsed radiation in the first fluoroscopic imaging apparatus 1A is stopped, based on the imaging conditions notified by the first fluoroscopic imaging apparatus 1A and stored in the storage 23. Specifically, the imaging control unit 31 of the second fluoroscopic imaging apparatus 1B derives the timing at which emission of pulsed radiation is stopped from the irradiation start time, pulse rate, and pulse width included in the imaging conditions. Then, the imaging control unit 31 of the second fluoroscopic imaging apparatus 1B controls the radiation source 6 to emit radiation at the timing at which emission of pulsed radiation in the first fluoroscopic imaging apparatus 1A is stopped.

[0045] 5, in the second fluoroscopic imaging apparatus 1B, radiation is not emitted immediately after the foot switch 13 is turned on, but pulsed radiation is emitted at the timing when the emission of pulsed radiation is stopped in the first fluoroscopic imaging apparatus 1A. As a result, the first fluoroscopic imaging apparatus 1A and the second fluoroscopic imaging apparatus 1B alternately irradiate the subject H with pulsed radiation, and imaging of the subject H is performed.

[0046] On the other hand, when the foot switch 13 is turned off in the first fluoroscopic imaging apparatus 1A, the emission of radiation is stopped, and the notification unit 33 transmits a flag indicating that the emission of radiation has been stopped to the mutually registered second fluoroscopic imaging apparatus 1B. In this case, if imaging is not being performed by the second fluoroscopic imaging apparatus 1B, the second fluoroscopic imaging apparatus 1B may discard the imaging conditions saved in the storage 23. After receiving the flag indicating that the emission of radiation has been stopped, when the foot switch 13 is turned on in the second fluoroscopic imaging apparatus 1B, imaging of the subject H is immediately performed using radiation emitted from the radiation source 6.

[0047] The display control unit 34 displays the fluoroscopic images acquired by the first and second fluoroscopic imaging apparatuses 1A and 1B on the display 24. FIG. 6 is a diagram showing a display screen for fluoroscopic images. As shown in FIG. 6, a fluoroscopic image 41 acquired by the first fluoroscopic imaging apparatus 1A and a fluoroscopic image 42 acquired by the second fluoroscopic imaging apparatus 1B are displayed side by side on a display screen 40. The fluoroscopic image 41 is a front image of the subject H, and the fluoroscopic image 42 is a side image of the subject H. It is preferable that the two fluoroscopic images 41 and 42 are displayed side by side on the displays 24 of both the fluoroscopic imaging apparatuses 1A and 1B, but they may also be displayed side by side on the display 24 of either one of the fluoroscopic imaging apparatuses 1A and 1B.

[0048] Next, the processing performed in this embodiment will be described. Fig. 7 is a flowchart showing the processing performed in this embodiment. Fig. 7 shows only the processing performed in one of the first fluoroscopic imaging apparatus 1A and the second fluoroscopic imaging apparatus 1B. First, the registration unit 32 performs pairing to mutually register the first fluoroscopic imaging apparatus 1A and the second fluoroscopic imaging apparatus 1B (step ST1).

[0049] 8 is a flowchart showing the mutual registration process. The registration unit 32 sets the fluoroscopic imaging apparatus in which it is equipped to a registration waiting state (step ST11). Next, the registration unit 32 searches for other fluoroscopic imaging apparatuses that are also in a registration waiting state (step ST12). Then, the registration unit 32 performs pairing with the other fluoroscopic imaging apparatus found (step ST13), thereby mutually registering the other fluoroscopic imaging apparatus found, and the mutual registration process ends.

[0050] Returning to FIG. 7, the imaging control unit 31 then starts monitoring whether or not a command to start emitting radiation has been issued by turning on the foot switch 13 (step ST2). If step ST2 is determined to be positive, the notification unit 33 notifies the other fluoroscopic imaging apparatuses of the imaging conditions (step ST3). Then, the imaging control unit 31 causes the radiation source 6 to emit pulsed radiation (step ST4). This allows imaging of the subject H.

[0051] Next, the imaging control unit 31 determines whether or not an instruction to stop the emission of radiation has been issued by turning off the foot switch 13 (step ST5). If step ST5 is negative, the process returns to step ST4. If step ST5 is positive, the imaging control unit 31 stops the emission of radiation, and the notification unit 33 notifies the user that the emission of radiation has stopped (step ST6), and the process returns to step ST2.

[0052] 9 is a flowchart showing the processing performed in the fluoroscopic imaging apparatus that has received the notification of the imaging conditions in this embodiment. Here, the description will be given assuming that the imaging conditions have been notified to the second fluoroscopic imaging apparatus 1B. It is assumed that the mutual registration of the first and second fluoroscopic imaging apparatuses 1A and 1B has been completed. The first fluoroscopic imaging apparatus 1A monitors whether or not the imaging conditions have been notified (step ST21), and if step ST21 is positive, the notified imaging conditions are saved in the storage 23 (step ST22).

[0053] Next, the imaging control unit 31 starts monitoring whether or not an instruction to start emitting radiation has been issued by turning on the foot switch 13 (step ST23). If step ST23 is determined to be positive, the imaging control unit 31 derives the timing at which the first fluoroscopic imaging apparatus 1A stops emitting pulsed radiation (deriving stop timing: step ST24) based on the imaging conditions stored in the storage 23. Then, the imaging control unit 31 causes the radiation source 6 to emit pulsed radiation at the timing at which the first fluoroscopic imaging apparatus 1A stops emitting pulsed radiation (step ST25). In this way, imaging of the subject H is performed.

[0054] Next, the imaging control unit 31 determines whether or not an instruction to stop emitting radiation has been issued by turning off the foot switch 13 (step ST26). If step ST26 is negative, the process returns to step ST25. If step ST26 is positive, the imaging control unit 31 stops emitting radiation from the radiation source 6 (step ST27) and ends the process.

[0055] As described above, in this embodiment, when multiple fluoroscopic imaging devices are used simultaneously to perform fluoroscopic imaging of a subject from multiple directions, the multiple fluoroscopic imaging devices are mutually registered, and when radiation is emitted, the imaging conditions are notified to the other fluoroscopic imaging devices. When an instruction to start imaging is given, the other fluoroscopic imaging devices derive, based on the imaging conditions, the timing at which the emission of pulsed radiation is stopped in the fluoroscopic imaging device that notified the imaging conditions. Then, pulsed radiation is emitted at the timing at which the emission of pulsed radiation is stopped in the fluoroscopic imaging device that notified the imaging conditions.

[0056] Therefore, when performing fluoroscopic imaging using a plurality of fluoroscopic imaging apparatuses at mutually different timings, it is possible to reduce the influence of radiation emitted by the other fluoroscopic imaging apparatuses, for example, the influence of scattered rays scattered within the subject due to radiation emitted by the other fluoroscopic imaging apparatuses.

[0057] Although the above embodiment shows an example in which two fluoroscopic imaging apparatuses 1A and 1B are used, it goes without saying that the technology of the present disclosure can also be applied to a case in which three or more fluoroscopic imaging apparatuses are used.

[0058] Furthermore, the radiation in the above embodiment is not particularly limited, and in addition to X-rays, α rays, γ rays, etc. can be applied.

[0059] In the above embodiment, the following various processors can be used as the hardware structure of processing units that perform various processes, such as the imaging control unit 31, the registration unit 32, the notification unit 33, and the display control unit 34. As described above, the various processors include a CPU, which is a general-purpose processor that executes software (programs) and functions as various processing units, as well as dedicated electrical circuits that are processors having a circuit configuration specifically designed to perform specific processes, such as a programmable logic device (PLD), which is a processor whose circuit configuration can be changed after manufacture, such as an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit).

[0060] A single processing unit may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs or a combination of a CPU and an FPGA). Also, multiple processing units may be configured with a single processor.

[0061] Examples of configuring multiple processing units with a single processor include, first, a form in which one processor is configured with a combination of one or more CPUs and software, and this processor functions as multiple processing units, as typified by computers such as client and server. Second, a form in which a processor is used to realize the functions of an entire system including multiple processing units with a single IC (Integrated Circuit) chip, as typified by systems on chips (SoCs). In this way, various processing units are configured using one or more of the above-mentioned various processors as a hardware structure.

[0062] Furthermore, more specifically, the hardware structure of these various processors can be an electric circuit that combines circuit elements such as semiconductor elements.

[0063] The following are appendices to the present disclosure. (Additional note 1) 1. An imaging control device that controls fluoroscopic imaging in each of a plurality of fluoroscopic imaging devices used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from a plurality of directions, comprising: at least one processor; the processor mutually registers other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the processor controls for the fluoroscopic imaging; when an instruction to start emitting radiation is given in the fluoroscopic imaging apparatus that controls the fluoroscopic imaging, the fluoroscopic imaging apparatus notifies the other fluoroscopic imaging apparatus of imaging conditions using the pulsed radiation; an imaging control device that controls the fluoroscopic imaging by itself, when the fluoroscopic imaging device is notified of the imaging conditions from the other fluoroscopic imaging device while no instruction to start emitting the radiation has been given, and when the instruction to start emitting the radiation is thereafter given, controls the fluoroscopic imaging so that the other fluoroscopic imaging device emits the pulsed radiation at a timing when the emission of the pulsed radiation is stopped in the other fluoroscopic imaging device based on the imaging conditions. (Additional note 2) the processor sets the fluoroscopic imaging apparatus that the processor controls to the fluoroscopic imaging to a registration waiting state; Searching for the other fluoroscopic imaging apparatuses that are waiting for registration; The imaging control device according to supplementary item 1, wherein the other fluoroscopic imaging devices found are mutually registered. (Additional note 3) 3. The imaging control device according to claim 1, wherein the instruction to start emitting radiation is given by turning on a radiation irradiation switch of the fluoroscopic imaging device. (Additional note 4) 4. The imaging control device according to any one of appended items 1 to 3, wherein, when an instruction to stop the emission of the radiation is given, the processor notifies the other fluoroscopic imaging apparatus that the emission of the radiation has been stopped. (Additional note 5) the instruction to stop the emission of radiation is given by turning off a radiation irradiation switch of the fluoroscopic imaging apparatus; 5. The imaging control device according to claim 4, wherein the processor notifies the other fluoroscopic imaging apparatus that emission of the radiation has been stopped by transmitting a radiation irradiation stop flag to the other fluoroscopic imaging apparatus. (Additional note 6) 1. An imaging control method for controlling fluoroscopic imaging in each of a plurality of fluoroscopic imaging apparatuses used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from a plurality of directions, the method comprising: the computer mutually registers other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the computer controls; when an instruction to start emitting radiation is given in the fluoroscopic imaging apparatus that controls the fluoroscopic imaging, the fluoroscopic imaging apparatus notifies the other fluoroscopic imaging apparatus of imaging conditions using the pulsed radiation; an imaging control method for controlling the fluoroscopic imaging by itself, wherein when the fluoroscopic imaging device is notified of the imaging conditions from the other fluoroscopic imaging device while no instruction to start emitting the radiation has been given, and when an instruction to start emitting the radiation is thereafter given, the fluoroscopic imaging device controls the fluoroscopic imaging so that the pulsed radiation is emitted at a timing when the emission of the pulsed radiation is stopped in the other fluoroscopic imaging device based on the imaging conditions. (Additional note 7) 1. An imaging control program that causes a computer to execute a process for controlling fluoroscopic imaging in each of a plurality of fluoroscopic imaging apparatuses that are used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from a plurality of directions, the program comprising: a procedure for mutually registering other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the fluoroscopic imaging apparatus controls; a step of notifying the other fluoroscopic imaging apparatus of imaging conditions using the pulsed radiation when an instruction to start emitting radiation is given in the fluoroscopic imaging apparatus that itself controls the fluoroscopic imaging; and a procedure for controlling the fluoroscopic photography so that the other fluoroscopic photography apparatus emits the pulsed radiation at a timing when the emission of the pulsed radiation is stopped in the other fluoroscopic photography apparatus, based on the imaging conditions, when the fluoroscopic photography apparatus that itself controls the fluoroscopic photography has not been instructed to start emitting the radiation and thereafter is instructed to start emitting the radiation. [Explanation of symbols]

[0064] 1A, 1B Fluoroscopy equipment 2 C-arm 3. Filming Department 4 Radiation irradiation section 5. Radiation detectors 6 Radiation source 7 C-arm holder 8 Shaft 9 Bearings 10 Main body 11 wheels 12 Spindle 13 Footswitch 15. Photo stand 20. Shooting control device 21 CPU 22 Radiation Image Processing Program 23 Storage 24 displays 25 Input Devices 26 memory 27 Network I / F 28 Bus 31 Shooting control unit 32 Registration Department 33 Notification Department 34 Display control unit 40 display screen 41,42 Fluoroscopic images

Claims

1. 1. An imaging control device that controls fluoroscopic imaging in each of a plurality of fluoroscopic imaging devices used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from a plurality of directions, comprising: at least one processor; the processor mutually registers other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the processor controls for the fluoroscopic imaging; when an instruction to start emitting radiation is given in the fluoroscopic imaging apparatus that controls the fluoroscopic imaging, the fluoroscopic imaging apparatus notifies the other fluoroscopic imaging apparatus of imaging conditions using the pulsed radiation; an imaging control device that controls the fluoroscopic imaging by itself, when the fluoroscopic imaging device is notified of the imaging conditions from the other fluoroscopic imaging device while no instruction to start emitting the radiation has been given, and when the instruction to start emitting the radiation is thereafter given, controls the fluoroscopic imaging so that the other fluoroscopic imaging device emits the pulsed radiation at a timing when the emission of the pulsed radiation is stopped in the other fluoroscopic imaging device based on the imaging conditions.

2. the processor sets the fluoroscopic imaging apparatus that the processor controls to the fluoroscopic imaging to a registration waiting state; Searching for the other fluoroscopic imaging apparatuses that are waiting for registration; The imaging control device according to claim 1 , wherein the other fluoroscopic imaging devices found by the search are mutually registered.

3. 3. The imaging control device according to claim 1, wherein the instruction to start emitting radiation is given by turning on a radiation irradiation switch of the fluoroscopic imaging device.

4. 3. The imaging control device according to claim 1, wherein, when an instruction to stop the radiation emission is given, the processor notifies the other fluoroscopic imaging apparatus that the radiation emission has been stopped.

5. the instruction to stop the emission of radiation is given by turning off a radiation irradiation switch of the fluoroscopic imaging apparatus; The imaging control device according to claim 4 , wherein the processor notifies the other fluoroscopic imaging apparatus that emission of the radiation has been stopped by transmitting a radiation irradiation stop flag to the other fluoroscopic imaging apparatus.

6. 1. An imaging control method for controlling fluoroscopic imaging in each of a plurality of fluoroscopic imaging apparatuses used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from a plurality of directions, the method comprising: the computer mutually registers other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the computer controls; when an instruction to start emitting radiation is given in the fluoroscopic imaging apparatus that controls the fluoroscopic imaging, the fluoroscopic imaging apparatus notifies the other fluoroscopic imaging apparatus of imaging conditions using the pulsed radiation; an imaging control method for controlling the fluoroscopic imaging by itself, wherein when the fluoroscopic imaging device is notified of the imaging conditions from the other fluoroscopic imaging device while no instruction to start emitting the radiation has been given, and when an instruction to start emitting the radiation is thereafter given, the fluoroscopic imaging device controls the fluoroscopic imaging so that the pulsed radiation is emitted at a timing when the emission of the pulsed radiation is stopped in the other fluoroscopic imaging device based on the imaging conditions.

7. 1. An imaging control program that causes a computer to execute a process for controlling fluoroscopic imaging in each of a plurality of fluoroscopic imaging apparatuses that are used simultaneously when performing fluoroscopic imaging of a subject using pulsed radiation from a plurality of directions, the program comprising: a procedure for mutually registering other fluoroscopic imaging apparatuses other than the fluoroscopic imaging apparatus that the fluoroscopic imaging apparatus controls; a step of notifying the other fluoroscopic imaging apparatus of imaging conditions using the pulsed radiation when an instruction to start emitting radiation is given in the fluoroscopic imaging apparatus that itself controls the fluoroscopic imaging; and a procedure for controlling the fluoroscopic photography so that the other fluoroscopic photography apparatus emits the pulsed radiation at a timing when the emission of the pulsed radiation is stopped in the other fluoroscopic photography apparatus, based on the imaging conditions, when the fluoroscopic photography apparatus that itself controls the fluoroscopic photography has not been instructed to start emitting the radiation and thereafter is instructed to start emitting the radiation.

Images