Radiography system and imaging unit

Abstract

To provide a radiography system and an imaging unit that facilitate relative positioning between a radiation source and a radiation detector compared to that in the related art.SOLUTION: A radiography system used for radiography comprises two imaging units including an imaging unit including a radiation source and an imaging unit including a radiation detector. Threin at least one imaging unit of the two imaging units includes a projection apparatus that projects a positioning indicator used for relative positioning between the two imaging units.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a radiography system and an imaging unit. [Background technology]

[0002] Patent Documents 1 and 2 describe, as an example of a radiation imaging system, an X-ray imaging system that has an X-ray source and an X-ray detector and images a subject using X-rays. Furthermore, Patent Documents 1 and 2 also describe a projection device that projects positioning information used to position the subject relative to the X-ray detector. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-150155 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-533549 Summary of the Invention [Problem to be solved by the invention]

[0004] In X-ray imaging, in addition to positioning the subject, the relative positioning of the X-ray source and the imaging table with the X-ray detector is also important. This positioning involves optimizing the SID (Source to Image Receptor Distance), which is the distance between the X-ray source and the imaging table. As is well known, some X-ray sources are suspended from a ceiling-mounted device, and with these X-ray sources, positioning, such as adjusting the SID, can be done relatively easily by moving the source along the rails of the ceiling mount.

[0005] However, some X-ray sources are of the floor-traveling type, which has a traveling mechanism that travels along the floor, and these X-ray sources have a greater degree of freedom in their range of movement compared to ceiling-suspended types, which have a restricted range of movement by rails, which makes it difficult to properly position the X-ray source and the imaging table.Furthermore, not only X-ray sources but also imaging tables have been developed that have a traveling mechanism that travels along the floor, and when a floor-traveling X-ray source and imaging table are used in combination, the greater degree of freedom in their range of movement makes proper positioning even more difficult.

[0006] As described above, depending on the state of the X-ray source and the X-ray detector, it may be difficult to position them both, and there has been a demand for a technique that makes such positioning easier.

[0007] The techniques disclosed herein provide a radiography system and an imaging unit that make it easier than ever to position the radiation source and the radiation detector relative to each other. [Means for solving the problem]

[0008] The radiography system according to the disclosed technique is used for radiography and includes two imaging units, one having a radiation source and the other having a radiation detector, and at least one of the two imaging units is equipped with a projection device that projects a positioning mark used for relative positioning of the two imaging units.

[0009] In the above aspect, at least one of the two photographing units may be equipped with an optical sensor that optically detects a positioning marker, and may include a processor that determines whether the relative positional relationship between the two photographing units is appropriate based on the positioning marker detected by the optical sensor.

[0010] In the above-mentioned aspect, when at least one of the two photographing units has a projection device and the other photographing unit has an optical sensor and a processor, the processor of the other photographing unit may determine whether the relative positional relationship is appropriate by determining whether the other photographing unit, which is the other photographing unit, is at a target position represented by a positioning mark projected by the projection device of the other photographing unit, which is one of the photographing units, and detected by the optical sensor.

[0011] In the above-described embodiment, when at least one of the two photographing units has an optical sensor and a processor in addition to a projection device, the processor of one of the photographing units may determine whether the other photographing unit, the partner photographing unit, is at a target position represented by a positioning mark projected by the projection device of the one photographing unit and detected by the optical sensor, thereby determining whether the relative positional relationship is appropriate.

[0012] In the above embodiment, each of the two photographing units may have an optical sensor and a processor in addition to the projection device.

[0013] In the above aspect, of the two photographing units, at least the photographing unit having the radiation detector may have a projection device.

[0014] In the above aspect, at least one of the two camera units may have a traveling mechanism that travels on a floor.

[0015] In the above aspect, the traveling mechanism may be an electric traveling mechanism.

[0016] In the above aspect, at least one of the two photographing units, which has an optical sensor and a processor, has an electric driving mechanism that electrically drives the photographing unit on the floor, and the processor may automatically align the photographing unit by controlling the electric driving mechanism based on the determination result regarding the relative positional relationship.

[0017] In the above aspect, at least one of the two photographing units, which has a projection device, has an engagement mechanism that engages with a predetermined location, and the other photographing unit, whose processor determines whether the relative positional relationship is appropriate based on a positioning mark projected by the projection device, has an electric travel mechanism that travels electrically on the floor, and the electric travel mechanism may move to a target position indicated by the positioning mark based on the determination result of the processor.

[0018] In the above embodiment, the processor may be provided in a device separate from the two imaging units.

[0019] In the above embodiment, the separate device may be a console for operating at least one of the two photographing units.

[0020] In the above aspect, the projection device may determine the projection position of the positioning marker in accordance with a designated shooting menu.

[0021] In the above aspect, the projection device may project, as the positioning mark, positioning marks that represent a plurality of target positions.

[0022] In the above aspect, the imaging unit having the radiation detector may be a radiation detection panel having a portable housing, and the projection device may project a line-shaped marker as the positioning mark toward the outside of the housing.

[0023] In the above aspect, at least one of the two camera units may have a projection device that projects, in addition to the positioning mark, an area mark that indicates an area requiring caution when entering.

[0024] The imaging unit according to the technology of the present disclosure is used for radiography, and is one of two imaging units, one having a radiation source and the other having a radiation detector, and is equipped with a projection device that projects positioning marks used for relative positioning of the two imaging units. [Effects of the Invention]

[0025] According to the technique of the present disclosure, the relative positioning of the radiation source and the radiation detector can be made easier than ever before. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of a radiation imaging system. [Figure 2] FIG. 2 is a block diagram showing an example of the functional configuration of a photographing unit. [Figure 3] FIG. 10 is a diagram showing an example of a configuration in which the projection position is changed according to the shooting menu. [Figure 4] FIG. 10 is a block diagram showing an example of a projection position. [Figure 5] FIG. 10 is a diagram illustrating an example of a procedure for determining a position. [Figure 6] FIG. 2 is a diagram illustrating an example of an electric traveling mechanism. [Figure 7] FIG. 2 is a diagram illustrating an example of a controller of an electric traveling mechanism. [Figure 8] FIG. 10 is a diagram illustrating an example of a procedure for automatic positioning. [Figure 9] 10A and 10B are diagrams illustrating an example in which automatic positioning and an engagement mechanism are combined. [Figure 10] FIG. 10 is a diagram showing an example of a pattern of combinations of a projection device and a camera. [Figure 11] FIG. 10 is a diagram showing another example of a pattern of a combination of a projection device and a camera. [Figure 12] FIG. 12 is a diagram illustrating an example of a processing procedure of the example in FIG. [Figure 13]FIG. 10 is a diagram showing yet another example of a pattern of a combination of a projection device and a camera. [Figure 14] FIG. 10 is a diagram showing a list of patterns of combinations of projection devices and cameras. [Figure 15] FIG. 10 is a diagram illustrating an example of a marker including multiple target positions. [Figure 16] FIG. 10 illustrates another example of a marker including multiple target locations. [Figure 17] FIG. 10 is a diagram showing an example in which a portable detection panel has a projection device. [Figure 18] FIG. 10 is a diagram showing an example of an area sign requiring caution when entering. [Figure 19] 10A and 10B are diagrams illustrating examples of markers other than positioning markers. [Figure 20] FIG. 10 is a diagram showing another example of a marker other than a positioning marker. [Figure 21] FIG. 10 is a diagram illustrating an example in which a processor is provided in a console. DETAILED DESCRIPTION OF THE INVENTION

[0027] [First embodiment] FIG. 1 is a schematic diagram showing an example of the configuration of a radiography system 10 that performs radiography on a subject H. The radiography system 10 includes a radiation source unit 11S and a panel unit 11D. These are arranged, for example, in a radiography room and operated by an operator OP such as a diagnostic radiologist. The radiation source unit 11S includes an irradiation unit 12. The irradiation unit 12 is an example of a "radiation source" according to the technology of the present disclosure. The irradiation unit 12 includes an X-ray tube that generates X-rays, which are an example of radiation, and an irradiation field limiter that limits the irradiation range of the X-rays. The radiation source unit 11S also includes a high-voltage generator that generates a high voltage to be supplied to the X-ray tube.

[0028] The panel unit 11D has a detection panel 13, which is an example of a radiation detection panel. The detection panel 13 is, for example, a flat panel detector having a detection surface on which pixels are arranged two-dimensionally, which detect X-rays and output electrical signals according to the amount of incident X-rays. The detection panel 13 is an example of a "radiation detector" according to the technology of the present disclosure.

[0029] The radiography system 10 captures an X-ray image of the subject H by irradiating X-rays from the irradiation unit 12 and detecting the X-rays that have passed through the subject H with the detection panel 13. The radiation source unit 11S and the panel unit 11D each have a cart unit 16 with wheels 16A. The cart unit 16, for example, has a base unit 16B, which is a main body unit having a rectangular planar shape. Wheels 16A are provided at the four corners of the base unit 16B, making the cart unit 16 a four-wheel type. For example, each wheel 16A is a swivel type that rotates around a rotation axis extending in the height direction (also referred to as the vertical direction) perpendicular to the rotation axis when traveling and rotating. The cart unit 16 can be manually moved on a floor FL (see FIG. 2, etc.). Therefore, an operator OP can manually move the cart unit 16 to move the installation locations of the radiation source unit 11S and the panel unit 11D. The carriage unit 16 is an example of a "traveling mechanism" that travels on the floor FL.

[0030] The radiation source unit 11S has a main body 17 and a movable mechanism that changes the height of the irradiation unit 12. The movable mechanism is composed of a movable unit 18 whose height changes relative to the main body 17, and an arm 19 whose height changes relative to the movable unit 18. The irradiation unit 12 is provided at the tip of the arm 19. The irradiation unit 12 is provided at the free end of the arm 19. In addition, although not shown, the arm 19 is provided with a swing mechanism that changes the irradiation direction by tilting the irradiation unit 12. The main body 17 has various built-in electrical components, and an operation panel 43 is provided on the top surface.

[0031] Like the radiation source unit 11S, the panel unit 11D also has a main body 17 and a movable mechanism that changes the height of the detection panel 13. The movable mechanism of the panel unit 11D is also composed of a movable part 18 whose height changes relative to the main body 17 and an arm (not shown) whose height changes relative to the movable part 18, similar to the movable mechanism of the radiation source unit 11S. The detection panel 13 is provided at the free end of the arm. Like the main body 17 of the radiation source unit 11S, the main body 17 also has various built-in electrical components and further has an operation panel 43 on its top surface.

[0032] The radiation source unit 11S and the panel unit 11D have different main bodies 17, movable parts 18, and arms 19, of course, in terms of the components and shapes they contain, but these differences are not essential to the technology of the present disclosure, and so both are denoted by the same reference numerals. Both the radiation source unit 11S and the panel unit 11D are examples of "photography units" according to the technology of the present disclosure. Hereinafter, when there is no need to distinguish between the radiation source unit 11S and the panel unit 11D, they will both be referred to as the photography unit 11.

[0033] As shown in FIG. 1, for example, when imaging a subject H in an upright position, the radiation source unit 11S and the panel unit 11D are arranged opposite each other with the subject H in between.

[0034] In radiography, in addition to positioning the subject H with respect to the detection panel 13, the radiation source unit 11S and the panel unit 11D are positioned relative to each other so that the X-rays emitted by the irradiation unit 12 are appropriately incident on the detection panel 13 on which the subject H is positioned. The radiography system 10 includes a projection device 21 and a camera 22 as devices for assisting in the relative positioning of the radiation source unit 11S and the panel unit 11D. In this example, the projection device 21 is provided on the panel unit 11D, and the camera 22 is provided on the radiation source unit 11S.

[0035] The projection device 21 emits projection light PL to project a marker MR onto the floor FL. The marker MR is a positioning mark used for relative positioning of the two imaging units 11, the radiation source unit 11S and the panel unit 11D, and is an example of a "positioning mark" according to the technology of the present disclosure. The marker MR is, for example, linear and indicates the target position of the radiation source unit 11S to be positioned relative to the panel unit 11D. By aligning the radiation source unit 11S with the position of the marker MR, it is possible to appropriately ensure a source-to-image distance (SID), which is the distance between the radiation source unit 11S and the panel unit 11D.

[0036] The projection device 21 includes, for example, a light source that emits light, an optical modulator that generates projection light PL according to the shape of the marker MR, which is the projection image, and a projection optical system that projects the generated projection light PL onto the floor FL. Examples of the light source include an LED (Light Emitting Diode) and an LD (Laser Diode). Examples of the optical modulator include an LCD (Liquid Crystal Display) and a DMD (Digital Micromirror Device). Furthermore, since the marker MR in this example is linear, the projection device 21 may be, for example, a line laser projector configured with an LD and a projection optical system, without using an optical modulator.

[0037] Since there are multiple target positions for positioning the radiation source unit 11S depending on the imaging menu described later, the projection device 21 has a mechanism for changing the projection position of the marker MR. Methods for changing the projection position of the marker MR include changing the position of the marker MR within the projection area by image processing, and changing the position, orientation, focal length, etc. of the projection optical system to change the projection position of the marker MR.

[0038] As an example, the projection device 21 is provided on the cart unit 16. There are various possible positions for providing the projection device 21, but it is preferable that it be provided in a position that does not cast a shadow on the subject H. It is also possible to provide it on the detection panel 13 or the movable unit 18. In this case, it is preferable to provide a mechanism that adjusts the projection position in accordance with the displacement of the detection panel 13 or the movable unit 18 so that the projection position of the marker MR is projected at the desired position even if the detection panel 13 or the movable unit 18 is displaced.

[0039] The camera 22 is, for example, an optical camera. As is well known, the camera 22 has an image sensor, such as a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor or a CCD (Charge Coupled Device) image sensor, that outputs an electrical signal according to the amount of received light, and an imaging optical system that forms an image of the subject on the imaging surface of the image sensor. The camera 22 functions as a sensor that optically detects the marker MR by capturing an image of the marker MR as an imaging target. The camera 22 is an example of an "optical sensor" that optically detects the positioning mark according to the technology of the present disclosure.

[0040] The camera 22 captures an image of the subject within an imaging range SR, which is determined by the angle of view of the imaging optical system and the size of the image sensor. The image of the imaging range SR captured by the camera 22 is output to a processor 40S (see FIG. 2), which will be described later, and is used to determine whether the relative positioning of the two imaging units 11, the radiation source unit 11S and the panel unit 11D, is appropriate.

[0041] As an example, the camera 22 is provided in the irradiation unit 12. There are various possible positions for providing the camera 22, but similar to the projection device 21, it is preferable that the camera 22 be provided in a position that does not cast a shadow on the subject H. It is also possible to provide the camera 22 in the dolly unit 16. When the camera 22 is provided in a movable part such as the irradiation unit 12 as in this example, the position of the imaging range SR also changes according to the displacement of the movable part. Therefore, when determining the position of the photographing unit 11 based on the marker MR, for example, the position of the irradiation unit 12 is set to a reference position for position determination so that the position of the camera 22 is constant.

[0042] 2 is a block diagram showing the electrical configuration of the photographing unit 11. A panel unit 11D, which is an example of the photographing unit 11, includes a processor 40D, a storage 41, a communication I / F (Interface) 42, and an operation panel 43D. In addition, the panel unit 11D includes a battery (not shown) that supplies power to each component.

[0043] The processor 40D not only controls the entire panel unit 11D, but also functions as a control unit that controls the detection panel 13 and a control unit that controls the projection device 21. The processor 40D is composed of, for example, a CPU (Central Processing Unit) and a memory such as RAM (Random Access Memory), and functions as various control units by executing programs loaded into the memory.

[0044] The storage 41 is composed of a hard disk drive, a solid state drive, a nonvolatile memory, etc., and is a data storage that stores programs as well as various setting information data.

[0045] The communication I / F 42 is, for example, a wireless communication unit, and performs wireless communication with other imaging units 11 such as the radiation source unit 11S.

[0046] The operation panel 43D is an operation unit for inputting operation instructions, and is configured, for example, with a touch panel display.

[0047] As shown in FIG. 3, the setting information of the storage 41 of the panel unit 11D stores the correspondence between the imaging menu (for example, MN1, MN2, and MN3) and the projection positions of the markers MR (PP1, PP2, and PP3). The imaging menu specifies the imaging procedure, including the imaging region and the X-ray irradiation direction. The SID may be changed depending on the imaging menu. Also, imaging may be performed with the subject H in a wheelchair. In this case, the SID needs to be set wider.

[0048] 4, depending on the imaging technique for imaging the joints of the subject H, the subject H may be positioned at an angle with respect to the detection panel 13, and the X-ray irradiation direction may also be oblique with respect to the detection panel 13. In this case, the radiation source unit 11S may also be oriented at an angle with respect to the panel unit 11D. Therefore, the line of the marker MR for relatively positioning the radiation source unit 11S may also need to be projected at an angle.

[0049] The setting information records the correspondence between such an imaging menu and the projection position of the marker MR. As an example, the imaging menu is designated by an operator OP via an operation panel 43D. In projection control, the processor 40D determines the projection position of the marker MR according to the designated imaging menu. The processor 40D controls the projection device 21 so that the marker MR is projected at the determined projection position.

[0050] 2, like the panel unit 11D, the radiation source unit 11S also includes a processor 40S, a storage 41, a communication I / F (Interface) 42, and an operation panel 43. In addition, the radiation source unit 11S includes a battery (not shown) that supplies power to each component.

[0051] The processor 40S not only controls the entire radiation source unit 11S, but also functions as a control unit that controls the X-ray emission from the irradiation unit 12 and a control unit that controls the camera 22. Furthermore, the processor 40S performs position determination based on an image 54 (see FIG. 5) acquired from the camera 22. The processor 40S is composed of, for example, a CPU (Central Processing Unit) and a memory such as a RAM (Random Access Memory), and functions as various control units by executing programs loaded into the memory.

[0052] The storage 41 is composed of a hard disk drive, a solid state drive, a nonvolatile memory, etc., and is a data storage that stores programs as well as various setting information data.

[0053] The communication I / F 42 is, for example, a wireless communication unit, and performs wireless communication with other photographing units 11 such as the panel unit 11D.

[0054] The operation panel 43S is an operation unit for inputting operation instructions, and is configured, for example, with a touch panel display.

[0055] As with the imaging unit 11, when it is necessary to distinguish between the processor 40S and operation panel 43S of the radiation source unit 11S and the processor 40D and operation panel 43D of the panel unit 11D, the sub-codes S and D are used to distinguish them. However, when no distinction is necessary, both are referred to as the processor 40 and operation panel 43.

[0056] 5, the processor 40S determines whether the relative positional relationship with the panel unit 11D is appropriate based on a marker MR included in an image 54 acquired from the camera 22. More specifically, the process is as follows. In this example, if the radiation source unit 11S in which the processor 40S is provided is its own photographing unit 11, the marker MR is a marker projected from the projection device 21 of the panel unit 11D, which is the other photographing unit 11 for alignment. Therefore, the processor 40S of the radiation source unit 11S determines whether its own photographing unit 11 (the radiation source unit 11S in this example) is at the target position represented by the marker MR projected from the other photographing unit 11 (the panel unit 11D in this example).

[0057] The processor 40S determines that the relative positional relationship is appropriate (indicated by OK) if the marker MR is within an allowable range based on the image 54, and determines that the relative positional relationship is inappropriate (indicated by NG) if it is outside the allowable range. Whether the marker MR is within the allowable range is determined based on, for example, the degree of match between the position of the marker MR and a preset reference position BP, such as the center position within the image 54. As shown as an example in FIG. 5, if the error in the position of the marker MR with respect to the reference position BP is equal to or greater than a preset distance, the result is "NG," and if the error is within the preset distance, the result is "OK."

[0058] Furthermore, when determining whether the marker MR is within the allowable range, the processor 40S naturally takes into consideration not only the distance between the marker MR and the reference position BP but also the orientation of the marker MR with respect to the reference position BP. As shown in Fig. 5, the reference position BP is, for example, cross-shaped, so that the orientation of the linear marker MR with respect to the reference position BP can also be determined. The processor 40 determines whether the relative positional relationship is appropriate by determining whether the orientation of the marker MR is within a preset allowable range.

[0059] The processor 40S makes such a determination and outputs the determination result to the operation panel 43S. The operator OP adjusts the position of the radiation source unit 11S by manually moving the radiation source unit 11S while checking the determination result. In addition to the determination result of "OK" or "NG," it is preferable to display an image indicating the degree of coincidence between the marker MR and the reference position BP in real time on the operation panel 43S, such as image 54 shown in FIG. 5. This allows the operator OP to check in which direction the radiation source unit 11S should be moved to align it with the target position.

[0060] As described above, the radiation imaging system 10 according to the technique of the present disclosure is used for radiation imaging and includes two imaging units: an imaging unit 11 (for example, radiation source unit 11S) having a radiation source (for example, irradiation unit 12), and an imaging unit 11 (for example, panel unit 11D) having a radiation detector (for example, detection panel 13). At least one of the two imaging units 11 (panel unit 11D in the above example) includes a projection device 21 that projects a positioning mark (for example, marker MR) used for relative positioning of the two imaging units 11.

[0061] In radiography, two imaging units 11 are used in combination, and therefore it is important to determine the relative positional relationship between the two imaging units 11. By projecting a positioning mark used for relative positioning from one of the imaging units 11, it becomes easier to determine the relative positioning of the two imaging units 11.

[0062] Furthermore, in the first embodiment, at least one of the two photographing units 11 has a traveling mechanism (cart unit 16, for example) that travels on the floor. The photographing unit 11 with a traveling mechanism has a higher degree of freedom in its range of movement compared to a photographing unit that is attached to a ceiling traveling device, etc., and because of this higher degree of freedom, accurate positioning is more difficult. Therefore, the technology of the present disclosure, which facilitates positioning by projecting a positioning marker, is effective when the photographing unit 11 has a traveling mechanism.

[0063] In the first embodiment, both of the two photographing units 11 have a traveling mechanism, and both have a high degree of freedom in the range of movement, so the technology of the present disclosure is even more effective.

[0064] Furthermore, in the radiation imaging system 10 according to the first embodiment, at least one of the two imaging units 11 (the radiation source unit 11S in the above example) is equipped with an optical sensor (the camera 22, for example) that optically detects a positioning mark (the marker MR, for example), and includes a processor 40 (the processor 40S in the above example) that determines whether the relative positional relationship between the two imaging units 11 is appropriate based on the positioning mark detected by the optical sensor. Therefore, positioning can be performed more easily and with higher accuracy than when an operator OP performs positioning while visually checking the position of the marker MR.

[0065] In the above example, camera 22 was used as an example of an optical sensor, but the sensor does not have to detect marker MR as an image like camera 22, and may detect marker MR based on the light intensity of marker MR like a simple photosensor.

[0066] Furthermore, in the first embodiment, at least one of the two photographing units 11 (panel unit 11D in the above example) has a projection device 21, and the other photographing unit 11 (radiation source unit 11S in the above example) has an optical sensor (camera 22, for example) and a processor 40 (processor 40S in the above example). In this case, the processor 40S of the radiation source unit 11S, which is the other photographing unit 11, makes the following determination: The processor 40S determines whether its own radiation source unit 11S, which is the other photographing unit 11, is at the target position represented by the marker MR, which is a positioning mark projected by the projection device 21 of the other panel unit 11D, which is one of the photographing units 11, and detected by the optical sensor, thereby determining whether the relative positional relationship is appropriate.

[0067] This means that the radiation source unit 11S, which is the imaging unit 11 that is moved in accordance with the target position of the marker MR, is provided with a processor 40S that determines the relative positional relationship. Therefore, the operator OP can move the radiation source unit 11S while checking the determination result displayed on the operation panel 43S, for example, which is easy to use.

[0068] In the first embodiment, of the two photographing units 11, the photographing unit 11 having a radiation detector (panel unit 11D, as an example) has a projection device 21. When positioning the two photographing units 11 in radiography, it is common to position the subject H and the detection panel 13 first, and then position the radiation source unit 11S relative to the panel unit 11D. Therefore, the configuration of the first embodiment is easy to use and conforms to the actual radiography workflow.

[0069] 3, the projection device 21 determines the projection position of the positioning mark (marker MR as an example) according to the specified imaging menu. This is effective when the target position for positioning differs depending on the imaging menu.

[0070] [Second embodiment] In the first embodiment, the carriage 16 of the two imaging units 11 was a manually operated traveling mechanism, but as in the second embodiment shown in Fig. 6, the traveling mechanism may be an electric traveling mechanism. The carriage 160 is an example of an "electric traveling mechanism" according to the technology of the present disclosure. The imaging unit 11 shown in Fig. 6 is a radiation source unit 11S, and an example in which an electric traveling mechanism is provided in the radiation source unit 11S will be described.

[0071] The bogie unit 160 has built-in electric components such as an electric circuit for electrically propelling the vehicle and an actuator 53. The bogie unit 160 is similar to the bogie unit 16 in that it is a four-wheel type having four wheels 16A, and each wheel 16A is swivelable. Also, as an example, all of the wheels 16A are drive wheels that rotate electrically. Of course, two of the four wheels 16A may be steered wheels and the remaining two may be drive wheels.

[0072] The actuator 53 has a motor M that drives the wheel 16A. The motor M includes a motor for rotating the wheel 16A to travel and a motor for turning. The measurement sensor MS measures the direction and amount of movement of the bogie unit 160, such as the amount of rotation, direction of rotation, direction of turning, and angle of turning of the wheel 16A. The measurement values ​​measured by the measurement sensor MS are input to the processor 40S. The measurement sensor MS is composed of, for example, a rotary encoder and an acceleration sensor. The processor 40S can also perform travel control, such as estimating the self-position of the bogie unit 16, based on the received measurement values.

[0073] 7 is an example of a screen of the controller 56 displayed on the operation panel 43S for operating the cart unit 160. Operation instructions including movement instructions for the cart unit 160 are input via the controller 56, for example.

[0074] The controller 56 is provided with an auto button 56A, a return button 56C, and direction keys 56D. The auto button 56A is an operation button for inputting an automatic positioning instruction to the processor 40S to automatically move to a target position indicated by the marker MR. The return button 56C is an operation button for inputting a return instruction to return the cart unit 160 to a home position that is set in advance as the initial position of the cart unit 160, for example. The direction keys 56D are operation buttons for inputting a movement instruction to move the cart unit 160 in one of four directions.

[0075] The auto button 56A and the reset button 56C are operation buttons for causing the carriage unit 160 to autonomously execute preset travel control. In contrast, the direction keys 56D are operation buttons for executing simple travel control, in which only a direction is specified and the carriage moves in the specified direction according to the amount of operation. The direction keys 56D are so-called deadman type keys that continue to output operation signals while being operated and stop outputting operation signals when operation is stopped. This makes them safer than keys that continue to output operation signals even when the direction keys 56D are released.

[0076] 8 and 9, the travel control of the cart unit 160 executed by the processor 40S will be described. The autonomous travel control executed by the cart unit 160 is roughly divided into automatic positioning control and self-position estimation. Automatic positioning control is control for detecting a marker MR and moving the cart unit 160 to a target position represented by the marker MR. In the example shown in FIG. 9, for example, after positioning the panel unit 11D, the radiation source unit 11S having the cart unit 160 is moved to the target position represented by the marker MR projected from the panel unit 11D.

[0077] In the cart unit 160, when an automatic positioning instruction is input by operating the auto button 56A, the processor 40S starts detecting the marker MR. In detecting the marker MR, the processor 40S acquires an image 54 from the camera 22. The processor 40S detects whether the marker MR is captured in the image 54, for example, by image analysis. If the marker MR is not present, the cart unit 160 is caused to travel randomly to search for the marker MR. Of course, when performing automatic positioning, the operator OP may move the radiation source unit 11S including the cart unit 160 close to the marker MR. This can shorten the time required to search for the marker MR.

[0078] When the marker MR is detected based on the image 54, for example, the processor 40S compares the position of the marker MR in the image 54 with the reference position BP in the position determination to determine whether the marker MR is within the allowable range. If the marker MR is not within the allowable range, the processor 40S moves the cart 160 toward the marker MR so that the marker MR is within the allowable range. This allows the radiation source unit 11S to be moved to the target position indicated by the marker MR. This is an example of automatic positioning.

[0079] 9, the panel unit 11D having the projection device 21 that projects the marker MR has an engagement mechanism that engages with a preset location. The preset location is, for example, a predetermined position in the radiography room. The engagement mechanism is an engagement portion 59 that mechanically engages with a pin 58 provided on the wall W of the radiography room. For example, the engagement portion 59 is a recess that fits with the pin. In radiography, for example, the panel unit 11D is engaged with the preset location by the engagement mechanism, and the radiation source unit 11S is positioned relative to the panel unit 11D in that state.

[0080] In self-position estimation, the processor 40S acquires measurement values ​​from the measurement sensor MS and determines, for example, the amount of movement of the cart unit 160 from the home position. The home position is, for example, a position registered as a reference position of the radiation source unit 11S in the imaging room. As described above, the measurement sensor MS measures measurement values ​​such as the amount of rotation, direction of rotation, amount of swing, and angle of swing of the 16A. The processor 40S accumulates these measurement values ​​to perform self-position estimation, which estimates the cart unit 160's own position relative to the home position. This self-position estimation is based on the so-called odometry method. By performing this self-position estimation, the cart unit 160 can automatically return to the home position.

[0081] 7 is operated, the processor 40S automatically returns the cart unit 160 to the home position based on the self-position estimation. Note that, in addition to the home position, travel control is also possible, such as automatically moving the cart unit 160 to a preset registered position.

[0082] In the second embodiment, the traveling mechanism is an electric traveling mechanism, as shown as an example of the dolly section 160. Since electric traveling is possible, the photographing unit 11 can be moved more easily than if it were moved manually.

[0083] Furthermore, in the second embodiment, at least one of the two photographing units 11 (the radiation source unit 11S in the above example), which has an optical sensor (the camera 22 as an example) and a processor 40 (the processor 40S in the above example), has an electric travel mechanism (the cart unit 160 as an example) that electrically travels on the floor, and the processor 40S automatically performs positioning by controlling the cart unit 160 based on the determination result regarding the relative positional relationship. Therefore, the relative positioning of the photographing units 11 can be performed more easily than when an operator OP visually checks the markers MR and manually moves the photographing units 11.

[0084] Furthermore, in the second embodiment, at least one of the two photographing units 11 (the panel unit 11D in the above example), which has a projection device 21, has an engagement mechanism that engages with a predetermined location. The other photographing unit 11 (the radiation source unit 11S in the above example), whose relative positional relationship is determined by the processor 40S based on a positioning indicator (a marker MR, for example) projected by the projection device 21, has an electric travel mechanism (a cart unit 160, for example) that electrically travels on the floor, and the cart unit 160 moves to the target position indicated by the marker MR based on the determination result of the processor 40S. Since the photographing unit 11 having the projection device 21 engages with a predetermined location, the positioning accuracy is high. Note that, although the above example shows an example of mechanical engagement as the engagement mechanism, magnetic engagement using a magnet or electromagnet may also be used.

[0085] (Example of configuration of two camera units 11) In the first and second embodiments, an example has been described in which the projection device 21 is provided in the panel unit 11D of the two photographing units 11, and the radiation source unit 11S is provided with the camera 22, which is an example of an optical sensor, and the processor 40S that determines the position based on the marker MR. However, various modifications are possible to the configuration examples of such projection device 21, optical sensor, and processor, as shown in FIGS.

[0086] First, as shown in FIG. 10, contrary to the above embodiments, the radiation source unit 11S may be provided with a projection device 21, and the panel unit 11D may be provided with a camera 22 and a processor 40D that determines the position based on the markers MR.

[0087] 11, one of the two photographing units 11 may have an optical sensor and a processor 40 in addition to the projection device 21. In the example shown in Fig. 11, the panel unit 11D has a camera 22 and a processor 40D that determines a position based on the marker MR in addition to the projection device 21. In this case, the processor 40D of the panel unit 11D, which is one of the photographing units 11, determines whether the radiation source unit 11S, which is the other photographing unit 11, is located at a target position represented by the marker MR that is projected by the projection device 21 of the panel unit 11D, which is one of the photographing units 11, and detected by the camera 22, thereby determining whether the relative positional relationship is appropriate.

[0088] Specifically, as shown in FIG. 12, the processor 40D of the panel unit 11D acquires an image 54 from the camera 22 and, in the position determination, determines the positional relationship between the marker MR included in the image 54 and the radiation source unit 11S, which is the other party's imaging unit 11, through image analysis. The radiation source unit 11S is detected in the image 54, for example, by image recognition of the cart unit 16 in the image 54 using a pattern matching technique. Then, the processor 40D determines, for example, whether the radiation source unit 11S, represented by the cart unit 16, is located at the position of the marker MR in the image 54. If the radiation source unit 11S is located at the position of the marker MR, the processor 40D determines that the relative positional relationship between the panel unit 11D and the radiation source unit 11S is appropriate (indicated by OK). On the other hand, if the radiation source unit 11S is not located at the position of the marker MR, the processor 40D determines that the relative positional relationship between the panel unit 11D and the radiation source unit 11S is inappropriate (indicated by NG). As described in the first embodiment, the determination of whether or not the position is appropriate is made based on whether or not the positions of the marker MR and the radiation source unit 11S are within a preset allowable range.

[0089] In this way, if one of the two photographing units 11 is provided with a camera 22 and a processor 40 that determines the position based on the marker MR in addition to the projection device 21, there is an advantage that, for example, the other photographing unit 11 can use a conventional photographing unit 11 that does not have a projection device 21, etc.

[0090] 13, each of the two photographing units 11 may have a camera 22 and a processor 40 for determining a position in addition to the projection device 21. In this way, it is possible to select which photographing unit 11 to project the marker MR from depending on the situation, for example.

[0091] In this case, each processor 40 may determine the position of its own photographing unit 11 relative to the marker MR projected by the other photographing unit 11, as in the first embodiment. For example, the processor 40S of the radiation source unit 11S may determine the position of its own radiation source unit 11S relative to the marker MR projected by the other panel unit 11D. Alternatively, as shown in FIG. 12, each processor 40 may determine the position of the other photographing unit 11 relative to the marker MR projected by its own photographing unit 11. For example, the processor 40D of the panel unit 11D may determine the position of the other photographing unit 11S relative to the marker MR projected by its own panel unit 11D.

[0092] 13, each processor 40 may perform position determination using either of these patterns. Also, it may be possible to select one of the two patterns depending on the situation.

[0093] The above can be summarized as shown in Figure 14. The table shown in Figure 14 shows combinations of whether the projection device 21, camera 22, and processor 40 are provided in the panel unit 11D or the radiation source unit 11S, and also shows the contents of the position determination of the processor 40.

[0094] Pattern 1-1 corresponds to the first embodiment, and pattern 1-2 is a variation of pattern 1-1 in which the radiation source unit 11S and the panel unit 11D are reversed. Pattern 2-1 is a pattern in which the projection device 21, the camera 22, and the like are provided on the panel unit 11D shown in FIGS. 11 and 12. Pattern 2-2 is a variation of pattern 2-1 in which the projection device 21, the camera 22, and the like are provided on the radiation source unit 11S. Patterns 3-1 and 3-2 are patterns in which the projection device 21, the camera 22, and the like are provided on the radiation source unit 11S and the panel unit 11D shown in FIG. 13. The position determination content of pattern 3-1 is the same as that of patterns 1-1 and 1-2, and the position determination content of pattern 3-2 is the same as that of patterns 2-1 and 2-2. As described above, various variations of the combination patterns are possible.

[0095] Of these various patterns, pattern 1-1 corresponding to the first embodiment has the following advantage: In pattern 1-1, the radiation source unit 11S is equipped with a camera 22. The camera 22 has the role of detecting the marker MR from the captured image 54, so it is undesirable for the subject H, who will cause noise, to enter the imaging range SR. Since the subject H is placed on the panel unit 11D side, the risk of the subject H entering the imaging range SR is reduced if the camera 22 is located on the radiation source unit 11S side. In this sense, it is preferable that the radiation source unit 11S is equipped with the camera 22.

[0096] Furthermore, in all of the patterns shown in FIG. 14, the camera 22 and the processor 40 are provided in the same photographing unit 11. As will be described later in FIG. 21, a processor that determines the position based on the image 54 may be provided in a device separate from the photographing unit 11. However, providing the camera 22 and the processor 40 in the same photographing unit 11 has the following advantages. First, if the camera 22 and the processor 40 are provided in one photographing unit 11, the transfer time of the image 54 from the camera 22 to the processor 40 is shorter than when they are in separate devices, thereby improving the processing speed. Furthermore, the device configuration can be simplified compared to when they are in separate devices.

[0097] 14, the positioning procedure often involves positioning the panel unit 11D on which the subject H is placed, and then moving the radiation source unit 11S to match the position of the panel unit 11D. In this case, displaying the position determination result on the operation panel 43S of the radiation source unit 11S makes it easier to move the radiation source unit 11S. Therefore, if the photography unit 11 in which the camera 22 and the processor 40 are provided is the radiation source unit 11S, the processor 40S of the radiation source unit 11S in which the camera 22 is provided can perform a series of processes, such as acquiring the image 54 from the camera 22, determining the position based on the image 54, and displaying the determination result, thereby achieving better processing efficiency than when the camera 22 and the processor 40 are provided in separate devices.

[0098] Furthermore, as in pattern 1-2 of FIG. 14 , if the photographing unit 11 provided with the camera 22 and the processor 40 is the panel unit 11D, the following advantage is obtained. That is, the X-ray image after photographing is often displayed on the operation panel 43D of the panel unit 11D. Then, if the operator OP determines that the positioning is inappropriate after checking the X-ray image displayed on the operation panel 43D, the operator OP may reposition each photographing unit 11 and photograph again. In this case, if the position determination based on the image 54 from the camera 22 and the determination result are displayed on the operation panel 43D of the panel unit 11D, it becomes possible to refer to the photographed X-ray image displayed on the same operation panel 43D when positioning for rephotography. This may make it easier to determine the positioning for rephotography.

[0099] (Variation 1) Various other modifications are possible for the radiation imaging system 10. First, in the above embodiment, the positioning markers have been described as linear markers MR, but the positioning markers are not limited to linear markers MR. For example, positioning markers such as those shown in Modification 1 in FIGS. 15 and 16 (shown as markers MRA or MRB as an example) may be used. Modification 1 is an example in which the projection device 21 projects positioning markers representing multiple target positions.

[0100] The marker MRA shown in Fig. 15 is a positioning marker configured with a grid pattern. For example, a plurality of cells CL defined by the grid each represent a target position. For example, the lines defining each cell CL have different colors and thicknesses, and these differences allow the processor 40 to identify each cell CL of the marker MRA from the image 54 acquired from the camera 22. By associating an imaging menu with each cell CL, the processor 40 can determine the position relative to the target position according to the specified imaging menu.

[0101] Furthermore, for example, when the operator OP is manually positioning the photographing unit 11, a voice message such as "You are currently at a position corresponding to a certain photographing menu" may be output when the photographing unit 11 is aligned with one of a plurality of target positions. Such a voice message makes it easier for the operator OP to grasp the current position of the photographing unit 11. Of course, a similar text message may be output to the operation panel 43 instead of a voice message.

[0102] Furthermore, when the imaging unit 11 is positioned at a target position represented by a certain cell CL, there may be cases where fine adjustment is made, such as moving the imaging unit 11 horizontally by 10 cm from that position. In consideration of such a case, for example, if the grid intervals of the marker MRA are set to 10 cm intervals, fine adjustment is possible, such as moving to an adjacent cell CL as a target position.

[0103] Although the grid-shaped marker MRA has been illustrated with a plurality of cells CL as target positions, each of a plurality of lines constituting the grid may be set as a target position.

[0104] The marker MRB shown in FIG. 16 is a positioning marker having a pattern image in which a plurality of target positions TM are arranged. The target positions TM are, for example, two-dimensional codes. As the two-dimensional code, for example, a two-dimensional barcode such as a QR code (registered trademark) is used. As in the case of the marker MRA shown in FIG. 15, the processor 40 can identify each target position TM of the marker MRB from the image 54 acquired from the camera 22. By associating an imaging menu with each target position TM, the processor 40 can determine the position of the target position according to the imaging menu.

[0105] In the marker MRB, the two-dimensional code may be other than a two-dimensional barcode. For example, it may be a two-dimensional code that is an arrangement pattern of multiple dots, each with a unique size and position, making each arrangement pattern identifiable. Such two-dimensional codes are known, for example, as Anoto (registered trademark) patterns.

[0106] In this way, if the projection device 21 projects positioning marks representing a plurality of target positions as positioning marks, the variations in usage will be wider compared to a positioning mark representing a single target position.

[0107] Furthermore, in the above-described embodiments, the panel unit 11D has been described as having a traveling mechanism such as the dolly unit 16, but the panel unit 11D may not have a traveling mechanism. The portable panel unit 11DC shown in FIG. 17 is a radiation detection panel having a portable housing. The housing has a rectangular, flat, planar shape. Such a panel unit 11DC is called an electronic cassette, for example. As shown in FIG. 17, the panel unit 11DC is used, for example, when imaging a subject H in a supine position on a supine imaging table 62. The panel unit 11DC is inserted between the top plate of the supine imaging table 62 and the subject H. In this state, imaging is performed with the irradiation unit 12 of the radiation source unit 11S positioned above the subject H. In this type of imaging, most of the panel unit 11DC is covered by the subject H, making it difficult to identify the center of the panel unit 11DC.

[0108] 17, a panel unit 11DC is provided with a projection device 21 on each side of a rectangular housing. The projection device 21 is, for example, a line laser projector that uses an LD as a light source. The projection device 21 provided on each side of the housing projects a line-shaped marker MR toward the outside of the housing as a positioning mark. The projection device 21 emits a line-shaped beam L from the LD. This beam L is projected onto the top plate of the supine position imaging table 62 and is thereby visually recognized as the marker MR.

[0109] The camera 22 of the radiation source unit 11S acquires an image 54 including the marker MR, and the processor 40S performs position determination based on the marker MR. Of course, the position determination may be performed by an operator OP instead of the processor 40S. That is, the operator OP may visually check the marker MR, estimate the center position of the panel unit 11DC behind the subject H, and then position the irradiation unit 12 of the radiation source unit 11S relative to the panel unit 11DC. By having the panel unit 11DC project the linear marker MR in this way, positioning when using a portable panel unit 11DC can be performed more easily than in the past.

[0110] 18, at least one of the two photographing units 11 may have a projection device that projects, in addition to the positioning marker, an area marker indicating an area requiring caution when entering. In the example shown in FIG. 18, the radiation source unit 11S is provided with a projection device 66 in addition to the projection device 21. The projection device 66 projects an area marker AR onto the floor by emitting projection light PLA. The area marker AR is an area marker indicating an area requiring caution when entering by the operator OP, such as an area where the other photographing unit 11 to be positioned will enter or an area where there is a risk of X-ray exposure. Projecting such an area marker AR can alert the operator OP. Note that although the projection device 66 is provided separately from the projection device 21, the function of the projection device 66 may be realized by the projection device 21.

[0111] 19 and 20, at least one of the two photographing units 11 may project, in addition to the positioning marker, markers for other purposes such as a marker MRC and a marker MRD. As an example, the marker MRC and the marker MRD are projected by a projection device 21 emitting projection light PLC and PLD. Note that, in the example shown in FIGS. 19 and 20, the projection device 21 projects the marker MRC and the marker MRD, but a projection device other than the projection device 21 may also be used.

[0112] The imaging unit 11 shown in FIGS. 19 and 20 is, for example, a radiation source unit 11S. The radiation source unit 11S is provided with a measurement device 67 that measures dimensions such as the height and body thickness of the subject H. The measurement device 67, for example, acquires an image of the subject H to measure the height, or measures the body thickness of the subject H using a distance sensor. The markers MRC and MRD are used to calibrate the measurement device 67 or correct the measurement values. For example, the markers MRC shown in FIG. 19 are marks projected at multiple known heights that have been set in advance. The measurement device 67 calibrates the measurement values ​​by, for example, measuring the height of each marker MRC. Furthermore, the markers MRD shown in FIG. 20 are marks projected at multiple known positions that have been set in advance in the thickness direction of the subject H. The measurement device 67 corrects the measurement value of the body thickness of the subject H, for example, by referring to the position of each marker MRD.

[0113] In addition, in all of the patterns shown in FIG. 14 , the photographing unit 11 is provided with a camera 22 and a processor 40 that determines whether the relative positional relationship between the two photographing units 11 is appropriate based on an image 54 including the markers MR. However, as shown in FIG. 21 , a processor 71 that performs position determination may be provided in a device separate from the two photographing units 11. One example of such a device is a console 70. The console 70 is a device for operating at least one of the two photographing units 11. In the example shown in FIG. 21 , the camera 22 is provided in the radiation source unit 11S, and the processor 71 is provided in the console 70. The console 70 acquires an image 54 from the camera 22 of the radiation source unit 11S, and the processor 71 performs position determination based on the image 54 including the markers MR. The determination result may be displayed on the display of the console 70, or may be transmitted to the radiation source unit 11S and displayed on the operation panel 43S. Note that the separate device may be a device other than the console 70.

[0114] Furthermore, as shown in FIG. 17, the radiation imaging system according to the technique of the present disclosure does not necessarily require an optical sensor and a processor, and it is sufficient that at least one of the two imaging units has a projection device.

[0115] Furthermore, the autonomous travel control of the electric travel mechanism shown as an example of the cart unit 160 may use SLAM (Simultaneous Localization and Mapping) technology, which allows autonomous travel while simultaneously estimating the self-position and creating a map.

[0116] In the traveling mechanism shown in the above embodiment, the shape of the wheels is an example, and various modifications are possible. For example, the number of front wheels and / or rear wheels may be changed independently. For example, a combination of one front wheel and two rear wheels, or a combination of two front wheels and three rear wheels may be used. Furthermore, for example, the size and shape of the front wheels and rear wheels may be changed.

[0117] Furthermore, in the above embodiment, the various types of hardware listed below can be used as the hardware of the processor 40. The various types of hardware include a CPU, which is a general-purpose processor that executes software (programs) and functions as various processing units, as well as a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electrical circuit such as an ASIC (Application Specific Integrated Circuit) that is hardware having a circuit configuration specifically designed to execute specific processing.

[0118] The various processes described above may be executed by one of these various hardware components, or may be executed by a combination of two or more hardware components of the same or different types (for example, a plurality of FPGAs, or a combination of a CPU and an FPGA). Furthermore, a plurality of processing units may be configured as a single piece of hardware. An example of configuring a plurality of processing units as a single piece of hardware is a form of using hardware that realizes the functions of an entire system including a plurality of processing units on a single IC (Integrated Circuit) chip, such as a System on Chip (SOC).

[0119] In this way, the various processing units are configured using one or more of the various hardware components described above.

[0120] Furthermore, as these various hardware structures, more specifically, electric circuits (Circuitry) combining circuit elements such as semiconductor elements can be used. do.

[0121] Furthermore, the technology of the present disclosure extends to a computer-readable storage medium (such as a USB (Universal Serial Bus) memory or a DVD (Digital Versatile Disc)-ROM (Read Only Memory)) that non-temporarily stores a program, in addition to a program that operates a photographing unit. The technology of the present disclosure can also be applied to a program and a program product.

[0122] The above-described description and illustrations are a detailed explanation of the parts related to the technology of the present disclosure and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, functions, actions, and effects is an explanation of an example of the configuration, functions, actions, and effects of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above-described description and illustrations within the scope of the gist of the technology of the present disclosure. Furthermore, to avoid confusion and facilitate understanding of the parts related to the technology of the present disclosure, the above-described description and illustrations omit explanations of common technical knowledge that do not require particular explanation to enable the implementation of the technology of the present disclosure.

[0123] From the above description, the technology described in the following supplementary paragraphs can be understood.

[0124] [Additional note 1] The imaging device is used for radiography and includes two imaging units, one having a radiation source and the other having a radiation detector; A radiation imaging system in which at least one of the two imaging units is provided with a projection device that projects a positioning mark used for relative positioning of the two imaging units. [Additional note 2] At least one of the two photographing units includes an optical sensor that optically detects the positioning mark; It includes a processor that determines whether the relative positions of the two photographing units are correct based on the positioning marks detected by the optical sensor. Item 1. A radiation imaging system according to claim 1. [Additional note 3] At least one of the two photographing units has a projection device, and the other photographing unit has an optical sensor and a processor, The processor of the other photographing unit determines whether the other photographing unit, which is the other photographing unit, is at a target position indicated by a positioning mark projected by a projection device of the other photographing unit, which is the other photographing unit, and detected by an optical sensor, thereby determining whether the relative positional relationship is appropriate. Item 2. A radiation imaging system according to claim 2. [Additional note 4] In a case where at least one of the two photographing units has an optical sensor and a processor in addition to a projection device, The processor of one of the photographing units determines whether the other photographing unit is at a target position indicated by a positioning mark projected by a projection device of the one photographing unit and detected by an optical sensor, thereby determining whether the relative positional relationship is appropriate. Item 2 or 3. A radiation imaging system according to item 2 or 3. [Additional note 5] Each of the two imaging units has a projection device, an optical sensor, and a processor. The radiation imaging system according to any one of supplementary items 2 to 4. [Additional note 6] Of the two imaging units, at least the imaging unit having the radiation detector has a projection device. The radiation imaging system according to any one of supplementary items 2 to 4. [Additional note 7] At least one of the two photographing units has a traveling mechanism that travels on the floor. Item 6. A radiation imaging system according to any one of items 1 to 6. [Additional note 8] The driving mechanism is an electric driving mechanism. 8. The radiation imaging system according to claim 7. [Additional note 9] At least one of the two photographing units, which has an optical sensor and a processor, has an electric traveling mechanism that electrically travels on a floor; The processor automatically aligns the robot by controlling the electric drive mechanism based on the result of the determination of the relative positional relationship. The radiation imaging system according to any one of supplementary items 2 to 6. [Additional Note 10] At least one of the two photographing units, the photographing unit having the projection device, has an engagement mechanism that engages with a predetermined location; The other photographing unit, the processor of which determines whether the relative positional relationship is appropriate based on the positioning mark projected by the projection device, has an electric driving mechanism that electrically drives the other photographing unit on the floor; The electric traveling mechanism moves to the target position indicated by the positioning mark based on the determination result of the processor. The radiation imaging system according to any one of supplementary items 2 to 6. [Additional Note 11] The processor is housed in a separate device from the two imaging units. Item 2. A radiation imaging system according to claim 2. [Additional Note 12] Another device is a console for operating at least one of the two imaging units. Item 12. A radiation imaging system according to claim 11. [Additional Note 13] The projection device determines the projection position of the positioning mark according to the designated shooting menu. 13. A radiography system according to any one of claims 1 to 12. [Additional Note 14] The projection device projects positioning marks representing a plurality of target positions as positioning marks. 14. A radiography system according to any one of claims 1 to 13. [Additional Note 15] The imaging unit having the radiation detector is a radiation detection panel having a portable housing, The projection device projects a line-shaped marker as a positioning mark toward the outside of the housing. Item 6. A radiation imaging system according to any one of items 1 to 6. [Additional Note 16] At least one of the two photographing units has a projection device that projects, in addition to the positioning mark, an area mark that indicates an area that requires caution when entering. 16. A radiography system according to any one of claims 1 to 15. [Additional Note 17] One of two photography units used for radiography, one having a radiation source and the other having a radiation detector, A photographing unit equipped with a projection device that projects a positioning mark used for relative positioning of two photographing units.

[0125] In this specification, "A and / or B" is synonymous with "at least one of A and B." In other words, "A and / or B" means that it may be only A, only B, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" is also applied when three or more things are expressed connected by "and / or."

[0126] All publications, patent applications, and technical standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or technical standard was specifically and individually indicated to be incorporated by reference. [Explanation of symbols]

[0127] 10 Radiography System 11 Filming Unit 11D Panel Unit 11S radiation source unit 12 Irradiation unit 13 Detection Panel 16, 160 Bogie section 16A wheels 16B base part 17 Main body 18 Moving parts 19 Arm 21 Projection device 40 processors 40D processor 40S processor 41 Storage 42 Communication I / F 43 Operation Panel 43D Operation Panel 43S Operation Panel 53 Actuator 54 images 56 Controller 56A Auto button 56C Return button 56D Directional keys 58 pin 59 Engagement part 62 Recumbent photography stand 66 Projection device 67 Measuring Equipment AR area indicator BP reference position CL Cell FL floor H. Subject L beam Medium motor MR, MRA, MRB, MRC, MRD markers MS Measurement Sensor OP Operator PL, PLA, PLC, PLD projection light SR imaging range TM target position W wall

Claims

1. The imaging device is used for radiography and includes two imaging units, one having a radiation source and the other having a radiation detector; At least one of the two imaging units includes a projection device that projects a positioning mark used for relative positioning of the two imaging units.

2. At least one of the two photographing units includes an optical sensor that optically detects the positioning mark; and a processor that determines whether the relative positional relationship between the two photographing units is appropriate based on the positioning mark detected by the optical sensor. The radiography system according to claim 1 .

3. At least one of the two photographing units includes the projection device, and the other photographing unit includes the optical sensor and the processor, The processor of the other photographing unit determines whether the other photographing unit, which is the other photographing unit, is at a target position represented by the positioning mark projected by the projection device of the other photographing unit, which is one of the photographing units, and detected by the optical sensor, thereby determining whether the relative positional relationship is appropriate. The radiography system according to claim 2 .

4. At least one of the two photographing units includes the optical sensor and the processor in addition to the projection device, The processor of the one of the photographing units determines whether the other photographing unit is located at a target position indicated by the positioning mark projected by the projection device of the one of the photographing units and detected by the optical sensor, thereby determining whether the relative positional relationship is appropriate. The radiography system according to claim 2 .

5. Each of the two photographing units includes the optical sensor and the processor in addition to the projection device. The radiography system according to claim 2 .

6. Of the two photographing units, at least the photographing unit having the radiation detector has the projection device. The radiography system according to claim 1 .

7. At least one of the two photographing units has a traveling mechanism that travels on the floor. The radiography system according to claim 1 .

8. The traveling mechanism is an electric traveling mechanism. The radiography system according to claim 7 .

9. At least one of the two photographing units, which includes the optical sensor and the processor, has an electric travel mechanism that electrically travels on a floor; The processor automatically performs alignment by controlling the electric travel mechanism based on the determination result regarding the relative positional relationship. The radiography system according to claim 2 .

10. At least one of the two photographing units, the photographing unit having the projection device, has an engagement mechanism that engages with a predetermined location; the other photographing unit, the processor of which determines whether the relative positional relationship is appropriate based on the positioning mark projected by the projection device, has an electric driving mechanism that electrically drives on a floor; The electric traveling mechanism moves to the target position indicated by the positioning mark based on the determination result of the processor. The radiography system according to claim 2 .

11. The processor is provided in a device separate from the two photographing units. The radiography system according to claim 2 .

12. The other device is a console for operating at least one of the two photographing units. The radiography system according to claim 11 .

13. The projection device determines the projection position of the positioning mark in accordance with a designated shooting menu. The radiography system according to claim 1 .

14. The projection device projects positioning marks representing a plurality of target positions as the positioning marks. The radiography system according to claim 1 .

15. the imaging unit having the radiation detector is a radiation detection panel having a portable housing, The projection device projects a line-shaped marker as the positioning mark toward the outside of the housing. The radiography system according to claim 1 .

16. At least one of the two photographing units has a projection device that projects, in addition to the positioning mark, an area mark that indicates an area requiring caution when entering. The radiography system according to claim 1 .

17. One of two imaging units used for radiography, the imaging unit having a radiation source and the imaging unit having a radiation detector, The photographing unit is provided with a projection device for projecting a positioning mark used for relative positioning of the two photographing units.

Images