Mobile radiation generator, method for operating the mobile radiation generator, and operating program for the mobile radiation generator.

Abstract

This invention provides a mobile radiation generator capable of assisting in the alignment of the radiation generator and the radiation image detector even when the radiation image detector is obscured by the subject, a method for operating the mobile radiation generator, and an operating program for the mobile radiation generator. [Solution] The first angle detection unit of the alignment support processing unit acquires the first angle around the vertical axis between the radiation generating unit and the long edge of the bed. The first angle corresponds to the angle between the radiation generating unit and the electronic cassette around the Z axis, which is the normal to the radiation detection surface of the electronic cassette. The first and second support information output units of the alignment support processing unit output first support information to assist in alignment regarding the angle of the radiation generating unit around the Z axis, based on the first angle.

Description

Technical Field

[0001] The technology of the present disclosure relates to a mobile radiation generator, a method of operating a mobile radiation generator, and an operation program of a mobile radiation generator.

Background Art

[0002] The mobile radiation generator includes a radiation generating unit including a radiation tube and a carriage unit having wheels, and is movable by the carriage unit. The mobile radiation generator is used for so-called round-robin imaging in which the subject (patient) is imaged while moving around the hospital ward by taking advantage of its mobility. Alternatively, the mobile radiation generator is also used for imaging in the emergency room. Further, the mobile radiation generator can be brought into the operating room and used during the operation. Furthermore, the mobile radiation generator can be brought into an outdoor disaster site or the like and used emergently.

[0003] The mobile radiation generator is used together with an electronic cassette. The electronic cassette is a radiation image detector in which a sensor panel for detecting a radiation image is built in a portable housing. Before radiation imaging, positioning of the radiation generating unit and the electronic cassette is performed by an operator such as a radiological technologist.

[0004] To facilitate the alignment of the radiation generating unit and the electronic cassette, Patent Document 1 discloses the following technology. Specifically, a marker attached to the housing of the electronic cassette (referred to as the X-ray detection unit in Patent Document 1) is photographed by the camera of the radiation generating unit (referred to as the X-ray irradiation unit in Patent Document 1). Then, the angle between the radiation generating unit and the electronic cassette is detected based on the position, angle, size, etc., of the marker captured in the image. The angle includes the angle around the normal to the radiation detection surface of the electronic cassette (referred to as the yaw angle in Patent Document 1). Next, the amount of deviation between the detected angle and the set angle is calculated. Then, the display form of the radiation irradiation position marker projected onto the subject is changed according to the magnitude of the deviation. The operator moves the radiation generating unit to reduce the deviation from the set angle, relying on the display of this irradiation position marker. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2023-142507 [Overview of the project] [Problems that the invention aims to solve]

[0006] In the technology described in Patent Document 1, if the electronic cassette is covered by the subject, the camera cannot capture the marker, making it impossible to detect the angle. Consequently, it becomes impossible to change the display format of the irradiation position marker according to the detected angle and to assist in aligning the radiation generating unit with the electronic cassette.

[0007] One embodiment of the technology of this disclosure provides a mobile radiation generator capable of assisting in the alignment of the radiation generating unit and the radiation image detector even when the radiation image detector is obscured by a subject, a method for operating the mobile radiation generator, and an operating program for the mobile radiation generator. [Means for solving the problem]

[0008] The mobile radiation generator of this disclosure comprises a radiation generating unit that emits radiation toward a radiation image detector positioned between a subject and a bed on which the subject lies supine, and includes a processor, the processor which acquires a first angle about the vertical axis between the radiation generating unit and the edge of the bed, corresponding to the angle between the radiation generating unit and the radiation image detector about the normal to the radiation detection surface of the radiation image detector, and outputs first support information to assist in alignment with respect to the angle of the radiation generating unit about the normal.

[0009] Preferably, the system includes a first display unit, and the processor controls the display on the first display unit based on first support information.

[0010] Preferably, the processor outputs a first deviation amount between a first angle and a first set angle as first support information, and displays the direction and / or amount of movement of the radiation generating part that reduces the first deviation amount as a display based on the first support information.

[0011] Preferably, the processor acquires an image of the bed and detects a first angle based on the image.

[0012] Preferably, the processor extracts the contour line of the edge of the bed from the captured image and detects the angle at which the difference between the contour line and a pre-registered reference contour line is minimized as the first angle.

[0013] Preferably, the system is equipped with a geomagnetic sensor, and the processor acquires the azimuth angle detection result from the geomagnetic sensor and detects the difference between the azimuth angle detection result and the pre-registered azimuth angle of the bed as the first angle.

[0014] Preferably, the system is equipped with a gyro sensor, and the processor acquires the angular velocity detection result from the gyro sensor and detects the difference between the angular velocity detection result and a pre-registered bed angle as the first angle.

[0015] Preferably, the processor also acquires a second angle between the radiation generating unit and the radiation image detector around an axis parallel to the edge of the radiation detection surface, and outputs second support information to assist in alignment regarding the angle around the axis of the radiation generating unit based on the second angle.

[0016] Preferably, the system includes a second display unit, and the processor controls the display on the second display unit based on the second support information.

[0017] Preferably, the processor outputs the second deviation amount between the second angle and the second set angle as second support information, and displays the direction and / or amount of movement of the radiation generating part that reduces the second deviation amount as a display based on the second support information.

[0018] Preferably, the processor acquires attitude detection results from an attitude detection sensor provided on the radiation image detector and detects a second angle based on the attitude detection results.

[0019] The device preferably comprises a support column and an arm attached to the support column, with the radiation generating unit located at the tip of the arm.

[0020] The arm portion preferably has joint points for changing its angle relative to the support column.

[0021] The arm section preferably has a link mechanism for maintaining the orientation of the radiation generating section horizontally.

[0022] It is preferable to have a first rotation mechanism that rotates the radiation generating unit around a vertical axis and a second rotation mechanism that rotates the radiation generating unit around a horizontal axis.

[0023] The device comprises a support column and an arm attached to the support column, with the radiation generating part located at the tip of the arm, and the arm being connected to an articulation point for changing its angle with respect to the support column. Preferably, the first rotation mechanism is located on the radiation generating part side of the articulation point, and the second rotation mechanism is located on the radiation generating part side of the first rotation mechanism.

[0024] The processor preferably acquires a measurement result of the distance from the radiation focus to the radiation detection surface, and outputs third support information for assisting in adjusting the distance from the radiation focus to the radiation detection surface to a set distance based on the distance measurement result.

[0025] Preferably, a third display unit is provided, and the processor controls display on the third display unit based on the third support information.

[0026] The processor preferably acquires a photographed image of the subject, detects an irradiation reference position of radiation in the subject based on the photographed image, and outputs fourth support information for assisting in aligning the radiation focus with the irradiation reference position.

[0027] Preferably, a fourth display unit is provided, and the processor controls display on the fourth display unit based on the fourth support information.

[0028] An operation method of a mobile radiation generating device according to the present disclosure is an operation method of a mobile radiation generating device including a radiation generating unit that emits radiation toward a radiation image detector disposed between a subject and a bed on which the subject lies supine, the method including: acquiring a first angle around a vertical axis between the radiation generating unit and an edge of the bed corresponding to an angle between the radiation generating unit and the radiation image detector around a normal line of a radiation detection surface of the radiation image detector; and outputting first support information for assisting in alignment regarding an angle around a normal line of the radiation generating unit based on the first angle.

[0029] An operation program of a mobile radiation generating device according to the present disclosure causes a computer to execute a process including: acquiring a first angle around a vertical axis between the radiation generating unit and an edge of the bed corresponding to an angle between the radiation generating unit and the radiation image detector around a normal line of a radiation detection surface of the radiation image detector; and outputting first support information for assisting in alignment regarding an angle around a normal line of the radiation generating unit based on the first angle, the mobile radiation generating device including a radiation generating unit that emits radiation toward a radiation image detector disposed between a subject and a bed on which the subject lies supine. [Effects of the Invention]

[0030] The technology of this disclosure provides a mobile radiation generator, a method for operating the mobile radiation generator, and an operating program for the mobile radiation generator, which can assist in aligning the radiation generator and the radiation image detector even when the radiation image detector is obscured by the subject. [Brief explanation of the drawing]

[0031] [Figure 1] This is a diagram showing the process of taking an image using a radiographic imaging system. [Figure 2] This is a diagram showing a radiography system. [Figure 3] This diagram shows UI-related devices. [Figure 4] This diagram shows the joint points and linkage mechanisms. [Figure 5] This diagram shows the first and second rotation mechanisms. [Figure 6] This figure shows the rotational position detection sensor group and the rotational position detection result group. [Figure 7] This is a diagram of a camera. [Figure 8] This is a diagram showing the indicator. [Figure 9] This is a block diagram showing the electrical configuration of a mobile radiation generator. [Figure 10] This is a block of the CPU's processing unit. [Figure 11] This is a diagram showing the irradiation conditions table. [Figure 12] This is a diagram showing a semi-sitting position. [Figure 13] This is a diagram of an X-ray image. [Figure 14] This diagram shows the coordinate system for the electronic cassette, the coordinate system for the radiation generating unit, and the angles around each axis of each coordinate system. [Figure 15] This figure shows the first angle around the vertical axis between the radiation source and the long edge of the bed. [Figure 16]This diagram shows the detailed configuration of the alignment support processing unit. [Figure 17] This diagram shows the detailed configuration of the first angle detection unit. [Figure 18] This diagram shows the processing of the calculation unit. [Figure 19] This graph shows the sum of the differences between the contour line of the bed edge and the reference contour line with respect to the rotation angle of the reference contour line. [Figure 20] This figure shows the display of the indicator based on the first and second support information. [Figure 21] This flowchart shows the procedure for assisting the alignment of a mobile radiation generator. [Figure 22] This figure shows a second embodiment in which a first angle is detected based on the azimuth angle detection result from a geomagnetic sensor. [Figure 23] This figure shows a second embodiment in which a first angle is detected based on the azimuth angle detection result from a geomagnetic sensor. [Figure 24] This figure shows a third embodiment in which a first angle is detected based on the angular velocity detection result from a gyro sensor. [Figure 25] This figure shows a third embodiment in which a first angle is detected based on the angular velocity detection result from a gyro sensor. [Figure 26] This figure shows a fourth embodiment that outputs third support information based on the distance measurement result from a distance measurement sensor. [Figure 27] This figure shows the display of the indicator based on third-party support information. [Figure 28] This figure shows a fifth embodiment in which a position detection result is output as fourth support information based on an image of the subject captured by a camera. [Figure 29] This figure shows the display of the indicator based on the fourth support information. [Modes for carrying out the invention]

[0032] [First Embodiment] As an example, as shown in Figures 1 and 2, the radiography system 2 comprises a mobile radiation generator 10 and an electronic cassette 11. The mobile radiation generator 10 has a radiation generating unit 15 and a trolley unit 16. The radiation generating unit 15 emits radiation R towards, for example, a subject (patient) H lying supine on a bed 17. The trolley unit 16 has a pair of front wheels 18 and a pair of rear wheels 19. The mobile radiation generator 10 can be moved around the hospital by the trolley unit 16. The mobile radiation generator 10 is used for so-called ward rounds, where images of the subject H are taken while moving around the patient rooms. For this reason, the mobile radiation generator 10 is also called a ward rounds vehicle. Furthermore, the mobile radiation generator 10 can be brought into the operating room and used during surgery. Moreover, the mobile radiation generator 10 can be brought to outdoor disaster sites and used in emergency situations.

[0033] The bed 17 is slightly larger than the subject H. The bed 17 can be a bed in a hospital room, an operating table in an operating room, a stretcher, a mattress, etc. In Figure 1, a bed is shown as an example of the bed 17. The bed 17 is rectangular in shape and has a long edge 20 along the head-to-tail axis of the subject H and a short edge 21 along the left-to-right axis of the subject H.

[0034] As is well known, the electronic cassette 11 has a sensor panel housed in a portable rectangular housing and is wirelessly powered by a battery. The sensor panel, also as is well known, has a configuration in which multiple pixels are arranged to generate a signal charge in response to radiation R or visible light converted from radiation R. The electronic cassette 11 has a rectangular radiation detection surface 22 corresponding to the sensor panel. The electronic cassette 11 also incorporates an attitude detection sensor 23, such as an accelerometer or a gyroscope. The electronic cassette 11 is placed between the subject H and the bed 17 (below the subject H). Therefore, the electronic cassette 11 may be covered by the subject H. The electronic cassette 11 receives radiation R irradiated from the radiation generating unit 15 and transmitted through the subject H and outputs a radiation image 24. The electronic cassette 11 is an example of a "radiation image detector" according to the technology of this disclosure.

[0035] The trolley section 16 is equipped with the main body section 25. In addition to the aforementioned radiation generating section 15, the main body section 25 includes a central section 26, a support column section 27, and an arm section 28, etc.

[0036] The central section 26 includes a UI (User Interface) device 29, a cassette storage section 30, and a handle 31. The UI device 29, as shown in Figure 3 as an example, consists of a touch panel display (hereinafter simply referred to as "display") 32 and an operation panel 33. The display 32 displays radiographic images 24, etc. The operation panel 33 is operated by an operator OP, such as a radiological technologist, when setting radiation irradiation conditions 106 (see Figures 10 and 11), etc.

[0037] The cassette storage section 30 is located at the rear of the central section 26. The cassette storage section 30 stores electronic cassettes 11. Electronic cassettes 11 come in several sizes, such as 17 inches x 17 inches, 17 inches x 14 inches, and 12 inches x 10 inches. The cassette storage section 30 can store multiple electronic cassettes 11 of any type. The cassette storage section 30 also has a function to charge the batteries of the stored electronic cassettes 11.

[0038] The handle 31 is positioned to surround the upper part of the central section 26. The handle 31 is gripped by the operator OP in order to operate the trolley section 16 and, consequently, the mobile radiation generator 10. The operator OP drives the mobile radiation generator 10 while gripping the handle 31, with the radiation generating unit 15 housed in the upper part of the trolley section 16 and the front part of the central section 26, as shown in Figure 2.

[0039] An irradiation switch 34 is mounted in the central section 26. The irradiation switch 34 is a switch used by the operator OP to instruct the start of radiation irradiation. An extension cable is connected to the irradiation switch 34, and it can be detached from the central section 26 for use. The irradiation switch 34 is, for example, a two-stage push type. When the irradiation switch 34 is pressed to the first stage (half-pressed), it generates a warm-up instruction signal 107 (see Figure 10), and when it is pressed to the second stage (fully pressed), it generates an irradiation start instruction signal 108 (see Figure 10).

[0040] The support column 27 is prism-shaped and erected in the center of the trolley 16. The support column 27 has a first support column 40 erected on the upper surface of the trolley 16 and a second support column 41 connected upward from the first support column 40 at a predetermined angle. The first support column 40 and the second support column 41 are examples of "support columns" related to the technology of this disclosure.

[0041] The arm section 28 is attached at its base to the support section 27, more specifically to the second support column 41, and the radiation generating section 15 is positioned at the tip, which is the free end opposite the base. As will be described in more detail later, the arm section 28 can be bent relative to the second support column 41. Also, as will be described in more detail later, the radiation generating section 15 can rotate relative to the arm section 28 and swing from side to side.

[0042] The radiation generation unit 15 consists of a radiation source 45 and an irradiation field limiter 46. The radiation source 45 contains a radiation tube 47. The radiation tube 47 generates radiation R, for example, X-rays. The radiation tube 47 is equipped with a filament, a target, a grid electrode, etc. (none of which are shown). A voltage is applied between the filament, which is the cathode, and the target, which is the anode, from a voltage generator 48 built into the central part 26. This voltage applied between the filament and the target is called the tube voltage. The filament emits thermionic electrons toward the target in accordance with the applied tube voltage. The target emits radiation R through collisions with thermionic electrons from the filament. The grid electrode is positioned between the filament and the target. The grid electrode changes the flow rate of thermionic electrons from the filament toward the target in accordance with the voltage applied from the voltage generator 48. This flow rate of thermionic electrons from the filament toward the target is called the tube current. The tube voltage and tube current are set as irradiation conditions 106 along with the irradiation time.

[0043] When the irradiation switch 34 is half-pressed and a warm-up instruction signal 107 is generated, the filament is preheated and the target rotation starts simultaneously. Warm-up is completed when the filament reaches a specified temperature and the target reaches a specified rotation speed. In this warm-up state, when the irradiation switch 34 is fully pressed and an irradiation start instruction signal 108 is generated, a tube voltage is applied from the voltage generator 48 and radiation R is generated from the radiation tube 47. When the irradiation time set in the irradiation condition 106 has elapsed from the start of radiation R generation, the application of the tube voltage is stopped and radiation R irradiation ends.

[0044] The irradiation field limiter 46 limits the irradiation field of the radiation R generated from the radiation tube 47. The irradiation field limiter 46 has a configuration in which, for example, four shielding plates made of lead or the like are arranged on each side of a rectangle, and a rectangular exit aperture that transmits radiation is formed in the center. The irradiation field limiter 46 changes the size of the exit aperture by changing the position of each shielding plate, thereby changing the irradiation field of the radiation R.

[0045] As an example, as shown in Figure 4, the arm section 28 is composed of two parallel arms 50A and 50B, a first connecting member 51, and a second connecting member 52. The first connecting member 51 is rectangular in shape and connects the arms 50A and 50B to the second connecting member 52. The second connecting member 52 has a U-shaped cross-section and connects the first connecting member 51 to the radiation generating unit 15. In other words, the arms 50A and 50B and the radiation generating unit 15 are connected via the first connecting member 51 and the second connecting member 52. Here, "parallel" refers not only to perfect parallelism but also to parallelism that includes errors generally accepted in the technical field to which the present invention belongs.

[0046] Arms 50A and 50B are connected at their base ends to the tip of the second support column 41 via first joint points 53A and 53B. Furthermore, the tips of arms 50A and 50B are connected to the first connecting member 51 via second joint points 54A and 54B. Arms 50A and 50B can be bent relative to the second support column 41 using the first joint points 53A and 53B as pivot points. By bending arms 50A and 50B relative to the second support column 41 in this way, the radiation generating unit 15 moves up and down along the vertical axis VA (see Figure 5). The first joint points 53A and 53B are examples of "joint points" in the technology of this disclosure.

[0047] Arms 50A and 50B, first joint points 53A and 53B, and second joint points 54A and 54B constitute a link mechanism 55. The link mechanism 55 maintains the orientation of the first connecting member 51, and consequently the radiation generating unit 15, horizontally. Therefore, even when arms 50A and 50B are bent relative to the second support column 41 and the radiation generating unit 15 is raised or lowered, the orientation of the radiation generating unit 15 is maintained horizontally. Herein, "horizontal" refers not only to perfect horizontality but also to horizontality that includes errors generally accepted in the art to which the present invention belongs.

[0048] As an example, as shown in Figure 5, the first connecting member 51 is provided with a first rotation mechanism 60, and the second connecting member 52 is provided with a second rotation mechanism 61. Therefore, the first rotation mechanism 60 is located closer to the radiation generating unit 15 than the first joint points 53A and 53B. Similarly, the second rotation mechanism 61 is located closer to the radiation generating unit 15 than the first rotation mechanism 60. The first rotation mechanism 60 consists of a first rotation shaft 62, a first bearing 63, and a first rotation position detection sensor 64. Likewise, the second rotation mechanism 61 consists of a second rotation shaft 65, a second bearing 66, and a second rotation position detection sensor 67.

[0049] The first rotation axis 62 is a cylindrical rod parallel to the vertical axis VA, and its central axis CA1 coincides with the focal point F of the radiation R of the radiation tube 47. One end of the first rotation axis 62 is connected to the second connecting member 52, and the other end is connected to the first bearing 63. The first rotation axis 62 rotates relative to the first bearing 63. Therefore, the second connecting member 52, and by extension the radiation generating unit 15, can rotate around the vertical axis VA by the first rotation mechanism 60.

[0050] The second rotation axis 65 is a pair of cylindrical rods parallel to the front-to-back horizontal axis HA, with its central axis CA2 coinciding with the focal point F. One end of the second rotation axis 65 is connected to the radiation generating unit 15 (radiation source 45), and the other end is connected to the second bearing 66. The second rotation axis 65 rotates relative to the second bearing 66. As a result, the radiation generating unit 15 can rotate (swivel left and right) around the horizontal axis HA by the second rotation mechanism 61. Here, "coincidence" refers not only to a perfect coincidence but also to a coincidence that includes errors generally accepted in the art to which the present invention belongs.

[0051] The first rotational position detection sensor 64 and the second rotational position detection sensor 67 are, for example, rotary encoders or potentiometers. The first rotational position detection sensor 64 detects the rotational position of the first rotation axis 62 relative to the first bearing 63, and consequently the rotational position of the radiation generating unit 15 around the vertical axis VA. Similarly, the second rotational position detection sensor 67 detects the rotational position of the second rotation axis 65 relative to the second bearing 66, and consequently the rotational position of the radiation generating unit 15 around the horizontal axis HA. As an example, as shown in Figure 6, the first rotational position detection sensor 64 outputs a first rotational position detection result 70, which is the result of detecting the rotational position of the radiation generating unit 15 around the vertical axis VA. The second rotational position detection sensor 67 outputs a second rotational position detection result 71, which is the result of detecting the rotational position of the radiation generating unit 15 around the horizontal axis HA. In the following description, the first rotational position detection sensor 64 and the second rotational position detection sensor 67 will be collectively referred to as the rotational position detection sensor group 72. Furthermore, the first rotational position detection result 70 and the second rotational position detection result 71 are collectively referred to as the rotational position detection result group 73.

[0052] As an example, as shown in Figure 7, a camera 75 is attached to one side of the radiation source 45. The camera 75 takes pictures of the subject H and the bed 17 below the radiation source 45 at a predetermined frame rate, such as 10 frames per second.

[0053] As an example, as shown in Figure 8, an indicator 78 is provided on the rear surface of the second connecting member 52. The indicator 78 is, for example, an organic EL (Electro-Luminescence) panel and displays various information that helps in the alignment of the radiation generating unit 15 and the electronic cassette 11. The indicator 78 is an example of the "first display unit," "second display unit," "third display unit," and "fourth display unit" related to the technology of this disclosure.

[0054] As an example, as shown in Figure 9, the mobile radiation generator 10 has a communication unit 80, storage 81, memory 82, and a CPU (Central Processing Unit) 83. The communication unit 80, storage 81, memory 82, and CPU 83 are interconnected via a bus line 84. A UI system device 29 and a voltage generator 48 are also connected to the bus line 84. The communication unit 80, storage 81, memory 82, CPU 83, bus line 84, and UI system device 29 are examples of a "computer" related to the technology of this disclosure.

[0055] The communication unit 80 includes a wireless communication interface for wireless communication with the electronic cassette 11. The communication unit 80 also includes a network interface for wireless communication with external devices other than the electronic cassette 11 via a network. Examples of external devices include a radiology information system (RIS) for managing information such as imaging orders, or a picture archiving and communication system (PACS) for storing radiographic images 24. Examples of networks include the internet or a wide area network (WAN) such as a public communication network.

[0056] Storage 81 is, for example, a hard disk drive, a solid-state drive, etc., and stores various programs and various data associated with those programs. Memory 82 is work memory for the CPU 83 to execute processing. The CPU 83 reads the programs stored in storage 81 into memory 82 and executes processing according to the read programs. In this way, the CPU 83 comprehensively controls the operation of each part of the mobile radiation generator 10. CPU 83 is an example of a "processor" related to the technology of this disclosure.

[0057] The aforementioned irradiation switch 34 is connected to the CPU 83. The irradiation switch 34 outputs a warm-up instruction signal 107 and an irradiation start instruction signal 108 to the CPU 83.

[0058] A power supply unit 85 is connected to the bus line 84. The power supply unit 85 supplies power from the battery 86 to each part of the mobile radiation generator 10. The power supply unit 85 includes a DC (Direct Current)-DC converter that converts the DC voltage from the battery 86 to a voltage value corresponding to the supply destination, a voltage stabilization circuit that stabilizes the converted voltage value, etc. The battery 86 is built into, for example, the central unit 26. In this way, the mobile radiation generator 10 is wirelessly driven by the battery 86. The mobile radiation generator 10 can also be charged by plugging the power cord plug (not shown) extending from the bottom of the main unit 25 to a commercial power outlet, thereby enabling it to operate on power from the commercial power supply.

[0059] As an example, as shown in Figure 10, the storage 81 stores an operating program 90. The operating program 90 is a program for operating a computer consisting of UI devices 29, storage 81, memory 82, CPU 83, and bus line 84 as a "mobile radiation generator" according to the technology of this disclosure. In other words, the operating program 90 is an example of an "operating program for a mobile radiation generator" according to the technology of this disclosure. The storage 81 also stores an irradiation condition table 91.

[0060] The CPU 83, by executing the operation program 90, works in cooperation with the memory 82 and other components to function as the reception unit 95, irradiation control unit 96, cassette control unit 97, display-related processing unit 98, display control unit 99, alignment support processing unit 100, and main control unit 101.

[0061] The reception unit 95 receives the shooting menu 105 input from the operator OP via the operation panel 33. The reception unit 95 reads the irradiation conditions 106 corresponding to the received shooting menu 105 from the irradiation condition table 91 and outputs the read irradiation conditions 106 to the irradiation control unit 96.

[0062] The reception unit 95 also receives the warm-up instruction signal 107 and the irradiation start instruction signal 108 from the irradiation switch 34. The reception unit 95 outputs to the irradiation control unit 96 that it has received the warm-up instruction signal 107 and the irradiation start instruction signal 108.

[0063] The irradiation control unit 96 controls the irradiation of radiation R by controlling the operation of the radiation tube 47. The irradiation control unit 96 sets the irradiation conditions 106 to the voltage generator 48. When the irradiation control unit 96 receives a warm-up instruction signal 107 from the reception unit 95, it causes the radiation tube 47 to warm up. Also, when the irradiation control unit 96 receives a start irradiation instruction signal 108 from the reception unit 95, it causes the radiation tube 47 to irradiate with radiation R via the voltage generator 48 under the set irradiation conditions 106.

[0064] The irradiation control unit 96 outputs to the cassette control unit 97 that irradiation of radiation R has started, in accordance with the timing of the start of radiation R irradiation. The irradiation control unit 96 also outputs to the cassette control unit 97 that irradiation of radiation R has ended, in accordance with the timing of the end of radiation R irradiation.

[0065] The cassette control unit 97 controls the operation of the electronic cassette 11 by transmitting various control signals to the electronic cassette 11 via the communication unit 80. When the cassette control unit 97 receives input from the irradiation control unit 96 indicating that irradiation with radiation R has started, it transmits an irradiation start synchronization signal 109 to the electronic cassette 11. Also, when the cassette control unit 97 receives input from the irradiation control unit 96 indicating that irradiation with radiation R has ended, it transmits an irradiation end synchronization signal 110 to the electronic cassette 11. Although not shown in the diagram, the cassette control unit 97 also transmits the gain value of the signal charge, etc., according to the irradiation conditions 106 to the electronic cassette 11.

[0066] The display-related processing unit 98 performs display-related processing to allow the operator OP to confirm the quality of the radiation image 24 by displaying the radiation image 24 at the shooting site. The display-related processing unit 98 has an image receiving unit 115 and an image processing unit 116. The image receiving unit 115 performs reception processing to receive the radiation image 24 from the electronic cassette 11 via the communication unit 80. The image receiving unit 115 outputs the received radiation image 24 to the image processing unit 116.

[0067] The image processing unit 116 performs image processing to prepare the radiation image 24 for display. Specifically, the image processing unit 116 performs image processing such as offset correction processing, sensitivity correction processing, and defective pixel correction processing. The offset correction processing is the process of subtracting an offset correction image, detected when radiation R is not irradiated, from the radiation image 24 on a pixel-by-pixel basis. By performing this offset correction processing, the image processing unit 116 removes fixed pattern noise caused by dark charge, etc., from the radiation image 24. The sensitivity correction processing is the process of correcting variations in the sensitivity of each pixel and variations in the output characteristics of the circuit that reads out the signal charge, etc., based on sensitivity correction data. The defective pixel correction processing is the process of linearly interpolating the pixel value of a defective pixel with the pixel value of a normal surrounding pixel, based on information of defective pixels with abnormal pixel values ​​that are generated at the time of shipment or during periodic inspections. The image processing unit 116 outputs the radiation image 24, which has undergone these various image processing steps, to the display control unit 99.

[0068] As shown in Figure 3, the display control unit 99 controls the display of the radiation image 24 on the display 32. The display control unit 99 also controls the display of various information on the indicator 78.

[0069] The alignment support processing unit 100 receives the rotation position detection results group 73 from the rotation position detection sensor group 72, the attitude detection results 111 from the attitude detection sensor 23 of the electronic cassette 11, and the captured image 112 from the camera 75. Based on the rotation position detection results group 73, the attitude detection results 111, and the captured image 112, the alignment support processing unit 100 performs alignment support processing to assist in aligning the radiation generating unit 15 and the electronic cassette 11.

[0070] The main control unit 101 comprehensively controls the operation of the irradiation control unit 96, the cassette control unit 97, the display-related processing unit 98, the display control unit 99, and the alignment support processing unit 100.

[0071] As an example, as shown in Figure 11, the irradiation condition table 91 has registered irradiation conditions 106 corresponding to various imaging menus 105. The imaging menu 105 specifies imaging procedures in which the imaging site, posture, and imaging direction are set, such as "chest supine frontal view" and "chest semi-sitting frontal view". Imaging sites include the chest, head, neck, abdomen, waist, shoulders, elbows, hands, knees, ankles, etc. Postures include supine and semi-sitting, as well as standing and sitting. Imaging directions include the front, as well as the back and side. Incidentally, semi-sitting is a posture in which the subject H lies supine on the bed 17 with the lower limbs horizontal and the upper body raised, for example, by about 45°, as shown in Figure 12 as an example, and is also called Fowler's position. This semi-sitting position makes it easier for the subject H to breathe and reduces compression of the lungs by abdominal organs.

[0072] As described above, the irradiation condition 106 is a set of tube voltage, tube current, and irradiation time. The irradiation condition 106 also includes the SID (Source to Image receptor Distance) 120, the first setting angle ΨS, and the second setting angle θS. SID 120 is the distance from the focal point F of the radiation R to the radiation detection surface 22. SID 120 is output from the irradiation control unit 96 to the display control unit 99. SID 120 is an example of the "setting distance" related to the technology of this disclosure. The first setting angle ΨS and the second setting angle θS are the angles between the radiation generating unit 15 and the electronic cassette 11 that should be set in the shooting menu. The first setting angle ΨS and the second setting angle θS are set to 0° in almost all shooting menus except for special shooting menus. When the first setting angle ΨS and the second setting angle θS are 0°, the radiation generating unit 15 and the electronic cassette 11 are facing each other directly. The first setting angle ΨS and the second setting angle θS are output from the irradiation control unit 96 to the alignment support processing unit 100 (see Figure 16). Alternatively, the product of tube current and irradiation time may be used as the irradiation condition 106 instead of tube current and irradiation time.

[0073] The mobile radiation generator 10 receives imaging orders from the RIS via the communication unit 80. The imaging order includes an ID (Identification Data) to identify the subject H, and instructions for the imaging procedure from the physician or other medical professional who issued the order. The mobile radiation generator 10 displays the imaging order from the RIS on the display 32 in response to the operator OP's actions. The operator OP confirms the contents of the imaging order through the display 32.

[0074] The mobile radiation generator 10 displays on the display 32 one of several electronic cassettes 11 stored in the cassette storage unit 30, allowing the operator OP to select one of them. The operator OP selects one electronic cassette 11 to take images of the subject H as indicated in the imaging order. This associates the selected electronic cassette 11 with the imaging order.

[0075] Furthermore, the mobile radiation generator 10 displays the imaging menu 105 on the display 32 in a selectable format. The operator OP selects the imaging menu 105 that matches the imaging procedure specified in the imaging order. As a result, the imaging menu 105 is received by the reception unit 95, and the corresponding irradiation conditions 106 are read from the irradiation condition table 91 to the reception unit 95. The irradiation control unit 96 then sets the irradiation conditions 106 to the voltage generator 48. Note that the tube voltage, tube current, and irradiation time of the irradiation conditions 106 read from the irradiation condition table 91 can be fine-tuned by the operator OP via the operation panel 33 before they are set to the voltage generator 48.

[0076] As an example, as shown in Figure 13, the radiation tube 47 generates radiation R in accordance with the irradiation start instruction signal 108 from the irradiation switch 34. The electronic cassette 11 performs a reset operation (not shown) in response to the irradiation start synchronization signal 109 transmitted in accordance with the irradiation start timing of radiation R, which reads out and discards dark charge from the pixels of the sensor panel, and then performs an accumulation operation to accumulate signal charge in the pixels. Furthermore, the electronic cassette 11 performs a readout operation in response to the irradiation end synchronization signal 110 transmitted in accordance with the irradiation end timing of radiation R, which reads out the signal charge accumulated in the pixels and outputs the signal charge as a radiation image 24. This series of operations, in which radiation R is irradiated from the radiation tube 47 and a radiation image 24 is output from the electronic cassette 11, is called "radiography".

[0077] As an example, as shown in Figure 14, the electronic cassette 11 is configured with mutually orthogonal three-dimensional axes: the X-axis, Y-axis, and Z-axis. The X-axis is parallel to the first side 125 of the radiation detection surface 22, and the Y-axis is parallel to the second side 126 of the radiation detection surface 22. In other words, the X-axis is parallel to the vertical direction of the radiation detection surface 22, and the Y-axis is parallel to the horizontal direction of the radiation detection surface 22. The Z-axis is the normal to the radiation detection surface 22 passing through its center C. The second side 126 is an example of a "side of the radiation detection surface" in the art of this disclosure.

[0078] On the other hand, the radiation generating unit 15 is configured with mutually orthogonal three-dimensional axes: the U-axis, V-axis, and W-axis. The U-axis corresponds to the X-axis and is parallel to the vertical direction of the radiation generating unit 15. The V-axis corresponds to the Y-axis and is parallel to the horizontal direction of the radiation generating unit 15. The W-axis corresponds to the Z-axis and is parallel to the front-to-back direction of the radiation generating unit 15, passing through the focal point F of the radiation R of the radiation tube 47. Here, "orthogonal" refers not only to perfect orthogonality but also to orthogonality that includes errors generally accepted in the art to which the technology of this disclosure belongs.

[0079] The posture detection sensor 23 detects the angle θA of the electronic cassette 11 around the Y axis, which is one of the angles ΦA of the electronic cassette 11 around the X axis, θA of the electronic cassette 11 around the Y axis, and ΨA of the electronic cassette 11 around the Z axis. The posture detection sensor 23 outputs the detected angle θA as the posture detection result 111. The posture detection sensor 23 outputs the posture detection result 111 at a predetermined sampling rate of 10 times / second. The angle θA is the tilt angle of the subject H in a semi-sitting position as shown in Figure 12. The first rotation position detection sensor 64 detects the angle θB of the radiation generating unit 15 around the V axis. The first rotation position detection sensor 64 outputs the detected angle θB as the first rotation position detection result 70. The second rotation position detection sensor 67 detects the angle ΨB of the radiation generating unit 15 around the W axis. The second rotation position detection sensor 67 outputs the detected angle ΨB as the second rotation position detection result 71. The angles θA, θB, and ΨB can take values ​​from 0° to 359°. The first rotation position detection sensor 64 and the second rotation position detection sensor 67 output the first rotation position detection result 70 and the second rotation position detection result 71 at a predetermined sampling rate of 10 times / second.

[0080] The alignment support processing unit 100 performs alignment support processing to assist in the alignment of the radiation generating unit 15 and the electronic cassette 11 around the Y axis and V axis. In addition, the alignment support processing unit 100 performs alignment support processing to assist in the alignment of the radiation generating unit 15 and the electronic cassette 11 around the Z axis and W axis.

[0081] There is a problem in the alignment support process between the radiation generating unit 15 and the electronic cassette 11 around the Z-axis and W-axis. As shown in Figure 1, the electronic cassette 11 is obscured by the subject H, so the electronic cassette 11 is not visible in the image 112 captured by the camera 75. If the electronic cassette 11 is not visible in the image 112, the angle ΨA of the electronic cassette 11 around the Z-axis cannot be detected from the image 112, and therefore the alignment support process between the radiation generating unit 15 and the electronic cassette 11 around the Z-axis and W-axis cannot be performed.

[0082] The electronic cassette 11 may be obscured by the subject H, but the bed 17 is not obscured by the subject H. Therefore, in the technology of this disclosure, as an example, as shown in Figure 15, angle ΨC is detected from the captured image 112 instead of angle ΨA. Angle ΨC is the angle between the radiation generating unit 15 and the bed 17 around the vertical axis VA. More specifically, angle ΨC is the angle between the side 128 of the radiation generating unit 15 that extends left and right and is parallel to the V-axis, and the long edge 20 of the bed 17 around the vertical axis VA. The side 128 of the radiation generating unit 15 that extends left and right and is parallel to the side that constitutes the irradiation field of radiation R. Like angles θA, angle ΨC also takes values ​​from 0° to 359°. Angle ΨC is an example of the "first angle" related to the technology of this disclosure. Furthermore, the long edge 20 is an example of the "edge of the bed" relating to the technology of this disclosure. In the following description, angle ΨC will be denoted as the first angle ΨC. The reason for using angle ΨC instead of angle ΨA is that it is assumed that the electronic cassette 11 is placed on the bed 17 by the operator OP so that the first side 125 of the radiation detection surface 22 is parallel to the long edge 20 of the bed 17.

[0083] As an example, as shown in Figure 16, the alignment support processing unit 100 functions as a first angle detection unit 130, a second angle detection unit 131, and first and second support information output units 132. The first angle detection unit 130 receives the captured image 112 from the camera 75 as input. The first angle detection unit 130 also receives reference contour line data 133 as input. The reference contour line data 133 is stored in the storage 81. The first angle detection unit 130 detects a first angle ΨC based on the captured image 112 and the reference contour line data 133. The first angle detection unit 130 outputs the first angle ΨC to the first and second support information output units 132.

[0084] The second angle detection unit 131 receives the rotation position detection result group 73 and the attitude detection result 111 as input. The second angle detection unit 131 detects the second angle θC based on the rotation position detection result group 73 and the attitude detection result 111. The second angle θC is the angle between the radiation generating unit 15 and the electronic cassette 11 around the Y axis. More specifically, the second angle θC is the difference between the angle θA of the electronic cassette 11 around the Y axis and the angle θB of the radiation generating unit 15 around the V axis (θC = θA - θB). The second angle detection unit 131 outputs the second angle θC to the first and second support information output units 132.

[0085] The first and second support information output units 132 receive the first setting angle ΨS and the second setting angle θS as inputs. Here, the first setting angle ΨS is the setting angle corresponding to the first angle ΨC, and the second setting angle θS is the setting angle corresponding to the second angle θC. Based on the first angle ΨC, the second angle θC, and the first setting angle ΨS and the second setting angle θS, the first and second support information output units 132 output a group of support information 134.

[0086] Support information group 134 includes first support information 135 and second support information 136. First support information 135 is the first displacement amount ΔΨ between the first angle ΨC and the first set angle ΨS. Second support information 136 is the second displacement amount Δθ between the second angle θC and the second set angle θS. More specifically, the first displacement amount ΔΨ is the difference between the first angle ΨC and the first set angle ΨS (ΔΨ = ΨC - ΨS). The second displacement amount Δθ is the difference between the second angle θC and the second set angle θS (Δθ = θC - θS). When the first set angle ΨS and the second set angle θS are 0°, the first displacement amount ΔΨ and the second displacement amount Δθ are none other than the first angle ΨC and the second angle θC. When the first displacement ΔΨ and the second displacement Δθ are between 0° and 179°, the radiation generating unit 15 is shifted clockwise relative to the electronic cassette 11 (or the long edge 20 of the bed 17 in the case of the first displacement ΔΨ). When the first displacement ΔΨ and the second displacement Δθ are between 180° and 359°, the radiation generating unit 15 is shifted counterclockwise relative to the electronic cassette 11.

[0087] The alignment support processing unit 100 detects the first angle ΨC and the second angle θC, and outputs the support information group 134 each time the rotation position detection result group 73, attitude detection result 111, and captured image 112 are input. In other words, the support information group 134 is updated each time the rotation position detection result group 73, attitude detection result 111, and captured image 112 are input.

[0088] As an example, as shown in Figure 17, the first angle detection unit 130 functions as a contour extraction unit 140, a calculation unit 141, and a identification unit 142. The contour extraction unit 140 receives the image 112 captured by the camera 75. The contour extraction unit 140 extracts the contour lines 150 (see Figure 18) of the long edge 20 and short edge 21 of the bed 17 from the captured image 112. The contour extraction unit 140 outputs the extraction result 143 of the contour lines 150 to the calculation unit 141.

[0089] Reference contour data 133 is input to the calculation unit 141. As an example, as shown in Figure 18, the reference contour data 133 is data for the reference contour 151, which is the ideal contour when the long edge 20 and short edge 21 of the bed 17 are both straight and perpendicular. The calculation unit 141 aligns the contour line 150 of the extraction result 143 with points P1 and P2 at any one corner of the reference contour line 151. Then, the calculation unit 141 fixes the contour line 150 and rotates the reference contour line 151 counterclockwise, for example by 1° at a time, and sequentially calculates the difference 152 between the contour line 150 and the reference contour line 151. The difference 152 is the distance from multiple set points on two orthogonal sides of the reference contour line 151 to opposite points on two sides of the contour line 150. By sequentially calculating the difference 152 in this way, the calculation result of the difference 152 for each rotation angle of the reference contour line 151 is obtained. The calculation unit 141 outputs a group of calculation results 144, which are the calculation results of the difference 152 for each rotation angle of the reference contour line 151, to the identification unit 142.

[0090] The identification unit 142 calculates the sum of each of the multiple difference 152 calculation results that make up the calculation result group 144. Then, as shown in Figure 19 as an example, the identification unit 142 identifies the angle at which the sum of the difference 152 is the minimum value MIN as the first angle ΨC. The identification unit 142 outputs the identified first angle ΨC. Note that if the current sum of the difference 152 is larger than the previous sum, the rotation direction of the reference contour line 151 may be reversed. In this way, the angle at which the sum of the difference 152 is the minimum value MIN can be found more quickly than when the rotation direction of the reference contour line 151 is fixed in one direction.

[0091] As an example, as shown in Figure 20, the display control unit 99 displays information on the indicator 78 based on the first support information 135 and the second support information 136. More specifically, an illustration 160 of the subject H and an illustration 161 of the radiation generating unit 15 are displayed on the left side of the indicator 78. Below the illustration 161, an arrow 162 indicating the direction of movement of the radiation generating unit 15 that reduces the first displacement amount ΔΨ and a numerical value 163 indicating the amount of movement are displayed. Also, to the right of the illustration 161, an arrow 164 indicating the direction of movement of the radiation generating unit 15 that reduces the second displacement amount Δθ and a numerical value 165 indicating the amount of movement are displayed. The arrow 162 and numerical value 163 are displays based on the first support information 135, and the arrow 164 and numerical value 165 are displays based on the second support information 136. Finally, a message 166 indicating the direction of movement and amount of movement of the radiation generating unit 15 that reduces the first displacement amount ΔΨ and the second displacement amount Δθ is displayed on the right side of the indicator 78. Message 166 also includes text related to the adjustment of SID120.

[0092] The display control unit 99 updates the display of the indicator 78 each time it receives support information 134 from the alignment support processing unit 100. Therefore, when the operator OP moves the radiation generator 15 after seeing the display of the indicator 78, the display contents of arrows 162 and 164, numerical values ​​163 and 165, and message 166 are updated.

[0093] Next, the operation of the above configuration will be explained by referring to the flowchart shown in Figure 21 as an example. As shown in Figure 10, when the operating program 90 is started, the CPU 83 functions as the reception unit 95, irradiation control unit 96, cassette control unit 97, display-related processing unit 98, display control unit 99, alignment support processing unit 100, and main control unit 101.

[0094] Prior to radiography, the operator OP selects a radiography menu 105 corresponding to the radiography order via the display 32, and the reception unit 95 receives the radiography menu 105. The reception unit 95 then reads the irradiation conditions 106 corresponding to the radiography menu 105 from the irradiation condition table 91. The read irradiation conditions 106 are fine-tuned by the operator OP as needed, and then set in the voltage generator 48 by the irradiation control unit 96. The SID 120 of the irradiation conditions 106 is output to the display control unit 99, and the first setting angle ΨS and the second setting angle θS are output to the alignment support processing unit 100.

[0095] The operator OP aligns the electronic cassette 11, the radiation generator 15, and the subject H, and adjusts the opening of the emission aperture of the irradiation field limiter 46. At this time, the camera 75 captures an image 112 of the bed 17, and the captured image 112 is input to the alignment support processing unit 100. In addition, the attitude detection result 111 from the attitude detection sensor 23 of the electronic cassette 11 is input to the alignment support processing unit 100. Furthermore, the rotation position detection result group 73 from the rotation position detection sensor group 72 is input to the alignment support processing unit 100. In other words, the captured image 112, the attitude detection result 111, and the rotation position detection result group 73 are acquired by the alignment support processing unit 100 (step ST100).

[0096] The first angle detection unit 130 of the alignment support processing unit 100 detects the first angle ΨC based on the captured image 112 (step ST110). More specifically, as shown in Figures 17 to 19, the contour extraction unit 140 extracts the contour lines 150 of the long edge 20 and short edge 21 of the bed 17 from the captured image 112. Next, the calculation unit 141 sequentially calculates the difference 152 between the contour line 150 and the reference contour line 151 while fixing the contour line 150 and rotating the reference contour line 151. Then, the identification unit 142 identifies the angle at which the sum of the differences 152 is the minimum value MIN as the first angle ΨC. The first angle ΨC is output from the first angle detection unit 130 to the first and second support information output units 132.

[0097] Furthermore, the second angle detection unit 131 detects a second angle θC based on the attitude detection result 111 and the rotation position detection result group 73 (step ST110). The second angle θC is output from the second angle detection unit 131 to the first and second support information output units 132.

[0098] As shown in Figure 16, the first and second support information output units 132 output the first deviation amount ΔΨ between the first angle ΨC and the first set angle ΨS as the first support information 135 (step ST120). In addition, the second deviation amount Δθ between the second angle θC and the second set angle θS is output as the second support information 136 (step ST120). The support information group 134, including the first support information 135 and the second support information 136, is output from the alignment support processing unit 100 (first and second support information output units 132) to the display control unit 99.

[0099] As shown in Figure 20, under the control of the display control unit 99, the direction and amount of movement of the radiation generating unit 15 that reduces the first displacement ΔΨ and the second displacement Δθ are displayed on the indicator 78 (step ST130). The operator OP relies on the display of this indicator 78 to move the radiation generating unit 15 to reduce the first displacement ΔΨ and the second displacement Δθ. More specifically, the operator OP rotates the radiation generating unit 15 around the vertical axis VA using the first rotation mechanism 60 to reduce the first displacement ΔΨ. The operator OP also rotates the radiation generating unit 15 around the horizontal axis HA using the second rotation mechanism 61 to reduce the second displacement Δθ.

[0100] These steps ST100 to ST130 are repeated until the alignment is complete (NO in step ST140). Once the alignment is complete (YES in step ST140), these steps ST100 to ST130 are also terminated.

[0101] After alignment is complete, the irradiation switch 34 is operated by the operator OP, and the warm-up instruction signal 107 and the irradiation start instruction signal 108 are received by the reception unit 95. As a result, radiation R is irradiated from the radiation tube 47 according to the set irradiation conditions 106. In addition, the electronic cassette 11 performs an accumulation operation in response to the irradiation start synchronization signal 109 and a readout operation in response to the irradiation end synchronization signal 110. As a result, the radiation image 24 is output from the electronic cassette 11.

[0102] The radiation image 24 is received by the image receiving unit 115 of the display-related processing unit 98. The radiation image 24 is output from the image receiving unit 115 to the image processing unit 116, where various image processing is performed, and then output to the display control unit 99. Then, as shown in Figure 3, the radiation image 24 is displayed on the display 32 under the control of the display control unit 99. The radiation image 24 is transmitted to the PACS according to the instructions of the operator OP and stored in the PACS.

[0103] As described above, the CPU 83 includes a positioning support processing unit 100. The first angle detection unit 130 of the positioning support processing unit 100 acquires a first angle ΨC around the vertical axis between the radiation generating unit 15 and the long edge 20 of the bed 17. As shown in Figures 14 and 15, the first angle ΨC corresponds to the angle between the radiation generating unit 15 and the electronic cassette 11 around the Z axis, which is the normal to the radiation detection surface 22 of the electronic cassette 11. The first and second support information output units 132 of the positioning support processing unit 100 output first support information 135 to support positioning of the radiation generating unit 15 around the Z axis based on the first angle ΨC. Therefore, even when the electronic cassette 11 is covered by the subject H, it is possible to support the positioning of the radiation generating unit 15 and the electronic cassette 11.

[0104] Depending on the size of the hospital room, the arrangement of the beds 17, and the placement of equipment such as lockers, it may be necessary to approach the beds 17 at an angle. In such cases, alignment of the radiation generating unit 15 with respect to the angle around the Z-axis is essential. For this reason, the technology of this disclosure is particularly suitable when it is necessary to approach the beds 17 at an angle.

[0105] As shown in Figure 20, the display control unit 99 controls the display on the indicator 78 based on the first support information 135. This allows the operator OP to see the display based on the first support information 135, and assists the operator OP in aligning the radiation generating unit 15.

[0106] As shown in Figure 16, the first and second support information output units 132 output the first deviation amount ΔΨ between the first angle ΨC and the first set angle ΨS as the first support information 135. As shown in Figure 20, the display control unit 99 displays the direction and amount of movement of the radiation generating unit 15 to reduce the first deviation amount ΔΨ, based on the first support information 135. This allows the operator OP to reliably understand which direction and by how much the radiation generating unit 15 should be moved to reduce the first deviation amount ΔΨ, thus improving the efficiency of the alignment work. The display based on the first support information 135 may be either a display showing the direction of movement or a display showing the amount of movement. If the display based on the first support information 135 is only a display showing the direction of movement, it is preferable to notify the operator OP by sounding a beep or the like when the first deviation amount ΔΨ becomes 0.

[0107] As shown in Figure 16, the first angle detection unit 130 acquires a captured image 112 of the bed 17 and detects the first angle ΨC based on the captured image 112. Therefore, a highly reliable first angle ΨC can be detected. Furthermore, since the captured image 112 only needs to show the bed 17, the performance of the camera 75 does not need to be particularly high. Therefore, the cost increase due to the configuration for detecting the first angle ΨC can be suppressed.

[0108] As shown in Figures 17 to 19, the contour extraction unit 140 extracts contour lines 150 of the long edge 20 and short edge 21 of the bed 17 from the captured image 112. The calculation unit 141 sequentially calculates the difference 152 between the contour lines 150 and a pre-registered reference contour line 151, while fixing the contour lines 150 and rotating the reference contour line 151. The identification unit 142 identifies (detects) the angle at which the sum of the differences 152 is the minimum value MIN, as the first angle.

[0109] For example, in the case of a bed, the edges of the bed 17 are not necessarily straight, as the sheets covering it may be uneven. Therefore, to ensure greater accuracy, the above processing shown in Figures 17 to 19 is performed. This allows for the detection of a more reliable first angle ΨC that takes into account the realistic shape of the edges of the bed 17. Note that the difference 152 may also be calculated by fixing the reference contour line 151 and rotating the contour line 150.

[0110] As shown in Figure 16, the second angle detection unit 131 acquires the second angle θC between the radiation generating unit 15 and the electronic cassette 11 around the Y axis parallel to the second side 126 of the radiation detection surface 22. Based on the second angle θC, the first and second support information output units 132 output second support information 136 to assist in the alignment of the radiation generating unit 15 with respect to the angle around the Y axis. Therefore, it is possible to assist not only in the alignment of the radiation generating unit 15 with respect to the angle around the Z axis, but also in the alignment of the radiation generating unit 15 with respect to the angle around the Y axis.

[0111] If the subject H is in a semi-sitting position as shown in Figure 12, then alignment of the radiation generating unit 15 with respect to its angle around the Y-axis is essential. For this reason, the technology of this disclosure is particularly suitable when the subject H is in a semi-sitting position.

[0112] As shown in Figure 20, the display control unit 99 controls the display on the indicator 78 based on the second support information 136. This allows the operator OP to see the display based on the second support information 136, thereby assisting the operator OP in aligning the radiation generating unit 15.

[0113] As shown in Figure 16, the first and second support information output units 132 output the second displacement amount Δθ between the second angle θC and the second set angle θS as the second support information 136. As shown in Figure 20, the display control unit 99 displays the direction and amount of movement of the radiation generating unit 15 to reduce the second displacement amount Δθ, based on the second support information 136. This allows the operator OP to reliably understand which direction and by how much the radiation generating unit 15 should be moved to reduce the second displacement amount Δθ, thus improving the efficiency of the alignment work. Similar to the display based on the first support information 135, the display based on the second support information 136 may also indicate either the direction of movement or the amount of movement. If the display based on the second support information 136 only indicates the direction of movement, it is preferable to notify the operator OP by sounding a beep or the like when the second displacement amount Δθ becomes 0.

[0114] As shown in Figure 10, the alignment support processing unit 100 acquires the attitude detection result 111 from the attitude detection sensor 23 provided on the electronic cassette 11. Then, as shown in Figure 16, the second angle detection unit 131 detects the second angle θC based on the attitude detection result 111. This makes it possible to detect a highly reliable second angle θC.

[0115] As shown in Figures 1 and 2, the device comprises a second support column 41 and an arm portion 28 attached to the second support column 41, with the radiation generating unit 15 positioned at the tip of the arm portion 28. Therefore, the radiation generating unit 15 can be aligned with the electronic cassette 11, which is placed at a distance from the main body portion 25.

[0116] As shown in Figure 4, the arm portion 28 has first joint points 53A and 53B for changing the angle with respect to the second support column 41. This allows the angle of the radiation generating portion 15 to be changed.

[0117] As shown in Figure 4, the arm portion 28 has a link mechanism 55 for maintaining the horizontal position of the radiation generating unit 15. Therefore, the horizontal position of the radiation generating unit 15 can be maintained without requiring any intervention from the operator OP.

[0118] As shown in Figure 5, the radiation generating unit 15 is equipped with a first rotation mechanism 60 that rotates the radiation generating unit 15 around the vertical axis VA, and a second rotation mechanism 61 that rotates the radiation generating unit 15 around the horizontal axis HA. Therefore, the radiation generating unit 15 can be rotated around both the vertical axis VA and the horizontal axis HA.

[0119] As shown in Figure 5, the first rotation mechanism 60 is located closer to the radiation generating unit 15 than the first joint points 53A and 53B, and the second rotation mechanism 61 is located closer to the radiation generating unit 15 than the first rotation mechanism 60. Compared to the case where the rotation mechanism is provided on the support column 27 and the arm 28 is rotated relative to the support column 27, the swing is not large, and the risk of the mobile radiation generating device 10 tipping over can be reduced. In addition, less space is required for rotation.

[0120] In addition, the second angle is exemplified as the angle θC between the radiation generating unit 15 and the electronic cassette 11 around the Y axis, but it is not limited to this. Instead of or in addition to angle θC, the angle ΦC between the radiation generating unit 15 and the electronic cassette 11 around the X axis may be detected as the second angle. In this case, the attitude detection sensor 23 detects the angle ΦA of the electronic cassette 11 around the X axis, instead of or in addition to angle θA. Furthermore, instead of or in addition to the second rotation mechanism 61, a rotation mechanism is provided to rotate the radiation generating unit 15 around the left and right horizontal axes.

[0121] [Second Embodiment] In the first embodiment described above, the first angle ΨC is detected based on the captured image 112, but this is not limited to this. As an example, as shown in Figures 22 and 23, a geomagnetic sensor 170 may be provided in the radiation generating unit 15, and the first angle ΨC may be detected based on the output from the geomagnetic sensor 170.

[0122] In Figure 23, the first angle detection unit 171 of this embodiment receives the azimuth angle detection result 172 from the geomagnetic sensor 170 and the bed azimuth angle data 173. The azimuth angle detection result 172 includes the angle ΨX shown in Figure 22. Angle ΨX is the angle between the side 128 parallel to the V-axis extending to the left and right of the radiation generating unit 15 and magnetic north around the vertical axis VA. The bed azimuth angle data 173 includes the angle ΨY shown in Figure 22. Angle ΨY is the angle between the long edge 20 of the bed 17 and magnetic north around the vertical axis VA. The bed azimuth angle data 173 is pre-registered in the storage 81 by the hospital administrator or the like. The bed azimuth angle data 173 is an example of "pre-registered bed azimuth angles" related to the technology of this disclosure.

[0123] The first angle detection unit 171 calculates the difference (ΨX-ΨY) between the angle ΨX of the azimuth detection result 172 and the angle ΨY of the bed azimuth data 173. The first angle detection unit 171 outputs the calculated difference as the first angle ΨC.

[0124] Thus, in the second embodiment, the first angle detection unit 171 acquires the azimuth angle detection result 172 from the geomagnetic sensor 170 and detects the difference between the azimuth angle detection result 172 and the pre-registered bed azimuth angle data 173 as the first angle ΨC. Therefore, compared to the first embodiment, which detects the first angle ΨC based on the captured image 112, the first angle ΨC can be detected more easily.

[0125] [Third Embodiment] Alternatively, as shown in Figures 24 and 25 as an example, a gyro sensor 175 may be provided in the radiation generating unit 15, and the first angle ΨC may be detected based on the output from the gyro sensor 175.

[0126] In Figure 25, the first angle detection unit 176 of this embodiment receives the angular velocity detection result 177 from the gyro sensor 175 and the bed angle data 178. The bed angle data 178 includes the angle ΨYY shown in Figure 24. The angle ΨYY is the angle between the long edge 20 of the bed 17 and the reference line 179 around the vertical axis VA. The reference line 179 is a line parallel to the sides 128 of the radiation generating unit 15 that extend to the left and right and are parallel to the V axis, at a preset reference position 180. The reference position 180 is, for example, a charging standby location for the mobile radiation generating device 10 installed in a hospital. The bed angle data 178 is pre-registered in storage 81 by the hospital administrator or the like. The bed angle data 178 is an example of the "pre-registered bed angle" related to the technology of this disclosure.

[0127] The first angle detection unit 176 derives the angle ΨXX of the radiation generating unit 15 from the reference position by integrating the angular velocity of the angular velocity detection result 177. The angle ΨXX is the angle between the side 128 parallel to the V-axis extending to the left and right of the radiation generating unit 15 and the reference line 179 around the vertical axis VA. The first angle detection unit 176 calculates the difference (ΨXX-ΨYY) between the angle ΨXX and the angle ΨYY of the bed angle data 178. The first angle detection unit 176 outputs the calculated difference as the first angle ΨC.

[0128] Thus, in the third embodiment, the first angle detection unit 176 acquires the angular velocity detection result 177 from the gyro sensor 175 and detects the difference between the angular velocity detection result 177 and the pre-registered bed angle data 178 as the first angle ΨC. Therefore, compared to the first embodiment, which detects the first angle ΨC based on the captured image 112, the first angle ΨC can be detected more easily.

[0129] [Fourth Embodiment] As an example, as shown in Figure 26, the alignment support processing unit of the fourth embodiment functions as a third support information output unit 185 in addition to the first angle detection unit 130, second angle detection unit 131, and second support information output unit 132 of the first embodiment. The third support information output unit 185 receives distance measurement results 187 from the distance measurement sensor 186 and SID 120 from the irradiation condition table 91 as input. The distance measurement sensor 186 is, for example, a stereo camera, a ToF (Time of Flight) camera, or a LiDAR (Light Detection And Ranging), and is provided in the radiation generation unit 15. The distance measurement sensor 186 measures the distance from the installation location to the bed 17 and outputs the measured distance as distance measurement result 187. The distance measurement sensor 186 outputs the distance measurement result 187 at a predetermined sampling rate, such as 10 times / second.

[0130] The third support information output unit 185 converts the distance measurement result 187 into the distance from the focal point F of the radiation R to the radiation detection surface 22. In doing so, the third support information output unit 185 takes into account the height difference between the installation location of the distance measurement sensor 186 and the focal point F, as well as the thickness of the electronic cassette 11. Thus, the distance measurement result 187, which is the result of measuring the distance from the installation location of the distance measurement sensor 186 to the bed 17, is equivalent to the distance from the focal point F of the radiation R to the radiation detection surface 22. For this reason, the distance measurement result 187 is an example of the "distance measurement result from the focal point of radiation to the radiation detection surface" related to the technology of this disclosure.

[0131] The third support information output unit 185 outputs the difference amount ΔSID between the converted distance from the focal point F to the radiation detection surface 22 and the SID 120 as third support information 188 to the display control unit 99. The third support information output unit 185 outputs this third support information 188 each time the distance measurement result 187 is input. In other words, the third support information 188 is updated each time the distance measurement result 187 is input. Incidentally, if the difference amount ΔSID is a positive value, the converted distance from the focal point F to the radiation detection surface 22 is higher than the SID 120. On the other hand, if the difference amount ΔSID is a negative value, the SID 120 is higher than the converted distance from the focal point F to the radiation detection surface 22.

[0132] As an example, as shown in Figure 27, the display control unit 99 displays information based on the third support information 188 on the indicator 78. More specifically, in the fourth embodiment, in addition to the illustration 160 of the subject H and the illustration 161 of the radiation generating unit 15 from the first embodiment, an illustration 190 of the electronic cassette 11 is displayed to the left of the indicator 78. Below the illustration 161 of the radiation generating unit 15, an arrow 191 indicating the direction of movement of the radiation generating unit 15 that reduces the displacement amount ΔSID and a numerical value 192 indicating the amount of movement are displayed. The arrow 191 and numerical value 192 are displays based on the third support information 188. To the right of the indicator 78, a message 193 indicating the direction of movement and amount of movement of the radiation generating unit 15 that reduces the displacement amount ΔSID is displayed.

[0133] The display control unit 99 updates the display of the indicator 78 each time it receives the third support information 188 from the alignment support processing unit. Therefore, when the operator OP moves the radiation generating unit 15 after seeing the display of the indicator 78, the display contents of the arrow 191, numerical value 192, and message 193 are updated.

[0134] Thus, in the fourth embodiment, the third support information output unit 185 acquires a distance measurement result 187 from the focal point F of the radiation R to the radiation detection surface 22, and outputs third support information 188 to assist in aligning the distance to the SID 120 based on the distance measurement result 187. This allows the operator OP to assist in aligning the radiation generating unit 15 with respect to the SID 120. The operator OP performs the alignment of the radiation generating unit 15 with respect to the SID 120 after completing the alignment of the radiation generating unit's angles around the Z and Y axes. Specifically, the alignment of the radiation generating unit 15 with respect to the SID 120 is performed by bending the arm portion 28 relative to the second support column 41 at the first joint points 53A and 53B, and raising or lowering the radiation generating unit 15.

[0135] The display control unit 99 controls the display on the indicator 78 based on the third support information 188. This allows the operator OP to see the display based on the third support information 188, thereby assisting the operator OP in aligning the radiation generating unit 15.

[0136] Alternatively, a marker of known size may be placed on the bed 17, and the distance from the focal point F of radiation R to the radiation detection surface 22 may be calculated based on the size of the marker visible in the captured image 112. Or, sensors such as rotary encoders or potentiometers may be provided at the first joint points 53A and 53B, and the height data of the bed 17 may be registered in advance. Then, the distance from the focal point F of radiation R to the radiation detection surface 22 may be calculated based on the sensor output and the height data.

[0137] [Fifth Embodiment] As an example, as shown in Figure 28, the alignment support processing unit of the fifth embodiment functions as an irradiation reference position detection unit 200, in addition to the first angle detection unit 130, the second angle detection unit 131, and the second support information output unit 132 of the first embodiment. The irradiation reference position detection unit 200 receives an image 202 of the subject H from the camera 201 and an estimation model 203 as input. The camera 201 is positioned so that the center CI of the image 202 coincides with the focal point F of the radiation R. The camera 201 captures images of the subject H lying supine on the bed 17 at a predetermined frame rate, such as 10 frames / second. The estimation model 203 is a machine learning model that, upon input of an image 202 of the subject H, outputs the coordinates of the irradiation reference position IC of the radiation R in the subject H. The irradiation reference position IC is pre-set for each imaging area; for example, if the imaging area is the chest, it is the sternum.

[0138] The irradiation reference position detection unit 200 inputs the captured image 202 from the camera 201 to the estimation model 203, and causes the estimation model 203 to output a position detection result 204 including the coordinates of the irradiation reference position IC. The position detection result 204 is an example of the "fourth supporting information" related to the technology of this disclosure. The irradiation reference position detection unit 200 outputs this position detection result 204 each time a captured image 202 is input. That is, the position detection result 204 is updated each time a captured image 202 is input.

[0139] As an example, as shown in Figure 29, the display control unit 99 displays information on the indicator 78 based on the position detection result 204. More specifically, in the fifth embodiment, a live view image of the captured image 202 is displayed on the left side of the indicator 78. The captured image 202 displays a first pointer 210 and a second pointer 211. The first pointer 210 consists of a circle centered on the irradiation reference position IC and straight lines extending up, down, left, and right from the irradiation reference position IC. The second pointer 211 consists of a cross centered on the center CI of the captured image 202, which coincides with the focal point F of the radiation R, and four straight lines placed at the ends of the cross. In addition, a message 212 is displayed on the right side of the indicator 78. The message 212 prompts the operator OP to move the radiation generating unit 15 so that the center CI of the captured image 202, which is the center of the second pointer 211, i.e., the focal point F of the radiation R, aligns with the irradiation reference position IC, which is the center of the first pointer 210.

[0140] The display control unit 99 updates the display of the indicator 78 each time it receives a position detection result 204 from the alignment support processing unit. Therefore, if the operator OP moves the radiation generator 15 after seeing the display of the indicator 78, the display position of the first pointer 210 is updated.

[0141] Thus, in the fifth embodiment, the irradiation reference position detection unit 200 acquires an image 202 of the subject H. Based on the image 202, it detects the irradiation reference position IC of the radiation R on the subject H and outputs a position detection result 204 as fourth support information to assist in aligning the focal point F of the radiation R with the irradiation reference position IC. This allows the operator OP to assist in aligning the radiation generating unit 15 with respect to the irradiation reference position IC. The operator OP performs the alignment of the radiation generating unit 15 with respect to the irradiation reference position IC after completing the alignment of the radiation generating unit 15 with respect to the angles around the Z and Y axes, and the alignment of the radiation generating unit 15 with respect to the SID 120. Specifically, the alignment of the radiation generating unit 15 with respect to the irradiation reference position IC is performed by moving the main body 25 using the trolley 16.

[0142] The display control unit 99 controls the display on the indicator 78 based on the position detection result 204. This allows the operator OP to see the display based on the position detection result 204, thereby assisting the operator OP in aligning the radiation generating unit 15.

[0143] The display based on the first support information 135, the second support information 136, the third support information 188, and the fourth support information, which is the position detection result 204, may be displayed on the display 32 instead of, or in addition to, the indicator 78. A projector may also be used as the first to fourth display unit.

[0144] The display based on the first support information 135 may be hidden when the first displacement amount ΔΨ becomes 0. In this case, the operator OP may be notified that the first displacement amount ΔΨ has become 0 before the display is hidden. The same applies to the display based on the second support information 136, the display based on the third support information 188, and the display based on the position detection result 204, which is the fourth support information.

[0145] Normally, the electronic cassette 11 is recognized from the captured image 112, and the angle between the first side 125 of the radiation detection surface 22 of the electronic cassette 11 and the sides 128 of the radiation generating unit 15 that are parallel to the V-axis extending to the left and right is detected as the first angle ΨC. However, only if the electronic cassette 11 is covered by the subject H and cannot be recognized from the captured image 112, the angle between the sides 128 of the radiation generating unit 15 that are parallel to the V-axis extending to the left and right and the long edge 20 of the bed 17 may be detected as the first angle ΨC. As a method for recognizing the electronic cassette 11 from the captured image 112, one possible method is to use a machine learning model that outputs an outline image of the electronic cassette 11 when an captured image 112 in which the electronic cassette 11 is partially visible is input.

[0146] The mechanism for holding the radiation generating unit 15 does not have to be the illustrated link mechanism 55. The radiation generating unit 15 may be held by a single arm that directly connects the radiation generating unit 15 to the support column 27, and by two joint points that connect the support column 27 to the arm, and the arm to the radiation generating unit 15, respectively. Alternatively, the radiation generating unit 15 may be held by a telescopic mechanism having a support column extending in the direction of the vertical axis VA and support columns extending in the front-to-back horizontal axis HA direction.

[0147] Motors may be added to the first rotation mechanism 60 and the second rotation mechanism 61, so that they can rotate automatically without operator OP intervention. In this case, drive signals to drive the motors of the first rotation mechanism 60 and the second rotation mechanism 61 in a rotation direction and amount that reduces the first displacement ΔΨ and the second displacement Δθ may be output as the first support information 135 and the second support information 136.

[0148] Furthermore, motors may be added to the first joint points 53A and 53B, so that the angle of the arm portion 28 relative to the support portion 27 can be changed automatically without operator OP intervention. In this case, a drive signal to drive the motors of the first joint points 53A and 53B in a direction and amount that reduces the displacement amount ΔSID may be output as the third support information 188.

[0149] Similarly, a drive signal for moving the mobile radiation generator 10 may be output as fourth support information in a direction and by an amount that reduces the difference between the irradiation reference position IC and the center CI of the captured image 202.

[0150] The radiation image detector is not limited to the example electronic cassette 11. A CR (Computed Radiography) cassette may also be used. Furthermore, the subject H is not limited to the example patient. A diseased animal such as a dog or cat may also be used.

[0151] In each of the above embodiments, the processing of each processing unit, such as the reception unit 95, irradiation control unit 96, cassette control unit 97, display-related processing unit 98, display control unit 99, alignment support processing unit 100, main control unit 101, image receiving unit 115, image processing unit 116, first angle detection units 130, 171, and 176, second angle detection unit 131, first and second support information output units 132, contour extraction unit 140, calculation unit 141, identification unit 142, third support information output unit 185, and irradiation reference position detection unit 200, is executed by any computer. Furthermore, any computer may execute these processes using a processor as hardware, a program as software, or a combination thereof. In that case, the processor is configured to cooperate with the program to execute the various processes in each of the above embodiments, and can function as each unit or means in each of the above embodiments. Moreover, the execution order of the processing by the processor is not limited to the order described and may be changed as appropriate. Any computer may be a general-purpose computer, a computer designed for a specific purpose, a workstation, or any other system capable of performing each of the processes.

[0152] A processor may consist of one or more hardware components, and the type of hardware is not limited. For example, a processor may consist of the example CPU83, or programmable logic devices such as an MPU (Micro Processing Unit), FPGA (Field Programmable Gate Array), dedicated circuits for executing specific processes such as an ASIC (Application Specific Integrated Circuit), a GPU (Graphic Processing Unit), or an NPU (Neural Processing Unit). Furthermore, the type of hardware may be a combination of different types of hardware. When multiple hardware components are configured to execute one or more processes of a processor, these multiple hardware components may reside in physically separate devices or in the same device. Also, in any embodiment, the order of each process performed by the processor is not limited to the order described above and may be changed as appropriate. The hardware is composed of electrical circuits (circuitry) that combine circuit elements such as semiconductor elements.

[0153] Furthermore, the program may be firmware or software such as microcode. Alternatively, the program may be, for example, a set of program modules, each function of which may be implemented by a processor configured to perform its respective function. The program may be program code or multiple code segments stored on one or more non-temporary computer-readable media (e.g., storage media or other storage devices). The program may be divided and stored on multiple non-temporary computer-readable media located in physically separate devices. Program code or code segments may represent any combination of procedures, functions, subprograms, routines, subroutines, modules, software packages, classes, or instructions, data structures, or program statements. Program code or code segments may be connected to other code segments or hardware circuits by sending and receiving information, data, arguments, parameters, or memory contents.

[0154] From the above description, the technology described in the following supplementary information can be understood.

[0155] [Additional note 1] A mobile radiation generator comprising a radiation generating unit that emits radiation toward a radiation image detector positioned between the subject and the bed on which the subject lies supine, Equipped with a processor, The aforementioned processor, A first angle is obtained around the vertical axis between the radiation generating unit and the edge of the bed, which corresponds to the angle between the radiation generating unit and the radiation image detector around the normal to the radiation detection surface of the radiation image detector. Based on the first angle, first support information is output to assist in the alignment of the radiation generating unit with respect to the angle around the normal. Mobile radiation generator. [Additional note 2] Equipped with a first display unit, The aforementioned processor, A mobile radiation generator according to Appendix 1, which controls the display of the first support information on the first display unit. [Additional note 3] The aforementioned processor, The first deviation amount between the first angle and the first set angle is output as the first support information. The mobile radiation generator according to Appendix 2, wherein the display indicating the direction and / or amount of movement of the radiation generating unit that reduces the first displacement is provided as a display based on the first support information. [Additional note 4] The aforementioned processor, Acquire a photographic image of the aforementioned bed, A mobile radiation generator according to any one of the appendix items 1 to 3, which detects the first angle based on the captured image. [Additional note 5] The aforementioned processor, The outline of the edge of the bed is extracted from the aforementioned captured image, The mobile radiation generator according to Appendix 4, which detects the angle at which the difference between the aforementioned contour line and a pre-registered reference contour line is minimized, as the first angle. [Additional note 6] Equipped with a geomagnetic sensor, The aforementioned processor, The azimuth angle detection result from the aforementioned geomagnetic sensor is obtained, A mobile radiation generator according to any one of the appendix items 1 to 3, wherein the difference between the azimuth angle detection result and the azimuth angle of the bed registered in advance is detected as the first angle. [Additional note 7] Equipped with a gyro sensor, The aforementioned processor, The angular velocity detection result from the gyro sensor is obtained, A mobile radiation generator according to any one of the appendix items 1 to 3, wherein the difference between the angular velocity detection result and the angle of the bed that has been registered in advance is detected as the first angle. [Additional note 8] The aforementioned processor, A second angle between the radiation generating unit and the radiation image detector, around an axis parallel to the edge of the radiation detection surface, is also acquired. A mobile radiation generator according to any one of the appendix items 1 to 7, which outputs second support information for assisting in the alignment of the radiation generating unit with respect to the angle around the axis based on the second angle. [Additional note 9] Equipped with a second display unit, The aforementioned processor, A mobile radiation generator according to Appendix 8, which controls the display of the second support information on the second display unit. [Additional Note 10] The aforementioned processor, The second deviation amount between the second angle and the second set angle is output as the second support information. The mobile radiation generator according to Appendix 9, wherein the display indicating the direction and / or amount of movement of the radiation generating unit that reduces the second displacement is provided as a display based on the second support information. [Additional Note 11] The aforementioned processor, The attitude detection result is obtained from the attitude detection sensor provided in the aforementioned radiation image detector. A mobile radiation generator according to any one of the appendix items 8 to 10, which detects the second angle based on the attitude detection result. [Additional Note 12] Support posts and It comprises an arm portion attached to the aforementioned support column, The aforementioned radiation generating unit is located at the tip of the arm portion and is a mobile radiation generating device as described in any one of the appendix items 1 to 11. [Additional Note 13] The mobile radiation generator according to Appendix 12, wherein the arm portion has joint points for changing the angle with respect to the support column. [Additional Note 14] The arm portion has a link mechanism for maintaining the orientation of the radiation generating portion horizontally, as described in Appendix 12 or Appendix 13. [Additional Note 15] A first rotation mechanism that rotates the radiation generating unit around a vertical axis, A mobile radiation generating device according to any one of the appendices 1 to 14, comprising a second rotation mechanism for rotating the radiation generating unit around a horizontal axis. [Additional Note 16] Support posts and It comprises an arm portion attached to the aforementioned support column, The radiation generating unit is located at the tip of the arm portion. The arm portion is connected to an articulation point for changing the angle with respect to the support column, The first rotation mechanism is located on the radiation generating side of the joint point, The second rotating mechanism is located on the radiation generating side of the first rotating mechanism, as described in Appendix 15 of the mobile radiation generating device. [Additional Note 17] The aforementioned processor, The distance measurement result from the focal point of the radiation to the radiation detection surface is obtained, A mobile radiation generator according to any one of the appendices 1 to 16, which outputs third support information to help adjust the distance from the focal point of the radiation to the radiation detection surface to a set distance based on the distance measurement results. [Additional Note 18] Equipped with a third display unit, The aforementioned processor, A mobile radiation generator according to Appendix 17, which controls the display of the third support information on the third display unit. [Additional Note 19] The aforementioned processor, Acquire the image of the subject, Based on the captured image, the radiation irradiation reference position on the subject is detected. A mobile radiation generator according to any one of the appendices 1 to 18, which outputs fourth support information for assisting in aligning the focus of the radiation to the irradiation reference position. [Additional Note 20] It is equipped with a fourth display unit, The aforementioned processor, A mobile radiation generator according to Appendix 19, which controls the display of the fourth support information on the fourth display unit.

[0156] The technology of this disclosure can be appropriately combined with the various embodiments and / or variations described above. Furthermore, it is understood that various configurations can be adopted without departing from the spirit of the invention, and the invention is not limited to the embodiments described above. In addition, the technology of this disclosure extends not only to programs, but also to storage media for non-temporarily storing programs, and to computer program products containing programs.

[0157] The descriptions and illustrations presented above are detailed explanations of the technical aspects of this disclosure and are merely examples of the technical aspects. For example, the above descriptions of the structure, function, operation, and effect are examples of the structure, function, operation, and effect of the technical aspects of this disclosure. Therefore, it goes without saying that you may delete unnecessary parts, add new elements, or replace elements in the descriptions and illustrations presented above, as long as you do not deviate from the essence of the technical aspects of this disclosure. Furthermore, in order to avoid confusion and facilitate understanding of the technical aspects of this disclosure, explanations of common technical knowledge and the like that do not require special explanation to enable the implementation of the technical aspects of this disclosure have been omitted from the descriptions and illustrations presented above.

[0158] In this specification, "A and / or B" is synonymous with "at least one of A and B." That is, "A and / or B" means that it may be A alone, or B alone, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" applies when expressing three or more things linked by "and / or."

[0159] All documents, patent applications, and technical standards described herein are incorporated by reference to the same extent as if each individual document, patent application, and technical standard were specifically and individually noted to be incorporated by reference. [Explanation of symbols]

[0160] 2. Radiography System 10 Mobile radiation generator 11 Electronic Cassette 15 Radiation-generating parts 16 Bogie section 17 berths 18 Front Wheel 19 Rear wheel 20 Long edge 21 Short edge 22 Radiation detection surface 23. Attitude detection sensor 24 radiographic images 25 Main body 26 Central part 27 Pillar section 28 Arm section 29 UI-related devices 30 Cassette storage compartment 31 Handle 32 Touch panel display (display) 33 Control Panel 34. Irradiation switch 40 1st pillar 41 Second pillar 45 Radiation source 46 Irradiation field limiter 47 Radiation tubes 48 Voltage Generator 50A, 50B tonearm 51 First connecting member 52 Second connecting member 53A, 53B First joint point 54A, 54B Second joint point 55 Link mechanism 60 First Rotation Mechanism 61 Second Rotation Mechanism 62 First rotation axis 63 First bearing 64. First rotational position detection sensor 65 Second rotation axis 66. Second bearing 67. Second rotational position detection sensor 70 First rotation position detection result 71 Second rotation position detection result 72 Rotational position detection sensor group 73 Rotational position detection results group 75, 201 Camera 78 Indicators 80 Communications Department 81 storage 82 memory 83 CPU 84 Bus Line 85 Power supply section 86 Battery 90 Operating Program 91 Irradiation Conditions Table 95 Reception Department 96 Irradiation control unit 97 Cassette Control Unit 98 Display-related processing unit 99 Display Control Unit 100 Alignment support processing unit 101 Main Control Unit 105 Shooting Menu 106 Irradiation conditions 107 Warm-up instruction signal 108 Irradiation start instruction signal 109 Irradiation start synchronization signal 110 Irradiation end synchronization signal 111 Posture Detection Results 112, 202 Captured images 115 Image receiving unit 116 Image Processing Unit 120 SID 125 First side of the radiation detection surface 126 The second side of the radiation detection surface 128 Sides parallel to the V-axis extending to the left and right of the radiation generating section. 130, 171, 176 First angle detection unit 131 Second Angle Detection Unit 132 First and Second Support Information Output Units 133 Reference contour line data 134 Support information group 135 1st support information 136 Second support information 140 Contour extraction section 141 Calculation Section 142 Specific part 143 Extraction results 144 Calculation result group 150 Outline 151 Reference contour line 152 difference 160 Illustrations of the subjects 161 Illustration of the radiation-emitting part 162, 164, 191 Arrows 163, 165, 192 (numerical values) Messages 166, 193, and 212 170 Geomagnetic Sensor 172 Azimuth detection results 173 Bed azimuth data 175 Gyro Sensor 177 Angular velocity detection results 178 Bed Angle Data 179 Reference Line 180 Reference position 185 Third Support Information Output Unit 186 Distance measuring sensor 187 Distance measurement results 188 Third support information 190 Illustration of an electronic cassette player 200 Irradiation reference position detection unit 203 Estimated Model 204 Location detection results 210 First pointer 211 Second Pointer Δθ Second displacement ΔΨ First displacement ΔSID deviation θA Angle of the electronic cassette around the Y axis ΦA Angle of the electronic cassette around the X axis ΨA Angle of the electronic cassette around the Z axis θB Angle of the radiation source around the V axis ΦB Angle of the radiation generating part around the U axis ΨB Angle of the radiation source around the W axis θC Angle between the radiation generator and the electronic cassette around the Y axis (second angle) ΦC Angle between the radiation generating unit and the electronic cassette around the X axis (second angle) ΨC Angle between the radiation generator and the electron cassette around the Z axis (first angle) θS Second setting angle ΨS First setting angle ΨX The angle between the sides parallel to the V-axis extending to the left and right of the radiation source and magnetic north. ΨXX Angle between the sides parallel to the V-axis extending to the left and right of the radiation generating section and the reference line. ΨY Angle between the long edge of the bed and magnetic north. ΨYY Angle between the long edge of the bed and the reference line C: Center of the radiation detection surface CA1 Central axis of the first rotation axis CA2 Second rotation axis central axis CI (Center of Captured Image) F focus H Subject HA horizontal axis IC irradiation reference position MIN: Minimum value of the sum of differences OP Operator P1 Point at any corner of the contour line P2 A point at any corner of the reference contour line R radiation ST100, ST110, ST120, ST130, ST140 Step VA Vertical Axis

Claims

1. A mobile radiation generator comprising a radiation generating unit that emits radiation toward a radiation image detector positioned between the subject and the bed on which the subject lies supine, Equipped with a processor, The aforementioned processor, A first angle is obtained around the vertical axis between the radiation generating unit and the edge of the bed, which corresponds to the angle between the radiation generating unit and the radiation image detector around the normal to the radiation detection surface of the radiation image detector. Based on the first angle, first support information is output to assist in the alignment of the radiation generating unit with respect to the angle around the normal. Mobile radiation generator.

2. Equipped with a first display unit, The aforementioned processor, A mobile radiation generator according to claim 1, which controls the display of the first support information on the first display unit.

3. The aforementioned processor, The first deviation amount between the first angle and the first set angle is output as the first support information. The mobile radiation generator according to claim 2, wherein the display indicating the direction and / or amount of movement of the radiation generating unit that reduces the first displacement is provided as a display based on the first support information.

4. The aforementioned processor, Acquire a photographic image of the aforementioned bed, The mobile radiation generator according to claim 1, which detects the first angle based on the captured image.

5. The aforementioned processor, The outline of the edge of the bed is extracted from the aforementioned captured image, The mobile radiation generator according to claim 4, wherein the angle at which the difference between the contour line and a pre-registered reference contour line is minimized is detected as the first angle.

6. Equipped with a geomagnetic sensor, The aforementioned processor, The azimuth angle detection result from the aforementioned geomagnetic sensor is obtained, The mobile radiation generator according to claim 1, wherein the difference between the azimuth angle detection result and the azimuth angle of the bed registered in advance is detected as the first angle.

7. Equipped with a gyro sensor, The aforementioned processor, The angular velocity detection result from the gyro sensor is obtained, The mobile radiation generator according to claim 1, wherein the difference between the angular velocity detection result and the angle of the bed that has been registered in advance is detected as the first angle.

8. The aforementioned processor, The second angle between the radiation generating unit and the radiation image detector, around an axis parallel to the edge of the radiation detection surface, is also acquired. The mobile radiation generator according to claim 1, which outputs second support information for assisting in the alignment of the radiation generating unit with respect to the angle around the axis based on the second angle.

9. Equipped with a second display unit, The aforementioned processor, The mobile radiation generator according to claim 8, which controls the display of the second support information on the second display unit.

10. The aforementioned processor, The second difference between the second angle and the second set angle is output as the second support information. The mobile radiation generator according to claim 9, wherein the display indicating the direction and / or amount of movement of the radiation generating unit that reduces the second displacement is provided as a display based on the second support information.

11. The aforementioned processor, The attitude detection result is obtained from the attitude detection sensor provided in the aforementioned radiation image detector. The mobile radiation generator according to claim 8, wherein the second angle is detected based on the attitude detection result.

12. Support posts and It comprises an arm portion attached to the aforementioned support column, The mobile radiation generating device according to claim 1, wherein the radiation generating unit is located at the tip of the arm portion.

13. The mobile radiation generator according to claim 12, wherein the arm portion has an articulation point for changing the angle with respect to the support column.

14. The mobile radiation generating device according to claim 12, wherein the arm portion has a link mechanism for maintaining the orientation of the radiation generating portion horizontally.

15. A first rotation mechanism for rotating the radiation generating unit around a vertical axis, The mobile radiation generating device according to claim 1, further comprising a second rotation mechanism for rotating the radiation generating unit around a horizontal axis.

16. Support posts and It comprises an arm portion attached to the aforementioned support column, The radiation generating unit is located at the tip of the arm portion. The arm portion is connected to an articulation point for changing the angle with respect to the support column, The first rotation mechanism is located on the radiation generating side of the joint point, The mobile radiation generator according to claim 15, wherein the second rotating mechanism is located closer to the radiation generating unit than the first rotating mechanism.

17. The aforementioned processor, The distance measurement result from the focal point of the radiation to the radiation detection surface is obtained, The mobile radiation generator according to claim 1, which outputs third support information to help adjust the distance from the focal point of the radiation to the radiation detection surface to a set distance based on the distance measurement result.

18. Equipped with a third display unit, The aforementioned processor, The mobile radiation generator according to claim 17, which controls the display of the third support information on the third display unit.

19. The aforementioned processor, Acquire the image of the subject, Based on the captured image, the radiation irradiation reference position on the subject is detected. The mobile radiation generator according to claim 1, which outputs a fourth support information for assisting in aligning the focus of the radiation to the irradiation reference position.

20. It is equipped with a fourth display unit, The aforementioned processor, The mobile radiation generator according to claim 19, which controls the display of the fourth support information on the fourth display unit.

21. A method for operating a mobile radiation generator, which includes a radiation generating unit that emits radiation toward a radiation image detector positioned between a subject and a bed on which the subject lies supine, To obtain a first angle around the vertical axis between the radiation generating unit and the edge of the bed, which corresponds to the angle between the radiation generating unit and the radiation image detector around the normal to the radiation detection surface of the radiation image detector, and, Based on the first angle, output first support information to assist in the alignment of the radiation generating unit with respect to the angle around the normal, A method for operating a mobile radiation generator, including [specific details omitted].

22. An operating program for a mobile radiation generator, which includes a radiation generating unit that emits radiation toward a radiation image detector positioned between a subject and a bed on which the subject lies supine, To obtain a first angle around the vertical axis between the radiation generating unit and the edge of the bed, which corresponds to the angle between the radiation generating unit and the radiation image detector around the normal to the radiation detection surface of the radiation image detector, and, Based on the first angle, output first support information to assist in the alignment of the radiation generating unit with respect to the angle around the normal, An operating program for a mobile radiation generator that causes a computer to perform a process including [specific details omitted].

Images