Radiation generator, method for operating a radiation generator, and operating program for a radiation generator

Abstract

This invention provides a radiation generator capable of not only controlling movement to a target position but also accurately controlling the alignment between the radiation source and the radiation image detection device, a method for operating the radiation generator, and an operating program for the radiation generator. [Solution] The radiation generator consists of a main unit having a radiation source that emits radiation toward the patient, and a wheeled trolley unit that is capable of autonomous movement. The movement control unit controls the movement of the trolley unit to the target position based on the surrounding environment and its own position recognized by a movement control image. The alignment control unit controls the alignment of the radiation source and the electronic cassette based on the electronic cassette recognized by a alignment control image.

Description

[Technical Field]

[0001] The technology of the present disclosure relates to a radiation generating apparatus, an operation method for a radiation generating apparatus, and an operation program for a radiation generating apparatus. [Background Art]

[0002] In medical practice, a mobile radiation generating apparatus is utilized in which a main body having a radiation source that emits radiation toward a subject is movable by a traveling mechanism having wheels. For example, a mobile radiation generating apparatus is used for so-called round imaging, in which imaging of a patient as a subject is performed while moving between hospital rooms.

[0003] Patent Document 1 describes a manually driven mobile radiation generating apparatus equipped with a camera that images the surrounding environment. In Patent Document 1, manual traveling to a target position such as the side of a supine imaging table (bed) on which an electronic cassette is placed is assisted, for example by notifying an operator such as a radiological technologist of a route that avoids obstacles captured by the camera. [Prior Art Documents] [Patent Documents]

[0004] [Patent Document 1] International Publication No. 2017 / 043040 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] When using a mobile radiation generator, the device is first driven to the target location, and then the radiation source and the electronic cassette containing the radiation image detection device are aligned. For driving to the target location, autonomous driving using SLAM (Simultaneous Localization and Mapping) technology is being considered. Autonomous driving can reduce the workload of the operator. Even when such autonomous driving is adopted, it is necessary to accurately align the radiation source and the radiation image detection device, such as by directly facing each other.

[0006] One embodiment of the technology of this disclosure provides a radiation generator, a method for operating the radiation generator, and an operating program for the radiation generator, which are capable of accurately controlling not only the movement to a target position but also the alignment of the radiation source and the radiation image detection device. [Means for solving the problem]

[0007] The radiation generating device of this disclosure is a radiation generating device having a main body having a radiation source that emits radiation toward an object, and a driving mechanism having wheels that enables autonomous movement, comprising an environmental information sensor and a processor, wherein the processor performs driving control of the driving mechanism to a target position based on the surrounding environment and its own position recognized by the output data of the environmental information sensor, and alignment control of the radiation source and the radiation image detection device based on the radiation image detection device or object recognized by the output data.

[0008] The processor preferably transitions from driving control to alignment control, or from alignment control to driving control, when the set conditions are met.

[0009] It is preferable for the processor to switch from driving control to positioning control when its own position becomes the target position.

[0010] The processor preferably switches from driving control to positioning control when a radiation image detection device or subject is detected from the output data.

[0011] It is preferable for the processor to switch from positioning control to driving control when the positional misalignment between the radiation source and the radiation image detection device or subject exceeds a set amount.

[0012] In driving control, it is preferable to estimate the vehicle's own position from the output data while creating map data of the surrounding environment.

[0013] In alignment control, it is preferable to extract the contour of the radiation image detection device from the output data.

[0014] In alignment control, it is preferable to use a pre-trained model that has been trained using training output data, including that from a radiation image detection device.

[0015] In alignment control, it is preferable to extract the joint points of the subject from the output data.

[0016] The main body has an arm that holds the radiation source and can change the position and / or orientation of the radiation source, and the radiation source can be moved by the arm between a housing position and a shooting preparation position, and it is preferable that the processor sets the radiation source to the housing position while performing travel control, and sets the radiation source from the housing position to the shooting preparation position when transitioning from travel control to alignment control.

[0017] The alignment control includes control of moving the main body at the target position using the travel mechanism, and it is preferable that the movement speed of the main body in the alignment control is lower than the travel speed of the main body in the travel control.

[0018] A method for operating a radiation generator according to the present disclosure is a method for operating a radiation generator in which a main body portion having a radiation source that emits radiation toward a subject is capable of autonomous traveling by a traveling mechanism having wheels, the method comprising: executing traveling control of the traveling mechanism to a target position based on a surrounding environment recognized from output data of an environmental information sensor and a self-position, and alignment control between the radiation source and a radiation image detection device based on the radiation image detection device or the subject recognized from the output data.

[0019] An operation program for a radiation generator according to the present disclosure is an operation program for a radiation generator in which a main body portion having a radiation source that emits radiation toward a subject is capable of autonomous traveling by a traveling mechanism having wheels, the program causing a computer to execute processing including: executing traveling control of the traveling mechanism to a target position based on a surrounding environment recognized from output data of an environmental information sensor and a self-position, and alignment control between the radiation source and a radiation image detection device based on the radiation image detection device or the subject recognized from the output data. [Advantageous Effects of Invention]

[0020] According to the technology of the present disclosure, it is possible to provide a radiation generator, a method for operating a radiation generator, and an operation program for a radiation generator that can accurately perform not only traveling control to a target position but also alignment control between a radiation source and a radiation image detection device. [Brief Description of Drawings]

[0021] [Figure 1] It is a diagram showing a state of supine radiography using a radiation imaging system. [Figure 2] It is a diagram showing a state of standing radiography using a radiation imaging system. [Figure 3] It is a diagram showing the radiation generator in which the radiation source is in a storage position. [Figure 4] It is a block diagram showing an electrical configuration of the radiation generator. [Figure 5]It is a diagram showing how the radiation generator travels from the standby position toward the first target position for supine imaging and stops at the first target position. [Figure 6] It is a diagram showing how the radiation generator travels from the standby position toward the second target position for standing imaging and stops at the second target position. [Figure 7] It is a diagram showing processing of each processing unit of a processor related to travel control. [Figure 8] It is a diagram showing processing of each processing unit of a processor related to travel control. [Figure 9] It is a diagram showing that when the self-position reaches the target position, the control shifts from travel control to positioning control, and the radiation source is moved from the storage position to the imaging preparation position. [Figure 10] It is a diagram showing processing of each processing unit of a processor related to positioning control. [Figure 11] It is a diagram showing processing in the learning phase of a cassette contour extraction model. [Figure 12] It is a diagram showing the state of positioning control. [Figure 13] It is a flowchart showing an imaging procedure. [Figure 14] It is a diagram showing that when an electronic cassette is detected from an image for positioning control, the control shifts from travel control to positioning control. [Figure 15] It is a diagram showing that when a patient is detected from an image for positioning control, the control shifts from travel control to positioning control. [Figure 16] It is a diagram showing an aspect of extracting a patient's joint points from an image for positioning control. [Figure 17] It is a diagram showing that when the positional deviation amount between the radiation source and the electronic cassette or the patient is equal to or greater than a set amount, the control shifts from positioning control to travel control. [Figure 18] It is a diagram showing an aspect in which the moving speed of the main body in positioning control is set to be lower than the traveling speed of the main body in travel control.

Mode for Carrying Out the Invention

[0022] [First Embodiment] As an example, as shown in Figures 1 and 2, the radiography system 10 comprises a radiation generator 11 and an electronic cassette 12. The radiation generator 11 has a main body 14 having a radiation source 13 that emits radiation R toward the patient P, mounted on a trolley 16 having wheels 15. The radiation R is, for example, X-rays. The radiation generator 11 is equipped with a battery and can be powered by the battery. The radiation generator 11 can also be powered by a commercial power supply via a power cord. The electronic cassette 12 is an example of a "radiation image detection device" according to the technology of this disclosure. The trolley 16 is an example of a "traveling mechanism" according to the technology of this disclosure. The patient P is an example of a "subject" according to the technology of this disclosure.

[0023] The radiation generator 11 is movable within the imaging room RM (see also Figures 5 and 6). The radiation generator 11 is also used for so-called mobile imaging, where images are taken of patients P while moving around the patient rooms. For this reason, the radiation generator 11 is also called a mobile imaging unit. Alternatively, the radiation generator 11 can be used for imaging in the emergency room. Furthermore, the radiation generator 11 can be brought into the operating room and used during surgery.

[0024] The electronic cassette 12 has a configuration in which a sensor panel, which acts as a radiation detector for detecting radiation R, is built into a portable housing. The electronic cassette 12 is powered by a battery and communicates wirelessly with the radiation generator 11. The sensor panel has a detection surface 17 in which multiple pixels are arranged in a matrix and generate a signal charge in response to radiation R or visible light converted from radiation R by a scintillator. The electronic cassette 12 detects the radiation R that is irradiated from the radiation source 13 and passes through the patient P, and outputs a radiation image 18 of the patient P.

[0025] Since the electronic cassette 12 is portable and wireless, it can be used for so-called free radiography, as shown in Figure 1, by placing it on the supine radiography table (bed) 19 installed in the radiography room RM (under the patient P) and performing radiography. More specifically, Figure 1 shows the electronic cassette 12 being inserted between the supine radiography table 19 and the patient P to take an image of the patient P lying supine on the supine radiography table 19 (see also Figure 5). Also, as shown in Figure 2, the electronic cassette 12 can be used by housing it in the holder 21 of the standing radiography table 20 installed in the radiography room RM (see also Figure 6). The holder 21 can be raised and lowered vertically relative to the support column 22.

[0026] The main body 14 is rectangular in shape and is erected in the center of the trolley 16. The main body 14 is divided into a front section 25 and a rear section 26. The front section 25 can move up and down relative to the rear section 26. The rear section 26 is fixed to the trolley 16.

[0027] The base end of the arm 27 is attached to the front part 25. More specifically, the arm 27 is divided into a first part to which the base end is attached to the front part 25, and a second part to which the base end is attached to the first part. The radiation source 13 is attached to the tip of the second part, which is the free end opposite the base end.

[0028] The first part is vertically movable relative to the front part 25 and is also vertically foldable relative to the front part 25. The second part is vertically foldable relative to the first part. Furthermore, the second part is extendable and retractable. The radiation source 13 is rotatable, i.e., pivotable, relative to the second part. By displacing the arm 27 and the radiation source 13 relative to the arm 27, the height, horizontal position, and orientation (direction) of the radiation source 13 can be adjusted.

[0029] Because the second part is foldable and expandable, the radiation source 13 can move between a shooting preparation position, as shown in Figures 1 and 2, where it is projected toward the patient P (electronic cassette 12), and a storage position, as shown in Figure 3 as an example, where it is pulled toward the main body 14. The shooting preparation position is the position when the second part is extended to a predetermined length, for example, half of its maximum length, and folded relative to the first part so that it is parallel to the horizontal direction. The storage position is the position when the second part is shortened to its shortest length and folded as far as possible relative to the first part.

[0030] In Figures 1 and 2, an operation panel 28 is provided on the upper surface of the rear section 26. The operation panel 28 is, for example, composed of a touch panel display and has the function of displaying information in addition to operation functions. The operation panel 28 is operated by an operator OP, such as a radiological technologist. The operator OP sets the irradiation conditions for radiation R through the operation panel 28. The operator OP also checks the radiation image 18 through the operation panel 28.

[0031] Furthermore, an irradiation switch (not shown) is provided at the rear 26. The irradiation switch is used by the operator OP to instruct the start of radiation irradiation. An extension cable is connected to the irradiation switch, and it can be detached from the rear 26 for use. The irradiation switch can only be operated after the travel control and positioning control, which will be described later, have been completed.

[0032] The radiation source 13 includes a radiation tube 30 and an irradiation field limiter 31. The radiation tube 30 generates radiation R. The radiation tube 30 is equipped with a filament, a target, a grid electrode, etc. (all not shown). A tube voltage is applied between the filament, which is the cathode, and the target, which is the anode, from a voltage generator (not shown) built into the rear section 26. The filament emits thermionic electrons toward the target in accordance with the applied tube voltage. The target emits radiation R in response to collisions with thermionic electrons emitted from the filament. The grid electrode is placed between the filament and the target and changes the flow rate of thermionic electrons from the filament toward the target in accordance with the voltage applied from the voltage generator. 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 in the radiation source 13 as irradiation conditions, along with the irradiation time.

[0033] The irradiation field limiter 31, also called a collimator, limits the irradiation field of radiation R generated from the radiation tube 30. The irradiation field limiter 31 has a configuration in which, for example, four shielding plates made of lead or the like are placed on each side of a rectangle to shield the radiation R, and a rectangular exit aperture that transmits radiation is formed in the center. The irradiation field limiter 31 changes the size of the exit aperture by changing the position of each shielding plate, thereby changing the irradiation field of radiation R.

[0034] A camera 32 is attached to the radiation source 13. The camera 32 is used to assist in aligning the radiation source 13 with the electronic cassette 12. The camera 32 incorporates a visible light-sensitive image sensor, such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor or a CCD (Charge-coupled Device) image sensor. The camera 32 captures moving images at a predetermined frame rate. The camera 32 is an example of an "environmental information sensor" related to the technology of this disclosure.

[0035] There are a total of four wheels 15, located on the front, rear, left, and right sides of the bogie 16. In other words, the bogie 16 is a four-wheeled type. Each wheel 15 is a swivel type, for example, that rotates around a pivot axis that extends in the vertical direction (also called the vertical direction) perpendicular to the axis of rotation when the vehicle is moving. The main body 14 moves autonomously using this bogie 16.

[0036] Here, autonomous driving refers to autonomously driving toward a set target location while recognizing the surrounding environment using environmental information sensors and estimating its own position. The target locations are pre-set, for example, the position beside the supine imaging table 19 shown in Figure 1, and the position facing the standing imaging table 20 shown in Figure 2. The radiation generating device 11 uses SLAM technology to achieve autonomous driving.

[0037] A camera 33 is provided on the trolley section 16. The camera 33 is used to support the autonomous movement of the main body section 14. The camera 33 photographs the area in front of the trolley section 16. Like the camera 32, the camera 33 incorporates a visible light-sensitive image sensor and captures moving images at a predetermined frame rate. Like the camera 32, the camera 33 is an example of an "environmental information sensor" related to the technology disclosed herein. The main body section 14, and by extension the radiation generator 11, can be driven not only autonomously but also manually by an operator OP.

[0038] Figure 4 is a block diagram showing an example of the electrical configuration of the radiation generator 11. The processor 40 comprehensively controls the entire radiation generator 11. The processor 40 consists, for example, of a CPU (Central Processing Unit) and memory such as RAM (Random Access Memory), and functions as various processing units by loading and executing various programs into memory. Specifically, the processor 40 performs driving control, positioning control, and imaging control. Driving control is the control related to the autonomous driving of the main unit 14. Positioning control is the control related to the positioning of the radiation source 13 and the electronic cassette 12. Imaging control includes the control of radiation R irradiation by the radiation source 13 and the output control of the radiation image 18 by the electronic cassette 12.

[0039] The storage 41 consists of non-volatile memory such as a hard disk drive or a solid-state drive. The storage 41 stores an operating program 42 and control data 43. The operating program 42 is an example of an "operating program for a radiation generator" related to the technology of this disclosure. The control data 43 includes data for driving control, data for positioning control, and data for imaging control. The data for driving control includes map data 73 (see Figure 8) created by SLAM technology. The data for positioning control includes a cassette contour extraction model 86 (see Figure 10) for extracting the contour OLC (see Figure 10) of the electronic cassette 12. The data for imaging control includes an irradiation condition table in which the irradiation conditions for each imaging area are registered.

[0040] The processor 40 is connected to the operation panel 28, the communication interface 50, the travel actuator 51, the alignment actuator 52, and the radiation source position detection sensor 53. The processor 40 controls the display of various screens on the operation panel 28. The processor 40 also receives various operation instructions from the operator OP through the operation panel 28 and executes various controls according to the operation instructions. The communication interface 50 is, for example, a wireless communication interface and is responsible for wireless communication with the electronic cassette 12.

[0041] The travel actuator 51 includes a motor for rotating the wheels 15 under the control of the processor 40, and a motor for turning them. The alignment actuator 52 includes a motor for raising and lowering the front section 25, a motor for raising and lowering the arm 27, a motor for folding the second section of the arm 27, a motor for extending and retracting the second section, and a motor for rotating the radiation source 13 relative to the second section under the control of the processor 40.

[0042] The radiation source position detection sensor 53 measures the vertical direction and amount of vertical movement of the arm 27 relative to the front part 25, the bending direction and amount of bending of the second part of the arm 27 relative to the first part, the extension and retraction direction and amount of extension and retraction of the second part, and the rotation direction and amount of rotation of the radiation source 13 relative to the second part. The radiation source position detection sensor 53 is, for example, a rotary encoder, a potentiometer, or a gyro sensor, or a combination of several of these sensors. The radiation source position detection sensor 53 outputs the measured values ​​to the processor 40. The processor 40 derives the position and orientation of the radiation source 13 based on the measured values ​​of the radiation source position detection sensor 53.

[0043] As an example, as shown in Figures 5 and 6, a standby position HP for the radiation generator 11 is provided in a corner of the imaging room RM. In the standby position HP, the radiation source 13 is housed. In the standby position HP, battery charging, reception of imaging orders from the Radiology Information System (RIS), and setting of irradiation conditions are performed. The standby position HP occupies an area that is the same size as the radiation generator 11, or slightly larger.

[0044] In the imaging room RM, a first target position TP1 (see Figure 5) for the radiation generator 11 during supine imaging and a second target position TP2 (see Figure 6) for the radiation generator 11 during upright imaging are set. The first target position TP1 is located beside the supine imaging table 19, more specifically, directly opposite one of the longer sides of the supine imaging table 19. The second target position TP2 is directly opposite the upright imaging table 20, separated from the upright imaging table 20 by the SID distance required for upright imaging. The first target position TP1 and the second target position TP2 occupy the same area as the radiation generator 11, or slightly larger, than the radiation generator 11, similar to the standby position HP. In the following, the first target position TP1 and the second target position TP2 may be collectively referred to as target position TP.

[0045] During supine imaging, the radiation generator 11 travels from the standby position HP towards the first target position TP1 and stops when its own position PS (see Figure 8) reaches the first target position TP1 (see Figure 5). During upright imaging, the radiation generator 11 travels from the standby position HP towards the second target position TP2 and stops when its own position PS reaches the second target position TP2 (see Figure 6). Although not shown in the illustration, the radiation generator 11 may travel from the first target position TP1 towards the second target position TP2 in order to perform upright imaging after supine imaging. Also, the radiation generator 11 may travel from the second target position TP2 towards the first target position TP1 in order to perform supine imaging after upright imaging. During these autonomous movements to target positions TP, the radiation source 13 remains in its storage position. Alternatively, it may be determined that the self-position PS has reached the target position TP when the self-position PS coincides with the center of the target position TP, or it may be determined that the self-position PS has reached the target position TP when the self-position PS falls within a range that includes the center of the target position TP with a certain margin.

[0046] Autonomous driving to the target position TP is initiated, for example, by an instruction from an operator OP via the control panel 28. Alternatively, the system may be configured to allow the start of autonomous driving to be initiated via a remote controller, in addition to or instead of the control panel 28.

[0047] The processor 40 performs driving control using SLAM technology. Specifically, as shown in Figures 7 and 8, the processor 40 functions as an image acquisition unit 60, a feature point extraction unit 61, a self-position estimation / map data creation unit 62, and a driving control unit 63.

[0048] The image acquisition unit 60 sequentially acquires images 70 of the surrounding environment of the radiation generator 11 (hereinafter referred to as "driving control images") captured by the camera 33 at a predetermined frame rate. After performing preprocessing such as noise reduction and distortion correction on the driving control images 70, the image acquisition unit 60 outputs the driving control images 70 to the feature point extraction unit 61. The driving control images 70 are an example of "output data" related to the technology of this disclosure.

[0049] The feature point extraction unit 61 uses algorithms such as ORB (Oriented FAST (Features from Accelerated Segment Test) and Rotated BRIEF (Binary Robust Independent Elementary Features)) or SURF (Speeded-Up Robust Features) to extract corners and other features of structures in the surrounding environment captured in the driving control image 70 as feature points FP. The feature point extraction unit 61 outputs the feature point extraction results 71 to the self-position estimation / map data creation unit 62. Although not shown in the diagram, the feature point extraction unit 61 also stores the feature point extraction results 71 in the storage 41. The feature point extraction results 71 are pairs of the coordinates of each feature point FP and their feature vectors.

[0050] The self-position estimation and map data creation unit 62 estimates the self-position PS of the radiation generator 11 while creating map data 73 of the surrounding environment. The self-position estimation and map data creation unit 62 receives the feature point extraction results 71 from the feature point extraction unit 61. In addition, the self-position estimation and map data creation unit 62 receives feature point extraction results 71P from multiple past frames (hereinafter referred to as feature point extraction results (past)) and map data 73P from multiple past frames (hereinafter referred to as map data (past)).

[0051] The feature point extraction results (past data) 71P and map data (past data) 73P are stored in storage 41 as data for driving control of the control data 43. The feature point extraction results 71 and map data 73 that make up the feature point extraction results (past data) 71P and map data (past data) 73P consist of, for example, tens to hundreds of frames. The feature point extraction results (past data) 71P and map data (past data) 73P include feature point extraction results 71 and map data 73 that are considered to play an important role in estimating the self-position PS and creating the map data 73. Such feature point extraction results 71 and map data 73 are, for example, feature point extraction results 71 and map data 73 obtained every certain distance traveled. Also, for example, feature point extraction results 71 and map data 73 obtained when there has been a large change in viewpoint from the previous frame. Furthermore, for example, feature point extraction results 71 and map data 73 obtained when more than a set amount of new feature points FP have been extracted.

[0052] The self-localization and map data creation unit 62 compares the feature points FP from the feature point extraction result 71 from the feature point extraction unit 61 with the feature points FP from the feature point extraction result (past data) 71P. In this process, the self-localization and map data creation unit 62 refers to the feature vector of each feature point FP. More specifically, it recognizes feature points FP from the feature point extraction result 71 from the feature point extraction unit 61 and feature points FP from the feature point extraction result (past data) 71P where the distance (Euclidean distance, etc.) of the feature vectors is less than a threshold as the same feature point FP. Based on this comparison result of feature points FP and the map data (past data) 73P, the self-localization and map data creation unit 62 estimates the self-localization PS. Furthermore, the self-position estimation and map data creation unit 62 creates new map data 73 (updates map data 73) based on the feature point extraction results 71 from the feature point extraction unit 61, the feature point extraction results (past) 71P, the map data (past) 73P, and the estimation results 72. In this way, the self-position estimation and map data creation unit 62 performs the estimation of the self-position PS and the creation of map data 73 in parallel during the process of the radiation generator 11 autonomously moving. Note that the self-position estimation and map data creation unit 62 does not estimate the self-position PS until a sufficient amount of feature point extraction results (past) 71P has been accumulated, and only creates (updates) the map data 73.

[0053] The self-position estimation and map data creation unit 62 outputs the self-position estimation result 72 of the self-position PS to the driving control unit 63. The driving control unit 63 controls the driving of the driving actuator 51 to set the self-position PS as the target position TP. Although not shown in the diagram, the self-position estimation and map data creation unit 62 also stores the map data 73 in the storage 41. Specifically, the map data 73 is 3D data of the imaging room RM, including structures such as the supine imaging table 19 and the standing imaging table 20. The standby position HP and the target position TP are also registered in the map data 73.

[0054] Under the control of the travel control unit 63, the travel actuator 51 is driven, and when the self-position PS of the radiation generator 11 becomes the target position TP, the processor 40 switches from travel control to positioning control, as shown in Figure 9 as an example. When the self-position PS of the radiation generator 11 becomes the target position TP, this is an example of when the "setting conditions are met" in the technology of this disclosure. Furthermore, when the self-position PS of the radiation generator 11 becomes the target position TP, the processor 40 moves the radiation source 13 from the housing position to the imaging preparation position.

[0055] As an example, as shown in Figure 10, the processor 40 functions as a cassette contour extraction unit 80, a source position and orientation derivation unit 81, and an alignment control unit 82.

[0056] The cassette contour extraction unit 80 receives sequential images 85 (hereinafter referred to as alignment control images) including the patient P and the electronic cassette 12, captured by the camera 32 at a predetermined frame rate. When the self-position PS of the radiation generator 11 is set as the target position TP and the radiation source 13 is set as the shooting preparation position, the alignment control image 85 will show the patient P and the electronic cassette 12. In Figure 10, supine imaging is shown as an example, so the supine imaging table 19 is also shown in the alignment control image 85. The alignment control image 85 is an example of "output data" related to the technology of this disclosure. It is assumed that the alignment of the patient P and the electronic cassette 12 has been completed by the operator OP before the travel control and alignment control.

[0057] The cassette contour extraction unit 80 extracts the contour OLC of the electronic cassette 12 from the alignment control image 85 using the cassette contour extraction model 86. The contour OLC reveals the center CC (see Figure 12) of the detection surface 17 of the electronic cassette 12, and the orientation of the electronic cassette 12 relative to the radiation source 13. The cassette contour extraction unit 80 outputs the cassette contour extraction result 87 to the alignment control unit 82. Here, the contour OLC is exemplified as a contour that follows all sides of the electronic cassette 12, but it is not limited to this. The four corners of the electronic cassette 12 may also be extracted as contours.

[0058] The cassette contour extraction model 86 is a pre-trained model, for example, composed of a convolutional neural network, which is trained to output a cassette contour extraction result 87 when an alignment control image 85 is input. The cassette contour extraction model 86 is stored in the storage 41 as alignment control data for the control data 43.

[0059] As an example, as shown in Figure 11, in the learning phase, the cassette contour extraction model 86 is provided with learning data 90. The learning data 90 consists of a set of a learning alignment control image 85L and ground truth data 87CA. The learning alignment control image 85L shows an electronic cassette 12. The ground truth data 87CA is data annotated with the contour OLC of the electronic cassette 12 shown in the learning alignment control image 85L, and is, so to speak, data for checking the answer. The learning alignment control image 85L is an example of "learning output data" related to the technology of this disclosure.

[0060] The cassette contour extraction model 86 receives a training alignment control image 85L as input. The cassette contour extraction model 86 outputs a training cassette contour extraction result 87L in response to the input of the training alignment control image 85L. Based on this training cassette contour extraction result 87L and the ground truth data 87CA, a loss calculation is performed on the cassette contour extraction model 86 using a loss function. Then, based on the result of the loss calculation, various coefficients of the cassette contour extraction model 86 (such as the coefficients of the convolutional layer filters) are updated, and the cassette contour extraction model 86 is updated according to the update settings.

[0061] In the learning phase of the cassette contour extraction model 86, the above series of processes—inputting the learning alignment control image 85L into the cassette contour extraction model 86, outputting the learning cassette contour extraction result 87L from the cassette contour extraction model 86, loss calculation, update settings, and updating the cassette contour extraction model 86—are repeated while the learning data 90 is exchanged. The repetition of the above series of processes ends when the extraction accuracy of the learning cassette contour extraction result 87L reaches a predetermined set level. The cassette contour extraction model 86, whose extraction accuracy has reached the set level, is stored in the storage 41 and used by the cassette contour extraction unit 80. Alternatively, learning may be terminated after the above series of processes has been repeated a set number of times, regardless of the extraction accuracy of the learning cassette contour extraction result 87L.

[0062] The radiation source position and orientation derivation unit 81 derives the position and orientation of the radiation source 13 based on the measurement values ​​of the radiation source position detection sensor 53. The radiation source position and orientation derivation unit 81 outputs the derivation result 88 to the alignment control unit 82. The derivation result 88 consists of the coordinates in the alignment control image 85 of the irradiation center RC of radiation R (see Figure 12) and the coordinates in the alignment control image 85 of the rectangular frame F (see Figure 12) that indicates the orientation of the radiation source 13. Since the positional relationship between the radiation source 13 and the camera 32 is known, the coordinates in the alignment control image 85 of the irradiation center RC and frame F can be easily calculated from the measurement values ​​of the radiation source position detection sensor 53.

[0063] The alignment control unit 82 controls the drive of the alignment actuator 52 to align the radiation source 13 and the electronic cassette 12 directly. More specifically, as shown in Figure 12 as an example, if the orientation of the radiation source 13 is tilted relative to the electronic cassette 12, the alignment control unit 82 rotates the radiation source 13 to correct the tilt. Also, if the irradiation center RC of the radiation R and the center CC of the detection surface 17 of the electronic cassette 12 are misaligned, the alignment control unit 82 moves the radiation source 13 to correct the misalignment. Note that the tilt may be corrected after correcting the misalignment between the irradiation center RC of the radiation R and the center CC of the detection surface 17 of the electronic cassette 12. Furthermore, Figure 12 illustrates the case where the orientation of the radiation source 13 is tilted around the normal of the detection surface 17, but it is not limited to this. Even if the orientation of the radiation source 13 is tilted around an axis along the long side or short side of the detection surface 17, the alignment control unit 82 rotates the radiation source 13 to correct the tilt.

[0064] Next, the operation of the above configuration will be explained by referring to the flowchart shown in Figure 13 as an example. Before imaging, the radiation generator 11 is waiting at the standby position HP in the imaging room RM. At this time, the radiation source 13 is in the housing position shown in Figure 3.

[0065] A shooting order is transmitted from the radiation information system to the radiation generator 11. The operator OP operates the control panel 28 to set the irradiation conditions according to the shooting order (step ST100).

[0066] The operator OP places the electronic cassette 12 on the supine imaging table 19 if performing supine imaging, or places the electronic cassette 12 in the holder 21 of the standing imaging table 20 if performing standing imaging. Then, the operator OP aligns the patient P with the electronic cassette 12 (step ST110). Specifically, the center IC of the imaging area of ​​the patient P (see Figure 16) is aligned with the center CC of the detection surface 17 of the electronic cassette 12. In addition, the body axis (head-to-tail axis) of the patient P is made parallel to the long side of the detection surface 17 of the electronic cassette 12.

[0067] In response to instructions from the operator OP, the autonomous movement of the radiation generator 11 from the standby position HP towards the target position TP is initiated (step ST120). During autonomous movement, the processor 40 performs driving control using SLAM technology, as shown in Figures 7 and 8 as an example.

[0068] Specifically, first, the driving control image 70 captured by the camera 33 is acquired by the image acquisition unit 60. The driving control image 70 is output from the image acquisition unit 60 to the feature point extraction unit 61. The feature point extraction unit 61 then extracts feature points FP of structures present in the surrounding environment captured in the driving control image 70. The feature point extraction result 71 is output from the feature point extraction unit 61 to the self-position estimation / map data creation unit 62. The feature point extraction result 71 is also stored in the storage 41.

[0069] In the self-position estimation and map data creation unit 62, the self-position PS of the radiation generator 11 is estimated based on the feature point extraction results 71, the feature point extraction results (past) 71P, and the map data (past) 73P, and the estimation result 72 is output. In addition, the self-position estimation and map data creation unit 62 creates map data 73 based on the feature point extraction results 71, the feature point extraction results (past) 71P, the map data (past) 73P, and the estimation result 72. The estimation result 72 of the self-position PS is output from the self-position estimation and map data creation unit 62 to the driving control unit 63. The map data 73 is stored in the storage 41.

[0070] Under the control of the travel control unit 63, the drive of the travel actuator 51 is controlled to set the self-position PS to the target position TP. In this way, travel control is performed. Travel control continues until the self-position PS of the radiation generator 11 reaches the target position TP (NO in step ST130).

[0071] When the self-position PS of the radiation generator 11 becomes the target position TP (YES in step ST130), the control switches from travel control to positioning control (step ST140), as shown in Figure 9. At this time, the radiation source 13 is positioned in the imaging preparation position shown in Figure 1 or Figure 2.

[0072] As shown in Figure 10, the alignment control image 85 captured by the camera 32 is input to the cassette contour extraction unit 80. The cassette contour extraction unit 80 uses the cassette contour extraction model 86 to extract the OLC contour of the electronic cassette 12 from the alignment control image 85. The cassette contour extraction result 87 is output from the cassette contour extraction unit 80 to the alignment control unit 82.

[0073] The radiation source position and orientation derivation unit 81 derives the position and orientation of the radiation source 13 based on the measurement values ​​of the radiation source position detection sensor 53. The derivation results 88 of the position and orientation of the radiation source 13 are output from the radiation source position and orientation derivation unit 81 to the alignment control unit 82.

[0074] Under the control of the alignment control unit 82, the drive of the alignment actuator 52 is controlled to align the radiation source 13 and the electronic cassette 12 directly. Alignment control is performed in this manner. Alignment control continues until the radiation source 13 and the electronic cassette 12 are aligned directly (NO in step ST150).

[0075] When the radiation source 13 and the electronic cassette 12 are facing each other directly (YES in step ST150), the irradiation switch can be operated. The operator OP operates the irradiation switch to instruct the start of radiation irradiation. As a result, radiation R is irradiated from the radiation source 13, and the radiation image 18 is output from the electronic cassette 12 (step ST160).

[0076] As described above, the radiation generator 11 has a main body 14 with a radiation source 13 that emits radiation R toward the patient P, and a trolley 16 with wheels 15 that is capable of autonomous movement. The driving control unit 63 controls the movement of the trolley 16 to the target position TP based on the surrounding environment and its own position PS recognized by the driving control image 70. The alignment control unit 82 controls the alignment of the radiation source 13 and the electronic cassette 12 based on the electronic cassette 12 recognized by the alignment control image 85. In other words, driving control is performed based on the surrounding environment and its own position PS recognized by the driving control image 70, while alignment control is performed based on the electronic cassette 12 recognized by the alignment control image 85. Furthermore, the target used as an indicator for control is switched from the relatively macroscopic surrounding environment to the relatively microscopic electronic cassette 12 in the driving control and alignment control. Therefore, it becomes possible to perform not only precise control of movement to the target position TP, but also precise control of the alignment between the radiation source 13 and the electronic cassette 12.

[0077] The radiation source 13 and the electronic cassette 12 are positioned at a distance corresponding to the SID. Therefore, if the orientation of the radiation source 13 and the electronic cassette 12 is misaligned by even 1°, the misalignment between the irradiation center RC of the radiation R and the center CC of the detection surface 17 of the electronic cassette 12 becomes a significant amount. For this reason, the ability to precisely control the alignment of the radiation source 13 and the electronic cassette 12 is extremely useful.

[0078] As shown in Figure 9, the processor 40 switches from driving control to alignment control when its own position PS becomes the target position TP. Therefore, it is possible to switch from driving control to alignment control in a timely manner, and to execute the alignment control smoothly.

[0079] As shown in Figures 7 and 8, the driving control system estimates the vehicle's own position PS from the driving control images 70 captured by the camera 33, while simultaneously creating map data 73 of the surrounding environment. This allows for highly accurate estimation of the vehicle's own position PS, enabling autonomous driving even in unfamiliar environments. Furthermore, the vehicle can reach its target position TP via an appropriate driving path, such as the shortest path or a path that avoids obstacles.

[0080] As shown in Figure 10, in the alignment control, the contour OLC of the electronic cassette 12 is extracted from the alignment control image 85 captured by the camera 32. This contributes to more accurate alignment of the radiation source 13 and the electronic cassette 12.

[0081] As shown in Figures 10 and 11, the alignment control uses a cassette contour extraction model 86 trained on a training alignment control image 85L that includes the electronic cassette 12. Therefore, the contour OLC of the electronic cassette 12 can be easily extracted from the alignment control image 85.

[0082] The main body 14 has an arm 27 that holds the radiation source 13 and can change the position and orientation of the radiation source 13. As shown in Figures 1 to 3, the radiation source 13 can be moved between a storage position and a shooting preparation position by the arm 27. As shown in Figure 9, the processor 40 sets the radiation source 13 to the storage position while driving control is being performed, and when transitioning from driving control to positioning control, it sets the radiation source 13 from the storage position to the shooting preparation position. Therefore, the radiation source 13 does not interfere with autonomous driving. In addition, positioning control can be performed without delay.

[0083] [Second Embodiment] In the first embodiment described above, the system transitions from travel control to alignment control when the self-position PS becomes the target position TP, but it is not limited to this. For example, it may be as shown in Figures 14 and 15. In this embodiment, the radiation source 13 is moved from the storage position to the imaging preparation position when travel control is started and the vehicle leaves the standby position HP.

[0084] As shown in Figure 14, the processor 40 of this embodiment functions as a cassette detection unit 95 in addition to the processing units of the first embodiment described above. The cassette detection unit 95 receives an alignment control image 85 as input. The cassette detection unit 95 uses image recognition technology to detect whether or not an electronic cassette 12 is visible in the alignment control image 85.

[0085] In this embodiment, the processor 40 switches from driving control to alignment control when the cassette detection unit 95 detects that the electronic cassette 12 is visible in the alignment control image 85. The detection of the presence of the electronic cassette 12 in the alignment control image 85 is an example of "when the setting conditions are met" according to the technology of this disclosure. The cassette detection unit 95 may also use a trained model, such as the cassette contour extraction model 86 of the first embodiment, to detect whether or not the electronic cassette 12 is visible in the alignment control image 85.

[0086] Alternatively, as shown in Figure 15, the processor 40 of this embodiment functions as a patient detection unit 100 in addition to the processing units of the first embodiment described above. The patient detection unit 100 receives an image 85 for alignment control. The patient detection unit 100 uses image recognition technology to detect whether or not patient P is visible in the image 85 for alignment control. When the patient detection unit 100 detects that patient P is visible in the image 85 for alignment control, the processor 40 of this embodiment switches from driving control to alignment control. The detection of patient P being visible in the image 85 for alignment control is an example of "when the setting conditions are met" according to the technology of this disclosure. Thus, by switching from driving control to alignment control when it is detected that the electronic cassette 12 or patient P is visible in the image 85 for alignment control, the transition from driving control to alignment control can be made in a timely manner, and the alignment control can be executed without delay.

[0087] [Third Embodiment] In the first embodiment described above, the contour OLC of the electronic cassette 12 is extracted from the alignment control image 85, but this is not limited to this. For example, it may be as shown in Figure 16.

[0088] In Figure 16, the processor 40 of this embodiment functions as an articular point extraction unit 105 instead of the cassette contour extraction unit 80 of the first embodiment. The articular point extraction unit 105 receives sequential input of alignment control images 85. The articular point extraction unit 105 extracts the articular points J of patient P from the alignment control images 85 using an articular point extraction model 106. Figure 16 illustrates the case where both shoulder joints, both elbow joints, and both hip joints are extracted as articular points J. The lines connecting each articular point J indicate the center IC of the imaging area of ​​patient P and the posture of patient P relative to the radiation source 13. The articular point extraction model 106 is a trained model composed of, for example, a convolutional neural network, similar to the cassette contour extraction model 86. The articular point extraction unit 105 outputs the articular point extraction result 107 to the alignment control unit 82.

[0089] If the orientation of the radiation source 13 is tilted relative to the patient P, the alignment control unit 82 controls the drive of the alignment actuator 52 to rotate the radiation source 13 to correct the tilt. Also, if the irradiation center RC of the radiation R and the center IC of the imaging area of ​​the patient P are misaligned, the alignment control unit 82 controls the drive of the alignment actuator 52 to move the radiation source 13 to correct the misalignment. By extracting the joint points J of the patient P from the alignment control image 85 in this way, it is possible to contribute to more accurate alignment of the radiation source 13 and the electronic cassette 12.

[0090] [Fourth Embodiment] As an example, as shown in Figure 17, in this embodiment, the alignment control unit 82 determines the amount of misalignment 110 between the irradiation center RC of the radiation R and the center CC of the detection surface 17 of the electronic cassette 12, or between the irradiation center RC of the radiation R and the center IC of the imaging area of ​​the patient P. The amount of misalignment 110 is compared with a set amount 111. The set amount 111 is the amount that, in alignment control, takes, for example, 3 seconds or more to correct the misalignment. If the movement amount of the radiation source 13 in alignment control is, for example, 100 mm / second, then the set amount 111 is 100 × 3 = 300 mm.

[0091] The processor 40 switches from alignment control to travel control when the misalignment amount 110 becomes greater than or equal to a set amount 111. In other words, when the misalignment amount 110 becomes greater than or equal to a set amount 111, it abandons the fine-tuning of alignment by alignment control and returns to the coarse-tuning of alignment by travel control. When the misalignment amount 110 becomes greater than or equal to a set amount 111, this is an example of when the "setting conditions are met" in the technology of this disclosure. When the misalignment amount 110 becomes greater than or equal to a set amount 111, it is possible that the operator OP has collided with the radiation generator 11, for example. In this way, the alignment of the radiation source 13 and the electronic cassette 12 can be completed more quickly compared to when alignment control is still being performed even when the misalignment amount 110 becomes greater than or equal to a set amount 111.

[0092] [Fifth Embodiment] As described in the fourth embodiment above, the processor 40 may, while performing alignment control, move the main body 14 forward, backward, left, right, or rotate it using the trolley 16 for fine adjustment at the target position TP. In such cases, the processor 40 sets the movement speed of the main body 14 in alignment control to a lower speed than the movement speed of the main body 14 in travel control, as shown in Figure 18 as an example. For example, the movement speed of the main body 14 in alignment control is set to 1 / 10 of the movement speed of the main body 14 in travel control. This allows the target position TP to be reached without taking much time when traveling a relatively long distance to the target position TP, as in travel control. Furthermore, when performing fine-tuning alignment, as in the movement of alignment control, the risk of the main body 14 not stopping completely at its original position or the main body 14 shifting from its original position due to inertia can be reduced.

[0093] The alignment control image 85 may be displayed on the operation panel 28. In this case, the contour OLC of the electronic cassette 12, the center CC of the detection surface 17 of the electronic cassette 12, the irradiation center RC of the radiation R, etc., may be superimposed on the alignment control image 85 as markers.

[0094] The bogie section 16 may be eliminated, and the wheels 15 may be directly attached to the lower part of the main body section 14.

[0095] Camera 32 may be attached to the arm 27 instead of the radiation source 13. Similarly, camera 33 may be provided on the main body 14 instead of the trolley 16. There may be multiple cameras 32 and 33.

[0096] Cameras 32 and 33 may be combined into a single camera. In this case, the camera orientation is set so that it can capture the driving control image 70 when driving control is being performed, and so that it can capture the alignment control image 85 when alignment control is being performed.

[0097] Environmental information sensors are not limited to the example cameras 32 and 33. LiDAR (Light Detection and Ranging) sensors, TOF (Time-of-Flight) sensors, etc., may also be used. In addition, IMUs (Inertial Measurement Units) combining accelerometers and gyroscopes, ultrasonic sensors, radar sensors, magnetic sensors, etc., may also be used.

[0098] The radiation image detection device is not limited to the example electronic cassette 12. A CR (Computed Radiography) cassette may also be used. Furthermore, the subject is not limited to the example patient P. A diseased animal such as a dog or cat may also be used.

[0099] In each of the above embodiments, the processing of each processing unit, such as the image acquisition unit 60, the feature point extraction unit 61, the self-position estimation / map data creation unit 62, the driving control unit 63, the cassette contour extraction unit 80, the radiation source position / attitude derivation unit 81, the alignment control unit 82, the cassette detection unit 95, the patient detection unit 100, and the joint point extraction unit 105, is performed on any computer. Furthermore, any computer may perform these processing using a processor as hardware, a program as software, or a combination thereof. In that case, the processor is configured to work in cooperation with the program to perform the various processing in each of the above embodiments, and can function as each unit or means in each of the above embodiments. Also, 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 application, a workstation, or any other system capable of performing each processing.

[0100] 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 CPU, 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.

[0101] 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.

[0102] From the above description, the technology described in the following supplementary information can be understood.

[0103] [Additional note 1] A radiation generating device having a main body that emits radiation towards a subject, and a driving mechanism having wheels that enables autonomous movement, Environmental information sensors and, Processor and Equipped with, The aforementioned processor, Based on the surrounding environment and self-position recognized by the output data of the environmental information sensor, the driving control of the driving mechanism to the target position, Based on the radiation image detection device or the subject recognized by the output data, the positional control of the radiation source and the radiation image detection device and Execute Radiation generating device. [Additional note 2] The aforementioned processor, A radiation generating device according to Appendix 1, which transitions from the driving control to the alignment control, or from the alignment control to the driving control, when the setting conditions are met. [Additional note 3] The aforementioned processor, The radiation generating device according to Appendix 2, which transitions from the driving control to the positioning control when its own position becomes the target position. [Additional note 4] The aforementioned processor, The radiation generating device according to Appendix 2, which transitions from the driving control to the positioning control when the radiation image detection device or the subject is detected from the output data. [Additional note 5] The aforementioned processor, A radiation generating device according to any one of the appendix items 2 to 4, which transitions from the positioning control to the driving control when the positional misalignment between the radiation source and the radiation image detection device or the subject exceeds a set amount. [Additional note 6] The radiation generating device according to any one of the appendix items 1 to 5, which estimates its own position from the output data while creating map data of the surrounding environment in the aforementioned driving control. [Additional note 7] The radiation generator according to any one of the appendix 1 to 6, wherein the alignment control extracts the contour of the radiation image detection device from the output data. [Additional note 8] The radiation generator according to Appendix 7, which uses a trained model trained with training output data including the radiation image detection device for the alignment control. [Additional note 9] The radiation generator according to any one of the appendix 1 to 6, wherein the alignment control extracts the joint points of the subject from the output data. [Additional Note 10] The main body has an arm that holds the radiation source and can change the position and / or orientation of the radiation source. The radiation source is movable between the housing position and the shooting preparation position by the arm. The aforementioned processor, While the aforementioned driving control is being performed, the radiation source is set to the aforementioned storage position. A radiation generating device according to any one of the appendix items 1 to 9, wherein when transitioning from the aforementioned driving control to the aforementioned positioning control, the radiation source is moved from the aforementioned storage position to the aforementioned shooting preparation position. [Additional Note 11] The positioning control includes control of moving the main body at the target position using the travel mechanism. The radiation generating device according to any one of the appendices 1 to 10, wherein the movement speed of the main body in the alignment control is lower than the travel speed of the main body in the travel control.

[0104] 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.

[0105] 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.

[0106] 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."

[0107] 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]

[0108] 10. Radiography System 11. Radiation Generating Devices 12 Electronic Cassettes 13 Radiation source 14 Main body 15 wheels 16 Bogie section 17 Detection surface 18. Radiological images 19 Recumbent photography stand 20 Standing position imaging table 21 Holder 22 Posts 25 Front 26 Rear 27 Arms 28 Control Panel 30 Radiation tubes 31 Irradiation field limiter 32, 33 Camera 40 processors 41 Storage 42 Operating Program 43 Control data 50 Communication I / F 51. Drive actuator 52 Alignment Actuator 53. Source position detection sensor 60 Image acquisition unit 61 Feature Point Extraction Unit 62 Self-Position Estimation and Map Data Creation Section 63 Driving control unit 70 Images for driving control 71 Feature point extraction results 71P Feature point extraction results (past data) 72 Estimation results 73 Map data 73P Map data (past data) 80 Cassette contour extraction section 81 Source position / attitude derivation part 82 Alignment Control Unit 85 Image for alignment control 85L Image for learning and alignment control 86 Cassette Contour Extraction Model 87 Cassette contour extraction results 87CA Correct Answer Data 87L Training Cassette Contour Extraction Results 88 Derivation results 90 training data 95 Cassette detection unit 100 Patient detection unit 105 Articular point extraction area 106 Joint Point Extraction Model 107 Joint point extraction results 110 Positional displacement 111 Setting amount The center of the detection surface of the CC electronic cassette. Frame F FP characteristic points HP standby position Center of the IC imaging area J joint point Outline of an OLC electronic cassette OP Operator P patient PS Self-position R radiation RC radiation irradiation center RM Photo Studio ST100, ST110, ST120, ST130, ST140, ST150, ST160 Step TP target position TP1, TP2: Target position 1, Target position 2

Claims

1. A radiation generating device having a main body that emits radiation towards a subject, and a driving mechanism having wheels that enables autonomous movement, Environmental information sensors and, Processor and Equipped with, The aforementioned processor, Based on the surrounding environment and self-position recognized by the output data of the environmental information sensor, the driving control of the driving mechanism to the target position, Based on the radiation image detection device or the subject recognized by the output data, the positional control of the radiation source and the radiation image detection device and Execute Radiation generating device.

2. The aforementioned processor, The radiation generating device according to claim 1, wherein when the set conditions are met, it transitions from the driving control to the positioning control, or from the positioning control to the driving control.

3. The aforementioned processor, The radiation generating device according to claim 2, wherein when its own position becomes the target position, it transitions from the driving control to the positioning control.

4. The aforementioned processor, The radiation generating device according to claim 2, wherein when the radiation image detection device or the subject is detected from the output data, the device transitions from the driving control to the positioning control.

5. The aforementioned processor, The radiation generating device according to claim 2, wherein when the positional misalignment between the radiation source and the radiation image detection device or the subject exceeds a set amount, the device transitions from the positional alignment control to the travel control.

6. The radiation generating device according to claim 1, which estimates its own position from the output data while creating map data of the surrounding environment in the aforementioned driving control.

7. The radiation generator according to claim 1, wherein the alignment control extracts the contour of the radiation image detection device from the output data.

8. The radiation generator according to claim 7, wherein the alignment control uses a trained model trained with training output data including the radiation image detection device.

9. The radiation generator according to claim 1, wherein the alignment control extracts the joint points of the subject from the output data.

10. The main body has an arm that holds the radiation source and can change the position and / or orientation of the radiation source. The radiation source is movable between the housing position and the shooting preparation position by the arm. The aforementioned processor, While the aforementioned driving control is being performed, the radiation source is set to the aforementioned storage position. The radiation generating device according to claim 1, wherein when transitioning from the aforementioned driving control to the aforementioned positioning control, the radiation source is moved from the aforementioned storage position to the aforementioned shooting preparation position.

11. The positioning control includes control of moving the main body at the target position using the travel mechanism. The radiation generating device according to claim 1, wherein the movement speed of the main body in the positioning control is lower than the travel speed of the main body in the travel control.

12. A method for operating a radiation generator in which a main body having a radiation source that emits radiation toward a subject is capable of autonomous movement by a driving mechanism having wheels, Based on the surrounding environment and self-position recognized by the output data of the environmental information sensor, the driving control of the driving mechanism to the target position, Based on the radiation image detection device or the subject recognized by the output data, the positional control of the radiation source and the radiation image detection device and To execute, A method for operating a radiation generating device, including the device itself.

13. An operating program for a radiation generator, the main body having a radiation source that emits radiation toward a subject, which is capable of autonomous movement by a wheeled driving mechanism, Based on the surrounding environment and self-position recognized by the output data of the environmental information sensor, the driving control of the driving mechanism to the target position, Based on the radiation image detection device or the subject recognized by the output data, the positional control of the radiation source and the radiation image detection device and To execute, An operating program for a radiation generator that causes a computer to perform a process including [specific details].

Images