FPD navigation device, FPD system, FPD navigation method, and computer program

Abstract

To guide an imaging position of an FPD recommended for acquiring an image of an object blood vessel.SOLUTION: An FPD navigation device comprises: an image acquisition unit which acquires a first image including an image of an object blood vessel imaged at a first position and a second image including an image of the object blood vessel imaged at a second position different from the first position from an FPD (flat panel detector); a position information acquisition unit which acquires position information of the object blood vessel from the first image and the second image, position information of the first position and position information of the second position; a recommended range output unit which outputs an FPD imaging position recommended range expressing a range of the imaging position of the FPD recommended for acquiring the image of the object blood vessel from the position information of the object blood vessel.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an FPD navigation device and an FPD system. [Background technology]

[0002] In recent years, flat panel detectors (FPDs) have been used in vascular imaging for examinations and treatments. FPDs are devices that obtain images by capturing X-rays that have passed through the human body and converting them into digital signals. Compared with conventional computed radiography (CR) systems, such FPDs have the advantages of being able to achieve high-definition image quality, as well as a short time until an image is displayed and a small amount of radiation exposure. For example, Patent Document 1 discloses a technique for generating a synthetic view of a segment of interest to an operator from image data generated by an X-ray imaging device such as an FPD. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 7,725,164 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the surgeon uses the FPD to obtain an image of the blood vessel to be examined or treated (hereinafter also referred to as the "target blood vessel"), and operates the medical device while checking the respective positions of the blood vessel, the lesion, and the medical device, such as the guide wire, inserted into the blood vessel, contained in the image. Therefore, if the imaging position of the FPD (in other words, the position of the FPD relative to the target blood vessel) is not appropriate, the surgeon cannot correctly grasp the positional relationship between the blood vessel, the lesion, and the medical device, and cannot push the medical device in the intended direction. This problem is particularly prominent in the subintimal approach, in which the medical device is re-inserted from the false lumen to the true lumen for CTO opening (recanalization) when the inside of the blood vessel is blocked by a lesion, such as in the case of chronic total occlusion (CTO).

[0005] In this regard, the system described in Patent Document 1 merely describes generating a synthetic view from already acquired blood vessel images, and does not consider guiding the FPD to an appropriate imaging position. Note that such a problem is not limited to the blood vessel system, but is common to all cases of performing X-ray imaging using an FPD on the inside of a living body lumen, such as the lymphatic system, biliary system, urinary tract system, respiratory tract system, digestive system, secretory glands, and reproductive organs.

[0006] The present invention has been made to solve at least a part of the above-mentioned problems, and has an object to provide guidance on a recommended imaging position of an FPD for acquiring an image of a target blood vessel. [Means for solving the problem]

[0007] The present invention has been made to solve at least part of the above-mentioned problems, and can be realized in the following forms.

[0008] (1) According to one aspect of the present invention, there is provided an FPD navigation device, which includes an image acquisition unit that acquires, from an FPD (flat panel detector), a first image including an image of a target blood vessel captured at a first position and a second image including an image of the target blood vessel captured at a second position different from the first position, a position information acquisition unit that acquires position information of the target blood vessel from the first image, the second image, position information of the first position, and position information of the second position, and a recommended range output unit that outputs, from the position information of the target blood vessel, a recommended FPD imaging position range that indicates a range of imaging positions of the FPD recommended for acquiring an image of the target blood vessel.

[0009] According to this configuration, the position information acquisition unit can acquire position information of the target blood vessel using the first image and the second image captured at two different imaging positions (first position and second position), the position information of the first position, and the position information of the second position. In addition, the recommended range output unit uses the acquired position information of the target blood vessel to obtain the recommended FPD imaging position range (the range of the imaging position of the FPD recommended for acquiring an image of the target blood vessel) and outputs the recommended FPD imaging position range. The surgeon can guide the FPD to an appropriate imaging position by setting the imaging position of the FPD so that it overlaps with the output recommended FPD imaging position range. The surgeon can correctly grasp the positional relationship between the blood vessel, the lesion, and the medical device by performing the procedure while checking the FPD image (image of the target blood vessel) obtained in this way, and can push the medical device in the intended direction. As a result, according to this configuration, the imaging position of the FPD recommended for acquiring an image of the target blood vessel can be guided.

[0010] (2) In the FPD navigation device of the above aspect, the recommended range output unit may cause a display unit to display a guide screen including an image representing the recommended FPD imaging position range. According to this configuration, the recommended range output unit displays, on the display unit, a guide screen including an image showing the recommended FPD imaging position range, so that the surgeon can easily check the recommended FPD imaging position range by checking the guide screen displayed on the display unit.

[0011] (3) In the FPD navigation device of the above embodiment, when a first imaging position is identified when imaging the target blood vessel at a plurality of imaging positions using the FPD, the recommended range output unit may display the guidance screen including a second imaging range image showing a range of imaging positions of the FPD recommended as a second imaging position. According to this configuration, the recommended range output unit displays a guidance screen including a second imaging range image showing a range of FPD imaging positions recommended as a second imaging position when a first imaging position is specified in the case of imaging a target blood vessel at multiple imaging positions using an FPD. Therefore, in a blood vessel imaging device equipped with two FPDs capable of simultaneously imaging from two directions, such as the vertical direction (lengthwise direction) and the normal direction (horizontal direction), it is possible to guide the recommended FPD imaging position range for each FPD.

[0012] (4) In the FPD navigation device of the above embodiment, the recommended range output unit may display the guidance screen having a first screen including a first imaging range image representing a range of imaging positions of the FPD recommended as the first imaging position, and a second screen including the second imaging range image, and may change the second imaging range image of the second screen according to the first imaging position determined from the first imaging range image of the first screen. According to this configuration, the recommended range output unit displays a guide screen having a first screen including a first imaging range image for a first imaging position and a second screen including a second imaging range image for a second imaging position, so that the surgeon can easily understand the recommended FPD imaging position range for each FPD. Also, the recommended range output unit changes the second imaging range image of the second screen according to the first imaging position determined from the first imaging range image of the first screen, so that in a blood vessel imaging device equipped with two FPDs capable of simultaneously imaging from two directions, such as the vertical direction (lengthwise direction) and the normal direction (horizontal direction), the surgeon can more appropriately guide the recommended FPD imaging position range for each FPD.

[0013] (5) In the FPD navigation device of the above embodiment, the first imaging range image of the guidance screen of the first screen may be represented as a portion where a range of the imaging position of the FPD that is in a direction perpendicular to the extension direction of the target blood vessel and a movable range of the FPD intersect, and the second imaging range image of the second screen may be represented as a predetermined range including the imaging position of the FPD that is in a second imaging direction that is perpendicular to the first imaging direction at the imaging position of the FPD specified on the first screen. According to this configuration, on the guidance screen, the first imaging range image on the first screen is displayed as a portion where the range of the FPD imaging position in a direction perpendicular to the extension direction of the target blood vessel and the movable range of the FPD intersect. Therefore, the first imaging range image on the first screen can be used to guide the recommended FPD imaging position range in the vertical direction (longitudinal direction). Also, on the guidance screen, the second imaging range image on the second screen is displayed as a predetermined range including the FPD imaging position in the second imaging direction perpendicular to the first imaging direction at the FPD imaging position specified on the first screen. Therefore, the second imaging range image on the second screen can be used to guide the recommended FPD imaging position range in the normal direction (horizontal direction).

[0014] (6) In the FPD navigation device of the above embodiment, the guidance screen may further include, in addition to the first screen and the second screen, a third screen including a third imaging range image representing a range of imaging positions of the FPD recommended as imaging positions from a third imaging direction that is perpendicular to the first imaging direction and opposite to the second imaging direction. According to this configuration, the guidance screen further has a third screen including a third imaging range image showing a range of FPD imaging positions recommended as imaging positions from a third imaging direction that is orthogonal to the first imaging direction and opposite to the second imaging direction. Therefore, the second imaging range image of the second screen can be used to guide the recommended FPD imaging position range in one normal direction (e.g., the right side), and the third imaging range image of the third screen can be used to guide the recommended FPD imaging position range in the other normal direction (e.g., the left side). In addition, since the third screen is displayed together with the first screen and the second screen, the surgeon can easily grasp the recommended FPD imaging position range from multiple directions.

[0015] (7) In the FPD navigation device of the above embodiment, the guidance screen may further include, in addition to the first screen and the second screen, a fourth screen including a fourth imaging range image representing a range of imaging positions of the FPD recommended as imaging positions from a fourth imaging direction inclined with respect to the first imaging direction, the fourth imaging direction being on a plane including the extension direction of the target blood vessel and the first imaging direction. According to this configuration, the guide screen has a fourth screen including a fourth imaging range image showing a range of FPD imaging positions recommended as imaging positions from the fourth imaging direction inclined with respect to the first imaging direction, which is a fourth imaging direction on a plane including the extension direction of the target blood vessel and the first imaging direction. Therefore, the fourth imaging range image of the fourth screen can be used to guide the recommended FPD imaging position range in the oblique direction. In addition, since the fourth screen is displayed together with the first screen and the second screen, the surgeon can easily grasp the recommended FPD imaging position range from multiple directions.

[0016] (8) According to one aspect of the present invention, there is provided an FPD system including an FPD (flat panel detector) and the FPD navigation device of the above aspect. According to this configuration, in an FPD system equipped with an FPD, it is possible to provide guidance on a recommended FPD imaging position for acquiring an image of a target blood vessel.

[0017] (9) The FPD system of the above embodiment may further include an arm that supports the FPD and changes the imaging position of the FPD, and a control unit that controls the driving of the arm, and the FPD navigation device may transmit the recommended FPD imaging position range to the control unit, and the control unit may control the driving of the arm using the received recommended FPD imaging position range. According to this configuration, the FPD navigation device transmits the recommended FPD imaging position range to the control unit, and the control unit controls the drive of the arm using the received recommended FPD imaging position range, thereby automating the operation of the FPD in accordance with the recommended FPD imaging position range.

[0018] The present invention can be realized in various forms, such as an information processing device that outputs a recommended FPD imaging position range, an FPD (flat panel detector) that includes a calculation function for the recommended FPD imaging position range, a system that includes these devices, a computer program that realizes the functions of these devices and systems, a server device for distributing the computer program, and a non-transitory storage medium that stores the computer program. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is an explanatory diagram illustrating the configuration of an FPD system. [Diagram 2] FIG. 13 is a diagram for explaining the imaging position of the first FPD. [Diagram 3] 13 is a flowchart illustrating an example of a guidance process. [Figure 4] FIG. 13 is an explanatory diagram showing an example of an input screen used in the guidance process. [Diagram 5] 11 is a diagram illustrating steps S14 and S24 of the guidance process. FIG. [Figure 6] FIG. 11 is a diagram illustrating step S30 of the guidance process. [Figure 7] FIG. 11 is a diagram illustrating step S32 of the guidance process. [Figure 8] FIG. 11 is a diagram illustrating step S32 of the guidance process. [Figure 9] FIG. 11 is a diagram illustrating step S34 of the guidance process. [Figure 10] FIG. 11 is an explanatory diagram showing an example of a guidance screen used in the guidance process. [Figure 11] FIG. 4 is a diagram illustrating an imaging position range. [Figure 12] FIG. 13 is a diagram showing the relationship between a vascular axis vector and an H2 plane. [Figure 13] FIG. 2 is a diagram showing the relationship between the H2 plane and the P plane. [Figure 14] FIG. 13 is a diagram for explaining calculation of a blood vessel axis vector. [Figure 15]FIG. 11 is an explanatory diagram showing an example of a guide screen according to the second embodiment; [Figure 16] FIG. 13 is an explanatory diagram showing an example of a guide screen according to the third embodiment. [Figure 17] FIG. 13 is an explanatory diagram showing an example of a guide screen according to the fourth embodiment. [Figure 18] FIG. 13 is an explanatory diagram showing an example of a guide screen according to the fifth embodiment. [Figure 19] 23 is a flowchart showing an example of a guidance process according to the sixth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] First Embodiment FIG. 1 is an explanatory diagram illustrating the configuration of an FPD system 1. The FPD system 1 is a system for acquiring X-ray images of a human body for examination or treatment, and is also called a "vascular imaging system." The FPD system 1 includes an FPD navigation device 10, a vascular imaging device 20 having an FPD (Flat Panel Detector), a display device 30, a table 40, and an operation unit 50. The FPD system 1 of this embodiment includes the FPD navigation device 10 described later, and can guide the recommended FPD imaging position range (the range of FPD imaging positions recommended for acquiring an image of a target blood vessel) in the vascular imaging device 20. Note that the "target blood vessel" means a blood vessel that is the subject of an examination or treatment, but the FPD system 1 may be used not only in the vascular system, but also in the body lumen such as the lymphatic system, the biliary system, the urinary system, the respiratory tract system, the digestive system, the secretory glands, and the reproductive organs.

[0021] 1 illustrates mutually orthogonal X, Y and Z axes. The X axis corresponds to the width direction of the blood vessel imaging device 20, the Y axis corresponds to the height direction of the blood vessel imaging device 20, and the Z axis corresponds to the depth direction of the blood vessel imaging device 20. In the following explanation, the direction in which the head 92 of the patient (human body 90 in FIG. 1) is located is also referred to simply as the "Z-axis direction" and simply represented as "Z."

[0022] The FPD navigation device 10 determines and outputs a recommended FPD imaging position range in a guidance process described below. The FPD navigation device 10 includes a CPU, a ROM, and a RAM, and the CPU executes a computer program stored in the ROM to realize the functions of a main control unit 11, an image acquisition unit 12, a position information acquisition unit 13, and a recommended range output unit 14. The FPD navigation device 10 is electrically connected to each of a control unit 29, a display device 30, and an operation unit 50 of the blood vessel imaging device 20.

[0023] The main control unit 11 transmits and receives information to and from the control unit 29 of the blood vessel imaging device 20, the display device 30, and the operation unit 50, and also controls the entire FPD navigation device 10. The main control unit 11 also controls the entire guidance process, which will be described later.

[0024] In the guidance process, the image acquisition unit 12 acquires a first image and a second image from the blood vessel imaging device 20. The "first image" is an image including an image of the target blood vessel captured with the FPD at an arbitrary imaging position. The imaging position of the FPD when the first image is acquired is also referred to as the "first position." The "second image" is an image including an image of the target blood vessel captured with the FPD at an arbitrary imaging position different from the first position. The imaging position of the FPD when the second image is acquired is also referred to as the "second position."

[0025] In the guidance process, the position information acquisition unit 13 acquires position information of the target blood vessel using the first image, the second image, position information of the FPD when the first image was acquired (i.e., position information of the first position), and position information of the FPD when the second image was acquired (i.e., position information of the second position). Details will be described later.

[0026] In the guidance process, the recommended range output unit 14 obtains and outputs a recommended FPD imaging position range (a range of FPD imaging positions recommended for acquiring an image of the target blood vessel) from the position information of the target blood vessel. The recommended range output unit 14 in this embodiment generates a guidance screen including an image showing the recommended FPD imaging position range, and displays it on the monitor 31 of the display device 30. Details will be described later.

[0027] The blood vessel imaging device 20 has an FPD and obtains an image by acquiring X-rays that have passed through the human body and converting them into digital signals. The blood vessel imaging device 20 has a first FPD 21, a first X-ray tube device 22, a first C-arm 23, a first support unit 24, a second FPD 25, a second X-ray tube device 26, a second C-arm 27, a second support unit 28, and a control unit 29.

[0028] The first FPD 21 includes an X-ray flat panel detector, converts X-rays incident from the first X-ray tube device 22 into electrical signals, and performs A / D (analog / digital) conversion to generate an X-ray image. The first X-ray tube device 22 receives a high voltage output from an X-ray high voltage device (not shown) and irradiates an X-ray beam. As shown by a thick dashed line extending in the Y-axis direction in FIG. 1, the X-ray beam irradiated from the first X-ray tube device 22 enters the first FPD 21 through the human body 90. The first C-arm 23 is a C-shaped arm (support) that fixes the first FPD 21 and the first X-ray tube device 22 in opposing positions. The first support 24 rotatably supports the first C-arm 23. That is, the first FPD 21 and the first X-ray tube device 22 can move to any imaging position around the human body 90 lying on the bed 41 while being fixed in opposing positions by the first C-arm 23. Hereinafter, the first FPD 21 and the first X-ray tube device 22 fixed to the first C-arm 23 will also be simply referred to as the "first FPD 21."

[0029] The configuration of the second FPD 25 is the same as that of the first FPD 21. The configuration of the second X-ray tube device 26 is the same as that of the first X-ray tube device 22. As shown by a thick dashed line extending in the X-axis direction in FIG. 1, the X-ray beam emitted from the second X-ray tube device 26 enters the second FPD 25 through the human body 90. The second C-arm 27 is a C-shaped arm (support) that fixes the second FPD 25 and the second X-ray tube device 26 in opposing positions. The second support part 28 supports the second C-arm 27 rotatably. That is, the second FPD 25 and the second X-ray tube device 26 can move to any imaging position around the human body 90 while being fixed in opposing positions by the second C-arm 27. Hereinafter, the second FPD 25 and the second X-ray tube device 26 fixed to the second C-arm 27 will also be simply referred to as the "second FPD 25".

[0030] The second FPD 25 is generally disposed in the normal direction of the first FPD 21. For example, as shown in Fig. 1, when the first FPD 21 is positioned at an imaging position in the front direction of the human body 90 (the vertical direction of the human body 90, the longitudinal direction of the human body 90), the second FPD 25 is positioned at an imaging position in the horizontal direction of the human body 90 (the lateral direction of the human body 90). Note that the blood vessel imaging device 20 may also be simply called an "FPD" or an "FPD device".

[0031] The control unit 29 includes a CPU, a ROM, and a RAM, and the CPU executes a computer program stored in the ROM to control the entire blood vessel imaging device 20. The control unit 29 is electrically connected to each of the first FPD 21, the second FPD 25, the first support unit 24, the second support unit 28, the display device 30, the table 40, and the operation unit 50. The control unit 29 causes the display device 30 to display X-ray images generated by the first FPD 21 and the second FPD 25. In addition, the control unit 29 drives the first support unit 24 to rotate the first C-arm 23 and drives the second support unit 28 to rotate the second C-arm 27 in accordance with an operation from the operation unit 50. Furthermore, the control unit 29 changes the height of the bed 41 by extending and retracting the extension unit 42 and changes the position of the bed 41 by moving the table 40 in the Z-axis direction in accordance with an operation from the operation unit 50.

[0032] The display device 30 is connected to the FPD navigation device 10 and the control unit 29 of the blood vessel imaging device 20, and functions as an output interface for the FPD navigation device 10 and the blood vessel imaging device 20. The display device 30 has a monitor 31 and an arm 32. The monitor 31 is a "display unit" configured by known means such as a liquid crystal display, smart glasses, a projector, etc. The arm 32 supports and fixes the monitor 31.

[0033] The table 40 is a platform on which the human body 90 lies and is positioned near the first FPD 21 and the second FPD 25. The table 40 has a bed 41, an extension part 42, and legs 43. The bed 41 is equipped with a mattress on which the human body 90 lies. The bed 41 is supported by the table 40 in a state in which it can move in the Z-axis direction. The extension part 42 is configured to be able to change the height of the bed 41 by extending and retracting in the Y-axis direction. The legs 43 support the bed 41 and the extension part 42. As shown by the dashed line in FIG. 1, the human body 90 lies face up on the bed 41 with the head 92 placed on the side closer to the first FPD 21 and the second FPD 25 and the feet 93 placed on the side farther from the first FPD 21 and the second FPD 25. In this way, it is easy to obtain an image of the target blood vessel in the heart 91 by the first FPD 21 and the second FPD 25.

[0034] The operation unit 50 is connected to the FPD navigation device 10 and the control unit 29 of the blood vessel imaging device 20, and functions as an input interface for the FPD navigation device 10 and the blood vessel imaging device 20. The operation unit 50 is an "input unit" configured with well-known means such as a touch panel, an operation button, an operation lever, an operation switch, a keyboard, a mouse, a voice input unit, a foot switch, etc. In the illustrated example, the operation unit 50 is fixed to the table 40.

[0035] FIG. 2 is a diagram for explaining the imaging position of the first FPD 21. FIG. 2(A) is a diagram for explaining LAO, and FIG. 2(B) is a diagram for explaining RAO. As shown in FIG. 2(A), the case where the first FPD 21 is positioned in the left direction of the human body 90 is called LAO (Left Anterior Oblique view). As shown in FIG. 2(B), the case where the first FPD 21 is positioned in the right direction of the human body 90 is called RAO (Right Anterior Oblique view). FIG. 2(C) is a diagram for explaining CRA, and FIG. 2(D) is a diagram for explaining CAU. As shown in FIG. 2(C), the case where the first FPD 21 is positioned in the upper direction of the human body 90 is called CRA (CRAnial). As shown in FIG. 2(D), the case where the first FPD 21 is positioned in the lower direction of the human body 90 is called CAU (CAUdal). That is, the "imaging position of the first FPD 21" is specified by a combination of the left and right position a1 and the up and down position a2 shown below. (a1) LAO or RAO, and the angle θ1 from the center O of the human body 90, (a2) CRA or CAU and the angle θ2 from the center O of the human body 90. For example, “RAO28 CRA5” means that the first FPD 21 is located at a position of 28 degrees to the right of the human body 90 and at a position of 5 degrees above the human body 90.

[0036] 3 is a flow chart showing an example of the guidance process. In step S10, the first FPD 21 is moved to a first position to capture an X-ray image. The first position can be any position (RAOXX CRAXX: X is any natural number). In step S10, the main controller 11 may automatically move the first FPD 21 to the first position to capture an image, or the operator may manually perform the step. The image acquisition unit 12 acquires the captured image (first image) from the blood vessel imaging device 20.

[0037] Fig. 4 is an explanatory diagram showing an example of an input screen W1 used in the guidance process. In step S12 of Fig. 3, the main control unit 11 causes the monitor 31 (display unit) to display the input screen W1 shown in Fig. 4. The input screen W1 is a screen used for inputting and confirming position information of a first position and position information of a second position. The input screen W1 includes first image information E1, second image information E2, a human body image E3, and a display button B1.

[0038] The first image information E1 is information about the first image, including position information of the imaging position of the first FPD 21 when the first image was acquired (in other words, position information of the first position). The first image information E1 includes input fields EF1, EF2, and EF3. The input field EF1 is used to specify the left-right position of the first FPD 21 (FIG. 2: LAO / RAO, θ1). The input field EF2 is used to specify the up-down position of the first FPD 21 (FIG. 2: CRA / CAU, θ2). That is, the input fields EF1 and EF2 of the first image information E1 are used to input "position information of the first position". The input field EF3 is used to specify the inclination of the target blood vessel.

[0039] The second image information E2 is information about the second image, including position information of the imaging position of the first FPD 21 when the second image was acquired (in other words, position information of the second position). The second image information E2 includes an input field EF1 for the second position, an input field EF2 for the second position, and an input field EF3 for the second position, similar to the first image information E1. That is, the input fields EF1 and EF2 of the second image information E2 are used to input "position information of the second position". The human body image E3 displays a model image of a human body 90 lying on the bed 41 and the Z axis. In the initial state of the input screen W1, all of the input fields EF1 to EF3 of the first image information E1 and the second image information E2 are blank.

[0040] Furthermore, in step S12, position information of the imaging position of the first FPD 21 when the first image was acquired (position information of the first position) is input to the first image information E1 on the input screen W1. This input may be performed automatically by the main controller 11 or manually by the surgeon.

[0041] FIG. 5 is a diagram for explaining steps S14 and S24 of the guidance process. FIG. 5(A) shows an example of a first image IM1, and FIG. 5(B) shows an example of a second image IM2. In step S14 of FIG. 3, the inclination Δ of the target blood vessel in the first image is measured. For example, a case where the first image IM1 shown in FIG. 5(A) is acquired will be described as an example. The first image IM1 includes a coronary artery 100, and a certain branch of the coronary artery 100 is set as a target blood vessel 101. At this time, the angle Δ between the target blood vessel 101 shown in the first image IM1 and the Z axis (the direction in which the head 92 of the human body 90 is located) is measured. The measurement of the angle Δ may be performed automatically by the main controller 11 using a well-known image processing technique, or may be performed manually by the surgeon.

[0042] 3, the angle Δ measured in step S14 is input into the input field EF3 of the first image information E1 on the input screen W1. Step S16 may be performed automatically by the main controller 11 or manually by the surgeon.

[0043] In step S20, the first FPD 21 is moved to a second position to capture an X-ray image. The second position can be any position (RAOYY CRAYY: Y is any natural number) different from the first position. In step S20, the main controller 11 may automatically move the first FPD 21 to the second position to capture an image, or the operator may manually perform the step. The image acquisition unit 12 acquires the captured image (second image) from the blood vessel imaging device 20.

[0044] In step S22, position information of the imaging position of the first FPD 21 when the second image was acquired (position information of the second position) is input to the second image information E2 on the input screen W1. This input may be performed automatically by the main controller 11 or manually by the surgeon.

[0045] In step S24, the inclination δp2 of the target blood vessel in the second image is measured. For example, a case where the second image IM2 as shown in FIG. 5(B) is acquired will be described as an example. The angle δp2 between the target blood vessel 101 shown in the second image IM2 and the Z axis (the direction in which the head 92 of the human body 90 is located) is measured. The measurement of the angle δp2 may be performed automatically by the main controller 11 using a well-known image processing technique, or may be performed manually by the surgeon. Note that the target blood vessel 101 described in step S14 and the target blood vessel 101 described in step S24 refer to the same blood vessel.

[0046] 3, the angle δp2 measured in step S24 is input into the input field EF3 of the second image information E2 on the input screen W1. Step S26 may be performed automatically by the main controller 11 or manually by the surgeon.

[0047] In step S28, the main controller 11 determines whether or not the display button B1 of the input screen W1 has been pressed. If the display button B1 has not been pressed (step S28: NO), the main controller 11 transitions the process to step S28 and waits until the display button B1 is pressed. If the display button B1 has been pressed (step S28: YES), the position information acquisition unit 13 acquires the first image information E1 and the second image information E2 from the input screen W1, and then transitions the process to step S30. Note that, before pressing the display button B1, the surgeon may change the first position and acquire the first image again, or may change the second position and acquire the second image again.

[0048] FIG. 6 is a diagram for explaining step S30 of the guidance process. FIG. 6(A) shows an example of the coronary artery 100 viewed from the same angle as the first image IM1, and FIG. 6(B) shows an example of the coronary artery 100 viewed from an angle different from that of the first image IM1. In step S30 of FIG. 3, the position information acquisition unit 13 calculates a blood vessel existence plane H2 viewed from the first position and an H2 vector. Specifically, the viewpoint of the first FPD 21 at the first position (in other words, the normal vector of the first image IM1) is set as an "a vector". The position information acquisition unit 13 specifies a plane that includes the a vector and on which the target blood vessel 101 exists, and sets the plane as a "blood vessel existence plane H2". The blood vessel existence plane H2 is also referred to as an "H2 plane" hereinafter. In addition, the position information acquisition unit 13 sets the normal vector of the H2 plane as an "H2 vector".

[0049] 7 and 8 are diagrams for explaining step S32 of the guidance process. FIG. 7 shows an example of the coronary artery 100 viewed from the same angle as the second image IM2, and FIG. 8(A) and FIG. 8(B) show an example of the coronary artery 100 viewed from an angle different from that of the second image IM2. In step S32 of FIG. 3, the position information acquisition unit 13 calculates the blood vessel existence plane S viewed from the second position. Specifically, the viewpoint of the first FPD 21 at the second position (in other words, the normal vector of the second image IM2) is set as a "P vector" (FIG. 7). As shown in FIG. 8(A), the position information acquisition unit 13 draws a vector perpendicular to the P vector from the P vector to the Z axis, and sets the vector as a "Pz vector". Next, as shown in FIG. 8(B), the position information acquisition unit 13 rotates the Pz vector by δp2 degrees around the P vector. Then, the position information acquiring unit 13 defines a plane formed by the Pz vector and the P vector after the rotation, and sets the plane as a "blood vessel existing plane S." The blood vessel existing plane S is hereinafter also referred to as an "S plane."

[0050] FIG. 9 is a diagram for explaining step S34 of the guidance process. FIG. 9(A) shows an example of the coronary artery 100 viewed from the same angle as the second image IM2, and FIG. 9(B) shows an example of the coronary artery 100 viewed from an angle different from that of the second image IM2. In FIG. 9, the H2 plane is represented by dot hatching, and the S plane is represented by oblique hatching. In step S34 of FIG. 3, the position information acquisition unit 13 calculates the target blood vessel axis VO from the H2 plane and the S plane. Specifically, the position information acquisition unit 13 specifies a straight line where the H2 plane obtained in step S30 and the S plane obtained in step S32 intersect, and the straight line is the "target blood vessel axis VO". The target blood vessel axis VO is also called the "blood vessel axis vector VO" hereinafter. The three-dimensional position of the target blood vessel can be specified by the blood vessel axis vector VO obtained in this way. The blood vessel axis vector VO corresponds to the "position information of the target blood vessel". Note that steps S30 to S34 are equivalent to solving the problem of finding a spatial vector from projection vectors onto two screens.

[0051] FIG. 10 is an explanatory diagram showing an example of a guide screen W2 used in the guidance process. In step S40 of FIG. 3, the recommended range output unit 14 generates the guide screen W2 shown in FIG. 10 and displays it on the monitor 31 (display unit). The guide screen W2 is a screen used to output the recommended FPD imaging position range for the first FPD 21 and the second FPD 25 (in other words, the range of the imaging position of the first FPD 21 recommended for acquiring an image of the target blood vessel 101 and the range of the imaging position of the second FPD 25 recommended for acquiring an image of the target blood vessel 101). The guide screen W2 includes a first screen V1, a second screen V2, a third screen V3, and a fourth screen V4. In this embodiment, the first screen V1 is also called a "vertical view", the second screen V2 is also called a "first normal view", the third screen V3 is also called a "second normal view", and the fourth screen V4 is also called an "oblique view".

[0052] The first screen V1 includes an imaging position range T1, a movable range OB1, an imaging position P11, an imaging position P12, a position display OB2, and a position display OB3.

[0053] FIG. 11 is a diagram for explaining the imaging position ranges T1 and T2. The imaging position range T1 and the movable range OB1 are displayed superimposed on a background in which the left-right and up-down positions of the FPD are represented by four divided regions and scale marks (FIG. 2: a1, a2). As shown in FIG. 11, the imaging position range T1 is a curve representing the range of the imaging position of the first FPD 21, which is perpendicular to the vascular axis vector VO of the target blood vessel 101 (in other words, the extension direction of the target blood vessel 101). The recommended range output unit 14 can obtain the imaging position range T1 from the vascular axis vector VO obtained in step S34 using the well-known Rodrigues' rotation formula or the like. Note that the images obtained by the first FPD 21 moving on the imaging position range T1 coincide with the cross-sectional image of the target blood vessel 101 obtained by rotating the X-plane shown in FIG. 11 by 360 degrees around the vascular axis vector VO. The movable range OB1 is an image representing the movable range of the first FPD 21 (in other words, the range in which the first FPD 21 can actually be moved). In the first screen V1, the portion where the imaging position range T1 and the movable range OB1 intersect corresponds to a "first imaging range image," which is the range of imaging positions of the first FPD 21 recommended for acquiring an image of the target blood vessel 101. The first imaging range image corresponds to a "recommended FPD imaging position range."

[0054] The imaging position P11 is a point that can be moved on the imaging position range T1. The imaging position P11 represents an arbitrary imaging position of the first FPD 21 that is in a direction perpendicular to the vascular axis vector VO of the target blood vessel 101. The position display OB2 represents a combination of the left-right position and the up-down position of the first FPD 21 at the imaging position P11 (a1, a2 in FIG. 2). Note that "X" in the position display OB2 means an arbitrary natural number. This point is the same for other parts of FIG. 10. The imaging position P12 is a point that moves on the imaging position range T1 according to the movement of the imaging position P11. The imaging position P12 represents an imaging position of the first FPD 21 that is in the opposite direction (reverse direction) to the imaging position P11. The position display OB3 represents a combination of the left-right position and the up-down position of the first FPD 21 at the imaging position P12 (a1, a2 in FIG. 2). Note that the position displays OB2 and OB3 may be omitted.

[0055] The second screen V2 includes an imaging position P2, a recommended range L1, a movable range OB9, and a position display OB4. The imaging position P2, the recommended range L1, and the movable range OB9 are displayed superimposed on a background showing the left-right and up-down positions of the FPD, as in the first screen V1 (FIG. 2: a1, a2). The imaging position P2 represents an imaging position of the second FPD 25 corresponding to the imaging position of the first FPD 21. Specifically, the imaging position P2 represents an imaging position of the second FPD 25 that is perpendicular to the imaging direction (hereinafter also referred to as the "first imaging direction") at the imaging position P11 of the first FPD 21 specified in the first screen V1 and perpendicular to the vascular axis vector VO of the target blood vessel 101. The imaging direction of the imaging position P2 is also referred to as the "second imaging direction". The imaging position P2 moves according to the movement of the imaging position P11 of the first screen V1. The movable range OB9 is an image representing the movable range of the second FPD 25 (in other words, the range in which the second FPD 25 can actually be moved).

[0056] The recommended range L1 corresponds to a "second imaging range image" which is a range of imaging positions of the second FPD 25 recommended for acquiring an image of the target blood vessel 101. The recommended range L1 is a predetermined range including the imaging position P2, and the size, shape, etc. of the range L1 can be determined arbitrarily. In the example of FIG. 10, the recommended range L1 is displayed as a gradation in which the color changes as it approaches the movable range OB9. The second imaging range image corresponds to the "recommended FPD imaging position range." The position display OB4 indicates the combination of the left-right position and the up-down position of the second FPD 25 at the imaging position P2 (FIG. 2: a1, a2). Note that the position display OB4 may be omitted.

[0057] The third screen V3 includes an imaging position P3, a recommended range L2, a movable range OB9, and a position display OB5. The imaging position P3, the recommended range L2, and the movable range OB9 are displayed superimposed on a background showing the left-right and up-down positions of the FPD, as in the first screen V1 (FIG. 2: a1, a2). The imaging position P3 represents another imaging position different from the imaging position P2 among the imaging positions of the second FPD 25 corresponding to the imaging position of the first FPD 21. Specifically, the imaging position P3 represents an imaging position of the second FPD 25 that is perpendicular to the first imaging direction of the first FPD 21 and opposite to the second imaging direction of the second FPD 25. The imaging direction of the imaging position P3 is also called a "third imaging direction". The imaging position P3 moves according to the movement of the imaging position P11 of the first screen V1.

[0058] The recommended range L2 corresponds to a "third imaging range image" which is a range of imaging positions of the second FPD 25 recommended for acquiring an image of the target blood vessel 101. The recommended range L2 is a predetermined range including the imaging position P3, and the size, shape, etc. of the range L2 can be determined arbitrarily. In the example of FIG. 10, the recommended range L2 is displayed as a gradation in which the color changes as it approaches the movable range OB9. The third imaging range image corresponds to the "recommended FPD imaging position range." The position display OB5 indicates the combination of the left-right position and the up-down position of the second FPD 25 at the imaging position P3 (FIG. 2: a1, a2). Note that the position display OB5 may be omitted.

[0059] The fourth screen V4 includes an imaging position range T2, a movable range OB1, an imaging position P41, an imaging position P42, an imaging position P43, a position display OB6, a position display OB7, and a position display OB8. The imaging position range T1 and the movable range OB1 are displayed superimposed on a background showing the left-right and up-down positions of the FPD, as in the first screen V1 (FIG. 2: a1, a2). As shown in FIG. 11, the imaging position range T2 is a curved line representing the range of the imaging position of the first FPD 21, which is on a plane (FIG. 11: X plane) including the vascular axis vector VO (in other words, the extension direction of the target blood vessel 101) of the target blood vessel 101 and the first imaging direction, and is inclined with respect to the first imaging direction. Therefore, the curved line of the imaging position range T2 changes according to the movement of the first imaging direction (i.e., according to the movement of the imaging position P11 of the first screen V1). The recommended range output unit 14 can obtain the imaging position range T2 from the blood vessel axis vector VO obtained in step S34 using the well-known Rodrigues rotation formula or the like. In the fourth screen V4, a portion where the imaging position range T2 and the movable range OB1 intersect corresponds to a "fourth imaging range image" which is a range of imaging positions of the first FPD 21 recommended for acquiring an image of the target blood vessel 101. The fourth imaging range image corresponds to the "recommended FPD imaging position range."

[0060] The imaging position P41 indicates the same point as the imaging position P11, and moves according to the movement of the imaging position P11 on the first screen V1. The position display OB6 displays the same content as the position display OB2. Similarly, the imaging position P42 indicates the same point as the imaging position P12, and moves according to the movement of the imaging position P12 on the first screen V1. The position display OB7 displays the same content as the position display OB3. The imaging position P43 is a point that can be specified at any position on the imaging position range T2. The imaging position P43 represents an imaging position of any first FPD 21 that is on a plane (FIG. 11: X plane) including the vascular axis vector VO of the target blood vessel 101 and the first imaging direction, and is in a direction inclined with respect to the first imaging direction. The position display OB8 represents a combination of the left-right position and the up-down position of the first FPD 21 at the imaging position P43 (FIG. 2: a1, a2). The imaging direction at the imaging position P43 of the first FPD 21 specified in the fourth screen V4 is also called the "fourth imaging direction."

[0061] Returning to FIG. 3, the description will be continued. In step S42, the recommended range output unit 14 determines whether or not an operation has been performed on the first screen V1 (vertical view) of the guidance screen W2. Specifically, the recommended range output unit 14 determines whether or not the imaging position P11 of the first screen V1 has been moved. If an operation has been performed (step S42: YES), the recommended range output unit 14 transitions the process to step S40, updates the first to fourth screens V1 to V4 according to the changed imaging position P11, and displays them on the monitor 31. If no operation has been performed (step S42: NO), the recommended range output unit 14 transitions the process to step S44.

[0062] In step S44, the recommended range output unit 14 determines whether or not the end condition is met. The end condition can be determined arbitrarily, and for example, it can be determined that the end condition is met when the end button B2 on the guidance screen W2 is pressed. If the end condition is not met (step S44: NO), the recommended range output unit 14 transitions the process to step S42 and waits. If the end condition is met (step S44: YES), the recommended range output unit 14 ends the guidance process.

[0063] Thus, in the guide screen W2 of this embodiment, the first imaging range image of the first screen V1 represents the range of the imaging position of the FPD recommended as the first imaging position (in other words, as the imaging position of the first FPD 21), and the second imaging range image of the second screen V2 represents the range of the imaging position of the FPD recommended as the second imaging position (in other words, as the imaging position of the second FPD 25). As described in step S40, the recommended range output unit 14 displays the second imaging range image in response to the identification of the first imaging position (imaging position P11 of the first FPD 21). Furthermore, as described in step S42, the recommended range output unit 14 changes the second imaging range image of the second screen V2 in response to the first imaging position (imaging position P11 of the first FPD 21) determined from the first imaging range image of the first screen V1.

[0064] As described above, according to the FPD navigation device 10 of the first embodiment, the position information acquisition unit 13 can acquire position information (vascular axis vector VO) of the target blood vessel 101 by using the first image and the second image captured at two different imaging positions (first position and second position), the position information of the first position, and the position information of the second position (FIG. 3: steps S30 to S32). In addition, the recommended range output unit 14 uses the acquired position information (vascular axis vector VO) of the target blood vessel 101 to determine a recommended FPD imaging position range (a range of imaging positions of the FPDs 21 and 25 recommended for acquiring an image of the target blood vessel 101) and outputs the recommended FPD imaging position range. The surgeon can guide the FPDs 21 and 25 to appropriate imaging positions by setting the imaging positions of the FPDs 21 and 25 so as to overlap with the output recommended FPD imaging position range. By performing the procedure while checking the thus obtained captured images (images of the target blood vessel 101) of the FPDs 21 and 25, the surgeon can correctly grasp the positional relationship between the blood vessel 101, the lesion, and the medical device, and can push the medical device in the intended direction. As a result, the FPD navigation device 10 of the first embodiment can provide guidance on the recommended imaging positions of the FPDs 21 and 25 for acquiring an image of the target blood vessel 101.

[0065] Furthermore, according to the FPD navigation device 10 of the first embodiment, the recommended range output unit 14 displays, on the monitor 31 (display unit), a guide screen W2 including an image showing the recommended FPD imaging position range, so that the surgeon can easily check the recommended FPD imaging position range by checking the guide screen W2 displayed on the monitor 31.

[0066] Furthermore, according to the FPD navigation device 10 of the first embodiment, the recommended range output unit 14 displays a guidance screen W2 including a second imaging range image showing a range of FPD imaging positions recommended as a second imaging position when a first imaging position is specified in the case of imaging the target blood vessel 101 at a plurality of imaging positions by the FPDs 21, 25. Therefore, in a blood vessel imaging device 20 including two FPDs 21, 25 capable of simultaneously imaging from two directions, such as the vertical direction (longitudinal direction: first FPD 21) and the normal direction (horizontal direction: second FPD 25), it is possible to guide the recommended FPD imaging position range for each of the FPDs 21, 25.

[0067] Furthermore, according to the FPD navigation device 10 of the first embodiment, the recommended range output unit 14 displays a guide screen W2 having a first screen V1 including a first imaging range image for a first imaging position (first FPD 21) and a second screen V2 including a second imaging range image for a second imaging position (second FPD 25), so that the surgeon can easily understand the recommended FPD imaging position range for each of the FPDs 21 and 25. In addition, the recommended range output unit 14 changes the second imaging range image of the second screen V2 according to the first imaging position P11 determined from the first imaging range image of the first screen V1, so that the surgeon can more appropriately guide the recommended FPD imaging position range for each of the FPDs 21 and 25 in the blood vessel imaging device 20 including two FPDs 21 and 25 that can simultaneously capture images from two directions, such as the vertical direction (longitudinal direction: first FPD 21) and the normal direction (horizontal direction: second FPD 25).

[0068] Furthermore, according to the FPD navigation device 10 of the first embodiment, in the guidance screen W2, the first imaging range image of the first screen V1 is displayed as a portion where the range T1 of the imaging position of the first FPD 21, which is a direction perpendicular to the extension direction (vascular axis vector VO) of the target blood vessel 101, and the movable range OB1 of the first FPD 21 intersect. Therefore, the first imaging range image of the first screen V1 can be used to guide the recommended FPD imaging position range in the vertical direction (longitudinal direction: first FPD 21). Also, in the guidance screen W2, the second imaging range image of the second screen V2 is displayed as a predetermined range L1 including the imaging position P2 of the second FPD 25, which is a second imaging direction perpendicular to the first imaging direction at the imaging position P11 of the first FPD 21 specified in the first screen V1. Therefore, the second imaging range image of the second screen V2 can be used to guide the recommended FPD imaging position range in the normal direction (horizontal direction: second FPD 25).

[0069] Furthermore, according to the FPD navigation device 10 of the first embodiment, the guide screen W2 further includes a third screen V3 including a third imaging range image representing a range of imaging positions of the second FPD 25 recommended as imaging positions from a third imaging direction perpendicular to the first imaging direction and opposite to the second imaging direction. Therefore, the second imaging range image of the second screen V2 can be used to guide the recommended FPD imaging position range in one normal direction (e.g., the right side), and the third imaging range image of the third screen V3 can be used to guide the recommended FPD imaging position range in the other normal direction (e.g., the left side). In addition, since the third screen V3 is displayed together with the first screen V1 and the second screen V2, the surgeon can easily grasp the recommended FPD imaging position range from multiple directions.

[0070] Furthermore, according to the FPD navigation device 10 of the first embodiment, the guide screen W2 has a fourth screen V4 including a fourth imaging range image representing a range of imaging positions of the first FPD 21 recommended as imaging positions from the fourth imaging direction inclined with respect to the first imaging direction, which is a fourth imaging direction on a plane including the extension direction (vascular axis vector VO) of the target blood vessel 101 and the first imaging direction. Therefore, the fourth imaging range image of the fourth screen V4 can be used to guide the recommended FPD imaging position range in the oblique direction. In addition, since the fourth screen V4 is displayed together with the first screen V1 and the second screen V2, the surgeon can easily grasp the recommended FPD imaging position range from multiple directions.

[0071] In this way, according to the FPD system 1 of the first embodiment, in the FPD system 1 including the FPDs 21 and 25, it is possible to guide the imaging positions of the FPDs 21 and 25 recommended for acquiring an image of the target blood vessel 101. As a result, the surgeon can correctly grasp the positional relationship between the target blood vessel 101, the lesion, and the medical device, and can push the medical device in the intended direction. Therefore, even a procedure that is considered to be relatively difficult, such as a subintimal approach in which a medical device is re-inserted from the false lumen to the true lumen for CTO opening (recanalization) when the inside of the blood vessel is blocked by a lesion, such as chronic total occlusion (CTO), can be safely and quickly performed.

[0072] <Other methods for calculating the vascular axis vector> In the guidance process (FIG. 3) of the first embodiment, the vascular axis vector VO described in steps S30 to S34 may be obtained by the method described in FIG 12, FIG 13, and FIG 14. In the following description, the vascular axis vector VO will be referred to as the "vascular axis vector δ2."

[0073] FIG. 12 is a diagram showing the relationship between the vascular axis vector and the H2 plane. The H2 vector is a normal vector of the H2 plane (FIG. 6: the plane on which the blood vessels are present as viewed from the first position). The Hz2 vector is a unit vector on the H2 plane that intersects with the Z axis (the direction in which the head 92 of the human body 90 is located), overlaps with the Z axis on the first image, and always faces the head 92 side. The vascular axis vector δ2 to be calculated is the Hz2 vector rotated by δ2 degrees on the H2 plane. Therefore, the vascular axis vector δ2 can be calculated as shown in the following formula 1 according to the well-known Rodrigues rotation formula. Note that φ2 and θ2 in formula 1 are polar coordinate expressions of the H2 vector. The X and Y axes shown in FIG. 12 do not correspond to the X and Y axes in FIG. 1.

[0074]

number

[0075] 12, the coordinates of the Hz2 vector can be calculated using the inner product as shown in Equation 2. The h vector is a normal vector of the plane formed by the H2 vector and the Z axis.

[0076]

number

[0077] FIG. 13 is a diagram showing the relationship between the H2 plane and the P plane. As described in FIG. 6, the H2 plane shown in FIG. 13 is a blood vessel existence plane seen from the first position. The P plane is a projection plane of the first FPD 21 at the second position (in other words, a projection plane of the second image IM2). The P vector is the viewpoint of the first FPD 21 at the second position (in other words, a position vector of the first FPD 21 at the second position and a normal vector of the P plane). Here, the angle formed by the blood vessel axis vector δp2 (FIG. 13: dashed line) projected onto the P plane and the unit vector Pz toward the Z axis on the P plane is δp2. This angle δp2 is the "inclination δp2 of the target blood vessel" measured in step S24 in FIG. 3. The X and Y axes shown in FIG. 13 do not correspond to the X and Y axes in FIG. 1.

[0078] It should be noted that the P plane is a plane different from the S plane described in Figs. 7 and 8. The Pz vector exists on the P plane, but is not the Hz2 vector projected onto the P plane. The vascular axis vector δp2 is the δ2 ​​vector projected onto the P plane, and is on the P plane and perpendicular to the P vector. In this case, the orthogonal coordinates of the P vector are expressed as in the following Equation 3. The coordinates of the Pz vector can be calculated as in Equation 4. Note that φ in Equation 3 p and θ p is the polar coordinate representation of the P vector.

[0079]

number

number

[0080] Fig. 14 is a diagram for explaining calculation of a vascular axis vector. OP in Fig. 14 is the vertical median line on the P plane, and intersects with the Z axis. In Fig. 14, the mP vector, the δ2 ​​vector + H2 vector, and the P vector are on the same plane, so the relationship of formula 5 holds. In addition, since |δ2 + H2| = √2, the relationship of formula 6 holds between the mP vector and the nP vector.

[0081]

number

number

[0082] From Equations 5 and 6, the vascular axis vector δp2 projected onto the P plane is expressed as Equation 7. Moreover, the dot product of the Pz vector and the vascular axis vector δp2 projected onto the P plane is expressed as Equation 8. Here, since the Pz vector and the P vector are orthogonal, the dot product of the Pz vector and the P vector is 0. Therefore, Equation 8 can be transformed into Equation 9.

[0083]

number

number

number

[0084] On the other hand, the relationship of Equation 10 is obtained from the right-angled triangle formed by the vascular axis vector δp2 projected onto the P plane, the (mn)P vector, and the δ2 ​​vector. The relationship of Equation 11 is derived from Equation 10. Furthermore, the inner product of the H2 vector and the P vector is expressed by Equation 12. Therefore, the relationship of Equation 13 is derived from Equation 12 with respect to cosθ'.

[0085]

number

number

number

number

[0086] For cos θ″, the relationship in equation 15 can be derived from equation 14, similarly to cos θ′.

[0087]

number

number

[0088] Here, substituting cos θ′ and cos θ″ into equation 11 gives equation 16, and finally equation 17 is obtained.

[0089]

number

number

[0090] Here, δp2 in Equation 17 is the "gradient δp2 of the target blood vessel" measured in step S24 in FIG. 3. Therefore, the blood vessel axis vector δ2 can be obtained by using Equation 17 and the measurement value in step S24. Equation 18 is a solution to the equation shown in Equation 17. The blood vessel axis vector δ2 may be obtained by substituting the polar coordinates of the H2 vector (in other words, the position information of the first position) and the polar coordinates of the P vector (in other words, the position information of the second position) into Equation 18.

[0091]

number

[0092] <Second embodiment> FIG. 15 is an explanatory diagram showing an example of a guidance screen W2A in the second embodiment. In the second embodiment, the FPD system 1A includes an FPD navigation device 10A instead of the FPD navigation device 10. In step S40 of the guidance process (FIG. 3), the FPD navigation device 10A generates a guidance screen W2A shown in FIG. 15 instead of the guidance screen W2 described in FIG. 10, and displays it on the monitor 31. The guidance screen W2A has only the first screen V1, and does not include the second screen V2, the third screen V3, and the fourth screen V4 described in FIG. 10. In addition, the FPD navigation device 10A does not execute step S42 of the guidance process.

[0093] In this way, the guide screen W2A can be modified in various ways, and a guide screen W2A that does not include the guide screen W2, the third screen V3, and the fourth screen V4 may be adopted. Moreover, the first screen V1 may not include at least some of the imaging position range T1, the movable range OB1, the imaging position P11, the imaging position P12, the position display OB2, and the position display OB3 described in FIG. 10. The FPD navigation device 10A of the second embodiment can also achieve the same effects as the first embodiment described above. Moreover, in the FPD navigation device 10A of the second embodiment, the amount of information on the guide screen W2A is reduced, so that the guide screen W2A can be simply configured.

[0094] <Third embodiment> Fig. 16 is an explanatory diagram showing an example of a guide screen W2B in the third embodiment. In the third embodiment, the FPD system 1B includes an FPD navigation device 10B instead of the FPD navigation device 10. In step S40 of the guidance process (Fig. 3), the FPD navigation device 10B generates a guide screen W2B shown in Fig. 16 instead of the guide screen W2 described in Fig. 10, and displays it on the monitor 31. The guide screen W2B has a first screen V1, a second screen V2, and a fourth screen V4, and does not include the third screen V3 described in Fig. 10.

[0095] In this way, the guide screen W2B can be modified in various ways, and a guide screen W2B that does not include the third screen V3 may be adopted. Also, a guide screen W2B that includes the third screen V3 but does not include the second screen V2 may be adopted. Furthermore, the second screen V2 may not include at least a part of the imaging position P2, the recommended range L1, the movable range OB9, and the position display OB4 described in FIG. 10. Similarly, the third screen V3 may not include at least a part of the imaging position P3, the recommended range L2, the movable range OB9, and the position display OB5 described in FIG. Similarly, the fourth screen V4 may not include at least a part of the imaging position range T2, the movable range OB1, the imaging position P41, the imaging position P42, the imaging position P43, the position display OB6, the position display OB7, and the position display OB8 described in FIG. 10. The FPD navigation device 10B of the third embodiment can also achieve the same effects as the first embodiment described above.

[0096] <Fourth embodiment> FIG. 17 is an explanatory diagram showing an example of the guide screen W2C of the fourth embodiment. In the fourth embodiment, the FPD system 1C includes an FPD navigation device 10C instead of the FPD navigation device 10. In step S40 of the guidance process (FIG. 3), the FPD navigation device 10C generates the guide screen W2C shown in FIG. 17 instead of the guide screen W2 described in FIG. 10, and displays it on the monitor 31. The guide screen W2C has the first screen V1, the second screen V2, and the third screen V3, and does not include the fourth screen V4 described in FIG. 10. In this way, the guide screen W2C can be modified in various ways, and a guide screen W2B that does not include the fourth screen V4 may be adopted. The FPD navigation device 10C of the fourth embodiment can also achieve the same effects as the first embodiment described above.

[0097] <Fifth embodiment> Fig. 18 is an explanatory diagram showing an example of a guide screen W2D of the fifth embodiment. In the fifth embodiment, the FPD system 1D includes an FPD navigation device 10D instead of the FPD navigation device 10. In step S40 of the guidance process (Fig. 3), the FPD navigation device 10D generates a guide screen W2D shown in Fig. 18 instead of the guide screen W2 described in Fig. 10, and displays it on the monitor 31.

[0098] The guide screen W2D has a first screen V1, a second screen V2, a third screen V3, and a fourth screen V4, as in the first embodiment. The first screen V1 includes an FPD movement button B11 in addition to the components described in the first embodiment. Similarly, the second screen V2 includes an FPD movement button B12 in addition to the components described in the first embodiment. When the main controller 11 of the FPD navigation device 10D detects the pressing of the FPD movement button B11 in step S40, the main controller 11 transmits information on the imaging position P11 to the controller 29 of the blood vessel imaging device 20. The controller 29 drives the first support 24 to rotate the first C-arm 23, and moves the first FPD 21 to the imaging position represented by the received imaging position P11. Similarly, when the main controller 11 detects the pressing of the FPD movement button B12 in step S40, the main controller 11 transmits information on the imaging position P2 to the controller 29 of the blood vessel imaging device 20. The control unit 29 drives the second support unit 28 to rotate the second C-arm 27, and moves the second FPD 25 to the imaging position indicated by the received imaging position P2.

[0099] In this way, the guidance screen W2D and the guidance process can be modified in various ways, and the imaging positions of the first FPD 21 and the second FPD 25 may be automatically moved to the designated imaging positions P11 and P2. The FPD movement button may be provided on the third screen V3 or the fourth screen V4. The position displays OB2, OB3, OB4, OB5, OB6, and OB7 may be omitted. The FPD navigation device 10D of the fifth embodiment can also achieve the same effects as those of the first embodiment described above. In addition, the FPD navigation device 10D of the fifth embodiment can automate the operation of the first FPD 21 and the second FPD 25, improving the usability of the FPD system 1D.

[0100] Sixth embodiment Fig. 19 is a flowchart showing an example of a guidance process of the sixth embodiment. In the sixth embodiment, an FPD system 1E includes an FPD navigation device 10E instead of the FPD navigation device 10. The FPD navigation device 10E executes the guidance process shown in Fig. 19 instead of the guidance process described in Fig. 3. In the guidance process of the sixth embodiment, steps S50 to S54 are executed instead of steps S40 to S44 described in Fig. 3.

[0101] In step S50, the recommended range output unit 14 calculates a recommended FPD imaging position range from the vascular axis vector VO obtained in step S34. The recommended FPD imaging position range can be expressed in various ways. For example, the recommended FPD imaging position range can be a candidate for the imaging position of the first FPD 21 (the candidate may be one or more) where the range of the imaging position of the first FPD 21 that is perpendicular to the vascular axis vector VO overlaps with the movable range of the first FPD 21.

[0102] In step S52, the recommended range output unit 14 outputs (transmits) the calculated recommended FPD imaging position range to the control unit 29 of the blood vessel imaging device 20. In step S54, the control unit 29 of the blood vessel imaging device 20 drives the first support unit 24 to rotate the first C-arm 23 in accordance with the received recommended FPD imaging position range, and moves the first FPD 21 to the imaging position represented by the received recommended FPD imaging position range. When multiple imaging position candidates are received, the control unit 29 selects one imaging position from the multiple candidates by any method, and moves the first FPD 21 to the selected imaging position.

[0103] In this way, various modifications of the guidance process are possible, and the recommended range output unit 14 of the FPD navigation device 10E may output the recommended FPD imaging position range without using the guidance screen W2 described in Fig. 10. The recommended range output unit 14 may output the recommended FPD imaging position range of the second FPD 25 instead of the recommended FPD imaging position range of the first FPD 21 or together with the recommended FPD imaging position range of the first FPD 21. The output destination (transmission destination) of the recommended FPD imaging position range may be a device other than the blood vessel imaging device 20. The other device may be, for example, a server device connected via a network or a medical device other than an FPD.

[0104] The FPD navigation device 10E of the sixth embodiment can also achieve the same effects as those of the first embodiment. Moreover, according to the FPD navigation device 10E of the sixth embodiment, the recommended FPD imaging position range is transmitted to the control unit 29 of the blood vessel imaging device 20, and the control unit 29 uses the received recommended FPD imaging position range to control the driving of the first C-arm 23 and the first support unit 24 (and the second C-arm 27 and the second support unit 28), so that the operation of the first FPD 21 (and the second FPD 25) can be automated according to the recommended FPD imaging position range. As a result, the usability of the FPD system 1E can be improved.

[0105] <Modifications of this embodiment> The present invention is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit and scope of the invention. For example, the following modifications are also possible.

[0106] [Variation 1] In the above first to sixth embodiments, the configurations of the FPD systems 1, 1A to 1E have been described. However, the configuration of the FPD system 1 can be modified in various ways. For example, in the FPD system 1, the FPD navigation device 10 may be connected to the blood vessel imaging device 20 and the like via the Internet. For example, the display device 30 may be a monitor or a touch panel built into the FPD navigation device 10. For example, the blood vessel imaging device 20 may be configured to have a single FPD (in other words, a configuration not including the second FPD 25). For example, the FPD system 1 may have other medical devices (e.g., a CT device, an MRI device) not shown. In this case, the guide screen W2 described in FIG. 10 may include an image acquired by the other medical device.

[0107] [Variation 2] In the above first to sixth embodiments, the configurations of the FPD navigation devices 10, 10A to 10E have been described. However, various modifications are possible to the configuration of the FPD navigation device 10. For example, various modifications are possible to the procedure of the guidance process described in Fig. 3 and Fig. 19, and the order of execution of each step may be changed, at least some steps may be omitted, and other steps not described may be executed.

[0108] For example, the image acquisition unit 12 may acquire the first image and the second image via a network or a storage medium, instead of from the blood vessel imaging device 20. For example, the position information acquisition unit 13 may obtain a blood vessel axis vector (position information of the target blood vessel) using a method different from the method described in Figs. 5 to 9 and the method described in Figs. 12 to 14. For example, the position information acquisition unit 13 may obtain information other than the blood vessel axis vector (for example, three-dimensional coordinates of the start point and end point of the target blood vessel, etc.) as the position information of the target blood vessel. For example, the input screen W1 described in Fig. 4 may not be displayed. For example, at least some items of the input screen W1 described in Fig. 4 may be omitted, and other items may be included.

[0109] For example, in step S52 of the guidance process (FIG. 19) of the sixth embodiment, the recommended FPD imaging position range may be output by text or voice instead of outputting the recommended FPD imaging position range to the blood vessel imaging device 20. In this case, step S54 is omitted. Also, in step S52, the recommended FPD imaging position range may be output to a simulator or the like of the blood vessel imaging device 20 to simulate the operation of the FPD.

[0110] [Variation 3] The configurations of the FPD navigation devices 10, 10A to 10E of the first to sixth embodiments and the configurations of the modifications 1 and 2 may be appropriately combined. For example, the FPD movement button described in the fifth embodiment may be provided on the guide screen W2 described in the second to fourth embodiments.

[0111] Although the present aspect has been described above based on the embodiment and modified examples, the above-mentioned embodiment of the aspect is intended to facilitate understanding of the present aspect and does not limit the present aspect. The present aspect may be modified or improved without departing from the spirit and scope of the claims, and equivalents are included in the present aspect. Furthermore, if a technical feature is not described as essential in this specification, it may be deleted as appropriate. [Explanation of symbols]

[0112] 1,1A~1E…FPD system 10, 10A~10E…FPD navigation device 11...Main control unit 12...Image acquisition section 13...Location information acquisition unit 14…Recommended range output section 20...Blood vessel imaging device 22...1st X-ray tube device 23…1st C-arm 24...First support part 26…Second X-ray tube device 27…Second C-arm 28…Second support part 29...Control section 30…Display device 31…Monitor 32…Arm 40…Table 41…Bed 42...Extendable part 43...legs 50...Operation unit 90...Human body 91...Heart 92…head 93...Feet 100…Coronary artery 101…Target blood vessel B1…Display button B11, B12…FPD movement buttons B2: Exit button E1…First image information E2…Second image information E3…Human body image EF1, EF2, EF3...input field H2… Blood vessel existence surface IM1...First image IM2: Second image L1, L2: Recommended range OB1, OB9…Movement range OB2, OB3, OB4, OB5, OB6, OB7, OB8…Position display P11, P12, P2, P3, P41, P42, P43...imaging positions S... Blood vessel presence surface T1, T2…imaging position range V1…1st screen V2…Second screen V3…3rd screen V4…4th screen VO: Vascular axis vector W1: Input screen W2, W2A, W2B, W2C, W2D…Guide screen

Claims

1. An FPD navigation device, an image acquisition unit that acquires, from a flat panel detector (FPD), a first image including an image of a target blood vessel captured at a first position and a second image including an image of the target blood vessel captured at a second position different from the first position; a position information acquiring unit that acquires position information of the target blood vessel from the first image, the second image, position information of the first position, and position information of the second position; a recommended range output unit that outputs an FPD imaging position recommended range representing a range of imaging positions of the FPD that are recommended for acquiring an image of the target blood vessel from the position information of the target blood vessel; An FPD navigation device comprising:

2. 2. The FPD navigation device according to claim 1, The recommended range output unit causes a display unit to display a guide screen including an image representing the recommended FPD imaging position range.

3. 3. The FPD navigation device according to claim 2, The recommended range output unit, when identifying a first imaging position when imaging the target blood vessel at a plurality of imaging positions using the FPD, displays the guidance screen including a second imaging range image showing a range of imaging positions of the FPD recommended as a second imaging position.

4. 4. The FPD navigation device according to claim 3, The recommended range output unit is a first screen including a first imaging range image representing a range of imaging positions of the FPD recommended as the first imaging position; a second screen including the second imaging range image; and An FPD navigation device that changes the second imaging range image on the second screen in accordance with the first imaging position determined from the first imaging range image on the first screen.

5. 5. The FPD navigation device according to claim 4, On the guidance screen, The first imaging range image of the first screen is represented as a portion where a range of imaging positions of the FPD in a direction perpendicular to an extension direction of the target blood vessel and a movable range of the FPD intersect, An FPD navigation device, wherein the second imaging range image of the second screen is represented as a predetermined range including an imaging position of the FPD that is in a second imaging direction perpendicular to the first imaging direction at the imaging position of the FPD specified in the first screen.

6. 6. The FPD navigation device according to claim 5, The guide screen further includes, in addition to the first screen and the second screen, an FPD navigation device having a third screen including a third imaging range image representing a range of imaging positions of the FPD recommended as imaging positions from a third imaging direction that is perpendicular to the first imaging direction and opposite to the second imaging direction;

7. 7. The FPD navigation device according to claim 5, The guide screen further includes, in addition to the first screen and the second screen, an FPD navigation device having a fourth screen including a fourth imaging range image representing a range of imaging positions of the FPD recommended as imaging positions from a fourth imaging direction inclined with respect to the first imaging direction, the fourth imaging direction being on a plane including the extension direction of the target blood vessel and the first imaging direction.

8. The FPD navigation device according to claim 1, An FPD navigation device, wherein the position information of the target blood vessel includes an extension direction of the target blood vessel.

9. An FPD system, FPD (flat panel detector) and An FPD navigation device according to any one of claims 1 to 8; An FPD system comprising:

10. The FPD system according to claim 9, further comprising: an arm for supporting the FPD and changing an imaging position of the FPD; A control unit that controls the drive of the arm, the FPD navigation device transmits the FPD imaging position recommended range to the control unit; The control unit controls driving of the arm using the received recommended FPD imaging position range.

11. An FPD navigation method, comprising: an image acquiring step of acquiring a first image and a second image captured by an FPD (flat panel detector), the first image including an image of a target blood vessel captured at a first position, and the second image including an image of the target blood vessel captured at a second position different from the first position; a position information acquiring step of acquiring position information of the target blood vessel from the first image, the second image, position information of the first position, and position information of the second position; a recommended range output step of outputting a recommended FPD imaging position range representing a range of imaging positions of the FPD recommended for acquiring an image of the target blood vessel from the position information of the target blood vessel; An FPD navigation method comprising:

12. 12. The FPD navigation method according to claim 11, comprising: In the recommended range output step, a guide screen including an image representing the recommended FPD imaging position range is displayed on a display unit.

13. 13. The FPD navigation method according to claim 12, comprising: In the recommended range output process, when the target blood vessel is imaged at a plurality of imaging positions by the FPD, when a first imaging position is identified, the guide screen is displayed including a second imaging range image showing a range of imaging positions of the FPD recommended as a second imaging position.

14. 14. The FPD navigation method according to claim 13, comprising: In the recommended range output step, a first screen including a first imaging range image representing a range of imaging positions of the FPD recommended as the first imaging position; a second screen including the second imaging range image; and The FPD navigation method includes changing the second imaging range image in the second screen according to the first imaging position determined from the first imaging range image in the first screen.

15. 15. The FPD navigation method according to claim 14, comprising: On the guidance screen, The first imaging range image of the first screen is represented as a portion where a range of the imaging position of the FPD, which is a direction perpendicular to the extension direction of the target blood vessel, and a movable range of the FPD intersect, An FPD navigation method, wherein the second imaging range image of the second screen is represented as a predetermined range including an imaging position of the FPD that is in a second imaging direction perpendicular to a first imaging direction at the imaging position of the FPD specified in the first screen.

16. 16. The FPD navigation method according to claim 15, comprising: The guide screen further includes, in addition to the first screen and the second screen, An FPD navigation method, comprising: a third screen including a third imaging range image representing a range of imaging positions of the FPD recommended as imaging positions from a third imaging direction that is perpendicular to the first imaging direction and opposite to the second imaging direction.

17. 17. The FPD navigation method according to claim 15 or 16, further comprising: The guide screen further includes, in addition to the first screen and the second screen, an FPD navigation method, comprising: a fourth screen including a fourth imaging range image representing a range of imaging positions of the FPD recommended as imaging positions from a fourth imaging direction inclined with respect to the first imaging direction, the fourth imaging direction being on a plane including the extension direction of the target blood vessel and the first imaging direction.

18. The FPD navigation method according to claim 11, comprising: An FPD navigation method, wherein the position information of the target blood vessel includes an extension direction of the target blood vessel.

19. A computer program comprising: an image acquiring step of acquiring a first image and a second image captured by an FPD (flat panel detector), the first image including an image of a target blood vessel captured at a first position, and the second image including an image of the target blood vessel captured at a second position different from the first position; a position information acquiring step of acquiring position information of the target blood vessel from the first image, the second image, position information of the first position, and position information of the second position; a recommended range output step of outputting a recommended FPD imaging position range representing a range of imaging positions of the FPD recommended for acquiring an image of the target blood vessel from the position information of the target blood vessel; A computer program that causes a computer to execute the following:

20. 20. A computer program as claimed in claim 19, comprising: The computer program product causes a display unit to display a guide screen including an image representing the recommended FPD imaging position range in the recommended range output step.

21. 21. A computer program according to claim 20, comprising: In the recommended range output step, when a first imaging position is identified when imaging the target blood vessel at a plurality of imaging positions using the FPD, the computer program displays the guidance screen including a second imaging range image showing a range of imaging positions of the FPD recommended as a second imaging position.

22. 22. A computer program according to claim 21, comprising: In the recommended range output step, a first screen including a first imaging range image representing a range of imaging positions of the FPD recommended as the first imaging position; a second screen including the second imaging range image; and A computer program product that changes the second imaging range image on the second screen in accordance with the first imaging position determined from the first imaging range image on the first screen.

23. 23. A computer program according to claim 22, comprising: On the guidance screen, The first imaging range image of the first screen is represented as a portion where a range of the imaging position of the FPD, which is a direction perpendicular to the extension direction of the target blood vessel, and a movable range of the FPD intersect, A computer program, wherein the second imaging range image of the second screen is represented as a predetermined range including an imaging position of the FPD that is in a second imaging direction perpendicular to a first imaging direction at the imaging position of the FPD specified in the first screen.

24. 24. A computer program according to claim 23, comprising: The guide screen further includes, in addition to the first screen and the second screen, a third screen including a third imaging range image representing a range of imaging positions of the FPD recommended as imaging positions from a third imaging direction that is perpendicular to the first imaging direction and opposite to the second imaging direction;

25. A computer program according to claim 23 or claim 24, comprising: The guide screen further includes, in addition to the first screen and the second screen, a fourth imaging direction on a plane including the extension direction of the target blood vessel and the first imaging direction, the fourth imaging range image representing a range of imaging positions of the FPD recommended as imaging positions from the fourth imaging direction inclined with respect to the first imaging direction.

26. The computer program of claim 19, A computer program, wherein the position information of the target blood vessel includes an extension direction of the target blood vessel.

Images