Photographing support system and photographing support method

Abstract

To provide an imaging support system, an X-ray machine, and an imaging support method that can simplify the work of adjusting the physical relationship between the X-ray machine and a patient.SOLUTION: When at least one of a subject of X-ray imaging by an X-ray machine 1 and a subject support body that supports the subject is a test component, a computation processing unit generates a superimposed image in which a support part virtual image which is a virtual image of the support part when simulated as being driven around a pivot axis according to the physical relationship between the position of the test component imaged by an imaging unit and the position of the support part is superimposed on a test component image which is an image of the test component, and a display unit displays the superimposed image.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a photography support system. Hmm, o and a photography support method. [Background technology]

[0002] Among X-ray imaging devices used for medical diagnosis and the like, X-ray CT imaging devices have been developed that image local areas of patients such as the joints of the limbs, breasts, etc. One such X-ray CT imaging device is disclosed in, for example, Japanese Patent Application Laid-Open No. 2011-025012 (Patent Document 1).

[0003] The X-ray CT imaging device disclosed in Patent Document 1 is a portable X-ray imaging device for imaging a patient's head, in which a rotating arm on which an X-ray source and an X-ray detector are arranged opposite each other is supported by a frame with a horizontal axis as a rotation axis. With the head arranged between the X-ray source and the X-ray detector, the X-ray CT imaging device rotates the rotating arm to rotate the X-ray source and the X-ray detector around the head to perform imaging. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2011-025012 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the X-ray CT imaging device of Patent Document 1, the rotating arm needs to be rotated with the head positioned between the X-ray source and the X-ray detector, so that the positional relationship between the X-ray CT imaging device and the patient needs to be confirmed so that the rotating arm does not collide with the patient. Specifically, in order to confirm that the rotating arm does not collide with the patient, it is necessary to position the X-ray CT imaging device relative to the patient and then actually rotate the rotating arm by hand or rotate the rotating arm in a mode that does not irradiate X-rays. Therefore, the task of adjusting the positional relationship between the X-ray CT imaging device and the patient is complicated and time-consuming for the operator.

[0006] The present disclosure has been made to solve the above problems, and provides an imaging support system that can simplify the task of adjusting the positional relationship between an X-ray imaging device and a patient. Hmm, o The present invention aims to provide a method for supporting photography. [Means for solving the problem]

[0007] The imaging support system according to the present disclosure is an imaging support system for an X-ray imaging device. The X-ray imaging device includes an X-ray generator, an X-ray detector, a support unit that supports the X-ray generator and the X-ray detector so as to face each other, a drive mechanism that drives the support unit at least around a rotation axis, an X-ray imaging main body that supports at least the support unit and includes the drive mechanism, a control unit that controls the X-ray generator, the X-ray detector, and the drive mechanism, a calculation processing unit that performs calculation processing, and a display unit that displays an image. And, An imaging unit for imaging the surface of an object And, When at least one of the subject of X-ray photography by the X-ray photography device and the subject support supporting the subject is taken as the subject structure, the calculation processing unit generates a superimposed image by superimposing a support part virtual image, which is a virtual image showing a trajectory of the support part when the support part rotates around the axis of the rotation shaft, and a subject structure image, which is an image of the subject structure, in accordance with the positional relationship between the position of the subject structure imaged by the imaging unit and the position of the support part, a superimposed image is generated by superimposing an X-ray imaging main body image, which is an image of the X-ray imaging main body, a virtual image of the support, and an image of the subject structure according to the position of the subject structure imaged by the imaging unit, the virtual image of the support is disposed at an attachment location of the support in the X-ray imaging main body image in the superimposed image, and a relative position of the imaging unit with respect to the X-ray imaging main body is calculated based on the image imaged by the imaging unit, thereby computing the position of the virtual image of the support with respect to the X-ray imaging main body; The display unit displays the superimposed image The virtual space is a virtual space that is a virtual space that is a virtual space that can be used by a user. The virtual space is a virtual space that can be used by a user. The virtual space is a virtual space that can be used by a user. The virtual space is a virtual space that can be used by a user. The virtual space is a virtual space that can be used by a user. The virtual space is a virtual space that can be used by a user. The virtual space is a virtual space that can be used by a user. The virtual space is a virtual space that can be used by a user. .

[0009] The imaging support method according to the present disclosure is an imaging support method for supporting imaging with an X-ray imaging device. The X-ray imaging device includes an X-ray generator, an X-ray detector, a support part for supporting the X-ray generator and the X-ray detector so as to face each other, a drive mechanism for driving the support part at least around a rotation axis, an X-ray imaging main body supporting at least the support part and including the drive mechanism, a control part for controlling the X-ray generator, the X-ray detector, and the drive mechanism, a calculation processing part for performing calculation processing, a display part for displaying an image, and an imaging part for imaging the surface of an imaging target. The system further includes a terminal device that can be hand-carried by the surgeon and includes an imaging unit and a display unit, and the terminal device further includes a communication unit for communicating with the X-ray imaging device. When at least one of a subject to be X-rayed by an X-ray imaging device and a subject support supporting the subject is defined as a subject structure, a superimposed image is generated in an arithmetic processing unit by superimposing a support part virtual image, which is a virtual image showing a trajectory of the support part when the support part rotates around the axis of a rotation shaft, and a subject structure image, which is an image of the subject structure, in accordance with a positional relationship between the position of the subject structure imaged by the imaging unit and the position of the support part; a step of generating a superimposed image by superimposing an X-ray imaging main body image, which is an image of the X-ray imaging main body, a virtual image of the support, and an image of the subject structure according to the position of the subject structure imaged by the imaging unit; a step of arranging the virtual image of the support at an attachment location of the support in the X-ray imaging main body image in the superimposed image; and a step of calculating a relative position of the imaging unit with respect to the X-ray imaging main body based on the image imaged by the imaging unit, thereby calculating an arrangement of the virtual image of the support with respect to the X-ray imaging main body. A display unit displays a superimposed image; a step of displaying an operation panel of the X-ray imaging device in the virtual space by the calculation processing unit; and a step of transmitting a command corresponding to the operation by the communication unit to the X-ray imaging device when the operator operates the operation panel; Includes. Effect of the Invention

[0010] In the imaging support system according to the present disclosure, a virtual image of the support part moving around the axis of the rotation shaft can be adjusted based on the calculated relative position with the X-ray imaging device and displayed superimposed on the image captured with the X-ray imaging device, thereby simplifying the work of adjusting the positional relationship between the X-ray imaging device and the patient. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic diagram showing a schematic configuration of a photography support system according to a first embodiment. [Diagram 2] 1 is a block diagram showing a configuration of an X-ray imaging apparatus according to a first embodiment. [Diagram 3] 2 is a schematic diagram showing a hardware configuration of a terminal device according to the first embodiment; FIG. [Figure 4] 2 is a block diagram illustrating a case where a pair of an X-ray imaging device and a terminal device according to the first embodiment constitutes an image processing unit as a whole. FIG. [Diagram 5]4 is a flowchart for explaining a support process of the photographing support system according to the first embodiment. [Figure 6] 3 is a schematic diagram of a virtual image displayed in the photography support system according to the first embodiment. [Figure 7] 11 is a flowchart for explaining a support process of the photographing support system according to the second embodiment. [Figure 8] 11 is a schematic diagram for explaining a collision with a rotating arm in the photography support system according to the second embodiment. FIG. [Figure 9] 13 is a schematic diagram of a virtual image displayed when a rotary arm collides in the photography support system according to the second embodiment. FIG. [Figure 10] 13 is a schematic diagram of a virtual image on which a correction instruction for avoiding a collision of a rotating arm is displayed in the photography support system according to the second embodiment. FIG. [Figure 11] FIG. 13 is a schematic diagram showing a schematic configuration of a photographing support system according to a modified example of the second embodiment. [Figure 12] FIG. 13 is a diagram for explaining a method for identifying the positions of a patient and an examination couch. [Figure 13] FIG. 13 is a diagram for explaining a method for positioning a patient on an examination table. [Figure 14] FIG. 11 is a schematic diagram showing a schematic configuration of an X-ray imaging apparatus according to embodiment 3. [Figure 15] FIG. 11 is a block diagram showing a configuration of an X-ray imaging apparatus according to a third embodiment. [Figure 16] 13A and 13B are schematic diagrams illustrating modified examples of a displayed virtual image. [Figure 17] FIG. 13 is a schematic diagram illustrating a modified example of the terminal device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. (Embodiment 1) When a patient (subject) is imaged using a portable X-ray imaging device, it is necessary to check the positional relationship between the X-ray imaging device and the patient so that the rotating arm does not collide with the patient. In the present application, a collision is an example of contact. In the imaging support system according to this embodiment, a superimposed image can be displayed in which a virtual image of the rotating arm that drives around the axis of the rotation axis is superimposed on the position of the support part of the image of the captured X-ray imaging device, so that the work of adjusting the positional relationship between the X-ray imaging device and the patient can be simplified. First, the configuration of the imaging support system according to this embodiment will be described below. [Shooting support system configuration] 1 is a schematic diagram showing a schematic configuration of an imaging support system 100 according to the first embodiment. The imaging support system 100 includes an X-ray imaging apparatus 1 and a terminal device 200. The terminal device 200 may be configured to be capable of communicating with an external device so as to collect information related to the X-ray imaging apparatus 1 (e.g., a virtual image of a rotating arm, etc.). The external device may be, for example, a PC, a database, or a device that controls the X-ray imaging apparatus 1.

[0013] Terminal device 200 includes operation keys 216, display 218 as a display unit, and a camera (see FIG. 3) as an imaging unit. Note that, in terminal device 200 shown in FIG. 1, a camera is not provided on the housing surface on the display 218 side, but is provided on the housing surface on the opposite side of display 218, but this is not limiting. For example, a camera may not be provided on the housing itself of terminal device 200, but may be connected via a cable or the like. Camera 217 captures an image of the surface of an object to be imaged. The image may be captured using visible light or invisible light such as infrared light.

[0014] The terminal device 200 can display the operating state of the X-ray imaging device 1 by superimposing a virtual image of the swivel arm 30 at the position of the swivel arm 30 on the image of the X-ray imaging device 1 captured by a camera. The terminal device 200 shown in Fig. 1 is a tablet PC, but is not limited to this. The terminal device 200 may be a smartphone, a head mounted display, smart glasses, or the like, as long as it is a device that can display the operating state of the X-ray imaging device 1 as AR (Augmented Reality) or VR (Virtual Reality).

[0015] An image obtained by capturing an image of the surface of an object actually existing in real space is regarded as a real image, and an image of the shape of an object that does not exist in real space but is virtually generated by image processing so as to be displayed as if it exists is regarded as a virtual image. [X-ray equipment configuration] On the other hand, the X-ray imaging device 1 is, for example, a portable X-ray CT (Computerized Tomography) imaging device. Note that the X-ray imaging device 1 is not limited to an X-ray CT imaging device as long as it is portable. As a specific configuration example of a portable type, a roller 72 that rolls on the ground surface, such as a wheel, is provided at the base bottom of the X-ray imaging unit 7, and the X-ray imaging unit 7 is configured to move on the ground surface via the roller 72 and move toward the subject structure MR.

[0016] FIG. 2 is a block diagram showing the configuration of the X-ray imaging device 1 according to the first embodiment. As shown in FIG. 2, the X-ray imaging device 1 includes an X-ray imaging unit 7 that executes X-ray CT imaging and collects projection data, and an image processing unit 8 that processes the projection data collected by the X-ray imaging unit 7 to generate X-ray CT image data and the like. In FIG. 1, the X-ray imaging device 1 is configured such that the X-ray imaging unit 7 and the image processing unit 8 are integrated and housed in one housing 50, but the X-ray imaging unit 7 and the image processing unit 8 may be housed in separate housings and connected by a connection cable. They may be assembled as an integrated unit or separated from the integrated unit to become separate units. The X-ray imaging unit 7 may be referred to as an X-ray imaging main body. The X-ray imaging unit 7 may be referred to as an X-ray irradiation and receiving device that receives and transmits irradiated X-rays. They may simply be referred to as an X-ray irradiation device.

[0017] The X-ray imaging unit 7 is composed of an X-ray generator 10 that emits an X-ray cone beam Bx or an X-ray slit beam composed of a bundle of X-rays toward a patient (subject) M1, an X-ray detector 20 having an X-ray detection surface that detects the X-rays emitted by the X-ray generator 10, a rotating arm 30 as a specific example of a support unit 30SP that supports the X-ray generator 10 and the X-ray detector 20, a housing 50 that extends vertically to the floor surface, a rotating arm drive unit 40 (drive mechanism) that drives the rotating arm 30 that is attached so that the rotating axis 31 is horizontal to the floor surface, and a control unit 60. The support unit 30SP supports the X-ray generator 10 and the X-ray detector 20. The rotating arm 30 is an example of the support unit 30SP. The support unit 30SP may be ring-shaped. In this configuration, the X-ray imaging unit 7 is configured to support the support unit 30SP (swivel arm 30).

[0018] The X-ray generator 10 and the X-ray detector 20 are fixed to both ends of a rotating arm 30 and supported to face each other. The rotating arm 30 is fixed to a rotating arm driver 40 provided on one surface of a housing 50 via a horizontally extending rotating shaft 31. The rotating arm 30 may be configured to be suspended from the housing via the vertically extending rotating shaft 31.

[0019] The rotating arm 30 is generally inverted U-shaped when viewed from the front, and rotates around a rotating shaft 31 that is horizontal to the floor surface. The rotating arm 30 is composed of a rotating unit 30R that rotates around the axis of the rotating shaft 31, an X-ray generating unit 30G equipped with an X-ray generator 10 provided at one end of the rotating unit 30R, and an X-ray detecting unit 30D equipped with an X-ray detector 20 provided at the other end of the rotating unit 30R.

[0020] The subject M1 of an X-ray examination, for example a patient, may be wearing drapes or tubes during surgery. Since the purpose of this case is to make it easier to check whether there is any contact, including such items, it can be considered that such items are also included in the subject M1. In the following explanation, the patient (subject) as subject M1 may be referred to as "patient M1."

[0021] In the illustrated example, the subject M1 lies on the examination table S, so that at least the test area of ​​the subject M1 is stabilized in real space. An element that supports the subject M1 so as to stabilize the subject M1, like the examination table S, is a subject support MS. The examination table S may be provided with rolling elements 72 such as wheels as illustrated, making it portable. At least one of the subject support MS and the subject M1 supported by the subject support MS may be referred to as a subject member MR.

[0022] The support part 30SP that is driven to rotate and its internal space may be within the rotation range. The subject MR arranged within the rotation range of the support part 30SP may be called the subject within the rotation range (subject SB within the rotation range). This subject SB within the rotation range may be considered to refer to an object to be checked for the occurrence of contact. The present configuration makes it easy to check the occurrence of contact within the rotation range. Some X-ray imaging devices 1 have the subject support MS connected to the X-ray imaging unit 7, and are arranged so that contact between the rotating arm 30 and the subject support MS does not occur from the beginning. In this case, only the subject M1 may be considered to be the subject SB within the rotation range. In cases where the X-ray imaging unit 7 and the subject support MS are configured separately, or where the subject support MS is connected to the X-ray imaging unit 7 but has a structure with a high degree of freedom of relative movement of the subject support MS with respect to the X-ray imaging unit 7, and contact between the rotating arm 30 and the subject support MS may occur, the subject support MS may also be a subject SB within the rotation range.

[0023] A part of the support part 30SP to be observed for contact with the subject SB within the rotation range may be set as a rotation observation target. Such a part to be observed for rotation may be called a rotor RT. For example, the entire rotating arm 30 may be the rotor RT, or only the X-ray generating unit 30G and the X-ray detecting unit 30D may be the rotor RT, or only the X-ray generating unit 30G and the X-ray detecting unit 30D that are closer to the subject SB within the rotation range during X-ray CT imaging may be the rotor RT. However, in a context where the issue is to determine whether or not there is contact with a subject within the rotation range, even if the term "rotating arm 30" is used, it may be considered that the whole or part of the rotating arm 30 is the "rotating arm 30". The rotor RT that is driven to rotate and its internal space may be within the rotation range.

[0024] A pivot movement mechanism (not shown) is provided inside the rotating arm drive unit 40. This pivot movement mechanism is connected to one end of the pivot 31. The other end of the pivot 31 is connected to a rotation drive mechanism (not shown) provided on the rotating arm 30. The rotation drive mechanism includes the pivot 31 and a belt (not shown) wound around a motor (not shown), and the rotating arm 30 rotates around the pivot 31 when driven by the motor of the rotation drive mechanism. The pivot 31 is connected to the rotating arm 30 via a bearing (not shown), and when the rotating arm 30 rotates, only the rotating arm 30 rotates without rotating the pivot 31.

[0025] A bearing may be interposed at the end of the pivot shaft 31 on the pivot shaft moving mechanism side to fix the pivot arm 30 so that it does not rotate relative to the pivot shaft 31, so that the pivot shaft 31 and the pivot arm 30 rotate together relative to the pivot shaft moving mechanism.

[0026] The mechanism for driving the rotating arm 30, such as the rotating shaft moving mechanism and the rotating drive mechanism, is a drive mechanism for driving the support part. The rotating arm drive part 40 is an example of a drive mechanism for driving the support part. At least the rotating drive mechanism is required for X-ray CT imaging.

[0027] The pivot movement mechanism is composed of, for example, a bolt, a motor, a guide mechanism, etc. By driving the pivot movement mechanism, the pivot 31 moves within one surface of the housing 50 in which the pivot arm drive unit 40 is provided, and the pivot arm 30 can be moved to any position within a predetermined range.

[0028] The X-ray imaging unit 7 having such a configuration rotates the rotary arm 30 about the rotary axis 31 while irradiating the imaging area CA of the patient M1 with the X-ray cone beam Bx, and collects X-ray projection data for the imaging area CA. The collected X-ray projection data is then transmitted to the image processing unit 8. The rotary axis moving mechanism and the rotary drive mechanism constitute a rotary arm drive unit 40.

[0029] In the X-ray imaging unit 7, the swivel arm drive unit 40 is connected to the control unit 60 as shown in FIG. 2, and by driving it according to a predetermined program, the swivel arm 30 can be rotated and moved up, down, left, and right within one surface of the housing 50.

[0030] The control unit 60 can control the operation of each component of the X-ray imaging unit 7, and is disposed, for example, inside the housing 50. In detail, as shown in Fig. 2, the control unit 60 is connected to the X-ray generator 10, the X-ray detector 20, the rotary arm driving unit 40, the display unit 61, the operation unit 62, the communication interface 63, the storage unit 64, and the notification unit 90, and communicates with and controls each component.

[0031] In this embodiment, the display unit 61 is configured with a touch panel or the like, and thus has some of the functions of the operation unit 62. That is, the display unit 61 also functions as the operation unit 62. Furthermore, a switch unit 65 is connected to the operation unit 62. For example, by pressing the switch unit 65 before CT imaging, the rotating arm 30 can be moved to an imaging start position.

[0032] The communication interface 63 is connected to the connection cable 83 and is an interface for communicating with the image processing unit 8. The storage unit 64 stores a control program for controlling each component by the control unit 60, X-ray projection data, etc. The notification unit 90 can execute a notification operation such as emitting a predetermined buzzer sound.

[0033] The image processing unit 8 is made up of a display unit 81 consisting of a display device such as a liquid crystal monitor, an operation unit 82 consisting of a keyboard, a mouse, etc., a calculation unit 84, a storage unit 85 that stores programs to be executed by the calculation unit 84, etc., and a communication interface 86. The calculation unit 84 may have a CPU as its main component, and may include secondary components such as a ROM and a RAM.

[0034] The display unit 81, the operation unit 82, the storage unit 85, and the communication interface 86 are connected to a calculation unit 84, and are controlled by the calculation unit 84 executing a control program stored in the storage unit 85. The calculation unit 84 also executes an image processing program stored in the storage unit 85 to perform calculation processing such as back projection on the X-ray projection data, thereby generating three-dimensional CT image data (volume data) that expresses the three-dimensional region of the imaging area CA. In other words, the calculation unit 84 is an arithmetic processing unit and an arithmetic processing device that has a function of reconstructing the X-ray projection data.

[0035] The three-dimensional CT image data generated by the calculation unit 84 is stored in the storage unit 85. In the image processing unit 8, an operator (surgeon) can input various commands to the image processing unit 8 via the operation unit 82. The display unit 81 can be configured as a touch panel, in which case the display unit 81 has part or all of the functions of the operation unit 82 and also functions as the operation unit 82. Images of various buttons, etc. may be displayed on the display unit 81 so that they can be turned on by operating a pointer with a mouse, etc. In this case, the display unit 81 also functions as the operation unit 82. The three-dimensional CT image data generated by the calculation unit 84 is displayed on the display unit 81. The display unit 81 is also an output interface that outputs data reconstructed by the calculation unit 84.

[0036] The image processing unit 8 is composed of, for example, a computer or a workstation, and does not have to be housed in the same housing 50 but may be housed in separate housings as long as the image processing unit 8 can transmit and receive various data to and from the X-ray imaging unit 7 by connecting the communication interface 86 and the communication interface 63 with a connection cable 83, which is a communication cable. However, communication between the image processing unit 8 and the X-ray imaging unit 7 may be wireless rather than wired. [Terminal device configuration] Next, the hardware configuration of the terminal device 200 will be specifically described. FIG. 3 is a schematic diagram showing the hardware configuration of the terminal device 200 in the first embodiment. The terminal device 200 shown in FIG. 3 includes a CPU (Central Processing Unit) 211 that performs various calculations, a ROM (Read Only Memory) 212, a RAM (Random Access Memory) 213, a flash memory 214 that stores various programs in a non-volatile manner, a communication interface 215, an operation key 216, a camera 217, and a display 218. The communication interface 215 is an example of a communication unit. These parts are connected to each other via an internal bus. In order for the terminal device 200 to communicate with an external device, the communication needs to be performed via the communication interface 215.

[0037] The display 218 may be configured as a display only, or may have a touch panel installed to cover the display 218. The communication interface 215 includes, for example, an IF (Interface) for Ethernet (registered trademark), a serial IF, and an IF for USB (Universal Serial Bus).

[0038] The CPU 211 is a main component of the arithmetic processing unit, and deploys programs stored in the flash memory 214 into the RAM 213 or the like and executes them. The stored programs include a program for executing imaging support, which will be described later. The ROM 212 generally stores programs such as an operating system (OS). The RAM 213 is a volatile memory and is used as a work memory. It may be considered that the CPU 211 is the main component, and the ROM 212 and RAM 213 are secondary components constituting the arithmetic unit 211X. The arithmetic operations performed by the CPU 211 may be considered as arithmetic operations performed by the arithmetic unit 211X.

[0039] Fig. 4 is a block diagram of the pair of the X-ray imaging device 1 and the terminal device 200 according to the first embodiment forming an image processing unit as a whole. As shown in Fig. 4, the pair of at least the image processing unit 8 and the terminal device 200 may be considered to form an image processing unit 8X as a whole. The image processing unit 8X may be considered to be an image processing device. When the X-ray imaging unit 7 also has elements having an image processing function, these elements may also be considered to form the image processing unit 8X.

[0040] It may be considered that the calculation unit 84 and calculation unit 211X constitute calculation unit 84X as a calculation processing unit, the memory unit 85 and flash memory 214 as a memory unit constitute memory unit 85X, the display unit 81 and display 218 as a display unit constitute display unit 81X, and the operation unit 82 and operation keys 216 as an operation unit constitute operation unit 82X.

[0041] The part of the calculation unit 84X that performs image processing may be regarded as an image processing calculation unit. The terminal device 200 may be regarded as a portable image processing unit or portable image processing device that can be carried by an operator by hand as a single terminal device. It is preferable that the terminal device 200 is of a size and weight that can be carried by an operator of average build. The image processing unit 8 may be regarded as an image processing base unit that is the image processing unit 8X excluding the portable image processing unit (terminal device 200). [Imaging support method] When a patient M1 is imaged using a portable X-ray imaging device 1, the X-ray imaging device 1 is moved close to the patient M1 lying on the examination table S, and the positional relationship between the X-ray imaging device 1 and the patient M1 is adjusted so that the rotating arm 30 does not collide with the patient M1. In the imaging support system 100, for this adjustment, the X-ray imaging device 1 and the patient M1 are imaged by the terminal device 200, and a virtual image of the rotating rotating arm 30 can be confirmed on the display 218 of the terminal device 200. Specifically, the imaging support method will be described using a flowchart. FIG. 5 is a flowchart for explaining the support process of the imaging support system according to the first embodiment.

[0042] Here, the calculation unit 84X calculates the relative position of the camera 217 with respect to the X-ray imaging unit 7 based on an image captured by the camera 217, thereby calculating the arrangement of the support part virtual image VSP with respect to the X-ray imaging unit 7. The relative position may be determined based on a part of the X-ray imaging unit 7 included in the captured image. The support part virtual image VSP is a virtual image obtained by imaging the support part 30SP.

[0043] First, the CPU 211 of the terminal device 200 judges whether or not an image of the X-ray imaging device 1 and the patient M1 has been acquired by the camera 217 (step S101). If the image has not been acquired (NO in step S101), the CPU 211 returns the process to step S101 and waits for the image sent from the camera 217.

[0044] When the captured image has been acquired (YES in step S101), the CPU 211 calculates the relative position between the camera 217 and the X-ray imaging device 1, specifically the X-ray imaging unit 7, based on the image captured by the camera 217 (step S102). Specifically, when the operator selects an imaging support menu using the operation key 216 (see FIG. 1) or the like, the CPU 211 starts the camera 217 to start imaging processing. Images of the X-ray imaging device 1 and the patient M1 are sent from the camera 217 to the CPU 211. A marker ma is attached to the X-ray imaging unit 7 shown in FIG. 1 in advance. Therefore, the image of the X-ray imaging unit 7 and the patient M1 also includes the marker ma. Note that in the present disclosure, the image captured by the camera 217 may be a still image or a moving image. In the following, for convenience of explanation, the image captured by the camera 217 will be described as a moving image.

[0045] The marker ma is, for example, a two-dimensional code, and is a memory tag (first memory tag) that stores information about the X-ray imaging unit 7. Of course, the marker ma is not limited to a two-dimensional code, and may be a pattern such as letters, numbers, symbols, or other designs. The information about the X-ray imaging unit 7 may include information about the structure of the X-ray imaging unit 7. Furthermore, the CPU 211 can calculate the positional relationship between the camera 217 and the marker ma in the real space from the four vertices of the marker ma, and can calculate the relative position with the X-ray imaging unit 7 based on this calculation result. Furthermore, the CPU 211 can set the position and attitude of the camera 217 in the virtual space from the positional relationship between the camera 217 and the marker ma, and can superimpose a virtual image of the rotating arm 30 and the like in the virtual space described later so that the position matches with the X-ray imaging unit 7 in the real space by using the information about the X-ray imaging unit 7 as well. Strictly speaking, the virtual image of the support unit 30SP is virtually placed at the support unit attachment location of the X-ray imaging unit image I7.

[0046] In this way, the calculation unit 211X calculates the relative position of the camera 217 with respect to the X-ray imaging unit 7 based on the image captured by the camera 217, thereby calculating the arrangement of the virtual image of the support part 30SP with respect to the X-ray imaging unit 7.

[0047] In the following description, a marker ma is attached to the X-ray imaging device 1 shown in Fig. 1, but this is not limiting. Even if the marker ma is not attached to the X-ray imaging device 1, the CPU 211 can calculate the relative position with respect to the X-ray imaging device 1 based on a part of the X-ray imaging device included in the captured image (for example, the shape of the swivel arm 30, etc.).

[0048] Returning to FIG. 5, the CPU 211 creates a virtual image in which the rotating arm 30 is driven (step S103). Specifically, the CPU 211 may create a virtual image from the information stored in the marker ma, or may read a pre-stored virtual image from the flash memory 214 based on the information stored in the marker ma. The CPU 211 may also identify a model corresponding to the X-ray imaging device 1 from the information stored in the marker ma, and read a virtual image of the identified model from an external server via the communication interface 215. Note that if the marker ma is not affixed to the X-ray imaging device 1, the CPU 211 reads a pre-stored virtual image from the flash memory 214.

[0049] In this way, the calculation unit 84X places the support virtual image VSP at the support attachment location of the X-ray imaging unit image I7 based on the information of the X-ray imaging unit 7 read from the first storage tag.

[0050] When the model of the X-ray imaging device 1 is specified, the structure such as the arrangement of the swivel arm 30 of the X-ray imaging unit 7 can be specified depending on the specified model.

[0051] If there are images of the X-ray imaging device 1 captured using visible light from multiple directions or images captured by a three-dimensional camera such as a depth camera, a virtual image of the support part may be generated using a learning model that has been trained (by machine learning) to extract and identify parts of the support part (rotor RT) such as the swivel arm 30.

[0052] Based on the relative position with respect to the X-ray imaging device 1 calculated in step S102, the CPU 211 adjusts the position, size, etc. of the virtual image so that the virtual image can be superimposed on the captured image of the X-ray imaging device 1 (step S104). The CPU 211 superimposes the virtual image adjusted in step S104 on the captured image of the X-ray imaging device 1 and displays it on the display 218 (step S105). On the display 218 of the terminal device 200 shown in FIG. 1, a virtual image t in which the rotating arm 30 is driven as the rotor RT is superimposed on the captured image of the X-ray imaging device 1. If the captured image of the X-ray imaging device 1 is a moving image, a virtual moving image in which the rotating arm 30 rotates around the rotating shaft 31 is superimposed on the X-ray imaging device 1. If the captured image of the X-ray imaging device 1 is a still image, a virtual still image showing the trajectory of the rotating arm 30 when it rotates around the rotating shaft 31 is superimposed on the X-ray imaging device 1. The display of still images is not limited to the display of the trajectory of the swivel arm 30. For example, when contact occurs with the subject structure MR, a virtual image t (support part virtual image VSP) of the swivel arm 30 in a contact state may be generated as a still image in which the swivel arm 30 appears to have stopped moving in a contact state, and displayed superimposed.

[0053] As described above, the support part virtual image VSP that displays a moving image of the support part 30SP may be called a dynamic display type virtual image, the support part virtual image VSP that displays the trajectory of the support part 30SP may be called a trajectory display type virtual image, and the support part virtual image VSP that displays a still image in which the movement of the support part 30SP is stopped may be called a static display type virtual image. The trajectory display type virtual image may be a shape image of the area occupied by the support part 30SP throughout the X-ray imaging as shown in Fig. 6 described later.

[0054] The CPU 211 sets the position and orientation of the camera 217 in the virtual space based on the positional relationship between the camera 217 and the marker ma, so that the position and size of the virtual image of the rotating arm 30 can be adjusted according to the position and size of the X-ray imaging device 1 in the real space. Therefore, even if the orientation of the terminal device 200 is changed to capture an image of the X-ray imaging device 1, the virtual image of the rotating arm 30 is displayed on the display 218 in accordance with the orientation of the X-ray imaging device 1. As a result, in the imaging support system 100, the positional relationship between the X-ray imaging device 1 and the patient M1 can be confirmed so that the rotating arm 30 does not collide with the patient M1 by capturing images of the X-ray imaging device 1 from various angles using the camera 217 of the terminal device 200. Of course, the positional relationship between the X-ray imaging device 1 and the patient M1 can be confirmed so that the rotating arm 30 does not collide with the examination table S, peripheral devices, walls, etc. other than the patient M1.

[0055] 6 is a schematic diagram of a virtual image t displayed in the radiography support system 100 according to the first embodiment. As shown in FIG. 6(a), it is possible to confirm on the display 218 of the terminal device 200 that the virtual image t of the rotating swivel arm 30 does not collide with the patient M1. Therefore, it is no longer necessary to actually rotate the swivel arm 30 by hand or in a mode that does not irradiate X-rays in order to confirm the positional relationship between the X-ray radiography device 1 and the patient M1, and the task of adjusting the positional relationship between the X-ray radiography device 1 and the patient M1 can be greatly simplified.

[0056] The image of the subject structure MR may be referred to as the subject structure image IMR. Of the subject structure images IMR, the real image of the subject structure MR may be referred to as the subject structure real image RMR, and the virtual image may be referred to as the subject structure virtual image VMR. An image of a patient or an image of a treatment table are examples of the subject structure images IMR.

[0057] Among the images of the subject structure MR, an image of a subject M1 such as a patient may be called a subject image IM1. Among the subject images IM1, a real image of the subject M1 may be called a subject real image RM1, and a virtual image may be called a subject virtual image VM1.

[0058] The subject virtual image VM1 can be generated from physique information of the subject M1. For example, the subject virtual image VM1 may be generated by detecting the size and shape from an image of the subject M1 captured by the camera 217, or may be generated from information obtained by measuring the body of each subject M1 with a size measuring tool or the like, or a subject virtual image VM1 of standard size and shape may be selectable from multiple ones. The standard size may be selected from multiple ones prepared according to physique class, and the one suitable for the patient may be selected.

[0059] Among the images of the subject structure MR, an image of a subject support MS, such as a treatment table, may be called a subject support image IMS. Among the images of the subject support IMS, a real image of the subject support MS may be called a real subject support image RMS, and a virtual image may be called a virtual subject support image VMS.

[0060] The subject image IM1 and the subject support image IMS belong to the subject structure image IMR. The subject real image RM1 and the subject support real image belong to the subject structure real image RMR. The subject virtual image VM1 and the subject support virtual image VMS belong to the subject structure virtual image VMR.

[0061] An image of the support part 30SP such as the swivel arm 30 may be called a support part image ISP. Of the images of the support part image ISP, the actual image of the support part 30SP may be called a support part actual image RSP, and the virtual image may be called a support part virtual image VSP. Of the support part virtual images VSP, an image of the support part 30SP when it is assumed that the support part 30SP is driven around the axis of the rotation shaft may be called a support part drive virtual image VDSP.

[0062] The image of the X-ray imaging device 1 or the X-ray imaging unit 7 may be called the X-ray imaging unit image I7. The X-ray imaging unit image I7 may be expressed as the X-ray imaging main body image I7, and among the images of the X-ray imaging unit image I7, the real image of the X-ray imaging device 1 or the X-ray imaging unit 7 may be called the X-ray imaging main body real image R7, and the virtual image may be called the X-ray imaging main body virtual image V7. Each real image and virtual image can be generated by the calculation unit 84X.

[0063] The calculation unit 84X can generate a superimposed image by superimposing a support part virtual image VSP, which is a virtual image of the support part 30SP when it is assumed to be moved around the axis of the rotation axis 31 in accordance with the positional relationship between the position of the test structure MR imaged by the camera 217 and the position of the support part 30SP, and a test structure image IMR, which is an image of the test structure MR.

[0064] In the example shown in FIG. 6(a), the camera 217 captures an image of the subject M1, and it is possible to confirm whether or not there is contact between the virtual image t (support part virtual image VSP) of the rotating arm 30 and the subject M1. The presence or absence of contact can be determined from the positional relationship between the position of the subject M1 and the position of the rotating arm 30. For example, the camera 217 may directly capture an image of the rotating arm 30 to identify the position of the rotating arm 30, or the camera 217 may capture an image of the base of the X-ray imaging unit 7 to detect the position of the base of the X-ray imaging unit 7, thereby identifying the position of the rotating arm 30, which is a part of the structure. If the positional relationship between the base of the X-ray imaging unit 7 and the camera 217 is determined in advance, the position of the rotating arm 30 relative to the camera 217 is also determined, so that the positional relationship between the position of the subject M1 and the position of the rotating arm 30 may be identified as long as the position of the subject M1 can be identified.

[0065] In FIG. 6(a), a superimposed image ISI is generated by superimposing an image of the subject M1, which is a subject image IM1, and a virtual image t, which is a support part virtual image VSP, and is displayed on the display unit 81X.

[0066] The virtual image t may be displayed in a shape that matches the rotation range of the rotating arm 30 for the planned X-ray CT imaging. For example, in the case of X-ray CT imaging with 360° rotation, the virtual image t is displayed as a cylinder with an O-shaped cross section as shown in Fig. 6(a), and in the case of X-ray CT imaging with 180° rotation, the virtual image t is displayed as a cylinder with a C-shaped cutout in cross section as shown in Fig. 6(b).

[0067] The virtual image t may be displayed as a semi-transparent image. The virtual image t may be displayed in the color of the actual rotating arm 30, or in a different color. The color display of the rotating arm or the different color display may be a non-transparent color display or a semi-transparent color display.

[0068] When contact occurs between the support part and the subject structure, the device may be configured to assist in leading the support part to a non-contact state. For example, when it is determined that contact occurs between the support part 30SP and the subject structure MR based on the positional relationship between the support part 30SP and the subject structure MR, a target position to which one or both of the support part 30SP and the subject structure MR are moved to realize the non-contact state may be displayed. To calculate the target position, for example, the current contact position and contact amount may be calculated, and at least one of the movement direction and movement amount for achieving the non-contact state may be calculated.

[0069] Examples of the method of displaying the target position include a configuration in which a virtual image of one or both of the support part 30SP and the test structure MR in a non-contact state is further superimposed on the virtual image of one or both of the support part 30SP and the test structure MR displayed in a contact state, a configuration in which an indicator of the movement target position is further superimposed on the virtual image of one or both of the support part 30SP and the test structure MR displayed in a contact state, a configuration in which a light source for a visible light beam is provided at any position of the X-ray imaging device 1, and the target position in the non-contact state is shown by irradiating a visible light beam, a configuration in which the movement direction and the numerical value of the movement amount are displayed, etc. This is similar to the other embodiments.

[0070] As described above, the imaging support system 100 according to the first embodiment is an imaging support system for the X-ray imaging device 1, which includes the portable X-ray imaging device 1 and the terminal device 200 that displays the driving state of the X-ray imaging device 1. The X-ray imaging device 1 includes an X-ray generator 10, an X-ray detector 20, a rotating arm 30 that supports the X-ray generator 10 and the X-ray detector 20 so as to face each other, a rotating arm driver 40 that drives the rotating arm 30 at least around a rotating shaft 31, and a control unit 60 that controls the X-ray generator 10, the X-ray detector 20, and the rotating arm driver 40. The terminal device 200 includes a camera 217 that captures an image of the X-ray imaging device 1, a CPU 211 that calculates the relative position with respect to the X-ray imaging device based on the image captured by the camera 217, and a display 218 that adjusts a virtual image t of the rotating arm 30 moving around the axis of the rotation axis based on the relative position with respect to the X-ray imaging device 1 calculated by the CPU 211 and displays the image superimposed on the image of the X-ray imaging device 1 captured by the camera 217.

[0071] As a result, the shooting support system 100 of embodiment 1 can adjust the virtual image t of the rotating arm 30 moving around the axis of the rotating shaft 31 based on the calculated relative position with the X-ray imaging device 1 and display it superimposed on the image captured with the X-ray imaging device 1, thereby simplifying the work of adjusting the positional relationship between the X-ray imaging device 1 and the patient M1. (Embodiment 2) In the imaging support system 100 according to the first embodiment, the virtual image t of the rotating arm 30 is displayed superimposed on the image captured by the X-ray imaging device 1. In the imaging support system according to the second embodiment, the shape of the patient M1 is further incorporated into the same virtual space as the virtual image t of the rotating arm 30, making it possible to determine whether or not there is a collision between the rotating arm 30 and the patient M1 in the virtual space. Since the imaging support system according to the second embodiment has the same configuration as the imaging support system 100 shown in Figs. 1 to 3 described in the first embodiment, the same reference numerals will be used in the description, and detailed configuration will not be repeated.

[0072] 7 is a flowchart for explaining the support process of the imaging support system 100 according to the embodiment 2. First, the CPU 211 of the terminal device 200 judges whether or not an image of the X-ray imaging device 1 and the patient M1 captured by the camera 217 has been acquired (step S101). If the captured image has not been acquired (NO in step S101), the CPU 211 returns the process to step S101 and waits for the captured image to be sent from the camera 217.

[0073] If a captured image has been acquired (YES in step S101), the CPU 211 judges whether or not information on the patient M1 has been acquired (step S101a). The camera 217 according to the second embodiment has a function of a three-dimensional camera such as a depth camera. Therefore, the CPU 211 can acquire the position and shape of the patient M1 contained in the captured image as information (three-dimensional information) of the patient M1. If the position and shape of the patient M1 can be acquired as three-dimensional information, a virtual image of the patient M1 can be created in a virtual space.

[0074] For example, if information about patient M1 cannot be obtained because patient M1 is out of the frame of camera 217 or the captured image is blurred (NO in step S101a), CPU 211 returns the process to step S101 and waits for a new image captured by camera 217 to be sent.

[0075] If the information of patient M1 has been acquired (YES in step S101a), CPU 211 calculates the relative position with respect to X-ray imaging device 1 based on the image captured by camera 217 (step S102). Next, CPU 211 creates a virtual image in which rotating arm 30 is moving (step S103). Furthermore, based on the relative position with respect to X-ray imaging device 1 calculated in step S102, CPU 211 adjusts the position, size, etc. of the virtual image so that the virtual image can be superimposed on the captured image of X-ray imaging device 1 (step S104).

[0076] The CPU 211 adjusts the position, size, etc., of not only the virtual image of the rotating arm 30 but also the virtual image of the patient M1 in the same virtual space in accordance with the positional relationship between the X-ray imaging device 1 and the patient M1 in the real space. Therefore, the CPU 211 can simulate whether or not the rotating arm 30 and the patient M1 in the same virtual space collide when the rotating arm 30 is rotated. Specifically, the CPU 211 determines whether or not there is a collision between the patient M1 and the rotating arm 30 depending on whether or not there is a space where the patient M1 and the rotating arm 30 overlap when the rotating arm 30 is rotated (step S104a).

[0077] FIG. 8 is a schematic diagram of a simulation for explaining a collision with the rotating arm 30 in the photographing support system 100 according to the second embodiment.

[0078] 8, a superimposed image ISI is generated by superimposing an X-ray imaging unit image I7, a virtual image t which is a support virtual image VSP, and a subject structure image IMR. In the superimposed image ISI, the support virtual image VSP is disposed at a support attachment location of the X-ray imaging unit image I7. The superimposed image ISI is displayed on the display unit 81X.

[0079] In Fig. 8(a), there is a space C1 where the left shoulder of the virtual image of patient M1, which is the subject virtual image VM1, overlaps with the virtual image t of the rotating arm 30, and it can be seen that the patient M1 will collide with the rotating arm 30 when X-ray imaging is performed. When the space C1 exists as in Fig. 8(a), the CPU 211 can determine that there will be a collision between the patient M1 and the rotating arm 30. Note that the subject virtual image VM1 may be expressed as the patient M1 in the virtual image.

[0080] The camera 217 can capture not only the patient M1 but also the examination table S, so that a virtual image of the examination table S can be created in the virtual space. Furthermore, by incorporating the shape of the examination table S into the virtual space, it is possible to determine whether or not there is a collision between the rotating arm 30 and the examination table S in the virtual space. In FIG. 8(b), when the rotating arm 30 is rotated, there is a space C2 where the end of the virtual image of the examination table S, which is the subject support virtual image VMS, overlaps with the rotating arm 30, so it can be seen that the examination table S and the rotating arm 30 will collide when X-ray photography is performed. When the space C2 exists as in FIG. 8(b), the CPU 211 can determine that there is a collision between the examination table S and the rotating arm 30. The subject support virtual image VMS may be expressed as the subject support MS in the virtual image.

[0081] The calculation unit 84X can calculate the contact condition between the support part 30SP and the subject structure MR when the support part 30SP is driven for X-ray imaging, and can perform a notification process to notify the surgeon of the contact if contact occurs.

[0082] If there is no collision between the patient M1 and the rotating arm 30 (NO in step S104a), the CPU 211 displays a virtual image of the rotating arm 30 (support part virtual image VSP) superimposed on the captured image of the X-ray imaging device 1 or the image of the X-ray imaging unit 7 (either of them is the X-ray imaging unit image I7) (step S105). The X-ray imaging unit image I7 may be the X-ray imaging main body actual image R7, but if external shape data is available, it may be generated as an X-ray imaging main body virtual image V7.

[0083] Since there is no overlap between the virtual image of the patient M1 (subject virtual image VM1) and the virtual image t of the rotating arm 30 (support part virtual image VSP), i.e., there is no collision between the patient M1 and the rotating arm 30, the CPU 211 displays the virtual image t of the rotating rotating arm 30 shown in Figure 6 in, for example, green (normal display or no problem display), and superimposes the green virtual image and the captured images of the patient M1 and X-ray imaging device 1 on the display 218.

[0084] On the other hand, if there is a collision between the patient M1 and the rotating arm 30 (YES in step S104a), the CPU 211 performs a notification process. As an example of the notification process, a virtual image of the rotating arm 30 is superimposed on the image of the captured X-ray imaging device 1 to display a warning (step S106). The notification may be performed by sound or vibration. FIG. 9 shows that, in the imaging support system 100 according to the second embodiment, when the rotating arm 30 contacts, specifically, when there is a collision, the color of the support part virtual image VMP may be changed to a warning color. For example, as shown in FIG. 9, the virtual image t of the rotating arm 30 is displayed in red (warning display), and the red virtual image and the captured patient M1 and X-ray imaging device 1 are superimposed on the display 218. In FIG. 9, the virtual image t is hatched to represent the red virtual image t. Not only the collision between the rotating arm 30 and the patient M1 but also the simulation results of the collision between the rotating arm 30 and the subject support MS may be reflected, so that if there is a collision between at least one of the patient M1 and the subject support MS in the simulation, the virtual image t of the rotating arm 30 may be displayed, for example, in red (warning display), and the red virtual image t may be superimposed on the display 218 with the captured subject virtual image VM1 of the patient M1, the subject support virtual image VMS of the subject support MS, and the X-ray body image.

[0085] If it is determined that the contact state has been resolved, the color of the support part virtual image VMP may be changed to a color different from the warning color, for example, the above-mentioned green normal display or no problem display.

[0086] 8, the camera 217 captures images of the subject M1 and the subject structure MR such as the subject support MS, and it is possible to confirm whether or not there is contact between the virtual image t (support virtual image VSP) of the rotating arm 30 and the subject structure MR. The presence or absence of contact can be determined from the positional relationship between the position of the subject structure MR and the position of the rotating arm 30, as in the case of FIG.

[0087] The positional relationship between the subject structure MR, the rotating arm 30, and the X-ray imaging unit 7 can be specified by various methods. For example, the positional relationship between the three may be specified by directly imaging the X-ray imaging unit 7, the rotating arm 30, and the subject structure MR with the camera 217, or the position of the base of the X-ray imaging unit 7 may be detected by imaging the base of the X-ray imaging unit 7 with the camera 217, thereby specifying the position of the rotating arm 30, which is a part of the structure, and further imaging the subject structure MR to specify the positional relationship between the three. Also, if the positional relationship between the base of the X-ray imaging unit 7 and the camera 217 is determined in advance, the positions of the X-ray imaging unit 7 and the rotating arm 30 relative to the camera 217 are also determined, so that the positional relationship between the position of the subject M1 and the positions of the X-ray imaging unit 7 and the rotating arm 30 may be specified as long as the position of the subject M1 can be specified.

[0088] The image IMR of the subject structure may be a virtual image VMR of the subject structure as shown in the figure, but a real image RMR of the subject structure may also be used. For example, the subject structure MR is placed in the X-ray imaging unit 7 so as not to come into contact with the rotating arm 30, and in this state, the X-ray imaging unit 7, the rotating arm 30, and the subject structure MR are imaged by the camera 217. Then, a superimposed image ISI of an image consisting of the real image R7 of the X-ray imaging main body and the real image RMR of the subject structure and a virtual image VSP of the support part obtained by simulating the drive of the rotating arm 30 is generated and displayed, and the presence or absence of overlap between the real image RMR of the subject structure and the virtual image VSP of the support part may also be displayed.

[0089] In this way, the calculation unit 84X generates a superimposed image ISI by superimposing the X-ray imaging unit image I7, the support part virtual image VSP, and the subject image IM1 according to the position of the subject structure MR captured by the camera 217, and in the superimposed image ISI, the support part virtual image VSP is placed at the support part attachment location of the X-ray imaging unit image I7, and the display unit 81X displays it.

[0090] The method of warning of a collision between the patient M1 and the rotating arm 30 is not limited to the method shown in Fig. 9, and may be, for example, displaying text indicating a collision or warning on the display 218 of the terminal device 200, announcing a collision or warning by voice, or emitting a warning sound. When the CPU 211 determines that contact will occur, the CPU 211 may change the color of the contact area in the superimposed image ISI as image processing indicating contact. For example, the part of the collision area (space C1) between the patient M1 and the rotating arm 30 shown in Fig. 8(a) may be changed from green to red to warn of a collision between the patient M1 and the rotating arm 30.

[0091] When the CPU 211 determines that contact will occur, it may display at least one of information on the direction and amount of movement of the X-ray imaging unit 7 and the subject structure MR on the display unit 81X in order to avoid contact. For example, instead of simply warning of a collision between the patient M1 and the rotating arm 30, it may display a correction instruction for avoiding a collision between the patient M1 and the rotating arm 30 on the display 218. FIG. 10 is a schematic diagram of a virtual image on which a correction instruction for avoiding a collision of the rotating arm 30 is displayed in the imaging support system 100 according to the second embodiment. As shown in FIG. 10, the CPU 211 superimposes on the display 218 a virtual image A of an arrow indicating the direction in which the X-ray imaging device 1 or the rotating arm 30 is moved, a virtual image t of the rotating arm 30, and the imaged patient M1 and X-ray imaging device 1 in order to avoid a collision between the patient M1 and the rotating arm 30. The operator operates the X-ray imaging device 1 using the operation unit 62 so as to move the X-ray imaging device 1 or the rotating arm 30 in the direction of the arrow displayed on the display 218. When a collision between the patient M1 and the rotating arm 30 is avoided by this operation, the virtual image t of the rotating arm 30 returns to green, for example, from red, and the green virtual image and the captured image of the patient M1 and the X-ray imaging device 1 are superimposed on the display 218.

[0092] If there is contact between the test structure MR and the rotating arm 30, a correction instruction for avoiding contact with the rotating arm 30 may be displayed on the display 218.

[0093] The display of the correction instruction to avoid the collision between the patient M1 and the rotating arm 30 is not limited to the virtual image A of the arrow shown in Fig. 10, and may be, for example, a display of the location of the collision between the patient M1 and the rotating arm 30, a display of an operation procedure for avoiding the collision, or at least one of information on the direction and the amount of movement of the X-ray imaging device 1 or the rotating arm 30. The method of the correction instruction to avoid the collision between the patient M1 and the rotating arm 30 is not limited to the display of the correction instruction on the display 218 of the terminal device 200, and at least one of information on the direction and the amount of movement of the X-ray imaging device 1 or the rotating arm 30 may be notified by voice. In addition, in order to avoid the collision between the patient M1 and the rotating arm 30, the X-ray imaging device 1 and the rotating arm 30 may be moved together.

[0094] As described above, the display may be different depending on whether or not contact occurs between the rotating arm 30 and the subject structure MR. For example, different colors may be used to display the state where no contact occurs, such as cool colors like green or blue, and the state where contact occurs, such as warm colors like red or orange.

[0095] Image processing may be performed on the area in the superimposed image ISI where contact occurs to indicate contact. For example, only the area where contact occurs may be displayed in a different display form. For example, the areas may be displayed in different colors, with the area where no contact occurs being displayed in cool colors and the area where contact occurs being displayed in warm colors. For example, in a dynamic display type virtual image t, the virtual image t may be displayed in cool colors while moving without contact, and when contact occurs, the virtual image t may be displayed in warm colors. In a trajectory display type virtual image t, the area where no contact occurs may be displayed in cool colors and the area where contact occurs may be displayed in warm colors. In a static display type virtual image t, the virtual image t in a state where no contact occurs may be displayed in cool colors, and the virtual image t in a state where contact occurs may be displayed in warm colors.

[0096] In the above embodiment, it has been explained that in step S101a, information on the patient M1 is acquired by capturing an image using a camera 217 having a three-dimensional camera function such as a depth camera. However, the method of acquiring information on the patient M1 and creating a virtual image Mt (subject member virtual image VMR) of the patient M1 is not limited to this, and for example, a marker storing information on a standard size of the patient M1 may be attached to the examination table. The standard size may be selected from a plurality of standard sizes prepared according to body size classes, and one suitable for the patient M1 may be selected. FIG. 11 is a schematic diagram showing a schematic configuration of an imaging support system 100a according to a modification of the second embodiment.

[0097] In the imaging support system 100a shown in FIG. 11, a subject virtual image VM1 of the patient M1 is created based on a marker mb that is attached to the examination table S in advance. The marker mb is, for example, a two-dimensional code, and is a memory tag (second memory tag) that stores information about the patient M1 of a standard size. Of course, the marker mb is not limited to a two-dimensional code, and may be a pattern such as letters, numbers, symbols, or other designs. The marker mb is a second memory tag provided on the subject support MS.

[0098] The imaging support system 100a acquires information about the patient M1 based on the marker mb to create a subject virtual image VM1 of the patient M1. Specifically, the CPU 211 may create a virtual image of the patient M1 from the information stored in the marker mb, or may read a pre-stored virtual image of the patient M1 from the flash memory 214 based on the information stored in the marker mb. The CPU 211 may also read the virtual image of the patient M1 from an external server via the communication interface 215 based on the information stored in the marker mb.

[0099] 11, in the imaging support system 100a, a virtual image t of the rotating rotating arm 30 and a virtual image VMR of the subject structure of the patient M1 are displayed on the display 218 of the terminal device 200, superimposed on an image captured by the X-ray imaging device 1. Therefore, in order to check the positional relationship between the X-ray imaging device 1 and the patient M1, it is not necessary to place the patient M1 on the examination table S, and it is sufficient to simply prepare the X-ray imaging device 1 and the examination table S, which greatly simplifies the work of adjusting the positional relationship between the X-ray imaging device 1 and the patient M1.

[0100] 11 shows a configuration in which the safety of the subject M1 is further ensured. The situation in real space is one in which the X-ray imaging unit 7 and the examination table S, which is the subject support MS, are arranged close to each other. The subject support area of ​​the examination table S is within the rotation range of the rotating arm 30, and the subject M1 is not present on the examination table S, that is, the subject support MS is not supporting the subject M1. The display unit 81X displays an X-ray imaging unit image I7 and a subject support image IMS, which are in a positional relationship in real space. The X-ray imaging unit image I7 is an X-ray imaging unit real image R7, and the subject support image IMS is a subject support real image RMS.

[0101] As long as the arrangement and structure reproduction of both are accurate, the X-ray imaging unit image I7 may be the X-ray imaging unit virtual image V7, and the subject support image IMS may be the subject support virtual image VMS. The subject virtual image VM1 and the support virtual image VSP are superimposed and displayed on the display unit 81X. This configuration makes it possible to verify contact even if the subject M1 is not actually at the subject support MS. This is particularly effective when at least one of the X-ray imaging unit 7 and the subject support MS is portable, and the X-ray imaging unit 7 is transported to the subject support MS, the subject support MS is transported to the X-ray imaging unit 7, or both are transported and set up.

[0102] In order to adjust the position of the virtual image VM1 of the subject in the same virtual space as the virtual image of the swivel arm 30 to match the positional relationship with the subject M1 in the real space, it is possible to use an alignment element, specifically, for example, a marker fixed to the subject M1 or a physical feature of the subject M1. The position of the alignment element can be identified using, for example, image recognition software. This configuration is suitable when the subject M1 is imaged in advance to obtain a virtual image before the subject M1 is positioned for X-ray imaging and imaged.

[0103] Next, a method for identifying the positions of the patient and examination couch will be described. Fig. 12 is a diagram for explaining a method for identifying the positions of the patient M1 and examination couch S. Fig. 12(a) shows an example of identifying the positions by fixing three markers MC1, MC2, and MC3 to the head MH. Marker MC1 is fixedly placed on the right side of the forehead, marker MC2 on the left side of the forehead, and marker MC3 on the chin. In this state, the subject M1 is photographed to obtain a virtual image. The positions of the markers on the virtual image are identified.

[0104] Figure 12(b) shows an example of identifying the positions of three characteristic locations on the head MH. In an image obtained by photographing subject M1, the corner of the right eye is identified as characteristic location (characteristic point) FP1, the corner of the left eye is identified as characteristic location (characteristic point) FP2, and the tip of the nose, i.e., the top of the nose, is identified as characteristic location (characteristic point) FP3.

[0105] In the case of FIG. 12(a), after capturing an image of the subject M1 with the marker fixed thereto as described above to obtain a virtual image, the positioned subject M1 is captured by the camera 217. At this time, the image is captured while the marker is fixed to the head MH. The position of the marker is identified in the captured image. The marker of the positioned subject M1 is aligned with the marker of the virtual image VM1 of the subject in the virtual space. In other words, the virtual image of the subject M1 in the virtual space is adapted to the position of the subject M1 in the real space.

[0106] In the case of Fig. 12(b), the above-mentioned characteristic locations (feature points) are identified in the virtual image obtained by imaging the subject M1 as described above, and the positioned subject M1 is then imaged by the camera 217. The positions of the characteristic locations (feature points) are identified in the captured image. The characteristic locations (feature points) of the positioned subject M1 are aligned with the characteristic locations (feature points) of the subject virtual image VM1. In other words, the subject virtual image VM1 in the virtual space is adapted to the position of the subject M1 in the real space.

[0107] In Figs. 12(a) and 12(b), the positions of the alignment elements of the virtual image VM1 of the subject are adapted to the positions of the alignment elements of the subject M1 in the real space.

[0108] As mentioned above, the use of three or more registration elements for the subject M1 has the advantage that the three-dimensional localization allows for a high degree of accuracy in the registration of the virtual image VM1 of the subject.

[0109] The subject virtual image VM1 may be obtained by photographing the actual subject M1, or may be selected from among a plurality of images prepared according to physique classes, which are suitable for the real subject M1. The selection may be performed by an operator, or a machine learning learning model may automatically select from an image of the subject M1. In the case of FIG. 12(a), a marker is fixed to the real subject M1 so that the position of the marker fixed to the real subject M1 coincides with the position of the marker set in the subject virtual image VM1, or the position of the marker set in the subject virtual image VM1 is adjusted to match the position of the marker fixed to the real subject M1. In the case of FIG. 12(b), the characteristic parts of the subject virtual image VM1 are matched with the characteristic parts found in the real subject M1.

[0110] The above is a configuration of the alignment elements relative to the specimen M1, but a configuration of the alignment elements relative to the specimen support MS is also conceivable.

[0111] In order to adjust the position of the virtual image of the subject support MS (subject support virtual image VMS) in the same virtual space as the virtual image t of the rotating arm 30 to match its positional relationship with the subject support MS in real space, it is possible to consider a configuration that utilizes alignment elements, specifically, for example, markers fixed to the subject support MS or structural features of the subject support MS.

[0112] The position of the alignment element can be determined, for example, using image recognition software, etc. This configuration is preferred when the subject support MS is imaged to obtain a virtual image before the subject support MS is positioned for X-ray imaging and imaged.

[0113] Figure 12(c) shows an example of fixing and identifying the position of three markers MC4, MC5, and MC6 near the test part of the subject on the subject support MS, specifically, on the end MS1 on the head side of the examination table (subject support MS) when patient M1 is lying down. When patient M1 is lying down, marker MC4 is fixedly placed at the top of the right side (patient's right side) of end MS1, marker MC5 is fixed at the top of the left side of end MS1, and marker MC6 is fixed at the bottom of the right side of end MS1. The patient is photographed in this state to obtain a virtual image. The positions of the markers on the virtual image are identified.

[0114] 12(d) shows an example of identifying the positions of three characteristic locations on the specimen support MS. The upper end of the right side of the end MS1 in the image obtained by photographing the specimen support MS is identified as a characteristic location (characteristic point) FP4, the upper end of the left side of the end MS1 is identified as a characteristic location (characteristic point) FP5, and the lower end of the right side of the end MS1 is identified as a characteristic location (characteristic point) FP6. In this way, the positions of the characteristic locations (characteristic points) on the virtual image are identified.

[0115] In the case of Fig. 12(c), after the subject support MS with the markers fixed thereto is imaged to obtain a subject support virtual image VMS as described above, the positioned subject support MS is imaged by the camera 217. At this time, the image is taken while the markers are fixed to the ends. The position of the marker is identified in the imaged image. The markers of the positioned subject support MS are aligned with the markers of the subject support virtual image VMS of the virtual image. In other words, the subject support virtual image VMS in the virtual space is adapted to the position of the subject support MS in the real space.

[0116] In the case of Fig. 12(d), the above-mentioned characteristic locations (feature points) are identified in the subject support virtual image VMS obtained by imaging the subject support MS as described above, and the positioned subject support MS is then imaged by the camera 217. The position of the characteristic locations (feature points) is identified in the captured image. The characteristic locations (feature points) of the positioned subject support MS are aligned with the characteristic locations (feature points) of the subject support virtual image VMS. In other words, the subject support virtual image VMS in the virtual space is adapted to the position of the subject support MS in the real space.

[0117] In Fig. 12(c) and Fig. 12(d), the positions of the alignment elements of the virtual image VMS of the subject support are adapted to the positions of the alignment elements of the subject support MS in real space.

[0118] As mentioned above, the use of three or more registration elements on the subject support MS has the advantage that a high accuracy of registration of the subject support virtual image VMS can be achieved by three-dimensional localization.

[0119] The subject support virtual image VMS may be obtained by photographing the actual subject support MS, but structural data of the subject support MS may also be prepared as coordinate data and used. In the case of Fig. 12(c), a marker is fixed to the real subject support MS so that the position of the marker fixed to the real subject support MS coincides with the position of the marker set in the subject support virtual image VMS, or the position of the marker set in the subject support virtual image VMS is adjusted to match the position of the marker fixed to the real subject support MS. In the case of Fig. 12(d), the characteristic parts of the subject support virtual image VMS are matched with the characteristic parts found in the real subject support MS.

[0120] The configuration of the alignment element for the subject support MS is suitable for the above-mentioned case in which the X-ray imaging device 1 and the subject support MS are configured separately, or for the case in which the subject support MS is connected to the X-ray imaging device 1 but has a structure that allows high freedom of movement of the subject support MS relative to the X-ray imaging device 1.

[0121] In superimposing the subject virtual image VM1 on the image of the subject support MS such as the examination couch S, if the subject support MS has an element for positioning the subject part of the subject M1 at an accurate position, the accuracy of identifying the display position of the subject virtual image VM1 is improved. FIG. 13 is a diagram for explaining a method for positioning the patient M1 on the examination couch S. The examination couch S, i.e., the subject support MS shown in FIG. 13, is equipped with a head holder SHH for positioning the head MH to be photographed. The head holder SHH is composed of left and right side head holders SSH and an occipital rest SBH. The part of the occipital rest SBH that receives the occipital part is formed into a recess HR into which the top of the occipital part fits. In this way, the part in the subject support MS that further positions the subject part of the patient M1 at an accurate position may be called a subject positioning part PS. The subject positioning part PS may be called a subject positioner. Such a subject positioning part PS may be provided on the examination couch S of this case.

[0122] It is also possible to configure the imaging support system 100 as follows, assuming that the examination table S shown in Fig. 10 is equipped with such a subject positioning unit PS. The examination table S is positioned as a subject support MS in the X-ray imaging device 1 for X-ray imaging. At this point, a simulation is performed. The position of the actual examination table S can be detected, for example, by using the above-mentioned alignment element. The subject virtual image VM1 is positioned in the virtual space so as to match the position of the actual examination table S. Since the subject positioning unit PS is present, the subject virtual image VM1 can be positioned accurately in the virtual space based on the position corresponding to the subject positioning unit PS.

[0123] The examination couch S positioned in the real space is imaged by the camera 217 and displayed on the display 218. The CPU 211 generates and displays a superimposed image by image processing, in which the subject virtual image VM1 is superimposed on the patient support position of the subject support image IMS of the examination couch S. The display 218 displays both the virtual image t of the rotating arm 30 and the subject virtual image VM1.

[0124] That is, the calculation unit 84X generates a subject virtual image VM1, which is a virtual image of the subject M1, from the physical information of the subject M1, and performs image processing to position the subject virtual image VM1 in the superimposed image ISI relative to the subject support image IMS so that the support position is specified by the subject positioning unit PS.

[0125] In the virtual space, a calculation is performed to determine whether or not there is contact with the subject structure MR when the rotating arm 30 is rotated. Specifically, the presence or absence of contact between the virtual image t of the rotating arm and the virtual image VMR of the subject structure is determined. If there is contact, the virtual image t of the rotating arm 30 is superimposed on the position of the rotating arm 30 on the image of the X-ray imaging device 1 that captured it, and a warning is displayed. If there is no contact, the virtual image t of the rotating arm 30 is superimposed on the position of the rotating arm 30 on the image of the X-ray imaging device 1 that captured it, and a normal display or no problem display is displayed. Since both the virtual image t of the rotating arm 30 and the virtual image VMR of the subject structure of the patient M1 are displayed, the presence or absence of contact is displayed visually in an easy-to-understand manner.

[0126] When the examination couch S is positioned in the X-ray imaging device 1 for X-ray imaging, a simulation may be performed in which the swivel arm 30 is rotated relative to the examination couch S. If contact between the examination couch S and the swivel arm 30 occurs in the virtual space, a warning is displayed to prompt the user to change the position of the examination couch S. If no contact occurs, the user is simply prompted to place the patient M1 on the examination couch S (the examination couch S supports the patient M1). And / or, the virtual image t of the swivel arm 30 is displayed normally or with no problem.

[0127] As described above, in the radiography support system 100, 100a according to the second embodiment, the CPU 211 creates a virtual image of the patient M1 in the same virtual space as the virtual image of the rotating arm 30, and judges whether or not there is a collision between the patient M1 and the rotating arm 30 driven around the rotating shaft 31. This makes it possible to confirm by simulation whether or not the rotating arm 30 will collide with the patient M1, and greatly simplifies the task of adjusting the positional relationship between the X-ray radiography device 1 and the patient M1.

[0128] In this application, an image that is actually shown to the operator through the display unit, such as the virtual image VSP of the support part, must be generated so that it can be seen by humans, but it is not necessary to generate a virtual image that can be seen by humans for the calculation of the contact determination. For example, the positions of both the three-dimensional coordinate data of the patient M1 and the three-dimensional coordinate data of the rotor RT may be calculated in three dimensions, and if they share the same position in terms of location without generating a virtual image, it may be determined that there is contact. It is sufficient to perform a calculation that produces the same result as if a virtual image Mt of the patient M1 and a virtual image VRT of the rotor RT were generated in a common virtual space and the two were determined to be in contact.

[0129] (Embodiment 3) In the imaging support system 100 according to the first embodiment, a system has been described that supports the adjustment of the positional relationship between the X-ray imaging device 1 and the patient M1 by capturing an image of the X-ray imaging device 1 and the like with the camera 217 of the terminal device 200. In the X-ray imaging device according to the third embodiment, a configuration will be described that incorporates the functions of a terminal device and can support the adjustment of the positional relationship between the X-ray imaging device and the patient by itself.

[0130] Fig. 14 is a schematic diagram showing a schematic configuration of an X-ray imaging device 1a according to embodiment 3. Fig. 15 is a block diagram showing a configuration of the X-ray imaging device 1a according to embodiment 3. The X-ray imaging device 1a shown in Figs. 14 and 15 has the same configuration as the X-ray imaging device 1 shown in Fig. 1, except that a camera 70 is attached via an arm 71 above the rotating arm 30. Therefore, in the X-ray imaging device 1a shown in Figs. 14 and 15, the same components as those in the X-ray imaging device 1 shown in Fig. 1 are denoted by the same reference numerals, and detailed description thereof will not be repeated.

[0131] When a patient (not shown) is photographed using the portable X-ray imaging device 1a, the X-ray imaging device 1a is moved close to the patient lying on a treatment table (not shown). When the X-ray imaging device 1a is moved close to the patient, the camera 70 can capture an image of the rotating arm 30 and the patient. In the X-ray imaging device 1a, the camera 70 can capture an image of the rotating arm 30 and the patient, and a virtual image of the rotating arm 30 can be superimposed on the captured image and displayed on the display unit 81.

[0132] The processing such as creating a virtual image of the rotating arm 30, which was processed by the CPU 211 of the terminal device 200 in the first embodiment, can be processed in the same manner by the calculation unit 84 of the image processing unit 8. Specifically, the calculation unit 84 acquires an image of the rotating arm 30 and the patient captured by the camera 70. The calculation unit 84 creates a virtual image of the rotating arm 30 moving. Since the camera 70 is attached to the X-ray imaging device 1a, the relative position with respect to the rotating arm 30 is determined in advance, and it is not necessary to adjust the position, size, etc. of the virtual image of the rotating arm 30. The calculation unit 84 displays the virtual image of the rotating arm 30 on the display unit 81 by superimposing it on the captured image of the rotating arm 30. If the camera 70 has a function of a three-dimensional camera such as a depth camera, the X-ray imaging device 1a can capture the virtual image of the patient in the same virtual space as the virtual image of the rotating arm 30, and can also determine whether or not there is a collision between the rotating arm 30 and the patient in the virtual space.

[0133] As described above, the X-ray imaging device 1a according to the third embodiment is a portable X-ray imaging device. The X-ray imaging device 1a includes an X-ray generator 10, an X-ray detector 20, a rotating arm 30, a rotating arm driving unit 40, a camera 70 capable of capturing an image of at least the rotating arm 30, a display unit 81, and a control unit 60. The control unit 60 creates a virtual image of the rotating arm 30 moving about the axis of the rotating shaft 31, and displays the virtual image on the display unit 81, superimposed on the image of the rotating arm 30 captured by the camera 70. As a result, the X-ray imaging device 1a according to the third embodiment can display the virtual image of the rotating arm 30 moving about the axis of the rotating shaft 31, superimposed on the captured image of the rotating arm 30, thereby simplifying the task of adjusting the positional relationship between the X-ray imaging device 1a (particularly the rotating arm 30) and the patient. (Variation 1) In the above-described embodiment, it has been described that a virtual image of the rotating arm 30, a virtual image of the patient M1, etc. are superimposed on an image captured by the camera 217 or the like and displayed on the display 218 or the like of the terminal device 200. Furthermore, the CPU 211 (the calculation unit 84) may create a virtual image of a region of interest in X-ray photography (virtual image of a region of interest) and display the created virtual image on the display 218 or the like by superimposing the created virtual image on an image captured by the camera 217 or the like.

[0134] Fig. 16 is a schematic diagram for explaining a modified example of the displayed virtual image. As shown in Fig. 16, the CPU 211 displays the virtual image R of the region of interest in X-ray photography on the display 218 in a superimposed manner on the image of the patient M1 captured by the camera 217, so that it is possible to visually confirm which part of the patient M1 is to be X-rayed. Therefore, in the photography support system 100 and the like, the positional relationship between the X-ray photography device 1 and the patient M1 can be adjusted while taking into consideration the region of interest in X-ray photography. (Variation 2) In the embodiment described above, it has been described that the terminal device 200 displays the virtual image t of the rotating arm 30 superimposed on the image of the X-ray imaging apparatus 1 captured by the camera 217. However, the terminal device may function not only as a function to display the virtual image t of the rotating arm 30 but also as an operation terminal for operating the X-ray imaging apparatus 1.

[0135] Fig. 17 is a schematic diagram for explaining a modified example of a terminal device. Terminal device 200a shown in Fig. 17 includes operation keys 216, display 218 as a display unit, and a camera (not shown) as an imaging unit. Note that, in terminal device 200a, a camera is not provided on the housing surface on the display 218 side, but is provided on the housing surface on the opposite side of display 218, but is not limited thereto. Also, the hardware configuration of terminal device 200a is the same as that of terminal device 200 explained in Fig. 3, and therefore the explanation will not be repeated.

[0136] The terminal device 200a can display the driving state of the X-ray imaging device 1 by superimposing a virtual image t of the rotating arm 30 on an image of the X-ray imaging device 1 captured by a camera. Furthermore, in the terminal device 200a, the display 218 has a touch panel, and can display operation buttons 220 of the X-ray imaging device 1 on the display 218 as shown in FIG. 17. When an operator operates the operation button 220 displayed on the display 218, the terminal device 200a can operate the X-ray imaging device 1 by transmitting a command corresponding to the operation button 220 to the X-ray imaging device 1 via the communication interface 215 (see FIG. 3). Specifically, while viewing the image of the X-ray imaging device 1 on which the virtual image t of the rotating arm 30 is superimposed, the operator can operate the operation button 220 to move the rotation axis 31 of the rotating arm 30 so that the rotating arm 30 does not collide with the patient M1.

[0137] 17 illustrates a tablet PC as the terminal device 200a, but is not limited to this. The terminal device 200a may be a smartphone, a head mounted display, smart glasses, or the like, as long as it is possible to display operation buttons for the X-ray imaging device 1 on a display and operate the X-ray imaging device 1.

[0138] Furthermore, when the terminal device 200a determines that the patient M1 and the rotating arm 30 collide with each other through a simulation in a virtual space, the terminal device 200a may automatically transmit a command to move the rotation axis 31 of the rotating arm 30 to avoid the collision, even if the operator does not operate the operation button 220. In this way, in the radiography support system including the terminal device 200a, the positional relationship between the X-ray radiography device 1 and the patient M1 can be automatically adjusted by simply photographing the X-ray radiography device 1 and the patient M1 with the terminal device 200a.

[0139] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0140] 1,1a X-ray imaging device, 7 X-ray imaging unit, 8 image processing unit, 10 X-ray generator, 20 X-ray detector, 30 rotating arm, 30D X-ray detection unit, 30G X-ray generation unit, 40 rotating arm drive unit, 30R rotating unit, 31 rotating shaft, 50 housing, 60 control unit, 61,81 display unit, 62,82 operation unit, 63,86,215 communication interface, 64,85 memory unit, 65 switch unit, 70,217 camera, 71 arm, 84 calculation unit, 90 notification unit, 100,100a imaging support system, 200,200a terminal device, 211 CPU, 212 ROM, 213 RAM, 214 flash memory, 216 operation key, 218 display, 220 operation button.

Claims

1. An imaging support system for an X-ray imaging apparatus, comprising: The X-ray imaging device includes: An X-ray generator; An X-ray detector; a support portion that supports the X-ray generator and the X-ray detector so as to face each other; A drive mechanism that drives the support portion around at least the axis of the pivot shaft; an X-ray imaging main body that supports at least the support portion and includes the drive mechanism; a control unit that controls the X-ray generator, the X-ray detector, and the driving mechanism; A calculation processing unit that performs calculation processing; A display unit for displaying an image; An imaging unit that captures an image of a surface of an imaging object, When at least one of a subject to be X-rayed by the X-ray imaging device and a subject support supporting the subject is defined as a subject structure, The arithmetic processing unit is generating a superimposed image by superimposing a support part virtual image, which is a virtual image showing a trajectory of the support part when the support part rotates around the axis of the rotation shaft, and a test structure image, which is an image of the test structure, according to a positional relationship between the position of the test structure and the position of the support part imaged by the imaging unit; generating a superimposed image by superimposing an X-ray main body image, which is an image of the X-ray main body, the support virtual image, and the subject structure image according to a position of the subject structure imaged by the imaging unit, and arranging the support virtual image at an attachment location of the support in the X-ray main body image in the superimposed image; calculating a relative position of the imaging unit with respect to the X-ray imaging main body based on an image captured by the imaging unit, thereby calculating a position of the support part virtual image with respect to the X-ray imaging main body; the display unit displays the superimposed image, A terminal device that can be carried by a surgeon and includes the imaging unit and the display unit, the terminal device further includes a communication unit for communicating with the X-ray imaging device; the arithmetic processing unit displays an operation panel of the X-ray imaging device in a virtual space; When an operator operates the operation panel, the communication unit transmits a command corresponding to the operation to the X-ray imaging apparatus.

2. 2. The imaging support system according to claim 1, wherein the calculation processing unit calculates a contact state between the support part and the subject structure when the support part is driven for the X-ray imaging, and performs a notification process to notify an operator of the contact when contact occurs.

3. The photographing support system according to claim 2 , wherein the calculation processing unit performs image processing, when the contact occurs, to indicate the contact in the area of ​​the contact in the superimposed image.

4. 2. The imaging support system according to claim 1, wherein the X-ray imaging body includes a roller that rolls on a ground surface of the X-ray imaging body, and the X-ray imaging body is movable toward the subject structure by moving relative to the ground surface via the roller.

5. In the subject support, when a portion for positioning the position of the test part of the subject is defined as a subject positioning part, the imaging unit images the subject support as the subject structure; The imaging support system according to claim 1, wherein the calculation processing unit generates a subject virtual image, which is a virtual image of the subject, from physical information of the subject, and performs image processing to position the subject virtual image in the superimposed image relative to a subject support image, which is an image of the subject support, such that the support position is specified by the subject positioning unit.

6. The photography support system according to claim 2 , wherein the calculation processing unit performs image processing to change a color of the support part virtual image to a warning color when the contact occurs.

7. The photography support system according to claim 6 , wherein the calculation processing unit changes a color of the support part virtual image to a color different from the warning color when the calculation processing unit determines that the contact has been eliminated.

8. The photographing support system according to claim 3 , wherein the arithmetic processing unit, when determining that the contact has occurred, changes a color of the area of ​​the contact in the superimposed image.

9. 3. The imaging support system according to claim 2, wherein, when the calculation processing unit determines that the contact will occur, the display unit is caused to display information regarding at least one of a direction and an amount of movement of one or both of the X-ray imaging main body and the subject structure in order to avoid the contact.

10. The imaging support system according to claim 1 , wherein the arithmetic processing unit calculates the relative position based on a part of the X-ray imaging main body included in the captured image.

11. The X-ray imaging device further includes a first memory tag that is provided in the X-ray imaging main body so as to be readable by the terminal device and that stores information about the X-ray imaging main body; The imaging support system according to claim 10 , wherein the calculation processing unit places the support part virtual image at a support part attachment location of the X-ray imaging main body image based on the information of the X-ray imaging main body read from the first storage tag.

12. The photography support system according to claim 11 , wherein the first memory tag is a two-dimensional code.

13. The imaging support system according to claim 5 , wherein the calculation processing unit creates the subject virtual image from a second memory tag provided on the subject support.

14. The imaging unit has a depth camera, The photographing support system according to claim 5 , wherein the arithmetic processing unit generates the virtual image of the subject from an image of the subject captured by the depth camera.

15. The imaging support system according to claim 1 , wherein the arithmetic processing unit creates a virtual image of a region of interest that is a virtual image of a region of interest in X-ray imaging, and displays the virtual image on the display unit by further superimposing the virtual image on the superimposed image.

16. A method for assisting imaging with an X-ray imaging apparatus, comprising: The X-ray imaging device includes an X-ray generator, an X-ray detector, a support section that supports the X-ray generator and the X-ray detector so as to face each other, a drive mechanism that drives the support section at least around a rotation axis, an X-ray imaging main body that supports at least the support section and includes the drive mechanism, a control section that controls the X-ray generator, the X-ray detector, and the drive mechanism, an arithmetic processing section that performs arithmetic processing, a display section that displays an image, and an imaging section that images a surface of an imaging target, A terminal device that can be carried by a surgeon and includes the imaging unit and the display unit, the terminal device further includes a communication unit for communicating with the X-ray imaging device; When at least one of a subject to be X-rayed by the X-ray imaging device and a subject support supporting the subject is defined as a subject structure, generating, in the arithmetic processing unit, a superimposed image in which a support part virtual image, which is a virtual image showing a trajectory of the support part when the support part rotates around the axis of the rotation shaft, and a test part image, which is an image of the test part, are superimposed according to a positional relationship between a position of the test part imaged by the imaging unit and a position of the support part; generating a superimposed image by superimposing an X-ray photographed main body image, which is an image of the X-ray photographed main body, the support virtual image, and the subject structure image according to a position of the subject structure imaged by the imaging unit; placing the virtual image of the support part in the superimposed image at a mounting location of the support part in the X-ray body image; calculating a relative position of the imaging unit with respect to the X-ray imaging main body based on an image captured by the imaging unit, thereby calculating a position of the support part virtual image with respect to the X-ray imaging main body; a step of displaying the superimposed image by the display unit; a step of the arithmetic processing unit displaying an operation panel of the X-ray imaging device in a virtual space; the communication unit transmitting, when an operator operates the operation panel, a command corresponding to the operation to the X-ray imaging apparatus.

Images