Patent Application
20250082294
The present invention relates to an X-ray imaging system and a dose display method for displaying an X-ray dose.
Conventionally, an X-ray imaging apparatus that displays an X-ray dose is known. Such a device is disclosed, for example, in U.S. Patent Application Publication No. 2011/0317815.
The X-ray imaging apparatus described in U.S. Patent Application Publication No. 2011/0317815 displays a three-dimensional model that visualizes the dose of X-rays irradiated on the surface of the patient. Specifically, this X-ray imaging apparatus calculates the dose of X-rays irradiated on the surface of the patient on a three-dimensional model of the patient. The magnitude of the calculated dose is then visualized on the displayed three-dimensional model.
Conventionally, an X-ray imaging apparatus, such as the one described in U.S. Patent Application Publication No. 2011/0317815, is used in interventional radiology (IVR). When interventional radiology treatment is performed while emitting X-rays, it is necessary to perform the treatment while changing the angle of the imaging unit according to the increase in dose to prevent a localized increase in the dose (skin dose) on the body surface of the subject (patient). However, in the case where the magnitude of the dose is displayed on the three-dimensional model, as in U.S. Patent Application Publication No. 2011/0317815, even if the dose displayed on the three-dimensional model is confirmed, it is not possible to concretely determine the appropriate imaging unit angle to avoid positions of relatively high dose (an angle with a relatively low dose). Therefore, it is desirable to easily select an appropriate imaging unit angle with a relatively low dose in order to suppress the localized increase in dose on the body surface of the subject.
The present invention has been made to solve the above-described problems. One object of the present invention is to provide an X-ray imaging system and a dose display method capable of easily selecting an appropriate imaging unit angle with a relatively small dose to suppress the localized increase in dose on the body surface of the subject.
In order to attain the above-described object, an X-ray imaging system according to the first aspect of the present invention comprises:
A dose display method according to the second aspect of the present invention comprise:
The X-ray imaging system according to the first aspect of the present invention and the dose display method according to the second aspect of the present invention calculate the dose in each of a plurality of angular regions partitioned at each predetermined angle interval of the imaging unit angle, based on the dose distribution on the surface of the virtual model calculated and the imaging unit angles associated with the surface of the virtual model. The first X-ray imaging system according to the first aspect of the present invention and the dose display method according to the second aspect of the present invention display an angular dose image capable of identifying the magnitude of the dose in each of the plurality of angular regions. With this, an operator (surgeon), such as a doctor, can easily determine the magnitude of the dose in each of the plurality of angular regions partitioned at each predetermined angular interval of the imaging unit angle by visually confirming the displayed angular dose image, which enables the operator to easily determine the imaging unit angle with a relatively small dose. As a result, it is possible to easily select an appropriate imaging unit angle with a relatively low dose in order to suppress the localized increase in dose on the body surface of the subject.
Hereinafter, some embodiments in which the present invention is embodied will be described based on the attached drawings.
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The X-ray irradiation unit 21 includes an X-ray source 21a and a collimator 21b. The X-ray source 21a irradiates the subject P on the table 1 with X-rays. Further, the X-ray source 21a is an X-ray tube connected to a high-voltage generation unit, not shown in the figure, that generates X-rays when a high-voltage is applied and irradiates the subject P with the generated X-rays. The X-ray source 21a is arranged such that the X-ray emission direction faces the detection surface of the X-ray detection unit 22. The collimator 21b is configured to adjust the irradiation field of the X-rays emitted by the X-ray source 21a. The X-ray irradiation unit 21 generates X-rays according to preset imaging conditions, such as a tube voltage, a tube current, and an X-ray irradiation time interval, under the control of the control device 101, which will be described later.
The X-ray detection unit 22 detects the X-rays emitted from the X-ray irradiation unit 21. The X-ray detection unit 22 outputs a detection signal corresponding to the detected X-ray intensity. The X-ray detection unit 22 is configured, for example, with an FPD (Flat Panel Detector). The X-ray detection unit 22 is connected to the control device 101, which will be described later.
The moving mechanism 3 moves at least one of the table 1 and the imaging unit 2. Specifically, the moving mechanism 3 changes the relative positional relation between the table 1 and the imaging unit 2, thereby changing the position of the body surface of the subject P to be irradiated with X-rays. Specifically, the moving mechanism 3 includes a table moving unit 31 that moves the table 1 and a support unit 32 that changes the imaging unit angle of the imaging unit 2. The table moving unit 31 is configured to move the table 1 in the horizontal direction (the direction parallel to the horizontal plane) and in the vertical direction. Further, the table moving unit 31 changes the angle of the table 1. Further, the support unit 32 is mounted on the ceiling C to support the X-ray irradiation unit 21 and the X-ray detection unit 22 so that they face each other across the table 1 on which the subject P lies. And, the support unit 32 supports the imaging unit 2 in a manner that allows its position and angle (imaging unit angle) to be changed. Further, the support unit 32 supports the imaging unit so that the distance between the X-ray irradiation unit 21 and the X-ray detection unit 22 can be changed. The moving mechanism 3 includes, for example, a servo motor controlled by the control device 101, which will be described later.
For example, when a catheter treatment of a heart is performed by imaging radiotherapy (IVR), the treatment is performed while changing the X-ray irradiation angle (imaging unit angle) to suppress the localized increase in dose on the body surface (skin) of the subject P while continuously acquiring the fluoroscopic image (X-ray image 41) of the heart as a moving image. In this embodiment, the moving mechanism 3 is configured to change the imaging unit angle, which is the angle of the imaging unit 2, through the control processing by the control device 101, which will be described later. The imaging unit angle is an angle in the direction along which the X-ray irradiation unit 21 and the X-ray detection unit 22 face each other. For example, the imaging unit 2 changes the angle of the imaging assembly to enable the X-ray detection unit 22 to move in the LAO (left anterior oblique) and RAO (right anterior oblique) directions, representing the leftward and rightward directions of the subject P, as well as in the CRA (Cranial) and CAU (Caudal) directions, representing the upward and downward directions (head side and leg side), based on the reference state where the X-ray irradiation unit 21 and the X-ray detection unit 22 are aligned vertically.
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In other words, the operation of each part of the X-ray imaging system 100 is controlled based on the input operation to the touch panel 5 and the operation unit 6. For example, the touch panel 5 and the operation unit 6 accept an input operation to select (change) an imaging unit angle for X-ray imaging from a plurality of imaging unit angles. Further, the touch panel 5 and the operation unit 6 accept an input operation to change the display on the monitor 4. Further, the touch panel 5 and the operation unit 6 accept an input operation for performing X-ray irradiation.
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The control device 101 is a computer (computing device) configured to include a CPU, a GPU (Graphics Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). Further, the control device 101 includes a storage device, such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive). The control device 101 controls the operation of the X-ray imaging system 100 based on the operation by the operator. Further, the control device 101 controls the display of the monitor 4. In other words, the control device 101 controls X-ray imaging by controlling the imaging unit 2 to generate the X-ray image 41. Specifically, the control device 101 controls the operation of the X-ray irradiation unit 21 to emit X-rays to the subject P. Further, the control device 101 acquires the detection signal output from the X-ray detection unit 22 and generates the X-ray image 41 based on the acquired detection signal.
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Further, the control device 101 changes the relative position and angle between the table 1 and the imaging unit 2 by controlling the operation of the moving mechanism 3, based on the input operations to the touch panel 5 and the operation unit 6. In other words, the control device 101 is configured to set at which imaging unit angle to perform X-ray imaging by controlling the operation of the moving mechanism 3.
The dose calculation device 102 is equipped with a dose calculation processing unit 70, which is a computer (operation unit) including a CPU, a GPU, a ROM, a RAM, etc. Further, the dose calculation device 102 is equipped with a storage device, such as an HDD and an SSD, that stores predetermined programs for operating the dose calculation processing unit 70. The storage device stores a virtual model Pa, which will be described later, various set values (parameters), etc. Further, the storage device stores the history of dose irradiated onto the subject P. In this embodiment, the dose calculation processing unit 70 is configured to calculate the dose of X-rays irradiated onto the subject P.
The three-dimensional image generation device 103, like the control device 101 and the dose calculation device 102, is a computer (computing device) that includes a CPU, a GPU, a ROM, a RAM, etc. The three-dimensional image generation device 103 generates a three-dimensional image 46. The details of the generation of the three-dimensional image 46 will be described later.
In the X-ray imaging system 100, the control device 101, the dose calculation device 102, and the three-dimensional image generation device 103 are configured to send and receive signals to and from each other. The control device 101, the dose calculation device 102, and the three-dimensional image generation device 103 are connected to each other via a computer network, such as, for example, a Local Area Network (LAN).
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Specifically, the dose calculation device 102 is configured to acquire the position and angle of the table 1 and the position and angle of the imaging unit 2 from the control device 101. The positional relation acquisition unit 71 then acquires the positional relation between the table 1 and the imaging unit 2, in the three-dimensional virtual space, based on the acquired position and angle of the table 1 and the position and angle of the imaging unit 2 (the X-ray irradiation unit 21 and the X-ray detection unit 22). Further, the positional relation acquisition unit 71 acquires a virtual model Pa (see
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Specifically, the dose calculation device 102 acquires the imaging conditions, such as the period of the X-ray irradiation, the imaging unit angle, the tube voltage, the tube current, and the X-ray irradiation time interval, from the control device 101. Further, the dose calculation device 102 acquires the dose of X-rays irradiated onto the subject P and the imaging unit angle in an associated manner, from the control device 101. And, the model dose calculation unit 72 calculates the cumulative value of the dose on the surface of the virtual model Pa, based on the dose of X-rays irradiated onto the subject P, the imaging unit angle, and the virtual positional relation between the imaging unit 2 and the virtual model Pa in the three-dimensional virtual space. Then, the model dose calculation unit 72 updates the cumulative dose on the surface of the virtual model Pa each time X-ray irradiation is performed by the imaging unit 2. In detail, the model dose calculation unit 72 calculates the cumulative dose for each of microelements on the surface of the virtual model Pa, which is partitioned into microelements.
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Specifically, the angle associating unit 73 acquires the X-ray irradiation position for each imaging unit angle for each predetermined angular interval on the surface of the virtual model Pa, based on the virtual positional relation between the imaging unit 2 and the virtual model Pa in the three-dimensional virtual space. For example, when the predetermined angular interval is every 10 degrees, the angle associating unit 73 acquires the imaging unit angle when the imaging unit angle is in the vertical direction (reference direction) as (0, 0), the imaging unit angle when the imaging unit angle is tilted by 10 degrees to LAO as (10, 0), and the imaging unit angle when the imaging unit angle is tilted by 20 degrees to LAO as (20, 0). Further, the angle associating unit 73 acquires the imaging unit angle as (10, 10) when tilted by 10 degrees to LAO and also tilted by 10 degrees to CRA. The angle associating unit 73 maps the position of the center (center of the field of view) of the irradiation axis of the X-rays that are irradiated from the imaging unit 2 onto the surface of the virtual model Pa at each predetermined angular interval, based on the positional relation between the imaging unit 2 and the virtual model Pa at each predetermined angular interval (for example, 10 degrees) in the three-dimensional virtual space. The angle associating unit 73 acquires angular regions partitioned on the surface of the virtual model Pa by connecting the position of the center (center of the field of view) of the irradiation axis at each predetermined angular interval partitioned on the surface of the virtual model Pa.
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Specifically, the angular dose calculation unit 74 acquires the maximum value of the dose in each of the angular regions (see
In this embodiment, in the angular dose image 42, the magnitude of the dose in each of the plurality of angular regions is represented by color-coding. For example, in the angular dose image 42, the magnitude of the dose is represented by five different color schemes, from the highest dose to the lowest: purple, red, orange, yellow, and green. Note that in
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Specifically, the image generation unit 75 generates a color scale image 43 that provides a reference for color coding the angular dose image 42. The color scale image 43 displays the regions that are color-coded to correspond to the color-coding in the angular dose image 42, in the order from the highest to the lowest dose: purple, red, orange, yellow, and green. Further, the boundaries of the five display regions are marked with numerical values indicating the specific dose values that are used as references for color coding. For example, in the color scale image 43, the region where the maximum dose is greater than 4,000 mGy is represented by purple, the region where the maximum dose is greater than 3,000 mGy and less than or equal to 4,000 mGy is represented by red, the region where the maximum dose is greater than 2,000 mGy and less than or equal to 3,000 mGy is represented by orange, the region where the maximum dose is greater than 1,000 mGy and less than or equal to 2,000 mGy is represented by yellow, and the region where the maximum dose is greater than 0 mGy and less than or equal to 1,000 mGy is represented by green.
Further, a display showing the preset dose thresholds 43a and 43b is superimposed on the color scale image 43. The thresholds 43a and 43b are set in advance by a doctor or other operator. Further, it is configured such that a warning message is displayed on the monitor 4 when the dose exceeds the thresholds 43a and 43b in the angular region currently being irradiated in the middle of X-ray irradiation. The warning message is displayed, for example, as a text (character information) at a predetermined portion of the monitor 4. The warning message stops being displayed on the monitor 4 after a predetermined amount of time has elapsed, or by an input operation on the operation unit 6.
It may be configured such that the monitor 4 displays a total skin dose of the subject P during the operation. For example, the dose calculation processing unit 70 calculates the total dose on the entire body surface of the subject P based on the acquired X-ray dose. The total calculated dose is then output from the dose calculation device 102 to the control device 101, and is displayed on the monitor 4 through the control processing by the control device 101.
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Specifically, the positional relation acquisition unit 71 updates the position and angle of the virtual model Pa in the three-dimensional virtual space, based on the information indicating the position and angle of the table 1 newly acquired from the control device 101 when the operation to change the position and angle of the table 1 is accepted. Further, when an operation to change the position and angle of the imaging unit 2 is accepted, the positional relation acquisition unit 71 updates the position and angle of the imaging unit 2 in the three-dimensional virtual space, based on information indicating the position and angle of the imaging unit 2 newly acquired from the control device 101. In other words, the positional relation acquisition unit 71 changes the virtual positional relation between the virtual model Pa and the imaging unit 2 in the three-dimensional virtual space when a signal indicating that the positional relation between the table 1 and the imaging unit 2 has been changed is acquired from the control device 101.
When the virtual positional relation between the virtual model Pa and the imaging unit 2 in the three-dimensional virtual space is changed, the angle associating unit 73 updates the association (mapping) of the imaging unit angle on the surface of the virtual model Pa by newly acquiring (calculating) the X-ray irradiation position for each imaging unit angle for each predetermined angular interval based on the changed virtual positional relation. The angle associating unit 73 acquires angular regions partitioned on the surface of the virtual model Pa by connecting the position of the center (center of the field of view) of the irradiation axis at each predetermined angular interval mapped on the surface of the virtual model Pa.
The angular dose calculation unit 74 newly calculates the dose in each of the plurality of angular regions partitioned at each predetermined angular interval, based on the dose distribution on the surface of the virtual model Pa calculated by the model dose calculation unit 72 and the angular regions by the association of the imaging unit angles updated by the angle associating unit 73. The image generation unit 75 then updates the angular dose image 42 so that the magnitude of the dose in each of the newly recalculated plurality of angular regions can be identified. In other words, when the positional relation between the table 1 and the imaging unit 2 is changed, the degree of the dose distribution in the angular dose image 42 changes based on the dose in each of the plurality of newly recalculated angular regions. Note that in the case of moving (changing) only the imaging unit angle of the imaging unit 2 without moving the table 1, the association of the imaging unit angle on the surface of the three-dimensional virtual model Pa in the three-dimensional virtual space remains unchanged. In other words, in the case of changing only the imaging unit angle, the angular dose image 42 is not updated, and the degree of the dose distribution in the angular dose image 42 remains unchanged.
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Similarly, when the angle of the table 1 is changed to rotate it, the degree of the dose distribution in the angular dose image 42 also changes. Further, when the arrangement position of the imaging unit 2 with respect to the table 1 is moved, the degree of the dose distribution in the angular dose image 42 also changes. Note that the change in the degree of the dose distribution in the angular dose image 42 when the positional relation between the table 1 and the imaging unit 2 is changed is different from the simple parallel (shift) moving and enlargement/reduction because the association of the imaging unit angles on the surface of the cylinder-shaped virtual model Pa is changed.
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Specifically, when an input operation to change the size of the predetermined angular interval is accepted based on an input operation to the touch panel 5 or the operation unit 6, the angle associating unit 73 reacquires the newly partitioned angular regions on the surface of the virtual model Pa by updating the association (mapping) of the imaging unit angles on the surface of the virtual model Pa so as to be partitioned for each predetermined angular interval whose size has been changed. The angular dose calculation unit 74 recalculates the dose in each of the angular regions whose sizes have been updated. The image generation unit 75 then updates the angular dose image 42 so that the magnitude of the dose in each of the newly recalculated plurality of angular regions can be identified. And, the image generation unit 75 updates the angular dose image 42 so that the magnitude of the dose in each of the newly recalculated plurality of angular regions is identifiable. For example, if the predetermined angular interval is changed from 10 degrees to 5 degrees, the size of the angular dose image 42 itself is not changed, but the size of the partition in the angular dose image 42 is halved. Further, in the angular dose image 42, which is partitioned every 5 degrees, the magnitude of the dose is color-coded and displayed in an identifiable manner based on the distribution of the dose in the angular regions partitioned every 5 degrees on the surface of the virtual model Pa.
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Specifically, in this embodiment, the irradiation region calculation unit 76 (dose calculation processing unit 70) is configured to calculate the irradiation region, which is a region of the surface of the virtual model Pa that is irradiated with X-rays at the current imaging unit angle. In detail, the irradiation region calculation unit 76 calculates the irradiation region to be irradiated by X-rays at the current imaging unit angle on the surface of the virtual model Pa, based on the virtual positional relation between the virtual model Pa and the imaging unit 2 in the three-dimensional virtual space acquired by the positional relation acquisition unit 71 and the imaging conditions acquired from the control device 101. Then, the irradiation region calculation unit 76 acquires, from the plurality of angular regions partitioned at predetermined angular intervals by the angle associating unit 73, the angular region that includes inside a part or the entirety of the irradiation region to be irradiated with X-rays, as the angular region included in the irradiation region. The image generation unit 75 superimposes an irradiation region display 42a, which indicates the angular region included in the irradiation region acquired by the irradiation region calculation unit 76, on the angular dose image 42. The angular dose image 42 with the irradiation region display 42a superimposed is displayed on the monitor 4 by being output to the control device 101.
Note that the irradiation region display 42a indicates the irradiation region so as to enclose the entire angular region included in the irradiation region. Further, the irradiation region display 42a may indicate the angular regions included in the irradiation region by coloring them, or by superimposing shaded lines or the like on them. Further, the irradiation region display 42a includes a display capable of identifying the angular regions that include the center of the irradiation axis (center of field of view) of the X-rays to be irradiated from the angular regions included in the irradiation region. For example, the irradiation region display 42a includes a cross (plus shape) mark that indicates the angular region that includes the center (center of field of view) of the irradiation axis in the irradiation region. Further, the irradiation region display 42a changes in size and shape according to the irradiation region (field of view size) of X-rays emitted from the X-ray irradiation unit 21, the aperture of the collimator 21b, or the distance between the X-ray irradiation unit 21 and the X-ray detection unit 22 (SID: source to image distance). The irradiation region display 42a may be not only a square region but also a rectangular or polygonal region, in the angular dose image 42.
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The X-ray imaging system 100 is configured to change the imaging unit angle, based on the input operation to the touch panel 5 or the operation unit 6. For example, in this embodiment, the operation unit 6 is configured to accept an operation to select one of the plurality of angular regions in the angular dose image 42 displayed on the monitor 4. For example, an operator, such as a doctor, performs a selection operation by clicking on one of the plurality of angular regions partitioned in a grid pattern in the angular dose image 42 displayed on the monitor 4 using the pointer also displayed on the monitor 4. Based on the acceptance of the selection operation by the operation unit 6, the control device 101 changes the imaging unit angle so that X-ray irradiation is performed onto one angular region selected from the plurality of angular regions. In other words, in this embodiment, the moving mechanism 3 is configured to change the imaging unit angle so that the X-rays are irradiated to the selected angular region when an operation to select one of the plurality of angular regions in the angular dose image 42 (selection operation) is received by the operation unit 6.
The irradiation region calculation unit 76 newly acquires the irradiation region display 42a each time the imaging unit angle of the imaging unit 2 is changed. Further, the irradiation region calculation unit 76 is configured to newly acquire the irradiation region display 42a even when the positional relation between the imaging unit 2 and the table 1 is changed. Note that in the X-ray imaging system 100, when only the imaging unit angle of the imaging unit angle is changed, only the irradiation region display 42a is moved (changed), without changing the degree of the dose distribution in the angular dose image 42. Note that in the case of selecting the imaging unit angle in the angular dose image 42, the color-coded display (the colored part) indicating the magnitude of the dose in the angular dose image 42 may be displayed translucently so as to enhance the visibility of the irradiation region display 42a. Further, during the process of changing the imaging unit angle (while moving the imaging unit 2), it may be permissible to display both the moving irradiation region display 42a and the destination irradiation region display 42a in the angular dose image 42.
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Further, the recommended imaging unit angle (angular region) is selected based on the site of the subject P to be treated or inspected, based on the information input by the operator in advance, a database stored in the system, or a database acquired through a network. For example, when imaging blood vessels of a heart, the recommended imaging unit angle is preset for each type of blood vessel. In the case where the right coronary artery (RCA: right coronary artery) has been pre-set to be imaged based on an input operation on the touch panel 5 or the operation unit 6, the image generation unit 75 causes the recommended imaging unit angle (angular region), which is set to correspond to the right coronary artery in the angular dose image 42, to be displayed in a color-coded manner. Further, in the case where there is a ranking (priority) of recommended imaging unit angles (angular regions), identification information (character information) for the ranking is also displayed, such as “1st”, “2nd”, and “3rd” in figures. In addition, the image generation unit 75 causes the imaging unit angles (angular regions) corresponding to the respective rankings to be displayed in a color-coded manner so that the rankings are identifiable in the angular dose image 42. In such cases, the recommended imaging unit angle (angular region) may be displayed in such a manner that the high dose regions have already been excluded.
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Specifically, in this embodiment, the storing processing unit 77 (the dose calculation processing unit 70) is configured to store the historical information on the dose distribution on the surface of the virtual model Pa, based on the X-ray irradiation by the imaging unit 2. The storing processing unit 77 makes the storage device of the dose calculation device 102 store the history of the dose of X-rays irradiated each time X-ray irradiation by the imaging unit 2 is performed.
And, the dose calculation processing unit 70 acquires the historical information including the dose value at the selected past predetermined timing from the storage device, based on the operation of selecting one of the timelines in the timeline display 45. Here, in the X-ray imaging system 100, in order to capture X-ray images 41 as moving images, X-ray irradiation is continuously performed over a predetermined period of time in capturing a single X-ray image 41. In the timeline display 45, a predetermined timing in the past is selectably displayed for each predetermined period of time to generate an X-ray image 41 of a single moving image.
The monitor 4 is configured to display the angular dose image 42 at a predetermined timing in the past, based on the historical information stored by the storing processing unit 77. In other words, based on the stored historical information, the dose distribution on the surface of the virtual model Pa and the virtual positional relation between the imaging unit 2 and the virtual model Pa at the selected past predetermined timing are acquired. Then, the same processing as the generation of the angular dose image 42 at the current time is performed to generate the angular dose image 42 based on the dose value at the predetermined timing in the past by the image generation unit 75. The generated angular dose image 42 at a predetermined timing in the past is output to the control device 101 and displayed on the monitor 4. Note that it may be configured such that the storing processing unit 77 causes the generated angular dose image 42 to be directly stored in the storage device at each timing of the generation of the X-ray image 41.
Further, the X-ray imaging system 100 is configured to display the predicted angular dose image 42 on the monitor 4, based on the selection operation for the timeline display 45.
Specifically, in this embodiment, the dose prediction unit 78 (the dose calculation processing unit 70) is configured to calculate the predicted value of the X-ray dose to be irradiated by the imaging unit 2, based on the predictive distribution of the dose on the surface of the virtual model Pa calculated by the model dose calculation unit 72. For example, the dose calculation processing unit 70 accepts a selection of the prediction portion (the portion ahead of the current timing (current position)) of the timeline display 45, based on the input operation to the touch panel 5 or the operation unit 6. The dose prediction unit 78 predicts the increase in dose in the event that X-ray irradiation is continuously performed in the current irradiation region, based on the acceptance of the selection of the prediction portion in the timeline display 45. The dose prediction unit 78 predicts, for example, the increased dose in the case where irradiation is continuously performed, based on the historical information. Further, the dose prediction unit 78 may also predict the increase in dose in the current irradiation region based on a predefined database. Further, the dose prediction unit 78 may also calculate the predicted value of the dose that would be predicted when the imaging condition is changed.
The dose prediction unit 78 then calculates the predicted value of the dose distribution on the surface of the virtual model Pa by calculating the predicted value of the dose. The monitor 4 is configured to display the predicted angular dose image 42 based on the predicted values predicted by the dose prediction unit 78. In other words, the image generation unit 75 generates the angular dose image 42 that is predicted based on the predicted value of the dose distribution on the surface of the virtual model Pa. The generated angular dose image 42 at a predetermined timing in the past is output to the control device 101 and displayed on the monitor 4.
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Further, the touch panel 5 displays a non-recommended angle display 5c indicating a non-recommended imaging unit angle, in a visually identifiable manner, from the plurality of imaging unit angle displays 5a displayed as a list. Specifically, the touch panel 5 acquires the dose calculated for each of the plurality of angular regions from the dose calculation device 102. The touch panel 5 displays the non-recommended angle display 5c so that the imaging unit angles, which are included in the angular regions that exceed a predetermined dose (e.g., threshold 43a), corresponding to the plurality of imaging unit angle displays 5a, can be visually identified as a non-recommended imaging unit angle. For example, the touch panel 5 displays the non-recommended imaging unit angle in a visually identifiable manner by displaying the background of the non-recommended angle display 5c in red.
Further, the touch panel 5 displays a recommended angle display 5d, which is a display (e.g., a star mark) indicating an imaging unit angle at which X-ray irradiation is recommended to be performed. The recommended imaging unit angle is selected based on the site of the subject P to be treated or inspected, based on information input by the operator in advance, a database stored in the system, or a database acquired through a network. Further, the touch panel 5 displays a desired angle display 5e, which indicates the desired imaging unit angle registered by the operator in advance, in a selectable manner. Note that the recommended imaging unit angle and the desired imaging unit angle may be stored in a storage device, such as a flash memory, included in the touch panel 5, in a storage unit of the control device 101, or in a storage device of the dose calculation device 102.
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Further, in this embodiment, as shown in
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First, in Step 201, the virtual positional relation between the virtual model Pa and the imaging unit 2 is acquired based on the positional relation between the table 1 and the imaging unit 2.
Next, in Step 202, the dose distribution on the surface of the three-dimensional virtual model Pa is calculated based on the dose of X-rays irradiated onto the subject P by the imaging unit 2.
Next, in Step 203, the imaging unit angle is associated with the surface of the virtual model Pa, based on the imaging unit angle and the position where the X-rays are irradiated on the surface of the virtual model Pa.
Next, in Step 204, based on the dose distribution on the surface of the virtual model Pa calculated in Step 202 and the imaging unit angle associated with the surface of the virtual model Pa in Step 203, the dose in each of the plurality of angular regions partitioned at each predetermined angular interval of the imaging unit angle is calculated.
Next, in Step 205, an angular dose image 42 capable of identifying the magnitude of the dose in each of the plurality of calculated angular regions is generated.
Next, in Step 206, the angular dose image 42 is displayed on the monitor 4. Specifically, the generated angular dose image 42 is output from the dose calculation device 102 to the control device 101 and is displayed on the monitor 4. Note that the calculation of the dose distribution on the surface of the virtual model Pa in Step 202 and the association of imaging unit angles with the surface of the virtual model Pa in Step 203 may be performed in either step first.
In this embodiment, the following effects can be obtained.
As described above, the X-ray imaging system 100 calculates the dose in each of a plurality of angular regions partitioned at each predetermined angular interval of the imaging unit angle, based on the calculated dose distribution on the surface of the virtual model Pa and the imaging unit angle associated with the surface of the virtual model Pa. The X-ray imaging system 100 displays the angular dose image 42 capable of identifying the magnitude of the dose in each of the plurality of angular regions. With this, an operator (surgeon) such as a doctor can easily determine the magnitude of the dose in each of the plurality of angular regions partitioned at each predetermined angular interval of the imaging unit angle by visually confirming the displayed angular dose image 42, which enables the operator to easily determine the imaging unit angle with a relatively small dose. As a result, it is possible to easily select an appropriate imaging unit angle with a relatively low dose in order to suppress the localized increase in dose on the body surface of the subject P.
Further, in this embodiment, the following further effects can be obtained by configuring as follows.
In other words, in this embodiment, the dose calculation processing unit 70 includes the positional relation acquisition unit 71 that acquires a virtual positional relation between the virtual model Pa and the imaging unit 2 based on the positional relation between the table 1 and the imaging unit 2. The angle associating unit 73 (the dose calculation processing unit 70) is configured to update the association of the imaging unit angles on the surface of the virtual model Pa, based on the virtual positional relation acquired by the positional relation acquisition unit 71 when the positional relation between the table 1 and the imaging unit 2 is changed. The angular dose calculation unit 74 (the dose calculation processing unit 70) is configured to update the dose in each of the plurality of angular regions based on the association of the imaging unit angles on the surface of the updated virtual model Pa. With this configuration, even in the case where the positional relation between the table 1 and the imaging unit 2 is changed by moving the table 1, for example, the association of the imaging unit angles on the surface of the virtual model Pa is updated, so that the angular dose image 42 can be updated to accurately display the dose distribution.
As a result, even in the case where the positional relation between the table 1 and the imaging unit 2 is changed, the operator, such as a doctor, can easily and accurately select an appropriate imaging unit angle by visually observing the angular dose image 42.
Further, in this embodiment, the X-ray imaging system 100 is equipped with the touch panel 5 and the imaging operation unit 6 that accepts input operations by the operator (manipulator). The angular dose calculation unit 74 (the dose calculation processing unit 70) is configured to calculate the dose in each of the plurality of angular regions partitioned by each of the predetermined angular intervals whose size is changed when an operation to change the size of the predetermined angular interval that partitions the plurality of angular regions is received by the touch panel 5 or the operation unit 6. The monitor 4 (display unit) is configured to display the angular dose image 42 capable of identifying the magnitude of the dose in each of the plurality of angular regions in which the size of the predetermined angular interval is changed. By this configuration, an operator, such as a doctor, can change the size of the angular intervals of the plurality of angular regions in the angular dose image 42 by operating the touch panel 5 or the operation unit 6, and, therefore, can easily switch between checking the dose distribution in detail and checking the dose distribution as a whole.
Further, in this embodiment, the monitor 4 (display unit) is configured to display the angular dose image 42 in which a plurality of angular regions is partitioned in a grid pattern at each predetermined angular interval of the imaging unit angle, and the magnitude of the dose in each of the plurality of angular regions partitioned in a grid pattern can be identified. By configuring as described above, in the angular dose image 42, since a plurality of angular regions is partitioned in a grid pattern at predetermined angular intervals, the operator, such as the doctor, can easily recognize the dose distribution in two orthogonal angular directions of the subject P, the left-right directions (LAO and RAO) and the up-down directions (CRA and CAU). Therefore, the operator, such as the doctor, can easily determine which imaging unit angle should be changed in the two orthogonal angular directions of the subject P, the left-right directions (LAO and RAO) and the up-down directions (CRA and CAU), in order to suppress the localized increase in dose on the surface of the subject P's body.
Further, in this embodiment, the dose calculation processing unit 70 includes the storing processing unit 77 that stores the historical information on the dose distribution on the surface of the virtual model Pa, based on the X-ray irradiation by the imaging unit 2. The monitor 4 (display unit) is configured to display the angular dose image 42 at a predetermined timing in the past, based on the historical information stored by the storing processing unit 77. By configuring as described above, the operator, such as the doctor, can check the angular dose image 42 at a predetermined timing in the past, and, therefore, can easily check the progress of the dose increase to date. Therefore, in the case of selecting a new imaging unit angle for X-ray irradiation, the appropriate imaging unit angle can be selected more easily by referring to the progress of the dose increase to date.
Further, in this embodiment, the dose calculation processing unit 70 includes the dose prediction unit 78, which calculates the predicted value of the X-ray dose to be irradiated by the imaging unit 2, based on the predictive dose distribution on the surface of the virtual model Pa calculated by the model dose calculation unit 72 (the dose calculation processing unit 70). The monitor 4 (display unit) is configured to display the predicted angular dose image 42, based on the predicted value predicted by the dose prediction unit 78. By configuring as described above, it is possible for the operator, such as the doctor, to confirm the prediction unit on how the dose to the subject P will increase when X-ray irradiation is continued. Therefore, the operator can accurately determine whether to continue the X-ray irradiation with the current imaging unit angle remaining unchanged or to perform X-ray irradiation with the imaging unit angle changed. As a result, it is possible to effectively suppress the localized increase in dose on the body surface of the subject P.
Further, in this embodiment, the dose calculation processing unit 70 includes the irradiation region calculation unit 76 that calculates the irradiation region, which is a region of the surface of the virtual model Pa that is irradiated with X-rays at the current imaging unit angle. The monitor 4 (display unit) is configured to display a display (the irradiation region display 42a) that shows the angular regions included in the irradiation region from the plurality of angular regions in the angular dose image 42. By configuring as described above, by visually checking the angular dose image 42, it is possible to confirm which of the plurality of angular regions will increase in dose when X-ray irradiation is performed at the current imaging unit angle. Therefore, the operator, such as a doctor, can easily determine whether the dose to the subject P would become too large when X-rays are irradiated at the current imaging unit angle. As a result, the operators, such as a doctor, can easily determine whether or not to change the imaging unit angle in order to suppress the localized increase in dose on the body surface of the subject P.
Further, in this embodiment, the monitor 4 (display unit) is configured to display the maximum value display 44, separately from the angular dose image 42, so that the maximum value of the dose in the angular region included in the irradiation region can be identified. By configuring as described above, the operator, such as a doctor, can easily check the maximum dose at the current imaging unit angle. Accordingly, the operator, such as a doctor, can more easily determine whether or not to change the imaging unit angle.
Further, in this embodiment, the monitor 4 (display unit) is configured to display an angular region recommended for X-ray irradiation among the plurality of angular regions in the angular dose image 42 in an identifiable manner. By configuring as described above, it is possible for the operators, such as a doctor, to more easily determine which imaging unit angle is appropriate when changing the angle of the imaging unit. Therefore, when changing the imaging unit angle, the time and effort required to select a new imaging unit angle can be suppressed.
Further, in this embodiment, the moving mechanism 3 is configured to change the imaging unit angle so that the X-rays are irradiated to the selected angular region when an operation to select one of the plurality of angular regions in the angular dose image 42 (selection operation) is received by the operation unit 6. With this configuration, the operator, such as a doctor, can easily select a new imaging unit angle by performing an operation to select one of the plurality of angular regions in the angular dose image 42. Therefore, an operator, such as a doctor, can easily suppress the localized increase in dose on the body surface of the subject P by selecting an angular region with a relatively small dose from the plurality of angular regions in the angular dose image 42.
Further, in this embodiment, it is configured such that the monitor 4 (display unit) displays the angular dose image 42 in which the magnitude of the dose in each of a plurality of angular regions is represented by color-coding, and displays, separately from the angular dose image 42, a color scale image 43 indicating the color-coding of the plurality of angular regions in the angular dose image 42, which corresponds to the magnitude of the dose. By configuring as described above, the magnitude of the dose is displayed in the angular dose image 42 in color-coded manner, and the color scale image 43 showing the magnitude of the dose and the corresponding color-coding is also displayed. Therefore, the operator, such as a doctor, can more easily visually recognize the distribution of the magnitude of the dose in the angular dose image 42. Therefore, it is easy to recognize which of the angular regions has a larger dose, making it easier to select the appropriate imaging unit angle.
Further, in this embodiment, the monitor 4 (display unit) is configured to display preset dose thresholds 43a and 43b in the color scale image 43 in an identifiable manner. By configuring as described above, the operator, the preset dose thresholds 43a and 43b are displayed in the color scale image 43. Therefore, the operator, such as a doctor, can easily visually recognize which angular region's dose exceeds the preset dose thresholds 43a and 43b by checking the color-coding in the angular dose image 42. Therefore, by checking the angular dose image 42, the specific magnitude of the dose on the body surface of the subject P can be easily recognized.
Further, in this embodiment, the X-ray imaging system 100 is equipped with the touch panel 5, separately from the monitor 4 (display unit), which displays a plurality of imaging unit angles in a selectable manner and accepts an input operation to change the imaging unit angle. The touch panel 5 is configured to display the angular dose image 42. By configuring as described above, the operator, such as a doctor, can confirm the angular dose image 42 displayed on the touch panel 5 when changing the imaging unit angle by operating the touch panel 5. Therefore, as compared to checking the angular dose image 42 displayed on the monitor 4, which is separate from the touch panel 5, the viewpoint can be moved less, thus reducing the burden on the operator, such as the doctor, when selecting the imaging unit angle.
Further, in this embodiment, it is configured such that the monitor 4 (display unit) displays a three-dimensional image 46 of the subject P that has been acquired in advance and displays the angular region dose in the imaging unit angle corresponding to the display angle of the displayed three-dimensional image 46 in an identifiable manner on the angle indicator 46a. By configuring as described above, the dose in the angular region at the imaging unit angle corresponding to the display angle of the displayed three-dimensional image 46 is displayed on the angle indicator 46a in an identifiable manner. Therefore, the operator, such as a doctor, can more easily select an imaging unit angle with a relatively small dose when selecting an appropriate imaging unit angle while viewing the three-dimensional image 46.
In the dose display method of this embodiment, by configuring as described above, the dose in each of a plurality of imaging angles partitioned for each predetermined angular interval of the imaging unit angle is calculated based on the calculated dose distribution on the surface of the virtual model Pa and the imaging unit angles associated with the surface of the virtual model Pa. The X-ray imaging system 100 displays the angular dose image 42, which is capable of identifying the magnitude of the dose in each of the plurality of angular regions. With this, an operator (surgeon) such as a doctor can easily determine the magnitude of the dose in each of the plurality of angular regions partitioned at each predetermined angular interval of the imaging unit angle by visually confirming the displayed angular dose image 42, which enables the operator to easily determine the imaging unit angle with a relatively small dose. As a result, it is possible to provide a dose display method capable of easily selecting an appropriate imaging unit angle with a relatively low dose in order to suppress the localized increase in dose on the body surface of the subject P.
Note that the embodiments disclosed here should be considered illustrative and not restrictive in all respects. It should be noted that the scope of the invention is indicated by claims and is intended to include all modifications (modified examples) within the meaning and scope of the claims and equivalents.
For example, in the above embodiment, an example is shown in which the imaging unit 2 has a single-plane mechanism with one X-ray irradiation unit 21 and one X-ray detection unit 22, but the present invention is not limited thereto. In the present invention, the imaging unit 2 may be configured to be equipped with a biplane mechanism with two X-ray irradiation units 21 and two X-ray detection units 22. In that case, in the angular dose image 42, two irradiation regions (irradiation region display 42a) are displayed to correspond to the two X-ray irradiation units 21.
Further, in the above-described embodiment, an example is shown in which when the positional relation between the table 1 and the imaging unit 2 is changed, the association of the imaging unit angles on the surface of the virtual model Pa is updated. For example, even in cases where the positional relation between the table 1 and the imaging unit 2 is not changed, the system may be configured to update the association of the imaging unit angles on the surface of the virtual model Pa each time the imaging unit angle is changed.
Further, in the above-described embodiment, an example is shown in which the size of the predetermined angular intervals partitioning the plurality of angular regions is changed based on input operations to the touch panel 5 and the operation unit 6. For example, it may be configured such that the calculated dose distribution on the surface of the virtual model Pa is displayed as it is in the angular dose image 42 in a state of being associated with the imaging unit angle. In other words, in the angular dose image 42, the dose distribution may be displayed smoothly (in more detail) based on the dose calculated for each micro region in the virtual model Pa, without partitioning the angular region in a grid pattern.
Further, in the above-described embodiment, an example is shown in which the angular dose image 42 at each timing in which the X-ray image 41 as a moving image is captured is displayed as the angular dose image 42 at a predetermined timing in the past, but the present invention is not limited thereto. For example, the angular dose image 42 at each predetermined time interval may be displayed on the monitor 4 as the angular dose image 42 at a predetermined timing in the past.
In the above-described embodiment, an example is shown in which an imaging angular dose image 42 that is predicted when X-ray irradiation is continued in the irradiation region at the current imaging unit angle is displayed, but the present invention is not limited thereto. For example, it may be configured to display an imaging angular dose image 42 that is predicted when the imaging unit angle is changed.
Further, in the above-described embodiment, an example is shown in which the irradiation region (the irradiation region display 42a) is also displayed in the angular dose image 42, but the present invention is not limited thereto. For example, the irradiation region may not be displayed on the angular dose image 42. Further, instead of showing the irradiation region so as to enclose the entire angular region including the irradiation region, the irradiation region may be shown by means of a more detailed display range, separate from the partition of each angular region.
Further, in the above-described embodiment, an example is shown in which the maximum value (the maximum value display 44) of the dose in the angular region included in the irradiation region is displayed, but the present invention is not limited thereto. For example, the average value of the dose in the angular region included in the irradiation region may be displayed.
Further, in the above-described embodiment, an example is shown in which the recommended angular regions are color-coded with a predetermined color to indicate the recommended angular regions in the angular dose image 42, but the present invention is not limited thereto. For example, it may be shown to show the recommended angular region in the angular dose image 42 by color-coding to surround the recommended angular region.
Further, in the above-described embodiment, an example is shown in which one angular region including the imaging unit angle for performing the next X-ray irradiation is selected from a plurality of angular regions in the angular dose image 42 displayed on the monitor 4 (display unit), but the present invention is not limited. For example, one angular region may be selected from the plurality of angular regions in the imaging angular dose image 42 displayed on the touch panel 5, including the imaging unit angle at which the next X-ray irradiation is to be performed.
Further, in the above-described embodiment, an example is shown in which the angular dose image 42 and the color scale image 43 are displayed side by side on the monitor 4 (display unit), but the present invention is not limited thereto. For example, the color scale image 43 may be temporarily displayed based on the input operation to the touch panel 5 and the operation unit 6. Similarly, the thresholds 43a and 43b in the color scale image 43 may be temporarily displayed based on input operations.
Further, in the above-described embodiment, an example is shown in which the angular dose image 42 is displayed on the touch panel 5 by switching the display based on an input operation, but the present invention is not limited thereto. For example, it may be configured to display the plurality of imaging unit angle display 5a and the angular dose image 42.
Further, in the above-described embodiment, an example is shown in which the X-ray image 41, the angular dose image 42, and the three-dimensional image 46 are displayed on the monitor 4 (display unit), but the present invention is not limited thereto. For example, the X-ray image 41 may be displayed on a display device provided separately from the monitor 4. Further, the three-dimensional image 46 may be displayed on a display device, separately from the monitor 4.
Further, in the above-described embodiment, an example is shown in which the control device 101 controls X-ray imaging, the dose calculation device 102 that calculates the dose, and the three-dimensional image generation device 103 that generates the three-dimensional image 46 are each provided as separate devices, but the present invention is not limited thereto. For example, any two or more of the control of X-ray imaging, the calculation of the dose, and the generation of the three-dimensional image 46 may be performed by a common processing device.
Further, in the above-described embodiment, an example is shown in which the control processing in the X-ray imaging system 100 is described using a flow-driven flowchart in which processing is performed in sequence according to a processing flow, but the present invention is not limited thereto. In the present invention, the control processing in the X-ray imaging system 100 may be performed by event-driven processing that executes processing on an event-by-event basis. In this case, it may be performed in a completely event-driven manner, or a combination of event-driven and flow-driven.
It would be understood by those skilled in the art that the exemplary embodiments described above are specific examples of the following aspects.
An X-ray imaging system comprising:
The X-ray imaging system according to the above-described Item 1,
The X-ray imaging system according to the above-described Item 1 or 2, further comprising:
The X-ray imaging system according to any one of the above-described Items 1 to 3,
The X-ray imaging system according to any one of the above-described Items 1 to 4,
The X-ray imaging system according to any one of claims 1 to 5,
The X-ray imaging system according to any one of the above-described Items 1 to 6, on unit that calculates an irradiation region which is a region of the surface of the virtual model to be irradiated with X-rays at a current imaging unit angle, and
The X-ray imaging system according to the above-described Item 7,
The X-ray imaging system according to any one of the above-described Items 1 to 8,
The X-ray imaging system according to any one of the above-described Items 1 to 9, further comprising:
The X-ray imaging system according to any one of the above-described Items 1 to 10,
The X-ray imaging system according to the above-described Item 11,
The X-ray imaging system according to any one of the above-described Items 1 to 12, further comprising, in addition to the display unit:
The X-ray imaging system according to any one of the above-described Items 1 to 13,
A dose display method comprising:
| Number | Date | Country | Kind |
|---|---|---|---|
| 2022-015571 | Feb 2022 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2023/002227 | 1/25/2023 | WO |
