WO2014155556A1 - Fluoroscopic device - Google Patents

Fluoroscopic device Download PDF

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Publication number
WO2014155556A1
WO2014155556A1 PCT/JP2013/058953 JP2013058953W WO2014155556A1 WO 2014155556 A1 WO2014155556 A1 WO 2014155556A1 JP 2013058953 W JP2013058953 W JP 2013058953W WO 2014155556 A1 WO2014155556 A1 WO 2014155556A1
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Prior art keywords
marker
ray
template
images
image
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PCT/JP2013/058953
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French (fr)
Japanese (ja)
Inventor
毅 篠川
孝之 佐野
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株式会社島津製作所
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Priority to JP2015507764A priority Critical patent/JP6065103B2/en
Priority to PCT/JP2013/058953 priority patent/WO2014155556A1/en
Priority to TW102146791A priority patent/TWI510221B/en
Publication of WO2014155556A1 publication Critical patent/WO2014155556A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/48—Diagnostic techniques
    • A61B6/486—Diagnostic techniques involving generating temporal series of image data
    • A61B6/487—Diagnostic techniques involving generating temporal series of image data involving fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5258—Devices using data or image processing specially adapted for radiation diagnosis involving detection or reduction of artifacts or noise
    • A61B6/5264—Devices using data or image processing specially adapted for radiation diagnosis involving detection or reduction of artifacts or noise due to motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0492—Positioning of patients; Tiltable beds or the like using markers or indicia for aiding patient positioning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/50—Clinical applications
    • A61B6/503—Clinical applications involving diagnosis of heart
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source

Definitions

  • the present invention relates to an X-ray fluoroscopic apparatus for specifying the position of a marker by taking an image including the marker placed in the body of a subject.
  • a first X-ray fluoroscopic mechanism composed of a first X-ray tube and a first X-ray detector and a second X-ray fluoroscopic mechanism composed of a second X-ray tube and a second X-ray detector are used in the body.
  • the embedded marker is photographed, and three-dimensional position information is obtained using a two-dimensional fluoroscopic image by the first X-ray fluoroscopic mechanism and a two-dimensional fluoroscopic image by the second X-ray fluoroscopic mechanism.
  • X-ray fluoroscopy it is possible to detect the marker of the part with movement with high accuracy by calculating the three-dimensional position information of the marker in real time.
  • By controlling the irradiation of the therapeutic radiation based on this, it becomes possible to execute the radiation irradiation with high accuracy according to the movement of the tumor.
  • template matching using a template image is executed.
  • FIG. 9 is an explanatory diagram showing a conventional template matching operation.
  • a template 71 corresponding to the marker M is prepared.
  • an image 70 of the subject including the marker M is taken.
  • the marker M portion is extracted from the image 70 to obtain a template image 71.
  • template matching is performed using the template image 71 for the region 73 where the marker M exists in the image 72 of the subject photographed at a fixed frame rate, and the position of the marker M is specified.
  • the marker M used in such a radiotherapy apparatus has a spherical shape. That is, when template matching is performed using the template image 71 with respect to the image 72 of the subject imaged at a fixed frame rate, the marker M can be moved from any direction by using the spherical marker M. This is because a circular image can be obtained even if the image is taken, so that only a circular template image needs to be prepared, and template matching can be executed efficiently.
  • the spherical marker M has a problem that it is difficult to be placed in the body of the subject. That is, when the spherical marker M is used, it has a characteristic that it is slippery and not easily caught due to its shape, so that even if it is placed in the body, it easily falls off from the place of placement. For this reason, in anticipation of dropout, a large number of markers M are placed in the body in advance, and the markers M that have not dropped off are used. However, in this case, there is a wasteful cost for placing a large number of markers M, and the treatment time for placement becomes long, which causes a problem of placing a burden on the subject.
  • Patent Document 2 a non-spherical marker such as a coil shape has recently been proposed (see Patent Document 2).
  • template matching is executed using an image including a marker.
  • An object of the present invention is to provide an X-ray fluoroscopy device capable of accurately recognizing a marker and accurately specifying the position of the marker.
  • the X-ray tube and the X-ray detector which detects the X-ray irradiated from the said X-ray tube and passed through the subject are included,
  • the marker indwelled in the said subject's body is included.
  • An X-ray fluoroscopic apparatus that identifies the position of the marker by capturing an image, and a template image storage unit that stores a plurality of images including the marker as template images, and an image captured at regular intervals
  • a template matching unit that specifies the position of the marker in the image photographed every predetermined time; Is provided.
  • the marker has an aspherical shape, and the plurality of template images are created based on images taken while moving the marker.
  • the plurality of template images are created based on images obtained by photographing the marker together with the internal structure of the subject while moving the marker.
  • the internal structure is a bone.
  • the plate matching unit performs the most matching when performing template matching on the images taken at regular intervals using a plurality of template images stored in the template image storage unit. Using the template image having a high degree, the position of the marker in the image photographed every predetermined time is specified.
  • the template image storage unit stores a template image corresponding to a period of one breath or more in the subject.
  • the marker can be accurately recognized by template matching. It becomes possible to pinpoint the position of.
  • this marker can be recognized by template matching.
  • the marker can be recognized by template matching.
  • template matching can be executed more accurately and the position of the marker can be specified accurately.
  • the sixth invention it is possible to accurately identify the movement of the marker accompanying the breathing of the subject.
  • FIG. 1 is a perspective view of a radiotherapy apparatus to which an X-ray fluoroscopic apparatus according to the present invention is applied. It is explanatory drawing which shows rocking
  • FIG. 1 is a perspective view of a radiotherapy apparatus to which an X-ray fluoroscopic apparatus according to the present invention is applied.
  • FIG. 2 is an explanatory diagram showing the swinging operation of the head 55 and the head support portion 54 in the radiotherapy apparatus.
  • This radiotherapy apparatus is for performing radiotherapy by irradiating an affected part of a subject 57 lying on an imaging table 56 with radiation such as X-rays or electron beams, and the floor surface 51 of a treatment room.
  • a gantry 53 installed above, a head support portion 54 that swings about an axis that faces the gantry 53 in the horizontal direction, and a head support portion 54 that is supported by the head support portion 54 and emits radiation toward the subject 57.
  • a head 55 for irradiation The head 55 can irradiate the affected part of the subject 57 with radiation from various angles by the swinging motion of the head support part 54.
  • the two-dimensional fluoroscopy obtained by the first X-ray fluoroscopy mechanism and the second X-ray fluoroscopy mechanism is obtained by continuously fluoroscopying the marker embedded in the body using the first X-ray fluoroscopy mechanism and the second X-ray fluoroscopy mechanism.
  • the marker is detected with high accuracy by calculating the three-dimensional position information of the marker from the image.
  • An X-ray fluoroscopic apparatus for performing such fluoroscopy includes a first X-ray fluoroscopic mechanism including a first X-ray tube 1a and a first X-ray detector 2a, a second X-ray tube 1b, and a second X-ray.
  • the second X-ray fluoroscopic mechanism comprising the detector 2b, and the first X-ray tube 1a and the first X-ray detector 2a are moved to a first fluoroscopic position and a second fluoroscopic position, which will be described later, arranged opposite to each other, And a moving mechanism for moving the second X-ray tube 1b and the second X-ray detector 2b to a first fluoroscopic position and a second fluoroscopic position that are arranged to face each other.
  • an image intensifier (II) or a flat panel detector (FPD) is used as the first and second X-ray detectors 2a and 2b.
  • the first X-ray tube 1a is supported by the first pedestal 3a for the X-ray tube.
  • the second X-ray tube 1b is supported by the second pedestal 3b for X-ray tubes.
  • a first rail 21 for a substantially U-shaped X-ray tube in which two linear portions are connected by a connecting portion including an arc portion, and for this X-ray tube Similar to the first rail 21, a substantially U-shaped second rail 22 for an X-ray tube is provided in which two straight portions are connected by a connecting portion including an arc portion.
  • the first rail 21 for X-ray tube and the second rail 22 for X-ray tube are arranged in parallel to each other.
  • the X-ray tube first pedestal 3a and the X-ray tube second pedestal 3b are guided by the first and second rails 21 and 22 for the X-ray tube, and will be described later in a first see-through position and a second see-through position. Move to.
  • first X-ray detector 2a is supported by the first pedestal 4a for X-ray detectors.
  • the second X-ray detector 2b is supported by the second pedestal 4b for X-ray detectors.
  • a first rail 11 for a substantially U-shaped X-ray detector in which two linear portions are connected by a connecting portion including an arc portion, and two similar to the first rail 11 for the X-ray detector.
  • the first rail 11 for the X-ray detector and the second rail 12 for the X-ray detector are arranged in parallel to each other.
  • first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors are guided by the first and second rails 11 and 12 for these X-ray detectors, and the first fluoroscopic position and the first to be described later. 2 Move to the fluoroscopic position.
  • the first X-ray tube 1 a, the second X-ray tube 1 b, the first X-ray detector 2 a, and the second X-ray detector 2 b are disposed at the first fluoroscopic position and the second fluoroscopic position, respectively. It is explanatory drawing which shows the state made.
  • This X-ray fluoroscopic apparatus has a configuration in which the subject 57 is seen through from two different directions at three preset positions.
  • FIG. 3 shows a state in which the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b see through the subject 57 from two different directions at the first position.
  • FIG. 4 shows that the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b move the subject 57 from two different directions in the second position.
  • FIG. 5 shows a state of seeing through, and FIG.
  • FIG. 5 shows that the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b are different from each other in the subject 57 at the third position. The state seen through from two directions is shown.
  • the X-ray fluoroscopic apparatus has a configuration in which the subject 57 is seen through from two different directions at three positions, and therefore, as shown in FIG. Even when the person 57 is irradiated with radiation from various angles, X-ray fluoroscopy can be performed without hindering the movement of the head 55.
  • the first X-ray tube 1a and the second X-ray tube 1b, and the first X-ray detector 2a and the second X-ray detector 2b It will be arranged at one of the two perspective positions.
  • the first X-ray tube 1a is at the first fluoroscopic position
  • the second X-ray tube 1b is at the first fluoroscopic position
  • the first X-ray detector 2a is at the first fluoroscopic position.
  • the second X-ray detectors 2b are respectively disposed at the first fluoroscopic positions.
  • the first X-ray tube 1a is in the second fluoroscopic position
  • the second X-ray tube 1b is in the first fluoroscopic position
  • the first X-ray detector 2a is in the second fluoroscopic position
  • the line detectors 2b are respectively arranged at the first see-through positions.
  • the first X-ray tube 1a is in the second fluoroscopic position
  • the second X-ray tube 1b is in the second fluoroscopic position
  • the first X-ray detector 2a is in the second fluoroscopic position
  • the line detectors 2b are respectively arranged at the second see-through positions.
  • the first X-ray tube 1a is moved by the X-ray tube first pedestal 3a and the X-ray tube second pedestal 3b moving along the moving path 20 constituted by the first and second rails 21 and 22 for the X-ray tube.
  • the 2nd X-ray tube 1b is each arrange
  • FIG. 6 is a block diagram showing the main control system of the X-ray fluoroscopic apparatus according to the present invention.
  • This X-ray fluoroscopic apparatus has a control unit 61 that controls the entire apparatus. As will be described later, the control unit 61 performs image matching at regular intervals by performing template matching on the image of the subject 57 photographed at regular intervals using a plurality of template images. A template matching unit 62 that specifies the position of the marker in the image of the subject 57 in real time is provided.
  • the control unit 61 is connected to a display unit 65 including a liquid crystal display panel for displaying a fluoroscopic image.
  • the control unit 61 is also connected to the storage unit 63.
  • the storage unit 63 includes a template image storage unit 64 that stores a plurality of template images.
  • the controller 61 is connected to the above-described first X-ray tube 1a, second X-ray tube 1b, first X-ray detector 2a, and second X-ray detector 2b.
  • the controller 61 is not shown for driving the first X-ray tube pedestal 3a, the second X-ray tube pedestal 3b, the first X-ray detector pedestal 4a, and the second X-ray detector pedestal 4b. It is connected to the drive unit. Further, the control unit 61 is also connected to the radiotherapy apparatus shown in FIG.
  • FIG. 7 is an explanatory view showing a template matching operation according to the first embodiment by the X-ray fluoroscopic apparatus of the present invention.
  • a non-spherical marker M is used as the marker M.
  • a template corresponding to the marker M is created.
  • the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b are arranged at any of the positions shown in FIGS.
  • Images 80 a, 80 b, 80 c... 80 n including the marker M are taken by continuously taking images of the subject 57.
  • images 80a, 80b, 80c... 80n including the marker M are obtained by performing imaging at a frame rate of about 30 fps (Frames Per Second), for example, for a period of one breath or more in the subject 57. .
  • the marker M part is extracted from the images 80a, 80b, 80c... 80n including these markers M, and template images 81a, 81b, 81c.
  • an image in which the marker M is moving is taken. For this reason, the captured image of the marker M is sequentially deformed as shown in FIG.
  • the images 80a, 80b, 80c... 80n including the marker M every several frames.
  • template images 81a, 81b, 81c,... 81n may be created from images 80a, 80b, 80c,.
  • the template images 81a, 81b, 81c... 81n are stored in the template image storage unit 64 shown in FIG.
  • treatment for the subject 57 is started.
  • the position of the marker M is detected by the X-ray fluoroscopic apparatus according to the present invention, and the position of the radiation irradiated to the affected part of the subject 57 is adjusted based on the position of the marker M.
  • the region including the marker M is seen through at a frame rate of about 30 fps.
  • Template matching is performed using 81n. That is, all of the plurality of template images 81a, 81b, 81c,... 81n are sequentially matched to the region 83 including the marker M in the image 82 photographed at regular intervals.
  • any one of the plurality of template images 81a, 81b, 81c,... 81n exceeds a preset threshold for matching, it is determined that matching is successful. If some of the template images 81a, 81b, 81c,... 81n exceed the threshold value, the template image with the highest matching degree is selected as the template image that has been matched. recognize. On the other hand, if there is no template image exceeding the threshold, it is determined that matching has failed.
  • pattern matching is performed using the plurality of template images 81a, 81b, 81c,. Therefore, even when the shape of the marker M seen through the body movement of the subject 57 is changed by using the non-spherical marker M, the marker M is accurately recognized by template matching. It becomes possible to do. For this reason, it becomes possible to pinpoint the position of the marker M correctly.
  • the template image corresponding to the period of one breath or more in the subject 57 since the template image corresponding to the period of one breath or more in the subject 57 is used, the movement of the marker M accompanying the breathing of the subject 57 can be accurately specified. Then, when some template images exceed the threshold, the template image having the highest matching degree among them is used to identify the position of the marker M, so that template matching is executed more accurately. And the position of the marker M can be specified more accurately.
  • FIG. 8 is an explanatory diagram showing a template matching operation according to the second embodiment by the X-ray fluoroscopic apparatus of the present invention.
  • a spherical marker is used as the marker M.
  • a non-spherical marker M may be used.
  • the marker M and the bone part B which is a body structure in the subject 57, are simultaneously photographed.
  • the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X are located at any of the positions shown in FIGS.
  • images 90a, 90b, 90c... 90n including the marker M are captured. Also at this time, images 90a, 90b, 90c...
  • 90n including the marker M and the bone B are obtained by performing imaging at a frame rate of about 30 fps for a period of one breath or more in the subject 57. Get. And the marker M part is extracted from the images 90a, 90b, 90c... 90n including these markers M and the bones B to obtain template images 91a, 91b, 91c. At this time, as the subject 57 breathes, an image in which the marker M is moving is taken. For this reason, in the image
  • the marker M is included every several frames if the degree of deformation of the region occupied by the bone B is small between adjacent frames.
  • the images 90a, 90b, 90c,... 90n are acquired, and template images 91a, 91b, 91c,... 91n may be created from the images 90a, 90b, 90c,. .
  • the template images 91a, 91b, 91c... 91n are stored in the template image storage unit 64 shown in FIG.
  • treatment for the subject 57 is started.
  • the position of the marker M is detected by the X-ray fluoroscopic apparatus according to the present invention, and the position of the radiation irradiated to the affected part of the subject 57 is adjusted based on the position of the marker M.
  • the region including the marker M is seen through at a frame rate of about 30 fps.
  • Template matching is performed using 91n. That is, all of the plurality of template images 91a, 91b, 91c,... 91n are sequentially matched with the region 93 including the marker M in the image 92 photographed at regular intervals.
  • any one of the plurality of template images 91a, 91b, 91c... 91n exceeds a preset threshold for matching, it is determined that matching is successful. If some of the template images 91a, 91b, 91c,... 91n exceed a threshold value, the template image having the highest matching degree is selected as the template image that has been matched. recognize. On the other hand, if there is no template image exceeding the threshold, it is determined that matching has failed.
  • a plurality of template images 91a, 91b, 91c a plurality of template images 91a, 91b, 91c. Since the pattern matching is executed, the proportion of the bone part B in the template image changes with the body movement of the subject 57, and the shape of the contrast of the region including the fluoroscopic marker M changes. The marker M can be accurately recognized by template matching. For this reason, it becomes possible to pinpoint the position of the marker M correctly.
  • the case where the bone part B is photographed with the marker M has been described.
  • other internal structures such as the diaphragm may be photographed together with the marker M.

Abstract

After photographing images (80a, 80b, 80c…80n) that include a marker (M), the portions of the marker (M) are extracted to obtain template images (81a, 81b, 81c…81n). When starting treatment on a subject (57), fluoroscopy is carried out on a region that includes the marker (M). Template matching is then performed using the multiple template images (81a, 81b, 81c…81n) on the region (83) that includes the marker (M) in an image (82) which is photographed at regular intervals. That is, all of the multiple template images (81a, 81b, 81c…81n) are sequentially matched against the region (83) that includes the marker (M) in the image (82) which is photographed at regular intervals.

Description

Ｘ線透視装置X-ray fluoroscope
　この発明は、被検者の体内に留置されたマーカを含む画像を撮影することによりマーカの位置を特定するためのＸ線透視装置に関する。 The present invention relates to an X-ray fluoroscopic apparatus for specifying the position of a marker by taking an image including the marker placed in the body of a subject.
　癌などの患部に対してＸ線や電子線等の放射線を照射する放射線治療においては、放射線を患部に正確に照射する必要がある。しかしながら、被検者が体を動かしてしまう場合があるばかりではなく、患部自体に動きが生ずる場合がある。例えば、肺の近くの腫瘍は呼吸に基づき大きく移動する。このため、腫瘍のそばに金製のマーカを配置し、このマーカの位置をＸ線透視装置により検出して、治療放射線の照射を制御する構成を有する放射線治療装置が提案されている（特許文献１参照）。 In radiation therapy in which radiation such as X-rays or electron beams is applied to an affected area such as cancer, it is necessary to accurately irradiate the affected area with radiation. However, not only the subject may move the body, but the affected part itself may move. For example, a tumor near the lung moves greatly based on respiration. For this reason, a radiotherapy apparatus having a configuration in which a gold marker is arranged near a tumor, the position of the marker is detected by an X-ray fluoroscope, and irradiation of therapeutic radiation is controlled (Patent Document). 1).
　この放射線治療装置においては、第１Ｘ線管と第１Ｘ線検出器から成る第１Ｘ線透視機構と、第２Ｘ線管と第２Ｘ線検出器から成る第２Ｘ線透視機構とを使用して体内に埋め込まれたマーカを撮影し、第１Ｘ線透視機構による二次元の透視画像と第２Ｘ線透視機構による二次元の透視画像を利用して三次元の位置情報を得る。そして、連続してＸ線透視を行うことによって、リアルタイムでマーカの三次元の位置情報を演算することで、移動を伴う部位のマーカを高精度で検出することができ、このマーカの位置情報に基づいて治療放射線の照射を制御することで、腫瘍の動きに応じた高精度の放射線照射を実行することが可能となる。このマーカの位置情報を得るときには、テンプレート画像を利用したテンプレートマッチングが実行される。 In this radiotherapy apparatus, a first X-ray fluoroscopic mechanism composed of a first X-ray tube and a first X-ray detector and a second X-ray fluoroscopic mechanism composed of a second X-ray tube and a second X-ray detector are used in the body. The embedded marker is photographed, and three-dimensional position information is obtained using a two-dimensional fluoroscopic image by the first X-ray fluoroscopic mechanism and a two-dimensional fluoroscopic image by the second X-ray fluoroscopic mechanism. And by performing X-ray fluoroscopy continuously, it is possible to detect the marker of the part with movement with high accuracy by calculating the three-dimensional position information of the marker in real time. By controlling the irradiation of the therapeutic radiation based on this, it becomes possible to execute the radiation irradiation with high accuracy according to the movement of the tumor. When obtaining the position information of this marker, template matching using a template image is executed.
　図９は、従来のテンプレートマッチング動作を示す説明図である。 FIG. 9 is an explanatory diagram showing a conventional template matching operation.
　テンプレートマッチングのためには、最初に、マーカＭに対応するテンプレート７１を準備する。この場合においては、マーカＭを含む被検者の画像７０を撮影する。そして、この画像７０からマーカＭ部分を抽出して、テンプレート画像７１を得る。透視時においては、一定のフレームレートで撮影した被検者の画像７２におけるマーカＭが存在する領域７３に対して、テンプレート画像７１を利用してテンプレートマッチングを行い、マーカＭの位置を特定する。 For template matching, first, a template 71 corresponding to the marker M is prepared. In this case, an image 70 of the subject including the marker M is taken. Then, the marker M portion is extracted from the image 70 to obtain a template image 71. At the time of fluoroscopy, template matching is performed using the template image 71 for the region 73 where the marker M exists in the image 72 of the subject photographed at a fixed frame rate, and the position of the marker M is specified.
　このような放射線治療装置において使用されるマーカＭは、従来、その形状が球状のものが使用されている。すなわち、一定のフレームレートで撮影された被検者の画像７２に対して、テンプレート画像７１を利用してテンプレートマッチングを実行するときには、球状のマーカＭを使用することにより、マーカＭをどの方向から撮影しても円形の画像となることから、テンプレート画像として円形のものだけを準備すればよく、テンプレートマッチングを効率的に実行することができるためである。 Conventionally, the marker M used in such a radiotherapy apparatus has a spherical shape. That is, when template matching is performed using the template image 71 with respect to the image 72 of the subject imaged at a fixed frame rate, the marker M can be moved from any direction by using the spherical marker M. This is because a circular image can be obtained even if the image is taken, so that only a circular template image needs to be prepared, and template matching can be executed efficiently.
　一方、球状のマーカＭは、被検者の体内に留置しにくいという問題がある。すなわち、球状のマーカＭを使用した場合においては、その形状から、内蔵に対して滑りやすく引っ掛かりにくい特性を有することから、一旦、体内に留置しても留置箇所から脱落しやすい。このため、脱落が生じることを予想して、予め多数個のマーカＭを体内に留置し、脱落しなかったマーカＭを利用することも行われている。しかしながら、この場合には、多数のマーカＭを留置するために無駄な費用が発生し、また、留置のための施術時間が長くなることから、被検者に負担をかけるという問題も生ずる。 On the other hand, the spherical marker M has a problem that it is difficult to be placed in the body of the subject. That is, when the spherical marker M is used, it has a characteristic that it is slippery and not easily caught due to its shape, so that even if it is placed in the body, it easily falls off from the place of placement. For this reason, in anticipation of dropout, a large number of markers M are placed in the body in advance, and the markers M that have not dropped off are used. However, in this case, there is a wasteful cost for placing a large number of markers M, and the treatment time for placement becomes long, which causes a problem of placing a burden on the subject.
　このため、近年、コイル状など、非球形のマーカも提案されている（特許文献２参照）。この特許文献２に記載の装置においては、マーカを含む画像を利用してテンプレートマッチングを実行している。 For this reason, a non-spherical marker such as a coil shape has recently been proposed (see Patent Document 2). In the apparatus described in Patent Document 2, template matching is executed using an image including a marker.
特許第３０５３３８９号公報Japanese Patent No. 3053389 特開２０１１－２３４９３２号公報JP 2011-234932 A
　特許文献２に記載されたように、例えば、コイル状のマーカを使用した場合には、このマーカを被検者の体内に安定して留置することが可能となる。しかしながら、コイル状等の非球形のマーカを使用した場合には、マーカの撮影角度により認識される形状が異なることから、マーカを撮影した画像を利用してテンプレートを作成しても、これをテンプレートマッチングに利用できないという問題が生ずる。このため、特許文献２に記載されたマーカは、撮影位置の位置決め目的には使用可能であるが、リアルタイムでマーカの三次元の位置情報を得ることは困難であるという問題がある。 As described in Patent Document 2, for example, when a coiled marker is used, the marker can be stably placed in the body of the subject. However, when a non-spherical marker such as a coil is used, the recognized shape differs depending on the imaging angle of the marker. The problem arises that it cannot be used for matching. For this reason, although the marker described in Patent Document 2 can be used for the purpose of positioning the photographing position, there is a problem that it is difficult to obtain three-dimensional position information of the marker in real time.
　また、上述した問題点とは別に、球形のマーカあるいは非球形のマーカのいずれを使用する場合であっても、マーカを含む画像を利用してテンプレート画像を作成する場合においては、被検者の体内構造物である骨部がマーカとともに撮影されたときに、テンプレートマッチングが正確に実行し得ないという問題が生ずる。すなわち、マーカとともに骨部が撮影された場合には、連続して撮影される画像毎にマーカのコントラスト等が異なることになり、単一のマーカを使用してテンプレートマッチングを実行しても、マッチングが行えない場合が生ずる。 In addition to the above-described problems, even when using either a spherical marker or a non-spherical marker, when creating a template image using an image including a marker, the subject's There is a problem that template matching cannot be performed accurately when a bone part, which is an internal structure, is photographed together with a marker. That is, when a bone is photographed together with a marker, the contrast of the marker is different for each continuously photographed image, and even if template matching is performed using a single marker, matching is performed. There is a case that cannot be performed.
　この発明は上記課題を解決するためになされたものであり、非球形のマーカを使用した場合や、マーカが骨部等の体内構造物と一緒に撮影される場合であっても、テンプレートマッチングによりマーカを適確に認識することができ、マーカの位置を正確に特定することが可能なＸ線透視装置を提供することを目的とする。 The present invention has been made to solve the above-described problems. Even when a non-spherical marker is used or when the marker is photographed together with an internal structure such as a bone, the template matching is used. An object of the present invention is to provide an X-ray fluoroscopy device capable of accurately recognizing a marker and accurately specifying the position of the marker.
　第１の発明では、Ｘ線管と、前記Ｘ線管から照射され被検者を通過したＸ線を検出するＸ線検出器とを備え、前記被検者の体内に留置されたマーカを含む画像を撮影することにより、前記マーカの位置を特定するＸ線透視装置であって、前記マーカを含む画像を、テンプレート画像として、複数記憶するテンプレート画像記憶部と、一定時間毎に撮影される画像に対して、前記テンプレート画像記憶部に記憶された複数のテンプレート画像を利用してテンプレートマッチングを行うことにより、前記一定時間毎に撮影される画像における前記マーカの位置を特定するテンプレートマッチング部と、を備える。 In 1st invention, the X-ray tube and the X-ray detector which detects the X-ray irradiated from the said X-ray tube and passed through the subject are included, The marker indwelled in the said subject's body is included. An X-ray fluoroscopic apparatus that identifies the position of the marker by capturing an image, and a template image storage unit that stores a plurality of images including the marker as template images, and an image captured at regular intervals On the other hand, by performing template matching using a plurality of template images stored in the template image storage unit, a template matching unit that specifies the position of the marker in the image photographed every predetermined time; Is provided.
　第２の発明では、前記マーカは非球形の形状を有し、前記複数のテンプレート画像は、前記マーカを移動させながら撮影した画像に基づいて作成される。 In the second invention, the marker has an aspherical shape, and the plurality of template images are created based on images taken while moving the marker.
　第３の発明では、前記複数のテンプレート画像は、前記マーカを移動させながら、前記マーカを前記被検者における体内構造物とともに撮影した画像に基づいて作成される。 In the third invention, the plurality of template images are created based on images obtained by photographing the marker together with the internal structure of the subject while moving the marker.
　第４の発明では、前記体内構造物は骨部である。 In the fourth invention, the internal structure is a bone.
　第５の発明では、前記プレートマッチング部は、前記一定時間毎に撮影される画像に対して前記テンプレート画像記憶部に記憶された複数のテンプレート画像を利用してテンプレートマッチングを行うときに、最もマッチング度が高いテンプレート画像を利用して、前記一定時間毎に撮影される画像における前記マーカの位置を特定する。 In a fifth aspect of the invention, the plate matching unit performs the most matching when performing template matching on the images taken at regular intervals using a plurality of template images stored in the template image storage unit. Using the template image having a high degree, the position of the marker in the image photographed every predetermined time is specified.
　第６の発明では、前記テンプレート画像記憶部は、前記被検者における１呼吸分以上の期間に対応するテンプレート画像を記憶する。 In the sixth invention, the template image storage unit stores a template image corresponding to a period of one breath or more in the subject.
　第１の発明によれば、非球形のマーカを使用した場合や、マーカが体内構造物と一緒に撮影される場合であっても、テンプレートマッチングによりマーカを適確に認識することができ、マーカの位置を正確に特定することが可能となる。 According to the first invention, even when a non-spherical marker is used or when the marker is photographed together with the internal structure, the marker can be accurately recognized by template matching. It becomes possible to pinpoint the position of.
　第２の発明によれば、非球形のマーカに対する撮影角度位置が変化した場合においても、このマーカをテンプレートマッチングにより認識することが可能となる。 According to the second invention, even when the photographing angle position with respect to the non-spherical marker changes, this marker can be recognized by template matching.
　第３、第４の発明によれば、マーカと体内構造物とが同時に撮影される場合においても、このマーカをテンプレートマッチングにより認識することが可能となる。 According to the third and fourth inventions, even when the marker and the in-vivo structure are photographed at the same time, the marker can be recognized by template matching.
　第５の発明によれば、最もマッチング度が高いテンプレート画像を利用することにより、テンプレートマッチングをより正確に実行することができ、マーカの位置を正確に特定することが可能となる。 According to the fifth aspect, by using the template image with the highest matching degree, template matching can be executed more accurately and the position of the marker can be specified accurately.
　第６の発明によれば、被検者の呼吸に伴うマーカの移動を正確に特定することが可能となる。 According to the sixth invention, it is possible to accurately identify the movement of the marker accompanying the breathing of the subject.
この発明に係るＸ線透視装置を適用した放射線治療装置の斜視図である。1 is a perspective view of a radiotherapy apparatus to which an X-ray fluoroscopic apparatus according to the present invention is applied. 放射線治療装置におけるヘッド５５およびヘッド支持部５４の揺動動作を示す説明図である。It is explanatory drawing which shows rocking | fluctuation operation | movement of the head 55 and the head support part 54 in a radiotherapy apparatus. 第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂが、各々、第１透視位置に配置された状態を示す説明図である。It is explanatory drawing which shows the state by which the 1st X-ray tube 1a, the 2nd X-ray tube 1b, the 1st X-ray detector 2a, and the 2nd X-ray detector 2b were each arrange | positioned in the 1st see-through position. 第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂが、各々、第１透視位置および第２透視位置に配置された状態を示す説明図である。It is explanatory drawing which shows the state by which the 1st X-ray tube 1a, the 2nd X-ray tube 1b, the 1st X-ray detector 2a, and the 2nd X-ray detector 2b are each arrange | positioned in the 1st see-through position and the 2nd see-through position. 第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂが、各々、第２透視位置に配置された状態を示す説明図である。It is explanatory drawing which shows the state by which the 1st X-ray tube 1a, the 2nd X-ray tube 1b, the 1st X-ray detector 2a, and the 2nd X-ray detector 2b were each arrange | positioned in the 2nd fluoroscopic position. この発明に係るＸ線透視装置の主要な制御系を示すブロック図である。It is a block diagram which shows the main control systems of the X-ray fluoroscopic apparatus which concerns on this invention. この発明のＸ線透視装置による第１実施形態に係るテンプレートマッチング動作を示す説明図である。It is explanatory drawing which shows the template matching operation | movement which concerns on 1st Embodiment by the X-ray fluoroscope of this invention. この発明のＸ線透視装置による第２実施形態に係るテンプレートマッチング動作を示す説明図である。It is explanatory drawing which shows the template matching operation | movement which concerns on 2nd Embodiment by the X-ray fluoroscope of this invention. 従来のテンプレートマッチング動作を示す説明図である。It is explanatory drawing which shows the conventional template matching operation | movement.
　以下、この発明の実施の形態を図面に基づいて説明する。図１は、この発明に係るＸ線透視装置を適用した放射線治療装置の斜視図である。また、図２は、放射線治療装置におけるヘッド５５およびヘッド支持部５４の揺動動作を示す説明図である。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of a radiotherapy apparatus to which an X-ray fluoroscopic apparatus according to the present invention is applied. FIG. 2 is an explanatory diagram showing the swinging operation of the head 55 and the head support portion 54 in the radiotherapy apparatus.
　この放射線治療装置は、撮影台５６上で横たわった被検者５７の患部に対してＸ線や電子線等の放射線を照射して放射線治療を行うためのものであり、治療室の床面５１上に設置されたガントリー５３と、このガントリー５３に対して水平方向を向く軸を中心として揺動するヘッド支持部５４と、このヘッド支持部５４に支持され、被検者５７に向けて放射線を照射するためのヘッド５５とを備える。ヘッド支持部５４の揺動動作により、ヘッド５５は、被検者５７の患部に対して、様々な角度から放射線を照射することが可能となる。 This radiotherapy apparatus is for performing radiotherapy by irradiating an affected part of a subject 57 lying on an imaging table 56 with radiation such as X-rays or electron beams, and the floor surface 51 of a treatment room. A gantry 53 installed above, a head support portion 54 that swings about an axis that faces the gantry 53 in the horizontal direction, and a head support portion 54 that is supported by the head support portion 54 and emits radiation toward the subject 57. And a head 55 for irradiation. The head 55 can irradiate the affected part of the subject 57 with radiation from various angles by the swinging motion of the head support part 54.
　放射線治療時においては、放射線を患部に正確に照射する必要がある。このため、患部付近には、マーカが設置される。そして、第１Ｘ線透視機構と第２Ｘ線透視機構とを使用して体内に埋め込まれたマーカを連続的に透視して、第１Ｘ線透視機構と第２Ｘ線透視機構により得た二次元の透視画像からマーカの三次元の位置情報を演算することで、マーカを高精度で検出する構成となっている。 During radiation therapy, it is necessary to accurately irradiate the affected area with radiation. For this reason, a marker is installed near the affected area. Then, the two-dimensional fluoroscopy obtained by the first X-ray fluoroscopy mechanism and the second X-ray fluoroscopy mechanism is obtained by continuously fluoroscopying the marker embedded in the body using the first X-ray fluoroscopy mechanism and the second X-ray fluoroscopy mechanism. The marker is detected with high accuracy by calculating the three-dimensional position information of the marker from the image.
　このような透視を実行するためのこの発明に係るＸ線透視装置は、第１Ｘ線管１ａと第１Ｘ線検出器２ａとから成る第１Ｘ線透視機構と、第２Ｘ線管１ｂと第２Ｘ線検出器２ｂとから成る第２Ｘ線透視機構と、これらの第１Ｘ線管１ａと第１Ｘ線検出器２ａとを互いに対向配置される後述する第１透視位置および第２透視位置に移動させるとともに、第２Ｘ線管１ｂと第２Ｘ線検出器２ｂとを互いに対向配置される第１透視位置および第２透視位置に移動させる移動機構とを備える。なお、第１、第２Ｘ線検出器２ａ、２ｂとしては、例えば、イメージインテンシファイア（Ｉ．Ｉ．）やフラットパネルディテクタ（ＦＰＤ）が使用される。 An X-ray fluoroscopic apparatus according to the present invention for performing such fluoroscopy includes a first X-ray fluoroscopic mechanism including a first X-ray tube 1a and a first X-ray detector 2a, a second X-ray tube 1b, and a second X-ray. The second X-ray fluoroscopic mechanism comprising the detector 2b, and the first X-ray tube 1a and the first X-ray detector 2a are moved to a first fluoroscopic position and a second fluoroscopic position, which will be described later, arranged opposite to each other, And a moving mechanism for moving the second X-ray tube 1b and the second X-ray detector 2b to a first fluoroscopic position and a second fluoroscopic position that are arranged to face each other. As the first and second X-ray detectors 2a and 2b, for example, an image intensifier (II) or a flat panel detector (FPD) is used.
　第１Ｘ線管１ａは、Ｘ線管用第１台座３ａに支持されている。また、第２Ｘ線管１ｂは、Ｘ線管用第２台座３ｂに支持されている。撮影室の床面５１に形成された凹部の底面５２には、二つの直線部を円弧部を含む連結部により接続した略Ｕ字状のＸ線管用の第１レール２１と、このＸ線管用の第１レール２１と同様二つの直線部を円弧部を含む連結部により接続した略Ｕ字状のＸ線管用の第２レール２２とが配設されている。これらのＸ線管用の第１レール２１およびＸ線管用の第２レール２２は、互いに平行に配置されている。そして、Ｘ線管用第１台座３ａおよびＸ線管用第２台座３ｂは、これらのＸ線管用の第１、第２レール２１、２２により案内されて、後述する第１透視位置および第２透視位置に移動する。 The first X-ray tube 1a is supported by the first pedestal 3a for the X-ray tube. The second X-ray tube 1b is supported by the second pedestal 3b for X-ray tubes. On the bottom surface 52 of the recess formed in the floor surface 51 of the radiographing room, a first rail 21 for a substantially U-shaped X-ray tube in which two linear portions are connected by a connecting portion including an arc portion, and for this X-ray tube Similar to the first rail 21, a substantially U-shaped second rail 22 for an X-ray tube is provided in which two straight portions are connected by a connecting portion including an arc portion. The first rail 21 for X-ray tube and the second rail 22 for X-ray tube are arranged in parallel to each other. The X-ray tube first pedestal 3a and the X-ray tube second pedestal 3b are guided by the first and second rails 21 and 22 for the X-ray tube, and will be described later in a first see-through position and a second see-through position. Move to.
　同様に、第１Ｘ線検出器２ａは、Ｘ線検出器用第１台座４ａに支持されている。また、第２Ｘ線検出器２ｂは、Ｘ線検出器用第２台座４ｂに支持されている。撮影室の天井からは、二つの直線部を円弧部を含む連結部により接続した略Ｕ字状のＸ線検出器用の第１レール１１と、このＸ線検出器用の第１レール１１と同様二つの直線部を円弧部を含む連結部により接続した略Ｕ字状のＸ線検出器用の第２レール１２とが吊下されている。これらのＸ線検出器用の第１レール１１およびＸ線検出器用の第２レール１２は、互いに平行に配置されている。そして、Ｘ線検出器用第１台座４ａおよびＸ線検出器用第２台座４ｂは、これらのＸ線検出器用の第１、第２レール１１、１２により案内されて、後述する第１透視位置および第２透視位置に移動する。 Similarly, the first X-ray detector 2a is supported by the first pedestal 4a for X-ray detectors. The second X-ray detector 2b is supported by the second pedestal 4b for X-ray detectors. From the ceiling of the radiographing room, a first rail 11 for a substantially U-shaped X-ray detector in which two linear portions are connected by a connecting portion including an arc portion, and two similar to the first rail 11 for the X-ray detector. A substantially U-shaped second rail 12 for an X-ray detector, in which two straight portions are connected by a connecting portion including an arc portion, is suspended. The first rail 11 for the X-ray detector and the second rail 12 for the X-ray detector are arranged in parallel to each other. Then, the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors are guided by the first and second rails 11 and 12 for these X-ray detectors, and the first fluoroscopic position and the first to be described later. 2 Move to the fluoroscopic position.
　図３、図４および図５は、第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂが、各々、第１透視位置および第２透視位置に配置された状態を示す説明図である。 3, 4, and 5, the first X-ray tube 1 a, the second X-ray tube 1 b, the first X-ray detector 2 a, and the second X-ray detector 2 b are disposed at the first fluoroscopic position and the second fluoroscopic position, respectively. It is explanatory drawing which shows the state made.
　このＸ線透視装置は、予め設定された三つのポジションにおいて、被検者５７を互いに異なる二方向から透視する構成を有する。図３は、第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂが、第１のポジションにおいて、被検者５７を互いに異なる二方向から透視する状態を示し、図４は、第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂが、第２のポジションにおいて、被検者５７を互いに異なる二方向から透視する状態を示し、図５は、第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂが、第３のポジションにおいて、被検者５７を互いに異なる二方向から透視する状態を示している。 This X-ray fluoroscopic apparatus has a configuration in which the subject 57 is seen through from two different directions at three preset positions. FIG. 3 shows a state in which the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b see through the subject 57 from two different directions at the first position. FIG. 4 shows that the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b move the subject 57 from two different directions in the second position. FIG. 5 shows a state of seeing through, and FIG. 5 shows that the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b are different from each other in the subject 57 at the third position. The state seen through from two directions is shown.
　このように、このＸ線透視装置は、三つのポジションにおいて被検者５７を互いに異なる二方向から透視する構成であることから、図２に示すように、放射線治療装置におけるヘッド５５が、被検者５７に対して様々な角度から放射線を照射する場合においても、ヘッド５５の移動に支障を来すことなくＸ線透視を実行することが可能となる。そして、このような三つのポジションにおいては、第１Ｘ線管１ａと第２Ｘ線管１ｂ、また、第１Ｘ線検出器２ａおよび第２Ｘ線検出器２ｂは、予め設定された第１透視位置または第２透視位置のいずれかの一方の位置に配置されることになる。 As described above, the X-ray fluoroscopic apparatus has a configuration in which the subject 57 is seen through from two different directions at three positions, and therefore, as shown in FIG. Even when the person 57 is irradiated with radiation from various angles, X-ray fluoroscopy can be performed without hindering the movement of the head 55. At these three positions, the first X-ray tube 1a and the second X-ray tube 1b, and the first X-ray detector 2a and the second X-ray detector 2b It will be arranged at one of the two perspective positions.
　なお、図３に示す第１のポジションにおいては、第１Ｘ線管１ａは第１透視位置に、第２Ｘ線管１ｂは第１透視位置に、第１Ｘ線検出器２ａは第１透視位置に、第２Ｘ線検出器２ｂは第１透視位置に、各々、配置される。図４に示す第２のポジションにおいては、第１Ｘ線管１ａは第２透視位置に、第２Ｘ線管１ｂは第１透視位置に、第１Ｘ線検出器２ａは第２透視位置に、第２Ｘ線検出器２ｂは第１透視位置に、各々、配置される。図５に示す第３のポジションにおいては、第１Ｘ線管１ａは第２透視位置に、第２Ｘ線管１ｂは第２透視位置に、第１Ｘ線検出器２ａは第２透視位置に、第２Ｘ線検出器２ｂは第２透視位置に、各々、配置される。 In the first position shown in FIG. 3, the first X-ray tube 1a is at the first fluoroscopic position, the second X-ray tube 1b is at the first fluoroscopic position, and the first X-ray detector 2a is at the first fluoroscopic position. The second X-ray detectors 2b are respectively disposed at the first fluoroscopic positions. In the second position shown in FIG. 4, the first X-ray tube 1a is in the second fluoroscopic position, the second X-ray tube 1b is in the first fluoroscopic position, the first X-ray detector 2a is in the second fluoroscopic position, The line detectors 2b are respectively arranged at the first see-through positions. In the third position shown in FIG. 5, the first X-ray tube 1a is in the second fluoroscopic position, the second X-ray tube 1b is in the second fluoroscopic position, the first X-ray detector 2a is in the second fluoroscopic position, The line detectors 2b are respectively arranged at the second see-through positions.
　Ｘ線管用第１台座３ａおよびＸ線管用第２台座３ｂが、Ｘ線管用の第１、第２レール２１、２２により構成される移動経路２０に沿って移動することにより、第１Ｘ線管１ａおよび第２Ｘ線管１ｂが、各々、第１透視位置および第２透視位置に配置される。また、Ｘ線検出器用第１台座４ａおよびＸ線検出器用第２台座４ｂが、Ｘ線検出器用の第１、第２レール１１、１２により構成される移動経路１０に沿って移動することにより、第１Ｘ線検出器２ａおよび第２Ｘ線検出器２ｂが、各々、第１透視位置および第２透視位置に配置される。 The first X-ray tube 1a is moved by the X-ray tube first pedestal 3a and the X-ray tube second pedestal 3b moving along the moving path 20 constituted by the first and second rails 21 and 22 for the X-ray tube. And the 2nd X-ray tube 1b is each arrange | positioned in a 1st see-through position and a 2nd see-through position. Further, by moving the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors along the movement path 10 constituted by the first and second rails 11 and 12 for the X-ray detectors, The first X-ray detector 2a and the second X-ray detector 2b are disposed at the first perspective position and the second perspective position, respectively.
　図６は、この発明に係るＸ線透視装置の主要な制御系を示すブロック図である。 FIG. 6 is a block diagram showing the main control system of the X-ray fluoroscopic apparatus according to the present invention.
　このＸ線透視装置は、装置全体を制御する制御部６１を有する。この制御部６１は、後述するように、一定時間毎に撮影される被検者５７の画像に対して、複数のテンプレート画像を利用してテンプレートマッチングを行うことにより、一定時間毎に撮影される被検者５７の画像におけるマーカの位置をリアルタイムで特定するテンプレートマッチング部６２を備える。この制御部６１は、透視画像を表示するための液晶表示パネル等からなる表示部６５と接続されている。また、この制御部６１は、記憶部６３とも接続されている。この記憶部６３は、複数のテンプレート画像を記憶するテンプレート画像記憶部６４を含む。 This X-ray fluoroscopic apparatus has a control unit 61 that controls the entire apparatus. As will be described later, the control unit 61 performs image matching at regular intervals by performing template matching on the image of the subject 57 photographed at regular intervals using a plurality of template images. A template matching unit 62 that specifies the position of the marker in the image of the subject 57 in real time is provided. The control unit 61 is connected to a display unit 65 including a liquid crystal display panel for displaying a fluoroscopic image. The control unit 61 is also connected to the storage unit 63. The storage unit 63 includes a template image storage unit 64 that stores a plurality of template images.
　制御部６１は、上述した第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂと接続されている。また、この制御部６１は、上述したＸ線管用第１台座３ａ、Ｘ線管用第２台座３ｂ、Ｘ線検出器用第１台座４ａおよびＸ線検出器用第２台座４ｂを駆動するための図示しない駆動部と接続されている。さらに、この制御部６１は、図１に示す放射線治療装置とも接続されている。 The controller 61 is connected to the above-described first X-ray tube 1a, second X-ray tube 1b, first X-ray detector 2a, and second X-ray detector 2b. The controller 61 is not shown for driving the first X-ray tube pedestal 3a, the second X-ray tube pedestal 3b, the first X-ray detector pedestal 4a, and the second X-ray detector pedestal 4b. It is connected to the drive unit. Further, the control unit 61 is also connected to the radiotherapy apparatus shown in FIG.
　次に、この発明の特徴部分であるテンプレートマッチング動作について説明する。 図７は、この発明のＸ線透視装置による第１実施形態に係るテンプレートマッチング動作を示す説明図である。なお、この実施形態においては、マーカＭとして非球形のものを使用している。 Next, the template matching operation that is a characteristic part of the present invention will be described. FIG. 7 is an explanatory view showing a template matching operation according to the first embodiment by the X-ray fluoroscopic apparatus of the present invention. In this embodiment, a non-spherical marker M is used as the marker M.
　テンプレートマッチングを行うためには、最初に、マーカＭに対応するテンプレートを作成する。この場合においては、図３、図４、図５に示すいずれかのポジションに第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂを配置して、被検者５７の画像を連続して撮影することにより、マーカＭを含む画像８０ａ、８０ｂ、８０ｃ・・・８０ｎを撮影する。このときには、被検者５７における１呼吸分以上の期間、例えば、３０ｆｐｓ（Ｆｒａｍｅｓ　Ｐｅｒ　Ｓｅｃｏｎｄ）程度のフレームレートで撮影を行うことにより、マーカＭを含む画像８０ａ、８０ｂ、８０ｃ・・・８０ｎを得る。そして、これらのマーカＭを含む画像８０ａ、８０ｂ、８０ｃ・・・８０ｎから、マーカＭ部分を抽出して、テンプレート画像８１ａ、８１ｂ、８１ｃ・・・８１ｎを得る。このときには、被検者５７の呼吸に伴って、マーカＭが移動中の画像が撮影される。このため、撮影されたマーカＭの画像は、図７に示すように、順次、変形することになる。 In order to perform template matching, first, a template corresponding to the marker M is created. In this case, the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b are arranged at any of the positions shown in FIGS. Images 80 a, 80 b, 80 c... 80 n including the marker M are taken by continuously taking images of the subject 57. At this time, images 80a, 80b, 80c... 80n including the marker M are obtained by performing imaging at a frame rate of about 30 fps (Frames Per Second), for example, for a period of one breath or more in the subject 57. . And the marker M part is extracted from the images 80a, 80b, 80c... 80n including these markers M, and template images 81a, 81b, 81c. At this time, as the subject 57 breathes, an image in which the marker M is moving is taken. For this reason, the captured image of the marker M is sequentially deformed as shown in FIG.
　なお、上述したフレームレートで撮影を行った場合に、隣り合うフレーム間でマーカＭの画像の変形度が小さい場合には、数フレームおきにマーカＭを含む画像８０ａ、８０ｂ、８０ｃ・・・８０ｎを取得し、数フレームおきのマーカＭを含む画像８０ａ、８０ｂ、８０ｃ・・・８０ｎから、テンプレート画像８１ａ、８１ｂ、８１ｃ・・・８１ｎを作成すればよい。このテンプレート画像８１ａ、８１ｂ、８１ｃ・・・８１ｎは、図６に示すテンプレート画像記憶部６４に記憶される。 When the image is taken at the above-described frame rate and the degree of deformation of the image of the marker M is small between adjacent frames, the images 80a, 80b, 80c... 80n including the marker M every several frames. , And template images 81a, 81b, 81c,... 81n may be created from images 80a, 80b, 80c,. The template images 81a, 81b, 81c... 81n are stored in the template image storage unit 64 shown in FIG.
　以上の準備が完了すれば、被検者５７に対する治療を開始する。このときには、この発明に係るＸ線透視装置によりマーカＭの位置を検出し、このマーカＭの位置に基づいて、被検者５７の患部に対して照射する放射線の位置を調整する。 When the above preparation is completed, treatment for the subject 57 is started. At this time, the position of the marker M is detected by the X-ray fluoroscopic apparatus according to the present invention, and the position of the radiation irradiated to the affected part of the subject 57 is adjusted based on the position of the marker M.
　このときには、３０ｆｐｓ程度のフレームレートでマーカＭを含む領域に対して透視を行う。そして、図６に示すテンプレートマッチング部６２により、一定時間毎に撮影される画像８２におけるマーカＭが含まれる領域８３対して、テンプレート画像記憶部６４に記憶された複数のテンプレート画像８１ａ、８１ｂ、８１ｃ・・・８１ｎを利用してテンプレートマッチングを行う。すなわち、一定時間毎に撮影される画像８２におけるマーカＭが含まれる領域８３対して、複数のテンプレート画像８１ａ、８１ｂ、８１ｃ・・・８１ｎの全てを順次マッチングさせる。 At this time, the region including the marker M is seen through at a frame rate of about 30 fps. Then, a plurality of template images 81a, 81b, 81c stored in the template image storage unit 64 for the area 83 including the marker M in the image 82 photographed at regular intervals by the template matching unit 62 shown in FIG. ... Template matching is performed using 81n. That is, all of the plurality of template images 81a, 81b, 81c,... 81n are sequentially matched to the region 83 including the marker M in the image 82 photographed at regular intervals.
　そして、複数のテンプレート画像８１ａ、８１ｂ、８１ｃ・・・８１ｎのうちのいずれかが、予め設定したマッチングのための閾値を越えた場合に、マッチングが成功したと判断する。なお、複数のテンプレート画像８１ａ、８１ｂ、８１ｃ・・・８１ｎのうち、いくつかのテンプレート画像が閾値を越えた場合には、それらのうちの最もマッチング度が高いテンプレート画像を、マッチングしたテンプレート画像と認識する。一方、閾値を越えるテンプレート画像がなかった場合には、マッチングに失敗したものと判断する。 Then, when any one of the plurality of template images 81a, 81b, 81c,... 81n exceeds a preset threshold for matching, it is determined that matching is successful. If some of the template images 81a, 81b, 81c,... 81n exceed the threshold value, the template image with the highest matching degree is selected as the template image that has been matched. recognize. On the other hand, if there is no template image exceeding the threshold, it is determined that matching has failed.
　このように、この発明の第１実施形態に係るＸ線透視装置によれば、マーカＭの移動中に撮影された複数のテンプレート画像８１ａ、８１ｂ、８１ｃ・・・８１ｎを利用してパターンマッチングを実行することから、非球形のマーカＭを使用することにより被検者５７の体動に伴って透視されたマーカＭの形状が変化した場合においても、テンプレートマッチングによりこのマーカＭを適確に認識することが可能となる。このため、マーカＭの位置を正確に特定することが可能となる。 As described above, according to the X-ray fluoroscopic apparatus according to the first embodiment of the present invention, pattern matching is performed using the plurality of template images 81a, 81b, 81c,. Therefore, even when the shape of the marker M seen through the body movement of the subject 57 is changed by using the non-spherical marker M, the marker M is accurately recognized by template matching. It becomes possible to do. For this reason, it becomes possible to pinpoint the position of the marker M correctly.
　このとき、被検者５７における１呼吸分以上の期間に対応するテンプレート画像を使用することから、被検者５７の呼吸に伴うマーカＭの移動を正確に特定することが可能となる。そして、いくつかのテンプレート画像が閾値を越えた場合に、それらのうちの最もマッチング度が高いテンプレート画像を利用して、マーカＭの位置を特定することから、テンプレートマッチングをより正確に実行することができ、マーカＭの位置をより正確に特定することが可能となる。 At this time, since the template image corresponding to the period of one breath or more in the subject 57 is used, the movement of the marker M accompanying the breathing of the subject 57 can be accurately specified. Then, when some template images exceed the threshold, the template image having the highest matching degree among them is used to identify the position of the marker M, so that template matching is executed more accurately. And the position of the marker M can be specified more accurately.
　次に、この発明の他の実施形態について説明する。図８は、この発明のＸ線透視装置による第２実施形態に係るテンプレートマッチング動作を示す説明図である。なお、この実施形態においては、マーカＭとして球形のものを使用している。ただし、第１実施形態と同様、非球形のマーカＭを使用してもよい。 Next, another embodiment of the present invention will be described. FIG. 8 is an explanatory diagram showing a template matching operation according to the second embodiment by the X-ray fluoroscopic apparatus of the present invention. In this embodiment, a spherical marker is used as the marker M. However, as in the first embodiment, a non-spherical marker M may be used.
　この第２実施形態においては、マーカＭに対応するテンプレートを作成するときに、マーカＭと、被検者５７における体内構造物である骨部Ｂとを同時に撮影する。この場合においても、上述した第１実施形態と同様、図３、図４、図５に示すいずれかのポジションに第１Ｘ線管１ａ、第２Ｘ線管１ｂ、第１Ｘ線検出器２ａ、第２Ｘ線検出器２ｂを配置して、被検者５７の画像を連続して撮影することにより、マーカＭを含む画像９０ａ、９０ｂ、９０ｃ・・・９０ｎを撮影する。このときにも、被検者５７における１呼吸分以上の期間、例えば、３０ｆｐｓ程度のフレームレートで撮影を行うことにより、マーカＭと骨部Ｂとを含む画像９０ａ、９０ｂ、９０ｃ・・・９０ｎを得る。そして、これらのマーカＭと骨部Ｂとを含む画像９０ａ、９０ｂ、９０ｃ・・・９０ｎから、マーカＭ部分を抽出して、テンプレート画像９１ａ、９１ｂ、９１ｃ・・・９１ｎを得る。このときには、被検者５７の呼吸に伴って、マーカＭが移動中の画像が撮影される。このため、撮影されたマーカＭの画像においては、図８に示すように、骨部Ｂの占める領域が、順次、異なる状態となる。 In the second embodiment, when a template corresponding to the marker M is created, the marker M and the bone part B, which is a body structure in the subject 57, are simultaneously photographed. Also in this case, as in the first embodiment described above, the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X are located at any of the positions shown in FIGS. By arranging the line detector 2b and continuously capturing images of the subject 57, images 90a, 90b, 90c... 90n including the marker M are captured. Also at this time, images 90a, 90b, 90c... 90n including the marker M and the bone B are obtained by performing imaging at a frame rate of about 30 fps for a period of one breath or more in the subject 57. Get. And the marker M part is extracted from the images 90a, 90b, 90c... 90n including these markers M and the bones B to obtain template images 91a, 91b, 91c. At this time, as the subject 57 breathes, an image in which the marker M is moving is taken. For this reason, in the image | photographed marker M image, as shown in FIG. 8, the area | region which the bone part B occupies becomes a different state sequentially.
　なお、この第２実施形態においても、上述したフレームレートで撮影を行った場合に、隣り合うフレーム間で骨部Ｂの占める領域の変形度が小さい場合には、数フレームおきにマーカＭを含む画像９０ａ、９０ｂ、９０ｃ・・・９０ｎを取得し、数フレームおきのマーカＭを含む画像９０ａ、９０ｂ、９０ｃ・・・９０ｎから、テンプレート画像９１ａ、９１ｂ、９１ｃ・・・９１ｎを作成すればよい。このテンプレート画像９１ａ、９１ｂ、９１ｃ・・・９１ｎは、図６に示すテンプレート画像記憶部６４に記憶される。 Even in the second embodiment, when shooting is performed at the above-described frame rate, the marker M is included every several frames if the degree of deformation of the region occupied by the bone B is small between adjacent frames. The images 90a, 90b, 90c,... 90n are acquired, and template images 91a, 91b, 91c,... 91n may be created from the images 90a, 90b, 90c,. . The template images 91a, 91b, 91c... 91n are stored in the template image storage unit 64 shown in FIG.
　以上の準備が完了すれば、被検者５７に対する治療を開始する。このときには、この発明に係るＸ線透視装置によりマーカＭの位置を検出し、このマーカＭの位置に基づいて、被検者５７の患部に対して照射する放射線の位置を調整する。 When the above preparation is completed, treatment for the subject 57 is started. At this time, the position of the marker M is detected by the X-ray fluoroscopic apparatus according to the present invention, and the position of the radiation irradiated to the affected part of the subject 57 is adjusted based on the position of the marker M.
　このときには、３０ｆｐｓ程度のフレームレートでマーカＭを含む領域に対して透視を行う。そして、図６に示すテンプレートマッチング部６２により、一定時間毎に撮影される画像９２におけるマーカＭが含まれる領域９３対して、テンプレート画像記憶部６４に記憶された複数のテンプレート画像９１ａ、９１ｂ、９１ｃ・・・９１ｎを利用してテンプレートマッチングを行う。すなわち、一定時間毎に撮影される画像９２におけるマーカＭが含まれる領域９３に対して、複数のテンプレート画像９１ａ、９１ｂ、９１ｃ・・・９１ｎの全てを順次マッチングさせる。 At this time, the region including the marker M is seen through at a frame rate of about 30 fps. Then, a plurality of template images 91a, 91b, 91c stored in the template image storage unit 64 for the region 93 including the marker M in the image 92 photographed at regular intervals by the template matching unit 62 shown in FIG. ... Template matching is performed using 91n. That is, all of the plurality of template images 91a, 91b, 91c,... 91n are sequentially matched with the region 93 including the marker M in the image 92 photographed at regular intervals.
　そして、複数のテンプレート画像９１ａ、９１ｂ、９１ｃ・・・９１ｎのうちのいずれかが、予め設定したマッチングのための閾値を越えた場合に、マッチングが成功したと判断する。なお、複数のテンプレート画像９１ａ、９１ｂ、９１ｃ・・・９１ｎのうち、いくつかのテンプレート画像が閾値を越えた場合には、それらのうちの最もマッチング度が高いテンプレート画像を、マッチングしたテンプレート画像と認識する。一方、閾値を越えるテンプレート画像がなかった場合には、マッチングに失敗したものと判断する。 Then, when any one of the plurality of template images 91a, 91b, 91c... 91n exceeds a preset threshold for matching, it is determined that matching is successful. If some of the template images 91a, 91b, 91c,... 91n exceed a threshold value, the template image having the highest matching degree is selected as the template image that has been matched. recognize. On the other hand, if there is no template image exceeding the threshold, it is determined that matching has failed.
　このように、この発明の第２実施形態に係るＸ線透視装置によれば、マーカＭの移動中に骨部Ｂとともに撮影された複数のテンプレート画像９１ａ、９１ｂ、９１ｃ・・・９１ｎを利用してパターンマッチングを実行することから、被検者５７の体動に伴ってテンプレート画像中に占める骨部Ｂの割合が変化して、透視されたマーカＭを含む領域のコントラストが形状が変化した場合においても、テンプレートマッチングによりこのマーカＭを適確に認識することが可能となる。このため、マーカＭの位置を正確に特定することが可能となる。 As described above, according to the X-ray fluoroscopic apparatus according to the second embodiment of the present invention, a plurality of template images 91a, 91b, 91c,. Since the pattern matching is executed, the proportion of the bone part B in the template image changes with the body movement of the subject 57, and the shape of the contrast of the region including the fluoroscopic marker M changes. The marker M can be accurately recognized by template matching. For this reason, it becomes possible to pinpoint the position of the marker M correctly.
　なお、この第２実施形態においては、骨部ＢをマーカＭとともに撮影する場合について説明したが、骨部Ｂのかわりに、横隔膜等の他の体内構造物をマーカＭとともに撮影してもよい。 In the second embodiment, the case where the bone part B is photographed with the marker M has been described. However, instead of the bone part B, other internal structures such as the diaphragm may be photographed together with the marker M.
　１ａ　　　第１Ｘ線管
　１ｂ　　　第２Ｘ線管
　２ａ　　　第１Ｘ線検出器
　２ｂ　　　第２Ｘ線検出器
　３ａ　　　Ｘ線管用第１台座
　３ｂ　　　Ｘ線管用第２台座
　４ａ　　　Ｘ線検出器用第１台座
　４ｂ　　　Ｘ線検出器用第２台座
　１０　　　移動経路
　１１　　　第１レール
　１２　　　第２レール
　２０　　　移動経路
　２１　　　第１レール
　２２　　　第２レール
　５３　　　ガントリー
　５４　　　ヘッド支持部
　５５　　　ヘッド
　５６　　　撮影台
　５７　　　被検者
　６１　　　制御部
　６２　　　テンプレートマッチング部
　６３　　　記憶部
　６４　　　テンプレート画像記憶部
　６５　　　表示部
　８０　　　画像
　８１　　　テンプレート画像
　８２　　　画像
　８３　　　領域
　９０　　　画像
　９１　　　テンプレート画像
　９２　　　画像
　９３　　　領域
　Ｂ　　　　骨部
　Ｍ　　　　マーカ DESCRIPTION OF SYMBOLS 1a 1st X-ray tube 1b 2nd X-ray tube 2a 1st X-ray detector 2b 2nd X-ray detector 3a 1st seat for X-ray tubes 3b 2nd seat for X-ray tubes 4a 1st seat for X-ray detectors 4b 1st seat for X-ray detectors Two pedestals 10 Movement path 11 First rail 12 Second rail 20 Movement path 21 First rail 22 Second rail 53 Gantry 54 Head support section 55 Head 56 Imaging table 57 Subject 61 Control section 62 Template matching section 63 Storage section 64 Template image storage unit 65 Display unit 80 Image 81 Template image 82 Image 83 Region 90 Image 91 Template image 92 Image 93 Region B Bone M Marker

Claims (6)

  1. 　Ｘ線管と、前記Ｘ線管から照射され被検者を通過したＸ線を検出するＸ線検出器とを備え、前記被検者の体内に留置されたマーカを含む画像を撮影することにより、前記マーカの位置を特定するＸ線透視装置であって、
    　前記マーカを含む画像を、テンプレート画像として、複数記憶するテンプレート画像記憶部と、
    　一定時間毎に撮影される画像に対して、前記テンプレート画像記憶部に記憶された複数のテンプレート画像を利用してテンプレートマッチングを行うことにより、前記一定時間毎に撮影される画像における前記マーカの位置を特定するテンプレートマッチング部と、
    　を備えるＸ線透視装置。     An X-ray tube, and an X-ray detector that detects X-rays emitted from the X-ray tube and passed through the subject, and by taking an image including a marker placed in the body of the subject An X-ray fluoroscopy device that identifies the position of the marker,
    A template image storage unit for storing a plurality of images including the markers as template images;
    By performing template matching using a plurality of template images stored in the template image storage unit for images photographed at regular intervals, the position of the marker in the images photographed at regular intervals A template matching section for identifying
    X-ray fluoroscopic apparatus comprising:
  2. 　請求項１に記載のＸ線透視装置において、
    　前記マーカは非球形の形状を有し、前記複数のテンプレート画像は、前記マーカを移動させながら撮影した画像に基づいて作成されるＸ線透視装置。     The X-ray fluoroscopy device according to claim 1,
    The marker has an aspherical shape, and the plurality of template images are created based on images taken while moving the marker.
  3. 　請求項１に記載のＸ線透視装置において、
    　前記複数のテンプレート画像は、前記マーカを移動させながら、前記マーカを前記被検者における体内構造物とともに撮影した画像に基づいて作成されるＸ線透視装置。     The X-ray fluoroscopy device according to claim 1,
    The plurality of template images are X-ray fluoroscopic apparatuses created based on images obtained by photographing the marker together with the internal structure of the subject while moving the marker.
  4. 　請求項３に記載のＸ線透視装置において、
    　前記体内構造物は骨部であるＸ線透視装置。     The X-ray fluoroscopic apparatus according to claim 3,
    The X-ray fluoroscopic apparatus, wherein the internal structure is a bone.
  5. 　請求項１～４のいずれかに記載のＸ線透視装置において、
    　前記テンプレートマッチング部は、前記一定時間毎に撮影される画像に対して前記テンプレート画像記憶部に記憶された複数のテンプレート画像を利用してテンプレートマッチングを行うときに、最もマッチング度が高いテンプレート画像を利用して、前記一定時間毎に撮影される画像における前記マーカの位置を特定するＸ線透視装置。     The X-ray fluoroscopy device according to any one of claims 1 to 4,
    The template matching unit selects a template image having the highest matching degree when performing template matching using a plurality of template images stored in the template image storage unit with respect to images taken at regular intervals. An X-ray fluoroscopy device that uses and identifies the position of the marker in an image captured at regular intervals.
  6. 　請求項１～５のいずれかに記載のＸ線透視装置において、
    　前記テンプレート画像記憶部は、前記被検者における１呼吸分以上の期間に対応するテンプレート画像を記憶するＸ線透視装置。
     
          The X-ray fluoroscopy device according to any one of claims 1 to 5,
    The template image storage unit is an X-ray fluoroscopic apparatus that stores a template image corresponding to a period of one breath or more in the subject.

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