| CPC A61B 6/12 (2013.01) [A61B 6/5217 (2013.01); A61B 6/5264 (2013.01); A61B 6/545 (2013.01); A61B 34/20 (2016.02); G06T 7/0016 (2013.01); G06T 7/73 (2017.01); A61B 6/4441 (2013.01); A61B 2034/2065 (2016.02); G06T 2207/10116 (2013.01); G06T 2207/30021 (2013.01)] | 16 Claims |
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1. An x-ray imaging device configured for obtaining a three-dimensional position of a treatment tool in an inspection object, the x-ray imaging device comprising:
an X-ray source that emits X-rays;
an X-ray detector that faces the X-ray source across an inspection object;
an imaging control unit that controls irradiation and an irradiation angle of the X-rays with respect to the inspection object, the imaging control unit controlling the X-ray source and the X-ray detector to perform imaging a plurality of times at a plurality of imaging positions having different irradiation angles or within a predetermined angle range of the irradiation angle; and
a data processing unit that generates an X-ray image of the inspection object based on the X-rays transmitted through the inspection object and detected by the X-ray detector,
the data processing unit including a treatment tool position calculation unit that analyzes the X-ray image of the inspection object and that calculates a three-dimensional position of a treatment tool in the inspection object, the treatment tool position calculation unit including:
a parameter calculation unit that calculates a parameter for three-dimensional position calculation of the treatment tool, for each of a plurality of combinations of two or more X-ray images having different imaging positions, among a plurality of X-ray images obtained by performing the imaging a plurality of times;
a parameter comparison unit that compares parameters of the combinations and that selects a combination corresponding to a parameter having a highest accuracy of the three-dimensional position calculation; and
a three-dimensional position calculation unit that calculates, using the parameter calculated by the parameter calculation unit for the combination selected by the parameter comparison unit as corresponding to the parameter having the highest accuracy of the three-dimensional position calculation, a three-dimensional position of the treatment tool,
wherein the treatment tool position calculation unit further includes a feature extraction unit that extracts a feature of the treatment tool from the X-ray image and that calculates a position of the treatment tool in the X-ray image, and
the parameter calculation unit calculates, for the two or more X-ray images, the parameter based on the position of the treatment tool in the X-ray image calculated by the feature extraction unit and information on an imaging position when the two or more X-ray images are acquired, and
the parameter calculation unit sets, for the two or more X-ray images, a straight line determined according to a position on the X-ray detector corresponding to the position of the treatment tool in the X-ray image and an X-ray irradiation angle at the imaging position, and calculates the parameter using a position on each straight line at which a distance between the straight lines is the shortest.
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