# US 11,304,669 B2 · X-ray diagnosis apparatus, medical image processing apparatus, medical image processing system, and medical image processing method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,669 B2 - Document ID: US11304669B2 - Status: Granted - Kind: B2 - Application number: 16/157,556 - Filed: 2018-10-11 - Published: 2019-04-18 - Granted: 2022-04-19 - Earliest claimed: 2017-10-12 - Assignees: Canon Medical Systems Corporation - Applicants: Canon Medical Systems Corporation - Inventors: Takahiko Nishioka - Web page: https://patentgrep.com/patent/US11304669B2 ## CPC - A61B 6/12: Arrangements for detecting or locating foreign bodies - A61B 6/032: {Transmission computed tomography [CT]} - A61B 6/4035: {the source being combined with a filter or grating} - A61B 6/4441: {the rigid structure being a C-arm or U-arm} - A61B 6/463: {characterised by displaying multiple images or images and diagnostic data on one display} - A61B 6/487: {involving fluoroscopy} - A61B 6/488: {involving pre-scan acquisition} - A61B 6/503: {for diagnosis of the heart} - A61B 6/504: {for diagnosis of blood vessels, e.g. by angiography} - A61B 6/5223: {generating planar views from image data, e.g. extracting a coronal view from a 3D image} - A61B 6/5235: {combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT} - A61B 6/5288: {involving retrospective matching to a physiological signal} - A61M 25/0108: {using radio-opaque or ultrasound markers} - A61M 25/09: Guide wires - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract An X-ray diagnosis apparatus according to an embodiment includes processing circuitry. The processing circuitry is configured to extract a characteristic site in a lumen that may be a constraint during insertion of a surgical device, from medical image data used for determining a path through which the surgical device is to be inserted. On the basis of the characteristic site, the processing circuitry is configured to determine a tip end direction defined in accordance with a curved shape of a tip end part of the surgical device, in each of a plurality of positions on the path. The processing circuitry is configured to output path information including the tip end direction in each of the positions on the path. ## Claims ### Claim 1 An X-ray diagnosis apparatus comprising processing circuitry configured to: extract, from medical image data used for determining a path through which a surgical device is to be inserted, image data containing characteristic information corresponding to a characteristic site in a lumen that may be a constraint during insertion of the surgical device; determine, on a basis of the image data corresponding to the characteristic site, an appropriate tip end direction of the surgical device in each of a plurality of positions on the path, the tip end direction being an angle of an axial rotation defined in accordance with a curved shape of a tip end part of the surgical device or a shape of the tip end part after being arranged to curve; and output, as path information, the angle of the axial rotation in each of the positions on the path. ### Claim 2 (depends on 1) The X-ray diagnosis apparatus according to claim 1, wherein the surgical device is one selected from between a guide wire and a catheter of which a tip end part is curved with respect to an axis thereof, and as the tip end direction, the processing circuitry determines an angle of an axial rotation defined in accordance with a curved shape of the tip end part. ### Claim 3 (depends on 1) The X-ray diagnosis apparatus according to claim 1, wherein the surgical device is a catheter of which it is possible to arrange a tip end part to curve with respect to an axis thereof, and as the tip end direction, the processing circuitry determines a direction of the tip end part after being arranged to curve. ### Claim 4 (depends on 1) The X-ray diagnosis apparatus according to claim 1, wherein the tip end direction is a direction intersecting a direction in which a main axis part is extending, the main axis part being continuous to a tip end part of the surgical device. ### Claim 5 (depends on 1) The X-ray diagnosis apparatus according to claim 1, wherein as the path information, the processing circuitry displays a rendering image of the medical image data in which a pixel value corresponding to the tip end direction is assigned to each of the positions on the path, and the processing circuitry displays a direction scale indicating a direction corresponding to each of the pixel values. ### Claim 6 (depends on 5) The X-ray diagnosis apparatus according to claim 5, wherein the processing circuitry further generates an X-ray image, and the processing circuitry displays the X-ray image, together with the rendering image and the direction scale. ### Claim 7 (depends on 6) The X-ray diagnosis apparatus according to claim 6, wherein the processing circuitry further detects, from the X-ray image, a tip end position of the surgical device being inserted in a patient, the processing circuitry performs a position aligning process between the X-ray image and the medical image data, and on a basis of a result of the position aligning process, the processing circuitry displays a marker indicating the tip end position, in a position corresponding to the tip end position within the rendering image. ### Claim 8 (depends on 7) The X-ray diagnosis apparatus according to claim 7, wherein the processing circuitry further detects, in the X-ray image, a current tip end direction of the surgical device being inserted in the patient, and the processing circuitry displays a marker indicating the detected current tip end direction, on the direction scale. ### Claim 9 (depends on 8) The X-ray diagnosis apparatus according to claim 8, wherein, on a basis of a difference between the detected current tip end direction and the tip end direction included in the path information, the processing circuitry displays, on the direction scale, a marker indicating a rotating direction into which the surgical device is to be rotated. ### Claim 10 (depends on 7) The X-ray diagnosis apparatus according to claim 7, wherein the processing circuitry displays, on an inner circumferential side of the direction scale, projection image data in which an interior of the lumen is projected by using the tip end position as a viewpoint. ### Claim 11 (depends on 5) The X-ray diagnosis apparatus according to claim 5, wherein the processing circuitry displays, on the direction scale, a schematic drawing of the characteristic site. ### Claim 12 (depends on 1) The X-ray diagnosis apparatus according to claim 1, wherein the characteristic site is at least one selected from among: a branching part and a curving part of a blood vessel into which the surgical device is to be inserted; a structure formed in the blood vessel; and a part in which a blood vessel wall is thin. ### Claim 13 (depends on 12) The X-ray diagnosis apparatus according to claim 12, wherein, when one selected from between the branching part and the curving part is extracted as the characteristic site, the processing circuitry determines the tip end direction in such a manner that a tip end of the surgical device is directed toward an advancing direction thereof. ### Claim 14 (depends on 12) The X-ray diagnosis apparatus according to claim 12, wherein, when one selected from between the structure and the part in which the blood vessel wall is thin is extracted as the characteristic site, the processing circuitry determines the tip end direction in such a manner that the surgical device will not touch the one selected from between the structure and the part in which the blood vessel wall is thin. ### Claim 15 (depends on 1) The X-ray diagnosis apparatus according to claim 1, wherein the processing circuitry displays rendering images corresponding to a plurality of temporal phases and being respectively generated from pieces of medical image data over a plurality of temporal phases that correspond to at least one heartbeat, while switching between the rendering images in accordance with an electrocardiographic signal of the patient. ### Claim 16 (depends on 1) The X-ray diagnosis apparatus according to claim 1, wherein the medical image data is one selected from between three-dimensional image data and a plurality of pieces of projection image data of which projection directions are mutually different. ### Claim 17 (depends on 1) The X-ray diagnosis apparatus according to claim 1, wherein the processing circuitry configured to extract image data corresponding to the characteristic site comprises processing circuitry configured to perform pattern matching to extract the image data containing characteristic information corresponding to the characteristic site. ### Claim 18 A medical image processing apparatus comprising a processing circuitry configured to: extract, from medical image data used for determining a path through which a surgical device is to be inserted, image data containing characteristic information corresponding to a characteristic site in a lumen that may be a constraint during insertion of the surgical device; determine, on a basis of the image data corresponding to the characteristic site, an appropriate tip end direction defined in accordance with a curved shape of a tip end part of the surgical device, in each of a plurality of positions on the path, the tip end direction being an angle of an axial rotation defined in accordance with a curved shape of a tip end part of the surgical device or a shape of the tip end part after being arranged to curve; and output, as path information, the angle of the axial rotation in each of the positions on the path. ### Claim 19 A medical image processing system comprising a medical image processing apparatus and an X-ray diagnosis apparatus, wherein the medical image processing apparatus including processing circuitry configured to: extract, from medical image data used for determining a path through which a surgical device is to be inserted, image data containing characteristic information corresponding to a characteristic site in a lumen that may be a constraint during insertion of the surgical device; and determine, on a basis of the image data corresponding to the characteristic site, an appropriate tip end direction defined in accordance with a curved shape of a tip end part of the surgical device in each of a plurality of positions on the path, the tip end direction being an angle of an axial rotation defined in accordance with a curved shape of a tip end part of the surgical device or a shape of the tip end part after being arranged to curve, and the X-ray diagnosis apparatus including processing circuitry configured to output, as path information, the angle of the axial rotation in each of the positions on the path. ### Claim 20 A medical image processing method comprising: extracting, from medical image data used for determining a path through which a surgical device is to be inserted, image data containing characteristic information corresponding to a characteristic site in a lumen that may be a constraint during insertion of the surgical device; determining, on a basis of the image data corresponding to the characteristic site, an appropriate tip end direction defined in accordance with a curved shape of a tip end part of the surgical device in each of a plurality of positions on the path, the tip end direction being an angle of an axial rotation defined in accordance with a curved shape of a tip end part of the surgical device or a shape of the tip end part after being arranged to curve; and outputting, as path information, the angle of the axial rotation in each of the positions on the path.