Catheter tip-end rotation angle detection apparatus, catheter tip-end rotation angle detection method, and catheter tip-end rotation angle detection program

A catheter tip-end rotation angle detection method for detecting a rotation angle around an axis of a bent portion of a catheter, the catheter having the bent portion at a tip-end that is bent in a hook shape relative to a straight-line shaped base, as a catheter tip-end region, and being inserted into a body lumen, the catheter tip-end rotation angle detection method comprising:

• detecting by a catheter rotation angle detecting unit an operator's hand-side rotation angle of the catheter in a hand of an operator;
• extracting by an image processing unit the catheter tip-end region from an x-ray fluoroscopic image of a first x-ray fluoroscopic capturing unit that captures an x-ray fluoroscopic image by irradiating a radioactive ray to an image-capture target portion of a subject;
• performing a catheter tip-end rotation angle calculation process by a catheter tip-end rotation angle calculation unit, by calculating an offset angle between the operator's hand-side rotation angle detected by the catheter rotation angle detecting unit and a rotation angle of the catheter tip-end, from an x-ray fluoroscopic image captured at a time of an action of rotating the catheter by one turn by the operator, based on respective angles of the bent portion and the base of the catheter in a state that the bent portion and the base are superposed and in a state that the bent portion and the base are deviated in the image processing unit and, during a catheter manipulation after ending the action of rotating the catheter by the one turn, calculating the catheter tip-end rotation angle based on the offset angle and the operator's hand-side rotation angle;
• and
• outputting by an output unit the catheter tip-end rotation angle calculated by the catheter tip-end rotation angle calculation unit.

A computer-readable recording medium including a catheter tip-end rotation angle detection program for detecting a rotation angle around an axis of a bent portion of a catheter, the catheter having the bent portion at a tip-end that is bent in a hook shape relative to a straight-line shaped base, as a catheter tip-end region, and being inserted into a body lumen, the catheter tip-end rotation angle detection program makes

• a computer function as:
• a catheter rotation angle detecting unit that detects an operator's hand-side rotation angle of the catheter in a hand of an operator;
• an image processing unit that extracts the catheter tip-end region from an x-ray fluoroscopic image of a first x-ray fluoroscopic capturing unit that captures an x-ray fluoroscopic image by irradiating a radioactive ray to an image-capture target portion of a subject;
• a catheter tip-end rotation angle calculation unit that performs a catheter tip-end rotation angle calculation process in which an offset angle between the operator's hand-side rotation angle detected by the catheter rotation angle detecting unit and a rotation angle of the catheter tip-end is calculated from an x-ray fluoroscopic image captured at a time of an action of rotating the catheter by one turn by the operator, based on respective angles of the bent portion and the base of the catheter in a state that the bent portion and the base are superposed and in a state that the bent portion and the base are deviated in the image processing unit and, during a catheter manipulation after ending the action of rotating the catheter by the one turn, the catheter tip-end rotation angle is calculated based on the offset angle and the operator's hand-side rotation angle;
• and
• an output unit that outputs the catheter tip-end rotation angle calculated by the catheter tip-end rotation angle calculation unit.