# US 8,542,902 B2 · X-ray imaging apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,542,902 B2 - Document ID: US8542902B2 - Status: Granted - Kind: B2 - Application number: 12/911,906 - Filed: 2010-10-26 - Published: 2011-05-05 - Granted: 2013-09-24 - Earliest claimed: 2009-10-29 - Assignees: Kabushiki Kaisha Toshiba; Toshiba Medical Systems Corporation - Applicants: Satoru Ohishi - Inventors: Satoru Ohishi - Web page: https://patentgrep.com/patent/US8542902B2 ## CPC - A61B 6/504: {for diagnosis of blood vessels, e.g. by angiography} - A61B 6/463: {characterised by displaying multiple images or images and diagnostic data on one display} - A61B 6/466: {adapted to display 3D data} - A61B 6/481: {involving the use of contrast agents} - A61B 6/5235: {combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT} - A61B 6/563: {involving image data transmission via a network} - G06T 7/32: using correlation-based methods - G06T 12/20: Inverse problem, i.e. transformations from projection space into object space - G06T 19/003: {Navigation within 3D models or images} - A61B 5/0002: {Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network (endoradiosondes A61B5/07)} - G06T 2207/10072: Tomographic images - G06T 2207/10121: Fluoroscopy - G06T 2207/30101: Blood vessel; Artery; Vein; Vascular - G06T 2211/404: Angiography - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract In an X-ray imaging apparatus according to an embodiment, a three-dimensional blood-vessel image collecting unit collects a three-dimensional blood vessel image. An X-ray image collecting unit collects an X-ray image. A composite-image creating unit then creates a three-dimensional projection image projected based on a state of the X-ray imaging apparatus from the collected three-dimensional blood vessel image, and creates a composite image of the created three-dimensional projection image and the X-ray image. A displacement determining unit then determines a displacement between an aneurysm on the three-dimensional projection image and the aneurysm on the X-ray image. Subsequently, a registration unit registers the composite image by using the determined displacement, and displays the registered composite image onto a display unit. ## Claims ### Claim 1 An X-ray imaging apparatus comprising: a three-dimensional blood-vessel image collecting unit that collects a three-dimensional blood vessel image on which a blood vessel image is enhanced; an X-ray image collecting unit that collects an X-ray image; a composite-image creating unit connected to the three-dimensional blood-vessel image collecting unit and the X-ray image collecting unit for creates creating a three-dimensional projection image projected based on a state of the X-ray imaging apparatus from the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and creates creating a composite image of created three-dimensional projection image and the X-ray image collected by the X-ray image collecting unit; a displacement determining unit connected to the three-dimensional blood-vessel image collecting unit and the X-ray image collecting unit for determining a displacement caused by inserting an instrument up to the vicinity of an aneurysm between an aneurysm on the three-dimensional projection image and an aneurysm on the X-ray image; and a registration unit connected to the three-dimensional blood-vessel image collecting unit, the X-ray image collecting unit, the composite-image creating unit and the displacement determining unit for correcting the aneurysm position on the three-dimensional blood vessel image by using the displacement determined by the displacement determining unit to generate a corrected three-dimensional blood vessel image so as to match with a position of the aneurysm on the X-ray image, and wherein the composite-image creating unit creates a corrected composite image using the corrected three-dimensional blood vessel image and the X-ray image and displays the corrected composite image onto a display unit. ### Claim 2 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the displacement determining unit determines respective positions of aneurysms on the three-dimensional projection image and the X-ray image, by continuously performing trace processing on a boundary between a blood-vessel region and a region other than the blood-vessel region, detecting a discontinuous point during the trace processing, and determining that the discontinuous point is a neck part of the aneurysm, thereby determining a displacement from respective determined positions of the aneurysms. ### Claim 3 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the displacement determining unit determines a position of the aneurysm from the X-ray image by extracting a shape of a coil inserted into the aneurysm through threshold processing, and determines a displacement by using determined position of the aneurysm and a position of the aneurysm determined from the three-dimensional projection image. ### Claim 4 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the displacement determining unit determines a displacement by performing correlation computing processing between the three-dimensional projection image and the X-ray image. ### Claim 5 (depends on 2) The X-ray imaging apparatus according to claim 2, wherein the displacement determining unit determines a displacement by performing correlation computing processing between the three-dimensional projection image and the X-ray image. ### Claim 6 (depends on 3) The X-ray imaging apparatus according to claim 3, wherein the displacement determining unit determines a displacement by performing correlation computing processing between the three-dimensional projection image and the X-ray image. ### Claim 7 (depends on 4) The X-ray imaging apparatus according to claim 4, wherein when performing the correlation computing processing, farther a position is from a position of an aneurysm, a smaller weight the displacement determining unit assigns to a correlation coefficient. ### Claim 8 (depends on 5) The X-ray imaging apparatus according to claim 5, wherein when performing the correlation computing processing, farther a position is from a position of an aneurysm, a smaller weight the displacement determining unit assigns to a correlation coefficient. ### Claim 9 (depends on 6) The X-ray imaging apparatus according to claim 6, wherein when performing the correlation computing processing, farther a position is from a position of an aneurysm, a smaller weight the displacement determining unit assigns to a correlation coefficient. ### Claim 10 (depends on 1) The X-ray imaging apparatus according to claim 1, wherein the X-ray image collecting unit collects X-ray images from observation angles in at least two directions, the displacement determining unit further includes a first three-dimensional aneurysm-position determining unit that determines a position of the aneurysm in a three-dimensional space from the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and a second three-dimensional aneurysm-position determining unit connected to the first three-dimensional aneurysm-position determining unit for determining a position of the aneurysm in a three-dimensional space by using X-ray images collected by the X-ray image collecting unit from observation angles in at least two directions, and after positions of the aneurysm in the three-dimensional space are determined by the first three-dimensional aneurysm-position determining unit and the second three-dimensional aneurysm-position determining unit, the registration unit corrects the composite image so as to match both of determined positions in the three-dimensional space. ### Claim 11 (depends on 4) The X-ray imaging apparatus according to claim 4, wherein the X-ray image collecting unit collects X-ray images from observation angles in at least two directions, the displacement determining unit further includes a first three-dimensional aneurysm-position determining unit that determines a position of the aneurysm in a three-dimensional space from the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and a second three-dimensional aneurysm-position determining unit connected to the first three-dimensional aneurysm-position determining unit for determining a position of the aneurysm in a three-dimensional space by using X-ray images collected by the X-ray image collecting unit from observation angles in at least two directions, and after positions of the aneurysm in the three-dimensional space are determined by the first three-dimensional aneurysm-position determining unit and the second three-dimensional aneurysm-position determining unit, the registration unit corrects the composite image so as to match both of determined positions in the three-dimensional space. ### Claim 12 (depends on 7) The X-ray imaging apparatus according to claim 7, wherein the X-ray image collecting unit collects X-ray images from observation angles in at least two directions, the displacement determining unit further includes a first three-dimensional aneurysm-position determining unit that determines a position of the aneurysm in a three-dimensional space from the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and a second three-dimensional aneurysm-position determining unit connected to the first three-dimensional aneurysm-position determining unit for determining a position of the aneurysm in a three-dimensional space by using X-ray images collected by the X-ray image collecting unit from observation angles in at least two directions, and after positions of the aneurysm in the three-dimensional space are determined by the first three-dimensional aneurysm-position determining unit and the second three-dimensional aneurysm-position determining unit, the registration unit corrects the composite image so as to match both of determined positions in the three-dimensional space. ### Claim 13 (depends on 1) The X-ray imaging apparatus according to claim 1, further comprising a parent-vessel inclination-amount determining unit connected to the three-dimensional blood-vessel image collecting unit, the X-ray image collecting unit and the composite-image creating unit for determining an amount of inclination of a parent vessel in a vicinity of the aneurysm on the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and determines an amount of inclination of a parent vessel in a vicinity of the aneurysm on the X-ray image collected by the X-ray image collecting unit, wherein the registration unit corrects the composite image created by the composite-image creating unit by using the displacement determined by the displacement determining unit and the amount of the inclination determined by the parent-vessel inclination-amount determining unit, and displays the corrected composite image onto the display unit. ### Claim 14 (depends on 2) The X-ray imaging apparatus according to claim 2, further comprising a parent-vessel inclination-amount determining unit connected to the three-dimensional blood-vessel image collecting unit, the X-ray image collecting unit and the composite-image creating unit for determining an amount of inclination of a parent vessel in a vicinity of the aneurysm on the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and determines an amount of inclination of a parent vessel in a vicinity of the aneurysm on the X-ray image collected by the X-ray image collecting unit, wherein the registration unit corrects the composite image created by the composite-image creating unit by using the displacement determined by the displacement determining unit and the amount of the inclination determined by the parent-vessel inclination-amount determining unit, and displays the corrected composite image onto the display unit. ### Claim 15 (depends on 3) The X-ray imaging apparatus according to claim 3, further comprising a parent-vessel inclination-amount determining unit connected to the three-dimensional blood-vessel image collecting unit, the X-ray image collecting unit and the composite-image creating unit for determining an amount of inclination of a parent vessel in a vicinity of the aneurysm on the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and determines an amount of inclination of a parent vessel in a vicinity of the aneurysm on the X-ray image collected by the X-ray image collecting unit, wherein the registration unit corrects the composite image created by the composite-image creating unit by using the displacement determined by the displacement determining unit and the amount of the inclination determined by the parent-vessel inclination-amount determining unit, and displays the corrected composite image onto the display unit. ### Claim 16 (depends on 4) The X-ray imaging apparatus according to claim 4, further comprising a parent-vessel inclination-amount determining unit connected to the three-dimensional blood-vessel image collecting unit, the X-ray image collecting unit and the composite-image creating unit for determining an amount of inclination of a parent vessel in a vicinity of the aneurysm on the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and determines an amount of inclination of a parent vessel in a vicinity of the aneurysm on the X-ray image collected by the X-ray image collecting unit, wherein the registration unit corrects the composite image created by the composite-image creating unit by using the displacement determined by the displacement determining unit and the amount of the inclination determined by the parent-vessel inclination-amount determining unit, and displays the corrected composite image onto the display unit. ### Claim 17 (depends on 10) The X-ray imaging apparatus according to claim 10, further comprising a parent-vessel inclination-amount determining unit connected to the three-dimensional blood-vessel image collecting unit, the X-ray image collecting unit and the composite-image creating unit for determining an amount of inclination of a parent vessel in a vicinity of the aneurysm on the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and determines an amount of inclination of a parent vessel in a vicinity of the aneurysm on the X-ray image collected by the X-ray image collecting unit, wherein the registration unit corrects the composite image created by the composite-image creating unit by using the displacement determined by the displacement determining unit and the amount of the inclination determined by the parent-vessel inclination-amount determining unit, and displays the corrected composite image onto the display unit. ### Claim 18 (depends on 13) The X-ray imaging apparatus according to claim 13, wherein the X-ray image collecting unit collects X-ray images from observation angles in at least two directions, the displacement determining unit further includes a first three-dimensional vicinity-point position determining unit that determines positions of certain points in a vicinity of the aneurysm in a three-dimensional space from the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and a second three-dimensional vicinity-point position determining unit connected to the first three-dimensional aneurysm-position determining unit for determining positions of certain points in a vicinity of the aneurysm in a three-dimensional space by using X-ray images collected by the X-ray image collecting unit from observation angles in at least two directions, and after positions of the certain points in the vicinity of the aneurysm in the three-dimensional space are determined by the first three-dimensional vicinity-point position determining unit and the second three-dimensional vicinity-point position determining unit, t-the registration unit corrects the composite image so as to match both of blood vessel angles of the parent vessel obtained from determined positions in the three-dimensional space. ### Claim 19 (depends on 14) The X-ray imaging apparatus according to claim 14, wherein the X-ray image collecting unit collects X-ray images from observation angles in at least two directions, the displacement determining unit further includes a first three-dimensional vicinity-point position determining unit that determines positions of certain points in a vicinity of the aneurysm in a three-dimensional space from the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and a second three-dimensional vicinity-point position determining unit connected to the first three-dimensional aneurysm-position determining unit for determining positions of certain points in a vicinity of the aneurysm in a three-dimensional space by using X-ray images collected by the X-ray image collecting unit from observation angles in at least two directions, and after positions of the certain points in the vicinity of the aneurysm in the three-dimensional space are determined by the first three-dimensional vicinity-point position determining unit and the second three-dimensional vicinity-point position determining unit, t-the registration unit corrects the composite image so as to match both of blood vessel angles of the parent vessel obtained from determined positions in the three-dimensional space. ### Claim 20 (depends on 15) The X-ray imaging apparatus according to claim 15, wherein the X-ray image collecting unit collects X-ray images from observation angles in at least two directions, the displacement determining unit further includes a first three-dimensional vicinity-point position determining unit that determines positions of certain points in a vicinity of the aneurysm in a three-dimensional space from the three-dimensional blood vessel image collected by the three-dimensional blood-vessel image collecting unit, and a second three-dimensional vicinity-point position determining unit connected to the first three-dimensional aneurysm-position determining unit for determining positions of certain points in a vicinity of the aneurysm in a three-dimensional space by using X-ray images collected by the X-ray image collecting unit from observation angles in at least two directions, and after positions of the certain points in the vicinity of the aneurysm in the three-dimensional space are determined by the first three-dimensional vicinity-point position determining unit and the second three-dimensional vicinity-point position determining unit, the registration unit corrects the composite image so as to match both of blood vessel angles of the parent vessel obtained from determined positions in the three-dimensional space.