X-ray diagnosis apparatus and arm control method

1. An X-ray diagnosis apparatus, comprising:

a table configured to mount a subject;

an arm holding an X-ray tube for radiographing the subject on the table; and

processing circuitry configured to

acquire an X-ray image of the subject by controlling the X-ray tube and the arm;

collect an ultrasonic image acquired in a state where the subject is placed on the table;

identify a relative position between a radiographic space where the X-ray image was acquired and a scanning space where the ultrasonic image was acquired, by performing registration between the X-ray image and the ultrasonic image based on a position of a landmark set in the ultrasonic image and a position corresponding to the landmark in the X-ray image;

calculate a straight line from a specified position specified in the ultrasonic image to an isocenter of the radiographic space based on the relative position between the radiographic space and the scanning space; and

control the arm to move so that the subject is radiographed along the calculated straight line.

2. The X-ray diagnosis apparatus according to claim 1 , wherein the processing circuitry is further configured to determine a center of the radiographic space as the isocenter.

3. The X-ray diagnosis apparatus according to claim 1 , wherein the processing circuitry is further configured to calculate an intersection point of centers of images in a plurality of X-ray images obtained through radiography in the radiographic space, and determine the calculated intersection point as the isocenter.

4. The X-ray diagnosis apparatus according to claim 2 , wherein the processing circuitry is further configured to

calculate a positional relation between a center of a heart included in the ultrasonic image and the isocenter, and

control at least one of the arm and a table based on the calculated positional relation so that the center of the heart is positioned almost the same as the isocenter.

5. An arm control method performed by an X-ray diagnosis apparatus, the arm control method comprising:

acquiring an X-ray image of the subject on the table by controlling an X-ray tube held on the arm and controlling the arm;

collecting an ultrasonic image acquired in a state where the subject is placed on the table;

identifying a relative position between a radiographic space where the X-ray image was acquired and a scanning space where the ultrasonic image was acquired, by performing registration between the X-ray image and the ultrasonic image based on a position of a landmark set in the ultrasonic image and a position corresponding to the landmark in the X-ray image;

calculating a straight line from a specified position specified in the ultrasonic image to an isocenter of the radiographic space based on the relative position between the radiographic space and the scanning space; and

controlling the arm to move so that the subject is radiographed along the calculated straight line.

6. The arm control method according to claim 5 , further comprising:

determining a center of the radiographic space as the isocenter.

7. The arm control method according to claim 5 , further comprising:

calculating an intersection point of centers of images in a plurality of X-ray images obtained through radiography in the radiographic space, and

determining the calculated intersection point as the isocenter.

8. The arm control method according to claim 6 , further comprising:

calculating a positional relation between a center of a heart included in the ultrasonic image and the isocenter, and

controlling at least one of the arm and a table based on the calculated positional relation so that the center of the heart is positioned almost the same as the isocenter.

9. An arm control method performed by an X-ray diagnosis apparatus, the arm control method comprising:

acquiring an X-ray image of the subject on the table by controlling the arm and an X-ray tube held on the arm;

collecting an ultrasonic image acquired in a state where the subject is placed on the table;

collecting a CT image of the subject acquired in advance;

locating a scanning space where the ultrasonic image was acquired in a CT imaging space where the CT image was acquired, by performing registration between the ultrasonic image and the CT image;

locating a radiographic space where the X-ray image was acquired in the CT imaging space, by performing registration between the X-ray image and the CT image;

identifying a relative position between the radiographic space and the scanning space, based on the position of the scanning space in the CT imaging space and the position of the radiographic space in the CT imaging space;

calculating a corresponding position in the radiographic space corresponding to a specified position specified in the ultrasonic image based on the relative position between the radiographic space and the scanning space;

calculating a straight line from the corresponding position to an isocenter of the radiographic space; and

controlling the arm to move so that the subject is radiographed along the calculated straight line.

10. The arm control method according to claim 9 , further comprising:

determining a center of the radiographic space as the isocenter.

11. The arm control method according to claim 9 , further comprising:

calculating an intersection point of centers of images in a plurality of X-ray images obtained through radiography in the radiographic space, and

determining the calculated intersection point as the isocenter.

12. The arm control method according to claim 10 , further comprising:

calculating a positional relation between center of a heart included in the ultrasonic image and the isocenter, and

controlling at least one of the arm and a table based on the calculated positional relation so that the center of the heart is positioned almost the same as the isocenter.