Medical apparatus and method

1. A medical apparatus, comprising:

circuitry configured to

acquire information indicating a respiratory waveform of an object and acquire fluoroscopic images of the object captured in time series,

determine a waveform of a tracking value of a coordinate position of a target position, the waveform of the tracking value being determined independently of the information indicating the respiratory waveform of the object, based directly on the time-series fluoroscopic images, the target position being an identified position of the object;

determine a waveform of an irradiation permission signal indicating whether the irradiation permission signal is output or not to a therapeutic device having a radiation source that irradiates the object with a therapeutic beam, the waveform of the irradiation permission being determined independently of the information indicating the respiratory waveform of the object, based directly on the time-series fluoroscopic images,

cause a display to display the respiratory waveform and the determined waveform of the tracking value of the coordinate position of the target position in a comparable form, the respiratory waveform and the determined waveform of the tracking value being displayed in a superimposed manner, and

cause the display to display, together with the respiratory waveform and the determined waveform of the tracking value, the waveform of the irradiation permission signal, wherein a time axis of the waveform of the irradiation permission signal is aligned with a time axis of the respiratory waveform and the determined waveform of the tracking value.

2. The medical apparatus according to claim 1 , wherein the displayed waveform of the tracking value is a part or all of components of coordinates of the target position of an identified position of the object obtained from the fluoroscopic image.

3. The medical apparatus according to claim 1 , wherein the circuitry is further configured to

identify the target position of a position of a tracking target spot of the object,

output the irradiation permission signal to the therapeutic device based on the identified target position of the tracking target spot, and

cause the display to display an indication of whether the irradiation permission signal is output or not, together with the respiratory waveform or the waveform of the tracking value.

4. The medical apparatus according to claim 3 , wherein the circuitry is further configured to cause the display to display a gate-on ratio.

5. The medical apparatus according to claim 3 , wherein the circuitry is further configured to cause the display to display an error ratio.

6. The medical apparatus according to claim 3 , wherein the circuitry is further configured to cause the display to display a histogram of the tracking value.

7. The medical apparatus according to claim 1 , wherein the circuitry is further configured to cause an irradiation permission range to be displayed in a manner of being superimposed on the fluoroscopic image and change a color of the irradiation permission range when the target position of a position of a tracking target spot is settled within the irradiation permission range and an irradiation permission signal is output.

8. The medical apparatus according to claim 1 , wherein the circuitry is further configured to cause an irradiation permission range to be displayed in a manner of being superimposed on the fluoroscopic image and change a hue or brightness of any of an inner region or an outer region of the irradiation permission range when an irradiation permission signal is output.

9. The medical apparatus according to claim 1 , wherein the circuitry is further configured to issue a notification by a sound or a vibration when an irradiation permission signal is output.

10. The medical apparatus of claim 1 , wherein the circuitry is further configured to determine the waveform of the tracking value without using a respiratory movement model relating a particular respiratory phase to a particular target position of the object.

11. The medical apparatus of claim 1 , wherein the circuitry is further configured to

identify the target position in the time-series fluoroscopic images, and

determine the waveform of the irradiation permission signal indicating that the irradiation permission signal is output when the identified target position is settled within an irradiation permission range set in the time-series fluoroscopic images.

12. The medical apparatus of claim 1 , wherein the circuitry is further configured to

target the target position identified in the time-series fluoroscopic images in each of a first direction indicating a body-axis direction of the object, a second direction indicating a front-rear direction of the object, and a third direction indicating a lateral direction of the object to determine three waveforms of the tracking value, and

cause the display to display the determined three waveforms of the tracking value.

13. A method executed by a medical apparatus, comprising;

acquiring information indicating a respiratory waveform of an object and acquiring fluoroscopic images of the object captured in time series;

determining a waveform of a tracking value of a coordinate position of a target position, the waveform of the tracking value being determined independently of the information indicating the respiratory waveform of the object, based directly on the time-series fluoroscopic images, the target position being an identified position of the object;

determining a waveform of an irradiation permission signal indicating whether the irradiation permission signal is output or not to a therapeutic device having a radiation source that irradiates the object with a therapeutic beam, the waveform of the irradiation permission being determined independently of the information indicating the respiratory waveform of the object, based directly on the time-series fluoroscopic images;

causing a display to display the respiratory waveform and the determined waveform of the tracking value of the coordinate position of the target position in a comparable form, the respiratory waveform and the determined waveform of the tracking value being displayed in a superimposed manner, and

causing the display to display, together with the respiratory waveform and the determined waveform of the tracking value, the waveform of the irradiation permission signal, wherein a time axis of the waveform of the irradiation permission signal is aligned with a time axis of the respiratory waveform and the determined waveform of the tracking value.

14. A medical apparatus, comprising:

circuitry configured to

acquire information indicating a respiratory waveform of an object and acquire fluoroscopic images of the object captured in time series,

determine a waveform of a tracking value of a coordinate position of a target position, the waveform of the tracking value being determined independently of the information indicating the respiratory waveform of the object, based directly on the time-series fluoroscopic images, the target position being an identified position of the object,

determine a waveform of an irradiation permission signal indicating whether the irradiation permission signal is output or not to a therapeutic device having a radiation source that irradiates the object with a therapeutic beam, the waveform of the irradiation permission being determined independently of the information indicating the respiratory waveform of the object, based directly on the time-series fluoroscopic images,

cause a display to display the respiratory waveform and the determined waveform of the tracking value of the coordinate position of the target position in a comparable form, the respiratory waveform and the determined waveform of the tracking value being displayed in a superimposed manner,

cause the display to display, together with the respiratory waveform and the determined waveform of the tracking value, the waveform of the irradiation permission signal, wherein a time axis of the waveform of the irradiation permission signal is aligned with a time axis of the respiratory waveform and the determined waveform of the tracking value, and

cause an irradiation permission range to be displayed in a manner of being superimposed on the fluoroscopic image.

15. A method executed by a medical apparatus, comprising;

acquiring information indicating a respiratory waveform of an object and acquiring fluoroscopic images of the object captured in time series;

determining a waveform of a tracking value of a coordinate position of a target position, the waveform of the tracking value being determined independently of the information indicating the respiratory waveform of the object, based directly on the time-series fluoroscopic images, the target position being an identified position of the object;

determining a waveform of an irradiation permission signal indicating whether the irradiation permission signal is output or not to a therapeutic device having a radiation source that irradiates the object with a therapeutic beam, the waveform of the irradiation permission being determined independently of the information indicating the respiratory waveform of the object, based directly on the time-series fluoroscopic images;

causing a display to display the respiratory waveform and the determined waveform of the tracking value of the coordinate position of the target position in a comparable form, the respiratory waveform and the determined waveform of the tracking value being displayed in a superimposed manner;

causing the display to display, together with the respiratory waveform and the determined waveform of the tracking value, the waveform of the irradiation permission signal, wherein a time axis of the waveform of the irradiation permission signal is aligned with a time axis of the respiratory waveform and the determined waveform of the tracking value; and

causing an irradiation permission range to be displayed in a manner of being superimposed on the fluoroscopic image.