MEDICAL IMAGE PROCESSING APPARATUS, X-RAY DIAGNOSTIC APPARATUS, AND STORAGE MEDIUM

1 . A medical image processing apparatus comprising:

processing circuitry configured to

extract three-dimensional (3D) blood vessel data of an object from three-dimensional (3D) image data of the object,

detect a tip position of a medical device moving in a blood vessel in real time from a fluoroscopic image of the object inputted during an operation, and

calculate at least one of a recommended route and a recommended direction of the medical device from the 3D blood vessel data, a rough route of the medical device, and the tip position of the medical device; and

a terminal device configured to

display a three-dimensional (3D) blood vessel image of the object generated from the 3D blood vessel data and

designate the rough route of the medical device on the 3D blood vessel image.

2 . The medical image processing apparatus according to claim 1 , wherein the processing circuitry is configured to generate a display image in which at least one of the recommended route and the recommended direction is superimposed on at least one of the fluoroscopic image and a combined image and to output the display image to an external device, the combined image being an image combining the 3D blood vessel image and the fluoroscopic image.

3 . The medical image processing apparatus according to claim 1 , wherein the processing circuitry is configured to:

calculate at least one of a blood vessel centerline and a blood vessel contour from the 3D blood vessel data;

calculate curvature of the blood vessel from at least one of the blood vessel centerline and the blood vessel contour; and

calculate at least one of the recommended route and the recommended direction of the medical device based on the curvature of the blood vessel.

4 . The medical image processing apparatus according to claim 3 , wherein the processing circuitry is configured to:

calculate a route along the blood vessel centerline as the recommended route or a direction toward the blood vessel centerline as the recommended direction, in a region where the curvature is smaller than a predetermined value; and

calculate a route or direction in which a tip of the medical device moves while contacting a wall of the blood vessel as the recommended route or the recommended direction, in a region where the curvature is equal to or larger than the predetermined value.

5 . The medical image processing apparatus according to claim 3 , wherein the processing circuitry is configured to:

calculate pressing force by which the medical device presses against a wall of the blood vessel when the medical device passes through a curve portion of the blood vessel, using rigidity information on the medical device and deformation amount of the medical device when the medical device passes through the curve portion of the blood vessel having the calculated curvature; and

determine whether the medical device can be moved along the designated rough route or not, by determining whether strength of the blood vessel can withstand the pressing force or not.

6 . The medical image processing apparatus according to claim 5 , wherein, when the processing circuitry determines that the medical device cannot be moved along the designated rough route, the processing circuitry is configured to notify a user of such information.

7 . The medical image processing apparatus according to claim 1 , wherein:

the processing circuitry is configured to further detect a first blood vessel position of the object during the operation from a fluoroscopic image of a blood vessel in which a contrast agent is administered by a user using injector; and,

when a second blood vessel position in the 3D blood vessel data differs from the first blood vessel position detected during the operation by predetermined amount or more, the processing circuit is configured to update the second blood vessel position to match the first blood vessel position, and use the 3D blood vessel data where an updated second blood vessel position is reflected for calculating at least one of the recommended route and the recommended direction of the medical device.

8 . The medical image processing apparatus according to claim 1 , wherein the processing circuitry is configured to:

detect a vascular branch portion from the 3D vascular data; and

calculate a route or direction in which a tip of the medical device moves while contacting a vascular wall opposite to a branching blood vessel, as the recommended route or the recommended direction.

9 . The medical image processing apparatus according to claim 2 , wherein the processing circuitry is configured to:

calculate an actual position or an actual moving direction of the medical device in real time from at least one tip position of the medical device detected during the operation; and

include an indicator in the display image notifying a user that a current position or a current moving direction of the medical device is correct, when a calculated actual position of the medical device is on the recommended route or when a calculated actual moving direction of the medical device matches the recommended direction.

10 . The medical image processing apparatus according to claim 9 , wherein the processing circuitry is configured to depict the medical device in the display image in color to notify the user that the current position or the current moving direction of the medical device is correct.

11 . The medical image processing apparatus according to claim 1 , wherein:

the fluoroscopic image is an image generated by an imaging apparatus with a single-plane arm; and

the processing circuitry is configured to

rotate the single-plane arm to acquire fluoroscopic images of the object from a plurality of directions, when a tip of the medical device is determined to be at a vascular branch position by determination based on the 3D blood vessel data and information on the tip position of the medical device, or when the tip of the medical device is determined to be at a curve portion having a curvature equal to or larger than a predetermined value, and

three-dimensionally detect the tip position of the medical device based on the fluoroscopic images from the plurality of directions acquired by rotation of the single-plane arm.

12 . The medical image processing apparatus according to claim 1 , wherein:

a sensor configured to detect three-dimension (3D) positional information is provided at a tip portion of the medical device; and

the processing circuitry is configured to three-dimensionally detect the tip position of the medical device based on the 3D positional information outputted from the sensor.

13 . The medical image processing apparatus according to claim 2 , wherein the processing circuit is configured to (a) control a position and orientation of a bed on which the object is placed and/or (b) control operation of an arm supporting an X-ray irradiator and an X-ray detector for imaging the object, such that a tip of the medical device displayed on the external display is positioned at a center of the screen of the external display.

14 . The medical image processing apparatus according to claim 1 , wherein:

a pressure sensor configured to detect contact pressure between an inner wall of a blood vessel and a tip of the medical device is provided at the tip of the medical device; and

the processing circuitry is configured to output an alarm, when the contact pressure exceeds the predetermined value, indicating to that effect.

15 . The medical image processing apparatus according to claim 1 , wherein the processing circuitry is configured to:

exchange control data with an IVR support robot that controls a procedure using the medical device from a remote location, or performs the fully automated or semi-automated procedure using the medical device; and

control a movement of the IVR support robot by converting at least one of the recommended route and the recommended direction of the medical device into the control data and outputting the control data to the IVR support robot such that the medical device moves based on at least one of the recommended route and the recommended direction.

16 . The medical image processing apparatus according to claim 1 , wherein the processing circuitry is configured to:

exchange control data with an IVR support robot that controls a procedure using the medical device from a remote location, or performs the fully automated or semi-automated procedure using the medical device; and

determine moving speed of the medical device suitable for an object’s tissue or organ at which the tip of the medical device is positioned; and

control a movement of the IVR support robot such a that the medical device moves based on determined moving speed.

17 . The medical image processing apparatus according to claim 1 , wherein the processing circuitry is configured to output control information for controlling an IVR support robot to a manipulation device of an IVR support robot that controls the procedure using the medical device from a remote location, or performs the fully automated or semi-automated procedure using the medical device.

18 . The medical image processing apparatus according to claim 17 , wherein the control information includes at least one of torque amount of the catheter and extension amount of the catheter.

19 . An X-ray diagnostic apparatus comprising the medical image processing apparatus according to claim 1 .

20 . A non-transitory computer-readable storage medium storing a program enabling a computer to execute processing comprising:

extracting three-dimensional (3D) blood vessel data of an object from three-dimensional (3D) image data of the object;

causing a terminal device to display a three-dimensional (3D) blood vessel image of the object generated from the 3D blood vessel data;

acquiring a rough route of the medical device moving in a blood vessel, the rough route being designated on the 3D blood vessel image displayed on the terminal device;

detecting a tip position of the medical device in real time from a fluoroscopic image of the object inputted during an operation; and

calculating at least one of a recommended route and a recommended direction of the medical device from the 3D blood vessel data, the rough route of the medical device, and the tip position of the medical device.