X-ray diagnostic apparatus and X-ray diagnostic system
In one embodiment, an X-ray diagnostic apparatus can communicate with a controller configured to operate a catheter robot capable of moving an inserted device within the object and comprises a display and processing circuitry. The display is configured to display at least one fluoroscopic image of an object. The processing circuitry is configured to receive a control signal indicating a content of an operation on the catheter robot from the controller, acquire a plurality of fluoroscopic images of the object by irradiating the object with X-rays, control X-ray irradiation to the object, cause the display to display the plurality of fluoroscopic images to be sequentially acquired when the X-ray irradiation is performed, generate a plurality of reproduced images based on the plurality of fluoroscopic images acquired before a stop of the X-ray irradiation and cause the display to display the plurality of reproduced images when the X-ray irradiation is stopped.
1 . An X-ray diagnostic apparatus configured to communicate with a controller configured to operate a catheter robot capable of inserting a device into an object and moving the device within the object, the X-ray diagnostic apparatus comprising:
a display configured to be able to display at least one fluoroscopic image of an object; and
processing circuitry configured to
receive a control signal indicating a content of an operation on the catheter robot from the controller,
acquire a plurality of fluoroscopic images of the object by irradiating the object with X-rays,
control X-ray irradiation to the object,
cause the display to display the plurality of fluoroscopic images to be sequentially acquired when the X-ray irradiation is performed, and
generate a plurality of reproduced images based on the plurality of fluoroscopic images acquired before a stop of the X-ray irradiation and cause the display to display the plurality of reproduced images when the X-ray irradiation is stopped.
2 . The X-ray diagnostic apparatus according to claim 1 , wherein the processing circuitry is configured to:
perform the X-ray irradiation when the control signal indicates that the device is moving within the object; and
stop the X-ray irradiation when the control signal indicates that the device is stopped within the object.
3 . The X-ray diagnostic apparatus according to claim 1 , further comprising an operation switch configured to turn on or turn off the X-ray irradiation in response to a user's operation,
wherein the processing circuitry is configured to:
perform the X-ray irradiation to the object when the operation switch is turned on and the control signal indicates that the device is moving within the object; and
stop the X-ray irradiation when the control signal indicates that the device is stopped within the object, regardless of an on/off state of the operation switch.
4 . The X-ray diagnostic apparatus according to claim 3 , wherein the processing circuitry is configured to restart the X-ray irradiation when the device starts moving within the object after a stop of the X-ray irradiation due to a stop of device within the object.
5 . The X-ray diagnostic apparatus according to claim 1 , wherein:
the plurality of reproduced images are the plurality of fluoroscopic images of at least one heartbeat of the object acquired before a stop of the X-ray irradiation; and
the processing circuitry is configured to repeatedly reproduce and display the plurality of fluoroscopic images of the at least one heartbeat on the display in a period during which the X-ray irradiation is stopped.
6 . The X-ray diagnostic apparatus according to claim 5 , wherein the processing circuitry is configured to:
acquire electrocardiographic information of the object; and
adjust a reproduction cycle of the plurality of reproduced images corresponding to a heartbeat cycle based on the electrocardiographic information.
7 . The X-ray diagnostic apparatus according to claim 6 , wherein the processing circuitry is configured to shorten or extend the reproduction cycle of the plurality of reproduced images corresponding to the heartbeat cycle based on the electrocardiographic information.
8 . The X-ray diagnostic apparatus according to claim 6 , wherein the processing circuitry is configured to adjust the reproduction cycle of the plurality of reproduced images in such a manner that the reproduction cycle of the plurality of reproduced images matches the heartbeat cycle based on the electrocardiographic information.
9 . The X-ray diagnostic apparatus according to claim 1 , wherein:
the plurality of reproduced images are the plurality of fluoroscopic images of at least one heartbeat of the object acquired before a stop of the X-ray irradiation; and
the processing circuitry is configured to repeatedly reproduce and display the plurality of fluoroscopic images of the at least one heartbeat on the display in a period during which the X-ray irradiation is stopped.
10 . The X-ray diagnostic apparatus according to claim 9 , wherein the processing circuitry is configured to:
acquire respiration information of the object; and
adjust a reproduction cycle of the plurality of reproduced images corresponding to a respiration cycle based on the respiration information.
11 . The X-ray diagnostic apparatus according to claim 10 , wherein the processing circuitry is configured to adjust the reproduction cycle of the plurality of reproduced images in such a manner that the reproduction cycle of the plurality of reproduced images matches the respiration cycle based on the respiration information.
12 . The X-ray diagnostic apparatus according to claim 1 , wherein the processing circuitry is configured to adjust time length for acquiring the plurality of fluoroscopic images depending on a method of a surgical operation and a target site of the object.
13 . The X-ray diagnostic apparatus according to claim 1 , wherein the processing circuitry is configured to be able to adjust a reproduction speed of the plurality of reproduced images.
14 . The X-ray diagnostic apparatus according to claim 1 , further comprising an operation switch configured to turn on or turn off the X-ray irradiation in response to a user's operation,
wherein, when the X-ray irradiation is turned off in response to the user's operation on the operation switch, the processing circuitry causes the display to display a still image that is one of:
a most recently acquired fluoroscopic image;
a reproduced image displayed on the display at a time at which the X-ray irradiation is ended; and
a reproduced image of a predetermined heartbeat phase.
15 . The X-ray diagnostic apparatus according to claim 1 , wherein:
the X-ray diagnostic apparatus can further communicate with a drive apparatus that performs driving of a peripheral device except the controller or driving of another medical apparatus except the X-ray diagnostic apparatus; and
the processing circuitry is configured to
receive a driving signal indicating a content of the driving from the drive apparatus,
perform the X-ray irradiation to the object when the driving signal indicates that the peripheral device or the another medical apparatus is being driven; and
stop the X-ray irradiation when the driving signal indicates that neither the peripheral device nor the another medical apparatus is being driven.
16 . The X-ray diagnostic apparatus according to claim 1 , further comprising:
an operation switch configured to turn on or turn off the X-ray irradiation in response to a user's operation; and
a selection switch configured to select whether to control on/off of the X-ray irradiation by involving both an on/off state of the operation switch and a moving/stopping state of the device.
17 . The X-ray diagnostic apparatus according to claim 1 , further comprising:
a first operation switch configured to turn on or turn off X-ray irradiation in response to a user's operation; and
a second operation switch configured to turn on or turn off the X-ray irradiation in response to a user's operation, wherein:
on/off of the X-ray irradiation by the first operation switch can be switched independently of on/off of the X-ray irradiation by the processing circuitry based on a moving/stopping state of the device; and
the second operating switch is configured to control on/off of the X-ray irradiation by involving both an on/off state of the second operating switch and the moving/stopping state of the device.
18 . An X-ray diagnostic system comprising: an X-ray diagnostic apparatus; and a catheter robot that includes a robot main-body and a controller, the robot main-body being able to insert a device into an object and move the device within the object, the controller being able to operate the robot main-body,
wherein the X-ray diagnostic apparatus comprises:
a display configured to be able to display at least one fluoroscopic image; and
processing circuitry configured to
receive a control signal indicating a content of an operation on the catheter robot from the controller,
acquire a plurality of fluoroscopic images of the object by irradiating the object with X-rays,
control X-ray irradiation to the object,
cause the display to display the plurality of fluoroscopic images to be sequentially acquired when the X-ray irradiation is performed, and
generate a plurality of reproduced images based on the plurality of fluoroscopic images acquired before a stop of the X-ray irradiation and cause the display to display the plurality of reproduced images when the X-ray irradiation is stopped.
19 . The X-ray diagnostic system according to claim 18 , wherein the processing circuitry is configured to:
perform the X-ray irradiation when the control signal indicates that the device is moving within the object; and
stop the X-ray irradiation when the control signal indicates that the device is stopped within the object.
20 . The X-ray diagnostic system according to claim 18 , wherein:
the X-ray diagnostic apparatus further comprises an operation switch configured to turn on or turn off the X-ray irradiation in response to a user's operation; and
the processing circuitry is configured to:
perform the X-ray irradiation to the object when the operation switch is turned on and the control signal indicates that the device is moving within the object; and
stop the X-ray irradiation when the control signal indicates that the device is stopped within the object, regardless of an on/off state of the operation switch.