X-ray fluoroscopy apparatus and x-ray fluoroscopy method

Abstract

An X-ray fluoroscopy apparatus and an X-ray fluoroscopy method. In the X-ray fluoroscopy apparatus, a control section includes a first determination section for determining whether or not X-ray imaging is performed, and the control section is configured to perform the following control: in a case where the first determination section determines that X-ray imaging is performed, switching to a next target position.

Description

Technical Field

[0001] The present invention relates to an X-ray fluoroscopic imaging apparatus and an X-ray fluoroscopic imaging method, and particularly to an X-ray fluoroscopic imaging apparatus and an X-ray fluoroscopic imaging method having a storage unit that stores multiple target positions that are targets to which the imaging unit is moved in relation to the order in which the multiple target positions are moved. Background Technology

[0002] Previously, an X-ray fluoroscopic imaging apparatus was known, which included a storage unit that associated multiple target positions, which were the targets to which the imaging unit was to be moved, with the order in which they went to the multiple target positions. Such an apparatus was disclosed, for example, in Japanese Patent Application Publication No. 2000-197621.

[0003] The medical imaging apparatus described in Japanese Patent Application Publication No. 2000-197621 comprises: an imaging unit that captures medical images related to a subject; a support mechanism that supports the imaging unit in various positions; a storage unit that associates the positions of the imaging units with their order and stores multiple units as data; and a control unit that controls the support mechanism to sequentially change the positions of the imaging units according to the stored positions and their order.

[0004] In the medical imaging apparatus disclosed in Japanese Patent Application Publication No. 2000-197621, the control unit moves the imaging unit to a stored position according to sequential positioning data consisting of the position data and their order stored in the storage unit. Then, after imaging is completed, pressing the next positioning switch causes the control unit to read data related to the next position from the storage unit and move the imaging unit to the next position.

[0005] Although not recorded in the aforementioned Japanese Patent Application Publication No. 2000-197621, due to individual differences (personal variations) among different subjects, the photographic location is sometimes slightly adjusted before taking photographs. Additionally, photographs are sometimes taken at unregistered locations midway through a series of photographs taken at various locations.

[0006] However, in an X-ray fluoroscopic imaging apparatus configured to read the data of the next imaging position by moving the imaging unit to the position stored in the storage unit, if the imaging unit is stopped and imaging is performed during the movement from the current position to the next position, or if imaging is performed at a position that is not registered, there is a problem that the next imaging position cannot be read because the movement of the imaging unit is not completed, and there is a problem that the next imaging position (target position) needs to be reselected and the positioning switch needs to be pressed again because the next imaging position cannot be read. Summary of the Invention

[0007] The present invention was made to solve the problems described above. One object of the present invention is to provide an X-ray fluoroscopic imaging apparatus that can switch to the next target location even without selecting the next target location when imaging has been performed at any imaging position.

[0008] To achieve the above objectives, an X-ray fluoroscopy apparatus of one aspect of the present invention comprises: a bed for a subject to lie flat; a radiographic unit including an X-ray source for irradiating the subject with X-rays, a detector facing the X-ray source and detecting the X-rays irradiated from the X-ray source, and an arm connecting the X-ray source and the detector; a storage unit that stores multiple target positions as targets to which the radiographic unit can be moved, in association with the order in which the multiple target positions are moved; a control unit that sequentially selects multiple target positions; and a drive unit that moves the radiographic unit toward the target position switched by the control unit, wherein the control unit includes a first determination unit for determining whether X-ray radiography has been performed, and the control unit is configured to perform the following control: if the first determination unit determines that X-ray radiography has been performed, switch to the next target position.

[0009] In one aspect of the X-ray fluoroscopy apparatus described above, the control unit includes a first determination unit that determines whether X-ray imaging has been performed, and is configured to control switching to the next target position if the first determination unit determines that X-ray imaging has been performed. Thus, by controlling switching to the next target position when the first determination unit determines that X-ray imaging has been performed, the control unit controls the switching of the target position based on the completion of imaging, regardless of the position of the moved imaging unit. Therefore, even if imaging is performed at a position other than the target position, the target position can be switched. As a result, even if imaging is performed at any imaging position, switching to the next target position is possible without selecting a next imaging position. Attached Figure Description

[0010] Figure 1 It is a diagram used to illustrate the structure of an X-ray imaging apparatus.

[0011] Figure 2A It is a diagram used to illustrate the direction of photography, and it is a diagram observed from the side of the subject.

[0012] Figure 2B This is a diagram used to illustrate the direction of the photograph, and it is a diagram showing the view from the foot side of the subject.

[0013] Figure 3 It is a diagram used to illustrate the relative positions of the bed and the photography unit.

[0014] Figure 4This is a block diagram showing the structure of the control unit of an X-ray fluoroscopy device.

[0015] Figure 5 This is a diagram used to illustrate the structure of the rotating and moving mechanisms of the camera section.

[0016] Figure 6 This is a diagram showing an example of the target position displayed in the display unit.

[0017] Figure 7A This diagram illustrates the rotation of the arm around the rotation axis caused by the rotating mechanism when taking photographs at the RAO position.

[0018] Figure 7B This diagram illustrates the rotation of the arm around the rotation axis caused by the rotating mechanism when taking photographs at the LAO location.

[0019] Figure 8A This diagram illustrates the circumferential rotation of the arm caused by the rotating mechanism when taking photographs at the CRANIAL position.

[0020] Figure 8B This diagram illustrates the circumferential rotation of the arm caused by the rotating mechanism when taking photographs at the CAUDAL location.

[0021] Figure 9 This is a flowchart illustrating an example of control of the control unit in sequence mode.

[0022] Figure 10 This is a flowchart illustrating an example of motion control for the camera unit.

[0023] Figure 11 This is a flowchart illustrating an example of the control unit's control in the sequence mode of the first modified example.

[0024] Figure 12 This is a diagram showing an example of the target position displayed in the display section of the second modified example. Detailed Implementation

[0025] The following describes one embodiment of the invention based on the accompanying drawings.

[0026] (Overall structure of the X-ray imaging device)

[0027] Reference Figure 1 Figure 8 illustrates an X-ray fluoroscopic imaging apparatus 100 according to one embodiment of the present invention.

[0028] like Figure 1 As shown, the X-ray fluoroscopy device 100 is used to diagnose diseases in the target area of ​​the subject 50. The target area may be, for example, the blood vessels of the heart (coronary arteries), but may also be the abdomen or lower limbs.

[0029] The X-ray fluoroscopy imaging apparatus 100 of this embodiment includes a bed 1, an imaging unit 2, a storage unit 3, a control unit 4, an operation unit 5, a drive unit 6, and a position information acquisition unit 7. The X-ray fluoroscopy imaging apparatus 100 sequentially images the target area from multiple angles and positions based on multiple target positions 40 stored in the storage unit 3. Furthermore, in this embodiment, the mode in which the X-ray fluoroscopy imaging apparatus 100 sequentially images the target area from multiple angles and positions based on multiple target positions 40 stored in the storage unit 3 is designated as a sequence mode.

[0030] The bed 1 includes a top plate 11 for laying the subject 50 flat and a base 12 supporting the bed 1 from below. The subject 50 is laid flat on the top plate 11 with the long side of the bed 1 (top plate 11) aligned with the direction in which the head and feet of the subject 50 are connected. Here, in Figure 1 In this state, the long side of bed 1 is designated as the X direction. The side where the head of the subject 50 is positioned is designated as the X1 side, and the side where the feet are positioned is designated as the X2 side. The short side of bed 1 (the left-right direction of the subject 50), which is orthogonal to the X direction, is designated as the Y direction. The right side of the subject 50 when lying supine is designated as the Y1 side, and the left side as the Y2 side. The vertical direction of bed 1, which is orthogonal to both the X and Y directions, is designated as the Z direction. The top plate 11 side is designated as the Z1 side, and the base 12 side is designated as the Z2 side. The base 12 is located on a portion of the bottom surface (Z2 side) of bed 1.

[0031] The imaging unit 2 includes an X-ray source 21, a detector 22, and an arm 23. The X-ray source 21 includes an X-ray tube (not shown). The X-ray tube is configured such that the anode and cathode are overheated by allowing current to flow through them respectively, and X-rays are emitted when thermionic electrons emitted from the cathode collide with the anode by applying a voltage between the anode and cathode. Furthermore, it is configured to irradiate the X-rays generated in the X-ray tube toward the detector 22. Moreover, the fluoroscopic dose (irradiation intensity) of the irradiated X-rays is determined based on the tube voltage by varying the tube voltage applied to the X-ray tube. Additionally, the X-ray source 21 is configured to send a signal to the control unit 4 during X-ray irradiation.

[0032] Detector 22 is, for example, an FPD (Flat Panel Detector). Detector 22 is configured to receive X-rays irradiated by X-ray source 21 and passing through the subject 50, and convert the received X-rays into electrical signals. Detector 22 has an imaging element (not shown) with multiple pixels (partitions) internally, detects the intensity of X-rays at each corresponding pixel, and converts the X-ray information (detection signal) of each pixel into an electrical signal (digital data) as a pixel value. The X-ray information converted into electrical signals is sent to control unit 4.

[0033] Arm 23 has an arc-shaped design. An X-ray source 21 is connected to one end of arm 23, and a detector 22 is connected to the other end. Arm 23 is a so-called C-arm. The X-ray source 21 and detector 22 are positioned facing each other across the subject 50 lying flat on the bed 1. Furthermore, since the base 12 of the bed 1 is only provided on a portion of the top plate 11, arm 23 can be inserted into the portion where the base 12 is not provided, and the X-ray source 21 is positioned on the bottom surface side (Z2 side) of the bed 1. In this embodiment, the X-ray fluoroscopy apparatus 100 is a single-wing type with one arm 23.

[0034] The arm 23 is rotatably mounted on the arm base 24. The arm base 24 contains a rotating mechanism 61 for rotating the arm 23. Furthermore, the rotating mechanism 61 is an example of the "drive unit" of the present invention.

[0035] The photography department 2 is configured to take photos from the following directions respectively: Figure 2A The direction of the X-rays obliquely irradiating the subject 50 from one end (CRANIAL) or the other end (CAUDAL) within a longitudinal section along the long side (X direction) of the bed 1 on which the subject 50 is placed is different from the direction shown. Figure 2B The arbitrary orientation obtained by combining the right anterior oblique (RAO), frontal, and left anterior oblique (LAO) views of the subject 50 shown. Furthermore, in Figure 2B Arm 23 is omitted.

[0036] like Figure 3 As shown, the relative position of the camera unit 2 to the bed 1 varies depending on the part being photographed. Figure 3In the diagram, the arrow points in the direction in which the imaging unit 2 is inserted between the top plate 11 of the bed 1 and the floor. The detector 22 is located on the subject 50 side, i.e., the front end of the arrow, and the arm base 24 is located on the rear end of the arrow, opposite to the front end. The arm 23 is positioned along the long side (X direction) of the bed 1 when viewed from above, designated as the HOME position. The arm 23 is positioned at an angle from the head side (X1 side) of the subject 50 towards the feet side (X2 side) and from the periphery of the long side (X direction) of the bed 1 towards the subject 50, designated as the MULTI position. The arm 23 is positioned along the short side (Y direction) of the bed 1 from the side of the subject 50 towards the center when viewed from above, designated as the SIDE position. The position where the arm 23 is moved from the SIDE position to the feet side (X2 side) of the subject 50 is designated as the PERI position. For example, the HOME position is used when imaging from the head to the chest of the subject 50. The PERI position is used when imaging the lower limbs. Additionally, when photographing the abdomen of subject 50, use the MULTI or SIDE position.

[0037] like Figure 1 As shown, the storage unit 3 stores the sequence in which the camera unit 2 moves to multiple target locations 40 and the order in which the multiple target locations 40 are reached. The storage unit 3 is, for example, an HDD (Hard Disk Drive) or a non-volatile memory.

[0038] The control unit 4 controls the imaging unit 2 to capture images of the subject 50 based on operations performed via the operation unit 5. Additionally, the control unit 4 controls the storage unit 3 to store the target location 40. Furthermore, the control unit 4 controls the display unit 8 to display the image. The control unit 4 is, for example, a CPU (Central Processing Unit).

[0039] like Figure 4 As shown, the control unit 4, which is composed of hardware such as a CPU, includes a first judgment unit 41 and a second judgment unit 42 as software function blocks. The first judgment unit 41 determines whether X-ray imaging has been performed, and the second judgment unit 42 determines whether the current position information of the imaging unit 2 acquired by the position information acquisition unit 7 matches the currently selected target position 40. The control unit 4 controls the sequential switching of multiple target positions 40. Furthermore, the control unit 4 performs the following control: based on the operation of moving the imaging unit 2, it moves the imaging unit 2 sequentially toward multiple target positions 40 stored in the storage unit 3. Specifically, the control unit 4 controls the rotation mechanism 61 (see reference 61) to achieve this. Figure 1 This causes the arm 23 to rotate, thereby moving (rotating) the camera section 2.

[0040] The first determination unit 41 determines whether X-ray imaging has been performed. Specifically, the first determination unit 41 determines whether X-ray imaging has been performed based on the signal sent from the X-ray source 21 to the control unit 4 during the X-ray irradiation.

[0041] The second determination unit 42 determines whether the current position information of the camera unit 2 is consistent with the currently selected target position 40. Specifically, it compares the current absolute position of the camera unit 2 obtained by the position information acquisition unit 7 with the absolute position of the camera unit 2 at the target position 40. For example, it uses position coordinates to determine the absolute position.

[0042] Even if the second determination unit 42 determines that the current position information of the camera unit 2 is inconsistent with the currently selected target position 40, that is, the moved camera unit 2 has not reached the target position 40, the first determination unit 41 still determines that photography has been performed after photography is completed, and the control unit 4 then controls the sequential switching of multiple target positions 40. Furthermore, the control unit 4 controls the switching of target positions 40 when it receives a photography operation via the operation unit 5. Additionally, when the camera unit 2 is manually moved, the control unit 4 controls the end of the sequence mode. Moreover, when the sequence mode ends, by receiving an operation to select a target position 40, the control unit 4 controls the setting of the selected target position 40 as the new target position 40.

[0043] like Figure 1 As shown, the operation unit 5 includes: a first operation unit 51, which receives an operation to move the imaging unit 2 toward the target position 40; a second operation unit 52, which receives an operation to move the imaging unit 2 in a direction different from the target position 40; and a third operation unit 53, which receives an operation to take a picture. The operation unit 5 is disposed on the side (Y direction side) of the bed 1.

[0044] By operating the first operation unit 51, the control unit 4 controls the rotation mechanism 61 and the movement mechanism 62 to rotate or move the arm 23, thereby moving the camera unit 2 toward the target position 40. Furthermore, if the first operation unit 51 is not operated, the control unit 4 ceases controlling the movement of the camera unit 2 toward the target position 40 even if the target position 40 is not reached. Alternatively, if the target position 40 is not reached, after stopping the movement of the camera unit 2 toward the target position 40, the first operation unit 51 is operated again, thereby the control unit 4 controls the rotation mechanism 61 and the movement mechanism 62 to rotate or move the arm 23, thereby moving the camera unit 2 toward the target position 40. The first operation unit 51 is, for example, a button. Furthermore, the movement mechanism 62 is an example of the "drive unit" of the present invention.

[0045] By operating the second operating unit 52, the control unit 4 controls the rotation mechanism 61 and the movement mechanism 62 to rotate or move the arm 23, thereby moving the imaging unit 2 in a direction different from the target position 40. The second operating unit 52 is, for example, a lever switch. In this case, the control unit 4 controls the rotation mechanism 61 and the movement mechanism 62 to rotate or move the arm 23 in the direction of releasing the lever switch.

[0046] By operating the third operating unit 53, the control unit 4 controls the imaging unit 2 to photograph the subject 50. The third operating unit 53 is, for example, a foot switch or a manual switch.

[0047] The first operating unit 51, the second operating unit 52, and the third operating unit 53 can be installed on a single control panel or configured independently. For example, if the third operating unit 53 is configured as a foot switch, the first operating unit 51 and the second operating unit 52 can be installed on a single control panel. Alternatively, if the third operating unit 53 is configured as a manual switch, the first operating unit 51, the second operating unit 52, and the third operating unit 53 can also be installed on a single control panel.

[0048] like Figure 1 As shown, the drive unit 6 includes a rotation mechanism 61 and a moving mechanism 62. Figure 5 As shown, the rotation mechanism 61 causes the arm 23 to rotate about the axis of the rotation shaft 611, which is a line extending along the long side (X direction) of the bed 1 connecting the head and feet of the subject 50. Furthermore, the rotation mechanism 61 is configured to allow the arm 23 to rotate along its circumference 612. In this embodiment, the angle of rotation of the arm 23 about the axis of the rotation shaft 611 is set as a first rotation angle 25 (see reference). Figure 6 Additionally, the angle by which the arm 23 rotates along its circumferential direction 612 is set as a second rotation angle 26 (see Figure 7). The rotation mechanism 61 includes, for example, a motor.

[0049] A moving mechanism 62 is mounted on the arm base 24. The arm base 24 is moved horizontally via the moving mechanism 62, thereby enabling the arm 23 to move horizontally. The moving mechanism 62 includes: a first rotating part 621 disposed on the ground 90; and a second rotating part 622 rotatably held on the first rotating part 621, and rotatably holding the arm base 24. The first rotating part 621 includes a base shaft 623 and an intermediate shaft 624 disposed at a position away from the base shaft 623. The second rotating part 622 includes a horizontal rotation shaft 625.

[0050] The base axis 623 and the intermediate axis 624 are rotation axes oriented perpendicular to the ground at 90 degrees. Additionally, the horizontal rotation axis 625 is also a rotation axis oriented perpendicular to the ground at 90 degrees. Thus, the moving mechanism 62 can combine rotations about the axis of the base axis 623, rotations about the axis of the intermediate axis 624, and rotations about the axis of the horizontal rotation axis 625 to move the arm base 24 and the arm 23 horizontally to the desired position.

[0051] The position information acquisition unit 7 acquires the current position of the camera unit 2. Specifically, the position information acquisition unit 7 acquires the absolute position of the camera unit 2 and the absolute position of the top plate 11.

[0052] like Figure 1 As shown, the X-ray fluoroscopy apparatus 100 of this embodiment also includes a display unit 8. The display unit 8 is located on the side (Y-direction side) of the bed 1. Multiple target positions 40 are displayed on the display unit 8. The display unit 8 is a touch panel type liquid crystal monitor that accepts user operation. The control unit 4 controls the display unit to display the current target position 40 in a manner different from other target positions 40. In this case, the control unit 4 may, for example, perform controls such as surrounding the current target position 40 with a frame, differentiating the color of the current target position 40 from other target positions 40, or causing the current target position 40 to flash. Figure 6 The image shows an example of using a shaded box to surround the current target position 40.

[0053] By selecting one of the target positions 40 on the display unit 8, the system switches to the target position 40 obtained from the selected target position 40. Therefore, it is possible to skip unnecessary target positions 40 during photography. Furthermore, by selecting the same target position 40, photography at the same position can be repeated. Additionally, the control unit 4 controls the display of multiple target positions 40 in a list format on the display unit 8. Furthermore, the control unit 4 controls the display of multiple target positions 40 sequentially on the display unit 8. For example, the control unit 4 controls the display of multiple target positions 40 sequentially from top to bottom on the display unit 8.

[0054] The target position 40 is the location of a pre-registered part of the subject 50, which is photographed from multiple angles. The target position 40 includes the rotation angle of the arm 23, the relative position of the arm 23 with respect to the top plate 11 of the bed 1, and the distance between the focal position of the X-ray source 21 and the detector 22.

[0055] As shown in Figure 2, the rotation angle of arm 23 is a combination of the angle at which arm 23 is rotated by rotation mechanism 61 when taking pictures at any position in RAO and LAO, and the angle at which arm 23 is rotated when taking pictures at any position in CRANIAL and CAUDAL.

[0056] like Figure 6 As shown, multiple target positions 40 are displayed on the display unit 8. The numbers 01, 02, 03, and 04 among the target positions 40 indicate the order in which the camera unit 2 moves toward the target position 40. Furthermore, RAO and LAO indicate that photography is performed at position RAO or position LAO. Additionally, the numbers following RAO or LAO indicate the first rotation angle 25 (see reference). Figure 6 Furthermore, CRA or CAU indicates that photography is performed at the CRANIAL or CAUDAL position, respectively. Additionally, the number following CRA or CAU indicates the second rotation angle 26 (see Figure 7). Furthermore, HOME indicates that the relative position of the imaging unit 2 with respect to the bed 1 is the HOME position (see Figure 2). The "01: RAO 40, CRA 20 (HOME)" displayed on the display unit 8 means "The first target position 40 is the RAO position where the arm 23 is rotated to a rotation angle of 40 degrees and the CRANIAL position where the rotation angle is 20 degrees, and the relative position of the imaging unit 2 with respect to the bed 1 is the HOME position." Furthermore, the number of target positions 40 is two or more. Additionally, in Figure 5 The text displays the four target positions 40 from the first to the fourth, but scrolling reveals the target positions 40 from the fifth onwards.

[0057] like Figure 7A As shown, at target position 40 (reference) Figure 1 In the case of RAO, the control unit 4 controls the rotation mechanism 61 to rotate the arm 23 along the Y1 direction from the position of the dotted line to the position of the solid line. Additionally, as... Figure 7B As shown, when the target position 40 is LAO, unlike the RAO case, the control unit 4 controls the rotation mechanism 61 to rotate the arm 23 along the Y2 direction from the position of the dashed line to the position of the solid line. Furthermore, the position of the dashed line is the initial position where the arm 23 is positioned. Figure 2A and Figure 2B The combination of the frontal positions.

[0058] like Figure 8A As shown, at target position 40 (reference) Figure 1 In the case of CRANIAL, the control unit 4 controls the rotation mechanism 61 to rotate the arm 23 along the X1 direction from the position of the dotted line to the position of the solid line. Additionally, as... Figure 8B As shown, when the target position 40 is CAUDAL, unlike the CRANIAL case, the control unit 4 controls the rotation mechanism 61 to rotate the arm 23 along the X2 direction from the position of the dashed line to the position of the solid line. Furthermore, the position of the dashed line is the initial position where the arm 23 is positioned. Figure 2A and Figure 2B The combination of the frontal positions.

[0059] Multiple target locations 40 are preset by the user. The control unit 4 stores the multiple target locations 40 in the storage unit 3 in association with the order in which they are photographed, for example, based on the operation input made via the operation unit 5. In addition, the control unit 4 can also perform the following control: based on the operation input made via the operation unit 5, change the order in which the multiple target locations 40 are photographed.

[0060] (Control in sequence mode)

[0061] use Figure 9 This section describes the control of the control unit 4 in the sequence mode of the X-ray fluoroscopic imaging apparatus 100 of this embodiment. In step 81, the control unit 4 sets the initial target position 40 among the plurality of target positions 40 stored in the storage unit 3 as the position to which the imaging unit 2 is to go.

[0062] In step 82, the control unit 4 receives an operation via the first operation unit 51 to move the camera unit 2 toward the target position 40. The control unit 4 then controls the rotation mechanism 61 and the movement mechanism 62 to move the camera unit 2 toward the set target position 40. At this time, if no operation to move the camera unit 2 is received, the control unit 4 terminates the control of moving the camera unit 2, regardless of whether the target position 40 has been reached. Alternatively, the control unit 4 can receive an operation via the second operation unit 52 to move the camera unit 2 in a direction different from the target position 40, and then control the rotation mechanism 61 or the movement mechanism 62 to move the camera unit 2 in a direction different from the target position 40. This adjusts the position for taking photographs.

[0063] In step 83, the control unit 4 uses the first determination unit 41 to determine whether photography has been taken. If photography has been taken, the process proceeds to step 84; otherwise, it returns to step 82.

[0064] In step 84, the next step is changed depending on whether the next target position 40 is stored in the storage unit 3. If the next target position 40 is stored in the storage unit 3, since the imaging of the subject 50 at the current target position 40 has ended, the process proceeds to step 85, where the control unit 4 switches the next target position 40 to the position that the imaging unit 2 wants to go to. Then, the process returns to step 82, and steps 82 to 85 are repeated.

[0065] In step 84, if the next target position 40 is not stored in the storage unit 3, the control unit 4 terminates the sequence mode.

[0066] based on Figure 10The control of the movement of the camera unit 2 will be explained in detail. In step 91, the next step is changed depending on whether there is an input for a movement operation of the camera unit 2 via the first operation unit 51 or the second operation unit 52. If there is an input for a movement operation of the camera unit 2 via the first operation unit 51 or the second operation unit 52, the process proceeds to step 92, where the control unit 4 controls the rotation mechanism 61 and the movement mechanism 62 to move the camera unit 2. If there is no input for a movement operation of the camera unit 2 via the first operation unit 51 or the second operation unit 52, the process proceeds to step 94, where the control unit 4 terminates the control of moving the camera unit 2.

[0067] In step 93, the next step is changed based on whether the input of the movement operation of the camera unit 2 via the first operation unit 51 and the input of the movement operation of the camera unit 2 via the second operation unit 52 have ended. If the input of the movement operation of the camera unit 2 via the first operation unit 51 and the input of the movement operation of the camera unit 2 via the second operation unit 52 have ended (in the case of no input), the process proceeds to step 94, and the control unit 4 ends the control of moving the camera unit 2. In this case, the control unit 4 ends the control of moving the camera unit 2 regardless of whether the camera unit 2 has reached the target position 40. Then, the process proceeds to step 95. Alternatively, if either the input via the first operation unit 51 or the input via the second operation unit 52 is received for the operation of moving the camera unit 2, the process proceeds to step 92, and the control unit 4 performs the control of moving the camera unit 2. Then, in step 93, before the input of the movement operation performed via the first operation unit 51 or the input of the movement operation performed via the second operation unit 52 ends, that is, during the period when either the input of the movement operation performed via the first operation unit 51 or the input of the movement operation performed via the second operation unit 52 continues, the control unit 4 performs control of the rotation mechanism 61 and the movement mechanism 62 to move the camera unit 2.

[0068] In step 95, the control unit 4 proceeds to different steps depending on whether there is an operation input for photography. If there is an operation input for photography, the control unit 4 terminates the control of the rotation mechanism 61 and the movement mechanism 62 to move the camera unit 2. Otherwise, if there is no operation input for photography, it returns to step 91 and continues with steps 91 to 94 until there is an operation input for photography. Furthermore, the configuration is such that when the camera unit 2 reaches the target position 40 between steps 91 and 94, it does not receive an operation input via the first operation unit 51, but receives an operation via the second operation unit 52. That is, the configuration determines whether there is an input for a movement operation of the camera unit 2 via the second operation unit 52 after reaching the target position 40.

[0069] (Effects of this implementation method)

[0070] In this embodiment, the following effects can be obtained.

[0071] As described above, the X-ray fluoroscopy apparatus 100 of the present invention includes: a bed 1 for a subject 50 to lie flat; a radiography unit 2 including an X-ray source 21 for irradiating the subject 50 with X-rays, a detector 22 facing the X-ray source 21 and detecting the X-rays irradiated from the X-ray source 21, and an arm 23 connecting the X-ray source 21 and the detector 22; a storage unit 3 that stores multiple target positions 40 as targets to which the radiography unit 2 is moved in association with the order in which the multiple target positions 40 are moved; a control unit 4 that sequentially selects multiple target positions 40; and a drive unit 6 that moves the radiography unit 2 toward the target position 40 switched by the control unit 4, wherein the control unit 4 includes a first determination unit 41 for determining whether X-ray radiography has been performed, and the control unit 4 is configured to control switching to the next target position if the first determination unit 41 determines that X-ray radiography has been performed.

[0072] Therefore, the control unit 4 controls the switching to the next target position 40 when the first determination unit 41 determines that X-ray imaging has been performed. Thus, regardless of the position of the moved imaging unit 2, the control unit 4 controls the switching of the target position 40 based on the completion of imaging. Therefore, even if imaging is performed at a position other than the target position 40, the target position 40 can still be switched. As a result, even if imaging is performed at any imaging position, the next target position 40 can be switched to without selecting it.

[0073] Furthermore, in the above embodiments, the following effects can be obtained by configuring the structure as follows.

[0074] That is, in this embodiment, as described above, a position information acquisition unit 7 for acquiring current information of the imaging unit 2 is also included. The control unit 4 includes a second determination unit 42, which determines whether the current position information of the imaging unit 2 acquired by the position information acquisition unit 7 is consistent with the currently selected target position 40. The control unit 4 is configured to perform the following control: if the first determination unit 41 determines that X-ray imaging has been performed, it switches to the next target position only if the second determination unit 42 determines that they are consistent, and also switches to the next target position if the second determination unit 42 determines that they are inconsistent. This configuration enables control to switch to the next target position even if X-ray imaging is performed at a position different from the target position 40. Thus, the user can perform a series of imaging of the subject 50 while arbitrarily selecting the imaging position without switching the target position 40.

[0075] Furthermore, in this embodiment, as described above, an operation unit 5 is also provided. This operation unit 5 accepts operations to move the imaging unit 2 toward the target position 40 and operations to move the imaging unit 2 in a direction different from the target position 40. The control unit 4 is configured to: control the imaging unit 2 to move toward the target position 40 stored in the storage unit 3 when the operation to move the imaging unit 2 toward the target position 40 is received; control the imaging unit 2 to move in a direction different from the target position 40 when the operation to move the imaging unit 2 in a direction different from the target position 40 is received; and control the sequential switching of multiple target positions 40 after the imaging is completed when the first determination unit 41 determines that X-ray imaging has been performed. Thus, the user can move the imaging unit 2 along the path to the target position 40 and can move the imaging unit 2 to a position deviating from the path to the target position 40. Furthermore, the control unit 4 is configured to sequentially switch between multiple target positions 40 after imaging is completed, even if the moving imaging unit 2 has not yet reached the target position 40. Therefore, in addition to the case where the user takes images along the path to the target position 40, the control unit 4 can also switch the target position 40 if the user takes images at a position deviating from the path to the target position 40. As a result, the user can perform a series of imaging operations while adjusting the imaging position in accordance with the subject 50.

[0076] [First variation of this embodiment]

[0077] Reference Figure 1 ~Figure 8, Figure 10 as well as Figure 11 A first variation of this embodiment will be described. Furthermore, for structures identical to those in the above embodiment, the same reference numerals will be used, and descriptions will be omitted.

[0078] In the first variation, unlike the first embodiment, the control unit 4 performs the following control: if the difference between the position of the camera unit 2 at the end of the photography session and the target position 40 to which the camera unit 2 is to be moved for photography is within a preset range, even if the second determination unit 42 determines that the current position of the camera unit 2 is inconsistent with the target position 40, i.e., the moved camera unit 2 has not reached the target position 40, multiple target positions 40 are switched sequentially after the photography session is completed. Furthermore, the control unit 4 performs the following control: if the difference between the position of the camera unit 2 at the end of the photography session and the target position 40 to which the camera unit 2 is to be moved for photography is outside a preset range, the target position 40 is not switched. The purpose of the first variation is to suppress switching of target positions due to unwanted photography, such as mistakenly photographing the same area.

[0079] like Figure 1 As shown, in the first variation, a range is set between the position of the camera unit 2 at the end of photography (a condition for switching the target position 40) and the target position 40 to which the camera unit 2 needs to be moved for photography. This range is stored in the storage unit 3. The difference between the position of the camera unit 2 at the end of photography (a condition for switching the target position 40) and the target position 40 to which the camera unit 2 needs to be moved for photography is the difference between a first rotation angle 25 (see Figure 7) and a second rotation angle 26 (see Figure 8). The set range is the allowable range of error between the first rotation angle 25 set at the current target position 40 and the first rotation angle 25 at the position where photography was performed, and the allowable range of error between the second rotation angle 26 set at the current target position 40 and the second rotation angle 26 at the position where photography was performed. The allowable range of error is, for example, set to within ±5 degrees. In other words, if the target position 40 is LAO40 and the error is set to ±5 degrees, then when the shooting position is within the range of LAO 35 degrees to LAO 45 degrees, the control unit 4 controls the switching of the target position 40.

[0080] If the difference between the position of the camera unit 2 at the end of the photography session and the target position 40 to which the camera unit 2 needs to be moved for photography is outside a preset range, the control unit 4 terminates the sequence mode and does not switch the target position 40 even if photography operation input is made via the third operation unit 53. Furthermore, in this case, the control unit 4 starts the sequence mode from the target position 40 received by accepting the selection of a new target position 40. A new target position 40 is selected by choosing one of the multiple target positions 40 displayed on the display unit 8. At this time, either the next target position 40 after the current target position 40 can be selected, or another target position 40 can be selected.

[0081] based on Figure 11 The control of the control unit 4 in the sequence mode of the first modified example will be explained. First, the control from step 81 to step 85 is the same as in this embodiment. Furthermore, regarding the movement of the imaging unit 2 in step 82, [further details are needed]. Figure 9 The same control applies. Unlike this embodiment, in the first variation, after the photography ends in step 83, step 86 is performed before proceeding to step 84. In step 86, the next step is changed based on whether the difference between the position at the end of the photography and the target position 40 used to move the photography unit 2 is within a preset range.

[0082] If the difference between the position of camera unit 2 at the end of the photography session and the target position 40 to which camera unit 2 is to be moved for photography is within a preset range, proceed to step 84. If the difference between the position at the end of the photography session and the target position 40 to which camera unit 2 is to be moved is outside the preset range, proceed to step 82.

[0083] The other structures of the first variation are the same as those of the above-described embodiment.

[0084] (The effect of the first variation)

[0085] In the first variation, as described above, it comprises: a bed 1 for the subject 50 to lie flat; a radiographic unit 2 including an X-ray source 21 that irradiates the subject 50 with X-rays, a detector 22 facing the X-ray source 21 and detecting the X-rays irradiated from the X-ray source 21, and an arm 23 connecting the X-ray source 21 and the detector 22; a storage unit 3 that stores multiple target positions 40 as targets to which the radiographic unit 2 is moved in association with the order in which the multiple target positions 40 are moved; a control unit 4 that sequentially selects multiple target positions 40; and a drive unit 6 that moves the radiographic unit 2 toward the target position 40 switched by the control unit 4, wherein the control unit 4 includes a first determination unit 41 for determining whether X-ray radiography has been performed, and the control unit 4 is configured to control the switching to the next target position if the first determination unit 41 determines that X-ray radiography has been performed.

[0086] Therefore, the control unit 4 controls the switching to the next target position 40 when the first determination unit 41 determines that X-ray imaging has been performed. Thus, regardless of the position of the moved imaging unit 2, the control unit 4 controls the switching of the target position 40 based on the completion of imaging. Therefore, even if imaging is performed at a position other than the target position 40, the target position 40 can still be switched. As a result, even if imaging is performed at any imaging position, the next target position 40 can be switched to without selecting it.

[0087] Furthermore, in the first modified example described above, by constructing it as follows, the following further effects can be obtained.

[0088] In the first variation, as described above, the control unit 4 is configured to perform the following control: if the second determination unit 42 determines that there is an inconsistency, and the difference between the position of the camera unit 2 at the end of the photography session and the target position 40 to which the camera unit 2 is to be moved for photography is within a predetermined range, then even if the camera unit 2 does not reach the target position 40 after moving, multiple target positions 40 are switched sequentially after the photography session is completed. Furthermore, the control unit 4 is configured to perform the following control: if the difference between the position of the camera unit 2 at the end of the photography session and the target position 40 to which the camera unit 2 is to be moved for photography is outside the predetermined range, the target position 40 is not switched. Thus, for example, by setting a value smaller than the difference between consecutive target positions 40 as the upper limit of the predetermined range, in cases such as re-photographing where multiple photographs are taken at the same position, after switching to the next target position 40 in the first photograph, the photographing position after the second photograph is not the switched target position 40 but the previous target position 40. Therefore, the difference between the position of the camera unit 2 at the end of the photography session and the target position 40 to which the camera unit 2 is to be moved for photography is the difference between consecutive target positions 40. Therefore, if the difference between the position of the camera unit 2 at the end of the photography session and the target position 40 that the camera unit 2 needs to be moved to for photography is greater than a preset range, the control unit 4 will control the camera unit 2 to not switch the target position 40. As a result, when photography is performed at the same position, it is possible to prevent the target position 40 from being switched sequentially each time photography is performed.

[0089] Furthermore, in the first variation, as described above, the arm 23 of the imaging unit 2 has an arc-shaped form. The difference between the position of the imaging unit 2 at the end of imaging and the target position 40 to which the imaging unit 2 is to be moved for imaging is the difference between a first rotation angle 25 of the arm 23 of the imaging unit 2 rotating about a line extending along the long side of the bed 1 connecting the head and feet of the subject 50, and a second rotation angle 26 of the arm 23 of the imaging unit 2 rotating circumferentially. Here, if at least one of the difference between the first rotation angle 25 and the second rotation angle 26 becomes larger, the position of the imaging unit 2 may be significantly far from the target position 40. Therefore, if the difference between the first rotation angle 25 and the second rotation angle 26 of the position of the imaging unit 2 at the end of imaging and the first rotation angle 25 and the second rotation angle 26 to which the imaging unit 2 is to be moved for imaging is outside the range, the control unit 4 controls the target position 40 not to be switched, thereby suppressing the switching of the target position 40 when imaging is performed at a position significantly far from the target position 40.

[0090] Furthermore, in the first variation, as described above, the control unit 4 is configured such that, when the difference between the position of the camera unit 2 at the end of photography and the target position 40 to which the camera unit 2 is moved is outside a predetermined range, and the control does not switch the target position 40, it controls the switching of multiple target positions 40 by accepting an operation input for switching to the target position 40. Thus, when the control unit 4 controls the switching of the target position 40 without switching it, the user can switch the target position 40 by controlling the switching to any target position 40. As a result, photography can begin from any target position 40.

[0091] Furthermore, the other effects of the first variation are the same as those of the implementation method.

[0092] [Second variation of this embodiment]

[0093] use Figures 1-10 as well as Figure 12 The second variation will be described. Furthermore, for structures identical to those in the embodiment, the same reference numerals are used and descriptions are omitted.

[0094] The second modification differs from this embodiment in that it centrally stores the target locations 40 of multiple sites in the storage unit 3. Furthermore, since the structure of the second modification is otherwise identical to that of this embodiment, the same reference numerals are used, and descriptions are omitted. Multiple imaging locations could be, for example, a combination of blood vessels in the heart and blood vessels in the lower limbs.

[0095] like Figure 12 As shown, target positions 40 are set for each part. For example, if two shots are taken of each part, the target positions 40 related to the shooting of the first part are set as the first target position 40 and the second target position 40, and the target positions 40 related to the second part are set as the third target position 40 and the fourth target position 40, and are stored in the storage unit 3.

[0096] Let's take the case where the imaging sites are the blood vessels of the heart and the blood vessels of the lower limbs as an example. In this case, since the positions of the blood vessels of the heart and the blood vessels of the lower limbs are separate, it is necessary to change the relative position of the imaging unit 2 with respect to the bed 1 after the imaging of the heart's blood vessels is completed. For example, after imaging the heart's blood vessels at the HOME position, in order to image the blood vessels of the lower limbs, the control unit 4 controls the movement mechanism 62 to move the imaging unit 2 to the PERI position. Therefore, the setting of the target position 40 refers to setting it in a manner that includes moving the arm 23 from the HOME position to the PERI position. For example, the target position 40 related to the imaging of the heart's blood vessels is set for the first and second positions, the changed relative position of the imaging unit 2 with respect to the bed 1 is set for the third position, and the target position 40 related to the blood vessels of the lower limbs is set for the fourth and fifth positions. Furthermore, in Figure 12 In the text, "POSITIONING CHANGE" indicates a change in the relative position of arm 23 relative to bed 1. Additionally, "PERI" following "POSITIONING CHANGE" indicates that the changed relative position is PERI.

[0097] The other structures of the second variation are the same as those of the above-described embodiments.

[0098] (The effect of the second variation)

[0099] In the second variation, as described above, it includes: a bed 1 for the subject 50 to lie flat; a radiographic unit 2 including an X-ray source 21 that irradiates the subject 50 with X-rays, a detector 22 facing the X-ray source 21 and detecting the X-rays irradiated from the X-ray source 21, and an arm 23 connecting the X-ray source 21 and the detector 22; a storage unit 3 that stores multiple target positions 40 as targets to which the radiographic unit 2 is moved, in association with the order in which the multiple target positions 40 are moved; a control unit 4 that sequentially selects multiple target positions 40; and a drive unit 6 that moves the radiographic unit 2 toward the target position 40 switched by the control unit 4, wherein the control unit 4 includes a first determination unit 41 for determining whether X-ray radiography has been performed, and the control unit 4 is configured to control the switching to the next target position 40 if the first determination unit 41 determines that X-ray radiography has been performed.

[0100] Therefore, the control unit 4 controls the switching to the next target position 40 when the first determination unit 41 determines that X-ray imaging has been performed. Thus, regardless of the position of the moved imaging unit 2, the control unit 4 controls the switching of the target position 40 based on the completion of imaging. Therefore, even if imaging is performed at a position other than the target position 40, the target position 40 can still be switched. As a result, even if imaging is performed at any imaging position, the next target position 40 can be switched to without selecting it.

[0101] Furthermore, in the second variation described above, the following further effects can be obtained.

[0102] In the second variation, the storage unit 3 is configured to centrally store the target positions 40 of multiple parts. Therefore, since the storage unit 3 centrally stores the target positions 40 of multiple parts, it is not necessary to set a target position 40 for each object part. This reduces the burden on the user in setting the target positions 40.

[0103] Furthermore, the other effects of the second variation are the same as those of the implementation method.

[0104] [Variation Example]

[0105] Furthermore, the embodiments disclosed herein should be considered illustrative in all respects and not restrictive. The scope of the invention is not shown by the description of the above embodiments, but by the claims, and includes all modifications (variations) within the same sense and scope as the claims.

[0106] For example, the embodiments, first modifications, and second modifications described above show examples of a single-wing type with one arm 23, but the present invention is not limited thereto. For example, the arm 23 may also be a double-wing type with two arms. In this case, the target positions of each arm may be displayed side by side in the display unit. In addition, the actions of each arm may be centrally stored in the storage unit.

[0107] Furthermore, the above-described embodiments, first modifications, and second modifications show examples where the operation unit 5 is different for receiving operations that move the camera unit 2 toward the target position and operations that move the camera unit 2 in a direction different from the target position, but the present invention is not limited thereto. For example, it may be configured so that one operation unit receives both operations.

[0108] Furthermore, while the above embodiments, first modifications, and second modifications show examples where the display unit 8 is a touch panel that accepts operation input, the present invention is not limited thereto. For example, the display unit may also be a display panel that does not accept operation input.

[0109] Furthermore, the above embodiments, first modifications, and second modifications show examples where the operation unit 5 and the display unit 8 are located on the side of the bed 1, but the present invention is not limited thereto. For example, the operation unit and the display unit may also be located separately from the bed.

[0110] Furthermore, the above-described embodiments, first variations, and second variations show examples where the difference between the position of the camera unit 2 at the end of photography and the target position 40 to which the camera unit 2 is moved for photography is the difference between a first rotation angle 25 and a second rotation angle 26, but the present invention is not limited thereto. For example, the difference between the position of the camera unit at the end of photography and the target position to which the camera unit is moved for photography could also be the difference in position coordinates representing the relative position of the camera unit and the bed.

[0111] Furthermore, while the first variation described above illustrates an example of selecting a new target position 40 via the display unit 8, the present invention is not limited thereto. For example, the target position displayed on the display unit can also be selected through operation of the operation unit.

[0112] Furthermore, the second variation illustrates an example where the relative position of the imaging unit 2 to the bed 1 changes due to the separation of multiple parts, but the present invention is not limited thereto. For example, in cases where multiple parts are close together, such as the blood vessels of the heart and the blood vessels of the lungs, since it is not necessary to change the relative position, the target position may not involve a change in relative position.

[0113] Furthermore, the second modified example has been described as a modification of the implementation method, but the second modified example may also have the structure of the first modified example.

[0114] [Way]

[0115] Those skilled in the art will understand that the above exemplary embodiments are specific examples of the following methods.

[0116] (Project 1)

[0117] An X-ray fluoroscopic imaging device, comprising:

[0118] A bed, for the patient to lie flat;

[0119] The imaging unit includes an X-ray source that irradiates the subject with X-rays, a detector facing the X-ray source and detecting the X-rays irradiated from the X-ray source, and an arm connecting the X-ray source and the detector.

[0120] The storage unit stores multiple target locations of the target to which the camera unit moves in association with the order in which the multiple target locations are reached;

[0121] The control unit controls the sequential switching of the plurality of target positions; and

[0122] A drive unit that moves the camera unit toward the target position switched by the control unit.

[0123] The control unit includes a first determination unit for determining whether X-ray imaging has been performed.

[0124] The control unit is configured to perform the following control: when the first determination unit determines that X-ray imaging has been performed, switch to the next target location.

[0125] (Project 2)

[0126] According to the X-ray fluoroscopic imaging device described in Project 1

[0127] It also includes a location information acquisition unit, which acquires the current information of the camera unit.

[0128] The control unit includes a second judgment unit, which determines whether the current position information of the camera unit acquired by the position information acquisition unit is consistent with the currently selected target position.

[0129] The control unit is configured to perform the following control: when the first determination unit determines that X-ray imaging has been performed, it switches to the next target position not only when the second determination unit determines that the target position is consistent, but also when the second determination unit determines that the target position is inconsistent.

[0130] (Project 3)

[0131] The X-ray fluoroscopic imaging apparatus according to Project 1 or 2

[0132] It also includes an operation unit, which accepts operations to move the camera unit toward the target position and operations to move the camera unit in a direction different from the target position.

[0133] The control unit is configured to: control the camera unit to move toward the target position stored in the storage unit when an operation to move the camera unit toward the target position is received; control the camera unit to move in a direction different from the target position when an operation to move the camera unit in a direction different from the target position is received; and control the multiple target positions to be switched sequentially after the imaging is completed when the first determination unit determines that X-ray imaging has been performed.

[0134] (Project 4)

[0135] According to the X-ray fluoroscopic imaging device described in Project 2

[0136] The control unit is configured to perform the following control: if the second determination unit makes a judgment of inconsistent meaning, and the difference between the position of the camera unit at the end of the photography and the target position to which the camera unit is to be moved for the purpose of photography is within a preset range, then even if the camera unit does not reach the target position after being moved, the plurality of target positions are switched sequentially after the photography is completed, and the control unit is configured to perform the following control: if the difference between the position of the camera unit at the end of the photography and the target position to which the camera unit 2 is to be moved for the purpose of photography is outside a preset range, then the target position is not switched.

[0137] (Project 5)

[0138] The X-ray fluoroscopic imaging device according to Project 4

[0139] The arm of the camera unit has an arc-shaped design.

[0140] The difference between the position of the imaging unit at the end of the photography and the target position to which the imaging unit is moved in order to perform the photography is the difference between the first rotation angle of the arm of the imaging unit rotating about the line extending along the long side of the bed connecting the head and feet of the subject and the second rotation angle of the arm of the imaging unit 2 rotating around the circumference of the arm of the imaging unit 2.

[0141] (Project 6)

[0142] The X-ray fluoroscopic imaging apparatus as described in item 4 or 5

[0143] The control unit is configured to perform the following control: switching the plurality of target locations by accepting operation input for selecting the target location.

[0144] (Project 7)

[0145] An X-ray fluoroscopy method for an X-ray fluoroscopy apparatus, the X-ray fluoroscopy apparatus having a radiographic unit for imaging a subject, storing multiple target positions as targets to which the radiographic unit is moved in association with the order in which the multiple target positions are moved, the X-ray fluoroscopy method comprising the following steps:

[0146] Determine whether X-ray imaging was performed by the radiography department; and

[0147] If X-ray imaging is determined to have been performed, switch to the next target location.

Claims

1. An X-ray fluoroscopic imaging device, comprising: A bed, for the patient to lie flat; The imaging unit includes an X-ray source that irradiates the subject with X-rays, a detector facing the X-ray source and detecting the X-rays irradiated from the X-ray source, and an arm connecting the X-ray source and the detector. The storage unit stores multiple target locations of the target to which the camera unit moves in association with the order in which the multiple target locations are reached; The control unit selects the plurality of target locations sequentially according to the aforementioned order; as well as A drive unit that moves the imaging unit toward the target position selected by the control unit. The plurality of target locations includes a first target location and a second target location that is the next target location after the first target location. The control unit includes a first determination unit for determining whether X-ray imaging has been performed. When the first target location is selected as the target location and the imaging unit is located at a different location than the first target location, the control unit is configured to perform the following control: when the first determination unit determines that X-ray imaging has been performed, the target location is switched from the first target location to the second target location.

2. The X-ray fluoroscopic imaging apparatus according to claim 1, characterized in that, It also includes a location information acquisition unit, which acquires the current location information of the camera unit. The control unit includes a second judgment unit, which determines whether the current position information of the camera unit acquired by the position information acquisition unit is consistent with the currently selected target position. The control unit is configured to perform the following control: when the first determination unit determines that X-ray imaging has been performed, it switches to the second target position not only when the second determination unit determines that the two positions are consistent, but also when the second determination unit determines that the two positions are inconsistent.

3. The X-ray fluoroscopic imaging apparatus according to claim 1 or 2, characterized in that, It also includes an operation unit, which accepts operations to move the camera unit toward the target position and operations to move the camera unit in a direction different from the target position. The control unit is configured to: control the camera unit to move toward the target position stored in the storage unit when an operation to move the camera unit toward the target position is received; control the camera unit to move in a direction different from the target position when an operation to move the camera unit in a direction different from the target position is received; and control the multiple target positions to be switched sequentially after the imaging is completed when the first determination unit determines that X-ray imaging has been performed.

4. The X-ray fluoroscopic imaging apparatus according to claim 2, characterized in that, The control unit is configured to perform the following control: if the second determination unit makes a judgment of inconsistent intent, and if the difference between the position of the camera unit at the end of the photography session and the target position to which the camera unit is to be moved for the purpose of photography is within a preset range, then even if the camera unit does not reach the target position after being moved, the plurality of target positions are switched sequentially after the photography session is completed, and the control unit is configured to perform the following control: if the difference between the position of the camera unit at the end of the photography session and the target position to which the camera unit is to be moved for the purpose of photography is outside a preset range, then the target position is not switched.

5. The X-ray fluoroscopic imaging apparatus according to claim 4, characterized in that, The arm of the camera unit has an arc-shaped design. The difference between the position of the imaging unit at the end of the imaging process and the target position to which the imaging unit is moved for imaging is the difference between a first rotation angle of the arm of the imaging unit rotating about a line extending along the long side of the bed connecting the head and feet of the subject, and a second rotation angle of the arm of the imaging unit rotating circumferentially along the arm of the imaging unit.

6. The X-ray fluoroscopic imaging apparatus according to claim 1, characterized in that, The control unit is configured to perform the following control: switching the plurality of target locations by accepting operation input for selecting the target location.

7. An X-ray fluoroscopy method for an X-ray fluoroscopy apparatus, the X-ray fluoroscopy apparatus comprising a radiographic unit for imaging a subject, wherein a plurality of target positions, which are targets to which the radiographic unit is moved, are stored in association with the order in which the plurality of target positions are reached, wherein, The plurality of target locations includes a first target location and a second target location that is the next target location after the first target location. The X-ray fluoroscopy method includes the following steps: Determine whether X-ray imaging was performed by the aforementioned imaging department; as well as When the first target location is selected as the target location and the imaging unit is located at a different location than the first target location, if it is determined that X-ray imaging has been performed, the target location is switched from the first target location to the second target location.

Images