X-ray imaging apparatus

Abstract

Provided is an X-ray imaging apparatus capable of reducing waiting time and smoothly performing position alignment with respect to a site of interest. An X-ray imaging apparatus (1) includes a C-arm (13) that supports an X-ray tube (7) and an X-ray detector (11); a swing mechanism (21) that causes the C-arm (13) to swing about a vertical axis (AX2); a top plate (6) for placing a subject (M); a console (37); and a control section (89) that, when an input for causing the top plate (6) to relatively move with respect to the C-arm (13) is made through the console (37), causes the swing mechanism (21) to operate to cause the C-arm (13) to swing in a direction toward a target angle that is set in advance.

Description

Technical Field

[0001] This invention relates to an X-ray imaging device. Background Technology

[0002] Conventional X-ray imaging devices consist of an X-ray imaging unit and an examination table. The X-ray imaging unit includes a C-arm with X-ray tubes and X-ray detectors mounted at both ends, as well as an arm rotation mechanism. The arm rotation mechanism supports the C-arm while rotating it around a vertical axis. The examination table has a top plate that can move horizontally.

[0003] The main body of the X-ray imaging device is positioned on the head side of the subject (patient) placed on the top plate, along the extension line of the subject's body axis. At this time, when viewed from above, the C-arm, X-ray detector (X-ray tube), and top plate are arranged in a straight line in sequence.

[0004] When approaching the subject, for example, the groin area (area of ​​interest), from this position, the operator would find the movement cumbersome if the C-arm and the top plate were moved separately. Therefore, the C-arm is configured to automatically rotate when the top plate moves to a pre-set area (see, for example, Patent Document 1).

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2020-081410 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] However, conventional X-ray imaging devices have the following problems. In Patent Document 1, the rotation of the C-arm begins only after the top plate has moved a predetermined distance. Therefore, the operator sometimes has to wait for the C-arm to rotate in order to align the subject, for example, the groin area.

[0010] Furthermore, the C-arm, which houses the X-ray tube and detector, is large and heavy, making rapid rotation difficult. Additionally, even with rapid rotation, the C-arm may collide with surrounding equipment or other personnel. Therefore, simply increasing the rotation speed is not an ideal solution to these problems.

[0011] The present invention was made in view of this situation, and its object is to provide an X-ray imaging apparatus that can reduce waiting time and smoothly perform positional alignment of the area of ​​interest.

[0012] Solution for solving the problem

[0013] To achieve this objective, the present invention employs the following structure: The X-ray imaging apparatus of the present invention comprises: a C-arm supporting an X-ray tube and an X-ray detector; a rotation mechanism for rotating the C-arm about a vertical axis; a top plate for placing a subject; an operating unit; and a control unit, wherein, when an input is made through the operating unit to move the top plate relative to the C-arm, the control unit activates the rotation mechanism to rotate the C-arm along a direction toward a predetermined target angle.

[0014] According to the X-ray imaging apparatus of the present invention, when an input is made via the operating unit to move the top plate relative to the C-arm, the rotation mechanism is activated to rotate the C-arm in a direction toward a predetermined target angle. That is, regardless of the distance between the top plate and the C-arm, the rotation of the C-arm toward the target angle is performed via the input to move the top plate relative to the C-arm. Therefore, the initiation time of the rotation of the C-arm toward the target angle can be advanced, reducing the waiting time for the C-arm to rotate. Consequently, smooth alignment of the position towards the area of ​​interest is possible.

[0015] The effects of the invention

[0016] The X-ray imaging apparatus according to the present invention can reduce waiting time and smoothly perform positioning alignment of the area of ​​interest. Attached Figure Description

[0017] Figure 1 This is a side view showing the X-ray imaging apparatus involved in Embodiment 1.

[0018] Figure 2 This is a top view showing the X-moving part of the top plate horizontal moving mechanism.

[0019] Figure 3 This is a top view showing the Y-moving part of the top plate horizontal moving mechanism.

[0020] Figure 4 This is a 3D view of the console.

[0021] Figure 5 This diagram illustrates the operation of the top panel control switch, the electric horizontal action switch, and the four directional keys.

[0022] Figure 6 This is a flowchart illustrating the operation of the X-ray imaging apparatus involved in Embodiment 1.

[0023] Figure 7This is a top view of an X-ray imaging apparatus showing the rotation angle of the C-arm at the reference rotation angle.

[0024] Figure 8 This is a top view of an X-ray imaging apparatus showing the rotation angle of the C-arm at the target angle.

[0025] Figure 9 It is a diagram used to illustrate the observation area, the intermediate area, and the standby area.

[0026] Figure 10 This is a flowchart illustrating the operation of the X-ray imaging apparatus involved in Embodiment 2. Detailed Implementation

[0027] The X-ray imaging apparatus 1 of the present invention will now be described with reference to the accompanying drawings.

[0028] [Example 1]

[0029] Figure 1 This is a side view showing the X-ray imaging apparatus 1 involved in Embodiment 1. Figure 2 This is a top view showing the X-moving part 39 of the top plate horizontal moving mechanism 33. Figure 3 This is a top view showing the Y-moving part 41 of the top plate horizontal moving mechanism 33.

[0030] (1) Structure of X-ray imaging device 1

[0031] Reference Figure 1 The X-ray imaging apparatus 1 comprises an X-ray imaging apparatus body 3 and an examination table 5. The examination table 5 has a top plate 6 for placing a subject M. The detailed structure of the examination table 5 will be described later. The X-ray imaging apparatus body 3 comprises an X-ray tube 7, an X-ray tube control unit 9, and an X-ray detector 11. The X-ray tube 7 irradiates the subject M, which is placed on the top plate 6, with X-rays. The X-ray tube 7 is controlled by the X-ray tube control unit 9. The X-ray tube control unit 9 has a high-voltage generator 9A to supply the X-ray tube 7 with a preset tube voltage and tube current. A collimator (not shown) for adjusting the irradiation field of the X-rays is installed on the X-ray tube 7.

[0032] X-ray detector 11 is arranged facing X-ray tube 7 to detect X-rays that have passed through the subject M. X-ray detector 11 includes an FPD (Flat Panel Detector) with an X-ray conversion film. Additionally, X-ray detector 11 may also include an image intensifier and a camera. X-ray detector 11 outputs an X-ray image acquired based on the detected X-rays. The output X-ray image is displayed on a monitor (e.g., liquid crystal display, organic EL display, not shown).

[0033] The main body 3 of the X-ray imaging apparatus also includes a C-arm (hereinafter appropriately referred to as "C-arm") 13 and a C-arm drive mechanism 15. The C-arm 13 supports the X-ray tube 7 and the X-ray detector 11 at both ends. The C-arm 13 is formed in a C-shape. In addition, the C-shape of the C-arm 13 includes a U-shape. Alternatively, the C-arm can also be formed in a C-shape by three straight column members.

[0034] The C-arm drive mechanism 15 supports the C-arm 13 in a movable manner and drives the C-arm 13. The C-arm drive mechanism 15 includes a sliding mechanism 17, a horizontal axis rotation mechanism 19, a rotary mechanism 21, and a horizontal movement mechanism 23.

[0035] The sliding mechanism 17 supports the C-arm 13 in a movable manner, and as... Figure 1 As shown by arrow SL, C-arm 13 slides (rotates) along the C-shape of C-arm 13. Horizontal axis rotation mechanism 19 supports sliding mechanism 17 in a manner capable of rotation about horizontal axis AX1, which extends parallel to the surface formed by the C-shape of C-arm 13. Furthermore, horizontal axis rotation mechanism 19 causes C-arm 13 and sliding mechanism 17 to rotate about horizontal axis AX1.

[0036] The rotary mechanism 21 supports the horizontal axis rotation mechanism 19 in a manner rotatable about the vertical axis AX2 via a support member 25 formed in a generally L-shape. Furthermore, the rotary mechanism 21 causes the C-arm 13, the sliding mechanism 17, and the horizontal axis rotation mechanism 19 to rotate about the vertical axis AX2. Each of the sliding mechanism 17, the horizontal axis rotation mechanism 19, and the rotary mechanism 21 is equipped with an electric motor. The rotary mechanism 21 is equipped with an angle sensor 26 that detects the rotation angle of the C-arm 13 about the vertical axis AX2. The angle sensor 26 is, for example, a rotary encoder.

[0037] The horizontal movement mechanism 23 moves the C-arm 13 and the like in the horizontal direction (XY direction). The horizontal movement mechanism 23 includes an X-moving section 27 and a Y-moving section 29. The X-moving section 27 includes two guide rails 27A, a movable member 27B, an X-position sensor 27C, and an X-drive section (not shown). The guide rails 27A are configured to extend in the X direction and are fixed to the ceiling of the inspection chamber. The guide rails 27A support the movable member 27B in a manner that allows it to move in the X direction. The movable member 27B is guided by the guide rails 27A and moves in the X direction via the X-drive section. The X-drive section and the Y-drive section (described later) each have an electric motor. Additionally, the X-drive section and the Y-drive section (described later) each have, for example, a threaded shaft or a ball screw. The X-position sensor 27C detects the position of the movable member 27B (C-arm 13) in the X direction. The X-position sensor 27C and the Y-position sensor 29C (described later) are, for example, a linear encoder or a rotary encoder.

[0038] The Y-moving unit 29 includes two guide rails 29A, a movable member 29B, a Y position sensor 29C, and a Y drive unit (not shown). The guide rails 29A are configured to extend along the Y direction and are mounted on the movable member 27B of the X-moving unit 27. The guide rails 29A support the movable member 29B in a manner that allows it to move along the Y direction. The movable member 29B is guided by the guide rails 29A and moves along the Y direction via the Y drive unit. A rotary mechanism 21 is provided at the lower part of the movable member 29B. The Y position sensor 29C detects the position of the movable member 29B (C-arm 13) in the Y direction.

[0039] The examination table 5 includes a top plate 6, a top plate horizontal moving mechanism 33, a base 35, and a control panel (operation panel) 37. The top plate horizontal moving mechanism 33 supports the top plate 6 in a manner capable of horizontal movement and allows the top plate 6 to move horizontally (XY direction). The top plate horizontal moving mechanism 33 is as follows... Figure 2 , Figure 3 As shown, it has an X-moving unit 39 and a Y-moving unit 41.

[0040] Reference Figure 2 The X-moving part 39 includes two guide rails 43, a movable member 45, an electric motor 47, a threaded shaft 49, an X clutch 51, an X brake 53, an X position sensor 54, and a mounting member 55. A top plate 6 is fixed to the movable member 45. The guide rails 43 support the movable member 45 in a manner that allows it to move along the X direction. Therefore, the top plate 6 moves together with the movable member 45 along the X direction. Furthermore, the guide rails 43 are configured to extend along the X direction. A threaded shaft 49 is connected to the output rotation shaft of the electric motor 47. The X clutch 51 and the X brake 53 are provided on the movable member 45.

[0041] The X-clutch 51 converts the rotation of the threaded shaft 49 into linear movement in the X direction while transmitting power from the electric motor 47 to the movable member 45 or not. The X-clutch 51 includes a clutch member with, for example, an internal thread (nut) and a clutch member drive unit (e.g., a solenoid or electric motor). Furthermore, the internal thread is configured to engage with less than half a circumference of the external thread of the threaded shaft 49. The X-clutch 51 is configured such that the clutch member drive unit presses the clutch member against the threaded shaft 49 or disengages the clutch member from the threaded shaft 49, thereby engaging or disengaging the internal thread from the threaded shaft 49.

[0042] The X-brake 53 is configured to press the brake pad against the guide rail 43. The X-brake 53 locks the movable member 45 (top plate 6) in the X direction to prevent movement in that direction, and also releases the X-brake 53 from this locked state. The X-position sensor 54 detects the position of the movable member 45 (top plate 6) in the X direction. The X-position sensor 54 and the Y-position sensor 68 (described later) are, for example, linear encoders. The guide rail 43 and the electric motor 47 are mounted on a plate-shaped mounting member 55.

[0043] Reference Figure 3 The Y-moving part 41 is positioned below the X-moving part 39. The Y-moving part 41 includes two guide rails 57, a movable member 59, an electric motor 61, a threaded shaft 63, a Y clutch 65, a Y brake 67, a Y position sensor 68, and a mounting member 69. The mounting member 55 of the X-moving part 39 is fixed to the movable member 59. The guide rails 57 support the movable member 59 in a manner that allows it to move along the Y direction. Therefore, the top plate 6 and the mounting member 55 (X-moving part 39) move together with the movable member 59 along the Y direction. Furthermore, the guide rails 57 are configured to extend along the Y direction. The threaded shaft 63 is connected to the output rotation shaft of the electric motor 61. The Y clutch 65 and the Y brake 67 are provided on the movable member 59.

[0044] The Y-clutch 65 is configured similarly to the X-clutch 51. The Y-clutch 65 converts the rotation of the threaded shaft 63 into linear movement in the Y direction, while simultaneously transmitting power from the electric motor 61 to the movable member 59 or not. The Y-brake 67 is configured similarly to the X-brake 53. The Y-brake 67 locks the movable member 59 (top plate 6) to prevent movement in the Y direction, and also releases the locked state. The Y-position sensor 68 detects the position of the movable member 59 (top plate 6) in the Y direction. The guide rail 57 and the electric motor 61 are mounted on the mounting member 69.

[0045] Furthermore, two sets of guide rails 43 and 57, and two movable components 45 and 59 constitute the top plate support. Additionally, at least two electric motors 47 and 61 correspond to the horizontal drive unit of this invention. Furthermore, the control console 37 corresponds to the operation unit of this invention.

[0046] The base 35 supports the top plate horizontal movement mechanism 33, i.e., the mounting member 69. The base 35 is fixed to the floor of the inspection room. Alternatively, the base 35 may also include a lifting mechanism for raising and lowering the top plate 6 and the top plate horizontal movement mechanism 33. In this case, the lifting mechanism includes an electric motor to raise and lower the top plate 6, etc.

[0047] (1-1) Structure of console 37

[0048] The control console 37 is used to operate the examination table 5, including the top plate 6, and the main body 3 of the X-ray imaging device. The control console 37 is mounted on the top plate 6. Specifically, a track 6A (see reference) is provided on the side of the top plate 6 along its long side. Figure 1 The control console 37 is mounted on the track 6A. Thus, the control console 37 can move integrally with the top plate 6.

[0049] Reference Figure 4 The control panel 37 has multiple switches 71, 73, 75, 77U, 77D, 77L, and 77R. Specifically, the control panel 37 has a top panel operation switch 71, a mode selection switch 73, an electric horizontal action switch 75, and directional keys 77U, 77D, 77L, and 77R. Each switch has a button component and an elastic body.

[0050] The top plate operation switch 71 is used for manual horizontal movement of the top plate 6. Manual means without using the two electric motors 47, 61 (horizontal drive units), but rather by the operator pushing or pulling the top plate 6. The mode selection switch 73 is used to select the femoral approach mode (specific imaging mode) for observing the subject, such as the groin area.

[0051] Furthermore, the pre-defined area of ​​interest in this invention is not limited to the groin region. For example, when the top plate 6 and C-arm 13 are moved relative to each other, the portion of the subject M that requires the C-arm 13 to rotate can be included in the pre-defined area of ​​interest in this invention. The mode selection switch 73 corresponds to the mode selection unit of this invention.

[0052] The electric horizontal action switch 75 is a switch that allows the top plate 6 to be operated using two electric motors 47 and 61 (horizontal drive units). The directional keys 77U, 77D, 77L, and 77R are each switches used to move the top plate 6 using either of the two electric motors 47 and 61 when the electric horizontal action switch 75 is pressed and operation of the top plate 6 is allowed.

[0053] Directional key 77U is used to move top plate 6 along the +Y direction. Directional key 77D is used to move top plate 6 along the -Y direction. Additionally, directional key 77L is used to move top plate 6 along the -X direction. Directional key 77R is used to move top plate 6 along the +X direction. Unless otherwise specified, directional keys 77U, 77D, 77L, and 77R are referred to as "directional key 77".

[0054] Here, refer to Figure 5 This explains the operation of the top panel control switch 71, the electric horizontal action switch 75, and the four directional keys 77.

[0055] First, when both brakes 53 and 67 are in the ON state, the top plate 6 is locked in the XY direction. Conversely, when both brakes 53 and 67 are in the OFF state, the top plate 6 is not locked in the XY direction. Additionally, when both clutches 51 and 65 are in the ON state, the internal thread of the clutch member of the X clutch 51 engages with the threaded shaft 49, and the internal thread of the clutch member of the Y clutch 65 engages with the threaded shaft 63. Conversely, when both clutches 51 and 65 are in the OFF state, the clutch member of the X clutch 51 disengages from the threaded shaft 49, and the clutch member of the Y clutch 65 disengages from the threaded shaft 63.

[0056] exist Figure 5 In the examination table 5, it is normally in the state indicated by reference AT2. At this time, if the top plate operation switch 71 is pressed, as indicated by reference AT1, both brakes 53 and 67 are in the "disengaged" state, and both clutches 51 and 65 are in the "disengaged" state. This state continues while the top plate operation switch 71 is continuously pressed. In the state indicated by reference AT1, if the top plate operation switch 71 is released, as indicated by reference AT2, both brakes 53 and 67 are in the "engaged" state, and both clutches 51 and 65 are in the "disengaged" state.

[0057] Furthermore, when the attached drawing AT2 is in the state, if the electric horizontal operation switch 75 is pressed, and then one of the two directional keys 77L and 77R is pressed, as shown by attached drawing AT3, the X brake 53 becomes "disengaged" and the X clutch 51 becomes "engaged". Additionally, for example, during the pressing of directional key 77L, the top plate 6 is moved along the electric motor 47 (horizontal drive unit) along... Figure 1 The C-arm 13 shown moves to the side (-X direction). Additionally, if the directional key 77L is released, it returns to the state indicated by reference AT2 in the attached diagram.

[0058] Furthermore, if either of the two directional keys 77U or 77D is pressed, the Y brake 67 becomes "disengaged," and the Y clutch 65 becomes "engaged." Additionally, for example, while directional key 77U is pressed, the top plate 6 moves in the +Y direction via the electric motor 47 (horizontal drive unit). Furthermore, if directional key 77U is released, the system returns to the state indicated by reference numeral AT2.

[0059] Return to Figure 1 The X-ray imaging apparatus 1 includes a control unit 89 and a storage unit (not shown). The control unit 89 controls various components of the X-ray imaging apparatus 1. The control unit 89 may include, for example, one or more processors such as a central processing unit (CPU). The storage unit may include, for example, at least one of ROM (Read-Only Memory), RAM (Random-Access Memory), and a hard disk. The storage unit is used to store computer programs required for controlling various components of the X-ray imaging apparatus 1.

[0060] (2) Operation of X-ray imaging device 1

[0061] Next, refer to Figure 6 The flowchart shown illustrates the operation of the X-ray imaging device 1. Additionally, Figure 7 , Figure 8 This is a diagram used to illustrate the operation of the X-ray imaging device 1.

[0062] (Step S01) Reference rotation angle A

[0063] exist Figure 7 In this configuration, C-arm 13 is positioned on the head side of the subject M (patient) placed on the top plate 6. C-arm 13 is positioned in a reference position (original position) via C-arm drive mechanism 15, resulting in two reference postures. This will be explained in detail below. Figure 7 In this context, a reference axis AX3 is assumed to exist parallel to the long side of the top plate 6. This is achieved through the rotary mechanism 21 (refer to...). Figure 1 Adjust C-arm 13 so that it is in the first reference posture parallel to the reference axis AX3. The rotation angle based on the rotation mechanism 21 at this time is called the "reference rotation angle A" or reference rotation position A.

[0064] In addition, Figure 7 In the middle, C-arm 13 is adjusted by sliding mechanism 17 and horizontal axis rotation mechanism 19 so that the X-ray axis AX4 (the central axis of the X-ray beam, as shown in the figure) connecting X-ray tube 7 and X-ray detector 11 is aligned with the X-ray axis AX4 (the central axis of the X-ray beam, as shown in the figure). Figure 1The second reference posture (center position) is parallel to the vertical axis AX2. That is, the C-arm 13 is configured with the X-ray tube 7 and the X-ray detector 11 in the vertical direction. In this case, when viewed from above, a portion of the C-arm 13 on the side near the X-ray tube 7 overlaps with a portion of the C-arm 13 on the side near the X-ray detector 11. In the second reference posture, the X-ray tube 7 is positioned below the X-ray detector 11. In addition, the horizontal position of the C-arm 13 is adjusted to the reference position by the horizontal movement mechanism 23.

[0065] (Step S02) Selection of femoral approach pattern

[0066] exist Figure 7 In this procedure, the patient M is placed on the top plate 6 of the examination table 5. To observe a region of interest (e.g., the groin) of the patient M on the top plate 6, the operator presses the mode selection switch 73 located on the control panel 37. This causes the control unit 89 to control the X-ray imaging device 1 in Femoral Approach Mode. Specifically, the control unit 89 performs control according to steps S03 to S15 only when Femoral Approach Mode is selected. Furthermore, if Femoral Approach Mode is not selected, control is not performed according to steps S03 to S15. For example, even if the top plate operation switch 71 is pressed, the C-arm 13 will not rotate accordingly.

[0067] [Steps S03-S08] The C-arm rotates in the positive direction from the reference rotation angle A to the target angle B.

[0068] Next, the operator presses the top plate operation switch 71 to manually move the top plate 6, which holds the subject M. This puts the top plate operation switch 71 into the ON state ("Yes" in step S03). Furthermore, pressing the top plate operation switch 71 provides input for moving the top plate 6.

[0069] When the top panel operation switch 71 is pressed, as follows Figure 5 As indicated by reference numeral AT1 in the attached diagram, both brakes 53 and 67 are in the "disengaged state," and both clutches 51 and 65 are in the "disengaged state." That is, when the top plate operation switch 71 is pressed (when an input is made to move the top plate 6), the control unit 89 releases the locking state of the two brakes 53 and 63 on the top plate 6. This allows the operator to manually move the top plate 6. Furthermore, manually moving the top plate 6 refers to moving the top plate 6 without using the two electric motors 47 and 61 (horizontal drive units).

[0070] Additionally, when the top plate operation switch 71 is pressed, the control unit 89 releases the locking state of the top plate 6 and activates the rotation mechanism 21 to perform a first rotational action (steps S03, S04) that causes the C-arm 13 to rotate in the direction of a preset target angle B. That is, the release of the locking state of the top plate 6 by the control unit 89 is synchronized with the start of the first rotational action. The target angle B is the angle relative to the reference rotation angle A. For example, the target angle B is 40° (see reference). Figure 8 The target angle B is also called the target position B.

[0071] Furthermore, when the top plate operation switch 71 is released midway from the reference rotation angle A towards the target angle B, i.e., when the top plate operation switch 71 is released from its pressed state, the control unit 89 stops the first rotation movement of the C arm 13 synchronously with the locking of the top plate 6 (see steps S03 and S05). Figure 5 (Ref. AT2 in the attached diagram). That is, when the top plate operation switch 71 is released before the C-arm 13 reaches the target angle B, the control unit 89 locks the top plate 6 and stops (interrupts) the first rotation movement of the C-arm 13. Furthermore, when the top plate operation switch 71 is released, the top plate operation switch 71 becomes open. Additionally, releasing the top plate operation switch 71 provides an input to prevent the movement of the top plate 6.

[0072] Subsequently, when the top plate operation switch 71 is pressed again, the control unit 89 releases the top plate 6 from its locked state and restarts the first rotation action of the rotary mechanism 21 on the C-arm 13 (see reference). Figure 5 (See attached figures AT1, steps S03, S04).

[0073] When the top plate operation switch 71 is continuously pressed, the top plate 6 can be manually moved horizontally, and the first rotation of the C-arm 13 from the reference rotation angle A to the target angle B continues. When the C-arm 13 reaches the target angle B, the control unit 89 stops the first rotation of the C-arm 13 via the rotation mechanism 21 (steps S06, S07). Therefore, even if the top plate operation switch 71 is pressed further, the rotation mechanism 21 will not cause the C-arm 13 to rotate to a rotation angle larger than the target angle B (e.g., 40°).

[0074] The operator manually operates the top plate until the groin area of ​​the subject M enters the irradiation field of the X-ray tube 7. Upon completion of the manual top plate operation, the top plate 6 is locked by releasing the top plate operation switch 71 (see reference). Figure 5(See attached reference numeral AT2, step S08). Afterwards, the operator uses the X-ray imaging device 1 to perform at least one of X-ray fluoroscopy and X-ray imaging to insert a catheter via puncture in the groin. Furthermore, after the C-arm 13 reaches the target angle B and when the top plate operation switch 71 is released, the X-ray imaging device 1 changes from a state of moving towards the target angle B to a state of returning to the reference rotation angle A.

[0075] [Steps S09-S15] The C-arm rotates in the opposite direction from the target angle B to the reference rotation angle A.

[0076] Steps S09 to S15 are the steps until C-arm 13 recovers from the target angle B to the reference rotation angle A. First, refer to... Figure 9 The region R0 in which the top plate 6 moves relative to the C-arm 13 in the long side direction is explained. The relative position Px of the top plate 6 is determined by the X position sensor 27C (see reference). Figure 1 The absolute position of the C-arm 13 in the X direction detected by the X position sensor 54 is obtained by the difference between the absolute position of the top plate 6 in the X direction detected by the X position sensor 54. Region R0 is divided into observation region R1, intermediate region R2 and standby region R3.

[0077] The observation area R1 is the region used to observe areas of interest in the subject M, such as the groin. The observation area R1 is the region where the relative position Px of the top plate 6 exists when the distance between the top plate 6 and the C-arm 13 is small. For example, when the operator performs X-ray fluoroscopy on the groin of the subject M, the relative position Px of the top plate 6 exists within the observation area R1.

[0078] The standby area R3 is the area outside the observation area R1. The standby area R3 is the area where the relative position Px of the top plate 6 exists when the distance between the top plate 6 and the C-arm 13 is large. The middle area R2 is the area between the observation area R1 and the standby area R3.

[0079] In addition, Figure 9 In the attached figures, reference numeral P0 represents the absolute position of C-arm 13 in the X direction and is the origin of this local coordinate system. Reference numeral P1 represents the boundary position between the observation area R1 and the intermediate area R2. Reference numeral P2 represents the boundary position between the intermediate area R2 and the standby area R3. Reference numeral DTx represents the distance between C-arm 13 and the top plate 6. Reference numeral DT1 represents the distance between the absolute position P0 and the boundary position P1 of C-arm 13. Reference numeral DT2 represents the distance between the absolute position P0 and the boundary position P2 of C-arm 13.

[0080] When the top plate operation switch is in the ON state (step S09) and the condition of the relative position Px in the X direction based on the top plate 6 is met (steps S10 to S12), the C arm 13 performs a reverse rotation action (second rotation action). This will be explained in detail.

[0081] After X-ray fluoroscopy, the operator presses the top plate operation switch 71 and manually moves the top plate 6, on which the subject M is placed, in a direction that moves the top plate 6 away from the C-arm 13 (at least in the +X direction) ("Yes" in step S09). Furthermore, immediately after X-ray fluoroscopy, the relative position Px of the top plate 6 is within the observation area R1. In this case, the reverse rotation of the C-arm 13 is not performed (steps S10, S14).

[0082] When the relative position Px of the top plate 6 exists in the intermediate region R2, it is determined whether the moving speed of the top plate 6 in the +X direction is greater than a preset value (threshold) (steps S11, S12). When the moving speed of the top plate 6 in the direction (+X direction) from the observation region R1 toward the standby region R3 is greater than the threshold, the control unit 89 causes the C arm 13 to rotate in the opposite direction to the positive direction toward the target angle B (steps S11, S12, S13). Furthermore, when the moving speed is below the threshold, the reverse rotation of the C arm 13 is not performed (steps S11, S12, S14). This is because the operator does not feel the intention to reliably return the top plate 6 to the standby region R3.

[0083] When the relative position Px of the top plate 6 exists in the standby area R3, a reverse rotation is performed regardless of the moving speed of the top plate 6 shown in step S12 (No in step S10, No in step S11, and step S13). If the conditions of steps S09, S10, S11, and S12 are met, the reverse rotation continues.

[0084] When the top plate operation switch 71 is released midway from the target angle B towards the reference rotation angle A, i.e., when the top plate operation switch 71 is released from its pressed state, the control unit 89 locks the top plate 6 and stops (interrupts) the reverse rotation of the C arm 13 (steps S09, S14). Furthermore, the reverse rotation continues until the reference rotation angle A is restored (step S15).

[0085] According to this embodiment, when an input is made via the control console 37 to move the top plate 6 relative to the C-arm 13, the top plate 6 is unlocked to allow manual movement, and the rotary mechanism 21 is activated to rotate the C-arm 13 in a direction toward a predetermined target angle B. That is, regardless of the distance between the top plate 6 and the C-arm 13, the C-arm 13 rotates in the direction of the target angle B. Therefore, the start time of the C-arm 13's rotation in the direction of the target angle B can be advanced, reducing the waiting time for the C-arm 13's rotation. Thus, smooth alignment of the part of interest can be achieved.

[0086] [Example 2]

[0087] Next, Embodiment 2 of the present invention will be described with reference to the accompanying drawings. Furthermore, descriptions that are repeated in Embodiment 1 will be omitted. Figure 10 This is a flowchart of the X-ray imaging device 1 involved in Embodiment 2.

[0088] In Embodiment 1, when the top plate operation switch 71 is pressed, the top plate 6 can be moved manually, and the C-arm 13 performs a forward rotation (first rotation). Regarding this, in this embodiment, when the four directional keys 77A-77D (refer to...) for electrically moving the top plate 6 are pressed... Figure 4 When one of the directional keys is pressed, the top plate 6 is moved electrically, and the C-arm 13 performs a forward rotation.

[0089] (3) Operation of X-ray imaging device 1

[0090] Reference Figure 10 The operation of the X-ray imaging apparatus 1 in this embodiment will be explained. Figure 10 Steps S21, S22 and shown Figure 6 Steps S01 and S02 shown are the same. In step S22, the operator presses the mode selection switch 73. As a result, the control unit 89 performs control according to steps S23 to S35.

[0091] (Steps S23-S28) The C-arm rotates in the positive direction from the reference rotation angle A to the target angle B.

[0092] Subsequently, in order to move the top plate 6, which carries the test subject M, electrically (using two electric motors 47 and 61), the operator presses the electric horizontal operation switch 75. This allows the control unit 89 to move the top plate 6 horizontally via the four directional keys 77.

[0093] Then, the operator presses one of the four direction keys 77. For example, when direction key 77L is pressed, the pressed direction key 77L becomes "on" ("Yes" in step S23). Additionally, when direction key 77L is pressed, the X brake 53, which is related to movement in the X direction, becomes "off", and the X clutch 51 becomes "on". Figure 5 (See attached figure AT3). Additionally, when the directional key 77L is pressed, the control unit 89 activates the electric motor 47 to move the top plate 6 along the -X direction (horizontal direction).

[0094] Furthermore, when direction key 77L is pressed, control unit 89 moves top plate 6 in the -X direction and activates rotary mechanism 21 to perform forward rotary motion of C-arm 13 (steps S23, S24). That is, the movement of top plate 6 in the -X direction and the forward rotary motion begin synchronously. Additionally, while direction key 77L is continuously pressed, control unit 89 moves top plate 6 in the -X direction and performs forward rotary motion of C-arm 13. Furthermore, for example, when direction key 77U is pressed, top plate 6 moves in the +Y direction and performs forward rotary motion of C-arm 13.

[0095] Furthermore, when all direction keys 77 are released midway from the reference rotation angle A toward the target angle B, the control unit 89 stops the horizontal movement of the top plate 6 using the two electric motors 47 and 61. Figure 5 (Referring to the attached reference numeral AT2, "No" in step S23). Additionally, the control unit 89 stops the horizontal movement of the top plate 6 and stops (interrupts) the forward rotation of the C-arm 13 (steps S23, S25). Then, when one of the four direction keys 77 is pressed, the control unit 89 restarts the movement of the top plate 6 and restarts the forward rotation of the C-arm 13. Furthermore, when direction key 77L is released, for example, it becomes disengaged. That is, releasing direction key 77 is an input to prevent the movement of the top plate 6.

[0096] When the angle of C-arm 13 around the vertical axis AX2 reaches the target angle B, the control unit 89 stops the forward rotation of C-arm 13 (steps S26, S27). That is, even if the direction keys 77 are pressed continuously, the top plate 6 can be moved horizontally, but the rotation mechanism 21 will not rotate C-arm 13 to a rotation angle greater than the target angle B. Furthermore, after C-arm 13 reaches the target angle B and all direction keys 77 are released, the X-ray imaging device 1 changes from a state of moving towards the target angle B to a state of returning to the reference rotation angle A (step S28).

[0097] [Steps S29-S35] The C-arm rotates in the opposite direction from the target angle B to the reference rotation angle A.

[0098] Steps S29 to S35 are steps until the C-arm 13 returns from the target angle B to the reference rotation angle A. After X-ray fluoroscopy, the operator moves the top plate 6, on which the subject M is placed, electrically in the direction that moves the top plate 6 away from the C-arm 13 by pressing one of the four directional keys 77 ("Yes" in step S29).

[0099] When one of the four directional keys 77 is in the ON state (step S29) and the condition based on the relative position Px of the top plate 6 is met (steps S30-S32), the C-arm 13 performs a reverse rotation action (second rotation action). The relative position Px is the relative position of the top plate 6 relative to the C-arm 13 in the long side direction (X direction). Furthermore, similar to Embodiment 1, the area R0 in which the relative position Px of the top plate 6 moves is divided into an observation area R1, a middle area R2, and a standby area R3 (see reference). Figure 9 When the relative position Px of the top plate 6 is within the observation area R1, the top plate 6 is moved horizontally using at least one of the electric motors 47 and 61, but the reverse rotation of the C arm 13 (second rotation action) is not performed (steps S30 and S34).

[0100] Furthermore, when the relative position Px of the top plate 6 is within the intermediate region R2 and the moving speed of the top plate 6 in the direction (+X direction) from the observation region R1 towards the standby region R3 is greater than a preset value, the C-arm 13 is rotated in the opposite direction via the rotary mechanism 21 (steps S31, S32, S33). Conversely, when the relative position Px of the top plate 6 is within the intermediate region R2 but the moving speed of the top plate 6 in the +X direction is less than a preset value, the C-arm 13 is not rotated in the opposite direction via the rotary mechanism 21 (steps S31, S32, S34).

[0101] Furthermore, when the relative position Px of the top plate 6 exists within the standby area R3, the reverse rotation of the C arm 13 is performed regardless of the moving speed of the top plate 6 (No in step S30, No in step S31, and step S33). The reverse rotation continues if the conditions of steps S29, S30, S31, and S32 are met.

[0102] When all direction keys 77 are released midway from the target angle B toward the reference rotation angle A, the control unit 89 stops the horizontal movement of the top plate 6 via the two electric motors 47 and 61, and stops (interrupts) the reverse rotation of the C arm 13 (steps S29, S34). The reverse rotation continues until the position returns to the reference rotation angle A (step S35).

[0103] According to this embodiment, when an input is made via the control console 37 to move the top plate 6 relative to the C-arm 13, at least one of the electric motors 47 and 61 is activated to move the top plate 6 horizontally, and the rotary mechanism 21 is activated to rotate the C-arm 13 in a direction toward a predetermined target angle B. That is, regardless of the distance between the top plate 6 and the C-arm 13, the C-arm 13 rotates in the direction of the target angle B. Therefore, the start time of the C-arm 13's rotation in the direction of the target angle B can be advanced, reducing the waiting time for the C-arm 13's rotation. Thus, smooth alignment of the part of interest can be achieved.

[0104] The present invention is not limited to the above embodiments, and can be implemented in variations as described below.

[0105] (1) In Embodiment 2 described above, when one of the four directional keys 77 is pressed, the control unit 89 moves the top plate 6 horizontally and causes the C-arm 13 to perform a forward rotation. In this regard, when one of the four directional keys 77 is pressed, the control unit 89 can also activate the horizontal movement mechanism 23 to move the C-arm 13 horizontally and activate the rotation mechanism 21 to perform a forward rotation. That is, the horizontal movement of the C-arm 13 and the forward rotation of the C-arm 13 can also begin synchronously.

[0106] In this case, when one of the four directional keys 77 used to move the C-arm 13 horizontally is pressed, an input is made to move the top plate 6 relative to the C-arm 13, that is, to move the C-arm 13 horizontally.

[0107] As in Example 2 Figure 10 The X-ray imaging apparatus 1 operates as described in steps S21 to S35 of the flowchart in this modified example. For example, after the rotation angle of the C-arm 13 reaches the target angle B and one of the four direction keys 77 is pressed, when the relative position Px of the top plate 6 (i.e., the relative position of the C-arm 13 with respect to the top plate 6 in the X direction) is in the standby region R3, the control unit 89 causes the C-arm 13 to rotate in the opposite direction. Figure 10The "No" in step S30, the "No" in step S31, and step S33).

[0108] In this modified example, the control console 37 may also include four directional keys for moving the C-arm 13 horizontally. Furthermore, the four directional keys 77 can be used not only to move the top plate 6 horizontally, but also to move the C-arm 13 horizontally. In this case, the control console 37 may also include a switch that allows the four directional keys 77 to be used for horizontal movement of the C-arm 13.

[0109] (2) In the above embodiments, in determining the condition for C-arm 13 to perform a reverse rotational motion, the distance between the position of C-arm 13 in the X direction detected by X position sensor 27C and the position of top plate 6 in the long side direction (X direction) detected by X position sensor 54, i.e., the relative position Px, is used. Regarding this, when moving top plate 6, the absolute position of top plate 6 in the X direction detected by X position sensor 54 can also be used. Furthermore, when moving C-arm 13, the absolute position of C-arm 13 in the X direction detected by X position sensor 27C can also be used.

[0110] (3) The above embodiments and variations (1) can also be configured as follows. Figure 6 In the process, when the top plate operation switch is in the ON state (step S09) and the condition based on the position of the top plate 6 in the long side direction is met (steps S10 to S12), the reverse rotation action of the C arm 13 is performed. For example, the determinations in steps S10, S11, and S12 can be omitted.

[0111] That is, it is also possible that after the rotation angle of C-arm 13 reaches the target angle B, the top plate operation switch 71 is turned off, and then the top plate operation switch 71 is turned on again, the control unit 89 releases the locking state of the top plate 6 and causes C-arm 13 to perform a reverse rotation. However, if only turning the top plate operation switch 71 on (step S09) is used as the condition for C-arm 13 to perform a reverse rotation, an undesirable reverse rotation of C-arm 13 may occur. Therefore, by setting three regions R1, R2, and R3 and setting steps S10 to S12, undesirable rotation can be prevented. Furthermore, in Figure 10 In such cases, the determination steps S30, S31, and S32 can be omitted.

[0112] (4) In the above embodiments and variations, the control unit 89, for example, rotates the C-arm 13 in the forward or reverse direction based on the top plate operation switch 71 being in the on state (steps S04, S13). When rotating the C-arm 13, the control unit 89 may also control it as follows. That is, when the X-ray axis AX4 connecting the X-ray tube 7 and the X-ray detector 11 is tilted relative to the vertical axis AX2 about the horizontal axis AX1, the control unit 89 operates the horizontal axis rotation mechanism 19 to rotate the C-arm 13 about the horizontal axis AX1 so that the X-ray axis AX4 is parallel to the vertical axis AX2, and then rotates the C-arm 13 in the forward or reverse direction.

[0113] Alternatively, when the control unit 89 rotates the C-arm 13 based on the top plate operation switch 71 being in the on state, and the X-ray axis AX4 is tilted relative to the vertical axis AX2, the horizontal axis rotation mechanism 19 and the sliding mechanism 17 are activated to rotate the C-arm 13 around the horizontal axis AX1 so that the X-ray axis AX4 is parallel to the vertical axis AX2, and the C-arm 13 is rotated after sliding along the C-shape of the C-arm 13.

[0114] In addition, Figure 1 In some cases, the X-ray imaging apparatus body 3 may not include at least one of the sliding mechanism 17 and the horizontal axis rotation mechanism 19. For example, if the X-ray imaging apparatus body 3 does not include the horizontal axis rotation mechanism 19, the control unit 89 may still perform control as follows: When the control unit 89 rotates the C-arm 13 based on the top plate operation switch 71 being in the on state, and the X-ray axis AX4 is tilted relative to the vertical axis AX2, the "sliding mechanism 17" is activated to make the C-arm 13 slide along the C-shape of the C-arm 13 so that the X-ray axis AX4 is parallel to the vertical axis AX2, and then the C-arm is rotated.

[0115] This action prevents undesirable actions from being performed, such as causing the top plate 6 to collide with the C-arm 13. Figure 10 The steps S24 and S33 are the same as those for rotating C-arm 13.

[0116] (5) In the above embodiments and modifications, the horizontal movement mechanism 23 (including guide rail 27A) of the X-ray imaging device body 3 is installed on the ceiling of the examination room. That is, the X-ray imaging device body 3 is a ceiling-mounted device body. In this respect, the X-ray imaging device body 3 can also be a floor-mounted device body. In this case, Figure 1 The horizontal movement mechanism 23 shown can also be installed on the floor of the examination room. Alternatively, the horizontal movement mechanism 23 on the floor may not have two sets of guide rails 27A, 29A, etc., and may have, for example, a horizontal multi-joint arm.

[0117] (6) In the above embodiments and modifications, the examination table 5 can selectively perform manual and electric operation of the top plate 6. In this regard, the examination table 5 can also be configured such that, although electric operation of the top plate 6 cannot be performed using the two electric motors 47, 61, it can still be performed manually. In this case, the top plate horizontal movement mechanism 33 may not be included. Figure 2 , Figure 3 The diagram shows two electric motors 47 and 61, two threaded shafts 49 and 63, and two clutches 51 and 65. Additionally, Figure 4 The control panel 37 shown may also be without the electric horizontal action switch 75 and the four directional keys 77 associated with electric operation.

[0118] Alternatively, the examination table 5 can also be configured such that, although manual operation of the top plate 6 is not possible, it can be electrically operated using two electric motors 47 and 61. In this case, Figure 2 The movable member 45 shown can also be replaced by a nut that is always engaged with the threaded shaft 49 instead of the X clutch 51. Additionally, Figure 3 The movable member 59 shown can also be replaced by a nut that is always engaged with the threaded shaft 63, instead of the Y-clutch 65. Additionally, Figure 4 The control console 37 shown may also be without the top plate operation switch 71 associated with manual operation.

[0119] (7) In the above embodiments and variations, the X-ray imaging apparatus 1 may also be configured to perform... Figure 6 Steps S03 to S15 shown are as follows Figure 10 The steps S23 to S35 are shown. After the mode selection switch 73 is pressed, for example, when the top plate 6 is moved manually, the control unit 89 performs control according to steps S03 to S15. Furthermore, when the top plate 6 is moved electrically, the control unit 89 performs control according to steps S23 to S35.

[0120] (8) In the above embodiments and modifications, Figure 6 In this process, steps S08 to S15 can be omitted as needed. Additionally, in... Figure 10 In this process, steps S28 to S35 can be omitted as needed. That is, the control unit 89 can perform the forward rotation of the C-arm 13 without performing the reverse rotation.

[0121] (9) In the above embodiments and modifications, the input for relative movement of the top plate 6 is performed by pressing the top plate operation switch 71 and the directional key 77 respectively. Alternatively, the input for preventing movement of the top plate 6 is performed by releasing the top plate operation switch 71 and the directional key 77 respectively. The input is not limited to these cases. The top plate operation switch 71 and the four directional keys 77 can each be a switch capable of selecting one of the two input methods. Furthermore, if the console 37 is equipped with a touch panel and a monitor (e.g., an LCD display), at least one of the multiple switches 71, 73, 75, and 77 can also be a switch displayed on the monitor.

[0122] (10) In the above embodiments and modifications, the console 37 is configured to move together with the top plate 6. In this regard, the console 37 may also be configured separately from the top plate 6 to avoid the console 37 moving as an integral part of the top plate 6.

[0123] (11) In Embodiment 2 and its variations described above, when one of the four directional keys 77 is pressed, the control unit 89 electrically moves the top plate 6 and causes the C-arm 13 to perform a forward rotation. Alternatively, when two directional keys 77 (e.g., directional keys 77D and 77L) are pressed simultaneously, the control unit 89 also electrically moves the top plate 6 along a predetermined horizontal direction and causes the C-arm 13 to perform a forward rotation. The reverse rotation of the C-arm 13 is similar.

[0124] (12) In the above embodiments and variations, the area R0 in which the relative position Px of the top plate 6 (or C-arm 13) moves is divided into an observation area R1, an intermediate area R2, and a standby area R3. In this respect, the area R0 can also be divided into an observation area R1 and a standby area R3.

[0125] <Effects of the Structure of the Implementation Method>

[0126] Next, the structure and effects of the X-ray imaging device 1 in this example will be explained.

[0127] (1) The X-ray imaging apparatus 1 in this example includes: a C-arm 13, which supports the X-ray tube 7 and the X-ray detector 11; a rotation mechanism 21, which rotates the C-arm 13 about the vertical axis AX2; a top plate 6, which is used to place the subject M; an operation unit (control console) 37; and a control unit 89, which, when input is made through the operation unit 37 to move the top plate 6 relative to the C-arm 13, causes the rotation mechanism 21 to operate so that the C-arm 13 rotates in a direction toward a predetermined target angle B.

[0128] According to the X-ray imaging apparatus 1 described above, when an input is made via the operation unit 37 to move the top plate 6 relative to the C-arm 13, the rotation mechanism 21 is activated to rotate the C-arm 13 in a direction toward a predetermined target angle B. That is, regardless of the distance between the top plate 6 and the C-arm 13, the rotation of the C-arm 13 toward the target angle B is performed by the input to move the top plate 6 relative to the C-arm 13. Therefore, the start time of the rotation of the C-arm 13 toward the target angle B can be advanced, reducing the waiting time for the C-arm 13 to rotate. Thus, smooth alignment of the position for the area of ​​interest can be achieved.

[0129] (2) The X-ray imaging apparatus 1 described above also includes a mode selection unit (mode selection switch) 73. This mode selection unit 73 selects a specific imaging mode (femoral approach mode) for observing a pre-set area of ​​interest of the subject M. When an input for relative movement of the top plate 6 relative to the C-arm 13 is made through the operation unit 37, the control unit 89, assuming that the specific imaging mode has been selected by the mode selection unit 73, operates the rotation mechanism 21 to rotate the C-arm 13 in the direction toward a pre-set target angle B. That is, when no specific imaging mode is selected, even if an input for relative movement of the top plate 6 relative to the C-arm 13 is made through the operation unit 37, the rotation of the C-arm 13 toward the target angle B will not occur. Thus, the rotation of the C-arm 13 can be performed only when needed.

[0130] (3) In the X-ray imaging apparatus 1 described above, after the rotation angle of the C-arm 13 reaches the target angle B and an input is made to move the top plate 6 relative to it, when the relative position Px of the top plate 6 relative to the C-arm 13 in the long side direction of the top plate 6 is in the standby area R3 outside the observation area R1 for observing the pre-set area of ​​interest of the subject M, the control unit 89 operates the rotation mechanism 21 to rotate the C-arm 13 in the opposite direction to the direction toward the target angle B. For example, when the relative position Px is in the observation area R1, the reverse rotation of the C-arm 13 is not performed. Therefore, it is possible to prevent rotational movements that are not desired by the operator.

[0131] (4) In the X-ray imaging apparatus 1 described above, after the rotation angle of the C-arm 13 reaches the target angle B and an input is made to move the top plate 6 relative to it, when the relative position Px of the top plate 6 is in the intermediate region R2 between the observation area R1 and the standby area R3, and the moving speed of the top plate 6 from the observation area R1 toward the standby area R3 is greater than a preset value, the control unit 89 causes the C-arm 13 to rotate in the opposite direction to the direction toward the target angle. Therefore, even if the relative position Px of the top plate 6 does not return to the standby area R3, a reverse rotation will be performed when, for example, the intention to reliably return the top plate 6 to its original position in the standby area R3 is read. Therefore, it is possible to prevent rotation operations that are not desired by the operator.

[0132] (5) In the X-ray imaging apparatus 1 described above, when an input for prohibiting relative movement of the top plate 6 is made through the operation unit 37, the control unit 89 stops the rotation of the C-arm 13 via the rotation mechanism 21. Therefore, it is possible to prevent rotational movements that would be undesirable to the operator, such as collisions between the top plate 6 and the C-arm 13.

[0133] (6) The X-ray imaging apparatus 1 described above also includes a horizontal axis rotation mechanism 19 for rotating the C-arm 13 about the horizontal axis AX1. When the control unit 89 rotates the C-arm 13 based on an input for relative movement of the top plate 6, and the X-ray axis AX4 connecting the X-ray tube 7 and the X-ray detector 11 is tilted relative to the vertical axis AX2, the control unit 89 operates the horizontal axis rotation mechanism 19 to rotate the C-arm 13 about the horizontal axis AX1 so that the X-ray axis AX4 is parallel to the vertical axis AX2, and then rotates the C-arm 13. After the horizontal axis rotation mechanism 19 restores the reference posture in which the X-ray tube 7 and the X-ray detector 11 are arranged in the vertical direction, the rotation of the C-arm 13 is performed. Therefore, it is possible to prevent rotation and rotation operations that are not desired by the operator.

[0134] (7) In the X-ray imaging apparatus 1 described above, when an input for moving the top plate 6 is made via the operation unit 37, the control unit 89 releases the locked state of the top plate 6, enabling manual movement of the top plate 6, and rotates the C-arm 13. That is, when the top plate 6 is moved manually, alignment of the part of interest can be performed smoothly. In addition, compared to moving the top plate 6 using the horizontal drive unit (two electric motors 47, 61), manual movement of the top plate 6 allows for faster alignment.

[0135] (8) The X-ray imaging apparatus 1 described above also includes a horizontal drive unit (47, 61) for moving the top plate 6 in the horizontal direction. When an input for moving the top plate 6 is made through the operation unit 37, the control unit 89 operates the horizontal drive unit (47, 61) to move the top plate 6 in the horizontal direction and to rotate the C-arm 13. Therefore, when the top plate 6 is moved using the horizontal drive unit (47, 61), the position alignment of the part of interest can be performed smoothly.

[0136] (9) The X-ray imaging apparatus 1 described above also includes a horizontal movement mechanism 23 for moving the C-arm 13 in the horizontal direction. When an input for moving the C-arm 13 is made through the operation unit 37, the control unit 89 activates the horizontal movement mechanism 23 to move the C-arm 13 in the horizontal direction and to rotate the C-arm 13. Therefore, when the C-arm 13 is moved by the horizontal movement mechanism 23, the position alignment of the part of interest can be performed smoothly.

[0137] Explanation of reference numerals in the attached figures

[0138] 1: X-ray imaging device; 6: Top plate; 7: X-ray tube; 11: X-ray detector; 13: C-arm; 15: C-arm drive mechanism; 19: Horizontal axis rotation mechanism; 21: Rotary mechanism; 23: Horizontal movement mechanism; 27C, 54: X-ray position sensor; 33: Top plate horizontal movement mechanism; 37: Control console; 43, 57: Guide rail; 45, 59: Movable components; 47, 61: Electric motor; 53: X-ray brake; 67: Y-ray brake; 71: Top plate operation switch; 73: Mode selection switch; 77 (77U, 77D, 77L, 77R): Directional keys; 89: Control unit; AX1: Horizontal axis; AX2: Vertical axis; AX4: X-ray axis.

Claims

1. An X-ray imaging device, comprising: The C-arm supports the X-ray tube and the X-ray detector; A rotary mechanism that causes the C-shaped arm to rotate about a vertical axis; Storage unit, which stores the target angle related to the rotation of the C-arm about the vertical axis; Top plate, which is used to hold the subject of the examination; A top plate horizontal moving mechanism that moves the top plate horizontally; A switch that accepts the operator's input; and Control Department in, The control unit reads the target angle stored in the storage unit. Corresponding to the operator's operation of the switch, the control unit allows horizontal movement of the top plate via the top plate horizontal movement mechanism, or allows the top plate to move horizontally via the top plate horizontal movement mechanism and allows the rotary mechanism to operate so that the C-arm rotates in the direction toward the target angle read from the storage unit.

2. The X-ray imaging apparatus according to claim 1, characterized in that, It also includes a mode selection unit, which selects a specific imaging mode for observing a pre-defined area of ​​interest of the subject. In accordance with the operator's operation of the switch, the control unit allows horizontal movement of the top plate via the top plate horizontal movement mechanism, provided that the specific photography mode has been selected by the mode selection unit, or allows the top plate to move horizontally via the top plate horizontal movement mechanism and the rotary mechanism to operate so that the C-arm rotates in the direction toward the target angle.

3. The X-ray imaging apparatus according to claim 1 or 2, characterized in that, After the rotation angle of the C-arm reaches the target angle and an input is made to move the top plate relative to it, when the top plate is in a standby area outside the observation area for observing a pre-set area of ​​interest of the subject in the long side direction of the top plate relative to the C-arm, the control unit operates the rotation mechanism to make the C-arm rotate in a direction opposite to the direction toward the target angle.

4. The X-ray imaging apparatus according to claim 3, characterized in that, After the C-arm reaches the target angle and an input is made to move the top plate relative to the target angle, when the relative position of the top plate is in the middle region between the observation area and the standby area and the moving speed of the top plate from the observation area toward the standby area is greater than a preset value, the control unit causes the C-arm to rotate in the direction opposite to the direction toward the target angle.

5. The X-ray imaging apparatus according to claim 1 or 2, characterized in that, When an input for prohibiting relative movement of the top plate is made via the switch, the control unit stops the rotation of the C-arm via the rotary mechanism.

6. The X-ray imaging apparatus according to claim 1 or 2, characterized in that, It also includes a horizontal axis rotation mechanism that allows the C-shaped arm to rotate about a horizontal axis. When the control unit rotates the C-arm based on an input for relative movement of the top plate, and the X-ray axis connecting the X-ray tube and the X-ray detector is tilted relative to the vertical axis, the control unit operates the horizontal axis rotation mechanism to rotate the C-arm about the horizontal axis so that the X-ray axis is parallel to the vertical axis, and then rotates the C-arm.

7. The X-ray imaging apparatus according to claim 1 or 2, characterized in that, In response to the operator's operation of the switch, the control unit releases the locking state of the top plate via the top plate horizontal moving mechanism, thereby enabling the top plate to be moved manually and causing the C-arm to rotate.

8. The X-ray imaging apparatus according to claim 1 or 2, characterized in that, The top plate horizontal moving mechanism includes a horizontal driving unit that moves the top plate in the horizontal direction. In response to the operator's operation of the switch, the control unit causes the horizontal drive unit to operate, thereby moving the top plate horizontally and causing the C-arm to rotate.

9. The X-ray imaging apparatus according to claim 1 or 2, characterized in that, It also includes a horizontal moving mechanism that allows the C-shaped arm to move horizontally. When an input for moving the C-arm is made via the switch, the control unit activates the horizontal movement mechanism to move the C-arm horizontally and to rotate the C-arm.

Images