X-ray imaging apparatus and x-ray imaging system

Abstract

The invention provides an X-ray imaging apparatus and an X-ray imaging system. The X-ray imaging device is provided with: an image processing unit that acquires the presence or absence of a subject holding member; and a control unit that, on the basis of the presence or absence of the subject holding member, acquires a non-movable direction in which the subject holding member is not disposed, and that, when the direction in which the top plate is inclined coincides with the non-movable direction, controls the inclination of the top plate. And at least one of restricting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is inclined and the direction in which the top plate is immovable coincide is performed.

Description

Technical Field

[0001] The present invention relates to an X-ray imaging device and an X-ray imaging system, and in particular to an X-ray imaging device and an X-ray imaging system which are provided with a top plate for placing a subject and perform imaging by changing the inclination of the top plate. Background Art

[0002] Conventionally, there is known an X-ray imaging device that includes a top plate for placing a subject and performs imaging by changing the inclination of the top plate. Such an X-ray imaging device is disclosed in, for example, Japanese Patent Application Laid-Open No. 2017-164131.

[0003] The above-mentioned Japanese Patent Publication No. 2017-164131 discloses an X-ray fluoroscopic imaging device having a fluoroscopic imaging table, an X-ray tube device, an X-ray detector, and a control unit. The fluoroscopic imaging table disclosed in the above-mentioned Japanese Patent Publication No. 2017-164131 has: a top plate for placing a subject; a rolling mechanism for rotating the top plate; and a handle for the subject to hold during the rotation of the top plate. In addition, the control unit disclosed in the above-mentioned Japanese Patent Publication No. 2017-164131 is configured to estimate the center of gravity position of the subject placed on the top plate, and control the movement of the top plate based on the estimated center of gravity position. Specifically, the control unit disclosed in the above-mentioned Japanese Patent Publication No. 2017-164131 is configured to decelerate the rotation speed of the top plate when the center of gravity position of the subject is at a position higher than the rotation center of the top plate and the subject does not hold the handle. In addition, the control unit disclosed in Japanese Patent Application Laid-Open No. 2017-164131 is configured to control the rotation speed of the top plate not to be reduced when the center of gravity of the subject is lower than the rotation center of the top plate or the subject is holding the handle.

[0004] Here, in the structure disclosed in the above-mentioned Japanese Patent Publication No. 2017-164131, it is configured to suppress (limit) the rotation (movement) of the top plate only when the center of gravity of the subject is high and the subject does not hold the handle (subject holding member). However, although not disclosed in the above-mentioned Japanese Patent Publication No. 2017-164131, the X-ray imaging device that takes pictures in a manner to rotate (tilt) the top plate sometimes takes pictures in a manner to tilt the top plate in a direction in which the subject holding member is not configured. In the structure disclosed in the above-mentioned Japanese Patent Publication No. 2017-164131, when the subject holding member is not configured, it is determined that the subject holding member is not held. When it is determined that the subject holding member is not held, the movement of the top plate is limited only when the center of gravity of the subject is high. In addition, when the center of gravity of the subject is low, or when it is determined that the subject holding member is held, the movement of the top plate is not limited. However, for example, when the subject is holding the subject holding member disposed near the subject's waist with his right hand, when the top plate is tilted toward the right hand side of the subject, even if the subject is holding the subject holding member, the weight cannot be well supported, and there is a possibility that the position of the subject on the top plate is shifted. That is, regardless of whether the subject is holding the subject holding member, there is a possibility that the position of the subject on the top plate is shifted due to the tilted direction of the top plate. However, the above-mentioned Japanese Patent Publication No. 2017-164131 does not disclose a structure for limiting the movement of the top plate based on the tilted direction of the top plate. Therefore, the structure disclosed in the above-mentioned Japanese Patent Publication No. 2017-164131 has the following problem: it is difficult to suppress the position shift of the subject on the top plate caused by the tilt of the top plate in a specified direction. Summary of the invention

[0005] The present invention is made to solve the above-mentioned problems, and one object of the present invention is to provide an X-ray imaging apparatus and an X-ray imaging system capable of suppressing positional deviation of a subject on a top plate due to inclination of the top plate in a predetermined direction.

[0006] An X-ray imaging apparatus according to a first aspect of the present invention comprises: an X-ray irradiation unit that irradiates X-rays; an X-ray detector that detects the X-rays irradiated from the X-ray irradiation unit; a top plate for placing a subject; a top plate driving mechanism that can change the inclination of the top plate; an imaging unit that images the subject placed on the top plate and a subject holding member that is arranged on the top plate and holds the subject's posture; an image processing unit that obtains the presence or absence of the subject holding member based on the images of the subject and the subject holding member captured by the imaging unit; and a control unit that obtains a direction in which the subject holding member is not arranged, that is, an immovable direction, based on the presence or absence of the subject holding member acquired by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism coincides with the immovable direction, and when the direction in which the top plate is tilted coincides with the immovable direction, performs at least one of limiting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is tilted coincides with the immovable direction.

[0007] The X-ray imaging system according to the second aspect of the present invention comprises: an X-ray irradiation unit that irradiates X-rays; an X-ray detector that detects the X-rays irradiated from the X-ray irradiation unit; a top plate for placing a subject; a top plate driving mechanism that can change the inclination of the top plate; a photographing unit that photographs the subject placed on the top plate and a subject holding member arranged on the top plate and holding the subject; an image processing unit that obtains the presence or absence of the subject holding member based on the images of the subject and the subject holding member photographed by the photographing unit; and a control unit that obtains a direction in which the subject holding member is not arranged, that is, an immovable direction, based on the presence or absence of the subject holding member obtained by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism is consistent with the immovable direction. When the direction in which the top plate is tilted is consistent with the immovable direction, the control unit performs at least one of limiting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is tilted is consistent with the immovable direction.

[0008] In the X-ray imaging device of the first aspect and the X-ray imaging system of the second aspect of the present invention, there are provided: an image processing unit, which obtains the presence or absence of the subject holding member based on the image of the subject and the subject holding member; and a control unit, which obtains the direction in which the subject holding member is not configured, that is, the immovable direction, based on the presence or absence of the subject holding member obtained by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism is consistent with the immovable direction, and when the direction in which the top plate is tilted is consistent with the immovable direction, the control unit performs at least one of limiting the action of the top plate driving mechanism and notifying that the direction in which the top plate is tilted is consistent with the immovable direction. Thus, when there is an operation input to tilt the top plate in the direction consistent with the immovable direction, the action of the top plate driving mechanism is limited, or the fact that the direction in which the top plate is tilted is consistent with the immovable direction is notified. When the action of the top plate driving mechanism is limited, the top plate can be prevented from tilting to an angle that deviates the position of the subject on the top plate. In addition, when the operator is informed that the direction in which the top plate is tilted coincides with the direction in which the top plate cannot be moved, the operator can be informed that the position of the subject on the top plate may be shifted, and thus the operator can be prompted to stop the operation of the top plate driving mechanism. As a result of these operations, the position of the subject on the top plate can be prevented from being shifted due to the top plate tilting in the specified direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a block diagram showing the configuration of an X-ray imaging system including an X-ray imaging apparatus according to one embodiment.

[0010] Figure 2 This is a schematic diagram showing the structure of an X-ray imaging device according to one embodiment.

[0011] Figure 3 This is a schematic diagram showing the configuration of a console included in an X-ray imaging system according to one embodiment.

[0012] Figure 4 This is a schematic diagram in which the second input receiving unit of the console according to one embodiment is enlarged.

[0013] Figure 5 This is a schematic diagram for explaining an image captured by a photographing unit according to one embodiment.

[0014] Figure 6 This is a schematic diagram for explaining a configuration in which an image processing unit according to one embodiment acquires information on the presence or absence of a subject holding member, information on the position of the subject holding member, and information on the orientation of the subject.

[0015] Figure 7This is a schematic diagram for explaining a structure in which a control unit acquires an immovable direction according to one embodiment.

[0016] Figure 8 This is a schematic diagram for explaining a structure in which a control unit sets the standing up and falling down direction as an immovable direction according to one embodiment.

[0017] Fig. 9 This is a schematic diagram for explaining a configuration in which a control unit sets a reverse tilt direction as an immovable direction according to one embodiment.

[0018] Fig.10 This is a schematic diagram for explaining a configuration in which a control unit according to one embodiment sets one direction of a rotation direction with the head-foot direction as an axis as a non-movable direction.

[0019] Fig.11 This is a schematic diagram for explaining a configuration in which a control unit according to one embodiment sets the other direction of the rotation direction with the head-foot direction as an axis as a non-movable direction.

[0020] Fig.12 This is a schematic diagram for explaining a configuration in which a control unit in one embodiment notifies that a direction in which the top plate is tilted matches a direction in which the top plate cannot be moved.

[0021] Fig.13 This is a flowchart for explaining a process of controlling the operation of the top plate in the X-ray imaging apparatus according to one embodiment.

[0022] Fig.14 This is a flowchart for explaining a process in which the control unit cancels the prohibition on the operation of the top plate driving mechanism according to one embodiment. DETAILED DESCRIPTION

[0023] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0024] First, refer to Figures 1 to 12 The configuration of an X-ray imaging system 100 including an X-ray imaging device 1 according to one embodiment will be described. The X-ray imaging device 1 is a device for a doctor to examine a subject 90 (see Figure 5 ) is a system that images the subject 90 to confirm the branch point of the blood vessel to be inserted with the catheter when performing catheter treatment. In other words, the X-ray imaging device 1 is a so-called fluoroscopic imaging device.

[0025] like Figure 1 As shown, the X-ray imaging system 100 includes an X-ray imaging apparatus 1 and a console 200 .

[0026] The X-ray imaging apparatus 1 is placed in an operating room, etc. In addition, the console 200 is placed in a room different from the operating room where the X-ray imaging apparatus 1 is placed.

[0027] like Figure 1 As shown, the X-ray imaging device 1 includes an X-ray irradiation unit 10, an X-ray detector 11, a top plate 12, a top plate driving mechanism 13, an imaging unit 14, an image processing unit 15, and a control unit 16. In this embodiment, the X-ray imaging device 1 includes a storage unit 17 and a display unit 18. In addition, the X-ray imaging device 1 includes a collimator 19 and a first input receiving unit 20.

[0028] The X-ray irradiation unit 10 is configured to irradiate X-rays and includes an X-ray generating device such as an X-ray tube that generates X-rays when a high voltage is applied thereto.

[0029] The collimator 19 has a flat plate shape, and an opening is provided in the center of the collimator 19. The collimator 19 is formed by forming an opening in a flat plate of a lead material, etc. The collimator 19 adjusts the size and shape of the opening under the control of the control unit 16, thereby adjusting the irradiation range of the X-ray irradiated from the X-ray irradiation unit 10.

[0030] The X-ray detector 11 is configured to detect X-rays emitted from the X-ray irradiation unit 10. The X-ray detector 11 is, for example, a FPD (Flat Panel Detector) and detects X-rays transmitted through the subject 90.

[0031] The top plate 12 is configured to place the subject 90. The top plate 12 is driven by the top plate driving mechanism 13 to change its inclination. The detailed structure of the top plate 12 will be described later.

[0032] The top plate driving mechanism 13 is configured to be able to change the inclination of the top plate 12. The detailed structure of the top plate driving mechanism 13 will be described later.

[0033] The imaging unit 14 is configured to image a subject 90 placed on the top plate 12 and a subject holding member 21 (see FIG. 2 ) disposed on the top plate 12 and holding the subject 90 in a posture. Figure 2 ) for photographing. In the present embodiment, the photographing unit 14 is configured to photograph the optical image 30. The photographing unit 14 is, for example, an optical camera. The optical camera is, for example, a photographing device including an image sensor capable of receiving visible light, such as a CMOS (Complementary Metal Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor.

[0034] The image processing unit 15 is configured to generate an X-ray image 31 based on the X-ray detected by the X-ray detector 11. In addition, in the present embodiment, the image processing unit 15 is configured to obtain the presence or absence of the subject holding member 21 based on the image (optical image 30) of the subject 90 and the subject holding member 21 photographed by the photographing unit 14. Specifically, the image processing unit 15 is configured to obtain information on whether the subject holding member 21 is configured on the top plate 12 as information 50 on the presence or absence of the subject holding member 21. In addition, in the present embodiment, the image processing unit 15 is configured to obtain information 53 on the position of the subject holding member 21 and information 54 on the orientation of the subject 90. The image processing unit 15 is composed of a processor such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field-Programmable Gate Array) or a circuit configured to perform image processing, and a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The details of the structure of the image processing unit 15 for acquiring the information 50 of the presence or absence of the subject holding member 21, the information 53 of the position of the subject holding member 21, and the information 54 of the position of the subject 90 will be described later.

[0035] The control unit 16 is configured to control the entire X-ray imaging device 1. Specifically, the control unit 16 is configured to control the X-ray irradiation of the X-ray irradiation unit 10, such as starting and stopping the irradiation of X-rays, control the change of the X-ray irradiation range of the collimator 19, and control the detection of the X-ray detector 11. In addition, the control unit 16 is configured to change the inclination of the top plate 12 by controlling the top plate driving mechanism 13. The control unit 16 is composed of a processor such as a CPU or a circuit, and a memory such as a ROM and a RAM.

[0036] The storage unit 17 is configured to store various programs executed by the control unit 16. In addition, the storage unit 17 is configured to store an optical image 30 photographed by the imaging unit 14. In addition, the storage unit 17 is configured to store an X-ray image 31 generated by the image processing unit 15. In addition, the storage unit 17 is configured to store a learning completed model 40 described later. In addition, the storage unit 17 is configured to store information 50 on the presence or absence of the subject holding member 21, information 53 on the position of the subject holding member 21, and information 54 on the orientation of the subject 90 acquired by the image processing unit 15. In addition, the storage unit 17 is configured to store a relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted. In addition, the storage unit 17 is configured to store an immovable direction 52 acquired by the control unit 16. The storage unit 17 includes, for example, a non-volatile storage device such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0037] The display unit 18 is configured to display the X-ray image 31. The display unit 18 is, for example, a display device such as a liquid crystal monitor or an organic EL (Electro Luminescence) monitor. In this embodiment, the display unit 18 includes a first display unit 18a included in the X-ray imaging device 1 and a second display unit 18b included in the console 200.

[0038] The first input receiving unit 20 is configured to receive an operation input from an operator. Specifically, the first input receiving unit 20 is configured to receive an operation input for changing the inclination of the top plate 12. The first input receiving unit 20 includes, for example, a button, an operation lever, and the like.

[0039] In addition, if Figure 1 As shown, the console 200 includes a second input receiving unit 201 and a second display unit 18 b.

[0040] The second input receiving unit 201 is configured to receive an operation input from an operator. Specifically, the second input receiving unit 201 is configured to receive an operation input for changing the inclination of the top plate 12. The second input receiving unit 201 includes, for example, a button, an operation lever 201a (see Figure 4 )wait.

[0041] (Structure of X-ray device and top plate moving mechanism)

[0042] like Figure 2As shown, in the X-ray imaging device 1, the X-ray irradiation unit 10 is supported by the X-ray irradiation unit moving mechanism 22 in a movable manner. The X-ray irradiation unit moving mechanism 22 has a motor and an electromagnetic brake (not shown) corresponding to the X direction, the Y direction, and the Z direction, respectively. Moreover, the X-ray irradiation unit 10 is configured so that the operator can move the X-ray irradiation unit 10 in each of the X direction, the Y direction, and the Z direction. In addition, Figure 2 In the example shown, the up-down direction is set as the Z direction, the up direction is set as the Z1 direction, and the down direction is set as the Z2 direction. In addition, one of the two directions orthogonal to the Z direction is set as the X direction, and the other direction is set as the Y direction. In addition, one side of the X direction is set as the X1 direction, and the other side is set as the X2 direction. In addition, one side of the Y direction is set as the Y1 direction, and the other side is set as the Y2 direction. Figure 2 In the example shown, the top plate 12 is shown in the figure with the longitudinal direction thereof extending along the X direction.

[0043] In addition, the X-ray irradiation unit 10 is configured to be able to rotate around the Y axis while being held by the X-ray irradiation unit moving mechanism 22. Therefore, the X-ray irradiation unit 10 is configured to be able to change the irradiation direction and angle of the X-rays. In addition, the X-ray irradiation unit moving mechanism 22 is provided with a motor and an electromagnetic brake (not shown) corresponding to the rotatable axis (Y axis) of the X-ray irradiation unit 10. When the operator moves the X-ray irradiation unit 10, the X-ray irradiation unit moving mechanism 22 of the present embodiment moves the X-ray irradiation unit 10 in a direction corresponding to the direction of the operating force input by the operator.

[0044] In addition, if Figure 2 As shown, the X-ray imaging device 1 includes one imaging unit 14. In the present embodiment, the imaging unit 14 is disposed in the housing 10a of the X-ray irradiation unit 10. Specifically, the imaging unit 14 is provided at a position facing the top plate 12 in the housing 10a of the X-ray irradiation unit 10.

[0045] In addition, the top plate 12 has a structure for placing the subject 90 (see Figure 5 ) is disposed on a mounting surface 12a. In addition, the top plate 12 is configured to be movable in each of the X direction, the Y direction, and the Z direction by the top plate driving mechanism 13. In addition, the top plate 12 is configured to be rotatable in the rotation direction around the X axis by the top plate driving mechanism 13. In addition, the top plate 12 is configured to be rotatable in the rotation direction around the Y axis by the top plate driving mechanism 13.

[0046] In addition, the top plate driving mechanism 13 is configured to enable the top plate 12 to move in each of the X direction, the Y direction, and the Z direction. The top plate driving mechanism 13 includes a motor and an electromagnetic brake (not shown) corresponding to each of the X direction, the Y direction, and the Z direction. In addition, the top plate driving mechanism 13 is configured to enable the top plate 12 to rotate in a rotation direction around the X axis. In addition, the top plate driving mechanism 13 is configured to enable the top plate 12 to rotate in a rotation direction around the Y axis. The top plate driving mechanism 13 includes a motor and an electromagnetic brake for rotating the top plate 12 corresponding to the two rotatable axes (X axis and Y axis) of the top plate 12, respectively. When the operator moves the top plate 12, the top plate driving mechanism 13 of the present embodiment causes the top plate 12 to rotate in a direction that is consistent with the direction inputted by the operator via the first input receiving unit 20 or the second input receiving unit 201 (refer to Figure 1 ) moves in a direction corresponding to the direction of the operating force input, and changes the inclination of the top plate 12.

[0047] In addition, if Figure 2 As shown, the first display unit 18a is arranged in the operating room so that the operator such as a doctor can check the X-ray image 31 (see Figure 1 ) position. The first display unit 18a is held, for example, by a hanging device (not shown) installed on the ceiling of the operating room. In addition, the first display unit 18a can also be configured to be movable and held by a device used to hold the display unit.

[0048] like Figure 2 As shown, the subject holding member 21 includes at least one of a shoulder stop 21a, a handlebar 21b, and a step 21c. Figure 2 In the illustrated example, the subject holding member 21 includes all of the shoulder stop 21 a , the handlebar 21 b , and the step 21 c .

[0049] The shoulder stop 21a is configured to tilt the top plate 12 in the reverse direction (to tilt the top plate 12 toward the subject 90 (refer to Figure 5 ) head 90a (refer to Figure 5 ) is lowered so that the foot 90b (refer to Figure 5 ) when the shoulder stopper 21a is tilted in the ascending direction) to maintain the posture of the subject 90. In the present embodiment, the shoulder stopper 21a is configured to be manually attachable and detachable to the top plate 12 by the operator. In addition, the shoulder stopper 21a is configured to be manually changeable in position on the top plate 12 by the operator.

[0050] In addition, the handle bar 21b is provided so as to be held by the subject 90 when the top plate 12 is tilted. The handle bar 21b is held by the subject 90, thereby being able to maintain the posture of the subject 90. In the present embodiment, the handle bar 21b is configured to be manually attached and detached relative to the top plate 12 by the operator. In addition, the handle bar 21b is configured to be manually changed by the operator in its position on the top plate 12.

[0051] In addition, the step 21c is configured to maintain the posture of the subject 90 when the top plate 12 is erected and then collapsed (the top plate 12 is tilted in a direction in which the head 90a of the subject 90 is raised and the feet 90b are lowered). In the present embodiment, the step 21c is configured to be manually attached and detached from the top plate 12 by the operator. In addition, the step 21c is configured to be manually changed by the operator on the top plate 12.

[0052] (Console)

[0053] Figure 3 This is a schematic diagram obtained by observing the console 200 from an inclined direction. Figure 3 As shown, the console 200 includes a placement surface 200 a for placing the second input receiving unit 201 and the second display unit 18 b , and a support member 200 b for supporting the placement surface 200 a .

[0054] like Figure 3 As shown, the second input receiving unit 201 is disposed on the placement surface 200 a of the console 200 . In addition, the second display unit 18 b is disposed on the placement surface 200 a of the console 200 .

[0055] (Second input receiving unit)

[0056] Figure 4 The console 200 (refer to Figure 3 ) is an enlarged view obtained by enlarging the vicinity of the second input receiving unit 201. Figure 4 As shown, the second input receiving unit 201 includes an operation lever 201 a.

[0057] The operating lever 201a is configured to receive a signal for changing the top plate 12 (see Figure 2 ) is input by operation of the inclination. The control unit 16 (refer to Figure 1 ) is configured to change the inclination of the top plate 12 based on the operation input received by the operation rod 201a. That is, the control unit 16 performs control to incline the top plate 12 in a direction corresponding to the direction in which the operation rod 201a is tilted.

[0058] (Optical image)

[0059] Figure 5 The optical image 30 shown is obtained by the photographing unit 14 (see Figure 1 ) captured. Figure 5 In the example shown, the top plate 12, the subject 90, and the subject holding member 21 are captured in the optical image 30. Specifically, the subject 90, a pair of shoulder stops 21a, a pair of handlebars 21b, and a step 21c are captured in the optical image 30.

[0060] Here, when the top plate 12 is tilted, if the subject holding member 21 is not arranged at a position corresponding to the direction to be tilted, the subject 90 may fall from the top plate 12. For example, if the step 21c is not arranged when the top plate 12 is erected or lowered, if the shoulder stop 21a is not arranged when the top plate 12 is tilted in the reverse direction, and if the handle 21b is not arranged when the top plate 12 is rotated about the X-axis, the subject 90 may fall from the top plate 12.

[0061] Therefore, in this embodiment, the control unit 16 (see Figure 1 ) is configured to restrict the top plate driving mechanism 13 (see Figure 2 ) or notifies that the position of the subject 90 on the top board 12 may be shifted due to the tilt of the top board 12. Specifically, the control unit 16 is configured based on the image processing unit 15 (see Figure 1 ) to obtain the direction in which the subject holding member 21 is not arranged, that is, the direction in which the subject holding member 21 cannot be moved 52 (refer to Figure 1 ). In addition, the control unit 16 is configured to determine whether the direction in which the top plate 12 is tilted by the top plate driving mechanism 13 is consistent with the immovable direction 52. In addition, the control unit 16 is configured to restrict the operation of the top plate driving mechanism 13 when the direction in which the top plate 12 is tilted is consistent with the immovable direction 52, and to notify that the direction in which the top plate 12 is tilted is consistent with the immovable direction 52.

[0062] (Presence or Absence of Subject Holding Member, and Acquisition of Position and Direction of Subject)

[0063] Reference Figure 6 The image processing unit 15 acquires the subject holding member 21 (see Figure 5 ) is described in detail. In this embodiment, Figure 6 As shown, the image processing unit 15 is based on the image processing unit 14 (refer to Figure 1 ) The subject 90 (refer to Figure 5 ) and the optical image 30 of the subject holding member 21, to obtain the presence or absence of the subject holding member 21. Specifically, the image processing unit 15 is configured to: obtain the shoulder block 21a (refer to Figure 5)、Handle 21b (refer to Figure 5 ) and step 21c (refer to Figure 5 ) is arranged on the top plate 12 to obtain the presence or absence of the subject holding member 21. In the present embodiment, the image processing unit 15 is configured to obtain the information 50 on the presence or absence of the subject holding member 21 based on the presence or absence of the subject holding member 21. For example, the image processing unit 15 obtains information on whether the shoulder stop 21a is arranged, information on whether the handlebar 21b is arranged, and information on whether the step 21c is arranged as the information 50 on the presence or absence of the subject holding member 21.

[0064] In addition, in the present embodiment, the image processing unit 15 is configured to obtain the presence or absence of the subject holding member 21 based on the optical image 30 of the subject 90 and the subject holding member 21 captured by the photographing unit 14, and to obtain the orientation of the subject 90 on the top plate 12 and the position of the subject holding member 21. In the present embodiment, the image processing unit 15 is configured to obtain information 53 on the position of the subject holding member 21 and information 54 on the orientation of the subject 90. For example, the image processing unit 15 obtains the head 90a of the subject 90 (see Figure 5 ) is arranged in the X direction as information 53 of the orientation of the subject 90. In addition, the image processing unit 15 is configured to obtain the position coordinates of the position where the subject holding member 21 is captured in the optical image 30 as information 53 on the position of the subject holding member 21.

[0065] In the present embodiment, the image processing unit 15 is configured to acquire the position of the subject holding member 21 using the learned model 40 for acquiring the position of the subject holding member 21 on the top plate 12 (see Figure 5 ) on the top plate 12. In addition, the image processing unit 15 is configured to use the learned model 40 to obtain the orientation of the subject 90. That is, the learned model 40 is generated by learning the position of the subject holding member 21 and the orientation of the subject 90. In addition, the X-ray irradiation unit 10 sometimes irradiates X-rays in a state directly facing the top plate 12 and in a state inclined relative to the top plate 12. Therefore, when generating the learned model 40, it is preferred to use images captured from a position directly facing the top plate 12 and images captured from a direction inclined relative to the top plate 12 to generate the learned model 40.

[0066] In the present embodiment, the image processing unit 15 is configured to store the acquired information 50 on the presence or absence of the subject holding member 21 , information 53 on the position of the subject holding member 21 , and information 54 on the orientation of the subject 90 in the storage unit 17 .

[0067] (Getting the direction of immovability)

[0068] Next, refer to Figure 7 to Figure 11 The control unit 16 (refer to Figure 7 ) Get the direction of immovability 52 (refer to Figure 7 ) structure is described.

[0069] The control unit 16 determines whether to make the top plate 12 (refer to Figure 5 ) Whether the position corresponding to the tilt direction is provided with a shoulder stop 21a (refer to Figure 5 )、Handle 21b (refer to Figure 5 ) and step 21c (refer to Figure 5 ) in the corresponding subject holding member 21 (refer to Figure 5 ). Furthermore, the control unit 16 is configured to set the direction in which the corresponding subject holding member 21 among the shoulder stop 21a, the handlebar 21b and the step 21c is not arranged at a position corresponding to the direction in which the top plate 12 is tilted as the direction 52 in which the subject holding member 21 cannot be moved.

[0070] Even when the subject holding member 21 is disposed on the top plate 12, the position of the subject 90 on the top plate 12 may be shifted due to the tilt of the top plate 12, depending on the orientation of the subject 90 and the position of the subject holding member 21. Figure 8 ) side and the handrail 21b is arranged at a position that the subject 90 cannot hold, when the top plate 12 is tilted so as to raise the head 90a of the subject 90, the position of the subject 90 on the top plate 12 may be shifted. Therefore, in the present embodiment, the control unit 16 is configured to set the immovable direction 52 based on the orientation of the subject 90 on the top plate 12 and the presence or absence and position of the subject holding member 21.

[0071] In the present embodiment, the control unit 16 sets the immovable direction 52 based on the information 50 of the presence or absence of the subject holding member 21, the information 53 of the position of the subject holding member 21, and the information 54 of the orientation of the subject 90 stored in the storage unit 17. In addition, the control unit 16 is configured to store the set immovable direction 52 in the storage unit 17.

[0072] Figure 8 This is a schematic diagram obtained by observing the top plate 12 on which the subject 90 is placed from the Y2 direction side. Figure 8 As shown in FIG. 1 , a shoulder stop 21 a is disposed on the top plate 12 near the head 90 a of the subject 90. Figure 8As shown in FIG. 1 , a handle 21 b is disposed on the top plate 12 near the foot 90 b of the subject 90. In other words, the handle 21 b is disposed at a position where the subject 90 cannot hold the handle. Figure 8 In the example shown, the step 21c is not provided (see Figure 5 ). Figure 8 As shown in the figure, when the step 21c is not arranged at the position where the subject 90 can be supported and the handle 21b is not arranged at the position where the subject 90 can hold, when the top plate 12 is tilted in the standing up and falling down direction (the rotation direction indicated by the arrow 71a with the rotation center 70a as the center), the position of the subject 90 on the top plate 12 may be shifted due to the tilt of the top plate 12. Therefore, when the step 21c is not arranged at the position where the subject 90 can be supported and the handle 21b is not arranged at the position where the subject 90 can hold, the control unit 16 sets the standing up and falling down direction to the immovable direction 52.

[0073] Fig. 9 This is a schematic diagram obtained by observing the top plate 12 on which the subject 90 is placed from the Y2 direction side. Fig. 9 As shown in FIG. 1 , a step 21 c is arranged on the top plate 12 near the foot 90 b of the subject 90. Fig. 9 As shown in FIG. 1 , a handle 21 b is disposed on the top plate 12 near the foot 90 b of the subject 90. In other words, the handle 21 b is disposed at a position where the subject 90 cannot hold the handle. Fig. 9 In the example shown, the shoulder stop 21a is not arranged near the head 90a of the subject 90 (see Figure 8 ). Fig. 9 As shown in the figure, when the shoulder stop 21a is not arranged at the position where the subject 90 can be supported and the handle bar 21b is not arranged at the position where the subject 90 can hold, when the top plate 12 is tilted in the reverse tilt direction (the rotation direction indicated by the arrow 71b with the rotation center 70b as the center), the position of the subject 90 on the top plate 12 may be shifted due to the tilt of the top plate 12. Therefore, when the shoulder stop 21a is not arranged at the position where the subject 90 can be supported and the handle bar 21b is not arranged at the position where the subject 90 can hold, the control unit 16 sets the reverse tilt direction of the top plate 12 to the immovable direction 52.

[0074] Fig.10 This is a schematic diagram obtained by observing the top plate 12 on which the subject 90 is placed from the X1 direction side. Fig.10 As shown, the top plate 12 is not provided with a shoulder stop 21a (see Figure 8 ) and step 21c (refer to Fig. 9 ). In addition, Fig.10In the example shown, on the top plate 12, at the foot 90b of the subject 90 (see Fig. 9 ) is disposed near the handle 21b. In other words, the handle 21b is disposed at a position where the subject 90 cannot hold it. Fig.10 In the figure, the handle 21b is shown by a dotted line to indicate that the subject 90 cannot hold it. Fig.10 As shown, when the handrail 21b is not arranged at a position where the subject 90 can hold, if the top plate 12 is tilted in the direction indicated by the arrow 71c about the rotation center 70c, the position of the subject 90 on the top plate 12 may be shifted due to the tilt of the top plate 12.

[0075] Fig.11 This is a schematic diagram obtained by observing the top plate 12 on which the subject 90 is placed from the X1 direction side. Fig.11 As shown, the top plate 12 is not provided with a shoulder stop 21a (see Figure 8 ) and step 21c (refer to Fig. 9 ). In addition, Fig.11 In the example shown, on the top plate 12, at the foot 90b of the subject 90 (see Fig. 9 ) is disposed near the handle 21b. In other words, the handle 21b is disposed at a position where the subject 90 cannot hold it. Fig.11 In the figure, the handle 21b is shown by a dotted line to indicate that the subject 90 cannot hold it. Fig.11 As shown in the figure, when the handle 21b is not arranged at the position where the subject 90 can hold, when the top plate 12 is tilted in the direction indicated by the arrow 71d with the rotation center 70d as the center, the position of the subject 90 on the top plate 12 may be shifted due to the tilt of the top plate 12. Therefore, when the handle 21b is not arranged at the position where the subject 90 can hold, the control unit 16 sets the rotation direction around the X axis to the immovable direction 52.

[0076] (Restrictions on the movement of the top plate drive mechanism)

[0077] In this embodiment, the control unit 16 is configured based on the image processing unit 15 (see Figure 1 ) The acquired subject holding member 21 (refer to Figure 5 ) to obtain the direction in which the subject holding member 21 is not arranged, that is, the direction in which the subject holding member 21 cannot be moved 52 (refer to Figure 7 ). In addition, in the present embodiment, the control unit 16 is configured to determine whether the top plate driving mechanism 13 (see Figure 2 ) so that the top plate 12 (refer to Figure 2) whether the tilting direction of the top plate 12 is consistent with the immovable direction 52. In addition, the control unit 16 is configured to: when the tilting direction of the top plate 12 is consistent with the immovable direction 52, at least one of limiting the operation of the top plate driving mechanism 13 and notifying that the tilting direction of the top plate 12 is consistent with the immovable direction 52.

[0078] In the present embodiment, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 when the direction in which the top plate 12 is tilted coincides with the immovable direction 52. Specifically, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 by prohibiting the movement of the top plate 12 by the top plate driving mechanism 13 or by reducing the speed at which the top plate 12 is tilted by the top plate driving mechanism 13. More specifically, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 by prohibiting the movement of the top plate 12 by the top plate driving mechanism 13. That is, in the present embodiment, even when there is an operation input for tilting the top plate 12 in the immovable direction 52, the control unit 16 performs control so as not to move the top plate 12.

[0079] Here, according to the use of the X-ray imaging device 1 (refer to Figure 1 ) in a hospital or other facility, there is a case where a doctor or the like is near the X-ray imaging device 1 and the doctor or the like wishes to tilt the top plate 12 in the immovable direction 52. For example, even if the step 21c is not configured (see Figure 5 ), when the angle of tilting the top board 12 is small, the doctor or the like may also want to make the top board 12 stand up or fall down. Therefore, in this embodiment, the control unit 16 is configured so that even when the direction of tilting the top board 12 coincides with the direction 52 in which the top board 12 is not movable, if the storage unit 17 (see Figure 1 ) and the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted (see Figure 1 ) is allowed to move in the immovable direction 52, then the movement of the top plate 12 in the immovable direction 52 is allowed.

[0080] In the present embodiment, the control unit 16 is configured to store the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted in advance in the storage unit 17 based on the operation input of the operator. In addition, the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted is generally information indicating the relationship between the subject holding member 21 and the direction in which the top plate 12 is tilted for allowing the movement of the top plate 12 in the direction 52 set as the immovable direction. For example, in the case where the movement of the top plate 12 in the standing up and falling down direction is allowed even when the step 21c is not arranged on the foot 90b side of the subject 90, the control unit 16 stores the information that the movement of the top plate 12 in the standing up and falling down direction is allowed even when the step 21c is not arranged in the storage unit 17 as the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted.

[0081] (Notify that the direction in which the top plate is tilted matches the direction in which it cannot be moved)

[0082] In addition, in the present embodiment, the control unit 16 is configured to notify that the direction in which the top plate 12 is tilted coincides with the immovable direction 52. In the present embodiment, the control unit 16 is configured to, when the direction in which the top plate 12 is tilted coincides with the immovable direction 52, restrict the movement of the top plate 12 by the top plate driving mechanism 13 after there is an operation input for moving the top plate 12 to the top plate driving mechanism 13, and notify that the direction in which the top plate 12 is tilted coincides with the immovable direction 52. Specifically, the control unit 16 is configured to notify that the direction in which the top plate 12 is tilted coincides with the immovable direction 52 by displaying on the display unit 18 that the direction in which the top plate 12 is tilted coincides with the immovable direction 52.

[0083] More specifically, if Fig.12 As shown, the control unit 16 (refer to Figure 1 ) by displaying the display unit 18 (refer to Figure 1 ) is used to display the top panel 12 (reference Figure 1 ) The tilted direction and the immovable direction 52 (refer to Figure 1 ) to notify that the direction in which the top plate 12 is tilted is consistent with the immovable direction 52. In the present embodiment, the control unit 16 is configured to display the screen 60 on both the first display unit 18a and the second display unit 18b. In addition, the control unit 16 may be configured to display the screen 60 on either the first display unit 18a or the second display unit 18b.

[0084] like Fig.12As shown, a message 60 a to make the direction in which the top plate 12 is tilted coincide with the immovable direction 52 and a confirmation button 60 b are displayed on the screen 60 .

[0085] The confirmation button 60b is a button of a GUI (Graphical User Interface). The control unit 16 determines that the operator has confirmed the message 60a when the confirmation button 60b is pressed.

[0086] (Removal of restrictions on the movement of the top plate)

[0087] In the present embodiment, the control unit 16 is configured to, after prohibiting the action of tilting the top plate 12, continue to prohibit the action of tilting the top plate 12 by the top plate driving mechanism 13 until an operation input for releasing the restriction on the action of the top plate 12 is received from the operator. For example, when the confirmation button 60b shown in the screen 60 is pressed, the control unit 16 determines that an operation input for releasing the restriction on the action of the top plate 12 has been received, and releases the prohibition on the action of tilting the top plate 12 by the top plate driving mechanism 13. In addition, the control unit 16 may also cancel the prohibition on the action of tilting the top plate 12 by the top plate driving mechanism 13 after the operator once removes his hand from the first input receiving unit 20 (refer to Figure 1 ) or the second input receiving unit 201 (refer to Figure 1 ) after the operator leaves, based on the fact that the operation input is performed again through the first input receiving unit 20 or the second input receiving unit 201, the prohibition of the action of tilting the top plate 12 by the top plate driving mechanism 13 is released. The control unit 16 is configured to release the prohibition of the action of tilting the top plate 12 by the top plate driving mechanism 13 when the operator performs an intentional operation.

[0088] (Processing of controlling the movement of the top plate)

[0089] Next, refer to Fig.13 The X-ray imaging device 1 of this embodiment (see Figure 1 ) Control top plate 12 (refer to Figure 2 ) is described below.

[0090] In step 101, the photographing unit 14 (see Figure 1 ) obtains an optical image 30 (refer to Figure 5 Specifically, the photographing unit 14 photographs the subject holding member 21 (see Figure 5 ) and subject 90 (ref. Figure 5 ) of the optical image 30.

[0091] In step 102, the image processing unit 15 (see Figure 6 ) to obtain the presence or absence of the subject holding member 21. Specifically, Figure 6As shown, the image processing unit 15 obtains the presence or absence of the subject holding member 21 based on the optical image 30 and the learned model 40. In the present embodiment, the image processing unit 15 obtains the information 50 on the presence or absence of the subject holding member 21. In addition, when the information 50 on the presence or absence of the subject holding member 21 is obtained and stored in the storage unit 17, the image processing unit 15 may also obtain the information 50 on the presence or absence of the subject holding member 21 from the storage unit 17.

[0092] In addition, in step 102, the image processing unit 15 obtains the position of the subject holding member 21. Specifically, the image processing unit 15 obtains the information 53 of the position of the subject holding member 21 based on the optical image 30 and the learned model 40. In addition, when the information 53 of the position of the subject holding member 21 is stored in the storage unit 17, the image processing unit 15 may also obtain the information 53 of the position of the subject holding member 21 from the storage unit 17.

[0093] In addition, in step 102, the image processing unit 15 obtains the information 54 on the orientation of the subject 90. Specifically, the image processing unit 15 obtains the information 54 on the orientation of the subject 90 based on the optical image 30 and the learned model 40. In addition, when the information 54 on the orientation of the subject 90 is stored in the storage unit 17, the image processing unit 15 may also obtain the information 54 on the orientation of the subject 90 from the storage unit 17.

[0094] In step 103, the control unit 16 (see Figure 1 ) Acquire the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted (refer to Figure 1 Specifically, the control unit 16 obtains the storage unit 17 (refer to Figure 1 ) and the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is to be tilted.

[0095] In step 104, the control unit 16 obtains the direction 52 in which movement is not possible (see Figure 7 ). Specifically, Figure 7 As shown, the control unit 16 acquires the immovable direction 52 based on the information 50 of the presence or absence of the subject holding member 21, the information 53 of the position of the subject holding member 21, and the information 54 of the orientation of the subject 90. In addition, when the immovable direction 52 is stored in the storage unit 17, the control unit 16 may also acquire the immovable direction 52 from the storage unit 17.

[0096] In step 105, the control unit 16 determines whether there is an operation input to change the inclination of the top plate 12. If there is an operation input to change the inclination of the top plate 12, the process proceeds to step 106. If there is no operation input to change the inclination of the top plate 12, the process of step 105 is repeated.

[0097] In step 106, the control unit 16 determines whether the direction in which the top plate 12 is tilted coincides with the immovable direction 52. When the direction in which the top plate 12 is tilted coincides with the immovable direction 52, the process proceeds to step 107. When the direction in which the top plate 12 is tilted does not coincide with the immovable direction 52, the process ends. That is, when the direction in which the top plate 12 is tilted does not coincide with the immovable direction 52, the control unit 16 tilts the top plate 12 based on the operation input.

[0098] In step 107, the control unit 16 determines whether the top plate 12 is allowed to be tilted in the immovable direction 52. Specifically, the control unit 16 determines whether the top plate 12 is allowed to be tilted in the immovable direction 52 based on the immovable direction 52 and the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted. In the case where the top plate 12 is allowed to be tilted in the immovable direction 52, the processing ends. That is, in the case where the top plate 12 is allowed to be tilted in the immovable direction 52, the control unit 16 tilts the top plate 12 based on the operation input. In the case where the top plate 12 is not allowed to be tilted in the immovable direction 52, the processing proceeds to step 108.

[0099] In step 108, the control unit 16 restricts the top plate driving mechanism 13 (see Figure 1 In the present embodiment, the control unit 16 restricts the operation of the top plate driving mechanism 13 by prohibiting the operation of the top plate driving mechanism 13.

[0100] In step 109, the control unit 16 notifies that the direction in which the top plate 12 is tilted coincides with the immovable direction 52. Specifically, the control unit 16 displays the information on the display unit 18 (see Figure 1 ) displays a message 60a indicating that the direction in which the top plate 12 is tilted is consistent with the direction in which the top plate 12 cannot be moved 52 (see Fig.12 ), to notify that the direction in which the top plate 12 is tilted is consistent with the immovable direction 52. Then, the process ends.

[0101] It should be noted that either the process of step 103 or the process of step 104 may be performed first.

[0102] Next, refer to Fig.14 The control unit 16 (see Figure 1 ) Release the top plate driving mechanism 13 (refer to Figure 1 ) action restrictions.

[0103] In step 110, the control unit 16 determines whether there is an operation input from the operator. Specifically, the control unit 16 determines Fig.12 In addition, the control unit 16 may also determine whether the confirmation button 60b in the screen 60 shown in FIG. 1 is pressed. Figure 1 ) or the second input receiving unit 201 (refer to Figure 1 ) after the user leaves, whether there is an operation input again through the first input receiving unit 20 or the second input receiving unit 201. If there is an operation input from the operator, the process proceeds to step 111. If there is no operation input from the operator, the process of step 110 is repeated.

[0104] In step 111, the control unit 16 cancels the restriction on the operation of the top plate driving mechanism 13. Specifically, the control unit 16 cancels the prohibition on the operation of the top plate driving mechanism 13. Thereafter, the process ends.

[0105] (Effects of this embodiment)

[0106] In this embodiment, the following effects can be obtained.

[0107] In the present embodiment, as described above, the X-ray imaging device 1 includes: an X-ray irradiation unit 10 that irradiates X-rays; an X-ray detector 11 that detects the X-rays irradiated from the X-ray irradiation unit 10; a top plate 12 that is used to place the subject 90; a top plate driving mechanism 13 that can change the inclination of the top plate 12; an imaging unit 14 that images the subject 90 placed on the top plate 12 and the subject holding member 21 that is arranged on the top plate 12 and holds the posture of the subject 90; and an image processing unit 15 that processes the image of the subject 90 and the subject holding member 21 based on the images (optical images) of the subject 90 and the subject holding member 21 captured by the imaging unit 14. image 30), to obtain the presence or absence of the subject holding member 21; and a control unit 16, which obtains the direction in which the subject holding member 21 is not configured, that is, the immovable direction 52, based on the presence or absence of the subject holding member 21 obtained by the image processing unit 15, and determines whether the direction in which the top plate 12 is tilted by the top plate driving mechanism 13 is consistent with the immovable direction 52, and when the direction in which the top plate 12 is tilted is consistent with the immovable direction 52, at least one of limiting the action of the top plate driving mechanism 13 and notifying the direction in which the top plate 12 is tilted is consistent with the immovable direction 52.

[0108] Thus, when there is an operation input for tilting the top plate 12 in a direction that coincides with the immovable direction 52, the operation of the top plate driving mechanism 13 is restricted, or the fact that the direction in which the top plate 12 is tilted coincides with the immovable direction 52 is notified. When the operation of the top plate driving mechanism 13 is restricted, it is possible to suppress the top plate 12 from tilting to an angle that causes the position of the subject 90 on the top plate 12 to deviate. In addition, when it is notified that the direction in which the top plate 12 is tilted coincides with the immovable direction 52, it is possible to make the operator understand that the position of the subject 90 on the top plate 12 may deviate, and thus it is possible to urge the operator to stop the operation of the top plate driving mechanism 13. As a result of these operations, it is possible to suppress the position of the subject 90 on the top plate 12 from deviating due to the tilting of the top plate 12 in a predetermined direction.

[0109] In addition, in the present embodiment, as described above, the X-ray imaging system 100 includes: an X-ray irradiation unit 10 that irradiates X-rays; an X-ray detector 11 that detects the X-rays irradiated from the X-ray irradiation unit 10; a top plate 12 that is used to place the subject 90; a top plate driving mechanism 13 that can change the inclination of the top plate 12; an imaging unit 14 that captures the subject 90 placed on the top plate 12 and the subject holding member 21 that is arranged on the top plate 12 and holds the subject 90; and an image processing unit 15 that processes the image based on the image (optical image) of the subject 90 and the subject holding member 21 captured by the imaging unit 14. and a control unit 16, which obtains a direction in which the subject holding member 21 is not configured, that is, an immovable direction 52, based on the presence or absence of the subject holding member 21 obtained by the image processing unit 15, and determines whether the direction in which the top plate 12 is tilted by the top plate driving mechanism 13 is consistent with the immovable direction 52, and when the direction in which the top plate 12 is tilted is consistent with the immovable direction 52, at least one of limiting the action of the top plate driving mechanism 13 and notifying that the direction in which the top plate 12 is tilted is consistent with the immovable direction 52.

[0110] Thus, similar to the X-ray imaging apparatus 1 , it is possible to provide the X-ray imaging system 100 which can suppress the positional deviation of the subject 90 on the top plate 12 caused by the top plate 12 being tilted in a predetermined direction.

[0111] In addition, in the above-mentioned embodiment, by configuring as follows, further effects as described below can be obtained.

[0112] That is, in the present embodiment, as described above, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 when the direction in which the top plate 12 is tilted coincides with the immovable direction 52, and to notify that the direction in which the top plate 12 is tilted coincides with the immovable direction 52. Thus, after the movement of the top plate 12 is restricted, the operator can be made aware of the fact that the direction in which the top plate 12 is tilted coincides with the immovable direction 52, and that the positional deviation of the subject 90 on the top plate 12 may be caused by the tilting of the top plate 12. As a result, the operator can be made aware of the fact that the direction in which the top plate 12 is tilted coincides with the immovable direction 52 in a state in which the movement of the top plate driving mechanism 13 is restricted, and thus the positional deviation of the subject 90 on the top plate 12 can be further suppressed.

[0113] In addition, in the present embodiment, as described above, the subject holding member 21 includes at least any one of the shoulder stop 21a, the handle bar 21b and the step 21c, and the image processing unit 15 is configured to obtain the presence or absence of the subject holding member 21 by obtaining whether at least any one of the shoulder stop 21a, the handle bar 21b and the step 21c is arranged on the top plate 12, and the control unit 16 is configured to determine whether the corresponding subject holding member 21 among the shoulder stop 21a, the handle bar 21b and the step 21c is arranged at the position corresponding to the direction in which the top plate 12 is tilted, and set the direction in which the corresponding subject holding member 21 among the shoulder stop 21a, the handle bar 21b and the step 21c is not arranged at the position corresponding to the direction in which the top plate 12 is tilted as an immovable direction 52. Thus, the direction in which the shoulder stop 21a, the handle bar 21b and the step 21c are not configured is set as the immovable direction 52. Therefore, in the X-ray imaging device 1 for performing imaging with the subject holding member 21 including any one of the shoulder stop 21a, the handle bar 21b and the step 21c, it is possible to easily suppress the position deviation of the subject 90 on the top plate 12 caused by the top plate 12 tilting in the direction in which the subject holding member 21 including any one of the shoulder stop 21a, the handle bar 21b and the step 21c is not configured.

[0114] In addition, in the present embodiment, as described above, the image processing unit 15 is configured to obtain the presence or absence of the subject holding member 21 based on the image (optical image 30) of the subject 90 and the subject holding member 21 photographed by the photographing unit 14, and to obtain the orientation of the subject 90 on the top plate 12 and the position of the subject holding member 21, and the control unit 16 is configured to set the immovable direction 52 based on the orientation of the subject 90 on the top plate 12, the presence or absence and the position of the subject holding member 21. Here, when photographing the subject 90, the subject 90 is sometimes placed on the top plate 12 in a manner such that the head and feet of the subject 90 face in opposite directions. In this case, the position of the subject holding member 21 also needs to be configured according to the orientation of the subject 90. In addition, the position of the subject holding member 21 needs to be adjusted according to the height of the subject 90. Therefore, as described above, by setting the immovable direction 52 based on the presence or absence of the subject holding member 21 and based on the orientation of the subject 90 on the top plate 12 and the position of the subject holding member 21, the immovable direction 52 can be set more accurately according to the orientation of the subject 90 and the position of the subject holding member 21. As a result, the positional deviation of the subject 90 on the top plate 12 can be further suppressed. In addition, in the case where the operator can manually change the position of the subject holding member 21, it is necessary to set a plurality of distance sensors and the like according to the position where the subject holding member 21 can be installed, and the number of components increases. In addition, depending on the position where the subject holding member 21 is moved, there is a situation where the position cannot be obtained using a distance sensor and the like. Therefore, as described above, the image processing unit 15 is configured to obtain the position of the subject holding member 21 based on the optical image 30, thereby, even in the case where the position of the subject holding member 21 is manually moved by the operator, the position of the subject holding member 21 can be easily obtained while suppressing the increase in the number of components.

[0115] In addition, in the present embodiment, as described above, the control unit 16 is configured to prohibit the action of tilting the top plate 12 by the top plate driving mechanism 13 or to reduce the speed of tilting the top plate 12 by the top plate driving mechanism 13, thereby limiting the action of the top plate 12 by the top plate driving mechanism 13. Therefore, when the control unit 16 prohibits the action of tilting the top plate 12 by the top plate driving mechanism 13, the top plate 12 can be prevented from tilting in the direction 52 in which it is not movable. As a result, the positional deviation of the subject 90 on the top plate 12 can be reliably suppressed. In addition, when the control unit 16 reduces the speed of tilting the top plate 12 by the top plate driving mechanism 13, the time required until the top plate 12 is tilted to an angle that causes the position of the subject 90 on the top plate 12 to be shifted can be increased. As a result, the operator can stop the action of the top plate driving mechanism 13 before the position of the subject 90 on the top plate 12 is shifted, so that the positional deviation of the subject 90 on the top plate 12 caused by the tilting of the top plate 12 in a predetermined direction can be further suppressed.

[0116] In addition, in the present embodiment, as described above, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 by prohibiting the movement of the top plate 12 by the top plate driving mechanism 13, and after prohibiting the movement of the top plate 12, continue to prohibit the movement of the top plate 12 by the top plate driving mechanism 13 until an operation input for releasing the restriction on the movement of the top plate 12 is received from the operator. Thus, the movement of the top plate driving mechanism 13 is prohibited until the operator intentionally performs an operation input for releasing the restriction on the movement of the top plate 12, so that the position of the subject 90 on the top plate 12 can be prevented from being shifted due to the top plate 12 starting to move again and tilting in a predetermined direction until the operator confirms the state of the subject 90.

[0117] In addition, in the present embodiment, as described above, the control unit 16 is configured to: when the direction in which the top plate 12 is tilted coincides with the immovable direction 52, after there is an operation input for moving the top plate 12 to the top plate driving mechanism 13, the action of the top plate 12 performed by the top plate driving mechanism 13 is restricted, and the fact that the direction in which the top plate 12 is tilted coincides with the immovable direction 52 is notified. Here, if the operator is notified in advance of the existence of the immovable direction 52, the operator's work of checking the X-ray image 31, etc. may be hindered. Therefore, by configuring as described above, when the operator performs the operation input for moving the top plate driving mechanism 13, the fact that the direction in which the top plate 12 is tilted coincides with the immovable direction 52 is notified, so that the operator can understand that the position of the subject 90 on the top plate 12 may be shifted without hindering the operator's work. As a result, the convenience (usability) of the operator can be improved.

[0118] In addition, in the present embodiment, as described above, the image processing unit 15 is configured to obtain the position of the subject holding member 21 through the learned model 40, which is a learned model obtained by learning to obtain the position of the subject holding member 21 on the top plate 12. Thus, the position of the subject holding member 21 can be easily and accurately obtained based on the image (optical image 30) of the subject 90 and the subject holding member 21.

[0119] In addition, in the present embodiment, as described above, the storage unit 17 is further provided, and the storage unit 17 stores the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted. The control unit 16 is configured to store the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted in the storage unit 17 based on the operation input of the operator, and even when the direction in which the top plate 12 is tilted coincides with the direction in which the top plate 12 cannot be moved, if the movement in the direction in which the top plate 12 cannot be moved is allowed based on the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted stored in the storage unit 17, the movement of the top plate 12 in the direction in which the top plate 12 cannot be moved is allowed. Here, in a facility (hospital, etc.) using the X-ray imaging apparatus 1, when the operator is located near the X-ray imaging apparatus 1, the tilting of the top plate 12 in the direction in which the subject holding member 21 is not arranged may be allowed. In addition, if the handle 21b is arranged on one side of the top plate 12, the tilting of the top plate 12 in the direction in which the handle 21b is not arranged may be allowed. Therefore, as described above, by storing the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted, it is possible to set a condition that allows the top plate 12 to be tilted in the immovable direction 52 for each facility that uses the X-ray imaging device 1. As a result, the top plate 12 can be tilted in the immovable direction 52 according to the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted, thereby improving the convenience (usability) of the operator.

[0120] In addition, in the present embodiment, as described above, the photographing unit 14 is disposed at a position facing the top plate 12 in the housing 10a of the X-ray irradiation unit 10. Here, in the case where the photographing unit 14 is disposed on the ceiling of the examination room, etc., depending on the relative position of the photographing unit 14 and the X-ray irradiation unit 10, there is a situation where the photographing field of the photographing unit 14 is blocked by the housing 10a of the X-ray irradiation unit 10, etc., and it is difficult to accurately determine the presence or absence of the subject holding member 21 in the image (optical image 30) in which the subject 90 and the subject holding member 21 are captured. Therefore, by configuring as described above, it is possible to suppress the photographing field of the photographing unit 14 from being blocked by the housing 10a of the X-ray irradiation unit 10, etc. As a result, it is possible to accurately determine the presence or absence of the subject holding member 21 in the image (optical image 30) in which the subject 90 and the subject holding member 21 are captured, and thus the immovable direction 52 can be set with high precision.

[0121] In addition, in the present embodiment, as described above, the image processing unit 15 is configured to generate the X-ray image 31 based on the X-ray detected by the X-ray detector 11, and the present embodiment further includes the display unit 18 for displaying the X-ray image 31, and the control unit 16 is configured to notify that the direction in which the top plate 12 is tilted is made to coincide with the immovable direction 52 by displaying on the display unit 18 that the direction in which the top plate 12 is tilted is made to coincide with the immovable direction 52. Thus, since the display unit 18 displays that the direction in which the top plate 12 is tilted is made to coincide with the immovable direction 52, the operator can visually grasp that the position of the subject 90 on the top plate 12 may be shifted. Therefore, the operator can visually grasp that the position of the subject 90 on the top plate 12 may be shifted due to the tilting of the top plate 12 in a predetermined direction. As a result, the operator can reliably perform an action for suppressing the position shift of the subject 90 on the top plate 12, such as stopping the action of the top plate driving mechanism 13.

[0122] In addition, in the present embodiment, as described above, the image processing unit 15 is configured to generate the X-ray image 31 based on the X-ray detected by the X-ray detector 11, and further includes the display unit 18 for displaying the X-ray image 31, and the control unit 16 is configured to notify that the direction in which the top plate 12 is tilted is consistent with the immovable direction 52 by displaying the meaning of the direction in which the top plate 12 is tilted to be consistent with the immovable direction 52 on the display unit 18. Thus, it is possible to provide an X-ray imaging system 100 that allows the operator to reliably perform an action for suppressing the positional deviation of the subject 90 on the top plate 12, such as stopping the action of the top plate driving mechanism 13.

[0123] [Modifications]

[0124] The embodiments disclosed herein are illustrative in all aspects and are not restrictive. The scope of the present invention is not indicated by the description of the above embodiments but by the claims, and includes all changes (modifications) within the meaning and scope equivalent to the claims.

[0125] For example, in the above-mentioned embodiment, the following configuration example is shown: when the direction in which the top plate 12 is tilted coincides with the immovable direction 52, the control unit 16 restricts the movement of the top plate 12 by the top plate driving mechanism 13 and notifies that the direction in which the top plate 12 is tilted coincides with the immovable direction 52, but the present invention is not limited thereto. For example, the control unit may be configured to restrict the movement of the top plate driving mechanism 13 and notify that the direction in which the top plate 12 is tilted coincides with the immovable direction 52 when the top plate 12 is tilted coincides with the immovable direction 52. However, by restricting the movement of the top plate driving mechanism 13 and notifying that the direction in which the top plate 12 is tilted coincides with the immovable direction 52, the positional deviation of the subject 90 on the top plate 12 caused by the tilt of the top plate 12 can be further suppressed. Therefore, the control unit 16 is preferably configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 when the tilting direction of the top plate 12 coincides with the immovable direction 52 , and to notify that the tilting direction of the top plate 12 coincides with the immovable direction 52 .

[0126] In addition, in the above-mentioned embodiment, the structural example in which the subject holding member 21 includes all of the shoulder stop 21a, the handle bar 21b, and the step 21c is shown, but the present invention is not limited to this. The subject holding member 21 may include any one of the shoulder stop 21a, the handle bar 21b, and the step 21c according to the direction in which the top plate 12 is tilted. In addition, the control unit 16 may obtain the immovable direction 52 based on the member of the shoulder stop 21a, the handle bar 21b, and the step 21c corresponding to the direction in which the top plate 12 is tilted.

[0127] In addition, in the above-mentioned embodiment, a structural example is shown in which the control unit 16 sets the immovable direction 52 based on the orientation of the subject 90, the presence or absence of the subject holding member 21, and the position, but the present invention is not limited to this. The control unit may also be configured to set the immovable direction 52 based on at least the presence or absence of the subject holding member 21, or may not be configured to set the immovable direction 52 based on the orientation of the subject 90 and the position of the subject holding member 21. However, by setting the immovable direction 52 based on the orientation of the subject 90 and the position of the subject holding member 21 while being based on the presence or absence of the subject holding member 21, the immovable direction 52 can be set with higher accuracy. Therefore, the control unit 16 is preferably configured to set the immovable direction 52 based on the orientation of the subject 90, the presence or absence of the subject holding member 21, and the position.

[0128] In addition, in the above-mentioned embodiment, the control unit 16 restricts the operation of the top plate driving mechanism 13 by prohibiting the operation of the top plate driving mechanism 13, but the present invention is not limited to this. For example, the control unit may be configured to restrict the operation of the top plate driving mechanism 13 by reducing the speed at which the top plate 12 is tilted by the top plate driving mechanism 13. In this case, the control unit 16 may reduce the speed at which the top plate 12 is tilted by the top plate driving mechanism 13 before the top plate 12 is tilted to an angle that may cause the position of the subject 90 on the top plate 12 to shift so that the operator can stop the operation of the top plate driving mechanism 13.

[0129] In addition, in the above-mentioned embodiment, the following configuration example is shown: after the control unit 16 prohibits the action of tilting the top plate 12, the control unit 16 prohibits the action of tilting the top plate 12 by the top plate driving mechanism 13 until the operation input for releasing the restriction on the action of the top plate 12 by the operator is accepted, but the present invention is not limited to this. For example, the control unit may be configured to prohibit the action of tilting the top plate 12 by the top plate driving mechanism 13 until a predetermined time has passed after the action of tilting the top plate 12 is prohibited. Here, in the case where the control unit is configured to prohibit the action of tilting the top plate 12 by the top plate driving mechanism 13 until a predetermined time has passed after the action of tilting the top plate 12 is prohibited, the prohibition of the action of the top plate driving mechanism 13 may be released at a timing unexpected by the operator. Therefore, the control unit 16 is preferably configured to prohibit the action of tilting the top plate 12 by the top plate driving mechanism 13 until the operation input for releasing the restriction on the action of the top plate 12 by the operator is accepted after the action of tilting the top plate 12 is prohibited.

[0130] In addition, in the above-mentioned embodiment, the following structural example is shown: when the direction in which the top plate 12 is tilted coincides with the immovable direction 52, after there is an operation input to the top plate driving mechanism 13 for moving the top plate 12, the action of the top plate 12 by the top plate driving mechanism 13 is restricted, and the fact that the direction in which the top plate 12 is tilted coincides with the immovable direction 52 is notified, but the present invention is not limited to this. For example, the control unit may also be configured to notify by displaying the immovable direction 52 on the display unit 18 when the immovable direction 52 is acquired. Here, in the case where the control unit is configured to display the immovable direction 52 on the display unit 18 when the immovable direction 52 is acquired, the immovable direction 52 is continuously notified even when the operator is checking the X-ray image 31, etc. on the display unit 18, thereby hindering the operator's work. Therefore, the control unit 16 is preferably configured to: when the direction in which the top plate 12 is tilted coincides with the immovable direction 52, after there is an operation input to the top plate driving mechanism 13 for moving the top plate 12, limit the movement of the top plate 12 by the top plate driving mechanism 13, and notify the fact that the direction in which the top plate 12 is tilted coincides with the immovable direction 52.

[0131] In addition, in the above embodiment, the image processing unit 15 obtains the position of the subject holding member 21 by using the learned model 40, but the present invention is not limited thereto. For example, the image processing unit 15 may be configured to obtain the position of the subject holding member 21 by pattern matching based on image processing, etc., without using the learned model 40.

[0132] In addition, in the above-mentioned embodiment, the following configuration example is shown: even when the direction in which the top plate 12 is tilted coincides with the immovable direction 52, if the control unit 16 determines that the movement in the immovable direction 52 is allowed based on the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted, the movement of the top plate 12 in the immovable direction 52 is allowed, but the present invention is not limited to this. For example, the control unit may be configured not to prohibit the movement of the top plate 12 in the immovable direction 52 based on the relationship 51 between the type of the subject holding member 21 and the direction in which the top plate 12 is tilted. In this case, the top plate 12 does not move in the immovable direction 52, so the positional deviation of the subject 90 on the top plate 12 can be further suppressed. In addition, when the operator is located near the X-ray imaging device 1 and can immediately stop the movement of the top plate driving mechanism 13, from the viewpoint of improving the convenience (usability) of the operator, the control unit may be configured to allow the movement of the top plate 12 in the immovable direction 52 if the movement in the immovable direction 52 is allowed.

[0133] In addition, in the above embodiment, the imaging unit 14 is provided in the housing 10a of the X-ray irradiation unit 10 at a position facing the top plate 12, but the present invention is not limited thereto. The configuration of the imaging unit 14 is not limited as long as the subject 90 placed on the top plate 12 and the subject holding member 21 can be photographed.

[0134] In addition, in the above-mentioned embodiment, the X-ray imaging device 1 has a configuration example with only one imaging unit 14, but the present invention is not limited thereto. When the subject 90 and the subject holding member 21 are not included in the imaging field of view when imaging is performed using only one imaging unit 14, a plurality of imaging units may be provided. For example, the X-ray imaging device 1 may also include two imaging units disposed on one side and the other side of the housing 10a of the X-ray irradiation unit 10.

[0135] In addition, in the above embodiment, the control unit 16 notifies the user of the meaning of making the top plate 12 tilted in the direction consistent with the immovable direction 52 by displaying the meaning of making the top plate 12 tilted in the direction consistent with the immovable direction 52 on the display unit 18, but the present invention is not limited thereto. For example, the control unit may also be configured to notify the user of the meaning of making the top plate 12 tilted in the direction consistent with the immovable direction 52 by sound, light, etc.

[0136] In addition, in the above embodiment, the X-ray imaging device 1 is provided with a display unit 18 (first display unit 18a), but the present invention is not limited thereto. For example, the X-ray imaging device 1 may not include the display unit 18. In this case, the X-ray imaging system 100 may include a display device for displaying the X-ray image 31, etc.

[0137] In addition, in the above embodiment, the X-ray imaging system 100 is shown as a configuration example having a console 200, but the present invention is not limited thereto. For example, the X-ray imaging system 100 may not have a console 200. In this case, the operator can use the first input receiving unit 20 provided in the X-ray imaging device 1 to perform an operation to tilt the top plate 12.

[0138] In addition, in the present embodiment, a configuration example is shown in which the image processing unit 15 obtains the presence or absence of the subject holding member 21 based on the optical image 30, but the present invention is not limited thereto. For example, the X-ray imaging device 1 may also be configured to include a sensor for detecting the attachment or detachment of the subject holding member 21, and when the image processing unit 15 obtains the presence or absence of the subject holding member 21 based on the optical image 30, the detection result of the sensor for detecting the attachment or detachment of the subject holding member 21 is also used.

[0139] In addition, in the above-mentioned embodiment, for the convenience of explanation, the process of limiting the action of the top plate driving mechanism 13 and the process of releasing the restriction on the action of the top plate driving mechanism 13 by the control unit 16 are explained using a flowchart of a process-driven type in which the process is sequentially processed according to the process flow, but the present invention is not limited to this. In the present invention, the process of limiting the action of the top plate driving mechanism 13 and the process of releasing the restriction on the action of the top plate driving mechanism 13 by the control unit 16 can also be performed by an event-driven type process in which the process is executed in units of events. In this case, the process can be completely performed by the event-driven type, or the process can be performed by combining the event-driven type and the process-driven type.

[0140] [Way]

[0141] It will be understood by those skilled in the art that the above-described exemplary embodiments are specific examples of the following aspects.

[0142] (Item 1)

[0143] An X-ray imaging device, comprising:

[0144] An X-ray irradiation unit that irradiates X-rays;

[0145] an X-ray detector that detects the X-rays irradiated from the X-ray irradiation section;

[0146] A top plate for placing the subject;

[0147] A top plate driving mechanism capable of changing the inclination of the top plate;

[0148] a photographing unit that photographs the subject placed on the top plate and a subject holding member disposed on the top plate and holding the subject's posture;

[0149] an image processing unit that acquires the presence or absence of the subject holding member based on the image of the subject and the subject holding member captured by the imaging unit; and

[0150] A control unit that obtains a direction in which the subject holding member is not configured, i.e., an immovable direction, based on the presence or absence of the subject holding member obtained by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism is consistent with the immovable direction, and when the direction in which the top plate is tilted is consistent with the immovable direction, performs at least one of limiting the action of the top plate driving mechanism and notifying that the direction in which the top plate is tilted is consistent with the immovable direction.

[0151] (Item 2)

[0152] The X-ray imaging device according to item 1, wherein:

[0153] The control unit is configured to restrict the movement of the top plate by the top plate driving mechanism and notify that the direction in which the top plate is tilted coincides with the immovable direction when the direction in which the top plate is tilted coincides with the immovable direction.

[0154] (Item 3)

[0155] The X-ray imaging device according to item 1 or 2, wherein:

[0156] The subject holding member includes at least one of a shoulder stop, a handlebar, and a step platform.

[0157] The image processing unit is configured to obtain the presence or absence of the subject holding member by obtaining whether at least any one of the shoulder stop, the handlebar, and the step is disposed on the top plate.

[0158] The control unit is configured to determine whether the shoulder stop, the handle bar and the corresponding subject holding member in the step are arranged at the position corresponding to the direction in which the top plate is tilted, and set the direction in which the shoulder stop, the handle bar and the corresponding subject holding member in the step are not arranged at the position corresponding to the direction in which the top plate is tilted as the immovable direction.

[0159] (Item 4)

[0160] The X-ray imaging device according to any one of items 1 to 3, wherein:

[0161] The image processing unit is configured to obtain the presence or absence of the subject holding member based on the image of the subject and the subject holding member captured by the imaging unit, and to obtain the orientation of the subject on the top plate and the position of the subject holding member.

[0162] The control unit is configured to set the immovable direction based on the orientation of the subject on the top plate and the presence or absence and position of the subject holding member.

[0163] (Item 5)

[0164] The X-ray imaging device according to any one of items 1 to 4, wherein:

[0165] The control unit is configured to restrict the movement of the top plate by the top plate driving mechanism by prohibiting the movement of the top plate by the top plate driving mechanism or reducing the speed at which the top plate is tilted by the top plate driving mechanism.

[0166] (Item 6)

[0167] The X-ray imaging device according to item 5, wherein:

[0168] The control unit is configured to restrict the movement of the top plate by the top plate driving mechanism by prohibiting the movement of the top plate by the top plate driving mechanism, and after prohibiting the movement of the top plate, continue to prohibit the movement of the top plate by the top plate driving mechanism until an operation input for releasing the restriction on the movement of the top plate is received from an operator.

[0169] (Item 7)

[0170] The X-ray imaging device according to any one of items 1 to 6, wherein:

[0171] The control unit is configured to, when the direction in which the top plate is tilted coincides with the immovable direction, limit the movement of the top plate by the top plate driving mechanism after there is an operation input to the top plate driving mechanism for moving the top plate, and notify that the direction in which the top plate is tilted coincides with the immovable direction.

[0172] (Item 8)

[0173] The X-ray imaging device according to any one of items 1 to 7, wherein:

[0174] The image processing unit is configured to acquire the position of the subject holding member using a learned model obtained by learning to acquire the position of the subject holding member on the top plate.

[0175] (Item 9)

[0176] The X-ray imaging device according to any one of items 1 to 8, wherein:

[0177] further comprising a storage unit storing a relationship between the type of the subject holding member and the direction in which the top plate is to be tilted,

[0178] The control unit is configured to store the relationship between the type of the subject holding member and the direction in which the top plate is tilted in the storage unit based on the operator's operational input, and, even if the direction in which the top plate is tilted coincides with the immovable direction, if movement in the immovable direction is allowed based on the relationship between the type of the subject holding member and the direction in which the top plate is tilted stored in the storage unit, movement of the top plate in the immovable direction is allowed.

[0179] (Item 10)

[0180] The X-ray imaging device according to any one of items 1 to 9, wherein:

[0181] The imaging unit is provided at a position facing the top plate in the housing of the X-ray irradiation unit.

[0182] (Item 11)

[0183] The X-ray imaging device according to any one of items 1 to 10, wherein:

[0184] The image processing unit is configured to generate an X-ray image based on the X-rays detected by the X-ray detector.

[0185] The X-ray imaging device further includes a display unit for displaying the X-ray image.

[0186] The control unit is configured to notify that the direction in which the top plate is tilted is made to match the direction in which the top plate is immovable by displaying on the display unit that the direction in which the top plate is tilted is made to match the direction in which the top plate is immovable.

[0187] (Item 12)

[0188] An X-ray imaging system comprising:

[0189] An X-ray irradiation unit that irradiates X-rays;

[0190] an X-ray detector that detects the X-rays irradiated from the X-ray irradiation section;

[0191] A top plate for placing the subject;

[0192] A top plate driving mechanism capable of changing the inclination of the top plate;

[0193] a photographing unit that photographs a subject placed on the top plate and a subject holding member disposed on the top plate and holding the subject;

[0194] an image processing unit that acquires the presence or absence of the subject holding member based on the image of the subject and the subject holding member captured by the imaging unit; and

[0195] A control unit that obtains a direction in which the subject holding member is not configured, i.e., an immovable direction, based on the presence or absence of the subject holding member obtained by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism is consistent with the immovable direction. When the direction in which the top plate is tilted is consistent with the immovable direction, the control unit performs at least one of limiting the action of the top plate driving mechanism and notifying that the direction in which the top plate is tilted is consistent with the immovable direction.

[0196] (Item 13)

[0197] The X-ray imaging system according to item 12, wherein:

[0198] The image processing unit is configured to generate an X-ray image based on the X-rays detected by the X-ray detector.

[0199] The X-ray imaging system further includes a display unit for displaying the X-ray image.

[0200] The control unit is configured to notify that the direction in which the top plate is tilted is made to match the direction in which the top plate is immovable by displaying on the display unit that the direction in which the top plate is tilted is made to match the direction in which the top plate is immovable.

Claims

1. An X-ray imaging device comprising: An X-ray irradiation unit that irradiates X-rays; an X-ray detector that detects the X-rays irradiated from the X-ray irradiation section; A top plate for placing the subject; A top plate driving mechanism capable of changing the inclination of the top plate; a photographing unit that photographs the subject placed on the top plate and a subject holding member disposed on the top plate and holding the subject's posture; an image processing unit that acquires the presence or absence of the subject holding member based on the image of the subject and the subject holding member captured by the imaging unit; as well as A control unit that obtains a direction in which the subject holding member is not configured, i.e., an immovable direction, based on the presence or absence of the subject holding member obtained by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism is consistent with the immovable direction, and when the direction in which the top plate is tilted is consistent with the immovable direction, performs at least one of limiting the action of the top plate driving mechanism and notifying that the direction in which the top plate is tilted is consistent with the immovable direction.

2. The X-ray imaging device according to claim 1, wherein: The control unit is configured to restrict the movement of the top plate by the top plate driving mechanism and notify that the direction in which the top plate is tilted coincides with the immovable direction when the direction in which the top plate is tilted coincides with the immovable direction.

3. The X-ray imaging device according to claim 2, wherein: The subject holding member includes at least one of a shoulder stop, a handlebar, and a step platform. The image processing unit is configured to obtain the presence or absence of the subject holding member by obtaining whether at least any one of the shoulder stop, the handlebar, and the step is disposed on the top plate. The control unit is configured to determine whether the shoulder stop, the handle bar and the corresponding subject holding member in the step are arranged at the position corresponding to the direction in which the top plate is tilted, and set the direction in which the shoulder stop, the handle bar and the corresponding subject holding member in the step are not arranged at the position corresponding to the direction in which the top plate is tilted as the immovable direction.

4. The X-ray imaging device according to claim 3, wherein: The image processing unit is configured to obtain the presence or absence of the subject holding member based on the image of the subject and the subject holding member captured by the imaging unit, and to obtain the orientation of the subject on the top plate and the position of the subject holding member. The control unit is configured to set the immovable direction based on the orientation of the subject on the top plate and the presence or absence and position of the subject holding member.

5. The X-ray imaging device according to claim 4, wherein: The control unit is configured to restrict the movement of the top plate by the top plate driving mechanism by prohibiting the movement of the top plate by the top plate driving mechanism or reducing the speed at which the top plate is tilted by the top plate driving mechanism.

6. The X-ray imaging device according to claim 5, wherein: The control unit is configured to restrict the movement of the top plate by the top plate driving mechanism by prohibiting the movement of the top plate by the top plate driving mechanism, and after prohibiting the movement of the top plate, continue to prohibit the movement of the top plate by the top plate driving mechanism until an operation input for releasing the restriction on the movement of the top plate is received from an operator.

7. The X-ray imaging device according to claim 6, wherein: The control unit is configured to, when the direction in which the top plate is tilted coincides with the immovable direction, limit the movement of the top plate by the top plate driving mechanism after there is an operation input to the top plate driving mechanism for moving the top plate, and notify that the direction in which the top plate is tilted coincides with the immovable direction.

8. The X-ray imaging device according to claim 7, wherein: The image processing unit is configured to acquire the position of the subject holding member using a learned model obtained by learning to acquire the position of the subject holding member on the top plate.

9. The X-ray imaging device according to claim 1, wherein: further comprising a storage unit storing a relationship between the type of the subject holding member and the direction in which the top plate is to be tilted, The control unit is configured to store the relationship between the type of the subject holding member and the direction in which the top plate is tilted in the storage unit based on the operator's operational input, and, even if the direction in which the top plate is tilted coincides with the immovable direction, if the relationship between the type of the subject holding member and the direction in which the top plate is tilted stored in the storage unit allows movement in the immovable direction, movement of the top plate in the immovable direction is allowed.

10. The X-ray imaging device according to claim 1, wherein: The imaging unit is provided at a position facing the top plate in the housing of the X-ray irradiation unit.

11. The X-ray imaging device according to claim 1, wherein: The image processing unit is configured to generate an X-ray image based on the X-rays detected by the X-ray detector. The X-ray imaging device further includes a display unit for displaying the X-ray image. The control unit is configured to notify that the direction in which the top plate is tilted is made to match the direction in which the top plate is immovable by displaying on the display unit that the direction in which the top plate is tilted is made to match the direction in which the top plate is immovable.

12. An X-ray imaging system comprising: An X-ray irradiation unit that irradiates X-rays; an X-ray detector that detects the X-rays irradiated from the X-ray irradiation section; A top plate for placing the subject; A top plate driving mechanism capable of changing the inclination of the top plate; a photographing unit that photographs a subject placed on the top plate and a subject holding member disposed on the top plate and holding the subject; an image processing unit that acquires the presence or absence of the subject holding member based on the image of the subject and the subject holding member captured by the imaging unit; as well as A control unit that obtains a direction in which the subject holding member is not configured, i.e., an immovable direction, based on the presence or absence of the subject holding member obtained by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism is consistent with the immovable direction. When the direction in which the top plate is tilted is consistent with the immovable direction, the control unit performs at least one of limiting the action of the top plate driving mechanism and notifying that the direction in which the top plate is tilted is consistent with the immovable direction.

13. The X-ray imaging system according to claim 12, wherein: The image processing unit is configured to generate an X-ray image based on the X-rays detected by the X-ray detector. The X-ray imaging system further includes a display unit for displaying the X-ray image. The control unit is configured to notify that the direction in which the top plate is tilted is made to match the direction in which the top plate is immovable by displaying on the display unit that the direction in which the top plate is tilted is made to match the direction in which the top plate is immovable.

Images