X-ray fluoroscopic imaging device

Abstract

The present invention addresses the problem of providing an X-ray fluoroscopic imaging device capable of avoiding contact with a monitor when an X-ray generator is moved. A fluoroscopic imaging table is provided with: a lying plate on which a subject is mounted; an X-ray generator that irradiates a subject with X-rays; an X-ray detector that detects the X-rays that have passed through the subject; a pillar that supports the X-ray generator; and a drive mechanism that moves the position of the X-ray generator. The calculation unit reads the drive amount of the drive mechanism from the control unit to determine the distance between the monitor and the end of the fluoroscopic imaging stage near the monitor, and causes the control unit to stop the operation of the drive mechanism when the distance is less than a predetermined reference distance.

Description

Technical Field

[0001] This invention relates to an X-ray fluoroscopic imaging apparatus for performing fluoroscopic imaging of a subject. Background Technology

[0002] Patent documents 1 and 2 disclose devices that simultaneously capture fluoroscopic images of a subject in an X-ray imaging apparatus and display the fluoroscopic images of the subject on a monitor.

[0003] The X-ray imaging apparatus of Patent Document 1 has an X-ray source and an X-ray detector mounted on a rotatable C-arm. Simultaneously, a monitor is suspended from a ceiling rail and can move along the rail. Furthermore, to avoid requiring manual adjustment by the operator when controlling the monitor's position or orientation, a sensor detects the operator's position information, and the monitor's position is adjusted based on the detection results.

[0004] On the other hand, the X-ray fluoroscopic imaging apparatus of Patent Document 2 has the following structure: a support column mounted on the ground and a reclining plate for placing the subject, with an X-ray generator mounted on the upper end of the support column. The support column is a structure that can move along the long axis of the reclining plate and can tilt relative to the reclining plate. Furthermore, the reclining plate can be tilted from a horizontal state relative to the ground to a vertical state. An arm for supporting a monitor is mounted on the upper surface of the support.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2007-44353

[0006] Patent Document 2: Japanese Patent Application Publication No. 2008-259884

[0007] In the X-ray imaging apparatus of Patent Document 1, a sensor detects the operator's position and adjusts the monitor's position accordingly; however, it lacks a function to prevent the C-arm from contacting the monitor. Therefore, the operator needs to carefully move the C-arm or monitor to avoid contact between them.

[0008] On the other hand, the X-ray fluoroscopic imaging device in Patent Document 2 does not have the function of preventing the monitor from coming into contact with the X-ray generator. Summary of the Invention

[0009] The purpose of this invention is to provide an X-ray fluoroscopic imaging device that can avoid contact with a monitor when moving an X-ray generator.

[0010] To achieve the above objectives, the X-ray fluoroscopy apparatus of the present invention comprises: a fluoroscopy stage, including a reclining plate for mounting a subject, an X-ray generator for irradiating the subject with X-rays, an X-ray detector for detecting X-rays transmitted through the subject, a support column for supporting the X-ray generator, and a drive mechanism for moving the position of the X-ray generator; a monitor for displaying images; a control unit for controlling the drive mechanism; and a calculation unit. The calculation unit reads the drive amount of the drive mechanism from the control unit to calculate the distance between the end of the fluoroscopy stage closest to the monitor and the monitor, and stops the operation of the drive mechanism if the distance is less than a predetermined reference distance.

[0011] Invention Effects

[0012] According to the present invention, when moving the X-ray generator of the fluoroscopic imaging stage, contact with the monitor can be avoided. Attached Figure Description

[0013] Figure 1 This is a block diagram illustrating the overall structure of the X-ray fluoroscopic imaging system according to an embodiment of the present invention.

[0014] Figure 2 yes Figure 1 A three-dimensional view of the X-ray fluoroscopic imaging system's fluoroscopic imaging table 1.

[0015] Figure 3 This is a block diagram of the control system of the X-ray fluoroscopic imaging system in Implementation Method 1.

[0016] Figure 4 This is a perspective view of the monitor arm 131 of the X-ray fluoroscopic imaging system according to Embodiment 1.

[0017] Figure 5 This is a flowchart illustrating the operation of the X-ray fluoroscopic imaging system of Embodiment 1.

[0018] Figure 6 This describes the distance d between the monitor 132 and the imaging system 200 of the X-ray fluoroscopic imaging system in Embodiment 1. R The image.

[0019] Figure 7 This describes the distance d between the monitor 132 and the imaging system 200 of the X-ray fluoroscopic imaging system in Embodiment 1. R The image.

[0020] Figure 8 This is a diagram illustrating the positional relationship between the monitor 132 and the imaging system 200 when the tilting incident mechanism tilts the support column 112 in the X-ray fluoroscopic imaging system of Embodiment 1.

[0021] Figure 9This describes the vertical distance d between the monitor 132 and the imaging system 200 when the lifting mechanism raises the tray in the X-ray fluoroscopy system of Embodiment 1. V The image.

[0022] Figure 10 This describes the horizontal distance d between the monitor 132 and the imaging system 200 when the tilting mechanism of the X-ray fluoroscopy system in Embodiment 2 causes the tray and imaging system 200 to tilt. R The image is '.

[0023] Figure 11 This is a flowchart illustrating the operation of the X-ray fluoroscopic imaging system in Embodiment 2.

[0024] Figure 12 This diagram illustrates that in the X-ray fluoroscopic imaging system of Embodiment 3, the operation of the drive mechanism is allowed even when the distance d between the monitor 132 and the imaging system 200 is less than the reference distance D.

[0025] Figure 13 This is a flowchart illustrating the operation of the X-ray fluoroscopic imaging system in Embodiment 3.

[0026] Figure 14 This diagram illustrates that in the X-ray fluoroscopic imaging system of Embodiment 4, the operation of the drive mechanism is allowed even when the image system 200 is not close to the monitor 132, even if the distance is less than the second reference distance (D2).

[0027] Figure 15 This is a flowchart illustrating the operation of the X-ray fluoroscopic imaging system in embodiment 4.

[0028] Figure 16 This diagram illustrates that in the X-ray fluoroscopic imaging system of Embodiment 5, the drive mechanism is allowed to move without calculating distance for a predetermined axis of motion.

[0029] Figure 17 This is a flowchart illustrating the operation of the X-ray fluoroscopic imaging system in Embodiment 5.

[0030] Symbol Explanation

[0031] 20-Support arm, 30-Support frame, 90-X-ray support arm, 100-X-ray fluoroscopy device, 101-Subject, 110-Laying board, 110a-End point, 110b-Upper surface, 111-X-ray detector, 112-Support arm, 112a-Central axis, 113-X-ray generator, 113a-End point, 115-Voltage generator, 116-Image processing unit, 117-Calculation unit, 118-Control unit, 119-Display device, 120-Operating unit, 121-Support, 131-Monitor arm 132-Monitor, 132a-End, 132b-Lower end, 140-Setting part, 141-Joint part, 141a-Potential meter, 142-Joint part, 142a-Potential meter, 143-Joint part, 143a-Potential meter, 144-Arm assembly, 145-Arm assembly, 200-Imaging system, 221-Lifting mechanism, 222-Together tilting mechanism, 223-Sliding mechanism, 224-Tilt incidence mechanism, 225-SID changing mechanism, 226-X-ray generator rotation mechanism, 227-Detector sliding mechanism. Detailed Implementation

[0032] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0033] Implementation Method 1

[0034] The X-ray fluoroscopy apparatus 100 of embodiment 1 supports the monitor 132 via an arm 131 mounted on the upper part of the bracket 121 of the fluoroscopy table 1, and monitors the position of the monitor 132 by detecting the movement of the monitor arm 131 (see reference). Figure 1 As each part of the fluoroscopic imaging stage 1 moves, it is determined whether there is a possibility of interference between the fluoroscopic imaging stage 1 and the monitor 132. If there is a possibility of interference, the movement of the fluoroscopic imaging stage 1 is stopped.

[0035] The following uses Figures 1-3 The X-ray fluoroscopic imaging apparatus of Embodiment 1 will be described in detail. Figure 1 This is a diagram showing the overall structure of the X-ray fluoroscopic imaging apparatus of this embodiment. Figure 2 This is a perspective view of the X-ray imaging table 1 after the monitor 132 and monitor arm 131 of the X-ray imaging device 100 have been removed. Figure 3 This is a diagram showing the drive mechanism of the perspective camera stage 1.

[0036] like Figures 1-3 As shown, the X-ray fluoroscopic imaging apparatus of Embodiment 1 is composed of a fluoroscopic imaging stage 1, a monitor arm 131 mounted on the fluoroscopic imaging stage 1, and a monitor 132 supported by the monitor arm 131.

[0037] <Structure of Perspective Camera Stand 1>

[0038] like Figure 2 As shown, the fluoroscopic imaging stage 1 includes a support 121 placed on the ground, a support arm 20 protruding from one side of the support 121 toward the x-axis direction horizontal to the ground, a support arm 112 mounted on the support arm 20, a support frame 30 supported at the front end of the support arm 20, an X-ray support arm 90 mounted on the upper end of the support arm 112, and an X-ray generator 113 supported by the X-ray support arm 90.

[0039] A reclining plate 110, on which the subject 101 is mounted, is supported on a support frame 30. The long axis of the reclining plate 110 is horizontal to the ground and parallel to the y-axis, which is orthogonal to the x-axis. An X-ray detector 111, such as an FPD (Flat Panel Detector), is disposed within the support frame 30.

[0040] The X-ray generator 113 is supported by an X-ray support arm 90 spaced apart from the reclining plate 110. The X-ray generator 113 contains an X-ray tube bulb, which receives power from a high-voltage generator 115 to generate X-rays. An X-ray movable aperture 114 is installed on the X-ray generator 113 to limit the irradiation range of the X-rays. An X-ray filter, etc., is built into the X-ray movable aperture 114 to selectively transmit X-rays of specific energies.

[0041] X-rays generated by X-ray generator 113 irradiate the subject 101 mounted on the reclining plate 110, and the X-rays transmitted through the subject 101 are detected by X-ray detector 111.

[0042] An inclined incidence mechanism 224 is mounted on the upper surface of the support arm 20 between the bracket 121 and the support frame 30, and the lower end of the support column 112 is mounted on the inclined incidence mechanism 224. A mechanism is arranged within the inclined incidence mechanism 224 to rotate the lower end of the support column 112 (in the direction of arrow A6). As a result, the central axis of the support column 112 rotates about a rotation axis parallel to the x-axis and is inclined relative to the normal of the reclining plate 110. Therefore, the X-ray generator 113 directs X-rays into the X-rays from a direction inclined relative to the normal of the X-ray detector 111 (hereinafter also referred to as inclined incidence).

[0043] On the other hand, the support frame 121 contains a lifting mechanism 221 for raising and lowering the support arm 20 (in the direction of arrow A1) and a tilting mechanism 222 for rotating the support arm 20 around its central axis (parallel to the x-axis) (referred to as tilting motion: in the direction of arrow A2). The lifting mechanism 221 and the tilting mechanism 222 perform raising and lowering (in the direction of arrow A1) and tilting motion (in the direction of arrow A2) respectively while maintaining the positional relationship between the X-ray generator 113 and the reclining plate 110.

[0044] A support x-direction sliding mechanism 51m is provided between the lower end of the support 112 and the inclined incident mechanism 224, which allows the lower end of the support 112 to slide in a direction parallel to the x-axis (arrow A4 direction).

[0045] Furthermore, an X-ray generator x-direction sliding mechanism 52m (X-ray generator sliding mechanism) is disposed between the upper end of the support column 112 and the X-ray support arm 90. The X-ray generator x-direction sliding mechanism 52m causes the X-ray generator 113 to slide along the x-axis direction by sliding the X-ray support arm 90 relative to the upper end of the support column 112 in a direction parallel to the x-axis direction (arrow A5 direction).

[0046] Furthermore, a SID adjustment mechanism 225 is provided between the upper end of the support column 112 and the X-ray support arm 90. This SID adjustment mechanism 225 adjusts the distance (SID) between the X-ray generator 113 and the X-ray detector 111 by moving the X-ray support arm 90 along the direction of the central axis of the support column 112 (arrow A10 direction).

[0047] The support column x-direction sliding mechanism 51m allows the support column 112 to slide parallel to the x-axis (arrow A4 direction). The X-ray generator x-direction sliding mechanism 52m allows the X-ray support arm 90, which is connected to the X-ray generator 113, to slide parallel to the x-axis relative to the support column 112 (arrow A5 direction).

[0048] Furthermore, an X-ray generator rotation mechanism 226 (see reference) is provided at the connection between the X-ray support arm 90 and the X-ray generator 113. Figure 3 , Figure 2 (Not shown in the figure). The X-ray generator rotation mechanism 226 rotates the X-ray generator 113 about an axis parallel to the y-axis (in the direction of arrow A9). Furthermore, although not shown in the figure, it can also be configured to rotate the X-ray generator 113 about an axis parallel to the X-axis.

[0049] Furthermore, a sliding mechanism 223 in the y-direction of the support column 112 is built into the support column 112, which allows the support column 112 to move along the length direction (arrow A3 direction) of the bed plate 110 (see reference). Figure 3 The y-direction sliding mechanism 223 of the support column moves the support column 112 along the length direction of the bed (arrow A3 direction) while maintaining the tilt angle of the support column 112 toward the bed 110.

[0050] Furthermore, a detector sliding mechanism 227 is built into the support frame 30, which allows the X-ray detector 111 to slide along the short axis direction (arrow A7 direction: parallel to the x-axis) and the long axis direction (arrow A8 direction: parallel to the y-axis) of the deck 110.

[0051] In this embodiment, the X-ray generator 113, the movable X-ray aperture 114, the support 112, and the X-ray detector 111 are referred to as the "imaging system 200".

[0052] And, as Figure 1 and Figure 3 As shown, the fluoroscopic imaging table 1 is equipped with an image processing unit 116 that generates images based on X-ray signals output from the X-ray detector 111, an arithmetic unit 117, a control unit 118 that controls the operation of the drive mechanisms (51m, 52m, 221-227), a display device 119 that displays images, and an operation unit 120 that receives settings for imaging conditions from the operator. The drive mechanisms (51m, 52m, 221-226) are activated by the control unit 118, causing each part of the fluoroscopic imaging table 1 to move in the directions of arrows A1-A10.

[0053] <Structure of Monitor Arm 131>

[0054] like Figure 1 As shown, a monitor arm 131 is provided on the upper surface of the support 121 of the fluoroscopic imaging stage 1. The monitor arm 131 includes a deformable arm that supports the monitor 132 from its front end and a deformation detection unit that detects and outputs the deformation of the arm. Specifically, as shown... Figure 4 As shown, the arm includes a mounting portion 140 fixed to the upper surface of a bracket 121 of a fluoroscopic imaging stage 1, multiple arm components 144 and 145, and multiple joints 141, 142, and 143. One end of arm component 144 is connected to the mounting portion 140 via joint 141. The other end of arm component 144 is connected to one end of arm component 145 via joint 142. The other end of arm component 145 is connected to a monitor 132 via joint 143.

[0055] Joints 141 to 143 are capable of rotating about at least one axis. Here, all joints 141 to 143 are capable of rotating about a z-axis perpendicular to the ground. Furthermore, at least a portion of the joints 141 to 143 may be structures capable of rotating about an axis parallel to the ground, or may be capable of rotating about two or more axes.

[0056] Each joint 141 to 143 has a built-in rotation angle detector as a deformation detection unit. Here, potentiometers 141a, 142a, and 143a, which serve as rotation angle detectors, are built into the joint 141 to 143.

[0057] By pushing or pulling the monitor 132 by hand, the operator can rotate the joints 141 to 143 of the monitor arm 131, thereby changing the position or orientation of the arm parts 144 and 145, and can position the monitor 132 in the desired location.

[0058] The arithmetic unit 117 can calculate the position of the monitor 132 by reading the rotation angles of the potentiometers 141a, 142a, and 143a and performing calculations.

[0059] Alternatively, the structure can be configured such that a motor or other drive unit is disposed within the joints 141-143, and the drive unit is operated under the control of the control unit 118. This allows the operator to place the monitor 132 at the desired location without touching it.

[0060] in addition, Figure 4 The monitor arm 131 shown is an example with two arm parts 144, 145 and three joints 141-143, but the number of arm parts and joints may be more or less.

[0061] <Processing of Arithmetic Unit 117>

[0062] The arithmetic unit 117 calculates the distance between the monitor 132, supported by the monitor arm 131, and the imaging system 200 (111-114) or the reclining platform 110, and controls the fluoroscopic imaging stage 1 to prevent interference. That is, when the drive mechanisms (51m, 52m, 221, 223-226) are activated, the arithmetic unit 117 performs... Figure 5 The flowchart steps S101 to S108.

[0063] Furthermore, in Implementation 1, the premise is that the tilting mechanism 222 is not activated.

[0064] The following uses Figure 5 The process provides a detailed explanation of the control actions of the arithmetic unit 117.

[0065] Furthermore, the arithmetic unit 117 is configured as a computer equipped with a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) and memory. The CPU reads and executes programs pre-stored in memory to achieve the functions described below. Moreover, the arithmetic unit 117 can be constructed entirely of hardware. For example, custom ICs such as ASICs (Application Specific Integrated Circuits) or programmable ICs such as FPGAs (Field-Programmable Gate Arrays) can be used to design circuits to implement the functions of each unit.

[0066] <Step S101>

[0067] The arithmetic unit 117 obtains the rotation angle of each joint 141 to 143 by reading the output of potentiometers 141a, 142a, and 143a in the joints 141 to 143 of the monitor arm 131.

[0068] <Step S102>

[0069] Next, the arithmetic unit 117 obtains the current driving quantity of the drive mechanism (51m, 52m, 221, 223 to 226) of the perspective imaging stage 1 by reading from the control unit 118.

[0070] <Step S103>

[0071] The calculation unit 117 determines whether the image system 200 of the fluoroscopic imaging stage 1 is close to the monitor 132 based on the time change of the drive amount of the drive mechanism (51m, 52m, 221, 223-226) of the fluoroscopic imaging stage 1 obtained in step S102. Specifically, the calculation unit 117 calculates, based on the rotation angle of the joints 141-143 obtained in step S101 and the current drive amount of the drive mechanism (51m, 52m, 221, 223-226) obtained in step S102, which side of the y-axis direction the image system 300 is located relative to the monitor 132, or which side the image system 200 has moved to, and determines whether the image system 200 of the fluoroscopic imaging stage 1 is close to the monitor 132. If it is close, the calculation unit 117 proceeds to step S104.

[0072] <Step S104>

[0073] The arithmetic unit 117 calculates the distance db of the end of the imaging system 200 of the perspective imaging stage 1 that is closest to the monitor 132 relative to the reference position d0.

[0074] For example, such as Figure 6 As shown, the sliding mechanism 223 in the y-direction of the support causes the support 112 to move along... Figure 2 When the arrow A3 moves in the direction of the y-axis, the calculation unit 117 calculates the distance dc in the y-axis direction from the predetermined reference position d0 (end 110a of the reclining plate 110) to the central axis 112a of the support 112 (central axis of the imaging system 200) based on the driving amount of the support y-direction sliding mechanism 223 read in step S102.

[0075] Next, the calculation unit 117 calculates the distance db from the reference position d0 to the end 113a of the X-ray generator 113 by subtracting the distance L between the central axis 112a of the support 112 and the end 113a of the X-ray generator 113 on the side closer to the monitor 132 from the distance dc.

[0076] <Step S105>

[0077] Next, the arithmetic unit 117 calculates the distance da of the end 132a of the imaging system 200 side of the perspective imaging stage 1 of the monitor 132 relative to the reference position d0.

[0078] Specifically, the calculation unit 117 calculates the rotation angle centered on the vertical rotation axis of the joints 141-143 based on the outputs of the potentiometers 141a, 142a, and 143a of the joints 141-143 read in step S101. The calculation unit 117 then calculates the angles θ1 and θ2 of the arm members 144 and 145 relative to the y-axis, and the angle θ3 of the main plane of the monitor 132 relative to the y-axis, based on the calculated rotation angles centered on the vertical rotation axis of the joints 141-143. The calculation unit 117 calculates the distance dp in the y-axis direction between the joints 141 and 143 based on the angles θ1 and θ2 and the pre-calculated lengths of the arm members 144 and 145. Furthermore, it calculates the distance dq between the joint 143 and the end portion 132a of the monitor 132 on the imaging system 200 side, based on the angle θ3 and the pre-calculated width of the monitor 132.

[0079] The calculation unit 117 calculates the distance da of the end 132a of the imaging system 200 side of the perspective imaging stage 1 of the monitor 132 relative to the reference position d0 in the y-axis direction based on the distance dr between the end 110a of the reclining plate 110 and the joint 141, the calculated distance dp, and the distance dq.

[0080] <Step S106>

[0081] The calculation unit 117 uses the distances db and da obtained through steps S104 and S105 and calculates them according to d. R=db-ba to calculate the distance d along the y-axis between monitor 132 and image system 200. R (refer to Figure 6 , Figure 7 ).

[0082] <Step S107>

[0083] The distance d calculated in step S106 of the calculation unit 117 R If the distance is less than a pre-defined reference distance D, proceed to step S108.

[0084] <Step S108>

[0085] The distance d in the y-direction between monitor 132 and image system 200 R When the value is less than D, the calculation unit 117 instructs the control unit 118 to stop the operation of the drive mechanism (51m, 52m, 221, 223-226) of the radiography stage 1.

[0086] Thus, even when the monitor 132 and the imaging system 200 of the fluoroscopic imaging stage 1 are close in the y-axis direction, the X-ray fluoroscopic imaging apparatus of this embodiment can stop the operation of the fluoroscopic imaging stage 1 before contact (interference).

[0087] In addition, Figure 5 In the process, step S103 can also be performed after step S106. In this case, since the distance d has already been calculated in step S106... R Therefore, the arithmetic unit 117 calculates the distance d in step S103. R The time change, at a distance d R If the image size decreases over time, it can be determined that the image system 200 is close to the monitor 132.

[0088] In addition, Figure 5 In the process, the distance d in the y-axis direction between the monitor 132 and the image system 200 is calculated in steps S104 to S106. R Examples have been provided, but the distance d can also be pre-calculated for each combination of the angles of joints 141 to 143 and each combination of the drive amount of the drive mechanism (51m, 52m, 221, 223 to 226) of the fluoroscopic stage 1. R The values ​​are stored in a table or similar format in a memory built into the arithmetic unit 117. Therefore, without performing the calculations in steps S104 and S105, the distance d corresponding to the combination of rotation angle and drive amount obtained in steps S101 and S102 can be calculated in step S106 by referring to the table.

[0089] <Tilt of the imaging system 200>

[0090] In the above Figure 6 In the example, the distance d between the imaging system 200 and the monitor 132 was calculated in the y-axis direction only, considering the movement of the imaging system 200 in the y-axis direction (the length direction of the tray 110). R However, even when the imaging system 200 is made as such by the tilting incident mechanism 224 Figure 8 In such a tilted configuration, the imaging system and monitor 132 will also move closer together in the y-axis direction. Therefore, in step S102, when it is determined that the tilting incident mechanism 224 tilts the support 112, in step S106, the calculation unit 117 calculates the distance d considering the tilt of the support 112 of the imaging system 200. R .

[0091] Specifically, in step S104, the calculation unit 117 calculates the angle θ4 (reference) of the central axis of the support column 112 relative to the vertical direction (z-axis direction). Figure 8 Furthermore, the arithmetic unit 117 via... Figure 5 The process calculates the distance db. Furthermore, the calculation unit 117 uses the angle θ4 and the length L of the image system 200 to calculate the distance W that the image system 200 is close to the monitor 132 due to the tilt of the image system 200 at the angle θ4.

[0092] The arithmetic unit 117 obtains data from the arithmetic unit 117 via the arithmetic unit Figure 5 The distance db obtained in the process is subtracted from the distance w caused by tilt to obtain the distance db' of the part of the imaging system 200 of perspective camera stage 1 closest to monitor 132 relative to the reference position d0.

[0093] The calculation unit 117 uses the distances db' and da obtained through steps S104 and S105, and calculates according to d R =db'-ba to calculate the distance d between monitor 132 and image system 200. R .

[0094] <Lifting and lowering of the reclining board 110>

[0095] Furthermore, sometimes parts other than the imaging system 200 are brought closer to the monitor 132 or monitor arm 131 by the movement of the drive mechanisms (51m, 52m, 221, 223-226). Specifically, when the lifting mechanism 221 moves the reclining plate 110 as... Figure 9 In that upward motion, the deck 110 moves closer to the monitor 132 in the vertical direction (z-axis direction).

[0096] In this case, when the calculation unit 117 learns in step S102 that the lifting mechanism 221 has raised the deck 110, it not only calculates the distance d in the y-axis direction.R In steps S104 to S106, the vertical distance d between the lower end 132b of the monitor 132 and the upper surface 110b of the deck 110 will also be calculated. V .

[0097] That is, in step S104, the calculation unit 117 calculates the distance ds between the upper surface 110b of the lying board 110 and the ground dB based on the driving amount of the lifting mechanism 221.

[0098] Furthermore, in step S105, the calculation unit 117 calculates the distance dt between the lower end 132b of the monitor 132 and the ground dB based on the rotation angle centered on the horizontal rotation axis of the joints 141 to 143, the lengths of the arm parts 144 and 145, the dimensions of the monitor 132 in the height direction, and the height information of the bracket 121.

[0099] In step S106, the calculation unit 117 uses the distances ds and dt obtained in steps S104 and S105 and calculates according to d V =dt-bs is used to calculate the vertical distance d between monitor 132 and image system 200 in the z-axis direction. V .

[0100] In step S107, the arithmetic unit 117 calculates the distance d. V and distance d R Compared with the baseline distance D, at distance d V and distance d R If any one or two of the distances are less than the reference distance D, the control unit 118 is instructed to stop the operation of the drive mechanism (51m, 52m, 221, 223-226) of the radiography stage 1.

[0101] As described above, in the X-ray fluoroscopy apparatus of Embodiment 1, when moving the position of the X-ray generator or the recumbent bed of the X-ray fluoroscopy apparatus, the distance between it and the monitor is calculated, and the movement can be stopped if the distance is closer than predetermined. Therefore, contact between the X-ray generator or the recumbent bed and the monitor can be automatically avoided.

[0102] In Embodiment 1, the structure in which the monitor 132 is supported by the monitor arm 131 on the upper surface of the bracket 121 has been described. However, the present invention is not limited to this structure. It may also be a structure in which the monitor 132 is supported by a part of the radiographic stage 1 other than the upper surface of the bracket 121, or a structure in which it is supported by the ceiling or wall of the room.

[0103] Furthermore, in Embodiment 1, the distance d(d) between the monitor 132 and the radiographic stage 1 was calculated. V d RHowever, it can also be configured as follows: The distance d between the monitor arm 131 and the fluoroscopic imaging stage 1 is further calculated. If the distance d between the monitor arm 131 and the fluoroscopic imaging stage 1 is less than the reference distance D, the drive mechanism (51m, 52m, 221, 223-226) is stopped. In this case, in step S105, the calculation unit 117 calculates the position of each part of the monitor arm 131 based on the rotation angles of the joints 141, 142, and 143. In step S106, the calculation unit 117 calculates the distance d between each part of the monitor arm 131 and the imaging system 200 or the reclining plate of the fluoroscopic imaging stage 1. If the distance d is less than the reference distance D in steps S106 and S107, the operation of the drive mechanism of the fluoroscopic imaging stage 1 is stopped.

[0104] Implementation Method 2

[0105] use Figure 10 , Figure 11 The X-ray fluoroscopic imaging apparatus of Embodiment 2 will be described.

[0106] The X-ray fluoroscopy apparatus of Embodiment 1 has a structure that prevents contact (interference) with the monitor 132 when the image system 200 moves and tilts relative to the y-axis direction of the reclining plate 110 and when the reclining plate 110 is raised or lowered. However, the X-ray fluoroscopy apparatus of Embodiment 2 also has the function of preventing contact (interference) between the image system 200 and the monitor 132 when the reclining plate 110 is raised or lowered while maintaining the positional relationship between the image system 200 and the reclining plate 110.

[0107] like Figure 10 As shown, the reclining board 110 moves along the lifting and lowering mechanism 222. Figure 2 Even when the direction of arrow A2 rotates (tilting motion), and the positional relationship between the front and rear deck 110 and the imaging system 200 remains unchanged, the distance d in the y-axis direction between the imaging system 200 and the monitor arm 131 remains constant. R Sometimes it can also be the distance d before the start-up and fall-down motion. R Different distances (d) R '≠d R ).

[0108] Therefore, the computing unit 117 takes into account the rotation (tilting motion) of the reclining plate 110 of the tilting motion mechanism 222 and corrects the distance d between the monitor 132 and the image system 200. R and use the corrected distance d R To determine whether to stop the operation of the perspective camera platform 1. Using... Figure 11 The process will explain this. Figure 11 In the process, the actions and implementation methods 1 Figure 5 The same steps in the process are marked with the same symbols and the explanations are omitted.

[0109] <Steps S101~S106>

[0110] The arithmetic unit 117 performs steps S101 to S106 in the same manner as in Embodiment 1, according to d R =db-ba calculates the distance d along the y-axis between monitor 132 and imaging system 200. R (refer to Figure 6 , Figure 7 ).

[0111] <Step S109>

[0112] Next, the calculation unit 117 determines whether the lifting and lowering motion mechanism 222 causes the lying board 110 to rotate (lifting and lowering motion) based on the driving amount of the lifting and lowering motion mechanism 222 obtained in step S102. If it causes the board to rotate, the process proceeds to step S110.

[0113] <Step S110>

[0114] The arithmetic unit 117 calculates the distance d in step S106. R The correction is made to account for the rotation distance (d) of the reclining plate 110. R ')(refer to Figure 10 ).

[0115] Specifically, the calculation unit 117 calculates the angle θ5 (reference) of the central axis of the support column 112 relative to the vertical direction (z-axis direction) based on the driving amount of the lifting and tilting mechanism 222. Figure 10 Furthermore, the arithmetic unit 117 uses the angle θ5 and the length L of the image system 200 to calculate the distance Q that the image system 200 is closer to the monitor 132 due to the tilt of the image system 200 at the angle θ4.

[0116] The arithmetic unit 117 calculates the distance d from step S106. R The corrected distance d is calculated by subtracting the distance Q caused by the tilt, as shown in the following formula. R '.

[0117] d R '=dR-Q

[0118] <Steps S107, S108>

[0119] The arithmetic unit 117 will correct the distance d R 'Used as distance d R To determine the distance d RIf the distance is less than a predetermined reference distance D, the control unit 118 is instructed to stop the operation of the drive mechanism (51m, 52m, 221-226) of the radiography stage 1.

[0120] Therefore, even when the reclining board 110 is tilted up or down, contact (interference) between the imaging system 200 and the monitor 132 can be avoided.

[0121] In the above explanation, the distance d in the y-axis direction will be... R The correction is made to account for the rotation distance (d) of the reclining plate 110. R The example ') illustrates this, but the expectation is for the distance d along the z-axis. V Similarly, in step S110, the correction is made to take into account the distance of rotation (d). V And in step S107, it is determined whether it is less than the reference distance D.

[0122] Implementation Method 3

[0123] use Figure 12 , Figure 13 The X-ray fluoroscopic imaging apparatus of Embodiment 3 will be described.

[0124] In embodiments 1 and 2, the distance d(d) between the monitor 132 and the image system 200 or the reclining panel 110 is configured to be... R or d V The drive mechanism (51m, 52m, 221-226) of the perspective imaging stage 1 stops operating when the distance becomes less than the predetermined reference distance D. However, depending on the technique, even at a distance d (d R or d V The fact that the drive mechanism (51m, 52m, 221-226) of the radiography stage 1 can still operate even when the distance becomes less than the reference distance D (d < D) is sometimes advantageous for the operator.

[0125] Therefore, as Figure 12 As shown, the X-ray fluoroscopic imaging device of Embodiment 3 can be used even at a distance d (d R or d V When the distance d becomes less than D (d < D), the operation of the drive mechanism (51m, 52m, 221~226) is also permitted under certain conditions. Specifically, when the distance d (d < D) becomes less than D, the operation of the drive mechanism (51m, 52m, 221~226) is permitted under certain conditions. R or d V If the distance d becomes less than D, temporarily stop the operation of the drive mechanism (51m, 52m, 221~226). If the operator performs another operation to make the distance d less than D, sound the buzzer to remind the operator to be careful, and allow the drive at low speed.

[0126] To perform this operation, a memory for writing flags is provided in the arithmetic unit 117. Furthermore, the X-ray fluoroscopic imaging apparatus of Embodiment 3 has the same structure as that described in Embodiment 1, but also includes an alarm device that sounds a buzzer.

[0127] use Figure 13 The process describes the operation of the X-ray fluoroscopic imaging apparatus in specific embodiment 3. Figure 13 In the process, the actions and implementation methods 1 Figure 5 The same steps in the process are marked with the same symbols and the explanations are omitted.

[0128] <Steps S101~S107>

[0129] The arithmetic unit 117 performs steps S101 to S107 in the same manner as in Embodiment 1 to calculate the distance d(d) between the monitor 132 and the image system 200 in the y-axis direction or z-axis direction. R d V ), and determine the distance d R or d V Is it less than the pre-defined reference distance D?

[0130] In step S107, at a distance d R or d V If the distance is above the reference distance D, proceed to step S111.

[0131] <Step S111>

[0132] The arithmetic unit 117 overwrites the flag 0 into the built-in memory and proceeds to step S112.

[0133] <Step S112>

[0134] If the alarm device has already sounded the buzzer, the arithmetic unit 117 stops the buzzer, sets the operating speed of the drive mechanism (51m, 52m, 221-226) of the radiography stage 1 to the normal speed, and returns to step S101.

[0135] Thus, the X-ray fluoroscopic imaging device can move the imaging system 200 or the reclining plate 110 at normal speed without the need to sound a buzzer.

[0136] On the other hand, in step S107 above, at a distance d R or d V If the distance is less than the reference distance D, proceed to step S113.

[0137] <Steps S113, S114>

[0138] In step S113, the arithmetic unit 117 determines whether the flag set in the built-in memory is 2. If the flag is not 2, it is the distance d. R or d V If the distance becomes less than the reference distance D for the first time, proceed to step S114, write 1 in the flag, and proceed to step S108.

[0139] <Step S108>

[0140] In step S108, the calculation unit 117 instructs the control unit 118 to stop the operation of the drive mechanism (51m, 52m, 221-226) of the fluoroscopic imaging stage 1 in the same manner as in embodiment 1, and returns to step S101.

[0141] In step S113 above, the following situation applies: if a flag of 2 is set in the memory of the arithmetic unit 117, the distance d is determined to be... R or d V Since the distance has already fallen below the reference distance D once, even though the operation of the drive mechanism is temporarily stopped in step S108, the operator must bring the imaging system 200 or the reclining plate 110 closer to the monitor 132 again. Therefore, the calculation unit 117 proceeds to step S115.

[0142] <Step S115>

[0143] In step S115, the arithmetic unit 117 activates the alarm device to sound the buzzer, reminding the operator to be careful when approaching the monitor 132, while setting the operating speed of the drive mechanism (51m, 52m, 221-226) of the radiographic stage 1 to low speed and allowing operation.

[0144] The computing unit 117 sets the fluoroscopic imaging stage 1 to stop the operation, operate at normal speed, or operate at low speed while sounding a buzzer through steps S108, S112, or S115, and then proceeds to step S131.

[0145] <Steps S131~S133>

[0146] In step S131, the arithmetic unit 117 determines whether the operator is performing an operation. If the operation continues, it proceeds to step S132, where it determines whether the flag in the memory of the arithmetic unit 117 is 1. If the flag is 1, since the operator is performing another operation, flag 2 indicating another operation is set, and the process returns to step S101. Thus, when the process re-enters S113, the arithmetic unit 117 can use flag 2 to determine if it is another operation and proceeds to step S115, where a low-speed action is set to sound the buzzer.

[0147] In addition, if the operator does not perform any operation in step S131 and if the flag is not 1 in step S132, the calculation unit 117 directly returns to step S101.

[0148] Thus, in step S115, the operator moves toward the monitor 132 by means of a buzzer, and although at a low speed, is able to move the imaging system 200 or the reclining board 110, thereby enabling fluoroscopy of the subject at the desired position, improving the operator's convenience.

[0149] Implementation Method 4

[0150] use Figure 14 , Figure 15 The X-ray fluoroscopic imaging apparatus of Embodiment 4 will be described.

[0151] In the above-described embodiment 3, when the imaging system 200 or the reclining panel 110 approaches the monitor 132, the distance d(d) R or d V If the distance becomes less than D (d < D), stop the operation of the drive mechanism (51m, 52m, 221~226), or sound the buzzer and allow low-speed operation, but at a distance d (d R or d V In small cases, it is sometimes better to make the buzzer sound and set it to low speed even when the imaging system 200 or the tray 110 moves away from the monitor 132.

[0152] Therefore, in implementation method 4, as Figure 14 As shown, two distances, a first reference distance D1 and a second reference distance D2 (where D1 > D2), are set as reference distance D. Furthermore, when the imaging system 200 or the retractable panel 110 is close to the monitor 132, when the distance d (d R or d V When the distance d(d) becomes less than the reference distance D1, the buzzer sounds and the operation is set to low speed. On the other hand, when the imaging system 200 or the retractable panel 110 moves away from the monitor 132, when the distance d(d) becomes less than the reference distance D1, the buzzer sounds and the operation is set to low speed. R or d V When the distance becomes less than the second reference distance D2 (where D1 > D2), which is smaller than the reference distance D1, the buzzer sounds and the operation is set to low speed.

[0153] use Figure 15 The procedure for describing the operation of the X-ray fluoroscopic imaging apparatus in Embodiment 4 is explained. Figure 15 In the process, the actions and implementation methods 3 Figure 13 The same steps in the process are marked with the same symbols and the explanations are omitted.

[0154] <Steps S101~S106>

[0155] In implementation method 4, such as Figure 15 As shown, in step S106, the distance d(d R or d V After the calculation, step S103 is performed to determine whether the action is the direction in which the image system 200 or the reclining panel approaches the monitor 132.

[0156] In step S103, if the imaging system 200 of the fluoroscopic imaging stage 1 or the reclining plate 110 is not close to the monitor 132, the computing unit 117 proceeds to step S117.

[0157] <Step S117>

[0158] In step S117, the arithmetic unit 117 determines the distance d(d R or d V If the distance is less than the second reference distance D2, proceed to step S115.

[0159] <Step S115>

[0160] In step S115, the arithmetic unit 117 activates the alarm device to sound the buzzer, alerting the operator to be careful, while setting the operating speed of the drive mechanism (51m, 52m, 221-226) of the radiographic stage 1 to low speed and allowing operation.

[0161] Thus, although the imaging system 200 or the reclining platform 110 moves away from the monitor 132, the operator can keep track of its position close to the monitor 132 and can move the imaging system 200 or the reclining platform 110 at a low speed.

[0162] On the other hand, in step S117 above, at a distance d(d R or d V If the distance is greater than or equal to the second reference distance D2, the calculation unit 117 enters step S112, stops the buzzer when the alarm has already sounded, sets the operating speed of the drive mechanism (51m, 52m, 221~226) of the radiography stage 1 to the normal speed, and returns to step S101.

[0163] <Steps S116, S111~S115, S108>

[0164] Furthermore, in step S116, when the image system 200 or the reclining panel 110 is close to the monitor 132, the calculation unit determines the distance d(d) in the same manner as in Embodiment 3. R or d VIf the distance is less than the reference distance D1, the operation of the fluoroscopic camera stage is stopped, or the buzzer is sounded while the operation is allowed at a low speed. These operations are the same as in implementation method 3, except that the reference distance D becomes the reference distance D1 (D1 > D2).

[0165] Implementation Method 5

[0166] use Figure 16 , Figure 17 The X-ray fluoroscopic imaging apparatus of Embodiment 5 will be described.

[0167] In the X-ray fluoroscopic imaging apparatus of Embodiment 5, its structure is the same as that of Embodiments 1 to 4, but before performing Embodiments 1 to 4, a predetermined action is performed on the drive mechanism of the predetermined action axis among the multiple drive mechanisms (51m, 52m, 221 to 226).

[0168] use Figure 17 The process of the X-ray fluoroscopic imaging apparatus of embodiment 5 will be described.

[0169] <Step S121>

[0170] The arithmetic unit 117 first reads whether the drive mechanisms (51m, 52m, 221-226) of the perspective imaging stage 1 are operating, and determines whether the operating axis of the drive mechanism is within a predetermined distance d. R or d V The calculation of the action axis. Specifically, it is determined whether the drive mechanism performing the action is a predetermined drive mechanism other than the lifting mechanism 221, the tilting motion mechanism 222, the tilting incident mechanism 224, the X-ray generator x-direction sliding mechanism 52m, the SID changing mechanism 225 and the X-ray generator rotation mechanism 226 (here, referred to as the support y-direction sliding mechanism 223).

[0171] When the drive mechanism performing the action is the aforementioned predetermined drive mechanism (support y-direction sliding mechanism 223), the arithmetic unit 117 proceeds to step S122 and executes Embodiment 1. Figure 5 The process and implementation method 2 Figure 11 The process and implementation method 3 Figure 13 The process and implementation method 4 Figure 15 Any one of the processes.

[0172] On the other hand, if the driving mechanism that performs the action is not the predetermined driving mechanism (the y-direction sliding mechanism 223 of the support column), the calculation unit 117 proceeds to step S123.

[0173] <Step S123>

[0174] The calculation unit 117 determines whether the drive mechanism performing the action is the lifting mechanism 221 or the tilting mechanism 222. If the driving mechanism performing the action is the lifting mechanism 221 or the tilting mechanism 222, the subject 101 on the fluoroscopic imaging stage 1's reclining plate 110 is more likely to come into contact with the monitor 132, so the calculation unit 117 proceeds to step S124.

[0175] <Step S124>

[0176] In step S124, the calculation unit 117 further determines whether the direction of motion of the lifting mechanism 221 is a predetermined direction of approaching the monitor 132. Regarding the tilting mechanism 222, the calculation unit 117 determines that regardless of the direction of motion or the tilting angle, it is a direction of approaching the monitor 132.

[0177] When the direction of action is close to the direction, the arithmetic unit 117 proceeds to step S125.

[0178] <Step S125>

[0179] In step S125, the arithmetic unit 117 activates the alarm device to sound the buzzer, while reminding the operator to be careful as the subject 101 approaches the monitor 132. At the same time, the operating speed of the drive mechanism (51m, 52m, 221-226) of the fluoroscopic imaging stage 1 is set to low speed and operation is allowed.

[0180] Thus, the operator can use a buzzer to control the subject 101 to move closer to the monitor 132 and move the imaging system 200 or the reclining board 110 at a low speed, thereby enabling fluoroscopy of the subject 101 at the desired position.

[0181] <Step S126>

[0182] On the other hand, in step S123, if the mechanism performing the action is not the lifting mechanism 221 or the tilting mechanism 222, the calculation unit determines whether the mechanism performing the action is the tilting incident mechanism 224, the X-ray generator x-direction sliding mechanism 52m, the SID changing mechanism 225, or the X-ray generator rotating mechanism 226. If so, the driving mechanism performing the action has a short stroke, and no contact will occur depending on the position of the imaging system 200, so the process proceeds to step S127.

[0183] <Step S127>

[0184] The computing unit 117 determines whether the position of the image system 200 at the current time is close to the monitor 132. Specifically, the computing unit 117 determines whether the position of the image system 200 is close to the monitor 132. Figure 5 The distance d between the imaging system 200 and the monitor 132 is calculated in the same manner as steps S101, S102, and S104 to S106 of the process.R d V When the distance d is less than the third reference distance D3, there is a possibility that the imaging system 200 may come into contact with the monitor 132. Therefore, the arithmetic unit 117 enters step S125, while sounding a buzzer to remind the operator to be careful that the imaging system 200 is approaching the monitor 132, and sets the operating speed of the drive mechanism (51m, 52m, 221~226) of the radiography stage 1 to a low speed and allows operation.

[0185] Thus, the operator can use the buzzer to control the image system 200 to move closer to the monitor 132 and perform actions such as tilting the X-ray generator, sliding the X-ray generator in the x-direction, changing the SID, and rotating the X-ray generator at a low speed, so that the subject 101 can be fluoroscopically examined at the desired position.

[0186] On the other hand, if the position of the image system 200 is far from the monitor 132, the possibility of contact with the monitor 132 is small, so the process proceeds to step S128.

[0187] <Step S128>

[0188] In step S128, when the alarm device has already sounded the buzzer, the arithmetic unit 117 stops the buzzer and sets the operating speed of the drive mechanism (51m, 52m, 221-226) of the radiographic stage 1 to the normal speed.

[0189] Therefore, without contact between the drive mechanism that operates relative to the position of the imaging system 200 and the drive mechanism, the X-ray fluoroscopic imaging device can move the imaging system 200 or the reclining plate 110 at a normal speed without the need to sound the buzzer.

[0190] Compared to embodiments 1-4, the X-ray fluoroscopy apparatus of embodiment 5, based on a predetermined motion axis, eliminates the need to calculate the distance between the imaging system 200 or the reclining plate 110 and the monitor 132, thus reducing computational load. Furthermore, based on the motion axis, normal operation can be performed even when the buzzer is stopped, even in situations where low-speed movements occur simultaneously with the buzzer sounding or where the possibility of contact with the monitor is low. Therefore, an X-ray fluoroscopy apparatus that prevents contact between the monitor 132 and the subject 101, the imaging system 200, and the reclining plate 110, requires minimal computation, and is convenient for the operator to use is provided.

Claims

1. An X-ray fluoroscopic imaging device, characterized in that: have: A fluoroscopic imaging table including a lying plate for placing a subject, an X-ray generator for irradiating the subject with X-rays, an X-ray detector for detecting the X-rays that have penetrated the subject, a support for supporting the X-ray generator, and a driving mechanism for moving the position of the X-ray generator; Monitor, displaying images; A control unit, controlling the driving mechanism; and Operation Department, The calculation unit reads the driving amount of the driving mechanism from the control unit to obtain the distance between the end of the fluoroscopic photography table closer to the monitor and the monitor, and causes the control unit to stop the operation of the driving mechanism when the distance is smaller than a predetermined reference distance.

2. The X-ray fluoroscopic imaging device according to claim 1, characterized in that: The monitor is supported by a monitor arm, The monitor arm includes: an arm portion, which supports the monitor at the front end and is deformable; and a deformation amount detection portion, which detects the deformation amount of the arm portion and outputs it. The calculation unit reads the deformation amount of the arm detected by the deformation amount detection unit to calculate the position of the monitor, and calculates the distance between the calculated position of the monitor and an end of the fluoroscopic photography table closer to the monitor.

3. The X-ray fluoroscopic imaging device according to claim 2, characterized in that: The arm portion includes a plurality of rod-shaped arm members and a joint member, the joint member connecting the ends of two arm members so as to be rotatable around at least one axis, and the deformation amount detection unit detects a rotation angle of the joint member.

4. The X-ray fluoroscopic imaging device according to claim 2, characterized in that: The perspective photography platform further includes a bracket portion for supporting the bed plate and the support column. An end portion of the arm portion opposite to the front end is provided on the bracket portion.

5. The X-ray fluoroscopic imaging device according to claim 1, characterized in that: The calculation unit determines whether a part of the fluoroscopic imaging table is close to the monitor based on the read driving amount of the driving mechanism, and calculates the distance when the part is close to the monitor.

6. The X-ray fluoroscopic imaging device according to claim 1, characterized in that: The calculation unit obtains the distance between the monitor and an end portion of the fluoroscopic imaging platform that is closer to the monitor in at least one of a horizontal direction and a vertical direction.

7. The X-ray fluoroscopic imaging device according to claim 1, characterized in that: The driving mechanism includes: a long-axis sliding mechanism, which makes the support column slide along the long-axis direction of the bed plate; and an inclined incident mechanism, which makes the central axis of the support column tilt relative to the normal line of the bed plate, and makes the X-rays emitted by the X-ray generator incident from a direction tilted relative to the normal line of the bed plate. When the longitudinal slide mechanism and the oblique incidence mechanism are driven, the calculation unit calculates the position of the end of the X-ray generator closer to the monitor based on the drive amounts of the longitudinal slide mechanism and the oblique incidence mechanism.

8. The X-ray fluoroscopic imaging device according to claim 1, characterized in that: The driving mechanism includes a lifting mechanism for lifting the lying board relative to the ground. When the lifting mechanism is driven, the calculation unit calculates a distance between a lower end of the monitor and the top board as the distance.

9. The X-ray fluoroscopic imaging device according to claim 6, characterized in that: The driving mechanism includes a lifting and lowering mechanism for rotating the top plate and the X-ray generator while maintaining the positional relationship between the top plate and the X-ray generator. The calculation unit calculates the distance between the monitor and an end portion of the fluoroscopic imaging platform closer to the monitor in a state where the raising and lowering movement mechanism is not in operation, and then corrects the distance according to the driving amount of the raising and lowering movement mechanism.

10. The X-ray fluoroscopic imaging device according to claim 1, characterized in that: After the distance becomes smaller than a predetermined reference distance and the control unit stops the operation of the driving mechanism, when the operator again uses the driving mechanism to make the distance between the end of the fluoroscopic photography table closer to the monitor and the monitor closer than the reference distance, the calculation unit sounds a buzzer, sets the speed of the operation to a predetermined low speed, and allows the operation of the driving mechanism.

11. The X-ray fluoroscopic imaging device according to claim 5, characterized in that: The computing unit determines whether a portion of the fluoroscopic photography table is close to the monitor, and if not, determines whether the distance is less than a second reference distance, and if less than the second reference distance, sounds a buzzer, sets the speed of the movement to a predetermined low speed, and allows the movement of the driving mechanism.

12. The X-ray fluoroscopic imaging device according to claim 1, characterized in that: The driving mechanism has multiple action axes. When the operation is performed on a predetermined first operation axis among the plurality of operation axes, the calculation unit sounds a buzzer without calculating the distance, sets the operation speed to a predetermined low speed, and permits the operation of the drive mechanism.

13. The X-ray fluoroscopic imaging device according to claim 12, characterized in that: When the operation is performed on a predetermined second operation axis among the plurality of operation axes, the calculation unit does not need to calculate the distance and stops the buzzer when it has sounded, sets the operation speed to a normal speed, and allows the operation of the drive mechanism.

Images