X-ray fluoroscopic imaging device

Abstract

The invention provides an X-ray fluoroscopic imaging apparatus. Provided is an X-ray fluoroscopic imaging device in which a physician can rotate a table without worrying about interference with the table. When the operation unit receives an instruction to rotate the table (109) in a direction in which the head of the subject (10) is heightened relative to the legs, the table is lifted by the lifting mechanism in accordance with the rotation angle of the table while the table is rotated by the rotation mechanism. The table (109) is mounted in a lying position with the legs of the subject (10) facing the one end side and the head facing the other end side, while maintaining the distance between the one end of the table and the ground.

Description

[0001] This application is a divisional application of Chinese invention patent application filed on November 9, 2022, with application number 202211396958.8 and entitled "X-ray fluoroscopic imaging device and control method thereof". Technical Field

[0002] This invention relates to X-ray fluoroscopic imaging apparatus, and more particularly to an X-ray fluoroscopic imaging apparatus capable of moving the worktable from standing up to falling down to obtain X-ray images. Background Technology

[0003] An X-ray fluoroscopy apparatus includes: a stage for placing a subject; an X-ray tube for irradiating the subject with X-rays; and a fluoroscopy stage containing an X-ray detector housed within a support frame of the stage. The stage, X-ray tube, and X-ray detector are drivably supported by a support having multiple movable shafts. These movable shafts are driven by a drive unit. This X-ray fluoroscopy apparatus irradiates the subject with X-rays from the X-ray tube, detects the X-rays passing through the subject using the X-ray detector, generates an X-ray image based on the X-ray signal output from the detector, and displays it.

[0004] In such an X-ray fluoroscopy apparatus, multiple movable axes are driven by a drive unit to move the worktable and X-ray tube contained in the fluoroscopy table together or individually and independently, allowing the X-ray irradiation position to be moved to any location. That is, in the X-ray fluoroscopy apparatus, for example, it is possible to tilt the X-ray tube and the worktable together while maintaining their positional relationship, or to tilt the X-ray tube relative to the worktable, or to move the worktable in the long axis direction or the short axis direction while maintaining the positional relationship between the X-ray tube and the X-ray detector, or to move the worktable up and down.

[0005] Patent document 1 discloses an X-ray fluoroscopic imaging device in which the top plate is raised and lowered when the top plate is rotated, so that the intersection of the straight line connecting the X-ray tube and the detector with the top plate is kept at a fixed height in the vertical direction.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: International Publication No. 2014 / 041725

[0009] When using X-ray fluoroscopy equipment to examine the urinary organs, such as Figure 2As shown in (a) and (b), the patient is positioned with the affected area at the end of the worktable, and the physician sits in a chair facing the short side of the worktable to diagnose the patient's affected area. Furthermore, during diagnosis, the worktable is sometimes rotated (raised) by 10 degrees. For this purpose, the worktable is oriented in a direction that allows the patient to stand upright (…). Figure 2 When the workbench rotates in the direction of the arrow in (a), there is a possibility that the workbench may hit the doctor's knee or that the doctor's knee may get caught between the bottom of the workbench and the ground.

[0010] While Patent Document 1 can keep the height of the physician's area of ​​concern fixed above the ground, it does not consider interference between the workbench and the physician.

[0011] If physicians carefully rotate the worktable to avoid interference with themselves, it adds extra time to the examination and reduces efficiency. Therefore, it is desirable to ensure physician safety during urological examinations and to allow physicians to rotate the worktable without consciously interfering with their work. Summary of the Invention

[0012] The purpose of this invention is to provide an X-ray fluoroscopy imaging device that allows physicians to rotate the worktable without worrying about interference between themselves and the worktable.

[0013] To achieve the above objectives, the X-ray fluoroscopic imaging apparatus of the present invention comprises: a worktable on which a subject is mounted; an X-ray generating unit that irradiates the subject with X-rays; a rotating mechanism that rotates the worktable; a lifting mechanism that raises and lowers the worktable in the vertical direction; a control unit that controls the operation of the rotating mechanism and the lifting mechanism; and an operation unit that receives instructions from an operator regarding the rotation of the worktable. When the operation unit receives an instruction to rotate the worktable in a direction that elevates the subject's head relative to its legs, the control unit rotates the worktable via the rotating mechanism while simultaneously raising the worktable via the lifting mechanism according to the rotation angle, thereby maintaining the distance between one end of the worktable and the ground while rotating the worktable. The worktable is positioned in a supine position with the subject's legs facing one end and their head facing the other end.

[0014] The effects of the invention

[0015] According to the present invention, physicians can rotate the worktable without worrying about interference between themselves and the worktable, thereby improving examination efficiency. Attached Figure Description

[0016] Figure 1 This is a diagram showing the overall structure of the X-ray imaging apparatus 1 according to this embodiment.

[0017] Figure 2The positions of the subject (patient) 10 and the operator (physician) 20 when performing an examination of the urinary organs using the X-ray fluoroscopic imaging device 1 of this embodiment are shown. (a) is a front view and (b) is a side view.

[0018] Figure 3 The diagram shows an examination of the urinary organs using the X-ray fluoroscopic imaging device 1 of Embodiment 1. (a) is a front view of the worktable 109 in a horizontal state, and (b) is a front view of the worktable 109 in an upright state.

[0019] Figure 4 (a) is a block diagram of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 according to Embodiment 1, and (b) is a diagram showing the upward movement distance h of the worktable 109 according to Embodiment 1. c The image.

[0020] Figure 5 This is a flowchart illustrating the operation of the control unit 117 of the X-ray fluoroscopic imaging device 1 in Embodiment 1.

[0021] Figure 6 (a) to (d) are front views showing the rotation angle and height of the worktable 109 from the ground when performing an examination of the urinary organs using the X-ray fluoroscopy imaging device 1 of Embodiment 2, and (e) is a front view showing the state in which the worktable 109 is rotated 90 degrees using the X-ray fluoroscopy imaging device 1 of Embodiment 1.

[0022] Figure 7 This is a block diagram of the control unit 117 of the X-ray fluoroscopic imaging device 1 according to Embodiment 2.

[0023] Figure 8 This is a flowchart illustrating the operation of the control unit 117 of the X-ray fluoroscopic imaging device 1 in Embodiment 2.

[0024] Figure 9 This is a block diagram of the control unit 117 of the X-ray fluoroscopic imaging device 1 according to embodiment 3.

[0025] Figure 10 This is a flowchart illustrating the operation of the control unit 117 of the X-ray fluoroscopic imaging device 1 in Embodiment 3.

[0026] Figure 11 This is a block diagram of the control unit 117 of the X-ray fluoroscopic imaging device 1 according to embodiment 4.

[0027] Figure 12 This is a block diagram of the control unit 117 of the X-ray fluoroscopic imaging device 1 according to embodiment 5.

[0028] Explanation of reference numerals in the attached figures

[0029] 1 X-ray fluoroscopic imaging device

[0030] 2. Ground

[0031] 10 subjects

[0032] 20 operators

[0033] 100 racks

[0034] 101 X-ray Generating Unit

[0035] 102 X-ray aperture device

[0036] 103 pillars

[0037] 104 Column Moving Mechanism

[0038] 105 Support Frame

[0039] 106 Connecting Section

[0040] 107 Connecting Part Moving Mechanism

[0041] 107a Rotating Mechanism

[0042] 107b Lifting Mechanism

[0043] 108 Top Slab

[0044] 109 Workbench

[0045] 109a end

[0046] 109b end

[0047] 109c end

[0048] 112 High Voltage Generating Unit

[0049] 113 X-ray detector

[0050] 114 X-ray Image Processing Department

[0051] 115 Display Device

[0052] 116 External Storage Unit

[0053] 117 Control Department

[0054] 117a Workbench Motion Control Unit

[0055] 117b Table Speed ​​Control Unit

[0056] 117c Workbench Position Storage Unit

[0057] 117d Operational Storage Unit

[0058] 117f Setting Storage Section

[0059] 118 Operations Department. Detailed Implementation

[0060] The embodiments of the present invention are illustrated below using the accompanying drawings.

[0061] First, the overall structure of the X-ray fluoroscopic imaging device 1 in this embodiment will be explained. Figure 1 This is a diagram showing the overall structure of the X-ray imaging apparatus 1 according to this embodiment. Figure 2 This is a diagram showing the positional relationship between the subject (patient) 10 and the operator (physician) 20 when using an X-ray fluoroscopic imaging device 1 to perform an examination of the urinary organs.

[0062] The X-ray fluoroscopy imaging apparatus 1 of the present invention includes the following elements: a worktable 109 on which a subject 10 is mounted; an X-ray generating unit 101 that irradiates the subject 10 with X-rays; a rotating mechanism 107a that rotates the worktable 109; a lifting mechanism 107b that raises and lowers the worktable 109 in the vertical direction; a control unit 117 that controls the operation of the rotating mechanism 107a and the lifting mechanism 107b; and an operation unit 118 that receives instructions from an operator 20 regarding the rotation of the worktable 109, etc. The X-ray fluoroscopy imaging apparatus 1 will be further described in detail below. Additionally, in Figure 1 In the diagram, the Z direction is the vertical direction, and the X and Y directions are the long and short sides of the worktable 109, respectively.

[0063] The X-ray fluoroscopic imaging apparatus 1 includes: a connecting part 106; and a stand part 100 that supports the connecting part 106 relative to the ground. A worktable 109 and a support column 103 are mounted on the connecting part 106. An X-ray generating part 101 is supported at the front end of the support column 103.

[0064] A connecting part moving mechanism 107 is built into the stage 100. The connecting part moving mechanism 107 includes: a lifting mechanism 107b for raising and lowering the connecting part 106 in the Z direction; and a rotating mechanism 107a for rotating the connecting part 106 about the Y direction axis. Thus, by raising and lowering and / or rotating the connecting part 106 through the connecting part moving mechanism 107, the worktable 109 mounted on the connecting part 106 and the X-ray generating unit 101 can rotate and / or raise and lower while maintaining their positional relationship. By rotating the worktable 109 about the Y direction axis, the connecting part moving mechanism 107 can position the subject 10 on the worktable 109 in a supine, standing, or reverse tilted position with the head lower than the legs.

[0065] Furthermore, a support moving mechanism 104 that moves the support column 103 in the Y direction is disposed in the connecting part 106. By moving the support column 103 in the Y direction through the support moving mechanism 104, the X-ray generating part 101 moves in the short side direction (Y direction) of the worktable 109.

[0066] The worktable 109 includes a support frame 105 mounted on the connecting portion 106 and a top plate 108 supported by the support frame 105. A mechanism is built into the support frame 105 to move the top plate 108 along its long side (X-direction). Furthermore, an X-ray detector 113 is positioned opposite the X-ray generating portion 101 within the support frame 105, detecting X-rays irradiated from the X-ray generating portion 101 and transmitted through the subject 10. The X-ray detector 113 is, for example, a structure that arranges multiple X-ray detection elements in a two-dimensional array, and outputs an X-ray signal corresponding to the incident amount of X-rays transmitted through the subject 10.

[0067] In this embodiment, the X-ray generating unit 101 is moved relative to the worktable 109 in the Y direction by moving the support column 103 in the Y direction on the connecting part 106, but this embodiment is not limited to this structure. It is also possible to have a structure in which the top plate 108 moves relative to the support frame 105 in the Y direction, or to move the worktable 109 relative to the connecting part 106 in the Y direction.

[0068] Furthermore, a high-voltage generator 112, which supplies power, is connected to the X-ray generating unit 101. An X-ray image processing unit 114, which performs image processing on the X-ray signal output from the X-ray detector 113, is connected to the X-ray detector 113. For example, the X-ray image processing unit 114 performs image processing such as gamma transformation, grayscale transformation, and image magnification / reduction. A display device 115 for displaying X-ray images and an external storage unit 116 for storing X-ray images are connected to the X-ray image processing unit 114. An operation unit 118 receives instructions from the user. A control unit 117 controls the various components of the X-ray fluoroscopy imaging apparatus according to the instructions received by the operation unit 118.

[0069] Additionally, the X-ray generating unit 101 includes an X-ray tube that receives power from the high-voltage generating unit 112 to generate X-rays. Furthermore, the X-ray generating unit 101 is equipped with: an X-ray filter that selectively transmits X-rays of specific energies; and an X-ray aperture device 102 that sets the X-ray irradiation area for the subject. The X-ray aperture device 102 has multiple movable limiting blades that shield the X-rays generated by the X-ray generating unit 101. By controlling the movement of each of the multiple movable limiting blades (not specifically shown), the X-ray irradiation area for the subject is determined.

[0070] The operation of the control unit 117 will be described in detail below through embodiments 1 to 5.

[0071] <<<Implementation Method 1>>>

[0072] The structure and operation of the control unit 117 of the X-ray fluoroscopic imaging device 1 in Embodiment 1 will be explained.

[0073] like Figure 2 As shown in (a) and (b), when performing a urological examination using the X-ray fluoroscopy device 1, the patient (patient) 10 is positioned with the affected area at the long side end of the horizontally configured worktable 109. Specifically, the patient is placed on the worktable 109 in a supine position with their legs facing the end 109a side and their head facing the end 109b side with their legs bent. At this time, the operator (physician) 20 sits in a chair, facing the short side of the end 109a side of the worktable 109, to diagnose the patient's affected area.

[0074] During diagnosis, sometimes the direction is chosen to elevate the subject's head relative to their legs ( Figure 2 The workbench 109 is rotated (erected) by 10 degrees (in the direction of arrow (a)). When the workbench 109 is rotated, it is possible to clamp the knee of the operator 20 between the end 109c of the bottom surface of the workbench 109 and the ground 2.

[0075] Therefore, in this embodiment 1, when the operation unit 118 receives an instruction from the operator 20 to rotate the worktable 109 in a direction that raises the head of the subject 10 relative to its legs, the control unit 117... Figure 3 As in (a) and (b), the worktable 109 is rotated while maintaining the distance between the end 109a of the worktable 109 and the ground 2. Specifically, the control unit 117 rotates the worktable 109 in the direction indicated by the rotation mechanism 107a, and raises the worktable 109 by the lifting mechanism 107b corresponding to the rotation angle of the worktable 109.

[0076] When the worktable 109 is rotated in this way, the height of the end 109c of the worktable 109 from the ground 2 is kept fixed, ensuring the safety of the physician even when the worktable is rotated (erected). In addition, the physician can rotate the worktable without worrying about interference between himself and the worktable, thus improving examination efficiency.

[0077] To achieve this, control unit 117, as Figure 4 As in (a), it includes a table motion control unit 117a and a table speed control unit 117b.

[0078] use Figure 5 The process is used to explain the operation of the control unit 117.

[0079] The control unit 117 is composed of a computer equipped with processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and memory. The CPU reads and executes programs stored in memory to perform the following processes. Alternatively, the control unit 117 can be partially or entirely constructed from 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 the circuits to implement each process.

[0080] (Steps S101, S102)

[0081] The control unit 117 determines whether there is a rotation instruction from the operator in the operation unit 118 (step S101). If there is a rotation instruction, it determines the direction of the indicated rotation (step S102). If the indicated direction of rotation is to raise the head of the subject 10 relative to the legs (hereinafter also referred to as the standing activity), it proceeds to step S103. If the indicated direction of rotation is to lower the head of the subject 10 relative to the legs (hereinafter referred to as the lying activity), it proceeds to step S107.

[0082] (Steps S103 and S104)

[0083] When the indicated direction of rotation is such that the head of the subject 10 is raised relative to its legs, the worktable motion control unit 117a outputs an instruction to the rotation mechanism 107a to cause the worktable 109 to rotate from the direction of rotation. Figure 3 The state of (a) is close to Figure 3 The action signal of the direction rotation (standing up activity) of state (b).

[0084] Next, the worktable motion control unit 117a outputs an action signal to the lifting mechanism 107b, instructing the worktable 109 to rise.

[0085] Therefore, as Figure 3 As in (b), the worktable 109 rotates and tilts, but because it rises simultaneously, the height A (distance between end 109c and ground 2) of the bottom surface at end 109a of the worktable 109 can be maintained. This prevents end 109c from hitting... Figure 2The knees of the operator (physician) 20, which are seated in that position, or the knees are clamped between the end 109c and the ground 2, can prevent a decrease in examination efficiency.

[0086] (Steps S105 and S106)

[0087] Next, the worktable speed control unit 117b takes the rotation angle (standing angle) θ of the worktable 109 from the horizontal plane achieved by the rotation mechanism 107a at the current time point from the rotation mechanism 107a, and calculates the rising distance h of the worktable 109 required to maintain the height A (distance between the end 109c and the ground 2) of the end 109c determined by the following formula (1). c (refer to Figure 4 (b)

[0088] h c =L*sin(θ+α)-H･･･(1)

[0089] h c Ascent distance

[0090] L: The distance from the center of the long side of the upper surface of the worktable 109 to the end 109c of the lower surface.

[0091] H: Thickness of the worktable 109

[0092] θ: Rotation angle

[0093] α: Angle determined by the length and height of the worktable

[0094] Next, the worktable speed control unit 117b obtains the height of the worktable 109 at the current time point from the lifting mechanism 107b, and calculates the actual upward movement distance h up to the current time point based on the height of the worktable 109 from the horizontal state before rotation. r .

[0095] Next, the upward motion distance h obtained by calculation using equation (1) is obtained. c The actual upward distance h up to the current time point r The difference is used to adjust the lifting mechanism 107b to increase the speed at which the worktable rises. Specifically, the larger the absolute value of the difference, the greater the rising speed, thus increasing the rising distance h. c The actual upward movement distance h r The absolute value of the difference decreases.

[0096] Thus, the worktable speed control unit 117b controls the actual upward movement distance h by changing the upward speed of the lifting mechanism 107b. rFeedback control can make it approximate the calculated upward motion distance h. c Therefore, the height A (distance between end 109c and ground 2) of the bottom surface at end 109a of worktable 109 can be maintained and fixed with good accuracy.

[0097] On the other hand, in step S102 above, if the indicated direction of rotation is such that the head of the subject 10 is lowered relative to the legs (hereinafter referred to as the "laying-down activity"), proceed to step S107. During the laying-down activity, the end 109a of the worktable 109 moves upward due to the rotation, so the end 109c will not touch the knee of the operator (physician) 20. However, if an standing-up activity was performed before the laying-down activity, there is a possibility that the center of the worktable 109 is in a high position while the worktable 109 is tilted. If the laying-down activity is performed in this state, there is a possibility that the worktable 109 will remain in a high position, which is dangerous for the subject 10. Therefore, in this embodiment, during the laying-down activity, the height of the end 109c from the ground 2 is maintained in the same way as in steps S103 to S106. As a result, the examination can be performed in a safe state for the subject 10. Specifically, the rotation and lowering of the worktable are performed in the opposite direction to steps S103 to S106 through the following steps S107 to S110.

[0098] (Steps S107 and S108)

[0099] The worktable motion control unit 117a instructs the rotation mechanism 107a to rotate the worktable 109 (tilting down).

[0100] Next, the worktable motion control unit 117a instructs the lifting mechanism 107b to lower the worktable 109.

[0101] As a result, the worktable 109 rotates and tilts, but because it descends at the same time, it can maintain the height A (distance between end 109c and ground 2) of the bottom surface at end 109a of the worktable 109.

[0102] (Steps S109 and S110)

[0103] Next, the workbench speed control unit 117b takes the rotation angle (lowering angle) θ (where θ is a negative angle) of the workbench 109 from the horizontal plane achieved by the rotation mechanism 107a at the current time point from the rotation mechanism 107a, and calculates the lowering distance h of the workbench 109 required to maintain the height A (distance between the end 109c and the ground 2) of the end 109c determined by the above formula (1). c .

[0104] The worktable speed control unit 117b obtains the height of the worktable 109 at the current time point from the lifting mechanism 107b, and calculates the actual descent distance h up to the current time point based on the height of the worktable 109 from the horizontal state before rotation. r .

[0105] Next, the descent distance h obtained by calculation using equation (1) is obtained. c The actual descent distance h up to the current time point r The difference between the calculated values ​​corresponds to the magnitude of the difference, which is used to adjust the speed at which the lifting mechanism 107b lowers the worktable 109. Specifically, the larger the calculated difference, the greater the descent speed, thereby increasing the descent distance h. c The actual descent distance h r The difference becomes smaller. As a result, the height A (distance between end 109c and ground 2) of the bottom surface at end 109a of worktable 109 can be maintained and fixed with good accuracy.

[0106] The control unit 117 repeats the aforementioned steps S101 to S110 between steps S100 and S111 at given time intervals. Thus, while the operation unit 118 is operated by the operator 20, the rotation and lifting of the worktable 109 continue.

[0107] As described above, according to Embodiment 1, when the worktable 109 is rotated, the height of the worktable 109 itself is raised or lowered, and the height of the bottom surface of the worktable from the ground (minimum ground height) is controlled to be fixed, thus ensuring the safety of the physician when the worktable is rotated.

[0108] Furthermore, doctors can rotate the workbench without worrying about interference between themselves and the workbench, thus improving examination efficiency.

[0109] <<<Implementation Method 2>>>

[0110] use Figures 6-8 The structure and operation of the control unit 117 of the X-ray fluoroscopic imaging device 1 in Embodiment 2 will be explained.

[0111] In Embodiment 2, when the rotation angle θ of the worktable 109 relative to the horizontal reaches a predetermined angle β or higher, the control unit 117 stops the operation of the lifting mechanism 107b in raising the worktable 109 according to the rotation angle θ of the worktable 109, as in Embodiment 1 (see reference). Figure 6 (a) to (d)). Therefore, in the case of rotating the worktable 109 by, for example, 90 degrees to perform inspection in an upright position, such as Figure 6 In the manner described by (d), the height of the workbench can be brought close to the ground. Therefore, this avoids... Figure 6 Even when in an upright position, as in (e), the height of the end remains at A, keeping the worktable 109 at a height above the ground, allowing for safer examination of the subject 10. Furthermore, it can suppress the height of the ceiling where the X-ray fluoroscopic imaging device 1 is installed.

[0112] In addition, when the workbench 109 is rotated 90 degrees to perform the examination in a standing position, the operator (physician) is located away from the workbench 109, so there is no need to worry about the operator's knees touching the end 109c of the workbench 109.

[0113] In addition to the table motion control unit 117a and the table speed control unit 117b, the control unit 117 in Embodiment 2 also includes a table position storage unit 117c. A predetermined angle β is pre-stored in the table position storage unit 117c.

[0114] use Figure 8 process and Figure 6 To explain the operation of the control unit 117.

[0115] (Steps S201, S202)

[0116] The control unit 117 determines whether there is a rotation instruction from the operator in the operation unit 118 (step S201). If there is a rotation instruction, it retrieves the current rotation angle θ of the worktable 109 from the horizontal plane from the rotation mechanism 107a and determines whether it is smaller than a predetermined angle β (step S202). If the rotation angle θ is smaller than the predetermined angle β, it proceeds to step S220. If the rotation angle θ is greater than or equal to the predetermined angle β, it proceeds to step S203.

[0117] (Step S220)

[0118] When the current rotation angle θ is smaller than the specified angle β, the control unit 117 performs implementation method 1. Figure 5 In step S10 (steps S102 to S110), while rotating the worktable 109, the end 109c of the bottom surface at the end 109a of the worktable 109 is maintained at a fixed height A from the ground 2. Figure 6 (a) and (b)). Additionally, the implementation method 1... Figure 5 The process in step S10 (steps S102 to S110) is called "special standing up and lying down process".

[0119] (Steps S203, S204, S205)

[0120] When the current rotation angle θ is greater than or equal to a predetermined angle β, the control unit 117 determines the direction of rotation indicated by the operator 20 from the operation unit 118 (step S203). If the indicated direction of rotation is such that the head of the subject 10 is raised relative to the legs (standing up activity), the process proceeds to step S204, and the worktable motion control unit 117a outputs an action signal to the rotation mechanism 107a instructing the worktable 109 to rotate (standing up activity). On the other hand, if the indicated direction of rotation is such that the head of the subject 10 is lowered relative to the legs (laying down activity), the process proceeds to step S205, and the worktable motion control unit 117a outputs an action signal to the rotation mechanism 107a instructing the worktable 109 to rotate (laying down activity).

[0121] (Steps S206 and S207)

[0122] Next, the control unit 117 obtains the current rotation angle θ of the worktable 109 from the rotation mechanism 107a and the height of the worktable 109 from the lifting mechanism 107b. It then calculates the current height of one end 109a (in the case of standing up) or end 109b (in the case of lying down) from the ground 2 according to a predetermined mathematical formula. The control unit 117 compares the calculated height (distance) of end 109a or end 109b from the ground 2 with a predetermined given value (step S206). If the height is less than the given value, interference with the ground 2 is possible. Therefore, the control unit 117 outputs an action signal to the lifting mechanism 107b instructing the worktable 109 to rise (step S207).

[0123] (Steps S208 and S209)

[0124] In step S206, if the height of end 109a or end 109b above the ground 2 is above a given value, the height of end 109b (in the case of standing up) or end 109a (in the case of lying down) from the ceiling is calculated according to a predetermined mathematical formula based on the rotation angle θ and height obtained in step S206. The control unit 117 compares the calculated height (distance) of end 109b or end 109a from the ceiling with the predetermined given value (step S208). If the height is less than the given value, since there is a possibility of interference with the ceiling, an action signal instructing the lifting mechanism 107b to lower the worktable 109 is output (step S209).

[0125] The control unit 117 repeats the aforementioned steps S201 to S209 and S220 between steps S200 and S210 at given time intervals. Thus, while the operation unit 118 is operated by the operator 20, the rotation of the worktable 109 and the corresponding lifting and lowering actions continue.

[0126] Thus, according to Embodiment 2, when the rotation angle θ of the workbench 109 is less than the predetermined angle β, a special standing-down process can be performed to maintain the height of the end 109c of the workbench 109 in Embodiment 1 at a height A above the ground 2. When the rotation angle θ is greater than or equal to the predetermined angle β, the special standing-down process is not performed. When the workbench 109 is too close to the ground, it is raised. When it is too close to the ceiling, it is lowered.

[0127] <<<Implementation Method 3>>>

[0128] use Figures 9-10 The structure and operation of the control unit 117 of the X-ray fluoroscopic imaging device 1 in Embodiment 3 will be explained.

[0129] In the X-ray fluoroscopy apparatus 1 of Embodiment 3, the operation unit 118 includes a first operation unit 118a and a second operation unit 118b. The first operation unit 118a receives instructions from the operator 20 to rotate the worktable 109 while maintaining the distance between the end 109a of the worktable 109 and the ground 2 (specifically, to stand up and then lower it). The second operation unit 118b receives instructions from the operator 20 to rotate the worktable 109 without maintaining a fixed distance between the end 109b of the worktable 109 and the ground (in Embodiment 2). Figure 8 The instructions for step S20 (steps S203 to S209, hereinafter referred to as "normally standing up and lying down").

[0130] In addition to the worktable motion control unit 117a, worktable speed control unit 117b and worktable position storage unit 117c of Embodiment 2, the control unit 117 of Embodiment 3 also includes an operation storage unit 117d.

[0131] The control unit 117 stores in the operation storage unit 117d whether, whenever the worktable 109 is rotated from a horizontal position (θ=0), it rotates according to the instruction received by the first operation unit 118a (special upright and folding) or according to the instruction received by the second operation unit 118b (normal upright and folding).

[0132] If the first operation unit 118a receives a rotation instruction and the current angle of the worktable 109 is not horizontal (θ≠0), the control unit 117 refers to the operation storage unit 117d. If the operation storage unit 117d stores an instruction to rotate the worktable 109 according to the instruction received by the first operation unit 118a at the most recent rotation angle θ=0 (special upright-to-lower), the operation unit 117d performs a process of rotating the worktable 109 while maintaining the distance between the end 109a of the worktable 109 and the ground 2 (special upright-to-lower). On the other hand, if the operation storage unit 117d stores an instruction to rotate the worktable 109 according to the instruction received by the second operation unit 118b at the most recent rotation angle θ=0 (normal upright-to-lower), the operation unit 117d does not rotate the worktable 109.

[0133] Thus, in this embodiment, the operating unit is provided for both special upright-folding and normal upright-folding. Furthermore, when the worktable is rotated from its most recent horizontal position using the special upright-folding method, it is configured to rotate only in the special upright-folding method; similarly, when it is rotated from its horizontal position using the normal upright-folding method, it is configured to rotate only in the normal upright-folding method. This prevents the operator from intentionally performing the special upright-folding operation while actually performing the normal upright-folding operation, or vice versa. Specifically, in the case of intentionally performing the special upright-folding operation while actually performing the normal upright-folding operation, the doctor's knees may collide with the worktable 109 because the height of the end of the worktable 109 is not maintained; however, this embodiment avoids this phenomenon.

[0134] The following uses Figure 10 The process will be used to explain the operation of the control unit 117 in detail.

[0135] (Steps S301, S303)

[0136] The control unit 117 determines whether there is a rotation instruction from the operator in the first operation unit 118a (step S301). If there is a rotation instruction, it retrieves the current rotation angle θ of the worktable 109 from the horizontal plane from the rotation mechanism 107a and determines whether θ=0 (step S302). If θ=0, it stores the operation of raising and lowering based on the instruction of the first operation unit 118a (special raising and lowering) in the operation storage unit 117d (step S303).

[0137] (Steps S304 to S306)

[0138] In step S302 above, if the current rotation angle θ is not 0 (θ≠0), proceed to step S304 to determine if it is smaller than a predetermined angle β. If the rotation angle θ is smaller than the predetermined angle β, proceed to step S305 to determine if a special upright-to-lower setting is stored in the operation storage unit 117d (step S305). If a special upright-to-lower setting is stored, proceed to step S306 to execute. Figure 5 The S10 has a special stand-up and lay-down design.

[0139] On the other hand, if the rotation angle θ is greater than or equal to the predetermined angle β in step S304, and if the normally upright and folded position is stored in the operation storage unit 117d in step S305, the special upright and folded position process is not performed, and the process returns from step S312 to step S301.

[0140] (Steps S307 to S309)

[0141] Furthermore, in step S301 above, if there is no rotation instruction in the first operation unit 118a, the process proceeds to step S307 to determine if there is a rotation instruction in the second operation unit 118b. If there is a rotation instruction, the rotation angle θ of the current worktable 109 from the horizontal plane is retrieved from the rotation mechanism 107a, and it is determined whether θ=0 (step S308). If θ=0, the operation of raising / lowering based on the instruction of the second operation unit 118b (normally raising / lowering) is stored in the operation storage unit 117d (step S309).

[0142] (Steps S310 to S311)

[0143] In step S308 above, if the current rotation angle θ is not 0 (θ≠0), proceed to step S310 to determine whether a special upright-to-lower position is stored in the operation storage unit 117d (step S310). If a normal upright-to-lower position is stored, proceed to step S311 and execute... Figure 8 The S20 has a special upright-and-down design.

[0144] On the other hand, if there is no rotation instruction in the second operation unit 118b in step S307, and if a special stand-up / lie-down instruction is stored in the operation storage unit 117d in step S310, the special stand-up / lie-down process is not performed, and the process returns from step S312 to step S301.

[0145] <<<Implementation Method 4>>>

[0146] use Figure 11 The structure and operation of the control unit 117 of the X-ray fluoroscopic imaging device 1 in Embodiment 4 will be explained.

[0147] The X-ray fluoroscopic imaging device of Embodiment 4 is the same as that of Embodiment 3, with the operation unit 118 having a first operation unit 118a for special standing up and lying down and a second operation unit 118b for normal standing up and lying down.

[0148] In addition to having the structure of the control unit 117 of Embodiment 3, the control unit 117 also has a second speed control unit 117e.

[0149] The control unit 117 sets the speed at which the worktable 109 rotates in a special upright-down position according to the rotation instruction received by the first operation unit 118a to be slower than the speed at which the worktable 109 rotates in a normal upright-down position according to the rotation instruction received by the second operation unit 118b.

[0150] This allows for fine-tuning of the position when the worktable 109 is rotated using a special upright-to-lowering method. Furthermore, in normal upright-to-lowering, the worktable can be moved to the desired rotation angle more quickly.

[0151] The other structures and operations of Embodiment 4 are the same as those of Embodiments 1 to 3, so the description is omitted.

[0152] <<<Implementation Method 5>>>

[0153] use Figure 12 The structure and operation of the control unit 117 of the X-ray fluoroscopic imaging device 1 in Embodiment 5 will be explained.

[0154] In the X-ray fluoroscopic imaging apparatus of Embodiment 5, the control unit 117 can switch which end of the worktable 109 that maintains the distance from the ground is set as either of the two ends of the worktable 109.

[0155] Specifically, in addition to the structure of Embodiment 1, the control unit 117 also includes a setting storage unit 117f. The setting storage unit 117f stores the following: when maintaining the distance between the head end 109b of the subject 10 on the worktable 109 and the ground, the lifting mechanism 107b performs a lowering movement when the rotation direction of the worktable 109 by the rotating mechanism 107a is in the standing movement direction, and the lifting mechanism 107b performs an raising movement when the rotation direction of the worktable 109 by the rotating mechanism 107a is in the folding movement direction. Furthermore, the setting storage unit 117f stores the following: when maintaining the distance between the leg end 109a of the worktable 109 on the subject 10 and the ground 2, the lifting mechanism 107b performs a raising movement when the rotation direction of the worktable 109 by the rotating mechanism 107a is in the standing movement direction, and the lifting mechanism 107b performs a lowering movement when the rotation direction of the worktable 109 by the rotating mechanism 107a is in the folding movement direction.

[0156] The operating unit 118 receives from the operator the setting of the height of either end 109a or end 109b of the worktable 109.

[0157] The workbench motion control unit 117a reads the direction stored in the setting storage unit 117f from whether the end of the maintenance height received by the operation unit 118 is end 109a or 109b, and switches the lifting direction of the lifting mechanism 107b.

[0158] Thus, in this embodiment 5, since the end that maintains the height when standing up and lying down can be selected, the operator can place the affected part of the subject 10 on either of the two ends, thus improving ease of use.

[0159] Furthermore, since the structure and operation of the X-ray fluoroscopic imaging apparatus of Embodiment 5 are the same as those of Embodiment 1, descriptions are omitted. Moreover, the structure of Embodiment 5 can, of course, be applied to the X-ray fluoroscopic imaging apparatuses of Embodiments 2 to 4.

Claims

1. An X-ray fluoroscopic imaging device, characterized in that, have: A workbench, on which the specimen is placed; An X-ray generating unit irradiates the subject with X-rays; A rotating mechanism that causes the worktable to rotate; A lifting mechanism that allows the worktable to move up and down in the vertical direction; The control unit controls the operation of the rotating mechanism and the lifting mechanism; and The operating unit receives instructions from the operator regarding the rotation of the worktable. When the operation unit receives an instruction to rotate the worktable in a direction that elevates the subject's head relative to the legs, the control unit rotates the worktable via the rotation mechanism while simultaneously raising the worktable via the lifting mechanism according to the rotation angle of the worktable. This allows the worktable to rotate while maintaining the distance between one end of the worktable and the ground, wherein the worktable is in a supine position with the subject's legs facing one end and their head facing the other end.

2. The X-ray fluoroscopic imaging device according to claim 1, characterized in that, The control unit maintains the distance between the end of the bottom surface of the workbench at one end and the ground.

3. The X-ray fluoroscopic imaging device according to claim 1, characterized in that, When the operation unit receives an instruction to rotate the worktable in a direction that lowers the subject's head relative to the legs, the control unit rotates the worktable via the rotation mechanism while simultaneously lowering the worktable via the lifting mechanism, corresponding to the rotation angle of the worktable, so as to rotate the worktable while maintaining the distance between one end of the worktable and the ground.

4. The X-ray fluoroscopic imaging device according to claim 1, characterized in that, The control unit calculates the upward movement distance of the worktable to maintain the distance between one end of the worktable and the ground corresponding to the rotation angle of the worktable, calculates the difference between the calculated upward movement distance and the actual upward movement distance of the worktable, and changes the speed at which the lifting mechanism raises the worktable according to the difference.

5. The X-ray fluoroscopic imaging device according to claim 1, characterized in that, When the rotation angle of the worktable relative to the horizontal reaches a predetermined angle or higher, the control unit stops the action of raising the worktable by means of the lifting mechanism corresponding to the rotation angle of the worktable.

6. The X-ray fluoroscopic imaging device according to claim 5, characterized in that, While the control unit rotates the worktable via the rotating mechanism, it raises the worktable via the lifting mechanism when the distance between one end of the worktable and the ground becomes smaller than a predetermined distance.

7. The X-ray fluoroscopic imaging device according to claim 5, characterized in that, While the control unit rotates the worktable via the rotating mechanism, it lowers the worktable via the lifting mechanism when the distance between the other end of the worktable and the ceiling becomes smaller than a predetermined distance.

8. The X-ray fluoroscopic imaging device according to claim 1, characterized in that, The operating unit includes a first operating unit and a second operating unit. The first operating unit receives instructions from the operator to rotate the worktable while maintaining the distance between one end of the worktable and the ground. The second operating unit receives instructions from the operator to rotate the worktable without maintaining the distance between one end of the worktable and the ground. The control unit stores in the storage unit whether, when the worktable is rotated from a horizontal position, it rotates according to the instruction received by the first operation unit or the instruction received by the second operation unit. When the first operation unit receives a rotation instruction and the worktable is not horizontal, the control unit rotates the worktable while maintaining the distance between one end of the worktable and the ground, provided that the storage unit contains instructions to rotate the worktable from a horizontal position according to the instructions received by the first operation unit. When the storage unit contains instructions to rotate the worktable from a horizontal position according to the instructions received by the second operation unit, the control unit does not rotate the worktable.

9. The X-ray fluoroscopic imaging device according to claim 1, characterized in that, The operating unit includes a first operating unit and a second operating unit. The first operating unit receives instructions from the operator to rotate the worktable while maintaining the distance between one end of the worktable and the ground. The second operating unit receives instructions from the operator to rotate the worktable without maintaining the distance between one end of the worktable and the ground. The control unit will set the rotation speed of the worktable to be slower than the rotation speed of the worktable according to the rotation instruction received by the first operation unit.

10. The X-ray fluoroscopic imaging device according to claim 1, characterized in that, The control unit can switch which end of the workbench that maintains the distance from the ground is set to either of the two ends of the workbench.

11. A control method for an X-ray fluoroscopic imaging device, characterized in that, The X-ray imaging device includes: A workbench, on which the specimen is placed; An X-ray generating unit irradiates the subject with X-rays; A rotating mechanism that causes the worktable to rotate; A lifting mechanism that allows the worktable to move up and down in the vertical direction; and The operating unit receives instructions from the operator regarding the rotation of the worktable. In the control method of the X-ray fluoroscopic imaging device, When the operating unit receives an instruction to rotate the worktable in a direction that elevates the subject's head relative to the legs, the worktable is rotated via the rotating mechanism while simultaneously being raised via the lifting mechanism according to the rotation angle of the worktable. This is done so that the worktable is rotated while maintaining the distance between one end of the worktable and the ground, wherein the worktable is in a supine position with the subject's legs facing one end and the head facing the other end.

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