X-ray diagnostic device and control method of x-ray diagnostic device

Abstract

To enable reproduction of a movement path of an imaging device in an X-ray diagnostic device.SOLUTION: An X-ray diagnostic device according to an embodiment includes a storage unit, a storage control unit, and a movement control unit. The storage control unit causes the storage unit to store a movement path defined in combination of motions of a plurality of movable shafts of an imaging device and generated by movement of the imaging device according to operation of a user. The movement control unit causes the imaging device to move in a reverse order of the stored movement path.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The embodiments disclosed in this specification and the drawings relate to an X-ray diagnostic apparatus and a method for controlling an X-ray diagnostic apparatus. [Background technology]

[0002] X-ray diagnostic equipment has a technology called auto-positioning, which enables the C-arm or bed to automatically move to any pre-registered position (for example, rotation around each axis of the C-arm, translation along the ceiling rail, etc.) as long as there is a switch input.

[0003] When using auto-positioning of the C-arm to perform a desired operation, it is necessary to register the desired operation position in advance, which increases the amount of work required during the procedure. Also, if the operation destination position is not registered and the user operates it manually, complex user operations are required even if it becomes necessary to return the C-arm or bed to the position before the operation.

[0004] Furthermore, even if auto-positioning can reproduce the movement from the current position to a specified position, there may be multiple paths along which the C-arm moves. However, auto-positioning does not acquire the path along which the C-arm moves. Therefore, it is nearly impossible to uniquely reproduce the movement path of the C-arm that has been moved manually and arbitrarily by a user such as a technician, and there is a possibility that the C-arm may move in a way that the user does not expect. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-088380 A Summary of the Invention [Problem to be solved by the invention]

[0006] One of the problems to be solved by the embodiments disclosed in this specification and the drawings is to make it possible to reproduce the movement path of an imaging device in an X-ray diagnostic device. However, the problems to be solved by the embodiments disclosed in this specification and the drawings are not limited to the above problem. Problems corresponding to the effects of each configuration shown in each embodiment described later can also be positioned as other problems. [Means for solving the problem]

[0007] The X-ray diagnostic apparatus according to the embodiment includes a storage unit, a storage control unit, and a movement control unit. The storage control unit stores in the storage unit a movement path defined by a combination of movements of a plurality of movable axes of an imaging device, the movement path being generated by the imaging device moving in response to a user's operation. The movement control unit moves the imaging device in the reverse order of the stored movement path. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of an X-ray diagnostic apparatus according to the first embodiment. [Diagram 2] FIG. 2 is a perspective view showing the appearance of the X-ray diagnostic apparatus. [Diagram 3] FIG. 3 is a flowchart showing an example of a process for recording a moving path of a manually moved imaging device according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing rotational movement and translational movement of a C-arm according to the first embodiment. [Diagram 5] FIG. 5 is a diagram showing a concept of a travel path according to the first embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of a reproduction and recording process of the X-ray diagnostic apparatus according to the first embodiment. [Figure 7] FIG. 7 is a diagram showing the rotational movement and translational movement of a C-arm according to the second embodiment. [Figure 8] FIG. 8 is a schematic diagram showing an example of a model diagram according to the second embodiment. [Figure 9] FIG. 9 is a schematic diagram showing an example of a model diagram according to the third embodiment. [Figure 10] FIG. 10 is a schematic diagram showing an example of a model diagram according to the third embodiment. [Figure 11] FIG. 11 is a block diagram showing the configuration of an X-ray diagnostic apparatus according to the fourth embodiment. [Figure 12] FIG. 12 is a perspective view showing the appearance of an X-ray diagnostic apparatus. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of an X-ray diagnostic apparatus and a control method for an X-ray diagnostic apparatus will be described in detail with reference to the drawings.

[0010] [First embodiment] Fig. 1 is a block diagram showing the configuration of an X-ray diagnostic apparatus 1 according to the first embodiment. Fig. 2 is a perspective view showing the appearance of the X-ray diagnostic apparatus 1. The X-ray diagnostic apparatus 1 includes an X-ray angiography apparatus 10, a bed device 50, and a console device 70.

[0011] The X-ray angiography apparatus 10 includes a high voltage generator 11 , an X-ray generator 12 , an X-ray detector 13 , a C-arm 14 , a status detector 141 , and a C-arm driver 142 .

[0012] The high voltage generator 11 is connected to the anode and cathode to accelerate the thermal electrons generated from the cathode of the X-ray tube. The X-ray generating unit 12 generates a high voltage to be applied between the electrodes and outputs it to the X-ray tube. The X-ray generating unit 12 includes an X-ray tube that irradiates X-rays to the subject P, and an ROI (Region Of Interest) filter and an X-ray aperture that have a function of attenuating or reducing the amount of irradiated X-rays.

[0013] An X-ray tube generates X-rays. Specifically, an X-ray tube is a vacuum tube that holds a cathode that generates thermoelectrons and an anode that receives thermoelectrons flying from the cathode and generates X-rays. The X-ray tube is connected to a high-voltage generator 11 via a high-voltage cable. A tube voltage is applied between the cathode and the anode by the high-voltage generator 11. The application of the tube voltage causes thermoelectrons to fly from the cathode to the anode. The thermoelectrons flying from the cathode to the anode cause a tube current to flow. The application of a high voltage from the high-voltage generator 11 and the supply of a filament current cause thermoelectrons to fly from the cathode to the anode, and X-rays are generated when the thermoelectrons collide with the anode.

[0014] The ROI filter is located between the X-ray tube and the X-ray aperture, and is made of a metal plate such as copper or aluminum. The ROI filter has an aperture area at least in a part of it, for example in the center, and attenuates X-rays outside the aperture area. Therefore, the ROI filter transmits all X-rays in the X-ray passing area of ​​the aperture area, and transmits X-rays in other areas with attenuation.

[0015] The X-ray aperture is located between the X-ray tube and the X-ray detector 13, and is made of a lead plate as a metal plate. The X-ray aperture blocks X-rays outside the aperture area, thereby constricting the X-rays generated by the X-ray tube so that only the area of ​​interest of the subject P is irradiated.

[0016] The X-ray detector 13 detects X-rays that have passed through the subject P. As such an X-ray detector 13, one that directly converts X-rays into electric charges and one that converts X-rays into light and then converts them into electric charges can be used. Here, the former is described as an example, but the latter is also acceptable. That is, the X-ray detector 13 includes, for example, a flat FPD (Flat Panel Detector) that converts the X-rays that have passed through the subject P into electric charges and accumulates them, and a gate driver that generates drive pulses for reading out the electric charges accumulated in the FPD. The accumulated electric charges are sequentially read out by the drive pulses supplied by the gate driver.

[0017] A projection data generating circuit and a projection data storage circuit (not shown) are provided downstream of the X-ray detector 13. The projection data generating circuit converts the digitally converted parallel signals into time-series serial signals and supplies the serial signals to the projection data storage circuit as time-series projection data. The projection data storage circuit sequentially stores the time-series projection data supplied from the projection data generating circuit to generate two-dimensional projection data. This two-dimensional projection data is stored in the memory 71.

[0018] The C-arm 14 holds the X-ray generator 12 and the X-ray detector 13 with the subject P and the tabletop 53 in between. By holding the two plates 53 facing each other, X-ray photography of the subject P on the top plate 53 can be performed. The C-arm 14 is an example of an imaging device. In FIG. 2, the C-arm 14 is close to the tabletop 53.

[0019] The C-arm 14 is held by the holder 14a so as to be rotatable around an axis in the X-direction perpendicular to both the Y-direction perpendicular to the top plate 53 and the Z-direction along the long axis of the top plate 53. The C-arm 14 has an approximately arc shape centered on the Z-direction axis, and is held by the holder 14a so as to be slidable along the approximately arc shape. That is, the C-arm 14 can perform a sliding motion around the Z-direction axis as the center of rotation. The C-arm 14 can also perform a rotating motion around the X-direction axis around the holder 14a. The combination of the sliding motion and the rotating motion makes it possible to observe X-ray images from various angles. The C-arm 14 can also rotate around the Y-direction axis, so that, for example, the rotation center axis of the above-mentioned sliding motion can be set to the X-direction.

[0020] Returning to FIG. 1, the C-arm 14 is provided with multiple power sources at appropriate locations to realize operations related to the support arm 14b under the rail r2, the X-axis, the Y-axis, and the Z-axis. These power sources constitute the C-arm drive device 142. The C-arm drive device 142 reads drive signals from the drive control function 742 and causes the C-arm 14 to perform sliding, rotational, and linear motion. Furthermore, the C-arm 14 is provided with a status detector 141 that detects its angle, posture, and position. The status detector 141 is composed of, for example, a potentiometer that detects the rotation angle and amount of movement of the C-arm 14, an encoder that is a position detection sensor, or the like.

[0021] The bed device 50 is a device for placing and moving the subject P, and is composed of a base 51 and a bed driving device. 52, a top plate 53, and a support frame 54.

[0022] The base 51 is placed on the floor surface and supports the support frame 54 so as to be movable in the vertical direction (Y direction). It is a housing that holds the

[0023] The bed driving device 52 is housed in the housing of the bed device 50 and includes a motor or actuator for moving the top 53 on which the subject P is placed in the longitudinal direction (Z direction) of the top 53. The bed driving device 52 reads a driving signal from the drive control function 742 and moves the top 53 in the horizontal or vertical direction relative to the floor surface. Similarly, the bed driving device 52 reads a driving signal from the drive control function 742 and tilts the top 53 around the short axis direction of the top 53. The bed driving device 52 may tilt the top 53 by tilting the support frame 54. The positional relationship of the imaging axis with respect to the subject P changes as the C-arm 14 or the top 53 moves. The bed driving device 52 may move the support frame 54 in the longitudinal direction of the top 53 in addition to the top 53.

[0024] The top board 53 is provided on the upper surface of the support frame 54, and is a board on which the subject P is placed. The support frame 54 movably supports a top board 53 on which the subject P is placed. In detail, the support frame 54 is provided on the upper part of the base 51, and supports the top board 53 slidably along the longitudinal direction thereof.

[0025] The console device 70 includes a memory 71, a display 72, an input interface 73, and A processing circuit 74 is provided.

[0026] The memory 71 includes a memory body such as an HDD (Hard Disk Drive) that records electrical information, and peripheral circuits such as a memory controller and a memory interface that accompany the memory body. The memory 71 stores, for example, a program executed by the processing circuitry 74, detection data received from the DAS 38, medical images generated by the processing circuitry 74, data used in processing by the processing circuitry 74, various tables, data during processing, and data after processing. Examples of medical images include CT images, 3D-CT images, 3D angio images, 2D angio images, superimposed images, and processed images. The memory 71 is an example of a storage unit.

[0027] The display 72 displays various types of information such as medical images. The display 72 outputs, for example, medical images generated by the processing circuitry 74, a GUI (Graphical User Interface) for receiving various operations from an operator, and the like. For example, the display 72 is a liquid crystal display or a CRT (Cathode Ray Tube) display. The display 72 may be provided in the X-ray CT device 30. The display 72 may be a desktop type, or may be configured as a tablet terminal or the like capable of wireless communication with the console device 70 main body. The display 72 is an example of a display unit.

[0028] The input interface 73 is used for inputting subject information, setting X-ray conditions, and transmitting various command signals. The input interface 73 is implemented by, for example, a trackball for instructing the movement of the C-arm 14 and setting a region of interest (ROI), a switch button, a mouse, a keyboard, a touchpad for performing an input operation by touching an operation surface, and a touch panel display in which a display screen and a touchpad are integrated, for example. The input interface 73 is connected to the processing circuitry 74, and converts an input operation received from an operator into an electric signal and outputs it to the processing circuitry 74. The input interface 73 may be provided in the X-ray CT device 30. The input interface 73 may be implemented by, for example, a tablet terminal capable of wireless communication with the console device 70 main body.

[0029] The processing circuitry 74 is a processor that calls and executes a program in the memory 71 to realize a system control function 741, a drive control function 742, an imaging control function 743, an image processing function 744, a storage control function 745, a display control function 746, and a designation receiving function 747 corresponding to the program. Note that the processing circuitry 74 may be configured by combining a plurality of independent processors, and each processor may execute a program to realize each function.

[0030] The system control function 741, for example, The processing circuit 74 has a function of temporarily storing information such as command signals and various initial setting conditions, and then transmitting this information to each processing function of the processing circuit 74.

[0031] The drive control function 742 includes, for example, a function for controlling the CT control device 35, the C-arm drive device 142, and the bed drive device 52 using information related to the drive of the X-ray CT device 30, the C-arm 14, and the tabletop 53 input from the input interface 73. The drive control function 742 includes, for example, a function for moving the imaging device in the reverse order of the movement path stored in the memory 71. The movement path is a movement path defined by a combination of movements of multiple movable axes of the imaging device, and is a movement path generated by the imaging device moving in response to a user's operation.

[0032] The imaging device includes a C-arm 14, an X-ray CT device 30, and a tabletop 53. The multiple movable axes of the imaging device include multiple movable axes of the C-arm 14 of the X-ray angiography device 10, and multiple movable axes of the tabletop 53. The multiple movable axes of the imaging device further include a movement axis relative to the tabletop 53 of the X-ray CT device 30 that moves in combination with the X-ray angiography device 10. The tabletop 53 is an example of a bed. Furthermore, the drive control function 742 includes a function of moving the imaging device so as to reproduce a movement path, which is a forward direction, in a reverse direction.

[0033] The drive control function 742 controls, for example, the translation and rotation of the X-ray angiography apparatus 10, the translation, rotation and tilt of the X-ray CT apparatus 30, and the translation and tilt of the bed apparatus 50. The drive control function 742 may change the height of the top plate 53 in addition to tilting the top plate 53. The tilt and height change of the top plate 53 may be performed in parallel or in series. Furthermore, the drive control function 742 performs interference control based on the set interference region so as to avoid contact between the X-ray angiography apparatus 10 and the subject P.

[0034] The imaging control function 743 includes a function for reading information from the system control function 741 and controlling X-ray conditions such as the tube voltage, tube current, and exposure time in the high voltage generator 11. The X-ray conditions may include the product (mAs) of the tube current and the exposure time.

[0035] The image processing function 744 includes, for CT imaging, a function for generating data by performing pre-processing such as logarithmic conversion processing, offset correction processing, inter-channel sensitivity correction processing, and beam hardening correction on the detection data in the memory 71 .

[0036] The storage control function 745 includes a function for storing in the memory 71 a movement path defined by a combination of movements of multiple movable axes of the imaging device, the movement path being generated by the imaging device moving in response to a user's operation. The user's operation may be a manual operation in which the user manually sets multiple movable axes of the imaging device. The user's operation may be performed during multiple movements of the imaging device in response to an instruction for auto-positioning. The user's operation may be an operation related to auto-positioning in which pre-registered operation settings of the movable axes of the imaging device are read out and executed.

[0037] The display control function 746 includes, for example, a function for reading a signal from the system control function 741, acquiring desired medical image data from the memory 71, and controlling the display on the display 72. The display control function 746 also includes a function for displaying, as a moving image, pseudo images of the imaging device corresponding to each position on the movement path stored in the memory 71 on the display 72.

[0038] The designation receiving function 747 includes a function of receiving a position designated by a user, which is one position on the movement path of the imaging device stored in the memory 71, as a stop position of the imaging device.

[0039] The X-ray diagnostic apparatus 1 according to the first embodiment has two main processes: a process for recording the movement path of an imaging apparatus that is moved manually, and a process for moving the imaging apparatus while reproducing the recorded movement path by controlling the X-ray diagnostic apparatus 1. Fig. 3 is a flow chart showing an example of a process for recording a movement path of a manually moved imaging device. Fig. 4(A) is a diagram showing the rotational movement of the C-arm 14 according to the first embodiment. Fig. 4(B) is a diagram showing the translational movement of the C-arm 14 according to the first embodiment. Fig. 5 is a diagram showing the concept of the movement path according to the first embodiment, and in particular, a diagram for explaining a movement path defined by a combination of movements of multiple movable axes of the imaging device.

[0040] This recording process is a process for recording the moving path of the imaging device by manual operation of the user. This recording process is mainly executed by the processing circuit 74 of the console device 70. The manual operation of the user is performed except when the imaging device is moving by an auto position in which the position and driving contents of the imaging device are determined in advance. That is, this recording process is applied when the user freely moves the imaging device between each auto positioning and freely changes the settings by input operation. Below, an example will be described in which the imaging device is a C-arm 14. Although a ceiling-suspended C-arm 14 is illustrated, it is also applicable to a floor-mounted C-arm or a ceiling-suspended Ω-arm.

[0041] In step S1, the memory control function 745 of the processing circuitry 74 stores the current position of the C-arm 14 (i.e., the operation start position) as the start position of the first path in the memory 71. The current position is a combination of angles and positions of multiple movable axes in the C-arm 14, and is stored in the memory 71 in a stack format with a FILO (First In Last Out) structure, for example.

[0042] In step S2, the user starts manual operation of the C-arm 14 of the X-ray angiography apparatus 10. This causes the C-arm 14 to start rotational movement or translational movement. For example, as shown in FIG. 4(A), the C-arm 14 may rotate from position (1) to position (2). As shown in FIG. 4(B), the C-arm 14 may translate from position (1) to position (3) via positions (2) and (3). The C-arm 14 may also perform a combination of rotational movement and translational movement.

[0043] In step S3, the drive control function 742 of the processing circuitry 74 judges whether the C-arm 14 is stopped. The drive control function 742 acquires, for example, detection values ​​of the rotation angle, movement amount, and position of the C-arm 14 from the status detector 141 of the X-ray angiography apparatus 10, and makes the above judgment based on these detection values. If the C-arm 14 is stopped (YES in step S3), the processing circuitry 74 proceeds to step S6. If the C-arm 14 is not stopped (NO in step S3), the processing circuitry 74 proceeds to step S4.

[0044] In step S4, the processing circuitry 74 determines whether or not a predetermined time has elapsed since the previous position of the C-arm 14 was recorded. The predetermined time is a relatively short time (e.g., 1 to 2 seconds) during which the movement path of the C-arm 14 can be uniquely reproduced from positions before and after that time. If the predetermined time has elapsed (YES in step S4), the processing circuitry 74 proceeds to step S5. If the predetermined time has not elapsed (NO in step S4), the processing circuitry 74 returns to step S3.

[0045] In step S5, the memory control function 745 of the processing circuit 74 stores the current position of the C-arm 14 in the memory 71 as an intermediate position of the first path (e.g., (1)-1, (1)-2, (1)-3, ...). That is, when the C-arm 14 is moving in response to manual operation by the user, the memory control function 745 stores in the memory 71 a combination of movements of multiple movable axes of the C-arm 14 for each predetermined time as a movement path, as shown in the left diagram of FIG. 5. The movement of the movable axes is, for example, a change in the rotation angle and movement position of the movable axes 1 to 4 before and after the predetermined time. By recording the position of the C-arm 14 for each predetermined time, the movement path of the C-arm 14 can be uniquely identified.

[0046] Conversely, even if position (2) is recorded after a predetermined time or more has elapsed from position (1) of the C-arm 14, the movement path between positions (1) and (2) cannot be uniquely specified. As shown in the right diagram of Fig. 5, for example, the actual movement path C cannot be specified by merely recording the start position (1) and end position (2) when the C-arm 14 moves, and movement on movement paths A, B or movement paths D, E, F, and G is possible. Therefore, as shown by movement path C in Fig. 5, the memory control function 745 records the position of the C-arm 14 every predetermined time (for example, ΔT). After that, the processing circuit 74 returns to step S3.

[0047] In step S6, the memory control function 745 of the processing circuitry 74 stores the current position of the C-arm 14 (ie, the operation stop position) in the memory 71 as the end position of the first path.

[0048] 4(A), if the C-arm 14 rotates from position (1) to position (2) in less than a predetermined time, the recording process in FIG. 3 repeats steps S3 and S4, and then proceeds to step S6 without proceeding to step S5. Also, if movement to any position after position (2), such as positions (3), (4), ... is added, the same process as the recording process from position (1) to position (2) is performed.

[0049] 6 is a flowchart showing an example of the reproduction and recording process of the X-ray diagnostic apparatus 1 according to the first embodiment. This reproduction and recording process is a process of moving the imaging device in the reverse order of the recorded movement path and recording the movement path in the reverse order. This reproduction and recording process is mainly executed by the processing circuitry 74 of the console device 70. Below, an example will be described in which the imaging device is the C-arm 14.

[0050] In summary, when the movement path of the C-arm 14 recorded in the recording process of Fig. 3 is the first path, the drive control function 742 moves the C-arm 14 in the reverse order of the first path. When the C-arm 14 is moving in the reverse order of the first path, the storage control function 745 further stores the movement path in the reverse order as the second path in the memory 71. This allows the drive control function 742 to further move the C-arm 14 in the reverse order of the second path. This will be described in detail below.

[0051] In step S11, the memory control function 745 of the processing circuitry 74 stores the current position of the C-arm 14 in the memory 71 as the start position of the second path (ie, the reproduction start position).

[0052] In step S12, it is determined whether or not there is a movement input to the input interface 73 of the console device 70 by the user. The input interface 73 for inputting the start of movement can be, for example, a switch type or a lever type. In the switch type, the drive control function 742 causes the C-arm driver 142 to reproduce the movement of the C-arm 14 at a predetermined speed while there is an input by the user. In the lever type, the drive control function 742 causes the C-arm driver 142 to reproduce the movement of the C-arm 14 at a speed corresponding to the inclination angle of the lever, with the predetermined speed as the upper limit of the speed, while there is an input by the user. The predetermined speed is, for example, the movement speed of the C-arm 14 during normal manual operation. In other words, the drive control function 742 moves the C-arm 14 in the reverse direction when an instruction to move the C-arm 14 in the reverse direction is continued by the user's operation.

[0053] If there is a movement input to the input interface 73 (YES in step S12), the processing circuit 74 proceeds to step S13. If there is no movement input to the input interface 73 (NO in step S12), the processing circuit 74 repeats step S12.

[0054] In step S13, the drive control function 742 of the processing circuit 74 reads out the next position from the first path stored in the memory 71, and causes the C-arm drive device 142 to start moving the C-arm 14 to that position. Since each position of the first path is stored in the memory 71 in a stack format of a FILO structure, for example, the positions are read out in the order in which they were most recently stored.

[0055] This causes the C-arm 14 to start rotating or translating. For example, as shown in Fig. 4(A), the C-arm 14 may rotate from position (2) to position (1). As shown in Fig. 4(B), the C-arm 14 may translate from position (4) to position (1) via positions (3) and (2). The C-arm 14 may also perform complex movements that combine rotation and translation by successively changing the movable axis. Note that while there is an input from the user, the drive control function 742 reproduces and moves the C-arm 14 as long as the data of the next position is stored in the memory 71. When the user releases the switch or lever, the C-arm 14 stops.

[0056] In step S14, the drive control function 742 of the processing circuitry 74 determines whether or not the C-arm 14 has reached the next position. If the C-arm 14 has reached the next position (YES in step S14), the processing circuitry 74 proceeds to step S18. If the C-arm 14 has not reached the next position (NO in step S14), the processing circuitry 74 proceeds to step S15.

[0057] In step S15, it is determined whether or not there is a movement input to the input interface 73 of the console device 70 by the user. If there is a movement input to the input interface 73 (YES in step S15), the processing circuit 74 proceeds to step S16. If there is no movement input to the input interface 73 (NO in step S15), the processing circuit 74 proceeds to step S19.

[0058] In step S16, the processing circuitry 74 determines whether or not a predetermined time has elapsed since the previous position of the C-arm 14 was recorded. If the predetermined time has elapsed (YES in step S16), the processing circuitry 74 proceeds to step S17. If the predetermined time has not elapsed (NO in step S16), the processing circuitry 74 returns to step S15.

[0059] In step S17, the memory control function 745 of the processing circuitry 74 stores the current position of the C-arm 14 as the intermediate position of the second path in the memory 71. After that, the processing circuitry 74 returns to step S15.

[0060] In step S18, the drive control function 742 of the processing circuitry 74 determines whether or not the C-arm 14 has reached the end position of the first path. If the C-arm 14 has reached the end position of the first path (YES in step S18), the processing circuitry 74 proceeds to step S19. If the C-arm 14 has not reached the end position of the first path (NO in step S18), the processing circuitry 74 returns to step S14.

[0061] In step S19, the memory control function 745 of the processing circuitry 74 stores the current position of the C-arm 14 as the end position of the second path (i.e., the reproduction end position) in the memory 71. After that, the processing circuitry 74 ends the series of processes. In addition, each position of the moving path is overwritten depending on the capacity of the storage area used for recording the moving path in the memory 71. By recording not only the first path but also the immediately preceding second path, it is possible to meet the needs of returning to the previous position or the position immediately before. Also, since the reproduction may be stopped midway and the first path and the second path are not necessarily exactly the same, it is meaningful to record the second path.

[0062] According to the above, while there is an input from the user, the C-arm 14 moves continuously from the latest recorded position of the first path to the previous recorded position, and then to the oldest recorded position. This makes it possible to reproduce the first path. Also, the user does not need to take the time to record the movement path of the C-arm 14, and can automatically move the C-arm 14 to a desired position. Furthermore, reproducing the movement path of the C-arm 14 improves usability and enables the automation of complicated operations.

[0063] Note that the forward direction of the first path can be reproduced by pressing and holding another switch (or operating a switch by changing settings, inputting the lever in the reverse direction, etc.) at any stop position of the C-arm 14 moving in the reverse order of the first path. For example, in Fig. 4(B), the C-arm 14 can stop at any position between position (4) and position (1), and then move again to position (4).

[0064] Second Embodiment In the reproduction process according to the second embodiment, the user specifies a position recorded as the stop state of the C-arm 14 as the end position, and the drive control function 742 reproduces the movement of the C-arm 14 with the specified position as the end position. That is, the specification receiving function 747 receives a position specified by the user, which is one position on the movement path of the C-arm 14 stored in the memory 71 by the recording process according to the first embodiment, as the stop position of the C-arm 14. Then, the drive control function 742 automatically moves the C-arm 14 from an arbitrary position on the movement path of the C-arm 14 to the stop position in response to a start instruction from the user. To specify the stop position, for example, a numerical value indicating the order of the position is input.

[0065] Fig. 7(A) is a diagram showing the rotational movement of the C-arm 14 according to the second embodiment, and Fig. 7(B) is a diagram showing the translational movement of the C-arm 14 according to the second embodiment.

[0066] The conditions for performing the recording process include recording the position (position (1), position (2), ...) when the C-arm 14 is stopped, and recording the position based on the movement time of the C-arm 14 (position (1)-1, position (1)-2, ..., position (2)-1, position (2)-2, ...). In this case, when recording the positions when the C-arm 14 is stopped, the order is saved as 1, 2, 3, ... starting from the oldest recorded position. The order is updated every time the C-arm 14 moves. By specifying the order, it is possible to set the end position of the C-arm 14.

[0067] For example, as shown in Fig. 7(A), when the C-arm 14 is at position (3), position (1) or (2) can be specified as the stop position. Also, as shown in Fig. 7(B), when the C-arm 14 is at position (4), position (1) or (2) can be specified as the stop position. Note that position (3) of the C-arm 14 in Fig. 7(B) is recorded as a position based on the movement time, and therefore cannot be specified as the stop position.

[0068] The reproduction process with the stop position specified is performed as follows. The user inputs a numerical value into the input interface 73 of the console device 70 (for example, inputting "1" to specify position (1)), and movement is started by inputting an operation start command. The C-arm 14 moves only while there is user input, and automatically stops when it reaches the specified position. Note that the user may input numerical values ​​and operation start commands into a tablet terminal or smartphone capable of communicating with the console device 70, instead of the input interface 73.

[0069] Since the user has manually operated the C-arm 14, it is considered that the user is aware of at least the start position (1) and end position (2) of the movement path. In addition, since the intermediate positions ((1)-1, (1)-2, ..., etc.) of the movement path are recorded at predetermined time intervals, it is considered that the user intuitively grasps the positions of the C-arm 14 corresponding to the sequential positions. However, it is considered difficult to grasp the precise intermediate positions of the C-arm 14.

[0070] Fig. 8 is a schematic diagram showing an example of a model diagram according to the second embodiment. At the same time as a numerical value indicating the order of positions is input to the console device 70, the display control function 746 may cause the display 72 to display a model diagram indicating the position of the C-arm 14 corresponding to the numerical value, as shown in Fig. 8.

[0071] This causes a model diagram showing the position of the C-arm 14 corresponding to the input numerical value to be displayed, so that the user can input the start of the operation after confirming the actual stop position, rather than relying on intuition. Note that the display control function 746 may display the model diagram on a tablet terminal or a smartphone capable of communicating with the console device 70, instead of the display 72.

[0072] Third Embodiment The X-ray diagnostic apparatus 1 according to the third embodiment displays the position of the C-arm 14 recorded in the recording process according to the first embodiment in a model diagram, which is a continuous moving image. The moving image can be changed using a seek bar 721, and a model diagram of an arbitrary position is displayed on the display 72. In this state, in response to an input to start an operation from the console device 70, the movement of the C-arm 14 is reproduced with the position of the moving image as the end position. The seek bar 721 is an example of an operation unit.

[0073] In other words, the display control function 746 further displays on the display 72 a seek bar 721 that allows the user to specify a position corresponding to any frame of the video as a stop position of the C-arm 14. The drive control function 742 moves the C-arm 14 until it reaches the specified stop position. However, the user can only specify a position recorded as the movement path as a stop position. Therefore, while an intermediate position on the movement path ((1)-1, (1)-2, ..., etc.) can be specified, for example, a position between position (1)-1 and position (1)-2 cannot be specified.

[0074] Fig. 9 is a schematic diagram showing an example of a model diagram according to the third embodiment. As shown in Fig. 9, the user operates a seek bar 721 displayed on the lower side of the display 72 to the left or right, thereby changing the display position of the moving image of the C-arm 14 also displayed on the display 72. The user indicates a desired position of the moving image, and the desired position is set as the end position of the C-arm 14 in the reproduction movement.

[0075] At this time, the user can select one of the following two paths as the movement path of the C-arm 14.

[0076] (1) Reproduced migration route As shown in the first embodiment, the C-arm 14 is moved so as to pass through the movement paths recorded in the memory 71 in order, thereby reproducing the movement paths.

[0077] (2) The shortest travel route The C-arm 14 is moved along a route with the shortest distance from the current position of the C-arm 14 to the target position. That is, the drive control function 742 moves the C-arm 14 along the shortest route from the current position to the target position, instead of the movement route stored in the memory 71, as selected by the user. For example, if the movement route is a route that moves a distance L south from the current position and then moves the same distance L east to reach the target position, the shortest route that replaces the movement route is a route that moves southeast from the current position directly to the target position. This makes it possible to meet the need to return the C-arm 14 to a specific position regardless of the route. In addition, although the shortest distance movement route is a route that the C-arm 14 has not traveled before, it is possible to select the route that takes the shortest time while ensuring safety.

[0078] Fig. 10 is a schematic diagram showing an example of a model diagram according to the third embodiment. In addition to the display form shown in Fig. 9, the display control function 746 may automatically display the positions on the video where "C-arm 14 is stopped for a predetermined time or more (Fig. 10(1))", "exposure switch ON (Fig. 10(2))", and "operated at a speed equal to or slower than a specified speed for a predetermined time or more (Fig. 10(3))". Each position may be displayed so as to be identifiable by color or shape.

[0079] 10, the display control function 746 displays, for example, three points on the seek bar 721. When the user selects one of the points, the display control function 746 displays, on the display 72, an image of the position of the video corresponding to the selected point with pinpoint accuracy.

[0080] In other words, the storage control function 745 further stores in the memory 71 a specific position on the movement path when (a) the C-arm 14 stops for a predetermined time or more, (b) X-rays are irradiated, or (c) the C-arm 14 moves for a predetermined time or more at a speed equal to or slower than a specified speed. The display control function 746 further displays on the display 72 the specific position on the moving image.

[0081] By recording the position of "operation at a speed equal to or slower than the specified speed for a given period of time or longer", it is possible to record the position of the C-arm 14 during imaging of an important portion, since it is assumed that the user will move the C-arm 14 slowly. In addition, it is possible to record the position where the user would like to reproduce the movement of the C-arm 14.

[0082] The memory control function 745 may record the final position after the C-arm 14 is moved at a speed equal to or less than the specified speed. The memory control function 745 may also record the range in which the C-arm 14 is moved at a speed equal to or less than the specified speed. In this case, the memory control function 745 may record the start position at the time when the speed becomes equal to or less than a predetermined value.

[0083] [Fourth embodiment] In the first to third embodiments, the case where the imaging device is the C-arm 14 has been described, but the first to third embodiments can also be applied to the X-ray CT device 30 and the bed device 50. That is, even when the X-ray CT device 30 and the tabletop 53 are moved in combination with the C-arm 14, the position recording process and the reproduction and recording process are performed in the same manner.

[0084] Fig. 11 is a block diagram showing the configuration of an X-ray diagnostic apparatus 1a according to the fourth embodiment. Fig. 12 is a perspective view showing the appearance of the X-ray diagnostic apparatus 1a. The X-ray diagnostic apparatus 1a includes an X-ray angiography apparatus 10, an X-ray CT apparatus 30, a bed apparatus 50, and a console apparatus 70. The apparatuses other than the X-ray CT apparatus 30 are similar to those in the first embodiment.

[0085] The X-ray CT device 30 includes an X-ray tube 31, an X-ray detector 32, a rotating frame 33, an X-ray high voltage device 34, a CT control device 35, a wedge 36, a collimator 37, and a DAS 38. Although a plurality of X-ray CT devices 30 are shown in Fig. 11 from the viewpoint of showing the relationship with the bed device 50, the embodiment uses only one X-ray CT device 30.

[0086] The X-ray tube 31 generates X-rays. Specifically, the X-ray tube 31 is a vacuum tube that holds a cathode that generates thermoelectrons and an anode that receives thermoelectrons flying from the cathode and generates X-rays. The X-ray tube 31 is connected to the X-ray high voltage device 34 via a high-voltage cable. A tube voltage is applied between the cathode and the anode by the X-ray high voltage device 34. The application of the tube voltage causes thermoelectrons to fly from the cathode to the anode. The thermoelectrons flying from the cathode to the anode cause a tube current to flow. The application of a high voltage from the X-ray high voltage device 34 and the supply of a filament current cause thermoelectrons to fly from the cathode to the anode, and X-rays are generated when the thermoelectrons collide with the anode.

[0087] The X-ray detector 32 detects X-rays irradiated from the X-ray tube 31 and passing through the subject P, and outputs an electrical signal corresponding to the X-ray dose to the DAS 38. The X-ray detector 32 has, for example, a plurality of X-ray detection element rows in which a plurality of X-ray detection elements are arranged in the channel direction along one arc centered on the focal point of the X-ray tube. The X-ray detector 32 has, for example, a structure in which a plurality of X-ray detection element rows in which a plurality of X-ray detection elements are arranged in the channel direction are arranged in the slice direction (row direction). The X-ray detector 32 is, for example, an indirect conversion type detector having a grid, a scintillator array, and a photosensor array.

[0088] The scintillator array has a plurality of scintillators, each of which has a scintillator crystal that outputs light with a photon amount corresponding to the amount of incident X-rays. The grid is placed on the X-ray incident surface of the scintillator array and has the function of absorbing scattered X-rays. The grid is a collimator (one-dimensional collimator or two-dimensional collimator). It is also called a two-dimensional collimator. The photosensor array has a function of converting the amount of light from the scintillator into an electrical signal according to the amount of light, and has photosensors such as photomultiplier tubes (PMTs).

[0089] The X-ray detector 32 may be a direct conversion type detector having a semiconductor element that converts incident X-rays into an electrical signal.

[0090] The rotating frame 33 is an annular frame that supports the X-ray tube 31 and the X-ray detector 32 rotatably around an axis in the Z direction. Specifically, the rotating frame 33 is housed in the X-ray CT device 30 and supports the X-ray tube 31 and the X-ray detector 32 that are arranged facing each other through an opening 30a. The rotating frame 33 is supported by a fixed frame (not shown) so as to be rotatable around an axis in the Z direction. The CT control device 35 rotates the rotating frame 33 around the axis in the Z direction, thereby rotating the X-ray tube 31 and the X-ray detector 32 around the axis in the Z direction. The rotating frame 33 receives power from a driving mechanism of the CT control device 35 and rotates at a constant angular velocity around the axis in the Z direction. An image field of view (FOV) is set in the opening of the rotating frame 33.

[0091] The X-ray high voltage device 34 has electric circuits such as a transformer and a rectifier, and is a high voltage generating device that generates a high voltage to be applied to the X-ray tube 31 and a filament current to be supplied to the X-ray tube 31. and an X-ray control device which controls the output voltage according to the X-rays irradiated by the X-ray tube 31. The high voltage generating device may be of a transformer type or an inverter type. The X-ray high voltage device 34 may be provided on a rotating frame 33 in the X-ray CT device 30, or may be provided on a fixed frame (not shown) in the X-ray CT device 30.

[0092] The CT control device 35 controls the X-ray high voltage device 34 and the DAS 38 to perform X-ray CT imaging according to the imaging control function 733 of the processing circuit 74 of the console device 70. The CT control device 35 has a processing circuit having a CPU and the like, and a driving mechanism such as a motor and an actuator. The processing circuit has a processor such as a CPU or MPU, and a memory such as a ROM or RAM as hardware resources. The CT control device 35 may also be realized by an ASIC, FPGA, CPLD, or SPLD.

[0093] The CT control device 35 has a function of controlling the operation of the X-ray CT device 30 and the bed device 50 upon receiving an input signal from an input interface 73 (described later) attached to the console device 70 or the X-ray CT device 30. For example, the CT control device 35 receives an input signal and controls the rotation of the rotating frame 33, the tilt of the X-ray CT device 30, and the operation of the bed device 50 and the tabletop 53. The control of tilting the X-ray CT device 30 is realized by the CT control device 35 rotating the rotating frame 33 about an axis parallel to the X-axis direction based on inclination angle (tilt angle) information inputted by the input interface 73 attached to the X-ray CT device 30. The CT control device 35 may be provided in the X-ray CT device 30 or in the console device 70.

[0094] The wedge 36 adjusts the dose of X-rays irradiated to the subject P. Specifically, the wedge 36 attenuates the X-rays so that the dose of X-rays irradiated from the X-ray tube 31 to the subject P has a predetermined distribution. For example, the wedge 36 is made of a metal plate such as aluminum, such as a wedge filter or a bow-tie filter.

[0095] The collimator 37 limits the irradiation range of the X-rays transmitted through the wedge 36. 7 supports a plurality of lead plates for shielding X-rays in a slidable manner and is formed by the plurality of lead plates. The shape of the slit is adjusted.

[0096] A DAS (Data Acquisition System) 38 acquires the incident channel output from the X-ray detector 32. By receiving information about the channel for each view period, the X-ray distribution for that view period is The DAS 38 collects detection data having digital values ​​corresponding to the amount of the detection data. The DAS 38 is realized, for example, by an ASIC equipped with circuit elements capable of generating the detection data. The detection data is transmitted to the console device 70 via a non-contact data transmission device or the like.

[0097] In addition, the X-ray CT device 30 rotates around the subject as an integrated unit of the X-ray generating unit and the X-ray detecting unit. Rotate / Rotate-Type (3rd generation CT), which rotates, has many X-ray detector elements arranged in a ring shape. Stationary / Rotary-Type (fourth type) in which the scanner is fixed and only the X-ray generator rotates around the subject. There are various types, such as CT (generation CT), and any of these types can be applied to one embodiment.

[0098] 12(A), the C-arm 14 is close to the top board 53, while the X-ray CT device 30 is away from the top board 53. In FIG. 12(B), the C-arm 14 is away from the top board 53 and retracted to the back, while the X-ray CT device 30 is close to the top board 53.

[0099] 12, the C-arm 14 can move parallel to the rails r2 provided on the ceiling along the long axis direction or the short axis direction of the tabletop 53, and can move parallel to the rails r2 along the long axis direction and the short axis direction of the tabletop 53 by a moving mechanism (not shown). The C-arm 14 is supported by a support arm 14b via a holder 14a. The support arm 14b has a substantially arc shape, and a base end is attached to the moving mechanism for the rails r2.

[0100] When the X-ray CT device 30 and the tabletop 53 are moved together with the C-arm 14, the memory 71 corresponding to the left diagram in Fig. 5 stores the movement position of the X-ray CT device 30 and the angle of the tabletop 53 at each predetermined time, together with the angle and movement position of the C-arm 14. In other words, the movements of the multiple movable axes of the imaging device are recorded for each time period sandwiched between two adjacent time axes.

[0101] According to at least one of the embodiments described above, the movement path of the imaging device can be reproduced in the X-ray diagnostic apparatus.

[0102] The drive control function 742 is an example of a movement control unit. The memory control function 745 is an example of a memory control unit. The display control function 746 is an example of a display control unit. The designation receiving function 747 is an example of a receiving unit.

[0103] Although some embodiments have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, and combinations of embodiments can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0104] 1. X-ray diagnostic equipment 10. X-ray angiography equipment 14…C-arm 30...X-ray CT device 53…Tabletop 71…Memory 72…Display 721…Seek bar 742…Drive control function 745…Memory control function 746…Display control function 747…Designation reception function

Claims

1. A storage unit; a memory control unit that stores in the memory a movement path defined by a combination of movements of a plurality of movable axes of an imaging device, the movement path being generated by moving the imaging device in response to a user's operation; and a movement control unit that moves the imaging device in a reverse order to the stored movement path; An X-ray diagnostic apparatus comprising:

2. the movement control unit moves the imaging device in a reverse direction when an instruction to move the imaging device in a reverse direction is continuously given by an operation of the user; 2. The X-ray diagnostic apparatus according to claim 1.

3. The user's operation is a manual operation in which the user manually sets the multiple movable axes.

2. The X-ray diagnostic apparatus according to claim 1.

4. the user's operation is performed during a plurality of movements of the imaging device in response to an instruction for auto-positioning; 2. The X-ray diagnostic apparatus according to claim 1.

5. The user's operation is an operation related to auto-positioning for reading and executing a previously registered operation setting of the movable axis.

2. The X-ray diagnostic apparatus according to claim 1.

6. The multiple movable axes of the imaging device include multiple movable axes of a C-arm of an X-ray angiography device and multiple movable axes of a bed.

2. The X-ray diagnostic apparatus according to claim 1.

7. The multiple movable axes of the imaging device further include a movement axis of an X-ray CT device that moves in combination with the X-ray angiography device relative to the bed.

7. The X-ray diagnostic apparatus according to claim 6.

8. The movement control unit is moving the imaging device so as to reproduce the moving path, which is a forward direction, in a reverse direction; 2. The X-ray diagnostic apparatus according to claim 1.

9. The storage control unit, storing a combination of movements of the plurality of movable axes of the imaging device as the movement path in the storage unit at predetermined time intervals; 2. The X-ray diagnostic apparatus according to claim 1.

10. a reception unit that receives a position on the movement path of the imaging device, the position being one of the stored positions and designated by the user, as a stop position of the imaging device; The movement control unit is automatically moving the imaging device from an arbitrary position on the movement path to the stop position in response to a start instruction from the user; 2. The X-ray diagnostic apparatus according to claim 1.

11. A display unit; a display control unit that causes a display unit to display, as a moving image, pseudo images of the imaging device corresponding to each position on the moving path that is stored; Further comprising:

2. The X-ray diagnostic apparatus according to claim 1.

12. The display control unit is further displaying on the display unit an operation unit that enables the user to specify a position corresponding to an arbitrary frame of the moving image as a stop position of the imaging device; The movement control unit is moving the imaging device until the imaging device reaches the designated stop position; 12. The X-ray diagnostic apparatus according to claim 11.

13. The storage control unit, (a) when the imaging device stops for a predetermined period of time or more, (b) when X-rays are irradiated, or (c) when the imaging device moves at a speed equal to or less than a specified speed for a predetermined period of time or more, a specific position on the movement path is further stored in the storage unit; The display control unit is and further displaying the specific position on the video on the display unit.

12. The X-ray diagnostic apparatus according to claim 11.

14. The storage control unit, When the moving path is a first path, when the imaging device moves in a reverse order to the first path, the moving path in the reverse order is further stored in the storage unit as a second path; The movement control unit is The imaging device may be further moved in a reverse order along the second path.

2. The X-ray diagnostic apparatus according to claim 1.

15. The movement control unit is moving the imaging device along a shortest route from a current position to a destination position, instead of the moving route stored in the storage unit, in response to a selection made by the user; 2. The X-ray diagnostic apparatus according to claim 1.

16. A method for controlling an X-ray diagnostic apparatus, comprising the steps of: a moving path defined by a combination of movements of a plurality of movable axes of an imaging device, the moving path being generated by moving the imaging device in response to a user's operation, the moving path being stored in a storage unit; moving the imaging device in a reverse order to the stored movement path; A method for controlling an X-ray diagnostic apparatus.

Images