Radiographic apparatus and radiographic system

Abstract

To provide a radiographic apparatus capable of suppressing deviation of a position of a subject on a top plate resulting from an inclination of the top plate in a predetermined direction.SOLUTION: A radiographic apparatus 1 includes: an X-ray irradiation unit 10; an X-ray detector 11; a top plate 12; a top plate driving mechanism 13; an imaging unit 14; an image processing unit 15 for acquiring presence or absence of a subject holding member 21 on the basis of images of a subject 90 and the subject holding member 21; and a control unit 16 for acquiring a non-movable direction 52 which is a direction that the subject holding member 21 is not arranged on the basis of the presence or absence of the subject holding member 21 acquired by the image processing unit 15, and performing at least either the restriction of an operation of the top plate driving mechanism 13 when a direction to incline the top plate 12 coincides with the non-movable direction 52, or the notification that the direction to incline the top plate 12 coincides with the non-movable direction 52.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an X-ray imaging device and an X-ray imaging system, and more particularly to an X-ray imaging device and an X-ray imaging system that are provided with a tabletop on which a subject sits and that perform imaging by changing the inclination of the tabletop. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been known an X-ray imaging apparatus that includes a tabletop on which a subject is placed and that performs imaging by changing the inclination of the tabletop (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses an X-ray fluoroscopy apparatus including a fluoroscopy table, an X-ray tube device, an X-ray detector, and a control unit. The fluoroscopy table disclosed in the above-mentioned Patent Document 1 includes a tabletop on which a subject is placed, a rolling mechanism for rotating the tabletop, and a grip bar for the subject to hold while the tabletop is rotating. The control unit disclosed in the above-mentioned Patent Document 1 is configured to estimate the center of gravity of the subject placed on the tabletop and control the operation of the tabletop based on the estimated center of gravity. Specifically, the control unit disclosed in the above-mentioned Patent Document 1 is configured to slow down the rotation speed of the tabletop when the center of gravity of the subject is higher than the rotation center of the tabletop and the subject is not holding the grip bar. The control unit disclosed in the above-mentioned Patent Document 1 is configured to control the rotation speed of the tabletop not to slow down when the center of gravity of the subject is lower than the rotation center of the tabletop or when the subject is holding the grip bar. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-164131 A Summary of the Invention [Problem to be solved by the invention]

[0005] Here, in the configuration disclosed in the above Patent Document 1, the rotation (movement) of the tabletop is suppressed (restricted) only when the subject's center of gravity is high and the subject is not gripping the gripping bar (subject holding member). However, although not disclosed in the above Patent Document 1, in an X-ray imaging device that rotates (tilts) the tabletop to take an image, the tabletop may be tilted in a direction in which the subject holding member is not arranged to take an image. In the configuration disclosed in the above Patent Document 1, if the subject holding member is not arranged, it is determined that the subject holding member is not being held. If it is determined that the subject holding member is not being held, the movement of the tabletop is restricted only when the subject's center of gravity is high. In addition, if the subject's center of gravity is low or if it is determined that the subject holding member is being held, the movement of the tabletop is not restricted. However, for example, when the subject holds a subject holding member arranged near the subject's waist with his / her right hand, if the tabletop tilts toward the subject's right hand, even if the subject holds the subject holding member, the subject's weight cannot be supported well, and the subject's position on the tabletop may shift. That is, regardless of whether the subject holds the subject holding member or not, the subject's position on the tabletop may shift depending on the direction in which the tabletop tilts. However, the above Patent Document 1 does not disclose a configuration for restricting the movement of the tabletop based on the direction in which the tabletop tilts. Therefore, the configuration disclosed in the above Patent Document 1 has a problem in that it is difficult to prevent the subject's position on the tabletop from shifting due to the tabletop tilting in a predetermined direction.

[0006] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide an X-ray imaging device and an X-ray imaging system that are capable of preventing the position of the subject on the tabletop from shifting due to the tabletop tilting in a predetermined direction. [Means for solving the problem]

[0007] An X-ray imaging device in a first aspect of the present invention comprises an X-ray irradiation unit that irradiates X-rays, an X-ray detector that detects X-rays irradiated from the X-ray irradiation unit, a top plate on which a subject is placed, a top plate driving mechanism that can change the inclination of the top plate, an imaging unit that photographs the subject placed on the top plate and a subject holding member that is placed on the top plate and maintains the subject's posture, an image processing unit that acquires the presence or absence of a subject holding member based on images of the subject and the subject holding member photographed by the imaging unit, and a control unit that acquires a non-movable direction in which the subject holding member is not positioned based on the presence or absence of the subject holding member acquired by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism matches the non-movable direction, and if the direction in which the top plate is tilted matches the non-movable direction, at least one of restricting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is tilted matches the non-movable direction.

[0008] An X-ray imaging system in a second aspect of the present invention comprises an X-ray irradiation unit that irradiates X-rays, an X-ray detector that detects X-rays irradiated from the X-ray irradiation unit, a top plate on which a subject is placed, a top plate driving mechanism capable of changing the inclination of the top plate, an imaging unit that photographs the subject placed on the top plate and a subject holding member that is placed on the top plate and holds the subject, an image processing unit that acquires the presence or absence of a subject holding member based on images of the subject and the subject holding member photographed by the imaging unit, and a control unit that acquires a non-movable direction in which the subject holding member is not positioned based on the presence or absence of the subject holding member acquired by the image processing unit, and determines whether the direction in which the top plate is tilted by the top plate driving mechanism matches the non-movable direction, and if the direction in which the top plate is tilted matches the non-movable direction, at least one of restricting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is tilted matches the non-movable direction. Effect of the Invention

[0009] The X-ray imaging device according to the first aspect of the present invention and the X-ray imaging system according to the second aspect of the present invention include an image processor that acquires the presence or absence of a subject holding member based on an image of the subject and the subject holding member, and a control unit that acquires an unmovable direction in which the subject holding member is not arranged based on the presence or absence of the subject holding member acquired by the image processor, determines whether the direction in which the top is tilted by the top driving mechanism coincides with the unmovable direction, and performs at least one of restricting the operation of the top driving mechanism and notifying that the top tilt direction coincides with the unmovable direction when the top tilt direction coincides with the unmovable direction. Thereby, when an operation input is made to tilt the top in a direction that coincides with the unmovable direction, the operation of the top driving mechanism is restricted or a notification is made that the top tilt direction coincides with the unmovable direction. When the operation of the top driving mechanism is restricted, it is possible to prevent the top from tilting to an angle at which the position of the subject on the top is shifted. In addition, when it is notified that the direction in which the tabletop is tilted coincides with the direction in which movement is not possible, it is possible to make the operator understand that there is a possibility that the position of the subject on the tabletop may shift, and therefore it is possible to urge the operator to stop the operation of the tabletop driving mechanism. As a result, it is possible to prevent the position of the subject on the tabletop from shifting due to the tabletop being tilted in a specific direction. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a configuration of an X-ray imaging system including an X-ray imaging apparatus according to an embodiment. [Diagram 2] 1 is a schematic diagram showing a configuration of an X-ray imaging apparatus according to an embodiment. [Diagram 3] 1 is a schematic diagram showing a configuration of an operation console provided in an X-ray imaging system according to an embodiment. [Figure 4] 4 is an enlarged schematic diagram of a second input receiving section in the operation console according to one embodiment. FIG. [Diagram 5] 3A and 3B are schematic diagrams for explaining an image captured by a capturing unit according to an embodiment. [Figure 6] 11 is a schematic diagram for explaining a configuration in which an image processing unit according to one embodiment acquires information on the presence or absence of a subject holding member, information on the position of the subject holding member, and information on the orientation of the subject. FIG. [Figure 7] 11 is a schematic diagram for explaining a configuration in which a control unit according to an embodiment acquires a direction in which movement is not possible; FIG. [Figure 8] 11 is a schematic diagram for illustrating a configuration in which a control unit according to an embodiment sets a raising / falling direction to a direction in which movement is not possible. FIG. [Figure 9] 11 is a schematic diagram for explaining a configuration in which a control unit according to an embodiment sets a reverse tilt direction as a direction in which movement is not possible. FIG. [Figure 10] 13 is a schematic diagram illustrating a configuration in which a control unit according to one embodiment sets one of the rotation directions about the head-to-foot direction as an axis to a direction in which movement is not possible. FIG. [Figure 11] 13 is a schematic diagram illustrating a configuration in which a control unit according to one embodiment sets the other of the rotation directions about the head-to-foot direction as an axis to a direction that cannot be moved. FIG. [Figure 12] 13 is a schematic diagram for explaining a configuration in which a control unit according to one embodiment notifies that the direction in which the tabletop is tilted coincides with the direction in which movement is not possible. FIG. [Figure 13] 10 is a flowchart for explaining a process in which the X-ray imaging apparatus according to an embodiment controls the operation of a tabletop. [Figure 14] 11 is a flowchart for explaining a process in which a control unit releases a prohibition on an operation of a tabletop driving mechanism according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0012] First, the configuration of an X-ray imaging system 100 including an X-ray imaging apparatus 1 according to the first embodiment will be described with reference to Fig. 1 to Fig. 12. The X-ray imaging apparatus 1 is a system that images a subject 90 (see Fig. 5) in order to confirm branching points of blood vessels into which a catheter is to be inserted when a doctor performs catheter treatment on the subject 90. In other words, the X-ray imaging apparatus 1 is a so-called fluoroscopic imaging apparatus.

[0013] As shown in FIG. 1, the X-ray imaging system 100 includes an X-ray imaging device 1 and an operation console 200.

[0014] The X-ray imaging device 1 is placed in an operating room, etc. The operation console 200 is placed in a room different from the operating room in which the X-ray imaging device 1 is placed.

[0015] 1, the X-ray imaging device 1 includes an X-ray irradiation unit 10, an X-ray detector 11, a tabletop 12, a tabletop driving mechanism 13, an imaging unit 14, an image processing unit 15, and a control unit 16. In this embodiment, the X-ray imaging device 1 includes a storage unit 17 and a display unit 18. The X-ray imaging device 1 also includes a collimator 19 and a first input receiving unit 20.

[0016] The X-ray irradiation unit 10 is configured to irradiate X-rays. The X-ray irradiation unit 10 includes an X-ray generating device such as an X-ray tube that generates X-rays when a high voltage is applied thereto.

[0017] The collimator 19 has a flat plate shape with an opening at the center. The collimator 19 is configured by forming an opening in a flat plate made of, for example, a lead material. The collimator 19 adjusts the size and shape of the opening under the control of the control unit 16, thereby adjusting the irradiation range of the X-rays irradiated from the X-ray irradiation unit 10.

[0018] The X-ray detector 11 is configured to detect X-rays irradiated from the X-ray irradiation unit 10. The X-ray detector 11 is, for example, a FPD (Flat Panel Detector), and detects X-rays that have passed through the subject 90.

[0019] The top board 12 is configured so that a subject 90 can be placed thereon. The inclination of the top board 12 can be changed by being driven by a top board driving mechanism 13. The detailed configuration of the top board 12 will be described later.

[0020] The tabletop driving mechanism 13 is configured to be able to change the inclination of the tabletop 12. The detailed configuration of the tabletop driving mechanism 13 will be described later.

[0021] The imaging unit 14 is configured to capture an image of the subject 90 placed on the tabletop 12, and a subject holding member 21 (see FIG. 2) that is disposed on the tabletop 12 and holds the posture of the subject 90. In this embodiment, the imaging unit 14 is configured to capture an optical image 30. The imaging unit 14 is, for example, an optical camera. The optical camera is, for example, an imaging device including an image sensor capable of receiving visible light, such as a CMOS (Complementary Metal Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor.

[0022] The image processing unit 15 is configured to generate an X-ray image 31 based on the X-rays detected by the X-ray detector 11. In this embodiment, the image processing unit 15 is configured to acquire the presence or absence of the subject holding member 21 based on an image (optical image 30) of the subject 90 and the subject holding member 21 captured by the imaging unit 14. Specifically, the image processing unit 15 is configured to acquire information on whether the subject holding member 21 is placed on the tabletop 12 as information 50 on the presence or absence of the subject holding member 21. In this embodiment, the image processing unit 15 is configured to acquire information 53 on the position of the subject holding member 21 and information 54 on the orientation of the subject 90. The image processing unit 15 is configured by a processor such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field-Programmable Gate Array) configured for image processing, or a circuit, and a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory). Details of the configuration in which the image processor 15 acquires information 50 on the presence or absence of the subject holding member 21, information 53 on the position of the subject holding member 21, and information 54 on the position of the subject 90 will be described later.

[0023] The control unit 16 is configured to control the entire X-ray imaging device 1. Specifically, the control unit 16 is configured to control X-ray irradiation by the X-ray irradiation unit 10, such as starting and stopping X-ray irradiation, control changing the X-ray irradiation range by the collimator 19, and control detection by the X-ray detector 11. The control unit 16 is also configured to change the inclination of the top board 12 by controlling the top board driving mechanism 13. The control unit 16 is configured with a processor such as a CPU or a circuit, and memories such as a ROM and a RAM.

[0024] The storage unit 17 is configured to store various programs executed by the control unit 16. The storage unit 17 is also configured to store an optical image 30 captured by the imaging unit 14. The storage unit 17 is also configured to store an X-ray image 31 generated by the image processing unit 15. The storage unit 17 is also configured to store a trained model 40, which will be described later. The storage unit 17 is also configured to store information 50 on the presence or absence of the subject holding member 21, information 53 on the position of the subject holding member 21, and information 54 on the orientation of the subject 90, acquired by the image processing unit 15. The storage unit 17 is also configured to store a relationship 51 between the type of the subject holding member 21 and the direction in which the top board 12 is tilted. The storage unit 17 is also configured to store a non-movable direction 52 acquired by the control unit 16. The storage unit 17 includes a non-volatile storage device, such as a hard disk drive (HDD) or a solid state drive (SSD).

[0025] The display unit 18 is configured to display the X-ray image 31. The display unit 18 is, for example, a display device such as a liquid crystal monitor or an organic EL (Electro Luminescence) monitor. In this embodiment, the display unit 18 includes a first display unit 18a included in the X-ray imaging device 1 and a second display unit 18b included in the operation console 200.

[0026] The first input receiving unit 20 is configured to receive an operation input from an operator. Specifically, the first input receiving unit 20 is configured to receive an operation input for changing the inclination of the tabletop 12. The first input receiving unit 20 includes, for example, a push button, an operating lever, and the like.

[0027] As shown in FIG. 1, the operation console 200 also includes a second input receiving section 201 and a second display section 18b.

[0028] The second input receiving unit 201 is configured to receive an operation input from an operator. Specifically, the second input receiving unit 201 is configured to receive an operation input for changing the inclination of the tabletop 12. The second input receiving unit 201 includes, for example, a push button, an operation lever 201a (see FIG. 4), and the like.

[0029] (Configuration of X-ray device and tabletop movement mechanism) As shown in FIG. 2, in the X-ray imaging device 1, the X-ray irradiation unit 10 is supported movably by the X-ray irradiation unit moving mechanism 22. The X-ray irradiation unit moving mechanism 22 is provided with a motor and an electromagnetic brake (not shown) corresponding to each of the X direction, the Y direction, and the Z direction. The X-ray irradiation unit 10 is configured to be movable in each of the X direction, the Y direction, and the Z direction by an operator. In the example shown in FIG. 2, the up-down direction is the Z direction, the up direction is the Z1 direction, and the down direction is the Z2 direction. In addition, one side of two directions mutually perpendicular to the Z direction is the X direction, and the other side is the Y direction. In addition, one side of the X direction is the X1 direction, and the other side is the X2 direction. In addition, one side of the Y direction is the Y1 direction, and the other side is the Y2 direction. In the example shown in FIG. 2, the longitudinal direction of the top board 12 is illustrated to be along the X direction.

[0030] Moreover, the X-ray irradiator 10 is configured to be rotatable around the Y-axis while being held by the X-ray irradiator moving mechanism 22. Therefore, the X-ray irradiator 10 is configured to be able to change the irradiation direction and angle of X-rays. Moreover, the X-ray irradiator moving mechanism 22 includes a motor and an electromagnetic brake (not shown) corresponding to the axis (Y-axis) around which the X-ray irradiator 10 can rotate. The X-ray irradiator moving mechanism 22 according to the first embodiment moves the X-ray irradiator 10 in a direction corresponding to the direction of the operating force input by the operator when the operator moves the X-ray irradiator 10.

[0031] 2, the X-ray imaging device 1 includes one imaging unit 14. In this embodiment, the imaging unit 14 is disposed in a housing 10a of the X-ray irradiation unit 10. Specifically, the imaging unit 14 is provided in a position facing the top board 12 in the housing 10a of the X-ray irradiation unit 10.

[0032] The top board 12 has a support surface 12a on which a subject 90 (see FIG. 5) is placed. The top board 12 is configured to be movable in each of the X, Y, and Z directions by a top board driving mechanism 13. The top board 12 is configured to be rotatable in a rotational direction around the X-axis by the top board driving mechanism 13. The top board 12 is configured to be rotatable in a rotational direction around the Y-axis by the top board driving mechanism 13.

[0033] The tabletop driving mechanism 13 is configured to be able to move the tabletop 12 in each of the X, Y, and Z directions. The tabletop driving mechanism 13 is provided with a motor and an electromagnetic brake (not shown) corresponding to each of the X, Y, and Z directions. The tabletop driving mechanism 13 is configured to be able to rotate the tabletop 12 in a rotation direction around the X-axis. The tabletop driving mechanism 13 is configured to be able to rotate the tabletop 12 in a rotation direction around the Y-axis. The tabletop driving mechanism 13 is provided with a motor and an electromagnetic brake for rotating the tabletop 12 corresponding to each of the two axes (Y-axis and Z-axis) about which the tabletop 12 can rotate. When the operator moves the tabletop 12, the tabletop driving mechanism 13 according to the first embodiment moves the tabletop 12 and changes the inclination of the tabletop 12 in a direction according to the direction of the operating force input by the operator via the first input receiving unit 20 or the second input receiving unit 201 (see FIG. 1).

[0034] 2, the first display unit 18a is disposed in a position in the operating room where an operator such as a doctor can check the X-ray image 31 (see FIG. 1). The first display unit 18a is held, for example, by a suspension device (not shown) provided on the ceiling of the operating room. The first display unit 18a may be configured to be movable and held by a device that holds the display unit.

[0035] 2, the subject holding member 21 includes at least one of a shoulder rest 21a, a grip bar 21b, and a footstool 21c. In the example shown in FIG. 2, the subject holding member 21 includes all of the shoulder rest 21a, the grip bar 21b, and the footstool 21c.

[0036] The shoulder rest 21a is configured to support the posture of the subject 90 when the tabletop 12 is inclined in the reverse direction (the tabletop 12 is tilted in a direction that lowers the head 90a (see FIG. 5) of the subject 90 (see FIG. 5) and raises the feet 90b (see FIG. 5)). In this embodiment, the shoulder rest 21a is configured to be manually attached to and detached from the tabletop 12 by the operator. The position of the shoulder rest 21a on the tabletop 12 is also manually changeable by the operator.

[0037] Furthermore, grip bar 21b is provided so that subject 90 can grasp it when tabletop 12 is tilted. Grip bar 21b can support the posture of subject 90 by being grasped by subject 90. In this embodiment, grip bar 21b is configured so as to be manually attached and detached from tabletop 12 by an operator. Furthermore, grip bar 21b is configured so that its position on tabletop 12 can be manually changed by an operator.

[0038] The footstool 21c is configured to support the posture of the subject 90 when the top board 12 is tilted up (the top board 12 is tilted in a direction to raise the head 90a of the subject 90 and lower the feet 90b). In this embodiment, the footstool 21c is configured to be manually attached to and detached from the top board 12 by an operator. The footstool 21c is also configured to be manually changeable in position on the top board 12 by an operator.

[0039] (operation console) Fig. 3 is a schematic diagram of the operation console 200 seen from an oblique direction. As shown in Fig. 3, the operation console 200 has a second input receiving unit 201, a placement surface 200a on which the second display unit 18b is placed, and a support member 200b that supports the placement surface 200a.

[0040] 3, the second input receiving unit 201 is disposed on the placement surface 200a of the operation table 200. In addition, the second display unit 18b is disposed on the placement surface 200a of the operation table 200.

[0041] (Second input receiving unit) Fig. 4 is an enlarged view of the operation console 200 (see Fig. 3) showing the vicinity of the second input receiving unit 201. As shown in Fig. 4, the second input receiving unit 201 includes an operation lever 201a.

[0042] The operation lever 201a is configured to receive an operation input for changing the inclination of the tabletop 12 (see FIG. 2). The control unit 16 (see FIG. 1) is configured to change the inclination of the tabletop 12 based on the operation input received by the operation lever 201a. That is, the control unit 16 performs control to tilt the tabletop 12 in a direction corresponding to the direction in which the operation lever 201a is tilted.

[0043] (Optical image) The optical image 30 shown in Fig. 5 is an image captured by the imaging unit 14 (see Fig. 1). In the example shown in Fig. 5, the optical image 30 shows the tabletop 12, the subject 90, and the subject holding member 21. Specifically, the optical image 30 shows the subject 90, a pair of shoulder rests 21a, a pair of grip bars 21b, and the footstool 21c.

[0044] Here, when tilting the top board 12, if the subject holding member 21 is not arranged in a position corresponding to the tilting direction, the subject 90 may fall off the top board 12. For example, the subject 90 may fall off the top board 12 if the step 21c is not arranged when the top board 12 is raised or lowered, if the shoulder rest 21a is not arranged when the top board 12 is tilted backwards, or if the grip bar 21b is not arranged when the top board 12 is rotated around the X-axis.

[0045] Therefore, in this embodiment, the control unit 16 (see FIG. 1) is configured to restrict the operation of the top driving mechanism 13 (see FIG. 2) when the position of the subject 90 on the top 12 may be shifted due to tilting of the top 12, or to notify that the position of the subject 90 on the top 12 may be shifted due to tilting of the top 12. Specifically, the control unit 16 is configured to acquire a non-movable direction 52 (see FIG. 1) in which the subject holding member 21 is not arranged, based on the presence or absence of the subject holding member 21 acquired by the image processing unit 15 (see FIG. 1). In addition, the control unit 16 is configured to determine whether or not the direction in which the top 12 is tilted by the top driving mechanism 13 coincides with the non-movable direction 52. In addition, the control unit 16 is configured to at least one of restricting the operation of the tabletop driving mechanism 13 and notifying the user that the direction in which the tabletop 12 is tilted and the direction in which movement is not permitted 52 coincide when the direction in which the tabletop 12 is tilted coincides with the direction in which movement is not permitted 52.

[0046] (Acquisition of presence and position of subject holding member and subject's orientation) A configuration in which the image processor 15 acquires the presence or absence of the subject holding member 21 (see FIG. 5) will be described with reference to FIG. 6. In this embodiment, as shown in FIG. 6, the image processor 15 acquires the presence or absence of the subject holding member 21 based on an optical image 30 of the subject 90 (see FIG. 5) and the subject holding member 21 captured by the imaging unit 14 (see FIG. 1). Specifically, the image processor 15 is configured to acquire the presence or absence of the subject holding member 21 by acquiring whether or not at least one of the shoulder rest 21a (see FIG. 5), the grip bar 21b (see FIG. 5), and the footrest 21c (see FIG. 5) is placed on the top board 12. In this embodiment, the image processor 15 is configured to acquire information 50 on the presence or absence of the subject holding member 21 based on the presence or absence of the subject holding member 21. For example, the image processing unit 15 acquires information as to whether or not a shoulder rest 21a is placed, information as to whether or not a gripping bar 21b is placed, and information as to whether or not a step 21c is placed, as information 50 as to the presence or absence of the subject holding member 21.

[0047] In the present embodiment, the image processing unit 15 is configured to acquire the orientation of the subject 90 on the tabletop 12 and the position of the subject holding member 21, as well as the presence or absence of the subject holding member 21, based on the optical image 30 of the subject 90 and the subject holding member 21 captured by the imaging unit 14. In the present embodiment, the image processing unit 15 is configured to acquire position information 53 of the subject holding member 21 and orientation information 54 of the subject 90. For example, the image processing unit 15 acquires, as the orientation information 53 of the subject 90, which side of the X direction the head 90a of the subject 90 (see FIG. 5) is located on. In addition, the image processing unit 15 is configured to acquire, as the position information 53 of the subject holding member 21, the position coordinates of the position where the subject holding member 21 is captured in the optical image 30.

[0048] In the present embodiment, the image processing unit 15 is configured to acquire the position of the subject holding member 21 by using the trained model 40 that has been trained to acquire the position of the subject holding member 21 on the tabletop 12 (see FIG. 5). The image processing unit 15 is also configured to acquire the orientation of the subject 90 by using the trained model 40. That is, the trained model 40 is generated by training to acquire the position of the subject holding member 21 and the orientation of the subject 90. The X-ray irradiation unit 10 may irradiate X-rays in a state facing the tabletop 12 and in a state tilted with respect to the tabletop 12. Therefore, when generating the trained model 40, it is preferable to generate the trained model 40 using an image taken from a position facing the tabletop 12 and an image taken from an oblique direction with respect to the tabletop 12.

[0049] In this embodiment, the image processing unit 15 is configured to store in the memory unit 17 the acquired information 50 regarding the presence or absence of the subject holding member 21, information 53 regarding the position of the subject holding member 21, and information 54 regarding the orientation of the subject 90.

[0050] (Getting the direction of immovable area) Next, a configuration in which the control unit 16 (see FIG. 7) acquires the non-movable direction 52 (see FIG. 7) will be described with reference to FIGS. 7 to 11. FIG.

[0051] The control unit 16 judges whether or not the corresponding subject holding members 21 (see FIG. 5) among the shoulder rests 21a (see FIG. 5), the gripping bars 21b (see FIG. 5), and the footstool 21c (see FIG. 5) are arranged in a position corresponding to the tilting direction of the top board 12 (see FIG. 5). The control unit 16 is configured to set the direction in which the corresponding subject holding members 21 among the shoulder rests 21a, the gripping bars 21b, and the footstool 21c are not arranged in a position corresponding to the tilting direction of the top board 12 as the non-movable direction 52.

[0052] Even when the subject holding member 21 is arranged on the top board 12, the position of the subject 90 on the top board 12 may be displaced due to tilting of the top board 12 depending on the orientation of the subject 90 and the position of the subject holding member 21. For example, when the step 21c is arranged on the side of the head 90a (see FIG. 8) of the subject 90 and the grip bar 21b is arranged at a position that the subject 90 cannot grasp, if the top board 12 is tilted to raise the head 90a of the subject 90, the position of the subject 90 on the top board 12 may be displaced. Therefore, in this embodiment, the control unit 16 is configured to set the non-movable direction 52 based on the orientation of the subject 90 on the top board 12 and the presence and position of the subject holding member 21.

[0053] In this embodiment, the control unit 16 sets the non-movement direction 52 based on information 50 on the presence or absence of the subject holding member 21, information 53 on the position of the subject holding member 21, and information 54 on the orientation of the subject 90, which are stored in the storage unit 17. The control unit 16 is also configured to store the set non-movement direction 52 in the storage unit 17.

[0054] FIG. 8 is a schematic diagram of the tabletop 12 on which the subject 90 is placed, viewed from the Y2 direction side. As shown in FIG. 8, the tabletop 12 has a shoulder rest 21a disposed near the head 90a of the subject 90. As shown in FIG. 8, the tabletop 12 has a grip bar 21b disposed near the foot 90b of the subject 90. In other words, the grip bar 21b is disposed at a position where the subject 90 cannot grasp it. In the example shown in FIG. 8, the step 21c (see FIG. 5) is not disposed. As shown in FIG. 8, when the step 21c is not disposed at a position where the subject 90 can be supported and the grip bar 21b is not disposed at a position where the subject 90 can grasp it, when the tabletop 12 is tilted in the upright direction (the direction of rotation indicated by the arrow 71a around the rotation center 70a), the position of the subject 90 on the tabletop 12 may be shifted due to the tabletop 12 tilting. Therefore, when the step 21c is not placed in a position capable of supporting the subject 90 and the grip bar 21b is not placed in a position capable of being grasped by the subject 90, the control unit 16 sets the raising and lowering direction to the non-moving direction 52.

[0055] Fig. 9 is a schematic diagram of the tabletop 12 on which the subject 90 is placed, viewed from the Y2 direction side. As shown in Fig. 9, a footstool 21c is arranged on the tabletop 12 near the feet 90b of the subject 90. Also, as shown in Fig. 9, a grip bar 21b is arranged on the tabletop 12 near the feet 90b of the subject 90. In other words, the grip bar 21b is arranged in a position where the subject 90 cannot grasp it. Also, in the example shown in Fig. 9, a shoulder rest 21a (see Fig. 8) is not arranged near the head 90a of the subject 90. 9, when shoulder rest 21a is not placed at a position where subject 90 can be supported and grip bar 21b is not placed at a position where subject 90 can hold it, if tabletop 12 is tilted in the reverse tilt direction (rotation direction indicated by arrow 71b around rotation center 70b), the position of subject 90 on tabletop 12 may shift due to the tilt of tabletop 12. Therefore, when shoulder rest 21a is not placed at a position where subject 90 can be supported and grip bar 21b is not placed at a position where subject 90 can hold it, control unit 16 sets the reverse tilt direction of tabletop 12 to non-movable direction 52.

[0056] FIG. 10 is a schematic diagram of the tabletop 12 on which the subject 90 is placed, viewed from the X1 direction side. As shown in FIG. 10, the tabletop 12 does not have a shoulder rest 21a (see FIG. 8) and a footrest 21c (see FIG. 9). In the example shown in FIG. 10, the tabletop 12 has a grip bar 21b disposed near the foot 90b (see FIG. 9) of the subject 90. In other words, the grip bar 21b is disposed in a position where the subject 90 cannot grasp it. In FIG. 10, the grip bar 21b is illustrated with a broken line to indicate that the subject 90 cannot grasp it. As shown in FIG. 10, when the grip bar 21b is not disposed in a position where the subject 90 can grasp it, when the tabletop 12 is tilted in the direction indicated by the arrow 71c around the rotation center 70c, the position of the subject 90 on the tabletop 12 may be shifted due to the tabletop 12 tilting.

[0057] FIG. 11 is a schematic diagram of the tabletop 12 on which the subject 90 is placed, viewed from the X1 direction side. As shown in FIG. 11, the tabletop 12 does not have a shoulder rest 21a (see FIG. 8) and a footrest 21c (see FIG. 9). In the example shown in FIG. 11, the tabletop 12 has a grip bar 21b disposed near the foot 90b (see FIG. 9) of the subject 90. In other words, the grip bar 21b is disposed in a position where the subject 90 cannot grasp it. In FIG. 11, the grip bar 21b is illustrated with a broken line to indicate that the subject 90 cannot grasp it. As shown in FIG. 11, when the grip bar 21b is not disposed in a position where the subject 90 can grasp it, when the tabletop 12 is tilted in the direction indicated by the arrow 71d around the rotation center 70d, the position of the subject 90 on the tabletop 12 may be shifted due to the tabletop 12 tilting. Therefore, when the grip bar 21b is not positioned at a position where the subject 90 can grasp it, the control unit 16 sets the direction of rotation about the X-axis to the non-movable direction 52.

[0058] (Limitation of operation of tabletop drive mechanism) In this embodiment, the control unit 16 is configured to acquire a non-movable direction 52 (see FIG. 7) in which the subject holding member 21 is not placed, based on the presence or absence of the subject holding member 21 (see FIG. 5) acquired by the image processing unit 15 (see FIG. 1). In addition, in this embodiment, the control unit 16 is configured to determine whether or not the direction in which the top board 12 (see FIG. 2) is tilted by the top board driving mechanism 13 (see FIG. 2) coincides with the non-movable direction 52. In addition, when the direction in which the top board 12 is tilted coincides with the non-movable direction 52, the control unit 16 is configured to at least one of restricting the operation of the top board driving mechanism 13 and notifying that the direction in which the top board 12 is tilted coincides with the non-movable direction 52.

[0059] In this embodiment, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 when the direction in which the top plate 12 is tilted coincides with the non-movable direction 52. Specifically, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 by prohibiting the top plate driving mechanism 13 from tilting the top plate 12 or by reducing the speed at which the top plate driving mechanism 13 tilts the top plate 12. More specifically, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 by prohibiting the top plate driving mechanism 13 from tilting the top plate 12. That is, in this embodiment, the control unit 16 performs control not to move the top plate 12 even when an operation input is made to tilt the top plate 12 in the non-movable direction 52.

[0060] Here, depending on the facility such as a hospital where the X-ray imaging device 1 (see FIG. 1) is used, when a doctor or the like is present near the X-ray imaging device 1, the doctor or the like may desire to tilt the top plate 12 in the non-movable direction 52. For example, even if the footstool 21c (see FIG. 5) is not provided, the doctor or the like may desire to tilt the top plate 12 when the angle of tilting the top plate 12 is small. Therefore, in this embodiment, the control unit 16 is configured to allow the movement of the top plate 12 in the non-movable direction 52 even when the tilting direction of the top plate 12 coincides with the non-movable direction 52, as long as the movement in the non-movable direction 52 is permitted in the relationship 51 (see FIG. 1) between the type of the subject holding member 21 and the tilting direction of the top plate 12 stored in the storage unit 17 (see FIG. 1).

[0061] In this embodiment, the control unit 16 is configured to store in advance in the storage unit 17 a relationship 51 between the type of subject holding member 21 and the tilt direction of the top board 12 based on an operation input by the operator. The relationship 51 between the type of subject holding member 21 and the tilt direction of the top board 12 is information indicating the relationship between the subject holding member 21 and the tilt direction of the top board 12 for permitting movement of the top board 12 in a direction that is normally set as a non-movable direction 52. For example, when the movement of the top board 12 in the upright direction is permitted even when the foot stool 21c is not arranged on the foot 90b side of the subject 90, the control unit 16 stores in the storage unit 17 information permitting movement of the top board 12 in the upright direction even when the foot stool 21c is not arranged as the relationship 51 between the type of subject holding member 21 and the tilt direction of the top board 12.

[0062] (Notification that the direction in which the tabletop is tilted matches the direction in which it cannot be moved) In the present embodiment, the control unit 16 is configured to notify that the tilt direction of the top board 12 coincides with the non-movable direction 52. In the present embodiment, when the tilt direction of the top board 12 coincides with the non-movable direction 52, after an operation input to move the top board 12 is made to the top board driving mechanism 13, the control unit 16 is configured to restrict the movement of the top board 12 by the top board driving mechanism 13 and to notify that the tilt direction of the top board 12 coincides with the non-movable direction 52. Specifically, the control unit 16 is configured to notify that the tilt direction of the top board 12 coincides with the non-movable direction 52 by displaying on the display unit 18 that the tilt direction of the top board 12 coincides with the non-movable direction 52.

[0063] More specifically, as shown in FIG. 12, the control unit 16 (see FIG. 1) notifies the user that the tilt direction of the top board 12 (see FIG. 1) coincides with the non-movable direction 52 (see FIG. 1) by displaying a screen 60 on the display unit 18 (see FIG. 1) indicating that the tilt direction of the top board 12 (see FIG. 1) coincides with the non-movable direction 52. In this embodiment, the control unit 16 is configured to display the screen 60 on both the first display unit 18a and the second display unit 18b. The control unit 16 may be configured to display the screen 60 on either the first display unit 18a or the second display unit 18b.

[0064] As shown in FIG. 12, a screen 60 displays a message 60a indicating that the direction in which the tabletop 12 is to be tilted matches the immovable direction 52, and a confirmation button 60b.

[0065] The confirmation button 60b is a push button of a GUI (Graphical User Interface). When the confirmation button 60b is pressed, the control unit 16 determines that the operator has confirmed the message 60a.

[0066] (Removal of restrictions on tabletop movement) In this embodiment, the control unit 16 is configured to continue the prohibition of the top board driving mechanism 13 from tilting the top board 12 after prohibiting the operation of tilting the top board 12 until an operation input by the operator for lifting the restriction on the operation of the top board 12 is received. For example, when the confirmation button 60b shown on the screen 60 is pressed, the control unit 16 determines that an operation input for lifting the restriction on the operation of the top board 12 has been received, and releases the prohibition of the top board driving mechanism 13 from tilting the top board 12. Note that the control unit 16 may release the prohibition of the top board driving mechanism 13 from tilting the top board 12 based on the fact that the operator releases his / her hand from the first input receiving unit 20 (see FIG. 1) or the second input receiving unit 201 (see FIG. 1) once, and then the first input receiving unit 20 or the second input receiving unit 201 receives an operation input again. The control unit 16 may be configured to release the prohibition of the top board driving mechanism 13 from tilting the top board 12 when the operator performs an intended operation.

[0067] (Processing that controls the operation of the top plate) Next, with reference to FIG. 13, a process in which the X-ray imaging apparatus 1 (see FIG. 1) according to this embodiment controls the operation of the tabletop 12 (see FIG. 2) will be described.

[0068] In step 101, the imaging unit 14 (see FIG. 1) acquires an optical image 30 (see FIG. 5). Specifically, the imaging unit 14 captures the optical image 30 in which the subject holding member 21 (see FIG. 5) and the subject 90 (see FIG. 5) are shown.

[0069] In step 102, the image processing unit 15 (see FIG. 6) acquires the presence or absence of the subject holding member 21. Specifically, as shown in FIG. 6, the image processing unit 15 acquires the presence or absence of the subject holding member 21 based on the optical image 30 and the trained model 40 (see FIG. 6). In this embodiment, the image processing unit 15 acquires information 50 (see FIG. 6) regarding the presence or absence of the subject holding member 21. Note that, when the information 50 regarding the presence or absence of the subject holding member 21 is acquired and stored in the memory unit 17 (see FIG. 6), the image processing unit 15 may acquire the information 50 regarding the presence or absence of the subject holding member 21 from the memory unit 17.

[0070] Furthermore, in step 102, the image processing unit 15 acquires the position of the subject holding member 21. Specifically, the image processing unit 15 acquires position information 53 (see FIG. 6 ) of the subject holding member 21 based on the optical image 30 and the trained model 40. Note that, when the position information 53 of the subject holding member 21 is stored in the storage unit 17, the image processing unit 15 may acquire the position information 53 of the subject holding member 21 from the storage unit 17.

[0071] Furthermore, in step 102, the image processing unit 15 acquires information 54 on the orientation of the subject 90. Specifically, the image processing unit 15 acquires information 54 on the orientation of the subject 90 (see FIG. 6 ) based on the optical image 30 and the trained model 40. Note that, when the information 54 on the orientation of the subject 90 is stored in the storage unit 17, the image processing unit 15 may acquire the information 54 on the orientation of the subject 90 from the storage unit 17.

[0072] In step 103, the control unit 16 (see FIG. 1) acquires a relationship 51 (see FIG. 1) between the type of subject holding member 21 and the tilt direction of the top board 12. Specifically, the control unit 16 acquires the relationship 51 between the type of subject holding member 21 and the tilt direction of the top board 12 stored in the storage unit 17 (see FIG. 1).

[0073] In step 104, the control unit 16 acquires the non-movement direction 52 (see FIG. 7). Specifically, as shown in FIG. 7, the control unit 16 acquires the non-movement direction 52 based on information 50 on the presence or absence of the subject holding member 21, information 53 on the position of the subject holding member 21, and information 54 on the orientation of the subject 90. Note that when the non-movement direction 52 is stored in the storage unit 17, the control unit 16 may acquire the non-movement direction 52 from the storage unit 17.

[0074] In step 105, the control unit 16 determines whether or not there has been an operation input to change the inclination of the tabletop 12. If there has been an operation input to change the inclination of the tabletop 12, the process proceeds to step 106. If there has been no operation input to change the inclination of the tabletop 12, the process of step 105 is repeated.

[0075] In step 106, the control unit 16 determines whether or not the direction in which the top board 12 is tilted matches the non-movable direction 52. If the direction in which the top board 12 is tilted matches the non-movable direction 52, the process proceeds to step 107. If the direction in which the top board 12 is tilted does not match the non-movable direction 52, the process ends. In other words, if the direction in which the top board 12 is tilted does not match the non-movable direction 52, the control unit 16 tilts the top board 12 based on the operation input.

[0076] In step 107, the control unit 16 determines whether or not tilting the top board 12 in the non-movable direction 52 is permitted. Specifically, the control unit 16 determines whether or not tilting the top board 12 in the non-movable direction 52 is permitted based on the non-movable direction 52, the type of the subject holding member 21, and the relationship 51 between the tilting direction of the top board 12. If tilting the top board 12 in the non-movable direction 52 is permitted, the process ends. In other words, if tilting the top board 12 in the non-movable direction 52 is permitted, the control unit 16 tilts the top board 12 based on the operation input. If tilting the top board 12 in the non-movable direction 52 is not permitted, the process proceeds to step 108.

[0077] In step 108, the control unit 16 restricts the operation of the tabletop driving mechanism 13 (see FIG. 1). In this embodiment, the control unit 16 restricts the operation of the tabletop driving mechanism 13 by prohibiting the operation of the tabletop driving mechanism 13.

[0078] In step 109, the control unit 16 notifies the user that the tilt direction of the tabletop 12 coincides with the non-movable direction 52. Specifically, the control unit 16 notifies the user that the tilt direction of the tabletop 12 coincides with the non-movable direction 52 by displaying a message 60a (see FIG. 12) on the display unit 18 (see FIG. 1) indicating that the tilt direction of the tabletop 12 coincides with the non-movable direction 52. Thereafter, the process ends.

[0079] It should be noted that either the process in step 103 or the process in step 104 may be executed first.

[0080] Next, with reference to FIG. 14, a process in which the control unit 16 (see FIG. 1) releases restrictions on the operation of the tabletop driving mechanism 13 (see FIG. 1) will be described.

[0081] In step 110, the control unit 16 determines whether or not an operation input has been made by the operator. Specifically, the control unit 16 determines whether or not the confirmation button 60b on the screen 60 shown in Fig. 12 has been pressed. Note that the control unit 16 may determine whether or not an operation input has been made by the first input receiving unit 20 (see Fig. 1) or the second input receiving unit 201 (see Fig. 1) again after the hand has been released from the first input receiving unit 20 or the second input receiving unit 201. If an operation input has been made by the operator, the process proceeds to step 111. If an operation input has not been made by the operator, the process of step 110 is repeated.

[0082] In step 111, the control unit 16 releases the restriction on the operation of the tabletop driving mechanism 13. Specifically, the control unit 16 releases the prohibition on the operation of the tabletop driving mechanism 13. After that, the process ends.

[0083] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0084] In this embodiment, as described above, the X-ray imaging device 1 includes an X-ray irradiation unit 10 that irradiates X-rays, an X-ray detector 11 that detects X-rays irradiated from the X-ray irradiation unit 10, a top plate 12 on which a subject 90 is placed, a top plate driving mechanism 13 that can change the inclination of the top plate 12, an imaging unit 14 that images the subject 90 placed on the top plate 12 and a subject holding member 21 that is placed on the top plate 12 and maintains the posture of the subject 90, and an image processing unit 15 that acquires the presence or absence of the subject holding member 21 based on an image (optical image 30) of the subject 90 and the subject holding member 21 captured by the imaging unit 14. and a control unit 16 which acquires a non-movable direction 52 in which the subject holding member 21 is not positioned based on the presence or absence of a subject holding member 21 acquired by the image processing unit 15, and determines whether the direction in which the top board 12 is tilted by the top board driving mechanism 13 matches the non-movable direction 52, and if the direction in which the top board 12 is tilted matches the non-movable direction 52, at least one of restricting the operation of the top board driving mechanism 13 and notifying the user that the direction in which the top board 12 is tilted matches the non-movable direction 52.

[0085] As a result, when an operation input is made to tilt the top 12 in a direction that coincides with the non-movable direction 52, the operation of the top driving mechanism 13 is restricted or a notification is given that the direction in which the top 12 is tilted coincides with the non-movable direction 52. When the operation of the top driving mechanism 13 is restricted, it is possible to prevent the top 12 from tilting to an angle at which the position of the subject 90 on the top 12 is displaced. In addition, when it is notified that the direction in which the top 12 is tilted coincides with the non-movable direction 52, it is possible to make the operator understand that the position of the subject 90 on the top 12 may be displaced, and therefore it is possible to prompt the operator to stop the operation of the top driving mechanism 13. As a result, it is possible to prevent the position of the subject 90 on the top 12 from being displaced due to the top 12 tilting in a predetermined direction.

[0086] In addition, in this embodiment, as described above, the X-ray imaging system 100 includes the X-ray irradiation unit 10 that irradiates X-rays, the X-ray detector 11 that detects the X-rays irradiated from the X-ray irradiation unit 10, the top board 12 on which the subject 90 is placed, the top board driving mechanism 13 that can change the inclination of the top board 12, the imaging unit 14 that images the subject 90 placed on the top board 12 and the subject holding member 21 that is placed on the top board 12 and holds the subject 90, and an image acquisition unit 15 that acquires the presence or absence of the subject holding member 21 based on the image (optical image 30) of the subject 90 and the subject holding member 21 captured by the imaging unit 14. The apparatus is equipped with an image processing unit 15, and a control unit 16 which acquires a non-movable direction 52 in which the subject holding member 21 is not positioned based on the presence or absence of a subject holding member 21 acquired by the image processing unit 15, and determines whether the direction in which the top plate 12 is tilted by the top plate driving mechanism 13 coincides with the non-movable direction 52, and if the direction in which the top plate 12 is tilted coincides with the non-movable direction 52, at least one of restricting the operation of the top plate driving mechanism 13 and notifying that the direction in which the top plate 12 is tilted coincides with the non-movable direction 52.

[0087] This makes it possible to provide an X-ray imaging system 100 that, similar to the X-ray imaging device 1, can prevent the position of the subject 90 on the tabletop 12 from shifting due to the tabletop 12 tilting in a predetermined direction.

[0088] In addition, in the above embodiment, the following additional effects can be obtained by configuring as follows.

[0089] That is, in this embodiment, as described above, the control unit 16 is configured to restrict the movement of the top 12 by the top driving mechanism 13 when the tilt direction of the top 12 coincides with the non-movable direction 52, and to notify the operator that the tilt direction of the top 12 coincides with the non-movable direction 52. This allows the operator to understand that the tilt direction of the top 12 coincides with the non-movable direction 52 after restricting the movement of the top 12, and that the position of the subject 90 on the top 12 may be shifted due to the tilt of the top 12. As a result, it is possible to allow the operator to understand that the tilt direction of the top 12 coincides with the non-movable direction 52 while the movement of the top driving mechanism 13 is restricted, and therefore it is possible to further suppress the position of the subject 90 on the top 12 from being shifted.

[0090] In addition, in this embodiment, as described above, the subject holding member 21 includes at least one of the shoulder rest 21a, the grip bar 21b, and the step 21c, and the image processing unit 15 is configured to obtain the presence or absence of the subject holding member 21 by obtaining whether or not at least one of the shoulder rest 21a, the grip bar 21b, and the step 21c is placed on the tabletop 12, and the control unit 16 is configured to determine whether or not the corresponding subject holding member 21 among the shoulder rest 21a, the grip bar 21b, and the step 21c is placed in a position corresponding to the direction in which the tabletop 12 is tilted, and to set the direction in which the corresponding subject holding member 21 among the shoulder rest 21a, the grip bar 21b, and the step 21c is not placed in a position corresponding to the direction in which the tabletop 12 is tilted as the non-movable direction 52. As a result, the direction in which the shoulder rest 21a, the gripping bar 21b, and the step 21c are not positioned is set as the non-movable direction 52, so that in an X-ray imaging device 1 in which a subject holding member 21 including any of the shoulder rest 21a, the gripping bar 21b, and the step 21c is positioned and imaging is performed, it is possible to easily prevent the position of the subject 90 on the tabletop 12 from shifting due to the tabletop 12 tilting in a direction in which the subject holding member 21 including any of the shoulder rest 21a, the gripping bar 21b, and the step 21c is not positioned.

[0091] In this embodiment, as described above, the image processor 15 is configured to acquire the orientation of the subject 90 on the tabletop 12 and the position of the subject holding member 21, as well as the presence or absence of the subject holding member 21, based on the image (optical image 30) of the subject 90 and the subject holding member 21 captured by the imaging unit 14, and the controller 16 is configured to set the non-movable direction 52 based on the orientation of the subject 90 on the tabletop 12 and the presence or absence and position of the subject holding member 21. Here, when capturing an image of the subject 90, the subject 90 may be placed on the tabletop 12 with the head and feet facing in the opposite direction. In this case, the position of the subject holding member 21 must also be determined according to the orientation of the subject 90. In addition, the position of the subject holding member 21 must be adjusted depending on the height of the subject 90. Therefore, as described above, by setting the non-movable direction 52 based on the orientation of the subject 90 on the tabletop 12 and the position of the subject holding member 21 as well as the presence or absence of the subject holding member 21, the non-movable direction 52 can be set with higher accuracy according to the orientation of the subject 90 and the position of the subject holding member 21. As a result, it is possible to further suppress the position of the subject 90 on the tabletop 12 from shifting. In addition, if the position of the subject holding member 21 can be manually changed by the operator, it is necessary to provide multiple distance sensors or the like according to the positions where the subject holding member 21 can be attached, which increases the number of parts. In addition, depending on the position to which the subject holding member 21 is moved, there are cases where the position cannot be obtained by the distance sensor or the like. Therefore, by configuring the image processing unit 15 to obtain the position of the subject holding member 21 based on the optical image 30 as described above, even if the position of the subject holding member 21 is manually moved by the operator, the position of the subject holding member 21 can be easily obtained while suppressing an increase in the number of parts.

[0092] In addition, in this embodiment, as described above, the control unit 16 is configured to restrict the operation of the top board 12 by the top board driving mechanism 13 by prohibiting the top board driving mechanism 13 from tilting the top board 12 or by reducing the speed at which the top board driving mechanism 13 tilts the top board 12. In this way, when the control unit 16 prohibits the top board driving mechanism 13 from tilting the top board 12, it is possible to prevent the top board 12 from tilting in the non-movable direction 52. As a result, it is possible to reliably prevent the position of the subject 90 on the top board 12 from shifting. In addition, when the control unit 16 reduces the speed at which the top board driving mechanism 13 tilts the top board 12, it is possible to increase the time required for the top board 12 to tilt to an angle at which the position of the subject 90 on the top board 12 is shifted. As a result, the operator is able to stop the operation of the tabletop driving mechanism 13 before the position of the subject 90 on the tabletop 12 shifts, thereby further preventing the position of the subject 90 on the tabletop 12 from shifting due to the tabletop 12 tilting in a specified direction.

[0093] In addition, in this embodiment, as described above, the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 by prohibiting the operation of tilting the top plate 12 by the top plate driving mechanism 13, and to continue the prohibition of the operation of tilting the top plate 12 by the top plate driving mechanism 13 after prohibiting the operation of tilting the top plate 12 until an operation input by the operator to release the restriction on the movement of the top plate 12 is received. As a result, the operation of the top plate driving mechanism 13 is prohibited until the operator intentionally performs an operation input to release the restriction on the movement of the top plate 12, so that it is possible to prevent the position of the subject 90 on the top plate 12 from being shifted due to the operation of the top plate 12 being resumed and the top plate 12 being tilted in a predetermined direction until the operator checks the state of the subject 90.

[0094] In addition, in this embodiment, as described above, the control unit 16 is configured to restrict the movement of the top 12 by the top driving mechanism 13 after an operation input for moving the top 12 is made to the top driving mechanism 13 when the direction in which the top 12 is tilted coincides with the direction in which the top 12 is immovable, and to notify the operator that the direction in which the top 12 is tilted coincides with the direction in which the top 12 is immovable, as well as to notify the operator that the direction in which the top 12 is immovable coincides with the direction in which the top 12 is immovable, when the control unit 16 has the above-described configuration, when the operator makes an operation input for operating the top driving mechanism 13, the operator is notified that the direction in which the top 12 is tilted coincides with the direction in which the top 12 is immovable, and therefore the operator can be made to understand that the position of the subject 90 on the top 12 may be shifted without interfering with the operator's work. As a result, the convenience (usability) of the operator can be improved.

[0095] Furthermore, in this embodiment, as described above, the image processing unit 15 is configured to acquire the position of the subject holding member 21 by the trained model 40 that has been trained to acquire the position of the subject holding member 21 on the tabletop 12. This makes it possible to easily and accurately acquire the position of the subject holding member 21 based on the image (optical image 30) in which the subject 90 and the subject holding member 21 appear.

[0096] In addition, as described above, the present embodiment further includes a storage unit 17 that stores the relationship 51 between the type of subject holding member 21 and the tilt direction of the top board 12, and the control unit 16 stores the relationship 51 between the type of subject holding member 21 and the tilt direction of the top board 12 in the storage unit 17 based on an operation input by an operator, and is configured to allow the movement of the top board 12 in the non-movable direction 52 even when the tilt direction of the top board 12 coincides with the non-movable direction 52, if the relationship 51 between the type of subject holding member 21 and the tilt direction of the top board 12 stored in the storage unit 17 allows movement in the non-movable direction 52. Here, in a facility (such as a hospital) that uses the X-ray imaging device 1, when an operator is near the X-ray imaging device 1, the top board 12 may be allowed to be tilted in a direction in which the subject holding member 21 is not arranged. Furthermore, if grip bar 21b is arranged on one side of tabletop 12, there are cases where tabletop 12 may be allowed to be tilted in a direction in which grip bar 21b is not arranged. Thus, by storing relationship 51 between the type of subject holding member 21 and the tilt direction of tabletop 12 as described above, conditions for allowing tabletop 12 to be tilted in non-movable direction 52 can be set for each facility that uses X-ray imaging device 1. As a result, tabletop 12 can be tilted even in non-movable direction 52 according to relationship 51 between the type of subject holding member 21 and the tilt direction of tabletop 12, improving the convenience (usability) of the operator.

[0097] In the present embodiment, as described above, the imaging unit 14 is provided at a position facing the top plate 12 in the housing 10a of the X-ray irradiation unit 10. Here, when the imaging unit 14 is arranged on the ceiling of the examination room, depending on the relative positions of the imaging unit 14 and the X-ray irradiation unit 10, the imaging field of the imaging unit 14 may be blocked by the housing 10a of the X-ray irradiation unit 10, etc., and it may be difficult to accurately determine the presence or absence of the subject holding member 21 in the image (optical image 30) in which the subject 90 and the subject holding member 21 are shown. Therefore, by configuring as described above, it is possible to prevent the imaging field of the imaging unit 14 from being blocked by the housing 10a of the X-ray irradiation unit 10, etc. As a result, it is possible to accurately determine the presence or absence of the subject holding member 21 in the image (optical image 30) in which the subject 90 and the subject holding member 21 are shown, and therefore the non-movable direction 52 can be set with high accuracy.

[0098] In this embodiment, as described above, the image processor 15 is configured to generate the X-ray image 31 based on the X-rays detected by the X-ray detector 11, and further includes a display unit 18 that displays the X-ray image 31. The controller 16 is configured to notify the operator that the tilt direction of the top 12 coincides with the non-movable direction 52 by displaying on the display unit 18 that the tilt direction of the top 12 coincides with the non-movable direction 52. As a result, the display unit 18 displays that the tilt direction of the top 12 coincides with the non-movable direction 52, so that the operator can visually grasp that the position of the subject 90 on the top 12 may be shifted. Therefore, the operator can visually grasp that the position of the subject 90 on the top 12 may be shifted due to the top 12 tilting in a predetermined direction. As a result, the operator can be reliably made to perform an operation for suppressing the position of the subject 90 on the top 12 from being shifted, such as stopping the operation of the top drive mechanism 13.

[0099] In this embodiment, as described above, the image processor 15 is configured to generate the X-ray image 31 based on the X-rays detected by the X-ray detector 11, and further includes the display unit 18 that displays the X-ray image 31, and the controller 16 is configured to notify the operator that the tilt direction of the tabletop 12 coincides with the non-movable direction 52 by displaying that the tilt direction of the tabletop 12 coincides with the non-movable direction 52 on the display unit 18. This makes it possible to provide the X-ray imaging system 100 that allows the operator to reliably perform an operation to prevent the position of the subject 90 on the tabletop 12 from shifting, such as stopping the operation of the tabletop driving mechanism 13, as in the X-ray imaging device 1.

[0100] [Variations] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

[0101] For example, in the above embodiment, an example of a configuration in which the control unit 16 restricts the movement of the top board 12 by the top board driving mechanism 13 and notifies the user that the direction in which the top board 12 is tilted coincides with the non-movable direction 52 when ... Therefore, it is preferable that the control unit 16 is configured to restrict the movement of the tabletop 12 by the tabletop driving mechanism 13 when the direction in which the tabletop 12 is tilted coincides with the direction in which movement is not permitted 52, and to notify the user that the direction in which the tabletop 12 is tilted coincides with the direction in which movement is not permitted 52.

[0102] In the above embodiment, an example of a configuration in which the subject holding member 21 includes all of the shoulder rest 21a, the grip bar 21b, and the footstool 21c has been shown, but the present invention is not limited to this. The subject holding member 21 may include any one of the shoulder rest 21a, the grip bar 21b, and the footstool 21c according to the direction in which the top board 12 is tilted. The control unit 16 may obtain the non-movable direction 52 based on the member among the shoulder rest 21a, the grip bar 21b, and the footstool 21c according to the direction in which the top board 12 is tilted.

[0103] In the above embodiment, the control unit 16 sets the non-movable direction 52 based on the orientation of the subject 90 and the presence and position of the subject holding member 21, but the present invention is not limited to this. The control unit may be configured to set the non-movable direction 52 without being based on the orientation of the subject 90 and the position of the subject holding member 21, as long as it is based on at least the presence or absence of the subject holding member 21. By setting the non-movable direction 52 based on the orientation of the subject 90 and the position of the subject holding member 21 as well as the presence or absence of the subject holding member 21, the non-movable direction 52 can be set more accurately. Therefore, it is preferable that the control unit 16 is configured to set the non-movable direction 52 based on the orientation of the subject 90 and the presence and position of the subject holding member 21.

[0104] In the above embodiment, an example of a configuration in which the control unit 16 restricts the operation of the top plate driving mechanism 13 by prohibiting the operation of the top plate driving mechanism 13 has been shown, but the present invention is not limited to this. For example, the control unit may be configured to restrict the operation of the top plate driving mechanism 13 by reducing the speed at which the top plate driving mechanism 13 tilts the top plate 12. In this case, the control unit 16 may reduce the speed at which the top plate driving mechanism 13 tilts the top plate 12 so that the operator can stop the operation of the top plate driving mechanism 13 before the top plate 12 tilts to an angle at which the position of the subject 90 on the top plate 12 may be displaced.

[0105] In the above embodiment, an example of a configuration in which the control unit 16 prohibits the top board driving mechanism 13 from tilting the top board 12 until an operation input by the operator to release the restriction on the operation of the top board 12 is received after prohibiting the operation of tilting the top board 12 is shown, but the present invention is not limited to this. For example, the control unit may be configured to prohibit the top board driving mechanism 13 from tilting the top board 12 until a predetermined time has elapsed after prohibiting the operation of tilting the top board 12. Here, in the case where the control unit prohibits the top board driving mechanism 13 from tilting the top board 12 until a predetermined time has elapsed after prohibiting the operation of tilting the top board 12, the prohibition on the operation of the top board driving mechanism 13 may be lifted at a timing not intended by the operator. Therefore, it is preferable that the control unit 16 is configured to prohibit the top board driving mechanism 13 from tilting the top board 12 until an operation input by the operator to release the restriction on the operation of the top board 12 is received after prohibiting the operation of tilting the top board 12.

[0106] In the above embodiment, when the tilt direction of the tabletop 12 coincides with the non-movable direction 52, after an operation input to move the tabletop 12 is made to the tabletop driving mechanism 13, the operation of the tabletop 12 by the tabletop driving mechanism 13 is restricted and a notification is given that the tilt direction of the tabletop 12 coincides with the non-movable direction 52. However, the present invention is not limited to this. For example, the control unit may be configured to notify the non-movable direction 52 by displaying it on the display unit 18 when the control unit acquires the non-movable direction 52. Here, if the control unit is configured to display the non-movable direction 52 on the display unit 18 when the control unit acquires the non-movable direction 52, the non-movable direction 52 will continue to be notified even while the operator is checking the X-ray image 31 or the like on the display unit 18, which will hinder the operator's work. Therefore, it is preferable that the control unit 16 is configured to restrict the movement of the top plate 12 by the top plate driving mechanism 13 after an operational input to move the top plate 12 is made to the top plate driving mechanism 13 when the direction in which the top plate 12 is tilted coincides with the direction in which movement is not permitted 52, and to notify the user that the direction in which the top plate 12 is tilted coincides with the direction in which movement is not permitted 52.

[0107] In the above embodiment, an example of a configuration in which the image processing unit 15 acquires the position of the subject holding member 21 by the trained model 40 has been described, but the present invention is not limited to this. For example, the image processing unit 15 may be configured to acquire the position of the subject holding member 21 by pattern matching through image processing, without using the trained model 40.

[0108] In the above embodiment, an example of a configuration has been shown in which the control unit 16 allows the movement of the top 12 in the non-movable direction 52 even when the tilt direction of the top 12 coincides with the non-movable direction 52, as long as the movement in the non-movable direction 52 is permitted in the relationship 51 between the type of the subject holding member 21 and the tilt direction of the top 12; however, the present invention is not limited to this. For example, the control unit may be configured to prohibit the movement of the top 12 in the non-movable direction 52, regardless of the relationship 51 between the type of the subject holding member 21 and the tilt direction of the top 12. In this case, since the top 12 does not move in the non-movable direction 52, it is possible to further suppress the position of the subject 90 on the top 12 from shifting. In addition, when the operator is located near the X-ray imaging device 1 and it is possible to immediately stop the operation of the tabletop driving mechanism 13, from the viewpoint of improving the convenience (usability) of the operator, the control unit may be configured to allow movement of the tabletop 12 in the non-movable direction 52 if movement in the non-movable direction 52 is permitted.

[0109] In the above embodiment, the imaging unit 14 is provided in the housing 10a of the X-ray irradiation unit 10 at a position facing the top plate 12, but the present invention is not limited to this. As long as it is possible to capture an image of the subject 90 placed on the top plate 12 and the subject holding member 21, the imaging unit 14 may be disposed in any position.

[0110] In the above embodiment, an example of a configuration in which the X-ray imaging device 1 includes only one imaging unit 14 has been described, but the present invention is not limited to this. If the subject 90 and the subject holding member 21 do not fit within the imaging field of view when imaging is performed using only one imaging unit 14, multiple imaging units may be provided. For example, the X-ray imaging device 1 may include two imaging units arranged on one side and the other side of the housing 10a of the X-ray irradiation unit 10.

[0111] In the above embodiment, an example of a configuration in which the control unit 16 notifies the user that the tilt direction of the tabletop 12 coincides with the non-movable direction 52 by displaying the fact that the tilt direction of the tabletop 12 coincides with the non-movable direction 52 on the display unit 18 has been shown, but the present invention is not limited to this. For example, the control unit may be configured to notify the user that the tilt direction of the tabletop 12 coincides with the non-movable direction 52 by using a sound, light, or the like.

[0112] In the above embodiment, an example of a configuration in which the X-ray imaging device 1 includes the display unit 18 (first display unit 18a) has been described, but the present invention is not limited to this. For example, the X-ray imaging device 1 does not need to include the display unit 18. In this case, it is sufficient that the X-ray imaging system 100 includes a display device that displays the X-ray image 31 and the like.

[0113] In the above embodiment, the X-ray imaging system 100 includes the operation console 200. However, the present invention is not limited to this. For example, the X-ray imaging system 100 does not need to include the operation console 200. In this case, the operator can tilt the tabletop 12 using the first input receiving unit 20 provided in the X-ray imaging device 1.

[0114] In the present embodiment, an example of a configuration in which the image processor 15 acquires the presence or absence of the subject holding member 21 based on the optical image 30 has been shown, but the present invention is not limited to this. For example, the X-ray imaging device 1 may be configured to include a sensor that detects the attachment or detachment of the subject holding member 21, and to use the detection result of the sensor that detects the attachment or detachment of the subject holding member 21 when the image processor 15 acquires the presence or absence of the subject holding member 21 based on the optical image 30.

[0115] In the above embodiment, for convenience of explanation, the process of restricting the operation of the top plate driving mechanism 13 by the control unit 16 and the process of releasing the restriction on the operation of the top plate driving mechanism 13 are described using a flow-driven flowchart in which the process is performed in order according to a processing flow, but the present invention is not limited to this. In the present invention, the process of restricting the operation of the top plate driving mechanism 13 by the control unit 16 and the process of releasing the restriction on the operation of the top plate driving mechanism 13 may be performed by event-driven processing in which processing is performed on an event-by-event basis. In this case, the process may be completely event-driven, or may be a combination of event-driven and flow-driven.

[0116] [Aspects] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0117] (Item 1) an X-ray irradiation unit that irradiates X-rays; an X-ray detector for detecting X-rays irradiated from the X-ray irradiation unit; A top plate on which a subject is placed; a tabletop driving mechanism capable of changing the inclination of the tabletop; an imaging unit that images a subject placed on the tabletop and a subject holding member that is disposed on the tabletop and holds the posture of the subject; an image processing unit that acquires the presence or absence of the subject holding member based on an image of the subject and the subject holding member captured by the imaging unit; an X-ray imaging device comprising: a control unit that acquires an unmovable direction in which the subject holding member is not positioned based on the presence or absence of the subject holding member acquired by the image processing unit, determines whether the direction in which the top plate is tilted by the top plate driving mechanism matches the unmovable direction, and, if the direction in which the top plate is tilted matches the unmovable direction, at least one of restricting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is tilted matches the unmovable direction.

[0118] (Item 2) The control unit is configured to restrict the movement of the tabletop by the tabletop driving mechanism when the direction in which the tabletop is tilted coincides with the direction in which the tabletop cannot be moved, and to notify the user that the direction in which the tabletop is tilted coincides with the direction in which the tabletop cannot be moved.

[0119] (Item 3) The subject holding member includes at least one of a shoulder rest, a grip bar, and a step stool; the image processing unit is configured to obtain the presence or absence of the subject holding member by obtaining whether or not at least one of the shoulder rest, the grip bar, and the footstool is placed on the tabletop; The X-ray imaging device described in item 1 or 2, wherein the control unit is configured to determine whether the corresponding subject holding members among the shoulder rest, the grip bar, and the footstool are positioned in a position corresponding to the direction in which the tabletop is tilted, and to set the direction in which the corresponding subject holding members among the shoulder rest, the grip bar, and the footstool are not positioned in a position corresponding to the direction in which the tabletop is tilted as the non-movable direction.

[0120] (Item 4) the image processing unit is configured to acquire, based on the images of the subject and the subject holding member captured by the imaging unit, a direction of the subject on the tabletop and a position of the subject holding member, as well as the presence or absence of the subject holding member; The control unit is configured to set the non-movable direction based on the orientation of the subject on the tabletop and the presence and position of the subject holding member.

[0121] (Item 5) The X-ray imaging device according to any one of items 1 to 4, wherein the control unit is configured to restrict the movement of the tabletop by the tabletop driving mechanism by prohibiting the tabletop driving mechanism from tilting the tabletop or by reducing the speed at which the tabletop driving mechanism tilts the tabletop.

[0122] (Item 6) The control unit is configured to restrict the movement of the tabletop by the tabletop driving mechanism by prohibiting the tabletop driving mechanism from tilting the tabletop, and to continue prohibiting the tabletop driving mechanism from tilting the tabletop after prohibiting the tabletop tilting, until an operation input from an operator to release the restriction on the tabletop movement is received.The X-ray imaging apparatus described in item 5.

[0123] (Item 7) The control unit is configured to, when the direction in which the tabletop is tilted coincides with the direction in which the tabletop cannot be moved, restrict the movement of the tabletop by the tabletop driving mechanism after an operational input to the tabletop driving mechanism to move the tabletop is received, and to notify the user that the direction in which the tabletop is tilted coincides with the direction in which the tabletop cannot be moved.

[0124] (Item 8) The X-ray imaging device according to any one of items 1 to 7, wherein the image processing unit is configured to acquire the position of the subject holding member using a trained model that has been trained to acquire the position of the subject holding member on the tabletop.

[0125] (Item 9) A storage unit that stores a relationship between the type of the subject holding member and the direction in which the tabletop is tilted, The control unit is configured to store in the memory unit a relationship between the type of subject holding member and the direction in which the top plate is tilted based on an operation input by an operator, and to allow movement of the top plate in the non-movable direction even if the direction in which the top plate is tilted coincides with the non-movable direction, if movement in the non-movable direction is allowed in the relationship between the type of subject holding member and the direction in which the top plate is tilted stored in the memory unit. The X-ray imaging device described in any one of items 1 to 8.

[0126] (Item 10) 10. The X-ray imaging device according to any one of items 1 to 9, wherein the imaging unit is provided in a housing of the X-ray irradiation unit at a position facing the tabletop.

[0127] (Item 11) The image processor is configured to generate an X-ray image based on the X-rays detected by the X-ray detector; Further comprising a display unit for displaying the X-ray image, The control unit is configured to notify the user that the direction in which the tabletop is tilted and the direction in which the tabletop cannot be moved match by displaying on the display unit that the direction in which the tabletop is tilted match with the direction in which the tabletop cannot be moved. The X-ray imaging device described in any one of items 1 to 10.

[0128] (Item 12) an X-ray irradiation unit that irradiates X-rays; an X-ray detector for detecting X-rays irradiated from the X-ray irradiation unit; A top plate on which a subject is placed; a tabletop driving mechanism capable of changing the inclination of the tabletop; an imaging unit that images a subject placed on the tabletop and a subject holding member that is disposed on the tabletop and holds the subject; an image processing unit that acquires the presence or absence of the subject holding member based on an image of the subject and the subject holding member captured by the imaging unit; An X-ray imaging system comprising: a control unit that acquires an unmovable direction in which the subject holding member is not positioned based on the presence or absence of the subject holding member acquired by the image processing unit, determines whether the direction in which the top plate is tilted by the top plate driving mechanism matches the unmovable direction, and, if the direction in which the top plate is tilted matches the unmovable direction, at least one of restricting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is tilted matches the unmovable direction.

[0129] (Item 13) The image processor is configured to generate an X-ray image based on the X-rays detected by the X-ray detector; Further comprising a display unit for displaying the X-ray image, The control unit is configured to notify the user that the direction in which the tabletop is tilted and the direction in which the tabletop cannot be moved match by displaying on the display unit that the direction in which the tabletop is tilted matchs the direction in which the tabletop cannot be moved. [Explanation of symbols]

[0130] 1 X-ray equipment 10 X-ray irradiation section 10a Housing (Housing of X-ray irradiation unit) 11 X-ray detector 12 Tabletop 13 Top plate drive mechanism 14. Photography Department 15 Image processing section 16 Control section 17 Memory section 18 Display 21 Subject holding member 21a Shoulder rest 21b Grip stick 21c Stepping Stone 30 Optical image (image of subject and subject holding member taken by the imaging unit) 31 X-ray image 40 Pre-trained models 51 Relationship between the type of subject holding member and the tilt direction of the tabletop 52 Unmovable Direction 90 Subjects 100 X-ray system

Claims

1. an X-ray irradiation unit that irradiates X-rays; an X-ray detector for detecting X-rays irradiated from the X-ray irradiation unit; A top plate on which a subject is placed; a tabletop driving mechanism capable of changing the inclination of the tabletop; an imaging unit that images a subject placed on the tabletop and a subject holding member that is disposed on the tabletop and holds the posture of the subject; an image processing unit that acquires the presence or absence of the subject holding member based on an image of the subject and the subject holding member captured by the imaging unit; An X-ray imaging device comprising: a control unit that acquires an unmovable direction in which the subject holding member is not positioned based on the presence or absence of the subject holding member acquired by the image processing unit, determines whether the direction in which the top plate is tilted by the top plate driving mechanism matches the unmovable direction, and, if the direction in which the top plate is tilted matches the unmovable direction, at least one of restricting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is tilted matches the unmovable direction.

2. The X-ray imaging device of claim 1, wherein the control unit is configured to restrict the movement of the tabletop by the tabletop driving mechanism when the direction in which the tabletop is tilted coincides with the direction in which the tabletop cannot be moved, and to notify the user that the direction in which the tabletop is tilted coincides with the direction in which the tabletop cannot be moved.

3. The subject holding member includes at least one of a shoulder rest, a grip bar, and a step stool; the image processing unit is configured to obtain the presence or absence of the subject holding member by obtaining whether or not at least one of the shoulder rest, the grip bar, and the footstool is placed on the tabletop; 3. The X-ray imaging device according to claim 2, wherein the control unit is configured to determine whether the corresponding subject holding members among the shoulder rest, the grip bar, and the footstool are positioned at a position corresponding to the direction in which the tabletop is tilted, and to set a direction in which the corresponding subject holding members among the shoulder rest, the grip bar, and the footstool are not positioned at a position corresponding to the direction in which the tabletop is tilted as the non-movable direction.

4. the image processing unit is configured to acquire, based on the images of the subject and the subject holding member captured by the imaging unit, a direction of the subject on the tabletop and a position of the subject holding member, as well as the presence or absence of the subject holding member; The X-ray imaging apparatus according to claim 3 , wherein the control unit is configured to set the non-movable direction based on an orientation of the subject on the tabletop and the presence or absence and position of the subject holding member.

5. The X-ray imaging apparatus of claim 4, wherein the control unit is configured to restrict the movement of the tabletop by the tabletop driving mechanism by prohibiting the tabletop driving mechanism from tilting the tabletop or by reducing the speed at which the tabletop driving mechanism tilts the tabletop.

6. The control unit is configured to restrict the movement of the tabletop by the tabletop driving mechanism by prohibiting the tabletop driving mechanism from tilting the tabletop, and to continue to prohibit the tabletop driving mechanism from tilting the tabletop after prohibiting the tabletop tilting, until an operation input from an operator to release the restriction on the tabletop movement is received.

7. The X-ray imaging device of claim 6, wherein the control unit is configured to, when the direction in which the tabletop is tilted coincides with the direction in which the tabletop cannot be moved, restrict the movement of the tabletop by the tabletop driving mechanism after an operational input to move the tabletop is made to the tabletop driving mechanism, and to notify the user that the direction in which the tabletop is tilted coincides with the direction in which the tabletop cannot be moved.

8. The X-ray imaging apparatus according to claim 7 , wherein the image processing unit is configured to acquire the position of the subject holding member using a trained model that has been trained to acquire the position of the subject holding member on the tabletop.

9. A storage unit that stores a relationship between the type of the subject holding member and the direction in which the tabletop is tilted, 2. The X-ray imaging apparatus of claim 1, wherein the control unit is configured to store in the memory unit a relationship between the type of subject holding member and the direction in which the top plate is tilted based on an operation input by an operator, and to allow movement of the top plate in the non-movable direction even if the direction in which the top plate is tilted coincides with the non-movable direction, if movement in the non-movable direction is permitted in the relationship between the type of subject holding member and the direction in which the top plate is tilted stored in the memory unit.

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

11. the image processor is configured to generate an X-ray image based on the X-rays detected by the X-ray detector; A display unit for displaying the X-ray image is further provided. The X-ray imaging device of claim 1, wherein the control unit is configured to notify that the direction in which the tabletop is tilted and the direction in which the tabletop cannot be moved match by displaying on the display unit that the direction in which the tabletop is tilted and the direction in which the tabletop cannot be moved match.

12. an X-ray irradiation unit that irradiates X-rays; an X-ray detector for detecting X-rays irradiated from the X-ray irradiation unit; A top plate on which a subject is placed; a tabletop driving mechanism capable of changing the inclination of the tabletop; an imaging unit that images a subject placed on the tabletop and a subject holding member that is disposed on the tabletop and holds the subject; an image processing unit that acquires the presence or absence of the subject holding member based on an image of the subject and the subject holding member captured by the imaging unit; An X-ray imaging system comprising: a control unit that acquires an unmovable direction in which the subject holding member is not positioned based on the presence or absence of the subject holding member acquired by the image processing unit, determines whether the direction in which the top plate is tilted by the top plate driving mechanism matches the unmovable direction, and, if the direction in which the top plate is tilted matches the unmovable direction, at least one of restricting the operation of the top plate driving mechanism and notifying that the direction in which the top plate is tilted matches the unmovable direction.

13. the image processor is configured to generate an X-ray image based on the X-rays detected by the X-ray detector; A display unit for displaying the X-ray image is further provided. The X-ray imaging system of claim 12, wherein the control unit is configured to notify that the direction in which the tabletop is tilted and the direction in which the tabletop cannot be moved match by displaying on the display unit that the direction in which the tabletop is tilted and the direction in which the tabletop cannot be moved match.

Images