X-ray fluoroscopy device

Abstract

To provide an X-ray fluoroscopy device capable of avoiding contact with a monitor when moving an X-ray generator.SOLUTION: A fluoroscopy table includes a top plate on which a subject is placed, an X-ray generator for irradiating the subject with X-rays, an X-ray detector for detecting X-rays that have passed through the subject, a support column for supporting the X-ray generator, and a drive mechanism for moving a position of the X-ray generator. An arithmetic unit imports a drive amount of the drive mechanism from a control unit to acquire a distance between an end part close to a monitor, of the fluoroscope table, and the monitor, and when the distance is smaller than a predetermined reference distance, causes the control unit to stop the operation of the drive mechanism.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

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

[0003] The X-ray imaging device of Patent Document 1 has an X-ray source and an X-ray detector mounted on a rotatable C-arm. At the same time, a monitor is suspended from a rail on the ceiling and is movable along the rail. In addition, to control the position and orientation of the monitor, a sensor detects the operator's position information and adjusts the position of the monitor based on the detection result to eliminate the need for manual adjustment by an operator.

[0004] On the other hand, the X-ray fluoroscopy device of Patent Document 2 is configured such that a support column and a tabletop on which a subject is placed are supported by a stand placed on the floor, and an X-ray generator is mounted on the upper end of the support column. The support column is movable in the longitudinal direction of the tabletop and is tiltable relative to the tabletop. The tabletop can be raised and lowered from a horizontal position to a vertical position relative to the floor. An arm supporting a monitor is attached to the upper surface of the stand. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2007-44353 A [Patent Document 2] JP 2008-259884 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the X-ray imaging device of Patent Document 1, a sensor detects the position of the operator and adjusts the position of the monitor according to the operator's position, but the device does not have a function to prevent contact between the C-arm and the monitor. Therefore, the operator had to move the C-arm and monitor carefully to avoid contact between the monitor and the C-arm.

[0007] On the other hand, the X-ray fluoroscopic imaging device of Patent Document 2 does not have a function for preventing contact between the monitor and the X-ray generator.

[0008] An object of the present invention is to provide an X-ray fluoroscopic imaging apparatus capable of avoiding contact with a monitor when moving an X-ray generator. [Means for solving the problem]

[0009] In order to achieve the above object, the X-ray fluoroscopy apparatus of the present invention includes a fluoroscopy table including a tabletop on which a subject is placed, an X-ray generator for irradiating the subject with X-rays, an X-ray detector for detecting X-rays transmitted through the subject, a support column for supporting the X-ray generator, and a drive mechanism for moving the position of the X-ray generator, a monitor for displaying an image, a control unit for controlling the drive mechanism, and a calculation unit. The calculation unit receives the drive amount of the drive mechanism from the control unit to obtain the distance between the end of the fluoroscopy table closest to the monitor and the monitor, and causes the control unit to stop the operation of the drive mechanism if the distance is shorter than a predetermined reference distance. Effect of the Invention

[0010] According to the present invention, it is possible to avoid contact with the monitor when moving the X-ray generator of the fluoroscopy table. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram showing the overall configuration of an X-ray fluoroscopy system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view of a fluoroscopy table 1 of the X-ray fluoroscopy system of FIG. [Diagram 3] FIG. 2 is a block diagram of a control system of the X-ray fluoroscopy system according to the first embodiment. [Figure 4] FIG. 2 is a perspective view of a monitor arm 131 of the X-ray fluoroscopy system of the first embodiment. [Diagram 5] 4 is a flowchart showing the operation of the X-ray fluoroscopy system of the first embodiment. [Figure 6] 4 is a diagram for explaining a distance dR between the monitor 132 and the imaging system 200 of the X-ray fluoroscopy system of the first embodiment. FIG. [Figure 7] 4 is a diagram for explaining a distance dR between the monitor 132 and the imaging system 200 of the X-ray fluoroscopy system of the first embodiment. FIG. [Figure 8] 4 is a diagram for explaining the positional relationship between the monitor 132 and the imaging system 200 when the tilting mechanism tilts the support column 112 in the X-ray fluoroscopy system of the first embodiment. FIG. [Figure 9] 4 is a diagram for explaining the vertical distance dV between the monitor 132 and the imaging system 200 when the lifting mechanism lifts the top board in the X-ray fluoroscopy system of the first embodiment. FIG. [Figure 10] 13 is a diagram for explaining the horizontal distance dR' between the monitor 132 and the imaging system 200 when the raising and lowering mechanism raises and lowers the tabletop and the imaging system 200 in the X-ray fluoroscopy system of the second embodiment. FIG. [Figure 11] 10 is a flowchart showing the operation of the X-ray fluoroscopy system of the second embodiment. [Figure 12] FIG. 13 is a diagram for explaining that the operation of the drive mechanism is permitted even if the distance d between the monitor 132 and the imaging system 200 becomes smaller than the reference distance D in the X-ray fluoroscopy system of the third embodiment. [Figure 13] 11 is a flowchart showing the operation of the X-ray fluoroscopy system of the third embodiment. [Figure 14] FIG. 13 is a diagram for explaining that in the X-ray fluoroscopy system of the fourth embodiment, when the imaging system 200 is not approaching the monitor 132, the operation of the drive mechanism is permitted even if the distance is shorter than the second reference distance (D2). [Figure 15] 10 is a flowchart showing the operation of the X-ray fluoroscopy system of the fourth embodiment. [Figure 16]13 is a diagram for explaining that, in the X-ray fluoroscopy system of the fifth embodiment, the operation of the drive mechanism is permitted without calculating the distance for a predetermined motion axis of the drive mechanism. FIG. [Figure 17] 13 is a flowchart showing the operation of the X-ray fluoroscopy system of the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0013] <<Embodiment 1>> The X-ray fluoroscopy apparatus 100 of the first embodiment supports a monitor 132 by an arm 131 attached to the upper part of a stand 121 of a fluoroscopy table 1, and monitors the position of the monitor 132 by detecting the movement of the monitor arm 131 (see FIG. 1). When each part of the fluoroscopy table 1 moves, it is determined whether or not there is a possibility that the fluoroscopy table 1 will interfere with the monitor 132, and if there is a possibility of interference, the operation of the fluoroscopy table 1 is stopped.

[0014] The X-ray fluoroscopy apparatus of the first embodiment will be described in detail below with reference to Figs. 1 to 3. Fig. 1 is a diagram showing the overall structure of the X-ray fluoroscopy apparatus of the present embodiment. Fig. 2 is a perspective view of the fluoroscopy table 1 with the monitor 132 and monitor arm 131 of the X-ray fluoroscopy apparatus 100 removed. Fig. 3 is a diagram showing a drive mechanism of the fluoroscopy table 1.

[0015] As shown in FIGS. 1 to 3, the X-ray fluoroscopy apparatus of the first embodiment includes a fluoroscopy table 1, a monitor arm 131 provided on the fluoroscopy table 1, and a monitor 132 supported by the monitor arm 131.

[0016] <Configuration of fluoroscopy table 1> As shown in FIG. 2, the fluoroscopy table 1 includes a stand 121 placed on the floor surface, a column support arm 20 protruding from one side of the stand 121 in the x-axis direction horizontal to the floor surface, a column 112 mounted on the column support arm 20, a support frame 30 supported at the tip of the column support arm 20, an X-ray support arm 90 mounted on the upper end of the column 112, and an X-ray generator 113 supported by the X-ray support arm 90.

[0017] A top board 110 on which a subject 101 is placed is supported by the support frame 30. The long axis direction of the top board 110 is horizontal to the floor surface and parallel to the y-axis direction perpendicular to the x-axis. An X-ray detector 111 such as an FPD (Flat Panel Detector) is disposed within the support frame 30.

[0018] The X-ray generator 113 is supported by an X-ray support arm 90 with a gap between it and the tabletop 110. The X-ray generator 113 has an X-ray tube built in, and generates X-rays from the X-ray tube upon receiving power from a high voltage generator 115. The X-ray generator 113 is fitted with an X-ray adjustable aperture 114 that limits the irradiation range of X-rays. The X-ray adjustable aperture 114 contains an X-ray filter that selectively transmits X-rays of a specific energy.

[0019] X-rays generated from an X-ray generator 113 are irradiated onto a subject 101 placed on a top board 110 , and the X-rays that pass through the subject 101 are detected by an X-ray detector 111 .

[0020] An oblique insertion mechanism 224 is mounted on the upper surface of the column support arm 20 between the stand 121 and the support frame 30, and the lower end of the column 112 is mounted on the oblique insertion mechanism 224. A mechanism for rotating the lower end of the column 112 (in the direction of arrow A6) is disposed inside the oblique insertion mechanism 224. As a result, the central axis of the column 112 rotates about a rotation axis parallel to the x-axis and is inclined with respect to the normal to the tabletop 110. Therefore, the X-ray generator 113 causes X-rays to be incident from an oblique direction with respect to the normal to the X-ray detector 111 (hereinafter also referred to as oblique insertion).

[0021] Meanwhile, the stand 121 incorporates a lifting mechanism 221 which raises and lowers (in the direction of arrow A1) the column support arm 20, and a lifting mechanism 222 which rotates (called lifting and lowering movement: in the direction of arrow A2) the column support arm 20 about its central axis (parallel to the x-axis). The lifting mechanism 221 and the lifting mechanism 222 respectively raise and lower (in the direction of arrow A1) and lift and lower (in the direction of arrow A2) the X-ray generator 113 and the top board 110 while maintaining their positional relationship.

[0022] Between the lower end of the support pillar 112 and the oblique insertion mechanism 224, there is disposed a support pillar x-direction sliding mechanism 51m which slides the lower end of the support pillar 112 in a direction parallel to the x-axis direction (the direction of arrow A4).

[0023] In addition, an x-ray generator x-direction sliding mechanism 52m (X-ray generator sliding mechanism) 52m is arranged between the upper end of the support pillar 112 and the X-ray support arm 90, which slides the X-ray generator 113 in the x-axis direction by sliding the X-ray support arm 90 in a direction parallel to the x-axis direction (the direction of arrow A5) relative to the upper end of the support pillar 112.

[0024] Furthermore, between the upper end of the pillar 112 and the X-ray support arm 90, there is provided a SID variable mechanism 225 which adjusts the distance (SID) between the X-ray generator 113 and the X-ray detector 111 by moving the X-ray support arm 90 in a direction along the central axis of the pillar 112 (in the direction of arrow A10).

[0025] The pillar x-direction sliding mechanism 51m slides the entire pillar 112 parallel to the x-axis direction (arrow A4 direction). The x-ray generator x-direction sliding mechanism 52m slides the X-ray support arm 90, to which the X-ray generator 113 is connected, parallel to the x-axis direction relative to the pillar 112 (arrow A5 direction).

[0026] Furthermore, an X-ray generator rotation mechanism 226 (see FIG. 3, not shown in FIG. 2) is disposed at the connection between the X-ray support arm 90 and the X-ray generator 113. The X-ray generator rotation mechanism 226 rotates the X-ray generator 113 around an axis parallel to the y-axis (in the direction of arrow A9). Although not particularly shown, the X-ray generator 113 may be configured to rotate around an axis parallel to the X-axis.

[0027] Furthermore, the support pillar 112 has a built-in support pillar y-direction sliding mechanism 223 (see FIG. 3) that moves the support pillar 112 in the longitudinal direction (the direction of arrow A3) of the top board 110. The support pillar y-direction sliding mechanism 223 moves the support pillar 112 in the longitudinal direction of the top board (the direction of arrow A3) while maintaining the inclination angle of the support pillar 112 with respect to the top board 110.

[0028] In addition, a detector slide mechanism 227 is built into the support frame 30 to slide the X-ray detector 111 in the short axis direction (direction of arrow A7: direction parallel to the x-axis) and long axis direction (direction of arrow A8: direction parallel to the y-axis) of the top plate 110.

[0029] In this embodiment, the X-ray generator 113, the movable X-ray aperture 114, the support 112 and the X-ray detector 111 are referred to as an "imaging system 200."

[0030] 1 and 3, the fluoroscopic imaging table 1 is connected to an image processing unit 116 that generates an image from an X-ray signal output from the X-ray detector 111, a calculation unit 117, a control unit 118 that controls the operation of the drive mechanisms (51m, 52m, 221-227), a display device 119 that displays images, etc., and an operation unit 120 that accepts settings of imaging conditions, etc. from an operator. The control unit 118 operates the drive mechanisms (51m, 52m, 221-226), causing each part of the fluoroscopic imaging table 1 to move in each direction of arrows A1-A10.

[0031] <Configuration of Monitor Arm 131> As shown in FIG. 1, a monitor arm 131 is installed on the upper surface of a stand 121 of the fluoroscopic imaging table 1. The monitor arm 131 supports a monitor 132 at its tip and includes a deformable arm section and a deformation amount detection section that detects and outputs the deformation amount of the arm section. Specifically, as shown in FIG. 4, the arm section includes an installation section 140 fixed to the upper surface of the stand 121 of the fluoroscopic imaging table 1, a plurality of arm members 144, 145, and a plurality of joint sections 141, 142, 143. One end of the arm member 144 is connected to the installation section 140 via the joint section 141. The other end of the arm member 144 is connected to one end of the arm member 145 via the joint section 142. The other end of the arm member 145 is connected to the monitor 132 via the joint section 143.

[0032] The joints 141 to 143 are rotatable about at least one axis. Here, all of the joints 141 to 143 are rotatable about the z-axis perpendicular to the floor surface. At least some of the joints 141 to 143 may be configured to rotate about an axis parallel to the floor surface, or may be rotatable about two or more axes.

[0033] A rotation angle detector is built in as a deformation amount detector in each of the joints 141 to 143. Here, potentiometers 141a, 142a, and 143a are built in the joints 141 to 143 as the rotation angle detector.

[0034] By pushing or pulling monitor 132 with their hands, the operator can rotate joints 141-143 of monitor arm 131 to change the position and orientation of arm members 144, 145, thereby positioning monitor 132 in the desired position.

[0035] The calculation unit 117 can calculate the position of the monitor 132 by taking in the rotation angles of the potentiometers 141a, 142a, and 143a and performing calculations.

[0036] It is also possible to arrange a driving unit such as a motor in the joints 141 to 143 and to configure the driving unit to operate under the control of the control unit 118. This allows the operator to place the monitor 132 at a desired position without touching the monitor 132.

[0037] Note that, although the monitor arm 131 shown in FIG. 4 is an example equipped with two arm members 144, 145 and three joints 141 to 143, the number of arm members and the number of joints may be more or less than this.

[0038] <Processing of Calculation Unit 117> The calculation unit 117 calculates the distance between the monitor 132 supported by the monitor arm 131 and the imaging system 200 (111-114) or the tabletop 110, and controls the fluoroscopy stand 1 to prevent interference. That is, when the drive mechanisms (51m, 52m, 221, 223-226) are operated, the calculation unit 117 executes steps S101-S108 in the flowchart of FIG.

[0039] In the first embodiment, it is assumed that the raising and lowering mechanism 222 is not operated.

[0040] The control operation of the calculation unit 117 will be specifically described below with reference to the flow chart of FIG.

[0041] The calculation unit 117 is configured by a computer or the like equipped with a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) and a memory, and the CPU reads and executes a program stored in advance in the memory to realize the functions described below. It is also possible to configure a part or the whole of the calculation unit 117 by hardware. For example, a circuit design can be performed to realize the functions described below using a custom IC such as an ASIC (Application Specific Integrated Circuit) or a programmable IC such as an FPGA (Field-Programmable Gate Array).

[0042] <Step S101> The calculation unit 117 acquires the rotation angles of the respective joints 141-143 by taking in the outputs of the potentiometers 141a, 142a, and 143a built into the joints 141-143 of the monitor arm 131.

[0043] <Step S102> Next, the calculation section 117 acquires the current drive amount of the drive mechanism (51m, 52m, 221, 223 to 226) of the fluoroscopic imaging table 1 by taking it in from the control section 118.

[0044] <Step S103> The calculation unit 117 judges whether the imaging system 200 of the fluoroscopic imaging table 1 is approaching the monitor 132 from the time change in the drive amount of the drive mechanism (51m, 52m, 221, 223-226) of the fluoroscopic imaging table 1 acquired in step S102. Specifically, the calculation unit 117 determines whether the imaging system 300 is on the left or right side in the y-axis direction with respect to the monitor 132 and whether the imaging system 200 has moved to the left or right from the rotation angle of the joints 141-143 acquired in step S101 and the current drive amount of the drive mechanism (51m, 52m, 221, 223-226) acquired in step S102, and judges whether the imaging system 200 of the fluoroscopic imaging table 1 is approaching the monitor 132. If it is approaching, the calculation unit 117 proceeds to step S104.

[0045] <Step S104> The calculation unit 117 obtains the distance db of the end portion of the imaging system 200 of the fluoroscopic imaging stand 1 that is closest to the monitor 132, relative to the reference position d0.

[0046] For example, as shown in FIG. 6, when the pillar y-direction sliding mechanism 223 is moving the pillar 112 in the direction of arrow A3 in FIG. 2 (the y-axis direction), the calculation unit 117 calculates the distance dc in the y-axis direction from a predetermined reference position d0 (end 110a of the tabletop 110) to the central axis 112a of the pillar 112 (the central axis of the imaging system 200) from the driving amount of the pillar y-direction sliding mechanism 223 acquired in step S102.

[0047] Next, the calculation unit 117 calculates the distance db from the reference position d0 to the end 113a of the X-ray generator 113 by subtracting the distance L, which was previously determined, between the central axis 112a of the support 112 and the end 113a of the X-ray generator 113 closer to the monitor 132 from the distance dc.

[0048] <Step S105> Next, the calculation unit 117 obtains the distance da of the end 132a of the monitor 132 on the imaging system 200 side of the fluoroscopic imaging stand 1 relative to the reference position d0.

[0049] Specifically, the calculation unit 117 calculates the rotation angles of the joints 141 to 143 about the vertical rotation axes from the outputs of the potentiometers 141a, 142a, and 143a of the joints 141 to 143 captured in step S101. Based on the rotation angles of the joints 141 to 143 about the vertical rotation axes, the calculation unit 117 calculates the angles θ1 and θ2 of the arm members 144 and 145 with respect to the y axis and the angle θ3 of the main plane of the monitor 132 with respect to the y axis. Based on the angles θ1 and θ2 and the previously calculated lengths of the arm members 144 and 145, the calculation unit 117 calculates the distance dp between the joints 141 and 143 in the y axis direction. Based on the angle θ3 and the previously calculated width of the monitor 132, the calculation unit 117 calculates the distance dq between the joint 143 and the end 132a of the monitor 132 on the image system 200 side.

[0050] The calculation unit 117 calculates the distance da in the y-axis direction from the reference position d0 of the end 132a of the monitor 132 on the imaging system 200 side of the fluoroscopic imaging table 1, based on the distance dr between the end 110a of the tabletop 110 and the joint 141, which has been obtained in advance, and the calculated distances dp and dq.

[0051] <Step S106> The calculation unit 117 calculates the distance d between the monitor 132 and the imaging system 200 in the y-axis direction by using the distances db and da calculated in steps S104 and S105. R (See Figures 6 and 7) d R =db-ba It is calculated as follows.

[0052] <Step S107> The calculation unit 117 calculates the distance d R is smaller than a predetermined reference distance D, and if it is smaller, the process proceeds to step S108.

[0053] <Step S108> The calculation unit 117 calculates the distance d between the monitor 132 and the imaging system 200 in the y direction. R If is smaller than D, the control unit 118 is instructed to stop the operation of the drive mechanism (51m, 52m, 221, 223 to 226) of the fluoroscopic imaging table 1.

[0054] In this way, the X-ray fluoroscopic imaging apparatus of this embodiment can stop the operation of the fluoroscopic imaging table 1 before contact (interference) occurs even if the monitor 132 and the imaging system 200 of the fluoroscopic imaging table 1 approach each other in the y-axis direction.

[0055] In the flow of FIG. 5, step S103 may be performed after step S106. In this case, the distance d R Since the distance d has been calculated, the calculation unit 117 calculates the distance d R Calculate the change in distance d over time. R When the difference between the horizontal axis and the vertical axis is smaller, it can be determined that the imaging system 200 is approaching the monitor 132.

[0056] In the flow of FIG. 5, in steps S104 to S106, the distance d between the monitor 132 and the imaging system 200 in the y-axis direction is RIn the above description, the distance d is calculated by calculation. However, the distance d is calculated in advance for each combination of the angles of the joints 141 to 143 and for each combination of the drive amounts of the drive mechanisms (51m, 52m, 221, 223 to 226) of the fluoroscopic imaging table 1. R may be calculated and stored in the form of a table or the like in a memory or the like built into the calculation unit 117. In this way, the calculations in steps S104 and S105 are not performed, and in step S106, the distance d corresponding to the combination of the rotation angle and drive amount acquired in steps S101 and S102 can be found by referring to the table.

[0057] <Tilt of image system 200> In the example of FIG. 6 described above, only the movement of the imaging system 200 in the y-axis direction (the longitudinal direction of the top board 110) is considered, and the distance d R 8 by the oblique insertion mechanism 224, the imaging system and the monitor 132 approach each other in the y-axis direction. Therefore, when it is determined in step S102 that the oblique insertion mechanism 224 is tilting the support 112, the calculation unit 117 calculates the distance d R Calculate.

[0058] Specifically, in step S104, the calculation unit 117 calculates the angle θ4 (see FIG. 8) of the central axis of the support 112 with respect to the vertical direction (z-axis direction). The calculation unit 117 also calculates the distance db according to the flow in FIG. 5. Furthermore, the calculation unit 117 uses the angle θ4 and the length L of the imaging system 200 to calculate the distance W that the imaging system 200 approaches to the monitor 132 as a result of the imaging system 200 being tilted at the angle θ4.

[0059] The calculation unit 117 subtracts the distance w due to the tilt from the distance db found in the flow of FIG. 5 to find the distance db' of the portion of the imaging system 200 of the fluoroscopic imaging stand 1 that is closest to the monitor 132, relative to the reference position d0.

[0060] The calculation unit 117 calculates the distance d between the monitor 132 and the imaging system 200 by using the distances db' and da calculated in steps S104 and S105. R of d R =db'-ba It is calculated as follows.

[0061] <Raising and lowering the tabletop 110> Furthermore, due to the operation of the drive mechanisms (51m, 52m, 221, 223 to 226), something other than the imaging system 200 may approach the monitor 132 or the monitor arm 131. Specifically, when the top board 110 is raised by the lifting mechanism 221 as shown in FIG. 9, the top board 110 approaches the monitor 132 in the vertical direction (z-axis direction).

[0062] In this case, when it is determined in step S102 that the lifting mechanism 221 is lifting the top board 110, the calculation unit 117 calculates the distance d R In addition, in steps S104 to S106, the vertical distance d between the lower end 132b of the monitor 132 and the upper surface 110b of the tabletop 110 is V Calculate.

[0063] That is, the calculation unit 117 calculates the distance ds between the upper surface 110b of the tabletop 110 and the floor surface dB from the drive amount of the lifting mechanism 221 in step S104.

[0064] In addition, in step S105, the calculation unit 117 calculates the distance dt between the lower end 132b of the monitor 132 and the floor surface dB based on the rotation angle around the horizontal rotation axis of the joints 141 to 143, the length of the arm members 144, 145, the height direction size of the monitor 132, and the height information of the stand 121.

[0065] In step S106, the calculation unit 117 calculates the distance d between the monitor 132 and the imaging system 200 in the vertical direction (z-axis direction) by using the distances ds and dt calculated in steps S104 and S105. V of d V =dt-bs It is calculated as follows.

[0066] In step S107, the calculation unit 117 calculates the distance d V and distance d R Compare with the reference distance D, and the distance d V and distance d R If either one or both of these distances are smaller than the reference distance D, the control unit 118 is instructed to stop the operation of the drive mechanism (51m, 52m, 221, 223 to 226) of the fluoroscopic imaging table 1.

[0067] As described above, in the X-ray fluoroscopy apparatus of the first embodiment, when the position of the X-ray generator or the tabletop of the X-ray fluoroscopy apparatus is moved, the distance from the monitor is calculated, and if it approaches closer than a predetermined distance, the movement can be stopped. This makes it possible to automatically prevent the X-ray generator or the tabletop from coming into contact with the monitor.

[0068] In the first embodiment, a structure in which the monitor 132 is supported on the upper surface of the stand 121 by the monitor arm 131 has been described, but the present invention is not limited to this structure, and the monitor 132 may be supported on a part of the fluoroscopy table 1 other than the upper surface of the stand 121, or may be supported on the ceiling or wall of a room.

[0069] In the first embodiment, the distance d between the monitor 132 and the fluoroscopic imaging table 1 (d V , d R ), but a configuration may be adopted in which a distance d between the monitor arm 131 and the fluoroscopic imaging table 1 is further calculated, and the drive mechanism (51m, 52m, 221, 223 to 226) is stopped if the distance d between the monitor arm 131 and the fluoroscopic imaging table 1 is smaller than the reference distance D. In this case, the calculation unit 117 calculates the position of each part of the monitor arm 131 from the rotation angles of the joints 141, 142, and 143 in step S105. In step S106, the calculation unit 117 calculates the distance d between each part of the monitor arm 131 and the imaging system 200 or tabletop of the fluoroscopic imaging table 1, and if the distance d is smaller than the reference distance D in steps S106 and S107, the operation of the drive mechanism of the fluoroscopic imaging table 1 is stopped.

[0070] <<Embodiment 2>> The X-ray fluoroscopic apparatus of the second embodiment will be described with reference to Figs.

[0071] The X-ray fluoroscopy apparatus of embodiment 1 is configured with a function to avoid contact (interference) with the monitor 132 when the imaging system 200 moves and tilts in the y-axis direction relative to the tabletop 110, and when the tabletop 110 is raised and lowered. The X-ray fluoroscopy apparatus of embodiment 2 further has a function to avoid contact (interference) between the imaging system 200 and the monitor 132 even when the tabletop 110 is raised or lowered while maintaining the positional relationship between the imaging system 200 and the tabletop 110.

[0072] As shown in FIG. 10, when the tabletop 110 is rotated (raised and lowered) in the direction of the arrow A2 in FIG. 2 by the raising and lowering mechanism 222, even if the positional relationship between the tabletop 110 and the imaging system 200 remains unchanged before and after the raising and lowering, the distance d in the y-axis direction between the imaging system 200 and the monitor arm 131 R ' is the distance d when the device is not moving R Different distance (d R '≠d R ) may occur.

[0073] Therefore, the calculation unit 117 takes into consideration the rotation (raising and lowering) of the tabletop 110 by the raising and lowering mechanism 222 and calculates the distance d between the monitor 132 and the imaging system 200. R Then, the corrected distance d R Whether or not to stop the operation of the fluoroscopic imaging table 1 is determined using the above. This will be explained using the flow of Fig. 11. In the flow of Fig. 11, steps having the same operations as those in the flow of Fig. 5 of the first embodiment are denoted by the same reference numerals and explanations thereof will be omitted.

[0074] <Steps S101 to S106> The calculation unit 117 performs steps S101 to S106 in the same manner as in the first embodiment to obtain the distance d R (See Figures 6 and 7) d R =db-ba It is calculated as follows.

[0075] <Step S109> Next, the calculation unit 117 determines whether the raising / lowering mechanism 22 is rotating (raising / lowering) the tabletop 110 based on the driving amount of the raising / lowering mechanism 222 acquired in step S102, and if it is rotating, proceeds to step S110.

[0076] <Step S110> The calculation unit 117 calculates the distance d R Considering the rotation of the tabletop 110, the distance (d R ') (see Figure 10).

[0077] Specifically, the calculation unit 117 calculates the angle θ5 (see FIG. 10) of the central axis of the support column 112 with respect to the vertical direction (z-axis direction) based on the drive amount of the raising / lowering mechanism 222. Furthermore, the calculation unit 117 uses the angle θ5 and the length L of the imaging system 200 to calculate the distance Q that the imaging system 200 approaches the monitor 132 as a result of the imaging system 200 being tilted at the angle θ4.

[0078] The calculation unit 117 calculates the distance d R By subtracting the distance Q due to the inclination from the distance d R ' is calculated.

[0079] d R '=dR-Q <Steps S107 and S108> The calculation unit 117 calculates the corrected distance d R ' to distance d R Using the distance d R is smaller than a predetermined reference distance D, and if it is smaller, the control unit 118 is instructed to stop the operation of the drive mechanism (51m, 52m, 221 to 226) of the fluoroscopic imaging table 1.

[0080] This makes it possible to avoid contact (interference) between the imaging system 200 and the monitor 132 even when the top board 110 is raised or lowered.

[0081] In the above description, the distance d in the y-axis direction R is corrected to the distance (d R ’) considering the rotation of the top plate 110. However, for the distance d in the z-axis direction V similarly in step S110, it is corrected to the distance (d V ’) considering the rotation, and it is desirable to determine whether it is smaller than the reference distance D in step S107.

[0082] <<Embodiment 3>> The fluoroscopic imaging apparatus according to Embodiment 3 will be described with reference to FIGS. 12 and 13.

[0083] In Embodiments 1 and 2, when the distance d (d R or d V ) between the monitor 132 and the imaging system 200 or the top plate 110 becomes smaller than a predetermined reference distance D, the operation of the drive mechanism (51m, 52m, 221 to 226) of the fluoroscopic examination table 1 is stopped. However, depending on the procedure, even when the distance d (d R or d V ) becomes smaller than the reference distance D (d < D), it may be more convenient for the operator if the operation of the drive mechanism (51m, 52m, 221 to 226) of the fluoroscopic examination table 1 can be performed.

[0084] Therefore, as shown in FIG. 12, the fluoroscopic imaging apparatus according to Embodiment 3 permits the operation of the drive mechanism (51m, 52m, 221 to 226) under certain conditions even when the distance d (d R or d V ) becomes smaller than D (d < D). Specifically, when the distance d (d R or d V ) becomes smaller than D, once the operation of the drive mechanism (51m, 52m, 221 to 226) is stopped, and then the operator performs an operation to make the distance d smaller than D again, the buzzer is sounded to alert the operator, and the drive at a low speed is permitted.

[0085] For this operation, a memory for writing a flag is arranged in the calculation unit 117. The X-ray fluoroscopic imaging apparatus of the third embodiment has the same configuration as that described in the first embodiment, but further includes an alarm device for sounding a buzzer.

[0086] A specific operation of the X-ray fluoroscopic imaging apparatus of the third embodiment will be described with reference to the flow of Fig. 13. In the flow of Fig. 13, steps having the same operations as those in the flow of Fig. 5 of the first embodiment will be denoted by the same reference numerals and will not be described.

[0087] <Steps S101 to S107> The calculation unit 117 performs steps S101 to S107 in the same manner as in the first embodiment to calculate the distance d (d R , d V ) and calculate the distance d R or d V It is determined whether or not the distance is smaller than a predetermined reference distance D.

[0088] In step S107, the distance d R or d V If it is equal to or greater than the reference distance D, the process proceeds to step S111.

[0089] <Step S111> The calculation unit 117 overwrites the built-in memory with flag 0, and the process proceeds to step S112.

[0090] <Step S112> If the alarm device is already sounding the buzzer, the calculation unit 117 stops the buzzer, sets the operation speed of the drive mechanism (51m, 52m, 221 to 226) of the fluoroscopic imaging table 1 to the normal speed, and returns to step S101.

[0091] As a result, the X-ray fluoroscopic imaging apparatus can operate the drive mechanisms (51m, 52m, 221 to 226) at normal speeds to move the imaging system 200 and the tabletop 110 without sounding the buzzer.

[0092] On the other hand, in step S107, the distance d R or d V If it is smaller than the reference distance D, the process proceeds to step S113.

[0093] <Steps S113 and S114> In step S113, the calculation unit 117 judges whether the flag set in the built-in memory is 2 or not. If the flag is not 2, the calculation unit 117 calculates the distance d R or d V However, since this is the case where the distance becomes smaller than the reference distance D, the process proceeds to step S114, where 1 is written into the flag, and the process proceeds to step S108.

[0094] <Step S108> In step S108, the calculation unit 117 instructs the control unit 118 to stop the operation of the drive mechanism (51m, 52m, 221 to 226) of the fluoroscopic imaging table 1, as in the first embodiment, and the process returns to step S101.

[0095] In step S113, if the flag is set to 2 in the memory of the calculation unit 117, the distance d R or d V In this case, even though it has already been determined that the distance has become smaller than the reference distance D once and the operation of the drive mechanism has been temporarily stopped in step S108, the operator is once again trying to move imaging system 200 or tabletop 110 closer to monitor 132. Therefore, calculation unit 117 proceeds to step S115.

[0096] <Step S115> In step S115, the calculation unit 117 activates the alarm device to sound a buzzer to alert the operator not to approach the monitor 132, while setting the operating speed of the drive mechanism (51m, 52m, 221-226) of the fluoroscopic imaging table 1 to a low speed and allowing the operation.

[0097] The arithmetic unit 117 sets the fluoroscopic examination table 1 to stop operation, normal speed operation, or low-speed operation while the buzzer sounds according to steps S108, S112, or S115, and proceeds to step S131.

[0098] <Steps S131 to S133> In step S131, the arithmetic unit 117 determines whether the operator is operating. If so, it proceeds to step S132 and determines whether the flag in the current memory of the arithmetic unit 117 is 1. If the flag is 1, since re-operation by the operator is being performed, a flag 2 indicating re-operation is set, and the process returns to step S101. As a result, when the arithmetic unit 117 proceeds to S113 again, it can recognize that it is a re-operation based on flag 2, proceeds to step S115, and sets low-speed operation while sounding the buzzer.

[0099] If the operator is not operating in step S131 and the flag is not 1 in step S132, the arithmetic unit 117 simply returns to step S101.

[0100] As a result, in step S115, the operator can move the imaging system 200 and the top plate 110 at a low speed while being aware of approaching the monitor 132 by the buzzer, so that fluoroscopy of the subject at a desired position is possible, improving the convenience for the operator.

[0101] <<Embodiment 4>> The X-ray fluoroscopic imaging apparatus according to Embodiment 4 will be described with reference to FIGS. 14 and 15.

[0102] In the above-described Embodiment 3, when the distance d (d R or d V ) becomes smaller than D (d < D) when the imaging system 200 and the top plate 110 approach the monitor 132, the operation of the drive mechanism (51m, 52m, 221 to 226) is stopped or the buzzer is sounded to permit low-speed operation. However, the distance d (d R or d V) is small, it may be better to sound the buzzer and operate at a slower speed even when the imaging system 200 or the tabletop 110 is moving in a direction away from the monitor 132.

[0103] Therefore, in the fourth embodiment, as shown in FIG. 14, two types of distances, a reference distance D1 and a second reference distance D2 (where D1>D2), are set as the reference distance D. When the imaging system 200 or the top board 110 is approaching the monitor 132, the distance d (d R or d V When the distance d (d R or d V When the first reference distance D1 becomes smaller than a second reference distance D2 (where D1>D2), the buzzer sounds and the operation speed is reduced.

[0104] The operation of the X-ray fluoroscopic imaging apparatus of the fourth embodiment will be described with reference to the flow in Fig. 15. In the flow in Fig. 15, steps having the same operations as those in the flow in Fig. 13 of the third embodiment will be denoted by the same reference numerals and will not be described.

[0105] <Steps S101 to S106> In the fourth embodiment, as shown in FIG. 15, step S103 for determining whether the imaging system 200 or the top plate is moving toward the monitor 132 is performed after the distance d (d R or d V ) is calculated.

[0106] In step S103, if the imaging system 200 or the table top 110 of the fluoroscopic imaging stand 1 is not approaching the monitor 132, the calculation unit 117 proceeds to step S117.

[0107] <Step S117> In step S117, the calculation unit 117 calculates the distance d (d R or d VIf it is smaller than the second reference distance D2, the process proceeds to step S115.

[0108] <Step S115> In step S115, the calculation unit 117 activates the alarm device to sound a buzzer to alert the operator, sets the operation speed of the drive mechanisms (51m, 52m, 221-226) of the fluoroscopic imaging table 1 to a low speed, and permits the operation.

[0109] This allows the operator to understand that the imaging system 200 and the tabletop 110 are moving away from the monitor 132 but are still close to the monitor 132, and allows the operator to move the imaging system 200 and the tabletop 110 at a slow speed.

[0110] On the other hand, in step S117, the calculation unit 117 calculates the distance d (d R or d V If the distance between the first reference distance 51m and the second reference distance D2 is equal to or greater than the second reference distance D2, the process proceeds to step S112. If the alarm has already sounded, the buzzer is stopped and the operating speed of the drive mechanism (51m, 52m, 221-226) of the fluoroscopic imaging table 1 is set to the normal speed, and the process returns to step S101.

[0111] <Steps S116, S111 to S115, and S108> In step S116, when the imaging system 200 or the tabletop 110 is approaching the monitor 132, the calculation unit calculates the distance d (d R or d V ) is smaller than the reference distance D1, and the operation of the fluoroscopic imaging table is stopped or the operation at a low speed is permitted while sounding a buzzer. These operations are the same as those of the third embodiment, except that the reference distance D has become the reference distance D1 (D1>D2).

[0112] <<Embodiment 5>> The X-ray fluoroscopic apparatus of the fifth embodiment will be described with reference to Figs.

[0113] The X-ray fluoroscopy apparatus of the fifth embodiment has the same configuration as the first to fourth embodiments, but among the multiple drive mechanisms (51m, 52m, 221 to 226), the drive mechanisms of predetermined motion axes perform predetermined operations before performing the operations of the first to fourth embodiments.

[0114] The X-ray fluoroscopic imaging apparatus of the fifth embodiment will be described with reference to the flow of FIG.

[0115] <Step S121> The calculation unit 117 first checks whether each of the drive mechanisms (51m, 52m, 221 to 226) of the fluoroscopic imaging table 1 is in operation, and determines whether the motion axis of the drive mechanism in operation has moved a predetermined distance d (d R or d V Specifically, it is determined whether the driving mechanism in operation is a predetermined driving mechanism (here, the support y-direction sliding mechanism 223) excluding the lifting mechanism 221, the raising / lowering mechanism 222, the oblique insertion mechanism 224, the x-ray generator x-direction sliding mechanism 52m, the SID variable mechanism 225, and the x-ray generator rotation mechanism 226.

[0116] If the operating drive mechanism is the above-mentioned specified drive mechanism (pillar y-direction sliding mechanism 223), the calculation unit 117 proceeds to step S122 and executes any one of the flow of FIG. 5 of embodiment 1, the flow of FIG. 11 of embodiment 2, the flow of FIG. 13 of embodiment 3, and the flow of FIG. 15 of embodiment 4.

[0117] On the other hand, if the operating drive mechanism is not the above-mentioned predetermined drive mechanism (the support column y-direction sliding mechanism 223), the calculation unit 117 proceeds to step S123.

[0118] <Step S123> The calculation unit 117 judges whether the operating drive mechanism is the lifting mechanism 221 or the elevation / tilting mechanism 222. If the operating mechanism is the lifting mechanism 221 or the elevation / tilting mechanism 222, it is highly likely that the subject 101 on the top board 110 of the fluoroscopic imaging table 1 will come into contact with the monitor 132, and therefore the calculation unit 117 proceeds to step S124.

[0119] <Step S124> In step S124, the calculation unit 117 further determines whether the operating direction of the lifting mechanism 221 is a predetermined direction toward the monitor 132. For the raising / lowering mechanism 222, the calculation unit 117 determines that the operating direction is a direction toward the monitor 132, regardless of the operating direction or the raising / lowering angle.

[0120] If the movement direction is an approaching direction, the calculation unit 117 proceeds to step S125.

[0121] <Step S125> In step S125, the calculation unit 117 activates the alarm device to sound a buzzer to alert the operator of the approach of the subject 101 to the monitor 132, while setting the operating speed of the drive mechanism (51m, 52m, 221-226) of the fluoroscopic imaging table 1 to a low speed and allowing the operation.

[0122] This allows the operator to move the imaging system 200 and the tabletop 110 at a slow speed while being informed by the buzzer that the subject 101 is approaching the monitor 132, thereby enabling fluoroscopy of the subject 101 at a desired position.

[0123] <Step S126> On the other hand, in step S123, if it is not the lifting mechanism 221 or the raising / lowering mechanism 222 that is operating, the calculation unit determines whether it is the oblique insertion mechanism 224, the x-ray generator x-direction sliding mechanism 52m, the SID variable mechanism 225, and the x-ray generator rotating mechanism 226 that are operating, and if so, the operating stroke of the operating drive mechanism is short and no contact occurs depending on the position of the imaging system 200. Then, the calculation unit proceeds to step S127.

[0124] <Step S127> The calculation unit 117 determines whether the current position of the imaging system 200 is close to the monitor 132. Specifically, the calculation unit 117 calculates the distance d (d R , dV 5 in the same manner as in steps S101, S102, and S104 to S106 of the flow in Fig. 5. If the distance d is smaller than the third reference distance D3, there is a possibility that the imaging system 200 will come into contact with the monitor 132, and therefore the calculation unit 117 proceeds to step S125, where it sounds a buzzer to alert the operator to the approach of the imaging system 200 to the monitor 132, sets the operating speed of the drive mechanisms (51m, 52m, 221 to 226) of the fluoroscopy table 1 to a low speed, and permits the operation.

[0125] This allows the operator to hear the buzzer when the imaging system 200 is approaching the monitor 132, and to perform oblique entry, x-direction sliding of the x-ray generator, SID variation, and x-ray generator rotation at low speed, thereby enabling fluoroscopy of the subject 101 at the desired position.

[0126] On the other hand, if the position of imaging system 200 is far from monitor 132, there is little risk of contacting monitor 132, so the process proceeds to step S128.

[0127] <Step S128> In step S128, if the alarm device is already sounding the buzzer, the calculation unit 117 stops the buzzer and sets the operation speed of the drive mechanism (51m, 52m, 221 to 226) of the fluoroscopic imaging table 1 to the normal speed.

[0128] As a result, when the drive mechanism operating relative to the position of the imaging system 200 does not come into contact, the X-ray fluoroscopy device can operate the drive mechanism at normal speed to move the imaging system 200 or the table top 110 without sounding the buzzer.

[0129] The X-ray fluoroscopy apparatus of the fifth embodiment, compared to the first to fourth embodiments, does not calculate the distance between the imaging system 200 or the tabletop 110 and the monitor 132 depending on a predetermined motion axis, and therefore can reduce the amount of calculation. Furthermore, depending on the motion axis, it is possible to perform slow operation with a buzzer sounding, or to perform normal operation with the buzzer stopped when there is little risk of contact with the monitor. Therefore, it is possible to provide an X-ray fluoroscopy apparatus that prevents contact between the monitor 132 and the subject 101, imaging system 200, and tabletop 110, requires less calculation, and is easy for the operator to use. [Explanation of symbols]

[0130] 20 Support arm 30 Support Frame 90 X-ray support arm 100 X-ray fluoroscopy device 101 Subject 110 Tabletop 110a end 110b Top side 111 X-ray detector 112 Post 112a Center axis 113 X-ray generator 113a End 115 Voltage Generator 116 Image Processing Unit 117 Arithmetic section 118 Control Unit 119 Display device 120 Operation section 121 Stand 131 Monitor Arm 132 Monitor 132a End 132b bottom end 140 Installation section 141 Joints 141a Potentiometer 142 Joints 142a potentiometer 143 Joints 143a potentiometer 144 Arm parts 145 Arm parts 200 Video 221 Lifting mechanism 222 Lifting mechanism 223 Slide mechanism 224 Oblique entry mechanism 225 SID variable mechanism 226 X-ray generator rotation mechanism 227 Detector Slide Mechanism

Claims

1. a fluoroscopy table including a tabletop on which a subject is placed, an X-ray generator for irradiating the subject with X-rays, an X-ray detector for detecting the X-rays transmitted through the subject, a support for supporting the X-ray generator, and a drive mechanism for moving the position of the X-ray generator; a monitor for displaying an image; A control unit for controlling the drive mechanism; A calculation unit, said calculation unit receives an amount of drive of said drive mechanism from said control unit, calculates a distance between said monitor and an end of said fluoroscopy table closest to said monitor, and, if said distance is shorter than a predetermined reference distance, causes said control unit to stop operation of said drive mechanism.

2. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the monitor is supported by a monitor arm, the monitor arm supports the monitor at a tip thereof and includes a deformable arm portion and a deformation amount detection portion that detects and outputs an amount of deformation of the arm portion; the calculation unit takes in the deformation amount of the arm unit detected by the deformation amount detection unit, calculates the position of the monitor, and calculates the distance between the calculated position of the monitor and an end of the fluoroscopy table that is closest to the monitor.

3. 3. The X-ray fluoroscopy apparatus according to claim 2, wherein the arm portion includes a plurality of rod-shaped arm members and a joint member that connects the ends of the two arm members rotatably about at least one axis, and the deformation amount detection unit detects a rotation angle of the joint member.

4. 3. The X-ray fluoroscopy apparatus according to claim 2, wherein the fluoroscopy table further comprises a stand portion supporting the top plate and the support column, An X-ray fluoroscopic imaging apparatus, wherein an end portion of the arm portion opposite to the tip end is attached to the stand portion.

5. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the calculation unit determines whether or not a part of the fluoroscopy table is approaching the monitor based on the input drive amount of the drive mechanism, and calculates the distance if a part of the fluoroscopy table is approaching the monitor.

6. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the calculation unit determines the distance between the monitor and an end of the fluoroscopy table close to the monitor in at least one of a horizontal direction and a vertical direction.

7. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the drive mechanism includes a longitudinal direction slide mechanism that slides the support column along a longitudinal direction of the tabletop, and an oblique incidence mechanism that inclines a central axis of the support column with respect to a normal to the tabletop and makes the X-rays emitted by the X-ray generator incident from an oblique direction with respect to the normal to the tabletop, an X-ray fluoroscopy device configured to calculate, when the longitudinal axis slide mechanism and the oblique insertion mechanism are driven, a position of an end of the X-ray generator close to the monitor based on a drive amount of the longitudinal axis slide mechanism and a drive amount of the oblique insertion mechanism.

8. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the drive mechanism includes a lifting mechanism that lifts and lowers the tabletop relative to a floor surface, The X-ray fluoroscopy apparatus according to claim 1, wherein the calculation unit calculates, as the distance, a distance between a lower end of the monitor and the tabletop when the lifting mechanism is driven.

9. 7. The X-ray fluoroscopy apparatus according to claim 6, wherein the drive mechanism includes a lifting / tilting mechanism that rotates the top plate and the X-ray generator while maintaining a positional relationship between the top plate and the X-ray generator, said calculation unit calculates the distance between the monitor and an end of said fluoroscopy table closest to said monitor when said elevation / tilt mechanism is not operating, and then corrects said distance in accordance with an amount of drive of said elevation / tilt mechanism.

10. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein when the distance is shorter than a predetermined reference distance and the operator again uses the drive mechanism to bring the end of the fluoroscopy table closest to the monitor and the monitor closer than the reference distance after the control unit has stopped the operation of the drive mechanism, the calculation unit sounds a buzzer, sets the operation speed to a predetermined low speed, and permits the operation of the drive mechanism.

11. 6. The X-ray fluoroscopy apparatus according to claim 5, wherein the calculation unit determines whether or not a part of the fluoroscopy table is approaching the monitor, and if the part is not approaching the monitor, determines whether or not the distance is shorter than a second reference distance, and if the distance is shorter than the second reference distance, sounds a buzzer, sets an operating speed to a predetermined low speed, and permits operation of the drive mechanism.

12. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the drive mechanism has a plurality of motion axes, When the axis of motion that is moving is a predetermined first axis among the plurality of axes of motion, the calculation unit sounds a buzzer, sets the speed of motion to a predetermined low speed, and permits the operation of the drive mechanism without calculating the distance.

13. 13. The X-ray fluoroscopy apparatus according to claim 12, wherein the calculation unit does not calculate the distance when a predetermined second motion axis is operating among the plurality of motion axes, and stops the buzzer if it is already sounding, sets the motion speed to a normal speed, and permits the operation of the drive mechanism.

Images