X-ray photographing apparatus

Abstract

To provide a proximity console which automatically retreats only by an easy operation when an operator wants to retreat the proximity console from a present position.SOLUTION: A proximity console of an X-ray photographing apparatus includes: an operation part which receives an operation from an operator; a housing for holding the operation part; a leg part for supporting the housing; a wheel for movably supporting the leg part relative to a floor surface; a rotation drive part for rotating the wheel; a plurality of touch sensors; and a control part. The wheel and the rotation drive part are configured to move the console in a plurality of surrounding directions. The plurality of the touch sensors are arranged side by side in a circumferential direction on an outer peripheral surface of at least one of the housing and the leg part. When the operator touches one of the plurality of the touch sensors, the console is moved by a prescribed distance in an opposite direction of the touch sensor that is touched with a central axis of the console in between.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a radiation imaging apparatus that irradiates a subject with radiation to acquire an image, and more particularly to an X-ray fluoroscopic imaging apparatus.

Background Art

[0002] An X-ray fluoroscopic imaging apparatus is used for X-ray examinations of the whole body including the digestive tract by taking and displaying fluoroscopic images and X-ray still images in real time. As described in Patent Document 1, the imaging apparatus main body (fluoroscopic imaging table) of the X-ray fluoroscopic imaging apparatus is configured to be operated by a remote operation console or a proximity operation console.

[0003] The imaging apparatus main body is arranged in the examination room, the remote operation console is arranged in the operation room shielded by the examination room and the X-ray shielding plate. The proximity operation console is mounted on a cart and can move within the examination room. Generally, when taking an X-ray still image with the imaging apparatus main body, in order to avoid exposure, the operator operates using the remote operation console in the operation room. When taking a fluoroscopic image with a smaller X-ray irradiation dose than the X-ray still image, the operator operates using the proximity operation console in the examination room. Also, the proximity operation console is used when positioning the subject with respect to the imaging apparatus main body.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The proximity operation console is used by the operator to move it to the desired position in the examination room each time. After the positioning is completed, when performing fluoroscopy, the operator and the doctor stand around the imaging device main body and move around to perform procedures on the subject and check the fluoroscopy images, etc. Therefore, each time they move around, it is necessary to move the proximity operation console to a position where it does not get in the way.

[0006] An object of the present invention is to provide a proximity operation console that automatically retracts with only a simple operation when the operator wants to retract the proximity operation console from the current position.

Means for Solving the Problems

[0007] To achieve the above object, the X-ray imaging device of the present invention includes an X-ray imaging device main body and an operation console that receives one or more operations for operating the X-ray imaging device main body from an operator. The operation console includes an operation unit that receives operations from the operator, a housing that holds the operation unit, legs that support the housing, wheels that movably support the legs with respect to the floor surface, a rotation drive unit that rotates the wheels, a plurality of touch sensors, and a control unit. The wheels and the rotation drive unit are structured to be able to move the operation console in a plurality of directions around. The plurality of touch sensors are arranged side by side along the circumferential direction on at least one of the outer peripheral surfaces of the housing and the legs. When the control unit detects that any one of the plurality of touch sensors has been touched by the operator, it controls the rotation drive unit to move the operation console by a predetermined distance in the opposite direction across the central axis of the operation console with respect to the touched touch sensor.

Effects of the Invention

[0008] According to the present invention, when the operator wants to retract the proximity operation console from the current position, the proximity operation console automatically retracts with only a simple touch operation, so the convenience is improved.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0011] <<Embodiment 1>> The fluoroscopic imaging device 1 according to Embodiment 1 will be described with reference to the drawings.

[0012] In the present embodiment, an apparatus for irradiating X-rays for fluoroscopic imaging will be described. However, the apparatus is not limited to fluoroscopy and may be an apparatus for X-ray imaging. Further, the configuration of the present embodiment can be applied to an apparatus that irradiates other radiation than X-rays.

[0013] FIG. 1 is a perspective view of the imaging apparatus main body 200 of the X-ray fluoroscopic imaging apparatus according to Embodiment 1, and front views of the proximity operation console 100 and the remote operation console 300. FIGS. 2(a) to (c) are a front view, a side view, and a top view of the proximity operation console 100. FIGS. 3 and 4 are block diagrams of the proximity operation console 100. FIG. 5 is a block diagram of the X-ray fluoroscopic imaging apparatus 1.

[0014] The X-ray fluoroscopic imaging apparatus 1 includes an imaging apparatus main body 200, a remote operation console 300, and a proximity operation console 100. The imaging apparatus main body 200 and the proximity operation console 100 are arranged in the examination room 500, and the remote operation console 300 is arranged in the operation room 400 shielded from the examination room 500 by an X-ray shielding plate 450. The proximity operation console 100 is movable within the examination room 500. The remote operation console 300 is fixed within the operation room 400.

[0015] The imaging apparatus main body 200 includes a table 230, an X-ray irradiation device 220 that irradiates X-rays to the subject 2 mounted on the table 230, a diaphragm 260, an X-ray detector 240 that detects the X-rays transmitted through the subject 2, and a stand 210 on which a control unit 280 for controlling the X-ray irradiation device 220 and the like are arranged. Here, the X-ray irradiation device 220 and the X-ray detector 240 are arranged to face each other by a C-arm 250. The C-arm 250 is supported by a drive mechanism 270 so as to be movable such as rotation. The drive mechanism 270 is supported by the stand 210. A high-voltage generator 350 for supplying power is connected to the X-ray irradiation device 220.

[0016] The control unit 280 within the stand 210 is connected to the remote operation console 300 via a cable (not shown). The control unit 280 receives signals from the remote operation console 300 and controls the X-ray irradiation device 220, the X-ray detector 240, the drive mechanism 270, and the like.

[0017] As shown in FIG. 5, the remote operation console 300 includes an operation unit 330 that receives instructions for setting imaging conditions and starting imaging from an operator, an arithmetic control unit 310, and an antenna 340 that communicates with the proximity operation console 100. The arithmetic control unit 310 outputs a control signal to the control unit 280 of the imaging device main body 200 according to the imaging conditions received by the operation unit 330, and receives the detection signal of the X-ray detector 240 via the control unit 280. When the operation unit 330 receives an instruction to start imaging from the operator, the operation unit 330 outputs an instruction to generate a high voltage to the high voltage generator 350 under the control of the arithmetic control unit 310. As a result, high voltage power is supplied from the high voltage generator 350 to the X-ray irradiation device 220, and X-rays are irradiated.

[0018] The arithmetic control unit 310 incorporates an image processing unit 320. The image processing unit 320 reads and executes pre-stored image processing software to generate a fluoroscopic image and a still image, and displays them on the connected display unit. The remote operation console 300 also incorporates a transceiver and can perform wireless communication with the proximity operation console 100 via the antenna 340.

[0019] On the other hand, as shown in FIGS. 2 and 4, the proximity operation console 100 includes a control unit 110, a plurality of infrared sensors 101, a plurality of touch sensors 102, a plurality of lamps 103, a display 104, a rotation drive unit 105, a battery 106, an antenna 107, an operation unit 108, and a touch sensor (for feet) 109.

[0020] Also, as shown in FIG. 3, wheels 111 are attached to the lower surface of the proximity operation console 100, and the rotation drive unit 105 drives the wheels 111. The wheels 111 are structured to be able to move the proximity operation console 100 in any direction around (360 degrees). The rotation drive unit 105 drives the wheels 111 under the control of the control unit 110, enabling the proximity operation console 100 to be moved in any direction around (360 degrees). Also, as shown in FIGS. 2(a), (b) and 3, the proximity operation console 100 includes an upper housing 120 in the shape of a substantially rectangular parallelepiped located at the upper part, a leg housing 121 in the shape of a rectangular parallelepiped with wheels attached to the bottom surface, and a leg connection part 122 connecting these two parts.

[0021] The operation unit 108 and the display 104 are arranged on the upper surface of the upper housing 120 (FIG. 2(c)). The antenna 107 and the control unit 110 are also arranged in the upper housing 120. The rotation drive unit 105 and the battery 106 are arranged in the leg housing 121.

[0022] The touch sensors 102 and 109 are sensors that detect being touched by an operator. The touch sensors 102 and 109 may be structured to actually detect the operator's contact with the touch sensors 102 and 109, or may be structured to detect the operator's approach without actual contact.

[0023] The infrared sensor 101 is a sensor for detecting obstacles. As shown in Fig. 2(a), on the four side surfaces of the upper housing 120, they are arranged in a row at regular intervals so as to go around the periphery of the upper housing 120 parallel to the main plane (parallel to the upper surface of the proximity operation table 100). They are arranged in three rows at regular intervals around the entire circumference. The touch sensor 102 is arranged in a row below the row of the infrared sensors 101 at regular intervals so as to go around the upper housing 120 in the same manner as the infrared sensors 101. The lamp 103 is arranged in a row below the row of the touch sensors 102 at regular intervals so as to go around the upper housing 120. Here, the touch sensor 102 is arranged below the infrared sensor 101, and the lamp 103 is arranged further below it, but the order of arrangement does not have to be this order. Also, the infrared sensor 101 and the touch sensor 102 do not have to be arranged at regular intervals, and they do not have to go around the upper housing 120. Furthermore, similarly, the lamp 103 does not have to be arranged at regular intervals, and it does not have to go around the upper housing 120. The lamp 103 may be only one instead of a plurality, and it does not necessarily have to be arranged on the outer periphery of the upper housing 120, and it is also possible to arrange it on the upper surface of the upper housing 120 or on the leg housing 121.

[0024] On the other hand, on the four side surfaces of the leg housing 121, touch sensors (for feet) 109 are also arranged in a row at regular intervals so as to go around the leg housing 121 parallel to the main plane.

[0025] The infrared sensor 101 is a sensor that receives and detects infrared rays emitted by surrounding obstacles. Instead of the infrared sensor 101, a distance sensor (Time Of Flight) that emits infrared light to the surroundings and measures the distance to surrounding obstacles by receiving the reflected light may be used.

[0026] The lamp 103 is an LED or the like.

[0027] The control unit 110 of the proximity operation console 100 incorporates a transceiver and is capable of wireless communication with the remote operation console 300 via the antenna 107. The operation unit 108 receives instructions for setting imaging conditions and starting imaging from the operator. The antenna 107 performs wireless communication with the remote operation console 300. The control unit 110 transmits the imaging conditions received by the operation unit 108 to the remote operation console 300 via the antenna 107. As a result, the imaging conditions received by the proximity operation console 100 are output to the control unit 280 of the imaging device main body 200 via the remote operation console 300, and alignment between the irradiation range of the X-ray irradiation device 220 of the imaging device main body 200 and the subject 2 can be performed. Further, the fluoroscopic image and the still image generated by the image processing unit 320 are received by the control unit 110 of the proximity operation console 100 via the antenna 107 and can be displayed on the display 104 on the proximity operation console 100.

[0028] When the operator touches any one of the plurality of touch sensors 102 and the touch sensor (for feet) 109 arranged side by side on the side surface of the proximity operation table 100, the control unit 110 of the proximity operation table 100 controls the rotation drive unit 105 so that the proximity operation table 100 retreats to the side opposite to the touched touch sensor 102 or 109. Thereby, in a scene where the proximity operation table 100 is not used, it is possible to easily retreat the proximity operation table 100 to a position where it does not obstruct the operator. Further, as the retreat direction, the direction facing the position of the touched touch sensor 102 or 109 is used as a candidate for the retreat direction, and is sensed by a plurality of infrared sensors 101 arranged side by side on the side surface. When the control unit 110 determines that there is no obstacle based on the detection result of the infrared sensor 101, the movement for retreat is started in the direction facing the position of the touched touch sensor 102 or 109 as it is. On the other hand, when the control unit 110 determines that there is an obstacle in the direction facing the position of the touched touch sensor 102 or 109 based on the sensing result of the infrared sensor 101, a predetermined angle range is set as the angle range of the candidate for the retreat direction from the direction facing the position of the touched touch sensor 102 or 109, and is sensed by the infrared sensor 101. When a retreatable direction is detected within the candidate angle range based on the sensing result of the infrared sensor 101, the control unit 110 starts the movement of the proximity operation table 100 in the detected direction.

[0029] Hereinafter, the operation of the control unit 110 will be described using the flow of FIG. 6(a). In the flow of FIG. 6(a), the expressions of directions (1), (2), and (3) are used. As shown in FIG. 6(b), the directions (1), (2), and (3) are three of the four angle ranges obtained by dividing the periphery around the proximity operation table 100 by 90 degrees each within the main plane (parallel to the upper surface) of the proximity operation table 100. That is, the touched touch sensor 102a among the plurality of touch sensors 102 is taken as the front. The 90-degree angle range centered on the touch sensor 102b located on the opposite side (rear surface) across the center of the proximity operation table 100 with respect to the front touch sensor 102a is the direction (1). The 90-degree angle range on the right side of the front touch sensor 102a is the direction (2), and the 90-degree angle range on the left side is the direction (3).

[0030] Further, the plurality of infrared sensors 101 detect the presence or absence of obstacles in the space within a predetermined angular range around the area facing the infrared sensor 101. Note that the detection range of the infrared sensor 101 can detect within the range from the floor surface to the upper housing 120 in the height direction.

[0031] Note that the functions of the control unit 110 can be realized by software. In that case, the control unit 110 is configured by a computer or the like including 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 the memory to realize those functions. Also, part or all of the control unit 110 can be configured by hardware. For example, circuit design can be performed using a custom IC such as an ASIC (Application Specific Integrated Circuit) or a programmable IC such as an FPGA (Field-Programmable Gate Array) to realize the functions of each part.

[0032] (Step 11) The control unit 110 receives the output signals of the plurality of touch sensors 102 and the touch sensor (for feet) 109, and when any touch sensor (here, 102a) is touched by an operator, it proceeds to step 12.

[0033] (Step 12) The control unit 110 takes in the output from the infrared sensor 101 arranged at a position where it can detect infrared rays within the angular range in the direction (1) behind the touched touch sensor 102a, that is, the infrared sensor 101 arranged within the angular range in the direction (1). The control unit 110 determines whether there is an obstacle within the angular range in the direction (1) of the back surface from the received output of the infrared sensor 101, and if there is no obstacle, it proceeds to step 15.

[0034] On the one hand, when the control unit 110 determines that there is an obstacle in direction (1), it proceeds to step 13.

[0035] (Step 15) In step 15, the control unit 110 controls the rotation drive unit 105 and the wheels 111 to move the proximity operation table 100 a predetermined distance (for example, 50 cm) toward the rear direction (1). Note that the distance by which the proximity operation table 100 is moved can also be configured such that the operator can select it or input a desired distance.

[0036] (Step 13) In step 13, the control unit 110 determines whether there is an obstacle in the angular range of direction (2) on the right side when viewed from the front. Specifically, it captures the output from the infrared sensor 101 arranged at a position where infrared rays in the angular range of direction (2) can be detected, that is, the infrared sensor 101 arranged in the angular range of direction (2). The control unit 110 determines from the received output of the infrared sensor 101 whether there is an obstacle in the angular range of direction (2) on the right side when viewed from the front. If there is no obstacle, it proceeds to step 15 and moves the proximity operation table 100 a predetermined distance (for example, 50 cm) toward direction (2).

[0037] On the other hand, when the control unit 110 determines that there is an obstacle in direction (2), it proceeds to step 14.

[0038] (Step 14) In step 14, the control unit 110 determines whether there is an obstacle in the angular range of direction (3) on the left side when viewed from the front. Specifically, the control unit 110 captures the output from the infrared sensor 101 arranged in the angular range of direction (3) and determines from the received output of the infrared sensor 101 whether there is an obstacle in the angular range of direction (3). If there is no obstacle, it proceeds to step 15 and moves the proximity operation table 100 a predetermined distance (for example, 50 cm) toward direction (3).

[0039] On the other hand, when the control unit 110 determines that there is an obstacle in the direction (3), it returns to step 12.

[0040] By operating as shown in Fig. 6(a), the proximity operation desk 100 of Embodiment 1 enables the operator to simply touch any one of the plurality of touch sensors 102 and 109 arranged side by side on the side surface of the proximity operation desk 100 with a hand, elbow, waist, foot, etc., and the proximity operation desk 100 automatically moves and retreats in the direction opposite to the touched touch sensor 102.

[0041] Also, when there is an obstacle in the direction opposite to the touched touch sensor 102, it can be detected by the infrared sensor 101 and retreated in the direction without an obstacle in the order of priority of the right side and the left side when viewed from the front.

[0042] <<Embodiment 2>> The X-ray fluoroscopy imaging apparatus of Embodiment 2 will be described with reference to Fig. 7.

[0043] The X-ray fluoroscopy imaging apparatus of Embodiment 2 has the same configuration as that of Embodiment 1 and performs the same retreat operation. In addition to the operation of the X-ray fluoroscopy imaging apparatus of Embodiment 1, when the operator touches the touch sensor 102 or 109 of the proximity operation desk 100 without the intention of retreating, it is equipped with a function (misoperation prevention function) to avoid automatic retreat.

[0044] Therefore, the control unit 110 operates as shown in the flow of Fig. 7. The flow of Fig. 7 is the same as the flow of Fig. 6(a), but between step 11 and step 12, step 21 is executed to prevent retreat when the touch sensor 102 or 109 is touched without the intention of retreating.

[0045] <Step 11> The control unit 110 receives the output signals of the plurality of touch sensors 102 and the touch sensor (for feet) 109. When any one of the touch sensors (here, 102a) is touched by the operator, it proceeds to step 21.

[0046] <Step 21> The control unit 110 receives the output signals of the plurality of touch sensors 102 and the touch sensor (for feet) 109 for a predetermined fixed time, and determines whether the same touch sensor 102a as the touch sensor 102a touched in step 11 is touched again by the operator within the fixed time. If the same touch sensor 102a is touched again, the process proceeds to step 12.

[0047] If the same touch sensor 102a is not touched again by the operator within the fixed time, the process returns to step 11.

[0048] (Steps 12 to 15) The control unit 110 retracts the proximity operation table 100 in the direction (1) of the back or the direction (2) of the right or the direction (3) of the left of the touch sensor 102a touched, in the same manner as steps 12 to 15 of Embodiment 1.

[0049] Thereby, when the operator touches the same touch sensor 102 or 109 a plurality of times within a fixed time, it can be determined that the touch is an intended retraction touch, and the proximity operation table 100 can be automatically retracted. Therefore, it is possible to prevent the proximity operation table 100 from moving to the touch sensor 102 or 109 unintentionally by the operator.

[0050] <<Embodiment 3>> The X-ray fluoroscopic imaging apparatus of Embodiment 3 will be described with reference to FIG. 8.

[0051] The X-ray fluoroscopic imaging apparatus of Embodiment 3 has the same configuration as that of Embodiment 1 and performs the same retraction operation as that of Embodiment 1. In addition to the operation of Embodiment 1, by lighting the lamp 103 in the retraction direction, the retraction direction is notified to the operator.

[0052] Among the lamps arranged on the side surface of the proximity operation table 100, by lighting the lamp in the automatic retraction direction, the retraction direction is notified to the surroundings.

[0053] Specifically, the control unit 110 operates as shown in the flowchart of FIG. 8. The flowchart of FIG. 8 performs steps 11 to 15 in the same manner as the flowchart of FIG. 6(a), but after step 15, step 31 is executed.

[0054] <Step 31> The control unit 110 turns on at least one of the lamps 103 arranged within the angular range in the direction ((1) or (2) or (3)) in which it was moved to in step 15, and notifies the operator that the proximity operation table 100 is moving in the direction in which the lamp 103 is lit.

[0055] In the third embodiment, when the proximity operation table 100 automatically retracts, the lamp 103 in the retraction direction lights up, so that the operator can grasp the retraction direction.

[0056] <<Embodiment 4>> The X-ray fluoroscopic imaging apparatus according to the fourth embodiment will be described with reference to FIG. 9.

[0057] The X-ray fluoroscopic imaging apparatus according to the fourth embodiment has the same configuration as that of the first embodiment, and the proximity operation table 100 performs the same retraction operation as that of the first embodiment. In addition to the operations of the first embodiment, when there are obstacles in all directions and retraction is impossible, it is equipped with a function of notifying the operator of this situation.

[0058] Specifically, it will be described with reference to the flowchart of FIG. 9.

[0059] <Steps 11 to 15> In steps 11 to 15, when the control unit 110 detects that the proximity operation table 100 has been touched in the same manner as in the first embodiment, it executes an operation to retract.

[0060] However, in step 14, if there are also obstacles within the angular range of direction (3), unlike the first embodiment, it does not return to step 12 but proceeds to step 41.

[0061] <Step 41> In step 41, the control unit 110 captures the output from the infrared sensor 101 again for the three angular ranges in the directions (1), (2), and (3) where obstacles were detected in steps 12, 13, and 14 respectively, and determines whether there are obstacles.

[0062] If there is no obstacle in any of the directions (1), (2), or (3), since the obstacle is moving, the process returns to step 12.

[0063] On the other hand, if there are obstacles in all of the directions (1), (2), and (3), it is determined that there are obstacles in all directions, and the process proceeds to step 42.

[0064] <Step 42> The control unit 110 notifies the operator that evacuation is impossible. As the notification method, any one or a plurality of the following can be used: lighting the lamp 103 in all directions, displaying the message "Evacuation impossible", and sounding the buzzer.

[0065] Note that the message "Evacuation impossible" can be displayed on the display 104 of the proximity operation console 100. The buzzer sound can be configured to be emitted from a speaker mounted on the proximity operation console 100 or a wirelessly connected speaker.

[0066] In Embodiment 4, when there are obstacles in all directions of the proximity operation console 100 and there is no direction for evacuation, it is determined that automatic evacuation is impossible and the operator can be notified.

[0067] <<Embodiment 5>> The X-ray fluoroscopic imaging apparatus according to Embodiment 5 will be described with reference to FIGS. 10 and 11.

[0068] The fluoroscopic imaging apparatus according to Embodiment 5 has the same configuration as that of Embodiment 1 and performs the same retraction operation. In addition to the operation of the fluoroscopic imaging apparatus of Embodiment 1, the operator can select the retraction distance, retraction speed, and sensing angle (angle range such as direction (1), etc.) of the automatic retraction from a plurality of predetermined types. Therefore, the control unit 110 of the proximity operation console 100 causes the display 104 to display items for receiving settings as shown in FIG. 10 according to a predetermined program, and receives the settings from the operator via the operation unit 108.

[0069] Specifically, the control unit 110 operates as shown in the flow of FIG. 11.

[0070] (Step 10) The control unit 110 causes the display 104 to display a reception screen as shown in FIG. 10, and receives the settings from the operator via the operation unit 108.

[0071] The reception screen in FIG. 10 is a screen on which the operator can select the retraction distance, retraction speed, and sensing angle of the automatic retraction from predetermined candidates. For example, the retraction distance can be selected by the operator from 30 cm, 50 cm, and 100 cm. For example, the retraction speed can be selected by the operator from 5 cm / s or 10 cm / s. For example, the sensing angle (angle range such as direction (1), etc.) can be selected by the operator as 60 degrees or 90 degrees.

[0072] When the sensing angle received from the operator is 60 degrees, the control unit 110 adds steps 51 and 52 to the flow of FIG. 11 to determine the presence or absence of an obstacle in five directions (directions (1) to (5)) other than the front as shown in FIG. 11(b). Thereby, it is possible to determine the presence or absence of an obstacle not only in directions (1) to (3) but also in the right side direction (5) and the left side direction (4) of the front.

[0073] When the sensing angle received from the operator is 90 degrees, steps 51 and 52 are not added.

[0074] (Steps 11, 12) The control unit 110 receives the output signals of the plurality of touch sensors 102 and the touch sensor (for feet) 109. When any touch sensor (here, 102a) is touched by the operator (step 11), for the angular range in the direction (1) of the back of the touched touch sensor 102a, the presence or absence of an obstacle is determined from the output of the infrared sensor 101 (step 12).

[0075] If there is no obstacle in the angular range in the direction (1) of the back, the control unit 110 proceeds to step 53.

[0076] (Step 53) In step 53, the control unit 110 controls the rotation drive unit 105 and the wheels 111, and moves the proximity operation table 100 by the distance received in step 10 at the speed received in step 10 in the direction (1) where no obstacle is determined.

[0077] On the other hand, in step 12, if the control unit 110 determines that there is an obstacle in the direction (1), it proceeds to step 13.

[0078] (Steps 13, 14) In step 13, the control unit 110 determines whether there is an obstacle in the angular range in the direction (2) of the right back. If there is no obstacle, it proceeds to step 53 and moves the proximity operation table 100 by the distance received in step 10 at the speed received in step 10 in the direction (2).

[0079] On the other hand, if the control unit 110 determines that there is an obstacle in the direction (2), it proceeds to step 14 and determines whether there is an obstacle in the angular range in the direction (3) of the left back as seen from the front. If there is no obstacle, it proceeds to step 53 and moves the proximity operation table 100 by the distance received in step 10 at the speed received in step 10 in the direction (3).

[0080] On the other hand, if the control unit 110 determines that there is an obstacle in the direction (3), it proceeds to step 51.

[0081] (Step 51) In step 51, the control unit 110 determines whether there is an obstacle within the angular range in the direction (4) at the front right as seen from the front. If there is no obstacle, the process proceeds to step 53, and the proximity operation console 100 is moved in the direction (4) at the speed received in step 10 by the distance received in step 10.

[0082] On the other hand, if the control unit 110 determines that there is an obstacle in the direction (4), the process proceeds to step 52.

[0083] (Step 52) In step 52, the control unit 110 determines whether there is an obstacle within the angular range in the direction (5) at the front left as seen from the front. If there is no obstacle, the process proceeds to step 53, and the proximity operation console 100 is moved in the direction (5) at the speed received in step 10 by the distance received in step 10.

[0084] On the other hand, if the control unit 110 determines that there is an obstacle in the direction (5), the process returns to step 12.

[0085] As described above, in the X-ray fluoroscopic imaging apparatus according to Embodiment 5, since the operator can set the retraction distance, retraction speed, and sensing angle of the proximity operation console 100, the retraction operation can be performed with a highly convenient retraction operation for the operator.

[0086] In the description of the above-described Embodiment 5, the configuration in which the operator selects the evacuation distance, the evacuation speed, and the sensing angle from predetermined candidates has been described. However, the configuration can be such that the operator can set arbitrary values within a predetermined range. In that case, in step 10, after the control unit receives the setting of the values of the evacuation distance, the evacuation speed, and the sensing angle, it sets the direction of the quotient (n) obtained by dividing 360 degrees by the set sensing angle, and for each of the (n - 1) directions excluding the front, it determines the number of additional steps to be added in order to determine the presence or absence of an obstacle after steps 12 to 14 so as to determine whether there is an obstacle. Also, in step 53, the proximity operation table 100 may be evacuated by a desired distance at the desired speed received by the operator in step 10.

Explanation of Signs

[0087] 1 X-ray fluoroscopy imaging device 2 Subject 100 Proximity operation table 101 Infrared sensor 102 Touch sensor 102a Touch sensor 102b Touch sensor 103 Lamp 104 Display 105 Rotation drive unit 106 Battery 107 Antenna 108 Operation unit 109 Touch sensor (for feet) 110 Control unit 111 Wheels 120 Upper housing 121 Leg housing 122 Leg connection part 180 Operation unit 200 Imaging device main body 210 Stand 220 X-ray irradiation device 230 Table 240 X-ray detector 250 C-arm 260 Diaphragm 270 Drive mechanism 280 Control unit 300 Remote operation console 310 Arithmetic control unit 320 Image processing unit 330 Operation unit 340 Antenna 350 High voltage generator 400 Operation room 450 X-ray shielding plate 500 Examination room

Claims

1. An X-ray imaging apparatus having an X-ray imaging apparatus main body and an operation console that receives one or more operations from an operator for operating the X-ray imaging apparatus main body, the operation console includes an operation unit that receives the operation from the operator, a housing that holds the operation unit, legs that support the housing, wheels that support the legs so that the legs can move relative to a floor surface, a rotation drive unit that rotates the wheels, a plurality of touch sensors, and a control unit; The wheels and the rotary drive unit are configured to move the console in a plurality of directions around the console, The touch sensors are arranged in a line along a circumferential direction on an outer circumferential surface of at least one of the housing and the leg portion, When the control unit detects that any one of the plurality of touch sensors has been touched by the operator, the control unit controls the rotation drive unit to move the operation console by a predetermined distance in a direction opposite to the touched touch sensor across a central axis of the operation console.

1. An X-ray imaging apparatus comprising:

2. 2. The X-ray imaging apparatus according to claim 1, further comprising an obstacle sensor, The obstacle sensor is capable of detecting obstacles in a plurality of directions around the console; When any of the plurality of touch sensors is touched by the operator, the control unit determines whether or not there is an obstacle in a direction opposite to the direction of the touched touch sensor across a central axis of the operation console based on an output of the obstacle sensor before moving the operation console, and when there is no obstacle, moves the operation console in a direction opposite to the direction of the touch sensor across the central axis of the operation console.

1. An X-ray imaging apparatus comprising:

3. 3. The X-ray imaging device according to claim 2, wherein the obstacle sensor is a plurality of optical sensors arranged in a line in a circumferential direction on an outer circumferential surface of at least one of the housing and the leg portion.

1. An X-ray imaging apparatus comprising:

4. 4. An X-ray imaging apparatus according to claim 3, wherein the plurality of obstacle sensors are infrared sensors.

5. 2. The X-ray imaging device according to claim 1, wherein a light-emitting device for indicating a moving direction of the console is disposed on an outer peripheral surface of at least one of the housing and the leg.

1. An X-ray imaging apparatus comprising:

6. 6. The X-ray imaging apparatus according to claim 5, wherein the light emitting devices are a plurality of lamps arranged in a line in a circumferential direction on the outer circumferential surface of at least one of the housing and the leg portion, and among the plurality of lamps, a lamp located in a moving direction of the console is turned on by an instruction from the control unit.

1. An X-ray imaging apparatus comprising:

7. 3. The X-ray imaging device according to claim 2, wherein when the obstacle sensor detects that there is an obstacle in a direction opposite to the touched touch sensor across a central axis of the console, the control unit determines whether there is an obstacle in a direction different from the direction, and when there is no obstacle, moves the console by the predetermined distance in the direction in which it is determined that there is no obstacle.

1. An X-ray imaging apparatus comprising:

8. 2. The X-ray imaging apparatus according to claim 1, wherein the control unit determines that any one of the plurality of touch sensors has been touched by the operator when the touch sensor is touched two or more times within a certain period of time.

1. An X-ray imaging apparatus comprising:

9. 3. An X-ray imaging device as described in claim 2, characterized in that when the control unit determines from the output of the obstacle sensor that there are obstacles in all directions of the operation console, it notifies the user that the operation console cannot be moved.

10. 2. The X-ray imaging apparatus according to claim 1, wherein the control unit receives at least one of the distance and the moving speed of the operation from an operator via the operation unit.

11. 3. The X-ray imaging device according to claim 2, wherein the control unit receives from an operator via the operation unit the size of an angular range of one of the directions in which the obstacle is to be detected, and determines whether or not an obstacle is present in each of the directions in the received angular range based on the output of the obstacle sensor.

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