X-ray diagnostic device, control method for x-ray diagnostic device, and program

Abstract

To improve throughput in moving an X-ray tube.SOLUTION: An X-ray diagnostic device according to the embodiment includes a calculation unit that calculates a distance between the X-ray tube and a bed having a top plate on which a subject is placed when the X-ray tube held by an X-ray tube holding device is moving, and a control unit that controls the bed to change the height of the bed in a direction away from the X-ray tube when the distance calculated by the calculation unit is equal to or less than a first threshold, thereby retracting the bed.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The embodiments disclosed in this specification and the drawings relate to an X-ray diagnostic apparatus, a control method of the X-ray diagnostic apparatus, and a program.

Background Art

[0002] Conventionally, in conjunction with the vertical movement of an X-ray detector held by a stand for photographing a standing subject or the vertical movement of a bed for photographing a supine subject, the X-ray tube is moved so as to follow the vertical movement of the X-ray detector or the vertical movement of the bed. There are X-ray diagnostic apparatuses having auto-tracking and / or auto-positioning for moving the X-ray tube or the like to a pre-registered position. In such an X-ray diagnostic apparatus, when performing auto-tracking or auto-positioning, there may be a case where a bed exists on the movement route of the X-ray tube.

[0003] In such a case, in order to prevent interference between the bed existing on the movement route of the X-ray tube and the X-ray tube, some X-ray diagnostic apparatuses may have a function of controlling the interference between the X-ray tube and the bed. However, when this interference control is executed, the movement of the X-ray tube may stop halfway or the X-ray tube may not be able to operate automatically. In such a case, it is necessary for the user to manually retract the bed to a position where the interference control is not executed, and the movement of the X-ray tube will not be smoothly performed.

[0004] On the other hand, some X-ray diagnostic apparatuses may not have a function of controlling the interference between the X-ray tube and the bed. In such a case, it is impossible to prevent interference with the bed existing on the movement route of the X-ray tube, and there is a possibility that the X-ray tube and the bed will interfere. Therefore, in an X-ray diagnostic apparatus, when performing auto-tracking or auto-positioning, it is desired to improve the throughput in the movement of the X-ray tube by smoothly moving the X-ray tube without the user manually retracting the bed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] One of the problems to be solved by the embodiments disclosed in this specification and the drawings is to improve the throughput in the movement of the X-ray tube. However, the problems to be solved by the embodiments disclosed in this specification and the drawings are not limited to the above problems. The problems corresponding to the respective effects of each configuration shown in the embodiments described later can also be regarded as other problems.

Means for Solving the Problems

[0007] The X-ray diagnostic apparatus according to the embodiment includes a calculation unit that calculates the distance between the X-ray tube held by the X-ray tube holding device and the bed having a top plate on which the subject is placed when the X-ray tube is moving, and when the distance calculated by the calculation unit is equal to or less than a first threshold value, controls the bed to change the height of the bed in a direction away from the X-ray tube, thereby retracting the bed, and a control unit.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of an X-ray diagnostic apparatus, a control method of the X-ray diagnostic apparatus, and a program will be described with reference to the drawings. In the following description, components having substantially the same functions and configurations will be denoted by the same reference numerals, and duplicate descriptions will be made only when necessary.

[0010] 〔First Embodiment〕 The configuration of the X-ray diagnostic apparatus according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic diagram showing the appearance of the X-ray diagnostic apparatus according to the first embodiment. FIG. 2 is a block diagram showing a configuration example of the X-ray diagnostic apparatus according to the first embodiment. The X-ray diagnostic apparatus 1 shown in FIGS. 1 and 2 is a general X-ray imaging apparatus. That is, in the following description, the case where the X-ray diagnostic apparatus 1 according to the first embodiment is a general X-ray imaging apparatus will be described as an example.

[0011] As shown in FIGS. 1 and 2, the X-ray diagnostic apparatus 1 according to the present embodiment includes an X-ray tube 10, an X-ray tube holding device 20, a high voltage generator 30, a bed 40, a stand 50, and a console device 60.

[0012] The X-ray tube 10 irradiates X-rays. Also, the X-ray tube 10 is held by the X-ray tube holding device 20. As shown in FIG. 1, the X-ray tube 10 is attached to one end of the X-ray tube holding device 20 and is rotatable with respect to the X-ray tube holding device 20 in the a direction about an axis parallel to the X-axis. This X-ray tube 10 is arranged at a desired position by the operation of the user. The user can freely set the distance and direction between the X-ray tube 10 and the X-ray detector 43 provided in the bed 40 by operating the X-ray tube 10. Also, the X-ray tube 10 that is rotatable about the X-axis can irradiate X-rays in an arbitrary direction from, for example, the Z-axis direction to the Y-axis direction. As shown in FIGS. 1 and 2, the X-ray tube 10 includes an X-ray tube bulb 11, an X-ray aperture 12, and an X-ray tube position detection sensor 13.

[0013] The X-ray tube bulb 11 generates X-rays based on the tube current supplied from the high-voltage generator 30 and the tube voltage applied by the high-voltage generator 30. The X-rays generated from the X-ray tube bulb 11 are irradiated onto the subject P.

[0014] The X-ray aperture 12 is composed of a metal plate such as a lead plate. The X-ray aperture 12 performs aperture control on the X-rays generated by the X-ray tube bulb 11 under the control of the processing circuit 64 of the console device 60, and controls the range of the X-rays irradiated onto the subject P. That is, by closing the aperture of the X-ray aperture 12, the irradiation range of the X-rays can be narrowed, and conversely, by opening the aperture of the X-ray aperture 12, the irradiation range of the X-rays can be widened. Note that the X-ray aperture 12 may also be called a collimator.

[0015] The X-ray tube position detection sensor 13 is a sensor that detects the position of the X-ray tube 10. The position of the X-ray tube 10 includes, for example, the irradiation direction of the X-ray tube 10. The X-ray tube position detection sensor 13 outputs the detection result to the processing circuit 64 of the console device 60. Also, this X-ray tube position detection sensor 13 is composed of, for example, an encoder, an acceleration sensor, a gyro sensor, or the like.

[0016] The X-ray tube holding device 20 movably holds the X-ray tube 10. Specifically, the X-ray tube holding device 20 moves the X-ray tube 10 to a desired position in conjunction with the operation of the user. As shown in FIG. 1, the X-ray tube holding device 20 includes a support column portion 21 and a support base 22. This X-ray tube holding device 20 is also called a tube housing device.

[0017] One end of the support column portion 21 holds the X-ray tube 10 so as to be rotatable about an axis parallel to the X-axis shown in FIG. 1 in the a direction. Also, the other end of the support column portion 21 is attached to the support base 22. This support column portion 21 is configured to be telescopically extendable and retractable in the vertical direction by a drive portion (not shown). That is, the support column portion 21 can move the X-ray tube 10 in the b direction corresponding to the Y-axis shown in FIG. 1.

[0018] The support base 22 supports the X-ray tube 10 via the support column portion 21. This support base 22 is installed on the rail R2. The support base 22 can move the X-ray tube 10 in the c direction corresponding to the X-axis, for example, by moving on the rail R2 by a drive portion (not shown). Also, the rail R2 can move the X-ray tube 10 attached to the support base 22 in the d direction corresponding to the Z-axis by moving on the rail R1. The rail R1 is installed on the ceiling surface.

[0019] Note that although the X-ray tube holding device 20 according to the present embodiment has been described as being installed on the ceiling via the rails R1 and R2, the X-ray tube holding device 20 is not limited to being installed on the ceiling. That is, the installation location of the X-ray tube holding device 20 is arbitrary. For example, the X-ray tube holding device 20 may be installed on the ceiling and the floor surface, or on the wall surface and the floor surface via rails installed on the wall surface and the floor surface.

[0020] The high-voltage generator 30 includes a high-voltage generating unit that generates a direct-current high voltage to be applied to the X-ray tube 11, and an X-ray control unit that controls the magnitude, application time, and current flowing of the direct-current high voltage. The high-voltage generator 30 receives X-ray imaging conditions (such as the value of tube current, the value of tube voltage, irradiation time, mAs value, and source to image receptor distance (SID)) from the processing circuit 64. Based on the X-ray imaging conditions, the high-voltage generator 30 supplies a tube current suitable for X-ray imaging and X-ray fluoroscopy to the X-ray tube 11, and applies a tube voltage suitable for X-ray imaging and X-ray fluoroscopy to the X-ray tube 11.

[0021] The examination table 40 is a device for placing and moving the subject P to be imaged in the lying position. As shown in FIGS. 1 and 2, the examination table 40 includes a top plate 41, a base 42, an X-ray detector 43, a table position detection sensor 44, a table drive unit 45, and an interference detection sensor 46. Note that the X-ray detector 43 provided in the examination table 40 may be configured to be detachable from the examination table 40.

[0022] The top plate 41 is a plate-like member on which the subject P is placed. The top plate 41 is configured to be movable in the e direction corresponding to the Z axis shown in FIG. 1, which is the long-axis direction of the top plate 41, with respect to the base 42 by the table drive unit 45.

[0023] The base 42 is a housing that supports the top plate 41 so as to be movable in the vertical direction. That is, since the base 42 is configured to move the top plate 41 in the f direction corresponding to the Y axis shown in FIG. 1, the height of the examination table 40 can be changed. Also, inside the base 42, the X-ray detector 43 is provided so as to be movable in the e direction corresponding to the Z axis shown in FIG. 1, which is the long-axis direction of the top plate 41.

[0024] The X-ray detector 43 is attached below the top plate 41 on which the subject P is placed and is movable in the f direction together with the top plate 41. That is, this X-ray detector 43 is used to photograph the subject P in the lying position. Further, the X-ray detector 43 detects the X-rays irradiated from the X-ray tube 10 and transmitted through the subject P. The X-ray detector 43 includes, for example, a flat panel detector (FPD) capable of detecting X-rays. The FPD has a plurality of semiconductor detection elements. The semiconductor detection elements are of an indirect conversion type and a direct conversion type. The indirect conversion type is a format in which incident X-rays are converted into light by a scintillator such as a phosphor, and the converted light is converted into an electrical signal. The direct conversion type is a format in which incident X-rays are directly converted into an electrical signal. The electrical signals generated by the plurality of semiconductor detection elements upon incidence of X-rays are output to an analog-to-digital converter (A / D converter) (not shown). The A / D converter converts the electrical signal into digital data. The A / D converter outputs the digital data to the processing circuit 64.

[0025] The bed position detection sensor 44 is a sensor that detects the position of the bed 40. The position of the bed 40 includes, for example, the moving direction of the bed 40. This bed position detection sensor 44 is provided, for example, on the top plate 41. Further, this bed position detection sensor 44 outputs the detection result to the processing circuit 64 of the console device 60. Further, this bed position detection sensor 44 is composed of, for example, an encoder, an acceleration sensor, a gyro sensor, or the like. This bed position detection sensor 44 and the X-ray tube position detection sensor 13 constitute the position detection unit in the present embodiment.

[0026] The bed drive unit 45 is a motor or an actuator for moving the top plate 41 in the long axis direction of the top plate 41, moving the base 42 in the vertical direction, or moving the X-ray detector 43 in the long axis direction of the top plate 41.

[0027] The interference detection sensor 46 is a sensor that detects interference with the hospital bed 40. Specifically, the interference detection sensor 46 detects interference between the top plate 41 of the hospital bed 40 and the wall surface, or interference between the top plate 41 of the hospital bed 40 and the user or an article present near the hospital bed 40 (e.g., a wheelchair, a chair, etc.). The interference detection sensor 46 outputs the detection result to the processing circuit 64 of the console device 60. This interference detection sensor 46 is constituted by, for example, a contact sensor, an ultrasonic sensor, or a camera. The interference detection sensor 46 corresponds to the interference detection unit in the present embodiment.

[0028] The stand 50 holds an X-ray detector 51 for detecting X-rays irradiated from the X-ray tube 10, and is a device for photographing a subject P in a standing position. As shown in FIGS. 1 and 2, the stand 50 includes an X-ray detector 51, a detector support portion 52, a stand drive portion 53, and a stand support column portion 54. This stand 50 is installed, for example, near the wall surface of the examination room. Also, the X-ray detector 51 may be configured to be detachable from the stand 50. This X-ray detector 51 corresponds to the detector in the present embodiment.

[0029] The X-ray detector 51 is attached to the stand support column portion 54 via the detector support portion 52 and the stand drive portion 53. This X-ray detector 51 is configured to be movable in the g direction corresponding to the Y axis shown in FIG. 1, which is the long axis of the stand support column portion 54, with respect to the stand support column portion 54 by the stand drive portion 53. This X-ray detector 51 is used for photographing a subject P in a standing position. Since the configuration of this other X-ray detector 51 is the same as the configuration of the X-ray detector 43 described above, the description thereof is omitted.

[0030] The detector support portion 52 supports the X-ray detector 51 so as to be movable in the g direction. Specifically, one side of the detector support portion 52 has the X-ray detector 51, and the other side of the detector support portion 52 is attached to the stand support column portion 54.

[0031] The stand drive portion 53 is a motor or an actuator for moving the X-ray detector 51 in the long axis direction of the stand support column portion 54 via the detector support portion 52.

[0032] The stand support portion 54 is installed on the floor surface. The stand support portion 54 supports the detector support portion 52 via the stand drive portion 53, thereby movably supporting the X-ray detector 51.

[0033] The console device 60 includes a memory 61, an output interface 62, an input interface 63, a processing circuit 64, and a communication interface 65.

[0034] The memory 61 is constituted by, for example, semiconductor memory elements such as RAM (Random Access Memory) and flash memory, hard disks, optical disks, etc. The memory 61 may be constituted by portable media such as USB (Universal Serial Bus) memories and DVDs (Digital Video Disk). The memory 61 stores various processing programs (including the OS (Operating System) in addition to application programs) used in the processing circuit 64 and data necessary for the execution of the programs.

[0035] The output interface 62 outputs, for example, a signal supplied from the processing circuit 64. This output interface 62 is realized by, for example, a display circuit, a printing circuit, and audio devices, etc. The display circuit includes, for example, a CRT display, a liquid crystal display, an organic EL display, an LED display, and a plasma display, etc. Note that a processing circuit that converts data representing a display target into a video signal and outputs the video signal to the outside is also included in the display circuit. The printing circuit includes, for example, a printer, etc. Note that an output circuit that outputs data representing a printing target to the outside is also included in the printing circuit. The audio device includes, for example, a speaker, etc. Note that an output circuit that outputs an audio signal to the outside is also included in the audio device.

[0036] The input interface 63 receives various input operations from the user, converts the received input operations into electrical signals, and outputs them to the processing circuit 64. For example, the input interface 63 is realized by a mouse, a keyboard, a trackball, a switch, a button, a joystick, etc. This input interface 63 may be provided on the hospital bed 40 or the X-ray tube 10. Also, the input interface 63 may be composed of a tablet terminal or a wireless switch capable of wireless communication with the console device 60 main body. The input interface 63 receives, for example, the timing of starting auto-tracking or auto-positioning from the user.

[0037] Here, auto-tracking is a function in which the column portion 21 of the X-ray tube holding device 20 expands and contracts in the vertical direction in conjunction with the vertical movement of the hospital bed 40 or the stand 50, so that the X-ray tube 10 automatically follows the hospital bed 40 or the stand 50. Also, auto-positioning is a function in which at least one of the X-ray tube 10 held by the X-ray tube holding device 20, the hospital bed 40, and the stand 50 automatically moves to a pre-registered target position. The target position registered in advance is, for example, the imaging position in X-ray imaging in the lying position or the imaging position in X-ray imaging in the standing position.

[0038] The processing circuit 64 is a control circuit that performs overall control of the X-ray diagnostic apparatus 1 and is also an arithmetic circuit that performs various calculations. For example, the processing circuit 64 according to the present embodiment has an acquisition function 641, a calculation function 642, a control function 643, a notification function 644, and a planning function 645. The acquisition function 641 corresponds to the acquisition unit according to the present embodiment, the calculation function 642 corresponds to the calculation unit according to the present embodiment, the control function 643 corresponds to the control unit according to the present embodiment, the notification function 644 corresponds to the notification unit according to the present embodiment, and the planning function 645 corresponds to the planning unit according to the present embodiment.

[0039] In the embodiment shown in FIG. 2, each processing function performed by the acquisition function 641, the calculation function 642, the control function 643, the notification function 644, and the planning function 645 is stored in the memory 61 in the form of a program executable by a computer. The processing circuit 64 is a processor that reads out and executes the program from the memory 61 to realize the functions corresponding to the respective programs. In FIG. 2, although the acquisition function 641, the calculation function 642, the control function 643, the notification function 644, and the planning function 645 are described as being realized by a single processing circuit 64, the processing circuit 64 may be configured by combining a plurality of independent processors, and these functions may be realized by each processor executing a program.

[0040] The acquisition function 641 acquires detection results from, for example, the X-ray tube position detection sensor 13, the bed position detection sensor 44, and the interference detection sensor 46. The calculation function 642 calculates the distance between the X-ray tube 10 and the bed 40 when the X-ray tube 10 is moving.

[0041] When the distance between the X-ray tube 10 and the bed 40 calculated by the calculation function 642 is equal to or less than a first threshold value, the control function 643 controls the bed 40 to change the height of the bed 40 in a direction away from the X-ray tube 10, thereby retracting the bed 40. This first threshold value is stored in the memory 61.

[0042] When the distance between the X-ray tube 10 and the bed 40 calculated by the calculation function 642 is equal to or less than a second threshold value and the X-ray tube 10 is moving in a direction approaching the bed 40, the notification function 644 notifies that the X-ray tube 10 is approaching the bed 40. This second threshold value is a value equal to or less than the first threshold value. This second threshold value is also stored in the memory 61.

[0043] The planning function 645 plans the movement route of the X-ray tube 10. Further, when the distance between the X-ray tube 10 and the hospital bed 40 calculated by the calculation function 642 is equal to or less than a second threshold value and the X-ray tube 10 moves in a direction approaching the hospital bed 40, the planning function 645 replans the movement route of the X-ray tube 10. This planning function 645 plans, for example, the movement route from the current position to the target position of the X-ray tube 10 when auto-positioning is executed.

[0044] The communication interface 65 is a circuit for communicating with an external device by wire, wirelessly, or both. For example, the communication interface 65 communicates with a PACS (Picture Archiving and Communication System) or the like.

[0045] Next, with reference to FIGS. 3 and 4, X-ray imaging in the lying position when the subject P is placed on the hospital bed 40 and X-ray imaging in the standing position when the subject P is positioned in front of the stand 50 will be described. FIG. 3 is a diagram for explaining X-ray imaging in the lying position using the X-ray diagnostic apparatus 1 according to the first embodiment. FIG. 4 is a diagram for explaining X-ray imaging in the standing position using the X-ray diagnostic apparatus 1 according to the first embodiment. When performing X-ray imaging of the subject P in the lying position and X-ray imaging of the subject P in the standing position, after X-ray imaging in the lying position is performed, the subject P may be moved from the hospital bed 40 to the stand 50 and X-ray imaging in the standing position may be performed, or after X-ray imaging in the standing position is performed, the subject P may be moved to the hospital bed 40 and X-ray imaging in the lying position may be performed, or only X-ray imaging in the lying position may be performed, or only X-ray imaging in the standing position may be performed.

[0046] As shown in FIG. 3, when performing X-ray imaging on the subject P in the lying position, the subject P in the lying position is placed on the hospital bed 40. Then, the user positions the X-ray tube 10 at a desired position with respect to the subject P. At this time, for example, by executing auto-positioning, the user moves the X-ray tube 10 positioned with respect to the stand 50 or the X-ray tube 10 positioned at a position different from the imaging position in the lying-position X-ray imaging to the imaging position in the lying-position X-ray imaging so as to face the top plate 41 of the hospital bed 40. Then, for example, by executing auto-tracking, the user interlocks the X-ray tube 10 and the hospital bed 40 to adjust the vertical positions of the X-ray tube 10 and the hospital bed 40.

[0047] In the example of performing X-ray imaging on the subject P in the lying position described above, the case where auto-positioning and auto-tracking are each executed has been described as an example. However, only auto-positioning or only auto-tracking may be executed. Further, after executing auto-positioning, the user may manually adjust the vertical positions of the X-ray tube 10 and the hospital bed 40, respectively. Further, after the user manually moves the X-ray tube 10 positioned with respect to the stand 50 or the X-ray tube 10 positioned at a position different from the imaging position in the lying-position X-ray imaging to the imaging position in the lying-position X-ray imaging so as to face the top plate 41 of the hospital bed 40, auto-tracking may be executed.

[0048] As shown in FIG. 4, when performing X-ray imaging on the subject P in the standing position, the subject P in the standing position is positioned on the stand 50. Then, the user positions the X-ray tube 10 at a desired position with respect to the subject P. At this time, for example, by executing auto-positioning, the user moves the X-ray tube 10 positioned with respect to the hospital bed 40 or the X-ray tube 10 positioned at a position different from the imaging position in the standing-position X-ray imaging to the imaging position in the standing-position X-ray imaging so as to face the stand 50. Then, for example, by executing auto-tracking, the user interlocks the X-ray tube 10 and the X-ray detector 51 of the stand 50 to adjust the vertical positions of the X-ray tube 10 and the X-ray detector 51 of the stand 50.

[0049] In addition, also in the example of performing X-ray imaging of the subject P in the standing position described above, the case where auto-positioning and auto-tracking are each executed has been described as an example, but only auto-positioning or only auto-tracking may be executed. Further, after performing auto-positioning, the user may manually adjust the vertical positions of the X-ray tube 10 and the X-ray detector 51 of the stand 50, respectively. Further, the user may move the X-ray tube 10 positioned at a position different from the imaging position in the X-ray imaging of the X-ray tube 10 positioned with respect to the hospital bed 40 or the standing position to the imaging position in the X-ray imaging of the standing position so as to face the X-ray detector 51 of the stand 50, and then execute auto-tracking.

[0050] Next, with reference to FIGS. 5 and 6, the X-ray tube movement process by auto-tracking according to the present embodiment will be described. FIGS. 5 and 6 are flowchart diagrams for explaining the content of the X-ray tube movement process by auto-tracking executed by the X-ray diagnostic apparatus 1 according to the first embodiment. In this X-ray tube movement process by auto-tracking, after the movement of the X-ray tube 10 is started, the current position of the hospital bed 40 and the current position of the X-ray tube 10 are acquired, the distance between the X-ray tube 10 and the hospital bed 40 is calculated, the hospital bed 40 is retracted when the calculated distance is equal to or less than the first threshold value, the user is notified when the calculated distance is equal to or less than the second threshold value, and the movement of the X-ray tube 10 is stopped when the calculated distance is equal to or less than the third threshold value. This X-ray tube movement process by auto-tracking is a process executed when the execution of auto-tracking is accepted from the user.

[0051] As shown in FIG. 5, first, the X-ray diagnostic apparatus 1 starts the movement of the X-ray tube 10 (step S11). This process of starting the movement of the X-ray tube 10 is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 receives an input operation regarding the movement of the X-ray detector 51 of the stand 50 from the user via the input interface 63, starts the movement of the X-ray detector 51, and starts the movement of the X-ray tube 10 by auto-tracking.

[0052] FIG. 7 is a diagram showing the positional relationship among the X-ray tube 10, the X-ray detector 51 of the stand 50, and the bed 40 in the X-ray diagnostic apparatus 1 according to the first embodiment during the execution of auto-tracking. As shown in FIG. 7, the X-ray tube 10 is positioned so as to face the X-ray detector 51 of the stand 50. Further, as shown in FIG. 7, the X-ray tube 10 is positioned above the top plate 41 of the bed 40. In the example shown in this FIG. 7, when auto-tracking is executed and the X-ray detector 51 moves downward, the X-ray tube 10 that faces the stand 50 and the X-ray detector 51 held by the stand 50 move downward while maintaining a face-to-face state so that the X-ray tube 10 follows the X-ray detector 51.

[0053] Next, as shown in FIG. 5, the X-ray diagnostic apparatus 1 acquires the current position of the bed 40 (step S13). The process of acquiring the current position of the bed 40 is realized by the acquisition function 641 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 acquires the current position of the bed 40 by acquiring the detection result of the bed position detection sensor 44.

[0054] Next, as shown in FIG. 5, the X-ray diagnostic apparatus 1 acquires the current position of the X-ray tube 10 (step S15). The process of acquiring the current position of the X-ray tube 10 is realized by the acquisition function 641 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 acquires the current position of the X-ray tube 10 by acquiring the detection result of the X-ray tube position detection sensor 13.

[0055] Next, as shown in FIG. 5, the X-ray diagnostic apparatus 1 calculates the distance between the X-ray tube 10 and the examination table 40 (step S17). The process of calculating the distance between the X-ray tube 10 and the examination table 40 is realized by the calculation function 642 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 calculates the distance between the X-ray tube 10 and the examination table 40 based on the current position of the examination table 40 acquired in step S13 and the current position of the X-ray tube 10 acquired in step S15. That is, based on steps S11 and S17, the calculation function 642 according to the present embodiment starts calculating the distance between the X-ray tube 10 and the examination table 40 when the X-ray tube 10 facing the stand 50 moves. In particular, in the X-ray tube movement process by auto-tracking according to the present embodiment, the calculation function 642 starts calculating the distance between the X-ray tube 10 and the examination table 40 when the X-ray tube 10 facing the stand 50 and the X-ray detector 51 held by the stand move while maintaining a facing state.

[0056] FIG. 8 is a diagram showing the positional relationship among the X-ray tube 10 during auto-tracking execution, the X-ray detector 51 of the stand 50, and the examination table 40 in the X-ray diagnostic apparatus 1 according to the first embodiment. As shown in FIG. 8, the X-ray tube 10 moves downward in conjunction with the movement of the X-ray detector 51 and approaches the top plate 41. In the example shown in FIG. 8, the X-ray diagnostic apparatus 1 calculates the distance between the X-ray tube 10 and the top plate 41 of the examination table 40 in step S17.

[0057] Next, as shown in FIG. 5, the X-ray diagnostic apparatus 1 determines whether or not the movement of the X-ray tube 10 is completed (step S19). The process of determining whether or not the movement of the X-ray tube 10 is completed is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 determines whether or not the X-ray tube 10 is moving, thereby determining whether or not the movement of the X-ray tube 10 is completed.

[0058] Then, in step S19, if the movement of the X-ray tube 10 is not completed (step S19: No), the X-ray diagnostic apparatus 1 determines whether the distance between the X-ray tube 10 and the bed 40 is equal to or less than a first threshold value (step S21). The process of determining whether the distance between the X-ray tube 10 and the bed 40 is equal to or less than the first threshold value is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 compares the first threshold value stored in the memory 61 with the distance between the X-ray tube 10 and the bed 40 calculated in step S17, and determines whether the distance between the X-ray tube 10 and the bed 40 is equal to or less than the first threshold value. More specifically, in the example shown in FIG. 8, the control function 643 determines whether the distance between the X-ray tube 10 and the top plate 41 of the bed 40 is equal to or less than the first threshold value.

[0059] Then, in step S21, if the distance between the X-ray tube 10 and the bed 40 is not equal to or less than the first threshold value (step S21: No), the process returns to step S15, and the processes from step S15 to step S21 are repeated until the movement of the X-ray tube 10 is completed in step S19, or until the distance between the X-ray tube 10 and the bed 40 becomes equal to or less than the first threshold value in step S21.

[0060] On the other hand, in step S21, if the distance between the X-ray tube 10 and the bed 40 is equal to or less than the first threshold value (step S21: Yes), the X-ray diagnostic apparatus 1 retracts the bed 40 (step S23). The process of retracting the bed 40 is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 controls the bed 40 to change the height of the bed 40 in a direction away from the X-ray tube 10, thereby retracting the bed 40. More specifically, the control function 643 controls the bed 40 to change the height of the bed 40 in a direction away from the X-ray tube 10 until the movement limit of the bed 40 in the height direction in a direction away from the X-ray tube 10, or until the interference detection sensor 46 detects the interference of the bed 40, thereby retracting the bed 40 from the X-ray tube 10.

[0061] FIG. 9 is a diagram for explaining an example of the retraction operation of the hospital bed 40 during the execution of auto-tracking in the X-ray diagnostic apparatus 1 according to the first embodiment. As shown in FIG. 9, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to change the height of the hospital bed 40 so that the top plate 41 of the hospital bed 40 moves vertically downward in a direction away from the X-ray tube 10, and retracts the hospital bed 40 from the X-ray tube 10. Further, as shown in FIG. 9, in the X-ray tube movement process by auto-tracking according to the present embodiment, when the hospital bed 40 is retracted from the X-ray tube 10, the X-ray tube 10 moves in conjunction with the movement of the X-ray detector 51. That is, in step S23 according to the present embodiment, the X-ray diagnostic apparatus 1 moves the X-ray tube 10 and retracts the hospital bed 40. Then, when the hospital bed 40 moves to the movement limit of the hospital bed 40 or until the interference detection sensor 46 detects the interference of the hospital bed 40, the X-ray diagnostic apparatus 1 stops the movement of the hospital bed 40.

[0062] In this step S23, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to change the height of the hospital bed 40 in a direction away from the X-ray tube 10 to retract the hospital bed 40 from the X-ray tube 10. However, the method of retracting the hospital bed 40 from the X-ray tube 10 is not limited to this. That is, the method of retracting the hospital bed 40 is arbitrary. The X-ray diagnostic apparatus 1 controls the hospital bed 40 to change the height of the hospital bed 40 in a direction away from the X-ray tube 10 and move the top plate 41 in a direction away from the X-ray tube 10 to retract the hospital bed 40.

[0063] FIG. 10 is a diagram for explaining another example of the retraction operation of the hospital bed 40 during the execution of auto-tracking in the X-ray diagnostic apparatus 1 according to the first embodiment. As shown in FIG. 10, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to change the height of the hospital bed 40 and move the top plate 41 in the longitudinal direction of the top plate 41 in a direction away from the X-ray tube 10 to retract the hospital bed 40.

[0064] The processing from step S25 to step S31 after this step S23 is equivalent to the processing from step S13 to step S19 described above. That is, the X-ray diagnostic apparatus 1 acquires the current position of the hospital bed 40 (step S25), acquires the current position of the X-ray tube 10 (step S27), calculates the distance between the X-ray tube 10 and the hospital bed 40 (step S29), and determines whether the movement of the X-ray tube 10 is completed (step S31). Thus, since it is equivalent to the processing from step S13 to step S19, the description of the processing from step S25 to step S31 is omitted.

[0065] Then, in step S31, when the movement of the X-ray tube 10 is not completed (step S31: No), the X-ray diagnostic apparatus 1 determines whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than a second threshold value (step S33). The process of determining whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the second threshold value is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 compares the second threshold value stored in the memory 61 with the distance between the X-ray tube 10 and the hospital bed 40 calculated in step S29, and determines whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the second threshold value. Then, in step S33, when the distance between the X-ray tube 10 and the hospital bed 40 is not equal to or less than the second threshold value (step S33: No), it returns to step S25, and repeats the processing from step S25 to step S33 until the movement of the X-ray tube 10 is completed in step S31, or until the distance between the X-ray tube 10 and the hospital bed 40 becomes equal to or less than the second threshold value in step S33.

[0066] On the other hand, in step S33, when the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the second threshold value (step S33: Yes), the X-ray diagnostic apparatus 1 determines whether or not the X-ray tube 10 moves in a direction approaching the hospital bed 40 (step S35). The process of determining whether or not the X-ray tube 10 moves in a direction approaching the hospital bed is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 acquires the current position of the X-ray tube 10 and the current position of the hospital bed 40, and determines whether or not the X-ray tube 10 moves in a direction approaching the hospital bed 40 by comparing the current position of the X-ray tube 10 and the current position of the hospital bed 40. Then, in step S35, when the X-ray tube 10 does not move in a direction approaching the hospital bed 40 (step S35: No), the X-ray diagnostic apparatus 1 returns to step S25, and repeats the processes from step S25 to step S35 until the movement of the X-ray tube 10 is completed in step S31, or until the distance between the X-ray tube 10 and the hospital bed 40 becomes equal to or less than the second threshold value in step S33 and the X-ray tube 10 moves in a direction approaching the hospital bed 40 in step S35.

[0067] On the other hand, in step S35, when the X-ray tube 10 moves in a direction approaching the hospital bed 40 (step S35: Yes), that is, when the distance between the X-ray tube 10 and the hospital bed 40 becomes equal to or less than the second threshold value and the X-ray tube 10 moves in a direction approaching the hospital bed 40, the X-ray diagnostic apparatus 1 moves at a speed equal to or lower than the normal speed and issues a notification (step S37). The process of issuing the notification is realized by the notification function 644 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 notifies that the X-ray tube 10 is approaching the hospital bed 40 via the output interface 62. More specifically, the notification function 644 notifies that the X-ray tube 10 is approaching the hospital bed 40 by notifying a sound different from the sound notified when the X-ray tube 10 moves via the output interface 62.

[0068] Note that the method of notifying that the X-ray tube 10 is approaching the hospital bed 40 is not limited to notifying a sound different from the sound notified when the X-ray tube 10 is moving. That is, the method of notifying that the X-ray tube 10 is approaching the hospital bed 40 is arbitrary. For example, the X-ray diagnostic apparatus 1 may notify, as the output interface 62, to display information indicating that the X-ray tube 10 is approaching the hospital bed 40 via a display, or may notify, as the output interface 62, to emit a light color different from the light color emitted when the X-ray tube 10 is moving via an illumination unit (not shown).

[0069] The processing from step S39 to step S45 after this step S37 is equivalent to the processing from step S13 to step S19 described above. That is, the X-ray diagnostic apparatus 1 acquires the current position of the hospital bed 40 (step S39), acquires the current position of the X-ray tube 10 (step S41), calculates the distance between the X-ray tube 10 and the hospital bed 40 (step S43), and determines whether the movement of the X-ray tube 10 is completed (step S45). Thus, since it is equivalent to the processing from step S13 to step S19, the description of the processing from step S39 to step S45 is omitted.

[0070] Then, in step S45, if the movement of the X-ray tube 10 is not completed (step S45: No), the X-ray diagnostic apparatus 1 determines whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than a third threshold value (step S47). The process of determining whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the third threshold value is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 compares the third threshold value stored in the memory 61 with the distance between the X-ray tube 10 and the hospital bed 40 calculated in step S43, and determines whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the third threshold value. Then, in step S47, if the distance between the X-ray tube 10 and the hospital bed 40 is not equal to or less than the third threshold value (step S47: No), the process returns to step S39, and the processes from step S39 to step S47 are repeated until the movement of the X-ray tube 10 is completed in step S45, or until the distance between the X-ray tube 10 and the hospital bed 40 becomes equal to or less than the third threshold value in step S47.

[0071] On the other hand, in step S47, if the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the third threshold value (step S47: Yes), or if the movement of the X-ray tube 10 is completed in steps S21, S31, and S45 (steps S21, S31, and S45: Yes), the X-ray diagnostic apparatus 1 stops the movement of the X-ray tube 10 (step S49). The process of stopping the movement of the X-ray tube 10 is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 stops the movement of the X-ray detector 51 and controls the X-ray tube holding device 20 to stop the movement of the X-ray tube 10.

[0072] By executing step S49, the X-ray tube movement process by auto-tracking according to the present embodiment is terminated.

[0073] Next, with reference to FIG. 11, the X-ray tube movement process by auto-positioning according to the present embodiment will be described. FIG. 11 is a flowchart for explaining the content of the X-ray tube movement process by auto-positioning executed by the X-ray diagnostic apparatus 1 according to the first embodiment. In this X-ray tube movement process by auto-positioning, the movement route of the X-ray tube 10 is planned, and after the start of the movement of the X-ray tube 10, the current position of the bed 40 and the current position of the X-ray tube 10 are acquired to calculate the distance between the X-ray tube 10 and the bed 40. When the calculated distance is equal to or less than the first threshold value, the bed 40 is retracted, and when the calculated distance is equal to or less than the second threshold value, the user is notified and the movement route of the X-ray tube 10 is replanned. This X-ray tube movement process by auto-positioning is a process executed when the execution of auto-positioning is accepted from the user. In the following description, the parts different from the above-described X-ray tube movement process by auto-tracking according to the present embodiment will be described.

[0074] As shown in FIG. 11, first, the X-ray diagnostic apparatus 1 acquires the current position of the X-ray tube 10 (step S51). The process of acquiring the current position of the X-ray tube 10 is realized by the acquisition function 641 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 acquires the current position of the X-ray tube 10 by acquiring the detection result of the X-ray tube position detection sensor 13.

[0075] Next, as shown in FIG. 11, the X-ray diagnostic apparatus 1 acquires the target position of the X-ray tube 10 (step S53). The process of acquiring the target position of the X-ray tube 10 is realized by the acquisition function 641 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 acquires the pre-registered target position from the memory 61.

[0076] Next, as shown in FIG. 11, the X-ray diagnostic apparatus 1 plans the movement route of the X-ray tube 10 (step S55). The process of planning the movement route of the X-ray tube 10 is realized by the planning function 645 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 plans the movement route of the X-ray tube 10 based on the current position of the X-ray tube 10 acquired in step S51 and the target position of the X-ray tube 10 acquired in step S53.

[0077] Using FIGS. 12 and 13, the movement route according to this embodiment will be described. FIG. 12 is a diagram showing the positional relationship among the X-ray tube 10, the X-ray detector 51 of the stand 50, and the bed 40 when auto-positioning is executed in the X-ray diagnostic apparatus 1 according to the first embodiment. FIG. 13 is a diagram showing an example of the planned movement route of the X-ray tube 10 in the X-ray diagnostic apparatus 1 according to the first embodiment. In the example shown in FIG. 12, the X-ray tube 10 is positioned so as to face the bed 40. Also, as shown in FIG. 12, the bed 40 is disposed between the stand 50 and the X-ray tube 10. Further, as shown in FIG. 12, in a state where the subject P is placed on the top plate 41, when the X-ray tube 10 moves by executing auto-positioning, in order to prevent the X-ray tube 10 from contacting the subject P placed on the top plate 41, a prohibited entry area AR1 is set in advance on the bed 40. This prohibited entry area AR1 is, for example, in the range of 40 cm to 50 cm above the upper surface of the top plate 41 of the bed 40. When this prohibited entry area AR1 is set, the prohibited entry area AR1 is also regarded as a part of the bed 40.

[0078] As shown in FIG. 13, the movement route MR1 is planned such that, for example, the tube center TC1 of the X-ray tube housing 11 is positioned at a pre-registered target position GP1 such as the center of the X-ray detector 51 of the stand 50. The two-dot chain line in FIG. 13 indicates the planned movement route MR1. In the example shown in FIG. 13, the planned movement route MR1 is the shortest route to the target position GP1.

[0079] Next, as shown in FIG. 11, the X-ray diagnostic apparatus 1 starts moving the X-ray tube 10 (step S57). This process of starting the movement of the X-ray tube 10 is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 controls the X-ray tube holding device 20 to start the movement of the X-ray tube 10 along the movement route MR1 of the X-ray tube 10 planned in step S55. More specifically, as shown in FIG. 14, the control function 643 controls the X-ray tube holding device 20 to move the X-ray tube 10 upward along the movement route MR1 of the X-ray tube 10 shown in FIG. 13, thereby starting the movement of the X-ray tube 10. Note that the processes of steps S13 and S15 after step S57 are the same as the processes of steps S13 and S15 of the X-ray tube movement process by auto-tracking shown in FIGS. 5 and 6 described above, and thus the description thereof is omitted.

[0080] Next, as shown in FIG. 11, the X-ray diagnostic apparatus 1 calculates the distance between the X-ray tube 10 and the hospital bed 40 (step S59). This process of calculating the distance between the X-ray tube 10 and the hospital bed 40 is realized by the calculation function 642 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 calculates the distance between the X-ray tube 10 and the hospital bed 40 based on the current position of the hospital bed 40 acquired in step S13 and the current position of the X-ray tube 10 acquired in step S15.

[0081] FIG. 15 is a diagram showing the positional relationship among the X-ray tube 10 during auto-positioning execution, the X-ray detector 51 of the stand 50, and the hospital bed 40 in the X-ray diagnostic apparatus 1 according to the first embodiment. As shown in FIG. 15, when the X-ray tube 10 moves along the movement route MR1 shown in FIG. 13, it passes near the entry prohibited area AR set above the upper surface of the top plate 41 of the hospital bed 40. Therefore, in the example shown in FIG. 15, the X-ray diagnostic apparatus 1 calculates the distance between the X-ray tube 10 and the entry prohibited area AR1 set above the upper surface of the top plate 41 of the hospital bed 40 in step S59. Note that the process of step S19 after step S59 is the same as the process of step S19 of the X-ray tube movement process by auto-tracking shown in FIGS. 5 and 6 described above, and thus the description thereof is omitted.

[0082] And in step S19, if the movement of the X-ray tube 10 is not completed (step S19: No), the X-ray diagnostic apparatus 1 determines whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than a first threshold value (step S61). The process of determining whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the first threshold value is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 compares the first threshold value stored in the memory 61 with the distance between the X-ray tube 10 and the hospital bed 40 calculated in step S59, and determines whether the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the first threshold value. More specifically, in the example shown in FIG. 15, the control function 643 determines whether the distance between the X-ray tube 10 and the entry prohibition area AR1 set above the upper surface of the top plate 41 of the hospital bed 40 calculated in step S59 is equal to or less than the first threshold value. And in step S61, if the distance between the X-ray tube 10 and the hospital bed 40 is not equal to or less than the first threshold value (step S61: No), the process returns to step S15, and the processes of step S15, step S59, step S19, and step S61 are repeated until the movement of the X-ray tube 10 is completed in step S19, or until the distance between the X-ray tube 10 and the hospital bed 40 becomes equal to or less than the first threshold value in step S61.

[0083] On the other hand, in step S61, if the distance between the X-ray tube 10 and the hospital bed 40 is equal to or less than the first threshold value (step S61: Yes), the X-ray diagnostic apparatus 1 retracts the hospital bed 40 (step S63). The process of retracting the hospital bed 40 is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to change the height of the hospital bed 40 in a direction away from the X-ray tube 10, thereby retracting the hospital bed 40. More specifically, the control function 643 controls the hospital bed 40 to change the height of the hospital bed 40 in a direction away from the X-ray tube 10 until the movement limit of the hospital bed 40 in the height direction or until the interference detection sensor 46 detects the interference of the hospital bed 40, thereby retracting the hospital bed 40 from the X-ray tube 10.

[0084] FIG. 16 is a diagram for explaining an example of the retraction operation of the examination table 40 during the execution of auto-positioning in the X-ray diagnostic apparatus 1 according to the first embodiment. As shown in FIG. 16, the X-ray diagnostic apparatus 1 controls the examination table 40 to change the height of the examination table 40 so that the top plate 41 of the examination table 40 moves vertically downward in a direction away from the X-ray tube 10, and retracts the examination table 40 from the X-ray tube 10. Further, as shown in FIGS. 15 and 16, in the X-ray tube movement process by auto-positioning according to the present embodiment, when the examination table 40 is retracted from the X-ray tube 10, the X-ray tube 10 moves to the target position along the movement route MR1. That is, in the X-ray tube movement process by auto-positioning according to the present embodiment, the X-ray diagnostic apparatus 1 moves the X-ray tube 10 and retracts the examination table 40. Then, when the examination table 40 moves to the movement limit of the examination table 40 or until the interference detection sensor 46 detects the interference of the examination table 40, the X-ray diagnostic apparatus 1 stops the movement of the examination table 40.

[0085] Note that also in this step S63, the X-ray diagnostic apparatus 1 controls the examination table 40 to retract the examination table 40 by changing the height of the examination table 40 in a direction away from the X-ray tube 10. However, the method of retracting the examination table 40 from the X-ray tube 10 is not limited to this. That is, the method of retracting the examination table 40 is arbitrary. The X-ray diagnostic apparatus 1 may control the examination table 40 to change the height of the examination table 40 in a direction away from the X-ray tube 10 and move the top plate 41 in a direction away from the X-ray tube 10 to retract the examination table 40.

[0086] The processing from step S25 to step S31 after this step S63 is equivalent to the processing of steps S13, S15, S59, and S19 described above. That is, the X-ray diagnostic apparatus 1 acquires the current position of the hospital bed 40 (step S25), acquires the current position of the X-ray tube 10 (step S27), calculates the distance between the X-ray tube 10 and the hospital bed 40 (step S29), and determines whether the movement of the X-ray tube 10 is completed (step S31). Thus, since it is equivalent to the processing of steps S13, S15, S59, and S19, the description of the processing from step S25 to step S31 is omitted. Further, the processing from step S33 to step S37 after step S31 is omitted because it is equivalent to the processing from step S33 to step S37 of the X-ray tube movement processing by the above-described auto-tracking.

[0087] Next, as shown in FIG. 11, the X-ray diagnostic apparatus 1 replans the movement route MR1 of the X-ray tube 10 (step S65). The process of replanning the movement route MR1 of the X-ray tube 10 is realized by the planning function 645 in the processing circuit 64. Specifically, when the distance between the X-ray tube 10 and the hospital bed 40 becomes equal to or less than the second threshold value and the X-ray tube 10 moves in a direction approaching the hospital bed 40, the X-ray diagnostic apparatus 1 replans the movement route MR1 of the X-ray tube 10 based on the target position of the X-ray tube 10 acquired in step S53 and the current position of the X-ray tube 10 acquired in step S25. The replanned movement route MR2 is, for example, a movement route planned so as not to interfere with the hospital bed 40. Then, the X-ray diagnostic apparatus 1 controls the X-ray tube holding device 20 to move the X-ray tube 10 along the replanned movement route MR2. Further, the X-ray diagnostic apparatus 1 returns to step S25 and repeats the processing from step S25 until the movement of the X-ray tube 10 is completed in step S31.

[0088] On the other hand, in steps S19 and S31, when the movement of the X-ray tube 10 is completed (steps S19, S31: Yes), the X-ray diagnostic apparatus 1 stops the movement of the X-ray tube 10 (step S67). This process of stopping the movement of the X-ray tube 10 is realized by the control function 643 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 controls the X-ray tube holding device 20 to stop the movement of the X-ray tube 10.

[0089] FIG. 17 is a diagram showing an example of the X-ray tube 10 that has moved to the target position in the X-ray diagnostic apparatus 1 according to the present embodiment. As shown in FIG. 17, the X-ray tube 10 is positioned so as to face the X-ray detector 51 of the stand 50.

[0090] By executing this step S67, the X-ray tube movement process by auto-positioning according to the present embodiment is terminated.

[0091] As described above, in the X-ray diagnostic apparatus 1 according to the present embodiment, when the X-ray tube 10 is moving, the distance between the X-ray tube 10 and the bed 40 is calculated. When the calculated distance is equal to or less than the first threshold value, the bed 40 is controlled to change the height of the bed in a direction away from the X-ray tube 10, so that the bed 40 is retracted. Therefore, when performing auto-tracking or auto-positioning, the movement of the X-ray tube 10 can be smoothly performed without the user manually retracting the bed 40, thereby improving the throughput in the movement of the X-ray tube 10.

[0092] In the above-described first embodiment, the X-ray diagnostic apparatus 1 moves the X-ray tube 10 and retracts the bed 40, but the present invention is not limited to this. The X-ray diagnostic apparatus 1 may stop the movement of the X-ray tube 10 while the bed 40 is being retracted. In this case, when the bed 40 moves to the movement limit of the bed 40 or until the interference detection sensor 46 detects the interference of the bed 40, the X-ray diagnostic apparatus 1 may stop the movement of the bed 40 and resume the movement of the X-ray tube 10.

[0093] [Second Embodiment] In the above-described first embodiment, when the X-ray tube 10 is moving, the distance between the X-ray tube 10 and the hospital bed 40 is calculated. When the calculated distance is equal to or less than the first threshold value, the hospital bed 40 is controlled to change the height of the hospital bed 40 in a direction away from the X-ray tube 10, thereby retracting the hospital bed 40. However, the timing for retracting the hospital bed 40 is not limited to this. In the second embodiment, before the start of the movement of the X-ray tube 10, it is determined whether the hospital bed 40 is on the movement route of the X-ray tube 10. When the hospital bed 40 is on the movement route, the hospital bed 40 may be controlled to be separated from the movement route, thereby retracting the hospital bed 40. Hereinafter, the parts different from the above-described first embodiment will be described. Note that since the external appearance of the X-ray diagnostic apparatus 1 is the same as that of FIG. 1 of the above-described first embodiment, the description thereof will be omitted.

[0094] FIG. 18 is a block diagram showing a configuration example of the X-ray diagnostic apparatus 1 according to the second embodiment, and corresponds to FIG. 2 in the above-described first embodiment. As shown in FIG. 18, the X-ray diagnostic apparatus 1 according to the present embodiment is configured by adding a determination function 646 to the processing circuit 64 of the X-ray diagnostic apparatus 1 according to the above-described first embodiment. This determination function 646 corresponds to the determination unit in the present embodiment. Further, since the functions of the control function, the notification function, and the planning function are different from those in the first embodiment, in the present embodiment, they are denoted as a control function 643a, a notification function 644a, and a planning function 645a. Note that the configurations and functions other than the control function 643a, the notification function 644a, the planning function 645a, and the determination function 646 are the same as those in FIG. 2 of the above-described first embodiment, and thus the description thereof will be omitted.

[0095] When the hospital bed 40 is on the movement route, the control function 643a controls the hospital bed 40 to be separated from the movement route, thereby retracting the hospital bed 40. When the distance calculated by the calculation function 642 is equal to or less than the second threshold value and the X-ray tube 10 is moving in a direction approaching the hospital bed 40, the notification function 644a notifies that the X-ray tube 10 is approaching the hospital bed 40. This second threshold value is stored in the memory 61.

[0096] The planning function 645a plans the movement route of the X-ray tube 10. Further, when the distance between the X-ray tube 10 and the hospital bed 40 calculated by the calculation function 642 is equal to or less than a third threshold value and the X-ray tube 10 moves in a direction approaching the hospital bed 40, the planning function 645a replans the movement route of the X-ray tube 10. This third threshold value is a value equal to or less than the second threshold value. This third threshold value is also stored in the memory 61. The determination function 646 determines whether the hospital bed 40 is on the movement route of the X-ray tube 10.

[0097] FIG. 19 is a flowchart for explaining the content of the X-ray tube movement process by auto-tracking executed in the X-ray diagnostic apparatus 1 according to the second embodiment. In the X-ray tube movement process by auto-tracking according to the present embodiment, before the start of the movement of the X-ray tube 10, it is determined whether the hospital bed 40 is on the movement route, or when the hospital bed 40 is on the movement route, the hospital bed 40 is retracted, the distance between the X-ray tube 10 and the hospital bed 40 is calculated, and when the calculated distance is equal to or less than the second threshold value, the user is notified, or when the calculated distance is equal to or less than the third threshold value, the movement of the X-ray tube 10 is stopped. This X-ray tube movement process by auto-tracking is a process executed when the execution of auto-tracking is accepted from the user.

[0098] As shown in FIG. 19, first, the X-ray diagnostic apparatus 1 acquires the current position of the X-ray tube 10 (step S71). This process of acquiring the current position of the X-ray tube 10 is realized by the acquisition function 641 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 acquires the current position of the X-ray tube 10 by acquiring the detection result of the X-ray tube position detection sensor 13.

[0099] Next, as shown in FIG. 19, the X-ray diagnostic apparatus 1 acquires the current position of the hospital bed 40 (step S73). This process of acquiring the current position of the hospital bed 40 is realized by the acquisition function 641 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 acquires the current position of the hospital bed 40 by acquiring the detection result of the hospital bed position detection sensor 44.

[0100] Next, as shown in FIG. 19, the X-ray diagnostic apparatus 1 determines whether or not the stretcher 40 is on the movement route (step S75). The process of determining whether or not the stretcher 40 is on the movement route is realized by the determination function 646 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 determines whether or not the stretcher 40 is on the movement route of the entire X-ray tube 10 based on the current position of the X-ray tube 10 acquired in step S71 and the current position of the stretcher 40 acquired in step S73.

[0101] FIG. 20 is a diagram showing the positional relationship among the X-ray tube 10, the X-ray detector 51 of the stand 50, and the stretcher 40 in the X-ray diagnostic apparatus 1 according to the second embodiment. As shown in FIG. 20, the X-ray tube 10 according to the present embodiment is positioned so as to face the X-ray detector 51 of the stand 50. Further, as shown in FIG. 20, the X-ray tube 10 is positioned above the top plate 41 of the stretcher 40. In the example shown in FIG. 20, when auto-tracking is executed, since the X-ray detector 51 can move vertically in the vertical direction, the X-ray tube 10 interlocked with the movement of the X-ray detector 51 also moves vertically in the vertical direction. That is, the X-ray diagnostic apparatus 1 can determine whether or not the stretcher 40 is on the movement route MR2 of the entire X-ray tube 10 by moving vertically in the vertical direction from the current position of the X-ray tube 10 by acquiring the current position of the X-ray tube 10 and the current position of the stretcher 40.

[0102] Then, in step S75, when the hospital bed 40 is on the movement route MR2 (step S75: Yes), the X-ray diagnostic apparatus 1 retracts the hospital bed 40 (step S77). This process of retracting the hospital bed 40 is realized by the control function 643a in the processing circuit 64. Specifically, when the hospital bed 40 is on the movement route MR2 of the X-ray tube 10, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to move the hospital bed 40 away from the movement route MR2, thereby retracting the hospital bed 40. More specifically, when the X-ray tube 10 facing the stand 50 moves, the control function 643a controls the hospital bed 40 to move the hospital bed 40 away from the movement route MR2, thereby retracting the hospital bed 40. In particular, in the X-ray tube movement process by auto-tracking according to the present embodiment, the control function 643a of the X-ray diagnostic apparatus 1 controls the hospital bed 40 to move the hospital bed 40 away from the movement route MR2 when the X-ray tube 10 facing the stand 50 and the X-ray detector 51 held on the stand move while maintaining a direct facing state, thereby retracting the hospital bed 40.

[0103] FIG. 21 is a diagram for explaining an example of the retraction operation of the hospital bed 40 during the execution of auto-tracking in the X-ray diagnostic apparatus 1 according to the second embodiment, and corresponds to FIG. 9 in the first embodiment described above. As shown in FIG. 21, the X-ray diagnostic apparatus 1 according to the present embodiment controls the hospital bed 40 to move the top plate 41 of the hospital bed 40 in a direction away from the X-ray tube 10 in the longitudinal direction of the top plate 41, and separates the top plate 41 of the hospital bed 40 from the entire movement route MR2 of the X-ray tube 10, thereby retracting the hospital bed 40 from the X-ray tube 10. Then, when the X-ray diagnostic apparatus 1 moves the top plate 41 of the hospital bed 40 to the movement limit of the top plate 41 of the hospital bed 40, or when the interference detection sensor 46 detects the interference of the top plate 41 of the hospital bed 40, the movement of the top plate 41 of the hospital bed 40 is stopped.

[0104] Note that in this step S77, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to move the hospital bed 40 away from the movement route MR2 to retract the hospital bed 40. However, the method of retracting the hospital bed 40 is not limited to this. That is, the method of retracting the hospital bed 40 is arbitrary. The X-ray diagnostic apparatus 1 may control the hospital bed 40 to move the hospital bed 40 away from the movement route MR2 and move the hospital bed 40 in a direction away from the X-ray tube 10 to retract the hospital bed 40.

[0105] FIG. 22 is a diagram for explaining another example of the retraction operation of the hospital bed 40 during the execution of auto-tracking in the X-ray diagnostic apparatus 1 according to the second embodiment. As shown in FIG. 22, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to move the top plate 41 of the hospital bed 40 away from the movement route MR2 of the X-ray tube 10 and moves the hospital bed 40 downward as the direction away from the X-ray tube 10 to retract the hospital bed 40.

[0106] On the other hand, in step S75, when there is no hospital bed 40 on the movement route MR2 (step S75: No), or after step S77, the X-ray diagnostic apparatus 1 starts the movement of the X-ray tube 10 (step S79). This process of starting the movement of the X-ray tube 10 is realized by the control function 643a in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 receives an input operation regarding the movement of the X-ray detector 51 of the stand 50 from the user via the input interface 63 and starts the movement of the X-ray detector 51 to start the movement of the X-ray tube 10.

[0107] FIG. 23 is a diagram showing the positional relationship among the X-ray tube 10 during auto-tracking execution, the X-ray detector 51 of the stand 50, and the bed 40 in the X-ray diagnostic apparatus 1 according to the second embodiment. As shown in FIG. 23, in the X-ray diagnostic apparatus 1 according to the present embodiment, when the top plate 41 of the bed 40 is retracted in a direction away from the X-ray tube 10 in the longitudinal direction of the top plate 41, the X-ray tube 10 moves downward in conjunction with the X-ray detector 51. That is, in the auto-tracking process according to the present embodiment, the X-ray diagnostic apparatus 1 retracts the top plate of the bed 40 and moves the X-ray tube 10.

[0108] The processing from step S25 to step S49 after this step S79 is equivalent to the processing from step S25 to step S35 shown in FIG. 5 and the processing from step S37 to step S49 shown in FIG. 6 in the X-ray tube movement processing by auto-tracking in the first embodiment described above, and thus the description is omitted.

[0109] By executing this step S49, the X-ray tube movement processing by auto-tracking according to the present embodiment is terminated.

[0110] Next, with reference to FIG. 24, the X-ray tube movement process by auto-positioning according to the present embodiment will be described. FIG. 24 is a flowchart for explaining the content of the X-ray tube movement process by auto-positioning executed in the X-ray diagnostic apparatus 1 according to the second embodiment, and is a figure corresponding to FIG. 1 in the above-described first embodiment. In this X-ray tube movement process by auto-positioning, the movement route of the X-ray tube 10 is planned, before the start of the movement of the X-ray tube 10, it is determined whether the stretcher 40 is on the movement route, when the stretcher 40 is on the movement route, the stretcher 40 is retracted, the current position of the stretcher 40 and the current position of the X-ray tube 10 are acquired, the distance between the X-ray tube 10 and the stretcher 40 is calculated, when the calculated distance is equal to or less than the second threshold value, the user is notified, and the movement route of the X-ray tube 10 is replanned. This X-ray tube movement process by auto-positioning is a process executed when the execution of auto-positioning is accepted from the user. Note that the processes of step S51 and step S53 are the same as the processes of step S51 and step S53 in FIG. 11 in the above-described first embodiment, and thus the description thereof will be omitted.

[0111] Next, as shown in FIG. 24, the X-ray diagnostic apparatus 1 plans the movement route of the X-ray tube 10 (step S81). This process of planning the movement route of the X-ray tube 10 is realized by the planning function 645a in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 plans the movement route of the X-ray tube 10 based on the current position of the X-ray tube 10 acquired in step S51 and the target position of the X-ray tube 10 acquired in step S53.

[0112] Using FIGS. 25 and 26, the movement route according to this embodiment will be described. FIG. 25 is a diagram showing the positional relationship among the X-ray tube 10, the X-ray detector 51 of the stand 50, and the bed 40 when auto-positioning is executed in the X-ray diagnostic apparatus 1 according to the second embodiment, and is a diagram corresponding to FIG. 12 in the first embodiment described above. FIG. 26 is a diagram showing an example of the planned movement route of the X-ray tube 10 in the X-ray diagnostic apparatus 1 according to the second embodiment, and is a diagram corresponding to FIG. 13 in the first embodiment described above. In the example shown in FIG. 25, similar to FIG. 12 according to the first embodiment described above, the X-ray tube 10 is positioned so as to face the bed 40. Further, as shown in FIG. 25, similar to FIG. 12 according to the first embodiment described above, the bed 40 is disposed between the stand 50 and the X-ray tube 10. As shown in FIG. 25, in a state where the subject P is placed on the top plate 41, in order to prevent the X-ray tube 10 from contacting the subject P placed on the top plate 41 when the X-ray tube 10 moves by executing auto-positioning, a prohibited entry area AR1 is set in advance on the bed 40. This prohibited entry area AR1 is, for example, a range of 40 cm to 50 cm above the upper surface of the top plate 41 of the bed 40. When this prohibited entry area AR1 is set, the prohibited entry area AR1 is also regarded as a part of the bed 40.

[0113] As shown in FIG. 26, the movement route MR3 according to this embodiment is the movement route of the entire X-ray tube 10. That is, the movement route MR3 according to this embodiment is the movement locus of the entire X-ray tube 10. The movement route MR3 according to this embodiment is planned, for example, by obtaining the movement locus of the entire X-ray tube 10 when the tube center TC1 of the X-ray tube 11 is positioned at a pre-registered target position GP1 such as the center of the X-ray detector 51 of the stand 50.

[0114] Next, as shown in FIG. 24, the X-ray diagnostic apparatus 1 acquires the position of the bed 40 (step S83). This process of acquiring the position of the bed 40 is realized by the acquisition function 641 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 acquires the current position of the bed 40 by acquiring the detection result of the bed position detection sensor 44.

[0115] Next, as shown in FIG. 24, the X-ray diagnostic apparatus 1 determines whether or not the hospital bed 40 is on the movement route MR3 (step S85). The process of determining whether or not the hospital bed 40 is on the movement route MR3 is realized by the determination function 646 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 determines whether or not the hospital bed 40 is on the movement route MR3 of the X-ray tube 10 based on the movement route MR3 planned in step S81 and the current position of the hospital bed 40 acquired in step S83. More specifically, as shown in FIG. 26, the determination function 646 determines whether or not there is a hospital bed 40 including the entry prohibited area AR1 on the movement route MR3 of the entire X-ray tube 10.

[0116] And in step S85, when the hospital bed 40 is on the movement route MR3 (step S85: Yes), the X-ray diagnostic apparatus 1 retracts the hospital bed 40 (step S87). The process of retracting the hospital bed 40 is realized by the control function 643a in the processing circuit 64. Specifically, when the hospital bed 40 is on the movement route MR3 of the X-ray tube 10, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to move the hospital bed 40 away from the movement route MR3, thereby retracting the hospital bed 40 from the X-ray tube 10. More specifically, the control function 643a controls the hospital bed 40 to move the hospital bed 40 away from the movement route MR3 until the movement limit of the hospital bed 40 or until the interference detection sensor 46 detects the interference of the hospital bed 40, thereby retracting the hospital bed 40 from the X-ray tube 10.

[0117] FIG. 27 is a diagram for explaining an example of the retraction operation of the hospital bed 40 during the execution of auto-positioning in the X-ray diagnostic apparatus 1 according to the second embodiment, and is a diagram corresponding to FIG. 16 in the first embodiment described above. As shown in FIG. 27, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to move the hospital bed 40 vertically downward and move the hospital bed 40 away from the movement route MR3, thereby retracting the hospital bed 40 from the X-ray tube 10. Then, when the hospital bed 40 moves until the movement limit of the hospital bed 40 in the height direction or until the interference detection sensor 46 detects the interference of the hospital bed 40, the X-ray diagnostic apparatus 1 stops the movement of the hospital bed 40.

[0118] In step S87, the X-ray diagnostic apparatus 1 controls the hospital bed 40 to move vertically downward and move the hospital bed 40 away from the movement route MR3, so as to retract the hospital bed 40 from the X-ray tube 10. However, the method of retracting the hospital bed 40 is not limited to this. That is, the method of retracting the hospital bed 40 is arbitrary. The X-ray diagnostic apparatus 1 may control the hospital bed 40 to move away from the movement route MR3 and move the top plate 41 of the hospital bed 40 away from the movement route MR3, so as to retract the hospital bed 40.

[0119] On the other hand, in step S85, when there is no hospital bed 40 on the movement route MR3 (step S85: No), or after step S87, the X-ray diagnostic apparatus 1 starts to move the X-ray tube 10 (step S89). This process of starting the movement of the X-ray tube 10 is realized by the control function 643a in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 receives an input operation regarding the movement of the X-ray detector 51 of the stand 50 from the user via the input interface 63, and starts the movement of the X-ray detector 51, thereby starting the movement of the X-ray tube 10.

[0120] FIG. 28 is a diagram showing the positional relationship among the X-ray tube 10 during the execution of auto-positioning, the X-ray detector 51 of the stand 50, and the hospital bed 40 in the X-ray diagnostic apparatus 1 according to the second embodiment. As shown in FIG. 28, in the X-ray diagnostic apparatus 1 according to the present embodiment, when the hospital bed 40 is retracted, the X-ray tube 10 is moving along the movement route MR3 to the target position. That is, in the X-ray tube movement process by auto-positioning according to the present embodiment, the X-ray diagnostic apparatus 1 retracts the hospital bed 40 and moves the X-ray tube 10.

[0121] The processes from step S25 to step S37 after this step S89 and the processes of step S65 and step S67 are equivalent to the processes from step S25 to step S37 shown in FIG. 11 and the processes of step S65 and step S67 in the X-ray tube movement process by auto-positioning in the first embodiment described above, and thus the description thereof is omitted.

[0122] By executing this step S67, the X-ray tube movement process by auto-positioning according to the present embodiment is terminated.

[0123] As described above, in the X-ray diagnostic apparatus 1 according to the present embodiment, it is determined whether or not the hospital bed 40 is on the movement routes MR2 and MR3 of the X-ray tube 10. When the hospital bed 40 is on the movement routes MR2 and MR3, the hospital bed 40 is controlled to be separated from the movement routes MR2 and MR3, so that the hospital bed 40 is retracted. Therefore, it is possible to smoothly move the X-ray tube 10 without the user manually retracting the hospital bed 40, and the throughput in the movement of the X-ray tube 10 can be improved.

[0124] In the second embodiment described above, the X-ray diagnostic apparatus 1 retracts the hospital bed 40 and moves the X-ray tube 10, but the present invention is not limited to this. The X-ray diagnostic apparatus 1 may not start moving the X-ray tube 10 while retracting the hospital bed 40. In this case, when the hospital bed 40 moves to the movement limit of the hospital bed 40 or until the interference detection sensor 46 detects the interference of the hospital bed 40, the movement of the hospital bed 40 may be stopped and the movement of the X-ray tube 10 may be started.

[0125] 〔Third Embodiment〕 In the above-described second embodiment, when the hospital bed 40 is on the movement route of the X-ray tube 10 held by the X-ray tube holding device 20, the hospital bed 40 is retracted. However, the X-ray tube 10 is not limited to being held by the X-ray tube holding device 20. In the third embodiment, the X-ray tube 10 may be held by a holding arm that holds the X-ray tube 10 and the X-ray detector 43 facing the X-ray tube 10. Hereinafter, the parts different from the above-described first and second embodiments will be described.

[0126] The configuration of the X-ray diagnostic apparatus 1 according to the third embodiment will be described with reference to FIGS. 29 and 30. FIG. 29 is a schematic diagram showing the appearance of the X-ray diagnostic apparatus according to the third embodiment. FIG. 30 is a block diagram showing a configuration example of the X-ray diagnostic apparatus 1 according to the third embodiment. The X-ray diagnostic apparatus 1 shown in FIGS. 29 and 30 is an X-ray TV apparatus having a C-arm. Therefore, in the following description, the case where the X-ray diagnostic apparatus 1 is an X-ray TV apparatus having a C-arm will be described as an example.

[0127] As shown in FIGS. 29 and 30, the X-ray diagnostic apparatus 1 according to the present embodiment includes an X-ray tube 10, a high-voltage generator 30, a hospital bed 40a, a console device 60, and an arm unit 70. Note that the X-ray tube 10, the high-voltage generator 30, and the console device 60 are the same as those in the above-described second embodiment, and thus the description thereof will be omitted.

[0128] The hospital bed 40a is a device for placing and moving a subject P to be imaged in a lying position. As shown in FIGS. 29 and 30, the hospital bed 40a includes a top plate 41, an X-ray detector 43a, a hospital bed position detection sensor 44, a hospital bed drive unit 45a, an interference detection sensor 46, and an object detection sensor 47. Note that the top plate 41, the hospital bed position detection sensor 44, and the interference detection sensor 46 are the same as those in the above-described first embodiment, and thus the description thereof will be omitted.

[0129] The X-ray detector 43a according to this embodiment is attached to one end of the holding arm 71 provided in the arm portion 70 so as to face the X-ray tube 10. Since it is equivalent to the X-ray detector 43 in the first embodiment described above except for the configuration of the X-ray detector 43a described above, the description thereof is omitted. Further, the bed drive unit 45a according to this embodiment is a motor or an actuator for moving the top plate 41 in the longitudinal direction of the top plate 41.

[0130] The object detection sensor 47 is a sensor that detects the presence or absence of an object on the bed 40. The object detection sensor is composed of, for example, a weight sensor, an acceleration sensor, a contact sensor, etc. The object detection sensor 47 outputs the detection result to the processing circuit 64 of the console device 60. This object detection sensor 47 corresponds to the object detection unit in this embodiment.

[0131] The arm portion 70 includes a holding arm 71 and a holding arm drive unit 72. One end of the holding arm 71 holds the X-ray tube 10, and the other end holds the X-ray detector 43a. The X-ray tube 10 held by this holding arm 71 faces the X-ray detector 43a. That is, the X-ray tube 10 is held by the holding arm 71 that holds the X-ray tube 10 and the X-ray detector 43a facing the X-ray tube 10. This holding arm 71 is also called a C-arm. The holding arm 71 rotates and / or slides under the control of the processing circuit 64 described later. The holding arm drive unit 72 is composed of a motor, an actuator, etc. that reads a drive signal from the processing circuit 64 described later and rotates or slides the holding arm 71.

[0132] Next, with reference to FIG. 31, the X-ray tube movement process by auto-positioning according to the present embodiment will be described. FIG. 31 is a flowchart for explaining the content of the X-ray tube movement process by auto-positioning executed by the X-ray diagnostic apparatus 1 according to the third embodiment, and is a figure corresponding to FIG. 24 according to the second embodiment described above. In this X-ray tube movement process by auto-positioning, the movement route of the X-ray tube 10 is planned, before the movement of the X-ray tube 10 starts, it is determined whether the stretcher 40 is on the movement route, it is determined whether there is an object on the stretcher 40, when the stretcher 40 is on the movement route and there is no object on the stretcher 40, the stretcher 40 is retracted, the current position of the stretcher 40 and the current position of the X-ray tube 10 are obtained, the distance between the X-ray tube 10 and the stretcher 40 is calculated, when the calculated distance is equal to or less than the second threshold value, the user is notified, and the movement route of the X-ray tube 10 is replanned.

[0133] This X-ray tube movement process by auto-positioning is a process executed when the execution of auto-positioning is accepted from the user. For example, the X-ray tube movement process by auto-positioning according to the present embodiment is executed when switching between a so-called PA (Posterior-Anterior) mode in which the X-ray tube 10 is located on the lower side and the X-ray detector 43 is located on the upper side, and a so-called AP (Anterior-Posterior) mode in which the X-ray tube 10 is located on the upper side and the X-ray detector 43 is located on the lower side. Note that the processes from step S51 to step S85 are the same as the processes from step S51 to step S85 in FIG. 24 in the second embodiment described above, and thus the description thereof will be omitted.

[0134] Then, in step S85, when the hospital bed 40 is on the movement route (step S85: Yes), the X-ray diagnostic apparatus 1 determines whether there is an object on the hospital bed 40 (step S91). The process of determining whether there is an object on the hospital bed 40 is realized by the determination function 646 in the processing circuit 64. Specifically, the X-ray diagnostic apparatus 1 determines whether there is an object on the hospital bed 40 based on the detection result of the object detection sensor 47. And, in step S91, when it is determined that there is no object on the hospital bed 40 (step S91: No), that is, when the hospital bed 40 is on the movement route and there is no object on the hospital bed 40, the X-ray diagnostic apparatus 1 retracts the hospital bed 40 (step S87).

[0135] The processes after step S89 are the same as those in FIG. 24 of the second embodiment described above, so the description is omitted. And, by executing step S67, the X-ray tube movement process by the auto-positioning according to the present embodiment is terminated.

[0136] As described above, even when the X-ray diagnostic apparatus 1 according to the present embodiment is an X-ray TV apparatus having a C-arm, it is determined whether the hospital bed 40 is on the movement route of the X-ray tube 10, it is determined whether there is an object on the hospital bed 40, and when the hospital bed 40 is on the movement route and there is no object on the hospital bed 40, the hospital bed 40 is controlled to be separated from the movement route, so that the hospital bed 40 is retracted. Therefore, it is possible to smoothly move the X-ray tube 10 without the user manually retracting the hospital bed 40, and the throughput in the movement of the X-ray tube 10 can be improved.

[0137] Also, when the X-ray diagnostic apparatus 1 according to the present embodiment is an X-ray TV apparatus having a C-arm, since the hospital bed 40 can be retracted only when there is no object on the hospital bed 40, for example, when there is a subject P or the like being examined on the hospital bed 40, the risk of the subject P moving can be reduced.

[0138] 〔Modifications of the First to Third Embodiments〕 The X-ray diagnostic apparatus 1 according to the above-described first to third embodiments has been described by taking a general X-ray imaging apparatus and an X-ray TV apparatus having a C-arm as an example. However, the type of the X-ray diagnostic apparatus 1 is not limited to this. For example, it can be realized as an arbitrary type of X-ray diagnostic apparatus such as an X-ray angiography apparatus.

[0139] In the X-ray diagnostic apparatus 1 according to the above-described first to third embodiments, the interference detection sensor 46 is provided on the hospital bed 40. However, the interference detection sensor 46 does not necessarily have to be provided on the hospital bed 40. That is, the installation position of the interference detection sensor 46 is arbitrary. For example, the interference detection sensor 46 may be provided on the X-ray tube 10, or may be provided on the wall surface or ceiling surface of the examination room. Further, in the X-ray diagnostic apparatus 1 according to the above-described first to third embodiments, the interference detection sensor 46 may detect the interference of the hospital bed 40, or instead of detecting the interference of the hospital bed 40, may detect the interference of the X-ray tube 10. That is, the interference detection sensor 46 may detect the interference of the hospital bed 40 and / or the X-ray tube 10.

[0140] Further, in the above-described first to third embodiments, the notification functions 644 and 644a may notify the user that the hospital bed 40 is moving via the output interface 62 while the hospital beds 40 and 40a are retracted. For example, the notification functions 644 and 644a may output a sound indicating that the hospital bed 40 is moving via a speaker as the output interface 62 to notify the user, or may display information indicating that the hospital bed 40 is moving via a display as the output interface 62 to notify the user.

[0141] Further, in the above-described first to third embodiments, the control functions 643 and 643a may slow down the moving speed of the X-ray tube holding device 20 to be lower than the normal speed while the distance between the X-ray tube 10 and the hospital bed 40 calculated by the calculation function 642 is equal to or less than the second threshold value. By thus slowing down the moving speed of the X-ray tube holding device 20 to be lower than the normal speed, the risk of interference between the X-ray tube 10 and the hospital bed 40 can be reduced.

[0142] Also, in the first to third embodiments described above, the position detection unit of the X-ray diagnostic apparatus 1 is configured by the X-ray tube position detection sensor 13 and the bed position detection sensor 44. However, the configuration of the position detection unit of the X-ray diagnostic apparatus 1 is not limited to this. That is, the configuration of the position detection unit of the X-ray diagnostic apparatus 1 is arbitrary. For example, the position detection unit may be configured by a camera that photographs the X-ray tube 10 and the bed 40, and a position detection circuit that detects the position of the X-ray tube 10 and the position of the bed 40 by analyzing the camera image.

[0143] Also, in the X-ray tube movement process by auto-positioning in the first to third embodiments described above, it has been described that a movement route for moving the X-ray tube 10 positioned in the vicinity of the bed 40 to a target position such as the center of the X-ray detector 51 of the stand 50 or the imaging position in the upright X-ray imaging is planned. However, the movement route is not limited to this. That is, the movement route is arbitrary. For example, a movement route for moving the X-ray tube 10 facing the stand 50 or the X-ray tube 10 positioned in the vicinity of the stand 50 to a target position such as the center of the X-ray detector 43 of the bed 40 or the imaging position in the supine X-ray imaging may be planned.

[0144] Note that the term "processor" used in the above description means, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a circuit such as an application specific integrated circuit (ASIC), a programmable logic device (e.g., a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA)). The processor realizes its functions by reading and executing the program stored in the memory 61. Note that instead of storing the program in the memory 61, the program may be directly incorporated into the circuit of the processor. In this case, the processor realizes its functions by reading and executing the program incorporated into the circuit. Note that the processor is not limited to being configured as a single processor circuit, and a plurality of independent circuits may be combined to form one processor to realize its functions. Further, a plurality of components in FIGS. 2, 18, and 30 may be integrated into one processor to realize its functions.

[0145] As described above, several embodiments have been described. However, these embodiments are presented only as examples and are not intended to limit the scope of the invention. The novel devices and methods described in this specification can be implemented in various other forms. Also, various omissions, substitutions, and changes can be made to the forms of the devices and methods described in this specification without departing from the gist of the invention. The appended claims and the equivalents thereof are intended to include such forms and modifications within the scope and gist of the invention.

Description of Reference Numerals

[0146] 1…X-ray diagnostic apparatus, 10…X-ray tube, 11…X-ray tube housing, 12…X-ray aperture, 13…X-ray tube position detection sensor, 20…X-ray tube holding device, 21…support column part, 22…support base, 30…high voltage generator, 40, 40a…bed, 41…ceiling plate, 42…base, 43, 43a…X-ray detector, 44…bed position detection sensor, 45, 45a…bed drive part, 46…interference detection sensor, 47…object detection sensor, 50…stand, 51…X-ray detector, 52…detector support part, 53…stand drive part, 54…stand support column part, 60…console device, 61…memory, 62…output interface, 63…input interface, 64…processing circuit, 65…communication interface, 70…arm part, 71…holding arm, 72…holding arm drive part

Claims

1. A calculation unit that calculates the distance between the X-ray tube held by the X-ray tube holding device and the bed having a top plate on which the subject is placed when the X-ray tube is moving; A control unit that controls the bed to move the bed away by changing the height of the bed in a direction away from the X-ray tube when the distance calculated by the calculation unit is equal to or less than a first threshold value; An X-ray diagnostic apparatus comprising:

2. The X-ray diagnostic apparatus according to claim 1, further comprising a detector that detects X-rays irradiated from the X-ray tube and a stand for photographing the subject in a standing position.

3. The X-ray diagnostic apparatus according to claim 2, wherein the bed is disposed between the stand and the X-ray tube.

4. The X-ray diagnostic apparatus according to claim 2, wherein the calculation unit starts calculating the distance between the X-ray tube and the bed when the X-ray tube facing the stand moves.

5. The X-ray diagnostic apparatus according to claim 2, wherein the calculation unit starts calculating the distance between the X-ray tube and the bed when the X-ray tube facing the stand and the detector held by the stand move while maintaining alignment.

6. The X-ray diagnostic apparatus according to claim 1, wherein the control unit controls the bed to move the bed away by changing the height of the bed in a direction away from the X-ray tube and moving the top plate in a direction away from the X-ray tube.

7. The X-ray diagnostic apparatus according to claim 1, further comprising a notification unit that notifies that the X-ray tube is approaching the bed when the distance calculated by the calculation unit is equal to or less than a second threshold value and the X-ray tube moves in a direction approaching the bed.

8. The X-ray diagnostic apparatus according to claim 1, further comprising a planning unit that plans a movement route of the X-ray tube, and the planning unit replans the movement route when the distance calculated by the calculation unit is equal to or less than a second threshold value and the X-ray tube moves in a direction approaching the bed.

9. The X-ray diagnostic apparatus according to claim 5 or claim 6, wherein the control unit stops the movement of the X-ray tube when the distance calculated by the calculation unit is equal to or less than a third threshold value.

10. The X-ray diagnostic apparatus according to claim 1, further comprising a position detection unit that detects the position of the bed and the position of the X-ray tube.

11. The X-ray diagnostic apparatus according to claim 1, further comprising an interference detection unit that detects interference between the bed and / or the X-ray tube.

12. When the X-ray tube held by the X-ray tube holding device is moving, calculating the distance between the X-ray tube and the bed having a top plate on which the subject is placed; When the calculated distance is equal to or less than a first threshold value, controlling the bed to change the height of the bed in a direction away from the X-ray tube to retract the bed; A control method for an X-ray diagnostic apparatus, comprising:

13. When the X-ray tube held by the X-ray tube holding device is moving, calculating the distance between the X-ray tube and the bed having a top plate on which the subject is placed; When the calculated distance is equal to or less than a first threshold value, controlling the bed to change the height of the bed in a direction away from the X-ray tube to retract the bed; A program for causing an X-ray diagnostic apparatus to execute.

14. A determination unit that determines whether there is a bed having a top plate on which a subject is placed on a movement route of an X-ray tube that irradiates X-rays; A control unit that, when the bed is on the movement route, controls the bed to retract the bed by separating the bed from the movement route; An X-ray diagnostic apparatus, comprising:

15. The X-ray diagnostic apparatus according to claim 14, further comprising a stand for photographing the subject in a standing position, the stand holding a detector that detects X-rays irradiated from the X-ray tube.

16. The X-ray diagnostic apparatus according to claim 15, wherein the bed is disposed between the stand and the X-ray tube.

17. The control unit according to claim 15, wherein, when the bed is on the movement route, when the X-ray tube facing the stand moves, the control unit controls the bed to separate the bed from the movement route to retract the bed.

18. The control unit according to claim 15, wherein, when the bed is on the movement route, when the X-ray tube facing the stand and the detector held by the stand move while maintaining alignment, the control unit controls the bed to separate the bed from the movement route to retract the bed.

19. The X-ray diagnostic apparatus according to claim 14, wherein the control unit controls the bed to retract the bed by separating the top plate of the bed from the movement route.

20. The control unit controls the bed to move the top plate of the bed away from the movement route and move the bed in a direction away from the X-ray tube, thereby retracting the bed, according to claim 14 of the X-ray diagnostic apparatus.

21. A calculation unit that calculates the distance between the X-ray tube and the bed when the X-ray tube that irradiates X-rays is moving; A notification unit that notifies that the X-ray tube is approaching the bed when the distance calculated by the calculation unit is equal to or less than a second threshold value and the X-ray tube is moving in a direction approaching the bed; The X-ray diagnostic apparatus according to claim 14, further comprising:

22. A planning unit that plans the movement route, the X-ray diagnostic apparatus according to claim 21, further comprising a planning unit that replans the movement route when the distance calculated by the calculation unit is equal to or less than the second threshold value and the X-ray tube is moving in a direction approaching the bed.

23. The control unit stops the movement of the X-ray tube when the distance calculated by the calculation unit is equal to or less than a third threshold value, according to claim 21 or claim 22 of the X-ray diagnostic apparatus.

24. The X-ray tube is held by an X-ray tube holding device that holds the X-ray tube, according to claim 14 of the X-ray diagnostic apparatus.

25. The X-ray tube is held by a holding arm that holds the X-ray tube and an X-ray detector facing the X-ray tube, according to claim 14 of the X-ray diagnostic apparatus.

26. The X-ray diagnostic apparatus according to claim 14, further comprising an object detection unit that detects the presence or absence of an object on the bed.

27. The X-ray diagnostic apparatus according to claim 14, further comprising a position detection unit that detects the position of the bed and the position of the X-ray tube.

28. The X-ray diagnostic apparatus according to claim 14, further comprising an interference detection unit that detects interference between the bed and / or the X-ray tube.

29. A step of determining whether there is a bed having a top plate on which a subject is placed on the movement route of an X-ray tube that irradiates X-rays; When the bed is on the movement route, a step of controlling the bed to retract the bed by separating the bed from the movement route; A control method for an X-ray diagnostic apparatus, comprising:

30. A step of determining whether there is a bed having a top plate on which a subject is placed on the movement route of an X-ray tube that irradiates X-rays; When the hospital bed is on the moving route, controlling the hospital bed to move the hospital bed away from the moving route to evacuate the hospital bed; A program for causing an X-ray diagnostic apparatus to execute.

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