X-ray diagnostic apparatus, surgery support robot movement notification method, and x-ray diagnostic system

Abstract

To prevent obstruction of progress of manipulation in using a surgery support robot.SOLUTION: An X-ray diagnostic apparatus performs: collecting relative positional relationship between a photographing device for performing X-ray photographing with respect to a subject P and a surgery support robot for supporting a surgery with respect to the subject P; determining a possibility of a contact between the surgery support robot and the photographing device based on the collected relative positional relationship in response to a movement of the photographing device; generating information related to the movement of the surgery support robot based on the collected relative positional relationship when it is determined that there is the possibility of the contact between the surgery support robot and the photographing device; and outputting the information related to the movement of the surgery support robot.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The embodiments disclosed in this specification and the drawings relate to an X-ray diagnostic apparatus, a method for notifying movement of a surgical support robot, and an X-ray diagnostic system.

Background Art

[0002] In recent years, during surgery for endovascular treatment using a cardiovascular X-ray diagnostic apparatus (angiography apparatus), a catheter surgical support robot may be used. The catheter surgical support robot is attached to a catheter table on which a subject is placed in the angiography apparatus. At this time, the main body of the catheter surgical support robot is installed so as to be located above the subject.

[0003] When a surgical support robot such as a catheter surgical support robot is installed directly above the subject, conventionally, when the support device (for example, a C-arm) that supports the X-ray tube and the X-ray detector in the angiography apparatus operates within the reachable operating range, there is a possibility that the surgical support robot and the support device may come into contact. Particularly in procedures such as cardiac procedures where the C-arm is angled deeply (the angle of the C-arm where the straight line indicating the SID (distance between the X-ray tube focus and the imaging surface) and the ceiling are acute angles) and fluoroscopy and imaging are performed from multiple directions, interference between the support device and the catheter surgical support robot arranged above the patient may hinder the progress of the procedure.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] One of the problems to be solved by the embodiments disclosed in this specification and the drawings is not to interfere with the progress of the procedure when using the surgical support robot. 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

[0006] The X-ray diagnostic apparatus according to the present embodiment collects the relative positional relationship between an imaging device that performs X-ray imaging on a subject P and a surgical support robot that supports a surgery on the subject P, and, in response to the movement of the imaging device, determines the possibility of contact between the surgical support robot and the imaging device based on the collected relative positional relationship. When it is determined that there is a possibility of contact between the surgical support robot and the imaging device, information regarding the movement of the surgical support robot is generated based on the collected relative positional relationship, and the information regarding the movement of the surgical support robot is output.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0008] Hereinafter, embodiments of the X-ray diagnostic apparatus, the surgical support robot movement notification method, and the X-ray diagnostic system will be described in detail with reference to the drawings. In the following embodiments, application examples, etc., parts with the same reference numerals are assumed to perform the same operations, and overlapping descriptions will be omitted as appropriate.

[0009] (First Embodiment) FIG. 1 is a schematic diagram showing an example of the outline of an X-ray diagnostic system 10 including an X-ray diagnostic apparatus 11 according to the first embodiment. As shown in FIG. 1, the X-ray diagnostic apparatus 11 is configured as, for example, an X-ray angiography apparatus. The X-ray diagnostic apparatus 11 has an imaging device 12 and an image processing device 20. The imaging device 12 of the X-ray diagnostic apparatus 11 is usually installed in an examination room. The imaging device 12 is configured to generate X-ray projection data regarding a subject P. The image processing device 20 is installed, for example, in an operation room adjacent to the examination room. The image processing device 20 is configured to generate and display an X-ray image based on the X-ray projection data. Note that the image processing device 20 may be installed in the examination room where the imaging device 12 is installed. In the first embodiment, the imaging device 12 operates under the supervision of a user in the examination room.

[0010] The X-ray diagnostic system 10 has, in addition to the X-ray diagnostic apparatus 11, a surgical support robot 30 that supports a surgery on the subject P and a remote console 40. Further, the X-ray diagnostic system 10 may further have various peripheral devices such as an injector (not shown), an infusion stand, various monitors such as an anesthetic and an electrocardiogram, and an X-ray shield. The peripheral devices are arranged in the vicinity of the X-ray diagnostic apparatus 11, for example, in the vicinity of the hospital bed 16.

[0011] Hereinafter, for the sake of concreteness in the description, the surgical support robot 30 is assumed to be a remote catheter. Note that the surgical support robot 30 is not limited to a remote catheter and may be other known remote devices. The remote catheter 30 and the remote console 40 constitute a so-called remote catheter system. In the first embodiment, the operator O who operates the remote console 40 to remotely operate the device 32 within the subject P is a user different from the user M. When the surgical support robot 30 is a remote catheter, the device 32 corresponds to the catheter. Hereinafter, for the sake of concreteness in the description, the surgical support robot 30 is described as being, for example, a remote catheter and the device 32 being a catheter.

[0012] In the first embodiment, the operator O can operate the imaging device 12 via the remote console 40. The operations of the imaging device 12 include various operations such as, for example, the movement of the imaging system, the movement of the examination table 16 and the top plate 17, the execution of X-ray imaging by the imaging system, and the control of contrast agent injection by an injector (not shown).

[0013] The imaging device 12 of the X-ray diagnostic apparatus 11 includes an X-ray detector 13, an X-ray source (X-ray tube) 14, a C-arm 15, an examination table 16, a top plate 17 of the examination table 16, a display 18, and an examination room console 19. As shown in FIG. 1, the C-arm 15 corresponds to a support device that supports the X-ray tube 14 and the X-ray detector 13 related to X-ray imaging. As shown in FIG. 1, the examination table 16 has a top plate 17 on which the subject P is placed. That is, the imaging device 12 has the support device 15 and the examination table 16. The imaging device 12 performs X-ray imaging on the subject P.

[0014] The X-ray detector 13 is supported at one end of the C-arm 15 so as to face the X-ray source 14 with the subject P placed on the top plate (for example, a catheter table, etc.) 17 of the hospital bed 16 interposed therebetween. The X-ray detector 13 is constituted by, for example, a flat panel detector (FPD). The X-ray detector 13 detects the X-rays that have passed through the subject P and are irradiated onto the X-ray detector 13. The X-ray detector 13 outputs projection data of the X-rays based on the detected X-rays. The output projection data is transmitted to the image processing apparatus 20 via the examination room console 19. Note that the X-ray detector 13 may be realized by an image intensifier, an X-ray TV camera, or the like.

[0015] The X-ray source 14 is provided at the other end of the C-arm 15 and has an X-ray tube and an X-ray aperture. The X-ray aperture is, for example, an X-ray irradiation field aperture constituted by a plurality of lead blades. The X-ray aperture is controlled by the examination room console 19 to adjust the irradiation range of the X-rays irradiated from the X-ray tube.

[0016] The C-arm 15 integrally holds the X-ray detector 13 and the X-ray source 14. That is, the support device 15 supports the X-ray detector 13 and the X-ray source 14 so as to face each other. When the C-arm 15 is controlled by the examination room console 19 and driven, the X-ray detector 13 and the X-ray source 14 move integrally around the subject P. The X-ray detector 13, the X-ray source 14, and the C-arm 15 constitute an imaging system for performing X-ray imaging of the subject P.

[0017] X-ray imaging by the imaging system includes so-called fluoroscopy and radiography. Fluoroscopy is an X-ray imaging method that obtains an image by irradiating X-rays with a lower irradiation intensity compared to radiography. Therefore, the fluoroscopic image obtained by fluoroscopy has a lower resolution than the radiographic image obtained by radiography. Also, in fluoroscopy, the radiation dose to the subject P is smaller than that in radiography. Therefore, fluoroscopy is suitable, for example, when it is desired to confirm the X-ray imaging of the subject P in real time in a video format. On the other hand, in radiography, the radiation dose to the subject P is higher than that in the fluoroscopic image. For this reason, the radiographic image is a clearer image compared to the fluoroscopic image. In the following description, fluoroscopy and radiography are appropriately referred to as X-ray imaging, and the X-ray fluoroscopic image and the X-ray radiographic image based on X-ray imaging are appropriately referred to as the imaging image.

[0018] Further, when the X-ray diagnostic apparatus 11 is used as an X-ray angiography apparatus, the X-ray diagnostic apparatus 11 may be of a biplane type having two imaging systems configured by an X-ray detector 13, an X-ray source 14, and a C-arm 15 to perform X-ray imaging of the subject P. In the case of the biplane type, the X-ray diagnostic apparatus 11 irradiates the subject P with X-ray beams individually from two directions, namely, the F (Frontal) side having a floor-mounted C-arm and the L (Lateral) side having a ceiling-running Ω-arm, to obtain biplane images (F-side image and L-side image).

[0019] The hospital bed 16 is installed on the floor surface. The hospital bed 16 has a top plate 17. The hospital bed 16 is controlled by the examination room console 19 to move the top plate 17 in the horizontal direction (panning), the vertical direction, or to rotate (rolling, tilting).

[0020] The display 18 is composed of, for example, one or more display areas. Note that the display 18 is not limited to the configuration shown in FIG. 1 and may be realized by a known large-screen monitor. It is controlled by the examination room console 19 to display information indicating the content of a predetermined operation, a fluoroscopic image, etc. The display 18 is composed of a general display output device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) display.

[0021] The examination room console 19 controls the X-ray detector 13, for example, in response to a user's instruction in the image processing apparatus 20. Thereby, the examination room console 19 performs X-ray imaging of the subject P to generate projection data. The examination room console 19 outputs the generated projection data to the image processing apparatus 20. The examination room console 19 generates, for example, projection data before and after administration of a contrast agent and outputs them to the image processing apparatus 20. Note that the generation of the projection data may be realized by the image processing apparatus 20. Further, the examination room console 19 may be, for example, a satellite console movable on the floor of the examination room.

[0022] For example, when the X-ray diagnostic apparatus 11 is configured to be capable of performing rotational DSA (Digital Subtraction Angiography) imaging, the examination room console 19 is controlled by the image processing apparatus 20 to perform rotational DSA imaging. Next, the examination room console 19 generates projection data before and after administration of a contrast agent and outputs them to the image processing apparatus 20. In rotational DSA imaging, image data (mask image data) before injection of the contrast agent and image data (contrast image data) after injection of the contrast agent are generated for the same part of the subject P, respectively. When rotational DSA imaging is possible, the X-ray diagnostic apparatus 11 can also obtain a three-dimensional vascular image (3D vascular image) based on the contrast image data and the mask image obtained by rotational DSA imaging.

[0023] The examination room console 19 includes at least a processor and a storage circuit (memory). The examination room console 19 is controlled by the image processing apparatus 20 according to a program stored in the storage circuit to control the imaging system, thereby performing X-ray imaging such as fluoroscopy of the subject P and outputting projection data. Although FIG. 1 shows an example in which the examination room console 19 and the image processing apparatus 20 are connected by wire, the examination room console 19 and the image processing apparatus 20 may be connected so as to be capable of transmitting and receiving data via a network.

[0024] Furthermore, the X-ray diagnostic apparatus 11 may be provided with an injector (not shown). In this case, the injector is controlled by the examination room console 19 to inject a contrast agent through the device 32 of the remote catheter 30 inserted into the affected part of the subject P. The timing of injection and stop of the contrast agent, the concentration of the contrast agent, and the injection rate are automatically controlled by the examination room console 19. Also, the injector may not be controlled by the examination room console 19. For example, the injector may receive an instruction from the technician M via an input unit (input interface) provided in the injector, or receive an instruction from the operator O via the remote console 40, and inject the contrast agent at a concentration, speed, and timing corresponding to this instruction.

[0025] On the other hand, the remote catheter 30 of a remote catheter system as an example of a remote operation system has a robot arm 31 and a device 32, and is controlled by the remote console 40. The remote catheter 30 inserts the device 32 into a predetermined site (e.g., the affected part, etc.) of the subject P. Also, the remote catheter 30 may be configured to be able to remotely operate a plurality of devices 32.

[0026] The robotic arm 31 in the surgical support robot 30 has an operating device, a link mechanism, and a fixing mechanism. That is, the surgical support robot 30 has an operating device, a link mechanism, and a fixing mechanism. The operating device operates a device 32 that is inserted into the subject P in the surgery on the subject P. Thereby, the surgical support robot 30 supports the operation of the device 32 inserted into the subject P during the execution of the surgery on the subject P. Since a known operating mechanism can be used in the operating device, the description thereof is omitted. The link mechanism movably supports one end of the operating device with respect to the top plate 17 in the imaging device 12. The link mechanism is realized, for example, by a multi-joint arm having a plurality of joints. Since a known mechanism can be applied as the multi-joint arm, the description thereof is omitted. The fixing mechanism is connected to the other end of the link mechanism. The fixing mechanism fixes the link mechanism to the top plate 17. Since various mechanisms such as a known clamp can be used as the fixing mechanism, the description thereof is omitted.

[0027] The remote console 40 includes a display 41, a display input circuit 42, a remote input circuit 43 for remotely operating the device 32 of the remote catheter 30, and a control device 44.

[0028] The display input circuit 42 has a monitor and a touch sensor provided near the monitor. The monitor and the display 41 in the display input circuit 42 are constituted by a general display output device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) display. The touch sensor gives information on the instruction position on the touch sensor by the user to the processing circuit of the control device 44. For example, when constituted by a projection type capacitive panel, the touch sensor has electrode arrays arranged vertically and horizontally. In this case, the touch sensor can acquire the contact position based on the output change of the electrode array according to the change in capacitance near the contact position of the contacting object.

[0029] It is shown that the monitor and display 41 of the input circuit 42 are controlled by the processing circuit of the control device 44, and for example, an image similar to the display 18 is displayed. The monitor and display 41 of the display input circuit 42 are controlled by the processing circuit of the control device 44, and for example, information regarding the operation target device of the remote input circuit 43 is displayed.

[0030] The remote input circuit 43 is composed of, for example, general pointing devices such as a trackball, trackball mouse, keyboard, touch panel, numeric keypad, voice input circuit, and a hand switch for instructing the X-ray irradiation timing. The remote input circuit 43 is operated by the operator O and outputs, via the control device 44, a signal for remotely operating the device 32 to the remote catheter 30 via the control device 44, either wired or wirelessly. Further, the remote input circuit 43 is operated by the operator O and gives, via the control device 44, a signal for remotely operating the imaging device 12, such as a signal for causing the imaging device 12 to perform a predetermined operation, directly to the examination room console 19 or indirectly via the image processing device 20.

[0031] The control device 44 has at least a processor and a memory circuit. The processing circuit of the control device 44 cooperates with the image processing device 20 according to the program stored in this memory circuit. For example, the processing circuit of the control device 44 gives information on the feed amount (the amount of feed: feed amount) of the device 32 to the image processing device 20. Further, the processing circuit of the control device 44 gives information on an instruction for causing the imaging device 12 to perform a predetermined operation by the operator O directly to the examination room console 19 or indirectly via the image processing device 20.

[0032] FIG. 2 is a block diagram showing a configuration example of the examination room console 19. The examination room console 19 has a display 51, an input circuit 52, a memory circuit 53, a communication circuit 54, and a processing circuit 55.

[0033] The display 51 is constituted by a general display output device such as a liquid crystal display or an OLED display. The display 51 displays various information such as information indicating the content of a predetermined operation under the control of the processing circuit 55.

[0034] The input circuit 52 is constituted by a general input device such as a keyboard, a touch panel, a trackball, a numeric keypad, a voice input circuit, etc. The input circuit 52 outputs an input signal corresponding to the operation of the engineer M to the processing circuit 55.

[0035] The memory circuit 53 has a configuration including a recording medium readable by a processor, such as a magnetic or optical recording medium or a semiconductor memory. Part or all of the programs and data in these recording media may be configured to be downloaded by communication via an electronic network. The communication circuit 54 implements various information communication protocols according to the form of the network. The communication circuit 54 connects the inspection room console 19, the image processing device 20, and the control device 44 of the remote console 40 according to these various protocols.

[0036] For this connection, an electrical connection via an electronic network or the like can be applied. Here, the electronic network means the entire information communication network using telecommunication technology, including wireless / wired LAN (Local Area Network), the Internet network, as well as a telephone communication line network, an optical fiber communication network, a cable communication network, and a satellite communication network. For example, the processing circuit 55 may acquire medical three-dimensional image data (hereinafter referred to as volume data) from an image server or the like via the network.

[0037] The processing circuit 55 is a processor that reads and executes the program stored in the memory circuit 53, and executes processing for assisting the safe remote operation of the X-ray diagnostic apparatus 11 by the operator O of the device 32.

[0038] As shown in FIG. 2, the processing circuit 55 realizes a collection function 61, a determination function 62, a generation function 63, and an output function 64. Each of these functions is stored in the storage circuit 53 in the form of a program. Details of the operations of each of the functions 61-64 will be described later.

[0039] FIG. 3 is a block diagram showing a configuration example of the image processing apparatus 20. The image processing apparatus 20 includes a display 71, an input circuit 72, a storage circuit 73, a communication circuit 74, and a processing circuit 75.

[0040] The display 71 is constituted by a general display output device such as a liquid crystal display or an OLED display. The display 71 displays various information according to the control of the processing circuit 75.

[0041] The input circuit 72 is constituted by a general input device such as a keyboard, a touch panel, a trackball, a numeric keypad, a voice input circuit, etc. The input circuit 72 outputs an input signal corresponding to the operation of a user in the operation room including the engineer M and the operator O to the processing circuit 75.

[0042] The storage circuit 73 has a configuration including a recording medium readable by a processor, such as a magnetic or optical recording medium or a semiconductor memory. Part or all of the programs and data in these storage media may be configured to be downloaded by communication via an electronic network.

[0043] The communication circuit 74 implements various information communication protocols according to the form of the network. The communication circuit 74 connects the image processing apparatus 20 to the control device 44 of the inspection room console 19 and the remote console 40 according to these various protocols. For this connection, an electrical connection via an electronic network or the like can be applied.

[0044] The processing circuit 75 is a processor that executes processes for assisting the safe remote operation of the X-ray diagnostic apparatus 11 by the operator O of the device 32 in cooperation with the examination room console 19 by reading and executing a program stored in the memory circuit 73.

[0045] The processing circuit 75 executes various image processes on the X-ray projection data by the image processing function 81. Since known techniques such as various rendering processes and cross-sectional conversion processes are applicable to the image processes realized by the image processing function 81, the description thereof is omitted.

[0046] The overall configuration of the X-ray diagnostic system 10 according to the first embodiment has been described above. Hereinafter, during the performance of the procedure on the subject P, a process of notifying the movement of the surgical support robot 30 (hereinafter referred to as the surgical support robot movement notification process) will be described with reference to FIG. 4.

[0047] FIG. 4 is a flowchart showing an example of the procedure of the surgical support robot movement notification process. Hereinafter, in order to make the description specific, it is assumed that a procedure using a catheter is performed on the subject P.

[0048] (Surgical support robot movement notification process) (Step S401) The processing circuit 55 collects the relative positional relationship between the imaging device 12 that performs X-ray imaging on the subject P and the surgical support robot 30 that supports the surgery on the subject P by the collection function 61. A sensor is mounted on the surface of the X-ray detector 13 or the surface of the surgical support robot 30. The sensor is a camera, an optical sensor, a millimeter wave radar, or the like. The distance between the imaging device 12 and the surgical support robot 30 is measured by the sensor. Thereby, the collection function 61 collects the relative positional relationship between the imaging device 12 and the surgical support robot 30.

[0049] Note that the collection function 61 may collect the relative positional relationship between the imaging device 12 and the surgical support robot 30 by sharing with each other the position control information (hereinafter referred to as imaging position information) stored in the memory circuit (memory) 53 in the X-ray diagnostic apparatus 11 and the position control information (hereinafter referred to as robot position information) stored in the memory circuit (memory) in the remote console 40, by the imaging device 12 and the surgical support robot 30.

[0050] The imaging position information is acquired in advance by interference control in the X-ray diagnostic apparatus 11. In the interference control, the imaging position information is acquired based on the encoder value by the encoder mounted on the movable part of the imaging device 12, the initial position of the imaging device 12, and the sizes of various components in the imaging device 12. The imaging position information is information indicating the current position and orientation of the imaging device 12 and the like. The imaging position information has a buffer area (buffer region) that defines the contact between various components in the imaging device 12. Since the interference control is a known technique, the description thereof is omitted. The buffer area corresponds to, for example, an area around the imaging device 12 and having a width of 30 mm outside the surface of the imaging device 12.

[0051] The robot position information is information indicating the current position and orientation of the surgical support robot 30 calculated, for example, using the encoder value (angle of each link (writing joint in the multi-joint arm)) by the encoder (sensor such as angle detection) mounted on the joint in the link mechanism in the surgical support robot 30, the initial position of the surgical support robot 30 (the fixed position on the top plate 17 of the surgical support robot 30 and the initial orientation of the link mechanism at the time of attachment of the surgical support robot 30 to the top plate 17), and the sizes of various components in the surgical support robot 30.

[0052] As described above, in this step, the relative positional relationship between the surgical support robot 30 and the imaging device 12 is collected. The processing circuit 55 that realizes the collection function 61 is an example of a collection unit.

[0053] In addition to the relative positional relationship between the imaging device 12 and the surgical support robot 30, the processing circuit 55 may set an interference control range between the subject P set by the imaging device 12 and the imaging device 12. The interference control range corresponds to, for example, a kamaboko-shaped (convex-shaped) region set on the top plate 17 by the processing circuit 55. Since known techniques are applicable to the setting of the interference control range, the description thereof is omitted. At this time, the interference control range may be shared not only for the imaging device 12 but also for the surgical support robot 30.

[0054] (Step S402) In response to an input of a user's instruction via the input circuit 52 in the examination room console 19, the imaging device 12 moves. That is, the imaging device 12 moves according to the user's operation. The objects of movement in the imaging device 12 are, for example, the C-arm 15, the top plate 17, etc. The movement of the C-arm 15 is, for example, a change in the imaging direction with respect to the subject P, a change in the imaging position of the subject P, etc. Also, the movement of the top plate 17 is, for example, a movement along the horizontal direction (panning), an inclination of the top plate 17 with respect to the horizontal plane (tilting), etc. Hereinafter, in order to specifically describe, the movement of the imaging device 12 will be described as being the C-arm. The surgical support robot movement notification process regarding the movement of the top plate 17 will be described in the second application example.

[0055] (Step S403) After the movement of the imaging device 12, the processing circuit 55 collects the relative positional relationship between the surgical support robot 30 and the imaging device 12 by the collection function 61. Since the collection of the relative positional relationship is the same as the processing in step S401, the description thereof is omitted.

[0056] (Step S404) The processing circuit 55 determines, by means of the determination function 62, the possibility of contact between the surgical support robot 30 and the imaging device 12 based on the relative positional relationship. The possibility of such contact corresponds, for example, to the surgical support robot 30 entering a buffer area set around the imaging device 12. That is, when the surgical support robot 30 enters the buffer area, the determination function 62 determines that there is a possibility of contact between the surgical support robot 30 and the imaging device 12. Also, when the surgical support robot 30 does not enter the buffer area, the determination function 62 determines that there is no possibility of contact. The processing circuit 55 that realizes the determination function 62 is an example of a determination unit.

[0057] (Step S405) If there is a possibility of contact between the surgical support robot 30 and the imaging device 12 (Yes in Step S405), the process of Step S406 is executed. If there is no possibility of contact between the surgical support robot 30 and the imaging device 12 (No in Step S405), the process of Step S408 is executed.

[0058] (Step S406) When it is determined that there is a possibility of contact between the surgical support robot 30 and the imaging device 12, the processing circuit 55 generates, by means of the generation function 63, information regarding the movement of the surgical support robot 30 based on the relative positional relationship between the surgical support robot 30 and the imaging device 12. The movement of the surgical support robot 30 is, for example, the forward or backward movement of the surgical support robot 30. The information regarding the movement of the surgical support robot 30 has, for example, avoidance notification information for notifying the avoidance of the surgical support robot 30 in response to the movement of the imaging device 12. The avoidance notification information is, for example, information for warning, recommending, or promoting the user to move the surgical support robot 30 away (keep it at a distance) from the imaging device 12.

[0059] In addition, the information regarding the movement of the surgical support robot 30 may have movement information for avoiding contact between the surgical support robot 30 and the imaging device 12 in accordance with the movement of the imaging device 12. The movement information is, for example, information indicating the retreat path of the surgical support robot 30 to the user. The processing circuit 55, by means of the generation function 63, calculates the retreat path of the surgical support robot 30 based on the relative positional relationship, the movement direction of the imaging device 12, and the movement amount of the imaging device 12. For example, the generation function 63 uses the movement direction and the movement amount of the imaging device 12 to calculate the shortest movement amount of the surgical support robot 30 and the movement direction of the surgical support robot 30 that can avoid contact between the surgical support robot 30 and the imaging device 12 with reference to the relative positional relationship.

[0060] The shortest movement amount of the surgical support robot 30 and the movement direction of the surgical support robot 30 correspond to the retreat amount for retreating the surgical support robot 30 from the movement of the imaging device 12. That is, the information regarding the movement of the surgical support robot 30 may have a retreat amount for retreating the surgical support robot 30 in accordance with the movement of the imaging device 12. Since known contact avoidance techniques can be used for calculating the retreat amount, the description thereof is omitted. Next, the generation function 63 calculates the retreat path of the surgical support robot 30 using the calculated movement amount and movement direction. Further, the generation function 63 may calculate the retreat speed of the surgical support robot 30 based on the retreat amount and the movement of the imaging device 12. That is, the generation function 63 may calculate the retreat speed of the surgical support robot 30 based on the movement amount of the surgical support robot 30 and the speed of the movement of the imaging device 12.

[0061] In addition, the information for retracting the surgical support robot 30 may include information indicating the range within which the surgical support robot 30 can move (hereinafter referred to as the robot movable range). For example, based on the lengths of the links in the link mechanism, the movable range of the joints connecting the two links, and the fixed position of the surgical support robot 30 on the top plate 17 by the fixing mechanism, the processing circuit 55 calculates the robot movable range by means of the generation function 63. Thereby, the generation function 63 generates information indicating the robot movable range. The processing circuit 55 that realizes the generation function 63 is an example of a generation unit.

[0062] (Step S407) The processing circuit 55 outputs information regarding the movement of the surgical support robot 30 by means of the output function 64. Note that the output function 64 may further output the possibility of contact between the surgical support robot 30 and the imaging device 12. The possibility of contact between the surgical support robot 30 and the imaging device 12 is information indicating that there is a possibility of contact between the surgical support robot 30 and the imaging device 12. The output function 64 outputs at least one of, for example, information regarding the movement of the surgical support robot 30 and the possibility of contact between the surgical support robot 30 and the imaging device 12 to at least one of the surgical support robot 30 and the displays 51, 18.

[0063] For example, the processing circuit 55 outputs, by means of the output function 64, guidance for retracting the surgical support robot 30 by voice, or displays a path, a message, etc. regarding the retraction of the surgical support robot 30 on the displays 51, 18 in the X-ray diagnostic apparatus 11 and the display 41 in the remote console 40. The voice guidance is, for example, voice output such as the direction of retraction of the surgical support robot 30 and the distance of retraction of the surgical support robot 30, with reference to the user operating the surgical support robot 30. The voice guidance corresponds to the voice guide for retracting the surgical support robot 30.

[0064] Also, when information regarding the movement of the surgical support robot 30 and the possibility of contact between the surgical support robot 30 and the imaging device 12 are output to the surgical support robot 30 by the output function 64, the surgical support robot 30 presents at least one of the information regarding the movement of the surgical support robot 30 and the possibility of contact between the surgical support robot 30 and the imaging device 12 to the user via a monitor and / or speaker provided in the surgical support robot 30.

[0065] Also, the processing circuit 55 may cause the possibility of contact between the surgical support robot 30 and the imaging device 12 to be displayed (presented) on the displays 18, 51 in the X-ray diagnostic apparatus 11 and / or the display 41 in the remote console 40 as a warning by the output function 64, or may output it as voice. The processing circuit 55 that realizes the output function 64 is an example of an output unit.

[0066] (Step S407) If the procedure is completed (Yes in step S407), the surgical support robot movement notification process ends. If the procedure is not completed (No in step S407), the processes after step S402 are repeated.

[0067] The X-ray diagnostic apparatus 11 according to the first embodiment described above collects the relative positional relationship between the imaging device 12 that performs X-ray imaging on the subject P and the surgical support robot 30 that supports the surgery on the subject P, and in response to the movement of the imaging device 12, determines the possibility of contact between the surgical support robot 30 and the imaging device 12 based on the collected relative positional relationship. When it is determined that there is a possibility of contact between the surgical support robot 30 and the imaging device 12, information regarding the movement of the surgical support robot 30 is generated based on the collected relative positional relationship, and the information regarding the movement of the surgical support robot 30 is output. Also, the X-ray diagnostic apparatus 11 according to the first embodiment further outputs the possibility of contact between the surgical support robot 30 and the imaging device 12.

[0068] In the X-ray diagnostic apparatus 11 according to the first embodiment, the information regarding the movement of the surgical support robot 30 may have, for example, retraction notification information for notifying retraction of the surgical support robot 30 in accordance with the movement of the imaging device 12. Further, in the X-ray diagnostic apparatus 11 according to the first embodiment, the information regarding the movement of the surgical support robot 30 may have movement information for avoiding contact between the surgical support robot 30 and the imaging device 12 in accordance with the movement of the imaging device 12. Further, in the X-ray diagnostic apparatus 11 according to the first embodiment, the information regarding the movement of the surgical support robot 30 may have a retraction amount for retracting the surgical support robot 30 in accordance with the movement of the imaging device 12. Further, in the X-ray diagnostic apparatus 11 according to the first embodiment, the information for retracting the surgical support robot 30 may have information indicating a range in which the surgical support robot 30 can move.

[0069] Further, in the X-ray diagnostic apparatus 11 according to the first embodiment, the movement of the surgical support robot 30 is forward or backward movement of the surgical support robot 30. Further, the X-ray diagnostic apparatus 11 according to the first embodiment outputs information regarding the movement of the surgical support robot 30 and the possibility of contact between the surgical support robot 30 and the imaging device 12 to at least one of the surgical support robot 30 and the displays 18, 41, 51. Further, in the X-ray diagnostic apparatus 11 according to the first embodiment, the surgical support robot 30 presents information regarding the movement of the surgical support robot 30 and the possibility of contact between the surgical support robot 30 and the imaging device 12 to the user.

[0070] From the above, according to the X-ray diagnostic apparatus 11 according to the first embodiment, the mutual positional relationship between the imaging device 12 and the surgical support robot 30 can be recognized, and based on the mutual positional relationship, voice guidance, path display on the screens of the displays 51, 41 in the operation room, etc., and / or message display on the screen, etc., the optimal retraction path of the surgical support robot 30 can be presented to the user.

[0071] That is, according to the X-ray diagnostic apparatus 11 according to the first embodiment, by collecting the mutual positional relationship between the imaging apparatus 12 and the surgical support robot 30, information for avoiding interference between the imaging apparatus 12 and the surgical support robot 30 can be presented to the surgeon, staff, or the surgical support robot 30. For this reason, the user can easily, quickly, and efficiently retract the surgical support robot 30. From these facts, according to the X-ray diagnostic apparatus 11 according to the first embodiment, the possibility of hindering the progress of the procedure on the subject P due to interference between the imaging apparatus 12 and the equipment above the subject P can be reduced, and the procedure can be executed while maintaining an appropriate distance between the imaging apparatus 12 and the surgical support robot 30, and the safety and throughput of the procedure on the subject P can be improved.

[0072] (First Application Example) In this application example, based on the relative positional relationship among the peripheral equipment, the surgical support robot 30, and the imaging apparatus 12 arranged around the X-ray diagnostic apparatus 11, the possibility of contact between the imaging apparatus 12, the surgical support robot 30, and the peripheral equipment is further determined as the imaging apparatus 12 moves. When it is determined that there is a possibility of contact between the imaging apparatus 12, the surgical support robot 30, and the peripheral equipment, based on the relative positional relationship among the peripheral equipment, the surgical support robot 30, and the imaging apparatus 12, information regarding the movement of the surgical support robot 30 is generated. Hereinafter, the processing different from the first embodiment will be described.

[0073] In this application example, for example, a sensor for detecting peripheral equipment is provided in the operating room (examination room) where the X-ray diagnostic apparatus 11 is arranged. The sensor is, for example, an optical camera. Note that a plurality of optical cameras may be installed in the examination room. The image data acquired by the optical camera is output to the processing circuit 55.

[0074] The processing circuit 55 collects, by the collection function 61, the relative positional relationship among the peripheral device, the surgical support robot 30, and the imaging device 12 based on the image data obtained by the optical camera. For example, the collection function 61 collects the relative positional relationship between the peripheral device and the imaging device 12 and / or the surgical support robot 30 by analyzing the image data. Since known image processing techniques such as segmentation processing and / or image recognition processing are applicable to the analysis of the image data, the description thereof is omitted.

[0075] The processing circuit 55 further determines, by the determination function 62, the possibility of contact between at least two of the imaging device 12, the surgical support robot 30, and the peripheral device as the imaging device 12 moves, based on the relative positional relationship among the peripheral device, the surgical support robot 30, and the imaging device 12. The possibility of contact in this application example corresponds to, for example, the surgical support robot 30 entering the buffer area set around the imaging device 12 and the peripheral device entering the buffer area. For example, when the surgical support robot 30 enters the buffer area and the peripheral device enters the buffer area, the determination function 62 determines that there is a possibility of contact. Note that a buffer area may also be provided around the peripheral device.

[0076] When it is determined that there is a possibility of contact between at least two of the imaging device 12, the surgical support robot 30, and the peripheral devices, the generation function 63 generates information regarding the movement of the surgical support robot 30 based on the relative positional relationship among the peripheral devices, the surgical support robot 30, and the imaging device 12. For example, the generation function 63 calculates a range in which the movement of the surgical support robot 30 is permitted (hereinafter referred to as the robot movement permitted range) by excluding a buffer area related to the peripheral devices (hereinafter referred to as the peripheral buffer area) and a buffer area related to the imaging device 12 (hereinafter referred to as the imaging buffer area) from the robot movable range. Next, in the robot movement permitted range, the generation function 63 generates, as information regarding the movement of the surgical support robot 30, evacuation notification information, movement information for avoiding contact between the surgical support robot 30, the imaging device 12, and the peripheral devices, the evacuation amount of the surgical support robot 30, etc., according to the movement direction and the movement distance of the imaging device 12.

[0077] As a modification of this application example, when there are a plurality of optical cameras provided in the examination room, or when the optical camera has a function as a depth camera, the processing circuit 55 may correct the relative positional relationship by analyzing the image data obtained by the optical camera by the generation function 63. That is, the generation function 63 may correct the collected relative positional relationship by executing known image recognition processing on the image data.

[0078] The X-ray diagnostic apparatus 11 according to the first application example of the first embodiment described above collects the relative positional relationship among the peripheral devices related to the surgery, the surgical support robot 30, and the imaging device 12 arranged around the imaging device 12, and further determines the possibility of contact between the imaging device 12, the surgical support robot 30, and the peripheral devices as the imaging device 12 moves, based on the relative positional relationship among the peripheral devices, the surgical support robot 30, and the imaging device 12. When it is determined that there is a possibility of contact between the imaging device 12, the surgical support robot 30, and the peripheral devices, information regarding the movement of the surgical support robot 30 is generated based on the relative positional relationship among the peripheral devices, the surgical support robot 30, and the imaging device 12.

[0079] Accordingly, according to the X-ray diagnostic apparatus 11 according to this application example, information such as the retraction path of the surgical support robot 30 can be presented to the user, taking into account also the peripheral devices arranged around the X-ray diagnostic apparatus 11. For this reason, according to the X-ray diagnostic apparatus 11 according to this application example, the possibility of interfering with the progress of the procedure on the subject P due to interference between the imaging device 12 and the surgical support robot 30 can be further reduced, and thus the safety and throughput of the procedure on the subject P can be further improved. Other effects are the same as those of the first embodiment, and thus the description thereof is omitted.

[0080] (Second application example) In the first embodiment and the first application example of the first embodiment, the movement of the imaging device 12 has been described as the C-arm (support device) 15, but the object of movement in this application example is the top plate 17. The movement of the top plate 17 is, for example, movement along the horizontal direction (hereinafter referred to as a panning operation). Hereinafter, the processing different from the first embodiment will be described.

[0081] The processing circuit 55, by means of the determination function 62, determines the possibility of contact between the surgical support robot 30 and the C-arm 15 based on the relative positional relationship between the support device 15 in the imaging device 12 and the surgical support robot 30 in accordance with the movement of the top plate 17. That is, the determination function 62 determines whether or not the surgical support robot 30 and the C-arm 15 come into contact due to the movement of the top plate 17. The determination of the presence or absence of the possibility of contact between the surgical support robot 30 and the C-arm 15, the generation of information regarding the movement of the surgical support robot 30, and the processing in the output function 64 are the same as those in the embodiment, and thus the description thereof is omitted.

[0082] When it is determined that there is a possibility of contact between the surgical support robot 30 and the C-arm 15, the processing circuit 55 may output an instruction to apply a brake to the panning operation to the hospital bed 16 by means of the output function 65. At this time, the hospital bed 16 applies a brake to the panning operation of the top plate 17.

[0083] The X-ray diagnostic apparatus 11 according to the second application example of the first embodiment described above determines the possibility of contact between the surgical support robot 30 and the support device (C-arm) 15 based on the relative positional relationship in accordance with the movement of the top plate 17. According to the X-ray diagnostic apparatus 11 of the present application example, even when the C-arm 15 is stationary and the panning operation of the top plate 17 is executed, the possibility of contact between the surgical support robot 30 and the support device (C-arm) 15 can be determined. Thus, according to the X-ray diagnostic apparatus 11 of the present application example, if there is a possibility of contact between the surgical support robot 30 and the support device (C-arm) 15 along with the panning operation of the top plate 17, the surgical support robot movement notification process can be executed in the same manner as in the first embodiment. In addition, according to the X-ray diagnostic apparatus 11 of the second application example, it is also possible to apply a brake to the panning operation. Since other effects are the same as those of the first embodiment, the description is omitted.

[0084] (Third Application Example) This application example has a mechanism (hereinafter referred to as a feed amount adjustment mechanism) capable of sending out an operating device 32 and a cover tube covering the device 32, and calculates the feed amounts of the device 32 and the cover tube based on the movement amount of the surgical support robot 30 calculated according to the relative positional relationship between the imaging device 12 and the surgical support robot 30, and outputs, as information regarding the movement of the surgical support robot 30, the movement amount of the surgical support robot 30 and the feed amount.

[0085] FIG. 5 is a diagram showing an example of the operating device OPA. As shown in FIG. 5, a device 32 covered with a cover tube CV is inserted into the subject P through a sheath Sh in the subject P. As shown in FIG. 5, the operating device OPA has, for example, an operating mechanism OPM, a monitor MNT, and a feed amount adjustment mechanism FAM. The operating mechanism OPM performs operations such as the operation of the feed amounts of the device 32 and the cover tube CV and the operation of the device 32 according to an instruction from the user via the remote console 40 or the monitor MNT.

[0086] The monitor MNT shown in FIG. 5 displays the status of operations by the operation mechanism OPM, an interface capable of inputting various operations related to various devices 32, etc. Note that the monitor MNT may display information regarding the movement of the surgical support robot 30 output by the output function 64. The feed amount adjustment mechanism FAM has a mechanism capable of feeding the device 32 and the cover tube CV covering the device 32. Since the feed amount adjustment mechanism FAM can be realized by a known winding mechanism, the description thereof is omitted.

[0087] When it is determined that there is a possibility of contact between the surgical support robot 30 and the imaging device 12, the processing circuit 55 calculates the movement amount of the surgical support robot 30 based on the relative positional relationship by the generation function 63. In addition, the generation function 63 may calculate the retreat speed of the surgical support robot 30 based on the calculated movement amount and the speed of movement of the imaging device 12. Since the calculation of the movement amount of the surgical support robot 30 and the calculation of the retreat speed are the same as in the embodiment, the description thereof is omitted. Next, the generation function 63 calculates the feed amount of the device 32 and the cover tube CV based on the calculated movement amount. At this time, the generation function 63 may calculate the feed amount based on the calculated movement amount and the retreat speed. Note that the generation function 63 may use the length itself indicating the movement amount as the feed amount.

[0088] The processing circuit 55 outputs, as information regarding the movement of the surgical support robot 30, the movement amount of the surgical support robot 30 and the feed amount by the output function 64. At this time, the output function 64 may display the movement amount of the surgical support robot 30 and the feed amount, as information regarding the movement of the surgical support robot 30, on the monitor MNT and / or the display 41 of the remote console 40.

[0089] When it is determined that there is a possibility of contact between the surgical support robot 30 and the imaging device 12 in the X-ray diagnostic apparatus 11 according to the third application example described above, as information regarding the movement of the surgical support robot 30, based on the relative positional relationship, the movement amount of the surgical support robot 30 is calculated, and based on the calculated movement amount, the delivery amounts of the device 32 and the cover tube CV are calculated. As information regarding the movement of the surgical support robot 30, the movement amount of the surgical support robot 30 and the calculated delivery amounts are output.

[0090] Accordingly, according to the X-ray diagnostic apparatus 11 according to the third application example, in order not to affect the device 32 such as a catheter or a guide wire in the subject P as the surgical support robot 30 retreats, in conjunction with the retreat of the surgical support robot 30, it is possible to propose to the user the extension of the device 32 such as a catheter or a guide wire. Specifically, according to the X-ray diagnostic apparatus 11 according to the third application example, the necessary feed amount (delivery amount) regarding the extension of the device 32 such as a catheter or a guide wire is calculated in accordance with the retreat speed and the retreat amount of the surgical support robot 30, and the information on the feed amount can be presented to the user so that the user can adjust the feed amounts of the catheter, the guide wire, the device 32, and the like. For example, in the X-ray diagnostic apparatus 11 according to the third application example, the larger the retreat speed, the larger the feed amount, and the smaller the retreat speed, the smaller the feed amount. Accordingly, according to the X-ray diagnostic apparatus 11 according to the third application example, for example, even if the extension speed of the device 32 on the surgical support robot 30 side is smaller than the retreat speed of the surgical support robot 30, it is possible to prevent the device 32 from being pulled while the surgical support robot 30 retreats.

[0091] Therefore, according to the X-ray diagnostic apparatus 11 according to the third application example, the user can appropriately extend devices 32 such as catheters and guidewires associated with interference between the imaging device 12 and the surgical support robot 30. From this, according to the X-ray diagnostic apparatus 11 according to the third application example, the possibility of hindering the progress of the procedure on the subject P can be further reduced, so that the safety and throughput of the procedure on the subject P can be further improved. Other effects are the same as those of the first embodiment, and thus the description thereof is omitted.

[0092] (Second Embodiment) In this embodiment, when it is determined that there is a possibility of contact between the surgical support robot 30 and the imaging device 12, the surgical support robot 30 is automatically retracted without an operation by the user. The surgical support robot 30 in this embodiment has a plurality of motors in addition to the configuration described in the first embodiment. Each of the plurality of motors is provided at each of a plurality of joints in the link mechanism constituting the robot arm 31. Each of the plurality of motors drives each of the plurality of links in the link mechanism.

[0093] FIG. 6 is a diagram showing an example of the robot arm 31 in the surgical support robot 30. As shown in FIG. 6, the robot arm 31 has an operating device OPA, a link mechanism LM, and a fixing mechanism MM. A plurality of links (arms) LK in the link mechanism LM are connected via a plurality of joints JT. The plurality of joints JT connect two connected links so as to be rotatable relative to each other around the vertical axis VA. Further, the joint JTO rotatably supports the operating device OPA around the horizontal axis HA and connects the link LKO at one end thereof with the link mechanism LM and the operating device OPA.

[0094] Further, the joint JTE rotatably supports the link mechanism LM around the vertical axis VA, rotatably supports the link LKE at the other end of the link mechanism LM around the vertical axis VA, and connects the link LKE at the other end of the link mechanism LM and the fixing mechanism MM. Each of the plurality of joints JT and JTE shown in FIG. 6 is equipped with a motor that can rotate the link LK or the operating device OPA around the rotation axis. With such a configuration, in the present embodiment, electronic control of a plurality of links can be performed according to the drive of the motor.

[0095] As described above, the overall configuration of the X-ray diagnostic system 10 according to the second embodiment has been described. Hereinafter, during the performance of the procedure on the subject P, a process of automatically retracting the surgical support robot 30 (hereinafter referred to as the surgical support robot automatic retraction process) will be described with reference to FIG. 7. FIG. 7 is a flowchart showing an example of the procedure of the surgical support robot automatic retraction process according to the second embodiment. In FIG. 7, processes different from those in the first embodiment will be described. Since steps S701 to S705 and step S709 are the same as steps S401 to S405 and step S408 in FIG. 4, respectively, the description thereof will be omitted.

[0096] (Surgical support robot automatic movement process) (Step S706) The processing circuit 55, by the generation function 63, generates, as information regarding the movement of the surgical support robot 30, a control signal for the motor corresponding to the movement amount of the surgical support robot 30 based on the relative positional relationship. The control signal for the motor corresponds to a drive signal for driving the motor to realize the retraction of the surgical support robot 30.

[0097] Further, as the movement of the imaging device 12, for example, when the entire stretcher 16 including the surgical support robot 30 operates by the panning operation of the top plate 17, or when only the surgical support robot 30 is operated based on the positional relationship with the peripheral devices, the processing circuit 55, by the generation function 63, generates a robot movable range in which the surgical support robot 30, the C-arm 15, and the peripheral devices do not interfere based on the relative positional relationship between the surgical support robot 30 and the C-arm 15.

[0098] (Step S707) The processing circuit 55 transmits, by the output function 64, the control signal of the motor to the surgical support robot 30 as information regarding the movement of the surgical support robot 30. Further, the output function 64 outputs the possibility of contact between the surgical support robot 30 and the imaging device 12 to the surgical support robot 30 or the like. At this time, for example, the possibility of contact between the surgical support robot 30 and the imaging device 12 may be displayed on, for example, the monitor MNT in the surgical support robot 30 and / or the display 41 of the remote console 40. Note that the processing circuit 55 may output the robot movable range to the surgical support robot 30 by the output function 64.

[0099] (Step S708) The surgical support robot 30 controls the motor in response to reception of the control signal of the motor. Thereby, the motor is driven according to the control signal of the motor. By driving the motor, the surgical support robot 30 moves the operating device OPA and / or the link mechanism LM. Thereby, the retraction of the surgical support robot 30 is executed.

[0100] FIG. 8 is a diagram showing an example in which the C-arm 15 of the imaging device 12 is rotated so that the SID forms an acute angle with the top plate 17 with the horizontal axis as the rotation axis. In FIG. 8, as shown by the arrow AR1, the C-arm 15 rotates the X-ray detector 13 toward the subject P. At this time, as shown in FIG. 8, according to the present embodiment, the surgical support robot 30 automatically moves in a direction away from the C-arm 15 (in FIG. 8, the foot side of the subject P). That is, in FIG. 8, the surgical support robot 30 retreats along the arrow AR2.

[0101] For example, when it is determined that there is a possibility of interference between the C-arm (a support device that supports the X-ray detector 13 and the X-ray tube 14) 15 due to the relative positional relationship collected by the collection function 61 (for example, when the distance between the support device 15 and the surgical support robot 30 becomes 30 mm or less), the surgical support robot 30 automatically retreats in the direction opposite to the support device 15 so as to maintain a distance of 30 mm. At this time, based on the position information (relative positional relationship) between the peripheral device and the surgical support robot 30, the surgical support robot 30 automatically retreats along a retreat route where it does not interfere with the peripheral device.

[0102] Note that the tip position of the surgical support robot 30 (i.e., the tip of the operating device OPA) may be rotated by the rotational movement (up and down nodding movement) of the operating device OPA with the horizontal axis HA as the rotation axis so as to maintain a posture that keeps the position as close as possible to the subject P. Thereby, the distance between the tip of the surgical support robot 30 and the subject P (the distance between the sheath Sh and the tip of the operating device OPA (the margin portion BP in FIG. 5)) can reduce the possibility of interference with the C-arm 15.

[0103] Also, when it is determined that there is a possibility of contact (interference) between the surgical support robot 30 and the C-arm 15 and / or peripheral devices due to the movement of the hospital bed 16 (and / or the ceiling plate 17) or the movement of the surgical support robot 30, a warning may be presented to the user, these operations may be stopped, or the user may be allowed to retreat the surgical support robot 30.

[0104] In the X-ray diagnostic apparatus 11 according to the second embodiment described above, the surgical support robot 30 includes an operating device OPA that operates a device 32 inserted into the subject P during the surgery on the subject P, a link mechanism LM that movably supports the operating device OPA with respect to the top plate 17 of the imaging device 12, motors provided at each of a plurality of joints in the link mechanism LM for driving each of the plurality of links in the link mechanism LM, and a fixing mechanism MM connected to the other end of the link mechanism for fixing the link mechanism LM to the top plate 17. Therefore, the X-ray diagnostic apparatus 11 according to the second embodiment generates a control signal of a motor corresponding to the movement amount of the surgical support robot 30 as information regarding the movement of the surgical support robot 30 based on the relative positional relationship between the imaging device 12 and the surgical support robot 30, and transmits the control signal of the motor as information regarding the movement of the surgical support robot 30 to the surgical support robot 30. The surgical support robot 30 controls the motor in response to the reception of the control signal of the motor and moves the operating device OPA and / or the link mechanism LM.

[0105] From these facts, according to the X-ray diagnostic apparatus 11 according to the second embodiment, by driving each of the plurality of joints in the surgical support robot 30 with a motor, electronic control of the link movement becomes possible. Therefore, according to the X-ray diagnostic apparatus 11 according to the second embodiment, when it is determined that there is a possibility of contact between the surgical support robot 30 and the imaging device 12, the surgical support robot 30 can be automatically retracted from the movement of the C-arm 15. Therefore, according to the X-ray diagnostic apparatus 11 according to the second embodiment, the surgical support robot 30 can be automatically retracted without the intervention of the user's operation.

[0106] From the above, according to the X-ray diagnostic apparatus 11 according to the second embodiment, the possibility of hindering the progress of the procedure on the subject P due to interference between the imaging device 12 and the equipment above the subject P can be further reduced, the procedure can be executed while maintaining an appropriate distance between the imaging device 12 and the surgical support robot 30, and the safety and throughput of the procedure on the subject P can be improved. Since other effects are the same as those of the first embodiment, the description is omitted.

[0107] (Fourth Application Example) In addition to the automatic retraction operation of the surgical support robot 30, this application example is to automatically control the feed amount adjustment mechanism so as to adjust the feed amount. In this application example, the feed amount adjustment mechanism has a winding device capable of independently winding and feeding out the device 32 and the cover tube CV, respectively. The winding device has, for example, a plurality of motors for independently winding and feeding out the device 32 and the cover tube CV, respectively. Since known technologies can be used as the winding device, the description thereof is omitted.

[0108] The operating device OPA has a feed amount adjustment mechanism for feeding out the device 32 and the cover tube CV covering the device 32. The difference in the feed amount adjustment mechanism between the third application example of the first embodiment and the fourth application example of the second embodiment lies in having a motor, as described above. The operating device OPA controls the feed amount adjustment mechanism according to the control signal described below output from the output function 64. Specifically, the operating device OPA controls the motor in the feed amount adjustment mechanism according to the control signal of the feed amount.

[0109] The processing circuit 55, by the generation function 63, calculates the feed amounts of the device 32 and the cover tube CV based on the movement amount of the surgical support robot 30 as information regarding the movement of the surgical support robot 30. Since the calculation of the feed amount is the same as that in the third application example of the first embodiment, the description thereof is omitted. Next, the generation function 63 generates a control signal (hereinafter referred to as a feed control signal) for controlling the motor in the feed amount adjustment mechanism corresponding to the calculated feed amount. The feed control signal is, for example, a signal related to the driving of the motor for causing the calculated feed amount to be realized in the motor in the feed amount adjustment mechanism.

[0110] The processing circuit 55 outputs a transmission control signal to the surgical support robot 30 as information regarding the movement of the surgical support robot 30 by means of the output function 64. As a result, the operation device OPA in the surgical support robot 30 controls the feed amount adjustment mechanism in response to the reception of the transmission control signal. That is, the operation device OPA controls the motor mounted on the feed amount adjustment mechanism in accordance with the transmission control signal. Thereby, the device 32 and the cover tube CV are sent out so as to realize the calculated feed amount. The sending out of the device 32 and the cover tube CV is automatically executed along with the movement of the surgical support robot 30.

[0111] For example, in the case shown in FIG. 8, the surgical support robot 30 moves backward along the arrow AR2 in accordance with the rotation of the arrow AR1 with respect to the C-arm 15. In FIG. 8, in synchronization with the backward movement of the surgical support robot 30, the feed amount adjustment mechanism sends out the device 32 and the cover tube CV under the control of the operation device OPA.

[0112] In the X-ray diagnostic apparatus 11 according to the fourth application example of the second embodiment described above, the operation device OPA has a feed amount adjustment mechanism for sending out the device 32 and the cover tube CV. For this reason, the X-ray diagnostic apparatus 11 according to the fourth application example of the second embodiment calculates the sending-out amounts of the device 32 and the cover tube CV based on the movement amount of the surgical support robot 30 as information regarding the movement of the surgical support robot 30, outputs a transmission control signal corresponding to the calculated sending-out amount to the surgical support robot 30 as information regarding the movement of the surgical support robot 30, and the operation device OPA controls the feed amount adjustment mechanism in response to the reception of the control signal corresponding to the sending-out amount.

[0113] According to the X-ray diagnostic apparatus 11 according to the fourth application example of the second embodiment, after the output of the delivery amount in the third application example of the first embodiment, the devices 32 such as the catheter and the guide wire held by the operating device OPA at the tip of the surgical support robot 30 are extended in conjunction with the retraction amount of the surgical support robot 30, so that a part of the device 32 such as the part of the catheter and the part of the guide wire that enter the body of the subject P is not affected. Thus, the feed amount can be automatically adjusted. Therefore, according to the X-ray diagnostic apparatus 11 according to the fourth application example of the second embodiment, the device 32 and the cover tube CV can be automatically sent out without the operation of the user.

[0114] From the above, according to the X-ray diagnostic apparatus 11 according to the fourth application example of the second embodiment, the possibility of hindering the progress of the procedure on the subject P due to the interference between the imaging device 12 and the equipment above the subject P can be further reduced. The procedure can be executed while maintaining an appropriate distance between the imaging device 12 and the surgical support robot 30, and the safety and throughput of the procedure on the subject P can be improved. Other effects are the same as those of the third application example of the first embodiment, and thus the description is omitted.

[0115] When the technical idea in this embodiment is realized by a surgical support robot movement notification method, the surgical support robot movement notification method collects the relative positional relationship between the imaging device 12 that performs X-ray imaging on the subject P and the surgical support robot 30 that supports the surgery on the subject P. In response to the movement of the imaging device 12, based on the relative positional relationship, the possibility of contact between the surgical support robot 30 and the imaging device 12 is determined. When it is determined that there is a possibility of contact between the surgical support robot 30 and the imaging device 12, based on the relative positional relationship, information regarding the movement of the surgical support robot 30 is generated, and the information regarding the movement of the surgical support robot 30 is output.

[0116] The surgical support robot movement notification process and the surgical support robot automatic movement process realized by the surgical support robot movement notification method correspond to the first embodiment, the second embodiment, etc., respectively, so the description is omitted. Also, regarding the first to third application examples of the first embodiment and the fourth application example of the second embodiment, they can also be realized as the surgical support robot movement notification method. For this reason, the processing contents realized by the surgical support robot movement notification method conform to the first to third application examples of the first embodiment and the fourth application example of the second embodiment, so the description is omitted. The effects of the surgical support robot movement notification method are the same as those of the first embodiment, the first to third application examples of the first embodiment, the second embodiment, the fourth application example of the second embodiment, etc. From these, the description of the processing procedure and effects in the surgical support robot movement notification method is omitted.

[0117] When realizing the technical idea in the embodiment with the X-ray diagnostic system 10, the X-ray diagnostic system 10 includes an imaging device 12 that performs X-ray imaging on the subject P, a surgical support robot 30 that supports the surgery on the subject P, a collection unit that collects the relative positional relationship between the imaging device 12 and the surgical support robot 30, and a determination unit that determines the possibility of contact between the surgical support robot 30 and the imaging device 12 based on the relative positional relationship in response to the movement of the imaging device 12. When it is determined that there is a possibility of contact between the surgical support robot 30 and the imaging device 12, a generation unit that generates information regarding the movement of the surgical support robot 30 based on the relative positional relationship, and an output unit that outputs the information regarding the movement of the surgical support robot 30.

[0118] The surgical support robot movement notification process and the surgical support robot automatic movement process realized by the X-ray diagnostic system 10 correspond to the first embodiment, the second embodiment, etc., respectively, so the description thereof is omitted. Also, the first to third application examples of the first embodiment and the fourth application example of the second embodiment can also be realized as the X-ray diagnostic system 10. For this reason, since the processing content regarding the X-ray diagnostic system 10 conforms to the first to third application examples of the first embodiment and the fourth application example of the second embodiment, the description thereof is omitted. The effects of the X-ray diagnostic system 10 are the same as those of the first embodiment, the first to third application examples of the first embodiment, the second embodiment, the fourth application example of the second embodiment, etc. From these facts, the description of the processing procedure and effects by the X-ray diagnostic system 10 is omitted.

[0119] According to at least the first embodiment, the first to third application examples of the first embodiment, the second embodiment, the fourth application example of the second embodiment, etc. described above, the relative position information among the imaging device 12, the surgical support robot 30, and peripheral devices can be mutually recognized, and a route for avoiding interference between the surgical support robot 30 and the imaging device 12 can be presented to the user or the robot side can be retracted by electronic control.

[0120] For this reason, according to the first embodiment, the first to third application examples of the first embodiment, the second embodiment, the fourth application example of the second embodiment, etc., an appropriate distance can be maintained among the imaging device 12, the surgical support robot 30, and peripheral devices, and a procedure for the subject P can be executed. From these facts, according to the first embodiment, the first to third application examples of the first embodiment, the second embodiment, the fourth application example of the second embodiment, etc., the progress of the procedure can be prevented from being hindered when the surgical support robot 30 is used.

[0121] Although several embodiments have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, changes, and combinations of embodiments can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, as well as in the invention described in the claims and the equivalent scope thereof.

Explanation of Reference Numerals

[0122] 10 X-ray diagnostic system 11 X-ray diagnostic apparatus 12 Imaging device 13 X-ray detector 14 X-ray source (X-ray tube) 15 C-arm (support device) 16 Hospital bed 17 Ceiling panel 18 Display 19 Examination room console 20 Image processing device 30 Surgical support robot 31 Robot arm 32 Device 40 Remote console 41 Display 42 Display input circuit 43 Remote input circuit 44 Control device 51 Display 52 Input circuit 53 Memory circuit (memory) 54 Communication circuit 55 Processing circuit 61 Collection function 62 Judgment function 63 Generation function 64 Output function 71 Display 72 Input circuit 73 Memory circuit 74 Communication circuit 75 Processing circuit 81 Image processing function

Claims

1. A collection unit that collects the relative positional relationship between an imaging device that performs X-ray imaging on a subject and a surgical support robot that supports surgery on the subject, A determination unit that determines the possibility of contact between the surgical support robot and the imaging device based on the relative positional relationship in response to the movement of the imaging device, A generation unit that generates information regarding the movement of the surgical support robot based on the relative positional relationship when it is determined that there is a possibility of contact between the surgical support robot and the imaging device, An output unit that outputs information regarding the movement of the surgical support robot, An X-ray diagnostic apparatus comprising the above.

2. The information regarding the movement of the surgical support robot has evacuation notification information for notifying evacuation of the surgical support robot in response to the movement of the imaging device, The X-ray diagnostic apparatus according to Claim 1.

3. The information regarding the movement of the surgical support robot has movement information for avoiding contact between the surgical support robot and the imaging device in response to the movement of the imaging device, The X-ray diagnostic apparatus according to Claim 2.

4. The information regarding the movement of the surgical support robot has an evacuation amount for evacuating the surgical support robot in response to the movement of the imaging device, The X-ray diagnostic apparatus according to Claim 2.

5. The information for evacuating the surgical support robot has information indicating the range in which the surgical support robot can move, The X-ray diagnostic apparatus according to Claim 1.

6. The surgical support robot supports the operation of a device inserted into the subject during the execution of the surgery, When it is determined that there is a possibility of contact between the surgical support robot and the imaging device, the generation unit, as information regarding the movement of the surgical support robot, Calculates the movement amount of the surgical support robot based on the relative positional relationship, Calculates the delivery amount between the device and a cover tube covering the device based on the movement amount, The output unit outputs the movement amount of the surgical support robot and the delivery amount as information regarding the movement of the surgical support robot, The X-ray diagnostic apparatus according to Claim 1.

7. The generation unit, Calculates the evacuation speed of the surgical support robot based on the movement amount and the speed of movement of the imaging device, Calculates the delivery amount such that the delivery amount increases as the evacuation speed increases and the delivery amount decreases as the evacuation speed decreases based on the movement amount and the evacuation speed, The X-ray diagnostic apparatus according to claim 6.

8. The collection unit is disposed around the imaging device and collects the relative positional relationships among the peripheral devices related to the surgery, the surgical support robot, and the imaging device. The determination unit further determines the possibility of contact between at least two of the imaging device, the surgical support robot, and the peripheral devices as the imaging device moves, based on the relative positional relationships among the peripheral devices, the surgical support robot, and the imaging device. When it is determined that there is a possibility of contact between at least two of the imaging device, the surgical support robot, and the peripheral devices, the generation unit generates information regarding the movement of the surgical support robot based on the relative positional relationships among the peripheral devices, the surgical support robot, and the imaging device. The X-ray diagnostic apparatus according to claim 1.

9. The movement of the surgical support robot is forward or backward movement of the surgical support robot. The X-ray diagnostic apparatus according to claim 1.

10. The output unit further outputs the possibility of contact between the surgical support robot and the imaging device. The X-ray diagnostic apparatus according to claim 1.

11. The output unit outputs at least one of the information regarding the movement of the surgical support robot and the possibility of contact between the surgical support robot and the imaging device to at least one of the surgical support robot and the display. The X-ray diagnostic apparatus according to claim 1.

12. The surgical support robot presents at least one of the information regarding the movement of the surgical support robot and the possibility of contact between the surgical support robot and the imaging device to the user. The X-ray diagnostic apparatus according to claim 10.

13. The imaging device includes a support device that supports an X-ray tube and an X-ray detector related to the X-ray imaging, and a bed having a top plate on which the subject is placed. The determination unit determines the possibility of contact between the surgical support robot and the support device based on the relative positional relationship in response to the movement of the top plate. The X-ray diagnostic apparatus according to claim 1.

14. The surgical support robot includes an operating device that operates a device inserted into the subject in the surgery, a link mechanism that movably supports the operating device with respect to the top plate in the imaging device, and motors provided at respective joints of the plurality of joints in the link mechanism and driving respective links in the link mechanism. ​ A fixing mechanism that is connected to the other end of the link mechanism and fixes the link mechanism to the top plate, having, Based on the relative positional relationship, the generation unit generates a control signal for the motor corresponding to the movement amount of the surgical support robot as information regarding the movement of the surgical support robot. The output unit transmits the control signal for the motor to the surgical support robot as information regarding the movement of the surgical support robot. The surgical support robot controls the motor in response to reception of the control signal for the motor, and moves the operating device and / or the link mechanism. The X-ray diagnostic apparatus according to any one of claims 1 to 13.

15. The operating device has a feed amount adjustment mechanism that feeds out the device and a cover tube that covers the device. Based on the movement amount, the generation unit calculates the feed amounts of the device and the cover tube as information regarding the movement of the surgical support robot. The output unit outputs a feed control signal corresponding to the feed amount to the surgical support robot as information regarding the movement of the surgical support robot. The operating device controls the feed amount adjustment mechanism in response to reception of a control signal corresponding to the feed amount. The X-ray diagnostic apparatus according to claim 14.

16. Collecting the relative positional relationship between an imaging device that performs X-ray imaging on a subject and a surgical support robot that supports surgery on the subject, Determining the possibility of contact between the surgical support robot and the imaging device based on the relative positional relationship in response to movement of the imaging device, When it is determined that there is a possibility of contact between the surgical support robot and the imaging device, generating information regarding the movement of the surgical support robot based on the relative positional relationship, Outputting information regarding the movement of the surgical support robot, A method for notifying movement of a surgical support robot, comprising the steps of:

17. An imaging device that performs X-ray imaging on a subject, A surgical support robot that supports surgery on the subject, A collection unit that collects the relative positional relationship between the imaging device and the surgical support robot, A determination unit that determines the possibility of contact between the surgical support robot and the imaging device based on the relative positional relationship in response to movement of the imaging device, When it is determined that there is a possibility of contact between the surgical support robot and the imaging device, a generation unit that generates information regarding the movement of the surgical support robot based on the relative positional relationship; an output unit that outputs information regarding the movement of the surgical support robot; An X-ray diagnostic system comprising the above.

Images