Bed device, x-ray diagnostic device, and control method of bed device

Abstract

To facilitate movement of an actuator intended by a user.SOLUTION: A bed device according to an embodiment includes a rail, a contact detection part, a determination part, and a control part. The rail is attached with at least one actuator of an X-ray diagnostic device. The contact detection part detects contact with the rail. The determination part determines a movement direction of the actuator according to a contact position on the rail at which the contact with the rail detected by the contact detection part has been performed. The control part moves the actuator along the rail in the movement direction determined by the determination part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The embodiments disclosed in the present specification and drawings relate to a bed apparatus, an X-ray diagnostic apparatus, and a method for controlling a bed apparatus. [Background technology]

[0002] A conventional bed device used in an X-ray diagnostic apparatus is known in which, when the tabletop moves, the console moves in the direction opposite to the moving direction of the tabletop. This type of bed device can prevent the positional relationship between the surgeon and the console from changing in response to the movement of the tabletop.

[0003] However, if the console can only be moved in the direction opposite to the movement of the tabletop, it may be necessary to remove the console when it is desired to intentionally move the console in accordance with the movement of the surgeon or peripheral equipment. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-99613 Summary of the Invention [Problem 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 to easily move the controller as intended by the user. However, the problems to be solved by the embodiments disclosed in this specification and the drawings are not limited to the above problem. Problems corresponding to the effects of the configurations shown in the embodiments described below can also be positioned as other problems. [Means for solving the problem]

[0006] In an X-ray diagnostic apparatus according to an embodiment, a bed apparatus includes a rail, a contact detection unit, a determination unit, and a control unit. At least one controller of the X-ray diagnostic apparatus is attached to the rail. The contact detection unit detects contact with the rail. The determination unit determines a movement direction of the controller according to a contact position on the rail detected by the contact detection unit. The control unit moves the controller along the rail in the movement direction determined by the determination unit. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram showing an example of the arrangement of an X-ray diagnostic apparatus according to the first embodiment. [Figure 2] FIG. 2 is a side view showing an example of the configuration of an imaging unit and a bed device of the X-ray diagnostic apparatus according to the first embodiment. [Figure 3] FIG. 3 is a cross-sectional view showing an example of the configuration of a bed driving unit in the bed apparatus according to the first embodiment. [Figure 4] FIG. 4 is a flowchart showing an example of the operation of the bed apparatus according to the first embodiment. [Figure 5] FIG. 5 is a side view showing an example of the operation of the bed apparatus according to the first embodiment. [Figure 6] FIG. 6 is a side view showing a bed driving unit in a bed apparatus according to a first modified example of the first embodiment. [Figure 7] FIG. 7 is a side view showing a bed driving unit in a bed apparatus according to a second modified example of the first embodiment. [Figure 8] FIG. 8 is a side view showing a bed driving unit in a bed apparatus according to a third modified example of the first embodiment. [Figure 9] FIG. 9 is a flowchart showing an example of the operation of the bed apparatus according to the second embodiment. [Figure 10] FIG. 10 is a plan view showing an example of the operation of the bed apparatus according to the second embodiment. [Figure 11] FIG. 11 is a plan view showing an example of the configuration of a bed apparatus according to a third embodiment. [Figure 12]FIG. 12 is a flowchart showing an example of the operation of the bed apparatus according to the third embodiment. [Figure 13] FIG. 13 is a plan view showing an example of the operation of the bed apparatus according to the third embodiment. [Figure 14] 14 is a flowchart subsequent to FIG. 12 showing an example of the operation of the bed apparatus according to the third embodiment. [Figure 15] 15 is a flowchart subsequent to FIG. 12 showing an example of the operation of the bed apparatus according to the third embodiment. [Figure 16] FIG. 16 is a flowchart showing an example of the operation of the bed apparatus according to a modified example of the third embodiment. [Figure 17] 17 is a flowchart subsequent to FIG. 16 showing an example of the operation of the bed apparatus according to a modified example of the third embodiment. [Figure 18] FIG. 18 is a plan view showing an example of the operation of the bed apparatus according to a modified example of the third embodiment. [Figure 19] FIG. 19 is a cross-sectional view illustrating the configuration of a bed apparatus according to a fourth embodiment. [Figure 20] FIG. 20 is a flowchart showing an example of the operation of the bed apparatus according to the fourth embodiment. [Figure 21] FIG. 21 is a flowchart showing an example of the operation of the bed apparatus according to a modified example of the fourth embodiment. [Figure 22] FIG. 22 is a side view showing an example of the configuration of a bed apparatus according to a fifth embodiment. [Figure 23] FIG. 23 is a flowchart showing an example of the operation of the bed apparatus according to the fifth embodiment. [Figure 24] FIG. 24 is a flowchart showing an example of the operation of the bed apparatus according to the first modified example of the fifth embodiment. [Figure 25] FIG. 25 is a flowchart showing an example of the operation of the bed apparatus according to a second modified example of the fifth embodiment. [Figure 26] FIG. 26 is a flowchart showing an example of the operation of the bed apparatus according to a third modified example of the fifth embodiment. [Figure 27] FIG. 27 is a plan view showing an example of the configuration of a bed apparatus according to a sixth embodiment. [Figure 28A]FIG. 28A is a plan view showing an example of the operation of the bed apparatus according to the sixth embodiment. [Figure 28B] FIG. 28B is a plan view showing an example of operation of the X-ray diagnostic apparatus according to a modified example of the sixth embodiment. [Figure 29] FIG. 29 is a plan view showing an example of the configuration of a bed apparatus according to a seventh embodiment. [Figure 30] FIG. 30 is a perspective view showing a configuration example of a bed apparatus according to a modified example of the seventh embodiment. [Figure 31] FIG. 31 is a block diagram showing an example of the arrangement of an X-ray diagnostic apparatus according to the eighth embodiment. [Figure 32] FIG. 32 is a perspective view showing an example of the configuration of an imaging unit and a bed device of an X-ray diagnostic apparatus according to the eighth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of an X-ray diagnostic apparatus will be described with reference to the drawings. Note that, although a single-plane X-ray diagnostic apparatus having one C-arm will be described as an example of an X-ray diagnostic apparatus, the X-ray diagnostic apparatus may also be applied to a bi-plane X-ray diagnostic apparatus having two C-arms, an X-ray television apparatus, an X-ray CT apparatus, etc. Furthermore, in the following description, components having substantially the same functions and configurations will be assigned the same reference numerals, and redundant description will be given only when necessary.

[0009] (First embodiment) FIG. 1 is a block diagram showing an example of the configuration of an X-ray diagnostic apparatus 1 according to the first embodiment. As shown in FIG. 1, the X-ray diagnostic apparatus 1 according to the first embodiment includes an imaging unit 2, a bed apparatus 3, a driving unit 4, a console 6, an X-ray high-voltage device 8, an input interface 9, an output interface 10, a memory circuitry 11, and a processing circuitry 12. The console 6 is an example of an operating device. In the following description, the horizontal direction along the longitudinal direction of the bed apparatus 3 is defined as the Y-axis direction, the vertical direction as the Z-axis direction, and the direction perpendicular to the Y-axis and Z-axis directions as the X-axis direction. The X-ray diagnostic apparatus 1 according to the first embodiment is a floor-standing X-ray diagnostic apparatus in which the imaging unit 2 is supported by the floor surface. The X-ray diagnostic apparatus 1 may also be a ceiling-suspended X-ray diagnostic apparatus in which a portion of the imaging unit 2 is suspended from the ceiling.

[0010] The imaging unit 2 is a device that uses X-rays to image the subject P. The imaging unit 2 includes an X-ray generator 21, an X-ray detector 22, and a holding device 23.

[0011] The X-ray generator 21 is configured to generate X-rays. Specifically, the X-ray generator 21 has an X-ray tube 21a that irradiates the subject P with X-rays, and an X-ray aperture 21b that limits the irradiation range of the X-rays irradiated onto the subject P from the X-ray tube 21a.

[0012] The X-ray tube 21a is a vacuum tube that generates X-rays by irradiating thermoelectrons from a cathode (filament) toward an anode (target) when a high voltage is applied from the X-ray high voltage device 8 and a filament current is supplied. In the X-ray tube 21a, X-rays are generated when the thermoelectrons collide with the target. The X-ray tube 21a is, for example, a rotating anode type X-ray tube that generates X-rays by irradiating a rotating anode with thermoelectrons. The X-ray tube 21a is not limited to the rotating anode type, and any type can be applied.

[0013] The X-ray aperture 21b is provided in front of the X-ray radiation window of the X-ray tube 21a. The X-ray aperture 21b has four aperture blades made of metal plates such as lead. The aperture blades are driven by the driver 4 in accordance with the region of interest input by the operator via the input interface 9. The X-ray aperture 21b adjusts the region where X-rays are blocked to any size by sliding the aperture blades with the driver 4. With the adjusted aperture blades, the X-ray aperture 21b blocks X-rays outside the opening region. In this way, the X-ray aperture 21b narrows down the X-rays generated by the X-ray tube 21a so that they are irradiated onto the region of interest of the subject P.

[0014] 2 is a side view showing an example of the configuration of the imaging unit 2 and the bed device 3 of the X-ray diagnostic apparatus 1 according to the embodiment. As shown in Fig. 2, the X-ray diaphragm 21b is driven by the drive unit 4 to rotate in the direction of arrow a around a rotation axis that is a straight line connecting the focal point where X-rays are generated in the X-ray tube 21a and the center of the X-ray detector 22. In order to rotate the X-ray diaphragm 21b, the drive unit 4 has, for example, a drive source such as a motor and a drive force transmission member such as a gear that transmits the drive force of the drive source to the X-ray diaphragm 21b.

[0015] The X-ray detector 22 detects X-rays generated by the X-ray tube 21a and transmitted through the subject P. The X-ray detector 22 is, for example, an X-ray flat panel detector (hereinafter referred to as FPD). The FPD has, for example, a plurality of semiconductor detection elements. The semiconductor detection elements are classified into a direct conversion type that directly converts X-rays into electrical signals, and an indirect conversion type that converts X-rays into light using a phosphor and then converts the light into electrical signals. Either type may be used for the FPD. Electrical signals generated by the plurality of semiconductor detection elements in response to incidence of X-rays are output to an analog-to-digital converter (hereinafter referred to as A / D converter), not shown. The A / D converter converts the electrical signals into digital data. The A / D converter outputs the digital data to the processing circuitry 12. Note that an image intensifier may be used as the X-ray detector 22.

[0016] The holding device 23 has a C-arm 231. As shown in FIG. 2, in addition to the C-arm 231, the holding device 23 further has a support part 232, an arm holder 233, a support part 234, and a floor swivel part 235.

[0017] The C-arm 231 has an arc shape. More specifically, the C-arm 231 has a semicircular arc shape. The C-arm 231 supports the X-ray tube 21a at one end of the C-arm 231. The C-arm 231 supports the X-ray detector 22 at the other end of the C-arm 231 via a support part 232. The X-ray tube 21a and the X-ray detector 22 are attached to the C-arm 231 so as to face each other. Note that in FIG. 2, one end of the C-arm 231 is the lower end and the other end of the C-arm 231 is the upper end, but the positions of the one end and the other end change according to the rotation and sliding of the C-arm 231.

[0018] The support unit 232 supports the X-ray detector 22. The support unit 232 supports the X-ray detector 22 so that a source image distance (hereinafter referred to as SID), which corresponds to the distance between the X-ray tube 21a and the X-ray detector 22, can be changed. Specifically, as shown in FIG. 2 , the support unit 232 supports the X-ray detector 22 so that it can slide in the direction of arrow b along the Z-axis direction. The X-ray detector 22 is driven by a drive unit 4 to slide in the direction of arrow b. To slide the X-ray detector 22 in the direction of arrow b, the drive unit 4 includes, for example, a drive source such as a motor and a drive force transmission member that converts the drive force of the drive source into a translational force and transmits the force to the X-ray detector 22. The support unit 232 also supports the X-ray detector 22 so that it can rotate in the direction of arrow c around a rotation axis that is a straight line connecting the focal point of the X-ray tube 21a and the center of the X-ray detector 22. The X-ray detector 22 is driven by the drive unit 4 to rotate in the direction of arrow c. In order to rotate the X-ray detector 22, the drive unit 4 has, for example, a drive source such as a motor, and a drive force transmission member that transmits the drive force of the drive source to the X-ray detector 22.

[0019] The arm holder 233 supports the C-arm 231 so that it can slide in the direction of arrow d in Fig. 2 along the arc shape of the C-arm 231. The central axis of the sliding (i.e., rotation) of the C-arm 231 may be located on the isocenter, which is the site where X-rays are most concentratedly irradiated. The C-arm 231 is driven by the driving unit 4 to slide in the direction of arrow d. To slide the C-arm 231 in the direction of arrow d, the driving unit 4 has, for example, a driving source such as a motor, and a driving force transmission member that transmits the driving force of the driving source to the C-arm 231.

[0020] The support column 234 supports the arm holder 233. Specifically, the support column 234 supports the arm holder 233 rotatably in the direction of arrow e in FIG. 2 around a rotation axis along the Y-axis direction. The arm holder 233 is driven by the drive unit 4 to rotate in the direction of arrow e. To rotate the arm holder 233, the drive unit 4 has, for example, a drive source such as a motor, and a drive force transmission member that transmits the drive force of the drive source to the arm holder 233.

[0021] The floor swivel unit 235 supports the support column 234 so that it can rotate in the direction of arrow f in Figure 2 around a rotation axis along the Z-axis direction. The support column 234 is driven by the drive unit 4 to rotate in the direction of arrow f. To rotate the support column 234, the drive unit 4 has, for example, a drive source such as a motor, and a drive force transmission member that transmits the drive force of the drive source to the support column 234. The floor swivel unit 235 is supported on the floor surface so that it can rotate in the direction of arrow g in Figure 2 around a rotation axis along the Z-axis direction.

[0022] 1, the driving unit 4 drives the imaging unit 2. Specifically, under the control of the processing circuit 12, the driving unit 4 drives a plurality of driving sources that respectively generate driving forces in the directions of the arrows a to g described above.

[0023] The bed apparatus 3 is an apparatus on which a subject P is placed. As shown in Figures 1 and 2, the bed apparatus 3 includes a tabletop 31, rails 32, a support unit 33, a bed driver 34, and a contact detection sensor 35. The contact detection sensor 35 is an example of a sensor.

[0024] The tabletop 31 is located at the upper end of the bed device 3. The subject P is placed on the tabletop 31. The tabletop 31 has a longitudinal direction along the Y-axis direction.

[0025] The rails 32 are provided on the side surfaces of the tabletop 31. The rails 32 are also called side rails. In the example shown in FIG. 2, the rails 32 have a longitudinal direction along the Y-axis direction. A console 6 of the X-ray diagnostic apparatus 1 is attached to the rails 32. The console 6 has a plurality of switches and a joystick. The console 6 receives, for example, input operations for driving the aperture blades of the X-ray aperture 21b, input operations for driving the C-arm 231, input operations for driving the bed device 3, and the like. The console 6 may further be provided with a handle to be held when manually moving the bed device 3.

[0026] The support portion 33 is provided below the top plate 31. The support portion 33 supports the top plate 31 so that the top plate 31 is movable.

[0027] The bed driver 34 drives the console 6 along the rails 32 under the control of the processing circuitry 12. The bed driver 34 also drives the tabletop 31, for example, in the Y-axis direction, the Z-axis direction, and a tilt direction around the X-axis, under the control of the processing circuitry 12. The bed driver 34 includes a drive source such as a motor and a drive force transmission member that transmits the drive force of the drive source to the console 6 or the tabletop 31. FIG. 3 is a cross-sectional view showing an example of the configuration of the bed driver 34 in the bed device 3 according to the first embodiment. In the example shown in FIG. 3, the bed driver 34 includes rollers 341 disposed between the console 6 and the rails 32. The rollers 341 are rotated by a motor (not shown) to move the console 6 along the rails 32.

[0028] The contact detection sensor 35 shown in FIGS. 1 and 2 outputs a detection signal (i.e., an electrical signal) in response to a user's contact with the rail 32. The user may be either a surgeon or an operator other than the surgeon. The detection signal output from the contact detection sensor 35 is input to the processing circuit 12. The contact detection sensor 35 is disposed, for example, at an end of the rail 32 in the longitudinal direction. The contact detection sensor 35 may also be disposed at both ends of the rail 32 in the Y-axis direction. The specific form of the contact detection sensor 35 is not particularly limited as long as it can detect a user's contact with the rail 32. For example, the contact detection sensor 35 may be an electrical resistance sensor that detects contact with the rail 32 as a change in electrical resistance. Alternatively, the contact detection sensor 35 may be a capacitance sensor that detects contact with the rail 32 as a change in capacitance. Alternatively, the contact detection sensor 35 may be a piezoelectric sensor that detects contact with the rail 32 as a change in voltage generated by a piezoelectric element. The contact sensor 35 may also be an optical sensor that optically detects contact with the rail 32. The contact sensor 35 may also be an ultrasonic sensor that detects contact with the rail 32 as a change in ultrasonic waves. The contact detection sensor 35 may also be configured by combining sensors using multiple detection methods.

[0029] The X-ray high voltage device 8 shown in Fig. 1 includes electrical circuits such as a transformer and a rectifier, a high voltage generator, and an X-ray control device. The high voltage generator has the function of generating a high voltage to be applied to the X-ray tube 21a and a filament current to be supplied to the X-ray tube 21a. The X-ray control device controls the output voltage according to the X-rays irradiated by the X-ray tube 21a. The high voltage generator may be of a transformer type or an inverter type. The X-ray high voltage device 8 may be provided in the holding device 23.

[0030] The input interface 9 accepts various instructions and information input operations from a user. Specifically, the input interface 9 converts the input operations accepted by the user into electrical signals and outputs them to the processing circuit 12. For example, the input interface 9 may be realized by a trackball, switch buttons, a mouse, a keyboard, a touchpad that performs input operations by touching the operation surface, a touchscreen that integrates a display screen and a touchpad, a non-contact input circuit using an optical sensor, and a voice input circuit. Note that the input interface 9 is not limited to those that have physical operation components such as a mouse and a keyboard. For example, an electrical signal processing circuit that receives an electrical signal corresponding to an input operation from an external input device provided separately from the device and outputs the electrical signal to a control circuit is also included as an example of the input interface 9.

[0031] The output interface 10 outputs various types of information. For example, the output interface 10 includes a display. The display converts information and image data sent from the processing circuit 12 into electrical signals for display and outputs the signals. The display may be implemented by a liquid crystal monitor, a CRT (Cathode Ray Tube) monitor, a touch panel, or the like. The output interface 10 may also include a speaker.

[0032] The memory circuitry 11 is a non-transitory storage device that stores various types of information, such as a hard disk drive (HDD), an optical disk, a solid state drive (SSD), or an integrated circuit storage device. The memory circuitry 11 stores, for example, a control program that controls the X-ray diagnostic apparatus 1 and various types of data used to execute the control program. In addition to an HDD or SSD, the memory circuitry 11 may also be a drive device that reads and writes various types of information from / to portable storage media such as a compact disc (CD), a digital versatile disc (DVD), or a flash memory, or a semiconductor memory element such as a random access memory (RAM).

[0033] The processing circuitry 12 is a circuit that controls the operation of the entire X-ray diagnostic apparatus 1 in response to electrical signals of input operations input from the input interface 9 and the console 6. For example, the processing circuitry 12 includes an imaging control function 121, a contact detection function 36, a decision function 37, and a movement control function 38. The contact detection function 36 is an example of a contact detection unit. The decision function 37 is an example of a decision unit. The movement control function 38 is an example of a control unit. The contact detection function 36, the decision function 37, and the movement control function 38 are components of the bed device 3.

[0034] Here, for example, the processing functions executed by the imaging control function 121, the contact detection function 36, the decision function 37, and the movement control function 38, which are components of the processing circuit 12 shown in FIG. 1, are recorded in the storage circuit 11 in the form of a program executable by a computer. The processing circuit 12 is, for example, a processor. The processor constituting the processing circuit 12 reads the program from the storage circuit 11 and executes it to realize the function corresponding to the read program. In other words, the processing circuit 12 in a state in which the program has been read has the functions shown in the processing circuit 12 of FIG. 1.

[0035] 1 shows a case where the imaging control function 121, contact detection function 36, decision function 37, and movement control function 38 are each realized by a single processing circuit 12, but the embodiment is not limited to this. For example, the processing circuit 12 may be configured by combining multiple independent processors, and each processor may execute a program to realize the imaging control function 121. Furthermore, the processing functions of the processing circuit 12 may be realized by being distributed or integrated as appropriate across a single or multiple processing circuits.

[0036] The imaging control function 121 controls the imaging operation of the subject P by the imaging unit 2 based on, for example, an input operation received from an operator via the input interface 9. The imaging control function 121 controls the imaging operation of the subject P by controlling the drive unit 4, the X-ray high voltage device 8, the X-ray generator 21, the output interface 10, etc. More specifically, the imaging control function 121 reads out a control program stored in the storage circuitry 11, expands it on the memory in the processing circuitry 12, and controls each part of the X-ray diagnostic apparatus 1 in accordance with the expanded control program. The imaging control function 121 also generates image data based on the output from the X-ray detector 22. The image data is data of medical images including fluoroscopic images and photographed images of the subject P. The imaging control function 121 displays the generated image data on the output interface 10.

[0037] The contact detection function 36 detects contact with the rail 32. The contact detection function 36 detects contact with the rail 32 based on a detection signal corresponding to contact with the rail 32 output from a contact detection sensor 35 arranged on the rail 32.

[0038] The determination function 37 determines the direction of movement of the console 6 according to the contact position on the rail 32 where contact with the rail 32 was made, detected by the contact detection function 36. In the first embodiment, the determination function 37 determines the direction of movement of the console 6 as the direction from the position of the console 6 toward the contact position.

[0039] The movement control function 38 moves the console 6 along the rail 32 in the movement direction determined by the decision function 37. The movement control function 38 controls the driving of the console 6 by the bed drive unit 34, thereby moving the console 6 in the movement direction determined by the decision function 37. The movement control function 38 continuously moves the console 6 in the movement direction determined by the decision function 37 while the contact detection function 36 continues to detect contact with the rail 32. Furthermore, the movement control function 38 stops the movement of the console 6 in the movement direction determined by the decision function 37 when the contact detection function 36 stops detecting contact with the rail 32.

[0040] Next, an example of the operation of the bed apparatus 3 according to the first embodiment configured as described above will be described. Fig. 4 is a flowchart showing an example of the operation of the bed apparatus 3 according to the first embodiment. First, as shown in Fig. 4, the contact detection function 36 detects the user's contact with the rail 32 based on the detection signal output from the contact detection sensor 35 (step S1).

[0041] After detecting the user's contact with the rail 32, the contact detection function 36 calculates the user's contact position on the rail 32 (step S2). FIG. 5 is a side view showing an example of the operation of the bed apparatus 3 according to the first embodiment. In the example shown in FIG. 5, the user U touches the contact detection sensor 35 (see FIG. 2) arranged at the end of the rail 32 in the -Y direction. Therefore, in the example shown in FIG. 5, the contact detection function 36 calculates the position of the end of the rail 32 in the -Y direction as the contact position. Note that the user U may also touch the contact detection sensor 35 arranged at the end of the rail 32 in the Y direction. In this case, the contact detection function 36 calculates the position of the end of the rail 32 in the Y direction as the contact position.

[0042] After the contact position is calculated, the determination function 37 determines the direction from the position of the console 6 toward the calculated contact position as the movement direction of the console 6 (step S3), as shown in Fig. 4. In the example shown in Fig. 5, the determination function 37 determines the -Y direction as the movement direction of the console 6.

[0043] After the movement direction is determined, the movement control function 38 moves the console 6 in the determined movement direction (step S4). In the example shown in Fig. 5, the movement control function 38 controls the driving of the console 6 by the bed driving unit 34, thereby moving the console 6 in the -Y direction.

[0044] After the movement of the console 6 has started, as shown in FIG. 4, the movement control function 38 determines whether or not the contact detection function 36 continues to detect contact (step S5).

[0045] If the detection of contact continues (step S: YES), the movement control function 38 continues to move the console 6 in the movement direction decided by the decision function 37 (step S4). On the other hand, if the detection of contact does not continue (step S: NO), the movement control function 38 stops the movement of the console 6 in the movement direction decided by the decision function 37 (step S6).

[0046] As described above, in the first embodiment, the contact detection function 36 detects contact of the user with the rail 32. The decision function 37 determines the movement direction of the console 6 according to the contact position on the rail 32 where the contact with the rail 32 was detected by the contact detection function 36. The movement control function 38 moves the console 6 along the rail 32 in the movement direction determined by the decision function 37.

[0047] This allows the user to move the console 6 in the direction of movement intended by the user without removing the console 6, so that the user can move the console 6 as intended in a simple and hygienic manner.

[0048] In the first embodiment, the determination function 37 determines the direction from the position of the console 6 toward the contact position as the moving direction of the console 6.

[0049] This allows an appropriate direction according to the contact position to be determined as the moving direction of the console 6, so that the console 6 can be moved appropriately in the direction intended by the user. For example, when the user himself moves around the bed device, the console 6 can move following the user after the movement.

[0050] In addition, in the first embodiment, the movement control function 38 continuously moves the console 6 in the movement direction determined by the decision function 37 while the contact detection function 36 continues to detect contact with the rail 32.

[0051] This allows the user to continuously move the console 6 through a simple operation of continuing to contact the rail 32, making it even easier for the user to move the console 6 as intended.

[0052] In addition, in the first embodiment, the movement control function 38 stops the movement of the console 6 in the movement direction determined by the decision function 37 when the contact detection function 36 stops detecting contact with the rail 32.

[0053] This allows the user to stop the movement of the console 6 by the simple operation of releasing the rail 32, so that the user can easily move the console 6 to the position intended by the user.

[0054] In addition, in the first embodiment, the contact detection function 36 detects contact with the rail 32 based on a detection signal corresponding to contact with the rail 32 output from the contact detection sensor 35 arranged on the rail 32.

[0055] This allows contact with the rail 32 to be detected simply and appropriately based on the detection signal from the contact detection sensor 35.

[0056] In the first embodiment, the contact detection sensor 35 is disposed on the rail 32 at an end of the rail 32 in the longitudinal direction.

[0057] This allows the contact detection sensor 35 to be disposed in a position where it is unlikely to interfere with the movement of the console 6 along the rail 32, thereby improving the smoothness of the movement of the console 6.

[0058] (First Modification) Next, a modified example of the bed driving unit 34 will be described. Fig. 6 is a side view showing the bed driving unit 34 in the bed apparatus 3 according to the first modified example of the first embodiment. In Fig. 3, an example has been described in which the bed driving unit 34 has rollers 341 for driving the console 6.

[0059] 6, the bed driving unit 34 has a pair of pulleys 342 and a belt 343 wound around the outer periphery of the pair of pulleys 342 to drive the console 6. The console 6 is fixed to the belt 343. One of the pair of pulleys 342 is rotationally driven by a driving source (not shown), such as a motor.

[0060] 6, the movement control function 38 drives the belt 343 in the movement direction determined by the decision function 37 by rotationally driving the pulley 342 in a rotation direction corresponding to the movement direction determined by the decision function 37. This allows the console 6 fixed to the belt 343 to move in the movement direction determined by the decision function 37.

[0061] (Second Modification) Next, a description will be given of another modified example of the bed driving unit 34. Fig. 7 is a side view showing the bed driving unit 34 in a bed apparatus 3 according to a second modified example of the first embodiment.

[0062] In the example shown in Fig. 7, the bed driving unit 34 has an electromagnet 344 arranged on the console 6 and a plurality of magnets 345 arranged on the rail 32 along the longitudinal direction of the rail 32 in order to drive the console 6. The plurality of magnets 345 are, for example, permanent magnets. The polarity of the electromagnet 344 can be changed by energization control using the movement control function 38. The plurality of magnets 345 are arranged so that the polarity is alternately reversed along the longitudinal direction of the rail 32.

[0063] 7, the movement control function 38 changes the polarity of the electromagnet 344 in accordance with the movement direction determined by the decision function 37. This makes it possible to move the electromagnet 344 and the console 6 on which the electromagnet 344 is provided in the movement direction determined by the decision function 37.

[0064] (Third Modification) Next, a description will be given of another modified example of the bed driving unit 34. Fig. 8 is a side view showing the bed driving unit 34 in a bed apparatus 3 according to a third modified example of the first embodiment.

[0065] 8, the bed drive unit 34 has a caterpillar 346 provided around the rail 32 to drive the console 6. The caterpillar 346 is driven to rotate by a drive source (not shown) such as a motor under the control of a movement control function 38. The console 6 is fixed to the caterpillar 346.

[0066] In the example shown in Fig. 8, the movement control function 38 rotationally drives the caterpillar 346 in accordance with the movement direction determined by the decision function 37. This makes it possible to move the console 6 fixed to the caterpillar 346 in the movement direction determined by the decision function 37. For example, when the caterpillar 346 is rotationally driven in the clockwise direction d2 as shown in Fig. 8, it is possible to move the console 6 fixed to the caterpillar 346 in the Y direction.

[0067] (Second embodiment) Next, a second embodiment in which the direction in which the contact position changes is determined as the movement direction will be described, focusing on the differences from the above-mentioned embodiments. Fig. 9 is a flowchart showing an example of the operation of the bed apparatus 3 according to the second embodiment. Fig. 10 is a plan view showing an example of the operation of the bed apparatus 3 according to the second embodiment.

[0068] So far, we have described an example in which the decision function 37 decides that the direction toward the contact position is the movement direction of the console 6. In contrast to this, in the second embodiment, the decision function 37 decides that the direction in which the contact position changes is the movement direction of the console 6.

[0069] 9, the contact detection function 36 calculates the contact position of the user on the rail 32 (step S2), and then determines whether the contact position has changed continuously (step S21). In other words, the contact detection function 36 determines whether the user has performed an operation of sliding their finger on the rail 32 while touching the rail 32 (i.e., a swipe operation). That is, the contact detection function 36 sequentially detects contact with the rail 32 over time.

[0070] If the contact position has changed continuously (step S21: YES), the contact detection function 36 calculates the direction of the change in the contact position, i.e., the direction of the swipe operation (step S22). In other words, the contact detection function 36 calculates the direction in which the contact position will change as contact with the rail 32 is successively detected. On the other hand, if the contact position has not changed continuously (step S21: NO), the contact detection function 36 repeatedly determines whether the contact position has changed continuously (step S21).

[0071] After the direction of change in the contact position is calculated, the decision function 37 decides that the direction of change in the contact position is the movement direction of the console 6 (step S23). In the example shown in Fig. 10, the user U performs a swipe operation d3 in the Y direction. In this case, the decision function 37 decides that the Y direction in which the swipe operation d3 was performed is the movement direction d1 of the console 6.

[0072] After the movement direction of the console 6 is determined, the contact detection function 36 detects the user's contact with the rail 32 (step S24), as shown in FIG. 9. That is, the contact detection function 36 detects that the rail 32 has been contacted again after a swipe operation. Thereafter, as in FIG. 4, the console 6 is continuously moved in the determined movement direction while the contact with the rail 32 continues (steps S4 to S6). Therefore, by continuing to touch the rail 32 after performing a swipe operation, the user can continuously move the console 6 in the movement direction specified by the swipe operation.

[0073] As described above, in the second embodiment, the determination function 37 determines the direction in which the contact position changes as the moving direction of the console 6.

[0074] This allows the user to determine the direction of movement of the console 6 that the user intends in accordance with the user's swipe operation, allowing the user to intuitively move the console 6 in the direction of movement that the user intends.

[0075] (Third embodiment) Next, a third embodiment in which multiple operating devices are attached to rails 32 will be described, focusing on the differences from the above-mentioned embodiments. FIG. 11 is a plan view showing an example of the configuration of the bed apparatus 3 according to the third embodiment. FIG. 12 is a flowchart showing an example of the operation of the bed apparatus 3 according to the third embodiment. FIG. 13 is a plan view showing an example of the operation of the bed apparatus according to the third embodiment. FIG. 14 is a flowchart following FIG. 12 showing an example of the operation of the bed apparatus 3 according to the third embodiment. FIG. 15 is a flowchart following FIG. 12 showing an example of the operation of the bed apparatus 3 according to the third embodiment.

[0076] Up to now, an example has been described in which the console 6 is attached to the rail 32. In contrast to this, in the example shown in Fig. 11, in addition to the console 6, a tablet 13 is also attached to the rail 32. The tablet 13 is an example of an operating device. The tablet 13 accepts, for example, an input operation for selecting the angle of the C-arm 231 relative to the tabletop 31, an input operation for selecting an examination protocol, and an input operation for changing the layout of images displayed on the display.

[0077] In the example shown in FIG. 12, the decision function 37 decides whether to move the console 6 or the tablet 13 depending on the number of times the rail 32 is touched.

[0078] 12, first, the contact detection function 36 detects the number of times the user has contacted the rail 23. The number of times the user has contacted the rail 23 is the number of times the user has repeatedly touched and immediately released the rail 23 (i.e., tapping) within a certain short period of time (e.g., a few seconds).

[0079] After detecting the number of contacts, the contact detection function 36 determines whether the number of contacts is one or two (step S32).

[0080] If the number of contacts is one, the decision function 37 decides on the console 6 as the object to be moved (step S33, FIG. 13). On the other hand, if the number of contacts is two, the decision function 37 decides on the tablet 13 as the object to be moved (step S34, FIG. 13). The decision function 37 may invalidate three or more contacts, or may treat them as two contacts.

[0081] After the console 6 is determined as the object to be moved, the bed apparatus 3 executes the same processing as that of the second embodiment shown in Fig. 9, as shown in Fig. 14. However, in the example shown in Fig. 14, after the movement of the console 6 in the determined movement direction is started, the movement control function 38 determines not only whether the contact detection function 36 continues to detect contact, but also whether the console 6 is separated from the tablet 13 by a certain distance or more (step S51). Whether the console 6 is separated from the tablet 13 by a certain distance or more can be determined based on, for example, a detection signal from a distance sensor (not shown) that measures the distance between the console 6 and the tablet 13.

[0082] If contact detection continues and the console 6 is at a certain distance or more from the tablet 13 (step S51: YES), the movement control function 38 continues to move the console 6 in the movement direction determined by the decision function 37 (step S4). On the other hand, if contact detection does not continue or the console 6 is not at a certain distance or more from the tablet 13 (step S51: NO), the movement control function 38 stops the movement of the console 6 in the movement direction determined by the decision function 37 (step S6).

[0083] After the tablet 13 is determined as the movement target, as shown in Fig. 15, the bed apparatus 3 executes the same processing as in Fig. 14 with the tablet 13 as the movement target. The example processing in Fig. 15 is the same as that in Fig. 14 except that the tablet 13 is determined as the movement target. That is, the determination function 37 determines the direction of change in the contact position calculated by the contact detection function 36 (i.e., the direction of the swipe operation) as the movement direction of the tablet 13 (step S35). Furthermore, the movement control function 38 moves the tablet 13 in the movement direction determined by the determination function 37 (step S36). After the movement of the tablet 13 in the determined movement direction starts, the movement control function 38 determines whether or not the contact detection function 36 continues to detect the contact and whether or not the tablet 13 is separated from the console 6 by a certain distance or more (step S37).

[0084] If the contact detection continues and the tablet 13 is a certain distance or more away from the console 6 (step S37: YES), the movement control function 38 continues to move the tablet 13 in the movement direction determined by the decision function 37 (step S36). On the other hand, if the contact detection does not continue or the tablet 13 is not a certain distance or more away from the console 6 (step S37: NO), the movement control function 38 stops the movement of the tablet 13 in the movement direction determined by the decision function 37 (step S38).

[0085] As described above, in the third embodiment, a plurality of operating devices 6, 13 are attached to the rail 32. Furthermore, the decision function 37 decides which of the plurality of operating devices 6, 13 to move, depending on the number of times the rail 32 is touched.

[0086] This allows the user to select the controller to be moved with a simple operation, even when multiple controllers are attached to the rail 32. Furthermore, by stopping the moving controller when the distance between the multiple controllers is not greater than a certain distance, it is possible to prevent the multiple controllers from colliding with each other.

[0087] (Variation) Next, a modified example of the third embodiment in which the operating device to be moved is determined depending on the number of contact positions on the rail 32 will be described, focusing on the differences from the above-mentioned embodiment. Fig. 16 is a flowchart showing an example of the operation of the bed apparatus 3 according to the modified example of the third embodiment. Fig. 17 is a flowchart following Fig. 16 showing an example of the operation of the bed apparatus 3 according to the modified example of the third embodiment. Fig. 18 is a plan view showing an example of the operation of the bed apparatus 3 according to the modified example of the third embodiment.

[0088] 12 has been described as an example in which the decision function 37 decides whether to move the console 6 or the tablet 13 in accordance with the number of contacts on the rail 32. In contrast to this, in the example shown in FIG. 16, the decision function 37 decides whether to move one or both of the console 6 and the tablet 13 in accordance with the number of contact positions on the rail 32.

[0089] Specifically, as shown in Fig. 16, first, the contact detection function 36 detects the number of contact positions on the rail 32 by the user (step S41). For example, if the user contacts the rail 32 with one hand, one contact position is detected. On the other hand, as shown in Fig. 18, if the user U contacts the rail 32 with both hands at positions separated from each other, two contact positions are detected.

[0090] After the number of touch positions is detected, as shown in FIG. 16, the determination function 37 determines whether the number of touch positions is one or two (step S42).

[0091] If there is one contact position, the process proceeds to the same process as in Fig. 12 of the third embodiment (steps S31 to S34). On the other hand, if there are two contact positions, the determination function 37 determines both the console 6 and the tablet 13 as the objects to be moved (step S43), as shown in Fig. 16. The determination function 37 may invalidate three or more contact positions, or may treat them as two positions.

[0092] After both the console 6 and the tablet 13 are determined as movement targets, as shown in Fig. 17, the bed apparatus 3 performs the same processing as in Fig. 4 with both the console 6 and the tablet 13 as movement targets. The example processing in Fig. 17 is the same as that in Fig. 4 except that both the console 6 and the tablet 13 are set as movement targets. For example, after the contact position is calculated (step S2), the determination function 37 determines the direction toward the contact position as the movement direction of both the console 6 and the tablet 13 (step S44). Note that the determination function 37 may determine the direction of the swipe operation as the movement direction of the console 6 and the tablet 13 instead of determining the direction toward the contact position as the movement direction of the console 6 and the tablet 13.

[0093] After the movement direction is determined, the movement control function 38 moves both the console 6 and the tablet 13 in the determined movement direction (step S45). At this time, the movement control function 38 may move the console 6 and the tablet 13 at the same speed. By moving the console 6 and the tablet 13 at the same speed, it is possible to avoid a collision between the console 6 and the tablet 13. If the detection of contact with the rail 32 is no longer continuous after the console 6 and the tablet 13 have started to move (step S5: NO), the movement control function 38 stops the movement of the console 6 and the tablet 13 (step S46).

[0094] According to the example shown in FIGS. 16 to 18, when a plurality of controllers 6, 13 are attached to the rail 32, the plurality of controllers 6, 13 can be moved simultaneously by a simple operation by the user.

[0095] (Fourth embodiment) Next, a fourth embodiment in which unintended contact with the rail 32 by the user is disabled will be described, focusing on the differences from the above-mentioned embodiments. Fig. 19 is a cross-sectional view illustrating the configuration of the bed apparatus 3 according to the fourth embodiment. Fig. 20 is a flowchart showing an example of the operation of the bed apparatus 3 according to the fourth embodiment.

[0096] As shown in FIG. 19, when the console 6 is moved by rollers 341 arranged between the console 6 and the rail 32, the console 6 is always in contact with the rail 32 via the rollers 341. In the example shown in FIG. 19, the console 6 is in contact with the upper surface 32a and the lower surface 32b of the rail 32 via rollers 341, 341 arranged above and below the rail 32. On the other hand, since no rollers are arranged on the side surface 32c of the rail 32, the console 6 does not come into contact with the side surface 32c of the rail 32. The upper surface 32a and the lower surface 32b of the rail 32 are an example of a first contact surface. The side surface 32c of the rail 32 is an example of a second contact surface.

[0097] Since the console 6 is always in contact with the rail 32 via the rollers 341, depending on the configuration of the contact detection sensor 35 (for example, the placement position, the number of placements, the detection method, etc.), it may be possible to detect not only the user's contact with the rail 32 but also the console 6's contact with the rail 32. However, if the console 6's contact with the rail 32 is reflected in determining the direction of movement of the console 6, there is a risk that the console 6 will be moved in a direction unintended by the user.

[0098] Therefore, in the example shown in Figure 20, the determination function 37 determines the direction of movement of the console 6 when the contact detection function 36 detects contact with the side surface 32c of the rail 32, which has a different orientation from the upper surface 32a and lower surface 32b of the rail 32 with which the console 6 contacts.

[0099] 20, after the contact position is calculated (step S2), the determination function 37 determines whether the detected contact with the rail 32 is contact with the side surface 32c (step S51). That is, the determination function 37 determines whether the contact position calculated by the contact detection function 36 is a position on the side surface 32c of the rail 32.

[0100] If the detected contact with the rail 32 is contact with the side surface 32c (step S51: YES), it can be determined that the detected contact is not contact with the console 6 via the roller 341 but contact with the user. In this case, the decision function 37 decides that the direction toward the contact position is the movement direction of the console 6 (step S3). On the other hand, if the detected contact with the rail 32 is not contact with the side surface 32c (step S51: NO), it may not be possible to distinguish whether the detected contact is contact with the user or the console 6. In this case, the decision function 37 invalidates the contact and ends the process.

[0101] As described above, in the fourth embodiment, when the contact detection function 36 detects that the user has contacted the side surface 32c on the rail 32 that has a different orientation from the upper surface 32a and lower surface 32b on the rail 32 with which the console 6 is in contact, the determination function 37 determines the movement direction of the console 6 according to the contact position.

[0102] This makes it possible to prevent the movement of the console 6 from being affected by contact with the rail 32 that is not intended by the user, and therefore makes it possible to appropriately move the console 6 as intended by the user.

[0103] (Variation) Next, a modified example of the fourth embodiment in which the user's contact is determined based on the temperature of the contact position will be described, focusing on the differences from the above-described embodiments. Fig. 21 is a flowchart showing an example of the operation of the bed apparatus 3 according to the modified example of the fourth embodiment.

[0104] 21, after calculating the contact position (step S2), the contact detection function 36 further detects the temperature of the contact position (step S61). To detect the temperature of the contact position, for example, the contact detection sensor 35 may output a contact detection signal having a signal value corresponding to the temperature. Alternatively, a temperature sensor separate from the contact detection sensor 35 may be disposed on the rail 32. In this case, the contact detection function 36 detects the temperature of the contact position based on the detection signal output from the temperature sensor.

[0105] After the temperature of the contact position is detected, the decision function 37 determines whether the temperature of the contact position is higher than a threshold temperature (step S62).

[0106] If the temperature at the contact position is higher than the threshold temperature (step S62: YES), it can be determined that the detected contact is not a contact by the console 6 via the roller 341 but a contact by the user. In this case, the decision function 37 determines the direction toward the contact position as the movement direction of the console 6 (step S3). On the other hand, if the temperature at the contact position is not higher than the threshold temperature (step S62: NO), it may not be possible to distinguish whether the detected contact is a contact by the user or the console 6. In this case, the decision function 37 invalidates the contact and ends the process.

[0107] 21, the contact detection function 36 further detects the temperature of the contact position. Furthermore, when the temperature of the contact position detected by the contact detection function 36 is higher than a threshold temperature, the determination function 37 determines the movement direction of the console 6 according to the contact position.

[0108] 19 and 20, this can prevent the user's unintentional contact with the rail 32 from affecting the movement of the console 6.

[0109] Note that examples of invalidating unintended contact with the rail 32 by the user are not limited to the above examples. For example, the contact detection function 36 may detect the pressure at the contact position based on a detection signal from a pressure sensor arranged on the rail 32. In this case, if the pressure at the contact position is greater than a threshold, the determination function 37 may invalidate the contact, assuming that the detected contact is an unintended contact by the user, such as a sudden collision. In other words, if the pressure at the contact position is smaller than the threshold, the determination function 37 may determine the movement direction of the console 6 according to the contact position.

[0110] Alternatively, for example, the bed device 3 may include a switch that accepts an ON operation to enable contact with the rails 32 and an OFF operation to disable contact with the rails 32. In this case, when the switch is ON, the decision function 37 determines the movement direction of the console 6 according to the contact position. On the other hand, when the switch is OFF, the decision function 37 disables the contact. With this configuration, when the user does not want to move the console 6 carelessly, the user can fix the position of the console 6 by turning off the switch.

[0111] (Fifth embodiment) Next, a fifth embodiment in which the moving direction of the console 6 is determined based on an image of the user will be described, focusing on the differences from the above-mentioned embodiments. Fig. 22 is a side view showing an example of the configuration of the bed apparatus 3 according to the fifth embodiment. Fig. 23 is a flowchart showing an example of the operation of the bed apparatus 3 according to the fifth embodiment.

[0112] In the example shown in FIG. 22, the bed device 3 further includes a camera 14 that captures an image of the user U. The camera 14 is an example of an imaging unit. In the example shown in FIG. 22, the camera 14 is arranged above a monitor 101 that is arranged near the bed device 3. The monitor 101 is an example of an output interface 10. By being arranged above the monitor 101, the camera 14 can properly capture an image of the user. The determination function 37 can determine the movement direction of the console 6 based on the image of the user captured by the camera 14. For example, the determination function 37 can determine the direction of movement of the console 6 as the direction toward the position of the user recognized based on the image of the user.

[0113] 23, first, the decision function 37 determines whether or not the setting of the image input mode has been accepted by the input interface 9 (step S71). The image input mode is an operation mode of the decision function 37 that uses the image input from the camera 14 to decide the movement direction of the controller.

[0114] If the setting of the image input mode has been accepted (step S71: YES), the decision function 37 causes the camera 14 to capture an image of the user (step S72). On the other hand, if the setting of the image input mode has not been accepted (step S71: NO), the X-ray diagnostic apparatus 1 executes the same series of processes as in FIG. 4 (steps S1 to S6).

[0115] After the image of the user is captured, the determination function 37 recognizes the position of the user based on the image of the user (that is, performs image recognition) (step S73).

[0116] After recognizing the user's position, the decision function 37 determines the direction toward the recognized user's position as the movement direction of the console 6 (step S74). When multiple users are imaged by the camera 14, the decision function 37 may determine which user among the multiple users should operate the console 6 based on the captured images of the multiple users. For example, the decision function 37 may distinguish the multiple users into an operator of the C-arm 231 and a surgeon by image recognition, and decide that the operator of the C-arm 231 is the user who should operate the console 6. Then, the decision function 37 may decide that the direction toward the position of the determined user among the multiple users is the movement direction of the console 6.

[0117] After the movement direction is determined, the movement control function 38 moves the console 6 in the determined movement direction (step S75).

[0118] 23 has described an example in which the movement direction of the console 6 is determined based on an image of the user when the image input mode setting has been accepted. However, the present invention is not limited to this configuration, and the image of the user may be used when determining the movement direction of the console 6 in accordance with the contact position of the rail 32. For example, the position of the user recognized based on the image of the user may be used to improve the accuracy of calculation of the contact position in step S2 of FIG. 23.

[0119] As described above, in the fifth embodiment, the bed device 3 further includes the camera 14 that captures an image of the user. In addition, the determination function 37 can determine the moving direction of the console 6 based on the image of the user captured by the camera 14.

[0120] This allows the console 6 to be moved as needed without touching the rails 32, improving the degree of freedom and convenience of operation.

[0121] Furthermore, in the fifth embodiment, the determination function 37 determines the direction toward the position of the user recognized based on the image of the user as the moving direction of the console 6.

[0122] This allows the direction of movement of the console 6 to be easily determined without touching the rail 32.

[0123] In addition, in the fifth embodiment, the decision function 37 can decide which of the multiple users should operate the console 6 based on images of the multiple users captured by the camera 14, and determine the direction toward the position of the decided user as the direction of movement of the console 6.

[0124] This makes it possible to appropriately determine the direction of movement of the console 6 even when images of multiple users are captured.

[0125] (First Modification) Next, a first modified example of the fifth embodiment in which the direction indicated by a gesture input is determined as the moving direction of the console 6 will be described, focusing on the differences from the above-described embodiments. Fig. 24 is a flowchart showing an example of the operation of the bed apparatus 3 according to the first modified example of the fifth embodiment.

[0126] 23 has described an example in which the decision function 37 decides that the direction toward the position of the user recognized based on the image of the user is the movement direction of the console 6. In contrast to this, in the example shown in FIG. 24, the decision function 37 decides that the direction indicated by a gesture input by the user is the movement direction of the console 6.

[0127] 24, after an image of the user is captured (step S72), the determination function 37 recognizes a gesture of the user based on the image of the user (step S76). The gesture may be, for example, an action of the user raising the right hand or an action of the user raising the left hand.

[0128] After recognizing the user's gesture, the decision function 37 determines the direction according to the recognized gesture as the movement direction of the console 6 (step S77). For example, if a gesture of the user raising their right hand is recognized, the decision function 37 may determine the direction of movement of the console 6 as a direction away from the user. Alternatively, if a gesture of the user raising their left hand is recognized, the decision function 37 may determine the direction of movement of the console 6 as a direction toward the user.

[0129] According to the example shown in FIG. 24, the console 6 can be moved in response to gesture input, thereby improving the degree of freedom and convenience of operation.

[0130] (Second Modification) Next, a second modified example of the fifth embodiment, which determines whether or not to operate the console 6 based on an image of the user, will be described, focusing on the differences from the above-mentioned embodiments. Fig. 25 is a flowchart showing an example of the operation of the bed apparatus 3 according to the second modified example of the fifth embodiment.

[0131] In the example shown in FIG. 25, after an image of the user is captured (step S72), the decision function 37 determines whether or not the console 6 will be operated based on the image of the user (step S78). That is, in the example shown in FIG. 25, when the console 6 is not being operated by the user, the decision function 37 determines whether or not the user will operate the console 6 in the future. For example, the decision function 37 may recognize the progress of the procedure based on the image of the user, and determine that the console 6 will be operated if it is predicted that the next step will be to operate the C-arm 231. In this case, the decision function 37 may recognize the progress of the procedure based on information such as the time elapsed since the start of the procedure, the time elapsed since the image of the user was recognized at a predetermined position, fluoroscopic images, and gestures in addition to the image of the user.

[0132] If it is determined that the console 6 will be operated (step S78: YES), the decision function 37 determines the direction from the position of the console 6 toward the position of the user as the moving direction of the console 6 (step S79). On the other hand, if it is determined that the console 6 will not be operated (step S78: NO), the decision function 37 repeats the determination of whether or not the console 6 will be operated (step S78).

[0133] 25, when the user is not operating the console 6, the decision function 37 determines whether or not the user is operating the console 6 based on the image of the user. Then, the decision function 37 determines the direction in accordance with the determination of whether or not an operation is being performed as the movement direction of the console 6. Specifically, when it is determined that the console 6 will be operated, the decision function 37 determines the direction toward the user's position as the movement direction of the console 6. This allows the console 6 to be automatically moved to a position that is easy for the user to operate when the console 6 needs to be operated, thereby improving convenience.

[0134] (Third Modification) Next, a third modification of the fifth embodiment, which determines whether or not to operate the console 6 based on an image of the user, will be described, focusing on the differences from the above-mentioned embodiments. Fig. 26 is a flowchart showing an example of the operation of the bed apparatus 3 according to the third modification of the fifth embodiment.

[0135] In the example shown in FIG. 26, after an image of the user is captured (step S72), the decision function 37 determines whether or not the operation of the console 6 has been completed based on the image of the user (step S710). That is, in the example shown in FIG. 26, while the user is operating the console 6, the decision function 37 determines whether or not the user will operate the console 6 in the future. For example, the decision function 37 may determine that the operation of the console 6 has been completed by recognizing that the console 6 was operated at the start of the procedure based on the image of the user. Furthermore, similar to the example shown in FIG. 25, the decision function 37 may determine the completion of the operation of the console 6 by taking into account the progress of the procedure.

[0136] If it is determined that the operation of the console 6 has been completed (step S710: YES), the decision function 37 determines the direction from the user's position toward the park position (i.e., the retreat position) as the movement direction of the console 6 (step S711). On the other hand, if it is determined that the operation of the console 6 has not been completed (step S710: NO), the decision function 37 repeats the determination of whether or not the operation of the console 6 has been completed (step S710).

[0137] 26, when the user is operating the console 6, the decision function 37 determines whether or not the user has operated the console 6 based on an image of the user. The decision function 37 then determines the direction of movement of the console 6 based on the determination of whether or not the operation has been performed. Specifically, when it is determined that the operation of the console 6 has been completed, the decision function 37 determines the direction of movement of the console 6 to be toward the park position. This allows the console 6 to be automatically retracted when the operation of the console 6 is completed, thereby improving convenience.

[0138] (Sixth embodiment) Next, a sixth embodiment in which rails 32 are arranged to surround the periphery of the tabletop 31 will be described, focusing on the differences from the above-mentioned embodiments. Fig. 27 is a plan view showing an example of the configuration of the bed apparatus 3 according to the sixth embodiment. Fig. 28A is a plan view showing an example of the operation of the bed apparatus 3 according to the sixth embodiment.

[0139] Up to now, an example has been described in which rails 32 are arranged linearly along the longitudinal direction (i.e., the Y-axis direction) of tabletop 31. In contrast to this, in the example shown in Fig. 27, rails 32 are arranged in a frame shape so as to surround the periphery (i.e., the outer periphery) of tabletop 31 in a plan view. Specifically, rails 32 have a first rail 321, a second rail 322, a third rail 323, and a fourth rail 324.

[0140] First rail 321 is arranged on a side surface of tabletop 31 on the X-direction side, along the Y-axis direction. Second rail 322 is arranged on a side surface of tabletop 31 on the -X-direction side, along the Y-axis direction. Third rail 323 is arranged on a side surface of tabletop 31 on the Y-direction side, along the X-axis direction. Third rail 323 connects the Y-direction end of first rail 321 and the Y-direction end of second rail 322. Fourth rail 324 is arranged on a side surface of tabletop 31 on the -Y-direction side, along the X-axis direction. Fourth rail 324 connects the -Y-direction end of first rail 321 and the -Y-direction end of second rail 322.

[0141] 27, the console 6 is configured to be able to move around the periphery of the tabletop 31 along a frame-shaped rail 32. In order to enable the console 6 to change direction at the four corners of the rail 32, a structure (not shown) that enables the console 6 to change direction is provided at the four corners of the rail 32, such as the rail 32 being formed in an arc shape.

[0142] Next, an example of the operation of the bed apparatus 3 shown in Fig. 27 will be described. As in Fig. 9 and Fig. 10, in the example shown in Fig. 28A, the decision function 37 decides the moving direction of the console 6 based on the direction of change in the contact position.

[0143] For example, when the user U performs a swipe operation d3 in the Y direction at time t1 shown in FIG. 28A, the decision function 37 decides that the Y direction is the movement direction d1 of the console 6. As a result, the movement control function 38 starts moving the console 6 in the Y direction at time t1. As long as the user is continuously in contact with the rail 32 after time t1, the movement control function 38 continuously moves the console 6 in the Y direction. When the console 6 reaches the end of the first rail 321 in the Y direction, the movement control function 38 moves the console 6 in the −X direction on the third rail 323, taking into account the movement direction of the console 6 up to that point.

[0144] Thereafter, when the user U releases the rail 32 while the console 6 is moving in the -X direction on the third rail 323, the movement control function 38 stops the console 6 on the third rail 323. Thereafter, at time t2, when the user again performs a swipe operation in the Y direction, the movement control function 38 determines the movement direction of the console 6 to be the -X direction, taking into account the movement direction of the console 6 up to that point. As a result, the movement control function 38 starts moving the console 6 in the -X direction at time t2. As long as the user continues to contact the rail 32, the movement control function 38 continues to move the console 6 in the -X direction. When the console 6 reaches the end of the third rail 323 in the -X direction, the movement control function 38 moves the console 6 in the -Y direction on the second rail 322, taking into account the movement direction of the console 6 up to that point.

[0145] Thereafter, when the user U releases the rail 32 while the console 6 is moving on the second rail 322 in the -Y direction, the movement control function 38 stops the console 6 on the second rail 322. Thereafter, at time t3, when the user U performs a swipe operation in the -Y direction, the movement control function 38 aligns the movement direction with the swipe direction and determines the -Y direction as the movement direction of the console 6. On the other hand, when the user U performs a swipe operation in the Y direction at time t3, the movement control function 38 aligns the movement direction with the swipe direction and determines the Y direction as the movement direction of the console 6. This allows the console 6 to move on the second rail 322 in the direction instructed by the swipe operation, allowing the user U to move the console 6 intuitively.

[0146] The bed apparatus 3 may have a reversing mechanism that reverses the orientation of the console 6, which has been moved onto one of a pair of rails 321, 322 facing each other across the tabletop 31, relative to the orientation of the console 6 when it was positioned on the other rail 321. The reversing mechanism may be, for example, the structure of the frame-shaped rail 32 itself, configured to enable the direction of the console 6 to be changed at the four corners of the rail 32. Alternatively, the reversing mechanism may be, for example, an actuator such as a motor that rotates the console 6 around the Z axis. In this case, the actuator may be provided in the bed drive unit 34. The reversing of the console 6 by the reversing mechanism may be performed all at once. Alternatively, the reversing of the console 6 by the reversing mechanism may be performed in two stages: a 90-degree turn at the connection position between the first rail 321 and the third rail 323, and a 90-degree turn at the connection position between the third rail 323 and the second rail 322. In the example shown in FIG. 28A, a mark 6a on the console 6 indicates a specific position on the console 6. As can be seen from the change in the position of the mark 6a during the period from time t1 to time t3, in the example shown in FIG. 28A , the console 6 is reversed in two stages (i.e., two 90-degree turns). When the reversing mechanism is configured with an actuator, the operation of the actuator may be controlled by the movement control function 38 in response to, for example, a detection signal output from a position sensor that detects the position of the console 6. In this case, the specific form of the position sensor is not particularly limited. For example, the position sensor may optically detect the position of the console 6, or may detect the position of the console 6 based on the amount of movement of the console 6. Alternatively, if the contact detection sensor 35 can distinguish between a contact by a user and a contact by the console 6 based on the contact area or the like, the contact detection sensor 35 may also serve as the position sensor. With the reversing mechanism, for example, when the console 6 moves from the first rail 321 to the second rail 322, a user positioned on the second rail 322 side can properly view the console 6 and properly perform input operations on the console 6.

[0147] As described above, in the sixth embodiment, the rails 32 are arranged so as to surround the periphery of the top plate 31.

[0148] This allows the range of movement of the console 6 to be expanded, thereby improving convenience.

[0149] (Variation) Next, a modified example of the sixth embodiment will be described, in which the movement direction of the C-arm 231 specified by the console 6 is aligned with the actual movement direction of the C-arm 231 as viewed from the position of the console 6 according to the position of the console 6. FIG. 28B is a plan view showing an example of the operation of the X-ray diagnostic apparatus 1 according to the modified example of the sixth embodiment. In the example shown in FIG. 28, the console 6 can accept an input operation specifying the movement direction of the C-arm 231 supporting the X-ray tube 21a and the X-ray detector 22. Furthermore, the decision function 37 determines the movement direction of the C-arm 231 according to the position of the console 6 on the frame-shaped rail 32 so that the movement direction of the C-arm 231 specified by the input operation is aligned with the actual movement direction of the C-arm 231 as viewed from the position of the console 6 at the time the input operation was performed (i.e., the user's position). The driver 4 operates the C-arm 231 according to the movement direction determined by the decision function 37.

[0150] 28B, when the console 6 is positioned on the first rail 321, the user U1 positioned on the first rail 321 side inputs to the console 6 the right direction dc1 as seen by the user U1 (i.e., the Y direction) as the movement direction of the C-arm 231. In response to this, the decision function 37 decides that the right direction da1 as seen by the user U1 (i.e., the Y direction) is the movement direction of the C-arm 231. The movement of the C-arm 231 in the right direction da1 may be, for example, an operation of rotating the C-arm 231 so that at least a part of the C-arm 231 (e.g., one end on the X-ray detector 22 side) moves in the right direction d1.

[0151] On the other hand, when the console 6 is positioned on the second rail 322, the user U2 positioned on the second rail 322 inputs to the console 6 a rightward direction dc2 (i.e., the -Y direction) as seen from the user U2's perspective as the movement direction of the C-arm 231. Here, the rightward direction dc1 as seen from the user U1 positioned on the first rail 321 side and the rightward direction dc2 as seen from the user U2 positioned on the second rail 321 side are the same as seen from the users U1 and U2, but are opposite directions in the XYZ coordinate system. If the relationship between the rightward direction dc1 as seen from the user U1 set on the first rail 321 side and the movement direction da1 of the C-arm 231 in the XYZ coordinate system is maintained on the second rail 322 side, when the rightward direction dc2 as seen from the user U2's perspective is input on the second rail 322 side, the movement direction of the C-arm 231 will be the da1 direction, i.e., the leftward direction as seen from the user U2's perspective. In this case, the C-arm 231 will move in the direction opposite to the direction intended by the user U2.

[0152] In contrast, in the example shown in Figure 28B, when the right direction dc2 as seen by the user U2 is input to the console 6 on the second rail 322 side as the movement direction of the C-arm 231, the decision function 37 actually decides that the right direction da2 as seen by the user U2 (i.e., the -Y direction) is the movement direction of the C-arm 231.

[0153] This allows the movement direction of the C-arm 231 specified on the console 6 to be aligned with the actual movement direction of the C-arm 231 as seen from the position of the console 6, regardless of the position of the console 6, thereby improving the operability of the C-arm 231.

[0154] (Seventh embodiment) Next, a seventh embodiment in which the arrangement of multiple operating devices can be changed will be described, focusing on the differences from the above-mentioned embodiments. Fig. 29 is a plan view showing an example of the configuration of a bed apparatus 3 according to the seventh embodiment.

[0155] 29, the rail 32 is arranged to surround the periphery of the tabletop 31, as in FIGS. 27 and 28A. The rail 32 is provided with an extension 325 of the rail 32 that allows the operating device to move forward and backward along the track around the tabletop 31. In the example shown in FIG. 29, the extension 325 is provided at the Y-direction end of the first rail 321 so as to protrude in the Y-direction. A console 15 for the bed is attached to the extension 325. The console 15 is a console that accepts input operations specialized for driving the bed device 3, such as moving and tilting the tabletop 31.

[0156] In the example shown in FIG. 29, the determination function 37 determines whether to move the console 6, 15 or the tablet 13, depending on the number of touches on the rail 32, as in FIG. 13. For example, the user can select the console 15 located on the extension 325 as the object to be moved, and then swipe and touch the rail 32, thereby moving the console 15 from the extension 325 onto the trajectory around the tabletop 31. Thereafter, the user can select the console 6 located on the first rail 321 as the object to be moved, and then swipe and touch the rail 32, thereby moving the console 6 back onto the extension 325. This allows the console 15 for the bed and the console 6 to be swapped. In addition, the arrangement of the controllers 6, 13, and 15 can be changed in various ways depending on the direction and order of the swipe operations.

[0157] As described above, in the seventh embodiment, the rail 32 has the structure 325 that allows the arrangement of the multiple operating devices 6, 13, and 15 to be changed.

[0158] This allows for greater freedom in arranging the controller and improved convenience.

[0159] (Variation) FIG. 30 is a perspective view showing a configuration example of a bed apparatus 3 according to a modified example of the seventh embodiment. In FIG. 29, an example in which the arrangement of multiple controllers 6, 13, and 15 is changeable by an extension unit 325 has been described. As shown in FIG. 30, instead of or in addition to the extension unit 325, the rail 32 may have multiple branch units 39 that branch the rail 32 in the Z direction. In the example shown in FIG. 30, the multiple branch units 39 are arranged on the side surface on the foot side of the subject P (i.e., the end surface on the Y direction side). Different controllers 6 and 13 are attached to different branch units 39. In this configuration, the determination function 37 determines which of the controllers 6 and 13 on the branch unit 39 should be moved, depending on the number of times the rail 32 is touched. Then, the user can move the controllers 6 and 13 determined as the movement target from the branch unit 39 along the rail 32 to the user's position by performing a swipe operation and touching the rail 32. In the example shown in FIG. 30, similarly to FIG. 29, the arrangement of the multiple controllers 6 and 13 can be changed.

[0160] (Eighth embodiment) Next, an eighth embodiment in which the operating device of the angio-CT device is moved according to the contact position of the rail 32 will be described, focusing on the differences from the above-mentioned embodiments. Fig. 31 is a block diagram showing an example of the configuration of an X-ray diagnostic device 1 according to the eighth embodiment. Fig. 32 is a perspective view showing an example of the configuration of an imaging unit 2 and a bed device 3 of the X-ray diagnostic device 1 according to the eighth embodiment.

[0161] 31 and 32, the X-ray diagnostic apparatus 1 further includes the components of a CT device in addition to the components of the imaging unit 2 shown in FIG. 1. That is, the X-ray diagnostic apparatus 1 further includes a CT gantry 170, a CT data memory 18, and a console 60 for CT. Also, in the example shown in FIG. 31, the X-ray diagnostic apparatus 1 is a ceiling-suspended X-ray diagnostic apparatus. That is, as shown in FIG. 32, the holding device 32 is supported by a ceiling rail 19 arranged on the ceiling via a support arm 230. The holding device 32 is movable along the X-axis direction, which is the longitudinal direction of the ceiling rail 19. The support arm 230 is rotatable around two rotation axes z1 and z2 in the Z-axis direction. In the example shown in FIG. 32, the CT gantry 170 is movable on a floor rail 20 arranged on the floor surface in the Y-axis direction, which is the longitudinal direction of the floor rail 20.

[0162] As shown in FIG. 31, the CT gantry 170 includes an X-ray tube 171, an X-ray detector 172, a rotating frame 173, an X-ray high voltage device 174, a CT control device 175, a wedge 176, a collimator 177, and a DAS 178.

[0163] The X-ray tube 171 generates X-rays. Specifically, the X-ray tube 171 includes a vacuum tube that holds a cathode that generates thermoelectrons and an anode that receives thermoelectrons flying from the cathode and generates X-rays. The X-ray tube 171 is connected to the X-ray high voltage device 174 via a high-voltage cable. A tube voltage is applied between the cathode and the anode by the X-ray high voltage device 174. The application of the tube voltage causes thermoelectrons to fly from the cathode toward the anode. A tube current flows as the thermoelectrons fly from the cathode toward the anode. The application of a high voltage and the supply of a filament current from the X-ray high voltage device 174 causes thermoelectrons to fly from the cathode toward the anode, and X-rays are generated when the thermoelectrons collide with the anode.

[0164] The X-ray detector 172 detects X-rays generated from the X-ray tube 171 and passing through the subject P, and outputs an electrical signal corresponding to the detected X-ray dose to the DAS 178. The X-ray detector 172 has a structure in which multiple X-ray detection element rows, each of which has multiple X-ray detection elements arranged in the channel direction, are arranged in the slice direction (column direction, row direction). The X-ray detector 172 is, for example, an indirect conversion type detector having a grid, a scintillator array, and a photosensor array. The scintillator array has multiple scintillators. The scintillator outputs light with an amount of light corresponding to the amount of incident X-rays. The grid is arranged on the X-ray incident surface side of the scintillator array and has an X-ray shielding plate that absorbs scattered X-rays. The photosensor array converts light from the scintillator into an electrical signal corresponding to the amount of light. A photomultiplier tube, for example, is used as the photosensor. The X-ray detector 172 may also be a direct conversion type detector (semiconductor detector) having a semiconductor element that converts incident X-rays into an electrical signal.

[0165] The rotating frame 173 is an annular frame that supports the X-ray tube 171 and the X-ray detector 172 rotatably around a rotation axis (i.e., the Y-axis) that coincides with the body axis. Specifically, the rotating frame 173 supports the X-ray tube 171 and the X-ray detector 172 so that they face each other. The rotating frame 173 is supported on a fixed frame (not shown) so that it can rotate around the rotation axis. The CT control device 175 causes the rotating frame 173 to rotate around the rotation axis, thereby rotating the X-ray tube 171 and the X-ray detector 172 around the rotation axis. The rotating frame 173 receives power from a drive mechanism of the CT control device 175 and rotates around the rotation axis at a constant angular velocity. An image field of view (FOV) is set at an opening of the rotating frame 173.

[0166] The X-ray high voltage device 174 has electrical circuits such as a transformer and a rectifier, and includes a high voltage generator that generates a high voltage to be applied to the X-ray tube 171 and a filament current to be supplied to the X-ray tube 171, and an X-ray control device that controls the output voltage according to the X-rays irradiated by the X-ray tube 171. The high voltage generator may be of a transformer type or an inverter type. The X-ray high voltage device 174 may be provided on a rotating frame 173 in the CT gantry 170, or on a fixed frame (not shown) in the CT gantry 170.

[0167] The wedge 176 adjusts the dose of X-rays irradiated onto the subject P. Specifically, the wedge 176 attenuates the X-rays so that the dose of X-rays irradiated from the X-ray tube 171 onto the subject P has a predetermined distribution. For example, the wedge 176 is made of a metal plate such as aluminum, such as a wedge filter or a bow-tie filter.

[0168] The collimator 177 limits the irradiation range of the X-rays that have passed through the wedge 176. The collimator 177 slidably supports a plurality of lead plates that shield the X-rays, and adjusts the shape of the slits formed by the plurality of lead plates.

[0169] The DAS 178 (Data Acquisition System) reads out from the X-ray detector 172 an electrical signal corresponding to the X-ray dose detected by the X-ray detector 172, amplifies the read electrical signal with a variable gain, and integrates the electrical signal over a view period to collect CT raw data having a digital value corresponding to the X-ray dose over the view period. The DAS 178 is realized, for example, by an ASIC equipped with circuit elements capable of generating CT raw data. The CT raw data is transmitted to the processing circuitry 12 via a non-contact data transmission device or the like.

[0170] The CT control device 175 controls the X-ray high voltage device 174 and the DAS 178 to perform X-ray CT imaging in accordance with the imaging control function 121. The CT control device 175 has a processing circuit having a CPU and the like, and a driving mechanism such as a motor and an actuator. The processing circuit has a processor such as a CPU or an MPU and memories such as a ROM or RAM as hardware resources. The CT control device 175 may also be realized by an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), a CPLD (Complex Programmable Logic Device), or an SPLD (Simple Programmable Logic Device).

[0171] The CT gantry 170 is available in various types, such as a Rotate / Rotate-Type (third generation CT) in which the X-ray generating unit and the X-ray detecting unit rotate together around the subject, and a Stationary / Rotate-Type (fourth generation CT) in which a large number of X-ray detecting elements arranged in a ring shape are fixed and only the X-ray generating unit rotates around the subject, and any of these types is applicable.

[0172] The CT data memory 18 is a storage device that stores the CT raw data transmitted from the CT gantry 170. The CT data memory 18 is a storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or an integrated circuit storage device.

[0173] The imaging control function 121 reconstructs a CT image representing the spatial distribution of CT values ​​related to the subject P based on the CT raw data transmitted from the CT gantry 170. As the image reconstruction algorithm, an existing algorithm such as the FBP (filtered back projection) method or the iterative reconstruction method may be used. The imaging control function 121 is also capable of generating a positioning image related to the CT based on the CT raw data.

[0174] The imaging control function 121 also performs various image processing on the reconstructed CT image. For example, the imaging control function 121 performs three-dimensional image processing on the CT image, such as volume rendering, surface volume rendering, pixel value projection processing, MPR (Multi-Planer Reconstruction) processing, and CPR (Curved MPR) processing, to generate a display image. The imaging control function 121 also displays various information on a display. For example, the imaging control function 121 displays the reconstructed CT image on a display.

[0175] Furthermore, the imaging control function 121 synchronously controls the CT gantry 170 and the bed device 3 to perform CT imaging. Furthermore, the imaging control function 121 can execute a positioning scan (hereinafter referred to as a CT positioning scan) using the CT gantry 170. For the CT positioning scan, the processing circuitry 12 synchronously controls the CT gantry 170 and the bed device 3.

[0176] The CT console 60 is attached to the rail 32. The CT console 60 is an example of an operating device. The CT console 60 receives, for example, an input operation for switching the top panel 31 to manual operation.

[0177] 13, the decision function 37 decides which of the console 6 and the console 60 for CT to move, depending on the number of contacts with the rail 32. The decision function 37 also decides the swipe operation of the rail 32 as the movement direction of the console 6, 60 to be moved. The movement control function 38 moves the console 6, 60 to be moved in the decided movement direction.

[0178] According to the eighth embodiment, the operability of the angio-CT apparatus can be improved.

[0179] The term "processor" used in the above description refers to a circuit such as a central processing unit (CPU), a graphics processing unit (GPU), 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)). A processor realizes its function by reading and executing a program stored in a memory circuit. Instead of storing a program in a memory circuit, the processor may be configured to directly incorporate the program into its circuit. In this case, the processor realizes its function by reading and executing the program embedded in the circuit. A processor is not limited to being configured as a single circuit, but may also be configured as a single processor by combining multiple independent circuits to realize its function. Furthermore, multiple components in FIG. 1 may be integrated into a single processor to realize its function.

[0180] According to at least one of the embodiments described above, the user can easily move the controller as intended.

[0181] Although several embodiments have been described above, these embodiments are presented only as examples and are not intended to limit the scope of the invention. The novel apparatus and method described herein may be embodied in various other forms. Furthermore, various omissions, substitutions, and modifications may be made to the forms of the apparatus and method described herein without departing from the spirit of the invention. The appended claims and their equivalents are intended to cover such forms and modifications that fall within the scope and spirit of the invention. [Explanation of symbols]

[0182] 1 X-ray diagnostic equipment 13 tablets 14 Camera 3 Bed device 31 Top plate 32 Rail 32c side 325 Extension 35 Contact detection sensor 36 Contact detection function 37 Decision Function 38 Movement control function 39 Branch 6 Console

Claims

1. a rail to which at least one controller of the X-ray diagnostic apparatus is attached; a contact detection unit that detects contact with the rail; a determination unit that determines a movement direction of the operating device in accordance with a contact position on the rail at which the contact with the rail is detected by the contact detection unit; and a control unit that moves the operating device along the rail in the movement direction determined by the determination unit; A sleeper device comprising:

2. The bed apparatus according to claim 1 , wherein the determination unit determines a direction from the controller toward the contact position as the moving direction of the controller.

3. the contact detection unit sequentially detects contact with the rail, The bed apparatus according to claim 1 , wherein the determination unit determines a direction in which the contact position changes in response to successive detection of contact with the rail as the moving direction of the operating device.

4. A bed device as described in any one of claims 1 to 3, wherein the control unit continuously moves the operating device in the movement direction determined by the determination unit during a period during which the contact detection unit continues to detect contact with the rail.

5. The bed device according to claim 4 , wherein the control unit stops the movement of the operating device in the movement direction determined by the determination unit when the contact detection unit stops detecting contact with the rail.

6. The bed apparatus according to claim 1 , wherein the contact detection unit detects contact with the rail based on a detection signal output from a sensor disposed on the rail in response to contact with the rail.

7. The sleeper apparatus according to claim 6 , wherein the sensor is disposed on the rail at an end of the rail in the longitudinal direction.

8. The bed device of claim 1, wherein the determination unit determines the movement direction of the controller according to the contact position when the contact detection unit detects contact with a second contact surface on the rail that has a different orientation from the first contact surface on the rail that the controller contacts.

9. The contact detection unit further detects a temperature at the contact position, The bed apparatus according to claim 1 , wherein the determination unit determines the movement direction of the operating device according to the contact position when the temperature of the contact position detected by the contact detection unit is higher than a threshold temperature.

10. a plurality of the operating devices are attached to the rail; The bed apparatus according to claim 1 , wherein the determination unit further determines which of the plurality of controllers to move, depending on at least one of the number of times the rail has come into contact and the number of contact positions.

11. further comprising an imaging unit that images a user; The bed apparatus according to claim 1 , wherein the determining unit is capable of determining the moving direction of the operating device based on an image of the user captured by the imaging unit.

12. The bed apparatus according to claim 11 , wherein the determination unit determines a direction toward the position of the user recognized based on the image of the user as the moving direction of the controller.

13. The bed apparatus according to claim 11 , wherein the determination unit determines a direction according to a gesture recognized based on an image of the user as the moving direction of the operating device.

14. The bed device according to claim 11, wherein the determination unit further determines whether or not the user has operated the controller based on the image of the user, and determines the direction corresponding to the determination of whether or not the operation has been performed as the direction of movement of the controller.

15. The bed device of claim 11, wherein the determination unit further determines which of the multiple users should operate the controller based on images of the multiple users captured by the imaging unit, and determines the direction toward the position of the determined user as the direction of movement of the controller.

16. The bed apparatus according to claim 1 , wherein the rails are arranged to surround the periphery of a top plate of the bed apparatus.

17. the operating device is capable of receiving an input operation for specifying a direction of movement of a holding device for supporting an X-ray tube and an X-ray detector; The bed device described in claim 16, wherein the determination unit further determines the movement direction of the support device according to the position of the controller on the rail so that the movement direction of the support device specified by the input operation is consistent with the movement direction of the support device as seen from the position of the controller when the input operation is performed.

18. a plurality of the operating devices are attached to the rail; The bed apparatus according to claim 1 , wherein the rail has a structure that allows the arrangement of the plurality of operating devices to be changed.

19. an X-ray tube that irradiates an object with X-rays; an X-ray detector that detects X-rays that have passed through the subject; at least one controller; a bed device on which the subject is placed, The bed device is a rail to which the operating device is attached; a contact detection unit that detects contact with the rail; a determination unit that determines a movement direction of the operating device in accordance with a contact position on the rail at which the contact with the rail is detected by the contact detection unit; and a control unit that moves the operating device along the rail in the movement direction determined by the determination unit; An X-ray diagnostic apparatus comprising:

20. a bed device having a rail to which at least one controller of an X-ray diagnostic apparatus is attached; detecting contact with the rail; determining a moving direction of the operating device in accordance with a contact position on the rail at which the detected contact with the rail has occurred; moving the operating device along the rail in the determined movement direction; A method for controlling a bed device.

Images