X-ray fluoroscopic imaging apparatus

Abstract

To provide an X-ray fluoroscopic imaging apparatus allowing a doctor to rotate a table without worrying about interference between the doctor and the table.SOLUTION: In a case where the operation unit receives an instruction to rotate the table 109, on which the subject 10 is placed in a recumbent position with the feet of the subject 10 facing one end side and the head facing the other end side, in a direction in which the head of the subject 10 is higher than the feet, the table is raised by the lifting mechanism according to the rotation angle of the table while the table is rotated by the rotation mechanism so that the table is rotated while the distance between one end of the table and the floor surface is maintained.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an X-ray fluoroscopic imaging apparatus, and more particularly to an X-ray fluoroscopic imaging apparatus capable of obtaining X-ray images by raising and lowering a table. [Background technology]

[0002] An X-ray fluoroscopy apparatus includes a fluoroscopy table including a table on which a subject is placed, an X-ray tube that irradiates the subject with X-rays, and an X-ray detector provided within the support frame of the table. The fluoroscopy table table, X-ray tube, and X-ray detector are drivably supported by a support unit having multiple movable shafts. The multiple movable shafts included in the support unit are driven by a drive unit. An X-ray fluoroscopy apparatus configured in this way irradiates the subject with X-rays from the X-ray tube, detects the X-rays that have passed through the subject with the X-ray detector, and generates and displays an X-ray image from the X-ray signal output by the X-ray detector.

[0003] In such an X-ray fluoroscopy apparatus, by driving a plurality of movable axes with a driving unit, the table and the X-ray tube included in the fluoroscopy table can be moved together or independently, thereby moving the X-ray irradiation position to any position. That is, in the X-ray fluoroscopy apparatus, for example, it is possible to tilt the X-ray tube and the table together while maintaining their positional relationship, tilt the X-ray tube with respect to the table, move the table in the major axis direction or minor axis direction while maintaining the positional relationship between the X-ray tube and the X-ray detector, or move the table up and down.

[0004] Patent Document 1 discloses an X-ray fluoroscopy device that raises and lowers a tabletop when rotating it so that the intersection of the line connecting the X-ray tube and detector with the tabletop is kept at a constant height in the vertical direction. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2014 / 041725 Summary of the Invention [Problem to be solved by the invention]

[0006] When performing a urological examination using an X-ray fluoroscopy system, the patient is placed with the affected area positioned at the edge of the table, as shown in Figures 2(a) and 2(b), and the doctor sits in a chair facing the short side of the table to examine the patient's affected area. Furthermore, during the examination, the table may be rotated (standing up) by approximately 10 degrees. Therefore, when the table is rotated in the direction of standing the patient (in the direction of the arrow in Figure 2(a)), there is a risk that the table may hit the doctor's knees or that the doctor's knees may become pinched between the bottom of the table and the floor.

[0007] In Patent Document 1, the height of the doctor's area of ​​interest from the floor can be kept constant, but no consideration is given to interference between the table and the doctor.

[0008] If a doctor has to carefully rotate the table to avoid interference between himself and the table, the examination time will increase and the efficiency of the examination will decrease. Therefore, it is desirable to ensure the safety of doctors during urological examinations and to enable them to rotate the table without being aware of interference between themselves and the table.

[0009] An object of the present invention is to provide an X-ray fluoroscopic imaging apparatus that allows a doctor to rotate a table without worrying about interference between the doctor and the table. [Means for solving the problem]

[0010] In order to achieve the above object, the X-ray fluoroscopy apparatus of the present invention includes a table on which a subject is placed, an X-ray generation unit that irradiates the subject with X-rays, a rotation mechanism that rotates the table, a lifting mechanism that raises and lowers the table in the vertical direction, a control unit that controls the operation of the rotation mechanism and the lifting mechanism, and an operation unit that receives an instruction to rotate the table from an operator. When the operation unit receives an instruction to rotate the table, which has the subject placed in a supine position with his / her feet on one end and his / her head on the other end, in a direction that raises the subject's head relative to his / her feet, the control unit causes the rotation mechanism to rotate the table so that the distance between one end of the table and the floor is maintained, and causes the lifting mechanism to lift the table in accordance with the rotation angle of the table. [Effects of the Invention]

[0011] According to the present invention, a doctor can rotate the table without worrying about interference between the doctor and the table, thereby improving the efficiency of examinations. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram showing the overall configuration of an X-ray fluoroscopic imaging apparatus 1 of the present embodiment. [Figure 2] 1A and 1B are a front view and a side view, respectively, showing the positional relationship between a subject (patient) 10 and an operator (doctor) 20 when a urological examination is performed using the X-ray fluoroscopic imaging apparatus 1 of this embodiment. [Figure 3] 1A is a front view of a state in which a table 109 is horizontal when a urological examination is performed using the X-ray fluoroscopic apparatus 1 of the first embodiment, and FIG. 1B is a front view of a state in which the table 109 is activated. [Figure 4] 1A is a block diagram of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the first embodiment, and FIG. 1B is a diagram showing an upward movement distance hc of a table 109 of the first embodiment. [Figure 5] 5 is a flowchart showing the operation of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the first embodiment. [Figure 6](a) to (d) are front views showing the rotation angle and height from the floor of the table 109 when performing a urological examination using the X-ray fluoroscopy apparatus 1 of embodiment 2, and (e) is a front view of the X-ray fluoroscopy apparatus 1 of embodiment 1 with the table 109 rotated 90 degrees. [Figure 7] FIG. 11 is a block diagram of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the second embodiment. [Figure 8] 10 is a flowchart showing the operation of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the second embodiment. [Figure 9] FIG. 11 is a block diagram of a control unit 117 of an X-ray fluoroscopic imaging apparatus 1 of a third embodiment. [Figure 10] 10 is a flowchart showing the operation of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the third embodiment. [Figure 11] FIG. 11 is a block diagram of a control unit 117 of an X-ray fluoroscopic imaging apparatus 1 of a fourth embodiment. [Figure 12] FIG. 11 is a block diagram of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0014] First, the overall configuration of the X-ray fluoroscopy apparatus 1 of this embodiment will be described. Fig. 1 is a diagram showing the overall configuration of the X-ray fluoroscopy apparatus 1 of this embodiment. Fig. 2 is a diagram showing the positional relationship between a subject (patient) 10 and an operator (doctor) 20 when a urological examination is performed using the X-ray fluoroscopy apparatus 1.

[0015] The X-ray fluoroscopy apparatus 1 of the present invention is configured to include a table 109 on which a subject 10 is placed, an X-ray generation unit 101 that irradiates the subject 10 with X-rays, a rotation mechanism 107a that rotates the table 109, an elevation mechanism 107b that raises and lowers the table 109 in the vertical direction, a control unit 117 that controls the operation of the rotation mechanism 107a and the elevation mechanism 107b, and an operation unit 118 that receives instructions such as for rotating the table 109 from an operator 20. The X-ray fluoroscopy apparatus 1 will be described in more detail below. In FIG. 1, the Z direction is the vertical direction, and the X and Y directions are the longitudinal and lateral directions of the table 109, respectively.

[0016] The X-ray fluoroscopy apparatus 1 has a connecting part 106 and a stand part 100 that supports the connecting part 106 on the floor surface. A table 109 and a support column 103 are mounted on the connecting part 106. An X-ray generation part 101 is supported on the tip of the support column 103.

[0017] The stand unit 100 has a built-in connecting unit moving mechanism 107. The connecting unit moving mechanism 107 includes an elevating mechanism 107b that moves the connecting unit 106 in the Z direction and a rotating mechanism 107a that rotates the connecting unit 106 about an axis in the Y direction. As a result, the connecting unit moving mechanism 107 moves the connecting unit 106 up and down and / or rotationally, so that the table 109 and the X-ray generation unit 101 mounted on the connecting unit 106 can rotate and / or move up and down while maintaining their positional relationship. The connecting unit moving mechanism 107 moves the table 109 about an axis in the Y direction, so that the posture of the subject 10 on the table 109 can be set to a supine position, an upright position, or a reverse tilt position where the head is lower than the feet.

[0018] The connecting part 106 is also provided with a support moving mechanism 104 that moves the support 103 in the Y direction. When the support moving mechanism 104 moves the support 103 in the Y direction, the X-ray generation part 101 moves in the width direction of the table 109 (Y direction).

[0019] The table 109 includes a support frame 105 mounted on a connecting portion 106 and a top plate 108 supported by the support frame 105. The support frame 105 has a built-in mechanism that enables the top plate 108 to move in the longitudinal direction (X direction) of the top plate 108. Furthermore, an X-ray detector 113 that detects X-rays irradiated from the X-ray generation unit 101 and transmitted through the subject 10 is disposed in a position facing the X-ray generation unit 101 within the support frame 105. The X-ray detector 113 has, for example, a configuration in which a plurality of detection elements that detect X-rays are arranged in a two-dimensional array, and outputs an X-ray signal according to the incident amount of X-rays that have transmitted through the subject 10.

[0020] In this embodiment, the X-ray generation unit 101 is moved in the Y direction relative to the table 109 by moving the support column 103 in the Y direction on the connecting unit 106, but this embodiment is not limited to this configuration. It may also be configured such that the top board 108 is moved in the Y direction relative to the support frame 105, or the table 109 is moved in the Y direction relative to the connecting unit 106.

[0021] Further, a high voltage generating unit 112 that supplies power is connected to the X-ray generating unit 101. An X-ray image processing unit 114 that performs image processing on the X-ray signal output by the X-ray detector 113 is connected to the X-ray detector 113. For example, the X-ray image processing unit 114 performs gamma conversion, gradation conversion processing, image enlargement / reduction, etc. as image processing. A display device 115 that displays X-ray images and an external storage unit 116 that stores X-ray images are connected to the X-ray image processing unit 114. An operation unit 118 receives instructions from a user. A control unit 117 controls each component of the X-ray fluoroscopic imaging apparatus in accordance with the instructions received by the operation unit 118.

[0022] The X-ray generation unit 101 has an X-ray tube that generates X-rays by receiving power supply from the high voltage generation unit 112. The X-ray generation unit 101 also includes an X-ray filter that selectively transmits X-rays of a specific energy, and an X-ray diaphragm 102 that sets an X-ray irradiation area on the subject. The X-ray diaphragm 102 has a plurality of movable limiting blades that block the X-rays generated from the X-ray generation unit 101, and moves by controlling each of the plurality of movable limiting blades (not shown), thereby determining the X-ray irradiation area on the subject. The operation of the control unit 117 will be described in detail below with reference to the first to fifth embodiments.

[0023] <<<Embodiment 1>>> The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the first embodiment will be described.

[0024] 2(a) and 2(b), when a urological examination is performed using the X-ray fluoroscopy apparatus 1, a patient subject (patient) 10 is placed on a horizontally placed table 109 so that the affected area is located at the longitudinal end of the table 109. Specifically, the patient is placed on the table 109 in a supine position with his / her feet facing the end 109a of the table 109 and his / her head facing the end 109b, with his / her legs bent. At this time, an operator (doctor) 20 sits on a chair facing the short side of the end 109a of the table 109 and diagnoses the affected area of ​​the patient.

[0025] During diagnosis, table 109 may be rotated (raised) by about 10 degrees in a direction (indicated by an arrow in FIG. 2(a)) that raises the head of subject 10 relative to the feet. When table 109 is rotated, there is a risk that the knees of operator 20 may become pinched between end 109c of the bottom surface of table 109 and floor surface 2.

[0026] Therefore, in the first embodiment, when the operation unit 118 receives an instruction from the operator 20 to rotate the table 109 in a direction to raise the head of the subject 10 relative to the feet, the control unit 117 rotates the table 109 while maintaining the distance between the end 109a of the table 109 and the floor surface 2, as shown in Figures 3(a) and 3(b). Specifically, the control unit 117 rotates the table 109 in the direction in which the instruction was received using the rotation mechanism 107a, and raises the table 109 using the lifting mechanism 107b in accordance with the rotation angle of the table 109.

[0027] In this way, when rotating the table 109, the height of the end 109c of the table 109 from the floor 2 is controlled to be constant, thereby ensuring the safety of the doctor even when the table is rotated (standing up). Also, the doctor can rotate the table without worrying about interference between himself or herself and the table, improving the efficiency of the examination.

[0028] To achieve this, the control unit 117 includes a table operation control unit 117a and a table speed control unit 117b, as shown in FIG. 4(a).

[0029] The operation of the control unit 117 will be described with reference to the flow chart of FIG.

[0030] The control unit 117 is configured by a computer or the like equipped with a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) and a memory, and the CPU reads and executes programs stored in the memory to perform the following processes. Note that part or all of the control unit 117 can also be configured by hardware. For example, a circuit can be designed to perform each process using a custom IC such as an ASIC (Application Specific Integrated Circuit) or a programmable IC such as an FPGA (Field-Programmable Gate Array).

[0031] (Steps S101 and S102) The control unit 117 determines whether or not the operator has input a rotation command to the operation unit 118 (step S101), and if so, determines the instructed direction of rotation (step S102). If the instructed direction of rotation is a direction to raise the head of the subject 10 relative to the feet (hereinafter also referred to as "starting"), the process proceeds to step S103. If the instructed direction of rotation is a direction to lower the head of the subject 10 relative to the feet (hereinafter referred to as "inversion"), the process proceeds to step S107.

[0032] (Steps S103 and S104) If the instructed direction of rotation is a direction that raises the head of the subject 10 relative to the feet, the table operation control unit 117a outputs an operation signal to the rotation mechanism 107a to instruct it to rotate (start) the table 109 in a direction that approaches the state of Figure 3(b) from the state of Figure 3(a).

[0033] Next, the table operation control unit 117a outputs an operation signal to the lifting mechanism 107b to instruct it to lift the table 109.

[0034] 3(b), the table 109 rotates and tilts, but at the same time rises, so that the height A (the distance between the end 109c and the floor surface 2) of the end 109c of the bottom surface at the end 109a of the table 109 can be maintained. This makes it possible to prevent the end 109c from hitting the knees of the seated operator (doctor) 20 as shown in FIG. 2, or to prevent the knees from being pinched between the end 109c and the floor surface 2, and prevents a decrease in examination efficiency.

[0035] (Steps S105 and S106) Next, the table speed control unit 117b receives the current rotation angle (starting angle) θ of the table 109 from the horizontal plane by the rotation mechanism 107a from the rotation mechanism 107a, and calculates the lifting distance h of the table 109 required to maintain the height A of the end 109c (the distance between the end 109c and the floor surface 2) determined by the following equation (1): c is calculated (see Figure 4(b)).

[0036] hc =L*sin(θ+α)-H (1) h c : Lifting distance L: distance from the center of the top surface of the table 109 in the longitudinal direction to the end 109c of the bottom surface H: thickness of table 109 θ: rotation angle α: Angle determined by the length and height of the table

[0037] Next, the table speed control unit 117b receives the current height of the table 109 from the lifting mechanism 107b, and calculates the actual lifting distance h from the horizontal state before rotation to the current height of the table 109. r Ask for.

[0038] Next, the lifting distance h calculated by equation (1) c and the actual lifting distance h r The difference between the calculated absolute value and the calculated absolute value is calculated, and the speed at which the lifting mechanism 107b lifts the table is changed according to the magnitude of the calculated difference. Specifically, the larger the absolute value of the calculated difference is, the faster the lifting speed is increased, thereby increasing the lifting distance h c and the actual lifting distance h r The absolute value of the difference between

[0039] In this way, the table speed control section 117b changes the lifting speed of the lifting mechanism 107b, and the actual lifting distance h r By feedback control, the calculated lifting distance h c Therefore, the height A of the end 109c of the bottom surface at the end 109a of the table 109 (the distance between the end 109c and the floor surface 2) can be kept constant with high precision.

[0040] On the other hand, if the rotation direction instructed in step S102 is a direction to lower the head of the subject 10 relative to the feet (hereinafter referred to as tilting), the process proceeds to step S107. In the case of tilting, the end 109a of the table 109 moves upward as the table rotates, so the end 109c does not hit the knees of the operator (doctor) 20. However, if the table 109 has been activated before the tilting, the center of the table 109 may be in a high position while tilted. If the table 109 is tilted in this state, the table 109 may be maintained in a high position, which is dangerous for the subject 10. Therefore, in this embodiment, the height of the end 109c from the floor surface 2 is maintained even in the case of tilting, as in steps S103 to S106. This allows the examination to be performed safely for the subject 10. Specifically, the rotation and lowering of the table in the opposite direction to steps S103 to S106 are performed in the following steps S107 to S110.

[0041] (Steps S107 and S108) The table operation control unit 117a instructs the rotation mechanism 107a to rotate (tilt) the table 109.

[0042] Next, the table operation control unit 117a instructs the lifting mechanism 107b to lower the table 109.

[0043] As a result, table 109 rotates and tilts, but at the same time descends, so that height A (the distance between end 109c and floor surface 2) of end 109c of the bottom surface at end 109a of table 109 can be maintained.

[0044] (Steps S109, S110) Next, the table speed control unit 117b receives the current rotation angle (tilting angle) θ (where θ is a negative angle) of the table 109 from the horizontal plane by the rotation mechanism 107a from the rotation mechanism 107a, and calculates the descending movement distance h of the table 109 required to maintain the height A of the end 109c (the distance between the end 109c and the floor surface 2) determined by the above-mentioned formula (1). c Calculate.

[0045] The table speed control unit 117b receives the current height of the table 109 from the lifting mechanism 107b, and calculates the actual lowering distance h from the horizontal state before rotation to the current height of the table 109. r Ask for.

[0046] Next, the descending operation distance h calculated by equation (1) c and the actual downward movement distance h r The difference between the distance h and the distance m is calculated, and the speed at which the lifting mechanism 107b lowers the table 109 is changed depending on the magnitude of the calculated difference. Specifically, the larger the calculated difference, the faster the lowering speed is increased, thereby reducing the lowering operation distance h c and the actual lowering distance h r This makes it possible to precisely maintain a constant height A of the end 109c of the bottom surface at the end 109a of the table 109 (the distance between the end 109c and the floor surface 2).

[0047] The control unit 117 repeats the above steps S101 to S110 between steps S100 and S111 at predetermined time intervals, thereby continuing the rotation and lifting / lowering operations of the table 109 while the operation unit 118 is being operated by the operator 20.

[0048] As described above, according to embodiment 1, when the table 109 is rotated, the height of the table 109 itself is raised or lowered, and the height of the bottom surface of the table from the floor (minimum ground clearance) is controlled to be constant, thereby ensuring the safety of the doctor when the table is rotated.

[0049] Furthermore, the doctor can rotate the table without worrying about interference between the doctor and the table, improving examination efficiency.

[0050] <<<Embodiment 2>>> The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the second embodiment will be described with reference to FIGS.

[0051] In the second embodiment, when the rotation angle θ of the table 109 with respect to the horizontal reaches a predetermined angle β or more, the control unit 117 stops the operation of raising the table 109 by the lifting mechanism 107b in accordance with the rotation angle θ of the table 109 as in the first embodiment (see FIGS. 6(a) to 6(d)). As a result, when the table 109 is rotated, for example, by 90 degrees to perform an examination in a standing position, the height of the table can be brought closer to the floor as shown in FIG. 6(d). Therefore, even when the patient is in a standing position, the height of the end portion is maintained at A, and a state in which the table 109 is maintained at a position high above the floor as shown in FIG. 6(e) can be avoided, and the examination can be performed more safely for the subject 10. Furthermore, the height of the ceiling on which the X-ray fluoroscopic imaging apparatus 1 is installed can be reduced.

[0052] When the table 109 is rotated 90 degrees and an examination is performed in a standing position, the operator (doctor) is located away from the table 109, so there is no risk of the operator's knees hitting the end 109c of the table 109.

[0053] The control unit 117 of the second embodiment is configured to include a table operation control unit 117a, a table speed control unit 117b, and a table position storage unit 117c, which stores a specified angle β in advance.

[0054] The operation of the control unit 117 will be described with reference to the flow chart of FIG. 8 and FIG.

[0055] (Steps S201, S102) The control unit 117 determines whether or not the operator has input a rotation command to the operation unit 118 (step S201). If a rotation command has been input, the control unit 117 acquires the rotation angle θ relative to the current horizontal plane of the table 109 from the rotation mechanism 107a and determines whether or not the angle is smaller than the specified angle β (step S202). If the rotation angle θ is smaller than the specified angle β, the process proceeds to step S220. If the rotation angle θ is equal to or larger than the specified angle β, the process proceeds to step S203.

[0056] (Step S220) If the current rotation angle θ is smaller than the specified angle β, the control unit 117 performs S10 (steps S102 to S110) in FIG. 5 of the first embodiment, and while rotating the table 109, maintains the bottom end 109c of the end 109a of the table 109 at a constant height A from the floor surface 2 (FIGS. 6(a) and 6(b)). The processing of step S10 (steps S102 to S110) in FIG. 5 of the first embodiment is referred to as the "special raising and lowering processing."

[0057] (Steps S203, S204, S205) If the current rotation angle θ is equal to or greater than the specified angle β, the control unit 117 determines the direction of rotation instructed by the operator 20 via the operation unit 118 (step S203). If the instructed direction of rotation is a direction to raise the head of the subject 10 relative to the feet (activation), the process proceeds to step S204, where the table operation control unit 117a outputs an operation signal to instruct the rotation mechanism 107a to rotate (activate) the table 109. On the other hand, if the instructed direction of rotation is a direction to lower the head of the subject 10 relative to the feet (tilt), the process proceeds to step S205, where the table operation control unit 117a outputs an operation signal to instruct the rotation mechanism 107a to rotate (tilt) the table 109.

[0058] (Steps S206, S207) Next, control unit 117 receives the current rotation angle θ of table 109 from rotation mechanism 107a and the height of table 109 from lifting mechanism 107b, and calculates the current height from floor 2 of end 109a (in the case of activation) or end 109b (in the case of tilting), which is closer to floor 2, according to a predetermined formula. Control unit 117 compares the calculated height (distance) of end 109a or end 109b from floor 2 with a predetermined value (step S206), and if it is less than the predetermined value, there is a risk of interference with floor 2, so it outputs an operation signal to lifting mechanism 107b to instruct table 109 to lift (step S207).

[0059] (Steps S208, S209) In step S206, if the height of end 109a or end 109b from floor 2 is equal to or greater than a predetermined value, the height of end 109b (in the case of activation) or end 109a (in the case of tilting) closest to the ceiling is calculated according to a predetermined formula from the rotation angle θ and height acquired in step S206. Control unit 117 compares the calculated height (distance) of end 109b or end 109a to the ceiling with a predetermined value (step S208), and if it is less than the predetermined value, there is a risk of interference with the ceiling, so an operation signal is output to lifting mechanism 107b to instruct table 109 to lower (step S209).

[0060] The control unit 117 repeats the above steps S201 to S209 and S220 between step S200 and step S210 at predetermined time intervals, thereby continuing the rotation of the table 109 and the lifting and lowering operation as needed while the operation unit 118 is being operated by the operator 20.

[0061] Thus, according to the second embodiment, when the rotation angle θ of the table 109 is less than the specified angle β, a special raising and lowering process can be performed to maintain the height of the end 109c of the table of the first embodiment from the floor surface 2 at height A, and when the rotation angle θ is equal to or greater than the specified angle β, the special raising and lowering process is not performed, and the table 109 can be raised if it gets too close to the floor surface, or can be lowered if it gets too close to the ceiling.

[0062] <<<Embodiment 3>>> The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the third embodiment will be described with reference to FIGS.

[0063] In the X-ray fluoroscopy apparatus 1 of the third embodiment, the operation unit 118 includes a first operation unit 118a and a second operation unit 118b. The first operation unit 118a receives an instruction from the operator 20 to perform an operation (special raising / lowering) of rotating the table 109 while maintaining the distance between the end 109a of the table 109 and the floor surface 2. The second operation unit 118b receives an instruction from the operator 20 to perform an operation (step S20 (steps S203 to S209) in FIG. 8 of the second embodiment, hereinafter referred to as normal raising / lowering) of rotating the table 109 without maintaining a constant distance between the end 109b of the table 109 and the floor surface.

[0064] The control unit 117 of the third embodiment is configured to include an operation memory unit 117d in addition to the table operation control unit 117a, table speed control unit 117b, and table position memory unit 117c of the second embodiment.

[0065] Each time the control unit 117 rotates the table 109 from the horizontal position (θ=0), it stores in the operation memory unit 117d whether the rotation was performed in accordance with the instruction received by the first operation unit 118a (special raising / lowering) or the instruction received by the second operation unit 118b (normal raising / lowering).

[0066] When the first operation unit 118a receives a rotation instruction and the current angle of the table 109 is not horizontal (θ≠0), the control unit 117 refers to the operation memory unit 117d. If the operation memory unit 117d stores information that the table 109 was rotated in accordance with an instruction received by the first operation unit 118a when the most recent rotation angle θ=0 (special raising / lowering), the control unit 117 executes a process of rotating the table 109 while maintaining the distance between the end 109a of the table 109 and the floor surface 2 (special raising / lowering). On the other hand, if the operation memory unit 117d stores information that the table 109 was rotated in accordance with an instruction received by the second operation unit 118b when the most recent rotation angle θ=0 (normal raising / lowering), the control unit 117 does not rotate the table 109.

[0067] As described above, in this embodiment, two types of operation units are provided: one for special raising and one for normal raising and one for normal raising. Furthermore, if the table has been rotated from its most recent horizontal position using the special raising and the normal raising, it can only be rotated using the normal raising and the normal raising. This prevents the operator from performing a normal raising and the normal raising operation while intending to perform a special raising and the normal ...

[0068] The operation of the control unit 117 will be specifically described below using the flow chart of FIG.

[0069] (Steps S301, S303) The control unit 117 determines whether the operator has input a rotation command to the first operation unit 118a (step S301), and if so, retrieves the rotation angle θ relative to the current horizontal plane of the table 109 from the rotation mechanism 107a and determines whether θ=0 (step S302). If θ=0, the control unit 117 stores in the operation memory unit 117d that a raising / lowering operation (special raising / lowering) in response to the command from the first operation unit 118a will be performed (step S303).

[0070] (Steps S304 to S306) In step S302, if the current rotation angle θ is not 0 (θ≠0), the process proceeds to step S304, where it is determined whether it is smaller than the specified angle β. If the rotation angle θ is smaller than the specified angle β, the process proceeds to step S305, where it is determined whether a special raising / lowering command is stored in the operation memory unit 117d (step S305). If a special raising / lowering command is stored, the process proceeds to step S306, where the special raising / lowering command of S10 in FIG. 5 is executed.

[0071] On the other hand, if the rotation angle θ is equal to or greater than the specified angle β in step S304, and if the normal raising / lowering operation is stored in the operation memory unit 117d in step S305, the special raising / lowering operation is not executed, and the process returns from step S312 to step S301.

[0072] (Steps S307 to S309) Furthermore, in step S301, if there is no rotation instruction from first operation unit 118a, the process proceeds to step S307, where it is determined whether there is a rotation instruction from second operation unit 118b, and if there is a rotation instruction, the rotation angle θ to the current horizontal plane of table 109 is acquired from rotation mechanism 107a, and it is determined whether θ=0 (step S308). If θ=0, the execution of the raising / lowering operation (normal raising / lowering) in accordance with the instruction from second operation unit 118b is stored in operation memory unit 117d (step S309).

[0073] (Steps S310 to S311) In step S308, if the current rotation angle θ is not 0 (θ≠0), the process proceeds to step S310, where it is determined whether a special raising / lowering command is stored in the operation memory unit 117d (step S310). If a normal raising / lowering command is stored, the process proceeds to step S311, where the special raising / lowering command of S20 in FIG. 8 is executed.

[0074] On the other hand, if there is no rotation instruction in second operation unit 118b in step S307, and if a special raising / lowering operation is stored in operation memory unit 117d in step S310, the special raising / lowering operation is not executed, and the process returns from step S312 to step S301.

[0075] <<<Embodiment 4>>> The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the fourth embodiment will be described with reference to FIG.

[0076] In the X-ray fluoroscopic imaging apparatus of the fourth embodiment, similarly to the apparatus of the third embodiment, the operation unit 118 includes a first operation unit 118a for special raising and lowering and a second operation unit 118b for normal raising and lowering.

[0077] The control unit 117 includes a second speed control unit 117e in addition to the configuration of the control unit 117 of the third embodiment.

[0078] The control unit 117 sets the speed at which the table 109 is rotated in a special raising and lowering manner in accordance with the rotation instruction received by the first operation unit 118a to be slower than the speed at which the table 109 is rotated in a normal raising and lowering manner in accordance with the rotation instruction received by the second operation unit 118b.

[0079] This allows for fine adjustment of the position when rotating the table 109 in the special tilting mode. Also, in the normal tilting mode, the table can be moved to the desired rotation angle more quickly.

[0080] Other configurations and operations of the fourth embodiment are the same as those of the first to third embodiments, and therefore description thereof will be omitted.

[0081] <<<Embodiment 5>>> The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the fifth embodiment will be described with reference to FIG.

[0082] In the X-ray fluoroscopic imaging apparatus of the fifth embodiment, the control unit 117 can switch which of the two ends of the table 109 is to be the end of the table 109 that maintains the distance from the floor surface.

[0083] Specifically, the control unit 117 includes a setting storage unit 117f in addition to the configuration of embodiment 1. The setting storage unit 117f stores the following settings: when maintaining the distance between the floor surface and an end 109b of the table 109 on the head side of the subject 10, if the direction in which the rotation mechanism 107a rotates the table 109 is the activation direction, the lifting mechanism 107b is lowered; and when the direction in which the rotation mechanism 107a rotates the table 109 is the tilting direction, the lifting mechanism 107b is raised. The setting storage unit 117f also stores the following settings: when maintaining the distance between the floor surface 2 and an end 109a of the table 109 on the foot side of the subject 10, if the direction in which the rotation mechanism 107a rotates the table 109 is the activation direction, the lifting mechanism 107b is raised; and when the direction in which the rotation mechanism 107a rotates the table 109 is the tilting direction, the lifting mechanism 107b is lowered.

[0084] The operation unit 118 receives a setting from the operator as to which height of the end 109a or the end 109b of the table 109 should be maintained.

[0085] The table operation control unit 117a reads the direction stored in the setting memory unit 117f depending on whether the end that maintains the height accepted by the operation unit 118 is end 109a or 109b, and switches the direction of lifting and lowering operation of the lifting mechanism 107b.

[0086] In this way, in this embodiment 5, the end portion that maintains the height during special raising and lowering can be selected, so the operator can place the affected area of ​​the subject 10 at either of the two ends, improving ease of use.

[0087] Note that the configuration and operation of the X-ray fluoroscopy apparatus of embodiment 5 other than those described above are the same as those of embodiment 1, and therefore will not be described again. Of course, the configuration of embodiment 5 can also be applied to the X-ray fluoroscopy apparatuses of embodiments 2 to 4. [Explanation of symbols]

[0088] 1 X-ray fluoroscopy device 2 Floor 10 Subject 20 Operator 100 Stand 101 X-ray generator 102 X-ray aperture device 103 Post 104 Pillar movement mechanism 105 Support Frame 106 Connection part 107 Connecting part moving mechanism 107a Rotation mechanism 107b Lifting mechanism 108 Top Plate 109 Table 109a End 109b End 109c end 112 High voltage generator 113 X-ray detector 114 X-ray image processing unit 115 Display device 116 External memory unit 117 Control Unit 117a Table operation control section 117b Table speed control section 117c Table position memory section 117d Operation memory section 117f Setting storage section 118 Operation section

Claims

1. the apparatus comprises a table on which an object is placed, an X-ray generating unit that irradiates the object with X-rays, a rotation mechanism that rotates the table, a lifting mechanism that raises and lowers the table in a vertical direction, a control unit that controls the operation of the rotation mechanism and the lifting mechanism, and an operation unit that receives an instruction to rotate the table from an operator, When the operation unit receives an instruction to rotate the table, on which the subject is placed in a supine position with his / her feet on one end and his / her head on the other end, in a direction to raise the subject's head relative to his / her feet, the control unit rotates the table using the rotation mechanism so as to rotate the table while maintaining the distance between the one end of the table and the floor surface, and raises the table using the lifting mechanism in accordance with the rotation angle of the table.

2. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the control unit maintains a distance between an edge of a bottom surface of the table and the floor surface at the one end of the table.

3. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein, when the operation unit receives an instruction to rotate the table in a direction to lower the subject's head relative to their feet, the control unit rotates the table using the rotation mechanism so as to rotate the table while maintaining a distance between the one end of the table and the floor surface, and lowers the table using the lifting mechanism in accordance with a rotation angle of the table.

4. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the control unit calculates a distance by which the table must be raised in order to maintain a distance between the one end of the table and the floor surface in accordance with a rotation angle of the table, determines a difference between the calculated distance by which the table must be raised and an actual distance by which the table must be raised, and changes a speed at which the lifting mechanism raises the table in accordance with the difference.

5. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the control unit stops the operation of raising the table by the lifting mechanism in accordance with the rotation angle of the table when the rotation angle of the table with respect to the horizontal reaches a predetermined angle or more.

6. 6. The X-ray fluoroscopy apparatus according to claim 5, wherein the control unit, while rotating the table by the rotation mechanism, causes the lifting mechanism to lift the table when the distance between the one end of the table and the floor surface becomes smaller than a predetermined distance.

7. 6. The X-ray fluoroscopy apparatus according to claim 5, wherein the control unit, while rotating the table by the rotation mechanism, causes the lifting mechanism to lower the table when the distance between the other end of the table and a ceiling becomes smaller than a predetermined distance.

8. 2. The X-ray fluoroscopic imaging apparatus according to claim 1, wherein the operation unit includes a first operation unit and a second operation unit, the first operation unit receiving an instruction from an operator to rotate the table while maintaining a distance between the one end of the table and a floor surface, and the second operation unit receiving an instruction from the operator to rotate the table without maintaining the distance between the one end of the table and a floor surface, the control unit stores in a storage unit, each time the table is rotated from a horizontal position, whether the rotation is performed in accordance with an instruction received by the first operation unit or an instruction received by the second operation unit; wherein the control unit, when the first operation unit receives a rotation instruction and the table is not horizontal, rotates the table while maintaining the distance between the one end of the table and the floor if the memory unit stores information that the table has been rotated from a horizontal position in accordance with the instruction received by the first operation unit, and does not rotate the table if the memory unit stores information that the table has been rotated from a horizontal position in accordance with the instruction received by the second operation unit.

9. 2. The X-ray fluoroscopic imaging apparatus according to claim 1, wherein the operation unit includes a first operation unit and a second operation unit, the first operation unit receiving an instruction from an operator to rotate the table while maintaining a distance between the one end of the table and a floor surface, and the second operation unit receiving an instruction from the operator to rotate the table without maintaining the distance between the one end of the table and a floor surface, the control unit sets a speed at which the table is rotated in accordance with the rotation instruction received by the first operation unit to be slower than a speed at which the table is rotated in accordance with the rotation instruction received by the second operation unit.

10. 2. The X-ray fluoroscopy apparatus according to claim 1, wherein the control unit is capable of switching which of both ends of the table is to be the one end of the table that maintains the distance from the floor surface.

11. 1. A control method for an X-ray fluoroscopic imaging apparatus having a table on which a subject is placed, an X-ray generation unit that irradiates the subject with X-rays, a rotation mechanism that rotates the table, an elevation mechanism that raises and lowers the table in a vertical direction, and an operation unit that receives an instruction to rotate the table from an operator, a control method for an X-ray fluoroscopy apparatus, characterized in that when the operation unit receives an instruction to rotate the table, on which the subject is placed in a supine position with the feet on one end and the head on the other end, in a direction to raise the subject's head relative to the feet, the control unit rotates the table using the rotation mechanism so as to rotate the table while maintaining the distance between the one end of the table and a floor surface, and raises the table using the lifting mechanism in accordance with the rotation angle of the table.

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