X-ray diagnostic equipment and X-ray detector holding device

Abstract

The goal is to improve the efficiency of the procedure. [Solution] The X-ray diagnostic apparatus according to the embodiment comprises an arm and a detector holding mechanism. The arm supports an X-ray tube that generates X-rays at one end and an X-ray detector that detects X-rays emitted from the X-ray tube at the other end. The detector holding mechanism is composed of a plurality of link mechanisms connected to the X-ray detector and the other end of the arm, and the plurality of link mechanisms are arranged at an angle to each other.

Description

Technical Field

[0001] The embodiments disclosed in this specification and the drawings relate to an X-ray diagnostic apparatus and an X-ray detector holding device.

Background Art

[0002] Conventionally, in an X-ray diagnostic apparatus equipped with a C-arm such as an X-ray angiography apparatus or an X-ray TV bed apparatus, a holding device for holding an X-ray detector includes a mechanism for approaching or separating the X-ray detector from the X-ray tube in order to change the projection size of the subject, that is, to change the source image distance (hereinafter referred to as SID). For example, a mechanism using a rack and a pinion or a linear motion mechanism is used for this mechanism. However, in a mechanism using a rack and a pinion or a linear motion mechanism, it is necessary to secure the stroke of the mechanism, and it is difficult to miniaturize the X-ray diagnostic apparatus.

[0003] This mechanism for approaching or separating the X-ray detector is required to be a mechanism with a large expansion / contraction ratio and a lightweight mechanism in order to increase the range of the angle of the C-arm with respect to the subject. Examples of such a mechanism with a large expansion / contraction ratio and a lightweight mechanism include a link mechanism.

[0004] However, the link mechanism has anisotropy in rigidity with respect to the load direction. Therefore, when approaching the X-ray detector to the X-ray tube while holding the X-ray detector with one link mechanism, the deflection of the link mechanism becomes large, and the positional relationship between the X-ray focus of the X-ray tube and the X-ray detector may shift, which may affect the image quality. Therefore, in a holding device for an X-ray detector using a link mechanism, it is desired to improve the efficiency of procedures by increasing the angle of the C-arm with respect to the subject.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] One of the problems that the embodiments disclosed in this specification and drawings aim to solve is to improve the efficiency of the procedure. However, the problems that the embodiments disclosed in this specification and drawings aim to solve are not limited to the above problem. Problems corresponding to the effects of each configuration shown in the embodiments described later can also be positioned as other problems. [Means for solving the problem]

[0007] The X-ray diagnostic apparatus according to the embodiment comprises an arm and a detector holding mechanism. The arm supports an X-ray tube that generates X-rays at one end and an X-ray detector that detects X-rays emitted from the X-ray tube at the other end. The detector holding mechanism is composed of a plurality of link mechanisms connected to the X-ray detector and the other end of the arm, and the plurality of link mechanisms are arranged at an angle to each other. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing an example of the configuration of an X-ray diagnostic apparatus according to the first embodiment. [Figure 2] This figure shows an example of the configuration of the X-ray detector holding device according to the first embodiment. [Figure 3] This figure shows an example of the configuration and operation of an actuator according to the first embodiment. [Figure 4] This figure shows an example of the configuration and operation of an actuator according to the first embodiment. [Figure 5] This figure shows an example of an X-ray detector holding device during contraction. [Figure 6] This figure shows an example of the configuration of an X-ray detector holding device according to Modification Example 1. [Figure 7] This figure shows an example of the configuration and operation of an actuator related to Modification 1. [Figure 8] This figure shows an example of the configuration and operation of an actuator related to Modification 1. [Figure 9] This figure shows an example of the configuration of the X-ray detector holding device according to the second embodiment. [Figure 10] This figure shows an example of the configuration of an actuator according to the second embodiment. [Figure 11] This figure shows an example of the operation of the actuator according to the second embodiment. [Figure 12] This figure shows an example of the configuration of the X-ray detector holding device according to Modification 2. [Figure 13] This figure shows an example of the actuator configuration related to Modification 2. [Figure 14] This figure shows an example of the configuration of the X-ray detector holding device according to Modification 3. [Figure 15] This figure shows another example of the configuration of the X-ray detector holding device according to Modification 3. [Figure 16] This figure shows an example of the configuration of the X-ray detector holding device according to Modification 4. [Figure 17] This figure shows an example of the configuration of the X-ray detector holding device according to Modification 5. [Modes for carrying out the invention]

[0009] Embodiments of the X-ray diagnostic apparatus and the X-ray detector holding apparatus will be described below with reference to the drawings. In the following description, components having substantially the same function and configuration will be denoted by the same reference numeral, and redundant explanations will be given only when necessary.

[0010] [First Embodiment] Figure 1 is a block diagram showing an example of the configuration of an X-ray diagnostic apparatus 1 according to the first embodiment. The X-ray diagnostic apparatus 1 is, for example, an X-ray angiography apparatus or an X-ray TV bed apparatus. In the following embodiment, a cardiovascular X-ray angiography apparatus having a C-arm will be described as the X-ray diagnostic apparatus 1.

[0011] As shown in FIG. 1, the X-ray diagnostic apparatus 1 includes a photographing unit 10, a processing circuit 21, an input interface 22, a display 23, and a storage circuit 24. In the following description, a floor-standing X-ray diagnostic apparatus 1 will be described. However, an X-ray diagnostic apparatus having a mechanism (ceiling suspension type) for suspending a part of the photographing unit 10 from the ceiling may also be used. Further, in the following, the case where the X-ray diagnostic apparatus 1 is a single plane is described as an example. However, the embodiment is not limited to this, and a bi-plane case may also be used.

[0012] The photographing unit 10 irradiates the subject P with X-rays and detects the X-rays transmitted through the subject P. As shown in FIG. 1, the photographing unit 10 includes an X-ray high voltage device 11, an X-ray tube 12, a top plate 13, an X-ray detector 14, an X-ray detector holding device 15, a drive unit 16, a C-arm 17, an arm holder 18, a stand 19, and a stand support 20.

[0013] The X-ray high voltage device 11 generates a high voltage in response to the control of the processing circuit 21 and applies the high voltage to the X-ray tube 12. The X-ray tube 12 generates X-rays. Specifically, the X-ray tube 12 irradiates the subject P placed on the top plate 13 with X-rays based on the high voltage applied by the X-ray high voltage device 11. An X-ray diaphragm (not shown) is provided on the plane of the X-ray tube 12 facing the subject P, and opens and closes the diaphragm blades in response to the control of the processing circuit 21 to form the irradiation range (irradiation field) of the X-rays irradiated from the X-ray tube 12. For example, the diaphragm blades are formed in a flat plate shape by a material such as lead that shields X-rays. The top plate 13 is a bed on which the subject P is placed and is arranged on a bed (not shown).

[0014] The X-ray detector 14 detects the X-rays emitted from the X-ray tube 12. The X-ray detector 14 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 include a direct conversion type that directly converts X-rays into an electrical signal, and an indirect conversion type that converts X-rays into light with a phosphor and then converts the light into an electrical signal. Any of these formats may be used for the FPD. The electrical signals generated by the plurality of semiconductor detection elements upon the 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 signal into digital data. The A / D converter outputs the digital data to the processing circuit 21. Note that an image intensifier may be used as the X-ray detector 14.

[0015] The X-ray detector holding device 15 is driven under the control of the control function 211 in the processing circuit 21 to slide-move the X-ray detector 14. Specifically, the X-ray detector holding device 15 can approach or separate the X-ray detector 14 with respect to the X-ray tube 12. In FIG. 1, the movement of this X-ray detector 14 is represented by an arrow b. In other words, along the Z-axis direction in FIG. 1, the X-ray detector 14 is configured to be movable. By moving the X-ray detector 14 by the X-ray detector holding device 15, the source image distance (SID), which is the distance between the X-ray focus of the X-ray tube 12 and the X-ray detector 14, is changed. This X-ray detector holding device 15 is provided, for example, on the C-arm 17.

[0016] The C-arm 17 has a semi-circular shape, supporting the X-ray tube 12 at one end and the X-ray detector 14 at the other end. This C-arm 17 corresponds to the arm in this embodiment. The X-ray tube 12 and the X-ray detector 14 are mounted on the C-arm 17 so as to face each other. The C-arm 17 also supports the X-ray tube 12 and the X-ray detector 14 so as to be rotatable around the rotation axis ax1, which is the straight line ax1 connecting the focal point where X-rays are generated in the X-ray tube 12 and the center of the X-ray detector 14. The X-ray tube 12 and the X-ray detector 14 are driven by the drive unit 16 and rotate around the rotation axis ax1 as shown by arrow R1. To rotate the X-ray tube 12 and the X-ray detector 14 around the rotation axis ax1, the drive unit 16 includes, for example, a drive source such as a motor provided on the C-arm 17, and a drive force transmission member provided on the C-arm 17 that transmits the driving force of the drive source to the X-ray tube 12 and the X-ray detector 14. Alternatively, the drive source and the drive force transmission member that transmits the driving force of the drive source to the X-ray tube 12 and the X-ray detector 14 may be provided on the X-ray detector holding device 15, which rotatably supports the X-ray detector holding device 15 around the rotation axis ax1, and the X-ray detector 14 may be rotated by rotating the X-ray detector holding device 15.

[0017] The arm holder 18 supports the C-arm 17 so that it can slide freely, with the rotation axis ax2 being a straight line perpendicular to the rotation axis ax1 that passes through the isocenter ISC, which is the area where X-rays are most concentrated. In other words, the arm holder 18 supports the C-arm 17 so that it can move in the circumferential direction. The C-arm 17 is driven by the drive unit 16 and slides around the rotation axis ax2 as shown by arrow S1. In order to slide the C-arm 17 around the rotation axis ax2, the drive unit 16 has a drive source such as a motor provided on the arm holder 18 and a drive force transmission member that transmits the driving force of the drive source to the C-arm 17.

[0018] The stand 19 supports the arm holder 18. More specifically, the stand 19 rotatably supports the arm holder 18 with a rotation axis ax3 that is perpendicular to the rotation axis ax1 and rotation axis ax2 and passes through the isocenter ISC. The arm holder 18 is driven by the drive unit 16 and rotates around the rotation axis ax3 as shown by arrow R2. In order to rotate the arm holder 18, the drive unit 16 has a drive source such as a motor provided on the stand 19 and a drive force transmission member that transmits the driving force of the drive source to the arm holder 18.

[0019] The stand support base 20 supports the stand 19 at its lower end.

[0020] The processing circuit 21 is composed of, for example, a processor. The processing circuit 21 controls the entire X-ray diagnostic apparatus 1 by controlling the control function 211. Specifically, the control function 211 supplies control signals to the X-ray high-voltage device 11, X-ray tube 12, X-ray diaphragm, top plate 13, X-ray detector 14, X-ray detector holder 15, drive unit 16, C-arm 17, arm holder 18, and stand 19 to perform X-ray irradiation. In this embodiment, the control function 211 controls the actuators described later. The control function 211 is an example of a control unit.

[0021] The input interface 22 consists of input devices that accept various input operations from the user. The input interface 22 accepts input operations from the user and outputs electrical signals corresponding to the accepted input operations to the processing circuit 21. For example, the input interface 22 includes a mouse, keyboard, and trackball. The input interface 22 also includes operation buttons that accept operations from the user, such as a hand switch (exposure switch, etc.) and a foot switch. Furthermore, the input interface 22 may consist of a touchpad that performs input operations by touching the operating surface, a non-contact input circuit using an optical sensor, an audio input circuit, etc. The input interface 22 may also consist of a tablet terminal, etc., that can communicate wirelessly with the main unit of the device. Moreover, the input interface 22 is not limited to those equipped with physical operating components such as a mouse and keyboard. For example, an electrical signal processing circuit that receives electrical signals corresponding to input operations from an external input device provided separately from the device and outputs these electrical signals to the processing circuit 21 is also included as an example of the input interface 22.

[0022] The display 23 consists of a display device that shows various types of information. For example, the display 23 displays a GUI (Graphical User Interface), X-ray images of the collected subject P (fluoroscopic images and radiographic images), etc.

[0023] The memory circuit 24 is composed of semiconductor memory elements such as RAM (Random Access Memory) and flash memory, as well as hard disks, optical discs, etc. The memory circuit 24 stores various information used by or generated by the processing circuit 21. For example, the memory circuit 24 stores various information such as X-ray images and GUI of the subject P. The memory circuit 24 also stores a program that enables the processing circuit 21 to function as a control function 211.

[0024] Figure 2 shows an example of the configuration of the X-ray detector holding device 15 according to the first embodiment. Figure 2(a) is a front view of the X-ray detector holding device 15, Figure 2(b) is a right side view of the X-ray detector holding device 15, and Figure 2(c) is a top view of the X-ray detector holding device 15. As shown in Figure 2, the X-ray detector holding device 15 comprises a holding part 151, a detector holding mechanism 152, an arm fixing part 153, and an actuator 154. Note that the actuator 154 is omitted in Figure 2(c).

[0025] The holding portion 151 holds the X-ray detector 14. The holding portion 151 is, for example, a flat plate to which the X-ray detector 14 is attached. As shown in Figure 2, the holding portion 151 has a first holding member 1511 and a second holding member 1512. The first holding member 1511 is attached to one end of the first link mechanism 1521, which will be described in more detail later, and the second holding member 1512 is attached to one end of the second link mechanism 1522, which will be described in more detail later.

[0026] The detector holding mechanism 152 is composed of multiple link mechanisms connected to the X-ray detector 14 and the other end of the C-arm 17. These multiple link mechanisms are arranged at angles to each other. In the example shown in Figure 2, the multiple link mechanisms of the detector holding mechanism 152 are connected to the X-ray detector 14 via the holding part 151 and to the other end of the C-arm 17 via the arm fixing part 153. In other words, in this embodiment, the detector holding mechanism 152 is provided between the holding part 151 and the arm fixing part 153. One of the multiple link mechanisms is arranged parallel to the axis of rotation related to the arc-direction movement of the C-arm 17. In the example shown in Figure 2, the second link mechanism 1522, which will be described later, is arranged parallel to the axis of rotation related to the arc-direction movement of the C-arm 17. By being arranged parallel to the axis of rotation related to the arc-direction movement, the deflection of the multiple link mechanisms due to the arc-direction movement of the C-arm 17 can be further reduced. Furthermore, as shown in Figure 2, the detector holding mechanism 152 has multiple link mechanisms, namely a first link mechanism 1521 and a second link mechanism 1522. As shown in Figure 2, the first link mechanism 1521 and the second link mechanism 1522 are arranged at an angle to each other. Specifically, the first link mechanism 1521 and the second link mechanism 1522 are arranged at a 90° angle to each other. In other words, the multiple link mechanisms are arranged at a 90° angle to each other. More specifically, the first link mechanism 1521 and the second link mechanism 1522 are arranged to form a T-shape when viewed from above.

[0027] Each of the first link mechanism 1521 and the second link mechanism 1522 has a pantograph structure in which three X-shaped structures are stacked vertically in a continuous manner, with each X-shaped structure forming a single unit. In other words, the multiple link mechanisms constitute a pantograph-type link mechanism. Note that there may be one or two X-shaped structures as a single unit, or there may be four or more, and the number can be increased or decreased depending on the usage situation. In other words, each of the first link mechanism 1521 and the second link mechanism 1522 only needs to be equipped with at least one pair of link members.

[0028] The lower X-shaped structure in the first link mechanism 1521 includes a first link member 5211 and a second link member 5212. A pivot shaft 50 is inserted through the intermediate intersection where the first link member 5211 and the second link member 5212 intersect, and the first link member 5211 and the second link member 5212 are connected so as to be rotatable with respect to the pivot shaft 50.

[0029] The middle X-shaped structure in the first link mechanism 1521 has a third link member 5213 and a fourth link member 5214. A pivot shaft 50 is inserted through the intermediate intersection where the third link member 5213 and the fourth link member 5214 intersect, and the third link member 5213 and the fourth link member 5214 are connected so as to be rotatable with respect to the pivot shaft 50.

[0030] The upper X-shaped structure in the first link mechanism 1521 includes a fifth link member 5215 and a sixth link member 5216. A pivot shaft 50 is inserted through the intermediate intersection where the fifth link member 5215 and the sixth link member 5216 intersect, and the fifth link member 5215 and the sixth link member 5216 are connected so as to be rotatable with respect to the pivot shaft 50.

[0031] In the first link mechanism 1521, the upper end of the first link member 5211 and the lower end of the fourth link member 5214 are rotatably connected with the end pivot shaft 51 as the pivot point. Similarly, in the first link mechanism 1521, the upper end of the second link member 5212 and the lower end of the third link member 5213 are rotatably connected with the end pivot shaft 51 as the pivot point, the upper end of the third link member 5213 and the lower end of the sixth link member 5216 are rotatably connected with the end pivot shaft 51 as the pivot point, and furthermore, the upper end of the fourth link member 5214 and the lower end of the fifth link member 5215 are rotatably connected with the end pivot shaft 51 as the pivot point.

[0032] The upper ends of the fifth link member 5215 and the sixth link member 5216 in the first link mechanism 1521 are pivotally attached to a slide rail 5111 provided on the first holding member 1511 via a movable support shaft 52. The lower ends of the first link member 5211 and the second link member 5212 in the first link mechanism 1521 are pivotally attached to a slide rail 5311 provided on the first fixing member 1531, which will be described later, via a movable support shaft 52.

[0033] The lower X-shaped structure in the second link mechanism 1522 includes a first link member 5221 and a second link member 5222. A pivot shaft 50 is inserted through the intermediate intersection where the first link member 5221 and the second link member 5222 intersect, and the first link member 5221 and the second link member 5222 are connected so as to be rotatable with respect to the pivot shaft 50.

[0034] The middle X-shaped structure in the second link mechanism 1522 has a third link member 5223 and a fourth link member 5224. A pivot shaft 50 is inserted through the intermediate intersection where the third link member 5223 and the fourth link member 5224 intersect, and the third link member 5223 and the fourth link member 5224 are connected so as to be rotatable with respect to the pivot shaft 50.

[0035] The upper X-shaped structure in the second link mechanism 1522 includes a fifth link member 5225 and a sixth link member 5226. A pivot shaft 50 is inserted through the intermediate intersection where the fifth link member 5225 and the sixth link member 5226 intersect, and the fifth link member 5225 and the sixth link member 5226 are connected so as to be rotatable with respect to the pivot shaft 50.

[0036] In the second link mechanism 1522, the upper end of the first link member 5221 and the lower end of the fourth link member 5224 are rotatably connected with the end pivot shaft 51 as the pivot point. Similarly, in the second link mechanism 1522, the upper end of the second link member 5222 and the lower end of the third link member 5223 are rotatably connected with the end pivot shaft 51 as the pivot point, the upper end of the third link member 5223 and the lower end of the sixth link member 5226 are rotatably connected with the end pivot shaft 51 as the pivot point, and furthermore, the upper end of the fourth link member 5224 and the lower end of the fifth link member 5225 are rotatably connected with the end pivot shaft 51 as the pivot point.

[0037] The upper ends of the fifth link member 5225 and the sixth link member 5226 in the second link mechanism 1522 are pivotally attached to a slide rail 5121 provided on the second holding member 1512 via a movable support shaft 52. The lower ends of the first link member 5221 and the second link member 5222 in the second link mechanism 1522 are pivotally attached to a slide rail 5321 provided on the second fixing member 1532 via a movable support shaft 52.

[0038] The arm fixing portion 153 is a member fixed to the C-arm 17. The arm fixing portion 153 is, for example, a flat plate for attachment to the C-arm 17. As shown in Figure 2, the holding portion 151 has a first fixing member 1531 and a second fixing member 1532. The other end of the first link mechanism 1521 is attached to the first fixing member 1531, and the other end of the second link mechanism 1522 is attached to the second fixing member 1532. The arm fixing portion 153 corresponds to the fixing portion in this embodiment.

[0039] The actuator 154 drives the detector holding mechanism 152. In this embodiment, the actuator 154 drives the detector holding mechanism 152 under the control of the control function 211 of the processing circuit 21. As shown in Figure 2, the actuator 154 is positioned on the arm fixing part 153 side. In other words, in this embodiment, the actuator 154 is positioned on the arm side. By positioning the actuator 154 on the arm fixing part 153 side in this way, space can be secured when multiple link mechanisms are retracted.

[0040] Furthermore, in this embodiment, the actuator 154 is provided for each of the multiple link mechanisms. Therefore, as shown in Figure 2, the actuator 154 in this embodiment includes a first actuator 1541 and a second actuator 1542. The first actuator 1541 drives the first link mechanism 1521 to extend and retract the first link mechanism 1521. The second actuator 1542 drives the second link mechanism 1522 to extend and retract the second link mechanism 1522. In this embodiment, the control function 211 extends and retracts the first link mechanism 1521 and the second link mechanism 1522 by controlling each of the first actuator 1541 and the second actuator 1542, which are provided for each of the multiple link mechanisms, so that the first link mechanism 1521 and the second link mechanism 1522 operate synchronously.

[0041] Figures 3 and 4 show an example of the configuration of an actuator according to the first embodiment. As shown in Figure 3, the first actuator 1541 includes a motor 5411, a first gear 5412, a second gear 5413, a third gear 5414, a first arm member 5415, a second arm member 5416, a first slider 5417, and a second slider 5418. Similarly, the second actuator 1542 includes a motor 5421, a first gear 5422, a second gear 5423, a third gear 5424, a first arm member 5425, a second arm member 5426, a first slider 5427, and a second slider 5428.

[0042] The motor 5411 of the first actuator 1541 drives the first gear 5412, which is attached to the drive shaft (not shown) of the motor 5411. The first gear 5412 meshes with the second gear 5413. The second gear 5413 meshes with the third gear 5424. The second gear 5413 is attached to the end of the first arm member 5415, and the first arm member 5415 rotates around the rotation axis of the second gear 5413 as the second gear 5413 rotates. The other end of the first arm member 5415 is pivotally attached to a slide rail 4181 provided on the first slider 5417 via a pin 53. The first slider 5417 is attached to the first link member 5211 of the first link mechanism 1521. The third gear 5414 is attached to the end of the second arm member 5416, and the second arm member 5416 rotates around the axis of rotation of the third gear 5414 as the second gear 5413 rotates. The other end of the second arm member is pivotally attached to a slide rail 4281 provided on the second slider 5418 via a pin 53. The second slider 5418 is attached to the second link member 5212 in the first link mechanism 1521.

[0043] Furthermore, the motor 5421 of the second actuator 1542 drives the first gear 5422, which is attached to the drive shaft (not shown) of the motor 5421. The first gear 5422 meshes with the second gear 5423. The second gear 5423 meshes with the third gear 5424. The second gear 5423 is attached to the end of the first arm member 5425, and the first arm member 5425 rotates around the rotation axis of the second gear 5423 as the second gear 5423 rotates. The other end of the first arm member 5425 is pivotally attached to a slide rail 4271 provided on the first slider 5427 via a pin 53. The first slider 5417 is attached to the first link member 5221 in the second link mechanism 1522. The third gear 5424 is attached to the end of the second arm member 5426, and the second arm member 5426 rotates around the axis of rotation of the third gear 5424 as the second gear 5423 rotates. The other end of the second arm member 5426 is pivotally attached to a slide rail 4281 provided on the second slider 5428 via a pin 53. The second slider 5428 is attached to the second link member 5222 in the second link mechanism 1522.

[0044] As shown in Figure 3, when the first gear 5412 attached to the drive shaft of the motor 5411 rotates in the R3 direction, the second gear 5413 rotates in the R4 direction, and the third gear 5414 rotates in the R5 direction. As a result, the first actuator 1541 moves the first link member 5211 in the first link mechanism 1521 in the d2 direction, and moves the second link member 5212 in the first link mechanism 1521 in the d1 direction. Thus, the first link mechanism 1521 can be extended.

[0045] In the second actuator 1542, similar to the first actuator, the first gear 5422 attached to the drive shaft of the motor 5421 rotates in the R3 direction, causing the second gear 5423 to rotate in the R4 direction and the third gear 5424 to rotate in the R5 direction. As a result, the second actuator 1542 moves the first link member 5221 in the second link mechanism 1522 in the d4 direction and the second link member 5222 in the d3 direction. This allows the second link mechanism 1522 to extend. As the first link mechanism 1521 and the second link mechanism extend synchronously, the detector holding mechanism 152 extends. In other words, the X-ray detector 14 held by the X-ray detector holding device 15 can be brought closer to the subject P.

[0046] As shown in Figure 4, the first actuator 1541 rotates the second gear 5413 in the R4a direction and the third gear 5414 in the R5a direction when the first gear 5412 attached to the drive shaft of the motor 5411 rotates in the R3a direction. As a result, the first actuator 1541 moves the first link member 5211 in the first link mechanism 1521 in the d2a direction and the second link member 5212 in the first link mechanism 1521 in the d1a direction. Then the first link mechanism 1521 can be retracted.

[0047] In the second actuator 1542, similar to the first actuator 1541, the first gear 5422 attached to the drive shaft of the motor 5421 rotates in the R6a direction, causing the second gear 5423 to rotate in the R7a direction and the third gear 5424 to rotate in the R8a direction. As a result, the second actuator 1542 moves the first link member 5221 in the second link mechanism 1522 in the d4a direction and the second link member 5222 in the d3a direction. The second link mechanism 1522 can then be contracted. The synchronous contraction of the first link mechanism 1521 and the second link mechanism causes the detector holding mechanism 152 to contract. In other words, the X-ray detector 14 held by the X-ray detector holding device 15 can be moved away from the subject P.

[0048] Figure 5 shows an example of an X-ray detector holding device when retracted. As shown in Figure 5, the first actuator 1541 and the second actuator 1542 retract the first link mechanism 1521 and the second link mechanism 1522, thereby reducing the size when not in use.

[0049] As described above, the X-ray diagnostic apparatus 1 according to the first embodiment includes a C-arm 17 and a detector holding mechanism 152 composed of a plurality of link mechanisms connected to the X-ray detector 14 and the other end of the C-arm 17, wherein the plurality of link mechanisms are arranged at 90° to each other. Therefore, by using link mechanisms that have a large extension ratio and are lightweight, and because the plurality of link mechanisms are arranged at 90° to each other, the detector holding mechanism is less likely to bend even when the C-arm 17 is angled, so the angle of the C-arm relative to the subject P can be increased, and the efficiency of the procedure can be improved.

[0050] [Variation 1] In the X-ray diagnostic apparatus 1 according to the first embodiment described above, the first actuator 1541 and the second actuator 1542 are each equipped with a motor. However, it is also possible to operate multiple link mechanisms synchronously by driving one motor provided in an actuator. The differences from the first embodiment will be described below.

[0051] Figure 6 is a diagram showing an example of the configuration of the X-ray detector holding device according to Modification 1, and corresponds to Figure 2. Figure 6(a) is a front view of the X-ray detector holding device 15, Figure 6(b) is a right side view of the X-ray detector holding device 15, and Figure 6(c) is a top view of the X-ray detector holding device 15. As shown in Figure 6, in the X-ray detector holding device 15 according to this modification, the configuration of the holding part, detector holding mechanism, arm fixing part, and actuator differs from that of the first embodiment described above. Therefore, in this modification, the holding part 151a, detector holding mechanism 152a, arm fixing part 153a, and actuator 154a are used. Note that in Figure 6(c), actuator 154a is omitted.

[0052] As shown in Figure 6, the detector holding mechanism 152a includes a first link mechanism 1521 and a second link mechanism 1522. In this modified example, as shown in Figure 2, the first link mechanism 1521 and the second link mechanism 1522 are arranged to form an L-shape when viewed from above. For this reason, the first holding member 1511 and the second holding member 1512 in the holding section 151a are also arranged to form an L-shape when viewed from above, and the first fixing member 1531 and the second fixing member 1532 in the arm fixing section 153a are also arranged to form an L-shape when viewed from above.

[0053] Actuator 154a drives the detector holding mechanism 152a. In this modified example, actuator 154a synchronously operates each of the multiple link mechanisms. Specifically, actuator 154a drives one motor to synchronously operate the first link mechanism 1521 and the second link mechanism 1522. Figures 7 and 8 show an example of the configuration and operation of actuator 154a according to Modified Example 1, and correspond to Figures 3 and 4. As shown in Figure 7, the device includes a motor 5411, a first gear 5412a, a second gear 5413, a third gear 5414, a first arm member 5415, a second arm member 5416, a first slider 5417, a second slider 5418, a fourth gear 5431, a fifth gear 5432, a sixth gear 5433, a third arm member 5434, a fourth arm member 5435, a third slider 5436, and a fourth slider 5437. The configurations of the motor 5411, the second gear 5413, the third gear 5414, the first arm member 5415, the second arm member 5416, the first slider 5417, and the second slider 5418 are the same as those in Figure 3, so their explanation is omitted.

[0054] The first gear 5412a meshes with the second gear 5413 and the fourth gear 5431. The fourth gear 5431 meshes with the fifth gear 5432. The fifth gear 5432 meshes with the sixth gear 5433. The fifth gear 5432 is attached to the end of the third arm member 5434, and the third arm member 5434 rotates around the axis of rotation of the fifth gear 5432 as the fifth gear 5432 rotates. The other end of the third arm member 5434 is pivotally attached to a slide rail 4361 provided on the third slider 5436 via a pin 53. The third slider 5436 is attached to the first link member 5221 in the second link mechanism 1522. The sixth gear 5433 is attached to the end of the third arm member 5434, and the fourth arm member 5435 rotates around the axis of rotation of the sixth gear 5433 as the fifth gear 5432 rotates. The other end of the fourth arm member 5435 is pivotally attached to a slide rail 4251 provided on the fourth slider 5437 via a pin 54. The second slider 5428 is attached to the second link member 5222 in the second link mechanism 1522.

[0055] As shown in Figure 7, when the first gear 5412a attached to the drive shaft of the motor 5411 rotates in the R3 direction, the second gear 5413 rotates in the R4 direction and the third gear 5414 rotates in the R5 direction. As a result, the actuator 154a moves the first link member 5211 in the first link mechanism 1521 in the d2 direction and the second link member 5212 in the first link mechanism 1521 in the d1 direction. Also, when the first gear 5412a rotates in the R3 direction, the fourth gear 5431 rotates in the R6 direction, and when the fourth gear 5431 rotates in the R6 direction, the fifth gear 5432 rotates in the R7 direction and the sixth gear 5433 rotates in the R8 direction. As a result, the actuator 154a moves the first link member 5221 in the second link mechanism 1522 in the d4 direction and the second link member 5222 in the d3 direction. The first link mechanism 1521 and the second link mechanism 1522 can be extended. As the first link mechanism 1521 and the second link mechanism extend synchronously, the detector holding mechanism 152a extends. In other words, the X-ray detector 14 held by the X-ray detector holding device 15 can be brought closer to the subject P.

[0056] As shown in Figure 8, the actuator 154a rotates as the first gear 5412a, which is attached to the drive shaft of the motor 5411, rotates in the R3a direction, causing the second gear 5413 to rotate in the R4a direction and the third gear 5414 to rotate in the R5a direction. As a result, the actuator 154a moves the first link member 5211 in the first link mechanism 1521 in the d2a direction and the second link member 5212 in the first link mechanism 1521 in the d1a direction. Furthermore, as the first gear 5412a rotates in the R3a direction, the fourth gear 5431 rotates in the R11a direction, and as the fourth gear 5431 rotates in the R11a direction, the fifth gear 5432 rotates in the R12a direction and the sixth gear 5433 rotates in the R13a direction. As a result, the actuator 154a moves the first link member 5221 in the second link mechanism 1522 in the d4a direction and moves the second link member 5222 in the d3a direction. Then, the first link mechanism 1521 and the second link mechanism 1522 can contract. As the first link mechanism 1521 and the second link mechanism contract synchronously, the detector holding mechanism 152 contracts. In other words, the X-ray detector 14 held by the X-ray detector holding device 15 can be moved away from the subject P.

[0057] As described above, the X-ray diagnostic apparatus 1 according to Modification 1 is composed of a C-arm 17 and a plurality of link mechanisms connected to the X-ray detector 14 and the other end of the C-arm 17, and the plurality of link mechanisms are provided with a detector holding mechanism 152 that is arranged at 90° to each other. Therefore, while using link mechanisms that have a large extension ratio and are lightweight, the detector holding mechanism is less likely to bend even when the C-arm 17 is angled because the plurality of link mechanisms are arranged at 90° to each other. As a result, the angle of the C-arm relative to the subject P can be increased, and the efficiency of the procedure can be improved.

[0058] Furthermore, in the X-ray diagnostic apparatus according to Modification 1, the first link mechanism 1521 and the second link mechanism 1522 are extended and retracted by motor 5411, so that the first link mechanism 1521 and the second link mechanism 1522 can be operated synchronously.

[0059] [Second Embodiment] In the X-ray diagnostic apparatus 1 according to the first embodiment described above, the actuator can also be positioned between the holding portion 151 and the arm fixing portion 153. Figure 9 is a diagram showing an example of the configuration of the X-ray detector holding device 15 according to the second embodiment, and corresponds to Figure 2. Figure 9(a) is a front view of the X-ray detector holding device 15, Figure 9(b) is a right side view of the X-ray detector holding device 15, and Figure 9(c) is a top view of the X-ray detector holding device 15. Note that the actuator 154b is omitted in Figure 9(c).

[0060] As shown in Figure 9, in the X-ray detector holding device according to this embodiment, the actuator 154b is positioned midway between the end of the detector holding mechanism 172 on the X-ray detector 14 side and the end on the C-arm 17 side. Specifically, in the example shown in Figure 9, the actuator 154b includes a first actuator 1541a and a second actuator 1542a. The first actuator 1541a is positioned near the pivot shaft 50a of the intermediate intersection where the third link member 5213 and the fourth link member 5214 intersect in the first link mechanism 1521, and the second actuator 1542a is positioned near the pivot shaft 50a of the intermediate intersection where the third link member 5223 and the fourth link member 5224 intersect in the second link mechanism 1522. In this embodiment, the control function 211 controls the first actuator 1541a and the second actuator 1542a, which are provided for each of the multiple link mechanisms, so that the first link mechanism 1521 and the second link mechanism 1522 operate synchronously, thereby extending and retracting the first link mechanism 1521 and the second link mechanism 1522.

[0061] In this embodiment, the first actuator 1541a is positioned near the pivot shaft 50a of the intermediate intersection where the third link member 5213 and the fourth link member 5214 intersect in the first link mechanism 1521. However, the positioning of the first actuator 1541a is not limited to this. That is, the positioning of the first actuator 1541a is arbitrary. The first actuator 1541a may be positioned near the pivot shaft of the intermediate intersection where the first link member 5211 and the second link member 5212 intersect in the first link mechanism 1521, or near the pivot shaft of the intermediate intersection where the fifth link member 5215 and the sixth link member 5216 intersect in the first link mechanism 1521.

[0062] Furthermore, similar to the case of the first actuator 1541a, in this embodiment the second actuator 1542a is positioned near the pivot shaft 50a of the intermediate intersection where the third link member 5223 and the fourth link member 5224 intersect in the second link mechanism 1522. However, the positioning of the second actuator 1542a is not limited to this. That is, the positioning of the second actuator 1542a is arbitrary. The second actuator 1542a may be positioned near the pivot shaft of the intermediate intersection where the first link member 5221 and the second link member 5222 intersect in the second link mechanism 1522, or near the pivot shaft of the intermediate intersection where the fifth link member 5225 and the sixth link member 5226 intersect in the second link mechanism 1522.

[0063] An example of the configuration and operation of the actuator 154b according to the second embodiment will be explained using Figures 10 and 11. Figure 10 is a diagram showing an example of the configuration of the actuator 154b according to the second embodiment. Figure 11 is a diagram showing an example of the operation of the actuator 154b. As shown in Figure 10, in the second embodiment, at the intermediate intersection where the third link member 5213 and the fourth link member 5214a of the first link mechanism 1521 intersect, the pivot shaft 50a is inserted only through the third link member 5213, and the third link member 5213 is connected so as to be rotatable with the pivot shaft 50a as the pivot point. Also, as shown in Figure 10, a pivot shaft gear 501 is attached to one end of the pivot shaft 50a. Also, as shown in Figure 10, the first actuator 1541a comprises a motor 5411a, a first gear 5412a, and a drive shaft 5419. The motor 5411a drives the first gear 5412b, which is attached to the drive shaft 5419 of the motor 5411a. The first gear 5412b meshes with the pivot shaft gear 501.

[0064] As shown in Figure 10, in the second embodiment, at the intermediate intersection where the third link member 5223 and the fourth link member 5224a intersect in the second link mechanism 1522, the pivot shaft 50a is inserted only through the third link member 5223, and the third link member 5223 is connected so as to be rotatable with the pivot shaft 50a as a fulcrum. Also, as shown in Figure 10, a pivot shaft gear 501 is attached to one end of the pivot shaft 50a. Also, as shown in Figure 10, the second actuator 1542a comprises a motor 5421a, a first gear 5422a, and a drive shaft 5429. The motor 5421a drives the first gear 5412a attached to the drive shaft 5429 of the motor 5421a. The first gear 5422a meshes with the pivot shaft gear 501.

[0065] As shown in Figure 11, in the first link mechanism 1521, under the control of the processing circuit 21, the motor 5411a is driven, driving the first gear 5412b in the R9 direction and meshing with the pivot shaft gear 501, causing the third link member 5213 to rotate in the R10 direction with the pivot shaft 50a as the pivot point. As a result, the first link mechanism 1521 extends. On the other hand, in the first link mechanism 1521, under the control of the processing circuit 21, the motor 5411a is driven, driving the first gear 5412b in the opposite direction to the R9 direction and meshing with the pivot shaft gear 501, causing the third link member 5213 to rotate in the opposite direction to the R10 direction with the pivot shaft 50a as the pivot point. As a result, the first link mechanism 1521 contracts.

[0066] In the second link mechanism 1522, similar to the first link mechanism 1521, the motor 5421a is driven under the control of the processing circuit 21, causing the first gear 5422a to mesh with the pivot shaft gear 501, thereby causing the third link member 5223 to rotate around the pivot shaft 50a as a fulcrum. As a result, the second link mechanism 1522 extends and retracts. Then, as the first link mechanism 1521 and the second link mechanism extend and retract in synchronous motion, the detector holding mechanism 152 extends and retracts. In other words, the X-ray detector 14 held by the X-ray detector holding device 15 can be brought closer to or further away from the subject P.

[0067] As described above, in the second embodiment, as in the first embodiment, the C-arm 17 is composed of a plurality of link mechanisms connected to the X-ray detector 14 and the other end of the C-arm 17, and the plurality of link mechanisms are arranged at 90° to each other and comprise a detector holding mechanism 152. Therefore, while using link mechanisms that have a large extension ratio and are lightweight, the detector holding mechanism is less likely to bend even when the angle of the C-arm is adjusted with respect to the subject P because the plurality of link mechanisms are arranged at 90° to each other. As a result, the angle of the C-arm with respect to the subject P can be increased, and the efficiency of the procedure can be improved.

[0068] [Variation 2] In the X-ray diagnostic apparatus 1 according to the second embodiment described above, the first actuator 1541a and the second actuator 1542a are each equipped with a motor. However, it is also possible to operate multiple link mechanisms synchronously by driving one motor provided in an actuator. The differences from the second embodiment will be described below.

[0069] Figure 12 is a diagram showing an example of the configuration of the X-ray detector holding device 15 according to Modification Example 2, and corresponds to Figure 9. Figure 15(a) is a front view of the X-ray detector holding device 15, Figure 15(b) is a right side view of the X-ray detector holding device 15, and Figure 15(c) is a top view of the X-ray detector holding device 15. Note that the actuator 154c is omitted in Figure 15(c). As shown in Figure 12, in the X-ray detector holding device 15 according to this modification example, the configuration of the holding part, detector holding mechanism, arm fixing part and actuator differs from that of the second embodiment described above, so in this modification example, they are referred to as the holding part 151a, detector holding mechanism 152a, arm fixing part 153a and actuator 154c. Furthermore, the X-ray detector holding device 15 according to Modification Example 2 is configured by adding an actuator support part 155 to the X-ray detector holding device 15 according to the second embodiment described above. Note that the configurations of the holding part 151a, the detector holding mechanism 152a, and the arm fixing part 153a are the same as those of the holding part 151a, the detector holding mechanism 152a, and the arm fixing part 153a in Modification 1, so their explanation is omitted.

[0070] As shown in Figure 12, the actuator 154c is positioned near the pivot shaft 50a of the intermediate intersection where the third link member 5213 and the fourth link member 5214 intersect in the first link mechanism 1521, and near the pivot shaft 50a of the intermediate intersection where the third link member 5223 and the fourth link member 5224 intersect in the second link mechanism 1522. In this modified example, the actuator 154c synchronously operates each of the multiple link mechanisms. Specifically, the actuator 154c drives a motor to synchronously operate the first link mechanism 1521 and the second link mechanism 1522. Furthermore, the actuator 154c shown in Figure 12 is supported, for example, by an actuator support part 155 attached to the arm fixing part 153a.

[0071] The actuator support 155 supports the actuator 154c. The actuator support 155 is composed of, for example, a spring structure or a suspension structure. In the example shown in Figures 12(a) and 12(b), the actuator support 155 comprises a movable part 1551 and a base 1552. The actuator 154c is attached to one end of the movable part 1551, and a biasing member such as a spring provided inside the base 1552 is in contact with the other end. The base 1552 houses the biasing member. Furthermore, the base 1552 can house the movable part 1551 when, for example, the detector holding mechanism 152a extends or retracts. With this configuration, the actuator support 155 moves the actuator 154c in accordance with the movement of the pivot shaft 50a at the intermediate intersection where the third link member 5213 and the fourth link member 5214 intersect in the first link mechanism 1521, and the movement of the pivot shaft 50a at the intermediate intersection where the third link member 5223 and the fourth link member 5224 intersect in the second link mechanism 1522, when the detector holding mechanism 152a extends and retracts. As a result, even when the detector holding mechanism 152a extends or retracts, the actuator 154c is positioned near the pivot shaft 50a of the intermediate intersection where the third link member 5213 and the fourth link member 5214 intersect in the first link mechanism 1521, and near the pivot shaft 50a of the intermediate intersection where the third link member 5223 and the fourth link member 5224 intersect in the second link mechanism 1522, thereby enabling the first link mechanism 1521 and the second link mechanism 1522 to operate synchronously.

[0072] In this modified example, the actuator 154c is positioned near the pivot shaft 50a of the intermediate intersection where the third link member 5213 and the fourth link member 5214 intersect in the first link mechanism 1521, and near the pivot shaft 50a of the intermediate intersection where the third link member 5223 and the fourth link member 5224 intersect in the second link mechanism 1522. However, the positioning of the actuator 154c is not limited to this. In other words, the placement of actuator 154c is arbitrary. Actuator 154c may be placed near the pivot axis of the intermediate intersection where the first link member 5211 and the second link member 5212 intersect in the first link mechanism 1521, and near the pivot axis of the intermediate intersection where the first link member 5221 and the second link member 5222 intersect in the second link mechanism 1522. It may also be placed near the pivot axis of the intermediate intersection where the fifth link member 5215 and the sixth link member 5216 intersect in the first link mechanism 1521, and near the pivot axis of the intermediate intersection where the fifth link member 5225 and the sixth link member 5226 intersect in the second link mechanism 1522.

[0073] Figure 13 shows an example of the configuration of an actuator according to Modification 2. As shown in Figure 13, in Modification 2, at the intermediate intersection where the third link member 5213 and the fourth link member 5214a intersect in the first link mechanism 1521, the pivot shaft 50a is inserted only through the third link member 5213, and the third link member 5213 is connected so as to be rotatable with the pivot shaft 50a as a pivot point. Also, at the intermediate intersection where the third link member 5223a and the fourth link member 5224 intersect in the second link mechanism 1522, the pivot shaft 50a is inserted only through the fourth link member 5224, and the fourth link member 5224 is connected so as to be rotatable with the pivot shaft 50a as a pivot point. Furthermore, as shown in Figure 13, a pivot shaft gear 501 is attached to one end of the pivot shaft 50a. The actuator 154c according to Modification 2 comprises a motor 5411a and a gearbox 5420.

[0074] The motor 5411a is mounted on the gearbox 5420. When the motor 5411a is driven, the first drive shaft 4201 and the second drive shaft 4203, which protrude from the gearbox 5420, are driven. The first drive gear 4202 mounted on the first drive shaft 4201 meshes with the pivot shaft gear 501 on the first link mechanism 1521 side, and the second drive gear 4204 mounted on the first drive shaft 4201 meshes with the pivot shaft gear 501 on the second link mechanism side. When the motor 5411a is driven, the first drive shaft 4201 and the second drive shaft 4203 are driven, causing the third link member 5213 to rotate around the pivot shaft 50a in the first link mechanism 1521 as a pivot point, and the fourth link member 5224 to rotate around the pivot shaft 50a in the second link mechanism 1522 as a pivot point. As a result, the first link mechanism 1521 and the second link mechanism 1522 extend and contract. Then, as the first link mechanism 1521 and the second link mechanism extend and contract in synchronous manner, the detector holding mechanism 152 extends and contracts. In other words, the X-ray detector 14 held by the X-ray detector holding device 15 can be brought closer to or further away from the subject P.

[0075] As described above, in the modified example 2, similar to the second embodiment, the C-arm 17 is composed of a plurality of link mechanisms connected to the X-ray detector 14 and the other end of the C-arm 17, and the plurality of link mechanisms are arranged at 90° to each other and comprise a detector holding mechanism 152. Therefore, while using link mechanisms that have a large extension ratio and are lightweight, the detector holding mechanism is less likely to bend even when the C-arm 17 is angled because the plurality of link mechanisms are arranged at 90° to each other. This makes it possible to angle the C-arm 17 with respect to the subject P larger, thereby improving the efficiency of the procedure.

[0076] Furthermore, in the modified example 2, as in the modified example 1, the first link mechanism 1521 and the second link mechanism 1522 are extended and retracted by the motor 5411, so that the first link mechanism 1521 and the second link mechanism 1522 can be operated synchronously.

[0077] [Example 3] In the first and second embodiments described above, the detector holding mechanism 152 may also have three link mechanisms as a plurality of link mechanisms. Figure 14 is a diagram showing an example of the configuration of the X-ray detector holding device according to Modification 3, and corresponds to Figure 2. Figure 14(a) is a front view of the X-ray detector holding device 15, Figure 14(b) is a right side view of the X-ray detector holding device 15, and Figure 14(c) is a top view of the X-ray detector holding device 15. As shown in Figure 14, in the X-ray detector holding device 15 according to Modification 3, the configuration of the holding part, detector holding mechanism, arm fixing part and actuator differs from that of the first embodiment described above, so in this modification, they are referred to as the holding part 151b, detector holding mechanism 152b, arm fixing part 153b and actuator 154d. Note that in Figure 14(c), actuator 154d is omitted.

[0078] The retaining portion 151b according to the modified example 3 includes a first retaining member 1511, a second retaining member 1512, and a third retaining member 1513. The first retaining member 1511 and the second retaining member 1512 are equivalent to those in the first embodiment, so their description is omitted. The third retaining member 1513 is a flat plate to which the X-ray detector 14 is attached, and is attached to one end of the third link mechanism 1523, which will be described later.

[0079] The detector holding mechanism 152b comprises a first link mechanism 1521, a second link mechanism 1522, and a third link mechanism 1523 as multiple link mechanisms. In this modified example, the first link mechanism 1521, the second link mechanism 1522, and the third link mechanism 1523 are arranged in a C-shape when viewed from above. The specific configuration of the third link mechanism 1523 is the same as that of the first and second link mechanisms, so its description is omitted.

[0080] The arm fixing portion 153b includes a first fixing member 1531, a second fixing member 1532, and a third fixing member 1533. The first fixing member 1531 and the second fixing member 1532 are equivalent to those in the first embodiment, so their description is omitted. The third fixing member 1533 is a flat plate for attachment to the C arm 17, and the other end of the third link mechanism 1523 is attached to the third fixing member 1533.

[0081] The actuator 154d in this modified example includes a third actuator 1543 for driving a third link mechanism 1523, in addition to the first actuator 1541 and the second actuator 1542. The specific configuration of the third actuator 1543 is equivalent to that of the first actuator 1541 and the second actuator 1542, and therefore its description is omitted.

[0082] As described above, the X-ray diagnostic apparatus according to Modification 3 is composed of a C-arm 17 and a plurality of link mechanisms connected to the X-ray detector 14 and the other end of the C-arm 17, and the plurality of link mechanisms are provided with a detector holding mechanism 152 arranged in a C shape. Therefore, while using link mechanisms that have a large extension ratio and are lightweight, the detector holding mechanism 152 is less likely to bend even when the C-arm 17 is angled because the plurality of link mechanisms are arranged in a C shape, so the angle of the C-arm 17 with respect to the subject P can be increased, and the efficiency of the procedure can be improved.

[0083] Furthermore, in the X-ray diagnostic apparatus 1 according to the modified example 3, the C-shape allows the wiring of the X-ray detector 14 to be passed through the space inside the C-shape, thus facilitating the routing of the wiring to the X-ray detector 14.

[0084] In Modification 3, the first link mechanism 1521, the second link mechanism 1522, and the third link mechanism 1523 are arranged in a C-shape, but the arrangement of the first link mechanism 1521, the second link mechanism 1522, and the third link mechanism 1523 is not limited to this. Figure 15 shows another example of the configuration of the X-ray detector holding device according to Modification 3. Figure 15(a) is a front view of the X-ray detector holding device 15, Figure 15(b) is a right side view of the X-ray detector holding device 15, and Figure 15(c) is a top view of the X-ray detector holding device 15. In the example shown in Figure 15, the first link mechanism 1521, the second link mechanism 1522, and the third link mechanism 1523 may be arranged in an I-shape when viewed from above. Even when arranged in an I-shape as shown in Figure 15, it has the same effect as the X-ray detector holding device 15 according to Modification 3.

[0085] [Variation 4] In the first and second embodiments described above, the detector holding mechanism 152 may also have four link mechanisms as a plurality of link mechanisms. Figure 16 is a diagram showing an example of the configuration of the X-ray detector holding device according to Modification 4, and corresponds to Figure 2. Figure 16(a) is a front view of the X-ray detector holding device 15, Figure 16(b) is a right side view of the X-ray detector holding device 15, and Figure 16(c) is a top view of the X-ray detector holding device 15. As shown in Figure 16, in the X-ray detector holding device 15 according to Modification 4, the configuration of the holding part, detector holding mechanism, arm fixing part and actuator differs from that of the first embodiment described above, so in this modification, they are referred to as the holding part 151d, detector holding mechanism 152d, arm fixing part 153d and actuator 154e. Note that in Figure 16(c), actuator 154d is omitted.

[0086] The retaining portion 151d according to the modified example 4 includes a first retaining member 1511, a second retaining member 1512, a third retaining member 1513, and a fourth retaining member 1514. The first retaining member 1511 and the second retaining member 1512 are equivalent to those in the first embodiment, so their description is omitted. The third retaining member 1513 and the fourth retaining member 1514 are flat plates to which the X-ray detector 14 is attached. The third retaining member 1513 is attached to one end of the third link mechanism 1523, which will be described later. The fourth retaining member 1514 is attached to one end of the fourth link mechanism 1524, which will be described later.

[0087] The detector holding mechanism 152d comprises a plurality of link mechanisms: a first link mechanism 1521, a second link mechanism 1522, a third link mechanism 1523, and a fourth link mechanism 1524. In this modified example, the first link mechanism 1521, the second link mechanism 1522, the third link mechanism 1523, and the fourth link mechanism 1524 are arranged to form a box shape when viewed from above.

[0088] The arm fixing section 153d includes a first fixing member 1531, a second fixing member 1532, a third fixing member 1533, and a fourth fixing member 1534. The first fixing member 1531 and the second fixing member 1532 are equivalent to those in the first embodiment, so their description is omitted. The third fixing member 1533 and the fourth fixing member 1534 are flat plates for attachment to the C-arm 17. The other end of the third link mechanism 1523 is attached to the third fixing member 1533. The other end of the fourth link mechanism 1524 is attached to the fourth fixing member 1534.

[0089] The actuator 154e according to this modified example includes, in addition to the first actuator 1541 and the second actuator 1542, a third actuator 1543 for driving the third link mechanism 1523 and a fourth actuator 1544 for driving the fourth link mechanism 1524. The specific configurations of the third actuator 1543 and the fourth actuator 1544 are equivalent to those of the first actuator 1541 and the second actuator 1542, so their description is omitted.

[0090] As described above, the X-ray diagnostic apparatus according to Modification 4 includes a C-arm 17 and a detector holding mechanism 152 which is composed of a plurality of link mechanisms connected to the X-ray detector 14 and the other end of the C-arm 17, with the plurality of link mechanisms arranged to form a box shape. Therefore, by using link mechanisms that have a large extension ratio and are lightweight, and because the plurality of link mechanisms are arranged to form a box shape with respect to each other, the detector holding mechanism is less likely to bend even when the C-arm 17 is angled, so that the angle of the C-arm relative to the subject P can be increased, and the efficiency of the procedure can be improved.

[0091] Furthermore, in the X-ray diagnostic apparatus 1 according to the modified example 4, by arranging multiple link mechanisms in a box shape, it is possible to pass wiring to the X-ray detector 14 through the space inside the box shape, thus making it easier to route the wiring to the X-ray detector 14.

[0092] [Variation 5] In the X-ray diagnostic apparatus 1 according to the first and second embodiments described above, the X-shaped structure as a single unit constituting the first link mechanism 1521 and the second link mechanism 1522 can be made into one. In other words, each of the multiple link mechanisms may be an X-link mechanism. Figure 17 shows an example of the configuration of the X-ray detector holding device according to Modification 5. Figure 17(a) is a front view of the X-ray detector holding device 15, Figure 17(b) is a right side view of the X-ray detector holding device 15, and Figure 17(c) is a top view of the X-ray detector holding device 15. As shown in Figure 17, the X-shaped structure in the first link mechanism 1521 has a first link member 5211 and a second link member 5212. A pivot shaft 50 is inserted through the intermediate intersection where the first link member 5211 and the second link member 5212 intersect, and the first link member 5211 and the second link member 5212 are connected to each other so as to be rotatable with the pivot shaft 50 as a fulcrum. The X-shaped structure in the second link mechanism 1522 includes a first link member 5221 and a second link member 5222. A pivot shaft 50 is inserted through the intermediate intersection where the first link member 5221 and the second link member 5222 intersect, and the first link member 5221 and the second link member 5222 are connected so as to be rotatable with respect to the pivot shaft 50.

[0093] As described above, the X-ray diagnostic apparatus 1 according to Modification 5 also includes a C-arm 17 and a detector holding mechanism 152 which is composed of a C-arm 17 and a plurality of link mechanisms connected to the X-ray detector 14 and the other end of the C-arm 17, with the plurality of link mechanisms arranged at 90° to each other. Therefore, while using link mechanisms which are lightweight and have a large extension ratio, the detector holding mechanism is less likely to bend even when the C-arm 17 is angled because the plurality of link mechanisms are arranged at 90° to each other. This makes it possible to angle the C-arm with respect to the subject P larger, thereby improving the efficiency of the procedure.

[0094] [Other variations] In the first and second embodiments described above, the X-ray detector holding device 15 is equipped with an actuator, but the X-ray detector holding device 15 does not need to be equipped with an actuator. In this case, the X-ray detector holding device 15 may be operated manually by the user.

[0095] Furthermore, in the first and second embodiments described above, the X-ray detector holding device 15 is provided with a holding portion 151 and an arm fixing portion 153, but the X-ray detector holding device 15 does not need to be provided with a holding portion 151 and an arm fixing portion 153. In this case, one end of the detector holding mechanism 152 may be connected to the X-ray detector 14, and the other end of the detector holding mechanism 152 may be connected to the C-arm 17.

[0096] In the above explanation, the term "processor" refers to circuits such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an Application Specific Integrated Circuit (ASIC), or a programmable logic device (e.g., a Simple Programmable Logic Device (SPLD), a Complex Programmable Logic Device (CPLD), and a Field Programmable Gate Array (FPGA)). The processor functions by reading and executing a program stored in the memory circuit 24. Alternatively, instead of storing the program in the memory circuit 24, the processor may be configured to directly incorporate the program into its circuitry. In this case, the processor functions by reading and executing the program incorporated into the circuitry. The processor is not limited to being configured as a single circuit; it may also be configured by combining multiple independent circuits to form a single processor and realize its functions. Furthermore, the multiple components shown in Figure 1 may be integrated into a single processor to realize its functions.

[0097] According to at least one embodiment described above, the efficiency of the procedure can be improved.

[0098] 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 methods described herein can be implemented in a variety of other forms. Furthermore, various omissions, substitutions, and modifications can be made to the embodiments of the apparatus and methods described herein, without departing from the spirit of the invention. The appended claims and equivalents are intended to include such embodiments and modifications that are included in the scope and spirit of the invention. [Explanation of Symbols]

[0099] 1...X-ray diagnostic device, 10...Imaging unit, 11...X-ray high-voltage device, 12...X-ray tube, 13...Top plate, 14...X-ray detector, 15...X-ray detector holder, 16...Drive unit, 17...C-arm, 18...Arm holder, 19...Stand, 20...Stand support base, 21...Processing circuit, 22...Input interface, 23...Display, 24...Memory circuit

Claims

1. An arm supporting an X-ray tube that generates X-rays at one end and an X-ray detector that detects the X-rays emitted from the X-ray tube at the other end, It is composed of a plurality of link mechanisms connected to the X-ray detector and the other end of the arm, and the plurality of link mechanisms are detector holding mechanisms arranged at angles to each other, An X-ray diagnostic device equipped with [specific features / features].

2. The X-ray diagnostic apparatus according to claim 1, wherein the plurality of link mechanisms are arranged at 90° angles to each other.

3. The X-ray diagnostic apparatus according to claim 1, wherein one of the plurality of link mechanisms is arranged parallel to the axis of rotation related to the arc-direction movement of the arm.

4. The X-ray diagnostic apparatus according to claim 1, wherein each of the plurality of link mechanisms is an X-link mechanism.

5. The X-ray diagnostic apparatus according to claim 1, wherein each of the plurality of link mechanisms is a pantograph-type link mechanism.

6. The X-ray diagnostic apparatus according to claim 1, further comprising an actuator for driving the detector holding mechanism.

7. The X-ray diagnostic apparatus according to claim 6, wherein the actuator is located on the arm side.

8. The X-ray diagnostic apparatus according to claim 6, wherein the actuator is positioned midway between the end of the detector holding mechanism on the X-ray detector side and the end on the arm side.

9. The X-ray diagnostic apparatus according to claim 6, wherein the actuator operates each of the plurality of link mechanisms in a synchronous manner.

10. The control unit further comprises a control unit for controlling the actuator, The actuator is provided for each of the multiple link mechanisms, The X-ray diagnostic apparatus according to claim 6, wherein the control unit controls each of the actuators provided for each of the plurality of link mechanisms so that each of the plurality of link mechanisms operates in a synchronous manner.

11. The X-ray diagnostic apparatus according to claim 1, wherein the plurality of link mechanisms are arranged in a C-shape or I-shape in a plan view.

12. The X-ray diagnostic apparatus according to claim 1, wherein the plurality of link mechanisms are arranged to form a box shape in a plan view.

13. A holding unit for holding the X-ray detector, The arm further comprises a fixing part that is fixed to the arm, The X-ray diagnostic apparatus according to claim 1, wherein the detector holding mechanism is provided between the holding portion and the fixing portion.

14. The detector is composed of an X-ray detector that detects X-rays emitted from an X-ray tube that generates X-rays, and a plurality of link mechanisms connected to the other end of an arm that supports the X-ray tube at one end and the X-ray detector at the other end, wherein the plurality of link mechanisms are arranged at angles to each other. An actuator for driving the detector holding mechanism, An X-ray detector holding device equipped with the following features.

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