X-ray diagnostic apparatus and method

Abstract

To achieve a simple structure which can translate a C arm and is smaller than an X-Y stage structure.SOLUTION: An X-ray diagnostic apparatus includes a base table, a first support arm, a second support arm, a C arm, and translation control means. The base table is supported by a rail arranged on a ceiling and is movable in a longitudinal direction of the rail. The first support arm is supported by the base table to be rotatable about a first rotation axis in a vertical direction. The second support arm is supported by the first support arm to be rotatable about a second rotation axis in the vertical direction. The C arm is supported by the second support arm. The translation control means translates the C arm in a width direction of the rail by controlling movements of the base table, rotation by the first rotation axis, and rotation by the second rotation axis.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The embodiment of the present invention is an X-ray diagnostic device. Placement and method Regarding. [Background technology]

[0002] Known types of X-ray diagnostic apparatus for the circulatory system include a ceiling-suspended type in which the C-arm is supported from the ceiling surface, and a floor-standing type in which the C-arm is supported from the floor surface.

[0003] The ceiling-suspended type has an XY stage structure in which a stage that can move in the longitudinal direction of a ceiling rail arranged on the ceiling supports the C-arm so that it can also move in the width direction of the ceiling rail. That is, the ceiling-suspended type supports the C-arm so that it can move parallel to the longitudinal and width directions of the ceiling rail with the XY stage structure. In addition, the ceiling-suspended type has a configuration in which the XY stage structure has a rotation axis, making the isocenter axis of the C-arm rotatable and movable linearly. The isocenter axis here corresponds to the imaging axis when it is on the same line as the rotation axis. The imaging axis is an axis that passes through the X-ray focus of the X-ray tube held by the C-arm and the center of the detection surface of the X-ray detector held by the C-arm.

[0004] The floor-mounted type is equipped with a first support arm supported from the floor surface by a first rotation axis so as to be rotatable in the horizontal direction, and a second support arm supported from the tip of the first support arm by a second rotation axis so as to be rotatable in the horizontal direction. The floor-mounted type is configured to link these two rotation axes, so that the isocenter axis of the C-arm can be moved linearly while rotating. The isocenter axis here corresponds to the vertical imaging axis that can be arranged on the same straight line as the first rotation axis. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2014-391 A Summary of the Invention [Problem to be solved by the invention]

[0006] Although the X-ray diagnostic apparatus as described above usually poses no particular problems, the inventors have found that there is room for improvement in the following points.

[0007] In the case of the ceiling-suspended type, a large and complicated XY stage structure is required to enable translation of the C-arm along the length and width of the ceiling rail.

[0008] Unlike the ceiling-mounted type, the floor-mounted type has the disadvantage that the C-arm cannot be moved in parallel.

[0009] The objective is to realize a structure that allows translation of the C-arm and is smaller and simpler than the XY stage structure. [Means for solving the problem]

[0010] The X-ray diagnostic apparatus according to the embodiment includes a base, a first support arm, a second support arm, a C-arm, and a translation control means. The base is supported by a rail arranged on the ceiling and is movable in the longitudinal direction of the rail. The first support arm is supported by the base so as to be rotatable about a first rotation axis in a vertical direction. The second support arm is supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction. The C-arm is supported by the second support arm. The translation control means translates the C-arm along the width direction of the rail by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a configuration of an X-ray diagnostic apparatus according to a first embodiment. [Diagram 2]FIG. 2 is an external view of the X-ray diagnostic apparatus according to the embodiment. [Diagram 3] FIG. 2 is a plan view of the X-ray diagnostic apparatus according to the embodiment. [Figure 4] 4 is a flowchart for explaining the operation in the embodiment. [Diagram 5] FIG. 2 is a schematic diagram for explaining the operation in the embodiment. [Figure 6] FIG. 2 is a schematic diagram for explaining the operation in the embodiment. [Figure 7] 13A to 13C are schematic diagrams for explaining a modified example of the operation in the embodiment. [Figure 8] FIG. 2 is an external view of an X-ray diagnostic apparatus as a comparative example for explaining the effect of the embodiment. [Figure 9] FIG. 11 is an external view of an X-ray diagnostic apparatus as another comparative example for explaining the effect of the embodiment. [Figure 10] 10 is a flowchart for explaining the operation of the X-ray diagnostic apparatus according to the second embodiment. [Figure 11] 11A and 11B are a plan view and a front view for explaining the operation in the embodiment. [Figure 12] 11A and 11B are a plan view and a front view for explaining the operation in the embodiment. [Figure 13] 11A and 11B are a plan view and a front view for explaining a first modified example of the operation in the embodiment. [Figure 14] 13A and 13B are a plan view and a front view for explaining a second modified example of the operation in the embodiment. [Figure 15] 11A and 11B are a plan view and a front view of a comparative example for explaining the effect of the embodiment. [Figure 16] 13A and 13B are a plan view and a front view showing a case where a rail r1 is rotated 90 degrees in the horizontal direction compared to FIG. 12 in the third embodiment. [Figure 17] 14A and 14B are plan and front views showing a case where the rail r1 is rotated 90 degrees in the horizontal direction compared to FIG. 13 in the same embodiment. [Figure 18]15A and 15B are plan and front views showing a case where the rail r1 is rotated 90 degrees in the horizontal direction compared to FIG. 14 in the same embodiment. [Figure 19] FIG. 13 is a block diagram showing the configuration of an angio-CT apparatus according to a fourth embodiment. [Figure 20] FIG. 2 is an external view of the angio-CT apparatus according to the embodiment. [Figure 21] FIG. 2 is a plan view of the angio-CT apparatus according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Each embodiment will be described below with reference to the drawings.

[0013] <First embodiment> Fig. 1 is a block diagram showing the configuration of an X-ray diagnostic apparatus according to a first embodiment, and Fig. 2 and Fig. 3 are an external view and a plan view of the X-ray diagnostic apparatus. The X-ray diagnostic apparatus 1 includes an imaging device 10, a bed device 30, and a console device 40. The imaging device 10 includes a high-voltage generator 11, an X-ray generator 12, an X-ray detector 13, a C-arm 14, a status detector 141, and a C-arm driver 142.

[0014] A high voltage generator 11 generates a high voltage to be applied between the anode and cathode in order to accelerate thermoelectrons generated from the cathode of the X-ray tube, and outputs the high voltage to the X-ray tube.

[0015] The X-ray generation unit 12 includes an X-ray tube that irradiates the subject P with X-rays, and an ROI (Region Of Interest) filter and an X-ray aperture that have the function of attenuating or reducing the amount of irradiated X-rays.

[0016] An X-ray tube is a vacuum tube that generates X-rays. Thermal electrons emitted from a cathode (filament) are accelerated by a high voltage and these accelerated electrons are collided with a tungsten anode to generate X-rays.

[0017] The ROI filter is located between the X-ray tube and the X-ray aperture, and is made of a metal plate such as copper or aluminum. The ROI filter has an opening area at least in a part of it, for example in the center, and attenuates X-rays outside the opening area. Therefore, the ROI filter transmits all X-rays in the X-ray passing area of ​​the opening area, and transmits X-rays in other areas after attenuating them. The ROI filter is driven by a driving device (not shown) according to the region of interest input by the operator from the input interface 43.

[0018] The X-ray aperture is located between the X-ray tube and the X-ray detector 13, and is made of a lead plate as a metal plate. The X-ray aperture blocks X-rays outside the aperture area, narrowing down the X-rays generated by the X-ray tube so that only the region of interest of the subject P is irradiated. For example, the X-ray aperture has four aperture blades, and the region blocked by X-rays can be adjusted to any size by sliding these aperture blades. The aperture blades of the X-ray aperture are driven by a drive device (not shown) according to the region of interest input by the operator from the input interface 43.

[0019] The X-ray detector 13 detects the X-rays that have passed through the subject P. As such an X-ray detector 13, one that directly converts X-rays into electric charges and one that converts X-rays into light and then converts them into electric charges can be used. Here, the former is described as an example, but the latter may also be used. That is, the X-ray detector 13 includes, for example, a flat FPD (Flat Panel Detector) that converts the X-rays that have passed through the subject P into electric charges and accumulates them, and a gate driver that generates a drive pulse for reading out the electric charges accumulated in the FPD. The size of the FPD is generally 8 to 12 inches. The FPD is configured by arranging minute detection elements two-dimensionally in the column direction and line direction. Each detection element includes a photoelectric film that senses X-rays and generates electric charges according to the amount of incident X-rays, a charge storage capacitor that accumulates the electric charges generated in the photoelectric film, and a TFT (thin film transistor) that outputs the electric charges accumulated in the charge storage capacitor at a predetermined timing. The accumulated electric charges are sequentially read out by a drive pulse supplied by the gate driver.

[0020] The X-ray detector 13 is provided at a downstream stage with a projection data generating circuit and a projection data storage circuit (not shown). The projection data generating circuit includes a charge-to-voltage converter that converts the charges read out in parallel on a row-by-row or column-by-column basis from the FPD into a voltage, an A / D converter that converts the output of the charge-to-voltage converter into a digital signal, and a parallel-to-serial converter that converts the digitally converted parallel signal into a time-series serial signal. The projection data generating circuit supplies this serial signal to the projection data storage circuit as time-series projection data. The projection data storage circuit sequentially stores the time-series projection data supplied from the projection data generating circuit to generate two-dimensional projection data. This two-dimensional projection data is stored in a memory 41.

[0021] The C-arm 14 has a configuration in which the X-ray generation unit 12 and the X-ray detector 13 are held facing each other with the subject P and the top plate 33 in between, thereby enabling X-ray imaging of the subject P on the top plate 33 to be performed.

[0022] As shown in FIG. 2, the base 14a is supported by a rail r1 installed on the ceiling surface and is movable along the longitudinal direction (X direction) of the rail r1. This allows the base 14a to move horizontally on the ceiling surface. A fulcrum 14b1 of the base 14a is connected to the base end of the first support arm 14c1 and rotates around a first rotation axis z1 extending vertically from the fulcrum 14b1, thereby rotating the first support arm 14c1 in a horizontal direction relative to the ceiling surface. That is, the first support arm 14c1 is supported by the base 14a so as to be rotatable around the first rotation axis z1 in the vertical direction. A fulcrum 14b2 of the tip of the first support arm 14c1 is connected to the upper end of the second support arm 14c2 and rotates around a second rotation axis z2 extending vertically from the fulcrum 14b2, thereby rotating the second support arm 14c2 in a horizontal direction relative to the ceiling surface. That is, the second support arm 14c2 is supported by the first support arm 14c1 so as to be rotatable around the second rotation axis z2 in the vertical direction. The connection part 14d at the lower end of the second support arm 14c2 supports the C-arm 14 so as to be slidable along the arc shape of the C-arm 14, and holds the C-arm 14 rotatably around the arm main rotation axis Rc extending parallel to the ceiling surface. In this slidably and rotatably supported state, the C-arm 14 is supported by the second support arm 14c2. Note that the imaging axis passing through the X-ray focal point of the X-ray generation unit 12 and the center of the detection surface of the X-ray detector 13 is designed to intersect the arm main rotation axis Rc and the arm slide axis (not shown) at one point. The arm slide axis is an axis that can be regarded as the rotation center of the imaging axis when the C-arm 14 slides along its arc shape. The absolute coordinates (position on the radiography room coordinate system) of the intersecting point (intersection) do not move even if the C-arm 14 rotates around the arm main rotation axis Rc or the arm slide axis when the base 14a, the first and second support arms 14c1, 14c2 are stationary. The absolute coordinates of the intersection are generally called the isocenter IS. In this specification, the radiography axis in the vertical direction is also called the isocenter axis zS. The isocenter axis zS is located on the extension of the first rotation axis z1 in the initial state of rotation by the first rotation axis z1, the second rotation axis z2, the arm main rotation axis Rc, and the arm slide axis.At this time, on the horizontal plane (plan view), the isocenter axis zS overlaps with the first rotation axis z1. That is, the horizontal distance L from the first rotation axis z1 to the second rotation axis z2 and the horizontal distance L from the isocenter axis zS to the second rotation axis z2 are configured to be equal to each other.

[0023] From the above configuration, as shown in FIG. 3, by controlling the movement of the base 14a, the rotation about the first rotation axis z1, and the rotation about the second rotation axis z2, the isocenter axis zS can be moved linearly along the width direction (Y direction) of the rail r1. In addition, by controlling the movement of the base 14a, the rotation about the first rotation axis z1, and the rotation about the second rotation axis z2, the C-arm 14 can be moved parallel to the width direction (Y direction) of the rail r1. In FIG. 3, "CL" indicates a straight line connecting the second rotation axis z2 and the isocenter axis zS on a horizontal plane. In addition to the above, the C-arm 14 or the base 14a can also move in a direction approaching or receding from the ceiling surface. In addition, the names of each member, etc. may be changed as appropriate. For example, the base 14a may be called a "ceiling running frame". The rail r1 may be called a "first rail", a "ceiling rail", a "track", or a "straight track". The first support arm 14c1 may be referred to as a "ceiling support arm." The second support arm 14c2 may be referred to as a "pillar" or a "pillar portion."

[0024] Returning to FIG. 1, the C-arm 14 is provided with a plurality of power sources at appropriate locations for realizing the operations related to the base 14a, the first rotation axis z1, the second rotation axis z2, the arm main rotation axis Rc, and the arm slide axis. These power sources constitute the C-arm drive device 142. The C-arm drive device 142 reads the drive signal from the drive control function 442 and causes the C-arm 14 to perform slide, rotation, and linear motion. Furthermore, the C-arm 14 is provided with a state detector 141 for detecting information on its angle, posture, and position. The state detector 141 is composed of, for example, a potentiometer for detecting the rotation angle and the amount of movement, and an encoder as a position detection sensor. As the encoder, for example, a so-called absolute encoder such as a magnetic type, a brush type, or a photoelectric type can be used. In addition, as the state detector 141, various types of position detection mechanisms can be appropriately used, such as a rotary encoder that outputs a rotational displacement as a digital signal or a linear encoder that outputs a linear displacement as a digital signal.

[0025] The bed device 30 is a device on which the subject P is placed and moved, and includes a base 31, a bed driving device 32, a top board 33, and a support frame .

[0026] The base 31 is a housing that is placed on a floor surface and supports the support frame 34 so as to be movable in the vertical direction (Z direction).

[0027] The bed driving device 32 is housed in the housing of the bed device 30 and is a motor or actuator that moves the top board 33 on which the subject P is placed in the longitudinal direction (Y direction) of the top board 33. The bed driving device 32 reads a driving signal from the drive control function 442 and moves the top board 33 horizontally or vertically relative to the floor surface. The positional relationship of the imaging axis with respect to the subject P changes as the C-arm 14 or the top board 33 moves. Note that the bed driving device 32 may move the support frame 34 in the longitudinal direction of the top board 33 in addition to the top board 33.

[0028] The top board 33 is provided on the upper surface of the support frame 34, and is a board on which the subject P is placed.

[0029] The support frame 34 is provided on the upper part of the base 31 and supports the top plate 33 so that the top plate 33 can slide along the longitudinal direction.

[0030] The console device 40 includes a memory 41 , a display 42 , an input interface 43 and a processing circuit 44 .

[0031] The memory 41 includes a memory body such as an HDD (Hard Disk Drive) that records electrical information, and peripheral circuits associated with the memory body such as a memory controller and a memory interface. The memory 41 stores, for example, a program executed by the processing circuitry 44, an X-ray image generated by the processing circuitry 44, data used in processing by the processing circuitry 44, data during processing, data after processing, and the like.

[0032] The display 42 is composed of a display main body that displays medical images, etc., an internal circuit that supplies a display signal to the display main body, and peripheral circuits such as connectors and cables that connect the display main body and the internal circuit. The internal circuit generates display data by superimposing additional information such as subject information and projection data generation conditions on image data supplied from the image processing function 444 of the processing circuit 44, and performs D / A conversion and TV format conversion on the obtained display data to display it on the display main body.

[0033] The input interface 43 inputs subject information, sets X-ray imaging conditions including X-ray irradiation conditions, and inputs various command signals. The input interface 43 is realized by, for example, a trackball for instructing the movement of the C-arm 14 and setting a region of interest (ROI), a switch button, a mouse, a keyboard, a touchpad for performing input operations by touching the operation surface, and a touch panel display in which a display screen and a touchpad are integrated. The input interface 43 is connected to the processing circuitry 44, converts an input operation received from an operator into an electrical signal, and outputs the electrical signal to the processing circuitry 44. Note that in this specification, the input interface 43 is not limited to an interface having physical operation parts such as a mouse and a keyboard. For example, an electrical signal processing circuit that receives an electrical signal corresponding to an input operation from an external input device provided separately from the device and outputs the electrical signal to the processing circuitry 44 is also included as an example of the input interface 43.

[0034] The processing circuit 44 is a processor that calls and executes a program in the memory 41 to realize a system control function 441, a drive control function 442, an X-ray control function 443, an image processing function 444, and a display control function 445 corresponding to the program. In FIG. 1, the system control function 441, the drive control function 442, the X-ray control function 443, the image processing function 444, and the display control function 445 are realized by a single processing circuit 44, but a processing circuit may be configured by combining a plurality of independent processors, and each processor may execute a program to realize each function. In addition, the system control function 441, the drive control function 442, the X-ray control function 443, the image processing function 444, and the display control function 445 may be called a system control circuit, a drive control circuit, an X-ray control circuit, an image processing circuit, and a display control circuit, respectively, and may be implemented as individual hardware circuits.

[0035] The system control function 441 temporarily stores information such as command signals input by an operator from the input interface 43 and various initial setting conditions, and then transmits this information to each processing function of the processing circuit 44.

[0036] The drive control function 442 controls the C-arm drive device 142 and the bed drive device 32 using information related to the drive of the C-arm 14 and the tabletop 33 input from the input interface 43, for example.

[0037] Here, the drive control function 442 has a translation control function for translating the C-arm 14 along the width direction of the rail r1 by controlling the movement of the base 14a, the rotation about the first rotation axis z1, and the rotation about the second rotation axis z2. When translating the C-arm 14 along the width direction of the rail r1, the translation control function may control the rotation about the first rotation axis z1 and the second rotation axis z2 to the same angle θ, and control the movement of the base 14a. Note that, when the horizontal distance between the first rotation axis z1 and the second rotation axis z2 is L, the same angle is θ, and the movement distance of the base 14a is D, the translation control function may control the movement of the base 14a based on the relationship D=LL cosθ. The translation control function in the drive control function 442 is an example of a translation control means described in the claims.

[0038] The X-ray control function 443 reads information from the system control function 441, for example, and controls X-ray irradiation conditions such as the tube current, tube voltage, and irradiation time in the high voltage generator 11.

[0039] The image processing function 444, for example, acquires projection data from the memory 41, performs image processing such as filtering on the projection data to generate X-ray image data, and stores the X-ray image data in the memory 41. Furthermore, the image processing function 444 performs synthesis processing, subtraction processing, and the like on the multiple obtained X-ray image data, and stores the obtained X-ray image data in the memory 41.

[0040] The display control function 445 performs control such as reading a signal from the system control function 441, acquiring desired X-ray image data from the memory 41, and displaying the data on the display .

[0041] Next, the operation of the X-ray diagnostic apparatus configured as above will be described with reference to the flowchart in Fig. 4 and the schematic diagrams in Fig. 5 to Fig. 7. The following explanation will mainly focus on the operation when the C-arm 14 is moved along the body axis Y of the subject P placed on the top board 33.

[0042] In step ST1, the processing circuitry 44 of the X-ray diagnostic apparatus 1 moves the base 14a via the C-arm driver 142 in response to an operator's operation of the input interface 43 so as to align the isocenter axis zS of the C-arm 14 with the body axis Y of the subject P on the tabletop 33.

[0043] After step ST1 is completed, as shown in FIG. 5(b) or 6(b), the isocenter axis zS of the C-arm 14 is located on the body axis Y of the subject P. Moreover, on a horizontal plane, the angle between the line CL connecting the second rotation axis z2 and the isocenter axis zS and the body axis Y of the subject P is 90 degrees. That is, the C-arm 14 is placed directly to the left (or right) side of the subject P. At this time, on the horizontal plane (plan view), the isocenter axis zS overlaps with the first rotation axis z1. Moreover, the horizontal distance L from the first rotation axis z1 to the second rotation axis z2 and the horizontal distance L from the isocenter axis zS to the second rotation axis z2 are equal to each other.

[0044] Next, in step ST2, the drive control function 442 of the processing circuitry 44 controls the rotation about the first rotation axis z1 and the rotation about the second rotation axis z2, for example, as shown in Fig. 5(a) or 5(c) in response to an operation of the input interface by an operator. As a result, the drive control function 442 linearly moves the isocenter axis zS of the C-arm 14 along the width direction of the rail r1 via the C-arm drive device 142. In the case shown in Fig. 5, the drive control function 442 controls the rotation about the first rotation axis z1 to an angle θ and the rotation about the second rotation axis z2 to an angle 2θ.

[0045] Alternatively, in step ST2, the drive control function 442 controls the movement of the base 14a, the rotation about the first rotation axis z1, and the rotation about the second rotation axis z2, as shown in FIG. 6(a) or FIG. 6(c), in response to, for example, the operation of the input interface by the operator. As a result, the drive control function 442 translates the C-arm 14 along the width direction of the rail r1 via the C-arm drive device 142. In the case shown in FIG. 6, the drive control function 442 controls the rotation about the first rotation axis z1 and the second rotation axis z2 to be the same angle θ, and controls the movement of the base 14a. In the case shown in FIG. 6, the movement distance of the base 14a moving along the longitudinal direction of the rail r1 is set to D1, and the drive control function 442 controls the movement of the base 14a based on the relationship D1=LL cosθ. As can be seen from FIG. 6, the C-arm 14 is translated by controlling the rotation about the first rotation axis z1 and the second rotation axis z2 to be the same angle θ. Moreover, by controlling the movement of base 14a, the direction of translation of C-arm 14 is controlled in the width direction of rail r1.

[0046] The operation shown in Fig. 6 can be performed in the same way even when the orientations of the tabletop 33 and the subject P are rotated 90 degrees horizontally as shown in Fig. 7(b) to Fig. 7(a) or Fig. 7(c). That is, the longitudinal direction of the rail r1 and the axis Y of the subject P are not limited to being perpendicular to each other, and may be parallel to each other. Similarly, the operation shown in Fig. 5 can be performed even when the orientations of the tabletop 33 and the subject P are rotated 90 degrees horizontally (not shown).

[0047] After step ST2 is completed, in step ST3, the X-ray diagnostic apparatus 1 performs X-ray imaging. In the case of the operation shown in Fig. 5, the angle between the line CL corresponding to the direction of the sliding movement of the C-arm 14 and the body axis Y of the subject P is not 90 degrees, so X-ray imaging is performed without the C-arm sliding movement.

[0048] On the other hand, in the case of the operation shown in Fig. 6, the angle between the straight line CL corresponding to the direction of the sliding operation of the C-arm 14 and the body axis Y of the subject P is 90 degrees, so X-ray imaging accompanied by the sliding operation of the C-arm can be performed. For example, various types of imaging, such as rotational DSA imaging (R-DSA), three-dimensional DSA imaging (3D-DSA), and three-dimensional LCI imaging (3D-LCI), are possible by the sliding operation of the C-arm. Note that DSA is an abbreviation for Digital Subtraction Angiography. LCI is an abbreviation for Low Contrast Imaging.

[0049] After completing step ST3, in step ST4, if the examination is not completed with the X-ray imaging in step ST3 and X-ray imaging is performed at another position on the body axis Y of the subject P (ST4; No), the X-ray diagnostic apparatus 1 returns to step ST2.

[0050] On the other hand, in step ST4, if the examination with the X-ray imaging in step ST3 is completed (ST4; Yes), the X-ray diagnostic apparatus 1 proceeds to step ST5.

[0051] In step ST5, the drive control function 442 controls the movement of the base 14a in response to, for example, an operation of the input interface by the operator, which causes the drive control function 442 to move the C-arm 14 along the longitudinal direction of the rail r1 via the C-arm drive device 142, and retract the C-arm 14 to the wall edge (not shown).

[0052] After the C-arm 14 is retracted, the X-ray diagnostic apparatus 1 ends its operation.

[0053] As described above, this embodiment includes a base that is movable in the longitudinal direction of the rail, a first support arm supported by the base so as to be rotatable about a first rotation axis, a second support arm supported by the first support arm so as to be rotatable about a second rotation axis, and a C-arm. Accordingly, the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis are controlled to translate the C-arm along the width direction of the rail.

[0054] Therefore, the C-arm can be moved in parallel, and a structure that is smaller and simpler than the XY stage structure can be realized. Supplementally, as shown in FIG. 6 or FIG. 7, the C-arm can be moved in parallel. Also, a rail structure that can move in the width direction of the rail r1 in the XY stage structure and a drive unit are not required. Therefore, according to this embodiment, a structure that is smaller and simpler than the XY stage structure can be realized.

[0055] FIG. 8 is an external view of an X-ray diagnostic device of a comparative example having an XY stage structure, and parts corresponding to those in FIG. 2 are given the same reference numerals, and duplicated explanations are omitted, and mainly different parts are described. In the same manner, duplicated explanations are omitted for each of the following drawings. The X-ray diagnostic device of the comparative example has an XY stage structure having a ceiling running frame 14y that can move along the longitudinal direction of the rail r1, and a base 14x that can move within the ceiling running frame 14y along the width direction of the rail r1. As a result, the base 14x can move in parallel in the longitudinal direction and width direction of the rail r1. The base 14a supports the upper end of the support arm 14c so that it can rotate around a first rotation axis z1 in the vertical direction. A connection part 14d at the lower end of the support arm 14c supports the C-arm 14 slidably along the arc shape of the C-arm 14, and rotates around the arm main rotation axis extending from the connection part 14d parallel to the ceiling surface, thereby rotating the C-arm 14 relative to the support arm 14c. In addition, the isocenter axis zS is located on an extension line of the first rotation axis z1 in the initial state of rotation by the first rotation axis z1, the arm main rotation axis, and the arm slide axis. At this time, on the horizontal plane (plan view), the isocenter axis zS overlaps with the first rotation axis z1.

[0056] As described above, such a comparative example requires a large and complicated XY stage structure, whereas this embodiment can achieve a structure that is smaller and simpler than the XY stage structure.

[0057] 9 is an external view of an X-ray diagnostic apparatus of another comparative example. The X-ray diagnostic apparatus of the other comparative example is a floor-mounted type, and includes a first support arm supported by a base (not shown) arranged on the floor surface so as to be rotatable in the horizontal direction by a first rotation axis z1a, and a second support arm supported by a tip of the first support arm so as to be rotatable in the horizontal direction by a second rotation axis z2a. The floor-mounted type is configured to link these two rotation axes z1a and z2a, so that the C-arm 14 can move linearly while rotating the isocenter axis zS. The direction of linear movement may be the direction of the body axis Y of the subject P as shown in FIG. 9(a), or may be the lateral direction (X direction) of the subject P as shown in FIG. 9(b).

[0058] In this other comparative example, as described above, since the C-arm 14 cannot be moved in parallel, the C-arm 14 cannot be positioned directly beside the subject P, and X-ray imaging involving C-arm sliding movement cannot be performed. For example, in this other comparative example, X-ray imaging such as rotational DSA imaging, 3D DSA imaging, and 3D LCI imaging cannot be performed.

[0059] In contrast, according to this embodiment, the C-arm can be translated, so that the C-arm 14 can be positioned directly beside the subject P, and X-ray imaging can be performed with the C-arm sliding movement. Note that an X-ray diagnostic apparatus similar to this embodiment may be realized by providing floor rails on the floor surface instead of rails on the ceiling, making it possible to move the base of the floor-standing X-ray diagnostic apparatus along the floor rails, and using the same translation control function as described above.

[0060] According to this embodiment, when the C-arm is translated in the width direction, the rotations around the first and second rotation axes are controlled to be the same angle, and the movement of the base is controlled. This allows the C-arm to be translated with simple control. Note that the horizontal distance between the second rotation axis z2 and the first rotation axis z1 and the horizontal distance between the second rotation axis z2 and the isocenter axis zS are not limited to being equal to each other, and may be different from each other.

[0061] According to this embodiment, the horizontal distance between the first rotation axis and the second rotation axis is L, the same angle is θ, and the movement distance of the base is D. The movement of the base is controlled based on the relationship D=LL cosθ. This allows the C-arm to translate with even simpler control. The formula D=LL cosθ may be transformed to be mathematically equivalent, for example, D=L(1-cosθ). Similarly, the horizontal distance between the second rotation axis z2 and the first rotation axis z1 and the horizontal distance between the second rotation axis z2 and the isocenter axis zS may be different from each other, not limited to being equal to each other. When the two horizontal distances are different from each other, the distance "L" in the formula "D=LL cosθ" may be the horizontal distance between the second rotation axis z2 and the first rotation axis z1.

[0062] <Second embodiment> Next, an X-ray diagnostic apparatus according to a second embodiment will be described. The second embodiment is an application of the first embodiment, and is configured such that when the C-arm 14 is retracted to the wall, the C-arm 14 can be retracted parallel to the wall to the vicinity of the wall.

[0063] Accordingly, the drive control function 442 of the processing circuit 44 has a retraction control function in addition to the above-mentioned functions. However, since the retraction control function can be executed independently of the above-mentioned translation control function, the drive control function 442 of this embodiment does not necessarily have to have the above-mentioned translation control function (translation control function along the width direction of the rail r1). Note that the retraction control function may execute retraction control of the C-arm 14 as shown in any one of the following (A) to (C) based on information previously stored in the memory 41.

[0064] (A) When the memory 41 stores the evacuation position information including the coordinate information of the base position, the first rotation axis z1, and the second rotation axis z2 The retraction control function moves the C-arm 14 to the wall by controlling the base 14a, the first rotation axis z1, and the second rotation axis z2 based on the retraction position information read from the memory 41. Here, the order of controlling the base 14a, the first rotation axis z1, and the second rotation axis z2 is arbitrary, but for example, the first rotation axis z1 and / or the second rotation axis z2 may be controlled after controlling the base 14a. Furthermore, the coordinate information of the base position may be, for example, a coordinate value in the examination room, or a value indicating a position on the rail r1. The coordinate information of the first rotation axis z1 and the second rotation axis z2 may be, for example, a coordinate value in the examination room, or information indicating the rotation direction and rotation angle of each rotation axis.

[0065] (B) When the memory 41 stores the base position (1) The retraction control function moves the base 14a to the base position read from the memory 41, and then controls the first rotation axis z1 and the second rotation axis z2 to move the C-arm 14 to the wall while detecting the wall or the C-arm 14 with a sensor such as a camera. Here, the sensor may detect not only the wall or the C-arm 14, but also an interfering object near the wall. When the sensor detects an interfering object, the retraction control function moves the C-arm 14 so as not to collide with the interfering object. The sensor can be attached to any position such as the C-arm 14, the ceiling, or a wall. The sensor is not limited to a camera, and may be, for example, an ultrasonic sensor, or a camera and an ultrasonic sensor may be used in combination.

[0066] (C) When the memory 41 stores the base position (2) The retraction control function moves the base 14a to the base position read from the memory 41, and then moves the C-arm 14 to the wall in response to an operator's operation of the input interface 43. Specifically, for example, the retraction control function may move the C-arm 14 by interlocking the first rotation axis z1 and the second rotation axis z2 in response to a single input operation.

[0067] In any of the above (A) to (C), the retraction control function of this embodiment is capable of translating the C-arm 14 as follows. That is, when the C-arm 14 is retracted, the retraction control function of the drive control function 442 moves the base 14a along the longitudinal direction of the rail r1, and then controls the rotation about at least the first rotation axis z1 and the second rotation axis z2 to translate the C-arm 14. Here, the term "at least" means that it includes the case where only the rotation about the first rotation axis z1 and the second rotation axis z2 is performed among the movement of the base 14a and the rotation about the first rotation axis z1 and the second rotation axis z2. In this case, the C-arm 14 translates along a diagonal direction between the longitudinal direction and the width direction of the rail r1. Note that, in the retraction operation to the wall, the C-arm 14 may translate in a diagonal direction. In other words, in the retraction operation to the wall, the base 14a may be stationary, unlike the case of FIG. 6 or FIG. 7.

[0068] When the C-arm 14 is translated along the width direction of the rail r1, the retraction control function may control the rotations around the first rotation axis z1 and the second rotation axis z2 to be the same angle as each other and control the movement of the base 14a. Here, when the horizontal distance between the first rotation axis z1 and the second rotation axis z2 is L, the same angle is θ, and the movement distance of the base 14a is D, the retraction control function may control the movement of the base 14a based on the relationship D=LL cosθ. Also, the retraction control function may control the rotations around the first rotation axis z1 and the second rotation axis z2 to be 90 degrees, respectively. Also, the retraction control function in the drive control function 442 is an example of the retraction control means described in the claims.

[0069] The other configurations are similar to those of the first embodiment.

[0070] Next, the operation of the X-ray diagnostic apparatus configured as above will be described with reference to the flowchart of Fig. 10 and the schematic diagrams of Fig. 11 to 14. The following description will mainly focus on the operation when retracting the C-arm 14 in step ST5 described above.

[0071] Step ST5 is executed as shown in the following steps ST5-1 to ST5-4.

[0072] In step ST5-1, the processing circuitry 44 of the X-ray diagnostic apparatus 1 receives a retraction instruction for the C-arm 14 in response to an operation of the input interface 43 by the operator.

[0073] In step ST5-2, the drive control function 442 of the processing circuit 44 reads the base position from the memory 41 in response to the retraction command, and controls the C-arm drive device 142 based on the base position to move the base 14a to the set position along the longitudinal direction of the rail r1. As a result, the C-arm 14 moves to the set position along the rail r1. The set position is at the wall of the examination room that houses the X-ray diagnostic device 1, as shown in a plan view in FIG. 11(a) and a front view in FIG. 11(b). At the set position, the straight line CL, the longitudinal direction of the rail r1, and the wall wL are approximately parallel to each other on the horizontal plane. Also, at the set position, the isocenter axis zS overlaps with the first rotation axis z1 on the horizontal plane. The set position is not limited to the case where the wall wL is located on the right side of the paper, and the wall wL may be located on the left side of the paper. Similarly, the retraction operation to the vicinity of the wall, which will be described later, is not limited to the case where the wall wL is located on the right side of the paper, but can also be executed when the wall wL is located on the left side of the paper.

[0074] After the end of step ST5-2, in step ST5-3, the drive control function 442 translates the C-arm 14 by controlling the rotation by at least the first rotation axis z1 and the second rotation axis z2. The control of the rotation by the rotation axis may be based on the retreat position information in the memory 41, may be based on the output from a sensor not shown, or may be linked control according to one input operation. In any case, the C-arm 14 retreats to the retreat position near the wall by the control of the rotation by the rotation axis. At the retreat position, as shown in the plan view in FIG. 12(a) and the front view in FIG. 12(b), the straight line CL, the longitudinal direction of the rail r1, and the wall wL are approximately parallel to each other on the horizontal plane. Also, at the retreat position, the second rotation axis z2 and the isocenter axis zS are not between the two rails r1, but are between one rail r1 and the wall wL on the horizontal plane. That is, the C-arm 14 is retracted substantially parallel to the wall wL (step ST5-4).

[0075] In addition, when the C-arm 14 is translated along the width direction of the rail r1, the retraction control function controls the rotation by the first rotation axis z1 and the second rotation axis z2 to be the same angle θ, and controls the movement of the base 14a. Here, when the horizontal distance between the first rotation axis z1 and the second rotation axis z2 is L, the same angle is θ, and the movement distance of the base 14a is D1, the retraction control function controls the movement of the base 14a based on the relationship of D1=LL cosθ. However, in this embodiment, since the C-arm 14 only needs to be retracted to the wall, it is not necessary to translate the C-arm 14 along the width direction of the rail r1, and the C-arm 14 may be translated in a direction (diagonal direction) that deviates from the width direction of the rail r1. That is, when the C-arm 14 is moved from the set position to the retracted position, the base 14a may be stationary. However, the base 14a may be moved. In the case where the base 14a is moved in the retraction operation of the C-arm 14, the movement distance of the base 14a may be D1 or may be other than D1. In addition, the angle θ of rotation about the first rotation axis z1 and the second rotation axis z2 may be θ=arc sin(d / L) based on d=L sin θ, where d is the distance between the first rotation axis z1 and the straight line CL at the retracted position shown in FIG.

[0076] The retraction control function may control the rotations around the first rotation axis z1 and the second rotation axis z2 to be 90 degrees each. In this case, the C-arm 14 is retracted to a retracted position at the wall as shown in the plan view of FIG. 13(a) and the front view of FIG. 13(b). Alternatively, the C-arm 14 may be retracted to a retracted position at the wall as shown in the plan view of FIG. 14(a) and the front view of FIG. 14(b). In either case, as described above, when moving the C-arm 14 from the set position to the retracted position, it is not necessary to move the base 14a. In addition, when moving the base 14a, for example, the moving distance D1 of the base 14a may be set to the horizontal distance L between the first rotation axis z1 and the second rotation axis z2 (D1=LL cosθ=LL cos90°=L).

[0077] After step ST5-4 is completed, the X-ray diagnostic apparatus 1 ends its operation.

[0078] As described above, according to this embodiment, when retracting the C-arm, the base is moved along the longitudinal direction of the rail, and then the C-arm is translated by controlling rotation about at least the first and second rotation axes.

[0079] Therefore, the C-arm can be moved in parallel, and a structure that is smaller and simpler than the XY stage structure can be realized. Supplementally, as shown in FIG. 11 and each of FIG. 12 to FIG. 14, the C-arm 14 can be moved in parallel. In addition, a rail structure and a drive unit that can move in the width direction of the rail r1 in the XY stage structure are not required. Therefore, according to this embodiment, a structure that is smaller and simpler than the XY stage structure can be realized. In addition, when retracting, the first support arm 14c1 having the first rotation axis z1 overlapping the isocenter axis zS and the second support arm 14c2 having the second rotation axis z2 at a position away from the isocenter axis zS are interlocked. This allows the C-arm 14 to be retracted to the very limit, approximately parallel to the wall wL, as shown in each of FIG. 12 to FIG. 14. Therefore, after the C-arm 14 is retracted, a large working space for the operator around the subject can be secured.

[0080] Fig. 15 is a plan view and a front view of a comparative example having an XY stage structure, and shows the retraction operation of the C-arm in the X-ray diagnostic apparatus of the comparative example shown in Fig. 8. The upper half (a) of Fig. 15 is a plan view, and the lower half (b) of Fig. 15 is a front view.

[0081] According to the XY stage structure of the comparative example, when the C-arm 14 is retracted, as shown from the left to the right in Fig. 15, the base 14x is moved along the width direction of the rail r1 within the ceiling traveling frame 14y, and the support arm 14c is rotated around the first rotation axis z1 of the base 14x. In Fig. 15, "D1a" indicates the movement distance of the base 14x along the width direction of the rail r1. "CLa" indicates a straight line connecting the first rotation axis z1 and the arm main rotation axis of the connection part 14d on the horizontal plane. "L" indicates the horizontal distance of the straight line CLa.

[0082] 15(a), the first rotation axis z1 and the isocenter axis zS are located between the two rails r1, and the straight line CLa is located diagonally relative to the wall wL. That is, in the comparative example, since the isocenter is always located on an extension line of the first rotation axis z1, the C-arm 14 cannot be translated outside the two rails r1, and therefore the C-arm 14 cannot be retracted closer to the wall wL than the first rotation axis z1.

[0083] In contrast, according to this embodiment, the C-arm can be translated outside the two rails r1, making it possible to realize a structure that is smaller and simpler than the XY stage structure.

[0084] According to this embodiment, when the C-arm is translated in the width direction, the rotations around the first and second rotation axes are controlled to be the same angle, and the movement of the base is controlled. This allows the C-arm to be translated with simple control. Note that the horizontal distance between the second rotation axis z2 and the first rotation axis z1 and the horizontal distance between the second rotation axis z2 and the isocenter axis zS are not limited to being equal to each other, and may be different from each other.

[0085] According to this embodiment, the horizontal distance between the first rotation axis and the second rotation axis is L, the angle between the first rotation axis and the second rotation axis is θ, and the movement distance of the base is D. The movement of the base is controlled based on the relationship D=LL cosθ. This allows the C-arm to move in parallel with even simpler control. The formula D=LL cosθ may be transformed to be mathematically equivalent, for example, D=L(1-cosθ). Similarly, the horizontal distance between the second rotation axis z2 and the first rotation axis z1 and the horizontal distance between the second rotation axis z2 and the isocenter axis zS may be different from each other, not limited to being equal to each other. When the two horizontal distances are different from each other, the distance "L" in the formula "D=LL cosθ" may be the horizontal distance between the second rotation axis z2 and the first rotation axis z1.

[0086] Furthermore, according to this embodiment, the rotations around the first and second rotation axes are controlled to be 90 degrees each. In this case, the C-arm can be translated with even simpler control. In addition, a large working space can be quickly secured.

[0087] <Third embodiment> Next, an X-ray diagnostic apparatus according to a third embodiment will be described. The third embodiment is a modification of the second embodiment, and is configured to control rotation about at least the first rotation axis z1 and the second rotation axis z2 with the orientation of the C-arm 14 after retraction as a target.

[0088] Accordingly, when the C-arm 14 is retracted, the retraction control function retracts the C-arm 14 at least by rotation about the first rotation axis z1 and the second rotation axis z2 so that the longitudinal direction of the first support arm 14c1 intersects with the longitudinal direction of the rail r1 and the front direction of the C-arm 14 is parallel or perpendicular to the longitudinal direction of the rail r1. Here, the term "at least" has the meaning described above. Note that the retraction control function does not necessarily retract the C-arm 14 to the wall. The other configuration is similar to that of the second embodiment. According to the above-described configuration, the retraction control function retracts the C-arm 14 by rotation about at least the first rotation axis z1 and the second rotation axis z2 so that the longitudinal direction of the first support arm 14c1 intersects with the longitudinal direction of the rail r1 and the front direction of the C-arm 14 is parallel to or perpendicular to the longitudinal direction of the rail r1.

[0089] Here, when the C-arm 14 is retracted so that the front direction of the C-arm 14 is parallel to the longitudinal direction of the rail r1, at the retracted position, the C-arm 14 is located near the wall wL, as shown in any one of Figures 12 to 14 described above.

[0090] On the other hand, when the C-arm 14 is retracted so that the front direction of the C-arm 14 is perpendicular to the longitudinal direction of the rail r1, in the retracted position, the straight line CL and the longitudinal direction of the rail r1 are approximately perpendicular to each other on the horizontal plane, as shown in any of Figures 16 to 18. Also, the straight line CL and the wall wL are approximately parallel to each other on the horizontal plane. Note that Figures 16 to 18 are plan views and front views respectively showing a case where the rail r1 is rotated 90 degrees in the horizontal direction compared to Figures 12 to 14.

[0091] In any case, therefore, according to the third embodiment, it is possible to obtain the same effects as those of the second embodiment.

[0092] <Fourth embodiment> FIG. 19 is a block diagram showing the configuration of an angio-CT apparatus according to the fourth embodiment, and FIGS. 20 and 21 are an external view and a plan view of the angio-CT apparatus.

[0093] In the fourth embodiment, the X-ray diagnostic apparatus 1 according to any one of the first to third embodiments is applied to an angio-CT apparatus. As shown in FIG. 19, this angio-CT apparatus 100 includes the above-mentioned X-ray diagnostic apparatus 1, a CT (Computed Tomography) gantry 50, and a console device 70. In the angio-CT apparatus 100, the angio apparatus corresponds to the above-mentioned X-ray diagnostic apparatus 1. In the angio-CT apparatus 100, the CT apparatus corresponds to the bed device 30, the CT gantry 50, and the console device 70. The bed device 30 is used in common by the angio apparatus and the CT apparatus. In addition, the console devices 40 and 70 may be integrated.

[0094] Here, the X-ray diagnostic apparatus 1 includes the imaging device 10, the bed device 30, and the console device 40, as described above.

[0095] As shown in FIGS. 20 and 21, the imaging device 10 includes a base 14a, a first support arm 14c1, a second support arm 14c2, and a C-arm 14, similar to the above.

[0096] The base 14a is supported by a rail r1 arranged on the ceiling and is movable in the longitudinal direction of the rail r1. The rail r1 may be called a "ceiling rail" or a "first rail". The first support arm 14c1 is supported by the base 14a so as to be rotatable about a first rotation axis z1 in the vertical direction. The second support arm 14c2 is supported by the first support arm 14c1 so as to be rotatable about a second rotation axis z2 in the vertical direction. The C-arm 14 is supported by the second support arm 14c2. Other configurations of the imaging device 10 are as described above.

[0097] The bed device 30 and the console device 40 are capable of communicating with the console device 70. Other configurations of the bed device 30 and the console device 40 are similar to those described above. For example, the drive control function 442 of the processing circuit 44 of the console device 40 includes a translation control function for translating the C-arm 14 along the width direction of the rail r1 by controlling the movement of the base 14a, the rotation about the first rotation axis z1, and the rotation about the second rotation axis z2, as described above. Without being limited to this, the drive control function 442 can execute a desired control function among all of the translation control functions and retraction control functions described above.

[0098] On the other hand, the CT gantry 50 is movable on a rail r2 arranged on the floor surface, the rail r2 having a longitudinal direction perpendicular to the longitudinal direction of the rail r1 arranged on the ceiling. The rail r2 may be called a "floor rail" or a "second rail." The longitudinal direction of the rail r2 is parallel to the direction of the body axis Y of the subject P and the longitudinal direction of the tabletop 33.

[0099] Returning to FIG. 20, the CT gantry 50 includes an X-ray tube 51 , an X-ray detector 52 , a rotating frame 53 , an X-ray high voltage device 54 , a CT controller 55 , a wedge 56 , a collimator 57 , and a DAS 58 .

[0100] The X-ray tube 51 generates X-rays. Specifically, the X-ray tube 51 includes a vacuum tube that holds a cathode that generates thermoelectrons and an anode that receives thermoelectrons flying from the cathode and generates X-rays. The X-ray tube 51 is connected to the X-ray high voltage device 54 via a high-voltage cable. A tube voltage is applied between the cathode and the anode by the X-ray high voltage device 54. The application of the tube voltage causes thermoelectrons to fly from the cathode to the anode. The thermoelectrons flying from the cathode to the anode cause a tube current to flow. The application of a high voltage from the X-ray high voltage device 54 and the supply of a filament current cause thermoelectrons to fly from the cathode to the anode, and X-rays are generated when the thermoelectrons collide with the anode.

[0101] The X-ray detector 52 detects X-rays generated from the X-ray tube 51 and passing through the subject P, and outputs an electrical signal corresponding to the detected X-ray dose to the DAS 58. The X-ray detector 52 has a structure in which a plurality of X-ray detection element rows, each of which has a plurality of X-ray detection elements arranged in the channel direction, are arranged in the slice direction (column direction, row direction). The X-ray detector 52 is, for example, an indirect conversion type detector having a grid, a scintillator array, and an optical sensor array. The scintillator array has a plurality of scintillators. The scintillator outputs light with an amount of light corresponding to the amount of incident X-rays. The grid is arranged on the X-ray incidence surface side of the scintillator array, and has an X-ray shielding plate that absorbs scattered X-rays. The optical sensor array converts light from the scintillator into an electrical signal corresponding to the amount of light. For example, a photomultiplier tube is used as the optical sensor. The X-ray detector 52 may be a direct conversion type detector (semiconductor detector) having a semiconductor element that converts incident X-rays into an electrical signal.

[0102] The rotating frame 53 is an annular frame that supports the X-ray tube 51 and the X-ray detector 52 rotatably around a rotation axis Y that coincides with the body axis Y. Specifically, the rotating frame 53 supports the X-ray tube 51 and the X-ray detector 52 facing each other. The rotating frame 53 is supported by a fixed frame (not shown) so as to be rotatable around the rotation axis Y. The CT control device 55 rotates the rotating frame 53 around the rotation axis Y, thereby rotating the X-ray tube 51 and the X-ray detector 52 around the rotation axis Y. The rotating frame 53 receives power from a drive mechanism of the CT control device 55 and rotates around the rotation axis Y at a constant angular velocity. An image field of view (FOV) is set at an opening of the rotating frame 53.

[0103] The X-ray high voltage device 54 has electric circuits such as a transformer and a rectifier, and includes a high voltage generator that generates a high voltage to be applied to the X-ray tube 51 and a filament current to be supplied to the X-ray tube 51, and an X-ray control device that controls the output voltage according to the X-rays irradiated by the X-ray tube 51. The high voltage generator may be of a transformer type or an inverter type. The X-ray high voltage device 54 may be provided on the rotating frame 53 in the CT gantry 50, or on a fixed frame (not shown) in the CT gantry 50.

[0104] The wedge 56 adjusts the dose of X-rays irradiated to the subject P. Specifically, the wedge 56 attenuates the X-rays so that the dose of X-rays irradiated from the X-ray tube 51 to the subject P has a predetermined distribution. For example, the wedge 56 is a metal plate such as aluminum, such as a wedge filter or a bow-tie filter.

[0105] The collimator 57 limits the irradiation range of the X-rays transmitted through the wedge 56. The collimator 57 slidably supports a plurality of lead plates that block X-rays, and adjusts the shape of the slits formed by the plurality of lead plates.

[0106] The DAS 58 (Data Acquisition System) reads out an electric signal corresponding to the X-ray dose detected by the X-ray detector 52 from the X-ray detector 52, amplifies the read electric signal with a variable amplification factor, and integrates the electric signal over a view period to collect CT raw data having a digital value corresponding to the X-ray dose over the view period. The DAS 58 is realized, for example, by an ASIC equipped with a circuit element capable of generating CT raw data. The CT raw data is transmitted to the console device 70 via a non-contact data transmission device or the like.

[0107] The CT control device 55 controls the X-ray high voltage device 54 and the DAS 58 to perform X-ray CT imaging according to an imaging control function 733 of the processing circuit 73 of the console device 70. The CT control device 55 has a processing circuit having a CPU and the like, and a driving mechanism such as a motor and an actuator. The processing circuit has a processor such as a CPU or an MPU and a memory such as a ROM or a RAM as hardware resources. The CT control device 55 may also be realized by an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), a CPLD (Complex Programmable Logic Device), or a SPLD (Simple Programmable Logic Device).

[0108] There are various types of CT gantry 50, such as a Rotate / Rotate-Type (third generation CT) in which the X-ray generating unit and the X-ray detecting unit rotate around the subject as a single unit, and a Stationary / Rotate-Type (fourth generation CT) in which a large number of X-ray detecting elements are fixed in a ring-shaped array and only the X-ray generating unit rotates around the subject, and any type can be applied.

[0109] The console device 70 has a communication interface 71, a CT data memory 72, a processing circuitry 73, a display 74, a memory 75, and an input interface 76. For example, data communication between the communication interface 71, the CT data memory 72, the processing circuitry 73, the display 74, the memory 75, and the input interface 76 is performed via a bus.

[0110] The communication interface 71 is a circuit for communicating with the console device 40 via a wired or wireless connection or both. Although not shown, the console device 40 also includes a communication interface, which is a circuit for communicating with the console device 70.

[0111] The CT data memory 72 is a storage device that stores the CT raw data transmitted from the CT gantry 50. The CT data memory 72 is a storage device such as a hard disk drive (HDD), a solid state drive (SSD), or an integrated circuit storage device.

[0112] The processing circuitry 73 has, as hardware resources, a processor such as a CPU, MPU, or GPU (Graphics Processing Unit), and a memory such as a ROM or RAM. The processing circuitry 73 executes various programs read from the memory to realize a reconstruction function 731, an image processing function 732, an imaging control function 733, and a display control function 734. The reconstruction function 731, the image processing function 732, the imaging control function 733, and the display control function 734 may be implemented by the processing circuitry 73 on one board, or may be implemented in a distributed manner by the processing circuits 73 on multiple boards.

[0113] In the reconstruction function 731, the processing circuitry 73 reconstructs a CT image expressing the spatial distribution of CT values ​​related to the subject P based on the CT raw data transmitted from the CT gantry 50. As the image reconstruction algorithm, an existing algorithm such as the FBP (filtered back projection) method or the iterative reconstruction method may be used. The processing circuitry 73 is also capable of generating a positioning image related to the CT based on the CT raw data.

[0114] In the image processing function 732, the processing circuitry 73 performs various image processing on the CT image reconstructed by the reconstruction function 731. For example, the processing circuitry 73 performs three-dimensional image processing such as volume rendering, surface volume rendering, pixel value projection processing, MPR (Multi-Planer Reconstruction) processing, and CPR (Curved MPR) processing on the CT image to generate a display image.

[0115] In the imaging control function 733, the processing circuitry 73 synchronously controls the CT gantry 50 and the bed device 30 to perform CT imaging. The processing circuitry 73 can also execute a positioning scan (hereinafter referred to as a CT positioning scan) using the CT gantry 50. For the CT positioning scan, the processing circuitry 73 synchronously controls the CT gantry 50 and the bed device 30.

[0116] In the display control function 734, the processing circuitry 73 displays various information on the display 74. For example, the processing circuitry 73 displays the CT image reconstructed by the reconstruction function 731 on the display 74.

[0117] The display 74 displays various information under the control of the processing circuit 73 in the display control function 734. As the display 74, for example, a CRT display, a liquid crystal display, an organic EL display, an LED display, a plasma display, or any other display known in the art can be appropriately used.

[0118] The memory 75 is a storage device such as an HDD, SSD, integrated circuit storage device, etc. that stores various information. The memory 75 may also be a drive device that reads and writes various information to and from a portable storage medium such as a CD-ROM drive, DVD drive, or flash memory.

[0119] The input interface 76 inputs various commands from a user. Specifically, the input interface 76 is connected to input devices. Examples of the input devices that can be used include a keyboard, a mouse, a trackball, a joystick, and various switches. The input interface 76 supplies output signals from the input devices to the processing circuit 73 via a bus.

[0120] Next, the operation of the angio-CT apparatus configured as above will be described.

[0121] In the angio CT device 100, the CT device can be used by retracting the C-arm 14 along the rail r1 and setting the CT gantry 50 to the imaging position along the rail r2. Also, the X-ray diagnostic device 1 can be used as an angio device by retracting the CT gantry 50 along the rail r2 and setting the C-arm 14 to the imaging position along the rail r1.

[0122] Here, when the X-ray diagnostic apparatus 1 is available, it can operate in the same manner as in steps ST1 to ST5 described above. At this time, the X-ray diagnostic apparatus 1 can translate the C-arm 14 in the width direction of the rail r1 by controlling, for example, the movement of the base 14a, the rotation about the first rotation axis z1, and the rotation about the second rotation axis z2 in the same manner as described above.

[0123] Furthermore, the X-ray diagnostic apparatus 1 can operate in the same manner as in steps ST5-1 to ST5-4 described above. When retracting the C-arm 14, the X-ray diagnostic apparatus 1 can translate the C-arm 14 by, for example, moving the base 14a along the longitudinal direction of the rail r1 in the same manner as described above, and then controlling the rotation about at least the first rotation axis z1 and the second rotation axis z2.

[0124] As described above, according to this embodiment, the CT gantry is moved along the second rail arranged on the floor, and then the C-arm is translated along the width direction of the first rail by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis. This allows the angio-CT device to achieve the same effects as the first embodiment.

[0125] Furthermore, when retracting the C-arm, the base is moved along the longitudinal direction of the first rail, and then the C-arm is translated by controlling rotations around at least the first and second rotation axes, thereby providing the same effect as the second embodiment in the angio-CT apparatus.

[0126] According to at least one of the embodiments described above, the apparatus includes a base that is movable in the longitudinal direction of the rail, a first support arm supported by the base so as to be rotatable about a first rotation axis, a second support arm supported by the first support arm so as to be rotatable about a second rotation axis, and a C-arm. Accordingly, the C-arm is translated along the width direction of the rail by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis.

[0127] Therefore, the C-arm can be moved in parallel, and a structure that is smaller and simpler than an XY stage structure can be realized.

[0128] The term "processor" used in the above description means a circuit such as a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a programmable logic device (e.g., a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA)). The processor realizes its function by reading and executing a program stored in a memory circuit. Instead of storing the program in the memory circuit, the program may be directly built into the circuit of the processor. In this case, the processor realizes its function by reading and executing the program built into the circuit. Each processor in this embodiment is not limited to being configured as a single circuit for each processor, and may be configured as a single processor by combining multiple independent circuits to realize its function. Furthermore, multiple components in FIG. 1 or FIG. 16 may be integrated into a single processor to realize its function.

[0129] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as the scope and spirit of the invention. [Explanation of symbols]

[0130] 1...X-ray diagnostic apparatus, 10...imaging device, 11...high voltage generator, 12...X-ray generator, 13,52...X-ray detector, 14...C-arm, 14a...base, 14b1,14b2...fulcrum, 14c1...first support arm, 14c2...second support arm, 14d...connection portion, 141...status detector, 142...C-arm drive device, 30...bed device, 31...base, 32...bed drive device, 33...top plate, 34...support frame, 40,70...console device, 41,75...memory, 42,74...display, 43,76...input interface, 44,73...processing circuit, 441...system control function, 4 42...drive control function, 443...X-ray control function, 444,732...image processing function, 445,734...display control function, 50...CT gantry, 51...X-ray tube, 53...rotating frame, 54...X-ray high voltage device, 55...CT control device, 56...wedge, 57...collimator, 58...DAS, 71...communication interface, 72...CT data memory, 731...reconstruction function, 733...imaging control function, 100...angio CT device, CL...straight line, IS...isocenter, Rc...arm main rotation axis, r1,r2...rail, wL...wall, z1...first rotation axis, z2...second rotation axis, zS...isocenter axis.

Claims

1. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm; a retraction control unit that retracts the C-arm by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis, an X-ray diagnostic apparatus in which, when the C-arm is retracted by the retraction control means, a distance in the longitudinal direction of the rail between a wall positioned opposite the longitudinal direction of the rail and the first rotation axis is longer than a distance between the wall and an isocenter of the C-arm, and a straight line connecting the second rotation axis and the isocenter on a horizontal plane is parallel to a direction perpendicular to the longitudinal direction of the rail.

2. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm; a retraction control unit that retracts the C-arm by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis, an X-ray diagnostic apparatus in which, when the C-arm is retracted by the retraction control means, a distance between a wall parallel to the longitudinal direction of the rail and the first rotation axis in a direction perpendicular to the longitudinal direction of the rail is longer than a distance between the wall and an isocenter of the C-arm, and a straight line connecting the second rotation axis and the isocenter on a horizontal plane is parallel to the longitudinal direction of the rail.

3. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm; a retraction control means for retracting the C-arm by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis when the C-arm is retracted, an X-ray diagnostic apparatus, wherein the retraction control means controls the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis, so that the distance between the first rotation axis and a wall positioned opposite to the longitudinal direction of the rail in the longitudinal direction of the rail is longer than the distance between the wall and an isocenter of the C-arm, and a straight line connecting the second rotation axis and the isocenter on a horizontal plane is parallel to a direction perpendicular to the longitudinal direction of the rail.

4. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm; a retraction control means for retracting the C-arm by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis when the C-arm is retracted, an X-ray diagnostic apparatus, wherein the retraction control means controls the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis, so that a distance between the first rotation axis and a wall parallel to the longitudinal direction of the rail in a direction perpendicular to the longitudinal direction of the rail is longer than a distance between the wall and an isocenter of the C-arm, and a straight line connecting the second rotation axis and the isocenter on a horizontal plane is parallel to the longitudinal direction of the rail.

5. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm, An X-ray diagnostic apparatus wherein, by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis, the distance between the first rotation axis and a wall positioned opposite to the longitudinal direction of the rail in the longitudinal direction of the rail becomes longer than the distance between the wall and an isocenter of the C-arm, and a straight line connecting the second rotation axis and the isocenter on a horizontal plane becomes parallel to a direction perpendicular to the longitudinal direction of the rail.

6. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm, An X-ray diagnostic apparatus wherein, by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis, the distance between the first rotation axis and a wall parallel to the longitudinal direction of the rail in a direction perpendicular to the longitudinal direction of the rail becomes longer than the distance between the wall and an isocenter of the C-arm, and a straight line connecting the second rotation axis and the isocenter on a horizontal plane becomes parallel to the longitudinal direction of the rail.

7. A reception unit that receives an evacuation instruction from an operator is further provided, The X-ray diagnostic apparatus according to claim 1 , wherein the retraction control means retracts the C-arm in response to the retraction instruction.

8. Further comprising a reception unit for receiving an instruction from an operator, 7. The X-ray diagnostic apparatus according to claim 5, further comprising a control for controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis in response to the instruction.

9. The X-ray diagnostic apparatus according to claim 1 , further comprising: a control unit configured to perform control of the rotation about the first rotation axis and the rotation about the second rotation axis after control of the movement of the base.

10. a storage unit configured to store evacuation position information related to the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis; 8. The X-ray diagnostic apparatus according to claim 1, wherein the retraction control means retracts the C-arm by controlling the movement of the base, the rotation about the first rotation axis, and the rotation about the second rotation axis based on the retraction position information read from the memory unit.

11. 8. The X-ray diagnostic apparatus according to claim 1, wherein the retraction control means controls the rotation about the first rotation axis and the rotation about the second rotation axis based on information about a position of the C-arm or a position of a wall output from a sensor.

12. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm, a method for retracting the C-arm by moving the base, rotating about the first rotation axis, and rotating about the second rotation axis, so that the distance between the first rotation axis and a wall positioned opposite the longitudinal direction of the rail is longer than the distance between the wall and an isocenter of the C-arm, and by making a straight line connecting the second rotation axis and the isocenter on a horizontal plane parallel to a direction perpendicular to the longitudinal direction of the rail.

13. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm, A method for retracting the C-arm by moving the base, rotating about the first rotation axis, and rotating about the second rotation axis, so that the distance between the first rotation axis and a wall parallel to the longitudinal direction of the rail in a direction perpendicular to the longitudinal direction of the rail is longer than the distance between the wall and an isocenter of the C-arm, and by making a straight line connecting the second rotation axis and the isocenter on a horizontal plane parallel to the longitudinal direction of the rail.

14. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm, A method in which, by moving the base and rotating about the first rotation axis and rotating about the second rotation axis, the distance between the first rotation axis and a wall positioned opposite the longitudinal direction of the rail is longer than the distance between the wall and an isocenter of the C-arm, and a straight line connecting the second rotation axis and the isocenter on a horizontal plane is parallel to a direction perpendicular to the longitudinal direction of the rail.

15. A base supported by a rail disposed on a ceiling and movable in a longitudinal direction of the rail; a first support arm supported by the base so as to be rotatable about a first rotation axis in a vertical direction; a second support arm supported by the first support arm so as to be rotatable about a second rotation axis in a vertical direction; a C-arm supported by the second support arm, A method in which, by moving the base and rotating about the first rotation axis and rotating about the second rotation axis, the distance between a wall parallel to the longitudinal direction of the rail and the first rotation axis in a direction perpendicular to the longitudinal direction of the rail is longer than the distance between the wall and an isocenter of the C-arm, and a straight line connecting the second rotation axis and the isocenter on a horizontal plane is parallel to the longitudinal direction of the rail.

16. Accepts evacuation instructions from the operator, Further comprising: retracting the C-arm in response to the retraction command.

14. The method according to any one of claims 12 to 13.

17. Receives operation instructions from the operator, The method further includes operating the C-arm in response to the operation instruction.

16. The method according to any one of claims 14 to 15.

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