X-ray diagnostic apparatus and method for controlling the X-ray diagnostic apparatus

Abstract

To reduce a vibration of an arm in photographing by an x-ray diagnostic apparatus.SOLUTION: The x-ray diagnostic apparatus according to the present embodiment comprises: an arm which holds at least one of an x-ray generation part and an x-ray detection part; a driving part which rotates and drives the arm; a sensor which detects a vibration of the arm; and a drive control part which, on the basis of the vibration detected by the sensor, controls the rotation and driving of the arm by the driving part so as to execute the rotation and driving while reducing the vibration of the arm.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, there has been known an X-ray diagnostic apparatus having an arm that holds an X-ray generator at one end and an X-ray detector at the other end in opposing positions. Such an X-ray diagnostic apparatus is used, for example, to image the circulatory system. In the X-ray diagnostic apparatus used to image the circulatory system, 3D-DSA (Digital Subtraction Angiography) imaging (three-dimensional DSA imaging) is performed, and there is a growing need for faster operation speeds and a wider imaging range.

[0003] However, because the arm of an X-ray diagnostic device has a cantilever structure, it is prone to vibration due to the rotational drive of the arm. Furthermore, increasing the operating speed and expanding the imaging range in 3D-DSA imaging increases the vibration of the arm, which can result in image artifacts caused by the vibration and can degrade the quality of the captured image.

[0004] These problems also occur in various imaging methods, such as R-DSA (rotational DSA) and other rotational imaging, as well as 2D-DSA (two-dimensional DSA) imaging, in addition to 3D-DSA imaging. Furthermore, these problems occur not only in X-ray diagnostic devices that image the circulatory system, but also in other X-ray diagnostic devices, such as mammography devices that image the breasts and X-ray television systems that image the digestive system, etc. For this reason, it is desirable to reduce the vibration of the arm during imaging in X-ray diagnostic devices. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-239902 [Patent Document 2] Japanese Patent Publication No. 2019-063505 [Patent Document 3] International Publication No. 2009 / 128129 [Patent Document 4] Japanese Patent Application Publication No. 2018-192256 [Patent Document 5] Japanese Patent Application Laid-Open No. 2015-016156 Summary of the Invention [Problem to be solved by the invention]

[0006] One of the problems to be solved by the embodiments disclosed in this specification and the drawings is to reduce vibration of an arm during imaging in an X-ray diagnostic apparatus. However, the problems to be solved by the embodiments disclosed in this specification and the drawings are not limited to the above problem. Problems corresponding to the effects of each configuration shown in the embodiments described below can also be positioned as other problems. [Means for solving the problem]

[0007] An X-ray diagnostic apparatus according to an embodiment includes an arm that holds at least one of an X-ray generating unit and an X-ray detecting unit, a driving unit that rotationally drives the arm, a sensor that detects vibration of the arm, and a driving control unit that controls the rotational driving of the arm by the driving unit based on the vibration detected by the sensor so as to perform rotational driving while reducing vibration of the arm. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing the appearance of an X-ray diagnostic apparatus according to a first embodiment. [Figure 2] 1 is a block diagram showing an example of the arrangement of an X-ray diagnostic apparatus according to a first embodiment. [Figure 3] FIG. 3 is a flowchart illustrating the contents of arm drive control processing executed in the X-ray diagnostic apparatus according to the first embodiment. [Figure 4]FIG. 3 is a flowchart illustrating the contents of arm drive control processing executed in the X-ray diagnostic apparatus according to the first embodiment. [Figure 5] FIG. 2 is an explanatory diagram for explaining sensor selection in the X-ray diagnostic apparatus according to the first embodiment. [Figure 6] FIG. 2 is an explanatory diagram for explaining sensor selection in the X-ray diagnostic apparatus according to the first embodiment. [Figure 7] FIG. 2 is an explanatory diagram for explaining sensor selection in the X-ray diagnostic apparatus according to the first embodiment. [Figure 8] FIG. 3 is an explanatory diagram illustrating an example of vibration data related to vibration of a C-arm due to rotational driving, which is stored in a memory circuit in the X-ray diagnostic apparatus according to the first embodiment. [Figure 9] FIG. 3 is an explanatory diagram illustrating the timing at which a return operation starts in the X-ray diagnostic apparatus according to the first embodiment. [Figure 10] FIG. 4 is a flowchart illustrating the contents of a notification process executed by the X-ray diagnostic apparatus according to the first embodiment. [Figure 11] FIG. 10 is a flowchart illustrating the contents of arm drive control processing executed in the X-ray diagnostic apparatus according to the second embodiment. [Figure 12] FIG. 10 is a flowchart illustrating the contents of arm drive control processing executed in the X-ray diagnostic apparatus according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of an X-ray diagnostic apparatus and a control method for an X-ray diagnostic apparatus will be described with reference to the drawings. In the following description, components having substantially the same functions and configurations will be assigned the same reference numerals, and redundant explanations will be given only when necessary.

[0010] [First embodiment] 1 is a schematic diagram showing the appearance of an X-ray diagnostic apparatus 1 according to the first embodiment. As shown in Fig. 1, the X-ray diagnostic apparatus 1 according to this embodiment includes C-arms 11a and 11b (hereinafter simply referred to as C-arm 11 unless otherwise specified), C-arm supports 13a and 13b (hereinafter simply referred to as C-arm support 13 unless otherwise specified), and a bed 15.

[0011] In this embodiment, for ease of explanation, the longitudinal direction of the bed 15 is defined as the Z-axis direction. The direction perpendicular to the Z-axis direction and horizontal to the floor surface is defined as the X-axis direction. The X-axis direction corresponds to the shorter side of the bed. The direction perpendicular to the Z-axis direction and vertical to the floor surface is defined as the Y-axis direction.

[0012] The C-arm 11 holds an X-ray generator 19, an X-ray detector 21, etc. The C-arm 11 rotates and / or slides under the control of a processing circuit, which will be described later. The C-arms 11a and 11b can rotate and / or slide independently. The C-arm 11b suspended from the ceiling is also called an Ω-arm or Ω-shaped arm. While FIG. 1 illustrates an example in which the X-ray diagnostic apparatus 1 is a biplane apparatus equipped with two C-arms 11, the X-ray diagnostic apparatus 1 may have a single-plane configuration equipped with one C-arm 11. The C-arm 11 corresponds to the arm in this embodiment.

[0013] The C-arm support 13 supports the C-arm 11 so that it can rotate and / or slide. The C-arm support 13a includes a C-arm holder 131a, a support column 132a, and a floor swivel column 133a. The C-arm holder 131a holds the C-arm 11a so that it can slide in the arc direction of the C-arm 11a, i.e., in the direction of arrow a1 shown in FIG. 1. The C-arm holder 131a is attached to the support column 132a so that it can rotate about a rotation axis a2, which is an axis parallel to the Z axis. As the C-arm holder 131a rotates about the rotation axis a2, the C-arm 11a also rotates about the rotation axis a2.

[0014] The support column 132a is attached to the floor swivel section 133a so as to be rotatable around a rotation axis a3 that is parallel to the Y axis, for example. The floor swivel section 133a is attached to the floor surface at one end so as to be rotatable around a rotation axis a4 that is parallel to the Y axis, for example. The floor swivel section 133a supports the support column 132a at the other end.

[0015] The C-arm support part 13b includes a C-arm holder 131b and a support part 132b. The C-arm holder 131b holds the C-arm 11b so that it can slide freely in the arc direction of the C-arm 11b, i.e., in the direction of arrow b1 shown in FIG. 1. The C-arm holder 131b is attached to the support part 132b so that it can rotate freely around a rotation axis b2, which is an axis parallel to the Y-axis, for example. As the C-arm holder 131b rotates around the rotation axis b2, the C-arm 11b also rotates around the rotation axis b2.

[0016] Support column 132b is attached so as to be movable in the Z-axis direction. As support column 132b moves in the Z-axis direction, C-arm 11b and C-arm holder 131b also move in the Z-axis direction.

[0017] The bed 15 is a bed on which a subject rests, and includes a top board 15a and a base 15b. The top board 15a is a plate on which the subject rests, and the base 15b is a housing that supports the top board 15a.

[0018] 1, an example is described in which the X-ray diagnostic apparatus 1 is a biplane apparatus having two C-arms 11, but this embodiment is also applicable to a single-plane X-ray diagnostic apparatus having one C-arm 11. Therefore, in the following description, the details of this embodiment will be described focusing on one C-arm 11a in the X-ray diagnostic apparatus 1.

[0019] Fig. 2 is a block diagram showing an example of the configuration of the X-ray diagnostic apparatus 1 according to this embodiment. As shown in Fig. 2, the apparatus includes a C-arm 11a, a bed 15, an X-ray high-voltage device 17, an X-ray generator 19, an X-ray detector 21, a sensor 23, a drive unit 25, a processing circuit 27, an input interface 29, an output interface 31, a display 33, and a memory circuit 35. Note that a description of the bed 15 is omitted because it is the same as that of Fig. 1.

[0020] The C-arm 11a holds the X-ray generator 19 and the X-ray detector 21 so that they face each other across the subject P. For example, the C-arm 11a applies a drive voltage to the drive unit 25 in accordance with a control signal received from the processing circuitry 27, thereby rotating and / or sliding the X-ray generator 19 and the X-ray detector 21 relative to the subject P and controlling the imaging position and imaging angle.

[0021] X-ray high voltage device 17 supplies a high voltage to X-ray generator 19 under the control of processing circuit 27. For example, X-ray high voltage device 17 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 X-ray generator 19, and an X-ray control device that controls the output voltage according to the X-rays irradiated by X-ray generator 19. The high voltage generator may be of a transformer type or an inverter type.

[0022] The X-ray generator 19 generates X-rays. Specifically, the X-ray generator 19 includes an X-ray tube 19a that irradiates the subject P with X-rays, and an X-ray aperture 19b that has the function of limiting the X-ray irradiation field and attenuating the X-rays in part of the irradiation field. The X-ray generator 19 in this embodiment is an example of an X-ray generation unit.

[0023] X-ray tube 19a is a vacuum tube having a cathode (filament) that generates thermoelectrons and an anode (target) that generates X-rays upon impact of the thermoelectrons. X-ray tube 19a generates X-rays by irradiating thermoelectrons from the cathode to the anode using a high voltage supplied from X-ray high voltage device 17. For example, X-ray tube 19a may be a rotating anode type X-ray tube that generates X-rays by irradiating a rotating anode with thermoelectrons.

[0024] The X-ray diaphragm 19b is made of a metal plate such as a lead plate. The X-ray diaphragm 19b diaphragms the X-rays generated by the X-ray tube 19a and controls the range of X-rays irradiated onto the subject P. That is, by narrowing the aperture of the X-ray diaphragm 19b, the irradiation range of X-rays can be narrowed, and conversely, by opening the aperture of the X-ray diaphragm 19b, the irradiation range of X-rays can be widened. The X-ray diaphragm 19b is also called a collimator.

[0025] The X-ray detector 21 is, for example, an X-ray flat panel detector (FPD) having detection elements arranged in a matrix. The X-ray detector 21 detects X-rays that are irradiated from the X-ray generator 19 and transmitted through the subject P, and outputs a detection signal corresponding to the detected X-ray dose to the processing circuitry 27. The X-ray detector 21 may be an indirect conversion type detector having a grid, a scintillator array, and a photosensor array, or may be a direct conversion type detector having semiconductor elements that convert incident X-rays into electrical signals. The X-ray detector 21 in this embodiment is an example of an X-ray detection unit.

[0026] Sensor 23 is a sensor that detects vibration of C-arm 11a, and is, for example, an acceleration sensor, a gyro sensor, etc. Sensor 23 detects vibration of C-arm 11a when rotational driving is being performed by X-ray diagnostic apparatus 1, and outputs the detected vibration to processing circuitry 27.

[0027] 2 shows an example in which the sensor 23 is provided on the X-ray generator 19, but the location where the sensor 23 is provided is not limited to this. The sensor 23 may be provided on the X-ray detector 21 or the C-arm support 13a such as the support column 132a, or may be provided near the X-ray generator 19, the X-ray detector 21, or the C-arm support 13a, for example, on the C-arm 11a. Furthermore, the sensor 23 is not limited to being provided in one location, but may be provided in multiple locations. That is, the number of sensors 23 is arbitrary, and the sensors 23 may be provided on the X-ray generator 19, the X-ray detector 21, the C-arm support 13a, or at least one location near them.

[0028] The driving unit 25 is composed of a motor, an actuator, etc. that reads a driving signal from the processing circuitry 27 and drives and rotates the C-arm 11a or slides the C-arm 11a. The driving unit 25 in this embodiment is an example of a driving mechanism.

[0029] The processing circuit 27 is a control circuit that performs overall control of the X-ray diagnostic apparatus 1. The processing circuit 27 is also an arithmetic circuit that performs various calculations, and is configured with a processor such as a CPU or GPU. The processing circuit 27 according to this embodiment controls the drive unit 25 and detects the posture of the C-arm 11a, for example.

[0030] For this reason, the processing circuit 27 according to this embodiment has a drive control function 27a, an attitude detection function 27b, and an alarm function 27c. The drive control function 27a corresponds to the drive control unit in this embodiment, the attitude detection function 27b corresponds to the attitude detection unit in this embodiment, and the alarm function 27c corresponds to the alarm unit in this embodiment.

[0031] The input interface 29, for example, accepts various input operations from a user, converts the accepted input operations into electrical signals, and outputs the electrical signals to the processing circuitry 27. For example, the input interface 29 accepts input of information about the subject P and imaging information such as imaging conditions when imaging the subject P. The input interface 29 is realized by, for example, a mouse, a keyboard, a trackball, a manual switch, a foot switch, a button, a joystick, etc. The input interface 29 may be configured by a tablet terminal or the like capable of wireless communication with the main body of the X-ray diagnostic apparatus 1.

[0032] The output interface 31 outputs, for example, a signal supplied from the processing circuit 27. The output interface 31 is realized by, for example, an indicator such as a lamp, a speaker that outputs sound, or the like.

[0033] The display 33 is a liquid crystal display, a CRT (Cathode Ray Tube) display, or the like, and displays various types of information. The display 33 displays, for example, a GUI (Graphical User Interface) for receiving various instructions and settings from a user via the input interface 29. The display 33 may be a desktop type, or may be configured as a tablet terminal or the like capable of wireless communication with the main body of the X-ray diagnostic apparatus 1.

[0034] The memory circuitry 35 is realized by, for example, a semiconductor memory element such as a RAM (Random Access Memory), a flash memory, a hard disk, an optical disk, etc. In this embodiment, for example, the memory circuitry 35 stores a program executed by a circuit included in the X-ray diagnostic apparatus 1 and vibration of the C-arm 11a due to rotational driving detected by the sensor 23. The memory circuitry 35 corresponds to the memory unit in this embodiment.

[0035] 3 and 4 are flowcharts illustrating the arm drive control process executed by the X-ray diagnostic apparatus 1 according to this embodiment. In this arm drive control process, the rotational drive of the C-arm 11a is started at a timing that reduces the vibration of the C-arm 11a based on the vibration detected by the sensor 23, and the rotational drive of the C-arm 11a after the rotational drive has started is controlled. For example, this arm drive control process is executed when imaging information selected by the user is acquired via the input interface 29.

[0036] 3, first, the X-ray diagnostic apparatus 1 acquires imaging information (step S11). The process of acquiring this imaging information is realized by the drive control function 27a in the processing circuitry 27. Specifically, the X-ray diagnostic apparatus 1 acquires imaging information selected by the user via the input interface 29.

[0037] The imaging information is information related to imaging performed by the X-ray diagnostic apparatus 1. The imaging information includes, for example, information related to rotational imaging such as R-DSA imaging, 3D-DSA imaging, and 2D-DSA imaging, information related to the imaging region and imaging direction, etc. In the following description of the arm drive control process in this embodiment, a case where 3D-DSA imaging is performed will be described as an example.

[0038] 3, the X-ray diagnostic apparatus 1 moves the C-arm 11a to the imaging start position (step S13). This process of moving the C-arm 11a to the imaging start position is realized by the drive control function 27a in the processing circuitry 27. Specifically, the X-ray diagnostic apparatus 1 controls the drive of the drive unit 25 based on the imaging information acquired in step S11, and moves the C-arm 11a to the 3D-DSA imaging start position.

[0039] 3, the X-ray diagnostic apparatus 1 detects the posture of the C-arm 11a at the imaging start position (step S15). This process of detecting the posture of the C-arm 11a is realized by the posture detection function 27b in the processing circuitry 27. Specifically, the X-ray diagnostic apparatus 1 detects the posture of the C-arm 11a at the imaging start position from the imaging information acquired in step S11 and / or information related to the drive control of the C-arm 11a in step S13.

[0040] Although the X-ray diagnostic apparatus 1 detects the posture of the C-arm 11a at the imaging start position from the imaging information acquired in step S11 and / or information related to the drive control of the C-arm 11a in step S13, the X-ray diagnostic apparatus 1 may also detect the posture of the C-arm 11a at the imaging start position using a posture detector that detects the posture of the C-arm. The posture detector is, for example, a potentiometer that detects the rotation angle or the amount of movement, or an encoder, acceleration sensor, gyro sensor, or the like that is a position detection sensor.

[0041] 3, the X-ray diagnostic apparatus 1 selects a sensor 23 that detects vibration of the C-arm 11a (step S17). This process of selecting a sensor 23 is realized by a drive control function 27a in the processing circuitry 27. That is, the X-ray diagnostic apparatus 1 is equipped with a plurality of sensors 23. Then, the X-ray diagnostic apparatus 1 selects a sensor 23 that detects vibration of the C-arm 11a based on the posture of the C-arm 11a detected in step S15.

[0042] 5 to 7 are explanatory diagrams illustrating the selection of sensor 23 that detects vibration of C-arm 11a in X-ray diagnostic apparatus 1 according to this embodiment. First, a method for acquiring captured images in X-ray diagnostic apparatus 1 will be described with reference to FIG. 5. Based on the imaging information acquired in step S11, X-ray diagnostic apparatus 1 slides C-arm 11a in the a1 direction using driver 25, to which a drive signal is input from drive control function 27a. This determines the imaging direction of C-arm 11a. When the user inputs an instruction to start 3D-DSA imaging via input interface 29, X-ray diagnostic apparatus 1 rotates C-arm holder 131a and C-arm 11a around rotation axis a2 to irradiate X-rays and acquire images at multiple angles using X-ray detector 21.

[0043] Next, the selection of sensor 23 that detects vibrations of C-arm 11a will be described. X-ray diagnostic apparatus 1 shown in Fig. 5 includes sensor 23A provided on X-ray detector 21, sensor 23B provided on X-ray generator 19, and sensor 23C provided on support column 132a. X-ray diagnostic apparatus 1 shown in Fig. 5 shows a state in which C-arm 11a has not slid in the a1 direction, that is, a state in which C-arm 11a is in the home position. When C-arm 11a has not slid in the a1 direction, the distances from the point where C-arm holder 131a supports C-arm 11a to sensor 23A and sensor 23B are approximately equal.

[0044] Therefore, the difference in moment load acting on sensor 23A and sensor 23B is small, and the vibration state in X-ray generator 19 and the vibration state in X-ray detector 21 show approximately the same tendency. Therefore, in step S17, if C-arm 11a is not sliding, either sensor 23A provided in X-ray detector 21 or sensor 23B provided in X-ray generator 19 is selected as the sensor to detect vibration of C-arm 11a.

[0045] In step S17, if C-arm 11a is not sliding, both sensor 23A provided on X-ray detector 21 and sensor 23B provided on X-ray generator 19 may be selected as sensors for detecting vibration of C-arm 11a. In addition, in step S17, if C-arm 11a is not sliding, sensor 23C provided on support 132a may be selected as a sensor for detecting vibration of C-arm 11a, instead of sensor 23A provided on X-ray detector 21 or sensor 23B provided on X-ray generator 19.

[0046] 5, X-ray diagnostic apparatus 1 shown in Fig. 6 includes sensor 23A provided on X-ray detector 21, sensor 23B provided on X-ray generator 19, and sensor 23C provided on support column 132a. X-ray diagnostic apparatus 1 shown in Fig. 6 is in a state where C-arm 11a has been slid 90 degrees counterclockwise in direction a1, that is, in the direction in which X-ray detector 21 is protruded. When C-arm 11a has been slid 90 degrees counterclockwise, X-ray generator 19 provided with sensor 23B approaches the position where C-arm holder 131a supports C-arm 11a, and therefore the distance from the position where C-arm holder 131a supports C-arm 11a to sensor 23B becomes shorter.

[0047] Therefore, the moment load acting on sensor 23B provided in X-ray generator 19 is reduced, and when C-arm 11a is rotationally driven around rotation axis a2 during 3D-DSA imaging, the vibration state in X-ray generator 19 is also reduced.

[0048] On the other hand, in X-ray detector 21 provided with sensor 23A, C-arm holder 131a protrudes from the portion supporting C-arm 11a, and therefore the distance from the portion supporting C-arm 11a with C-arm holder 131a to sensor 23A increases. As a result, the moment load acting on sensor 23A provided in X-ray detector 21 increases, and when C-arm 11a is rotationally driven around rotation axis a2 during 3D-DSA imaging, the vibration state of X-ray detector 21 increases.

[0049] Therefore, when the posture of C-arm 11a detected in step S15 is a state in which C-arm 11a has slid 90 degrees counterclockwise, X-ray diagnostic apparatus 1 selects sensor 23A provided in X-ray detector 21. This makes it possible to easily detect vibrations of C-arm 11a, and the vibrations of C-arm 11a detected by selected sensor 23A can be used for drive control.

[0050] 6, the state in which X-ray diagnostic apparatus 1 has slid C-arm 11a counterclockwise by 90 degrees has been described, but the angle of counterclockwise sliding may be greater than 0 degrees and less than or equal to 90 degrees, and sensor 23A may be selected in a state in which C-arm 11a has slid counterclockwise by greater than 0 degrees and less than or equal to 90 degrees. Furthermore, sensor 23C may be selected instead of sensor 23A in a state in which X-ray diagnostic apparatus 1 has slid C-arm 11a counterclockwise by 90 degrees.

[0051] 5 and 6, the X-ray diagnostic apparatus 1 shown in Fig. 7 includes a sensor 23A provided on the X-ray detector 21, a sensor 23B provided on the X-ray generator 19, and a sensor 23C provided on the support column 132a. The X-ray diagnostic apparatus 1 shown in Fig. 7 is in a state in which the C-arm 11a has been slid 90 degrees clockwise in the direction a1, that is, in the direction in which the X-ray generator 19 is protruded. In this case, the X-ray detector 21 provided with sensor 23A approaches the position where the C-arm holder 131a supports the C-arm 11a, and therefore the distance from the position where the C-arm holder 131a supports the C-arm 11a to sensor 23A becomes shorter.

[0052] Therefore, the moment load acting on sensor 23A provided in X-ray detector 21 is reduced, and when C-arm 11a is rotationally driven around rotation axis a2 during 3D-DSA imaging, the vibration state of X-ray detector 21 is also reduced.

[0053] On the other hand, in X-ray generator 19 provided with sensor 23B, C-arm holder 131a protrudes from the portion supporting C-arm 11a, increasing the distance from the portion supporting C-arm 11a to sensor 23B. As a result, the moment load acting on sensor 23B provided in X-ray generator 19 increases, and when C-arm 11a is rotationally driven around rotation axis a2 during 3D-DSA imaging, the vibration state of X-ray generator 9 increases.

[0054] Therefore, when the posture of C-arm 11a detected in step S15 is a state in which C-arm 11a has slid 90 degrees clockwise, X-ray diagnostic apparatus 1 selects sensor 23B provided in X-ray detector 21. This makes it possible to easily detect vibrations of C-arm 11a, and the vibrations of C-arm 11a detected by selected sensor 23B can be used for drive control.

[0055] 7 illustrates a state in which X-ray diagnostic apparatus 1 has slid C-arm 11a clockwise by 90 degrees, but the angle of clockwise sliding may be greater than 0 degrees and less than or equal to 90 degrees, and sensor 23B may be selected when C-arm 11a has slid clockwise by greater than 0 degrees and less than or equal to 90 degrees. Furthermore, when X-ray diagnostic apparatus 1 has slid C-arm 11a counterclockwise by 90 degrees, sensor 23C may be selected instead of sensor 23B.

[0056] 3, X-ray diagnostic apparatus 1 starts detecting vibration of C-arm 11a by sensor 23 (step S19). The process of starting detection of vibration of C-arm 11a by sensor 23 is realized by drive control function 27a in processing circuitry 27. Specifically, X-ray diagnostic apparatus 1 starts detecting vibration of C-arm 11a by sensor 23 selected in step S17.

[0057] 3, X-ray diagnostic apparatus 1 starts capturing a mask image (step S21). This process of starting mask image capturing is realized by drive control function 27a in processing circuitry 27. Specifically, X-ray diagnostic apparatus 1 outputs a drive signal from drive control function 27a to drive unit 25, and starts rotational drive of C-arm 11a for mask image capturing.

[0058] Mask imaging is imaging performed before contrast agent injection in 3D-DSA imaging. Mask imaging involves, for example, collecting images using the X-ray generator 19 and the X-ray detector 21 while rotating the C-arm 11a 200 degrees around the rotation axis a2 from the starting position of the 3D-DSA imaging.

[0059] Next, as shown in FIG. 3, the X-ray diagnostic apparatus 1 ends mask image capture (step S23). This process of ending mask image capture is realized by the drive control function 27a in the processing circuitry 27. Specifically, after starting mask image capture, the X-ray diagnostic apparatus 1 ends the rotational drive of the C-arm 11a by rotating the C-arm 11a, for example, by 200 degrees around the rotation axis a2. Note that the angle at which the C-arm 11a is rotated during mask image capture is arbitrary. For example, the angle at which the C-arm 11a is rotated may be equal to or greater than 180 degrees and smaller than 200 degrees, or may even be equal to or greater than 200 degrees.

[0060] 3, X-ray diagnostic apparatus 1 stores in memory circuitry 35 the vibration of C-arm 11a caused by rotational drive during mask image capture (step S25). This process of storing data in memory circuitry 35 is realized by drive control function 27a. Specifically, X-ray diagnostic apparatus 1 stores in memory circuitry 35, among the vibrations of C-arm 11a detected by sensor 23, the vibrations from the start to the end of mask image capture as vibration data related to the vibration of C-arm 11a caused by rotational drive. The vibrations detected by sensor 23 may be stored in memory circuitry 35 sequentially from the start to the end of mask image capture, or may be stored in memory circuitry 35 all at once after mask image capture is completed.

[0061] 8 is an explanatory diagram illustrating an example of vibration data related to the vibration of the C-arm 11a due to rotational driving stored in the memory circuitry 35 in the X-ray diagnostic apparatus 1 according to this embodiment. The waveform shown in this Fig. 8 shows the vibration state from when the C-arm 11a starts to be rotated until it stops.

[0062] 8, after the C-arm 11a starts to be driven, at the start when the C-arm 11a rises to a constant speed, and at the stop when the C-arm 11a starts to decelerate and stop, acceleration acts on the C-arm 11a, causing the C-arm 11 to vibrate greatly. Furthermore, while the C-arm 11a is being driven to rotate at a constant speed, no acceleration acts on the C-arm 11a, so the C-arm 11 vibrates less than at the start and stop.

[0063] 3, the X-ray diagnostic apparatus 1 acquires vibration data relating to the vibration of the C-arm 11a due to the rotational drive from the storage circuitry 35 (step S27). The process of acquiring this vibration data from the storage circuitry 35 is realized by the drive control function 27a in the processing circuitry 27. Specifically, the X-ray diagnostic apparatus 1 acquires the vibration data relating to the vibration of the C-arm 11a due to the rotational drive stored in step S25.

[0064] In the arm drive control process shown in FIGS. 3 and 4, vibration data related to the vibration of the C-arm 11a due to rotational drive is collected by the sensor 23 each time a mask image is captured. However, this vibration data does not necessarily need to be collected each time a mask image is captured. For example, vibration data related to the vibration of the C-arm 11a due to rotational drive when a mask image is captured may be collected once a day or once a week and stored in the memory circuitry 35. This is based on the idea that the tendency of the vibration of the C-arm 11a due to rotational drive is approximately constant, and therefore it is not necessary to collect vibration data each time a mask image is captured. In this case, step S25 can be omitted. Then, in step S27, instead of the vibration data related to the vibration of the C-arm 11a due to rotational drive stored in step S25, vibration data related to the vibration of the C-arm 11a due to rotational drive that has been collected in advance and stored in the memory circuitry 35 is acquired.

[0065] 3, X-ray diagnostic apparatus 1 then compares the vibrations detected in real time by sensor 23 with the vibration data relating to the vibration of C-arm 11a due to rotational drive acquired in step S27 (step S29). The process of comparing the vibrations detected in real time by sensor 23 with the vibration data relating to the vibration of C-arm 11a due to rotational drive acquired in step S27 is implemented by drive control function 27a in processing circuitry 27. Specifically, X-ray diagnostic apparatus 1 compares the vibrations detected in real time by sensor 23, which started detecting vibrations in step S19, with the vibration data relating to the vibration of C-arm 11a due to rotational drive acquired in step S27.

[0066] 3, X-ray diagnostic apparatus 1 determines whether the phase of the vibration detected in real time by sensor 23 is opposite to the phase of the vibration of C-arm 11a due to rotational driving acquired in step S27 (step S31). The process of determining whether the phase of the vibration detected in real time by sensor 23 is opposite to the phase of the vibration of C-arm 11a due to rotational driving acquired in step S27 is realized by drive control function 27a in processing circuitry 27.

[0067] If the phase of the vibration detected in real time by sensor 23 and the phase of the vibration of C-arm 11a caused by rotational driving are not in opposite phases (step S31: No), X-ray diagnostic apparatus 1 returns to step S29 and waits while repeating the process from step S29. In other words, X-ray diagnostic apparatus 1 waits for the timing when the phases of these two vibrations become in opposite phases.

[0068] On the other hand, in step S31, if the phase of the vibration detected in real time by sensor 23 and the phase of the vibration of C-arm 11a due to the rotational drive acquired in step S27 are in opposite phases (step S31: Yes), X-ray diagnostic apparatus 1 starts a return operation (step S33). The process of starting this return operation is realized by drive control function 27a in processing circuitry 27.

[0069] Specifically, in X-ray diagnostic apparatus 1, drive control function 27a outputs a drive signal to drive unit 25 to start rotational driving of C-arm 11a in the return movement at the timing when the phase of the vibration actually detected by sensor 23 and the phase of the vibration of C-arm 11a due to the rotational driving previously acquired become opposite phases. Here, the return movement means rotational driving of C-arm 11a from the end position of mask image imaging to the start position of contrast image imaging, which is the same position as the start position of mask image imaging.

[0070] 9 is an explanatory diagram illustrating the timing of starting the return operation in the X-ray diagnostic apparatus 1 according to this embodiment. The waveform shown in Fig. 9 is a waveform obtained in step S27 that indicates the vibration state of the C-arm 11a detected by the sensor 23 from the start to the end of mask image capture.

[0071] In Figure 9, after the start of rotational drive, the amplitude of the vibration of C-arm 11a due to rotational drive changes from a valley to a peak. Therefore, as shown by the dotted line in Figure 9, when the mask image capture is completed and C-arm 11a is stopped, a return operation is initiated, which generates acceleration in the opposite direction to the vibration acceleration, at the timing when the vibration detected in real time by sensor 23 reaches a peak. Even after the start of the return operation, there is a slight time lag before the C-arm 11a actually starts moving due to rotational drive. Therefore, the return operation is initiated at a timing that takes into account the time until the C-arm actually starts moving, and is controlled so that the vibration peak and the timing at which the reverse acceleration due to the start of the return operation act coincide. This prevents the vibration peak of C-arm 11a due to rotational drive from overlapping with the vibration peak detected in real time by sensor 23, thereby reducing the vibration of C-arm 11a.

[0072] 4, X-ray diagnostic apparatus 1 controls C-arm 11a so that the phase of the vibration detected in real time by sensor 23 and the phase of the vibration of C-arm 11a due to rotational drive acquired in step S27 have a non-constructive phase relationship (step S35). This process of controlling C-arm 11a is realized by drive control function 27a in processing circuitry 27. Specifically, during the return movement, X-ray diagnostic apparatus 1 compares the phase of the vibration detected in real time by sensor 23 with the phase of the vibration of C-arm 11a due to rotational drive acquired in advance, and controls the rotational drive of C-arm 11a so that the amplitude of the vibration of C-arm 11a due to rotational drive acquired in advance does not peak when the amplitude of the vibration detected in real time by sensor 23 peaks.

[0073] 4, the X-ray diagnostic apparatus 1 ends the return operation (step S37). The process of ending this return operation is realized by the drive control function 27a in the processing circuitry 27. Specifically, when the C-arm 11a is placed at the same position as the mask image start position in step S21, the X-ray diagnostic apparatus 1 ends the return operation.

[0074] 4, X-ray diagnostic apparatus 1 then compares the vibrations detected in real time by sensor 23 with the vibration data relating to the vibration of C-arm 11a due to rotational drive acquired in step S27 (step S39). The process of comparing the vibrations detected by sensor 23 with the vibration data relating to the vibration of C-arm 11a due to rotational drive is realized by drive control function 27a in processing circuitry 27. Specifically, similar to step S29, X-ray diagnostic apparatus 1 compares the vibrations actually detected by sensor 23, which started detecting vibrations in step S19, with the vibration data relating to the vibration of C-arm 11a due to rotational drive acquired in step S27.

[0075] 4, X-ray diagnostic apparatus 1 determines whether the phase of the vibration detected in real time by sensor 23 is opposite to the phase of the vibration of C-arm 11a due to rotational driving acquired in step S27 (step S41). The process of determining whether the phase of the vibration detected by sensor 23 is opposite to the phase of the vibration of C-arm 11a due to rotational driving is realized by drive control function 27a in processing circuitry 27.

[0076] If the phase of the vibration actually detected by sensor 23 and the phase of the vibration of C-arm 11a due to the rotational drive previously acquired are not in opposite phases (step S41: No), X-ray diagnostic apparatus 1 returns to step S39 and waits while repeating the process from step S39. In other words, X-ray diagnostic apparatus 1 waits for the timing when these two vibrations will be in opposite phases.

[0077] On the other hand, in step S41, if the phase of the vibration actually detected by sensor 23 and the phase of the vibration of C-arm 11a due to the rotational drive acquired in advance are opposite in phase (step S41: Yes), X-ray diagnostic apparatus 1 starts contrast image capture (step S33). The process of starting this contrast image capture is realized by drive control function 27a in processing circuitry 27. Specifically, in X-ray diagnostic apparatus 1, drive control function 27a outputs a drive signal to drive unit 25, and starts the rotational drive of C-arm 11a for contrast image capture.

[0078] Here, contrast imaging refers to imaging performed after injection of a contrast agent in 3D-DSA imaging. In contrast imaging, for example, rotational imaging is performed by the X-ray generator 19 and the X-ray detector 21 while the C-arm 11a is rotated 200 degrees around the rotation axis a2.

[0079] 4, X-ray diagnostic apparatus 1 controls the phase of the vibration detected in real time by sensor 23 and the phase of the vibration of C-arm 11a due to rotational drive acquired in step S27 so that they have a non-constructive phase relationship (step S45). This process of controlling the phase of the vibration detected by sensor 23 and the phase of the vibration of C-arm 11a due to rotational drive so that they have a non-constructive phase relationship is realized by drive control function 27a in processing circuitry 27. Specifically, as in step S35, X-ray diagnostic apparatus 1 compares the phase of the vibration detected in real time by sensor 23 with the phase of the vibration of C-arm 11a due to rotational drive acquired in advance during contrast image capture, and controls the rotational drive of C-arm 11a so that the amplitude of the vibration of C-arm 11a due to rotational drive does not also have a peak when the amplitude of the vibration detected in real time by sensor 23 reaches a peak.

[0080] 4, the X-ray diagnostic apparatus 1 ends the contrast image capture (step S23). This process of ending the contrast image capture is realized by the drive control function 27a in the processing circuitry 27. Specifically, after starting the contrast image capture in step S43, the X-ray diagnostic apparatus 1 ends the rotational drive of the C-arm 11a by, for example, rotating the C-arm 11a by 200 degrees, thereby ending the contrast image capture.

[0081] In contrast imaging, as in mask image imaging, the angle at which C-arm 11a is rotationally driven is arbitrary. For example, the angle at which C-arm 11a is rotationally driven may be 180 degrees or more and less than 200 degrees, or may even be 200 degrees or more. Furthermore, it is desirable that the angle at which C-arm 11a is rotationally driven in contrast imaging and the angle at which C-arm 11a is rotationally driven in mask image imaging match, but they do not necessarily have to match.

[0082] 4, X-ray diagnostic apparatus 1 then terminates detection of vibration of C-arm 11a by sensor 23 (step S49). This process of terminating detection of vibration of C-arm 11a by sensor 23 is realized by drive control function 27a in processing circuitry 27. By executing step S49, the arm drive control process according to this embodiment is terminated.

[0083] Next, a notification process executed by the X-ray diagnostic apparatus 1 in this embodiment to notify the user that the vibration of the C-arm 11a detected by the sensor 23 has subsided will be described. Fig. 10 is a flowchart illustrating the content of the notification process executed by the X-ray diagnostic apparatus 1 according to this embodiment. In this notification process, when the rotational drive of the C-arm 11a is completed, the user is notified that the vibration of the C-arm 11a detected by the sensor 23 has subsided. In this embodiment, for example, this notification process is executed when the rotational drive of the C-arm 11a starts.

[0084] 10, first, the X-ray diagnostic apparatus 1 determines whether or not the rotational drive of the C-arm 11a has finished (step S51). This process of determining whether or not the rotational drive of the C-arm 11a has finished is implemented by the notification function 27c in the processing circuitry 27. Specifically, if the rotational drive of the C-arm 11a has not finished (step S51: No), the X-ray diagnostic apparatus 1 waits and repeats the process of step S51 until the rotational drive of the C-arm 11a finishes. The rotational drive of the C-arm 11a finishes when, for example, the rotational drive of the C-arm 11a in one direction, such as mask image capture, contrast image capture, or return operation, has finished.

[0085] On the other hand, in step S51, if the rotational driving of C-arm 11a has finished (step S51: Yes), X-ray diagnostic apparatus 1 acquires the vibration of C-arm 11a detected in real time by sensor 23 (step S53). The process of acquiring the vibration of C-arm 11a detected in real time by sensor 23 is realized by notification function 27c in processing circuitry 27. Note that if multiple sensors 23 are provided in X-ray diagnostic apparatus 1, the vibrations of multiple sensors 23 may be acquired, or the vibration of sensor 23 at one location may be acquired.

[0086] 10, the X-ray diagnostic apparatus 1 determines whether the vibration of the C-arm 11a has subsided (step S55). This process of determining whether the vibration of the C-arm 11a has subsided is implemented by the notification function 27c in the processing circuitry 27. Specifically, if the vibration of the C-arm 11a has not subsided based on the vibration acquired in S53 (step S55: No), the X-ray diagnostic apparatus 1 does not notify that the vibration of the C-arm 11a has subsided (step S57). Here, the subsidence of the vibration of the C-arm 11a is not limited to a state in which the vibration of the C-arm 11a detected by the sensor 23 has disappeared, but also includes a state in which the amplitude of the vibration of the C-arm 11a detected by the sensor 23 is equal to or less than a set value.

[0087] However, the X-ray diagnostic apparatus 1 may also be configured to notify the user that the vibration of the C-arm 11a has not subsided. For example, the user may be notified that the vibration of the C-arm 11a has not subsided by lighting a lamp or outputting a sound via the output interface 31. Alternatively, the user may be notified that the vibration of the C-arm 11a has not subsided by displaying text information via the display 33.

[0088] On the other hand, if the vibration of the C-arm 11a has subsided in step S55 (step S55: Yes), the X-ray diagnostic apparatus 1 notifies the user that the vibration of the C-arm 11a has subsided (step S59). For example, the user may be notified that the vibration of the C-arm 11a has subsided by lighting a lamp or outputting a sound via the output interface 31. Alternatively, the user may be notified that the vibration of the C-arm 11a has subsided by displaying text information via the display 33.

[0089] 10, the X-ray diagnostic apparatus 1 determines whether or not the drive of the C-arm 11a has started (step S61). This process of determining whether or not the drive of the C-arm 11a has started is realized by the notification function 27c in the processing circuitry 27. If the drive of the C-arm 11a has not started (step S61: No), the process returns to step S53 described above, and the process from step S53 is repeated.

[0090] On the other hand, if the driving of the C-arm 11a has started (step S61: Yes), the notification process according to this embodiment ends.

[0091] As described above, the X-ray diagnostic apparatus 1 according to this embodiment compares the vibration of the C-arm 11a detected in real time by the sensor 23 with the vibration of the C-arm 11a due to rotational drive acquired in advance, and starts rotational drive of the C-arm 11a at a timing when the vibration of the C-arm 11a detected in real time by the sensor 23 and the vibration of the C-arm 11a due to rotational drive acquired in advance are in opposite phase. This makes it possible to perform rotational drive while reducing the vibration of the C-arm 11a. That is, in this embodiment, the rotational drive of the C-arm 11a starts at a timing when the amplitude of the vibration of the C-arm 11a detected in real time by the sensor 23 reaches a peak. Therefore, when the amplitude of the vibration of the C-arm 11a due to rotational drive reaches a peak, the actual vibration amplitude detected by the sensor 23 reaches a valley. This prevents the vibration of the C-arm 11a from increasing, thereby suppressing the occurrence of image artifacts.

[0092] Furthermore, during the rotational drive operation of the C-arm 11a, the X-ray diagnostic apparatus 1 compares the vibration of the C-arm 11a detected in real time by the sensor 23 with the vibration of the C-arm 11a due to the rotational drive that has been acquired in advance, and controls the C-arm 11a so that the vibration of the C-arm 11a detected in real time by the sensor 23 and the vibration of the C-arm 11a due to the rotational drive that has been acquired in advance are in a non-reinforcing relationship.Therefore, even during the rotational drive operation of the C-arm 11a, it is possible to perform rotational drive while reducing the vibration of the C-arm 11a.

[0093] Furthermore, the X-ray diagnostic apparatus 1 is configured to notify the user that the vibration of the C-arm 11a has subsided, allowing the user to easily grasp the timing to reduce the vibration of the C-arm 11a. In other words, in this embodiment, the vibration of the C-arm 11a is continuously detected after the rotational drive of the C-arm 11a has ended and the C-arm 11a is stopped, and when the amplitude of the vibration of the C-arm 11a falls below a predetermined value, the user is notified that the vibration of the C-arm 11a has subsided. Therefore, the user can easily determine the timing to start the rotational drive of the C-arm 11a even by manual operation.

[0094] Second Embodiment In the X-ray diagnostic apparatus 1 according to the first embodiment described above, the vibration of the C-arm 11a detected in real time by the sensor 23 is compared with the vibration of the C-arm 11a due to rotational drive acquired in step S27, and the return operation or contrast image capture is initiated at a timing when the phase of the vibration detected in real time by the sensor 23 and the phase of the vibration of the C-arm 11a due to rotational drive acquired in step S27 are opposite in phase. However, this is not limited to this. In the second embodiment, an X-ray diagnostic apparatus 1 is described that starts the return operation or contrast image capture at a timing when the vibration of the C-arm 11a has subsided, based on the vibration of the C-arm 11a detected in real time by the sensor 23. Below, differences from the first embodiment described above are described. The configuration of the X-ray diagnostic apparatus 1 according to this embodiment is the same as that shown in FIGS. 1 and 2, and therefore will not be described again.

[0095] 11 and 12 are flowcharts illustrating the arm drive control process executed by the X-ray diagnostic apparatus 1 according to this embodiment, and correspond to FIGS. 3 and 4 in the first embodiment. In this arm drive control process, the rotational drive of the C-arm 11a is started at a timing that reduces the vibration of the C-arm 11a based on the vibration detected by the sensor 23, and the rotational drive of the C-arm 11a after the rotational drive has started is controlled. For example, this arm drive control process is executed when imaging information selected by the user is acquired via the input interface 29.

[0096] 11, the processes from step S11 to step S27 are the same as those in the arm drive control process of the first embodiment. After step S27, in this embodiment, the X-ray diagnostic apparatus 1 determines whether the vibration of the C-arm 11a has subsided (step S101). This process of determining whether the vibration of the C-arm 11a has subsided is realized by the drive control function 27a in the processing circuitry 27.

[0097] Specifically, when it is determined that the vibration of the C-arm 11a has not subsided based on the vibration of the C-arm 11a detected in real time by the sensor 23 (step S101: No), the X-ray diagnostic apparatus 1 waits and repeats the process of step S101 until the vibration of the C-arm 11a subsides. Here, the subsidence of the vibration of the C-arm 11a is not limited to a state in which the vibration of the C-arm 11a detected by the sensor 23 has disappeared, but also includes a state in which the amplitude of the vibration of the C-arm 11a detected by the sensor 23 has become equal to or less than a set value.

[0098] On the other hand, in step S101, if it is determined that the vibration of C-arm 11a has subsided based on the vibration of C-arm 11a detected in real time by sensor 23 (step S101: Yes), a return operation is started (step S33). The processes from step S33 to step S43 onward are the same as those in the first embodiment described above.

[0099] 12, it is determined whether the vibration of the C-arm 11a has subsided (step S103). This process of determining whether the vibration of the C-arm 11a has subsided is implemented by the drive control function 27a in the processing circuitry 27. Specifically, when the X-ray diagnostic apparatus 1 determines that the vibration of the C-arm 11a has not subsided based on the vibration of the C-arm 11a detected in real time by the sensor 23 (step S103: No), it waits and repeats the process of step S103 until the vibration of the C-arm 11a subsides.

[0100] On the other hand, in step S103, if it is determined that the vibration of the C-arm 11a has subsided based on the vibration of the C-arm 11a detected in real time by sensor 23 (step S103: Yes), contrast image capture is started (step S43). The processes from step S33 onwards, from step S43 to step S49, are the same as those in the first embodiment described above, and after detection of vibration by sensor 23 ends in step S49, the arm drive control process according to this embodiment ends.

[0101] As described above, in the X-ray diagnostic apparatus 1 according to this embodiment, the rotational drive of the C-arm 11a is started when the vibration of the C-arm 11a detected in real time by the sensor 23 has subsided, so that the vibration of the C-arm 11a detected in real time by the sensor 23 and the vibration of the C-arm 11a due to the rotational drive do not reinforce each other, and the vibration of the C-arm 11a can be reliably reduced. That is, in this embodiment, the rotational drive of the C-arm 11a is started when the amplitude of the vibration of the C-arm 11a detected in real time by the sensor 23 has subsided to a set value or less. Therefore, when the amplitude of the vibration of the C-arm 11a due to the rotational drive reaches a peak, the amplitude of the vibration of the C-arm 11a detected in real time by the sensor 23 is small, so that the vibration of the C-arm 11a does not increase, and the occurrence of image artifacts can be suppressed.

[0102] [Modifications of the first and second embodiments] The X-ray diagnostic apparatus 1 of the first and second embodiments described above can also start contrast image capture after mask image capture is completed. In this case, the return operation is omitted. Therefore, for example, steps S33 to S41 can be omitted from the arm drive control process, and if the X-ray diagnostic apparatus 1 determines in step S31 that the phases are opposite, contrast image capture in step S43 can be started.

[0103] Alternatively, the sensor 23 may be provided at only one location in the X-ray diagnostic apparatus 1. In this case, the process of detecting the posture of the C-arm 11a and the process of selecting the sensor 23 are omitted. Therefore, for example, steps S15 and S17 are omitted from the arm drive control process, and the X-ray diagnostic apparatus 1 may start detecting vibrations of the C-arm 11a by the sensor 23 in step S19 after the C-arm 11a has moved to the start position for 3D-DSA imaging in step S13.

[0104] Furthermore, in the X-ray diagnostic apparatus 1 of the first and second embodiments described above, the X-ray diagnostic apparatus 1 is provided with a C-arm 11a, but both embodiments can also be applied to an X-ray diagnostic apparatus 1 provided with a C-arm 11b.

[0105] Furthermore, in the above-described first and second embodiments, the C-arm 11a is described as holding both the X-ray generator 19 and the X-ray detector 21, but the embodiments are not limited to this. That is, both embodiments can also be applied to an arm that holds at least one of the X-ray generator and the X-ray detector. For example, some mammography devices and X-ray television systems have arms that hold only the X-ray generator, and both embodiments can also be applied to such devices.

[0106] The term "processor" used in the above description refers to a circuit such as a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a programmable logic device (e.g., a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA)). A processor realizes its function by reading and executing a program stored in a memory circuit. Instead of storing a program in a memory circuit, the processor may be configured to directly incorporate the program into its circuit. In this case, the processor realizes its function by reading and executing the program embedded in the circuit. A processor is not limited to being configured as a single circuit, but may also be configured as a single processor by combining multiple independent circuits to realize its function. Furthermore, multiple components in FIG. 2 may be integrated into a single processor to realize its function.

[0107] Although several embodiments have been described above, these embodiments are presented only as examples and are not intended to limit the scope of the invention. The novel apparatus and method described herein may be embodied in various other forms. Furthermore, various omissions, substitutions, and modifications may be made to the forms of the apparatus and method described herein without departing from the spirit of the invention. The appended claims and their equivalents are intended to cover such forms and modifications that fall within the scope and spirit of the invention. [Explanation of symbols]

[0108] 1...X-ray diagnostic apparatus, 11a, 11b...C-arm, 13a, 13b...C-arm support, 15...bed, 17...X-ray high voltage device, 19...X-ray generator, 21...X-ray detector, 23...sensor, 25...driver, 27...processing circuit, 29...input interface, 31...output interface, 33...display, 35...memory circuit

Claims

1. an arm that holds at least one of the X-ray generating unit and the X-ray detecting unit; a drive unit that rotates the arm; a sensor for detecting vibration of the arm; a drive control unit that controls the rotational drive of the arm by the drive unit so as to perform rotational drive while reducing vibration of the arm based on vibration detected by the sensor, and that starts rotational drive at a timing that reduces vibration of the arm based on the vibration detected by the sensor; An X-ray diagnostic apparatus comprising:

2. 2. The X-ray diagnostic apparatus according to claim 1, wherein the drive control unit controls the rotational drive of the arm so that a phase of vibration of the arm due to rotational drive and a phase of vibration of the arm detected in real time by the sensor have a non-constructive phase relationship.

3. 3. The X-ray diagnostic apparatus according to claim 1, wherein the timing at which the vibration of the arm is reduced is a timing at which a phase of the vibration of the arm caused by rotational driving and a phase of the vibration of the arm detected in real time by the sensor are opposite in phase.

4. 3. The X-ray diagnostic apparatus according to claim 1, wherein the timing for reducing the vibration of the arm is the timing when the vibration of the arm detected in real time by the sensor has subsided.

5. Further provided is a support portion for supporting the arm, 2. The X-ray diagnostic apparatus according to claim 1, wherein the sensor is provided at least in one of the X-ray generating unit, the X-ray detecting unit, the support unit, and a location near each of them.

6. a storage unit that stores the vibration of the arm caused by the rotational drive detected by the sensor, The X-ray diagnostic apparatus according to claim 1 , wherein the drive control unit stores vibration of the arm caused by rotational drive in the storage unit.

7. an arm that holds at least one of the X-ray generating unit and the X-ray detecting unit; a drive unit that rotates the arm; a sensor for detecting vibration of the arm; a drive control unit that controls the rotational drive of the arm by the drive unit based on the vibration detected by the sensor so as to perform the rotational drive while reducing the vibration of the arm; Equipped with the rotational driving includes taking a mask image and taking a contrast image; the sensor detects vibration of the arm caused by rotational driving during the mask image capture; The drive control unit controls the timing to start capturing the contrast image based on vibration of the arm caused by rotational drive detected during the mask image capture and vibration of the arm detected in real time by the sensor.

8. an arm that holds at least one of the X-ray generating unit and the X-ray detecting unit; a drive unit that rotates the arm; a plurality of sensors for detecting vibrations of the arm; a posture detection unit that detects the posture of the arm; a drive control unit that controls the rotational drive of the arm by the drive unit based on the vibration detected by the sensor so as to perform the rotational drive while reducing the vibration of the arm; Equipped with The drive control unit selects one or more sensors from the plurality of sensors based on the posture of the arm detected by the posture detection unit, and controls the timing to start the rotational drive based on the phase of vibration of the arm detected by the selected sensor.

9. an arm that holds at least one of the X-ray generating unit and the X-ray detecting unit; a drive unit that rotates the arm; a sensor for detecting vibration of the arm; a drive control unit that controls the rotational drive of the arm by the drive unit based on the vibration detected by the sensor so as to perform the rotational drive while reducing the vibration of the arm; a notification unit that determines whether or not the vibration of the arm has subsided based on the vibration detected by the sensor, and notifies the user that the vibration of the arm has subsided when the vibration of the arm has subsided; An X-ray diagnostic apparatus comprising:

10. an arm that holds at least one of the X-ray generating unit and the X-ray detecting unit; a drive unit that rotates the arm; a sensor for detecting vibration of the arm; A control method for an X-ray diagnostic apparatus comprising: detecting vibration of the arm with the sensor; controlling the rotational drive of the arm by the drive unit so as to perform rotational drive while reducing vibration of the arm based on the vibration of the arm detected by the sensor, and starting the rotational drive at a timing when vibration of the arm is reduced; A control method for an X-ray diagnostic apparatus comprising:

Images