X-ray equipment

Abstract

To provide an X-ray imaging device that enables reduced waiting time and smooth positioning to a region of interest.SOLUTION: An X-ray imaging device 1 includes a C arm 13 supporting an X-ray tube 7 and an X-ray detector 11, a turning mechanism 21 that turns the C arm 13 around a vertical axis AX2, a top plate 6 on which a subject M is placed, a console 37, and a control unit 89. When an input for relative movement of the top plate 6 is given from the console 37 to the C arm 13, the control unit 89 operates the turning mechanism 21 and turns the C arm 13 in a direction facing a preset target angle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an X-ray imaging apparatus. [Background technology]

[0002] A conventional X-ray imaging device comprises an X-ray imaging device main body and an examination table. The X-ray imaging device main body comprises a C-arm with an X-ray tube and an X-ray detector attached to both ends, and an arm rotation mechanism. The arm rotation mechanism supports the C-arm and rotates it around a vertical axis. The examination table comprises a tabletop that can be moved horizontally.

[0003] The X-ray imaging device body is positioned on the head side of the subject (patient) placed on the tabletop, on an extension of the subject's body axis. In this state, the C-arm, X-ray detector (X-ray tube), and tabletop are arranged in a straight line in this order in a plan view.

[0004] When accessing the subject's groin (site of interest) from this state, if the operator moves the C-arm and the tabletop separately, the operator finds the movement operation cumbersome. Therefore, the C-arm is configured to automatically rotate when the tabletop moves within a preset area (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-081410 Summary of the Invention [Problem to be solved by the invention]

[0006] However, conventional X-ray imaging devices have the following problem: In Patent Document 1, the timing for starting the rotation of the C-arm is after the tabletop has moved a predetermined distance, so the operator may have to wait for the rotation of the C-arm in order to align it with, for example, the groin area of ​​the subject.

[0007] Furthermore, the C-arm, to which the X-ray tube and X-ray detector are attached, is large and heavy, making it difficult to rotate quickly. Even if it were to rotate quickly, there is a risk that the C-arm may collide with other equipment or staff members located around it. Therefore, simply increasing the rotation speed is not a desirable solution to the above problem.

[0008] The present invention has been made in view of the above circumstances, and has an object to provide an X-ray imaging apparatus that can reduce waiting time and smoothly perform alignment to a region of interest. [Means for solving the problem]

[0009] In order to achieve the above object, the present invention has the following configuration: That is, the X-ray imaging apparatus according to the present invention includes a C-arm that supports an X-ray tube and an X-ray detector, a rotation mechanism that rotates the C-arm around a vertical axis, a tabletop on which a subject is placed, an operation unit, and a control unit, and when an input for moving the tabletop relative to the C-arm is given by the operation unit, the control unit operates the rotation mechanism to rotate the C-arm in a direction toward a preset target angle.

[0010] According to the X-ray imaging device of the present invention, when an input for moving the tabletop relative to the C-arm is given from the operation unit, the rotation mechanism is activated to rotate the C-arm in a direction toward a preset target angle. In other words, regardless of the distance between the tabletop and the C-arm, the input for moving the tabletop relative to the C-arm rotates the C-arm in a direction toward the target angle. This allows for earlier start of the C-arm rotation in the direction toward the target angle, thereby reducing the waiting time for the C-arm rotation. This allows for smooth alignment to the region of interest. [Effects of the Invention]

[0011] According to the X-ray imaging apparatus of the present invention, waiting time can be reduced and alignment to the region of interest can be performed smoothly. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a side view showing an X-ray imaging apparatus according to a first embodiment. [Figure 2] FIG. 10 is a plan view showing the X-movement unit of the tabletop horizontal movement mechanism. [Figure 3] FIG. 10 is a plan view showing the Y-movement part of the tabletop horizontal movement mechanism. [Figure 4] FIG. [Figure 5] 10A and 10B are diagrams for explaining the operations of the top panel operation switch, the electric horizontal operation switch, and the four direction keys. [Figure 6] 4 is a flowchart showing the operation of the X-ray imaging apparatus according to the first embodiment. [Figure 7] FIG. 2 is a plan view showing the X-ray imaging apparatus when the rotation angle of the C-arm is at the reference rotation angle. [Figure 8] FIG. 2 is a plan view showing the X-ray imaging apparatus when the rotation angle of the C-arm is at a target angle. [Figure 9] FIG. 2 is a diagram for explaining an observation area, an intermediate area, and a waiting area. [Figure 10]10 is a flowchart showing the operation of the X-ray imaging apparatus according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] An X-ray imaging apparatus 1 according to the present invention will be described below with reference to the drawings. [Example]

[0014] Fig. 1 is a side view showing an X-ray imaging apparatus 1 according to Example 1. Fig. 2 is a plan view showing an X-moving unit 39 of a tabletop horizontally moving mechanism 33. Fig. 3 is a plan view showing a Y-moving unit 41 of the tabletop horizontally moving mechanism 33.

[0015] (1) Configuration of X-ray imaging device 1 Referring to FIG. 1, the X-ray imaging device 1 comprises an X-ray imaging device main body 3 and an examination table 5. The examination table 5 comprises a top plate 6 on which the subject M is placed. The detailed configuration of the examination table 5 will be described later. The X-ray imaging device main body 3 comprises an X-ray tube 7, an X-ray tube controller 9, and an X-ray detector 11. The X-ray tube 7 irradiates X-rays toward the subject M placed on the top plate 6. The X-ray tube 7 is controlled by the X-ray tube controller 9. The X-ray tube controller 9 comprises a high-voltage generator 9A, and supplies a preset tube voltage and tube current to the X-ray tube 7. A collimator (not shown) is attached to the X-ray tube 7 to adjust the X-ray irradiation field.

[0016] The X-ray detector 11 is disposed opposite the X-ray tube 7 and detects X-rays transmitted through the subject M. The X-ray detector 11 includes a FPD (Flat Panel Detector) having an X-ray conversion film. The X-ray detector 11 may also include an image intensifier and a camera. The X-ray detector 11 outputs an X-ray image acquired based on the detected X-rays. The output X-ray image is displayed on a monitor (not shown) (for example, a liquid crystal display or an organic EL (organic electro-luminescence) display).

[0017] The X-ray imaging device main body 3 further includes a C-shaped arm (hereinafter referred to as "C-arm" where appropriate) 13 and a C-arm drive mechanism 15. The C-arm 13 supports the X-ray tube 7 and the X-ray detector 11 at both ends. The C-arm 13 is formed in a C-shape. The C-shape of the C-arm 13 includes a U-shape. The C-arm may also be formed in a C-shape by three linear pillar members.

[0018] The C-arm driving mechanism 15 movably supports the C-arm 13 and drives the C-arm 13. The C-arm driving mechanism 15 includes a slide mechanism 17, a horizontal axis rotation mechanism 19, a swivel mechanism 21, and a horizontal movement mechanism 23.

[0019] The slide mechanism 17 movably supports the C-arm 13 and slides (rotates) the C-arm 13 along the C-shape of the C-arm 13, as shown by the arrow SL in Figure 1. The horizontal axis rotation mechanism 19 rotatably supports the slide mechanism 17 about a horizontal axis AX1 that extends parallel to the plane formed by the C-shape of the C-arm 13. The horizontal axis rotation mechanism 19 also rotates the C-arm 13 and the slide mechanism 17 about the horizontal axis AX1.

[0020] The turning mechanism 21 supports the horizontal-axis rotation mechanism 19 via a support member 25 formed in a substantially L-shape so that the horizontal-axis rotation mechanism 19 can rotate about the vertical axis AX2. The turning mechanism 21 also turns the C-arm 13, the slide mechanism 17, and the horizontal-axis rotation mechanism 19 about the vertical axis AX2. The slide mechanism 17, the horizontal-axis rotation mechanism 19, and the turning mechanism 21 each include an electric motor. The slide mechanism 17, the horizontal-axis rotation mechanism 19, and the turning mechanism 21 are each driven by the electric motor. The turning mechanism 21 includes an angle sensor 26 that detects the rotation angle of the C-arm 13 about the vertical axis AX2. The angle sensor 26 is, for example, a rotary encoder.

[0021] Horizontal movement mechanism 23 moves C-arm 13 and the like in the horizontal direction (X and Y directions). Horizontal movement mechanism 23 includes X movement unit 27 and Y movement unit 29. X movement unit 27 includes two guide rails 27A, movable member 27B, X position sensor 27C, and X drive unit (not shown). Guide rail 27A is disposed to extend in the X direction and is fixed to the ceiling of the examination room. Guide rail 27A supports movable member 27B so that it can move in the X direction. Movable member 27B is moved in the X direction by the X drive unit while being guided by guide rail 27A. The X drive unit and a Y drive unit (described later) each include an electric motor. Furthermore, the X drive unit and a Y drive unit (described later) each include, for example, a screw shaft or a ball screw. X position sensor 27C detects the position of movable member 27B (C-arm 13) in the X direction. X position sensor 27C and Y position sensor 29C (described later) each include, for example, a linear encoder or a rotary encoder.

[0022] Y moving unit 29 includes two guide rails 29A, a movable member 29B, a Y position sensor 29C, and a Y drive unit (not shown). Guide rail 29A is disposed to extend in the Y direction and is attached to movable member 27B. Guide rail 29A supports movable member 29B so that it can move in the Y direction. Movable member 29B is moved in the Y direction by the Y drive unit while being guided by guide rail 29A. Swivel mechanism 21 is provided below movable member 29B. Y position sensor 29C detects the position of movable member 29B (C-arm 13) in the Y direction.

[0023] The examination table 5 includes a tabletop 6, a tabletop horizontal movement mechanism 33, a base 35, and a console (operation panel) 37. The tabletop horizontal movement mechanism 33 supports the tabletop 6 so that it can move horizontally, and moves the tabletop 6 in the horizontal direction (X and Y directions). As shown in Figures 2 and 3, the tabletop horizontal movement mechanism 33 includes an X movement unit 39 and a Y movement unit 41.

[0024] See Figure 2. X movement unit 39 includes two guide rails 43, a movable member 45, an electric motor 47, a screw shaft 49, an X clutch 51, an X brake 53, an X position sensor 54, and an attachment member 55. Top plate 6 is fixed to movable member 45. Guide rail 43 supports movable member 45 so that it can move in the X direction. Therefore, top plate 6 moves in the X direction together with movable member 45. Note that guide rail 43 is disposed to extend in the X direction. A screw shaft 49 is connected to the output rotation shaft of electric motor 47. X clutch 51 and X brake 53 are provided on movable member 45.

[0025] The X-clutch 51 converts the rotation of the screw shaft 49 into linear movement in the X direction, while transmitting or not transmitting power from the electric motor 47 to the movable member 45. The X-clutch 51 includes, for example, a clutch member having an internal thread (female thread) formed thereon, and a clutch member drive unit (for example, a solenoid or electric motor). Note that, for example, the internal thread is configured to mesh with less than half the circumference of the external thread of the screw shaft 49. The X-clutch 51 is configured so that the internal thread engages or disengages from the screw shaft 49 by the clutch member drive unit pressing the clutch member against the screw shaft 49 or separating the clutch member from the screw shaft 49.

[0026] X-brake 53 is configured, for example, to be able to press a brake piece against guide rail 43. X-brake 53 locks movable member 45 (top plate 6) so that it does not move in the X direction, and also releases the locked state. X-position sensor 54 detects the position of movable member 45 (top plate 6) in the X direction. X-position sensor 54 and Y-position sensor 68 (described later) are each, for example, linear encoders. Guide rail 43 and electric motor 47 are provided on plate-shaped mounting member 55.

[0027] Referring to Figure 3, Y moving unit 41 is disposed below X moving unit 39. Y moving unit 41 includes two guide rails 57, a movable member 59, an electric motor 61, a screw shaft 63, a Y clutch 65, a Y brake 67, a Y position sensor 68, and a mounting member 69. Mounting member 55 of X moving unit 39 is fixed to movable member 59. Guide rail 57 supports movable member 59 so that it can move in the Y direction. Therefore, top plate 6 and mounting member 55 (X moving unit 39) move in the Y direction together with movable member 59. Note that guide rail 57 is disposed to extend in the Y direction. A screw shaft 63 is connected to the output rotation shaft of electric motor 61. Y clutch 65 and Y brake 67 are provided on movable member 59.

[0028] Y clutch 65 is configured in the same manner as X clutch 51. Y clutch 65 transmits or prevents the transmission of power from electric motor 61 to movable member 59 while converting the rotation of screw shaft 63 into linear movement in the Y direction. Y brake 67 is configured in the same manner as X brake 53. Y brake 67 locks movable member 59 (top plate 6) to prevent it from moving in the Y direction, and also releases the locked state. Y position sensor 68 detects the position of movable member 59 (top plate 6) in the Y direction.

[0029] The two sets of guide rails 43, 57 and the two movable members 45, 59 constitute a tabletop support unit. The at least two electric motors 47, 61 correspond to a horizontal drive unit of the present invention. The console 37 corresponds to an operation unit of the present invention.

[0030] The base 35 supports the top plate horizontal movement mechanism 33, i.e., the mounting member 69. The base 35 is fixed to the floor of the examination room. The base 35 may also be provided with an elevation mechanism for raising and lowering the top plate 6 and the top plate horizontal movement mechanism 33. In this case, the elevation mechanism includes an electric motor for raising and lowering the top plate 6 and the like.

[0031] (1-1) Console 37 Configuration The console 37 is used to operate the examination table 5 including the top plate 6 and the X-ray apparatus main body 3. The console 37 is attached to the top plate 6. Specifically, rails 6A are provided on the longitudinal sides of the top plate 6 (see FIG. 1). The console 37 is attached to the rails 6A. This allows the console 37 to move integrally with the top plate 6.

[0032] See Figure 4. The console 37 includes a plurality of switches 71, 73, 75, 77U, 77D, 77L, and 77R. Specifically, the console 37 includes a tabletop operation switch 71, a mode selection switch 73, an electric horizontal movement switch 75, and direction keys 77U, 77D, 77L, and 77R. Each switch includes a button member and an elastic body.

[0033] The top board operation switch 71 is a switch for manually operating the top board 6 to move it horizontally. "Manual" refers to, for example, an operation in which the operator pushes or pulls the top board 6 without using the two electric motors 47, 61 (horizontal drive units). The mode selection switch 73 is a switch for selecting a femoral approach mode (specific imaging mode) for observing, for example, the groin area of ​​the subject.

[0034] The preset region of interest of the present invention is not limited to the groin. For example, a region of the subject M that requires the C-arm 13 to rotate when the tabletop 6 and the C-arm 13 are moved relative to each other can be included in the preset region of interest of the present invention. The mode selection switch 73 corresponds to the mode selection unit of the present invention.

[0035] The electric horizontal operation switch 75 is a switch for permitting the use of two electric motors 47, 61 (horizontal drive units) to operate the tabletop 6. Each of the direction keys 77U, 77D, 77L, and 77R is a switch for moving the tabletop 6 using one of the two electric motors 47, 61 when the electric horizontal operation switch 75 is pressed and operation of the tabletop 6 is permitted.

[0036] The direction key 77U moves the top board 6 in the +Y direction. The direction key 77D moves the top board 6 in the -Y direction. The direction key 77L moves the top board 6 in the -X direction. The direction key 77R moves the top board 6 in the +X direction. When there is no particular need to distinguish between the direction keys 77U, 77D, 77L, and 77R, they will be referred to as "direction keys 77."

[0037] Here, the operations of the top panel operation switch 71, the electric horizontal operation switch 75, and the four direction keys 77 will be described with reference to FIG.

[0038] First, when both brakes 53, 67 are in the ON state, the top plate 6 is locked in the X and Y directions. In contrast, when both brakes 53, 67 are in the OFF state, the top plate 6 is not locked in the X and Y directions. Furthermore, when both clutches 51, 65 are in the ON state, the internal thread of the clutch member of X-clutch 51 meshes with screw shaft 49, and the internal thread of the clutch member of Y-clutch 65 meshes with screw shaft 63. In contrast, when both clutches 51, 65 are in the OFF state, the clutch member of X-clutch 51 is separated from screw shaft 49, and the clutch member of Y-clutch 65 is separated from screw shaft 63.

[0039] In Figure 5, the examination table 5 is normally in the state indicated by symbol AT2. At this time, when the top board operation switch 71 is pressed, the two brakes 53, 67 are put into the "OFF state" and the two clutches 51, 65 are put into the "OFF state" as indicated by symbol AT1. This state continues as long as the top board operation switch 71 is kept pressed. When the top board operation switch 71 is released while the examination table 5 is in the state indicated by symbol AT1, the two brakes 53, 67 are put into the "ON state" and the two clutches 51, 65 are put into the "OFF state" as indicated by symbol AT2.

[0040] Furthermore, when the electric horizontal operation switch 75 is pressed in this state indicated by symbol AT2, and then, for example, one of the two direction keys 77L, 77R is pressed, the X-brake 53 is set to the "OFF state" and the X-clutch 51 is set to the "ON state," as indicated by symbol AT3. Also, when, for example, direction key 77L is pressed, the tabletop 6 is moved by the electric motor 47 (horizontal drive unit) toward the C-arm 13 shown in FIG. 1 (in the -X direction). Also, when direction key 77L is released, the state returns to the state indicated by symbol AT2.

[0041] Furthermore, when one of the two direction keys 77U, 77D is pressed, the Y-brake 67 is set to the "OFF state" and the Y-clutch 65 is set to the "ON state." For example, when the direction key 77U is pressed, the top board 6 is moved in the +Y direction by the electric motor 47 (horizontal drive unit). Furthermore, when the direction key 77U is released, the state returns to the state indicated by the symbol AT2.

[0042] Returning to FIG. 1, the X-ray imaging apparatus 1 includes a control unit 89 and a storage unit (not shown). The control unit 89 controls each component of the X-ray imaging apparatus 1. The control unit 89 includes one or more processors, such as a central processing unit (CPU). The storage unit includes at least one of a read-only memory (ROM), a random-access memory (RAM), and a hard disk, for example. The storage unit stores computer programs required to control each component of the X-ray imaging apparatus 1.

[0043] (2) Operation of the X-ray device 1 Next, the operation of the X-ray imaging apparatus 1 will be described with reference to the flowchart shown in Fig. 6. Also, Figs. 7 and 8 are diagrams for explaining the operation of the X-ray imaging apparatus 1.

[0044] [Step S01] Reference turning angle A In FIG. 7, the C-arm 13 is positioned on the head side of the subject M (patient) placed on the tabletop 6. The C-arm 13 is positioned at a reference position (home position) by the C-arm drive mechanism 15, and has two reference postures. A more detailed explanation follows. In FIG. 7, there is a reference axis AX3 that is parallel to the longitudinal direction of the tabletop 6. The C-arm 13 is adjusted by the rotation mechanism 21 (see FIG. 1) so that it is in a first reference posture in which the C-arm 13 is parallel to the reference axis AX3. The rotation angle achieved by the rotation mechanism 21 at this time is referred to as the "reference rotation angle A" or reference rotation position A.

[0045] 7, C-arm 13 is adjusted by slide mechanism 17 and horizontal axis rotation mechanism 19 to a second reference position (center position) in which X-ray axis AX4 (center axis of X-ray beam, see FIG. 1) connecting X-ray tube 7 and X-ray detector 11 is parallel to vertical axis AX2. That is, C-arm 13 is arranged such that X-ray tube 7 and X-ray detector 11 are vertically aligned. In this case, in a plan view, a portion of C-arm 13 on the X-ray tube 7 side overlaps a portion of C-arm 13 on the X-ray detector 11 side. In the second reference position, X-ray tube 7 is arranged below X-ray detector 11. The position of C-arm 13 in the horizontal direction is adjusted to the reference position by horizontal movement mechanism 23.

[0046] [Step S02] Femoral approach mode selection In FIG. 7, the subject M is placed on the top board 6 of the examination table 5. The operator presses the mode selection switch 73 provided on the console 37 to observe a region of interest (e.g., the groin) of the subject M on the top board 6. This causes the control unit 89 to control the X-ray imaging apparatus 1 in femoral approach mode. That is, the control unit 89 performs control in accordance with steps S03 to S15 on the condition that the femoral approach mode is selected. Note that if the femoral approach mode is not selected, the control in accordance with steps S03 to S15 is not performed. For example, even if the top board operation switch 71 is pressed, the C-arm 13 is not rotated in conjunction with this.

[0047] [Steps S03 to S08] Rotation of the C-arm in the forward direction from the reference rotation angle A to the target angle B Thereafter, the operator presses the top board operation switch 71 to manually (manually) move the top board 6 on which the subject M is placed. This turns the top board operation switch 71 on ("YES" in step S03). Note that pressing the top board operation switch 71 provides an input to move the top board 6.

[0048] When the tabletop operation switch 71 is pressed, as indicated by the symbol AT1 in FIG. 5, the two brakes 53, 67 are set to the "OFF state," and the two clutches 51, 65 are also set to the "OFF state." That is, when the tabletop operation switch 71 is pressed (when an input to move the tabletop 6 is given), the control unit 89 releases the tabletop 6 from the locked state by the two brakes 53, 63. This allows the operator to manually move the tabletop 6. Note that manually moving the tabletop 6 means moving the tabletop 6 without using the two electric motors 47, 61 (horizontal drive units).

[0049] Furthermore, when the tabletop operation switch 71 is pressed, the control unit 89 releases the locked state of the tabletop 6 and activates the rotation mechanism 21 to perform a first rotation operation to rotate the C-arm 13 in a direction toward a preset target angle B (steps S03 and S04). That is, the control unit 89 synchronizes the release of the locked state of the tabletop 6 with the start of the first rotation operation. The target angle B is an angle relative to the reference rotation angle A. The target angle B is, for example, 40° (see FIG. 8). The target angle B is also called the target position B.

[0050] Furthermore, when the top plate operation switch 71 is released midway from the reference rotation angle A to the target angle B, that is, when the top plate operation switch 71 is released from its pressed state, the control unit 89 stops the first rotation operation of the C-arm in synchronization with the locking of the top plate 6 (steps S03 and S05; see reference symbol AT2 in FIG. 5). That is, when the top plate operation switch 71 is released before the C-arm 13 reaches the target angle B, the control unit 89 locks the top plate 6 and stops (interrupts) the first rotation operation of the C-arm 13. Note that when the top plate operation switch 71 is released, the top plate operation switch 71 is turned OFF. Furthermore, when the top plate operation switch 71 is released, an input is given to prohibit movement of the top plate 6.

[0051] Thereafter, when the tabletop operation switch 71 is pressed again, the control unit 89 releases the locked state of the tabletop 6 and resumes the first rotation operation of the C-arm 13 by the rotation mechanism 21 (see symbol AT1 in Figure 5, steps S03 and S04).

[0052] If the tabletop operation switch 71 is continued to be pressed, the tabletop 6 can be manually moved horizontally and the first rotation operation of the C-arm 13 from the reference rotation angle A to the target angle B continues. When the C-arm 13 reaches the target angle B, the control unit 89 stops the first rotation operation of the C-arm 13 by the rotation mechanism 21 (steps S06 and S07). Therefore, even if the tabletop operation switch 71 is further pressed, the rotation mechanism 21 will not rotate the C-arm 13 to a rotation angle greater than the target angle B (for example, 40°).

[0053] The operator manually operates the top plate until the groin of the subject M enters the irradiation field of the X-ray tube 7. When manual operation of the top plate is finished, the operator releases the top plate operation switch 71 to lock the top plate 6 (see symbol AT2, step S08 in Figure 5). Thereafter, the operator performs at least one of X-ray fluoroscopy and X-ray photography using the X-ray imaging device 1 in order to puncture the groin and insert a catheter. After the C-arm 13 reaches target angle B and the top plate operation switch 71 is released, the X-ray imaging device 1 changes from a state attempting to move to target angle B to a state attempting to return to reference rotation angle A.

[0054] [Steps S09 to S15] Rotation of the C-arm in the reverse direction from target angle B to reference rotation angle A Steps S09 to S15 are steps until C-arm 13 returns from target angle B to reference rotation angle A. First, with reference to Figure 9, region R0, in which relative position Px of tabletop 6 with respect to C-arm 13 in the longitudinal direction of tabletop 6 moves, will be described. Relative position Px of tabletop 6 is obtained from the difference between the absolute position of C-arm 13 in the X direction detected by X-position sensor 27C (see Figure 1) and the absolute position of tabletop 6 in the X direction detected by X-position sensor 54. Region R0 is divided into observation region R1, intermediate region R2, and waiting region R3.

[0055] The observation region R1 is a region for observing a region of interest of the subject M, such as the groin. The observation region R1 is a region in which the relative position Px of the top 6 exists when the distance between the top 6 and the C-arm 13 is small. For example, when the operator performs X-ray fluoroscopy on the groin of the subject M, the relative position Px of the top 6 exists within the observation region R1.

[0056] The waiting area R3 is an area outside the observation area R1. The waiting area R3 is an area where the relative position Px of the tabletop 6 exists when the distance between the tabletop 6 and the C-arm 13 is large. The intermediate area R2 is an area between the observation area R1 and the waiting area R3.

[0057] In Figure 9, symbol P0 is the absolute position of the C-arm 13 in the X direction and is also the origin of this local coordinate system. Symbol P1 is the boundary position between the observation region R1 and the intermediate region R2. Symbol P2 is the boundary position between the intermediate region R2 and the waiting region R3. Symbol DTx is the distance between the C-arm 13 and the tabletop 6. Symbol DT1 is the distance between the absolute position P0 of the C-arm 13 and boundary position P1. Symbol DT2 is the distance between the absolute position P0 of the C-arm 13 and boundary position P2.

[0058] The rotational movement of the C-arm 13 in the opposite direction (second rotational movement) is performed when the tabletop operation switch is in the ON state (step S09) and further when a condition based on the relative position Px of the tabletop 6 in the X direction is satisfied (steps S10 to S12).

[0059] After performing X-ray fluoroscopy or the like, the operator manually moves the top 6, on which the subject M is placed, in a direction (at least in the +X direction) that moves the top 6 away from the C-arm 13 while pressing the top operation switch 71 ("YES" in step S09). Also, immediately after performing X-ray fluoroscopy or the like, the relative position Px of the top 6 is located within the observation region R1. In this case, the C-arm 13 is not rotated in the opposite direction (steps S10, S14).

[0060] When the relative position Px of the tabletop 6 is in the intermediate region R2, it is determined whether the movement speed of the tabletop 6 in the +X direction is greater than a preset value (threshold value) (steps S11, S12). When the movement speed of the tabletop 6 in the direction (+X direction) from the observation region R1 to the waiting region R3 is greater than the threshold value, the control unit 89 rotates the C-arm 13 in the direction opposite to the forward direction toward the target angle B (steps S11, S12, S13). Note that when the movement speed is equal to or less than the threshold value, the C-arm 13 is not rotated in the opposite direction (steps S11, S12, S14). This is because it is not sensed that the operator intends to reliably return the tabletop 6 to the waiting region R3.

[0061] If the relative position Px of the tabletop 6 is in the standby area R3, the tabletop 6 is rotated in the opposite direction regardless of the moving speed of the tabletop 6 shown in step S12 (step S10: NO, step S11: NO, and step S13). The tabletop 6 is rotated in the opposite direction only if the conditions of steps S09, S10, S11, and S12 are met.

[0062] When the tabletop operation switch 71 is released while the tabletop is rotating from the target angle B to the reference rotation angle A, that is, when the tabletop operation switch 71 is released from the pressed state, the control unit 89 locks the tabletop 6 and stops (interrupts) the rotation of the C-arm 13 in the opposite direction (steps S09 and S14). The rotation in the opposite direction continues until the tabletop returns to the reference rotation angle A (step S15).

[0063] According to this embodiment, when an input to move the tabletop 6 relative to the C-arm 13 is given from the console 37, the tabletop 6 is unlocked, allowing the tabletop 6 to be moved manually, and the rotation mechanism 21 is activated to rotate the C-arm 13 in a direction toward the preset target angle B. In other words, the C-arm 13 rotates toward the target angle B regardless of the distance between the tabletop 6 and the C-arm 13. This allows the timing for starting the rotation of the C-arm 13 in the direction toward the target angle B to be advanced, thereby reducing the waiting time for the rotation of the C-arm 13. This allows for smooth alignment to the region of interest. [Example]

[0064] Next, a second embodiment of the present invention will be described with reference to the drawings. Note that descriptions that overlap with those of the first embodiment will be omitted. Fig. 10 is a flowchart of the X-ray imaging apparatus 1 according to the second embodiment.

[0065] In the first embodiment, when the top operation switch 71 is pressed, the top 6 is brought into a state where it can be moved manually, and the C-arm 13 is rotated in the forward direction (first rotation operation). In this embodiment, when one of the four direction keys 77A to 77D (see FIG. 4) for electrically moving the top 6 is pressed, the top 6 is moved electrically, and the C-arm 13 is rotated in the forward direction.

[0066] (3) Operation of the X-ray device 1 The operation of the X-ray imaging apparatus 1 of this embodiment will be described with reference to Fig. 10. Steps S21 and S22 shown in Fig. 10 are the same as steps S01 and S02 shown in Fig. 6. In step S22, the operator presses the mode selection switch 73. This causes the control unit 89 to perform control in accordance with steps S23 to S35.

[0067] [Steps S23 to S28] Rotate the C-arm in the forward direction from the reference rotation angle A to the target angle B Thereafter, the operator presses the electric horizontal movement switch 75 to electrically move the tabletop 6 on which the subject M is placed (two electric motors 47, 61). As a result, the control unit 89 allows the tabletop 6 to be moved horizontally using the four direction keys 77.

[0068] Thereafter, the operator presses one of the four direction keys 77. For example, when direction key 77L is pressed, the pressed direction key 77L is set to the "ON state" ("YES" in step S23). Furthermore, when direction key 77L is pressed, X-brake 53 related to movement in the X direction is set to the "OFF state" and X-clutch 51 is set to the "ON state" (symbol AT3 in FIG. 5). Furthermore, when direction key 77L is pressed, control unit 89 operates electric motor 47 to move tabletop 6 in the -X direction (horizontal direction).

[0069] Furthermore, when the direction key 77L is pressed, the control unit 89 moves the tabletop 6 in the -X direction and activates the rotation mechanism 21 to rotate the C-arm 13 in the forward direction (steps S23 and S24). That is, the start of the movement of the tabletop 6 in the -X direction and the start of the rotation in the forward direction are synchronized. Furthermore, while the direction key 77L is being pressed, the control unit 89 moves the tabletop 6 in the -X direction and rotates the C-arm 13 in the forward direction. Note that, for example, when the direction key 77U is pressed, the tabletop 6 is moved in the +Y direction and the C-arm 13 is rotated in the forward direction.

[0070] Furthermore, if all the direction keys 77 are released while the tabletop 6 is moving from the reference rotation angle A to the target angle B, the control unit 89 stops the horizontal movement of the tabletop 6 by the two electric motors 47, 61 (symbol AT2 in FIG. 5, "NO" in step S23). The control unit 89 also stops the horizontal movement of the tabletop 6 and stops (interrupts) the forward rotation of the C-arm 13 (steps S23, S25). Thereafter, when one of the four direction keys 77 is pressed, the control unit 89 resumes the movement of the tabletop 6 and resumes the forward rotation of the C-arm 13. For example, when the direction key 77L is released, the direction key 77L is set to the OFF state. That is, releasing the direction key 77 provides an input to inhibit the tabletop 6 from moving.

[0071] When the angle of the C-arm 13 about the vertical axis AX2 reaches target angle B, the control unit 89 stops the forward rotation of the C-arm 13 (steps S26 and S27). That is, even if the direction keys 77 are further pressed, the tabletop 6 can be moved horizontally, but the rotation mechanism 21 will not rotate the C-arm 13 to a rotation angle greater than target angle B. After the C-arm 13 reaches target angle B, when all the direction keys 77 are released, the X-ray imaging apparatus 1 changes from a state in which it is attempting to move to target angle B to a state in which it is attempting to return to reference rotation angle A (step S28).

[0072] [Steps S29 to S35] Rotate the C-arm in the reverse direction from target angle B to reference rotation angle A Steps S29 to S35 are steps until the C-arm 13 returns from the target angle B to the reference rotation angle A. After performing X-ray fluoroscopy or the like, the operator presses one of the four direction keys 77 to electrically move the tabletop 6 on which the subject M is placed in a direction that moves the tabletop 6 away from the C-arm 13 ("YES" in step S29).

[0073] The C-arm 13 is rotated in the opposite direction (second rotation) when one of the four direction keys 77 is ON (step S29) and a condition based on the relative position Px of the tabletop 6 is met (steps S30 to S32). The relative position Px is the relative position of the tabletop 6 with respect to the C-arm 13 in the longitudinal direction (X direction). As in the first embodiment, the region R0 through which the relative position Px of the tabletop 6 moves is divided into an observation region R1, an intermediate region R2, and a waiting region R3 (see FIG. 9). When the relative position Px of the tabletop 6 is within the observation region R1, the tabletop 6 is moved in the horizontal direction by at least one of the electric motors 47, 61, but the C-arm 13 is not rotated in the opposite direction (second rotation) (steps S30, S34).

[0074] Furthermore, when the relative position Px of the tabletop 6 is within the intermediate region R2 and the moving speed of the tabletop 6 in the direction from the observation region R1 to the waiting region R3 (+X direction) is greater than a preset value, the turning mechanism 21 turns the C-arm 13 in the opposite direction (steps S31, S32, S33). Furthermore, when the relative position Px of the tabletop 6 is within the intermediate region R2 but the moving speed of the tabletop 6 in the +X direction is equal to or less than a preset value, the turning mechanism 21 does not turn the C-arm 13 in the opposite direction (steps S31, S32, S34).

[0075] Furthermore, when the relative position Px of the tabletop 6 is within the standby area R3, the C-arm 13 is rotated in the opposite direction regardless of the moving speed of the tabletop 6 ("NO" in step S30, "NO" in step S31, and step S33). The rotation in the opposite direction continues if the conditions of steps S29, S30, S31, and S32 are met.

[0076] When all the direction keys 77 are released while the tabletop 6 is moving from the target angle B to the reference rotation angle A, the control unit 89 stops the horizontal movement of the tabletop 6 by the two electric motors 47, 61 and stops (interrupts) the rotation of the C-arm 13 in the opposite direction (steps S29, S34). The rotation in the opposite direction is continued until the tabletop 6 returns to the reference rotation angle A (step S35).

[0077] According to this embodiment, when an input to move the tabletop 6 relative to the C-arm 13 is given from the console 37, at least one of the electric motors 47, 61 is operated to move the tabletop 6 in the horizontal direction, and the rotation mechanism 21 is operated to rotate the C-arm 13 in a direction toward the preset target angle B. In other words, the rotation of the C-arm 13 in a direction toward the target angle B is performed regardless of the distance between the tabletop 6 and the C-arm 13. This allows the timing for starting the rotation of the C-arm 13 in a direction toward the target angle B to be accelerated, thereby reducing the waiting time for the rotation of the C-arm 13. This allows for smooth alignment to the region of interest.

[0078] The present invention is not limited to the above-described embodiment, but can be modified as follows.

[0079] (1) In the above-described second embodiment, when one of the four direction keys 77 is pressed, the control unit 89 moves the tabletop 6 in the horizontal direction and rotates the C-arm 13 in the forward direction. In this regard, when one of the four direction keys 77 is pressed, the control unit 89 may operate the horizontal movement mechanism 23 to move the C-arm 13 in the horizontal direction and operate the rotation mechanism 21 to rotate the C-arm 13 in the forward direction. In other words, the start of the horizontal movement of the C-arm 13 and the start of the rotation of the C-arm 13 in the forward direction may be synchronized.

[0080] In this case, when one of the four directional keys for moving the C-arm 13 horizontally is pressed, an input for moving the tabletop 6 relative to the C-arm 13, i.e., an input for moving the C-arm 13 horizontally, is given.

[0081] The operation of the X-ray imaging apparatus 1 in this modified example is performed as in steps S21 to S35 of the flowchart in Fig. 10 of Example 2. For example, when one of the four direction keys 77 is pressed after the rotation angle of the C-arm 13 has reached target angle B and the relative position Px of the tabletop 6 (i.e., the relative position of the C-arm 13 with respect to the tabletop 6 in the X direction) is in the standby area R3, the control unit 89 rotates the C-arm 13 in the opposite direction ("NO" in step S30, "NO" in step S31, and step S33 in Fig. 10).

[0082] In this modified example, the console 37 may further include four direction keys for horizontally moving the C-arm 13. Note that the four direction keys 77 may be used not only to horizontally move the tabletop 6, but also to horizontally move the C-arm 13. In this case, the console 37 may include a switch that allows the four direction keys 77 to be used to horizontally move the C-arm 13.

[0083] (2) In the above-described embodiments, the distance between the position of C-arm 13 in the X direction detected by X position sensor 27C and the position of tabletop 6 in the longitudinal direction (X direction) detected by X position sensor 54, i.e., the relative position Px, was used to determine the conditions for rotating C-arm 13 in the opposite direction. In contrast, when moving tabletop 6, the absolute position of tabletop 6 in the X direction detected by X position sensor 54 may be used. Furthermore, when moving C-arm 13, the absolute position of C-arm 13 in the X direction detected by X position sensor 27C may be used.

[0084] (3) The above-described embodiments and modified example (1) may be configured as follows: In Fig. 6, the rotation of the C-arm 13 in the reverse direction is performed when the tabletop operation switch is in the ON state (step S09) and further when a condition based on the longitudinal position of the tabletop 6 is satisfied (steps S10 to S12). In this regard, for example, the determinations in steps S10, S11, and S12 may be omitted.

[0085] That is, the control unit 89 may be configured to release the lock state of the tabletop 6 and rotate the C-arm 13 in the opposite direction when the tabletop operation switch 71 is turned OFF after the rotation angle of the C-arm 13 reaches the target angle B and then turns ON again. However, if the condition for rotating the C-arm 13 in the opposite direction is only the tabletop operation switch 71 turning ON (step S09), there is a possibility that the C-arm 13 will rotate in the opposite direction unintentionally. Therefore, by setting three regions R1, R2, and R3 and providing steps S10 to S12, it is possible to prevent unintentional rotation by the operator. Note that in the case of FIG. 10, the determinations of steps S30, S31, and S32 may be omitted.

[0086] (4) In the above-described embodiments and modifications, the controller 89 rotates the C-arm 13 in the forward or reverse direction based on, for example, whether the tabletop operation switch 71 is in the ON state (steps S04, S13). When rotating the C-arm 13, the controller 89 may perform the following control. That is, when the X-ray axis AX4 connecting the X-ray tube 7 and the X-ray detector 11 is inclined about the horizontal axis AX1 with respect to the vertical axis AX2, the controller 89 may operate the horizontal axis rotation mechanism 19 to rotate the C-arm 13 about the horizontal axis AX1 so that the X-ray axis AX4 is parallel to the vertical axis AX2, and then rotate the C-arm 13 in the forward or reverse direction.

[0087] Furthermore, when the control unit 89 rotates the C-arm 13 based on the tabletop operation switch 71 being in the ON state, and the X-ray axis AX4 is inclined with respect to the vertical axis AX2, the control unit 89 may operate the horizontal axis rotation mechanism 19 and the "slide mechanism 17" to rotate the C-arm 13 around the horizontal axis AX1 so that the X-ray axis AX4 becomes parallel to the vertical axis AX2, and may slide the C-arm 13 along the C-shape of the C-arm 13, and then rotate the C-arm 13.

[0088] 1, the X-ray imaging device main body 3 does not necessarily have to include at least one of the slide mechanism 17 and the horizontal axis rotation mechanism 19. For example, if the X-ray imaging device main body 3 does not have the horizontal axis rotation mechanism 19, the control unit 89 may perform control as follows: That is, when the control unit 89 is rotating the C-arm 13 based on the tabletop operation switch 71 being in the ON state and the X-ray axis AX4 is inclined with respect to the vertical axis AX2, the control unit 89 operates the "slide mechanism 17" to slide the C-arm 13 along the C-shape of the C-arm 13 so that the X-ray axis AX4 is parallel to the vertical axis AX2, and then rotates the C-arm.

[0089] This operation can prevent the operator from performing an unintended operation, such as a collision between the tabletop 6 and the C-arm 13. The same applies to the case where the C-arm 13 is rotated in steps S24 and S33 in FIG.

[0090] (5) In each of the above-described embodiments and modifications, the horizontal movement mechanism 23 (including the guide rails 27A) of the X-ray imaging device main body 3 is provided on the ceiling of the examination room. That is, the X-ray imaging device main body 3 is a ceiling-mounted device main body. In this regard, the X-ray imaging device main body 3 may be a floor-mounted device main body. In this case, the horizontal movement mechanism 23 shown in FIG. 1 may be provided on the floor of the examination room. Furthermore, the horizontal movement mechanism 23 on the floor may not include two sets of guide rails 27A, 29A, etc., but may include, for example, a SCARA-type articulated arm.

[0091] (6) In each of the above-described embodiments and modifications, the examination table 5 allows selective manual or electric operation of the tabletop 6. In this regard, the examination table 5 does not allow electric operation of the tabletop 6 using the two electric motors 47, 61, but may be configured so that the tabletop 6 can be manually operated. In this case, the tabletop horizontal movement mechanism 33 does not need to include the two electric motors 47, 61, the two screw shafts 49, 63, and the two clutches 51, 65 shown in FIGS. 2 and 3. In addition, the console 37 shown in FIG. 4 does not need to include the electric horizontal operation switch 75 and the four directional keys 77 related to electric operation.

[0092] Furthermore, the examination table 5 may be configured so that the top plate 6 cannot be manually operated, but can be electrically operated by two electric motors 47, 61. In this case, the movable member 45 shown in FIG. 2 may be provided with a nut that is constantly engaged with the screw shaft 49, instead of the X-clutch 51. Furthermore, the movable member 59 shown in FIG. 3 may be provided with a nut that is constantly engaged with the screw shaft 63, instead of the Y-clutch 65. Furthermore, the console 37 shown in FIG. 4 does not need to be provided with the top plate operation switch 71 related to manual operation.

[0093] (7) In each of the above-described embodiments and modifications, the X-ray imaging apparatus 1 may be configured to be able to execute both steps S03 to S15 shown in Fig. 6 and steps S23 to S35 shown in Fig. 10. After the mode selection switch 73 is pressed, for example, when the tabletop 6 is to be moved manually, the control unit 89 performs control in accordance with steps S03 to S15. Furthermore, when the tabletop 6 is to be moved electrically, the control unit 89 performs control in accordance with steps S23 to S35.

[0094] (8) In each of the above-described embodiments and modifications, steps S08 to S15 may be omitted as needed in Fig. 6. Also, steps S28 to S35 may be omitted as needed in Fig. 10. That is, the control unit 89 may rotate the C-arm 13 in the forward direction without rotating the C-arm 13 in the reverse direction.

[0095] (9) In the above-described embodiments and modifications, an input for relatively moving the tabletop 6 was given by pressing the tabletop operation switch 71 and one of the direction keys 77. Furthermore, an input for prohibiting movement of the tabletop 6 was given by releasing the tabletop operation switch 71 and one of the direction keys 77. The inputs are not limited to these. The tabletop operation switch 71 and the four direction keys 77 may each be a switch that can select one of two types of input. Note that if the console 37 includes a touch panel and a monitor (e.g., a liquid crystal display), at least one of the multiple switches 71, 73, 75, and 77 may be a switch displayed on the monitor.

[0096] (10) In each of the above-described embodiments and modifications, the console 37 is configured to move together with the tabletop 6. However, the console 37 may be disposed separately from the tabletop 6 so that the console 37 and the tabletop 6 do not move together.

[0097] (11) In the second embodiment and each of the modified examples described above, when one of the four direction keys 77 is pressed, the control unit 89 electrically moves the tabletop 6 and also rotates the C-arm 13 in the forward direction. In this regard, when two direction keys 77 (e.g., direction keys 77D and 77L) are pressed simultaneously, the control unit 89 may electrically move the tabletop 6 in a predetermined horizontal direction and also rotate the C-arm 13 in the forward direction. The same applies to the rotation of the C-arm 13 in the reverse direction.

[0098] (12) In the above-described embodiments and modifications, the region R0 in which the relative position Px of the tabletop 6 (or the C-arm 13) moves is divided into the observation region R1, the intermediate region R2, and the waiting region R3. However, the region R0 may be divided into the observation region R1 and the waiting region R3.

[0099] <Effects of the configuration of the embodiment> The configuration and effects of the X-ray imaging device 1 in this example will be described below.

[0100] (1) The X-ray imaging device 1 in this example comprises a C-arm 13 that supports the X-ray tube 7 and the X-ray detector 11, a rotation mechanism 21 that rotates the C-arm 13 around a vertical axis AX2, a tabletop 6 on which the subject M is placed, an operation unit (console) 37, and a control unit 89. When the operation unit 37 provides an input to move the tabletop 6 relative to the C-arm 13, the control unit 89 activates the rotation mechanism 21 to rotate the C-arm 13 in a direction toward a predetermined target angle B.

[0101] According to the above-described X-ray imaging apparatus 1, when an input for moving the tabletop 6 relative to the C-arm 13 is given from the operation unit 37, the rotation mechanism 21 is activated to rotate the C-arm 13 in a direction toward the preset target angle B. In other words, regardless of the distance between the tabletop 6 and the C-arm 13, the input for moving the tabletop 6 relative to the C-arm 13 rotates the C-arm 13 in a direction toward the target angle B. This makes it possible to speed up the timing for starting the rotation of the C-arm 13 in a direction toward the target angle B, thereby reducing the waiting time for the rotation of the C-arm 13. This allows for smooth alignment to the region of interest.

[0102] (2) The above-described X-ray imaging apparatus 1 further includes a mode selection unit (mode selection switch) 73 that selects a specific imaging mode (femoral approach mode) for observing a predetermined region of interest of the subject M. When the specific imaging mode is selected by the mode selection unit 73, the control unit 89 activates the rotation mechanism 21 to rotate the C-arm 13 in a direction toward the predetermined target angle B when an input is given from the operation unit 37 to move the top 6 relative to the C-arm 13. In other words, when the specific imaging mode is not selected, the C-arm 13 is not rotated in a direction toward the target angle B even when an input is given from the operation unit 37 to move the top 6 relative to the C-arm 13. This allows the C-arm 13 to be rotated only when necessary.

[0103] (3) In the above-described X-ray imaging apparatus 1, when an input for relatively moving the top 6 is given after the rotation angle of the C-arm 13 has reached the target angle B, and when the relative position Px of the top 6 with respect to the C-arm 13 in the longitudinal direction of the top 6 is in the waiting area R3 outside the observation area R1 for observing a predetermined region of interest of the subject M, the control unit 89 activates the rotation mechanism 21 to rotate the C-arm 13 in the direction opposite to the direction toward the target angle B. For example, when the relative position Px is in the observation area R1, the C-arm 13 is not rotated in the opposite direction. This prevents rotation unintended by the operator.

[0104] (4) In the above-described X-ray imaging apparatus 1, when an input for relatively moving the tabletop 6 is given after the rotation angle of the C-arm 13 has reached the target angle B, the control unit 89 rotates the C-arm 13 in the direction opposite to the direction toward the target angle when the relative position Px of the tabletop 6 is in the intermediate region R2 between the observation region R1 and the waiting region R3, and the moving speed of the tabletop 6 from the observation region R1 toward the waiting region R3 is greater than a preset value. Therefore, even if the relative position Px of the tabletop 6 has not been returned to the waiting region R3, the control unit 89 performs a rotation operation in the opposite direction when it detects, for example, an intention to reliably return the tabletop 6 to its original position in the waiting region R3. This prevents unintended rotation by the operator.

[0105] (5) In the above-described X-ray imaging device 1, when an input prohibiting the relative movement of the tabletop 6 is given from the operation unit 37, the control unit 89 stops the rotation of the C-arm 13 by the rotation mechanism 21. This makes it possible to prevent rotation unintended by the operator, such as a collision between the tabletop 6 and the C-arm 13.

[0106] (6) The X-ray imaging device 1 further includes a horizontal axis rotation mechanism 19 that rotates the C-arm 13 around the horizontal axis AX1. When the control unit 89 rotates the C-arm 13 based on an input for relatively moving the tabletop 6, and the X-ray axis AX4 connecting the X-ray tube 7 and the X-ray detector 11 is inclined with respect to the vertical axis AX2, the control unit 89 activates the horizontal axis rotation mechanism 19 to rotate the C-arm 13 around the horizontal axis AX1 so that the X-ray axis AX4 is parallel to the vertical axis AX2, and then rotates the C-arm 13. The horizontal axis rotation mechanism 19 returns the X-ray tube 7 and the X-ray detector 11 to the reference position in which they are arranged vertically, after which the C-arm 13 is rotated. This prevents unintended rotation and rotation by the operator.

[0107] (7) In the above-described X-ray imaging apparatus 1, when an input to move the top 6 is given from the operation unit 37, the control unit 89 unlocks the top 6, thereby enabling the top 6 to be moved manually, and rotates the C-arm 13. In other words, when the top 6 is moved manually, alignment with the region of interest can be performed smoothly. Furthermore, moving the top 6 manually allows for faster alignment than when the top 6 is moved using the horizontal drive unit (two electric motors 47, 61).

[0108] (8) The above-described X-ray imaging device 1 further includes a horizontal drive unit (47, 61) that moves the tabletop 6 in the horizontal direction, and when an input to move the tabletop 6 is given from the operation unit 37, the control unit 89 activates the horizontal drive unit (47, 61) to move the tabletop 6 in the horizontal direction and also rotates the C-arm 13. Therefore, when the tabletop 6 is moved by the horizontal drive unit (47, 61), it can be smoothly aligned with the region of interest.

[0109] (9) The above-described X-ray imaging device 1 further includes a horizontal movement mechanism 23 that moves the C-arm 13 in the horizontal direction, and when an input to move the C-arm 13 is given from the operation unit 37, the control unit 89 activates the horizontal movement mechanism 23 to move the C-arm 13 in the horizontal direction and also rotates the C-arm 13. Therefore, when the C-arm 13 is moved by the horizontal movement mechanism 23, it can be smoothly aligned with the region of interest. [Explanation of symbols]

[0110] 1. X-ray equipment 6...top plate 7…X-ray tube 11... X-ray detector 13... C-arm (C-shaped arm) 15...C-arm drive mechanism 19...Horizontal axis rotation mechanism 21... Swivel mechanism 23 … Horizontal movement mechanism 27C,54 … X position sensor 33...Tabletop horizontal movement mechanism 37...Console 43,57... Guide rail 45,59... Movable parts 47,61... Electric motor 53...X brake 67 ... Y-brake 71 ... Top panel operation switch 73 … Mode selection switch 77(77U, 77D, 77L, 77R)... Directional keys 89 ... Control section AX1…Horizontal axis AX2: Vertical axis AX4…X-ray axis

Claims

1. a C-arm supporting the X-ray tube and the X-ray detector; a rotation mechanism that rotates the C-arm around a vertical axis; a top plate on which a subject is placed; An operation unit; a control unit, The control unit is an X-ray imaging device that, when an input is given from the operation unit to move the tabletop relative to the C-arm, activates the rotation mechanism to rotate the C-arm in a direction toward a predetermined target angle.

2. 2. The X-ray imaging apparatus according to claim 1, a mode selection unit for selecting a specific imaging mode for observing a predetermined region of interest of the subject; The control unit is an X-ray imaging device that, when an input to move the tabletop relative to the C-arm is given by the operation unit, activates the rotation mechanism to rotate the C-arm in a direction toward the predetermined target angle, provided that the specific imaging mode is selected by the mode selection unit.

3. 3. The X-ray imaging apparatus according to claim 1, The control unit, after the rotation angle of the C-arm has reached the target angle and an input has been given to move the top plate relatively, operates the rotation mechanism to rotate the C-arm in the direction opposite to the direction toward the target angle when the relative position of the top plate to the C-arm in the longitudinal direction of the top plate is in a waiting area outside an observation area for observing a predetermined area of ​​interest of the subject.

4. 4. The X-ray imaging apparatus according to claim 3, The control unit rotates the C-arm in the direction opposite to the direction toward the target angle when, after the rotation angle of the C-arm has reached the target angle and an input has been given to move the tabletop relatively, the relative position of the tabletop is in an intermediate area between the observation area and the waiting area, and the moving speed of the tabletop from the observation area toward the waiting area is greater than a predetermined value.

5. 5. The X-ray imaging apparatus according to claim 1, The control unit stops the rotation of the C-arm by the rotation mechanism when an input prohibiting the relative movement of the tabletop is given by the operation unit.

6. 6. The X-ray imaging apparatus according to claim 1, a horizontal axis rotation mechanism that rotates the C-arm around a horizontal axis; When the control unit rotates the C-arm based on an input for relatively moving the tabletop, and when an X-ray axis connecting the X-ray tube and the X-ray detector is inclined with respect to the vertical axis, the control unit operates the horizontal axis rotation mechanism to rotate the C-arm around the horizontal axis so that the X-ray axis becomes parallel to the vertical axis, and then rotates the C-arm.

7. 7. The X-ray imaging apparatus according to claim 1, When an input to move the tabletop is given by the operation unit, the control unit releases the locked state of the tabletop, thereby enabling the tabletop to be moved manually, and rotates the C-arm.

8. 7. The X-ray imaging apparatus according to claim 1, Further provided is a horizontal drive unit that moves the top plate in a horizontal direction, The control unit is an X-ray imaging device that, when an input to move the tabletop is given by the operation unit, activates the horizontal drive unit to move the tabletop horizontally and rotates the C-arm.

9. 7. The X-ray imaging apparatus according to claim 1, further comprising a horizontal movement mechanism that moves the C-arm in a horizontal direction; When an input to move the C-arm is given by the operation unit, the control unit activates the horizontal movement mechanism to move the C-arm horizontally and rotate the C-arm.

Images