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

Abstract

To expand a slidable range of an arm while suppressing an increase in size of an apparatus.SOLUTION: An X-ray diagnostic apparatus includes an arm, an arm gripping part, a holder part, a driving part, and a holder holding part. The arm has an arc shape that supports an X-ray tube for emitting X-rays to a subject at one end and supports an X-ray detector for detecting the X-rays transmitted through the subject at the other end. The arm gripping part grips the arm to be movable in an arc direction. The holder part supports the arm gripping part to be movable in the arc direction of the arm. The driving part is arranged on the holder, moves the arm gripping part, and simultaneously moves the arm relatively to the arm gripping part. The holder holding part holds the holder part to be rotatable by using an axis which is perpendicular to a rotation axis related to the movements in the arc direction of the arm and is substantially perpendicular to a vertical direction as a rotation axis.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The embodiments disclosed in the present specification and the like are directed to an X-ray diagnostic apparatus. and control method for X-ray diagnostic device Regarding. [Background technology]

[0002] Some X-ray diagnostic devices have an X-ray tube, an X-ray detector, and an arc-shaped C-arm or Ω-arm that supports them facing each other. Such X-ray diagnostic devices can capture three-dimensional images by sliding the C-arm or Ω-arm in the arc direction around the subject. Here, to capture three-dimensional images and collect three-dimensional image data, it is desirable that the imaging range around the subject be 180 degrees or more.

[0003] Therefore, in such an X-ray diagnostic apparatus, it is necessary to widen the range (stroke) in which the arm can slide. A possible configuration to meet this requirement is, for example, an X-ray diagnostic apparatus equipped with multiple arms (first and second arms) that can slide in the same arc direction. In this case, the first arm is, for example, a C-arm, which supports the X-ray tube and the X-ray detector and slides in the arc direction. The second arm holds the first arm and slides in the same direction as the sliding movement of the first arm. This allows the stroke of the C-arm to be widened, making it possible to ensure a wide imaging range. In this specification, a structure equipped with such multiple arms is referred to as a double slide. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-131088 Summary of the Invention [Problem to be solved by the invention]

[0005] One of the problems that the embodiments disclosed herein aim to solve is to expand the sliding range of the arm while preventing the device from becoming too large. However, the problems solved by the embodiments disclosed herein are not limited to the above problem. Problems corresponding to the effects of the configurations described in the embodiments below can also be considered as other problems that the embodiments disclosed herein aim to solve. [Means for solving the problem]

[0006] An X-ray diagnostic apparatus according to an embodiment includes an arm, an arm gripper, a holder, a drive unit, and a holder holder. The arm is arc-shaped and supports an X-ray tube at one end that irradiates a subject with X-rays and an X-ray detector at the other end that detects X-rays transmitted through the subject. The arm gripper grips the arm so that it can move in the arc direction. The holder supports the arm gripper so that it can move in the arc direction of the arm. The drive unit is disposed on the holder and moves the arm gripper while simultaneously moving the arm relative to the arm gripper. The holder holder holds the holder so that it can rotate around an axis that is perpendicular to a rotation axis related to the movement of the arm in the arc direction and is substantially perpendicular to the vertical direction. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of an X-ray diagnostic apparatus according to the first embodiment. [Figure 2] FIG. 2 is a diagram illustrating the double slide mechanism. [Figure 3] FIG. 3 is a diagram showing the movement of the X-ray diagnostic apparatus according to the first embodiment. [Figure 4A] FIG. 4A is a cross-sectional view showing an example of the structure of the imaging unit according to the first embodiment. [Figure 4B] FIG. 4B is a cross-sectional view showing an example of the structure of the imaging unit according to the first embodiment. [Figure 5] FIG. 5 is a diagram illustrating the roller unit according to the first embodiment. [Figure 6]FIG. 6 is a diagram illustrating the blocks and rails according to the first embodiment. [Figure 7] FIG. 7 is a diagram for explaining an X-ray diagnostic apparatus according to the first modification. [Figure 8] FIG. 8 is a diagram for explaining an X-ray diagnostic apparatus according to the second modification. [Figure 9] FIG. 9 is an enlarged view of the holder to explain the structure provided with a plurality of wheels. [Figure 10] FIG. 10 is a diagram showing an example of the configuration of an imaging unit in an X-ray diagnostic apparatus according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of an X-ray diagnostic apparatus will be described in detail with reference to the drawings. Note that the X-ray diagnostic apparatus according to the present application is not limited to the embodiment shown below. In the following description, similar components will be given common reference numerals, and duplicated descriptions will be omitted.

[0009] (First embodiment) Fig. 1 is a block diagram showing an example of the configuration of an X-ray diagnostic apparatus 1 according to the first embodiment. As shown in Fig. 1, the X-ray diagnostic apparatus 1 includes an imaging unit 10, a processing circuit 20, an input interface 21, a display 22, and a memory circuit 23. In the following description, an X-ray diagnostic apparatus 1 having a mechanism in which part of the imaging unit 10 is suspended from the ceiling (ceiling-suspended type) will be described as an example. Furthermore, although the following description is given taking as an example a case in which the X-ray diagnostic apparatus 1 is a single-plane X-ray apparatus, the embodiment is not limited to this and may be a bi-plane X-ray apparatus.

[0010] The imaging unit 10 includes an X-ray high voltage device 11, an X-ray tube 12, a tabletop 13, an X-ray detector 14, a C-arm 15, a roller unit 16, a holder 17, a ceiling rotation arm 18, and a ceiling rotation arm support part 19. The imaging unit 10 irradiates X-rays onto the subject P and detects the X-rays that have passed through the subject P.

[0011] The X-ray high voltage device 11 generates a high voltage under the control of the processing circuitry 20 and applies the high voltage to the X-ray tube 12. The X-ray tube 12 irradiates X-rays toward the subject P placed on the tabletop 13 based on the high voltage applied by the X-ray high voltage device 11. An X-ray diaphragm (not shown) is provided on a plane of the X-ray tube 12 facing the subject P, and opens and closes diaphragm blades under the control of the processing circuitry 20 to form an irradiation range (irradiation field) of the X-rays irradiated from the X-ray tube 12. For example, the diaphragm blades are formed in a flat plate shape using a material such as lead that blocks X-rays. The tabletop 13 is a bed on which the subject P rests, and is placed on a couch (not shown).

[0012] The X-ray detector 14 is, for example, an X-ray flat panel detector (FPD) having detection elements arranged in a matrix. The X-ray detector 14 detects X-rays that are irradiated from the X-ray tube 12 and transmitted through the subject P, and outputs a detection signal (X-ray detection signal) corresponding to the detected X-ray dose to the processing circuitry 20.

[0013] The C-arm 15 has an arc shape and supports the X-ray tube 12 at one end and the X-ray detector 14 at the other end. As a result, the C-arm 15 supports the X-ray tube 12 and the X-ray detector 14 so that they face each other with the subject P in between. Furthermore, the C-arm 15 supports the X-ray tube 12 and the X-ray detector 14 so that they can rotate independently. The C-arm 15 has a U-shaped rail on the side opposite the inner surface on which the X-ray tube 12 and the X-ray detector 14 are provided, and the rail comes into contact with wheels 161 of the roller unit 16, which will be described later, and moves. As a result, the C-arm 15 moves in the arc direction of arrow S1 in FIG. 1. Here, the C-arm 15 is an example of an arm.

[0014] Roller unit 16 grips C-arm 15 to enable sliding movement in the arc direction indicated by arrow S1 in Fig. 1. Furthermore, roller unit 16 is supported by holder 17, and is capable of sliding movement by running on rails on C-arm 15 in the arc direction indicated by arrow S2 in Fig. 1 using a drive unit described below. Here, roller unit 16 is an example of an arm gripping unit.

[0015] Holder 17 has a drive unit inside and supports roller unit 16 so that it can slide in the arc direction indicated by arrow S2. Furthermore, holder 17 is supported at the lower end of ceiling rotation arm 18 so that it can rotate around rotation axis R1 shown in Figure 1. Holder 17 is an example of a holder unit.

[0016] The drive unit has a roller unit drive gear 31, a timing belt drive pulley 32, and a shaft 33, which will be described later. The drive unit is disposed in a holder 17, and drives the imaging unit 10 by transmitting power from a power source such as a motor or actuator (not shown) under the control of a processing circuit 20, which will be described later. For example, the drive unit slides and rotates the C-arm 15 and roller unit 16.

[0017] The rotation axis R1 is located at the center of the holder 17 and at the lower end of the ceiling rotation arm 18, and is the rotation axis of the holder 17 relative to the ceiling rotation arm 18. Specifically, the rotation axis R1 is perpendicular to the rotation axis of the sliding movement of the C-arm 15 and perpendicular to the vertical direction (direction of gravity). When the holder 17 rotates around the rotation axis R1, the roller unit 16 supported by the holder 17 and the C-arm 15 supported by the roller unit 16 rotate together with the holder 17 around the rotation axis R1.

[0018] Ceiling rotating arm 18 is arc-shaped and supports holder 17 at its lower end so that it can rotate about rotation axis R1. As a result, ceiling rotating arm 18 rotatably holds holder 17 around rotation axis R1. Furthermore, ceiling rotating arm 18 is supported at its upper end by ceiling rotating arm support portion 19 so that it can swing about rotation axis R2. Here, ceiling rotating arm 18 is an example of a holder holding portion.

[0019] The ceiling rotating arm support 19 is a support member attached to the ceiling of the examination room. The ceiling rotating arm support 19 supports the ceiling rotating arm 18 so that it can rotate around a rotation axis R2. Here, the rotation axis R2 is an axis that is perpendicular to the ceiling or floor surface and perpendicular to the rotation axis R1.

[0020] The processing circuit 20 is composed of, for example, a processor. The processing circuit 20 controls the entire X-ray diagnostic apparatus 1 by controlling the control function 201. Specifically, the control function 201 supplies control signals to the X-ray high voltage device 11, the X-ray tube 12, the X-ray diaphragm, the tabletop 13, the X-ray detector 14, the C-arm 15, the roller unit 16, the holder 17, the ceiling rotation arm 18, and the ceiling rotation arm support unit 19, causing them to irradiate X-rays. The control function 201 is an example of a control unit. Details of the control function 201 will be described later.

[0021] The input interface 21 is composed of an input device that accepts various input operations from a user. The input interface 21 accepts input operations from a user and outputs electrical signals corresponding to the accepted input operations to the processing circuit 20. For example, the input interface 21 includes a mouse, a keyboard, and a trackball. The input interface 21 also includes operation buttons such as a hand switch (such as an exposure switch) and a foot switch that accept operations from a user. The input interface 21 may also be composed of a touchpad that performs input operations by touching the operation surface, a non-contact input circuit using an optical sensor, a voice input circuit, etc. The input interface 21 may also be composed of a tablet terminal or the like that can wirelessly communicate with the device main body. The input interface 21 is not limited to those that have physical operation components such as a mouse and a keyboard. For example, an electrical signal processing circuit that receives electrical signals corresponding to input operations from an external input device provided separately from the device and outputs the electrical signals to the processing circuit 20 is also included as an example of the input interface 21.

[0022] The display 22 is configured as a display device that displays various types of information. For example, the display 22 displays a GUI (Graphical User Interface), acquired X-ray images (fluoroscopic images and radiographic images) of the subject P, and the like.

[0023] The memory circuitry 23 is configured by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, a hard disk, an optical disk, etc. The memory circuitry 23 stores various information used by the processing circuitry 20 or generated by the processing circuitry 20. For example, the memory circuitry 23 stores various information such as an X-ray image of the subject P, a GUI, etc. The memory circuitry 23 also stores a program that causes the processing circuitry 20 to function as the control function 201.

[0024] An example of the configuration of the X-ray diagnostic apparatus 1 according to this embodiment has been described above. With this configuration, the X-ray diagnostic apparatus 1 can expand the sliding range of the arm while preventing the apparatus from becoming larger. Specifically, the X-ray diagnostic apparatus 1 allows the roller unit 16 to slide in the same arc direction as the C-arm 15 as the C-arm 15 slides, thereby enabling the stroke of the C-arm 15 to be expanded while preventing the apparatus from becoming larger.

[0025] In the X-ray diagnostic apparatus 1, the X-ray tube 12 and the X-ray detector 14 are supported by a C-arm 15, and the C-arm 15 is slid along an arc to slide the X-ray tube 12 and the X-ray detector 14 to positions along the arc of the C-arm 15. At this time, the X-ray diagnostic apparatus 1 can perform rotational imaging to image the subject P at each position (imaging angle) along the arc of the C-arm 15. This allows the X-ray diagnostic apparatus 1 to obtain a 3D image by collecting projection data at each imaging angle and performing 3D reconstruction. However, to properly perform 3D reconstruction, it is necessary to collect projection data at an imaging angle of 180 degrees or more around the subject P. That is, the imaging system consisting of the X-ray tube 12, the X-ray detector 14, and the C-arm 15 is required to be able to slide 180 degrees or more.

[0026] Therefore, in order to widen the stroke range of the C-arm 15 supporting the X-ray tube 12 and the X-ray detector 14, an X-ray diagnostic apparatus having multiple arms capable of sliding in the same arc direction is conceivable. FIG. 2 is a diagram showing an example of an X-ray diagnostic apparatus with a double-slide structure. In FIG. 2, a ceiling-mounted X-ray diagnostic apparatus is configured with a first arm D1 and a second arm D2. The first arm D1 supports the X-ray tube and the X-ray detector and slides in the arc direction indicated by the arrow DS1 in FIG. 2. The second arm D2 holds the first arm D1 via a holder D3 that supports it at its lower end, and slides in the same direction as the sliding movement of the first arm D1. Furthermore, the second arm D2 is pivotally supported by a support member D4 attached to the ceiling of the examination room.

[0027] However, a structure like that shown in Figure 2 may result in the X-ray diagnostic equipment being large and complex. Specifically, when multiple sliding arms are used, the overall size of the X-ray diagnostic equipment may increase compared to an X-ray diagnostic equipment with only a C-arm as the sliding arm, in order to support the moment load during sliding. Furthermore, when multiple sliding arms are used, it is conceivable that the space occupied by the X-ray diagnostic equipment in the examination room where it is installed will increase. In addition, an X-ray diagnostic equipment with a double sliding structure supports multiple arms, all of which slide in the same arc direction, resulting in a complex internal structure.

[0028] Furthermore, the large size and complexity of the device structure may impair accessibility within the examination room, making it difficult to see other devices, subjects, and medical personnel around the device.

[0029] Therefore, in the X-ray diagnostic apparatus of this embodiment, the roller unit 16 slides in the same arc direction as the C-arm 15 as the C-arm 15 slides, thereby making it possible to increase the stroke range of the C-arm 15 while avoiding an increase in the size of the apparatus.

[0030] FIG. 3 is a diagram illustrating the movement of the X-ray diagnostic apparatus 1 according to the first embodiment. FIG. 3 illustrates the transition of three C-arm holding states in the X-ray diagnostic apparatus 1. Specifically, the central diagram in FIG. 3 illustrates a first holding state in which the roller unit 16 is housed within the holder 17 and the center of the roller unit 16 coincides with the rotation axis R1. The left diagram in FIG. 3 illustrates a second holding state in which, relative to the first holding state, the C-arm 15 and the roller unit 16 are slid in the direction of arrow a1, thereby moving the X-ray tube 12 away from the holder 17. The right diagram in FIG. 3 illustrates a third holding state in which the C-arm 15 and the roller unit 16 are slid in the direction of arrow a2, thereby moving the X-ray tube 12 closer to the holder 17. The second and third holding states illustrate cases in which the sliding movement of the C-arm 15 and the roller unit 16 is at its maximum.

[0031] For example, in the X-ray diagnostic apparatus 1, as shown in the second holding state (left diagram in FIG. 3 ), when the C-arm 15 slides in the direction of arrow a1, the roller unit 16 slides in the same direction (direction of arrow a1) to a position where it protrudes from the holder 17. This allows the X-ray diagnostic apparatus 1 to have a wider stroke in the sliding movement of the X-ray tube 12 in the direction away from the holder 17, by the amount of sliding movement of the roller unit 16, compared to when the C-arm 15 alone slides in the same direction. Note that the roller unit 16 slides, for example, by a driving force transmitted from a roller unit drive gear 31a disposed on the rotation axis R1. In this case, the roller unit 16 has a gear on the roller unit drive gear 31a side that meshes with the roller unit drive gear 31a, and slides by the driving force transmitted from the roller unit drive gear 31a.

[0032] Similarly, for example, in X-ray diagnostic apparatus 1, as shown in the third holding state (right diagram in FIG. 3), when C-arm 15 slides in the direction of arrow a2, roller unit 16 slides in the same direction (direction of arrow a2) to a position where it protrudes from holder 17. This makes it possible to ensure a wider stroke in the sliding movement of X-ray tube 12 in the direction approaching holder 17 by the amount of sliding movement of roller unit 16 compared to when C-arm 15 alone slides in the same direction as above. Note that roller unit 16 slides by a driving force transmitted from roller unit drive gear 31a arranged on rotation axis R1, as described above.

[0033] As described above, the X-ray diagnostic apparatus 1 allows the roller unit 16, which holds the C-arm 15, to slide in the same direction as the sliding movement of the C-arm 15, thereby enabling a wide stroke. The X-ray diagnostic apparatus 1 according to the first embodiment includes the structure of the imaging unit 10, which will be described in detail below, and thereby drives the sliding movement of the C-arm 15 and the sliding movement of the roller unit 16 with a single driving force. Details of the structure of the imaging unit 10 will be described below. FIGS. 4A and 4B are cross-sectional views showing an example of the structure of the imaging unit 10 according to the first embodiment. Here, FIG. 4A shows a cross-section (AA cross-section) in the axial direction of the rotation axis R1 in the second holding state shown in FIG. 3. Also, FIG. 4B shows a cross-section BB of FIG. 4A.

[0034] As shown in FIG. 4A, a block 171 is fixed inside the holder 17. Also, roller unit drive gear 31a, roller unit drive gear 31b, timing belt drive pulley 32, and shaft 33 are arranged inside the holder 17. The roller unit drive gear 31a, roller unit drive gear 31b, timing belt drive pulley 32, and shaft 33 are an example of a drive unit. Also, as shown in FIGS. 4A and 4B, the roller unit 16 includes wheels 161, rails 162, a rack gear 163, and a main body 164. Two roller units 16 are arranged symmetrically with respect to the center of the longitudinal direction of the shaft 33. The roller units 16 grip the C-arm 15 by fitting the rollers of the wheels 161 provided on the left and right roller units 16 into U-shaped rails formed on each side of the C-arm 15.

[0035] The shaft 33 is rotatably supported inside the holder 17, and rotates around its longitudinal axis in response to a driving force transmitted from a driving source (not shown). However, the driving source, such as a motor, does not necessarily have to be included inside the holder 17.

[0036] Timing belt drive pulley 32 is a pulley that transmits driving force to C-arm 15, is fixed to shaft 33, and rotates with the rotation of shaft 33. That is, timing belt drive pulley 32 rotates around shaft 33 as the rotation axis, and transmits driving force to C-arm 15, thereby causing C-arm 15 to slide.

[0037] The configuration of the imaging unit 10 related to the sliding movement of the C-arm 15 will now be described. The C-arm 15 has an arc shape, and a timing belt (not shown) is stretched along the outer circumferential surface, which is the back surface of the C-arm 15, opposite the inner surface where the X-ray tube 12 and X-ray detector 14 are mounted. One end of the timing belt is fixed to the other end of the C-arm 15 and is passed around a timing belt drive pulley 32. The timing belt drive pulley 32 is located a predetermined distance away from the C-arm 15 and rotatably supported by a shaft 33. The surface of the timing belt drive pulley 32 is provided with teeth around its entire circumference at a pitch that meshes with the teeth of the timing belt. Furthermore, the timing belt is pressed against the outer circumferential surface of the C-arm 15 by a timing belt roller (not shown). The timing belt roller is rotated by a drive source (not shown) in accordance with the rotation of the timing belt drive pulley 131.

[0038] Next, the sliding movement of C-arm 15 will be described. For example, in X-ray diagnostic apparatus 1, shaft 33 and timing belt rollers are rotated by a drive source. For example, in the second holding state (left diagram in FIG. 3), when C-arm 15 slides in the direction of arrow a1, the timing belt is pulled in by the rotation of timing belt drive pulley 32 and timing belt roller, and is sent out in the direction of arrow a1. As a result, C-arm 15 slides in the direction of arrow a1 as the timing belt stretched on the outer back surface is pulled in accordance with the rotation of timing belt drive pulley 32.

[0039] The roller unit drive gear 31a is fixed to the shaft 33, and rotates in conjunction with the rotation of the shaft 33. That is, the roller unit drive gear 31a rotates around the shaft 33 as its rotation axis. Here, the roller unit drive gear 31a meshes with a rack gear 163 fixed to one of the roller units 16 that is arranged symmetrically on the left and right sides with the center of the longitudinal direction of the shaft 33 as the axis of symmetry, and rotates in conjunction with the rotation of the shaft 33, thereby transmitting a driving force to the roller unit 16.

[0040] The roller unit drive gear 31b is fixed to the shaft 33, and rotates in conjunction with the rotation of the shaft 33. That is, the roller unit drive gear 31b rotates around the shaft 33 as its rotation axis. Here, the roller unit drive gear 31b meshes with a rack gear 163 fixed to the other roller unit 16 that is arranged symmetrically on the left and right sides with the center of the longitudinal direction of the shaft 33 as the axis of symmetry, and rotates in conjunction with the rotation of the shaft 33, thereby transmitting a driving force to the roller unit 16.

[0041] As described above, roller unit drive gears 31a and 31b fixed to shaft 33 transmit driving force to each roller unit 16 as shaft 33 rotates, causing the two roller units 16 to slide synchronously. Next, the configuration of imaging section 10 related to the sliding movement of roller units 16 will be described. FIG. 5 is a view showing the roller units according to the first embodiment from the same perspective as FIG. 4B , illustrating one of the wheels of roller units 16 symmetrically provided on holder 17. Main body 164 is the main body portion of roller unit 16 and is formed in an arc shape that follows the arc of C-arm 15. For example, main body 164 includes two wheels 161 arranged along the arc. Wheel 161 is a unit including multiple cylindrical rollers that run on rails on C-arm 15. A portion of wheel 161 is rotatably supported by main body 164 up to a predetermined rotation angle.

[0042] The rail 162 is fixed to the main body 164 of the roller unit 16. The rail 162 is fitted into a block 171 fixed to the holder 17, and is supported by the block 171. In other words, the roller unit 16 is supported by the holder 17 by the rail 162 being supported by the block 171. Here, the rail 162 and the block 171 form a linear guide. FIG. 6 is a diagram showing the rail 162 and the block 171 according to the first embodiment. As shown in FIG. 4B, the rail 162 is formed along the arc shape of the main body 164, and has U-shaped grooves on both side surfaces. The rail 162 moves relative to the block 171 in the direction indicated by the arrow in FIG. 6 as the roller unit 16 moves. As a result, the rail 162 slides and moves while changing the position where it is supported by the block 171 as the roller unit 16 moves. The block 171 is an example of a support member.

[0043] FIG. 6 shows the internal structure of block 171. Block 171 is a housing that fits onto rail 162 via a string of spheres provided inside. Block 171 allows the spheres to roll, thereby enabling sliding movement along rail 162. Block 171 is provided with through-holes as a path for circulating the spheres as they roll. This allows block 171 to achieve smooth sliding movement along rail 162. Furthermore, block 171 has good rigidity and can withstand moment loads caused by protrusion of the imaging system that occurs as rail 162 slides.

[0044] Rack gear 163 is fixed to roller unit 16 and meshes with roller unit drive gear 31. Specifically, as shown in FIG. 4B , rack gear 163 is formed along the arc shape of main body 164 and is provided on the back surface of main body 164. Rack gear 163 has teeth at a pitch that meshes with the teeth of roller unit drive gear 31. With this configuration, rack gear 163 receives driving force from roller unit drive gear 31 due to the rotation of shaft 33, and slides.

[0045] The number of teeth of the roller unit drive gear 31 is set according to the speed ratio between the C-arm 15 and the roller unit 16 and the number of teeth of the timing belt drive pulley 32. However, this speed ratio is set in advance according to the relationship between the maximum movement distance of the C-arm 15 and the maximum movement distance of the roller unit 16. Here, the maximum movement distance is the maximum distance of the path when moving along an arc. For example, the maximum movement distance is the movement distance along the arc when transitioning from the second holding state to the third holding state. Specifically, the maximum movement distance of the C-arm 15 is the distance of the path traveled when the C-arm 15 slides from the second holding state to the third holding state (or from the third holding state to the second holding state). Similarly, the maximum movement distance of the roller unit 16 is the distance of the path traveled when the roller unit 16 slides from the second holding state to the third holding state (or from the third holding state to the second holding state).

[0046] (Variation 1) In the first embodiment described above, the ceiling-suspended X-ray diagnostic apparatus 1 is described as having a structure including a C-arm 15. However, the embodiment is not limited to this, and the X-ray diagnostic apparatus 1 may also include an Ω-arm 24. FIG. 7 is a diagram illustrating the imaging unit 10 and its movement according to Modification 1. As shown in FIG. 7, the X-ray diagnostic apparatus 1 includes an Ω-arm 24 corresponding to the C-arm 15 shown in FIG. 1. FIG. 7 shows the transition of three Ω-arm holding states in the ceiling-suspended X-ray diagnostic apparatus 1 equipped with an Ω-arm. Specifically, the center diagram in FIG. 7 shows the first Ω-arm holding state, which corresponds to the first holding state shown in FIG. 3. The same is true for the left and right diagrams in FIG. 7, where the left and right diagrams in FIG. 7 correspond to the second and third holding states in FIG. 3, respectively. The left diagram in Fig. 7 shows a second Ω-arm holding state in which the Ω-arm 24 and roller unit 16 are slid in the direction of arrow b1 relative to the first Ω-arm holding state, thereby moving the X-ray tube 12 in a direction away from the holder 17. The right diagram in Fig. 7 shows a third Ω-arm holding state in which the Ω-arm 24 and roller unit 16 are slid in the direction of arrow b2, thereby moving the X-ray tube 12 in a direction closer to the holder 17.

[0047] For example, as shown in the second Ω-arm holding state (left diagram in FIG. 7), when the Ω-arm 24 slides in the direction of arrow a1, the roller unit 16 slides in the same direction (direction of arrow b1) to a position where it protrudes from the holder 17. Similarly, in the third Ω-arm holding state (right diagram in FIG. 7), the roller unit 16 slides in the same direction (direction of arrow b2) to a position where it protrudes from the holder 17. This allows the X-ray diagnostic apparatus 1 to have a wider stroke in the sliding movement of the X-ray tube 12 in the direction away from the holder 17 by the amount of sliding movement of the roller unit 16, compared to when the Ω-arm 24 alone slides in the same direction as above.

[0048] (Variation 2) In the first embodiment described above, the X-ray diagnostic apparatus 1 is a ceiling-mounted type. However, the embodiment is not limited to this, and the imaging unit 10 may be a floor-mounted type supported by the floor. FIG. 8 is a diagram illustrating the imaging unit 10 and its movement according to Modification 2. As shown in FIG. 8, the floor-mounted X-ray diagnostic apparatus 1 has a stand 25. The stand 25 is installed on the floor and supports the holder 17. An upper portion of the stand 25 (a portion supporting the holder 17) is rotatably supported about a rotation axis R3. A lower portion of the stand 25 (a portion in contact with the floor) is rotatably supported about a rotation axis R4, allowing the stand 25 and the holder 17 to rotate together on the floor. The holding state of the C-arm 15 shown in FIG. 8 corresponds to the first holding state in FIG. 3.

[0049] Next, the movement of the floor-standing X-ray diagnostic apparatus 1 will be described. As with the ceiling-suspended X-ray diagnostic apparatus 1 shown in the first embodiment, the roller unit 16 holding the C-arm 15 slides in the same direction as the sliding movement of the C-arm 15. This allows the floor-standing X-ray diagnostic apparatus 1 to have a wide stroke. Specifically, the C-arm 15 and the roller unit 16 slide by a single driving force in the arc directions indicated by arrows S1 and S2 in FIG. 8 in a direction moving the X-ray tube 12 away from the holder 17 or in a direction moving the X-ray detector 14 away, respectively. This allows the floor-standing X-ray diagnostic apparatus 1 to have a wide stroke by the amount of movement due to the sliding movement of the roller unit 16, as compared to when the C-arm 15 alone slides in the same direction as described above, similar to the ceiling-suspended type.

[0050] As described above, according to the first embodiment, the C-arm 15 has an arc-shaped configuration, supporting at one end the X-ray tube 12 that irradiates the subject with X-rays and at the other end the X-ray detector 14 that detects X-rays transmitted through the subject. The roller unit 16 holds the C-arm 15 so that it can move in the arc direction. The holder 17 supports the roller unit 16 so that it can move in the arc direction of the C-arm 15. The drive unit is disposed on the holder 17 and moves the roller unit 16 while simultaneously moving the C-arm 15 relative to the roller unit 16. The ceiling rotation arm 18 rotatably holds the holder 17 around an axis that is perpendicular to the rotation axis related to the movement of the C-arm 15 in the arc direction and is also substantially perpendicular to the vertical direction. This allows the roller unit 16 to slide in addition to the sliding movement of the C-arm 15. That is, the stroke of the C-arm 15 can be widened by the amount of movement related to the sliding movement of the roller unit 16. Therefore, the sliding range of the C-arm 15 can be expanded.

[0051] In addition to the configuration of the X-ray diagnostic apparatus 1 of the first embodiment, it is also possible to enlarge the holder, increase the number of wheels fixed inside the holder, and adopt a structure that allows the C-arm to move on the wheels, but this structure is likely to lead to an increase in the size of the X-ray diagnostic apparatus. FIG. 9 shows an example of an X-ray diagnostic apparatus with an enlarged holder and multiple wheels. As shown in FIG. 9, the C-arm E1 slides in the direction of arrow ES1 on four wheels E3 provided on the holder E4. In contrast to such a structure, the first embodiment has a structure that prevents the holder from becoming too large, thereby preventing the X-ray diagnostic apparatus from becoming too large.

[0052] Furthermore, according to the first embodiment, the drive unit drives the movement of the C-arm 15 and the movement of the roller unit 16 with a single drive force. This eliminates the need to provide separate drive source mechanisms for the movement of the C-arm 15 and the roller unit 16. Therefore, the X-ray diagnostic apparatus 1 has a configuration that avoids complicating the internal structure of the imaging unit 10, making it possible to extend the stroke of the C-arm while preventing the apparatus from becoming larger in size.

[0053] Furthermore, according to the first embodiment, in the drive unit, the rotation axis of the timing belt drive pulley 32 that transmits the drive force to the C-arm 15 and the rotation axis of the roller unit drive gear 31 that transmits the drive force to the roller unit 16 are formed on the same axis. This makes it possible to transmit the drive force transmitted to the shaft 33 to the C-arm 15 and the roller unit 16. Therefore, in the X-ray diagnostic apparatus 1, the structure related to the drive of the roller unit 16 is provided so as to be linked to the drive of the C-arm 15, thereby further avoiding the complication of the internal structure of the imaging unit 10. Consequently, it is possible to further prevent the size of the X-ray diagnostic apparatus 1 from increasing.

[0054] Furthermore, according to the first embodiment, the drive unit moves the C-arm 15 and the roller unit 16 at a speed ratio according to the relationship between the maximum movement distance of the C-arm 15 and the maximum movement distance of the roller unit 16. This allows the X-ray diagnostic apparatus 1 to slide the C-arm 15 and the roller unit 16 in conjunction with each other in accordance with their respective different movement distances. Therefore, the X-ray diagnostic apparatus 1 allows the C-arm 15 and the roller unit 16 to slide in an appropriate manner in conjunction with each other.

[0055] Furthermore, according to the first embodiment, the drive unit transmits a driving force to the C-arm 15 to move the C-arm 15, and also transmits a driving force to the roller unit 16 via the roller unit drive gear 31, which has a number of teeth according to the speed ratio, to move the roller unit 16. This allows the roller unit 16 to perform sliding movement in response to the rotation of the roller unit drive gear in conjunction with the sliding movement of the C-arm 15. Therefore, the X-ray diagnostic apparatus 1 can easily achieve appropriate linkage between the C-arm 15 and the roller unit 16.

[0056] Furthermore, according to the first embodiment, holder 17 has a support member, roller unit 16 has an arc-shaped rail supported by the support member, and the position of the rail supported by the support member changes as roller unit 16 moves. As a result, the load generated when the imaging system protrudes from holder 17 in connection with the sliding movement of C-arm 15 and roller unit 16 is supported by the slidable engagement between rail 162 and block 171, allowing for smooth sliding movement. This reduces vibrations of the imaging system generated in connection with sliding movement, and prevents the device from becoming larger because there is no need to add a complex internal structure to suppress vibrations of the imaging system.

[0057] (Other embodiments) In the first embodiment, the case where the C-arm 15 and the roller unit 16 slide in the same arc direction has been described. However, the embodiment is not limited to this, and the C-arm 15 and the roller unit 16 may slide in the arc direction separately. FIG. 10 is a diagram showing an example of the configuration of the imaging unit 10 in an X-ray diagnostic apparatus 1 according to another embodiment. The X-ray diagnostic apparatus 1 according to the other embodiment differs from the first embodiment in the control by the control function 201 in the processing circuitry 20 and the drive unit. These differences will be mainly described below.

[0058] The control function 201 according to the other embodiments includes, in addition to the control function 201 according to the first embodiment, a function for determining the movement amount of the roller unit 16 based on the positional relationship between the C-arm 15 and the roller unit 16. However, the movement amount is the distance of the path when sliding along an arc. Furthermore, in addition to calculating the movement amount based on the positional relationship between the C-arm 15 and the roller unit 16, the control function 201 may change the calculated movement amount in response to a user operation via the input interface 21. Alternatively, the user may preset a target movement amount, and the control function 201 may calculate the movement amount based on the preset.

[0059] The drive unit uses different drive forces to slide the C-arm 15 and to slide the roller unit 16, and causes each to slide independently. For example, the timing belt drive pulley 32, which drives the C-arm 15, and the roller unit drive gear 31, which drives the roller unit 16, are not driven by a single drive force, but rather each receives a drive force transmitted thereto separately and rotates. This allows the roller unit 16 to slide in a direction different from the direction in which the C-arm 15 slides.

[0060] For example, the control function 201 controls the drive unit that applies a driving force to the C-arm 15 to slide the C-arm 15 in the direction of arrow c1 shown in FIG. 10 . Then, the control function 201 controls the drive unit that applies a driving force to the roller unit 16 to slide the roller unit 16 in the direction of arrow c2 shown in FIG. 10 . For example, when the X-ray tube 12 slides away from the holder 17, the mass of the X-ray tube 12 may be large, causing a large moment load. In such a case, the control function 201 collects the positional relationship between the C-arm 15 and the roller unit 16 and determines the amount of sliding of the roller unit 16 in the direction of arrow c2. Then, the drive unit slides the roller unit 16 in the direction of arrow c2 according to the determined amount of sliding of the roller unit 16. In this way, the X-ray diagnostic apparatus 1 supports the moment load of the X-ray tube 12.

[0061] Here, we have described a case where the sliding direction of the C-arm 15 and the sliding direction of the roller unit 16 are opposite, as indicated by arrows c1 and c2 in FIG. 9 . However, the embodiment is not limited to this, and the C-arm 15 and roller unit 16 may slide in the same direction. In this case, the C-arm 15 and roller unit 16 can slide by different amounts without being linked together. For example, the drive unit slides the roller unit 16 in the direction of arrow c1 according to the sliding amount determined by the control function 201. This allows the X-ray diagnostic apparatus 1 to effectively resist moment loads generated in the imaging unit 10.

[0062] According to the above-described other embodiments, the drive unit moves roller unit 16 independently of the movement of C-arm 15 using a drive force different from the drive force that slides C-arm 15. This makes it possible to effectively counter the moment load of the imaging system that occurs with the movement of C-arm 15 by the independent movement of roller unit 16. Therefore, X-ray diagnostic apparatus 1 can easily expand the slidable range of C-arm 15 by better maintaining the support balance of imaging unit 10 related to the sliding movement of C-arm 15.

[0063] Furthermore, according to another embodiment, the control function 201 determines the amount of movement of the roller unit 16 based on the positional relationship between the C-arm 15 and the roller unit 16. This makes it possible to move the roller unit 16 to any position to counteract the moment load of the imaging system that occurs with the movement of the C-arm 15. Therefore, the X-ray diagnostic apparatus 1 can more easily expand the slidable range of the C-arm 15 by better maintaining the support balance of the imaging unit 10 related to the sliding movement of the C-arm 15.

[0064] Furthermore, the term "processor" used in the description of the above-mentioned embodiments refers to circuits 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)). Here, instead of storing a program in the memory circuit 23, the program may be directly embedded in the processor circuit. In this case, the processor realizes its function by reading and executing the program embedded in the circuit. Furthermore, each processor in the present embodiment is not limited to being configured as a single circuit, but may be configured as a single processor by combining multiple independent circuits to realize its function.

[0065] Here, the program executed by the processor is provided in advance in a read-only memory (ROM) or a storage circuit. The program may be provided by being recorded on a computer-readable, non-transitory storage medium such as a compact disk (CD)-ROM, a flexible disk (FD), a recordable CD-R (CD-R), or a digital versatile disk (DVD) in a format that can be installed or executed on these devices. The program may also be provided or distributed by being stored on a computer connected to a network such as the Internet and downloaded via the network. For example, the program may be composed of modules including the above-described processing functions. In actual hardware, a CPU reads and executes the program from a storage medium such as a ROM, whereby each module is loaded into a main memory device and generated on the main memory device.

[0066] In addition, in the above-described embodiments and modifications, the components of each device shown in the drawings are functional concepts and do not necessarily have to be physically configured as shown. In other words, the specific form of distribution or integration of each device is not limited to that shown in the drawings, and all or part of the devices can be functionally or physically distributed or integrated in any unit depending on various loads, usage conditions, etc. Furthermore, all or any part of the processing functions performed by each device can be realized by a CPU and a program analyzed and executed by the CPU, or can be realized as hardware using wired logic.

[0067] Furthermore, among the processes described in the above-mentioned embodiments and modifications, all or part of the processes described as being performed automatically can be performed manually, or all or part of the processes described as being performed manually can be performed automatically using a known method.In addition, the information including the processing procedures, control procedures, specific names, various data and parameters shown in the above documents and drawings can be changed as desired unless otherwise specified.

[0068] According to at least one of the embodiments described above, it is possible to increase the sliding range of the arm while suppressing an increase in the size of the device.

[0069] Although several embodiments have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0070] 1 X-ray diagnostic equipment 12 X-ray tube 14 X-ray detector 15 C-arm 16 Roller unit 17 Holder 24 Ω arm 162 Rail 163 Rack Gear 171 blocks 201 Control Function 31a, 31b Roller unit drive gear

Claims

1. an arc-shaped arm that supports, at one end, an X-ray tube that irradiates an object with X-rays and, at the other end, an X-ray detector that detects the X-rays that have passed through the object; an arm gripping portion that grips the arm so as to be movable in an arc direction; a holder portion that supports the arm grip portion so as to be movable in the arc direction of the arm; a drive unit disposed in the holder unit and configured to move the arm gripping unit and simultaneously move the arm relative to the arm gripping unit; a holder holding portion that rotatably holds the holder portion about an axis that is perpendicular to a rotation axis related to the movement of the arm in the arc direction and is substantially perpendicular to a vertical direction; Equipped with The arm gripping portion moves in the arc direction of the arm to a position where it protrudes from the holder portion.

2. The X-ray diagnostic apparatus according to claim 1 , wherein the drive unit drives the movement of the arm and the movement of the arm gripper with a single drive force.

3. The X-ray diagnostic apparatus according to claim 1 , wherein the drive unit moves the arm and the arm gripper at a speed ratio according to a relationship between a maximum movement distance of the arm and a maximum movement distance of the arm gripper.

4. 4. The X-ray diagnostic apparatus according to claim 3, wherein the drive unit moves the arm by transmitting a drive force to the arm, and moves the arm gripper by transmitting the drive force to the arm gripper via a gear having a number of teeth according to the speed ratio.

5. 5. The X-ray diagnostic apparatus according to claim 4, wherein the drive unit has a rotation axis of a pulley that transmits the drive force to the arm and a rotation axis of the gear that transmits the drive force to the arm gripping portion, the rotation axis being formed on the same axis.

6. the holder portion has a support member, 6. The X-ray diagnostic apparatus according to claim 1, wherein the arm gripping portion has an arc-shaped rail supported by the support member, and a position at which the rail is supported by the support member changes as the arm gripping portion moves.

7. The X-ray diagnostic apparatus according to claim 1 , wherein the drive unit moves the arm gripper with a drive force different from a drive force that slides the arm, independently of the movement of the arm.

8. The X-ray diagnostic apparatus according to claim 7 , further comprising a control unit that determines a movement amount of the arm gripper based on a positional relationship between the arm and the arm gripper.

9. an arc-shaped arm that supports, at one end, an X-ray tube that irradiates an object with X-rays and, at the other end, an X-ray detector that detects the X-rays that have passed through the object; an arm gripping portion that grips the arm so as to be movable in an arc direction; a holder portion that supports the arm grip portion so as to be movable in the arc direction of the arm; a drive unit disposed in the holder unit and configured to move the arm gripping unit and simultaneously move the arm relative to the arm gripping unit; a holder holding portion that holds the holder portion rotatably about a vertical axis; Equipped with The arm gripping portion moves in the arc direction of the arm to a position where it protrudes from the holder portion.

10. A method for controlling an X-ray diagnostic apparatus comprising: an arc-shaped arm supporting at one end an X-ray tube for irradiating X-rays onto a subject and at the other end an X-ray detector for detecting X-rays that have passed through the subject; an arm gripping section for gripping the arm so as to be movable in the arc direction; a holder section for supporting the arm gripping section so as to be movable in the arc direction of the arm; a drive section disposed on the holder section for moving the arm gripping section and simultaneously moving the arm relative to the arm gripping section; and a holder holding section for rotatably holding the holder section around an axis that is perpendicular to the rotation axis related to the movement of the arm in the arc direction and is approximately perpendicular to the vertical direction, A method for controlling an X-ray diagnostic apparatus, comprising: moving the arm gripping portion in an arc direction of the arm to a position where the arm gripping portion protrudes from the holder portion.

11. A method for controlling an X-ray diagnostic apparatus comprising: an arc-shaped arm supporting at one end an X-ray tube that irradiates X-rays onto a subject and at the other end an X-ray detector that detects X-rays that have passed through the subject; an arm gripping section that grips the arm so that it can move in the arc direction; a holder section that supports the arm gripping section so that it can move in the arc direction of the arm; a drive section that is disposed on the holder section and moves the arm gripping section while simultaneously moving the arm relative to the arm gripping section; and a holder holding section that rotatably holds the holder section around a vertical axis as a rotation axis, A method for controlling an X-ray diagnostic apparatus, comprising: moving the arm gripping portion in an arc direction of the arm to a position where the arm gripping portion protrudes from the holder portion.

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