X-ray diagnostic equipment and program

Abstract

To perform X-ray imaging by moving an X-ray tube to an appropriate position with respect to an X-ray detector.SOLUTION: An X-ray diagnostic apparatus according to an embodiment comprises: an X-ray irradiation unit which emits an X-ray; an imaging unit which images an identification member for identifying a position of an X-ray detector for detecting the X-ray; a calculation unit which calculates a relative position of the X-ray irradiation unit to the X-ray detector and an irradiation position of the X-ray irradiation unit where the relative position satisfies a predetermined X-ray imaging condition on the basis of the identification member shown in the image captured by the imaging unit; and an output unit which outputs movement information of the X-ray irradiation unit on the basis of the relative position and the irradiation position.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Conventionally, a mobile X-ray diagnostic apparatus that can be moved to a hospital room or the like for X-ray imaging has been known. Such a mobile X-ray diagnostic apparatus is used for, for example, X-ray fluoroscopy and X-ray imaging (hereinafter collectively referred to as X-ray imaging) of a subject who is on a hospital bed in a hospital room and cannot easily move, such as during an intravenous drip or when bedridden.

[0003] Generally, in a mobile X-ray diagnostic apparatus, an X-ray tube that irradiates X-rays and an X-ray detector that detects these X-rays can be arranged independently of each other. When such a mobile X-ray diagnostic apparatus is used for X-ray imaging of a subject on a hospital bed, the operator places the X-ray detector between the subject and the hospital bed, moves the X-ray tube, and positions (aligns) the X-ray tube and the X-ray detector. Then, the operator performs alignment to obtain an appropriate setting of the X-ray irradiation field with respect to the X-ray detection surface of the X-ray detector by moving the X-ray tube to an appropriate position with respect to the X-ray detector. If an appropriate alignment setting is not made, the X-rays will be irradiated outside the range of the X-ray detector, and it will be impossible to take a necessary X-ray image. Therefore, when performing X-ray imaging, the operator needs to move the X-ray tube to an appropriate position with respect to the X-ray detector.

[0004] However, since all or much of the X-ray detector placed between the patient and the examination table is obscured by the patient, the operator must move the X-ray tube to the position of the X-ray detector that the operator estimates by visual observation. This presents a problem in that it is difficult for the operator to move the X-ray tube to the appropriate position relative to the X-ray detector. Furthermore, this problem occurs not only in mobile X-ray diagnostic equipment but also in other types of X-ray diagnostic equipment, such as general X-ray diagnostic equipment and portable X-ray diagnostic equipment, where the X-ray detector can be positioned independently of the X-ray tube. Therefore, in X-ray diagnostic equipment where the X-ray tube can be positioned independently of the X-ray detector, it is desirable to enable the X-ray tube to be moved to the appropriate position relative to the X-ray detector in order to perform X-ray imaging. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2016-178993 [Patent Document 2] Japanese Patent Publication No. 2014-121453 [Patent Document 3] Japanese Patent Publication No. 2015-077251 [Overview of the project] [Problems that the invention aims to solve]

[0006] One of the problems that the embodiments disclosed herein and in the drawings aim to solve is to enable X-ray imaging by moving the X-ray tube to an appropriate position relative to the X-ray detector. However, the problems that the embodiments disclosed herein and in the drawings aim to solve are not limited to the above problem. Problems corresponding to the effects of each configuration shown in the embodiments described later can also be positioned as other problems. [Means for solving the problem]

[0007] The X-ray diagnostic apparatus according to this embodiment includes an X-ray irradiation unit that irradiates X-rays, an imaging unit that photographs an identification member that identifies the position of an X-ray detector that detects X-rays, a calculation unit that calculates the relative position of the X-ray irradiation unit with respect to the X-ray detector and the irradiation position of the X-ray irradiation unit that satisfies predetermined X-ray imaging conditions based on the identification member shown in the image captured by the imaging unit, and an output unit that outputs movement information of the X-ray irradiation unit based on the relative position and the irradiation position. [Brief explanation of the drawing]

[0008] [Figure 1] A schematic diagram showing the external appearance of an X-ray diagnostic apparatus according to one embodiment. [Figure 2] A block diagram showing an example configuration of an X-ray diagnostic apparatus according to one embodiment. [Figure 3] A flowchart illustrating the contents of the movement route output processing performed by an X-ray diagnostic device according to one embodiment. [Figure 4] A flowchart illustrating the contents of the movement route output processing performed by an X-ray diagnostic device according to one embodiment. [Figure 5] A diagram showing an example of a characteristic area captured by the imaging unit in an X-ray diagnostic apparatus according to one embodiment. [Figure 6] A diagram showing an example of the positional relationship between the position of a feature area and the position of an X-ray detector in an X-ray diagnostic apparatus according to one embodiment. [Figure 7] A diagram showing an example of the irradiation position of the X-ray tube in an X-ray diagnostic apparatus according to one embodiment. [Figure 8] A diagram showing an example of the direction and amount of movement from the relative position of the X-ray tube to the irradiation position of the X-ray tube in an X-ray diagnostic apparatus according to one embodiment. [Figure 9] A figure showing an example of a travel route list calculated by a calculation function in an X-ray diagnostic apparatus according to one embodiment. [Figure 10] A flowchart illustrating the contents of the lock control process performed in an X-ray diagnostic apparatus according to one embodiment. [Figure 11]A flowchart illustrating the content of the notification process performed by an X-ray diagnostic device according to one embodiment. [Figure 12] A flowchart illustrating the contents of the travel route recalculation process performed by an X-ray diagnostic device according to one embodiment. [Figure 13] A block diagram showing an example configuration of an X-ray diagnostic apparatus according to a modified example. [Modes for carrying out the invention]

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

[0010] Figure 1 is a schematic diagram showing the external appearance of the X-ray diagnostic apparatus 1 according to this embodiment. The X-ray diagnostic apparatus 1 shown in Figure 1 is, for example, a mobile X-ray diagnostic apparatus. However, the X-ray diagnostic apparatus 1 according to this embodiment is not limited to a mobile X-ray diagnostic apparatus, and can be realized as any type of X-ray diagnostic apparatus, such as a general-purpose X-ray diagnostic apparatus or a portable X-ray diagnostic apparatus. The following description of this embodiment will be based on the premise that X-ray imaging is performed using a mobile X-ray diagnostic apparatus.

[0011] As shown in Figure 1, the X-ray diagnostic apparatus 1 according to this embodiment comprises an X-ray tube 11, an X-ray diaphragm 13, an X-ray detection unit 15, an imaging unit 17, and a support unit 19.

[0012] The X-ray tube 11 generates X-rays from the X-ray focal point (hereinafter referred to as the tube focal point) based on the tube current supplied from the high-voltage generation circuit and the tube voltage applied by the high-voltage generation circuit. The position where these X-rays are generated is the tube focal point position 11a. The X-rays generated at the tube focal point are irradiated towards the irradiation range limited by the X-ray diaphragm 13. The X-ray tube 11 is provided, for example, at the tip of the support part 19. The X-ray tube 11 is connected to the high-voltage generation circuit via a high-voltage cable provided on the support part 19. Note that the X-ray tube 11 is an example of an X-ray irradiation unit in this embodiment.

[0013] The X-ray aperture 13 limits the irradiation range of the X-rays according to the operation by the operator. Specifically, the X-ray aperture 13 limits the irradiation range according to the irradiation area for irradiating the X-rays on the body surface of the subject P so as not to cause unnecessary exposure to areas other than the imaging site desired by the operator for the X-rays generated at the tube focal spot. Note that the X-ray aperture 13 may be called a collimator.

[0014] Furthermore, the X-ray aperture 13 may have a plurality of predetermined filters (hereinafter referred to as quality adjustment filters) for the purpose of reducing the exposure dose to the subject P and improving the image quality. The plurality of quality adjustment filters are each made of a different material and may have the same thickness. The quality adjustment filter is changed according to the thickness of the X-rays generated at the tube focal spot. The quality adjustment filter is composed of, for example, aluminum, copper, or the like.

[0015] The X-ray detection unit 15 detects the X-rays irradiated from the X-ray tube 11 and transmitted through the subject P. The X-ray detection unit 15 is a portable detection unit and can be arranged independently of the X-ray tube 11. The X-ray detection unit 15 is placed between the subject P and the bed B by the operator. The X-ray detection unit 15 in the present embodiment includes an X-ray detector 151 that detects the X-rays transmitted through the subject P and a feature portion 153 extending from the X-ray detector 151.

[0016] The X-ray detector 151 is implemented, for example, by a flat panel detector (FPD). The FPD has a plurality of semiconductor detection elements arranged in two dimensions. Each semiconductor detection element detects the X-rays irradiated from the X-ray tube 11 and transmitted through the subject P, and converts the detected X-rays into electrical signals. The electrical signals generated in each semiconductor detection element are output to an analog-to-digital converter (A / D converter). The A / D converter converts the electrical signals into digital data. The A / D converter generates digital data. The generated digital data is output to an image generation circuit. The image generation circuit generates X-ray image data based on this digital data, and this X-ray image data is output to an image memory. The digital data generated in the X-ray detector 151 by X-ray imaging may be read out by an X-ray detector readout device provided in the X-ray diagnostic device 1, or by an X-ray detector readout device other than the X-ray diagnostic device 1.

[0017] The feature section 153 extends from the X-ray detector 151. The feature section 153 is imaged by the imaging unit 17. The tip of the feature section 153 is made of an image-recognizable material. The image-recognizable material is, for example, a material such as plastic, metal, or wood, and it is desirable that it has a different color from the bed B or the subject P, such as red or yellow. The feature section 153 may be detachable from the X-ray detector 151, or it may be an integral structure with the X-ray detector 151. Furthermore, the feature section 153 is an example of an identification member in this embodiment.

[0018] The imaging unit 17 is positioned to image the X-ray detection unit 15. The imaging unit 17 images, for example, the subject P, the X-ray detector 151, and the feature unit 153. The imaging unit 17 is, for example, an optical camera. Also, as shown in Figure 1, the imaging unit 17 in this embodiment is positioned near the X-ray tube 11. In this embodiment, the imaging unit 17 is positioned near the X-ray tube 11, but the position of the imaging unit 17 is arbitrary. For example, the imaging unit 17 may be positioned on the support unit 19.

[0019] The support section 19 is a support member that supports the X-ray tube 11 so that it can move in multiple directions. The support section 19 comprises an arm section 191 and a support body section 193. In Figure 1, the case in which the support section 19 consists of two parts, the arm section 191 and the support body section 193, is explained, but the number of support sections 19 is arbitrary. For example, the support section 19 may consist of three or more parts.

[0020] The arm portion 191 movably supports the X-ray tube 11 at one of its ends. The other end of the arm portion 191 is supported by the support body portion 193. Furthermore, the arm portion 191 comprises a first arm 191a, a second arm 191b, and a joint portion 191c.

[0021] The first arm 191a supports the X-ray tube 11 at one of its ends so that it can slide and / or rotate. The other end of the first arm 191a is connected to the joint 191c. The first arm 191a is configured to extend and retract along its longitudinal direction, i.e., in the direction of arrow a1 shown in Figure 1. As the first arm 191a extends and retracts, the X-ray tube 11 slides along the direction of arrow a1. The first arm 191a is attached to the second arm 191b such that the angle between the first arm 191a and the second arm 191b can be opened and closed around the joint 191c. That is, the first arm 191a is attached to the second arm 191b via the joint 191c so that it can be opened and closed in the direction of arrow a2 shown in Figure 1, i.e., vertically.

[0022] The second arm 191b is attached to the support body 193 so as to be extendable and retractable in the longitudinal direction of the second arm 191b. That is, the second arm 191b is attached to the support body 193 so as to be able to move (slide) up and down along the direction of arrow a3 shown in Figure 1. Furthermore, as described above, the second arm 191b supports the first arm 191a via the joint portion 191c so as to be able to open and close in the direction of arrow a2 shown in Figure 1.

[0023] The joint 191c connects the first arm 191a and the second arm 191b so that the first arm 191a can open and close in the direction of arrow a2 shown in Figure 1. The structure of the joint 191c is arbitrary, but after the operator has opened or closed the angle between the first arm 191a and the second arm 191b, a stopper mechanism is provided that allows the first arm 191a to be held still at the angle at which the operation was performed.

[0024] The support body 193 is a housing that supports the arm 191. The support body 193 comprises a main body 193a and a movable part 193b.

[0025] The main unit 193a includes a processing circuit for controlling each part of the X-ray diagnostic apparatus 1, a storage circuit for storing various data, an input interface for accepting various operations, and an output interface for outputting various information. The main unit 193a also performs control of various processes related to the acquisition of X-ray images.

[0026] The movable part 193b is a portable support mechanism provided at the bottom of the main body 193a, and is composed of, for example, wheels, casters, etc. The movable part 193b moves in the direction of arrow a4 shown in Figure 1, i.e., horizontally, in response to operation by the operator. As the movable part 193b moves, the arm 191 also moves in the direction of arrow a4 shown in Figure 1. In addition, at least one of the wheels provided at the bottom of the main body 193a may be a drive wheel connected to a drive device such as a motor. In this case, the drive wheel is driven in response to operation by the operator.

[0027] Figure 2 is a block diagram showing an example configuration of the X-ray diagnostic apparatus 1 according to this embodiment. As shown in Figure 2, the X-ray diagnostic apparatus 1 includes an X-ray tube 11, an X-ray diaphragm 13, an X-ray detection unit 15, an imaging unit 17, a support unit 19, a processing circuit 21, a high-voltage generation circuit 23, an input interface 25, a display 27, a speaker 29, a memory circuit 31, a communication circuit 33, a state detector 35, a locking mechanism 37, and a detection unit 39.

[0028] The processing circuit 21 is a control circuit that performs overall control of the X-ray diagnostic apparatus 1. The processing circuit 21 is also an arithmetic circuit that performs various calculations and is composed of a processor such as a CPU or GPU. In this embodiment, the processing circuit 21 calculates, for example, the relative position of the X-ray tube 11 with respect to the X-ray detector 151 and the irradiation position of the X-ray tube 11.

[0029] Therefore, the processing circuit 21 according to this embodiment has an analysis function 21a, a calculation function 21b, a determination function 21c, an output function 21d, a guide function 21e, a control function 21f, and a notification function 21g. The analysis function 21a corresponds to the analysis unit in this embodiment, the calculation function 21b corresponds to the calculation unit in this embodiment, the determination function 21c corresponds to the determination unit in this embodiment, the output function 21d corresponds to the output unit in this embodiment, the guide function 21e corresponds to the guide unit in this embodiment, the control function 21f corresponds to the control unit in this embodiment, and the notification function 21g corresponds to the notification unit in this embodiment.

[0030] In the embodiment shown in Figure 2, each processing function performed by the analysis function 21a, calculation function 21b, judgment function 21c, output function 21d, guide function 21e, control function 21f, and notification function 21g is stored in the memory circuit 31 in the form of a program that can be executed by a computer. The processing circuit 21 is a processor that reads the program from the memory circuit 31 and executes it to realize the function corresponding to each program. In other words, the processing circuit 21 in the state in which each program has been read will have the functions shown in the processing circuit 21 of Figure 2. In Figure 2, the analysis function 21a, calculation function 21b, judgment function 21c, output function 21d, guide function 21e, control function 21f, and notification function 21g are realized by a single processing circuit 21, but these functions may also be realized by combining multiple independent processors to form the processing circuit 21, with each processor executing a program.

[0031] The high-voltage generation circuit 23 includes various control circuits for controlling tube current, tube voltage, exposure time, etc., as well as a high-voltage transformer, a high-voltage rectifier, a filament transformer, and the like. The high-voltage generation circuit 23 generates the tube current supplied to the X-ray tube 11 and the tube voltage applied to the X-ray tube 11. Specifically, under the control of the processing circuit 21, the high-voltage generation circuit 23 supplies a tube current suitable for X-ray imaging to the X-ray tube 11 and applies a tube voltage suitable for X-ray imaging to the X-ray tube 11 according to the X-ray imaging conditions. Here, the X-ray imaging conditions are, for example, conditions related to X-ray imaging such as tube current, tube voltage, irradiation time, source image distance (SID), size of the X-ray irradiation field, imaging site, type of imaging, and arrangement of the X-ray tube 11.

[0032] The input interface 25, for example, receives various input operations from the operator, converts the received input operations into electrical signals, and outputs them to the processing circuit 21. For example, the input interface 25 receives input of information about the subject P and X-ray imaging conditions when imaging the subject P. This input interface 25 can be implemented using, for example, a mouse, keyboard, trackball, manual switch, foot switch, button, joystick, etc. The input interface 25 may also consist of the X-ray diagnostic device 1 main unit and a tablet terminal or the like that can communicate wirelessly.

[0033] The display 27 is connected to the processing circuit 21, etc., and displays various images and information based on signals supplied from the processing circuit 21, etc. For example, the display 27 displays images captured by the imaging unit 17, the movement route described later, a GUI (Graphical User Interface) for receiving various operations from the operator, etc. In this embodiment, the display 27 is composed of, for example, a liquid crystal display or a CRT (Cathode Ray Tube) display.

[0034] The speaker 29 is connected to the processing circuit 21, etc., and outputs various information by voice based on signals supplied from the processing circuit 21, etc. For example, the speaker 29 outputs the travel route, etc., as described later, by voice. The speaker 29 may also be built into the display 27.

[0035] The memory circuit 31 is implemented by, for example, a semiconductor memory element such as RAM (Random Access Memory) or flash memory, a hard disk, or an optical disc. In this embodiment, for example, the memory circuit 31 stores programs executed by circuits included in the X-ray diagnostic apparatus 1, results calculated by the calculation function 21b, and so on.

[0036] The communication circuit 33 has an antenna and is a transmitting and receiving circuit for wireless communication with the X-ray detector 151. For example, when the communication circuit 33 receives X-ray image data from the X-ray detector 151, it stores this X-ray image data in the storage circuit 31.

[0037] The state detector 35 detects the amount of movement of the X-ray tube 11 in each of the multiple movable directions and outputs it to the processing circuit 21. The state detector 35 is mounted, for example, on the support section 19. The state detector 35 consists of a potentiometer for detecting the amount of movement, an encoder which is a position detection sensor, etc. The encoder is a so-called absolute encoder, such as a magnetic type, brush type, or photoelectric type. In addition, various types of detectors can be used as appropriate for the state detector 35, such as a rotary encoder that outputs rotational displacement as a digital signal or a linear encoder that outputs linear displacement as a digital signal.

[0038] In the example shown in Figure 2, the state detector 35 is provided on the first arm 191a, but the location of the state detector 35 is not limited to this. The state detector 35 may also be provided on the second arm 191b, the joint portion 191c, or the support body portion 193. Furthermore, the state detector 35 is not limited to being provided in one location, but may be provided in multiple locations. In other words, the number of state detectors 35 is arbitrary, and it is sufficient that the state detector 35 is provided in at least one location on the support portion 19.

[0039] The locking mechanism 37 is a mechanism for locking the movement of the X-ray tube 11. The locking mechanism 37 performs a locking operation under the control of the processing circuit 21. Specifically, the locking mechanism 37 is a mechanism that locks the extension and retraction of the first arm 191a, the rotation of the first arm 191a, the vertical movement of the second arm 191b, and the movement of the movable part 193b, and can be implemented by, for example, a locking pin, an electromagnetic lock, or a brake.

[0040] In the example shown in Figure 2, the locking mechanism 37 is provided on the first arm 191a, but the location of the locking mechanism 37 is not limited to this. The locking mechanism 37 may also be provided on the second arm 191b, the joint portion 191c, or the support body portion 193. Furthermore, the locking mechanism 37 is not limited to being provided in one location, but may be provided in multiple locations. In other words, the number of locking mechanisms 37 is arbitrary, and it is sufficient that the locking mechanism 37 is provided in at least one location on the support portion 19.

[0041] The detection unit 39 detects the movement of the X-ray tube 11 and outputs it to the processing circuit 21. The detection unit 39 can be implemented using, for example, an acceleration sensor or a gyro sensor. In the example shown in Figure 2, the detection unit 39 is provided on the first arm 191a, but the location of the detection unit 39 is not limited to this. The detection unit 39 may also be provided on the second arm 191b, the joint 191c, or the support body 193. Furthermore, the detection unit 39 is not limited to being provided in one location, but may be provided in multiple locations. In other words, the number of detection units 39 is arbitrary, and it is sufficient that the detection unit 39 is provided in at least one location on the support 19.

[0042] In this embodiment, instead of the detection unit 39, the state detector 35 may be used to detect the movement of the X-ray tube 11. That is, if the state detector 35 detects the movement of the X-ray tube 11, the detection unit 39 may be omitted. In this embodiment, if the detection unit 39 is omitted, the state detector 35 corresponds to the detection unit in this embodiment.

[0043] Figures 3 and 4 are flowcharts illustrating the contents of the movement route output processing performed in the X-ray diagnostic apparatus 1 according to this embodiment. In this movement route output processing, the relative position of the X-ray tube 11 with respect to the X-ray detector 151 and the irradiation position of the X-ray tube 11 that satisfies predetermined X-ray imaging conditions are calculated, and the movement route of the X-ray tube 11 is output based on the relative position of the X-ray tube 11 with respect to the X-ray detector 151 and the irradiation position of the X-ray tube 11. For example, this movement route output processing is performed when the operator inputs X-ray imaging conditions via the input interface 25.

[0044] As shown in Figure 3, first, the X-ray diagnostic device 1 acquires an image (captured image) of the feature section 153 that identifies the position of the X-ray detector 151 (step S11). This process of acquiring the image of the feature section 153 is realized by the analysis function 21a in the processing circuit 21. Specifically, the X-ray diagnostic device 1 acquires an image of the feature section 153 that identifies the position of the X-ray detector 151 using the imaging unit 17.

[0045] Figure 5 shows an example of an image taken of a feature section 153 that identifies the position of the X-ray detector 151 in the X-ray diagnostic apparatus 1 according to this embodiment. As shown in Figure 5, in this embodiment, the image taken of the feature section 153 that identifies the position of the X-ray detector 151 includes the subject P, the X-ray detector 151, and the feature section 153. The image taken of the feature section 153 that identifies the position of the X-ray detector 151 may also be an image taken of the subject P and the feature section 153. Furthermore, the image taken of the feature section 153 that identifies the position of the X-ray detector 151 may be a series of images taken like a video, or it may be a series of still images.

[0046] Next, as shown in Figure 3, the X-ray diagnostic device 1 analyzes the image capturing the feature portion 153 that identifies the position of the X-ray detector 151 (step S13). This process of analyzing the image capturing the feature portion 153 is realized by the analysis function 21a in the processing circuit 21. Specifically, in step S11, the X-ray diagnostic device 1 performs image analysis on the image capturing the feature portion 153 that identifies the position of the X-ray detector 151. More specifically, first, the analysis function 21a identifies the feature portion 153 in the image by performing image analysis on the image capturing the feature portion 153 that identifies the position of the X-ray detector 151. Next, the analysis function 21a obtains the size of the feature portion 153 in the image by performing image analysis on the image capturing the feature portion 153 that identifies the position of the X-ray detector 151.

[0047] Next, as shown in Figure 3, the X-ray diagnostic device 1 acquires the position of the feature section 153 (step S15). This process of acquiring the position of the feature section 153 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 uses a calculation formula that represents the relationship between the size of the feature section 153 and the distance from the feature section 153 to the imaging unit 17 to calculate the distance from the feature section 153 to the imaging unit 17 based on the size of the feature section 153 acquired in step S13, and acquires the position of the feature section 153. This calculation formula that represents the relationship between the size of the feature section 153 and the distance from the feature section 153 to the imaging unit 17 is stored in advance in the memory circuit 31. The position of the feature section 153 is, for example, the center of the feature section 153.

[0048] The distance from the feature unit 153 to the imaging unit 17 was calculated using a formula that represents the relationship between the size of the feature unit 153 and the distance from the feature unit 153 to the imaging unit 17. However, the method for calculating the distance from the feature unit 153 to the imaging unit 17 is not limited to this. For example, a correspondence table between the size of the feature unit 153 and the distance from the feature unit 153 to the imaging unit 17 may be stored in the memory circuit 31 in advance, and the distance from the feature unit 153 to the imaging unit 17 may be calculated based on this correspondence table.

[0049] Furthermore, the distance from the feature unit 153 to the imaging unit 17 may be calculated based on images obtained by photographing the feature unit 153 from two or more different directions, such as by video recording. In addition, the distance from the feature unit 153 to the imaging unit 17 may be measured based on the parallax value obtained by a stereo camera, by using a stereo camera as the imaging unit 17.

[0050] Furthermore, while the position of the feature portion 153 is set to its center, it is not limited to this. The position of the feature portion 153 is arbitrary. For example, the position of the feature portion 153 may be at the four corners of the feature portion 153.

[0051] Next, as shown in Figure 3, the X-ray diagnostic device 1 identifies the position of the feature section 153 (step S17). This process of identifying the position of the feature section 153 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 identifies the position of the feature section 153 with the position of the imaging unit 17 as the origin, based on the distance from the feature section 153 to the imaging unit 17 acquired in step S15.

[0052] Next, as shown in Figure 3, the X-ray diagnostic device 1 acquires the position of the X-ray detector 151 (step S19). This process of acquiring the position of the X-ray detector 151 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 acquires the distance from the position of the feature unit 153 to the position of the X-ray detector 151, which is stored in the memory circuit 31 beforehand, and acquires the position of the X-ray detector 151 relative to the position of the feature unit 153.

[0053] Figure 6 is a diagram showing an example of the positional relationship between the position 153a of the feature unit 153 and the position 151a of the X-ray detector 151 in the X-ray diagnostic apparatus 1 according to this embodiment. As shown in Figure 6, for example, the position 151a of the X-ray detector 151 is the center of the X-ray detector 151. Therefore, the distance from the position 153a of the feature unit 153 to the position 151a of the X-ray detector 151 is the distance between the center points of the X-ray detector 151 and the feature unit 153, as indicated by the arrows in Figure 6. That is, in step S19, the X-ray diagnostic apparatus 1 obtains the position 151a of the X-ray detector 151 relative to the position 153a of the feature unit 153 based on the distance between the center points of the X-ray detector 151 and the feature unit 153. Note that although the position 151a of the X-ray detector 151 is set to the center of the X-ray detector 151, it is not limited to this. The position 151a of the X-ray detector 151 is arbitrary and may be, for example, one of the four corners of the X-ray detector 151.

[0054] Furthermore, the distance from the position 153a of the feature unit 153 to the position 151a of the X-ray detector 151 may be set to a different value depending on the type of X-ray detector 151 and stored in the memory circuit 31. When setting different values ​​depending on the type of X-ray detector 151, for example, a different value corresponding to the type of X-ray detector 151 is associated with each color and shape of the feature unit 153. That is, the X-ray diagnostic device 1 stores an association list in the memory circuit 31 that associates the color and shape of the feature unit 153 with the distance from the position 153a of the feature unit 153 to the position 151a of the X-ray detector 151. Then, by performing image analysis on an image in which the feature unit 153 that identifies the position 151a of the X-ray detector 151 is captured, the color and shape of the feature unit 153 may be identified, and the distance from the position 153a of the feature unit 153 to the position 151a of the X-ray detector 151 may be obtained from the association list based on the identified color and shape of the feature unit 153.

[0055] Next, as shown in Figure 3, the X-ray diagnostic device 1 identifies the position 151a of the X-ray detector 151 (step S21). This process of identifying the position 151a of the X-ray detector 151 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 identifies the position 151a of the X-ray detector 151 with the position of the imaging unit 17 as the origin, based on the position 153a of the feature unit 153 with the position of the imaging unit 17 identified in step S17 as the origin, and the position 151a of the X-ray detector 151 relative to the position 153a of the feature unit 153 acquired in step S19.

[0056] Next, as shown in Figure 3, the X-ray diagnostic device 1 acquires the position of the X-ray tube 11 (step S23). This process of acquiring the position of the X-ray tube 11 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 acquires the distance from the position of the X-ray tube 11 to the position of the imaging unit 17, which is previously stored in the memory circuit 31. Here, the position of the X-ray tube 11 is, for example, the tube focal point position 11a, which is the position of the tube focal point of the X-ray tube 11.

[0057] Next, as shown in Figure 3, the X-ray diagnostic device 1 determines the position of the X-ray tube 11 (step S25). This process of determining the position of the X-ray tube 11 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 determines the position of the X-ray tube 11 with the position of the imaging unit 17 as the origin, based on the distance from the position of the X-ray tube 11 to the position of the imaging unit 17 obtained in step S23.

[0058] Next, as shown in Figure 3, the X-ray diagnostic device 1 calculates the relative position of the X-ray tube 11 with respect to the X-ray detector 151 (step S27). This process of calculating the relative position of the X-ray tube 11 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 calculates the relative position of the X-ray tube 11 with respect to the X-ray detector 151, with respect to the position of the imaging unit 17 as the origin, based on the position 151a of the X-ray detector 151 with respect to the position of the imaging unit 17 as the origin, and the position of the X-ray tube 11 with respect to the position of the imaging unit 17 as the origin, with respect to the position of the imaging unit 17 as the origin. The relative position of the X-ray tube 11 with respect to the X-ray detector 151 is the current position of the X-ray tube 11 with respect to the X-ray detector 151, with respect to the position of the imaging unit 17 as the origin.

[0059] Next, as shown in Figure 3, the X-ray diagnostic device 1 acquires the X-ray imaging conditions (step S29). This process of acquiring the X-ray imaging conditions is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 acquires information regarding the SID and the arrangement of the X-ray tube 11 as X-ray imaging conditions from the information input by the operator via the input interface 25 and / or from the memory circuit 31. The information regarding the arrangement of the X-ray tube 11 is information regarding the arrangement of the X-ray tube 11 with respect to the detection surface of the X-ray detector 151, and includes information such as arranging the X-ray tube 11 so that it faces the detection surface of the X-ray detector 151, or arranging the X-ray tube 11 so that it is tilted by a predetermined angle.

[0060] Next, as shown in Figure 3, the X-ray diagnostic device 1 calculates the irradiation position of the X-ray tube 11 so that its relative position satisfies predetermined X-ray imaging conditions (step S31). This process of calculating the irradiation position of the X-ray tube 11 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 calculates the irradiation position of the X-ray tube 11 with the position of the imaging unit 17 as the origin, based on the position 151a of the X-ray detector 151 with the position of the imaging unit 17 identified in step S21 as the origin, and the X-ray imaging conditions acquired in step S29. The irradiation position of the X-ray tube 11 is the position where it is aligned with the X-ray detector 151 and satisfies the SID, and is the target position of the X-ray tube 11.

[0061] Figure 7 shows an example of the irradiation position 11b of the X-ray tube 11 in the X-ray diagnostic apparatus 1 according to this embodiment. In the example shown in Figure 7, the X-ray imaging conditions acquired in step S29 are such that the SID is at a distance L from the position 151a of the X-ray detector 151, and the X-ray tube 11 is positioned facing the detection surface of the X-ray detector 151. Therefore, as shown in Figure 7, the irradiation position 11b of the X-ray tube 11 is on the normal to the detection surface of the X-ray detector 151, passing through the position 151a of the X-ray detector 151, and is at a distance L from the position 151a of the X-ray detector 151. In the example shown in Figure 7, the X-ray tube 11 is positioned facing the detection surface of the X-ray detector 151, but this is not limited to this. The position of the X-ray tube 11 relative to the detection surface of the X-ray detector 151 is arbitrary. For example, the X-ray tube 11 may be positioned at a predetermined angle relative to the detection surface of the X-ray detector 151.

[0062] Next, as shown in Figure 3, the X-ray diagnostic device 1 calculates the direction and amount of movement of the X-ray tube 11 from its relative position to the X-ray detector 151 to its irradiation position 11b (step S33). This process of calculating the movement information of the X-ray tube 11 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 calculates the direction and amount of movement of the X-ray tube 11 from its relative position to the X-ray detector 151 to its irradiation position 11b, based on the relative position of the X-ray tube 11 to the X-ray detector 151 calculated in step S27 and the irradiation position 11b of the X-ray tube 11 calculated in step S31.

[0063] Figure 8 shows an example of the direction and amount of movement of the X-ray tube 11 from its relative position to the X-ray detector 151 to the irradiation position 11b in the X-ray diagnostic apparatus 1 according to this embodiment. In the example shown in Figure 8, the calculation function 21b calculates a vector V1 from the relative position of the X-ray tube 11 to the irradiation position 11b of the X-ray tube 11. The vector V1 indicates the direction and amount of movement of the X-ray tube 11 from its relative position to the X-ray detector 151 to the irradiation position 11b of the X-ray tube 11.

[0064] Next, as shown in Figure 4, the X-ray diagnostic apparatus 1 acquires device information and priority levels associated with the device information (step S35). This process of acquiring device information and priority levels is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic apparatus 1 acquires device information and priority levels associated with the device information from the memory circuit 31.

[0065] Here, the device information relating to the X-ray diagnostic apparatus 1 refers to information regarding the multiple directions in which the X-ray tube 11 can move. This information includes, for example, information that the first arm 191a can extend and retract in direction a1, information that the first arm 191a can rotate in direction a2 relative to the second arm 191b, information that the second arm 191b can move up and down in direction a3, and information that the main body 192a can move in direction a4 by the movable part 192b. A priority order is also associated with the information regarding the multiple directions in which the X-ray tube 11 can move. This priority order is used when selecting the movement route of the X-ray tube 11 in step S43, which will be described later. The information regarding the multiple directions in which the X-ray tube 11 can move is also pre-set by the operator. The priority order can be changed by the operator via the input interface 25.

[0066] Next, as shown in Figure 4, the X-ray diagnostic device 1 calculates a movement route for the X-ray tube 11 to move from its relative position to the X-ray detector 151 to its irradiation position 11b (step S37). This process of calculating the movement route is realized by the calculation function 21b in the processing circuit 21. Specifically, based on the direction and amount of movement of the X-ray tube 11 from its relative position to the X-ray detector 151 to its irradiation position 11b, calculated in step S33, and the device information related to the X-ray diagnostic device 1 and the priority order associated with the device information acquired in step S35, the X-ray diagnostic device 1 calculates multiple movement routes for the X-ray tube 11 to move from its relative position to the X-ray detector 151 to its irradiation position 11b. Here, the movement route is information representing the direction and amount of movement of the X-ray tube 11 from the relative position of the X-ray tube 11 with respect to the X-ray detector 151 to the irradiation position 11b of the X-ray tube 11, and the movement route calculated by the calculation function 21b is an example of movement information in this embodiment. In step S37, multiple movement routes are calculated, but the number of movement routes to be calculated is arbitrary. For example, only one movement route may be calculated.

[0067] Figure 9 shows an example of a movement route list LT1 calculated by the calculation function 21b in the X-ray diagnostic apparatus 1 according to this embodiment. In the example shown in Figure 9, the multiple directions in which the X-ray tube 11 can move are arm extension / retraction, arm up / down, arm rotation, and main body movement, and the priority order is configured to be 1 to 4, in the order of arm extension / retraction, arm up / down, arm rotation, and main body movement. Taking route 1 shown in Figure 9 as an example, route 1 shows that "movable direction: arm extension / retraction, amount of movement: -5" and "movable direction: arm up / down, amount of movement: -2". That is, in the example of route 1 shown in Figure 9, the operator can move the X-ray tube 11 from the relative position of the X-ray tube 11 with respect to the X-ray detector 151 to the irradiation position 11b of the X-ray tube 11 by moving the first arm 191a by 5 in the direction of retraction and moving the second arm 191b downward by 2. In Figure 9, the amount of movement in each of the multiple movable directions of the support part 19 is represented as negative when the first arm 191a moves in the retraction direction, when the second arm 191b moves downward, when the first arm 191a rotates counterclockwise, and when the main body part 192 moves away from the subject P.

[0068] Next, as shown in Figure 4, the X-ray diagnostic device 1 determines whether or not the X-ray tube 11 and / or support part 19 interfere with the interfering object including the subject P (step S39). This process of determining whether or not interference occurs is realized by the determination function 21c in the processing circuit 21. Specifically, the X-ray diagnostic device 1 performs image analysis on the image taken by the imaging unit 17 acquired in step S11, and based on the results of this image analysis and the movement route calculated in step S37, if it determines that the movement of the X-ray tube 11 will cause the X-ray tube 11 and / or support part 19 to interfere with the interfering object including the subject P (step S39: Yes), the X-ray diagnostic device 1 changes the preset priority (step S39). More specifically, in the example shown in Figure 9, if the X-ray diagnostic device 1 determines that the X-ray tube 11 and / or the first arm 191a interfere with an object by moving the first arm 191a by 5 units in the retracting direction in route 1, for example, the priority associated with arm extension and retraction is set to 4, and the priority associated with each of the other multiple movable directions is increased by 1 unit.

[0069] After the processing in step S41, or in step S39 described above, image analysis is performed on the image taken by the imaging unit 17 acquired in step S11. Based on the results of this image analysis and the movement route calculated in step S37, if it is determined that the movement of the X-ray tube 11 will not cause interference between the X-ray tube 11 and / or the support unit 19 and the interfering object including the subject P (step S39: No), the X-ray diagnostic device 1 selects a movement route (step S43). This process of selecting a movement route is realized by the calculation function 21b in the processing circuit 21.

[0070] Specifically, the X-ray diagnostic device 1 calculates the sum of priority levels associated with each of the multiple movable directions of the X-ray tube 11, for which the amount of movement has been calculated, based on the movement route list LT1. Then, the X-ray diagnostic device 1 selects the movement route with the lowest value in the calculated sum of priority levels. In the example shown in Figure 9, since the amount of movement for arm extension and the amount of movement for arm vertical movement have been calculated for route 1, the sum of priority levels for route 1 is 3, which is the sum of the priority levels associated with arm extension and arm vertical movement. Similarly, since the amount of movement for arm vertical movement and the amount of movement for main body movement have been calculated for route 2, the sum of priority levels for route 2 is 6, which is the sum of the priority levels associated with arm vertical movement and main body movement. Furthermore, since the amount of movement for arm extension and arm rotation have been calculated for route 3, the sum of priority levels associated with arm extension and arm rotation is 4. Therefore, in the example shown in Figure 9, the X-ray diagnostic device 1 calculates the sum of the priority levels associated with each of the multiple movable directions of the X-ray tube 11 for which the amount of movement has been calculated, and route 1, which has the lowest value, is selected as the movement route.

[0071] The X-ray diagnostic device 1 calculates the sum of the priority levels associated with each of the multiple movable directions of the X-ray tube 11 for which the amount of movement has been calculated, and selects the movement route with the lowest value. However, the method of selecting the movement route is not limited to this. For example, the X-ray diagnostic device 1 may calculate the product of the priority levels associated with each of the multiple movable directions of the X-ray tube 11 for which the amount of movement has been calculated, and select the movement route with the lowest value, or it may select the movement route by other methods. Also, if only one movement route has been calculated in step S33, steps S39 to S43 can be omitted.

[0072] Next, as shown in Figure 4, the X-ray diagnostic device 1 stores the movement route in the memory circuit 31 (step S45). This process of storing the movement route in the memory circuit 31 is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 stores the movement route selected in step S43 in the memory circuit 31.

[0073] Next, as shown in Figure 4, the X-ray diagnostic device 1 outputs a movement route (step S47). This process of outputting the movement route is realized by the output function 21d in the processing circuit 21. Specifically, the X-ray diagnostic device 1 outputs the movement route selected in step S43 to the display 27, speaker 29, and printed circuit.

[0074] Next, as shown in Figure 4, the X-ray diagnostic device 1 guides the movement of the X-ray tube 11 (step S49). This process of guiding the movement of the X-ray tube 11 is realized by the guide function 21e in the processing circuit 21. Specifically, the operator is guided to move the X-ray tube 11 based on the movement route output in step S47. More specifically, when the movement route is output to the display 27, the X-ray diagnostic device 1 guides the operator to move the X-ray tube 11 via the display 27. Also, when the movement route is output to the speaker 29, the X-ray diagnostic device 1 guides the operator to move the X-ray tube 11 via sound through the speaker 29. Note that the movement of the X-ray tube 11 may also be guided via a printed circuit.

[0075] By executing step S49, the travel route output processing according to this embodiment is terminated.

[0076] Next, we will describe the lock control process performed by the X-ray diagnostic apparatus 1 in this embodiment, which controls the lock mechanism 37 of the support section 19 to lock the movement of the X-ray tube 11 in the direction that has reached the amount of movement calculated by the calculation function 21b. Figure 10 is a flowchart illustrating the contents of the lock control process performed by the X-ray diagnostic apparatus 1 in this embodiment. For example, this lock control process is performed when the X-ray diagnostic apparatus 1 obtains a movement route from the memory circuit 31 and the operator starts moving the X-ray tube 11.

[0077] As shown in Figure 10, first, the X-ray diagnostic device 1 acquires a movement route (step S51). This process of acquiring the movement route is realized by the control function 21f in the processing circuit 21. Specifically, the X-ray diagnostic device 1 acquires the movement route stored in the memory circuit 31.

[0078] Next, as shown in Figure 10, the X-ray diagnostic device 1 determines whether the movement of the X-ray tube 11 has reached the amount of movement in each of the multiple directions to which the X-ray tube 11 can move (step S53). This process of determining whether the amount of movement has been reached is realized by the control function 21f in the processing circuit 21. Specifically, based on the amount of movement in each of the multiple directions to which the X-ray tube 11 can move detected by the state detector 35 and the movement route acquired in step S51, if the movement of the X-ray tube 11 has not reached the amount of movement of the movement route acquired in step S51 (step S53: No), the X-ray diagnostic device 1 waits by repeating the process in step S53 until the movement of the X-ray tube 11 reaches the amount of movement of the movement route acquired in step S51.

[0079] On the other hand, in step S53, based on the amount of movement of each of the multiple movable directions of the X-ray tube 11 detected by the state detector 35 and the movement route acquired in step S51, if the movement of the X-ray tube 11 reaches the amount of movement of the movement route acquired in step S51 (step S53: Yes), the X-ray diagnostic device 1 locks the movement of the X-ray tube 11 in the direction in which the amount of movement has been reached (step S55). This process of locking the movement of the X-ray tube 11 in the direction in which the amount of movement has been reached is realized by the control function 21f in the processing circuit 21. Specifically, based on the amount of movement of each of the multiple movable directions of the X-ray tube 11 detected by the state detector 35 and the movement route acquired in step S51, the X-ray diagnostic device 1 controls the lock mechanism 37 of the support part 19 that supports the X-ray tube 11 so that it can move in the direction in which the amount of movement has been reached, using the control function 21f, thereby locking the movement of the X-ray tube 11 in the direction in which the amount of movement has been reached.

[0080] In step S53, the X-ray diagnostic device 1 detected and acquired the amount of movement of the X-ray tube 11 in each of the multiple movable directions by using the state detector 35. However, the method for acquiring the amount of movement of the X-ray tube 11 in each of the multiple movable directions is not limited to this, and it may be acquired by other methods. In other words, the method for acquiring the amount of movement of the X-ray tube 11 in each of the multiple movable directions is arbitrary.

[0081] For example, the X-ray diagnostic device 1 may calculate and acquire the amount of movement of the X-ray tube 11 in each of the multiple movable directions based on images taken by the imaging unit 17 before and after the movement of the X-ray tube 11. That is, the X-ray diagnostic device 1 calculates the relative position of the X-ray tube 11 with respect to the feature area 153 shown in the image taken before the movement of the X-ray tube 11. Then, after the movement of the X-ray tube 11, the X-ray diagnostic device 1 calculates the relative position of the X-ray tube 11 with respect to the feature area 153 after the movement based on the feature area 153 shown in the image taken after the movement of the X-ray tube 11, and acquires the amount of movement of the X-ray tube 11 in each of the multiple movable directions based on the difference between the relative positions of the X-ray tube 11 with respect to the feature area 153 before and after the movement.

[0082] The X-ray diagnostic device 1 calculates and acquires the amount of movement of the X-ray tube 11 in each of the multiple movable directions based on the difference in the relative position of the X-ray tube 11 with respect to the feature section 153 before and after movement. However, it is not limited to this, and the amount of movement of the X-ray tube 11 in each of the multiple movable directions may be calculated and acquired based on other differences. That is, the difference used to calculate and acquire the amount of movement of the X-ray tube 11 in each of the multiple movable directions is arbitrary. For example, it may be based on the difference in the relative position of the X-ray tube 11 with respect to the X-ray detector 151 or other feature points before and after movement, or on the difference in the relative position of the imaging unit 17 with respect to the feature section 153 before and after movement, or on the relative position of the X-ray tube 11 with respect to the X-ray detector 151 before and after movement.

[0083] Next, as shown in Figure 10, the X-ray diagnostic device 1 determines whether or not the movement of the X-ray tube 11 is complete (step S57). This process of determining whether or not the movement of the X-ray tube 11 is complete is realized by the control function 21f in the processing circuit 21. Specifically, based on the amount of movement of each of the multiple movable directions of the X-ray tube 11 detected by the state detector 35 and the movement route acquired in step S51, if the movement of the X-ray tube 11 is not complete (step S57: No), the X-ray diagnostic device 1 returns to step S53 described above and waits while repeating the process from step S53.

[0084] On the other hand, in step S57, the X-ray diagnostic device 1, based on the amount of movement of the X-ray tube 11 in each of the multiple movable directions detected by the state detector 35 and the movement route acquired in step S51, outputs "Movement complete" to the display 27 (step S59) if the movement of the X-ray tube 11 is complete (step S57: Yes). This process of outputting "Movement complete" is realized by the output function 21d in the processing circuit 21.

[0085] Next, as shown in Figure 10, the X-ray diagnostic device 1 indicates that the movement of the X-ray tube 11 is complete (step S61). This process of indicating the completion of movement is realized by the output function 21d in the processing circuit 21.

[0086] Specifically, the X-ray diagnostic device 1 displays to the operator via the display 27 that the movement of the X-ray tube 11 is complete. For example, the completion of the movement of the X-ray tube 11 is displayed on a pop-up screen. However, the method of informing the operator that the movement of the X-ray tube 11 is complete is not limited to this, and the operator may be informed by other methods. In other words, the method of informing the operator that the movement of the X-ray tube 11 is complete is arbitrary. For example, in step S61, if the output function 21d outputs to the speaker 29 that the movement of the X-ray tube 11 is complete, the device may output the completion of the movement of the X-ray tube 11 by voice. In step S61, if the output function 21d outputs to the printing circuit that the movement of the X-ray tube 11 is complete, the device may print the completion of the movement of the X-ray tube 11 on paper.

[0087] The execution of step S61 terminates the lock control process according to this embodiment.

[0088] Next, we will describe the notification process performed by the X-ray diagnostic apparatus 1 in this embodiment to notify the operator that the amount of movement calculated by the calculation function 21b has been reached. Figure 11 is a flowchart illustrating the contents of the notification process performed by the X-ray diagnostic apparatus 1 in this embodiment. Note that the processes in steps S51 and S53, which precede S71 shown in Figure 11, are equivalent to the lock control process described above, so their explanation will be omitted.

[0089] Next, as shown in Figure 11, based on the amount of movement of the X-ray tube 11 in each of the multiple movable directions detected by the state detector 35 and the movement route acquired in step S51, if the movement of the X-ray tube 11 reaches the amount of movement of the movement route acquired in step S51 (step S53: Yes), the system notifies that the movement of the X-ray tube 11 has reached the amount of movement of the movement route acquired in step S51 (step S71). This process of notifying that the amount of movement has been reached is realized by the notification function 21g in the processing circuit 21.

[0090] Specifically, the X-ray diagnostic device 1 notifies the operator that the movement of the X-ray tube 11 has reached the amount of movement of the movement route acquired in step S51, based on the amount of movement of each of the multiple movable directions of the X-ray tube 11 detected by the state detector 35 and the movement route acquired in step S51. More specifically, for example, when notification is given using the display 27, the operator may be notified by displaying on a pop-up screen that the amount of movement has been reached, or when notification is given to the operator using the speaker 29, the operator may be notified by voice that the amount of movement has been reached.

[0091] Note that the processes in steps S57, S59, and S61 following S71 are equivalent to the lock control process described above, and therefore their explanation is omitted. Furthermore, the notification process according to this embodiment is terminated when step S59 is executed.

[0092] Next, we will describe the movement route recalculation process performed by the X-ray diagnostic apparatus 1 in this embodiment, which calculates a new movement route for the X-ray tube 11 to move from its relative position to the X-ray detector 151 to its irradiation position 11b when the X-ray tube 11 moves in a direction not included in the movement route. Figure 12 is a flowchart illustrating the contents of the movement route recalculation process performed by the X-ray diagnostic apparatus 1 in this embodiment. For example, this movement route recalculation process is performed when the detection unit 39 detects movement of the X-ray tube 11.

[0093] As shown in Figure 12, first, the X-ray diagnostic device 1 determines whether or not it has detected movement of the X-ray tube 11 (step S81). This process of determining whether or not movement of the X-ray tube 11 has been detected is realized by the determination function 21c in the processing circuit 21. Specifically, based on the output of the detection unit 39, if the X-ray diagnostic device 1 has not detected movement of the X-ray tube 11 (step S81: No), it returns to step S81 and waits while repeating the process of step S81.

[0094] On the other hand, if, in step S71, movement of the X-ray tube 11 is detected based on the output of the detection unit 39 (step S81: Yes), the X-ray diagnostic device 1 acquires the movement route stored in the memory circuit 31 (step S83). This process of acquiring the movement route stored in the memory circuit 31 is realized by the determination function 21c in the processing circuit 21. Specifically, the X-ray diagnostic device 1 acquires the movement route stored in step S45 of the movement route output processing from the memory circuit 31.

[0095] The X-ray diagnostic device 1 detected the movement of the X-ray tube 11 using the detection unit 39, but the method of detecting the movement of the X-ray tube 11 is not limited to this. In other words, the method of detecting the movement of the X-ray tube 11 is arbitrary, and for example, the X-ray diagnostic device 1 may use a state detector 35 to detect the movement of the X-ray tube 11. Alternatively, for example, the movement of the X-ray tube 11 may be detected based on the image captured by the imaging unit 17.

[0096] Next, as shown in Figure 12, the X-ray diagnostic device 1 determines whether the movement of the X-ray tube 11 detected by the detection unit 39 is in a direction not included in the movement route (step S85). This process of determining whether the movement is in a direction not included in the movement route is implemented by the determination function 21c in the processing circuit 21. Specifically, based on the movement route acquired in step S83, if the movement of the X-ray tube 11 detected by the detection unit 39 is not in a direction not included in the movement route (step S85: No), the X-ray diagnostic device 1 returns to step S81 and waits, repeating the process from step S81. Here, a direction not included in the movement route refers to a direction in which the amount of movement has not been calculated in the movement route. In the example in Figure 9, for example, in route 1, this refers to a direction in which arm rotation or main body movement is not included in the movement route.

[0097] On the other hand, in step S85, if the movement of the X-ray tube 11 detected by the detection unit 39 based on the movement route acquired in step S83 is in a direction not included in the movement route (step S85: Yes), the X-ray diagnostic device 1 recalculates the movement route for the X-ray tube 11 to move from the relative position of the X-ray tube 11 with respect to the X-ray detector 151 to the irradiation position 11b of the X-ray tube 11 (step S87). This process of recalculating the movement route is realized by the calculation function 21b in the processing circuit 21.

[0098] Specifically, the X-ray diagnostic apparatus 1 calculates a movement route for the X-ray tube 11 to move from its relative position to the X-ray detector 151 to its irradiation position 11b, based on the feature section 153 shown in the image captured again by the imaging unit 17. The processing from steps S35 to S39 after step S87 is equivalent to the movement route output processing described above, so its explanation is omitted. Note that if only one movement route is calculated in step S87, steps S35 to S39 can be omitted.

[0099] Next, as shown in Figure 12, the X-ray diagnostic device 1 updates the travel route stored in the memory circuit 31 to the selected travel route and stores it (step S89). This process of updating and storing the travel route to the selected route is realized by the calculation function 21b in the processing circuit 21. Specifically, the X-ray diagnostic device 1 updates the travel route stored in the memory circuit 31 to the travel route selected in step S39 of the travel route recalculation process. Then, it stores the updated travel route in the memory circuit 31. The processing in steps S47 and S49 after step S89 is equivalent to the travel route output process described above, so its explanation is omitted.

[0100] The movement route recalculation process according to this embodiment, as shown in Figure 12, is repeatedly executed while the operator is moving the X-ray tube 11, and terminates when the operator finishes moving the X-ray tube 11.

[0101] As described above, the X-ray diagnostic apparatus 1 according to this embodiment calculates the relative position of the X-ray tube 11 with respect to the X-ray detector 151 and the irradiation position of the X-ray tube 11 where the relative position of the X-ray tube 11 satisfies predetermined X-ray imaging conditions. Based on the relative position of the X-ray tube 11 with respect to the X-ray detector 151 and the irradiation position of the X-ray tube 11 where the relative position of the X-ray tube 11 satisfies predetermined X-ray imaging conditions, a movement route representing the direction and amount of movement is calculated, and the calculated movement route is output to guide the movement of the X-ray tube 11. As a result, the operator can easily perform alignment to obtain an appropriate setting of the X-ray irradiation field with respect to the X-ray detection surface of the X-ray detector 151. In other words, the operator can confirm the movement route to move the X-ray tube 11 to the irradiation position, and then move the X-ray tube 11 to the appropriate position relative to the X-ray detector 151 to perform X-ray imaging.

[0102] Furthermore, the X-ray diagnostic device 1 locks the movement of the X-ray tube 11 in the direction where it has reached the movement amount in each of the multiple movable directions of the X-ray tube 11 detected by the state detector 35 and the movement route calculated by the calculation function 21b. This allows the operator to move the X-ray tube 11 to the appropriate position relative to the X-ray detector 151 and perform X-ray imaging. In addition, the X-ray diagnostic device 1 notifies the operator via the display 27, speaker 29, etc., when the movement of the X-ray tube 11 reaches the movement amount of the movement route calculated by the calculation function 21b, based on the movement amount in each of the multiple movable directions of the X-ray tube 11 detected by the state detector 35 and the movement route calculated by the calculation function 21b. This allows the operator to easily understand that the X-ray tube 11 has been moved to the appropriate position relative to the X-ray detector 151.

[0103] Furthermore, the X-ray diagnostic device 1 is configured to recalculate the movement route for the X-ray tube 11 to move from its relative position to the X-ray detector 151 to the irradiation position 11b if the X-ray tube 11 moves in a direction not included in the movement route. Therefore, even if the operator changes the movement route themselves, taking into account the surrounding environment, the operator can move the X-ray tube 11 to the appropriate position relative to the X-ray detector 151 and perform X-ray imaging.

[0104] [Variation] The modified X-ray diagnostic apparatus 1 of the above-described embodiment includes a drive unit for moving the X-ray tube 11 to the irradiation position of the X-ray tube 11, and the control function 21f may control the drive unit based on the movement route output by the output function 21d to control the support unit 19 to move the X-ray tube 11 to the irradiation position of the X-ray tube 11. The following describes the parts that differ from the above-described embodiment.

[0105] Figure 13 is a block diagram showing an example of the configuration of the modified X-ray diagnostic apparatus 1, and corresponds to Figure 2 in the embodiment described above. As shown in Figure 13, the modified X-ray diagnostic apparatus 1 is configured by adding a drive unit 41 to the X-ray diagnostic apparatus 1 of this embodiment.

[0106] The drive unit 41 reads drive signals from the processing circuit 21 and moves the support unit 19 by extending and retracting, moving it up and down, rotating it, or moving it. The drive unit 41 is composed of, for example, a motor or a linear actuator. In the example shown in Figure 13, the drive unit 41 is provided on the first arm 191a, but the location of the drive unit 41 is not limited to this. The drive unit 41 may also be provided on the second arm 191b, the joint 191c, or the support body 193. Furthermore, the drive unit 41 is not limited to being provided in one location, but may be provided in multiple locations. In other words, the number of drive units 41 is arbitrary, and it is sufficient that they are provided in at least one location on the support unit 19.

[0107] As described above, in the modified X-ray diagnostic apparatus 1, the control function 21f controls the drive unit 41 based on the movement route, causing the X-ray tube 11 to move from its relative position to the X-ray detector 151 to its irradiation position 11b, thus facilitating alignment. In other words, the X-ray diagnostic apparatus 1 can perform X-ray imaging by moving the X-ray tube 11 to the appropriate position relative to the X-ray detector 151 without requiring the operator to operate the support unit 19.

[0108] Furthermore, the X-ray diagnostic apparatus 1 according to the above embodiment can also identify the position 151a of the X-ray detector 151 by analyzing the image of the X-ray detector 151. In other words, the X-ray detector 151 may be used as the identification member in this embodiment. In this case, the feature unit 153 may be omitted from the X-ray detection unit 15. If the feature unit 153 is omitted from the X-ray detection unit 15, steps S15 and S17 will also be omitted from the movement route output processing. That is, if the X-ray diagnostic apparatus 1 analyzes the image captured by the imaging unit 17 in step S13 and identifies the X-ray detector 151 in the image, it may acquire the position 151a of the X-ray detector 151 from the identified X-ray detector 151 in step S19.

[0109] Furthermore, the X-ray diagnostic apparatus 1 according to the above embodiment may output information regarding at least one of the relative position of the X-ray tube 11 with respect to the X-ray detector 151 and the irradiation position of the X-ray tube 11 using the output function 21d. The information regarding the relative position of the X-ray tube 11 with respect to the X-ray detector 151 is, for example, position information such as the current position of the X-ray tube 11 with respect to the X-ray detector 151, and the information regarding the irradiation position of the X-ray tube 11 is position information regarding the target position of the X-ray tube 11. The X-ray diagnostic apparatus 1 may display information regarding at least one of the relative position of the X-ray tube 11 with respect to the X-ray detector 151 and the irradiation position of the X-ray tube 11 on the display 27, or it may output it as sound via the speaker 29.

[0110] Furthermore, in the movement route output processing shown in Figure 3 above, the output function 21d in the processing circuit 21 may output, in step S47, the amount of movement and direction of movement from the relative position of the X-ray tube 11 with respect to the X-ray detector 151 calculated in step S33 to the irradiation position 11b of the X-ray tube 11 as the movement route. In this case, steps S35 to S43 may be omitted from the movement route output processing.

[0111] Furthermore, the X-ray diagnostic apparatus 1 according to the above embodiment may also output the remaining operations necessary to move the X-ray tube 11 from its relative position to the X-ray detector 151 after the X-ray tube 11 has been moved to the irradiation position. In this case, the X-ray diagnostic apparatus 1 calculates the amount of movement in each of the multiple directions from the relative position to the irradiation position again based on the feature section 153 shown in the image taken by the imaging unit 17, and outputs the amount of movement of the X-ray tube 11 in each of the multiple directions from the relative position to the irradiation position that has been calculated again.

[0112] Specifically, the X-ray diagnostic device 1 calculates the relative position of the X-ray tube 11 with respect to the feature area 153 shown in the image taken before the X-ray tube 11 moves, and after the X-ray tube 11 moves, the X-ray diagnostic device 1 calculates the relative position of the X-ray tube 11 with respect to the feature area 153 shown in the image taken after the X-ray tube 11 moves, and based on the difference between the relative position of the X-ray tube 11 with respect to the feature area 153 before and after the move, it obtains the amount of movement of the X-ray tube 11 in each of the multiple movable directions, and again calculates the amount of movement in each of the multiple directions from the relative position to the irradiation position, and outputs the amount of movement of the X-ray tube 11 in each of the multiple directions from the recalculated relative position to the irradiation position.

[0113] In addition, the X-ray diagnostic device 1 recalculated the amount of movement in each of the multiple directions from the relative position to the irradiation position based on the feature section 153 shown in the image captured by the imaging unit 17. However, the amount of movement in each of the multiple directions from the relative position to the irradiation position may also be recalculated based on the X-ray detector 151 or other feature points shown in the image captured by the imaging unit 17. Furthermore, the amount of movement in each of the multiple directions from the relative position to the irradiation position may also be recalculated based on the detection of the state detector 35.

[0114] In the above description, the term "processor" refers to circuits such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an Application Specific Integrated Circuit (ASIC), or a programmable logic device (e.g., a Simple Programmable Logic Device (SPLD), a Complex Programmable Logic Device (CPLD), and a Field Programmable Gate Array (FPGA)). The processor functions by reading and executing a program stored in the memory circuit 31. Alternatively, instead of storing the program in the memory circuit 31, the processor may be configured to directly incorporate the program into its circuitry. In this case, the processor functions by reading and executing the program incorporated into the circuitry. The processor is not limited to being a single circuit; it may also be configured by combining multiple independent circuits to form a single processor and realize its functions. Furthermore, the multiple components shown in Figures 2 and 13 may be integrated into a single processor to realize its functions.

[0115] Although several embodiments have been described above, these embodiments are presented only as examples and are not intended to limit the scope of the invention. The novel apparatus and methods described herein can be implemented in a variety of other forms. Furthermore, various omissions, substitutions, and modifications can be made to the embodiments of the apparatus and methods described herein, without departing from the spirit of the invention. The appended claims and equivalents are intended to include such embodiments and modifications that are included in the scope and spirit of the invention. [Explanation of Symbols]

[0116] 1...X-ray diagnostic device, 11...X-ray tube, 13...X-ray diaphragm, 15...X-ray detection unit, 17...Imaging unit, 19...Support unit, 21...Processing circuit, 23...High voltage generation circuit, 25...Input interface, 27...Display, 29...Speaker, 31...Memory circuit, 33...Communication circuit, 35...Status detector, 37...Locking mechanism, 39...Detection unit, 41...Drive unit

Claims

1. An X-ray irradiation unit that irradiates with X-rays, An imaging unit that photographs an identification member that identifies the position of an X-ray detector, A support portion that supports the X-ray irradiation unit so that it can move in multiple directions, A locking mechanism for locking the movement of the X-ray irradiation unit, A calculation unit calculates, based on the identification member shown in the image captured by the imaging unit, the relative position of the X-ray irradiation unit with respect to the X-ray detector and the irradiation position of the X-ray irradiation unit where the relative position satisfies predetermined X-ray imaging conditions. An output unit that outputs movement information representing the amount and direction of movement of the X-ray irradiation unit from the relative position to the irradiation position, A control unit controls the support unit to move the X-ray irradiation unit to the irradiation position based on the movement information output by the output unit, Equipped with, The calculation unit calculates the amount of movement in each of the multiple directions from the relative position to the irradiation position, The control unit controls the locking mechanism to lock the movement of the X-ray irradiation unit in the direction that has reached the amount of movement calculated by the calculation unit. The calculation unit calculates multiple movement routes including the amount of movement in each of the multiple directions from the relative position to the irradiation position, and selects one movement route from the multiple movement routes based on the priority order of each of the multiple directions set in advance. The output unit outputs a single movement route selected by the calculation unit as the movement information of the X-ray irradiation unit in the X-ray diagnostic apparatus.

2. The X-ray diagnostic apparatus according to claim 1, wherein the control unit controls the support unit to move the X-ray irradiation unit based on the amount of movement in each of the plurality of directions.

3. The X-ray diagnostic apparatus according to claim 1 or claim 2, further comprising a guide unit that guides the movement of the X-ray irradiation unit based on the movement information output by the output unit.

4. If the X-ray irradiation unit moves in a direction not included in the selected movement route, The calculation unit calculates, based on the direction of the moved support portion, the movement route again, including the amount of movement in each of the plurality of directions from the relative position to the irradiation position. The X-ray diagnostic apparatus according to claim 1.

5. When the X-ray irradiation unit is moved, the calculation unit recalculates the amount of movement in each of the multiple directions from the relative position to the irradiation position based on the identification member shown in the image captured by the imaging unit. The X-ray diagnostic apparatus according to claim 1, wherein the output unit outputs the amount of movement of the X-ray irradiation unit in each of the plurality of directions from the relative position to the irradiation position, which has been recalculated by the calculation unit.

6. The X-ray diagnostic apparatus according to any one of claims 1 to 5, wherein the output unit outputs information relating to at least one of the relative position of the X-ray irradiation unit and the irradiation position of the X-ray irradiation unit.

7. The X-ray diagnostic apparatus according to any one of claims 1 to 6, wherein the calculation unit calculates the relative position and the irradiation position based on the position of the imaging unit.

8. The X-ray diagnostic apparatus according to claim 1 or claim 2, further comprising a notification unit that notifies when the amount of movement calculated by the calculation unit has been reached.

9. An X-ray irradiation unit that irradiates with X-rays, An imaging unit that photographs an identification member that identifies the position of an X-ray detector, A support portion that supports the X-ray irradiation unit so that it can move in multiple directions, A calculation unit that calculates the relative position of the X-ray irradiation unit with respect to the X-ray detector and the irradiation position of the X-ray irradiation unit where the relative position satisfies predetermined X-ray imaging conditions, based on the identification member shown in the image captured by the imaging unit, and calculates multiple movement routes including the amount of movement in each of the multiple directions from the relative position to the irradiation position, and selects one movement route from the multiple movement routes based on the priority order of each of the multiple directions set in advance, An output unit outputs a single movement route selected by the calculation unit as movement information representing the amount and direction of movement of the X-ray irradiation unit from the relative position to the irradiation position, A control unit controls the support unit to move the X-ray irradiation unit to the irradiation position based on the movement information output by the output unit, An X-ray diagnostic device equipped with [specific features / features].

10. The steps include: taking a photograph of an identification member that identifies the position of an X-ray detector that detects X-rays; A step of calculating, based on the identification member shown in the captured image, the relative position of the X-ray irradiation unit that irradiates the X-ray detector with X-rays, and the irradiation position of the X-ray irradiation unit where the relative position satisfies predetermined X-ray imaging conditions, A step of calculating the amount of movement in each of the multiple directions from the relative position to the irradiation position, A step of outputting movement information representing the amount and direction of movement of the X-ray irradiation unit from the relative position to the irradiation position, A step of controlling a support unit that supports the X-ray irradiation unit so that it can move in multiple directions, based on the outputted movement information, so as to move the X-ray irradiation unit to the irradiation position, A step of controlling a locking mechanism for locking the movement of the X-ray irradiation unit so as to lock the movement of the X-ray irradiation unit in the direction in which the aforementioned amount of movement has been reached, The steps include: calculating multiple movement routes including the amount of movement in each of the multiple directions from the relative position to the irradiation position, and selecting one movement route from the multiple movement routes based on the predetermined priority order of each of the multiple directions; The steps include outputting a selected movement route as the movement information of the X-ray irradiation unit, A program to cause an X-ray diagnostic device to execute a command.

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