X-ray diagnostic equipment
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- CANON KK
- Filing Date
- 2022-04-27
- Publication Date
- 2026-08-03
Smart Images
Figure 0007898923000001 
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Abstract
Description
Technical Field
[0001] The embodiments disclosed in this specification and the drawings relate to an X-ray diagnostic apparatus.
Background Art
[0002] In an X-ray diagnostic apparatus, particularly an X-ray cardiovascular diagnostic apparatus (also called an X-ray angiography apparatus), X-ray imaging using a C-arm is performed. An X-ray irradiation device and an X-ray detection device are respectively held at both ends of the C-arm, and imaging of a subject lying on the top plate of the hospital bed is performed. Further, while observing an image taken in real time (for example, a fluoroscopic image), treatment of the subject called IVR (Interventional Radiology) is performed by a technique using a device such as a catheter.
[0003] In response to instructions from users such as doctors and radiographers, the C-arm and the hospital bed are rotated and moved by a driving force such as a motor, so that the region of interest (ROI) of the subject can be imaged in the direction and position desired by the user.
[0004] The setting accuracy of the respective angles and positions of the C-arm and the hospital bed is very important for performing treatment and diagnosis using the images generated by the X-ray cardiovascular diagnostic apparatus. For this reason, angle sensors and position sensors for detecting angles and positions (hereinafter, these sensors may be simply referred to as sensors) are provided in the drive systems of the C-arm and the hospital bed, and by performing drive control using information from the sensors, highly accurate angle and position settings are realized.
[0005] On the other hand, when a sensor fails due to some cause and the failure is detected by the apparatus, in the conventional drive control of the C-arm and the hospital bed, there may be a mechanism for interlocking the operation of the operation axis related to the sensor in which the failure is detected. In such a case, if the sensor fails during the procedure, the procedure for the subject cannot be continued, which is inconvenient.
[0006] Furthermore, using the output of a faulty sensor to drive the C-arm or bed could cause the C-arm or bed to move in a manner unintended by the user, which is undesirable from a safety standpoint for both the user and the equipment. [Prior art documents] [Patent Documents]
[0007] [Patent Document 1] Japanese Patent Publication No. 2018-83070 [Overview of the Initiative] [Problems that the invention aims to solve]
[0008] One of the problems that the embodiments disclosed in this specification and drawings aim to solve is to avoid interrupting the procedure and to ensure the safety of the user and equipment even if the angle sensors or position sensors used to detect the angle and position of the arm or bed malfunction. However, the problems that the embodiments disclosed in this specification and 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]
[0009] An X-ray diagnostic apparatus according to one embodiment includes a mechanism that includes an X-ray irradiation device, an arm that holds an X-ray detection device, and at least one of a bed on which a subject is placed, and comprises a mechanism that drives a plurality of movable parts included in the mechanism around or along their respective operating axes, a sensor that detects the operating position of the movable parts corresponding to each of the operating axes, a camera that photographs the mechanism, an abnormality determination unit that determines whether or not there is an abnormality in the sensor using at least one of the output of the sensor and the camera image taken by the camera, and a drive control unit that controls the driving of the mechanism based on the information of the camera image when it is determined that the sensor is abnormal. [Brief explanation of the drawing]
[0010] [Figure 1] A block diagram showing an example configuration of the X-ray diagnostic apparatus of this embodiment. [Figure 2] A diagram illustrating the configuration and movement of a floor-standing arm device. [Figure 3] A diagram illustrating the configuration and movement of a ceiling-mounted arm device. [Figure 4] A diagram illustrating the movement of the bed. [Figure 5] A diagram illustrating the operation of a conventional drive system. [Figure 6] A diagram showing an example of the arrangement of multiple cameras within the imaging chamber of the X-ray diagnostic apparatus of the embodiment. [Figure 7] Functional block diagram of an X-ray diagnostic device related to the drive control of the mechanical parts. [Figure 8] A flowchart illustrating an example of the drive control process for an X-ray diagnostic device. [Figure 9] A diagram showing an example of the first method for calculating the second operating position of each movable part. [Figure 10] A diagram showing an example of a second method for calculating the second operating position of each movable part. [Figure 11] A diagram illustrating several methods for detecting sensor abnormalities. [Figure 12] A diagram illustrating the different types and characteristics of various degenerate modes. [Modes for carrying out the invention]
[0011] Hereinafter, an X-ray diagnostic apparatus according to an embodiment of the present invention will be described with reference to the attached drawings.
[0012] Figure 1 is a block diagram showing an example configuration of the X-ray diagnostic apparatus 10 according to this embodiment. As shown in Figure 1, the X-ray diagnostic apparatus 10 is configured to include an imaging device 2, a control device 40, and at least one camera 5. The camera 5 can also be configured as part of the control device 40.
[0013] The imaging device 2 includes, as a mechanism part, at least an arm device 20 and a bed 30. The arm device 20 and the bed 30 are usually installed in a photography room (or a procedure room). Also, as will be described later, the camera 5 is also arranged in the photography room. On the other hand, the control device 40 is installed in a control room adjacent to the photography room. Note that a user interface (for example, an operation panel) for the user to control the driving of the arm device and the bed 30 is arranged at a position where it is easy for the user to operate, for example, a position close to the bed 30.
[0014] The arm device 20 includes a C-shaped arm main body 201, and an X-ray irradiation device 21 and an X-ray detection device 22 are provided at both ends of the arm main body 201, respectively. A more specific configuration of the arm device 20 will be described later.
[0015] The X-ray irradiation device 21 provided at one end of the arm main body 201 has an X-ray source (for example, an X-ray tube) and a movable diaphragm device. The X-ray tube receives high-voltage power supply from a high-voltage generator and generates X-rays according to the conditions of the high-voltage power. The movable diaphragm device movably supports diaphragm blades made of a substance that shields X-rays at the X-ray irradiation port of the X-ray tube. Note that a quality adjustment filter for adjusting the quality of the X-rays generated by the X-ray tube may be provided on the front surface of the X-ray tube.
[0016] }On the other hand, the X-ray detection device 22 provided at the other end of the arm main body 201 includes an FPD (Flat Panel Detector) 221 and an ADC (Analog to Digital Converter) 222.
[0017] The FPD 221 has a plurality of detection elements arranged two-dimensionally. Scanning lines and signal lines are arranged between the detection elements of the FPD 221 so as to be orthogonal. Note that a grid may be provided on the front surface of the FPD 221. The grid is formed by alternately arranging a grid plate made of lead or the like with a large X-ray absorption and aluminum, wood, or the like that is easy to transmit, in order to absorb scattered rays incident on the FPD 221 and improve the contrast of the X-ray image. The ADC222 converts the projection data of the time-series analog signal (video signal) output from the FPD221 into a digital signal and outputs it to the control device 40.
[0018] Note that the X-ray detection device 22 may be an I.I. (Image Intensifier)-TV system. In the I.I.-TV system, the X-rays transmitted through the subject and the directly incident X-rays are converted into visible light, and further, the luminance is multiplied in the process of light-electron-optical conversion to form projection data with good sensitivity, and the optical projection data is converted into an electrical signal using a CCD (Charge Coupled Device) imaging device.
[0019] The arm main body 201 enables the X-ray irradiation device 21 and the X-ray detection device 22 to be arranged opposite to each other with the subject as the center, and by rotating around a plurality of operation axes to be described later, or by translating parallel along the operation axes, it is possible to photograph the subject from any desired direction.
[0020] The bed 30 is supported on the floor surface and supports the top plate (catheter table) 31. As will be described later, the bed 30 can move the top plate 31 to an arbitrary position and angle by parallel movement in the horizontal direction (X, Z-axis directions), parallel movement in the vertical direction (Y-axis direction), and rotation (tilt) around the longitudinal axis (long axis) and the short axis of the top plate 31 in the short axis direction.
[0021] The control device 40 is configured based on a computer, and includes, for example, a display 41, a processing circuit 42, a storage circuit 43, an input interface 44, and a network interface 45.
[0022] In particular, the processing circuit 42 of the control device 40 generates an X-ray image (still image), an X-ray fluoroscopic image (moving image), or a three-dimensional image of the subject based on the signal acquired by the X-ray detection device 22, and as will be described later, performs drive control of the arm device 20 and the bed 30.
[0023] The processing circuit 42 has a dedicated or general-purpose processor and implements various functions described later through software processing by executing a program stored in the memory circuit 43. The processing circuit 42 may also be configured with hardware such as an ASIC (Application Specific Integration Circuit) or a programmable logic device such as an FPGA (Field Programmable Gate Array). Various functions described later can also be implemented through hardware processing using these devices. Furthermore, the processing circuit 42 may implement various functions described later by combining software processing and hardware processing.
[0024] The display 41 is a large display device positioned in a location easily visible to the surgeon during surgery. The display 41 displays X-ray images and fluoroscopic images generated by the processing circuit 42.
[0025] The input interface 44 includes an input device that can be operated by the user and an input circuit that receives signals from the input device. The input device can be a mouse, keyboard, trackball, switch, button, joystick, touchpad that allows input by touching the operating surface, touchscreen that integrates a display screen and a touchpad, a non-contact input circuit using an optical sensor, an audio input circuit, etc. When the input device receives an input operation from the operator, the input circuit generates an electrical signal corresponding to the input operation and outputs it to the processing circuit 42.
[0026] The input interface 44 includes a circuit for inserting portable memory such as a USB memory stick, memory card, magnetic disk, or optical disk, and for inputting data recorded on these portable memory devices. The network interface 45 is a circuit that connects to various networks, such as the hospital network and the internet, via wired or wireless connection.
[0027] The memory circuit 43 is composed of semiconductor memory elements such as RAM (Random Access Memory) and flash memory, as well as a hard disk and an optical disc. The memory circuit 43 stores various processing programs used in the processing circuit 42 (including application programs and operating systems), as well as data necessary for program execution. The memory circuit 43 can also store various data such as image data input via the input interface 31 and the network interface 32.
[0028] Next, the configuration and movement of the mechanism of the X-ray diagnostic apparatus 1 will be explained using Figures 2 to 4. Of the mechanism of the X-ray diagnostic apparatus 1, Figure 2 illustrates the floor-standing arm device 20, Figure 3 illustrates the ceiling-suspended arm device 20, and Figure 4 illustrates the configuration and movement of the patient table 30.
[0029] The X-ray diagnostic device 1 may be configured to include either a floor-standing arm device 20 or a ceiling-suspended arm device 20 (a so-called single-plane system configuration), or it may be configured to include both a floor-standing arm device 20 and a ceiling-suspended arm device 20 (a so-called dual-plane system configuration).
[0030] As shown in Figure 2, the floor-standing arm device 20 includes an arc-shaped (C-shaped) arm body 201, an arm holder 204 that holds the arm body 201 so as to be slidable along an arc-shaped slide axis 211, a support column 203 that holds the arm holder 204 so as to be rotatable around the main shaft 210, a support column holder 205 that holds the support column 203 so as to be rotatable around the support column axis 212, and a floor swivel arm 206 that holds the floor surface so as to be rotatable around the floor rotation axis 213. The support column holder 205 and the floor swivel arm 206 constitute the main shaft holder.
[0031] Furthermore, an X-ray irradiation device holder 207 is provided at one end of the arm body 201 to hold the X-ray irradiation device 21 so that it can rotate around the irradiation axis 214 and move in parallel along the irradiation axis 214. On the other hand, an X-ray detection device holder 208 is provided at the other end of the arm body 201 to hold the X-ray detection device 22 so that it can rotate around the irradiation axis 214 and move in parallel along the irradiation axis 214.
[0032] The arm body 201, arm holder 204, support column 203, floor-swivel arm 206, X-ray irradiation device 21, and X-ray detection device 22 each correspond to movable parts included in the arm device 20 as a mechanical unit. Each movable part is driven to rotate around its corresponding operating axis or to move along its corresponding operating axis.
[0033] For example, the arm body 201 is driven to move along an arc-shaped trajectory b along the slide axis 211, the arm holder 204 is driven to rotate around the main axis 210 along trajectory a, the support column 203 is driven to rotate around the support column axis 212 along trajectory c, and the floor swivel arm 206 is driven to rotate around the floor rotation axis 213 along trajectory d. In addition, the X-ray irradiation device 21 and the X-ray detection device 22 are driven to rotate around the irradiation axis 214 along trajectory e, and are also driven to move parallel along the irradiation axis 214 along trajectory f.
[0034] Figure 3 illustrates the configuration of the ceiling-mounted arm device 20 and the movement of each movable part. Although the configuration of the mechanism holding the arm holder 204 differs between the ceiling-mounted arm device 20 shown in Figure 3 and the floor-mounted arm device 20 shown in Figure 2, the X-ray irradiation device 21, X-ray irradiation device holder 207, X-ray detection device 22, X-ray detection device holder 208, arm body 201, and arm holder 204 are common to both. Therefore, a detailed explanation of these common mechanisms will be omitted.
[0035] As shown in Figure 3, the ceiling-mounted arm device 20 comprises a ceiling slide arm 220, a ceiling holder 222, and a ceiling arm holder 221. In the ceiling-mounted arm device 20, one end of the ceiling slide arm 220 is rotatably held from the ceiling by the ceiling holder 222. On the other hand, the ceiling arm holder 221 holds the arm holder 204 so that it can rotate around the main shaft 210 and move along the arc-shaped ceiling slide axis 215 of the ceiling slide arm 220. The spindle holder is composed of a ceiling slide arm 220, a ceiling holder 222, and a ceiling arm holder 221.
[0036] In the ceiling-suspended arm device 20, the arm holder 204 that holds the arm body 201 is movable along a trajectory g that follows the ceiling slide axis 215, which serves as the axis of motion. The ceiling holder 222 is held from the ceiling so as to be rotatable along a trajectory h around the ceiling rotation axis 216, which serves as the axis of motion, and is also held so as to be movable in parallel along a trajectory j that follows the axis of motion in a horizontal plane parallel to the ceiling.
[0037] Figure 4(a) is a plan view illustrating the configuration of the bed 30 and the movement of each movable part, and Figure 4(b) is a side view. The bed 30 comprises a top plate 31 on which the subject is placed and a bed body 32 that supports the top plate 31.
[0038] The top plate 31 is configured to be movable in parallel along the longitudinal trajectory k, the transverse trajectory m, and the vertical trajectory p in the horizontal plane. In this case, the axes of movement are the longitudinal parallel movement axis 301, the transverse movement axis 300, and the vertical parallel movement axis of the top plate.
[0039] Furthermore, the top plate 31 is configured to be rotatable (i.e., tiltable) in the longitudinal and transverse directions, respectively, with rotational trajectories o and rotational starting points n. In this case, the axes of motion are the longitudinal rotation axis 301 and the transverse rotation axis 300.
[0040] As described above, in the mechanism of the X-ray diagnostic apparatus 1, multiple movable parts are driven by multiple corresponding motion axes, and each motion axis is independently controlled. Before describing the drive system of the X-ray diagnostic apparatus 1 according to this embodiment, a conventional drive system will be described as a comparative example.
[0041] Figure 5 is a diagram illustrating the operation of a conventional drive system. It is a functional block diagram modeling the mechanism related to one specific drive axis A (for example, the main shaft 210). The drive systems for other drive axes, such as the slide axis 211 and the irradiation axis 214, can also be represented using essentially the same functional block diagram.
[0042] As shown in Figure 5(b), for example, the drive system for the operating axis A includes a motor A, a transmission system such as a chain or belt that transmits the rotational force of the motor A, and a movable part A that rotates or moves in parallel with the transmitted force. Furthermore, as sensors for detecting the operating position (amount of rotation or amount of movement) of the operating axis A, for example, a first encoder (i.e., an internal encoder) is provided as a first sensor A for detecting the amount of rotation of the motor A, and a second encoder (external encoder) is provided as a second sensor A for detecting the amount of rotation of the movable part A.
[0043] Furthermore, in order to self-detect sensor abnormalities, the system checks whether the values of the first encoder and the second encoder match. If the values of the two encoders do not match, a sensor abnormality signal is output externally (for example, to the drive control unit).
[0044] As shown in Figure 5(a), the drive control unit generates a drive signal for driving the motor using the operating position output from the sensors of each operating axis (for example, the second encoder) and the instruction value instructed by the user.
[0045] On the other hand, conventional drive control systems interlocked the operation of the corresponding drive axis if a sensor malfunction signal was output from the sensor of each drive axis. Therefore, for example, if a sensor failed during a procedure, the procedure on the patient could not be continued, which was inconvenient. Furthermore, using the output of a faulty sensor to drive the arm or table could cause the arm or table to move in a way unintended by the user, which is undesirable from a safety standpoint for both the user and the equipment.
[0046] To resolve these inconveniences, the X-ray diagnostic device 1 of this embodiment is configured to capture images of the movable parts of the X-ray diagnostic device 1 with one or more cameras, calculate the operating position of the movable parts from the camera images, and use the calculated operating position to compensate for the output of the faulty sensor.
[0047] Figure 6 shows an example of the arrangement of multiple cameras 5 in the X-ray diagnostic apparatus 1 of the embodiment within the imaging room. For example, one or more cameras 5 are arranged on each of the four side walls of the imaging room. The cameras 5 are preferably positioned so as to provide an overview of the entire mechanism of the X-ray diagnostic apparatus 1, including the arm device 20 and the patient table 30. For example, they are preferably positioned at a distance of 2 meters or more from the isocenter, with the center of the field of view facing the isocenter. Furthermore, to avoid the user performing the diagnosis or treatment being reflected in the image, it is preferable to position the camera at a height of 2 meters or more.
[0048] Furthermore, camera 5 may be a multi-lens camera capable of distance measurement. Also, some of the multiple cameras 5 may be attached to specific locations on the mechanism of the X-ray diagnostic device 1, such as the arm device 20.
[0049] Figure 7 is a functional block diagram of the X-ray diagnostic device 1, mainly related to the drive control of the mechanical parts. In Figure 7, the controlled object is shown on the left side, and the functional configuration of the control device 40 related to drive control is shown on the right side.
[0050] In Figure 7, for the sake of explanation, two controllable objects are shown as examples: movable part A related to motion axis A and movable part B related to motion axis B. However, the number of controllable objects is not limited to these, and all movable parts of the mechanism of the X-ray diagnostic device 1 can be controlled.
[0051] The operating axis A is, for example, a slide axis 211, in which case the movable part A is an arm body 201 that is driven in an arc shape along the slide axis 211. The control objects related to the operating axis A include the movable part A, a motor A that drives the movable part A, and a sensor A that detects the position of the movable part A.
[0052] On the other hand, the operating axis B is, for example, the main spindle 210, and in this case, the movable part B is an arm holder 204 that is rotationally driven around the main spindle 210. The control targets related to the operating axis B include the movable part B, a motor B that drives the movable part B, and a sensor B that detects the position of the movable part B.
[0053] In the following explanation, the "position" (or "operating position") detected by each sensor may include both the "position on the operating axis (or operating position)" and the "angle around the operating axis."
[0054] In the configuration of the control device 40 shown in Figure 7, the control device 40 comprises a camera 5, a memory circuit 43, an input interface 44, and a processing circuit 42. As mentioned above, the processing circuit 42 includes, for example, a processor, and by having this processor execute a predetermined program, the functions of the second operating position calculation function F01, the abnormality determination function F02, the degraded mode determination function F03, and the drive control function F04 can be realized.
[0055] The second operating position calculation function F01 calculates the operating position of the movable part as the second operating position from the camera image of the mechanism captured by camera 5. For example, from the camera image, the operating position of movable part A is calculated as the second operating position A, and the operating position of movable part B is calculated as the second operating position B. The anomaly detection function F02 uses at least one of the outputs of each sensor and the camera images captured by camera 5 to determine whether or not each sensor is abnormal.
[0056] The degraded mode determination function F03 selectively determines one degraded mode from among several degraded modes when a sensor abnormality is detected. A degraded mode is an operating mode that allows operation to continue without completely stopping, while imposing some limitations on the normal operating mode. More specifically, a degraded mode is at least one of the following operating modes: (a) an operating mode that restricts the movement of some of the multiple movable parts, and (b) an operating mode that restricts the movement of all or some of the multiple movable parts.
[0057] The drive control function F04 drives the controlled object based on the degenerate mode determined by the degenerate mode determination function F03. For example, the drive control function F04 generates a drive signal A to drive motor A on operating axis A and a drive signal B to drive motor B on operating axis B.
[0058] Figure 8 is a flowchart illustrating an example of the drive control process for the X-ray diagnostic device 1. The following describes the more specific operations of the second operating position calculation function F01, the abnormality determination function F02, the degenerate mode determination function F03, and the drive control function F04 based on this flowchart.
[0059] First, in step ST10, camera images captured by each camera 5 are acquired. Then, in step ST11, the operating position of each movable part of the mechanism is calculated as the second operating position based on the acquired camera images. The processing in step ST11 is performed by the second operating position calculation function F01 in Figure 7. Several calculation methods can be used to calculate the operating position of each movable part as the second operating position using camera images, as shown below.
[0060] Figure 9 shows an example of the first method for calculating the second operating position of each movable part. In the first calculation method, the operating position of the movable part is calculated as the second operating position from the inclination angle of the straight portion of the movable part in the captured camera image relative to the vertical or horizontal. For example, as illustrated in Figure 9, the operating position of each movable part is calculated as the second operating position from the inclination angle of the straight portion L1 on the outer circumference of the X-ray irradiation device holder 207, the straight portion L2 on the outer circumference of the X-ray irradiation device 21, the straight portion L3 of the X-ray detection device 22, and the straight portion L4 of the X-ray detection device holder 208 relative to the vertical or horizontal.
[0061] Figure 10 shows an example of a second method for calculating the second operating position of each movable part. In the second calculation method, the operating position of the movable part is calculated as the second operating position from the position of the marker in the captured camera image. For example, as illustrated in Figure 10, each movable part of the mechanism is fitted with multiple markers that can be identified by the camera 5. For example, the X-ray irradiation device holder 207 is fitted with a marker M1 having multiple star shapes, and the X-ray detection device holder 208 is fitted with a marker M2 having multiple star shapes. From the camera image in which these markers M1 and M2 are captured, the operating position of each movable part can be calculated as the second operating position.
[0062] A third method for calculating the second operating position of each movable part using camera images is a method that uses a reference database. In this method, a reference database 430 is maintained, which is based on reference images (videos or a collection of multiple still images taken in time series) of the movement of each movable part of the mechanism, and associates the position of each movable part in the reference images with the operating position data corresponding to the position of the movable part. This reference database 430 is stored, for example, in a memory circuit 43. The position of each movable part is detected from the camera image of the mechanism taken by the camera 5, and the operating position data associated with the detected position of each movable part is obtained from the reference database 430 as the second operating position.
[0063] Returning to Figure 8, in step ST12, the operating position of each movable part detected by the sensor to be controlled is acquired as the first operating position. For example, as shown in Figure 7, with respect to the operating axis A, the operating position of movable part A detected by sensor A is acquired as the first operating position A, and with respect to the operating axis B, the operating position of movable part B detected by sensor B is acquired as the first operating position B.
[0064] Next, in step ST13, it is determined whether or not there is an abnormality in the sensors of each movable part. The abnormality detection function F02 in Figure 7 performs the processing in step ST13. The abnormality detection function F02 allows the user to select from several methods for determining sensor abnormalities, as shown below.
[0065] Figure 11 illustrates several methods for determining sensor abnormalities. The first abnormality determination method determines that a sensor is abnormal based on the sensor abnormality signal output from each sensor. Although this method has the least processing load, depending on the nature of the sensor failure, it is possible that a sensor abnormality signal may not be output even if the sensor is abnormal. Therefore, the system allows selection of second and third abnormality determination methods, which do not use the sensor abnormality signals output from each sensor, as described below.
[0066] In the second abnormality detection method, the sensor is determined to be abnormal when the difference between the first operating position of the movable part output from the sensor and the second operating position of the movable part calculated from the camera image captured by the camera 5 exceeds a predetermined threshold.
[0067] Furthermore, in the third abnormality detection method, when the difference between the instruction value indicating the operating position of the movable part and the second operating position of the movable part calculated from the camera image captured by camera 5 exceeds a predetermined threshold, it is determined that the sensor corresponding to the movable part is abnormal. In addition, the anomaly detection function F02 performs the following anomaly detections, primarily from the perspective of safety for the device and the user.
[0068] For example, the anomaly detection function F02 determines the possibility of mutual interference based on the positional relationship between the movable part depicted in the camera image and the user around the movable part depicted in the camera image. If interference is detected, it generates an alarm.
[0069] Furthermore, the X-ray diagnostic device 1 has a function to generate a three-dimensional image by rotating the arm body 201 around the subject. In the generation of a three-dimensional image, the arm body 201 is usually rotated around the subject to acquire correction data for the three-dimensional image, and the acquired correction data is used to correct the three-dimensional image.
[0070] In this operation for generating 3D images, the anomaly detection function F02 determines whether there is a predetermined difference between the movement of the movable part in the camera image captured when acquiring correction data and the movement of the movable part in the camera image captured when generating the 3D image. If a predetermined difference is determined to exist, it generates an alarm to alert the user.
[0071] Returning to Figure 8, in step ST14, the abnormality detection function F02 determines whether or not an abnormality has been detected in at least one sensor. If no abnormalities are detected in any of the sensors, the process proceeds to step ST17, where each movable part is driven and controlled in standard mode.
[0072] On the other hand, if an abnormality is detected by at least one sensor, the process proceeds to step ST15, where one degenerate mode is selected from among multiple degenerate modes. The selection of a degenerate mode is performed, for example, based on user operation via the input interface 44. The processing in step ST15 is performed by the degenerate mode determination function F03. Figure 12 illustrates the types and contents of multiple degenerate modes.
[0073] In the first degenerate mode, for operating axes where a sensor determined to be abnormal is installed, the drive control is performed using the operating position of the movable part (second operating position) calculated from the camera image, and for operating axes where a sensor determined to be normal is installed, the drive control is performed using the operating position detected by the normal sensor (first operating position).
[0074] In the second degenerate mode, for operating axes equipped with sensors determined to be non-abnormal, the operating position detected by those non-abnormal sensors (first operating position) is used for drive control, while for operating axes equipped with sensors determined to be abnormal, operation is stopped.
[0075] Furthermore, in the third degenerate mode, for the operating axes where a sensor determined to be abnormal is installed, the drive control is performed using the operating position of the movable part calculated from the camera image (second operating position), and for the operating axes where a sensor determined to be normal is installed, the drive control is performed using the operating position detected by the normal sensor (first operating position), but the operating speed is reduced for all operating axes.
[0076] Furthermore, as another degenerate mode processing performed by the degenerate mode determination function F03, a notification may be made indicating that the interference avoidance operation is not working properly (first processing). Alternatively, the range of motion of the movable part may be set to a narrower range than the range of motion set in standard mode (second process).
[0077] Furthermore, if another normal sensor is provided on the same operating axis as the sensor that has been determined to be abnormal, the operating position of the movable part detected by the other normal sensor may be combined with the operating position of the movable part calculated from the camera image (second operating position) to perform drive control (third process). Returning to Figure 8, in step ST16, each movable part is driven and controlled according to the type of degenerate mode and processing content determined in step ST15.
[0078] In this embodiment, the second operating position calculation function F01 and the abnormality determination function F02 are examples of the calculation unit and abnormality determination unit in the claims, respectively. Also, the degenerate mode determination function F03 and the drive control function F04 in this embodiment are examples of the drive control unit in the claims.
[0079] According to at least one embodiment described above, even if a malfunction occurs in the angle sensor or position sensor used to detect the angle and position of the arm or bed, the procedure can be avoided, and the safety of the user and equipment can be ensured.
[0080] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]
[0081] 1. X-ray diagnostic equipment 5 Cameras 2. Imaging device 20 Arm device 30 berths 40 Control device 42 Processing Circuit 201 Arm body 204 Arm holder F01 Second Operation Position Calculation Function F02 Anomaly detection function F03 Degraded Mode Determination Function F04 Drive control function
Claims
1. A mechanism comprising an arm for holding an X-ray irradiation device and an X-ray detection device, and at least one of a bed on which a subject is placed, wherein a mechanism drives a plurality of movable parts included in the mechanism around or along their respective axes of motion, A sensor for detecting the operating position of the movable part corresponding to each of the aforementioned operating axes, A camera for photographing the aforementioned mechanism, An abnormality determination unit that determines whether or not there is an abnormality in the sensor using at least one of the output of the sensor and the camera image captured by the camera, If the sensor is determined to be abnormal, a drive control unit performs drive control of the mechanism based on the information in the camera image, An X-ray diagnostic device equipped with [specific features / features].
2. The sensor detects the operating position of the movable part as a first operating position, The system further comprises a calculation unit that calculates the operating position of the movable part as a second operating position from the camera image of the mechanism captured by the aforementioned camera, If no abnormality is detected in the sensor, the drive control unit controls the drive of the mechanism using the first operating position detected by the sensor, and if an abnormality is detected in the sensor, it replaces the first operating position with a second operating position and controls the drive of the mechanism. The X-ray diagnostic apparatus according to claim 1.
3. The aforementioned arm is An arc-shaped arm body holds the X-ray irradiation device at one end and the X-ray detection device at the other end, and holds at least one of the X-ray irradiation device and the X-ray detection device so as to be movable in parallel along the irradiation axis connecting the X-ray irradiation device and the X-ray detection device, and holds the X-ray irradiation device and the X-ray detection device so as to be rotatable around the irradiation axis, An arm holder that holds the arm body so as to be slidable along the arc-shaped slide axis, A spindle holder that holds the aforementioned arm holder so as to be rotatable around the spindle, Includes, The operating axis includes at least one of (a) a parallel movement axis along the irradiation axis, (b) a rotation axis around the irradiation axis, (c) a sliding axis for sliding the arm body in an arc shape, and (d) a main axis for rotating the arm holder. The X-ray diagnostic apparatus according to claim 2.
4. The bed includes a top plate on which the subject is placed, The aforementioned operating axis includes at least one of the following axes of translation of the top plate: a longitudinal translation axis, a transverse translation axis, a vertical translation axis, a longitudinal rotation axis, and a transverse rotation axis. The X-ray diagnostic apparatus according to claim 2.
5. The calculation unit calculates the second operating position of the movable part from the angle of inclination on the camera image, which is the angle of inclination of the straight portion of the movable part in the captured camera image relative to the vertical or horizontal. The X-ray diagnostic apparatus according to claim 2.
6. The movable part of the mechanism is fitted with multiple markers that can be identified by the camera. The calculation unit calculates the operating position of the movable part as the second operating position from the position of the marker in the captured camera image. The X-ray diagnostic apparatus according to claim 2.
7. The calculation unit described above, A reference database based on reference images of the movement of the movable part of the mechanism, wherein the reference database holds reference data in which the position of the movable part in the reference image is associated with the operation position data corresponding to the position of the movable part. The position of the movable part is detected from the camera image of the mechanism captured by the camera, and the operation position data associated with the detected position of the movable part is obtained from the reference database as the second operation position. The X-ray diagnostic apparatus according to claim 2.
8. The abnormality determination unit determines that the sensor is abnormal when a sensor abnormality signal is output from the sensor. The X-ray diagnostic apparatus according to claim 1.
9. The abnormality determination unit determines that the sensor is abnormal when the difference between the first operating position of the movable part output from the sensor and the second operating position of the movable part calculated from the camera image of the mechanism captured by the camera exceeds a predetermined threshold. The X-ray diagnostic apparatus according to claim 1.
10. The abnormality determination unit determines that the sensor is abnormal when the difference between the instruction value indicating the operating position of the movable part and the second operating position of the movable part calculated from the camera image of the mechanism captured by the camera exceeds a predetermined threshold. The X-ray diagnostic apparatus according to claim 1.
11. The abnormality detection unit determines the possibility of mutual interference based on the positional relationship between the movable part depicted in the camera image and the user surrounding the movable part as depicted in the camera image, and if it determines that there is a possibility of interference, it generates an alarm. The X-ray diagnostic apparatus according to claim 1.
12. A generation unit that generates a three-dimensional image by rotating the arm around the subject, A correction unit that rotates the arm around the subject to acquire correction data for the three-dimensional image, Furthermore, The abnormality determination unit determines whether there is a predetermined difference between the movement of the movable part in the camera image taken when acquiring the correction data and the movement of the movable part in the camera image taken when generating the three-dimensional image. The X-ray diagnostic apparatus according to claim 1.
13. The drive control unit, The system is configured to selectively perform drive control of the mechanism based on a predetermined standard mode, and drive control of the mechanism based on a degenerate mode in which restrictions are placed on at least one of the movement of some of the multiple movable parts, and a portion of the movement of some of the multiple or some of the movable parts. If the sensor is determined to be abnormal, the drive control of the mechanism is performed based on the degenerate mode. The X-ray diagnostic apparatus according to claim 1.
14. The drive control unit, in the degraded mode, performs at least one of the following: (a) reduces the operating speed of the movable part, and (b) notifies that the interference avoidance operation in the standard mode is not working properly. The X-ray diagnostic apparatus according to claim 13.
15. In the degenerate mode, the drive control unit, (a) For the operating axis on which a sensor determined to be abnormal is installed, the drive control is performed using the operating position of the movable part calculated from the camera image, and for the operating axis on which a sensor determined to be normal is installed, the drive control is performed using the operating position detected by the normal sensor, in a first degenerate mode. (b) For operating axes equipped with sensors determined to be non-abnormal, the drive control is performed using the operating position detected by the non-abnormal sensor, while for operating axes equipped with sensors determined to be abnormal, the operation is stopped, in a second degenerate mode, and (c) For the operating axes on which a sensor determined to be abnormal is installed, the drive control is performed using the operating position of the movable part calculated from the camera image, and for the operating axes on which a sensor determined to be normal is installed, the drive control is performed using the operating position detected by the normal sensor, but the operating speed is reduced for all operating axes in a third degenerate mode. It is configured so that the user can select it. The X-ray diagnostic apparatus according to claim 13.
16. The drive control unit, in the reduced mode, sets the range of motion of the movable part to a range narrower than the range of motion set in the standard mode. The X-ray diagnostic apparatus according to claim 13.
17. In the degraded mode, if another normal sensor is provided on the same operating axis as the sensor that was determined to be abnormal, the drive control unit controls the drive by combining the operating position of the movable part detected by the other normal sensor and the operating position of the movable part calculated from the camera image. The X-ray diagnostic apparatus according to claim 13.
18. The number of cameras is multiple, and each is installed at multiple positions above a predetermined height in the shooting room where the mechanism is installed. The X-ray diagnostic apparatus according to claim 1.