X-ray imaging device

Abstract

An X-ray imaging device (100) comprises: an imaging part (2) that includes an arm (22) that connects an X-ray source (20) and a detector (21); a drive part (3) that moves the arm (22); a touch operation button (81) that receives an operation for changing the imaging angle of the imaging part (2); and a control part (9) that, each time the touch operation button (81) is operated, performs control to move the arm (22) in a prescribed direction by the drive part (3) and change the imaging angle by a unit angle amount (change width θ).

Description

X-ray equipment

[0001] The present invention relates to an X-ray imaging apparatus, and more particularly to an X-ray imaging apparatus having an arm connecting an X-ray source and an X-ray detector.

[0002] 2. Description of the Related Art Conventionally, an X-ray imaging apparatus including an arm connecting an X-ray source and an X-ray detector has been known. Such an X-ray imaging apparatus is disclosed, for example, in Japanese Patent Application Laid-Open No. 2022-121942.

[0003] The X-ray imaging device described in JP 2022-121942 A includes an arm that connects an X-ray source and an X-ray detector, and an arm control lever that accepts operations to move the arm. In the X-ray imaging device, tilting the arm control lever moves the arm in a movement direction associated with the tilt direction of the arm control lever, thereby adjusting the imaging angle of the subject.

[0004] Japanese Patent Application Laid-Open No. 2022-121942

[0005] In the X-ray imaging apparatus described in JP 2022-121942 A, the arm moves relatively fast when the arm operating lever is tilted, and the arm may move significantly beyond the target position at which the operator achieves the imaging angle. For this reason, there has been a demand for a method for easily moving the arm to the target position at which the operator achieves the imaging angle.

[0006] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide an X-ray imaging apparatus that allows an operator to easily move an arm to a target position that provides the imaging angle desired by the operator.

[0007] In order to achieve the above object, an X-ray imaging device according to one aspect of the present invention comprises an imaging unit including a bed on which a subject lies, an X-ray source that irradiates X-rays onto the subject, a detector that faces the X-ray source and detects the X-rays irradiated from the X-ray source, and an arm that connects the X-ray source and the detector, a drive unit that moves the arm, an operation button that accepts an operation to change the imaging angle of the imaging unit by moving the arm in a predetermined direction using the drive unit, and a control unit that controls the drive unit to move the arm in the predetermined direction each time the operation button is operated, thereby changing the imaging angle by a unit angle amount from the current imaging angle.

[0008] In one aspect of the X-ray imaging device, the device includes an operation button that accepts an operation to change the imaging angle of the imaging unit by moving the arm in a predetermined direction using a drive unit, and a control unit that controls the drive unit to move the arm in the predetermined direction each time the operation button is operated, thereby changing the imaging angle from the current imaging angle by a unit angle amount. This allows the imaging angle to be changed by the unit angle amount intended by the operator when approaching a target position, for example, so that each time the operation button is operated, the arm can be moved closer to the target position at which the imaging angle desired by the operator is achieved. This prevents the arm from moving too far beyond the target position at which the imaging angle desired by the operator, as in the conventional case. As a result, the arm can be easily moved to the target position at which the imaging angle desired by the operator is achieved.

[0009] 1 is a diagram showing the overall configuration of an X-ray imaging apparatus according to an embodiment; FIG. 2 is a diagram for explaining the imaging direction, where (A) is a schematic diagram from the side of a subject, and (B) is a schematic diagram from the lower limb side of the subject; FIG. 3 is a diagram for explaining notification by a display device of an X-ray imaging apparatus according to an embodiment; FIG. 4 is a block diagram showing a control unit and an operation console of an X-ray imaging apparatus according to an embodiment; FIG. 5 is a diagram showing a screen for unit angle movement displayed on a touch operation unit of an X-ray imaging apparatus according to an embodiment; FIG. 6 is a diagram showing a screen for preset movement displayed on a touch operation unit of an X-ray imaging apparatus according to an embodiment; FIG. 7 is a diagram for explaining the imaging angle of the imaging unit that changes by a unit angle amount each time a touch operation button is operated, where (A) is a schematic diagram from the side of a subject, and (B) is a schematic diagram from the lower limb side of the subject; and FIG. 8 is a flowchart showing control processing executed by a control unit of an X-ray imaging apparatus according to an embodiment.

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

[0011] (Overall Configuration of X-Ray Imaging Apparatus) An X-ray imaging apparatus 100 according to an embodiment will be described with reference to FIGS.

[0012] 1, the X-ray imaging apparatus 100 is an apparatus for diagnosing a disease in a target region of a subject 13. The target region is, for example, the blood vessels of the heart (coronary arteries), but may also be other regions such as the abdomen or lower limbs.

[0013] The X-ray imaging apparatus 100 according to this embodiment includes a bed 1, an imaging unit 2, a drive unit 3, a display device 4, a storage unit 5, an operation console 6 including a joystick operation unit 7 and a touch operation unit 8, and a control unit 9. The display device 4 is an example of a "notification unit" in the claims. The joystick operation unit 7 is an example of a "continuous movement operation unit" in the claims.

[0014] (Configuration of the Bed) The bed 1 includes a top board 10 having an upper surface on which the subject 13 lies, and a base 11 that supports the bed 1 from below. The upper surface of the top board 10 is formed in a rectangular shape with the longitudinal direction extending along the body axis of the subject 13 on the bed 1. The base 11 supports the bed 1 from below.

[0015] Here, in each drawing, the longitudinal direction of the bed 1 is indicated by the X direction. One of the longitudinal directions is indicated by the X1 direction, and the other longitudinal direction is indicated by the X2 direction. The X1 direction is the direction from the bed 1 toward the arm holding part 31. The head of the subject 13 is placed on the X1 direction side of the bed 1, and the lower limbs of the subject 13 are placed on the X2 direction side of the bed 1.

[0016] In each figure, the short side direction of the bed 1 is indicated by the Y direction. One of the short sides is indicated by the Y1 direction, and the other is indicated by the Y2 direction. The Y1 direction is the left side when the subject 13 on the bed 1 is viewed from the lower limb side. The Y2 direction is the right side when the subject 13 on the bed 1 is viewed from the lower limb side.

[0017] In each drawing, the up-down direction is indicated by the Z direction, with the upper side indicated by the Z1 direction and the lower side indicated by the Z2 direction.

[0018] In each drawing, the direction along the arc-shaped arm 22 is indicated by the R1 direction. In each drawing, the circumferential direction around the horizontally extending central axis C1 located on the arm holder 31 is indicated by the R2 direction. In each drawing, the circumferential direction around the vertically extending central axis C2 located on the support base 35 is indicated by the R3 direction.

[0019] 2A, as predetermined directions in which the arm 22 (detector 21) is moved (rotated), one longitudinal direction on the X1 direction side of the bed 1 is indicated by CRA (Cranial), and the other longitudinal direction on the X2 direction side of the bed 1 is indicated by CAU (Caudal). CRA and CAU are directions along the R1 direction (see FIG. 1).

[0020] 2B, as predetermined directions in which the arm 22 (detector 21) is moved by rotation, one of the shorter sides, which is the Y1 direction side of the bed 1, is indicated by RAO (Right Anterior Oblique), and the other shorter side, which is the Y2 direction side of the bed 1, is indicated by LAO (Left Anterior Oblique). RAO and LAO are directions along the R2 direction (see FIG. 1).

[0021] The X-ray imaging apparatus 100 moves the arm 22 in any predetermined direction that is a combination of CRA, CAU, RAO, and LAO, and performs imaging from the imaging angle of the imaging unit 2 after the movement. In this embodiment, the X-ray imaging apparatus 100 (controller 9) controls the driver 3 to move the arm 22 in the predetermined direction each time the touch operation button 81 on the touch operation unit 8 is operated, thereby changing the imaging angle of the imaging unit 2 by a unit angle amount (change width θ (see FIG. 7 )). As a result, the X-ray imaging apparatus 100 fine-tunes the imaging angle of the imaging unit 2. Details will be described later. The "predetermined direction" includes four directions: one longitudinal direction of the bed 1 (X1 direction), the other longitudinal direction of the bed 1 (X2 direction), one lateral direction of the bed 1 (Y1 direction), and the other lateral direction of the bed 1 (Y2 direction). The touch operation button 81 is an example of an "operation button" in the claims.

[0022] (Configuration of Imaging Unit) As shown in Fig. 1, the imaging unit 2 includes an X-ray source 20 that irradiates the subject 13 with X-rays, a detector 21, and an arm 22. The X-ray source 20 has an X-ray tube (not shown). The X-ray tube generates X-rays. The X-rays generated by the X-ray tube are emitted toward the detector 21. The intensity of the X-rays is adjusted according to the tube voltage applied to the X-ray tube.

[0023] The detector 21 is, for example, a flat panel detector (FPD). The detector 21 faces the X-ray source 20 and is configured to detect X-rays irradiated from the X-ray source 20. In detail, the detector 21 receives X-rays irradiated onto the subject 13 by the X-ray source 20 and transmitted through the subject 13, and converts the received X-rays into an electrical signal. The detector 21 has an imaging element having a plurality of pixels therein, detects the intensity of X-rays for each of the plurality of pixels, and converts the X-ray detection information into an electrical signal as a pixel value. The X-ray detection information converted into an electrical signal is transmitted to the control unit 9.

[0024] The arm 22 is a so-called C-arm having an arc shape. The arm 22 connects the X-ray source 20 attached to one end with the detector 21 attached to the other end. The arm 22 positions the X-ray source 20 and the detector 21 so that they face each other and sandwich the subject 13 lying on the bed 1. The arm 22 is held by an arm holder 31 that is arranged between the X-ray source 20 and the detector 21.

[0025] (Configuration of the drive unit) The drive unit 3 includes an arm holding portion 31 on which a first rotation mechanism 30 is provided, a support portion 33 on which a second rotation mechanism 32 is provided, and a support base 35 on which a third rotation mechanism 34 is provided.

[0026] The arm holder 31 supports the arm 22 so that the arm 22 can move in the R1 direction, and is attached to the support column 33. The support column 33 supports the arm holder 31 so that the arm holder 31 can rotate in the R2 direction around the central axis C1, and is attached to a support base 35. The support base 35 supports the support column 33 so that the support column 33 can rotate in the R3 direction around the central axis C2, and is attached to the ground. The support base 35 is disposed directly below the arm 22 and the bed 1.

[0027] The first rotation mechanism 30 includes a first drive motor 30a and a first rotary encoder 30b that detects the rotation amount of the first drive motor 30a. The first drive motor 30a is configured to drive a belt mechanism (not shown) provided on the arm holder 31 and the arm 22 to move the arm 22 to the CAU or CRA along the R1 direction. When the detector 21 is positioned directly above the X-ray source 20 as viewed from the side, both the CRA and CAU are 0 degrees. When the detector 21 together with the arm 22 is moved toward the head (X1 direction) by the first rotation mechanism 30, the CRA increases. When the detector 21 together with the arm 22 is moved toward the lower limbs (X2 direction), the CAU increases (see FIG. 2 ).

[0028] The second rotation mechanism 32 includes a second drive motor 32a and a second rotary encoder 32b that detects the amount of rotation of the second drive motor 32a. The second drive motor 32a is configured to drive a gear mechanism (not shown) provided on the arm holder 31 and the support column 33 to move the arm 22 via the arm holder 31 along the R2 direction to RAO or LAO. When the detector 21 is positioned directly above the X-ray source 20 as viewed from the lower limb side, both RAO and LAO are 0 degrees. When the detector 21 is moved together with the arm 22 in the Y1 direction by the second rotation mechanism 32, the RAO increases, and when the detector 21 is moved together with the arm 22 in the Y2 direction, the LAO increases (see FIG. 2 ).

[0029] The third rotation mechanism 34 includes a third drive motor 34 a and a third rotary encoder 34 b that detects the amount of rotation of the third drive motor 34 a. The third drive motor 34 a is configured to drive a gear mechanism (not shown) provided on the support base 35 to move the arm 22 in the R3 direction via the support column 33 and the arm holder 31.

[0030] (Configuration of Display Device) The display device 4 is disposed above the bed 1. The display device 4 is, for example, a display having a liquid crystal panel. The display device 4 is configured to display images captured by the imaging unit 2. The display device 4 is also configured to display the current position (CRA, CAU, RAO, and LAO) of the arm 22. The display device 4 also has a notification function. In detail, when the touch operation button 81 is operated, if changing the imaging angle by a unit angle amount would cause the arm 22 to interfere with a surrounding structure, the control unit 9 controls the display device 4 to notify the arm 22 without moving the arm 22. As an example of a notification mode, the display device 4 displays a notification message M such as "The arm may interfere with a surrounding structure. Therefore, the arm cannot be moved" (see FIG. 3).

[0031] (Configuration of Storage Unit) The storage unit 5 is, for example, a hard disk drive (HDD) or a non-volatile memory. The storage unit 5 stores image information of images captured by the imaging unit 2. The storage unit 5 also stores setting information for preset positions of the arm 22 of the imaging unit 2. The preset positions of the arm 22 are set by a registration operation before imaging. The storage unit 5 also stores setting information for the change width θ of the unit angle amount of the imaging angle of the imaging unit 2.

[0032] (Configuration of Operation Console) The operation console 6 (touch operation unit 8) is installed near the edge of the bed 1 on the Y1 direction side. Therefore, the operator operating the operation console 6 operates the operation console 6 from a position where the front, back, left, and right of the operator correspond to the Y2 direction (LAO), Y1 direction (RAO), X1 direction (CRA), and X2 direction (CAU), respectively. The operation console 6 is equipped with a joystick operation unit 7 and a touch operation unit 8 including a touch-operated display unit 80.

[0033] (Configuration of Joystick Operation Unit of Operation Console) The joystick operation unit 7 has an operation lever 70, and is configured to accept an operation to tilt the operation lever 70 to move the arm 22. The joystick operation unit 7 is configured to accept an operation to continuously move the arm 22 while the operation state in which the operation lever 70 is tilted is continued, thereby moving the arm 22 to the vicinity of the target position P (see FIG. 7 ).

[0034] After the arm 22 is moved by the joystick operation unit 7, the control unit 9 performs control to finely adjust the imaging angle of the imaging unit 2 by changing it by the unit angle amount based on the operation of the touch operation button 81. That is, in the X-ray imaging apparatus 100, after the arm 22 is roughly moved to the vicinity of the target position P by the joystick operation unit 7, the touch operation button 81 is operated to finely adjust the imaging angle of the imaging unit 2 by changing it by the unit angle amount.

[0035] The touch operation unit 8 includes a touch operation button 81 , a variation width setting operation unit 82 , and a preset operation unit 83 .

[0036] (Configuration of touch operation button of touch operation unit) The touch operation button 81 shown in FIG. 5 is a button that accepts an operation to move the arm 22 in a predetermined direction using the drive unit 3 and change the shooting angle of the shooting unit 2 by a unit angle amount (change width θ).

[0037] The touch operation button 81 is a touch-operated button displayed on the display unit 80 of the touch operation unit 8. The touch operation button 81 is displayed on a unit angle movement screen D1 of the display unit 80 by a predetermined operation on the touch operation unit 8. The unit angle movement screen D1 is a screen for performing an operation to change the imaging angle of the imaging unit 2 from the current imaging angle by a unit angle amount. In this case, as an example, on the unit angle movement screen D1, the touch operation button 81 is arranged on the left side of the display unit 80, and the set value of the unit angle amount change width θ of the imaging angle and the current position (CRA, CAU, RAO, and LAO) of the arm 22 are displayed on the right side of the display unit 80. Note that the current position (CRA, CAU, RAO, and LAO) of the arm 22 is displayed on at least the display device 4 and does not need to be displayed on the display unit. The unit angle movement screen D1 is displayed on the display unit 80 by a predetermined operation on the touch operation unit 8.

[0038] When the bed 1 is viewed from the touch operation unit 8 side, the orientation of the first button 81a, the second button 81b, the third button 81c, and the fourth button 81d that make up the cross-shaped button coincides with the predetermined direction in which the arm 22 is moved. In detail, the touch operation button 81 has a first button 81a that rotates the arm 22 (detector 21) to CRA, which is one of the longitudinal directions of the bed 1, around the central axis C0 extending in the short direction of the bed 1 as the rotation axis; a second button 81b that rotates the arm 22 (detector 21) to CAU, which is the other longitudinal direction of the bed 1, around the central axis C0 extending in the short direction of the bed 1 as the rotation axis; a third button 81c that rotates the arm 22 (detector 21) to RAO, which is one of the short directions of the bed 1, around the central axis C1 extending in the long direction of the bed 1 as the rotation axis; and a fourth button 81d that rotates the arm 22 (detector 21) to LAO, which is the other short direction of the bed 1, around the central axis C1 extending in the long direction of the bed 1 as the rotation axis.

[0039] The touch operation button 81 is a cross-shaped button in which a first button 81a, a second button 81b, a third button 81c, and a fourth button 81d are arranged in a cross shape so that they face up, down, left, and right. In the cross-shaped button, the first button 81a for instructing movement to CRA is located on the left, the second button 81b for instructing movement to CAU is located on the right, the third button 81c for instructing movement to RAO is located on the bottom, and the fourth button 81d for instructing movement to LAO is located on the top.

[0040] (Configuration of the change width setting operation unit of the touch operation unit) The change width setting operation unit 82 shown in FIG. 5 is a button that accepts a setting operation to increase or decrease the change width θ of the unit angle amount of the shooting angle, which changes each time the touch operation button 81 is operated.

[0041] As one example, the variation range setting operation unit 82 is configured to be able to set the variation range θ of the unit angle amount of the imaging angle of the imaging unit 2 between 0.5 degrees or more and less than 10 degrees. As a specific example, the variation range setting operation unit 82 is configured to be able to set the variation range θ of the unit angle amount of the imaging angle of the imaging unit 2 to any one of 1 degree, 2 degrees, 3 degrees, 4 degrees, and 5 degrees.

[0042] The change width setting operation unit 82 is a touch-operated button displayed on the display unit 80 of the touch operation unit 8. As an example, the change width setting operation unit 82 is configured by an upper button and a lower button of a cross-shaped button displayed on the display unit 80 on the unit angle movement screen D1. As an example, when the inside of a rectangular frame 82a displaying the set value of the change width θ of the unit angle amount of the shooting angle is touched on the unit angle movement screen D1, a setting operation for increasing or decreasing the change width θ becomes possible. In this state, for example, the rectangular frame 82a is displayed in a flashing state so that it can be visually recognized that the setting operation for increasing or decreasing the change width θ is possible. The flashing state of this frame 82a indicates a change width setting state in which the change width θ can be set.

[0043] In the change range setting state, the left and right buttons of the cross-shaped button do not function as the first button 81a and the second button 81b, respectively, of the touch operation button 81 that moves the arm 22. In the change range setting state, when the lower button of the cross-shaped button that functions as the change range setting operation unit 82 is operated, the set value of the change range θ decreases by 1 degree from the current set value, and when the upper button of the cross-shaped button that functions as the change range setting operation unit 82 is operated, the set value of the change range θ increases by 1 degree from the current set value. Furthermore, in the change range setting state, when the inside of the blinking rectangular frame 82a is touched, the set value of the change range θ of the unit angle amount of the shooting angle is confirmed, and the cross-shaped button returns to its original state of functioning as the touch operation button 81 that moves the arm 22.

[0044] (Configuration of Preset Operation Unit of Touch Operation Unit) The preset operation unit 83 shown in FIG. 6 is a button that accepts an operation to move the arm 22 (detector 21) to a preset position (CRA, CAU, RAO, and LAO) that has been set in advance. The preset operation unit 83 is a touch-operated button that is displayed on the display unit 80 of the touch operation unit 8. The preset operation unit 83 is displayed on a preset movement screen D2 of the display unit 80 in response to a predetermined operation on the touch operation unit 8. As an example, on the preset movement screen D2, nine preset position selection buttons 83a arranged in three rows and three columns are displayed on the display unit 80 as the preset operation unit 83. A preset position to which the arm 22 (detector 21) is to be moved is displayed within each frame of the nine preset position selection buttons 83a. A position change button 83b is also displayed on the preset movement screen D2. When any one of the nine preset position selection buttons 83a is selected and the position change button 83b is operated, the arm 22 (detector 21) starts moving to the preset position of the selected preset position selection button 83a.

[0045] Furthermore, a schematic human-shaped illustration 131 of the subject 13 lying face up is displayed within the frame of the center button of the preset operation unit 83. The nine preset position selection buttons 83a are buttons that indicate, in a plan view, an intuitively graspable positional relationship between the subject 13 and the arm 22 (detector 21) that has been moved to the preset position.

[0046] The control unit 9 performs control to finely adjust the imaging angle by changing it by the unit angle amount based on the operation of the operation button after the arm 22 has been moved to the preset position by the preset operation unit 83. That is, in the X-ray imaging apparatus 100, after the arm 22 has been roughly moved to the vicinity of the target position P (see FIG. 7 ) by the preset operation unit 83, the touch operation button 81 is operated to finely adjust the imaging angle of the imaging unit 2 by changing it by the unit angle amount.

[0047] (Configuration of Control Unit) The control unit 9 is, for example, a CPU (Central Processing Unit). Each time the touch operation button 81 of the touch operation unit 8 is operated, the control unit 9 moves the arm 22 in a predetermined direction using the drive unit 3, thereby changing the imaging angle of the imaging unit 2 by a unit angle amount (change width θ) and performing control to fine-tune the imaging angle.

[0048] 1, 5, and 7, a specific example of fine adjustment of the imaging angle performed by changing the imaging angle of the imaging unit 2 by a unit angle amount (change width θ) will be described. The example assumes that the change width θ of the unit angle amount of the imaging angle set by the change width setting operation unit 82 is set to 1 degree, and the current position of the arm 22 is CRA 0 degrees, CAU 0 degrees, RAO 0 degrees, and LAO 0 degrees. Furthermore, assume that the target position P of the arm 22 is CAU 3 degrees and RAO 4 degrees.

[0049] In this case, the operator operates the touch operation button 81 displayed on the preset movement screen D2 of the display unit 80 to change the imaging angle of the imaging unit 2 by unit angle amounts, thereby moving the arm 22 from the current position to the target position P. Specifically, first, the first button 81a, which is the button on the right side of the cross-shaped button, is operated three times. This moves the arm 22 to CAU 3 degrees. Next, the third button 81c, which is the button on the bottom of the cross-shaped button, is operated four times. This moves the arm 22 to CAU 3 degrees and RAO 4 degrees, which are the target position P. Note that either the operation to move to CRA / CAU or the operation to move to RAO / LAO may be performed first. Furthermore, the operation to move to CRA / CAU and the operation to move to RAO / LAO may be performed alternately.

[0050] As a prerequisite for the control unit 9 to perform fine adjustment by changing the shooting angle by unit angle amounts, it is not necessarily required that either the operation of the preset operation unit 83 or the operation of the joystick operation unit 7 be performed in advance, as described above.

[0051] 8 , a control process will be described in which the driving unit 3 moves the arm 22 in a predetermined direction to change the imaging angle of the imaging unit 2 by a unit angle each time the touch operation button 81 is operated. The control process for changing the imaging angle by a unit angle is executed by the control unit 9. Note that, typically, before the touch operation button 81 is operated, the preset operation unit 83 or joystick operation unit 7 is operated to roughly move the arm 22 (detector 21) to the vicinity of the target position P.

[0052] In step S1, it is determined whether or not a setting operation to increase or decrease the change range θ of the imaging angle has been performed on the change range setting operation unit 82. If a setting operation to increase or decrease the change range θ of the imaging angle has been performed, the process proceeds to step S2. If a setting operation to increase or decrease the change range θ of the imaging angle has not been performed, the process proceeds to step S3.

[0053] In step S2, the change width θ of the imaging angle is changed to the set value set in step S1, and the process then proceeds to step S3.

[0054] In step S3, it is determined whether or not a single touch operation has been performed on the touch operation button 81, which is a cross-shaped button. If an operation has been performed on the touch operation button 81, the process proceeds to step S4. If an operation has not been performed on the touch operation button 81, the process proceeds to step S5.

[0055] In step S4, the arm 22 moves in a predetermined direction corresponding to the cross button, and the imaging angle of the imaging unit 2 is changed by the unit angle amount (change width θ). That is, as a result of step S4, the arm 22 moves slightly closer to the target position P. Then, the process proceeds to step S5.

[0056] In step S5, it is determined whether or not a predetermined setting end operation has been performed. The predetermined setting end operation is, for example, a predetermined operation for finalizing the shooting angle of the shooting unit 2, a predetermined operation for starting actual shooting, etc. If a predetermined setting end operation has been performed, the process proceeds to END. If a predetermined setting end operation has not been performed, the process returns to step S1.

[0057] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0058] As described above, this embodiment includes an operation button (touch operation button 81) that accepts an operation to change the imaging angle of the imaging unit 2 by moving the arm 22 in a predetermined direction using the driving unit 3, and a control unit 9 that controls the driving unit 3 to move the arm 22 in the predetermined direction and change the imaging angle from the current imaging angle by a unit angle amount each time the operation button (touch operation button 81) is operated. This allows the imaging angle to be changed by the unit angle amount (change width θ) intended by the operator when approaching the target position P, for example. Therefore, each time the operation button (touch operation button 81) is operated, the arm 22 can be moved closer to the target position P at which the operator achieves the imaging angle desired. This prevents the arm from moving too far beyond the target position at which the operator achieves the imaging angle desired, as in the conventional case. As a result, the arm 22 can be easily moved to the target position P at which the operator achieves the imaging angle desired.

[0059] As described above, this embodiment further includes a change range setting operation unit 82 that accepts a setting operation to increase or decrease the change range θ of the unit angle amount of the imaging angle, which changes each time the operation button (touch operation button 81) is operated. This allows the change range θ of the unit angle amount of the imaging angle to be increased or decreased by the change range setting operation unit 82, so that the change range θ can be increased or decreased depending on the magnitude of the deviation between the current position and the target position P, such as by setting the change range θ to a large value when the deviation between the current position and the target position P is particularly large, and the arm 22 can be easily and efficiently moved to the target position P at which the operator achieves the imaging angle desired.

[0060] As described above, this embodiment further includes a touch operation unit 8 including a touch-operable display unit 80, and the operation button is a touch operation button 81 displayed on the display unit 80. This eliminates the need to provide a dedicated physical button as the operation button for changing the shooting angle by unit angle amount, thereby reducing the number of parts and simplifying the device configuration.

[0061] In this embodiment, as described above, the specified direction includes four directions: one longitudinal direction of the bed 1, the other longitudinal direction of the bed 1, one short side direction of the bed 1, and the other short side direction of the bed 1, and the touch operation button 81 has a first button 81a that rotates the arm 22 in one longitudinal direction of the bed 1 around the central axis C0 extending in the short side direction of the bed 1 as the rotation axis, a second button 81b that rotates the arm 22 in the other longitudinal direction of the bed 1 around the central axis C0 extending in the short side direction of the bed 1 as the rotation axis, a third button 81c that rotates the arm 22 in one short side direction of the bed 1 around the central axis C1 extending in the longitudinal direction of the bed 1 as the rotation axis, and a fourth button 81d that rotates the arm 22 in the other short side direction of the bed 1 around the central axis C1 extending in the longitudinal direction of the bed 1 as the rotation axis. This allows the arm 22 to be moved using four buttons associated with the four movement directions to change the imaging angle, so that the arm 22 can be easily moved in an appropriate direction using the four buttons.

[0062] In the present embodiment, as described above, the touch operation button 81 is a cross-shaped button in which the first button 81a, the second button 81b, the third button 81c, and the fourth button 81d are arranged in a cross shape so that they face up, down, left, and right, and the touch operation unit 8 is installed on the bed 1, and when the bed 1 is viewed from the touch operation unit 8 side, the orientations of the first button 81a, the second button 81b, the third button 81c, and the fourth button 81d constituting the cross-shaped button coincide with the predetermined direction in which the arm 22 is moved. This allows the operator of the cross-shaped button, who moves the arm 22 while watching the subject 13 on the bed 1, to intuitively operate the touch operation button 81 using the first button 81a, the second button 81b, the third button 81c, and the fourth button 81d constituting the cross-shaped button.

[0063] As described above, this embodiment further includes a continuous movement operation unit (joystick operation unit 7) that continuously moves the arm 22 while the operation state is continued, and accepts an operation to move the arm 22 near the target position P. After the arm 22 has been moved by the continuous movement operation unit, the control unit 9 performs control to change the imaging angle by unit angle amounts and fine-tune it based on the operation of the operation button (touch operation button 81). This allows the imaging angle to be changed by unit angle amounts and fine-tuned based on the operation of the operation button (touch operation button 81) from a state in which the arm 22 has been roughly moved to the vicinity of the target position P by the continuous movement operation unit, making it easy to adjust the imaging angle.

[0064] In this embodiment, as described above, the continuous movement operation unit is the joystick operation unit 7 that has the operation lever 70 and accepts an operation to tilt the operation lever 70 to move the arm 22. This allows the joystick operation unit 7 to intuitively perform an operation to roughly move the arm 22 to the vicinity of the target position P.

[0065] As described above, this embodiment further includes the preset operation unit 83 that accepts an operation to move the arm 22 to a preset position that has been set in advance, and the control unit 9 performs control to finely adjust the imaging angle by changing it in increments of unit angles based on the operation of the operation button (touch operation button 81) after the arm 22 has been moved to the preset position by the preset operation unit 83. This allows the imaging angle to be finely adjusted by changing it in increments of unit angles based on the operation of the operation button (touch operation button 81) from a state in which the arm 22 has been roughly moved to the vicinity of the target position P by the preset operation unit 83, making it possible to easily adjust the imaging angle.

[0066] In this embodiment, as described above, the change width setting operation unit 82 is configured to be able to set the change width θ of the unit angle amount between 0.5 degrees or more and less than 10 degrees. This allows the change width θ of the unit angle amount to be set at relatively small angle intervals between 0.5 degrees or more and less than 10 degrees, making it possible to change the imaging angle with greater precision.

[0067] As described above, this embodiment further includes the display device 4, and when the operation button (touch operation button 81) is operated, the control unit 9 performs control to change the shooting angle by a unit angle amount, and if the arm 22 interferes with a surrounding structure, to notify the arm 22 by the display device 4 without moving the arm 22. This makes it possible to prevent the arm 22 from interfering with a surrounding structure, and also makes it easy for the user to recognize from the display device 4 that the arm 22 will not move.

[0068] [Modifications] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (modifications) within the meaning and scope of the claims.

[0069] For example, in the above embodiment, an example was shown in which the rotor is a single-plane type having one arm, but the present invention is not limited to this. For example, the rotor may be a bi-plane type having two arms.

[0070] In the above embodiment, the operation button of the present invention is a touch operation button, but the present invention is not limited to this. In the present invention, the operation button of the present invention may be a physical operation button such as a mechanical button.

[0071] In the above embodiment, the first button, the second button, the third button, and the fourth button are cross-shaped buttons, but the present invention is not limited to this. In the present invention, the first button, the second button, the third button, and the fourth button may be arranged in a line.

[0072] In the above embodiment, the notification unit of the present invention is a display device, but the present invention is not limited to this. In the present invention, the notification unit of the present invention may be an alarm device that emits sound.

[0073] Furthermore, the display screen of the touch operation unit in the above embodiment is an example, and the display screen of the touch operation unit of the present invention is not limited to the aspects of the above embodiment.

[0074] In the above embodiment, an example was shown in which the range of change in the unit angle amount of the imaging angle can be increased or decreased, but the present invention is not limited to this. In the present invention, the range of change in the unit angle amount of the imaging angle may be a constant value that does not change.

[0075] In the above embodiment, the arm movement direction is the four directions CRA, CAU, RAO, and LAO, but the present invention is not limited to this. In the present invention, the arm movement direction may include directions other than those described above.

[0076] Furthermore, in the above embodiment, for convenience of explanation, the processing operation of the control unit is described using a flow-driven flowchart in which processing is performed in order according to a processing flow, but the present invention is not limited to this. In the present invention, the processing operation of the control unit may be performed by event-driven processing in which processing is performed on an event-by-event basis. In this case, the processing may be performed completely event-driven, or may be performed by combining event-driven and flow-driven processing.

[0077] Aspects It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0078] (Item 1) An X-ray imaging device comprising: a bed on which a subject lies; an imaging unit including an X-ray source that irradiates X-rays onto the subject, a detector that faces the X-ray source and detects the X-rays irradiated from the X-ray source, and an arm that connects the X-ray source and the detector; a drive unit that moves the arm; an operation button that accepts an operation to cause the drive unit to move the arm in a predetermined direction and change the imaging angle of the imaging unit; and a control unit that controls the drive unit to move the arm in the predetermined direction and change the imaging angle from a current imaging angle by a unit angle amount each time the operation button is operated.

[0079] (Item 2) The X-ray imaging apparatus according to item 1, further comprising a change width setting operation unit that accepts a setting operation to increase or decrease a change width of the unit angle amount of the imaging angle that changes each time the operation button is operated.

[0080] (Item 3) The X-ray imaging device according to item 1 or 2, further comprising a touch operation unit including a touch-operable display unit, wherein the operation button is a touch operation button displayed on the display unit.

[0081] (Item 4) The X-ray imaging device according to Item 3, wherein the predetermined direction includes four directions: one side of the longitudinal direction of the bed, the other side of the longitudinal direction of the bed, one side of the lateral direction of the bed, and the other side of the lateral direction of the bed, and the touch operation buttons have: a first button that rotates the arm to one side of the longitudinal direction of the bed around a central axis extending in the lateral direction of the bed as a rotation axis; a second button that rotates the arm to the other side of the longitudinal direction of the bed around a central axis extending in the lateral direction of the bed as a rotation axis; a third button that rotates the arm to one side of the lateral direction of the bed around a central axis extending in the longitudinal direction of the bed as a rotation axis; and a fourth button that rotates the arm to the other side of the lateral direction of the bed around a central axis extending in the longitudinal direction of the bed as a rotation axis.

[0082] (Item 5) The touch operation button is a cross-shaped button in which the first button, the second button, the third button, and the fourth button are arranged in a cross shape so that they face up, down, left, and right, the touch operation unit is installed on the bed, and when the bed is viewed from the touch operation unit side, the orientation of the first button, the second button, the third button, and the fourth button that make up the cross-shaped button matches the predetermined direction in which the arm is moved. This is the X-ray imaging device described in Item 4.

[0083] (Item 6) The X-ray imaging device according to any one of items 1 to 5, further comprising a continuous movement operation unit that receives an operation to continuously move the arm while the operation state is continued to move the arm to near a target position, and the control unit performs control to fine-tune the imaging angle by changing the unit angle amount based on operation of the operation button after the arm has been moved by the continuous movement operation unit.

[0084] (Item 7) The X-ray imaging apparatus according to Item 6, wherein the continuous movement operation unit is a joystick operation unit that has an operation lever and accepts an operation to tilt the operation lever to move the arm.

[0085] (Item 8) The X-ray imaging device according to any one of items 1 to 7, further comprising a preset operation unit that accepts an operation to move the arm to a preset position that has been set in advance, and the control unit performs control to fine-tune the imaging angle by changing it by the unit angle amount based on the operation of the operation button after the arm has been moved to the preset position by the preset operation unit.

[0086] (Item 9) The X-ray imaging apparatus according to Item 2, wherein the change width setting operation unit is configured to be able to set the change width of the unit angle amount between 0.5 degrees or more and less than 10 degrees.

[0087] (Item 10) The X-ray imaging device according to any one of items 1 to 9, further comprising an alarm unit, wherein the control unit, when the operation button is operated, controls the alarm unit to issue an alarm if changing the imaging angle by the unit angle amount would cause the arm to interfere with a surrounding structure without moving the arm.

[0088] REFERENCE SIGNS LIST 1 Bed 2 Imaging unit 3 Driving unit 4 Display device (notification unit) 7 Joystick operation unit (continuous movement operation unit) 8 Touch operation unit 9 Control unit 13 Subject 20 X-ray source 21 Detector 22 Arm 70 Operation lever 80 Display unit 81 Touch operation button (operation button) 81a First button 81b Second button 81c Third button 81d Fourth button 82 Change width setting operation unit 83 Preset operation unit 100 X-ray imaging device θ Change width C0 Central axis C1 Central axis

Claims

1. An X-ray imaging apparatus comprising: a bed on which a subject lies; an X-ray source that irradiates the subject with X-rays; a detector that faces the X-ray source and detects the X-rays irradiated from the X-ray source; and an arm that connects the X-ray source and the detector; a driving unit that moves the arm; an operation button that receives an operation for changing the imaging angle of the imaging unit by moving the arm in a predetermined direction by the driving unit; and a control unit that controls the driving unit to move the arm in the predetermined direction each time the operation button is operated, so as to change the imaging angle by a unit angle amount from the current imaging angle.

2. The X-ray imaging apparatus according to claim 1, further comprising a change width setting operation unit that receives a setting operation for increasing or decreasing a change width of the unit angle amount of the imaging angle that changes each time the operation button is operated.

3. The X-ray imaging apparatus according to claim 1, further comprising a touch operation unit including a touch operation type display unit, wherein the operation button is a touch operation button displayed on the display unit.

4. The predetermined direction includes four directions: one in the longitudinal direction of the bed, the other in the longitudinal direction of the bed, one in the lateral direction of the bed, and the other in the lateral direction of the bed. The touch operation button includes: a first button that rotates the arm in one of the longitudinal directions of the bed about a central axis extending in the lateral direction of the bed; a second button that rotates the arm in the other of the longitudinal directions of the bed about a central axis extending in the lateral direction of the bed; a third button that rotates the arm in one of the lateral directions of the bed about a central axis extending in the longitudinal direction of the bed; and a fourth button that rotates the arm in the other of the lateral directions of the bed about a central axis extending in the longitudinal direction of the bed. The X-ray imaging apparatus according to claim 3.

5. The touch operation button is a cross-shaped button in which the first button, the second button, the third button, and the fourth button are arranged in a cross shape so that they face the up, down, left, and right directions. The touch operation unit is installed on the bed. When the bed is viewed from the touch operation unit side, the directions of the first button, the second button, the third button, and the fourth button that constitute the cross-shaped button coincide with the predetermined directions for moving the arm. The X-ray imaging apparatus according to claim 4.

6. The X-ray imaging apparatus according to claim 1, further comprising a continuous movement operation unit that receives an operation of continuously moving the arm while the operation state is continued to move the arm near a target position, and the control unit, after the arm is moved by the continuous movement operation unit, performs control to finely adjust the imaging angle by changing the imaging angle by the unit angle amount based on the operation of the operation button.

7. The X-ray imaging apparatus according to claim 6, wherein the continuous movement operation unit is a joystick operation unit having an operation lever and receiving an operation of tilting the operation lever to move the arm.

8. The X-ray imaging apparatus according to claim 1, further comprising a preset operation unit that receives an operation of moving the arm to a preset position, and the control unit, after the arm is moved to the preset position by the preset operation unit, performs control to finely adjust the imaging angle by changing the imaging angle by the unit angle amount based on the operation of the operation button.

9. The X-ray imaging apparatus according to claim 2, wherein the change width setting operation unit is configured to be able to set the change width of the unit angle amount between 0.5 degrees or more and less than 10 degrees.

10. The X-ray imaging apparatus according to claim 1, further comprising a notification unit, and the control unit, when the operation button is operated and the imaging angle is changed by the unit angle amount, if the arm interferes with surrounding structures, performs control to notify by the notification unit without moving the arm.

Images