X-ray imaging apparatus

Abstract

An X-ray imaging apparatus (100, 110) comprises: a foot-operated unit (51); a hand-operated unit (55); and a control unit (8) that executes a foot-operated movement in which an object to be moved is moved while an input operation to the foot-operated unit (51) is received, and a hand-operated movement in which the object to be moved is moved while an input operation to the hand-operated unit (55) is received. The control unit (8) is configured to execute a contact-preventing motion for preventing the contact between the object to be moved and another object in the foot-operated movement rather than in the hand-operated movement.

Description

X-ray imaging apparatus

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

[0002] Conventionally, X-ray imaging apparatuses are known. Such an X-ray imaging apparatus is disclosed in, for example, Japanese Unexamined Patent Application Publication No. 2022-085733.

[0003] Japanese Unexamined Patent Application Publication No. 2022-085733 discloses an X-ray fluoroscopic imaging apparatus (X-ray imaging apparatus) including an X-ray source, an X-ray detector, a C-arm (object to be moved), and an input reception unit. The input reception unit is configured to receive a user's operation input. The input reception unit includes both a hand switch (hand operation unit) that the user operates by hand and a foot switch (foot operation unit) that the user operates with the foot. The hand switch and the foot switch include a C-arm operation unit. While the C-arm operation unit is being operated by the user's hand or foot, the C-arm moves.

[0004] Japanese Unexamined Patent Application Publication No. 2022-085733

[0005] The foot switch (foot operation unit) is disposed on the floor surface of a room where the X-ray source, the X-ray detector, and the C-arm are provided. Since the foot switch may be difficult for the user to see due to, for example, a top plate on which the subject lies, the user may inadvertently step on the foot switch on the floor surface, for example, during a procedure. Since the C-arm moves when the foot switch is stepped on, there is a possibility that the moving X-ray source, X-ray detector, and C-arm (object to be moved) approach a position where they contact an object (other object) including the user, the subject, and the equipment. In particular, the foot switch (foot operation unit) is more likely to be inadvertently operated than the hand operation unit. Therefore, it is desired to suppress the moving object from approaching a position where it contacts another object even when the foot operation unit is inadvertently operated.

[0006] The present invention has been made to solve the above-described problems, and one object of the present invention is to provide an X-ray imaging apparatus capable of suppressing the moving object from approaching a position where it contacts another object even when the foot operation unit is inadvertently operated.

[0007] X-ray imaging apparatus comprising: an X-ray imaging unit including an X-ray source for irradiating a subject with X-rays and a detector facing the X-ray source for detecting the X-rays irradiated from the X-ray source; a tabletop on which the subject lies; a display unit for displaying X-ray images taken by the X-ray imaging unit; a storage unit for storing the target position to which a moving object, including at least one of the X-ray imaging unit, tabletop, and display unit, is moved; a foot operation unit for receiving input from the user's feet; a hand operation unit for receiving input from the user's hands; and a control unit for acquiring the target position stored in the storage unit and for performing foot operation movement, which moves the moving object toward the target position while input is being received from the foot operation unit, and hand operation movement, which moves the moving object toward the target position while input is being received from the hand operation unit, wherein the control unit is configured to perform contact suppression operations in foot operation to suppress contact between the moving object and other objects more than in hand operation.

[0008] When moving an object using the foot-operated unit, a contact suppression mechanism is performed. This suppresses contact between the moving object and other objects, which is more prone to unintended operation compared to the hand-operated unit. Therefore, when moving an object using the foot-operated unit, the foot can be appropriately removed from the unit before it comes into contact with another object. Consequently, even if the foot-operated unit is operated unintentionally, it is possible to prevent the moving object from approaching a position where it would come into contact with another object.

[0009] This is a schematic diagram showing the overall configuration of the X-ray imaging apparatus according to the first embodiment. This is a functional block diagram of the X-ray imaging apparatus according to the first embodiment. This is a schematic diagram showing the configuration of the patient table and the X-ray imaging unit. This is a schematic diagram for explaining the imaging direction of the X-ray imaging unit. This is a diagram for explaining the relative position between the patient table and the X-ray imaging unit. This is a schematic diagram showing an example of a foot switch and an operation panel. This is a diagram showing an example of a set target position displayed on the operation panel. This is a flowchart for explaining the processing of the movement speed reduction mode according to the first embodiment. This is a flowchart for explaining the processing of the movement pause mode according to the first embodiment. This is a flowchart for explaining the processing of the movement notification mode according to the first embodiment. This is a functional block diagram of the X-ray imaging apparatus according to the second embodiment. This is a flowchart for explaining the processing of the movement speed reduction mode according to the second embodiment. This is a flowchart for explaining the processing of the movement pause mode according to the second embodiment. This is a flowchart for explaining the processing of the movement notification mode according to the second embodiment. This is a flowchart for explaining the processing of the movement speed reduction mode according to the first modified example. This is a flowchart for explaining the processing of the movement notification mode according to the second modified example.

[0010] Hereinafter, embodiments embodying the present invention will be described based on the drawings.

[0011] [First Embodiment] (Overall Configuration of X-ray Imaging Apparatus) The overall configuration of the X-ray imaging apparatus 100 according to the first embodiment will be described with reference to Figures 1 to 7.

[0012] As shown in Figure 1, the X-ray imaging apparatus 100 comprises a bed 1, a tabletop moving mechanism 12 (see Figure 2), an X-ray imaging unit 2, an imaging unit moving mechanism 3, a display unit 4, a display unit moving mechanism 41, an operation unit 5, a storage unit 6 (see Figure 2), an image processing unit 7 (see Figure 2), and a control unit 8 (see Figure 2).

[0013] The bed 1 is configured on which the subject 90 (see Figure 3) is placed. The bed 1 includes a top plate 10 on which the subject 90 lies, a base portion 11 that supports the top plate 10 from below, and a top plate moving mechanism 12 for moving the top plate 10.

[0014] In this specification, as shown in Figure 3, the longitudinal direction of the bed 1 (the head and foot direction of the subject 90) is defined as the X direction. Of the X directions, one side is defined as the X1 direction and the other side as the X2 direction. The short direction of the bed 1 (the left and right direction of the subject 90) perpendicular to the X direction is defined as the Y direction. Of the Y directions, one side is defined as the Y1 direction and the other side as the Y2 direction. The vertical direction of the bed 1 perpendicular to the X and Y directions is defined as the Z direction. Of the Z directions, the upward direction is defined as the Z1 direction and the downward direction is defined as the Z2 direction. The base portion 11 is provided on a part of the bottom surface side (Z2 side) of the bed 1.

[0015] The tabletop moving mechanism 12 (see Figure 2) is configured to move the tabletop 10 in the Z direction. The tabletop moving mechanism 12 is also configured to move the tabletop 10 in the XY plane. The tabletop moving mechanism 12 includes, for example, a linear motion mechanism for moving the tabletop 10 in the X direction, a linear motion mechanism for moving the tabletop 10 in the Y direction, and a linear motion mechanism for moving the tabletop 10 in the Z direction. The tabletop moving mechanism 12 is provided on the base portion 11.

[0016] As shown in Figure 1, the X-ray imaging unit 2 is configured to perform X-ray imaging on a subject 90 (see Figure 3). The X-ray imaging unit 2 comprises an X-ray source 20, a detector 21, and an arm 22. The X-ray imaging unit 2 is configured to perform fluoroscopic imaging on the subject 90 while changing the imaging angle. That is, the X-ray imaging apparatus 100 can perform X-ray imaging to capture still X-ray images (X-ray imaging images) and fluoroscopic imaging to capture moving X-ray images (fluoroscopic images). Note that X-ray imaging includes X-ray imaging to capture X-ray imaging images and fluoroscopic imaging. Also, X-ray images include X-ray imaging images and fluoroscopic images.

[0017] The X-ray source 20 is configured to irradiate the subject 90 with X-rays. The X-ray source 20 includes an X-ray tube that irradiates X-rays when power is supplied to it. The X-ray tube is configured to be heated by passing an electric current through its internal anode and cathode, and to emit X-rays when thermionic electrons emitted from the cathode collide with the anode by applying a voltage between the anode and cathode. Furthermore, the X-rays generated in the X-ray tube are configured to be irradiated toward the detector 21.

[0018] The detector 21 is configured to detect X-rays irradiated from the X-ray source 20 and transmitted through the subject 90. The detector 21 is configured to receive the X-rays irradiated by the X-ray source 20 and convert the received X-rays into an electrical signal. The detector 21 includes, for example, an FPD (Flat Panel Detector).

[0019] The arm 22 has an arc shape. An X-ray source 20 is connected to one end of the arm 22, and a detector 21 is connected to the other end. The arm 22 is a so-called C-arm. The arm 22 positions the X-ray source 20 and the detector 21 opposite each other, with the subject 90 lying on the bed 1 in between. Furthermore, since the base portion 11 of the bed 1 is only provided on a part of the top plate 10, the arm 22 can be inserted into the portion where the base portion 11 is not provided, and the X-ray source 20 can be positioned on the bottom side (Z2 side) of the bed 1. The arm 22 is rotatably attached to the arm base 23. In this embodiment, the X-ray imaging apparatus 100 is a single-plane type equipped with one arm 22. The X-ray imaging apparatus 100 may be equipped with multiple arms 22.

[0020] As shown in Figure 3, the imaging unit movement mechanism 3 includes a rotation mechanism 31 and a horizontal movement mechanism 32. The rotation mechanism 31 rotates the arm 22 around the axis of a rotation axis 311, which is a line extending in the longitudinal direction (X direction) of the bed 1 connecting the head and feet of the subject 90. The rotation mechanism 31 is also configured to allow the arm 22 to rotate in the circumferential direction of the arm 22. The rotation mechanism 31 includes, for example, a motor.

[0021] The horizontal movement mechanism 32 is attached to the arm base 23. The arm 22 can be moved horizontally by moving the arm base 23 horizontally using the horizontal movement mechanism 32. The horizontal movement mechanism 32 includes a first rotating part 321 provided on the floor surface 93 and a second rotating part 322 which is rotatably held by the first rotating part 321 and rotatably holds the arm base 23. The first rotating part 321 includes a base axis 323 and an intermediate axis 324 provided at a position away from the base axis 323. The second rotating part 322 includes a horizontal rotation axis 325.

[0022] The base axis 323 and the intermediate axis 324 are rotation axes that are oriented perpendicular to the floor surface 93. The horizontal rotation axis 325 is also a rotation axis that is oriented perpendicular to the floor surface 93. As a result, the horizontal movement mechanism 32 can move the arm base 23 and the arm 22 to a desired position by combining the rotation around the axis of the base axis 323, the rotation around the axis of the intermediate axis 324, and the rotation around the axis of the horizontal rotation axis 325.

[0023] Figure 4(a) is a schematic diagram illustrating the imaging direction, showing the subject 90 from the side. Figure 4(b) is a schematic diagram illustrating the imaging direction, showing the subject 90 from the foot side. The X-ray imaging unit 2 is configured to take images from any direction that combines the direction in which X-rays are irradiated obliquely to the subject 90 from one end (CRANIAL) or the other end (CAUDAL) in the longitudinal section along the longitudinal direction (X direction) of the bed 1 on which the subject 90 is placed, as shown in Figure 4(a), with the right anterior oblique (RAO), frontal, and left anterior oblique (LAO) views of the subject 90, as shown in Figure 4(b). Note that the arm 22 is not shown in Figure 4(b).

[0024] As shown in Figure 5, the relative position of the X-ray imaging unit 2 with respect to the patient bed 1 varies depending on the area being imaged. In Figure 5, the direction of the arrow indicates the direction in which the X-ray imaging unit 2 is inserted between the top plate 10 and the floor of the patient bed 1. The detector 21 is located on the tip of the arrow, which is on the side of the patient 90, and the arm base 23 is located on the end of the arrow, which is opposite to the tip. The position where the arm 22 is positioned along the longitudinal direction (X direction) of the patient bed 1 in a top view is called the HOME position. The position where the arm 22 is positioned diagonally from the head side (X1 side) to the foot side (X2 side) of the patient 90, and also from the periphery of the longitudinal direction (X direction) of the patient bed 1 toward the patient 90, is called the MULTI position. The position where the arm 22 is positioned along the short direction (Y direction) of the patient bed 1, from the side of the patient 90 toward the center, in a top view is called the SIDE position. Furthermore, the PERI position is defined as the position moved from the SIDE position towards the feet (X2 side) of the subject 90. For example, when imaging the subject 90 from the head to the chest, the HOME position is used. When imaging the lower limbs, the PERI position is used. When imaging the subject 90's abdomen, the MULTI position or SIDE position is used.

[0025] As shown in Figure 1, the display unit 4 is configured to display X-ray images captured by the X-ray imaging unit 2. Various images such as fluoroscopic images, X-ray images, and long-format images are displayed on the display unit 4. The display unit 4 also displays information on X-ray imaging conditions, including information such as the tube voltage and tube current applied to the X-ray tube. The display unit 4 is, for example, a monitor such as a liquid crystal display. The display unit 4 is installed so as to be suspended from the ceiling 92 in the imaging room 91 where the X-ray imaging unit 2 is located, via a display unit moving mechanism 41. The display unit 4 also includes a speaker 40.

[0026] The display unit movement mechanism 41 is configured to support the display unit 4 so that it can move. The display unit movement mechanism 41 includes a rail 42, a ceiling suspension device 43, and a support member 44. The rail 42 is provided on the ceiling 92 inside the imaging room 91. The ceiling suspension device 43 is configured to be movable in the XY direction (horizontal direction) by the rail 42. The ceiling suspension device 43 is configured to support the support member 44. The support member 44 is configured to support the display unit 4. The support member 44 includes a first support member 45 and a second support member 46. The first support member 45 is supported by the ceiling suspension device 43 and is configured to be rotatable around a vertical axis 47 with respect to the second support member 46 and the display unit 4. The second support member 46 is also provided so as to be rotatable vertically relative to the first support member 45, and is configured to be movable vertically with respect to the display unit 4. The display unit movement mechanism 41 includes, for example, a motor.

[0027] The operating unit 5 includes a foot switch 50 and an operating panel 53. The foot switch 50 is an example of a "foot operating unit" as defined in the claims, and the operating panel 53 is an example of a "hand operating unit" as defined in the claims.

[0028] As shown in Figure 6(a), the foot switch 50 is configured to receive input operations related to X-ray imaging. The foot switch 50 is configured to receive input operations from the user's foot. The foot switch 50 includes a first foot switch 51 and a second foot switch 52. The foot switch 50 is located on the floor 93 inside the imaging room 91.

[0029] The first foot switch 51 is configured to receive an input operation to move the X-ray imaging unit 2 toward a target position. When the first foot switch 51 is pressed, the arm 22 is rotated or moved by the rotation mechanism 31 and the horizontal movement mechanism 32, thereby moving the X-ray imaging unit 2 toward the target position. When the foot is released from the pressed first foot switch 51, the movement of the X-ray imaging unit 2 stops. In other words, the X-ray imaging unit 2 moves only while the first foot switch 51 is pressed. Note that the X-ray imaging unit 2 is an example of the "object to be moved" in the claim.

[0030] The second foot switch 52 is configured to accept input operations related to the start and end of X-ray irradiation from the X-ray source 20. When the second foot switch 52 is pressed, X-rays are emitted from the X-ray source 20, and X-ray imaging begins. When the foot is released from the pressed second foot switch 52, the irradiation of X-rays from the X-ray source 20 stops, and X-ray imaging ends.

[0031] As shown in Figure 6(b), the control panel 53 is configured to receive input operations related to X-ray imaging. The control panel 53 is configured to receive input operations by the user. The control panel 53 includes, for example, a touch panel 54 that functions as an input unit for receiving various operations, a first push button 55, a second push button 56, and a lever switch 57. The control panel 53 is located, for example, on the side (Y direction side) of the patient bed 1.

[0032] The first push button 55, like the first foot switch 51, is configured to receive an input operation to move the X-ray imaging unit 2 toward the target position. While the first push button 55 is pressed, the arm 22 is rotated or moved by the rotation mechanism 31 and the horizontal movement mechanism 32, similar to the first foot switch 51, thereby moving the X-ray imaging unit 2 toward the target position.

[0033] The second push button 56, like the second foot switch 52, is configured to accept input operations related to the start and end of X-ray irradiation by the X-ray source 20. While the second push button 56 is pressed, X-rays are emitted from the X-ray source 20, similar to the second foot switch 52, and X-ray imaging is performed.

[0034] As shown in Figure 2, the memory unit 6 stores multiple target positions, which are the target positions to which the X-ray imaging unit 2 is moved. The memory unit 6 is a non-volatile memory such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0035] The target position is a position from which a single target area of ​​a pre-registered subject 90 is photographed from multiple angles. The target position includes the rotation angle of the arm 22, the relative position of the arm 22 with respect to the top plate 10 of the patient bed 1, and the distance between the focal point of the X-ray source 20 and the detector 21. The rotation angle of the arm 22 is a combination of the angle at which the arm 22 is rotated by the rotation mechanism 31 when taking images in either RAO or LAO mode, and the angle at which the arm 22 is rotated when taking images in either CRANIAL or CAUDAL mode.

[0036] The touch panel 54 of the operation panel 53 (see Figure 6(b)) displays multiple target locations stored in the memory unit 6. The user selects a target location for X-ray imaging from among the multiple target locations through input operations via the touch panel 54. The selected target location is stored in the memory unit 6 as the target location for X-ray imaging. The target location set by the user may be selected from multiple target locations pre-stored in the memory unit 6 as an initial setting, or from multiple target locations registered by the user during past treatments and examinations and stored in the memory unit 6. Furthermore, the user may select one or more target locations.

[0037] As shown in Figure 7, the touch panel 54 of the operation panel 53 displays the target position for X-ray imaging set by the user. The image 99 displayed on the touch panel 54, "RAO40, CRA20 (HOME)," indicates that "the target position is the position where the arm 22 is rotated 40 degrees in the RAO direction and 20 degrees in the CRA direction from its initial position, and the relative position of the X-ray imaging unit 2 with respect to the patient table 1 is the HOME position." The initial state of the arm 22 is defined as the state in which the X-ray source 20 and detector 21 are positioned vertically relative to the subject 90, and the rotation position of the arm 22 in the initial state is defined as the initial position of the arm 22. If the user has set multiple target positions, the touch panel 54 may display the multiple target positions in order of movement, arranged vertically.

[0038] The user sets the target position for X-ray imaging via the touch panel 54 of the operation panel 53, and the set target position is stored in the memory unit 6. Then, when the user presses the first foot switch 51 or the first push button 55, the arm 22 is rotated or moved by the rotation mechanism 31 and the horizontal movement mechanism 32, and the X-ray imaging unit 2 is moved toward the target position.

[0039] As shown in Figure 2, the image processing unit 7 is composed of a processor such as a GPU (Graphics Processing Unit) or an FPGA (Field-Programmable Gate Array). The image processing unit 7 is configured to generate an X-ray image based on electrical signals transmitted from the detector 21.

[0040] The control unit 8 is composed of a processor, such as a CPU (Central Processing Unit). The control unit 8 controls the rotation and movement of the arm 22 via the imaging unit movement mechanism 3, and controls the irradiation of X-rays by the X-ray source 20, by executing a program stored in the memory unit 6. The control unit 8 is configured to acquire the target position stored in the memory unit 6 and to perform foot-operated movement, which moves the X-ray imaging unit 2 toward the target position while an input operation is received on the first foot switch 51, and manual-operated movement, which moves the X-ray imaging unit 2 toward the target position while an input operation is received on the first push button 55.

[0041] Furthermore, the control unit 8 is configured to perform a contact suppression operation to reduce contact between the X-ray imaging unit 2 and other objects more than when moving with the foot than when moving with the hand. That is, the control unit 8 is configured to perform a contact suppression operation to reduce contact between the X-ray imaging unit 2 and other objects more than when moving with the first push button 55 than when moving with the first foot switch 51 as input is received. Here, in this specification, "other objects" means all objects present in the imaging room 91 excluding the X-ray imaging unit 2, including, for example, the user, the subject 90, and devices and equipment placed in the imaging room 91 other than the X-ray imaging unit 2. Note that movement using the first foot switch 51 is an example of "foot-operated movement" within the scope of the claim, and movement using the first push button 55 is an example of "hand-operated movement" within the scope of the claim.

[0042] (Contact Suppression Operation Control Unit) Referring to Figure 2, the functional blocks included in the control unit 8 will be described. The control unit 8, which consists of a CPU and other hardware components, includes a contact suppression operation control unit 80 as a software (program) functional block. The contact suppression operation control unit 80 functions as a contact suppression operation control unit 80 by executing a program stored in the storage unit 6. The contact suppression operation control unit 80 may also be individually configured by hardware with a dedicated processor (processing circuit).

[0043] The contact suppression operation control unit 80 is configured to perform at least one of the following as a contact suppression operation: suppressing the movement of the X-ray imaging unit 2 compared to movement by the first push button 55, or notifying the user of the movement of the X-ray imaging unit 2. Specifically, in the case of movement by the first foot switch 51, unlike movement by the first push button 55, the contact suppression operation control unit 80 is configured to perform at least one of the following as a contact suppression operation: a movement speed reduction mode that moves the X-ray imaging unit 2 at a reduced speed compared to movement by the first push button 55, a movement pause mode that temporarily pauses the movement of the X-ray imaging unit 2 while it is moving, or a movement notification mode that notifies the user of the movement of the X-ray imaging unit 2 before it moves.

[0044] The contact inhibition operation includes a moving speed reduction mode, a moving temporary stop mode, and a moving notification mode. The user can preset one or a combination of multiple contact inhibition operations for the executed contact inhibition operation. After the target position set by the user is stored in the storage unit 6, when the first foot switch 51 is depressed by the user, the contact inhibition operation control unit 80 executes the contact inhibition operation.

[0045] (Moving speed reduction mode) The moving speed reduction mode is a mode in which, in the movement by receiving an input operation by the first foot switch 51, the moving speed is reduced compared to the movement by the first push button 55 and the X-ray imaging unit 2 is moved. The contact inhibition operation control unit 80 is configured to reduce the moving speed of the X-ray imaging unit 2 compared to the movement by the first push button 55 and move the X-ray imaging unit 2 in the movement by the first foot switch 51.

[0046] For example, the moving speed reduction mode is set as the contact inhibition operation by the user. Also, the target position set by the user is stored in the storage unit 6. In this case, when an input operation on the first foot switch 51 is received, the contact inhibition operation control unit 80 acquires the information of the target position set from the storage unit 6, and changes the moving speed of the X-ray imaging unit 2 to, for example, half the moving speed in the movement by the first push button 55, and moves the X-ray imaging unit 2 toward the set target position.

[0047] Specifically, after the target position of the X-ray imaging unit 2 is set by an input operation via the touch panel 54 by the user among a plurality of target positions displayed on the touch panel 54, when the first foot switch 51 is depressed, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position at a speed that is half the moving speed during the movement by the first push button 55. The moving speed of the movement by the first foot switch 51, which is reduced compared to the movement by the first push button 55, is not particularly limited. For example, it may be a moving speed that is one-third of the moving speed of the first push button 55, or it may be a moving speed that is two-thirds of the moving speed of the first push button 55, or it may be a moving speed that is one-fourth of the moving speed of the first push button 55.

[0048] When the X-ray imaging unit 2 reaches the set target position, the contact suppression operation control unit 80 ends the movement of the X-ray imaging unit 2. Further, when the foot is released from the depressed first foot switch 51, the control unit 8 stops the movement of the X-ray imaging unit 2. That is, when the input operation on the first foot switch 51 is released, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2. When the first foot switch 51 from which the foot has been released is depressed again while the X-ray imaging unit 2 has not reached the set target position, the contact suppression operation control unit 80 resumes the movement of the X-ray imaging unit 2 toward the set target position at a speed that is half the moving speed during the movement by the first push button 55.

[0049] (Processing in the movement speed reduction mode by the contact suppression operation control unit) Referring to FIG. 8, the processing in the movement speed reduction mode by the contact suppression operation control unit 80 will be described. The processing shown in FIG. 8 starts when the target position of the X-ray imaging unit 2 set by an input operation via the touch panel 54 by the user is stored in the storage unit 6. When the input operation on the first foot switch 51 is released during the processing shown in FIG. 8, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2. Also, the order of the processing steps can be interchanged or executed simultaneously as long as they do not conflict with each other.

[0050] In step S1, the contact suppression operation control unit 80 acquires the set target position of the X-ray imaging unit 2 stored in the memory unit 6. The process then proceeds to step S2.

[0051] In step S2, if the contact suppression operation control unit 80 receives confirmation of an input operation to the first foot switch 51 (Yes in step S2), the process proceeds to step S3. If the input operation to the first foot switch 51 has not been received (No in step S2), the process repeats the determination in step S2.

[0052] In step S3, the contact suppression operation control unit 80 reduces the movement speed of the X-ray imaging unit 2 to that of the movement caused by the first push button 55 and moves the X-ray imaging unit 2 toward the set target position. That is, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position via the imaging unit movement mechanism 3 at half the movement speed of the movement caused by the first push button 55. After that, when the X-ray imaging unit 2 reaches the set target position, the process ends.

[0053] (Movement Pause Mode) Movement pause mode is a mode in which the X-ray imaging unit 2 is temporarily paused during movement in response to input operation by the first foot switch 51. The contact suppression operation control unit 80 is configured to perform the following actions in response to movement by the first foot switch 51: first, to stop the X-ray imaging unit 2 for a predetermined time after the movement of the X-ray imaging unit 2 begins; and second, to move the X-ray imaging unit 2 toward the target position after the predetermined time. The contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position at the same speed as the movement speed in movement by the first push button 55.

[0054] For example, the user has set a movement pause mode as a contact suppression operation. Also, the memory unit 6 stores the target position set by the user. In this case, when the contact suppression operation control unit 80 receives an input operation to the first foot switch 51, it obtains the information of the set target position from the memory unit 6 and moves the X-ray imaging unit 2 toward the set target position for a first predetermined time. After the first predetermined time has elapsed, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 for a second predetermined time. After the second predetermined time has elapsed, the X-ray imaging unit 2 moves toward the set target position. Note that the second predetermined time is an example of the "predetermined time" in the claim.

[0055] Specifically, after the user has set the target position of the X-ray imaging unit 2 from among a plurality of target positions displayed on the touch panel 54 through an input operation via the touch panel 54, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position for a first predetermined time when the first foot switch 51 is pressed. The first predetermined time is, for example, 1 second. Then, after the first predetermined time has elapsed since the start of movement of the X-ray imaging unit 2, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 for a second predetermined time. The second predetermined time is, for example, 1 second. Then, after the second predetermined time has elapsed since the movement of the X-ray imaging unit 2 has stopped, the contact suppression operation control unit 80 resumes movement of the X-ray imaging unit 2. Note that the first and second predetermined times are not limited to 1 second, but may be, for example, 0.5 seconds or 2 seconds or more. Also, the first and second predetermined times may be different times.

[0056] The contact suppression operation control unit 80 terminates the movement of the X-ray imaging unit 2 when it reaches the set target position. Furthermore, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 when the foot is released from the pressed first foot switch 51. In other words, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 when the input operation to the first foot switch 51 is released. However, if the X-ray imaging unit 2 has not yet reached the set target position, the contact suppression operation control unit 80 resumes the movement of the X-ray imaging unit 2 toward the set target position when the released first foot switch 51 is pressed again.

[0057] (Processing in the movement pause mode by the contact suppression operation control unit) The processing in the movement pause mode by the contact suppression operation control unit 80 will be explained with reference to Figure 9. The processing shown in Figure 9 starts when the target position of the X-ray imaging unit 2, set by the user's input operation via the touch panel 54, is stored in the storage unit 6. If the input operation to the first foot switch 51 is released during the processing shown in Figure 9, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2. The order of the processing steps can be reversed or executed simultaneously, as long as they do not contradict each other.

[0058] In step S11, the contact suppression operation control unit 80 acquires the set target position of the X-ray imaging unit 2 stored in the memory unit 6. The process then proceeds to step S12.

[0059] In step S12, if the contact suppression operation control unit 80 receives confirmation of an input operation to the first foot switch 51 (Yes in step S12), the process proceeds to step S13. If the input operation to the first foot switch 51 has not been received (No in step S12), the process repeats the determination in step S12.

[0060] In step S13, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position for a first predetermined time via the imaging unit moving mechanism 3. The contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position at the same speed as the movement speed when the first push button 55 is pressed. The process then proceeds to step S14.

[0061] In step S14, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 for a second predetermined time after a first predetermined time has elapsed since the start of movement of the X-ray imaging unit 2. After that, the process proceeds to step S15.

[0062] In step S15, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position after a second predetermined time has elapsed. The process ends when the X-ray imaging unit 2 reaches the set target position.

[0063] (Movement Notification Mode) The movement notification mode is a mode in which the movement of the X-ray imaging unit 2 is notified when movement is made in response to input operation by the first foot switch 51. In this embodiment, the movement speed reduction mode is a mode in which the movement of the X-ray imaging unit 2 is notified when movement is made by the first foot switch 51 by outputting a notification sound for a predetermined time before the X-ray imaging unit 2 moves. The contact suppression operation control unit 80 is configured to notify the movement of the X-ray imaging unit 2 when movement is made by the first foot switch 51 by outputting a notification sound for a predetermined time before the X-ray imaging unit 2 moves.

[0064] For example, the user has set a movement notification mode as a contact suppression operation. Also, the storage unit 6 stores the target position set by the user. In this case, when the contact suppression operation control unit 80 receives an input operation to the first foot switch 51, it obtains the set target position information from the storage unit 6 and notifies the user of the movement of the X-ray imaging unit 2 by outputting a notification sound for a third predetermined time before the X-ray imaging unit 2 starts moving. Note that the third predetermined time is an example of the "predetermined time" in the claim.

[0065] The specific form of the notification sound is not particularly limited. It may be the same notification sound used to indicate that the X-ray imaging unit 2 has reached its target position and completed its movement, or it may be a different buzzer sound than the one used to indicate the completion of the movement of the X-ray imaging unit 2, or it may be a generated voice. Furthermore, the volume of the notification sound is not particularly limited as long as it is at a volume that can be recognized by the user.

[0066] Specifically, after the target position of the X-ray imaging unit 2 is set by the user through an input operation via the touch panel 54 from among a plurality of target positions displayed on the touch panel 54, and the first foot switch 51 is pressed, the contact suppression operation control unit 80 outputs a notification sound from the speaker 40 provided on the display unit 4 for a third predetermined time, for example, before the X-ray imaging unit 2 starts moving. Note that the notification sound may be configured to be output from another device. For example, the contact suppression operation control unit 80 outputs a notification sound for several seconds as the third predetermined time before the X-ray imaging unit 2 starts moving. Note that the third predetermined time is not particularly limited.

[0067] The contact suppression operation control unit 80 emits a notification sound for a few seconds, which is set as the third predetermined time, and then stops outputting the notification sound and starts moving the X-ray imaging unit 2. The contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position at the same speed as the movement speed when the first push button 55 is pressed.

[0068] The contact suppression operation control unit 80 terminates the movement of the X-ray imaging unit 2 when it reaches the set target position. Furthermore, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 when the foot is released from the pressed first foot switch 51. In other words, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 when the input operation to the first foot switch 51 is released. However, if the X-ray imaging unit 2 has not yet reached the set target position, the contact suppression operation control unit 80 resumes the movement of the X-ray imaging unit 2 toward the set target position when the released first foot switch 51 is pressed again.

[0069] (Processing in movement notification mode by contact suppression operation control unit) The processing in movement notification mode by the contact suppression operation control unit 80 will be explained with reference to Figure 10. The processing shown in Figure 10 starts when the target position of the X-ray imaging unit 2, set by the user's input operation via the touch panel 54, is stored in the storage unit 6. If the input operation to the first foot switch 51 is released during the processing shown in Figure 10, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2. The order of the processing steps can be reversed or executed simultaneously, as long as they do not contradict each other.

[0070] In step S21, the contact suppression operation control unit 80 acquires the set target position of the X-ray imaging unit 2 stored in the memory unit 6. The process then proceeds to step S22.

[0071] In step S22, if the contact suppression operation control unit 80 receives confirmation of an input operation to the first foot switch 51 (Yes in step S22), the process proceeds to step S23. If the input operation to the first foot switch 51 has not been received (No in step S22), the process repeats the determination in step S22.

[0072] In step S23, the contact suppression operation control unit 80 outputs a notification sound for a third predetermined time without starting the movement of the X-ray imaging unit 2. The process then proceeds to step S24.

[0073] In step S24, the contact suppression operation control unit 80 stops outputting the notification sound after a third predetermined time has elapsed since the output of the notification sound, and moves the X-ray imaging unit 2 toward the set target position via the imaging unit movement mechanism 3. The contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position at the same speed as the movement speed when the first push button 55 is pressed. After that, when the X-ray imaging unit 2 reaches the set target position, the process ends.

[0074] [Second Embodiment] Next, a second embodiment of the present invention will be described with reference to Figures 11 to 14. In the X-ray imaging apparatus 110 of the second embodiment, unlike the first embodiment in which the target position of the X-ray imaging unit 2 is set by input operation via the touch panel 54 by the user, an example will be described in which the target position of the X-ray imaging unit 2 is set by voice recognition of keywords based on voice received by the voice input unit 9. Note that components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0075] (Overall configuration of the X-ray imaging apparatus) As shown in Figure 11, the X-ray imaging apparatus 110 further includes an audio input unit 9. The audio input unit 9 is configured to receive voice input from the user. The audio input unit 9 includes, for example, a microphone. The audio input unit 9 is provided, for example, on the handle 48 (see Figure 1) of the display unit 4. The audio input unit 9, together with the display unit 4, is configured to be movable in the horizontal and vertical directions by the display unit moving mechanism 41 and to be rotatable around a vertical axis 47.

[0076] The control unit 8 is configured to perform keyword-based control by performing speech recognition of keywords including a start keyword and an instruction keyword based on the voice received by the voice input unit 9. The control unit 8 is configured to perform control to start speech recognition of the instruction keyword by performing speech recognition of the start keyword based on the voice received by the voice input unit 9, and control to execute the function corresponding to the instruction keyword by performing speech recognition of the instruction keyword based on the voice received by the voice input unit 9.

[0077] The starting keyword is a so-called wake-up word. The starting keyword is a predetermined keyword that acts as a trigger for speech recognition of the instruction keyword, and is a keyword uttered by the user before the instruction keyword is uttered by the user.

[0078] Instructional keywords are specific keywords used to execute a corresponding function, and are uttered by the user after the user has issued the start keyword. In other words, instructional keywords are words used for command input.

[0079] (Keyword Determination Processing Unit) The functional blocks included in the control unit 8 will now be described. The control unit 8, which consists of a CPU and the like as hardware, includes a contact suppression operation control unit 80 and a keyword determination processing unit 81 as software (program) functional blocks. The control unit 8 functions as the contact suppression operation control unit 80 and the keyword determination processing unit 81 by executing the program stored in the storage unit 6. The contact suppression operation control unit 80 and the keyword determination processing unit 81 may be individually configured by hardware with dedicated processors (processing circuits). Note that the contact suppression operation control unit 80 is the same as the contact suppression operation control unit 80 in the first embodiment described above, so its description will be omitted here.

[0080] The keyword determination processing unit 81 is configured to perform keyword-based control by recognizing keywords based on the voice received by the voice input unit 9. The keyword determination processing unit 81 is configured to start voice recognition for an instruction keyword by recognizing a start keyword based on the voice received by the voice input unit 9. Furthermore, the keyword determination processing unit 81 is configured to execute a function corresponding to an instruction keyword by recognizing an instruction keyword based on the voice received by the voice input unit 9.

[0081] Specifically, the keyword determination processing unit 81 determines keywords based on the audio data acquired from the audio input unit 9. For example, the keyword determination processing unit 81 performs speech recognition processing on the audio data acquired from the audio input unit 9 to convert the audio data into text data. Then, the keyword determination processing unit 81 refers to the keyword information stored in the storage unit 6 to determine which control the converted text data corresponds to. Finally, the keyword determination processing unit 81 executes the processing according to the determined control. Note that the process of determining a keyword-based control by speech recognition of keywords based on the user's voice is not limited to the above example, and known technologies can be applied.

[0082] More specifically, for example, if the starting keyword is "Trinias," the keyword determination processing unit 81 performs speech recognition processing on the audio data containing "Trinias" as the starting keyword, converts the audio data into text data, and, referring to the keyword information, determines that it is a control to start speech recognition for the instructed keyword. Then, the keyword determination processing unit 81 starts speech recognition for the instructed keyword.

[0083] For example, if the instruction keyword is "RAO 40, Cranio 20, Home", the keyword determination processing unit 81 performs speech recognition processing on the audio data containing the instruction keyword to convert the audio data into text data and, by referring to the keyword information, determines that it is a control to set a predetermined target position as the target position of the X-ray imaging unit 2. In this case, the predetermined target position is the position where the arm 22 is rotated 40 degrees in the RAO direction and 20 degrees in the CRA direction from its initial position, and the relative position of the X-ray imaging unit 2 with respect to the bed 1 is the HOME position. The keyword determination processing unit 81 then stores the set predetermined target position in the storage unit 6.

[0084] (Control of stopping the contact suppression operation by the keyword determination processing unit) The keyword determination processing unit 81 is configured to perform the following actions by voice recognition of a keyword: stopping the contact suppression operation when moving with the first foot switch 51, and moving the X-ray imaging unit 2 toward the target position by the same operation as when moving with the first push button 55 after the contact suppression operation when moving with the first foot switch 51 has stopped. Note that the contact suppression operation is the same as the contact suppression operation in the first embodiment described above, so its explanation is omitted here.

[0085] (Stopping the reduced movement speed mode)

[0086] The keyword determination processing unit 81 is configured to stop the reduction in the movement speed of the X-ray imaging unit 2 and change the movement speed of the X-ray imaging unit 2 to the same movement speed as when the X-ray imaging unit 2 is being moved with the movement speed reduced by the movement speed reduction mode, by voice recognition of a keyword.

[0087] Specifically, after the target position of the X-ray imaging unit 2 has been set by voice recognition, when the first foot switch 51 is pressed, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position at half the speed of movement when moving by the first push button 55.

[0088] Then, when the keyword determination processing unit 81 acquires audio data containing "Trinias" as the starting keyword from the audio input unit 9 while the X-ray imaging unit 2 is moving, it performs speech recognition processing on the audio data to determine that this is a control to start speech recognition for the instruction keyword. The keyword determination processing unit 81 then starts speech recognition for the instruction keyword. For example, when the keyword determination processing unit 81 acquires audio data containing "normal speed" as the instruction keyword from the audio input unit 9, it performs speech recognition processing on the audio data to determine that this is a control to change the movement speed of the X-ray imaging unit 2 to the same movement speed as the movement by the first push button 55. The keyword determination processing unit 81 then stops reducing the movement speed of the X-ray imaging unit 2 when moving by the first foot switch 51, and changes the movement speed of the X-ray imaging unit 2 to the same movement speed as the movement by the first push button 55, and moves the X-ray imaging unit 2.

[0089] The contact suppression operation control unit 80 terminates the movement of the X-ray imaging unit 2 when it reaches the set target position. Furthermore, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 when the foot is released from the pressed first foot switch 51. However, if the movement speed has been changed to the same speed as movement by the first push button 55, and the X-ray imaging unit 2 has not yet reached the set target position, the contact suppression operation control unit 80 resumes the movement of the X-ray imaging unit 2 toward the set target position at the same speed as movement by the first push button 55 when the released first foot switch 51 is pressed again.

[0090] (Processing in movement speed reduction mode by keyword determination processing unit and contact suppression operation control unit) Referring to Figure 12, the processing in movement speed reduction mode by keyword determination processing unit 81 and contact suppression operation control unit 80 will be explained. The processing shown in Figure 12 starts when the target position of the X-ray imaging unit 2, which has been set by voice recognition of the user's voice by the keyword determination processing unit 81, is stored in the storage unit 6. If the input operation to the first foot switch 51 is released during the processing shown in Figure 12, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2. In addition, the order of the processing steps can be reversed or executed simultaneously, as long as they do not contradict each other.

[0091] In step S31, the contact suppression operation control unit 80 acquires the set target position of the X-ray imaging unit 2 stored in the memory unit 6. The process then proceeds to step S32.

[0092] In step S32, if the contact suppression operation control unit 80 receives confirmation of an input operation to the first foot switch 51 (Yes in step S32), the process proceeds to step S33. If the input operation to the first foot switch 51 has not been received (No in step S32), the process repeats the determination in step S32.

[0093] In step S33, the contact suppression operation control unit 80 reduces the movement speed of the X-ray imaging unit 2 to that of the movement caused by the first push button 55 and moves the X-ray imaging unit 2 toward the set target position. That is, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position via the imaging unit movement mechanism 3 at half the movement speed of the movement caused by the first push button 55. The process then proceeds to step S34.

[0094] In step S34, if the keyword determination processing unit 81 recognizes the start keyword and the instruction keyword to stop the movement speed reduction mode based on the voice data acquired from the voice input unit 9 (Yes in step S34), the process proceeds to step S35. If the start keyword and the instruction keyword to stop the movement speed reduction mode are not recognized by voice (No in step S34), the process proceeds to step S36.

[0095] In step S35, the contact suppression operation control unit 80 stops the control of reducing the movement speed of the X-ray imaging unit 2 and changes the movement speed of the X-ray imaging unit 2 to the same movement speed as the movement by the first push button 55. After that, when the X-ray imaging unit 2 reaches the set target position, the process ends.

[0096] In step S36, if the X-ray imaging unit 2 reaches the set target position (Yes in step S36), the process ends. If the X-ray imaging unit 2 does not reach the set target position (No in step S36), the process proceeds to step S34.

[0097] (Stopping movement pause mode)

[0098] The keyword determination processing unit 81 is configured to perform voice recognition of a keyword when the X-ray imaging unit 2 is moving for a first predetermined time in the movement pause mode. This recognition stops the control that would stop the movement of the X-ray imaging unit 2 for a second predetermined time, and also controls the movement of the X-ray imaging unit 2 to not stop for a second predetermined time, similar to movement by the first push button 55.

[0099] Specifically, after the target position of the X-ray imaging unit 2 has been set by voice recognition, when the first foot switch 51 is pressed, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position for a first predetermined time.

[0100] Then, when the keyword determination processing unit 81 acquires audio data containing "Trinias" as the starting keyword from the audio input unit 9 while the X-ray imaging unit 2 is moving, it performs speech recognition processing on the audio data to determine that it is a control to start speech recognition for the instruction keyword. The keyword determination processing unit 81 then starts speech recognition for the instruction keyword. For example, when the keyword determination processing unit 81 acquires audio data containing "normal movement" as the instruction keyword from the audio input unit 9, it performs speech recognition processing on the audio data to determine that it is a control to not stop the movement of the X-ray imaging unit 2 for a second predetermined time, similar to movement by the first push button 55. The keyword determination processing unit 81 then moves the X-ray imaging unit 2 without stopping for a second predetermined time, similar to movement by the first push button 55, when moving by the first foot switch 51.

[0101] The contact suppression operation control unit 80 terminates the movement of the X-ray imaging unit 2 when it reaches the set target position. Furthermore, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 when the foot is released from the pressed first foot switch 51.

[0102] (Processing in the movement pause mode by the keyword determination processing unit and the contact suppression operation control unit) Referring to Figure 13, the processing in the movement pause mode by the keyword determination processing unit 81 and the contact suppression operation control unit 80 will be explained. The processing shown in Figure 13 starts when the target position of the X-ray imaging unit 2, which has been set by voice recognition of the user's voice by the keyword determination processing unit 81, is stored in the storage unit 6. If the input operation to the first foot switch 51 is released during the processing shown in Figure 13, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2. In addition, the order of the processing steps can be reversed or executed simultaneously, as long as they do not contradict each other.

[0103] In step S41, the contact suppression operation control unit 80 acquires the set target position of the X-ray imaging unit 2 stored in the memory unit 6. The process then proceeds to step S42.

[0104] In step S42, if the contact suppression operation control unit 80 receives confirmation of an input operation to the first foot switch 51 (Yes in step S42), the process proceeds to step S43. If the input operation to the first foot switch 51 has not been received (No in step S42), the process repeats the determination in step S42.

[0105] In step S43, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward a set target position for a first predetermined time via the imaging unit moving mechanism 3. The process then proceeds to step S44.

[0106] In step S44, if the keyword determination processing unit 81 recognizes the start keyword and the instruction keyword to stop the movement pause mode based on the voice data acquired from the voice input unit 9 within a first predetermined time (Yes in step S44), the process proceeds to step S45. If the start keyword and the instruction keyword to stop the movement speed reduction mode are not recognized within the first predetermined time (No in step S44), the process proceeds to step S46.

[0107] In step S45, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position without stopping it for a second predetermined time after a first predetermined time has elapsed since the start of movement of the X-ray imaging unit 2, in the same manner as movement by the first push button 55. Thereafter, when the X-ray imaging unit 2 reaches the set target position, the process ends.

[0108] In step S46, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 for a second predetermined time after a first predetermined time has elapsed since the start of movement of the X-ray imaging unit 2. After that, the process proceeds to step S47.

[0109] In step S47, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position after a second predetermined time has elapsed. The process then ends when the X-ray imaging unit 2 reaches the set target position.

[0110] (Disable movement notification mode)

[0111] The keyword determination processing unit 81 is configured to stop the output of the notification sound and move the X-ray imaging unit 2 in the same way as movement by the first push button 55 when the notification sound is output for a third predetermined time in the movement notification mode by voice recognition of the keyword.

[0112] Specifically, after the target position of the X-ray imaging unit 2 has been set by voice recognition, when the first foot switch 51 is pressed, the contact suppression operation control unit 80 outputs a notification sound from the speaker 40 provided on the display unit 4 before the X-ray imaging unit 2 starts moving.

[0113] Then, when the keyword determination processing unit 81 receives audio data containing "Trinias" as the starting keyword from the audio input unit 9 while the notification sound is being output, it performs speech recognition processing on the audio data to determine that it is a control to start speech recognition for the instruction keyword. The keyword determination processing unit 81 then starts speech recognition for the instruction keyword. For example, when the keyword determination processing unit 81 receives audio data containing "normal movement" as the instruction keyword from the audio input unit 9, it performs speech recognition processing on the audio data to determine that it is a control to stop the notification sound and move the X-ray imaging unit 2, similar to movement by the first push button 55. Then, when moving by the first foot switch 51, the keyword determination processing unit 81 stops the output of the notification sound and moves the X-ray imaging unit 2, similar to movement by the first push button 55.

[0114] The contact suppression operation control unit 80 terminates the movement of the X-ray imaging unit 2 when it reaches the set target position. Furthermore, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2 when the foot is released from the pressed first foot switch 51.

[0115] (Processing in movement notification mode by keyword determination processing unit and contact suppression operation control unit) The processing in movement notification mode by the keyword determination processing unit 81 and contact suppression operation control unit 80 will be explained with reference to Figure 14. The processing shown in Figure 14 starts when the target position of the X-ray imaging unit 2, which has been set by voice recognition of the user's voice by the keyword determination processing unit 81, is stored in the storage unit 6. If the input operation to the first foot switch 51 is released during the processing shown in Figure 14, the contact suppression operation control unit 80 stops the movement of the X-ray imaging unit 2. In addition, the order of the processing steps can be reversed or executed simultaneously, as long as they do not contradict each other.

[0116] In step S51, the contact suppression operation control unit 80 acquires the set target position of the X-ray imaging unit 2 stored in the memory unit 6. The process then proceeds to step S52.

[0117] In step S52, if the contact suppression operation control unit 80 receives confirmation of an input operation to the first foot switch 51 (Yes in step S52), the process proceeds to step S53. If the input operation to the first foot switch 51 has not been received (No in step S52), the process repeats the determination in step S52.

[0118] In step S53, the contact suppression operation control unit 80 outputs a notification sound without starting the movement of the X-ray imaging unit 2. The process then proceeds to step S54.

[0119] In step S54, if the keyword determination processing unit 81 recognizes the start keyword and the instruction keyword to stop the movement notification mode based on the voice data acquired from the voice input unit 9 within the third predetermined time (Yes in step S54), the process proceeds to step S55. If the start keyword and the instruction keyword to stop the movement notification mode are not recognized within the third predetermined time (No in step S54), the process proceeds to step S56.

[0120] In step S55, the contact suppression operation control unit 80 stops outputting the notification sound before the third predetermined time has elapsed and moves the X-ray imaging unit 2 toward the set target position, similar to the movement by the first push button 55. After that, when the X-ray imaging unit 2 reaches the set target position, the process ends.

[0121] In step S56, the contact suppression operation control unit 80 stops outputting the notification sound after a third predetermined time has elapsed since the output of the notification sound, and moves the X-ray imaging unit 2 toward the set target position. After that, when the X-ray imaging unit 2 reaches the set target position, the process ends.

[0122] [Modifications] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims rather than by the description of the embodiments above, and further includes all modifications (modifications) in the sense and scope equivalent to the claims. For example, in the first and second embodiments, the control unit 8 may be configured to perform a contact suppression operation to suppress contact between the X-ray imaging unit 2 and other objects, using a position detection sensor provided on the X-ray imaging unit 2 and a position detection sensor provided on each of the other objects, as a control other than the control that suppresses the movement of the X-ray imaging unit 2 to lessen than the movement by the first push button 55 and the control that notifies the movement of the X-ray imaging unit 2, as a contact suppression operation to suppress contact between the X-ray imaging unit 2 and other objects. Also, for example, as a first modification of the first and second embodiments, the contact suppression operation control unit 80 may be configured, in the movement speed reduction mode, to move the X-ray imaging unit 2 by reducing the movement speed of the X-ray imaging unit 2 to less than the movement by the first push button 55 for a fourth predetermined time from the start of movement by the first foot switch 51. In other words, the contact suppression operation control unit 80 is configured to, when the X-ray imaging unit 2 is moved by the first foot switch 51, perform the following controls: first, after the X-ray imaging unit 2 starts moving, reduce the movement speed of the X-ray imaging unit 2 for a fourth predetermined time, compared to the movement by the first push button 55, and then, after the fourth predetermined time, move the X-ray imaging unit 2 toward the target position at the same speed as the movement speed when the X-ray imaging unit 2 is moved by the first push button 55. The fourth predetermined time is several seconds, but is not particularly limited and may be several tens of seconds or even several tens of seconds. Specifically, when the first foot switch 51 is pressed after the target position has been set, the contact suppression operation control unit 80 reduces the movement speed of the X-ray imaging unit 2 for a fourth predetermined time, compared to the movement by the first push button 55, and moves the X-ray imaging unit 2 toward the set target position. Then, after a fourth predetermined time has elapsed since the start of movement of the X-ray imaging unit 2, the contact suppression operation control unit 80 changes the speed to the same speed as the movement caused by the first push button 55, and moves the X-ray imaging unit 2 toward the target position.Referring to Figure 15, the processing of the movement speed reduction mode by the contact suppression operation control unit 80 in the first modified example will be explained. In the first modified example of the first embodiment, the processing shown in Figure 15 starts when the target position of the X-ray imaging unit 2, set by an input operation by the user via the touch panel 54, is stored in the storage unit 6. In the first modified example of the second embodiment, the processing starts when the target position of the X-ray imaging unit 2, set by voice recognition of a keyword by the keyword determination processing unit 81 based on the user's voice, is stored in the storage unit 6. In step S61, the contact suppression operation control unit 80 acquires the set target position of the X-ray imaging unit 2 stored in the storage unit 6. After that, the processing proceeds to step S62. In step S62, if the contact suppression operation control unit 80 has received confirmation of an input operation to the first foot switch 51 (Yes in step S62), the processing proceeds to step S63. If it has not received confirmation of an input operation to the first foot switch 51 (No in step S62), the processing repeats the determination in step S62. In step S63, the contact suppression operation control unit 80 reduces the movement speed of the X-ray imaging unit 2 to that of the movement by the first push button 55 for a fourth predetermined time, and moves the X-ray imaging unit 2 toward the set target position. That is, for a fourth predetermined time, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the set target position via the imaging unit movement mechanism 3 at half the movement speed of the movement by the first push button 55. After that, the process proceeds to step S64. In step S64, after the fourth predetermined time has elapsed, the contact suppression operation control unit 80 changes the movement speed of the X-ray imaging unit 2 to the same movement speed as the movement by the first push button 55, and moves the X-ray imaging unit 2 toward the set target position. After that, when the X-ray imaging unit 2 reaches the set target position, the process ends. Furthermore, as a second modification of the first and second embodiments, the contact suppression operation control unit 80 may be configured to notify the movement of the X-ray imaging unit 2 in the movement notification mode by outputting a notification sound for a third predetermined time at the same time as the start of movement by the first foot switch 51.Specifically, after the target position of the X-ray imaging unit 2 is set by the user through an input operation via the touch panel 54 from among a plurality of target positions displayed on the touch panel 54, the contact suppression operation control unit 80 moves the X-ray imaging unit 2 toward the target position when the first foot switch 51 is pressed, and simultaneously with the start of movement of the X-ray imaging unit 2, outputs a notification sound from the speaker 40 provided on the display unit 4 for a third predetermined time. The contact suppression operation control unit 80 then stops outputting the notification sound after the third predetermined time has elapsed since the start of movement of the X-ray imaging unit 2. The contact suppression operation control unit 80 continues to move the X-ray imaging unit 2 toward the target position even after the third predetermined time has elapsed since the start of movement of the X-ray imaging unit 2. Referring to Figure 16, the processing of the movement notification mode by the contact suppression operation control unit 80 in the second modified example will be explained. In the case of the second modified example in the first embodiment, the processing shown in Figure 16 starts when the target position of the X-ray imaging unit 2 set by the user through an input operation via the touch panel 54 is stored in the storage unit 6. Furthermore, in the case of the second modified example in the second embodiment, the process starts when the target position of the X-ray imaging unit 2, which has been set by voice recognition of keywords by the keyword determination processing unit 81 based on the user's voice, is stored in the storage unit 6. In step S71, the contact suppression operation control unit 80 acquires the set target position of the X-ray imaging unit 2 stored in the storage unit 6. After that, the process proceeds to step S72. In step S72, if the contact suppression operation control unit 80 has received confirmation of an input operation to the first foot switch 51 (Yes in step S72), the process proceeds to step S73. If the contact suppression operation control unit 80 has not received confirmation of an input operation to the first foot switch 51 (No in step S72), the process repeats the determination in step S72. In step S73, the contact suppression operation control unit 80 outputs a notification sound for a third predetermined time as the movement of the X-ray imaging unit 2 begins. After that, the process proceeds to step S74. In step S74, the contact suppression operation control unit 80 stops outputting the notification sound after a third predetermined time has elapsed since the output of the notification sound. Furthermore, the contact suppression operation control unit 80 continues to move the X-ray imaging unit 2 toward the set target position via the imaging unit movement mechanism 3.Subsequently, when the X-ray imaging unit 2 reaches the set target position, the process ends. Also, for example, in the first embodiment, the second embodiment, the first modified example and the second modified example, the first foot switch 51 is configured to receive an input operation to move the top plate 10 toward the target position by the top plate moving mechanism 12, and the contact suppression operation control unit 80 may be configured to perform at least one of the following as a contact suppression operation when moving by the first foot switch 51, unlike when moving by the first push button 55: a movement speed reduction mode in which the movement speed of the top plate 10 is reduced compared to when moving by the first push button 55 to move the top plate 10; a movement pause mode in which the top plate 10 is temporarily paused while moving the top plate 10; or a movement notification mode in which the movement of the top plate 10 is notified before the top plate 10 moves. In this case, the storage unit 6 stores a plurality of target positions, which are the target positions to which the top plate 10 is moved. The system may be configured so that the target position of the top panel 10 is set from among multiple target positions by input operations performed by the user via the touch panel 54, or so that the target position of the top panel 10 is set by voice recognition of keywords based on voice received by the voice input unit 9. Furthermore, for example, in the first embodiment, the second embodiment, the first modified example, and the second modified example, the first foot switch 51 is configured to receive input operations to move the display unit 4 toward the target position by the display unit moving mechanism 41, and the contact suppression operation control unit 80 may be configured so that, in the case of movement by the first foot switch 51, unlike movement by the first push button 55, it performs at least one of the following as a contact suppression operation: a movement speed reduction mode in which the movement speed of the display unit 4 is reduced compared to movement by the first push button 55 to move the display unit 4, a movement pause mode in which the display unit 4 is temporarily paused while it is moving, or a movement notification mode in which the movement of the display unit 4 is notified before the movement of the display unit 4. In this case, the memory unit 6 stores multiple target positions, which are the target positions to which the display unit 4 will be moved.The system may be configured so that the target position of the display unit 4 is set from among multiple target positions by input operations performed by the user via the touch panel 54, or so that the target position of the display unit 4 is set by voice recognition of keywords based on voice received by the voice input unit 9. Furthermore, for example, in the first embodiment, the second embodiment, the first modified example, and the second modified example, the first foot switch 51 may be configured to include a foot switch for moving the X-ray imaging unit, a foot switch for moving the tabletop, and a foot switch for moving the display unit. In this case, the foot switch for moving the X-ray imaging unit may be configured to receive input operations to move the X-ray imaging unit 2 toward the target position by the imaging unit moving mechanism 3, and to execute a contact suppression operation by the contact suppression operation control unit 80. Furthermore, the foot switch for moving the tabletop may be configured to receive input operations to move the tabletop 10 toward the target position by the tabletop moving mechanism 12, and to execute a contact suppression operation by the contact suppression operation control unit 80. Furthermore, the foot switch for moving the display unit may be configured to accept an input operation to move the display unit 4 toward the target position by the display unit moving mechanism 41, and may also be configured to execute a contact suppression operation by the contact suppression operation control unit 80. Also, for example, in the second embodiment, the keyword determination processing unit 81 may be configured not to perform both the control to stop the contact suppression operation during movement by the first foot switch 51 and the control to move the X-ray imaging unit 2 toward the target position by the same operation as movement by the first push button 55 after the contact suppression operation during movement by the first foot switch 51 has stopped. Also, for example, in the first embodiment, the second embodiment, the first modified example and the second modified example, the contact suppression operation control unit 80 may be configured to notify the movement of the X-ray imaging unit 2 in the movement notification mode by displaying an image representing the movement of the X-ray imaging unit 2 on the display unit 4 for a third predetermined time, along with a notification sound, or instead of a notification sound, before the movement of the X-ray imaging unit 2 begins.Furthermore, for example, the X-ray imaging apparatus 100 may further include a light-emitting unit that provides notification by outputting light, and the contact suppression operation control unit 80 may be configured to, in the movement notification mode, provide notification of the movement of the X-ray imaging unit 2 by outputting light from the light-emitting unit for a third predetermined time, either with a notification sound or in lieu of a notification sound, before the movement of the X-ray imaging unit 2 begins.

[0123] [Embodiments] The exemplary embodiments described above will be understood by those skilled in the art to be specific examples of the following embodiments.

[0124] (Item 1) An X-ray imaging apparatus comprising: an X-ray imaging unit including an X-ray source for irradiating a subject with X-rays and a detector facing the X-ray source for detecting the X-rays irradiated from the X-ray source; a tabletop on which the subject lies; a display unit for displaying X-ray images taken by the X-ray imaging unit; a storage unit for storing a target position to which a moving object, including at least one of the X-ray imaging unit, the tabletop, and the display unit, is moved; a foot operation unit for receiving input operations from the user's feet; a hand operation unit for receiving input operations from the user's hands; and a control unit for acquiring the target position stored in the storage unit and for performing foot operation movement to move the moving object toward the target position while input operations are being received from the foot operation unit, and hand operation movement to move the moving object toward the target position while input operations are being received from the hand operation unit, wherein the control unit is configured to perform contact suppression operations in the foot operation movement to suppress contact between the moving object and other objects more than in the hand operation movement. In the foot-operated movement of the object to be moved, a contact suppression operation is performed, thereby suppressing contact between the object to be moved and other objects during foot-operated movement, which is more prone to unintended operation compared to the hand-operated movement. Therefore, in foot-operated movement, the foot can be appropriately removed from the foot-operated movement unit before the object to be moved comes into contact with other objects. As a result, even if the foot-operated movement unit is operated unintentionally, it is possible to suppress the object to approach a position where it will come into contact with other objects. (Item 2) The X-ray imaging apparatus according to Item 1, wherein the control unit is configured to perform at least one of the following as the contact suppression operation: suppressing the movement of the object to be moved more than in the hand-operated movement, or notifying the movement of the object to be moved. In this case, in foot-operated movement of the object to be moved, the movement of the object to be moved is suppressed more than in hand-operated movement, so the foot can be easily removed from the foot-operated movement unit before the object to be moved comes into contact with other objects.Alternatively, in the foot-operated movement of the object to be moved, the movement of the object to be moved is notified, so that even if the foot-operated unit is operated unintentionally, the foot can be easily removed from the foot-operated unit before the object to be moved comes into contact with another object. Therefore, even if the foot-operated unit is operated unintentionally, it is possible to effectively prevent the object to be moved from approaching a position where it will come into contact with another object. (Item 3) The X-ray imaging apparatus according to Item 1 or 2, wherein the control unit is configured to perform at least one of the following as the contact suppression operation in the foot-operated movement, unlike the hand-operated movement: reduce the movement speed of the object to be moved compared to the hand-operated movement, temporarily stop the object to be moved while it is moving, or notify the user of the movement of the object before it moves. In this case, as a control that differs from the hand-operated movement, which is less likely to be operated unintentionally, in the foot-operated movement, which is more likely to be operated unintentionally, the movement speed of the object to be moved is reduced compared to the hand-operated movement. Therefore, the movement speed of the moving object can be made slower compared to manual movement, making it easier to remove the foot from the foot control unit before the moving object comes into contact with another object. Alternatively, in foot-operated movement, which is prone to unintentional operation, the moving object is temporarily paused during its movement. Therefore, even if the moving object starts moving, it will pause, making it easier to remove the foot from the foot control unit while the moving object is paused. Alternatively, in foot-operated movement, which is prone to unintentional operation, the movement of the moving object is notified before it moves. Therefore, the notification allows the user to recognize the movement of the moving object, making it easier to remove the foot from the foot control unit before the moving object comes into contact with another object. As a result, even if the foot control unit is operated unintentionally, it is possible to more effectively prevent the moving object from approaching a position where it will come into contact with another object.(Item 4) An X-ray imaging apparatus according to any one of Items 1 to 3, further comprising an audio input unit for receiving audio input, wherein the control unit performs control based on the keyword by voice recognition of the audio received by the audio input unit, control to stop the contact suppression operation in the foot operation movement by voice recognition of the keyword, and control to move the object to be moved toward the target position by the same operation as the hand operation movement after the contact suppression operation in the foot operation movement has been stopped. In this case, if the user recognizes that the movement of the object to be moved is a foot operation movement as intended by the user, the contact suppression operation can be stopped by the user, allowing the object to be moved toward the target position quickly by the same operation as the hand operation movement. Also, if the user recognizes that the movement of the object to be moved is a foot operation movement as intended by the user, the contact suppression operation can be stopped by voice recognition of the user's voice. Therefore, since there is no need for the user to perform an input operation with their hands to stop the contact suppression operation, the user can use both hands for the procedure. For these reasons, when the user recognizes that the movement of the object to be moved is as intended by the user through foot operation, user convenience can be improved. (Item 5) The X-ray imaging apparatus according to Item 3, wherein the control unit is configured to reduce the movement speed of the object to be moved for a predetermined time from the start of the foot operation as the contact suppression operation. In this case, since the movement speed of the object to be moved is reduced until the predetermined time has elapsed, the user can easily remove their foot from the foot operation unit before the object to be moved comes into contact with another object, and after the predetermined time has elapsed, the object to be moved can be quickly moved toward the target position. Therefore, compared to the case where the movement speed of the object to be moved is reduced until it reaches the target position, it is possible to suppress the excessive time it takes for the object to be moved to reach the target position.(Item 6) An X-ray imaging apparatus according to Item 3 or 5, further comprising an audio input unit for receiving audio input, wherein the control unit performs control based on keywords by voice recognition based on the audio received by the audio input unit, and when the moving speed of the moving object is reduced as a contact suppression operation to move the moving object, it performs control to change the moving speed of the moving object to the same speed as the manual movement by voice recognition of the keywords. In this case, if the user recognizes that the movement of the moving object is a foot operation as intended by the user, the moving speed of the moving object can be changed to the same speed as the manual movement by voice recognition of the user's voice. Therefore, since there is no need for the user to perform an input operation with their hands to change the moving speed, the user can use both hands for the procedure, and the time it takes for the moving object to reach the target position can be shortened compared to when the moving speed of the moving object is reduced until it reaches the target position. (Item 7) The X-ray imaging apparatus according to Item 3, wherein the control unit performs, as the contact suppression operation, control to stop the moving object for a predetermined time after the moving object starts moving, and control to move the moving object toward the target position after the predetermined time. In this case, even if the movement of the moving object starts, the moving object is temporarily stopped, so the user can more easily take their foot off the foot control unit while the moving object is temporarily stopped. Also, if the movement of the moving object is a foot operation movement as intended by the user, the moving object moves toward the target position after the predetermined time has elapsed, so the moving object can be moved toward the target position without any operation other than continuous input operation to the foot control unit. (Item 8) The X-ray imaging apparatus according to Item 3, wherein the control unit is configured to notify the user of the movement of the moving object by outputting a notification sound for a predetermined time before the movement of the moving object, as the contact suppression operation. In this case, even if the foot control unit is operated unintentionally, the user can recognize that the moving object will move before the movement of the moving object starts because a notification sound is output before the movement of the moving object starts.Therefore, if the foot control unit is operated unintentionally, the foot can be easily removed from the foot control unit before the object being moved begins to move. As a result, even if the foot control unit is operated unintentionally, it is possible to reliably prevent the object being moved from approaching a position where it may come into contact with another object.

[0125] 2 X-ray imaging unit (moving object) 4 Display unit (moving object) 6 Memory unit 8 Control unit 9 Voice input unit 10 Top plate (moving object) 20 X-ray source 21 Detector 51 First foot switch (foot operation unit) 55 First push button (hand operation unit) 90 Subject 100, 110 X-ray imaging device

Claims

1. An X-ray imaging apparatus comprising: an X-ray imaging unit including an X-ray source for irradiating a subject with X-rays and a detector facing the X-ray source for detecting the X-rays irradiated from the X-ray source; a tabletop on which the subject lies; a display unit for displaying X-ray images taken by the X-ray imaging unit; a storage unit for storing a target position to which a moving object, including at least one of the X-ray imaging unit, the tabletop, and the display unit, is moved; a foot operation unit for receiving input operations from the user's feet; a hand operation unit for receiving input operations from the user's hands; and a control unit for acquiring the target position stored in the storage unit and for performing foot operation movement to move the moving object toward the target position while input operations are being received from the foot operation unit, and hand operation movement to move the moving object toward the target position while input operations are being received from the hand operation unit, wherein the control unit is configured to perform contact suppression operations in the foot operation movement to suppress contact between the moving object and other objects more than in the hand operation movement.

2. The X-ray imaging apparatus according to claim 1, wherein the control unit is configured to perform at least one of the following as the contact suppression operation: suppress the movement of the object to be moved more than the manual movement, or notify the movement of the object to be moved.

3. The X-ray imaging apparatus according to claim 2, wherein the control unit is configured to perform, in the case of foot-operated movement, unlike the case of hand-operated movement, at least one of the following as the contact suppression operation: reduce the movement speed of the object to be moved compared to the hand-operated movement to move the object to be moved, temporarily stop the object to be moved while it is moving, or notify the user of the movement of the object before it moves.

4. The X-ray imaging apparatus according to claim 1, further comprising an audio input unit for receiving audio input, wherein the control unit performs control based on the keyword by voice recognition of the audio received by the audio input unit, control to stop the contact suppression operation in the foot operation movement by voice recognition of the keyword, and control to move the object to be moved toward the target position by the same operation as the hand operation movement after the contact suppression operation in the foot operation movement has been stopped.

5. The X-ray imaging apparatus according to claim 3, wherein the control unit is configured to reduce the movement speed of the object to be moved for a predetermined time from the start of the foot operation movement as the contact suppression operation.

6. The X-ray imaging apparatus according to claim 3, further comprising an audio input unit for receiving audio input, wherein the control unit performs control based on keywords by voice recognition of the audio received by the audio input unit, and when the moving speed of the moving object is reduced as a contact suppression operation and the moving object is moved, the control unit performs control to change the moving speed of the moving object to the same speed as the manual movement by voice recognition of the keywords.

7. The X-ray imaging apparatus according to claim 3, wherein the control unit performs, as the contact suppression operation, control to stop the moving object for a predetermined time after the movement of the moving object has started, and control to move the moving object toward the target position after the predetermined time.

8. The X-ray imaging apparatus according to claim 3, wherein the control unit is configured to notify the movement of the moving object by outputting a notification sound for a predetermined time before the movement of the moving object, as the contact suppression operation.

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