X-ray imaging device

Abstract

This X-ray imaging device (100) comprises a single switch (50) and a control unit (8). The single switch (50) has both: the function of outputting, to the control unit (8), a state transition command for transitioning to an instruction keyword recognition state in response to receiving an input operation by a user; and the function of outputting, to the control unit (8), a movement command for moving an object to be moved toward a target position while the input operation by the user is being received.

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 Patent Application Laid-Open No. 10-052420.

[0003] Japanese Patent Application Laid-Open No. 10-052420 discloses an X-ray image diagnostic apparatus (X-ray imaging apparatus) that controls the movement of movable parts (X-ray imaging parts) such as a support part that supports an X-ray source and a detector by voice recognition. The X-ray image diagnostic apparatus includes a voice input device (voice input part), a voice recognition device (control part), and a control command transmission part. The voice input device inputs the voice uttered by the user. Japanese Patent Application Laid-Open No. 10-052420 discloses, as examples of the voice uttered by the user, "CRA", "30 degrees", and "move" (instruction keywords). The voice recognition device converts the input voice of the user into an operation command for the movable part. The control command transmission part transmits the converted operation command to the operation control device of the movable part.

[0004] Japanese Patent Application Laid-Open No. 10-052420

[0005] Although not explicitly stated in the above-mentioned Japanese Patent Publication No. 10-052420, in an X-ray imaging apparatus in which a movable part is operated by voice recognition processing, it is necessary to suppress the movable part from performing unintended actions due to the voice recognition of the user's voice that is not intended to be an operation command. Therefore, in order to suppress the execution of unintended actions of the movable part, when a predetermined start keyword is voice-recognized, control is performed to move the movable part by voice-recognizing instruction keywords such as "CRA," "30 degrees," and "move." The start keyword is a so-called wake-up word. Furthermore, although not explicitly stated in the above-mentioned Japanese Patent Publication No. 10-052420, in an X-ray imaging apparatus, in order to suppress unintended actions of the movable part, control is performed to move the movable part only while a predetermined operation unit is being operated by the user. Therefore, when moving a movable part to a target position using voice recognition, the user needs to utter a starting keyword to enable voice recognition of the instruction keyword, utter an instruction keyword regarding the target position of the movable part, and operate the control unit to move the movable part (object to be moved). These steps are burdensome for the user. For this reason, it is desirable to reduce the effort required of the user when moving an object.

[0006] This invention was made to solve the above-mentioned problems, and one of its objectives is to provide an X-ray imaging apparatus that can reduce the effort required of the user when moving an object.

[0007] The X-ray imaging unit includes an X-ray source that irradiates a subject with X-rays, a detector that faces the X-ray source and detects the X-rays irradiated from the X-ray source, a top plate on which the subject lies, an operation unit that includes a single switch and accepts user input operations, a voice input unit that accepts user voice input, a display unit that displays the X-ray image taken by the X-ray imaging unit, and a control unit, the control unit performs state transition control to transition to an instruction keyword recognition state in which voice recognition of instruction keywords is possible by voice recognition of a start keyword based on the voice received by the voice input unit, and in the instruction keyword recognition state, the voice input unit An X-ray imaging apparatus that performs instruction keyword recognition, which recognizes instruction keywords based on received speech, and function execution control, which executes a function corresponding to the recognized instruction keyword in response to the speech recognition of the instruction keyword, wherein a single switch has both a state transition output function that outputs a state transition command to the control unit to transition to the instruction keyword recognition state in response to receiving input from the user, and a movement output function that outputs a movement command to the control unit to move an object to be moved toward a target position, including at least one of the X-ray imaging unit, the top plate, and the display unit, while receiving input from the user.

[0008] A single switch on the control unit is assigned both a state transition output function, which outputs a state transition command to the control unit that transitions to a state of instruction keyword recognition in response to user input, and a movement output function, which outputs a movement command to the control unit that moves the object to be moved toward the target position while user input is being received. Therefore, by inputting to a single switch, the state transition output function eliminates the need for the user to utter a start keyword, and the movement output function allows the object to be moved toward the target position by voice recognition of the instruction keyword without requiring any operation on other switches to move the object. In other words, when moving an object to a target position by voice recognition, the user can move the object by inputting to a single switch and uttering an instruction keyword. Therefore, the effort required of the user when moving an object can be reduced.

[0009] This is a schematic diagram showing the overall configuration of an X-ray imaging apparatus according to one embodiment. This is a functional block diagram of an X-ray imaging apparatus according to one 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 operation panel. This is a schematic side cross-sectional view of the foot switch. This is a diagram for explaining instruction keywords and an example of function execution control based on instruction keywords. This is a flowchart for explaining the processing by the control unit in an example of fluoroscopy using a foot switch.

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

[0011] (Regarding fluoroscopy using an X-ray imaging device) The X-ray imaging device 100 shown in Figure 1 performs fluoroscopy by irradiating the subject 90 (see Figure 3), in which a medical device has been inserted into the body, with X-rays to capture images (fluoroscopy) of the inside of the subject 90's body. The X-ray imaging device 100 is used, for example, to capture images (moving images) to confirm the condition of the inside of the subject 90's body when performing percutaneous coronary intervention (PCI). The device includes, for example, a stent that is placed in the blood vessels of the subject 90's heart.

[0012] In percutaneous coronary intervention, users such as doctors and technicians insert devices such as stents into the body of the subject 90 while confirming the internal condition of the subject 90 by viewing the fluoroscopic image as a real-time moving image displayed on the display unit 4. The X-ray imaging device 100 is configured to display a superimposed image on the display unit 4, which is a superimposed image of the fluoroscopic image and a vascular image taken at an angle corresponding to the imaging angle of the fluoroscopic image, in order to place a device such as a stent in the narrowed area of ​​the coronary artery using a catheter or the like while confirming the shape of the blood vessels in the fluoroscopic image.

[0013] Here, the vascular images are DSA (Digital Subtraction Angiography) images generated by digitally subtracting non-contrast-enhanced images from contrast-enhanced images. The non-contrast-enhanced images are images taken at multiple angles when the subject 90 has not been administered a contrast agent (there is no contrast agent in the blood vessels). The contrast-enhanced images are images taken at multiple angles similar to those used for the non-contrast-enhanced images, when the subject 90 has been administered a contrast agent (there is residual contrast agent in the blood vessels). The long-length images are images generated by stitching together multiple vascular images obtained by subtracting multiple contrast-enhanced images and multiple non-contrast-enhanced images that have the same relative position coordinates.

[0014] (Overall configuration of the X-ray imaging apparatus) The overall configuration of the X-ray imaging apparatus 100 according to this embodiment will be described with reference to Figures 1 to 7.

[0015] 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 audio input unit 9, 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).

[0016] 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.

[0017] 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.

[0018] 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. The memory unit 6 may store multiple target positions, which are the target positions to which the tabletop 10 is moved. The tabletop 10 may be configured to be movable via the tabletop moving mechanism 12 to a target position set by input operation on the touch panel 52 (see Figure 2) of the operation panel 51 by the user.

[0019] 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 capture X-ray images as still images (X-ray imaging) and fluoroscopic images as moving images (fluoroscopic imaging). The X-ray imaging unit 2 is configured to capture moving images of internal parts of the subject 90 (for example, the heart and lower limbs) at each of a plurality of imaging angles by sequentially performing fluoroscopic imaging. In this specification, "X-ray imaging" includes the capture of X-ray images as still images and fluoroscopic imaging of fluoroscopic images as moving images. Also, in this specification, "X-ray image" may include X-ray images as still images and fluoroscopic images as moving images. Furthermore, the X-ray imaging unit 2 is an example of a "movable object" within the scope of the claim.

[0020] 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.

[0021] 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).

[0022] The arm 22 is configured to hold the X-ray source 20 and the detector 21 so that the imaging angle of fluoroscopy by the X-ray imaging unit 2 can be changed. The arm 22 has an arc shape. The X-ray source 20 is connected to one end of the arm 22, and the detector 21 is connected to the other end. The arm 22 is a so-called C-arm.

[0023] 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 portion 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. However, the X-ray imaging apparatus 100 may be equipped with multiple arms 22.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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).

[0028] 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.

[0029] 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 elongated 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.

[0030] The display unit 4 is provided with a handle 48. The handle 48 is configured to allow the display unit 4 to be moved via a display unit movement mechanism 41. The handle 48 is, for example, a rod-shaped member attached along the side of the display unit 4. The user can move the display unit 4 in the XY direction (horizontal direction) and the Z direction (vertical direction) via the display unit movement mechanism 41 by grasping and moving the handle 48.

[0031] 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.

[0032] The display unit movement mechanism 41 has a motor or the like, so the user can easily move and rotate the display unit 4 via the display unit movement mechanism 41. The display unit 4 may be configured to be able to move to a preset position according to the position of the X-ray imaging unit 2 selected by the user's input operation on the touch panel 52 (see Figure 2) of the operation panel 51. The storage unit 6 may also store multiple target positions, which are the target positions to which the display unit 4 will be moved. The display unit 4 may be configured to be able to move to the target position of the display unit 4 set by the user's input operation on the touch panel 52 (see Figure 2) of the operation panel 51 via the display unit movement mechanism 41.

[0033] The voice input unit 9 is configured to accept voice input from the user. The voice input unit 9 includes, for example, a microphone. The voice input unit 9 is detachably attached to, for example, a handle 48 provided on the display unit 4. The voice input unit 9, together with the display unit 4, is configured to be movable in the horizontal and vertical directions by a display unit movement mechanism 41, and is also configured to be rotatable around a vertical axis 47.

[0034] The operating unit 5 includes a foot switch 50 and an operating panel 51. The foot switch 50 is an example of the "single switch" in the claims.

[0035] As shown in Figure 6(a), the foot switch 50 is configured to accept input operations related to X-ray imaging. The foot switch 50 is configured to accept input operations from the user's foot. The foot switch 50 is located on the floor 93 inside the imaging room 91.

[0036] The foot switch 50 is configured to accept a first input operation and a second input operation, which is different from the first input operation, via the user's foot. Specifically, the foot switch 50 is configured to accept two-stage input operations, a first input operation and a second input operation, depending on the amount the user presses down with their foot.

[0037] The foot switch 50 has an irradiation output function that, in the first input operation, outputs an irradiation command to the control unit 8 to irradiate the subject 90 with X-rays from the X-ray source 20. In addition, the foot switch 50 has three functions in the second input operation: an irradiation output function, a state transition output function, and a movement output function. The state transition output function outputs a state transition command to the control unit 8 to transition to an instruction keyword recognition state in which voice recognition of the instruction keyword is possible. In other words, the state transition output function is a function that allows the control unit 8 to transition to the instruction keyword recognition state even if the voice of the starting keyword is not received. The movement output function outputs a movement command to the control unit 8 to move the X-ray imaging unit 2 toward the target position. In other words, the movement output function is a function that allows the control unit 8 to move the X-ray imaging unit 2 toward the target position when the instruction keyword is voice-recognized.

[0038] In the irradiation output function, when the foot is removed from the foot switch 50, the irradiation of X-rays from the X-ray source 20 stops. That is, the output of the irradiation command from the foot switch 50 to the control unit 8 stops. Therefore, X-rays are irradiated from the X-ray source 20 only while the foot switch 50 is pressed down by the first amount d1 (see Figure 7) corresponding to the first input operation or the second amount d2 (see Figure 7) corresponding to the second input operation.

[0039] Furthermore, in the state transition output function, when a second input operation is received by the user pressing down on the foot switch 50, the system transitions to an instruction keyword recognition state where voice recognition of the instruction keyword is possible, even if the voice of the start keyword is not received. Also, when the foot is released from the foot switch 50, or when the foot switch 50 changes from a second pressing amount d2 (see Figure 7) corresponding to the second input operation to a first pressing amount d1 (see Figure 7) corresponding to the first input operation, the system does not transition to the instruction keyword recognition state unless the voice of the start keyword is received. In other words, the output of state transition commands from the foot switch 50 to the control unit 8 is stopped. Therefore, the system transitions to an instruction keyword recognition state where voice recognition of the instruction keyword is possible, even if the voice of the start keyword is not received, only while the foot switch 50 is pressed down by a second pressing amount d2 (see Figure 7) corresponding to the second input operation.

[0040] Furthermore, in the movement execution function, when a second input operation is received by the user pressing down on the foot switch 50, the arm 22 is rotated or moved by the rotation mechanism 31 and the horizontal movement mechanism 32, causing the X-ray imaging unit 2 to move. Also, when the foot is released from the foot switch 50, or when the amount of pressure applied to the foot switch 50 changes from the second amount d2 (see Figure 7) corresponding to the second input operation to the first amount d1 (see Figure 7) corresponding to the first input operation, the movement of the X-ray imaging unit 2 stops. That is, the output of a movement command from the foot switch 50 to the control unit 8 is stopped. Therefore, the X-ray imaging unit 2 moves only while the foot switch 50 is pressed down by the second amount d2 (see Figure 7) corresponding to the second input operation.

[0041] As shown in Figure 6(b), the control panel 51 is configured to receive input operations related to X-ray imaging. The control panel 51 is configured to receive input operations by the user. The control panel 51 includes, for example, a touch panel 52 that functions as an input unit for receiving various operations, a first push button 53, a second push button 54, and a lever switch 55. The control panel 51 is located, for example, on the side (Y direction side) of the patient bed 1.

[0042] The first push button 53 is configured to receive an input operation for moving the X-ray imaging unit 2. While the first push button 53 is pressed, the X-ray imaging unit 2 is moved by rotating or moving the arm 22 by the rotation mechanism 31 and the horizontal movement mechanism 32.

[0043] The second push button 54 is configured to receive an input operation regarding the start and end of the irradiation of X-rays by the X-ray source 20. While the second push button 54 is pressed, X-ray imaging is performed by irradiating X-rays from the X-ray source 20.

[0044] As shown in FIG. 2, the storage unit 6 stores various programs executed by the control unit 8. Further, the storage unit 6 stores a plurality of target positions that are target positions for moving the X-ray imaging unit 2. The storage unit 6 is a non-volatile memory such as, for example, an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0045] The target position is a position for imaging one target part of the subject 90 registered in advance from a plurality of 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 bed 1, and the distance between the focal position of the X-ray source 20 and the detector 21. The rotation angle of the arm 22 is a combination of the angle for rotating the arm 22 by the rotation mechanism 31 when imaging in either RAO or LAO, and the angle for rotating the arm 22 when imaging in either CRANIAL or CAUDAL.

[0046] As will be described in detail later, the target position of the X-ray imaging unit 2 for performing X-ray imaging is set when the voice of the user received by the voice input unit 9 is voice-recognized by the control unit 8. That is, the target position of the X-ray imaging unit 2 for performing X-ray imaging is set as the function execution control by the control unit 8 according to the voice recognition of the instruction keyword. Also, the target position of the X-ray imaging unit 2 for performing X-ray imaging is set as the function execution control by the control unit 8 according to the voice recognition of the instruction keyword while a state transition command is output from the foot switch 50 by a second input operation on the foot switch 50. Note that the target position of the X-ray imaging unit 2 may be set from among a plurality of target positions by an input operation by the user via the touch panel 52.

[0047] As shown in FIG. 2, the image processing unit 7 is configured by 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 the electrical signal transmitted from the detector 21.

[0048] The control unit 8 is configured by a processor such as a GPU. The control unit 8 is configured to perform control based on a keyword by voice-recognizing the keyword based on the voice received by the voice input unit 9 by executing a program stored in the storage unit 6. The keyword includes an instruction keyword for executing a corresponding predetermined function and a start keyword that serves as a trigger for voice-recognizing the instruction keyword.

[0049] The control unit 8 is configured to perform state transition control, instruction keyword recognition control, and function execution control by executing a program stored in the memory unit 6. State transition control is a control that transitions to an instruction keyword recognition state in which speech recognition of the instruction keyword is possible. For example, as a state transition control, the control unit 8 is configured to transition to an instruction keyword recognition state by speech recognition of a start keyword based on the speech received by the speech input unit 9.

[0050] The instruction keyword recognition control is a control method that, in the instruction keyword recognition state, recognizes the instruction keyword based on the voice received by the voice input unit 9.

[0051] Function execution control is a control system that executes a function corresponding to a voice-recognized instruction keyword. Details of the instruction keyword and the function execution control that executes the function corresponding to the voice-recognized instruction keyword will be described later. For example, the control unit 8 is configured to set the target position of the X-ray imaging unit 2 as a function execution control in response to voice recognition of an instruction keyword.

[0052] Furthermore, the control unit 8 is configured to perform state transition control to transition to the instruction keyword recognition state even without receiving a voice command for the start keyword, by acquiring a state transition command from the foot switch 50 through an input operation to the foot switch 50. Specifically, the control unit 8 performs state transition control while a second input operation to the foot switch 50 is being accepted. In addition, while the control unit 8 is acquiring a state transition command from the foot switch 50 through an input operation to the foot switch 50, it is configured to set the target position of the X-ray imaging unit 2 as a function execution control in response to voice recognition of the instruction keyword.

[0053] Furthermore, the control unit 8 is configured to perform movement execution control to move the X-ray imaging unit 2 toward the target position in response to voice recognition of instruction keywords while it is receiving a movement command from the foot switch 50 due to an input operation being received from the foot switch 50. Specifically, the control unit 8 performs movement execution control while a second input operation is received from the foot switch 50.

[0054] Furthermore, the control unit 8 is configured to perform X-ray irradiation control, which involves irradiating the subject 90 with X-rays from the X-ray source 20, while it is receiving an irradiation command from the foot switch 50 due to an input operation being received from the foot switch 50. Specifically, the control unit 8 performs X-ray irradiation control while the first input operation and the second input operation to the foot switch 50 are being received.

[0055] (Functional Blocks of the 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, includes a keyword determination processing unit 80, a movement control unit 81, and an image capture control unit 82 as software (program) functional blocks. The control unit 8 functions as the keyword determination processing unit 80, the movement control unit 81, and the image capture control unit 82 by executing the program stored in the storage unit 6. The keyword determination processing unit 80, the movement control unit 81, and the image capture control unit 82 may be individually configured by hardware with dedicated processors (processing circuits).

[0056] (Keyword Determination Processing Unit) The keyword determination processing unit 80 is configured to perform state transition control and instruction keyword recognition control. The keyword determination processing unit 80 is also configured to perform function execution control. For example, as function execution control, the keyword determination processing unit 80 is configured to set the target position of the X-ray imaging unit 2 in response to voice recognition of the instruction keyword.

[0057] Specifically, the keyword determination processing unit 80 determines keywords based on the audio data acquired from the audio input unit 9. For example, the keyword determination processing unit 80 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 80 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 80 executes the processing according to the determined control. Note that the process of determining keyword-based controls by speech recognition of keywords based on the user's voice is not limited to the above example, and known technologies can be applied.

[0058] More specifically, for example, if the starting keyword is "Trinias," the keyword determination processing unit 80 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. The keyword determination processing unit 80 then starts speech recognition for the instructed keyword. In other words, the keyword determination processing unit 80 transitions to an instructed keyword recognition state in which speech recognition for the instructed keyword is possible.

[0059] For example, if the instruction keyword is "RAO 40, CRANIAL 20, HOME", the keyword determination processing unit 80 performs speech recognition processing on the voice data containing the instruction keyword, converts the voice data into text data, and, 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 80 then sets the above predetermined target position as the target position of the X-ray imaging unit 2. That is, in the instruction keyword recognition state, the keyword determination processing unit 80 performs speech recognition of the instruction keyword based on the user's voice, and in response to the speech recognition of the instruction keyword, executes the function corresponding to the speech-recognized instruction keyword.

[0060] Furthermore, the keyword determination processing unit 80 is configured to perform state transition control, which, upon receiving a state transition command from the foot switch 50 through a second input operation to the foot switch 50, transitions to an instruction keyword recognition state in which voice recognition of the instruction keyword is possible even if the voice input unit 9 does not receive a voice of the start keyword.

[0061] Specifically, the keyword determination processing unit 80 performs voice recognition for the instruction keyword even if it does not receive a voice notification for the start keyword from the voice input unit 9 while the second input operation to the foot switch 50 is being received. At this time, for example, when the user utters an instruction keyword for the target position of the X-ray imaging unit 2, the keyword determination processing unit 80 performs voice recognition processing on the voice data containing the instruction keyword for the target position of the X-ray imaging unit 2, thereby setting a predetermined target position as the target position of the X-ray imaging unit 2.

[0062] More specifically, while the keyword determination processing unit 80 is receiving a state transition command from the foot switch 50 because a second input operation to the foot switch 50 has been accepted, even if it does not receive the voice command "Trinias" as the start keyword, if the user utters the instruction keywords "RAO 40, CRANIAL 20, HOME", the keyword determination processing unit 80 performs voice recognition processing on the voice data containing the instruction keywords, thereby setting the target position corresponding to the instruction keywords as the target position of the X-ray imaging unit 2.

[0063] Furthermore, when the keyword determination processing unit 80 stops receiving state transition commands from the foot switch 50 due to the cancellation of the acceptance of the second input operation to the foot switch 50, it will not start voice recognition for the instruction keyword unless it receives a voice notification of the start keyword from the voice input unit 9. In other words, the keyword determination processing unit 80 will start voice recognition for the instruction keyword even if it does not receive a voice notification of the start keyword, only while the foot switch 50 is pressed down by the second depression amount d2 (see Figure 7) corresponding to the second input operation.

[0064] (Movement Control Unit) The movement control unit 81 is configured to perform movement execution control. The movement control unit 81 is configured to perform movement execution control to move the X-ray imaging unit 2 toward a set target position.

[0065] Specifically, when the keyword determination processing unit 80 sets a target position corresponding to the instruction keyword as the target position of the X-ray imaging unit 2, the movement control unit 81 moves the X-ray imaging unit 2 towards the set target position via the imaging unit movement mechanism 3 while it is receiving a movement command from the foot switch 50 due to a second input operation to the foot switch 50. More specifically, when the movement control unit 81 is in a state where it has transitioned to the instruction keyword recognition state by receiving a state transition command from the foot switch 50 via a second input operation to the foot switch 50, or in a state where it has transitioned to the instruction keyword recognition state by voice recognition of the start keyword, and the keyword determination processing unit 80 sets a target position corresponding to the instruction keyword as the target position of the X-ray imaging unit 2 in response to voice recognition of the instruction keyword, the movement control unit 81 moves the X-ray imaging unit 2 towards the set target position via the imaging unit movement mechanism 3 while it is receiving a movement command from the foot switch 50 due to a second input operation to the foot switch 50.

[0066] Furthermore, when the target position of the X-ray imaging unit 2 is set by an input operation by the user via the touch panel 52, the movement control unit 81 receives a second input operation to the foot switch 50 and, while acquiring a movement command from the foot switch 50, moves the X-ray imaging unit 2 toward the set target position via the imaging unit movement mechanism 3.

[0067] Furthermore, when the movement control unit 81 stops receiving state transition commands from the foot switch 50 because it has released the acceptance of the second input operation to the foot switch 50, it stops moving the X-ray imaging unit 2 via the imaging unit movement mechanism 3. In other words, the movement control unit 81 moves the X-ray imaging unit 2 via the imaging unit movement mechanism 3 only while the foot switch 50 is pressed down by the second amount d2 (see Figure 7) corresponding to the second input operation.

[0068] (Imaging Control Unit) The imaging control unit 82 is configured to perform X-ray irradiation control. Specifically, the imaging control unit 82 is configured to perform X-ray irradiation control, irradiating the subject 90 with X-rays from the X-ray source 20 while it is receiving irradiation commands from the foot switch 50, as the first input operation and the second input operation to the foot switch 50 have been accepted. The imaging control unit 82 stops irradiating X-rays from the X-ray source 20 when it stops receiving irradiation commands from the foot switch 50, as the acceptance of the first input operation to the foot switch 50 is released. In other words, the imaging control unit 82 irradiates X-rays from the X-ray source 20 only while the foot switch 50 is pressed down by a second depression amount d2 (see Figure 7) corresponding to the first input operation or the second input operation.

[0069] (First and Second Input Operations in the Foot Switch) The first and second input operations in the foot switch 50 will be explained with reference to Figure 7. The foot switch 50 is configured to accept a first input operation, which accepts an input operation by pressing with a first pressing force and a first step amount d1, and a second input operation, which accepts an input operation by pressing with a second pressing force greater than the first pressing force and a second step amount d2 greater than the first step amount d1. That is, in the second input operation, the foot switch 50 is pressed more strongly and deeply by the user than in the first input operation.

[0070] The foot switch 50 includes a pedal portion 501, a spring contact portion 502, a first spring portion 503, a second spring portion 504, and a base portion 508. The bottom surface of the base portion 508 is positioned parallel to the floor surface 93 inside the imaging room 91.

[0071] The pedal section 501 is attached to the base section 508. The pedal section 501 is rotatable around a horizontal axis 507 in response to operation by the user's foot. The horizontal axis 507 is provided at the toe end of the foot that presses down on the pedal section 501. As the user presses down on the pedal section 501, it rotates around the horizontal axis 507, causing the heel end of the foot that presses down on the pedal section 501 to descend. The pedal section 501 is configured to descend in two stages, depending on the amount of pressure applied by the user's foot: a first stage of descent in a first input operation, and a second stage of descent in a second input operation, where the pedal is pressed down more than the first stage.

[0072] The spring contact portion 502 is provided on the lower surface of the pedal portion 501 opposite to the upper surface that the user's foot contacts. The spring contact portion 502 is configured to contact the first spring portion 503 when the user's pressing is released, but not to contact the second spring portion 504. The spring contact portion 502 is configured to contact the first spring portion 503 and the second spring portion 504 when the first spring portion 503 is pressed in with a first pressing force, and when the first spring portion 503 and the second spring portion 504 are pressed in with a second pressing force.

[0073] The first spring portion 503 is configured to compress when pressed by the user via the spring contact portion 502, thereby allowing the pedal portion 501 to descend, and to raise the pedal portion 501 by biasing force when the user releases the pressure on the pedal portion 501. The first spring portion 503, when pressed by a first pressing force, allows the pedal portion 501 to descend by a first depression amount d1. In the first input operation, the pedal portion 501 descends by a first depression amount d1. Furthermore, the first spring portion 503, when pressed by a second pressing force, together with the second spring portion 504, allows the pedal portion 501 to descend by a second depression amount d2. The first spring portion 503 has a first spring constant. The first spring portion 503 is, for example, a coil spring.

[0074] The first spring portion 503 is provided on the lower side of the pedal portion 501. The first spring portion 503 is provided on the lower side of the pedal portion 501 via the spring contact portion 502. The first spring portion 503 abuts against the spring contact portion 502 at its upper end and is fixed to the base portion 508 at its lower end.

[0075] The second spring portion 504 is compressed when pressed by the user via the spring contact portion 502, thereby allowing the pedal portion 501 to descend. It is also configured to raise the pedal portion 501 by biasing force when the user releases their pressure or when the user's pressure on the pedal portion 501 becomes less than the second pressing force. When pressed by the second pressing force, the second spring portion 504, together with the first spring portion 503, allows the pedal portion 501 to descend by the second pressing amount d2. In the second input operation, the pedal portion 501 descends by the second pressing amount d2. The second spring portion 504 has a second spring constant that is greater than the first spring constant. The second spring portion 504 is, for example, a coil spring.

[0076] The second spring portion 504 is provided on the lower side of the pedal portion 501. The second spring portion 504 is fixed to the base portion 508 at its lower end. The second spring portion 504 is provided in parallel with the first spring portion 503. When the user has released the pressure applied to the pedal portion 501, the second spring portion 504 does not contact the spring contact portion 502 at its upper end. In the state of a first input operation where the pedal portion 501 has been lowered by a first amount d1 by the user with a first pressing force, the second spring portion 504 contacts the spring contact portion 502 at its upper end and is configured to suppress further lowering of the pedal portion 501. Furthermore, when the pedal portion 501 is pressed by the user with a pressing force greater than or equal to the second pressing force, the second spring portion 504, together with the first spring portion 503, lowers the pedal portion 501 by a second amount d2.

[0077] Furthermore, a first projection 505 is provided on the lower surface of the pedal portion 501, and a second projection 506 is provided above the base portion 508. The first projection 505 is configured to be in contact with the second projection 506. The first projection 505 is positioned so as to overcome the second projection 506 when the pedal portion 501 is lowered by a second pressing force by a second pressing amount d2, and is configured to generate a click sound when it overcomes the second projection 506. In other words, the first projection 505 generates a click sound when the state changes from the state in which the first input operation is accepted to the state in which the second input operation is accepted. Therefore, the user recognizes the click sound and feels a small impact on their foot when the state changes from the state in which the first input operation is accepted to the state in which the second input operation is accepted.

[0078] The foot switch 50 has a state transition output function, a movement output function, and an irradiation output function. The state transition output function outputs a state transition command to the control unit 8 in response to a second input operation by the user, which transitions to the instruction keyword recognition state. The movement output function outputs a movement command to the control unit 8 to move the X-ray imaging unit 2 toward the target position while the second input operation by the user is being received. The irradiation output function outputs an irradiation command to the control unit 8 to irradiate the subject 90 with X-rays from the X-ray source 20 while the first and second input operations by the user are being received.

[0079] In other words, the foot switch 50 has an irradiation output function in the first input operation, and a state transition output function, a movement output function, and an irradiation output function in the second input operation.

[0080] The foot switch 50 is provided with, for example, a first contact and a second contact (not shown). As a first input operation, the pedal section 501 is lowered by an amount corresponding to the first depression amount d1, which turns the first contact ON. When the first contact is connected and turns ON, a first ON signal as an irradiation command is output from the first contact to the control unit 8. When the control unit 8 (imaging control unit 82) receives the first ON signal, it performs X-ray irradiation control.

[0081] When the pedal section 501, which has been lowered by an amount equivalent to the first depression amount d1, rises to a position less than the first depression amount d1, the connection of the first contact is released and it enters the off state. When the first contact enters the off state, a first off signal that cancels the irradiation command is output from the first contact to the control unit 8. When the control unit 8 (imaging control unit 82) receives the first off signal, it stops the X-ray irradiation control.

[0082] Furthermore, as a second input operation, the pedal unit 501 descends by an amount corresponding to the second depression amount d2, causing the second contact to turn ON. When the second contact is connected and turns ON, a second ON signal, which serves as both a state transition command and a movement command, is output from the second contact to the control unit 8. When the control unit 8 (keyword determination processing unit 80, movement control unit 81) receives the second ON signal, it performs state transition control and movement execution control. Note that when the second contact is ON, the first contact, which serves as the irradiation command, is also ON. That is, when the control unit 8 (imaging control unit 82, keyword determination processing unit 80, movement control unit 81) receives the second ON signal along with the first ON signal, it performs X-ray irradiation control, state transition control, and movement execution control.

[0083] When the pedal section 501, which has been lowered by an amount equivalent to the second depression amount d2, rises to a position less than the second depression amount d2, the connection of the second contact is released and it enters the off state. When the second contact enters the off state, a second off signal is output from the second contact to the control unit 8, which cancels the state transition command and the movement command. When the control unit 8 (keyword determination processing unit 80, movement control unit 81) receives the second off signal, it stops the state transition control and the movement execution control.

[0084] (Instruction Keywords and Function Execution Control for Executing Functions Corresponding to Instruction Keywords) Referring to Figure 8, the instruction keywords and function execution control for executing functions corresponding to the instruction keywords in this embodiment will be described. Note that the instruction keywords and function execution control for executing functions corresponding to the instruction keywords (function execution control based on instruction keywords) described below are examples and are not limited to the examples below.

[0085] The instruction keywords include instruction keywords related to the fluoroscopic images stored in the memory unit 6, and the function execution control based on the instruction keywords includes control related to the fluoroscopic images stored in the memory unit 6.

[0086] For example, function execution control based on instruction keywords involves storing the fluoroscopic image generated by the image processing unit 7 in the storage unit 6 in the form of a moving image. In this case, a user such as a doctor or technician utters "Save" as an instruction keyword after uttering "Trinias" as the start keyword, or while performing a second input operation on the foot switch 50. The control unit 8, as function execution control based on the instruction keyword determined by voice recognition processing, stores the fluoroscopic image generated by the image processing unit 7 in the storage unit 6 in the form of a moving image.

[0087] Furthermore, for example, the function execution control based on instruction keywords is a control that stores the fluoroscopic image generated by the image processing unit 7 as fluoroscopic imaging is performed by the X-ray imaging unit 2 in the storage unit 6 in the form of a moving image. In this case, the user, such as a doctor or technician, first utters "Trinias" as the start keyword, and then utters "Save it now" as the instruction keyword. The control unit 8, as a function execution control based on the instruction keyword determined by the voice recognition process, stores the fluoroscopic image generated by the image processing unit 7 as fluoroscopic imaging is performed by the X-ray imaging unit 2 in the storage unit 6 in the form of a moving image.

[0088] Furthermore, for example, the function execution control based on instruction keywords is a control that stores the final frame image of the fluoroscopic image generated by the image processing unit 7 as a result of fluoroscopy in the storage unit 6. In this case, the user, such as a doctor or technician, will say "Save one image" as an instruction keyword after uttering "Trinias" as the start keyword, or while performing a second input operation on the foot switch 50. The control unit 8 will store the final frame image of the fluoroscopic image generated by the image processing unit 7 as a result of fluoroscopy in the storage unit 6 as a function execution control based on the instruction keyword determined by the voice recognition process.

[0089] Furthermore, for example, function execution control based on instruction keywords is a control that registers the selected frame in the video as a reference image. In this case, the user, such as a doctor or technician, will utter "Reference Registration" as an instruction keyword after uttering "Trinias" as the start keyword, or while performing a second input operation on the foot switch 50. The control unit 8 will register the selected image as a reference image as a function execution control based on the instruction keyword determined by the speech recognition process.

[0090] Furthermore, for example, the function execution control based on instruction keywords is a control that enables a shooting mode that converts a video image taken while administering a contrast agent and moving the tabletop 10 into a single long-length image. In this case, the user, such as a doctor or technician, will utter "Trinias" as the start keyword, or while performing a second input operation on the foot switch 50, they will utter "Score Chase" as the instruction keyword. The control unit 8 will then enable a shooting mode that administers a contrast agent and converts a video image taken while moving the tabletop 10 into a single long-length image, as a function execution control based on the instruction keyword determined by voice recognition processing.

[0091] Furthermore, the instruction keywords include instruction keywords related to the display of the perspective image in the display unit 4, and the function execution control based on the instruction keywords includes control related to the display of the perspective image in the display unit 4.

[0092] For example, the function execution control based on instruction keywords is a control that enables a shooting mode in which a device-fixed image is displayed on the display unit 4, in which the position of a device such as a stent is fixed based on the position data of markers in the fluoroscopic image. In this case, the user, such as a doctor or technician, will say "Trinias" as the start keyword, or will say "stent view" as the instruction keyword while performing a second input operation on the foot switch 50. The control unit 8 enables a shooting mode in which a device-fixed image is displayed on the display unit 4, in which the position of a device such as a stent is fixed based on the position data of markers in the fluoroscopic image, as a function execution control based on the instruction keyword determined by voice recognition processing.

[0093] Furthermore, for example, function execution control based on instruction keywords is the control of operations related to the display of fluoroscopic images. In this case, a user such as a doctor or technician utters "previous image" as an instruction keyword after uttering "Trinias" as the start keyword, or while performing a second input operation on the foot switch 50. The control unit 8, as function execution control based on the instruction keyword determined by voice recognition processing, displays the fluoroscopic image of the video stored immediately before the multiple video fluoroscopic images on the display unit 4. Also, when a user such as a doctor or technician utters "next image" as an instruction keyword, the control unit 8 displays the fluoroscopic image of the video stored immediately after the multiple video fluoroscopic images on the display unit 4.

[0094] Furthermore, users such as doctors and technicians may utter the instruction keyword "previous frame" after uttering the starting keyword "Trinias" or while performing a second input operation on the foot switch 50. The control unit 8, as a function execution control based on the instruction keyword determined by the voice recognition process, displays the image of the previous frame in the fluoroscopic image of the moving image on the display unit 4. Also, when a user such as a doctor or technician utters the instruction keyword "next frame", the control unit 8 displays the image of the next frame in the fluoroscopic image of the moving image on the display unit 4.

[0095] Furthermore, after a user such as a doctor or technician utters "Trinias" as the start keyword, or while performing a second input operation on the foot switch 50, they utter "Play back" as the instruction keyword. The control unit 8 plays back the fluoroscopic images as a function execution control based on the instruction keyword determined by the voice recognition process. If the user such as a doctor or technician utters "Stop" as the instruction keyword, the control unit 8 stops playing back the fluoroscopic images as the video.

[0096] Furthermore, the instruction keywords include instruction keywords related to setting the target position of the X-ray imaging unit 2 in X-ray imaging, and the function execution control based on the instruction keywords includes control related to setting the target position of the X-ray imaging unit 2 in X-ray imaging. Note that the instruction keywords related to setting the target position of the X-ray imaging unit 2 and the function execution control based on the instruction keywords related to setting the target position of the X-ray imaging unit 2 described below are examples.

[0097] For example, a user such as a doctor or technician might utter the instruction keyword "RAO 40, CRANIAL 20, HOME" after uttering the starting keyword "Trinias" or while performing a second input operation on the foot switch 50. The control unit 8, as a function execution control based on the instruction keyword determined by voice recognition processing, sets a predetermined target position corresponding to the instruction keyword as the target position of the X-ray imaging unit 2. In this case, the set target position is the position obtained by rotating the arm 22 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.

[0098] Furthermore, users such as doctors and technicians, after uttering the starting keyword "Trinias" or while performing a second input operation on the foot switch 50, utter the instruction keyword "CRANIAL, go back 2 degrees." The control unit 8, as a function execution control based on the instruction keyword determined by voice recognition processing, sets a predetermined target position corresponding to the instruction keyword as the target position of the X-ray imaging unit 2. In this case, the target position set is the position where the arm 22 has been rotated back 2 degrees in the CRA direction.

[0099] (Processing by the control unit in an example of fluoroscopy using a foot switch) Referring to Figure 9, the processing by the control unit 8 in an example of fluoroscopy using a foot switch 50 will be explained. In the example of fluoroscopy shown in Figure 9, the instruction keyword is the target position of the X-ray imaging unit 2. The processing by the control unit 8 in the example of fluoroscopy shown in Figure 9 is started when the start keyword spoken by the user is recognized by the keyword determination processing unit 80, and the system transitions to an instruction keyword recognition state in which voice recognition of the instruction keyword is possible. The order of the processing steps can be reversed or executed simultaneously, as long as they do not contradict each other.

[0100] In step S1, the control unit 8 (keyword determination processing unit 80) performs speech recognition processing on the voice data containing the instruction keyword. The user also speaks the instruction keyword "RAO 40, CRANIAL 20, HOME". After that, the process proceeds to step S2.

[0101] In step S2, the control unit 8 (keyword determination processing unit 80) recognizes the instruction keyword spoken by the user obtained from the voice input unit 9 and determines that the function execution control based on the instruction keyword 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 80 then sets the above predetermined target position as the target position of the X-ray imaging unit 2. After that, the process proceeds to step S3.

[0102] In step S3, the control unit 8 (movement control unit 81) receives the input operation from the first push button 53 and moves the X-ray imaging unit 2 toward the set target position via the imaging unit movement mechanism 3 while the first push button 53 is pressed. The process then proceeds to step S4.

[0103] In step S4, after the X-ray imaging unit 2 has finished moving to the set target position, the control unit 8 (imaging control unit 82) receives an irradiation command from the foot switch 50 by a first input operation to the foot switch 50. As long as the irradiation command is received from the foot switch 50 because the first input operation to the foot switch 50 has been accepted, X-rays are emitted from the X-ray source 20. That is, fluoroscopy is started, and the fluoroscopic image taken by the X-ray imaging unit 2 at the target position is displayed on the display unit 4. In step S4, the user can see the fluoroscopic image displayed on the display unit 4. After that, the process proceeds to step S5.

[0104] In step S5, the control unit 8 receives a state transition command and a movement command from the foot switch 50 in response to a second input operation to the foot switch 50. The user also sequentially speaks instruction keywords such as "RAO 30", "CRANIAL 10", and "CRANIAL, go back two times". After that, the process proceeds to step S6.

[0105] In step S6, the control unit 8 (keyword determination processing unit 80) transitions to the instruction keyword recognition state even if the voice of the start keyword is not received, and in the instruction keyword recognition state, it recognizes the instruction keyword spoken by the user obtained from the voice input unit 9, and determines that the function execution control based on the instruction keyword 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 positions are, respectively, "a position rotated 30 degrees in the RAO direction", "a position rotated 10 degrees in the CRA direction", and "a position rotated 2 degrees back in the CRA direction".

[0106] The control unit 8 (keyword determination processing unit 80) sets the target position of the X-ray imaging unit 2 to "a position rotated 30 degrees in the RAO direction". Then, while the second input operation to the foot switch 50 is being received, the control unit 8 (movement control unit 81) moves the X-ray imaging unit 2 toward "a position rotated 30 degrees in the RAO direction" via the imaging unit movement mechanism 3. The control unit 8 (keyword determination processing unit 80) also sets the target position of the X-ray imaging unit 2 to "a position rotated 10 degrees in the CRA direction". Then, while the second input operation to the foot switch 50 is being received, the control unit 8 (movement control unit 81) moves the X-ray imaging unit 2 toward "a position rotated 10 degrees in the CRA direction" via the imaging unit movement mechanism 3. The control unit 8 (keyword determination processing unit 80) also sets the target position of the X-ray imaging unit 2 to "a position rotated 2 degrees back in the CRA direction". Then, while the second input operation to the foot switch 50 is being received, the control unit 8 (movement control unit 81) moves the X-ray imaging unit 2 via the imaging unit movement mechanism 3 toward a position that has been rotated back two degrees in the CRA direction.

[0107] The control unit 8 (keyword determination processing unit 80 and movement control unit 81) sets the target position and moves the X-ray imaging unit 2 in step S6 sequentially according to the timing of the user's spoken instruction keyword. That is, in step S6, the user fine-tunes the position and imaging angle of the X-ray imaging unit 2 while viewing the fluoroscopic image displayed on the display unit 4. The process then proceeds to step S7.

[0108] In step S7, the control unit 8 (imaging control unit 82) receives confirmation that the second input operation to the foot switch 50 has been released and that the first input operation to the foot switch 50 has been received. While the first input operation to the foot switch 50 has been received and an irradiation command has been received from the foot switch 50, the X-ray source 20 irradiates the device with X-rays. The control unit 8 (keyword determination processing unit 80 and movement control unit 81) also stops the state transition control and movement execution control. After that, the process proceeds to step S8.

[0109] In step S8, the control unit 8 (imaging control unit 82) receives confirmation that the first input operation to the foot switch 50 has been released and stops the irradiation of X-rays from the X-ray source 20. After that, the process ends. In other words, fluoroscopy is completed.

[0110] It should be noted that the fluoroscopy using the foot switch 50 shown in Figure 9 is merely one example of fluoroscopy and is not restrictive. For example, the processing by the control unit 8 in the example of fluoroscopy shown in Figure 9 may be started when the control unit 8 receives a state transition command from the foot switch 50 by a second input operation to the foot switch 50. In this case, the processing of steps S1 to S5 described above is omitted. That is, upon receiving the second input operation to the foot switch 50, the control unit 8 starts fluoroscopy and displays the fluoroscopic image captured by the X-ray imaging unit 2 on the display unit 4. While the irradiation command, state transition command, and movement command are being acquired from the foot switch 50 due to the acceptance of the second input operation to the foot switch 50, the user can view the fluoroscopic image displayed on the display unit 4, and the target position of the X-ray imaging unit 2 is set and the shooting angle of the X-ray imaging unit 2 is finely adjusted by voice recognition processing.

[0111] [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, the invention may include a mechanical push button as a single switch and an operation panel that accepts user input, wherein the single push button on the operation panel has a state transition output function that outputs a state transition command to a control unit that transitions to an instruction keyword recognition state in response to user input, a movement output function that outputs a movement command to the control unit that moves an object toward a target position while accepting user input, and an irradiation output function that outputs an irradiation command to the control unit that irradiates a subject with X-rays from an X-ray source while accepting user input. In this case, the control unit (keyword determination processing unit, movement control unit, and imaging control unit) may be configured to perform state transition control, which transitions to the instruction keyword recognition state even without receiving a voice command for the start keyword, by obtaining a state transition command from a single push button by an input operation to a single push button on the operation panel; movement execution control, which moves the X-ray imaging unit via the imaging unit movement mechanism in response to voice recognition of the instruction keyword while a movement command is obtained from a single push button by receiving an input operation to a single push button on the operation panel; and X-ray irradiation control. In this case, the single switch provided on the operation panel may be replaced by a single button image displayed on the touch panel of the operation panel that can accept two-stage input operations, instead of a single mechanical push button. Also, for example, a single switch, such as a foot switch shown as an example, may be configured to accept only one-stage input operations instead of two-stage input operations of a first input operation and a second input operation. In this case, the single switch may have a state transition output function, a movement output function, and an irradiation output function for one-stage input operations. Furthermore, the control unit may be configured to perform state transition control, movement execution control, and X-ray irradiation control.Furthermore, for example, a single switch, such as a foot switch as an example, may have only two functions in the second input operation: a state transition output function and a movement output function, rather than having three mechanisms: a state transition output function, a movement output function, and an illumination output function. In this case, the control unit may be configured to perform state transition control and movement execution control when a second input operation is received by the single switch. Also, for example, the control unit may perform state transition control, instruction keyword recognition control, and function execution control, and the single foot switch may be configured to have both a state transition output function and a movement output function that outputs a movement command to the control unit to move the top plate, which is the object to be moved, toward the target position while it is receiving an input operation from the user. That is, the control unit may be configured to perform state transition control when a state transition command is obtained from the single foot switch by an input operation to the single foot switch, and movement execution control when a movement command is obtained from the single foot switch because an input operation to the single foot switch is received, and the top plate, which is the object to be moved, moves toward the target position in response to voice recognition of an instruction keyword. In this case, the memory unit may store multiple target positions, which are the target positions to which the top panel will be moved. The control unit may be configured to set the target position of the top panel as the object to be moved as a function execution control in response to voice recognition of instruction keywords. Alternatively, for example, the control unit may perform state transition control, instruction keyword recognition control, and function execution control, and a single foot switch may be configured to have both a state transition output function and a movement output function that outputs a movement command to the control unit to move the display unit, which is the object to be moved, toward the target position while accepting input from the user.In other words, the control unit may be configured to perform state transition control by obtaining a state transition command from a single foot switch through an input operation to a single foot switch, and to perform movement execution control by moving the display unit, which is the object to be moved, toward the target position in response to voice recognition of instruction keywords while a movement command is being obtained from a single foot switch due to the acceptance of an input operation to a single foot switch. In this case, the memory unit may store multiple target positions, which are the target positions to which the display unit will be moved. The control unit may also be configured to set the target position of the display unit, which is the object to be moved, as a function execution control in response to voice recognition of instruction keywords. Furthermore, for example, the first spring coefficient of the first spring part and the second spring coefficient of the second spring part may be equal. Furthermore, the first spring part and the second spring part may be provided in series. Furthermore, the first spring part and the second spring part may be springs other than coil springs, for example, they may be torsion springs. Furthermore, the first and second protrusions are not provided, and the foot switch may be provided with a click mechanism including a convex member having a convex portion and a concave member having a concave portion. The configuration for generating a click sound is not particularly limited. Note that a click sound does not have to be generated when the state changes from when the first input operation is received to when the second input operation is received. Also, for example, the foot switch may include an encoder that acquires the rotation speed (rotation angle) of the rotation axis of the pedal part, and the control unit may be configured to acquire the acceptance of the first input operation and the acceptance of the second input operation based on the output from the encoder.

[0112] [Reference Example] In the above embodiment, in the processing by the control unit in an example of fluoroscopy using a foot switch, the control unit sets the target position of the X-ray imaging unit, accepts the movement of the X-ray imaging unit, and then receives the input operation from the first push button. While the first push button is pressed, the control unit moves the X-ray imaging unit toward the set target position via the imaging unit movement mechanism. That is, in the example of fluoroscopy, when moving the X-ray imaging unit toward the set target position, X-ray irradiation is not performed until the X-ray imaging unit reaches the set target position. Therefore, fluoroscopy is not performed until the X-ray imaging unit reaches the set target position, and the fluoroscopic image is not displayed on the display unit. As a result, even if there is an optimal position and optimal imaging angle for the X-ray imaging unit in X-ray imaging, the user cannot recognize the optimal position and optimal imaging angle of the X-ray imaging unit before the X-ray imaging unit reaches the set target position. In contrast, while it is possible to perform fluoroscopy by irradiating with X-rays by pressing a first input operation on the foot switch or a second push button when moving the X-ray imaging unit toward a set target position, performing both pressing the first push button and the first input operation on the foot switch or the second push button is cumbersome for the user. Therefore, in order to enable the user to recognize the optimal position and optimal shooting angle of the X-ray imaging unit without impairing user convenience, the X-ray imaging device comprises an X-ray imaging unit, a top plate, a display unit, an operation unit including a single switch that accepts user input operations, and a control unit that performs state transition control, instruction keyword recognition control, and function execution control. The single switch may be configured to have both a movement output function that outputs a movement command to the control unit to move an object, including at least one of the X-ray imaging unit, the top plate, and the display unit, toward a target position while accepting user input operations, and an irradiation output function that outputs an irradiation command to the control unit to irradiate the subject with X-rays from the X-ray source while accepting user input operations.In other words, the control unit may be configured to perform both movement execution control, which moves the object to be moved toward the target position in response to voice recognition of instruction keywords while an input operation to the single switch is received and a movement command is obtained from the single switch, and X-ray irradiation control, which irradiates the subject with X-rays from the X-ray source while an irradiation command is obtained from the single switch and an input operation to the single switch is received. In this case, the single switch may be a foot switch, a push button on the operation panel, or a button image displayed on the touch panel of the operation panel.

[0113] [Embodiments] The exemplary embodiments described above will be understood by those skilled in the art to be specific examples of the following embodiments.

[0114] (Item 1) 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 top plate on which the subject lies; an operation unit including a single switch for receiving user input operations; a voice input unit for receiving voice input from the user; a display unit for displaying the X-ray image taken by the X-ray imaging unit; and a control unit, wherein the control unit performs state transition control to transition to an instruction keyword recognition state in which voice recognition of instruction keywords is possible by voice recognition of a start keyword based on the voice received by the voice input unit; instruction keyword recognition control in the instruction keyword recognition state for voice recognition of the instruction keyword based on the voice received by the voice input unit; and function execution control to execute a function corresponding to the voice-recognized instruction keyword in response to the voice recognition of the instruction keyword. An X-ray imaging apparatus in which the single switch has both a state transition output function that outputs a state transition command to the control unit that transitions to the instruction keyword recognition state in response to an input operation by the user, and a movement output function that, while accepting an input operation by the user, outputs a movement command to the control unit that moves an object to be moved toward a target position, including at least one of the X-ray imaging unit, the top plate, and the display unit. The single switch on the operation unit is assigned both a state transition output function that outputs a state transition command to the control unit that transitions to the instruction keyword recognition state in response to an input operation by the user, and a movement output function that outputs a movement command to the control unit that moves an object to be moved toward a target position while accepting an input operation by the user.Therefore, by an input operation on a single switch, the state transition output function allows the user to omit uttering the start keyword, and the movement output function allows the object to be moved toward a target position by voice recognition of the instruction keyword without having to perform an operation on other switches to move the object to be moved.In other words, when a user moves an object to be moved to a target position by voice recognition, the user can move the object to be moved by an input operation to a single switch and the utterance of an instruction keyword. This reduces the effort required of the user when moving an object to be moved. (Item 2) The X-ray imaging apparatus according to Item 1, wherein the control unit performs state transition control, which transitions to the instruction keyword recognition state even without receiving the voice of the start keyword, when the state transition command is obtained from the single switch by an input operation to the single switch, and movement execution control, which moves the object to be moved toward the target position in response to voice recognition of the instruction keyword while an input operation to the single switch is being received and the movement command is being obtained from the single switch, in response to voice recognition of the instruction keyword. In this case, the control unit can transition to the instruction keyword recognition state even without receiving the voice of the start keyword when an input operation to a single switch to which both a state transition output function and a movement output function are assigned is received, and can move the object to be moved toward the target position in response to voice recognition of the instruction keyword while an input operation to the single switch is being received. Therefore, by controlling state transitions through the acceptance of input operations to a single switch, the user can omit uttering a start keyword, thus easily reducing the user's effort of having to utter a start keyword each time they want to move an object. Furthermore, by controlling movement execution while an input operation is being accepted to a single switch, the object can be moved by voice recognition of the instruction keyword without the need to perform any operations on other switches to move the object. For these reasons, the effort required of the user to move an object can be easily reduced. (Item 3) The X-ray imaging apparatus according to Item 1 or 2, wherein the single switch is a foot switch that accepts input operations from the user's foot.In this case, input operations on a foot switch to which both a state transition output function and a movement output function are assigned eliminate the need for manual input operations by the user when moving the object to be moved. As a result, the user can use both hands for the procedure when moving the object to be moved, thus improving user convenience. (Item 4) The X-ray imaging apparatus according to Item 2, wherein the single switch further has an irradiation output function that, in addition to the state transition output function and the movement output function, outputs an irradiation command to the control unit to irradiate the subject with X-rays from the X-ray source while it is receiving an input operation from the user, and the control unit is configured to further perform X-ray irradiation control that irradiates the subject with X-rays from the X-ray source while it is receiving an input operation on the single switch and has obtained the irradiation command from the single switch. In this case, by inputting to a single switch to which a state transition output function and a movement output function are also assigned an irradiation output function, the system transitions to an instruction keyword recognition state even if the voice of the start keyword has not been received, and the object to be moved is moved and X-rays are irradiated onto the subject in accordance with the voice recognition of the instruction keyword. Therefore, by inputting to a single switch, the user can move the object to be moved to a desired position by uttering an instruction keyword while viewing the X-ray image displayed on the display unit. Therefore, by inputting to a single switch, the optimal position of the object to be moved in X-ray imaging can be efficiently searched. (Item 5) The X-ray imaging apparatus according to Item 4, wherein the single switch is a foot switch that can receive a first input operation and a second input operation different from the first input operation by the user's foot, and the foot switch has the irradiation output function in the first input operation, and the state transition output function, the movement output function and the irradiation output function in the second input operation.In this case, the X-ray imaging apparatus according to item 5 can be efficiently switched between a first input operation, in which fluoroscopy is performed at the determined optimal position and angle of the X-ray imaging unit, and a second input operation, in which the optimal position and angle of the X-ray imaging unit are searched for while the fluoroscopic image displayed on the display unit is visible. As a result, the user can use both hands for the procedure by operating the foot switch, and the operability of the foot switch can be improved. (Item 6) The single switch is a foot switch that accepts two-stage input operations, the first input operation and the second input operation, depending on the amount the user steps down with their foot, and the foot switch has the irradiation output function in the first input operation, and the state transition output function, the movement output function and the irradiation output function in the second input operation, in which the amount the user steps down with their foot is greater than that of the first input operation. In this case, the first input operation and the second input operation can be easily switched by an input operation corresponding to the amount the user steps down with their foot on the foot switch. As a result, the operability of the foot switch can be effectively improved. (Item 7) The X-ray imaging apparatus according to Item 6, wherein the foot switch is configured to accept a first input operation, which is accepted by a first amount of depressure with a first pressing force, and a second input operation, which is accepted by a second amount of depressure greater than the first amount of depressure, which is accepted by a second amount of depressure greater than the first pressing force. In this case, since the first input operation is accepted by a first amount of depressure with a first pressing force, and the second input operation is accepted by a second amount of depressure greater than the first amount of depressure, which is accepted by a second amount of depressure greater than the first pressing force, the user can distinguish between the first input operation and the second input operation when performing input operations on the foot switch. Therefore, the operability of the foot switch can be improved more effectively. (Item 8) The X-ray imaging apparatus according to Item 2, wherein the control unit is configured to set the target position of the moving object as the function execution control in response to voice recognition of the instruction keyword.In this case, the target position of the object to be moved is set by voice recognition, so manual input by the user is not required when setting the target position of the object to be moved. As a result, the user can use both hands for the procedure when setting the target position of the object to be moved, effectively improving user convenience. (Item 9) The X-ray imaging apparatus according to Item 8, further comprising a storage unit for storing the target position of the object to be moved, wherein the control unit is configured to set the target position of the object to be moved as a function execution control in response to voice recognition of the instruction keyword while an input operation to the single switch is obtaining the state transition command from the single switch, by voice recognition. In this case, since the state transition output function allows the user to omit uttering a start keyword by an input operation to the single switch, the target position of the object to be moved can be set in response to voice recognition of the instruction keyword related to the target position of the object to be moved while an input operation to the single switch is being accepted. Therefore, by controlling state transitions through input operations to a single switch, the user's need to utter a start keyword can be omitted. This effectively reduces the user's effort of repeatedly uttering a start keyword when setting the target position by fine-tuning the position of the object being moved.

[0115] 2 X-ray imaging unit (moving object) 4 Display unit 5 Operation unit 6 Memory unit 8 Control unit 9 Voice input unit 10 Top plate (moving object) 20 X-ray source 21 Detector 50 Foot switch (single switch) 90 Subject 100 X-ray imaging device d1 First step amount d2 Second step amount

Claims

1. 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 top plate on which the subject lies; an operation unit including a single switch for receiving user input operations; a voice input unit for receiving voice input from the user; a display unit for displaying the X-ray image taken by the X-ray imaging unit; and a control unit, wherein the control unit performs state transition control to transition to an instruction keyword recognition state in which voice recognition of instruction keywords is possible by voice recognition of a start keyword based on the voice received by the voice input unit; instruction keyword recognition control in the instruction keyword recognition state for voice recognition of the instruction keyword based on the voice received by the voice input unit; and function execution control to execute a function corresponding to the voice-recognized instruction keyword in response to the voice recognition of the instruction keyword. An X-ray imaging apparatus, wherein the single switch has both a state transition output function that outputs a state transition command to the control unit that transitions to the instruction keyword recognition state in response to receiving an input operation by the user, and a movement output function that outputs a movement command to the control unit that moves an object to be moved toward a target position, including at least one of the X-ray imaging unit, the top plate, and the display unit, while receiving an input operation by the user.

2. The X-ray imaging apparatus according to claim 1, wherein the control unit performs state transition control, which transitions to the instruction keyword recognition state even without receiving the voice of the start keyword, by obtaining the state transition command from the single switch by an input operation to the single switch, and movement execution control, which moves the object to be moved toward the target position in response to voice recognition of the instruction keyword while the movement command is obtained from the single switch due to an input operation to the single switch being received.

3. The X-ray imaging apparatus according to claim 1, wherein the single switch is a foot switch that accepts input operation by the user's foot.

4. The X-ray imaging apparatus according to claim 2, wherein the single switch further has, in addition to the state transition output function and the movement output function, an irradiation output function that, while accepting an input operation by the user, outputs an irradiation command to the control unit to irradiate the subject with X-rays from the X-ray source, and the control unit is configured to further perform X-ray irradiation control, which irradiates the subject with X-rays from the X-ray source, while receiving an irradiation command from the single switch due to an input operation being accepted for the single switch.

5. The X-ray imaging apparatus according to claim 4, wherein the single switch is a foot switch capable of receiving a first input operation and a second input operation different from the first input operation by the user's foot, and the foot switch has the irradiation output function in the first input operation and the state transition output function, the movement output function and the irradiation output function in the second input operation.

6. The X-ray imaging apparatus according to claim 5, wherein the single switch is a foot switch that accepts two-stage input operations, a first input operation and a second input operation, depending on the amount of pressure applied by the user's foot, and the foot switch has the irradiation output function in the first input operation, and the state transition output function, the movement output function and the irradiation output function in the second input operation, which has a greater amount of pressure applied than the first input operation.

7. The X-ray imaging apparatus according to claim 6, wherein the foot switch is configured to accept a first input operation which is performed by pressing with a first pressing force and a first amount of depressure, and a second input operation which is performed by pressing with a second pressing force which is greater than the first amount of depressure and a second amount of depressure which is greater than the first amount of depressure.

8. The X-ray imaging apparatus according to claim 2, wherein the control unit is configured to set the target position of the moving object as a function execution control in response to voice recognition of the instruction keyword.

9. The X-ray imaging apparatus according to claim 8, further comprising a storage unit for storing the target position of the object to be moved, wherein the control unit is configured to set the target position of the object to be moved as a function execution control in response to voice recognition of the instruction keyword while acquiring the state transition command from the single switch by input operation to the single switch.

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