JP2013081489A - Fluoroscopic apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a high-versatility fluoroscopic apparatus allowing efficient examination or treatment by fluoroscopy in each room layout, even in an examination room configured such that the room layout of the examination room is changed according to the examination or the treatment.SOLUTION: The fluoroscopic apparatus selects one path from a plurality of predetermined paths connecting a standby position and a fluoroscopic position. When it is desired to move a C-shaped arm from a standby position P2 to a fluoroscopic position Q1 in the room layout shown in (a), the C-shaped arm is moved from the standby position P2 to the fluoroscopic position Q1 when selecting the preregistered paths R1-R4. When it is desired to move the C-shaped arm from a standby position P3 to a fluoroscopic position Q7 in the room layout shown in (b), the C-shaped arm is moved from the standby position P3 to the fluoroscopic position Q7 when selecting the paths R11-R13.

Description

  The present invention relates to an X-ray fluoroscopic apparatus, and more particularly, to a technique for moving a support unit that supports an X-ray tube and an X-ray detector so as to face each other between a fluoroscopic position and a standby position.

  Conventionally, as this type of device, there is a device in which the support means for suspending and holding the X-ray tube moves horizontally in the x and y directions with respect to the ceiling surface and stops at an arbitrary stop position (see, for example, Patent Document 1) ). Specifically, the support means horizontally moves the ceiling surface in the x direction and the y direction along a fixed rail fixed to the ceiling surface and a movable rail attached to the fixed rail. And when stopping a support means, if the sensor arrange | positioned in the desired position of each rail starts, the brake mechanism attached to the apparatus will stop a support means.

JP 2008-245726 A (page 10, FIG. 1, 2, 3)

However, the conventional example having such a configuration has the following problems.
That is, in the conventional apparatus, the path for moving between the fluoroscopic imaging position where the supporting means is positioned during fluoroscopic imaging and the standby position where the supporting means is positioned during the standby time when fluoroscopic imaging is not performed is fixed by the apparatus. . That is, in the conventional apparatus, only one path connecting the standby position and the fluoroscopic imaging position is set. As a result, the user cannot move the apparatus from the standby position to the fluoroscopic imaging position when equipment used for examination or treatment is arranged on the route. In addition, even if equipment is arranged at a position other than on the route in one examination or treatment, the room layout of the examination room may be changed in another examination or treatment, and the position of the equipment may be changed. Equipment may be located on the route before the change. In addition, user demands such as the size of the examination room, the number of equipment, the kind of equipment, the contents of examination or the contents of treatment are usually different. In this case, there is a problem that the apparatus cannot be moved between the fluoroscopic imaging position and the standby position.

  The present invention has been made in view of such circumstances. Even in an examination room in which the room layout of the examination room is changed according to examination or treatment, X-ray fluoroscopy is performed for each room layout. It is an object of the present invention to provide a highly versatile X-ray fluoroscopic apparatus capable of performing efficient examination or treatment.

In order to achieve such an object, the present invention has the following configuration.
In other words, the invention described in claim 1 is an X-ray fluoroscopic apparatus that performs X-ray fluoroscopic imaging of a subject, a support unit that supports an X-ray tube and an X-ray detector facing each other, and the support unit Driving means for rotating and translating a subject lying on the bed, a fluoroscopic position where the supporting means is positioned during fluoroscopic imaging, and a standby position where the supporting means is positioned during a standby time during which fluoroscopic imaging is not performed And selecting means for selecting one path from a plurality of predetermined paths, and drive control means for rotating and translating the support means along the path selected by the selecting means. It is characterized by being.

  [Operation / Effect] According to the invention described in claim 1, the support means supports the X-ray tube and the X-ray detector facing each other, and the drive means supports the subject lying on the bed. The means is rotated and translated. The drive control means connects the fluoroscopic imaging position where the support means is positioned during fluoroscopic imaging and the standby position where the support means is positioned during the standby time when fluoroscopic imaging is not performed, and selects one path from a plurality of predetermined paths. The support means is rotated and translated along the path selected by the selection means to be selected. As a result, when the support means is rotated and translated in the examination room for X-ray fluoroscopy, one path is selected from a plurality of predetermined paths and supported along the selected path. The means can be rotated and translated. Therefore, even in a laboratory where the room layout of the laboratory is changed according to the examination or treatment, by selecting a route according to the room layout of the laboratory, the X-ray fluoroscopy is performed for each room layout. Efficient testing or treatment can be performed. In addition, we can provide a highly versatile X-ray fluoroscopic system that can respond to various user preferences such as the size of the examination room, the number of equipment, the type of equipment, the contents of examination or treatment, Can also respond.

  In the present invention, it is preferable that the plurality of predetermined paths are paths in which the traveling direction and the attitude of the support means are associated with each other (the invention according to claim 2). Thereby, since a plurality of predetermined routes are associated with the traveling direction and the posture of the support means, more efficient examination or treatment by X-ray fluoroscopy can be performed for each room layout. .

  In the present invention, when an obstacle is arranged on a path connecting the fluoroscopic imaging position and the standby position, the posture of the support means avoids contact with the obstacle, and the path It is preferable to bypass the obstacle (the invention according to claim 3). As a result, when an obstacle such as equipment is arranged on the path connecting the fluoroscopic imaging position and the standby position, the support means is rotated in a posture to avoid contact with the obstacle to bypass the obstacle. The support means can be translated along the path. Therefore, even in a laboratory where the room layout of the laboratory is changed according to the examination or treatment, each room layout is selected by selecting a route according to the position of an obstacle such as equipment arranged in the laboratory. It is possible to perform an efficient examination or treatment by fluoroscopy every time.

  Further, in the present invention, it is preferable that a registration unit that registers a plurality of the routes in advance is provided, and the selection unit selects one route from a plurality of routes registered in advance by the registration unit. 4). Accordingly, the user or the device manufacturer registers a plurality of routes in advance, so that the user or the device manufacturer can select one route from among the plurality of routes registered in advance. Therefore, the user or the device manufacturer selects a desired route from a plurality of routes registered according to the situation of the laboratory, and the room layout of the laboratory is changed according to the examination or treatment. Even in such an examination room, efficient examination or treatment by X-ray fluoroscopy can be performed for each room layout.

  In the present invention, it is preferable that a plurality of paths are defined for each of the fluoroscopic imaging position and the standby position (the invention according to claim 5). Thereby, since a plurality of paths are determined for each fluoroscopic imaging position and standby position, the support means is rotated and translated along the shortest possible path according to the fluoroscopic imaging position and the standby position. Can do. Therefore, since the route can be selected according to the condition of the examination room, the movement time between the fluoroscopic imaging position and the standby position can be shortened.

  In the present invention, it is preferable that an arbitrary position is set as a via point from among the plurality of fluoroscopic imaging positions, and a plurality of routes are defined for each of the via points and the standby position. Invention). As a result, an arbitrary position is determined as a via point from among a plurality of fluoroscopic imaging positions, and a plurality of paths are determined for each via point and standby position, so the path set for the number of fluoroscopic imaging positions The number of is small. Therefore, the route can be selected according to the situation of the examination room, so that the movement time between the fluoroscopic imaging position and the standby position can be shortened, and the operation is facilitated by reducing the number of route selections.

  In the present invention, it is preferable that the posture of the support means is changed according to whether the fluoroscopic position is on the long side or the short side of the bed (invention of claim 7). Thus, when the fluoroscopic imaging position is on either the long side or the short side of the bed by changing the posture of the support means according to whether the fluoroscopic imaging position is on the long side or the short side of the bed In addition, it is possible to adjust to a position where fluoroscopic imaging is easy to start.

  In the present invention, the support means may be configured such that a surface formed by connecting the support means, the X-ray tube, and the X-ray detector is parallel to the traveling direction of the support means. Preferred (invention of claim 8). Thus, the support means, the X-ray tube, and the surface formed by connecting the support means, the X-ray tube, and the X-ray detector are parallel to the traveling direction of the support means. The area of the support means facing the traveling direction is smaller than when the surface formed by connecting the X-ray detector is perpendicular to the traveling direction of the support means. Therefore, since the support means can be passed through a narrow path, even in an examination room where the room layout of the examination room is changed according to the examination or treatment, an efficient examination by X-ray fluoroscopy is performed for each room layout. Or treatment can be performed.

  Moreover, in this invention, it is preferable to provide a display control means for displaying the plurality of routes on a display means for each route (the invention according to claim 9). Thereby, since the user can visually confirm the plurality of routes for each route with the display means, it is possible to perform efficient examination or treatment by X-ray fluoroscopic imaging.

  According to the X-ray fluoroscopic apparatus according to the present invention, the fluoroscopic imaging position and the standby position are connected, and one of a plurality of paths predetermined as a path in which the traveling direction is associated with the attitude of the support means is selected. The selection means selects the route, and the drive control means drives the support means along this route. Therefore, even in a laboratory where the room layout of the laboratory is changed according to the examination or treatment, By selecting a route according to the room layout, efficient examination or treatment by X-ray fluoroscopy can be performed for each room layout.

1 is a schematic diagram illustrating an overall configuration of an X-ray fluoroscopic apparatus according to Embodiment 1. FIG. (A) is the side view which looked at the apparatus of Example 1 from the side, (b) is the front view which looked at the apparatus of Example 1 from the front. FIG. 3 is a control block diagram of the apparatus according to the first embodiment. It is a flowchart explaining the registration process of the path | route of a C-arm. (A) is a schematic diagram explaining the path | route which connects a fluoroscopic imaging position and a standby position, (b) is a schematic diagram explaining another path | route. (A) is a schematic diagram explaining the attitude | position of the C-arm in the path | route which connects a fluoroscopic imaging position and a standby position, (b) is a schematic diagram explaining the attitude | position of the C-arm in another path | route. 3 is a flowchart for explaining the operation of the apparatus according to the first embodiment. FIG. 3 is a schematic diagram of a display monitor that displays the route of the apparatus according to the first embodiment. (A) is a schematic diagram explaining the path | route which connects a fluoroscopic imaging position and a standby position via a via point in the apparatus of Example 2, (b) shows the relationship between a via point, a fluoroscopic imaging position, and a standby position. It is a schematic diagram to explain. 6 is a flowchart for explaining the operation of the apparatus according to the second embodiment.

Embodiment 1 of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram illustrating an overall configuration of an X-ray fluoroscopic apparatus according to the first embodiment. FIG. 2A is a side view of the apparatus according to the first embodiment as viewed from the side, and FIG. ) Is a front view of the apparatus of Example 1 as viewed from the front.

  As shown in FIG. 1, the X-ray fluoroscopic apparatus according to the first embodiment includes an X-ray tube 3 and a flat panel type two-dimensional X-ray detector 5 (with a subject M placed on the bed 1 lying on its back. In the following, a C-arm 7 in which the FPD 5) is opposed to each other and a C-arm drive mechanism 9 that rotates the C-arm 7 around three orthogonal axes and translates the C-arm 7 are provided. An operation panel 11 that gives a drive command or the like to the C-arm drive mechanism 9 is disposed on the side surface of the bed 1. The C-arm 7 corresponds to the support means in the present invention, and the C-arm drive mechanism 9 corresponds to the drive means of the present invention.

  The C-arm drive mechanism 9 includes a slide mechanism 21 that rotates in the α direction that is a direction in which the C-arm 7 slides relative to the C-arm holding unit 23 (a direction around the horizontal Y axis), and a slide A C-arm holding part 23 including the mechanism part 21 and a rotation direction of the C-shaped arm holding part 23 with respect to the column part 27 (around the X axis perpendicular to the Y axis) The pivot mechanism 25 for pivoting in the β direction, the support column 27 disposed at the upper end of the pivot mechanism 25, and the column 27 disposed vertically at the upper end of the support column 27. A turning mechanism 29 for turning in the γ direction which is the axial (Z-axis) direction, a movable base 31 to which the turning mechanism 29 is attached, a movable rail 33 for translating the movable base 31 in the y direction, and a movable rail With a fixed rail 35 that translates 33 in the x direction It has been made. The fixed rail 35 is laid on the ceiling surface 37. For convenience of illustration, in FIG. 1, the arrow indicating the y direction is directed obliquely with respect to the arrow indicating the x direction, but the y direction is a direction orthogonal to the x direction.

  As shown in FIG. 2A, a motor M1 is disposed inside the slide mechanism portion 21, and the C-arm 7 is rotated in the α direction by driving the motor M1 in the forward and reverse directions. A motor M2 is disposed inside the rotation mechanism unit 25, and the C-arm holding unit 23 is rotated in the β direction by driving the motor M2 in the forward and reverse directions. A motor M3 is disposed inside the turning mechanism unit 29, and the column unit 27 is rotated in the γ direction by driving the motor M3. A motor M4 is disposed on the upper surface of the movable table 31 facing the movable rail 33, and the wheel W1 attached to the output shaft of the motor M4 is disposed on the guide surface of the movable rail 33. By driving the motor M4 in the forward / reverse direction, the movable base 31 is translated in the y direction. As shown in FIG. 2B, a motor M5 is disposed on the upper surface of the movable rail 33 facing the fixed rail 35, and the wheel W2 attached to the output shaft of the motor M5 is placed on the guide surface of the fixed rail 35. It is arranged. By driving the motor M5 in the forward / reverse direction, the movable rail 33 is translated in the x direction.

  The drive control of the C-arm drive mechanism unit 9 will be described with reference to FIG. FIG. 3 is a control block diagram of the apparatus of the first embodiment including a schematic configuration diagram of the operation panel of the apparatus of the first embodiment.

  The operation panel 11 includes an operation grip 51 for inputting rotation in the α direction and β direction of the C-arm 7 and translation in the xy direction, a turning switch 53 for inputting rotation in the γ direction of the C-arm 7, A plurality of memory switches 57 (for example, memory switches 57a to 57c) for storing the driving amount and the traveling direction of the C-arm 7 in the xy direction and the posture in the αβγ direction as paths of the C-arm 7, and the memory switches 57a to 57c And a memory execution switch 61 for rotating and translating the C-arm 7 along the path stored in 57c. The operation grip 51 is provided with a slide switch 52a, a rotation switch 52b, and a parallel movement switch 52c. The C-arm 7 is rotated in the α direction or the β direction by moving the operation grip 51 up and down or rotating according to the installation position of the C-arm 7 while pressing the slide switch 52a or the rotation switch 52b. Further, when the operation grip 51 is moved up and down or rotated while pressing the parallel movement switch 52c, the C-arm 7 is translated in the x direction or the y direction. The memory switches 57a to 57c correspond to the selection means of the present invention.

  The CPU 63 inputs path information from the memory switches 57a to 57c, and controls the rotation of the C-arm 7 in the αβγ direction and the parallel movement in the xy direction by the C-arm driving mechanism 9. Further, the display control unit 64a displays the image information of the subject M acquired by the FPD 5 on the display panel 64b. The display control unit 64a can also display the path of the C-arm 7 on the display panel 64b. The CPU 63 corresponds to the drive control unit of the present invention, and the display panel 64b and the display control unit 64a correspond to the display unit and the display control unit of the present invention.

  The rotation control in the α direction or β direction will be described. When the C-arm 7 is rotated by the operation of the operation grip 51, the CPU 63 calculates the rotation direction and rotation angle of the motor M1 or the motor M2 according to the operation direction and operation amount of the operation grip 51, and the target rotation information. Is output to the motor M1 or the motor M2. The CPU 63 inputs actual rotation information detected by the rotary encoder D1 or D2 attached to the motor M1 or the motor M2, and controls the actual rotation information to match the target rotation information. When the C-arm 7 is rotated based on the path information, the motor M1 and the motor M2 are driven according to the path information in the α direction and the β direction without using the operation grip 51.

  The rotation control in the γ direction will be described. The rotation direction and rotation angle of the motor M3 are calculated according to which one of the left and right turning switches 53 is pressed and the time when the turning switch 53 is pressed, and output to the motor M3 as target turning information. The CPU 63 inputs actual rotation information detected by the rotary encoder D3 attached to the motor M3, and controls the actual rotation information so as to coincide with the target rotation information. When the C-arm 7 is rotated based on the route information, the motor M3 is driven according to the route information in the γ direction without using the turning switch 53.

  The parallel movement control in the x direction and the y direction will be described. The rotation direction and rotation angle of the motors M4 and M5 are calculated according to the operation direction and operation time of the operation grip 51 in a state where the parallel movement switch 52c is pressed, and output to the motors M4 and M5 as target rotation information. . The CPU 63 inputs actual rotation information detected by the rotary encoders D4 and D5 attached to the motors M4 and M5, and controls so that the actual rotation information matches the target rotation information. When the C-arm 7 is translated based on the route information, the motor M4. Drive M5.

  With reference to FIG. 4, a process for registering the path for rotating and translating the C-arm 7 in the memory switch 57 will be described. FIG. 4 is a flowchart for explaining route registration processing of the apparatus according to the present embodiment.

  Here, the path refers to a fluoroscopic position where the C-shaped arm 7 is positioned during fluoroscopic imaging of the subject M, and a standby position where the C-shaped arm 7 is positioned during a standby time when the subject M is not fluoroscopically captured (for example, standby) This is a route when the C-arm 7 rotates and translates between the position P2 and the position P2. The path includes the traveling direction of the C-arm 7 and the posture of the C-arm 7 at each position. The route registration process may be performed by the manufacturer of the apparatus or may be performed by the user of the apparatus. When a route is registered by the manufacturer of the device, route information is stored in advance in each of the memory switches 57a to 57c. Here, a case where the user of the apparatus registers a route for each room layout of the examination room will be described as an example.

  The user moves the C-arm 7 to the fluoroscopic imaging position (referred to as Q1 as an example) in the fluoroscopic imaging area Q where the C-arm 7 is positioned during fluoroscopic imaging of the subject M (step ST1). Specifically, the position of the C-arm 7 in the xy direction and the αβγ direction is determined by operating the operation grip 51 of the operation panel 11, the turning switch 53, and the parallel movement switch 55.

  Of the memory switches 57, one of the switches 57a, 57b, 57c is pressed long (step ST2). The route registration process is started by long-pressing the memory switch 57.

  The user operates the operation grip 51, the turning switch 53, and the translation switch 55 to rotate and translate the C-arm 7 from the fluoroscopic imaging position Q1 to the standby position P2 (step ST3).

  When the C-arm 7 arrives at the standby position P2, the user ends the operation using the operation panel 11, and stops the rotation and translation of the C-arm 7 (step ST4). When the C-arm 7 has not arrived at the standby position P2, the C-arm 7 is rotated and translated until it reaches the standby position P2.

  When the user stops the rotation and parallel movement of the C-arm 7, the long release of the memory switch 57 is released (step ST5). The path registration process is terminated by releasing the long press of the memory switch 57, and the rotation direction and the rotation angle of the motors M1 to M5 when the C-arm 7 is rotated and moved in parallel indicate the path of the C-arm 7. It is registered in one of the memory switches 57a to 57c selected as information. At this time, the rotation direction of αβγ of the C-shaped arm 7 corresponds to the posture of the C-shaped arm 7 in the path, and the xy parallel movement direction of the C-shaped arm 7 corresponds to the traveling direction in the path. Note that the function of registering a route by long pressing the memory switch 57 corresponds to the registering means of the present invention.

  With reference to FIGS. 5 and 6, the path of the C-arm 7 in the examination room 71 and another path of the C-arm 7 when the room layout of the examination room 71 is changed and the fluoroscopic imaging position is changed. explain. FIG. 5A is a schematic diagram for explaining the path of the apparatus according to the first embodiment, and FIG. 5B is a schematic diagram for explaining another path of the apparatus according to the first embodiment. FIG. 6A is a schematic diagram for explaining the posture taken by the apparatus of the first embodiment on the route, and FIG. 6B is a schematic view for explaining the posture taken by the device of the first embodiment on another route. FIG.

  Note that the examination room 71 in which the apparatus of the first embodiment is disposed is represented in four directions. As shown in FIG. 5A, the direction from the leg portion to the head of the subject M in the longitudinal direction of the bed 1 is defined as the Xa direction, and the opposite direction is defined as Xb. Further, the direction from the right hand to the left hand of the subject M placed on the bed 1 in the short direction of the bed 1 is assumed to be Ya, and the opposite direction is assumed to be Yb.

  As shown in FIG. 5A, the C-arm 7 is disposed at a fluoroscopic imaging position Q1 set closer to the Xa direction with respect to the head of the subject M, and the X-ray tube 3 and the FPD 5 are arranged. Are arranged in a posture sandwiching the vicinity of the head of the subject M. Since the equipment 73a is arranged on a straight line connecting the fluoroscopic imaging position Q1 and the nearest standby position P1, the C-arm 7 cannot be moved from the fluoroscopic imaging position Q1 in the Xa direction. Further, if the C-arm 7 is moved in the Ya direction with the same posture, the C-arm 7 comes into contact with the equipment 73b, and therefore cannot be moved in the Ya direction with the same posture from the fluoroscopic position Q1. Accordingly, the C-arm 7 is slightly translated in the Xa direction (path R1), and the posture of the C-arm 7 in the γ direction at the fluoroscopic position Q1 is 90 degrees clockwise as shown in FIG. 6A. Rotate (route R2) and move in the Ya direction (route R3). The C-arm 7 changes its course in the Xa direction in the vicinity of the wall surface on the Ya direction side of the examination room 71, but contacts the equipment 73c as it is. Therefore, as shown in FIG. 6A, the posture of the C-arm 7 in the γ direction is rotated 90 degrees counterclockwise (path R4) and moved in the Xa direction (path R5). The C-arm 7 is stopped at the standby position P2 on the path R5. Information about the paths R1 to R5 is registered in the memory switch 57a shown in FIG. The equipment 73a, 73b, 73c corresponds to the obstacle in the present invention.

  When the fluoroscopic imaging position is not Q1, but is the fluoroscopic imaging position Q5 close to the left hand side of the subject M or the fluoroscopic imaging position Q7 close to the right hand side of the subject M, the C shape located at the fluoroscopic imaging position Q5 or Q7. The arm 7 moves from the fluoroscopic imaging position Q1 to the standby position P2 after moving to the fluoroscopic imaging position Q1, and then moves along the aforementioned path. At this time, the fluoroscopic imaging position Q1 functions as a transit point.

  Next, a case where the room layout and the fluoroscopic imaging position of the examination room 71 are changed will be described. As shown in FIG. 5 (b), the C-arm 7 is disposed at a fluoroscopic position Q7 set closer to the Yb direction with respect to the right leg of the subject M. The FPD 5 is arranged in a posture that sandwiches the vicinity of the right leg of the subject M. If the C-arm 7 is moved in the Yb direction and moved in the Xa direction with the posture along the wall surface of the examination room 71 on the Yb direction side, the C-arm 7 comes into contact with the equipment 74. Therefore, as shown in FIG. 6 (b), the C-arm 7 is moved in the Yb direction from the fluoroscopic position Q7 (path R11), and the posture of the C-arm 7 in the γ direction near the wall surface on the Yb direction side Rotate 90 degrees around (route R12), and move in the Xa direction through the side of the equipment 74 (route R13). Then, the C-arm 7 is stopped at the standby position P3. Information about the paths R11 to R13 is registered in the memory switch 57c shown in FIG.

  When the fluoroscopic imaging position is not Q7 but the fluoroscopic imaging position Q1 or Q5, the C-arm 7 located at the fluoroscopic imaging position Q1 or Q5 moves to the fluoroscopic imaging position Q7 and then the standby position from the fluoroscopic imaging position Q7. Move along the aforementioned route to P3. At this time, the fluoroscopic imaging position Q7 functions as a transit point.

  With reference to FIG. 7, drive control for rotating and translating the C-arm 7 from the standby position to the fluoroscopic imaging position along the registered route will be described. 5 and 6 are referred to for the standby position, the fluoroscopic imaging position, and the room layout of the examination room 71. FIG. 7 is a flowchart for explaining the operation of the apparatus according to the first embodiment.

  It is confirmed whether or not there is equipment on a straight line connecting the standby position and the fluoroscopic imaging position (step ST11). If there is no equipment 73a on the straight line connecting the standby position P1 and the fluoroscopic position Q1, the C-arm 7 is moved from the standby position P1 to the fluoroscopic position Q1 as it is (step ST12). The shape arm 7 is stopped (step ST13).

  In the room layout of the examination room 71 in FIG. 5A, when the standby position is P2 and the fluoroscopic imaging position is Q1, the equipment 73a to 73c is provided, so that the memory shown in FIG. The switch 57a is selected and pressed (step ST14). The memory execution switch 61 is pressed to execute the routes R1 to R5 registered in the memory switch 57a in order from R5 (step ST15). Specifically, the C-arm 7 waiting at the standby position P2 is translated in the Xb direction along the path R5, and the posture in the γ direction is rotated 90 degrees clockwise at the point of the path R4. Translated in the Yb direction along the route R3, rotated in the γ direction by 90 degrees counterclockwise at the point of the route R2, translated in the Xb direction along the route R1, and stopped in the fluoroscopic region Q1. (Step ST16).

  In the room layout of the examination room 71 in FIG. 5B, when the standby position is P3 and the fluoroscopic imaging position is Q7, since the equipment 73a and 74 are disposed, the memory shown in FIG. The switch 57c is selected and pressed (step ST14). The memory switch 57c and the memory execution switch 61 are pressed to execute the paths R11 to R13 registered in the memory switch 57c in order from R13 (step ST15). Specifically, the C-arm 7 waiting at the standby position P3 is translated in the Xb direction along the path R13 and rotated 90 degrees counterclockwise in the γ direction at the point of the path R12. It is translated in the Ya direction along R11 and stopped at the fluoroscopic position Q3 (step ST16).

  With reference to FIG. 8, the structure which displays the path | route mentioned above on the display monitor 64b is demonstrated. FIG. 8 is a schematic diagram of a display monitor that displays the route of the apparatus according to the first embodiment.

  On the display monitor 64b, the frame indicating the examination room 71, the bed 1, the standby positions P1 to P3, the fluoroscopic imaging positions Q1 and Q7, and the information indicating the route are displayed. The above-described paths R1 to R5 are displayed on the display panel 64b as a path RA connecting the standby position P2 and the fluoroscopic imaging position Q1. Further, the above-described routes R11 to R13 are displayed as routes RB connecting the standby position P3 and the fluoroscopic imaging position Q7. The path RA on the display panel 64b corresponds to the path stored in the memory switch 57a, and the path RB corresponds to the path stored in the memory switch 57c.

  According to the invention described in the first embodiment, when the C-arm 7 is rotated and translated in the examination room 71, a plurality of predetermined paths connecting the fluoroscopic imaging position and the standby position, for example, the paths R1 to R1. Since one route is selected from R5 and routes R11 to R13, and the C-arm 7 can be rotated and translated along the selected route, it is shown in FIGS. 5 (a) and 5 (b). A route can be selected according to the situation of the examination room 71. Therefore, even in a laboratory where the room layout of the laboratory is changed according to the examination or treatment, by selecting a route according to the room layout of the laboratory, the X-ray fluoroscopy is performed for each room layout. Efficient testing or treatment can be performed. In addition, we can provide a highly versatile X-ray fluoroscopic system that can respond to various user preferences such as the size of the examination room, the number of equipment, the type of equipment, the contents of examination or treatment, Can also respond.

  According to the invention described in the first embodiment, for example, when the equipment 73a to 73c is arranged in the examination room 71 as shown in FIG. 5A, the route R2 for avoiding contact with the equipment 73b and 73c and The C-arm 7 can be rotated in the posture shown in R4, and the C-arm 7 can be translated along the paths R1, R3, and R5 that bypass the equipment 73a to 73c. Further, for example, when the equipment 73a and 74 are disposed in the examination room 71 as shown in FIG. 5 (b), the C-arm 7 is in the posture shown in the path R12 to avoid contact with the equipment 73a and 74. And the C-arm 7 can be translated along the paths R11 and R13 bypassing the equipment 73a and 74. Therefore, even in a laboratory where the room layout of the laboratory is changed according to the examination or treatment, each room layout is selected by selecting a route according to the position of an obstacle such as equipment arranged in the laboratory. It is possible to perform an efficient examination or treatment by fluoroscopy every time.

  According to the invention described in the first embodiment, the user registers the paths R1 to R5 in the memory switch 57a and the paths R11 to R13 in the memory switch 57c according to the room layout of the examination room 71. Any one of routes R1 to R5 or routes R11 to R13 registered in advance can be selected. Therefore, the user or the device manufacturer selects a desired route from a plurality of routes registered according to the situation of the laboratory, and the room layout of the laboratory is changed according to the examination or treatment. Even in such an examination room, efficient examination or treatment by X-ray fluoroscopy can be performed for each room layout.

  According to the invention described in the first embodiment, the path for the fluoroscopic imaging position Q1 and the standby position P2 is defined as R1 to R5, and the path for the fluoroscopic imaging position Q7 and the standby position P3 is defined as P11 to R13. The C-arm 7 can be rotated and translated along the shortest possible path according to the fluoroscopic position and the standby position. Therefore, since the route can be selected according to the condition of the examination room, the movement time between the fluoroscopic imaging position and the standby position can be shortened.

  According to the invention described in the first embodiment, when the fluoroscopic imaging position is the fluoroscopic imaging position Q1 on the short side of the bed 1, the posture of the C-arm 7 in the γ direction is 90 degrees at the points of the paths R2 and R4. When the fluoroscopic imaging position is the fluoroscopic imaging position Q7 on the long side of the bed 1, the fluoroscopic imaging position is the position of the bed 1 by changing the posture of the C-arm 7 in the γ direction by 90 degrees at the point R12. In either case of the long side and the short side, it can be adjusted to a position where fluoroscopic imaging is easily started.

  According to the invention described in the first embodiment, the posture of the C-arm 7 is such that the path R1, R3, R5 in the room layout shown in FIG. 5A or the path R11 in the room layout shown in FIG. , R13, the surface formed by connecting the C-arm 7, the X-ray tube 3 and the FPD 5 is parallel to the traveling direction of the C-arm 7. Accordingly, the area through which the C-arm 7 passes while traveling is reduced. Therefore, since the C-arm 7 can be passed through a narrow path, even in an examination room where the room layout of the examination room is changed according to examination or treatment, it is efficient by X-ray fluoroscopy for each room layout. Examination or treatment can be performed.

  According to the invention described in the first embodiment, the display control unit 64a that displays the paths R1 to R5 and R11 to R13 stored in the memory switches 57a and 57c as the paths RA and RB on the display panel 64b is provided. Therefore, since the user can visually confirm the paths RA and RB corresponding to the memory switches 57a and 57c on the display panel 64b, the user can perform efficient examination or treatment by X-ray fluoroscopic imaging.

Next, Embodiment 2 of the present invention will be described with reference to the drawings.
As shown in FIG. 9, the X-ray fluoroscopic apparatus according to the second embodiment is different from the first embodiment in that a plurality of via points are set according to a plurality of fluoroscopic positions. Other configurations similar to those in the first embodiment will not be described in order to avoid redundant description. 9A is a schematic diagram for explaining a path connecting the fluoroscopic imaging position and the standby position via the via point, and FIG. 9B shows the relationship between the via point, the fluoroscopic imaging position, and the standby position. It is a schematic diagram to explain.

  As shown in FIG. 9A, in the fluoroscopic imaging area that is a fluoroscopic imaging area around the bed 1, the fluoroscopic imaging positions Q1, Q2, Q3 close to the head of the subject M, and the subject M Fluoroscopic imaging positions Q4, Q5, Q6 close to the left hand side and fluoroscopic imaging positions Q7, Q8, Q9 close to the right hand side of the subject M are provided. The fluoroscopic imaging position Q1 is located at the center of the bed 1 on the short side, and is set as a via point S1. The fluoroscopic imaging position Q4 is located at the center of the long side of the bed 1 and is set as a via point S2, and the fluoroscopic imaging position Q8 is set as a via point S3 at a position opposite to the via point S2 on the long side of the bed 1. ing. The posture of the C-arm at the via points S1 to S3 is a posture in which the X-ray tube 3 and the FPD 5 are arranged on the vertical axis.

  A route corresponding to the room layout of the examination room 71 is registered for each of the set via points S1, S2, S3 and the standby positions P1, P2, P3. In the examination room 71, the equipment 75 is arranged on a straight line connecting the fluoroscopic imaging position Q1 and the nearest standby position P1, so that there is a path that bypasses the equipment 75 from the via point S1 and is connected to the standby position P2. be registered. Further, since the equipment 75 is also arranged on a straight line in the Xa direction from the transit point S2, a route that bypasses the equipment 75 from the transit point S2 and is connected to the standby position P2 is registered. In addition, since the equipment 75 is also arranged in a linear route from the transit point S3 to the Xa direction, a route that bypasses the equipment 75 from the transit point S3 and is connected to the standby position P3 is registered. Since the registration of each route is the same as the above description, the description is omitted to avoid duplicate description.

  The relationship among the fluoroscopic positions Q1 to Q9, the transit points S1 to S3, and the standby positions P1 to P3 will be described with reference to FIG. When the fluoroscopic imaging positions are Q1 to Q3, the C-arm 7 moves to the standby position P2 along the route that bypasses the equipment 75 via the nearest via point S1. The route passing through the route point S1 is registered in the memory switch 57a shown in FIG. When the fluoroscopic imaging positions are Q4 to Q6, the C-arm 7 moves to the standby position P2 along the route that bypasses the equipment 75 via the nearest waypoint S2. The route passing through the route point S2 is registered in the memory switch 57b shown in FIG. When the fluoroscopic imaging positions are Q7 to Q9, the C-arm 7 moves to the standby position P3 along the route that bypasses the equipment 75 via the nearest waypoint S3. The route passing through the route point S3 is registered in the memory switch 57c shown in FIG. Since the fluoroscopic imaging positions Q1, Q4, and Q7 are the same positions as the via points S1, S2, and S3, the substantial parallel movement distance is zero.

  Next, with reference to FIG. 10, drive control for rotating and translating the C-arm 7 from the fluoroscopic imaging position to the standby position via the route point along the registered route will be described. Refer to FIG. 9 for the standby position, the fluoroscopic position, and the room layout of the examination room 71. FIG. 10 is a flowchart for explaining the operation of the apparatus according to the second embodiment.

  It is confirmed whether or not there is equipment on a straight line from the via points S1 to S3 in the Xa direction (step ST21). If there is no equipment 75, the C-arm 7 is linearly moved from the fluoroscopic imaging positions Q1 to Q9 to the standby positions P1 to P3 via the passing points S1 to S3 (step ST22), and the C-arm 7 is moved. Stop at the standby positions P1 to P3 (step ST23).

  As shown in FIG. 9, a case where the equipment 75 is on a straight line in the Xa direction from the via points S1 to S3 will be described. When the C-arm 7 is moved from the fluoroscopic position Q5 to the standby position P2, it passes through the transit point S2, so the user selects the memory switch 57b (step ST24) and presses the memory execution switch 61. Then, the path information stored in the memory switch 57b is executed (step ST25).

  When the memory switch 57b and the memory execution switch 61 are pressed, the C-arm 7 moves from the fluoroscopic imaging position Q5 to the nearest via point S2 (step ST26). The CPU 63 continues to move the C-arm 7 until the C-arm 7 reaches the transit point S2 (step ST27). When the C-arm 7 reaches the transit point S2, the C-arm 7 is rotated and translated along the path registered in the memory switch 57b (step ST28). The C-arm 7 continues to rotate and translate until reaching the standby positions P1 to P3, and when it reaches the standby positions P1 to P3, the rotation and translation of the C-arm 7 are stopped (step ST29).

  In FIG. 9, when the C-arm 7 is moved from the fluoroscopic imaging position Q6 to the standby position P2, similarly, since it passes through the transit point S2, the user presses the memory switch 57b and presses the memory execution switch 61. . As a result, the C-arm 7 moves from the fluoroscopic position Q9 to the standby position P2 along the route registered in the memory switch 57b after passing through the via point S2. Note that when the C-arm is at the same fluoroscopic position Q4 as the via point S2, there is no movement from the fluoroscopic position Q4 to the via point S2, and it waits from the via point S2 along the route registered in the memory switch 57b. The movement to the position P2 is started.

  According to the invention described in the second embodiment, the nearest positions S1 to S3 are pointed by way of the respective fluoroscopic imaging positions Q1 to Q3, Q4 to Q5, and Q6 to Q9 that are close to each other among the plurality of fluoroscopic imaging positions Q1 to Q9. Determined. Since a route connecting the transit points S1 and S2 and the standby position P2 and a route connecting the transit point S3 and the standby position P3 are determined, and a plurality of routes are determined for each transit point and standby position, the fluoroscopic imaging position The number of routes set with respect to the number of nodes can be small. Therefore, the route can be selected according to the situation of the examination room, so that the movement time between the fluoroscopic imaging position and the standby position can be shortened, and the operation is facilitated by reducing the number of route selections.

  The present invention is not limited to the above-described embodiment, and can be modified as follows.

  (1) In each of the above-described embodiments, the path of the C-arm 7 is described as associated with the traveling direction and the posture of the C-arm 7. However, the traveling direction and the posture are not associated with each other. It may be a route. In this case, the path of the C-arm 7 determines the traveling direction of the C-arm 7.

  (2) In each of the above-described embodiments, the standby position is P1 to P3 and the fluoroscopic imaging position is any one of Q1 to Q9. However, the present invention is not limited to this. It can be set by etc. Further, the standby position may be set roughly like the wall side in the Xa direction of the examination room 71 without setting the specific position.

  (3) In each of the above-described embodiments, the path in which the traveling direction is associated with the attitude of the C-arm 7 has been exemplified by the attitude in the γ direction as indicated by the paths R2, R4, and R12. The posture may be in the α direction or the β direction. For example, in a posture where the X-ray tube 3 and the FPD 5 are positioned on the vertical axis, if the X-ray tube 3 and the FPD 5 are rotated by 90 degrees in the α direction or the β direction, the space between the horizontal axis connecting the X-ray tube 3 and the FPD 5 to the floor surface is obtained. A space is born. As long as the equipment is high enough to fit in this space, the C-arm may be associated with the traveling direction on the route in a posture rotated 90 degrees in the α or β direction.

  (4) In each of the embodiments described above, the routes R1 to R4 and R11 to R13 are exemplified as the plurality of predetermined routes. However, the present invention is not limited to this, and each of the plurality of fluoroscopic imaging positions and the plurality of standby positions. Further, a plurality of routes may be defined. The memory switch 57 for registering a plurality of paths is not limited to the memory switches 57a to 57c, and the number of memory switches 57 corresponding to the number of more paths may be provided.

  (5) In the first embodiment described above, the C-arm 7 is moved from the standby positions P2, P3 to the fluoroscopic positions Q1, Q7 along the path stored in the memory switches 57a, 57c. You may move from position Q1, Q7 to stand-by position P2, P3. In this case, the C-arm 7 is moved in the order of paths R1 to R5 and R11 to 13.

  (6) In the second embodiment described above, the C-arm 7 is moved from the fluoroscopic positions Q5 and Q6 to the standby position P2 along the path stored in the memory switch 57b. You may move to position Q5, Q6. In this case, as in the first embodiment, the path connecting the standby position P2 and the fluoroscopic imaging positions Q5 and Q6 may be set in the memory switch 57.

1 ... Bed 71 ... Examination room 73a-73c ... Equipment
M ... subject P1 to P3 ... standby position Q1, Q2, Q7 ... fluoroscopic imaging positions R1 to R4 ... path R11 to R13 ... path

Claims (9)

  An X-ray fluoroscopic apparatus for X-ray fluoroscopic imaging of a subject, comprising: a support unit that supports an X-ray tube and an X-ray detector so as to face each other; The driving means for moving and translating, the fluoroscopic imaging position where the support means is positioned during fluoroscopic imaging, and the standby position where the support means is positioned during the standby time when fluoroscopic imaging is not performed, X-ray fluoroscopic apparatus comprising: selection means for selecting one path from the inside; and drive control means for rotating and translating the support means along the path selected by the selection means .   The X-ray fluoroscopic apparatus according to claim 1, wherein the plurality of predetermined paths are paths in which the traveling direction and the posture of the support unit are associated with each other.   3. The X-ray fluoroscopic apparatus according to claim 1, wherein when an obstacle is arranged on a path connecting the fluoroscopic imaging position and the standby position, the posture of the support means is in contact with the obstacle. An X-ray fluoroscopic apparatus characterized in that the route is to avoid the obstacle.   The X-ray fluoroscopic apparatus according to claim 1, further comprising a registration unit that registers a plurality of the routes in advance, wherein the selection unit is selected from a plurality of routes registered in advance by the registration unit. An X-ray fluoroscopic apparatus, wherein one route is selected.   5. The X-ray fluoroscopic apparatus according to claim 1, wherein a plurality of paths are defined for each of the fluoroscopic position and the standby position.   6. The X-ray fluoroscopic apparatus according to claim 1, wherein an arbitrary position is set from a plurality of the fluoroscopic imaging positions, and a plurality of routes are set for each of the via points and the standby positions. X-ray fluoroscopic apparatus characterized by the above.   7. The X-ray fluoroscopic apparatus according to claim 1, wherein the posture of the support means is changed according to whether the fluoroscopic position is on the long side or the short side of the bed. X-ray fluoroscopic apparatus characterized by the above.   The X-ray fluoroscopic apparatus according to claim 1, wherein the support means is configured to support a surface formed by connecting the support means, the X-ray tube, and the X-ray detector. An X-ray fluoroscopic apparatus characterized by being parallel to the traveling direction of the means.   9. The X-ray fluoroscopic apparatus according to claim 1, further comprising display control means for displaying a plurality of the paths on a display means for each path.

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