JP5954488B2 - X-ray fluoroscope - Google Patents

Description

  The present invention relates to an X-ray fluoroscopy device that includes two X-ray tubes and two X-ray detectors and that allows a subject to be seen through from two different directions.

  In radiation therapy in which radiation such as X-rays or electron beams is applied to an affected area such as cancer, it is necessary to accurately irradiate the affected area with radiation. However, not only the subject may move the body, but the affected part itself may move. For example, a tumor near the lung moves greatly based on respiration. For this reason, a radiotherapy apparatus having a configuration in which a marker is arranged near the tumor, the position of the marker is detected by a two-way fluoroscopic moving object tracking apparatus, and irradiation of therapeutic radiation is controlled has been proposed. (See Patent Document 1 and Patent Document 2).

  In this radiotherapy apparatus, a first X-ray fluoroscopic mechanism composed of a first X-ray tube and a first X-ray detector and a second X-ray fluoroscopic mechanism composed of a second X-ray tube and a second X-ray detector are used in the body. The embedded marker is photographed, and three-dimensional position information is obtained using a two-dimensional fluoroscopic image by the first X-ray fluoroscopic mechanism and a two-dimensional fluoroscopic image by the second X-ray fluoroscopic mechanism. And by performing X-ray fluoroscopy continuously, it is possible to detect the marker of the part with movement with high accuracy by calculating the three-dimensional position information of the marker in real time. By controlling the irradiation of the therapeutic radiation based on this, it becomes possible to execute the radiation irradiation with high accuracy according to the movement of the tumor.

Japanese Patent No. 3053389 JP 2006-230673 A

  An X-ray fluoroscopic apparatus used in such a radiotherapy apparatus suspends a pair of rails having a substantially U shape arranged in parallel with each other from a ceiling, and a first X-ray detector along the pair of rails. A pair of rails having a substantially U-shape arranged in parallel to each other are buried under the floor, and the first X along the pair of rails is moved. By moving the pedestal supporting the tube and the pedestal supporting the second X-ray tube, the first and second X-ray tubes and the first and second X-ray detectors are moved to necessary positions. Yes.

  By the way, in such an X-ray fluoroscopic apparatus, the pedestal supporting the first X-ray detector and the pedestal supporting the second X-ray detector move along the pair of rails, and the other pair of rails move. A pedestal that supports the first X-ray tube and a pedestal that supports the second X-ray tube move along. In such a case, if the other pedestal moves while one pedestal is stopped at a predetermined position, the pedestal in the stationary state is displaced due to the vibration caused by the movement of the other pedestal. The problem of waking up arises. When such a problem occurs, accurate X-ray fluoroscopy cannot be performed.

  The present invention has been made to solve the above problems, and provides an X-ray fluoroscopy device capable of performing accurate X-ray fluoroscopy by preventing positional displacement of an X-ray tube or an X-ray detector. The purpose is to do.

  The invention described in claim 1 is an X-ray fluoroscopy device comprising two X-ray tubes and two X-ray detectors, and seeing through a subject from two different directions. Two pedestals that support the tube or the two X-ray detectors, rails that guide the two pedestals, and one of the two pedestals when the other pedestal is moved. And a pedestal movement control unit that moves the pedestal from the current position to the current position and then stops the two pedestals in a state in which vibration is suppressed.

  According to a second aspect of the present invention, in the first aspect of the present invention, the first base of the two pedestals is decelerated before being stopped, and when the one pedestal decelerates, the other pedestal is decelerated. Is moved from the standby position to the current position.

  The invention according to claim 3 is a first X-ray fluoroscopic mechanism comprising a first X-ray tube and a first X-ray detector, a second X-ray fluoroscopic mechanism comprising a second X-ray tube and a second X-ray detector, An X-ray tube first pedestal that supports the first X-ray tube, an X-ray tube second pedestal that supports the second X-ray tube, an X-ray tube first pedestal, and an X-ray tube second pedestal that guides the X-ray tube A rail for X-ray tube, a first pedestal for X-ray detector supporting the first X-ray detector, a second pedestal for X-ray detector supporting the second X-ray detector, a first pedestal for X-ray detector, and A X-ray detector rail for guiding the second X-ray detector pedestal, the first X-ray tube and the first X-ray detector being set to face each other in advance, The second X-ray tube and the second X-ray detector are moved to the second fluoroscopic position. An X-ray fluoroscopic apparatus comprising a preset first fluoroscopic position and a second fluoroscopic position that are opposed to each other, wherein the first X-ray tube base and the second X-ray tube base When one of the X-ray tube is moved, the other of the first X-ray tube pedestal and the second X-ray tube pedestal is moved from the current position to the standby position and then moved to the current position again, and the X-ray When the first pedestal for tube and the second pedestal for X-ray tube are stopped in a state where vibration is suppressed, and one of the first pedestal for X-ray detector and the second pedestal for X-ray detector is moved. The other one of the first X-ray detector pedestal and the second X-ray detector pedestal is moved from the current position to the standby position, and then moved again to the current position, thereby the first X-ray detector pedestal. And the second pedestal for X-ray detector Stopping at reduced, characterized in that it comprises a movement control unit of the base.

  According to the first aspect of the invention, since the two pedestals are stopped in a state where vibration is suppressed, one of the positions of the two pedestals guided by the same rail is vibration caused by movement of the other. This makes it possible to prevent the occurrence of positional deviation and to perform accurate X-ray fluoroscopy.

  According to the second aspect of the present invention, it is possible to more effectively prevent the position shift of the pedestal as the pedestal is decelerated, and it is possible to accurately position the pedestal.

  According to the invention of claim 3, the first pedestal for X-ray detector and the second pedestal for X-ray detector are stopped in a state where vibration is suppressed, and the first pedestal for X-ray tube and the first pedestal for X-ray tube are Since the two pedestals are stopped in a state in which vibration is suppressed, it is possible to prevent one of the positions of the two pedestals guided by the same rail from being displaced due to vibration caused by movement of the other. Thus, accurate X-ray fluoroscopy can be performed.

1 is a perspective view of a radiotherapy apparatus to which an X-ray fluoroscopic apparatus according to the present invention is applied. It is explanatory drawing which shows rocking | fluctuation operation | movement of the head 55 and the head support part 54 in a radiotherapy apparatus. It is explanatory drawing which shows the state by which the 1st X-ray tube 1a, the 2nd X-ray tube 1b, the 1st X-ray detector 2a, and the 2nd X-ray detector 2b are each arrange | positioned in the 1st see-through position and the 2nd see-through position. It is a plane schematic diagram which shows the arrangement | positioning relationship between the 1st base 4a for X-ray detectors, and the 1st, 2nd rails 11 and 12 and 3rd rails 13 for X-ray detectors. It is a side surface schematic diagram which shows the arrangement | positioning relationship between the 1st base 4a for X-ray detectors, the 1st, 2nd rails 11, 12 and 3rd rails 13 for X-ray detectors. A plane showing the relationship between the first and second rails 11 and 12 for the X-ray detector and the third rail 13 and the arrangement relationship between the first and second rails 21 and 22 for the X-ray tube and the third rail 23. FIG. It is a side surface schematic diagram which shows the arrangement | positioning relationship between the 1st base 3a for X-ray tubes, the 1st, 2nd rails 21 and 22 for X-ray tubes, and the 3rd rail 23. FIG. It is a block diagram which shows the main control systems of the X-ray fluoroscopic apparatus which concerns on this invention. It is explanatory drawing which shows movement operation | movement of the 1st base 3a for X-ray tubes, the 2nd base 3b for X-ray tubes, the 1st base 4a for X-ray detectors, and the 2nd base 4b for X-ray detectors. It is explanatory drawing which shows movement operation | movement of the 1st base 3a for X-ray tubes, the 2nd base 3b for X-ray tubes, the 1st base 4a for X-ray detectors, and the 2nd base 4b for X-ray detectors.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of a radiotherapy apparatus to which an X-ray fluoroscopic apparatus according to the present invention is applied. FIG. 2 is an explanatory diagram showing the swinging operation of the head 55 and the head support portion 54 in the radiotherapy apparatus.

  This radiotherapy apparatus is for performing radiotherapy by irradiating an affected part of a subject 57 lying on an imaging table 56 with radiation such as X-rays or electron beams, and the floor surface 51 of a treatment room. A gantry 53 installed above, a head support portion 54 that swings about an axis that faces the gantry 53 in the horizontal direction, and a head support portion 54 that is supported by the head support portion 54 and emits radiation toward the subject 57. And a head 55 for irradiation. The head 55 can irradiate the affected part of the subject 57 with radiation from various angles by the swinging motion of the head support part 54.

  During this radiotherapy, it is necessary to accurately irradiate the affected area with radiation. For this reason, a marker is installed near the affected area. Then, the two-dimensional fluoroscopy obtained by the first X-ray fluoroscopy mechanism and the second X-ray fluoroscopy mechanism is obtained by continuously fluoroscopying the marker embedded in the body using the first X-ray fluoroscopy mechanism and the second X-ray fluoroscopy mechanism. The marker is detected with high accuracy by calculating the three-dimensional position information of the marker from the image.

  An X-ray fluoroscopic apparatus according to the present invention for performing such fluoroscopy includes a first X-ray fluoroscopic mechanism including a first X-ray tube 1a and a first X-ray detector 2a, a second X-ray tube 1b, and a second X-ray. The second X-ray fluoroscopic mechanism comprising the detector 2b, and the first X-ray tube 1a and the first X-ray detector 2a are moved to a first fluoroscopic position and a second fluoroscopic position, which will be described later, arranged opposite to each other, And a moving mechanism for moving the second X-ray tube 1b and the second X-ray detector 2b to a first fluoroscopic position and a second fluoroscopic position that are arranged to face each other. As the first and second X-ray detectors 2a and 2b, for example, an image intensifier (II) or a flat panel detector (FPD) is used.

  The 1st X-ray tube 1a is supported by the 1st base 3a for X-ray tubes. The second X-ray tube 1b is supported by the second pedestal 3b for X-ray tubes. On the bottom surface 52 of the recess formed on the floor surface of the radiographing room, a first rail 21 for a substantially U-shaped X-ray tube in which two linear portions are connected by a connecting portion including an arc portion, and the X-ray tube Similar to the first rail 21, a substantially U-shaped second rail 22 for an X-ray tube is provided in which two straight portions are connected by a connecting portion including an arc portion. The first rail 21 for X-ray tube and the second rail 22 for X-ray tube are arranged in parallel to each other. The X-ray tube first pedestal 3a and the X-ray tube second pedestal 3b are guided by the first and second rails 21 and 22 for the X-ray tube, and will be described later in a first see-through position and a second see-through position. Move to.

  Similarly, the 1st X-ray detector 2a is supported by the 1st base 4a for X-ray detectors. The second X-ray detector 2b is supported by the second pedestal 4b for X-ray detectors. From the ceiling of the radiographing room, a first rail 11 for a substantially U-shaped X-ray detector in which two linear portions are connected by a connecting portion including an arc portion, and two similar to the first rail 11 for the X-ray detector. A substantially U-shaped second rail 12 for an X-ray detector, in which two straight portions are connected by a connecting portion including an arc portion, is suspended. The first rail 11 for the X-ray detector and the second rail 12 for the X-ray detector are arranged in parallel to each other. Then, the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors are guided by the first and second rails 11 and 12 for these X-ray detectors, and the first fluoroscopic position and the first to be described later. 2 Move to the fluoroscopic position.

  FIG. 3 is a diagram illustrating a state in which the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b are disposed at the first fluoroscopic position and the second fluoroscopic position, respectively. FIG.

  This X-ray fluoroscopic apparatus has a configuration in which a subject 57 is seen through from two different directions at three preset positions. FIG. 3A shows that the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b move the subject 57 from two different directions at the first position. FIG. 3 (b) shows a state in which the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b are in the second position. FIG. 3C shows a state in which the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b are in the third position. Fig. 5 shows a state in which the subject 57 is seen through from two different directions.

  As described above, the X-ray fluoroscopic apparatus has a configuration in which the subject 57 is seen through from two different directions at three positions, and therefore, as shown in FIG. Even when the person 57 is irradiated with radiation from various angles, X-ray fluoroscopy can be performed without hindering the movement of the head 55. At these three positions, the first X-ray tube 1a and the second X-ray tube 1b, and the first X-ray detector 2a and the second X-ray detector 2b It will be arranged at one of the two perspective positions.

  In the first position shown in FIG. 3A, the first X-ray tube 1a is at the first fluoroscopic position, the second X-ray tube 1b is at the first fluoroscopic position, and the first X-ray detector 2a is at the first fluoroscopic position. At the position, the second X-ray detectors 2b are respectively disposed at the first fluoroscopic positions. In the second position shown in FIG. 3B, the first X-ray tube 1a is in the second fluoroscopic position, the second X-ray tube 1b is in the first fluoroscopic position, and the first X-ray detector 2a is in the second fluoroscopic position. The second X-ray detectors 2b are respectively arranged at the first fluoroscopic positions. In the third position shown in FIG. 3C, the first X-ray tube 1a is in the second fluoroscopic position, the second X-ray tube 1b is in the second fluoroscopic position, and the first X-ray detector 2a is in the second fluoroscopic position. The second X-ray detectors 2b are respectively disposed at the second fluoroscopic positions.

  The first X-ray tube 1a is moved by the X-ray tube first pedestal 3a and the X-ray tube second pedestal 3b moving along the moving path 20 constituted by the first and second rails 21 and 22 for the X-ray tube. And the 2nd X-ray tube 1b is each arrange | positioned in a 1st see-through position and a 2nd see-through position. Further, by moving the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors along the movement path 10 constituted by the first and second rails 11 and 12 for the X-ray detectors, The first X-ray detector 2a and the second X-ray detector 2b are disposed at the first perspective position and the second perspective position, respectively.

  Next, the arrangement relationship between the first pedestal 3a for X-ray tube and the second pedestal 3b for X-ray tube and the first and second rails 21 and 22 for the X-ray tube, and the first pedestal 4a for X-ray detector and The arrangement relationship between the second pedestal 4b for X-ray detectors and the first and second rails 11 and 12 for X-ray detectors will be described. FIG. 4 is a schematic plan view showing the positional relationship between the first pedestal 4a for the X-ray detector and the first, second rails 11 and 12 and the third rail 13 for the X-ray detector. FIG. 5 is a schematic side view showing the positional relationship between the first pedestal 4a for X-ray detectors and the first, second rails 11 and 12 and the third rail 13 for X-ray detectors. Further, FIG. 6 shows an arrangement relationship between the first and second rails 11 and 12 and the third rail 13 for the X-ray detector, and the first and second rails 21 and 22 and the third rail 23 for the X-ray tube. FIG. In FIG. 4, only a part of the X-ray tube first and second rails 21 and 22 is shown.

  As shown in FIGS. 4 and 5, a third rail 13 for the X-ray detector is disposed between the first rail 11 and the second rail 12 for the X-ray detector. The third rail 13 for the X-ray detector has a linear shape, and an intermediate position between the first rail 11 for the X-ray detector and the linear portion of the second rail 12 for the X-ray detector. The first rail 11 for the X-ray detector and the second rail 12 for the X-ray detector are arranged in parallel. Then, as shown in FIG. 6A, the third rail 13 for the X-ray detector includes a first fluoroscopic position of the first X-ray detector 2a, a second fluoroscopic position of the first X-ray detector 2a, The first X-ray detector 2b is disposed at four positions, ie, the first fluoroscopic position and the second X-ray detector 2b is the second fluoroscopic position. The third rail 13 is provided with a pair of sensors 101 and 102 for detecting the positions of the first X-ray detector pedestal 4a and the second X-ray detector pedestal 4b, respectively.

  As shown in FIG. 5, a first wheel 31 that rotates in contact with the first rail 11 for the X-ray detector is disposed on the first base 4 a for the X-ray detector. The first wheel 31 is fixed to the X-ray detector first pedestal 4 a so as to be rotatable about a shaft 41 supported by a bearing 44. The shaft 41 is connected to the motor 59, and the first wheel 31 is rotated by driving the motor 59.

  Further, a second wheel 32 that rotates in contact with the second rail 12 for the X-ray detector is disposed on the first pedestal 4a for the X-ray detector. The second wheel 32 rotates around the shaft 42 supported by the bearing 45.

  Furthermore, a third wheel 33 that rotates in contact with the third rail 13 for the X-ray detector is disposed on the first pedestal 4a for the X-ray detector. The third wheel 33 is fixed to the first pedestal 4a for X-ray detectors so as to be rotatable around a shaft 43 supported by a bearing 46.

  As shown in FIGS. 4 and 5, at the lower end of the X-ray detector third rail 13, a dog 49 disposed on the first X-ray detector seat 4a is detected to detect the X-ray detector second. The above-described sensors 101 and 102 for confirming the position of the single seat 4a are disposed. The first X-ray detector base 4a itself is supported by X-ray detector first and second rails 11 and 12 by a support mechanism (not shown).

  In addition, the 2nd base 4b for X-ray detectors has the structure similar to the 1st base 4a for X-ray detectors mentioned above.

  In the X-ray detector first pedestal 4a and the X-ray detector second pedestal 4b having such a configuration, the first wheel 31 is rotated by driving the motor 59, whereby the first X-ray detector pedestal 4a and The second X-ray detector base 4b can be moved along the first rail 11 and the second rail 12 for the X-ray detector.

  Then, as shown in FIG. 6 (a), X-ray detection is performed at the four positions of the first and second fluoroscopic positions of the first X-ray detector 2a and the first and second fluoroscopic positions of the second X-ray detector 2b. A third rail 13 is disposed between the dexterous first rail 11 and the second rail 12.

  FIG. 7 is a schematic side view showing the positional relationship between the first pedestal 3a for X-ray tubes and the first and second rails 21, 22 and the third rail 23 for X-ray tubes. In addition, the same code | symbol is attached | subjected about the member corresponding to the member shown in FIG.

  As shown in FIG. 7, a third rail 23 for the X-ray tube is disposed between the first rail 21 and the second rail 22 for the X-ray tube. The third rail 23 for the X-ray tube has a linear shape, and at an intermediate position facing the straight portion of the first rail 21 for the X-ray tube and the second rail 22 for the X-ray tube, The first rail 21 for the X-ray tube and the second rail 22 for the X-ray tube are arranged in parallel. Then, as shown in FIG. 6B, the third rail 23 for the X-ray tube includes a first fluoroscopic position of the first X-ray tube 1a, a second fluoroscopic position of the first X-ray tube 1a, and a second X-ray. It is disposed at four positions, a first perspective position of the tube 1b and a second perspective position of the second X-ray tube 1b. The third rail 23 is provided with a pair of sensors 101 and 102 for detecting the positions of the first X-ray tube pedestal 3a and the second X-ray tube pedestal 3b, respectively.

  As shown in FIG. 7, a first wheel 31 that rotates in contact with the first rail 21 for the X-ray tube is disposed on the first pedestal 3a for the X-ray tube. The first wheel 31 is fixed to the first pedestal 3a for the X-ray tube so as to be rotatable around a shaft 41 supported by a bearing 44. The shaft 41 is connected to the motor 59, and the first wheel 31 is rotated by driving the motor 59.

  The first pedestal 3a for the X-ray tube is provided with a second wheel 32 that rotates in contact with the second rail 22 for the X-ray tube. The second wheel 32 rotates around the shaft 42 supported by the bearing 45.

  Further, the first pedestal 3a for the X-ray tube is provided with a third wheel 33 that rotates in contact with the third rail 23 for the X-ray tube. The third wheel 33 is fixed to the first pedestal 3 a for X-ray tube so as to be rotatable around a shaft 43 supported by a bearing 46.

  The above-described sensor for confirming the position of the first pedestal 3a for the X-ray tube by detecting the dog 49 disposed on the first pedestal 3a for the X-ray tube at the upper end of the third rail 23 for the X-ray tube. 101 and 102 (only the sensor 101 is shown in FIG. 7) are provided. The first X-ray tube pedestal 3a itself is supported by X-ray tube first and second rails 21 and 22 by a support mechanism (not shown).

  The second X-ray tube pedestal 3b has the same configuration as the X-ray tube first pedestal 3a described above.

  In the X-ray tube first pedestal 3a and the X-ray tube second pedestal 3b having such a configuration, the first wheel 31 is rotated by driving the motor 59, whereby the X-ray tube first pedestal 3a and the X-ray tube use. The second pedestal 3b can be moved along the first rail 21 and the second rail 22 for the X-ray tube.

  Then, as shown in FIG. 6 (b), the X-ray tube for the first X-ray tube at the four positions of the first and second fluoroscopic positions of the first X-ray tube 1a and the first and second fluoroscopic positions of the second X-ray tube 1b. A third rail 23 is disposed between the first rail 21 and the second rail 22.

  FIG. 8 is a block diagram showing a main control system of the X-ray fluoroscopic apparatus according to the present invention.

  The X-ray fluoroscopic apparatus according to the present invention includes a control unit 100 that controls the entire apparatus. This control unit 100 controls movement of the first X-ray tube pedestal 3a, the X-ray tube second pedestal 3b, the X-ray detector first pedestal 4a, and the X-ray detector second pedestal 4b. Part 110 is provided. The control unit 100 is connected to the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b described above. In addition, the control unit 100 includes motors disposed on the X-ray tube first pedestal 3a, the X-ray tube second pedestal 3b, the X-ray detector first pedestal 4a, and the X-ray detector second pedestal 4b. 59. Further, the control unit 100 is also connected to the sensors 101 and 102 respectively disposed on the third rails 13 and 23 described above.

  Next, the first pedestal 3a for the X-ray tube, the second pedestal 3b for the X-ray tube, and the X-ray that respectively support the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b. The movement operation of the first detector pedestal 4a and the second X-ray detector pedestal 4b will be described. 9 and 10 show the first X-ray tube base 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b, respectively. 3b is an explanatory view showing the movement of the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors.

  9 shows the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a, and the second X-ray detector 2b, which respectively support the first pedestal 3a for the X-ray tube and the second pedestal 3b for the X-ray tube. The case where the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors move from the first position shown in FIG. 3 (a) to the second position shown in FIG. 3 (b) is shown. Yes. FIG. 10 also shows the first pedestal 3a for the X-ray tube and the second pedestal 3b for the X-ray tube respectively supporting the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a and the second X-ray detector 2b. The case where the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors move from the second position shown in FIG. 3B to the third position shown in FIG. Yes. The movement of the first pedestal 3a for X-ray tubes, the second pedestal 3b for X-ray tubes, the first pedestal 4a for X-ray detectors, and the second pedestal 4b for X-ray detectors is controlled by a movement control unit 110 shown in FIG. The

  As shown in FIG. 9, the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a and the second X-ray detector 2b each supporting the first X-ray tube pedestal 3a and the second X-ray tube pedestal. 3b, when the first pedestal 4a for X-ray detector and the second pedestal 4b for X-ray detector move from the first position shown in FIG. 3A to the second position shown in FIG. 3B. The first X-ray detector pedestal 4a supporting the first X-ray detector 2a moves from the first fluoroscopic position to the second fluoroscopic position, but the second X-ray detector supporting the second X-ray detector 2b. The two pedestals 4b do not need to move from the second perspective position.

  In such a case, when the X-ray detector first pedestal 4a is moved while the second X-ray detector pedestal 4b is stationary, the second X-ray detector pedestal 4b in the stationary state is Due to the vibration accompanying the movement of the first pedestal 4a for X-ray detectors, there arises a problem of causing a positional shift. For this reason, in the X-ray fluoroscopic apparatus according to the present invention, when the first X-ray detector base 4a is moved as shown by the arrow A in FIG. 9A, it is shown by the arrow B1 in FIG. 9A. After moving the second X-ray detector pedestal 4b from the current position to the standby position, the X-ray detector first pedestal is moved again to the current position as indicated by the arrow B2 in FIG. 9A. 4a and the second pedestal 4b for X-ray detectors are employed in a configuration in which they are stopped in a state where the vibration is reduced and sufficiently suppressed.

  In the first position shown in FIG. 3 (a), the first pedestal 4a for the X-ray detector is disposed at a position where the dog 49 attached thereto faces the sensor 102 shown in FIG. The detector second pedestal 4 b is also disposed at a position where the dog 49 attached thereto faces the sensor 102. In this state, as shown by the arrow A in FIG. 9A, when the first X-ray detector base 4a starts to move from the first fluoroscopic position toward the second fluoroscopic position, FIG. As shown by the arrow B1, the second pedestal 4b for the X-ray detector also starts moving from the current position toward the standby position. The X-ray detector second pedestal 4b stops at a standby position on the third rail 13 where the dog 49 attached thereto passes the sensor 101 in the vicinity of the first see-through position. If the dog 49 attached to the first pedestal 4a for the X-ray detector is detected by the sensor 101 in the vicinity of the second fluoroscopic position, the X-ray detection is performed as shown by the broken line at the tip of the arrow A in FIG. The dexterous first pedestal 4a decelerates and continues to move. At the same time, the second X-ray detector pedestal 4b also starts to move, and decelerates similarly to the first X-ray detector pedestal 4a when the dog 49 attached thereto is detected by the sensor 101 near the first fluoroscopic position. Then, as shown by the arrow B2 in FIG.

  Here, the moving speed of the first pedestal 4a for X-ray detector and the moving speed of the second pedestal 4b for X-ray detector at this time are speeds in a state where the vibration is reduced and sufficiently suppressed. For this reason, the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors reach the position where the dog 49 disposed therein faces the sensor 102 in a sufficiently suppressed vibration state, Stop at that position with sufficient vibration suppression.

  Thus, since the X-ray detector first pedestal 4a and the X-ray detector second pedestal 4b are stopped in a state in which vibration is sufficiently suppressed, they are guided by the same first rail 11 and second rail 12. One of the positions of the two pedestals can be prevented from being displaced due to vibration accompanying the movement of the other. At this time, when both the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors stop, both pedestals are in a decelerating state. Therefore, it is possible to effectively prevent the positional deviation. Furthermore, when the first pedestal 4a for X-ray detector and the second pedestal 4b for X-ray detector are stopped, both pedestals are guided by the third rail 13 in addition to the first rail 11 and the second rail 12. Therefore, the vibration of both pedestals can be further reduced, and the displacement can be effectively prevented.

  This applies not only to the relationship between the first pedestal 4a for X-ray detectors and the second pedestal 4b for X-ray detectors, but also to the relationship between the first pedestal 3a for X-ray tubes and the second pedestal 3b for X-ray tubes. . That is, as shown in FIG. 9, the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a and the second X-ray detector 2b, which respectively support the first pedestal 3a for the X-ray tube, When the two pedestals 3b, the first pedestal 4a for X-ray detectors, and the second pedestal 4b for X-ray detectors move from the first position shown in FIG. 3 (a) to the second position shown in FIG. 3 (b). The first X-ray tube pedestal 3a that supports the first X-ray tube 1a moves from the first fluoroscopic position to the second fluoroscopic position, but the second X-ray tube pedestal that supports the second X-ray tube 1b. 3b does not need to move from the first perspective position.

  In such a case, if the first X-ray tube pedestal 3a moves while the second X-ray tube pedestal 3b is stationary, the second X-ray tube pedestal 3b in the stationary state is used for the X-ray tube. Due to the vibration accompanying the movement of the first pedestal 3a, there arises a problem of causing a positional shift. Therefore, in the X-ray fluoroscopic apparatus according to the present invention, when the first pedestal 3a for X-ray tube 3a is moved as shown by the arrow C in FIG. 9B, as shown by the arrow D1 in FIG. 9B. After the second X-ray tube pedestal 3b is moved from the current position to the standby position, the X-ray tube second pedestal 3b is moved again to the current position as indicated by an arrow D2 in FIG. The structure which stops the 2nd base 3b for ray tubes in the state which suppressed the vibration fully decelerated is employ | adopted.

  Even in this case, in the first position shown in FIG. 3A, the first pedestal 3a for the X-ray tube is disposed at a position where the dog 49 attached thereto faces the sensor 102 shown in FIG. The second pedestal 3b for the X-ray tube is also disposed at a position where the dog 49 attached thereto faces the sensor 102. In this state, when the first pedestal 3a for X-ray tube starts moving from the first fluoroscopic position toward the second fluoroscopic position as shown by an arrow C in FIG. 9B, in FIG. 9B, As indicated by the arrow D1, the second X-ray tube pedestal 3b also starts moving from the current position toward the standby position. The second pedestal 3b for the X-ray tube stops at a standby position on the third rail 23 where the dog 49 attached thereto passes the sensor 101 in the vicinity of the first see-through position. If the dog 49 attached to the first pedestal 3a for the X-ray tube is detected by the sensor 101 in the vicinity of the second fluoroscopic position, as shown by the broken line at the tip of the arrow C in FIG. The pedestal 3a decelerates and continues to move. At the same time, the second pedestal 3b for the X-ray tube also starts to move, and when the dog 49 attached thereto is detected by the sensor 101 near the first fluoroscopic position, the second pedestal 3b for the X-ray tube decelerates similarly to the first pedestal 3a for the X-ray tube, The movement continues further as indicated by an arrow D2 in FIG. 9B.

  Here, the moving speed of the first X-ray tube pedestal 3a and the moving speed of the second X-ray tube pedestal 3b at this time are the same as those of the first X-ray detector pedestal 4a and the second X-ray detector pedestal 4b. As in the case, the speed is reduced and the vibration is sufficiently suppressed. For this reason, the first pedestal 3a for X-ray tube and the second pedestal 3b for X-ray tube reach the position where the dog 49 disposed there faces the sensor 102 in a state where vibration is sufficiently suppressed, and the position Stop with enough vibration. Therefore, as in the case of the first X-ray detector pedestal 4a and the second X-ray detector pedestal 4b described above, the positional displacement of the first X-ray tube pedestal 3a and the second X-ray tube pedestal 3b is effectively prevented. be able to.

  The above operations are performed by the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a and the second X-ray detector 2b, each supporting the first X-ray tube pedestal 3a, the second X-ray tube pedestal 3b, The same applies when the first X-ray detector base 4a and the second X-ray detector base 4b move from the third position shown in FIG. 3C to the second position shown in FIG. 3B. .

  Further, as shown in FIG. 10, the above operation is performed by the first X-ray tube base 1a supporting the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a and the second X-ray detector 2b. The second pedestal 3b for X-ray tubes, the first pedestal 4a for X-ray detectors, and the second pedestal 4b for X-ray detectors are moved from the second position shown in FIG. 3 (b) to the third position shown in FIG. 3 (c). The same applies when moving to a position.

  In this case, when the X-ray detector second pedestal 4b starts to move from the first fluoroscopic position toward the second fluoroscopic position as shown by an arrow E in FIG. ), The first X-ray detector base 4a also starts to move from the current position toward the standby position as indicated by the arrow F1. The second X-ray detector base 4b decelerates and continues to move as indicated by the broken line at the tip of arrow E in FIG. At the same time, the first pedestal 4a for the X-ray detector also starts to move, and when the dog 49 attached thereto is detected by the sensor 101 near the second fluoroscopic position, it is decelerated in the same manner as the second pedestal 4b for the X-ray detector. Then, as shown by the arrow F2 in FIG. And the 1st base 4a for X-ray detectors and the 2nd base 4b for X-ray detectors stop in the state which suppressed the vibration sufficiently.

  Similarly, when the second X-ray tube base 3b starts to move from the first fluoroscopic position toward the second fluoroscopic position as indicated by the arrow G in FIG. 10B, the arrow in FIG. As indicated by H1, the first X-ray tube pedestal 3a also starts moving from the current position toward the standby position. The second pedestal 3b for X-ray tube decelerates and continues to move as indicated by the broken line at the tip of arrow G in FIG. At the same time, the first pedestal 3a for the X-ray tube also starts to move, and when the dog 49 attached thereto is detected by the sensor 101 near the second fluoroscopic device position, the first pedestal 3a for the X-ray tube decelerates similarly to the second pedestal 3b for the X-ray tube. Further, as shown by an arrow H2 in FIG. Then, the first X-ray tube pedestal 3a and the second X-ray tube pedestal 3b are stopped in a state where vibrations are sufficiently suppressed.

  As described above, in the X-ray fluoroscopic apparatus according to this embodiment, the first X-ray tube pedestal 3a and the second X-ray tube pedestal 3b are stopped in a state where vibration is sufficiently suppressed, and the X-ray detector Since the first pedestal 4a and the second pedestal 4b for X-ray detector are stopped in a state where vibration is sufficiently suppressed, the first X-ray tube 1a and the second X-ray tube 1b at the time of X-ray fluoroscopy are adopted. The first X-ray detector 2a and the second X-ray detector 2b can be effectively prevented from being displaced, and X-ray fluoroscopy can be performed with high accuracy.

  The above operations are performed by the first X-ray tube 1a, the second X-ray tube 1b, the first X-ray detector 2a and the second X-ray detector 2b, each supporting the first X-ray tube pedestal 3a, the second X-ray tube pedestal 3b, The same applies when the first X-ray detector base 4a and the second X-ray detector base 4b move from the second position shown in FIG. 3B to the first position shown in FIG. 3A. .

  In the above-described embodiment, the third rail 13 for the X-ray detector is disposed only near the fluoroscopic position in the first X-ray detector 2a and the second X-ray detector 2b, and the third rail 23 for the X-ray tube. Is disposed only in the vicinity of the fluoroscopic position in the first X-ray tube 1a and the second X-ray tube 1b. For this reason, not only accurate X-ray fluoroscopy can be performed while the third rails 13 and 23 are disposed at the minimum necessary positions, but torque and vibration required for driving are small at positions other than near the fluoroscopic positions. It becomes possible. However, the third rail 13 for the X-ray detector is disposed in the entire region corresponding to the straight line portion of the first and second rails 11 and 12 for the X-ray detector, and the third rail 23 for the X-ray tube is disposed of the X-ray detector. You may make it arrange | position in the whole area | region corresponding to the linear part in the 1st, 2nd rails 21 and 22 for pipes. That is, it is only necessary that the third rail for X-ray detector and the third rail for X-ray tube are disposed at least in the see-through position.

DESCRIPTION OF SYMBOLS 1a 1st X-ray tube 1b 2nd X-ray tube 2a 1st X-ray detector 2b 2nd X-ray detector 3a 1st seat for X-ray tubes 3b 2nd seat for X-ray tubes 4a 1st seat for X-ray detectors 4b 1st seat for X-ray detectors Two bases 11 First rail 12 Second rail 13 Third rail 21 First rail 22 Second rail 23 Third rail 31 First wheel 32 Second wheel 33 Third wheel 49 Dog 52 Bottom surface 53 Gantry 54 Head support portion 55 Head 56 Imaging stand 57 Subject 58 Ceiling
59 motor 100 control unit 101 sensor 102 sensor 110 movement control unit

Claims (3)

In an X-ray fluoroscopy device comprising two X-ray tubes and two X-ray detectors, and seeing through a subject from two different directions,
Two pedestals supporting the two X-ray tubes or the two X-ray detectors;
Rails to guide these two pedestals,
When one of the two pedestals is moved, the other pedestal is moved from the current position to the standby position and then moved to the current position again to suppress vibration of the two pedestals. A pedestal movement control unit to be stopped in a state;
An X-ray fluoroscopic apparatus comprising: The X-ray fluoroscopy device according to claim 1,
X-ray fluoroscopy device that decelerates before stopping one of the two pedestals and moves the other pedestal from the standby position to the current position when the one pedestal decelerates . A first X-ray fluoroscopic mechanism comprising a first X-ray tube and a first X-ray detector; a second X-ray fluoroscopic mechanism comprising a second X-ray tube and a second X-ray detector;
A first pedestal for X-ray tube that supports the first X-ray tube, a second pedestal for X-ray tube that supports the second X-ray tube, the first pedestal for X-ray tube, and the second pedestal for X-ray tube are guided. Rail for X-ray tube, first pedestal for X-ray detector supporting the first X-ray detector, second pedestal for X-ray detector supporting the second X-ray detector, and first pedestal for X-ray detector And an X-ray detector rail for guiding the X-ray detector second pedestal, and the first X-ray detector and the first X-ray detector set in front of each other so as to face each other. And a moving mechanism for moving the second X-ray tube and the second X-ray detector to a preset first fluoroscopic position and second fluoroscopic position in which the second X-ray tube and the second X-ray detector are opposed to each other.
In an X-ray fluoroscopic apparatus comprising:
When one of the first pedestal for X-ray tube and the second pedestal for X-ray tube is moved, the other of the first pedestal for X-ray tube and the second pedestal for X-ray tube waits from the current position. After moving to the position, move again to the current position, stop the first pedestal for X-ray tube and the second pedestal for X-ray tube while suppressing vibration,
When one of the first X-ray detector pedestal and the second X-ray detector pedestal is moved, the other of the first X-ray detector pedestal and the second X-ray detector pedestal is The pedestal movement control for moving the first pedestal for X-ray detector and the second pedestal for X-ray detector to be stopped in a state where vibration is suppressed, after moving from the position to the standby position and then to the current position again. An X-ray fluoroscopic apparatus comprising a unit.

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