JPH09117446A - Medical fluoroscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid the disappearance of a fluoroscopic image on a projection screen when a top board on which a patient is put or the other part are moved on the occasion of catheter insertion treatment. SOLUTION: This medical fluoroscopy comprises a table apparatus 1 provided with a top board on which a subject lies, an X ray tube and an imaging system opposingly disposed on the both ends of a C-letter arm placing a subject 2 in the space between the C-letter, an image processing apparatus comprising an image processing unit for imaging by performing a given processing on the output from the imaging system by converting X-ray irradiated to and transmitted through the subject to electric signals, etc., and a projecting apparatus for projecting the transparent image visualized. The transparent image projected from the projecting apparatus is displayed on a projecting screen installed over the subject, and the position of the projecting apparatus is regulated lest the transparent image should not be disappeared on the projecting screen by CPU 45 and 50 according to the outputs from sensors 41 and 43 for detecting the amount of the motion of the top plate or a sensor for detecting the other matter moving to a position screening the projecting image.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical X-ray fluoroscope, and more particularly to a medical X-ray fluoroscope suitable for displaying a fluoroscopic image when an operator operates a subject while operating a catheter of a subject. Regarding the device.

[0002]

2. Description of the Related Art A medical X-ray fluoroscopic apparatus used in an X-ray fluoroscopic imaging table and a circulatory apparatus has become indispensable in the field of diagnosis, but recently, it has been used not only for diagnosis but also for treatment. Is also being used. Such treatment is X
Under fluoroscopy, for example, a catheter having various instruments attached to its tip is inserted into a subject, and it is possible to reduce the pain given to the subject for treatment by conventional surgical operation, and Since it has a great merit that it can be treated at low cost, it is rapidly spreading. Such a treatment method is generally performed by IVR (Interventional Rad).
(iology) is called.

In such an IVR, a fluoroscopic imaging device or the like which has been conventionally used for diagnosis is generally used, and a schematic view of such a medical X-ray fluoroscopic device is shown in FIG.
This medical X-ray fluoroscope includes an image intensifier (hereinafter, simply referred to as “II”), an image receiving system (hereinafter, referred to as XTV) 6 including a television camera, and an X-ray tube 4. ing. In such a configuration, the X-rays emitted from the X-ray tube 4 pass through the subject 2 who is a patient lying on the top plate 11 of the table device 1 and then the XTV of the image receiving system 6.
Is incident on and is converted into an electric signal there. After that, a perspective image of the subject 2 is displayed on the display 73 via an image processing device described later. The X-ray tube 4 and the image receiving system 6 are supported by a member 8 which is a so-called C-shaped arm, and the arm 8 is fixed via a further arm 9 on a floor 85. It is attached to the device 10.

Further, FIG. 12 shows a block diagram of an image processing apparatus of the medical X-ray fluoroscopic apparatus according to the prior art.
This image processing system includes an A / D converter 55 and an image processing unit 5.
6, frame memory 54, display gradation processing unit 57, D / A
And a converter 58. That is, X is given to the examinee 2.
When X-rays are emitted from the ray tube 4 and the X-rays transmitted through the subject 2 enter the XTV of the image receiving system 6, the transmitted X-ray information is converted into an analog signal by a television camera (not shown). This analog signal is converted into a digital signal by the A / D converter 55 and sent to the image processing unit 56. The sent digital image signal is subjected to image processing such as contrast and gamma characteristic conversion, and is sent to the display gradation processing unit 57 which performs gradation processing. After the gradation processing is completed, the digital image signal is converted into an analog signal by the D / A converter 58 and displayed on the display 73 as a perspective image.

A doctor (operator) 50 who operates a catheter performs treatment on the side surface of the subject 2 on the top 11. At that time, the operator 50 directly inserts the catheter into the subject 2 and operates it, but the position information of the catheter is obtained from the fluoroscopic image displayed on the display 73. Here, for example, when the operator 50 checks the fluoroscopic image while inserting the catheter in the body axis direction of the subject 2, the display 73 is located on the opposite side to the subject 2, The line of sight of 50 (indicated by a dotted line in the figure) needs to be largely moved from the line of sight 86 near the catheter operation to the line of sight 87 toward the display.

Although the operator 50 always wants to place the display 73 at his or her hand, however, in general,
Around the subject 2, many equipments (not shown) such as an electrocardiograph, an electric scalpel, and a contrast medium injector are arranged, and further, the X-ray tube 4 and the image receiving system 6 move around, and a display 73. In reality, the display 73 cannot be placed at an ideal position (that is, near the operator's hand) because it is large. Therefore, with respect to such a problem, the inventor of the present application
An image formed by the image processing unit can be displayed on a projection screen curved in a “C” shape in section provided on a patient who is the subject 2 by a projection device provided at an arbitrary position. We are trying to solve it (Japanese Patent Application No. 7-17050)
No. 3).

[0007]

However, there is a problem in using the projection device as described above. That is, since there is a limit to the operating range of the X-ray tube and the image system that are placed on the top plate of the table device and face each other with the subject in between, the operator can obtain the position to be seen through. If this is not the case, the subject often moves the top plate so that the subject can see through it. In this case, by moving the top plate, the projection screen is also moved from the position where the perspective image was provided on the subject and the perspective image was projected up to that point, whereby the projected image was projected. It will disappear from above. Therefore, the operator needs to move the projection device by button operation or the like each time so that the image is again on the projection screen, which hinders the operator's accurate catheter operation and obstructs his dedication to treatment. It can be a cause.

Further, in the above-mentioned conventional technique, when the operator moves the C-arm to move the X-ray tube 4 and the image receiving system 6 to a position at which the subject wants to see through, the image receiving system 6 is often changed. The projection device may come to a position where the image projected from the projection device is blocked, and even in such a case, it is necessary to move the projection device by a button operation or the like as in the above case.

Therefore, in view of the above-mentioned conventional technique, an object of the present invention is to move the top plate of the table device on which the subject is placed,
Alternatively, even if other members constituting the medical X-ray fluoroscopic apparatus such as the image receiving system are moved, the fluoroscopic image projected from the projection apparatus is always obtained on the projection screen provided on the subject. The purpose is to provide a medical X-ray fluoroscope for medical use.

[0010]

In order to achieve the above object, according to the present invention, there is provided a table device having a tabletop on which a subject including a patient is laid, and the subject is irradiated with X-rays. Fluorescent image input means including X-ray irradiating means and image receiving means for converting X-rays transmitted through the subject into electric signals, and arithmetic processing on the electric signals converted by the image receiving means of the fluoroscopic image input means. And an image processing device for imaging the calculated signal, and a projection device for projecting an image imaged by the image processing device, and an image projected from the projection device on the subject. In the medical X-ray fluoroscopic apparatus for displaying on the projection screen provided in the above, the position of the projection apparatus is changed to the position of the top plate of the table apparatus, or the position of another object constituting the medical X-ray fluoroscopic apparatus. Moving image, by projection image Medical X-ray fluoroscopy apparatus provided with control means for automatically moved to the position to prevent the loss is proposed.

According to the present invention, in addition to the medical X-ray fluoroscope, a table device having a top plate on which a subject including a patient is placed, and the subject is irradiated with X-rays. Fluorescent image input means including X-ray irradiating means and image receiving means for converting X-rays transmitted through the subject into electric signals, and arithmetic processing on the electric signals converted by the image receiving means of the fluoroscopic image input means. And an image processing device for imaging the calculated signal, and a projection device for projecting an image imaged by the image processing device, and an image projected from the projection device on the subject. In the medical X-ray fluoroscopic apparatus for displaying on the projection screen provided in, the position of the projection apparatus is prevented from disappearing due to movement of the position of the tabletop of the table apparatus, and the medical X-ray fluoroscopic apparatus is Position of other objects Medical X-ray fluoroscopy apparatus provided with control means for moving to a position that prevents the loss of the projected image due to the movement of is proposed.

Further, according to the present invention, in the medical X-ray fluoroscopic apparatus, the table device is provided with a sensor for detecting the position of the top plate, and the control means controls the position of the top plate. A medical X-ray fluoroscopy device is proposed that is configured to move the position of the projection device based on a detection signal from a sensor for detecting.

Further, according to the present invention, in the medical X-ray fluoroscopic apparatus, the projection apparatus may detect the intrusion of the other object in a range in which the projection image is projected on the projection screen. A medical X-ray fluoroscopic apparatus is proposed in which a sensor is provided, and the control unit is configured to move the position of the projection apparatus based on a detection signal from a sensor that detects intrusion of the other object.

That is, according to the above-mentioned medical X-ray fluoroscopic apparatus of the present invention, the position of the projection apparatus for projecting and displaying the fluoroscopic image on the projection screen provided on the subject is optimized by the control means. By automatically controlling the movement to the position,
It eliminates the disappearance of the projection image due to the movement of the position of the tabletop of the table device, and / or the disappearance of the projection image due to the movement of the position of another object constituting the medical X-ray fluoroscopy device, so that the operator can This eliminates the need to adjust the position of the projection device and enables smooth operation of a proper catheter without impairing the operator's dedication.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. First, FIG. 2 is a schematic view showing a usage state of the medical X-ray fluoroscopic apparatus according to the embodiment of the present invention. In this figure, a medical X-ray fluoroscopic apparatus is provided with an X-ray tube 4 which is an X-ray irradiating means, for example, an I.D.
I. And a video system 6 including an image receiving means such as a television camera, and a perspective image inputting means configured to face each other with the subject 2 lying on the table 11 of the table device 1 interposed therebetween. Further, as a display means for displaying a perspective image obtained by the video system 6, a projection device 23 for projecting a perspective image and a projection screen 24 are provided together with a display 73 composed of, for example, a CRT. . The projection screen 24 is a screen curved in a “C” shape in cross section, and as shown in the figure,
The projection device 23 is disposed on the subject 2 and has the surface thereof projected.
The perspective image projected from is projected.

That is, according to such a configuration, the X-ray tube 4
After passing through the body of the subject 2, the X-rays radiated from the subject 2 to the subject 2 are received by the image system 6 and subjected to predetermined processing to obtain a perspective image. It is designed to be displayed on the display 73 constituting the display means or on the projection screen 24 arranged on the subject 2 from the projection device 23.

By the way, the X-ray tube 4 and the image system 6 are:
The C-shaped arm 8 is disposed so as to be opposed to both ends of the C-shaped arm 8 and is supported. The C-shaped arm 8 is slidable at one end of an arm 9 extending from a support drive device 10 fixed on a floor 85 (direction of arrow A). Supported by. The other end of this arm 9
It is rotatably supported by the support drive device 10 (arrow B). Therefore, the X-ray tube 4 and the image system 6 can be freely moved around the subject 2 laid on the top plate 11 of the table device 1. That is, reference numerals 51 and 52 in the drawing are a hand operation switch and a foot switch for remotely operating the C-shaped arm 8 and the arm 9, and further, the X-ray irradiation.

On the other hand, the table device 1 is a device for laying the subject 2 on the bed, and by moving the top plate 11 of the subject 2, the subject 2 can be moved in the body axis direction of the subject 2 and at that time. It is also possible to move in orthogonal horizontal directions (directions C and D in the figure). Further, the column 3 of the table device 1 is installed at a position apart from these devices in order to avoid collision with the X-ray tube 4 or the image system 6.

As shown in FIG. 1, the table device 1 includes a motor 40 for moving the table 11 in the direction of the arrow C and a sensor 41 for detecting the position of the table 11. It is provided. Further, a motor 42 for moving the top plate 11 in the direction of arrow D and a sensor 43 for detecting its position are provided.

Returning to FIG. 2 again, on the other hand, on the ceiling side, a support base 16 movable on the rail 18 fixed to the ceiling 60 in the arrow E direction and a support movable in the arrow F direction orthogonal to the arrow E direction. A platform 17 and a rotary frame 25 rotatably (arrow G) supported by the support platform 17 are provided, and the rotary frame 25 is further provided with the projection device 2 at the tip thereof.
The curved plate 26 to which 3 is attached is movably attached.

As shown in FIG. 1, the support base 16 is provided with a motor 30 for moving the support base 16 in the direction of arrow E and a sensor 32 for detecting the position of the motor 30. The table 17 has a motor 31 for moving it in the direction of arrow F and a sensor 33 for detecting its position.
Are provided respectively. Also, in this figure,
CPU as control means whose operation will be described later in detail
45, and further an origin signal means 50 for turning on / off the origin signal.

FIG. 3 shows a detailed structure of the rotary frame 25 rotatably supported by the support base 17 and the curved plate 26 movably attached to the rotary frame 25.
That is, in the figure, the rotary frame 25 has a pulley 30 fixed to the upper surface thereof and is rotatably supported via a bearing 28. On the other hand, the motor 32 is provided on the side of the support base 17.
And a pulley 31 is attached to its output shaft, and a belt 34 is provided between the pulley 30 and the pulley 31.
Are linked. Therefore, the rotation frame 25 can be rotated by the rotation of the motor 31 (direction of arrow G in FIG. 2).

In addition, the curved plate 2 is provided in the rotary frame 25.
6 is supported by the rollers 35a and 35b and the pinion gear 36, and teeth that mesh with the pinion gear 36 are provided outside the bending plate 26. A motor 37 is attached to the pinion gear 36.
Are directly connected to each other, and the pinion gear 36 is rotated by rotating the motor 37.
While being supported by rollers 35a and 35b, it can freely slide in the direction of arrow H in the figure. The projection device 23 is provided at the tip of the curved plate 26.

A plurality of sensors 231 are provided in the projection device 23 so as to come into contact with the projection port 230 shown in FIG.
are arranged so that the proximity of an object can be sensed on a straight line (indicated by a wavy line in the figure) that connects the outside of the projection opening 230 and the outside (outer edge) of the image displayed on the projection screen 24. An ultrasonic sensor or laser beam sensor is provided.

The operation of the above medical X-ray fluoroscopic apparatus will be described. First, the subject 2 is placed on the top plate 11 of the table device 1.
In the state of FIG. 2 in which the patient is laid down, the operator 50 who is a doctor who operates the catheter stands on the side of the subject's foot side. Then, the operator 50 inserts the catheter from the right thigh of the subject 2 or the like. At this time, in order to confirm the position of the catheter, the direction of the blood vessel, etc., the operator 50 advances the catheter to the target portion while irradiating X-rays and confirming the fluoroscopic image. Further, the operator 50 operates the C-shaped arm 8 or the arm 9 with the above-mentioned hand operation switch 51 or foot switch 52 in order to check the position or direction of the subject 2 to be seen through. At this time, since the surgeon 50 always carefully operates while checking the insertion portion of the catheter or the state of the subject 2, there is a demand that the surgeon 50 does not move his or her line of sight so much. Therefore, for that purpose, the best condition is that the operator 50 can monitor the fluoroscopic image at hand.

More specifically, the operator 50 uses the foot switch 52 to emit an X-ray when he / she wants to see through it. In response to this irradiation signal, X-rays are emitted from the X-ray tube 4 and transmitted through the body of the subject 2.
The line is received by the video system 6, and the received signal is converted into a digital signal by the A / D converter 55 and sent to the image processing unit 56, as in the above-described conventional technique. That is, in the image processing unit 56, the sent image signal is subjected to image processing such as contrast and gamma characteristic conversion, and further sent to the display gradation processing unit 57 which performs gradation processing. When the gradation processing is completed in the display gradation processing unit 57, the output digital image signal is
The perspective image is converted into an analog signal by the D / A converter 58, and the fluoroscopic image is displayed on the display 73. At the same time, the fluoroscopic image is projected by the projection device 23 and is also fluoroscopically projected on the projection screen 24 provided on the subject 2. The image is displayed.

At this time, however, as described above, the movable range of the X-ray tube 4 and the image system 6 which are laid on the top plate 11 and are opposed to each other with the subject 2 in between is set to a movable range. Since there is a limit, if the position desired to be seen through cannot be obtained in this movable range, the operator 50 further places the subject 2 on it.
There is a case in which the top plate 11 of the table device 1 on which the person is lying down is moved so that a desired position to be seen through can be seen through. In such a case, the projection screen 24 provided on the subject 2 is also moved by moving the top plate 11 from the position where the projection screen has been projected, and the image projected until then is projected on the projection screen. It will also disappear from above 24. Therefore, the operator 50 needs to move and adjust the position of the projection device 23 by operating an operation button (not shown) each time so that the image is displayed on the projection screen.

Therefore, in the present invention, the subject 2
Even when the top plate 11 on which the
Movement of the projection device 23 is automatically moved based on the detected movement amount by the sensor 41 or the sensor 43, so that the operator 50 does not adjust the position.
The projection screen 24 is moved to eliminate the disappearance of the projected image. The position of the projection device 23 is moved by the CPU 45 which is the control means shown in FIG.
The operation of the CPU 45 will be described below with reference to the flowchart shown in FIG.

First, the operator 50 first moves the position of the top plate 11 of the table device 1 on which the subject 2 who is a patient is placed to a position where it can be seen through the see-through device. The position is also adjusted by moving it to a position where it can be projected on the projection screen 24 provided on the subject 2. When this setting is completed, the origin signal is set to 0N (step 5
8). As a result, the CPU 45, which is the control means, stores the positions of the sensors 41 and 43 that detect the positions of the top plate 11 of the table 1 in the arrow C direction and the arrow D direction in this state as the origin (steps 61 and 62). . In addition, the CPU 45 uses the support base 1 on the projection device 23 side at that time.
The positions of the sensors 32 and 33 that detect the positions of 6 and 17 are also stored as the origin.

Next, the operator 50 irradiates X-rays to obtain a fluoroscopic image and confirms it in order to confirm the position of the catheter, the direction of the blood vessel, etc. as described above. At that time, the surgeon 50
By operating the mold arm 8 or the arm 9,
While changing the positions of the X-ray tube 4 and the image system 6 including the image receiving means, a position where the operator 50 can easily see through is searched. What if C
When a position where it is easy to see through cannot be obtained only by moving the mold arm 8 or the arm 9, the operator 50 further attaches the top plate 11 of the table device 1 on which the patient 2 is laid down to the position shown in FIG. It will be moved in the direction of arrow C or in the direction of D.

At this time, the CPU 45 constantly checks the position signals from the sensors 41 and 43 for detecting the position of the top plate 11 of the table device 1 by comparing the position signals with the position stored as the origin. It is determined whether or not the movement has occurred (step 63). As a result, the table device 1 is moved, that is, the table device 1 is moved.
When determining that the position of the top plate 11 has changed (YES), the CPU 45 further determines whether the position signal from the sensor 41 has changed (step 64).

When it is determined that the position signal from the sensor 41 has changed (YES) as a result of the above determination, it is determined that the top plate 11 of the table device 1 has changed in the direction of arrow C in FIG. , The amount of change G with respect to the origin is calculated (step 65). Further, the CPU 45 operates the motor 30 provided on the support base 16 that can move on the rail 18 of the ceiling 60 in the arrow E direction as the table 11 moves in the arrow C direction. The drive signal 46 is output (step 66). In this manner, by driving the motor 30, the support base 16 is moved in the direction of arrow E, and at the same time, the information 47 from the sensor 32 for detecting the position thereof is taken in, whereby the arrow E of the support base 16 is obtained. It is determined whether or not the amount of movement in the direction becomes the same as the amount of change G of the top plate 11 of the table device 1 in the direction of arrow C (step 67). If they do not match (NO), the motor 30 is driven. The drive signal 46 for output is continuously output, and if they match (YES), the output of the drive signal 46 is stopped (step 68), and the process returns to step 63 again.

On the other hand, as a result of the judgment in step 64, the position signal from the sensor 41 has not changed (N
When it is determined to be O), the CPU 45 further determines whether the position signal from the sensor 42 has changed (step 69). As a result, when it is determined that the position signal from the sensor 42 has changed (YES), it is determined that the top plate 11 of the table device 1 has changed in the direction of arrow D in FIG. The change amount H is calculated (step 70). Further, the CPU 45 outputs a drive signal 48 for operating the motor 31 provided on the support stand 17 that can move in the direction of arrow F on the ceiling 60 side (step 71), and by driving the motor 31, the support stand 17 is driven. While moving the arrow mark in the direction of arrow F, at the same time, the information 49 from the sensor 33 for detecting the position is taken in, and the amount of movement of the support 17 in the arrow E direction is determined by the table device 1.
It is judged whether or not the amount of change is the same as the amount of change H of the top plate 11 in the direction of the arrow D (step 72), and they do not match (N
Drive signal 48 for driving the motor 31 if O)
The output of the drive signal 46 is stopped (step 74) and the process returns to step 63 again. Also, in step 69 above,
Even when it is determined that the position signal from the sensor 42 does not change (NO), the flow returns to the above step 63.

As described above, according to the above-mentioned medical X-ray fluoroscopic apparatus of the present invention, the top plate 11 of the table device 1 on which the operator 50 lays the patient 2 is placed in the direction of arrow C or D in FIG. The projection screen 2 provided on the subject 2 with a perspective image obtained by irradiating X-rays even when the projection screen 2 is moved to a horizontal plane).
The projection device 23 for projecting on 4 also automatically moves corresponding to the amount of movement of the top plate 11 of the table device 1, so that the position of the perspective image projected on the projection screen 24 is displaced. Is no longer invisible, and the trouble of moving the projection device by the operator 50 each time a button operation or the like is eliminated as in the conventional case. That is, the control unit (CPU 45) that grasps the amount of change based on information from the detection unit (sensor 41 or 43) that detects the position of the top plate 11 of the table device 1 and moves the position of the projection device 23 to the optimum position. ), The surgeon 50 does not need to correct the position of the projection device 23 so that it is on the projection screen 24, and can perform accurate catheter operation smoothly.

According to the above embodiment, the amount of movement of the movable supports 16 and 17 for mounting the projection device 23 when the top plate 11 of the table device 1 is moved on a horizontal plane is as follows. Although it has been described that the table 11 is moved by the same amount as the amount of movement of the top plate 11 on the horizontal plane,
However, the present invention is not necessarily limited to this, and it is clear that the perspective image projected from the projection device 23 does not fall off the projection screen 24, or the support base 16, 1
Instead of the movement of 7, it is possible to move the projection device 23 provided at the tip by sliding the curved plate 26 shown in FIG. 3 in the direction of arrow H, for example. Further, the top plate 11 of the table device 1 may be movable in the vertical direction together with the horizontal plane. In that case, for example, the projection device 23 may be moved along with the vertical movement of the top plate 11. It will be easy for those skilled in the art to automatically adjust the focus position of the fluoroscopic image projected from, though not specifically described here.

Further, when the position of the catheter inserted into the subject 2 is irradiated with X-rays and the fluoroscopic image is confirmed by the medical X-ray fluoroscopic apparatus of the present invention, as described above, the operator 5
0 is C by the operation of the C-shaped arm 8 or the arm 9.
The positions of the X-ray tube 4 and the image system 6 which are attached to both ends of the mold arm 8 and are sandwiched by the subject 2 on the top plate 11 of the table device 1 are changed so that a desired position to be seen through can be obtained. In some cases, as shown in FIG. 7, the position of the X-ray tube 4 and the image system 6 is changed, and particularly the image system 6 is obtained by irradiation of X-rays. Projection device 2 for projecting a perspective screen onto a projection screen 24
3 enters the projection range of the projection screen 24, and as a result, as shown in FIG.
3 is a part of the perspective image 246 from FIG.
5) may be blocked and disappear.

Therefore, in the medical X-ray fluoroscopic apparatus of the present invention,
Even in such a case, the sensor recognizes an object (in this case, the image system 6) that interferes with the projection of the perspective image from the projection device 23, and moves the projection device 23 (in this case, as shown in FIG. 7). , Move to the right side of the drawing), so that the projection light from the projection device 23 is automatically arranged at a position where it is not disturbed.

The control means for controlling the position of the projection device 23 will be described with reference to FIG. 9. A plurality of control units (here, n) are arranged so as to be in contact with the projection port 230 of the projection device 23 shown in FIG. Individual) sensor 231a,
Outputs from 231b ... 231n are connected to a CPU 80, and the CPU 80 is rotatably supported by the support base 17 mounted on the ceiling side shown in FIG. 3 and via the motor control circuits 81 and 82. With the rotating frame 25,
The motor 32 and the motor 37 provided respectively are controlled. In this example, the CPU 80 is provided separately from the CPU 45 which is the control means shown in FIG.
However, it is also possible to execute this by the CPU 45.

Next, the operation of the control means for controlling the position of the projection device 23 will be described with reference to the flowchart of FIG. First, the plurality of sensors 231
a, 231b ... 231n, that is, by sensing on the straight line extending from the outer periphery of the projection opening 230 to the outer peripheral edge of the projection image, and entering the optical path of the projection light from the projection device 23, the transparent image The output that detects the approach of an object (eg, video system 6) that interferes with the projection of
It is always collected by the CPU 50 (step 90). The CPU 50 constantly inputs the sensor information described above at a speed of, for example, a few microseconds, thereby analyzing the information (step 91), and there is an object that obstructs the projection image from the projection device 23. It is determined whether or not (step 92).

As a result of the above determination, if an obstacle is detected (YES), the direction in which the obstacle can be retracted and the amount of movement therefor are calculated from the plurality of sensors 231a, 231b ... 231n. (Step 93). On the other hand, if the obstacle is not detected (NO), the process returns to step 90.

After determining the retreat direction and its movement amount, it is judged whether or not the rotary frame 25 needs to be rotated (step 94). As a result, if necessary (YES), the operation amount is output. (Step 95), a control signal is output to the motor control circuit 81 which controls the motor 32 for rotating the rotary frame 25 provided on the support base 17 side. After that, or when it is determined in step 94 that the rotation frame 25 does not need to be rotated (NO), the rotation frame 25 is further rotated.
It is determined whether or not the curved plate 26 of (1) needs to be slid (step 96). As a result, it was judged necessary (Y
If ES), the sliding amount, which is the amount of movement, is further output to the motor control circuit 82 for controlling the motor 37 provided on the rotary frame 25 side (step 97), and the process returns to step 90 again. The same applies when it is determined in step 96 that the bending plate 26 does not need to slide (NO).

As described above, according to the medical X-ray fluoroscopy apparatus of the present invention, even if the image on the projection screen 24 from the projection apparatus 23 is about to be obstructed by an obstacle such as the image receiving system 6, for example. The control device automatically moves the projection device 23 to an optimum position where the projection device 23 is not interfered with by an object, so that the surgeon 50 can obstruct the image on the projection screen 24 by the obstacle object. It becomes possible to concentrate on the catheter operation without being aware of.

In the above example, the rotating frame 2 provided on the support base 17 side serves as means for moving the position of the projection device 23.
Although the rotation of No. 5 and the sliding of the bending plate 26 have been described, the present invention is not limited to these methods, and for example, the support base 16 that can move on the rail 18 fixed to the ceiling 60, and the like. It is also possible to move the support base 17 that can move in a direction orthogonal to this.

[0044]

As is apparent from the above detailed description, according to the medical X-ray fluoroscopic apparatus of the present invention, the position of the top plate of the table device on which the subject is laid down is moved, Alternatively, the position of the projection device that projects the fluoroscopic image on the projection screen provided on the subject may be changed by moving the top plate or other devices by moving other equipment of the fluoroscopic device including the video system. Since the equipment is automatically adjusted to a position where the projection is not obstructed by the movement of the equipment, an operator who operates a catheter using the medical X-ray fluoroscopy device can adjust the position of the projection device as in the past. It is not necessary to carry out the operation, and it is possible to concentrate on the catheter operation, and it is possible to perform an accurate catheter operation smoothly.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a circuit configuration in a control means of a medical X-ray fluoroscope according to an example of an embodiment of the present invention.

FIG. 2 is a diagram showing an overall schematic configuration of a medical X-ray fluoroscopic apparatus which is an example of the embodiment of the present invention.

FIG. 3 is an explanatory diagram of an operating mechanism of a projection device in the medical fluoroscope.

FIG. 4 is an operation explanatory diagram of a sensor in the medical fluoroscope.

FIG. 5 is a block diagram of an image processing apparatus in the medical X-ray fluoroscopic apparatus.

FIG. 6 is a flowchart showing the content of movement control of the position of the projection device in the medical fluoroscope.

FIG. 7 is an explanatory diagram illustrating the operation of the projection device in the medical fluoroscope.

FIG. 8 is a diagram illustrating a projection image of a projection device in the medical X-ray fluoroscopic apparatus.

FIG. 9 is a block diagram showing a circuit configuration of another control means for controlling the position movement of the projection device in the medical X-ray fluoroscope.

FIG. 10 is a flowchart showing the control contents of the other control means.

FIG. 11 is a schematic view and a display control block diagram of an apparatus in a conventional medical X-ray fluoroscopic apparatus.

FIG. 12 is a block diagram of an image processing apparatus in a conventional medical X-ray fluoroscopic apparatus.

[Explanation of symbols]

 4 X-ray tube 6 Image system 23 Projector 24 Projection screen 32, 33, 4l, 43 Sensor 23 Projector 30, 31 Motor 231a-231n Sensor

Claims (10)

[Claims] 1. A table device having a tabletop on which an examinee including a patient is laid, an X-ray irradiating unit for irradiating the examinee with X-rays, and an X-ray transmitted through the examinee as an electric signal. A perspective image inputting means including an image receiving means for converting into an image, an image processing device for performing arithmetic processing on the electric signal converted by the image receiving means of the perspective image inputting means, and imaging the calculated signal; A medical X-ray fluoroscopic apparatus comprising: a projection device that projects an image formed by an image processing device, and that displays an image projected from the projection device on a projection screen provided on the subject. Set the position of the projection device
A control means is provided for automatically moving to a position that prevents the projection image from disappearing due to movement of the position of the top plate of the table device or movement of the position of another object constituting the medical X-ray fluoroscopic apparatus. A medical X-ray fluoroscopic apparatus characterized in that 2. A table device having a tabletop on which a subject including a patient is laid, an X-ray irradiating unit for irradiating the subject with X-rays, and an X-ray transmitted through the subject as an electric signal. A perspective image inputting means including an image receiving means for converting into an image, an image processing device for performing arithmetic processing on the electric signal converted by the image receiving means of the perspective image inputting means, and imaging the calculated signal; A medical X-ray fluoroscopic apparatus comprising: a projection device that projects an image formed by an image processing device, and that displays an image projected from the projection device on a projection screen provided on the subject. Set the position of the projection device
Control means for preventing the projection image from disappearing due to movement of the position of the top plate of the table device, and moving to a position for preventing disappearance of the projection image due to movement of the positions of other objects constituting the medical X-ray fluoroscopic apparatus. A medical X-ray fluoroscopic apparatus characterized by being provided. 3. The medical X-ray fluoroscopic apparatus according to claim 1 or 2, wherein the table device includes:
A sensor for detecting the position of the top plate is provided, and the control means is configured to move the position of the projection device based on a detection signal from the sensor for detecting the top position. A medical X-ray fluoroscope. 4. The medical X-ray fluoroscopic apparatus according to claim 3, wherein the control means calculates a movement amount of the tabletop based on a detection signal from a sensor for detecting the tabletop position. A medical X-ray fluoroscopic apparatus characterized in that the position of the projection device is moved by a movement amount corresponding to the calculated movement amount of the top plate. 5. The medical X-ray fluoroscopic apparatus according to claim 3, wherein the top plate of the table device is movable at least on a horizontal plane, and the sensor for detecting the position of the top plate is the top plate. A medical X-ray fluoroscope including a sensor for detecting displacement in at least two directions orthogonal to each other on a movable horizontal plane of the plate. 6. The medical X-ray fluoroscopic apparatus according to claim 1 or 2, wherein the projection apparatus is protected from invasion of the other object in a range in which the projection image is projected on the projection screen. A medical X, wherein a sensor for detecting is provided, and the control means is configured to move the position of the projection device based on a detection signal from a sensor that detects intrusion of the other object. Fluoroscope. 7. The medical X-ray fluoroscopic apparatus according to claim 6, wherein the sensor for detecting the intrusion of the other object is
A medical X-ray fluoroscopic apparatus, which is arranged in contact with a projection opening of the projection device, and senses on a straight line connecting an outer edge of the projection opening and an outer edge of an image projected on the projection screen. 8. The medical X-ray fluoroscopic apparatus according to claim 6, wherein the sensor for detecting the intrusion of the other object is
A medical X-ray fluoroscopic apparatus characterized by comprising an ultrasonic sensor. 9. The medical X-ray fluoroscopic apparatus according to claim 6, wherein the sensor for detecting the intrusion of the other object is
A medical X-ray fluoroscope, which is configured by a laser beam sensor. 10. The medical X-ray fluoroscopic apparatus according to claim 6, wherein the control unit prevents the projection image from disappearing based on a detection output from a sensor that detects an intrusion of the other object. A medical X-ray fluoroscopy apparatus configured to calculate a direction and a movement amount to retract the projection device, and move the projection device based on the calculated direction and movement amount.