JP2006334020A - Control method of radiodiagnosis apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the radiographing operability of a floor standing type C-shaped arm. <P>SOLUTION: The radiodiagnosis apparatus is provided with a top board 17 moving along a datum line BL, a floor rotary arm 54 rotatable around an approximately vertical rotation axis crossing with the datum line within a movable area of the top board, a floor rotary arm rotation driving part 314, a stand 53 disposed at the other end of the floor rotary arm and being rotatable around the approximately vertical rotation axis, a stand rotation driving part 213, the approximately C-shaped arm 51 supported to the stand, an X-ray tube 1 supported to the C-shaped arm, an X-ray detector 2 rotatable around a third rotation axis, and a rotation driving part 315-2 of the X-ray detector. This control method of the radiodiagnosis apparatus is provided with a process of controlling the floor rotary arm rotation driving part and the stand rotation driving part for moving the X-ray tube and the X-ray detector in approximately parallel to the datum line and rotating the floor rotary arm and the stand; and a process of controlling the detector rotation driving part for retaining the erection of an image and rotating the X-ray detector interlocked with the rotation of the floor rotary arm and the stand. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a method for controlling an X-ray diagnostic apparatus having a floor-standing C-shaped arm.

  Medical image diagnostic technology using an X-ray diagnostic apparatus, MRI apparatus, or X-ray CT apparatus has made rapid progress with the development of computer technology and has become indispensable in today's medical care.

  In recent years, X-ray diagnosis has made progress mainly in the field of circulatory organs with the development of catheter procedures. An X-ray diagnostic apparatus for cardiovascular diagnosis is usually an X-ray generator, an X-ray detector, an X-ray generator and a holding device that holds the X-ray detector, a bed (top plate), a signal processor, and a display unit Etc. The holding device rotates, rotates, or moves the C-arm or Ω arm around the patient (hereinafter referred to as the subject), thereby enabling X-ray imaging at an optimal position and direction.

  Conventionally, detectors used in the X-ray detector of the X-ray diagnostic apparatus have been X-ray films and I.D. I. (Image Intensifier) has been used. This I.I. I. In the X-ray imaging method using X-rays, X-ray projection data (hereinafter referred to as projection data) obtained by transmitting X-rays generated from an X-ray generation unit through a subject is referred to as I.D. I. Then, the optical image is converted into an electrical signal by an X-ray TV camera and then A / D converted and displayed on a monitor. For this reason, I.I. I. The X-ray imaging method using can enable real-time imaging, which was impossible with the film system, and can collect projection data with digital signals, thereby enabling various image processing. On the other hand, the I.I. I. As an alternative, two-dimensional array flat detectors have attracted attention in recent years, and some of them have already been put into practical use.

  FIG. 9 shows a C-arm holding device used in a conventional cardiovascular X-ray diagnostic apparatus. In the C-arm holding device 1110, an X-ray generator 1101 is provided at one end (lower end) of the C-arm 1103, and an X-ray detector 1102 provided with, for example, a flat detector is provided at the other end (upper end). It is attached to face the X-ray generator 1101. A one-dot chain line 1108 in the figure indicates an imaging axis that connects the focal point of the X-ray tube in the X-ray unit 1101 and the center of the flat detector of the X-ray detection unit 1102. The alternate long and short dash line indicates a center line when the top 1107 is at the lateral reference position, and a reference line BL serving as a reference for an imaging posture that substantially coincides with the body axis of the subject at the time of imaging.

  The C-shaped arm 1103 is held by a stand 1105 installed on the floor 1106 via an arm holder 1104. The C-shaped arm 1103 is slidably attached to the end of the arm holder 1104 in the direction indicated by the arrow a. It has been. On the other hand, an arm holder 1104 is attached to the upper portion of the stand 1105 so as to be rotatable or rotatable in the direction indicated by the arrow b. The stand 1105 has a stand fixing portion 1105a fixed to the floor surface 1106 and a support shaft. It is comprised from the stand movable part 1105b which can be rotated in the direction shown by the arrow c in the center.

  An X-ray generation unit 1101 and an X-ray detection unit 1102 (hereinafter collectively referred to as an imaging system) have a top plate 1107 by sliding the C-shaped arm 1103 with respect to the direction a and rotating the arm holder 1104 with respect to the direction b. Is set to a suitable position and direction with respect to a subject (not shown) placed on the body. Further, the imaging system and the C-arm 1103 can be retracted with respect to the subject by rotating the stand movable portion 1105b in the c direction. By retracting the imaging system and the C-shaped arm 1103, a working space for a doctor or an examiner (hereinafter referred to as an operator) can be secured around the head of the subject, and the subject before or after the examination is completed. It becomes easy to transfer the specimen to the top plate 1107, change the posture, or deploy anesthesia equipment.

  Note that an L-shaped offset arm is usually used for the above-mentioned arm holder 1104 as shown in FIG. By making the arm holder 1104 L-shaped, the C-shaped arm 1103 can be installed on the side of the top plate 1107, so that the end of the top plate 1107 in the long axis direction reaches the vicinity of the stand 1105 as indicated by the arrow d. It is possible to move in the direction. That is, by using the L-shaped arm holder 1104, the movement range of the top 1107 can be expanded, and the imaging range for the subject can be expanded. Further, by making the arm holder 1104 L-shaped, there is an advantage that a working space for the operator can be secured near the head of the subject.

  However, the rotation of the stand movable portion 1105b and the securing of the working space and the expansion of the photographing range by the L-shaped arm holder 1104 are limited because the position of the stand 1105 is fixed to the floor 1106, and the operation is limited. It was not always enough for the person.

In order to improve such a problem, a ceiling-suspended C-shaped arm holding device in which an arm holder is attached to the other end of an arm whose one end is rotatably attached to the ceiling is configured. There has been proposed a method capable of arbitrarily setting the imaging region of the subject by making the position correspond to the longitudinal center line of the top plate (see, for example, Patent Document 1).
JP 2000-70248 A

  An object of the present invention is to realize improvement in operability of imaging in a control method of an X-ray diagnostic apparatus having a floor-mounted C-shaped arm.

  In one aspect of the present invention, a top plate that is movably supported along a reference line, and is rotatable about a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line. A floor rotary arm having one end provided on a floor surface, a rotation drive unit of the floor rotary arm, a stand that is rotatably supported around a second vertical rotation axis at the other end of the floor rotary arm, Imaging that passes through the rotation drive unit of the stand, a substantially C-arm supported by the stand, an X-ray tube supported by one end of the C-arm, the X-ray focal point of the X-ray tube, and the center of the detection surface Control of an X-ray diagnostic apparatus having an X-ray detector supported on the other end of the C-arm so as to be rotatable around a third rotation axis substantially coincident with the axis, and a rotation drive unit of the X-ray detector In the method, the X-ray tube and the X-ray detector are connected to the reference line. In order to move in parallel and linearly, the floor rotation arm and the stand rotation drive unit are controlled to rotate the floor rotation arm around the first rotation axis, and the stand is rotated to the second rotation axis. In order to maintain the step of rotating around and the upright position of the image, the rotation drive unit of the X-ray detector is controlled, and the X-ray detection is performed in conjunction with the rotation of the floor rotation arm and the rotation of the stand. Rotating the vessel.

  According to the present invention, shooting operability is improved.

Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 and 2, the floor turning arm 54 is provided on the floor surface 59 so as to be rotatable (d) around a substantially vertical first rotation axis Z1 at one end thereof. The first rotation axis Z1 is a vertical axis and is orthogonal to the horizontal reference line BL. At the time of imaging, the subject 150 is placed on the top board 17 so that the body axis of the subject 150 substantially coincides with the reference line BL. Further, the reference line BL substantially coincides with the center line of the top board 17. The top plate 17 is provided on the bed 18 so as to be movable along a longitudinal direction parallel to the reference line BL. The first rotation axis Z <b> 1 intersects the reference line BL within the movable range MR in the longitudinal direction of the top plate 17. That is, the floor turning arm 54 is provided within the movable range MR in the longitudinal direction of the top plate 17.

  At the other end of the floor turning arm 54, a stand 53 is supported so as to be rotatable (c) around a substantially vertical second rotation axis Z2. An arm holder 52 is supported on the stand 53 so as to be rotatable (b) around a substantially horizontal third rotation axis (C-arm horizontal rotation axis) Z3. The arm holder 52 supports a substantially C-shaped arm 51 slidably rotatable (a) around a substantially horizontal fourth rotational axis (slide rotational axis) Z4 orthogonal to the C-shaped arm horizontal rotational axis Z3. The X-ray generator 1 is mounted on one end of the C-shaped arm 51, and the other end of the C-shaped arm 51 typically has an X-ray having a plurality of X-ray detection semiconductor elements arranged two-dimensionally. A detection unit (commonly called a flat panel detector (FPD)) 2 is mounted.

  As shown in FIG. 5A, when viewed from the front, the center line CL of the C-shaped arm 51 connects the X-ray focal point of the X-ray tube and the center of the detection surface of the X-ray detector 2. An imaging axis SA that connects the X-ray focal point of the X-ray tube and the center of the detection surface of the X-ray detector 2 is arranged so as to overlap with the axis SA, that is, in a plane passing through the center line CL of the C-arm 51. In addition, the X-ray generator 1 and the X-ray detector 2 are provided at zero offset with respect to the C-arm 51.

  Although not shown, the X-ray generation unit 1 includes an X-ray tube and an X-ray diaphragm mechanism that shapes the X-ray irradiation field into an arbitrary shape such as a rectangle or a circle. The X-ray aperture mechanism is a shaft rotation mechanism 515-1 that is rotatable about an imaging axis SA (matching the fifth rotation axis Z5) that connects the X-ray focal point of the X-ray tube and the center of the detection surface of the X-ray detector 2. (See FIG. 3). Similarly, the X-ray detector 2 is supported by the shaft rotation mechanism 515-2 so as to be rotatable about the imaging axis SA (fifth rotation axis Z5). Note that when the X-ray diaphragm mechanism forms the X-ray irradiation field into a circle, the X-ray diaphragm mechanism and the X-ray detector 2 are arranged around the imaging axis SA (fifth rotation axis Z5) in order to erect the image. It is not always necessary to rotate.

  An imaging axis SA (Z5) passing through the X-ray focal point of the X-ray generation unit 1 and the detection surface center of the X-ray detection unit 2 intersects the C-arm horizontal rotation axis Z3 and the slide rotation axis Z4 at one point. Designed as such. As is well known, the absolute coordinates of the intersection (position on the radiographing room coordinate system) are determined so that the C-arm 51 rotates about the slide rotation axis Z4 as the C-arm 51 rotates about the C-arm horizontal rotation axis Z3. Attempts to turn the floor turning arm 54 about the first rotation axis Z1 will not be displaced unless the stand 53 rotates about the second rotation axis Z2. Generally, this is called an isocenter IS. Yes.

  As shown in FIG. 1, the rotation angle of the stand 53 around the second rotation axis Z <b> 2 is at the reference angle (zero degree), and the C-shaped arm 51 is overlapped on the floor turning arm 54 and folded to the smallest extent. When in the posture, the isocenter is positioned on the first rotation axis Z1 of the floor turning arm 54, in other words, the imaging axis SA (Z5), the C-arm horizontal rotation axis Z3, and the slide rotation axis Z4. Are designed to intersect with the first rotation axis Z1 of the floor turning arm 54 at the isocenter. That is, the floor swivel is performed so that the distance between the first rotation axis Z1 of the floor swivel arm 54 and the second rotation axis Z2 of the stand 53 is the same as the distance between the second rotation axis Z2 of the stand 53 and the isocenter IS. The length of the arm 54, the size of the stand 53, the size of the arm holder 52, and the radius of the C-system arm 51 are determined comprehensively.

  Under such a design, the rotation angle of the C-system arm 51 around the C-arm horizontal rotation axis Z3 is at the reference angle (zero degree), and the rotation angle of the C-system arm 51 around the slide rotation axis Z4 is Situation where the rotation angle of the stand 53 around the second rotation axis Z2 is at the reference angle (zero degree) when the photographing axis SA (Z5) is in the vertical direction at the reference angle (zero degree). In this case, the photographing axis SA (Z5) substantially coincides with the first rotation axis Z1 of the floor turning arm 54.

  As shown in FIG. 3, typically, the power supply is controlled under the control of the movement mechanism drive control unit 33 of the movement mechanism drive unit 3 based on the control signal from the system control unit 10 or the operation signal from the operation unit 9. As drive units 311, 312, 313, 314, 315-1, 315-2, 316 to the motors of mechanisms 511, 512, 513, 514, 515-1, 515-2, 516 of the C-arm holding device 5 A drive signal is supplied to each. Thereby, each part rotates and slides. Similarly, the drive signal from the top plate mechanism drive unit 32 under the control of the movement mechanism drive control unit 33 of the movement mechanism drive unit 3 based on the control signal from the system control unit 10 or the operation signal from the operation unit 9. Is supplied to the longitudinal / lateral direction moving mechanism 171 and the up / down direction moving mechanism 172 of the top board 17. As a result, the top plate 17 is released from the brake, and is movable in the longitudinal direction f (Y direction) or the lateral direction (X direction), or the top plate 17 is controlled to move up and down in the vertical direction g.

  FIG. 4 shows an operation surface of the operation unit 11. The operation surface is realized by either a touch panel screen or an operation console on which substantial switches and buttons are arranged. On the operation surface, manual operation buttons 211 to 227, 233, and 234 for manually operating the movement of each unit are provided. Further, preset buttons 229, 230, 231, and 232 for automatically moving the C-arm holding device 5 to a predetermined posture are provided on the operation surface.

  When the floor swivel button 211 is clicked or pressed, the floor swivel arm 54 is moved forward (around the rotation axis Z1) by the floor swivel arm turning mechanism 514 by an angle corresponding to the operation amount, typically the pressing time. The control unit 33 controls the drive unit 31 so as to turn counterclockwise. When the floor turning button 212 is clicked or pressed, the floor turning arm 54 is turned in the reverse forward direction (clockwise) around the rotation axis Z1 by the floor turning arm turning mechanism 514 by an angle corresponding to the operation amount. The control unit 33 controls the drive unit 31.

  When the stand rotation button 213 is clicked or pressed, the control unit 33 causes the stand 53 to turn forward (counterclockwise) around the rotation axis Z2 by the stand rotation mechanism 513 by an angle corresponding to the operation amount. The drive unit 31 is controlled. When the stand rotation button 214 is clicked or pressed, the control unit 33 is driven so that the stand 53 is rotated in the reverse direction (clockwise) around the rotation axis Z2 by the stand rotation mechanism 513 by an angle corresponding to the operation amount. The unit 31 is controlled.

  When the arm holder horizontal rotation button 215 is clicked or pressed, the control unit 33 causes the arm holder 52 to horizontally rotate in the forward direction around the rotation axis Z3 by the arm holder rotation mechanism 512 by an angle corresponding to the operation amount. The drive unit 31 is controlled. When the arm holder horizontal rotation button 216 is clicked or pressed, the control unit 33 causes the arm holder 52 to rotate horizontally around the rotation axis Z3 by the arm holder rotating mechanism 512 by an angle corresponding to the operation amount. The drive unit 31 is controlled.

  When the C-arm slide rotation button 217 is clicked or pressed, the C-arm 51 is slid in the forward direction around the rotation axis Z4 by the C-arm slide mechanism 511 along the arm holder 52 by an angle corresponding to the operation amount. The control unit 33 controls the drive unit 31 so as to rotate. When the C-arm slide rotation button 218 is clicked or pressed, the C-arm 51 is slid in the reverse direction around the rotation axis Z4 by the C-arm slide mechanism 511 along the arm holder 52 by an angle corresponding to the operation amount. The control unit 33 controls the drive unit 31 so as to rotate.

  When the X-ray tube / detector shaft rotation button 219 is clicked or pressed, the X-ray aperture device and the detector 2 together with the detector 2 rotate the rotation axis Z5 ( The control unit 33 controls the drive unit 31 so as to rotate in the forward direction in synchronization with the imaging axis SA). When the X-ray tube / detector shaft rotation button 220 is clicked or pressed, the X-ray diaphragm device is rotated together with the detector 2 by the shaft rotation mechanism 515-1, 515-2 by the rotation angle Z 5 ( The control unit 33 controls the drive unit 31 so as to rotate in the reverse direction in synchronization with the imaging axis SA).

  When the top plate up / down button 225 is clicked or pressed, the control unit 33 drives the drive unit 32 so that the top plate 17 is moved upward along the vertical axis by the vertical movement mechanism 172 by a distance corresponding to the operation amount. To control. When the top plate up / down button 226 is clicked or pressed, the control unit 33 controls the drive unit 32 so that the top plate 17 is lowered along the vertical axis by the vertical movement mechanism 172 by a distance corresponding to the operation amount. . When the top plate brake button 227 is clicked or pressed, the brake is released, and the top plate 17 becomes movable in the longitudinal direction (Y direction) or the lateral direction (X direction). When the top plate brake button 227 is clicked or pressed again after the top plate is moved, the brake is applied.

  When the SID change button 233 is clicked or pressed, the X-ray tube 1 and the X-ray detector 2 are synchronously separated from the isocenter IS along the imaging axis SA by a distance corresponding to the operation amount, and the SID (X The controller 33 controls the SID changing mechanism 516 in order to increase the distance between the tube detectors. When the SID change button 234 is clicked or pressed, the X-ray tube 1 and the X-ray detector 2 are synchronized with each other along the imaging axis SA by a distance corresponding to the operation amount, and the SID (X The control unit 33 controls the SID changing mechanism 516 in order to shorten the distance between the tube tube detectors).

  When the left / right linear movement button 221 is clicked or pressed, the photographing axis SA crosses the straight line WL that passes through the initial position shown in FIG. 7A and is orthogonal to the reference line BL by a distance corresponding to the operation amount. The control unit 33 controls the drive units 314 and 313 to move the X-ray tube 1 and the X-ray detector 2 linearly in parallel with the straight line WL together with the C arm 51 so as to move to the left side while maintaining (See FIG. 7B). In order to move the imaging axis SA linearly, the control unit 33 controls the rotation of the floor turning arm 54 around Z1 and the rotation of the stand 53 around Z2. As a practical control, the relationship between the rotation angle of the floor turning arm 54 and the rotation angle of the stand 53 for the imaging axis SA to be positioned on the straight line WL is determined in advance, and the control unit 33 controls the floor according to the relationship. The rotation of the swing arm 54 and the rotation of the stand 53 are individually controlled. Of course, the control unit 33 may link the rotation of the stand 53 with the rotation of the floor turning arm 54 so that the imaging axis SA is positioned on the straight line WL. Further, the control unit 33 may link the rotation of the floor turning arm 54 with the rotation of the stand 53 so that the photographing axis SA is positioned on the straight line WL. Typically, the floor turning arm 54 and the stand 53 rotate simultaneously, but the rotation of the floor turning arm 54 and the rotation of the stand 53 may be performed alternately.

  Further, in order to prevent the rotation of the image orientation associated with the rotation of the floor turning arm 54 about Z1 and the rotation of the stand 53 about Z2 and to maintain the image upright, the control unit 33 rotates the floor. With respect to the rotation of the arm 54 around Z1 and the rotation of the stand 53 around Z2, the rotation of the X-ray diaphragm device and the X-ray detector around the rotation axis Z5 (imaging axis SA) by the shaft rotation mechanisms 515-1 and 515-2. Synchronize rotation. In addition, when the X-ray bundle | flux by an X-ray aperture apparatus is circular, rotation of an X-ray aperture apparatus is unnecessary and it is sufficient to interlock only rotation of an X-ray detector with rotation of the floor turning arm 54 and the stand 53.

  Similarly, when the left / right linear movement button 222 is clicked or pressed, the control unit 33 controls the drive unit so that the imaging axis SA moves to the right while maintaining the intersection with the straight line WL by a distance corresponding to the operation amount. By controlling 314 and 313, the X-ray tube 1 and the X-ray detector 2 are linearly moved along with the C-arm 51 substantially parallel to the straight line WL. In order to move the imaging axis SA linearly, the control unit 33 controls the rotation of the floor turning arm 54 around Z1 and the rotation of the stand 53 around Z2. As a practical control, the relationship between the rotation angle of the floor turning arm 54 and the rotation angle of the stand 53 for the imaging axis SA to be positioned on the straight line WL is determined in advance, and the control unit 33 controls the floor according to the relationship. The rotation of the swing arm 54 and the rotation of the stand 53 are individually controlled. Of course, the control unit 33 may link the rotation of the stand 53 with the rotation of the floor turning arm 54 so that the imaging axis SA is positioned on the straight line WL. Further, the control unit 33 may link the rotation of the floor turning arm 54 with the rotation of the stand 53 so that the photographing axis SA is positioned on the straight line WL. Typically, the floor turning arm 54 and the stand 53 rotate simultaneously, but the rotation of the floor turning arm 54 and the rotation of the stand 53 may be performed alternately.

  Further, in order to prevent the rotation of the image orientation associated with the rotation of the floor turning arm 54 around Z1 and the rotation of the stand 53 around Z2 and to fix the orientation of the image, the control unit 33 Rotation around the rotation axis Z5 (imaging axis SA) of the X-ray diaphragm device and X-ray detector by the shaft rotation mechanisms 515-1 and 515-2 with respect to rotation around Z1 of 54 and rotation around Z2 of the stand 53. Interlock.

  In this way, by linking the floor rotation of the arm 54 and the rotation of the stand 53, it is possible to provide a wide coverage in the patient lateral direction even with the floor-fixed holding device. As a characteristic arrangement state, there is a patient upper arm position. As a series of sequences up to this arrangement, the arm 51 is set at the patient head insertion position by manual / auto positioning operation and moved to an arbitrary position on the left and right. In a specific sequence, the arm 51 is set in the patient's head by rotating the floor of the arm 54, and the floor rotation of the arm 54 and the rotation of the stand 53 are linked to move to the right or left of the patient. As a possible movement of the arm 51 with this arrangement, the floor rotation of the arm 54 and the rotation of the stand 53 move in conjunction with one action of the buttons 221 and 222, and move linearly in the left-right direction of the patient. The X-ray detector 2 and the X-ray diaphragm device are controlled so that the image is always upright, and the user does not need to set it manually. It is also possible to manually set an arbitrary rotation angle as necessary. A characteristic action that can be performed from the device side during the examination / surgery after the placement is that it is possible to cope with the approach from the upper arm, which has recently increased in number of cases by increasing the left and right strokes. By arbitrary rotation of the X-ray diaphragm device and the X-ray detector 2, unnecessary exposure when the arm is inclined can be prevented.

  When the head-to-tail straight line movement button 223 is clicked or pressed, the control unit 33 is configured so that the imaging axis SA moves toward the head side while maintaining the intersection with the reference line BL by a distance corresponding to the operation amount. By controlling the driving units 314 and 313, the X-ray tube 1 and the X-ray detector 2 are linearly moved together with the C arm 51 substantially in parallel with the reference line BL (see FIG. 7C).

  In order to move the imaging axis SA linearly, the control unit 33 controls the rotation of the floor turning arm 54 around Z1 and the rotation of the stand 53 around Z2. As a practical control, the relationship between the rotation angle of the floor turning arm 54 and the rotation angle of the stand 53 for the photographing axis SA to be positioned on the reference line BL is determined in advance, and the control unit 33 follows the relationship. The rotation of the floor turning arm 54 and the rotation of the stand 53 are individually controlled. Of course, the control unit 33 may link the rotation of the stand 53 with the rotation of the floor turning arm 54 so that the imaging axis SA is positioned on the reference line BL. Further, the control unit 33 may link the rotation of the floor turning arm 54 with the rotation of the stand 53 so that the photographing axis SA is positioned on the reference line BL. Typically, the floor turning arm 54 and the stand 53 rotate simultaneously, but the rotation of the floor turning arm 54 and the rotation of the stand 53 may be performed alternately. The head-to-tail linear movement can be realized on either the left or right side of the subject with the floor turning arm 54. Whether the floor turning arm 54 is arranged on the left or right side of the subject is determined by an instruction from the operator.

  Further, in order to prevent the rotation of the image orientation associated with the rotation of the floor turning arm 54 about Z1 and the rotation of the stand 53 about Z2, and to fix the orientation of the image, the control unit 33 includes the drive unit 315. -1 and 315-2 are controlled, and the X-ray aperture device and X-rays by the shaft rotation mechanisms 515-1 and 515-2 are controlled with respect to the rotation of the floor turning arm 54 around Z1 and the rotation of the stand 53 around Z2. The rotation of the detector around the rotation axis Z5 (imaging axis SA) is linked.

  When the head-to-tail linear movement button 224 is clicked or pressed, the control unit 33 is driven so that the imaging axis SA moves to the foot side while maintaining the intersection with the reference line BL by a distance corresponding to the operation amount. By controlling the units 314 and 313, the X-ray tube 1 and the X-ray detector 2 are linearly moved together with the C arm 51 substantially parallel to the reference line BL. In order to move the imaging axis SA linearly, the control unit 33 controls the rotation of the floor turning arm 54 around Z1 and the rotation of the stand 53 around Z2. As a practical control, the relationship between the rotation angle of the floor turning arm 54 and the rotation angle of the stand 53 for the photographing axis SA to be positioned on the reference line BL is determined in advance, and the control unit 33 follows the relationship. The rotation of the floor turning arm 54 and the rotation of the stand 53 are individually controlled. Of course, the control unit 33 may link the rotation of the stand 53 with the rotation of the floor turning arm 54 so that the imaging axis SA is positioned on the reference line BL. Further, the control unit 33 may link the rotation of the floor turning arm 54 with the rotation of the stand 53 so that the photographing axis SA is positioned on the reference line BL. Typically, the floor turning arm 54 and the stand 53 rotate simultaneously, but the rotation of the floor turning arm 54 and the rotation of the stand 53 may be performed alternately.

  Further, in order to prevent the rotation of the image orientation caused by the rotation of the floor turning arm 54 around Z1 and the rotation of the stand 53 around Z2 and to fix the orientation of the image, the control unit 33 includes the drive unit 315. -1 and 315-2 are controlled, and the X-ray aperture device and X-rays by the shaft rotation mechanisms 515-1 and 515-2 are controlled with respect to the rotation of the floor turning arm 54 around Z1 and the rotation of the stand 53 around Z2. The rotation of the detector around the rotation axis Z5 (imaging axis SA) is linked.

  Thus, by linking the rotation of the floor rotation arm 54 and the rotation of the stand 53, a wide coverage in the longitudinal direction of the patient can be provided even with a floor-fixed holding device. As a characteristic arrangement state, for example, there is a patient lower limb position. As a series of sequences up to this placement, the arm 51 is set to the patient's lower limb position by manual / auto positioning operation. The arm 54 is set on the left or right side of the patient by rotating the floor of the arm 54, and the rotation of the floor rotating arm 54 and the rotation of the stand 53 are interlocked to move the X-ray tube 1 and the X-ray detector 2 to the foot side. . As a possible movement of the arm 51 in this arrangement, the rotation of the floor rotating arm 54 and the rotation of the stand 53 move in conjunction with one action of pressing the buttons 223, 224, and the X-ray tube 1 and the X-ray detector 2 are moved. Moves linearly in the longitudinal direction of the patient. This enables whole body examinations and surgery. Even in this arrangement, patient-based RAO / LAO and CRA / CAU arm operations can be performed with one action by clinical angle control. The X-ray detector 2 and the X-ray diaphragm device are controlled so that the image is always upright, and the user does not need to set it manually. Characteristic operations that can be performed from the device side during the examination or operation after placement include scanning in the longitudinal direction only by arm operation without moving the bed, and DSA (digital subtraction angiography) imaging. Further, by retracting the arm 51 to the patient's foot as much as possible and clearing the periphery of the patient, it is possible to coexist with a surgical procedure that does not require X-rays. It is possible to deal with pediatric cases in which a situation occurs in which surgery is switched during the procedure.

  When the right head approach position button 229 is clicked or pressed, a workspace for the operator to approach the subject 150 from the right head as shown in FIGS. 5 (a) and 5 (b). The control unit 33 controls the drive units 313 and 314 so that the C-arm holding device 5 is installed in a preset posture (position) suitable for enlargement. Specifically, when the stand 53 rotates to the reference position, the C-arm 51 overlaps the floor turning arm 54, that is, the first posture line PL1 connecting the first rotation axis Z1 and the second rotation axis Z2. In contrast, the second posture line PL2 connecting the second rotation axis Z2 and the fifth rotation axis Z5 (imaging axis SA) coincides. Thereby, the X-ray diaphragm and the fifth rotation axis Z5 (imaging axis SA) of the detector 2 substantially coincide with the first rotation axis Z1 of the floor turning arm 54. Furthermore, the first and second posture lines PL1 and PL2 are inclined at approximately 45 degrees on the plus side with respect to the reference line BL. The control unit 33 controls the driving unit 314 so as to obtain such a preset posture, and the floor turns around the first rotation axis Z1 with the position of the stand 53 around the second rotation axis Z2 being zero degrees. The rotation of the arm 54 is controlled. Such a posture secures a sufficiently wide work space for the operator to approach the right head of the subject 150. In addition, since the posture is automatically set by operating the right head approach position button 229, it is possible to quickly shift to the posture. If necessary, the tilt angle is finely adjusted by manual operation using the buttons 211 and 212. Note that the control unit 33 performs control so that the orientation of the image is corrected according to the rotation of the X-ray detection unit 2 (FPD) or the X-ray diaphragm device. The preset angle can be changed as appropriate according to the setting.

  When the left head approach position button 230 is clicked or pressed, a work space for the operator to approach the subject 150 from the left head as shown in FIGS. The control unit 33 controls the drive units 313 and 314 so that the C-arm holding device 5 is installed in a preset posture (position) suitable for enlargement. Specifically, as in the right head approach position, the C-shaped arm 51 overlaps the floor turning arm 54. Further, the first and second posture lines PL1 and PL2 are inclined at approximately 45 degrees on the minus side with respect to the reference line BL. The control unit 33 controls the driving unit 314 so as to obtain such a preset posture, and the floor turns around the first rotation axis Z1 with the position of the stand 53 around the second rotation axis Z2 being zero degrees. The rotation of the arm 54 is controlled. Such a posture secures a sufficiently wide work space for the operator to approach the left head of the subject 150. In addition, since the posture is automatically set by operating the left head approach position button 230, it is possible to quickly shift to the posture. If necessary, the tilt angle is finely adjusted by manual operation using the buttons 211 and 212. Note that the control unit 33 performs control so that the orientation of the image is corrected according to the rotation of the X-ray detection unit 2 (FPD) or the X-ray diaphragm device. The preset angle can be changed as appropriate according to the setting.

  When the head free approach position button 231 is clicked or pressed, as shown in FIGS. 6A and 6B, a workspace for the operator to approach the subject 150 from the entire head. The control unit 33 controls the drive units 313 and 314 so that the C-arm holding device 5 is installed in a preset posture (position) suitable for enlarging the angle. The posture in which the work space is secured over the entire head is typically a biplane in combination with a ceiling-suspended Ω-shaped arm 101 in which an X-ray generator 105 and an X-ray detector 103 are mounted at both horizontal ends. This is effective when shooting.

  Specifically, as in the right head approach position, the C-shaped arm 51 overlaps the floor turning arm 51. Further, the first and second posture lines PL1 and PL2 are inclined at approximately 135 degrees on the plus or minus side with respect to the reference line BL. The control unit 33 controls the driving unit 314 so as to obtain such a preset posture, and the floor turns around the first rotation axis Z1 with the position of the stand 53 around the second rotation axis Z2 being zero degrees. The rotation of the arm 54 is controlled. Such a posture ensures a sufficiently wide work space for the operator to approach the entire head of the subject 150. Further, since the posture is automatically set by the operation of the head free approach position button 231, it is possible to quickly shift to the posture. If necessary, the tilt angle is finely adjusted by manual operation using the buttons 211 and 212. Note that the control unit 33 performs control so that the orientation of the image is corrected according to the rotation of the X-ray detection unit 2 (FPD) or the X-ray diaphragm device. The preset angle can be changed as appropriate according to the setting.

  In this way, the head side is completely cleared by rotating the C arm 51 between the Ω arm 101 and the couch top 17 during biplane. The characteristic arrangement state is the biplane full head free position. In a series of sequence up to this arrangement, the Ω arm 101 is moved to the retracted position, the C arm 51 is rotated on the floor, and the patient left side is about 110 ° or more. Move to the position. Then, the Ω arm 101 is moved from the retracted position to the biplane set position. When the operator is positioned on the left side of the patient, the C arm 51 is moved to a position symmetrical to the right side of the patient. As for the movement of the arm 51 that is possible with this arrangement, even in this arrangement, the patient-standard RAO / LAO, CRA / CAU arm operation can be performed with one action by clinical angle control. A synchronization operation for synchronizing the C arm 51 and the Ω arm 101 is possible. The X-ray detector 2 and the X-ray diaphragm device are controlled so that the image is always upright, and the user does not need to set it manually. The characteristic operation that can be performed from the device side during the examination or operation after placement is completely free from the cranial side, which is advantageous for the installation of a general anesthesia device and the approach of the left and right carotid arteries. The patient approach of hospital staff becomes easy. This arrangement can provide the same operability and angle as in the normal biplane set state. In the case of the brain, switching of the surgical technique can be handled only by the longitudinal movement of the top board 17.

  When the oblique imaging position button 232 is clicked or pressed, the oblique imaging suitable for inserting the subject 150 into the imaging region from the head (see FIG. 8). The control unit 33 controls the drive unit 31 so that the C-arm holding device 5 is installed in a posture (position) taken from an oblique direction between the two. Specifically, the second attitude connecting the second rotation axis Z2 and the fifth rotation axis Z5 (imaging axis SA) to the first attitude line PL1 connecting the first rotation axis Z1 and the second rotation axis Z2. The line PL2 coincides, and the C-shaped arm 51 overlaps the floor turning arm 51. Then, the C-shaped arm 51 rotates about the axis Z4 and the axis Z3 by a predetermined angle, respectively, and the imaging axis SA intersects the reference line BL from an oblique direction. Further, the X-ray diaphragm device and the X-ray detector 2 are axially rotated Z5 by a predetermined angle, thereby ensuring an appropriate orientation of the image. Even during oblique shooting, a sufficiently wide work space can be secured and a posture capable of being placed in the head can be set. Further, since the posture is automatically set by operating the position button 232, it is possible to quickly shift to the posture. If necessary, the tilt angle is finely adjusted by manual operation using the buttons 211 to 218. The buttons 229, 230, 231, and 232 may be reproduced by storing the contents at a certain number using, for example, a numeric keypad without providing a dedicated switch.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

1 is an external view of a C-arm holding device of an X-ray diagnostic apparatus according to an embodiment of the present invention. 1 is an external view of a C-arm holding device of an X-ray diagnostic apparatus according to an embodiment of the present invention. The functional block diagram of the principal part of the X-ray diagnostic apparatus which concerns on embodiment of this invention. The figure which shows an example of the operation surface of the operation part of FIG. The figure which shows the right-head approach position and the left-head approach position by which the attitude | position control is carried out by the moving mechanism drive control part of FIG. The figure which shows the head free approach position by which attitude control is carried out by the moving mechanism drive control part of FIG. The figure which shows the right-and-left linear movement and the head-tail linear movement of the imaging | photography axis | shaft implement | achieved by the interlocking control of the movement mechanism drive control part of FIG. FIG. 4 is a diagram illustrating an oblique photographing position whose posture is controlled by the movement mechanism drive control unit of FIG. 3. External view of a conventional floor-standing C-arm holding device.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... X-ray generation part, 2 ... X-ray detection part, 3 ... Movement mechanism drive part, 5 ... C arm holding device, 9 ... Operation part, 10 ... System control part, 311 ... C arm slide mechanism drive part, 312 ... Arm holder rotation mechanism drive unit, 313 ... Stand rotation mechanism drive unit, 314 ... Floor turning arm rotation mechanism drive unit, 315 ... Shaft rotation mechanism drive unit, 316 ... SID change mechanism drive unit, 32 ... Top plate mechanism drive unit, 33 DESCRIPTION OF SYMBOLS ... Movement mechanism drive control part, 51 ... C arm, 52 ... Arm holder, 53 ... Stand, 54 ... Floor turning arm, 150 ... Subject, 171 ... Top plate longitudinal direction movement mechanism, 172 ... Top plate vertical direction movement mechanism, 511... C-arm slide mechanism, 512... Arm holder rotation mechanism, 513... Stand rotation mechanism, 514.

Claims (9)

A top plate supported movably along a reference line, and one end provided on the floor surface so as to be rotatable around a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line A floor rotation arm, a rotation drive unit of the floor rotation arm, a stand rotatably supported around a second vertical rotation axis at the other end of the floor rotation arm, a rotation drive unit of the stand, A substantially C-shaped arm supported by the stand, an X-ray tube supported by one end of the C-shaped arm, and a third axis substantially coincident with an imaging axis passing through the X-ray focal point of the X-ray tube and the center of the detection surface. In an X-ray diagnostic apparatus control method comprising: an X-ray detector supported on the other end of the C-arm so as to be rotatable about a rotation axis; and a rotation driving unit of the X-ray detector.
In order to move the X-ray tube and the X-ray detector linearly in parallel with the reference line, the floor rotary arm is controlled by controlling the rotary drive part of the floor rotary arm and the rotary drive part of the stand. Rotating around the first rotation axis and rotating the stand around the second rotation axis;
In order to maintain the image upright, a rotation driving unit of the X-ray detector is controlled, and the X-ray detector is rotated in conjunction with the rotation of the floor rotation arm and the rotation of the stand. A method for controlling an X-ray diagnostic apparatus. A top plate supported movably along a reference line, and one end provided on the floor surface so as to be rotatable around a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line A floor rotation arm, a rotation drive unit of the floor rotation arm, a stand rotatably supported around a second vertical rotation axis at the other end of the floor rotation arm, a rotation drive unit of the stand, A substantially C-shaped arm supported by the stand, an X-ray tube supported by one end of the C-shaped arm, and a third axis substantially coincident with an imaging axis passing through the X-ray focal point of the X-ray tube and the center of the detection surface. A control method for an X-ray diagnostic apparatus having an X-ray detector for generating an image supported on the other end of the C-arm so as to be rotatable about a rotation axis, and a rotation drive unit of the X-ray detector In
Controlling the rotation drive unit of the floor rotation arm to rotate the floor rotation arm around a first rotation axis;
In order to move the X-ray tube and the X-ray detector linearly in a direction substantially parallel to the reference line, the rotation drive unit of the stand is controlled, and the stand is moved in conjunction with the rotation of the floor rotation arm. A process of rotating around two rotation axes;
In order to maintain the image upright, a rotation driving unit of the X-ray detector is controlled, and the X-ray detector is rotated in conjunction with the rotation of the floor rotation arm and the rotation of the stand. A method for controlling an X-ray diagnostic apparatus. A top plate supported movably along a reference line, and one end provided on the floor surface so as to be rotatable around a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line A floor rotation arm, a rotation drive unit of the floor rotation arm, a stand rotatably supported around a second vertical rotation axis at the other end of the floor rotation arm, a rotation drive unit of the stand, A substantially C-shaped arm supported by the stand, an X-ray tube supported by one end of the C-shaped arm, and a third axis substantially coincident with an imaging axis passing through the X-ray focal point of the X-ray tube and the center of the detection surface. In an X-ray diagnostic apparatus control method comprising: an X-ray detector supported on the other end of the C-arm so as to be rotatable about a rotation axis; and a rotation driving unit of the X-ray detector.
Controlling the rotation driving part of the stand to rotate the stand around a second rotation axis;
In order to linearly move the X-ray tube and the X-ray detector substantially parallel to the reference line, a rotation driving unit of the floor rotating arm is controlled, and the floor rotating arm is interlocked with the rotation of the stand. Rotating around the first rotation axis;
In order to maintain the image upright, a rotation driving unit of the X-ray detector is controlled, and the X-ray detector is rotated in conjunction with the rotation of the floor rotation arm and the rotation of the stand. A method for controlling an X-ray diagnostic apparatus. A top plate supported movably along a reference line, and one end provided on the floor surface so as to be rotatable around a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line A floor rotation arm, a rotation drive unit of the floor rotation arm, a stand rotatably supported around a second vertical rotation axis at the other end of the floor rotation arm, a rotation drive unit of the stand, A substantially C-shaped arm supported by the stand, an X-ray tube supported by one end of the C-shaped arm, and a third axis substantially coincident with an imaging axis passing through the X-ray focal point of the X-ray tube and the center of the detection surface. In an X-ray diagnostic apparatus control method comprising: an X-ray detector supported on the other end of the C-arm so as to be rotatable about a rotation axis; and a rotation driving unit of the X-ray detector.
The floor rotation arm is rotated about the first rotation axis by controlling the rotation drive unit of the floor rotation arm and the rotation drive unit of the stand so that the imaging axis moves while maintaining the intersection with the reference line. And rotating the stand around the second rotation axis;
In order to maintain the image upright, a rotation driving unit of the X-ray detector is controlled, and the X-ray detector is rotated in conjunction with the rotation of the floor rotation arm and the rotation of the stand. A method for controlling an X-ray diagnostic apparatus. A top plate supported movably along a reference line, and one end provided on the floor surface so as to be rotatable around a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line A floor rotation arm, a rotation drive unit of the floor rotation arm, a stand rotatably supported around a second vertical rotation axis at the other end of the floor rotation arm, a rotation drive unit of the stand, A substantially C-shaped arm supported by the stand, an X-ray tube supported by one end of the C-shaped arm, and a third axis substantially coincident with an imaging axis passing through the X-ray focal point of the X-ray tube and the center of the detection surface. In an X-ray diagnostic apparatus control method comprising: an X-ray detector supported on the other end of the C-arm so as to be rotatable about a rotation axis; and a rotation driving unit of the X-ray detector.
In order to linearly move the X-ray tube and the X-ray detector in a direction substantially orthogonal to the reference line, the floor rotation arm is controlled by controlling the rotation driving unit of the floor rotation arm and the rotation driving unit of the stand. Rotating the arm around a first rotation axis and rotating the stand around a second rotation axis;
In order to maintain the image upright, a rotation driving unit of the X-ray detector is controlled, and the X-ray detector is rotated in conjunction with the rotation of the floor rotation arm and the rotation of the stand. A method for controlling an X-ray diagnostic apparatus. A top plate supported movably along a reference line, and one end provided on the floor surface so as to be rotatable around a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line A floor rotation arm, a rotation drive unit of the floor rotation arm, a stand rotatably supported around a second vertical rotation axis at the other end of the floor rotation arm, a rotation drive unit of the stand, A substantially C-shaped arm supported by the stand, an X-ray tube supported by one end of the C-shaped arm, and a third axis substantially coincident with an imaging axis passing through the X-ray focal point of the X-ray tube and the center of the detection surface. A control method for an X-ray diagnostic apparatus having an X-ray detector for generating an image supported on the other end of the C-arm so as to be rotatable about a rotation axis, and a rotation drive unit of the X-ray detector In
Controlling the rotation drive unit of the floor rotation arm to rotate the floor rotation arm around a first rotation axis;
In order to move the X-ray tube and the X-ray detector linearly in a direction substantially perpendicular to the reference line, the rotation drive unit of the stand is controlled, and the stand is interlocked with the rotation of the floor rotation arm. Rotating around the second rotation axis;
In order to maintain the image upright, a rotation driving unit of the X-ray detector is controlled, and the X-ray detector is rotated in conjunction with the rotation of the floor rotation arm and the rotation of the stand. A method for controlling an X-ray diagnostic apparatus. A top plate supported movably along a reference line, and one end provided on the floor surface so as to be rotatable around a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line A floor rotation arm, a rotation drive unit of the floor rotation arm, a stand rotatably supported around a second vertical rotation axis at the other end of the floor rotation arm, a rotation drive unit of the stand, A substantially C-shaped arm supported by the stand, an X-ray tube supported by one end of the C-shaped arm, and a third axis substantially coincident with an imaging axis passing through the X-ray focal point of the X-ray tube and the center of the detection surface. In an X-ray diagnostic apparatus control method comprising: an X-ray detector supported on the other end of the C-arm so as to be rotatable about a rotation axis; and a rotation driving unit of the X-ray detector.
Controlling the rotation driving part of the stand to rotate the stand around a second rotation axis;
In order to linearly move the X-ray tube and the X-ray detector in a direction substantially perpendicular to the reference line, a rotation driving unit of the floor rotating arm is controlled, and the floor is interlocked with the rotation of the stand. Rotating the rotating arm around the first rotation axis;
In order to maintain the image upright, a rotation driving unit of the X-ray detector is controlled, and the X-ray detector is rotated in conjunction with the rotation of the floor rotation arm and the rotation of the stand. A method for controlling an X-ray diagnostic apparatus. A top plate supported movably along a reference line, and one end provided on the floor surface so as to be rotatable around a substantially vertical first rotation axis that is within a movable range of the top plate and intersects the reference line A floor rotation arm, a rotation drive unit of the floor rotation arm, a stand rotatably supported around a second vertical rotation axis at the other end of the floor rotation arm, a rotation drive unit of the stand, A substantially C-shaped arm supported by the stand, an X-ray tube supported by one end of the C-shaped arm, and a third axis substantially coincident with an imaging axis passing through the X-ray focal point of the X-ray tube and the center of the detection surface. In an X-ray diagnostic apparatus control method comprising: an X-ray detector supported on the other end of the C-arm so as to be rotatable about a rotation axis; and a rotation driving unit of the X-ray detector.
Rotating the floor rotary arm about a first rotation axis by controlling a rotation driving unit of the floor rotary arm in order to obliquely intersect the floor rotary arm with respect to the reference line at a predetermined angle;
Controlling the rotation driving part of the stand to rotate the stand around the second rotation axis in order to substantially match the third rotation axis with the first rotation axis;
A method of controlling an X-ray diagnostic apparatus comprising: a step of controlling the rotation drive unit of the X-ray detector to rotate the X-ray detector in order to maintain the image upright. The X-ray diagnostic apparatus further includes an X-ray diaphragm device provided in the X-ray tube so as to be rotatable about the third rotation axis, and a rotation drive unit of the X-ray diaphragm device,
The method for controlling an X-ray diagnostic apparatus according to any one of claims 1 to 8, further comprising a step of controlling a rotation driving unit of the X-ray diaphragm apparatus and rotating the X-ray diaphragm apparatus together with the X-ray detector. .

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