JP4044205B2 - X-ray fluoroscopic equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention advances a guide wire or a catheter to a lesioned part under guidance by X-ray fluoroscopy and radiographic images, and inserts a drug solution or a therapeutic device through the catheter or sucks out contents. The present invention relates to an X-ray fluoroscopic apparatus used for a treatment method (hereinafter abbreviated as IVR) called an interventional radiology that suppresses the invasion given to a patient.
[0002]
[Prior art]
A conventional X-ray fluoroscopic apparatus of this type will be described with reference to FIG.
FIG. 5 is a perspective view of a conventional C-arm type device and shows a state during IVR treatment. In FIG. 5, 1 is a subject, 2 is an A operator, 3 is a B operator, 4 is an operator, 5 is a C-arm type support device, 6 is an X-ray tube device, 7 is a C arm, and 8 is an image. Intensifier (hereinafter abbreviated as II), 9 is an object table, 10 is a TV monitor, 11 is a video control device, 12 is an A image data communication cable, 13 is a B image data communication cable, 14 is an imaging cassette, Reference numeral 25 denotes a collimator.
[0003]
As shown in the figure, the subject 1 is placed on the subject table 9 and undergoes IVR treatment by the A operator 2 and the B operator 3. The operator 4 operates the C-arm type support device 5 in response to a request from the operator A 2 and the operator B 3, and performs fluoroscopy or imaging.
[0004]
Here, the operator 4 transmits X-rays that reach II8 affected by changes in the distance between the X-ray tube device 6 that is an X-ray generation source and the II8 that is the X-ray image receiving device and the body thickness of the subject 1. The X-ray conditions such as the X-ray quality due to the change in intensity and the difference in X-ray absorption for each region of interest are adjusted so as to be optimal for image diagnosis.
At the same time, the operator 4 irradiates with the X-ray tube device 6 according to the distance between the X-ray tube device 6 and II8 in order to prevent unnecessary exposure to the subject 1, the operators 2, 3 and the operator 4 itself. The collimator 25 is operated so as not to unnecessarily expand the emitted X-rays and to secure the perspective field of view required by the surgeons 2 and 3.
[0005]
In this way, the operator 4 repeatedly operates the C-arm type support device 5, the X-ray tube device 6 and the collimator 25 according to the requirements of the A operator 2 and the B operator 3 during the IVR operation. A perspective image requested by each operator 2, 3 is displayed on 10. Further, X-ray imaging is performed by the imaging cassette 14 at the request of the surgeons 2 and 3 in order to record changes in the affected area before and after surgery and the progress of the procedure.
[0006]
[Problems to be solved by the invention]
The above prior art has the following problems.
(1) When photographing, the photographing cassette 14 must be mounted on the front surface of the II8, and the burden on the operator 4 is large.
(2) It takes time to switch from fluoroscopy to shooting, and it is easy to miss the timing at the time of shooting.
This is mainly due to the work time required for the operator to mount the photographing cassette 14 on the front surface of the II 8 when switching from fluoroscopy to photographing as described in (1) above.
(3) The C arm 7 and the C arm type support device 5 are large, and the range in which the surgeons 2 and 3 can approach the subject 1 is limited.
According to the X-ray tube apparatus 6-X-ray image receiving apparatus (II8) support mechanism using the C arm 7, the X-ray tube apparatus 6 (or II8) is moved to an arbitrary angle, and the other is accordingly changed. Since the position of the II8 (or the X-ray tube device 6) is determined, it is only necessary to perform positioning once, and this point is advantageous. However, as shown in FIG. 5, the operator 2 or 3 cannot stand in the space occupied by the C arm 7 and the C arm type support device 5, and the operator 2 and 3 can approach the subject 1. Will be limited. This not only hinders the efficiency of currently available IVR procedures, but also restricts the possibility of new IVR procedures themselves that will be developed in the future, which is extremely undesirable. Particularly in the IVR operation, the main purpose is not to perform fluoroscopy and radiography, but the main purpose is that the surgeons 2 and 3 treat the subject 1 using the fluoroscopy / imaging function of the apparatus. Therefore, the space occupied by the X-ray fluoroscopic apparatus is required to be minimal.
[0007]
The present invention has been made in view of the above-described problems, and reduces the burden on the operator when taking an image, makes it easier to take the timing at the time of taking an image, and further improves the surgeon's operation in the IVR operation. An object of the present invention is to provide an X-ray fluoroscopic apparatus capable of remarkably expanding the range that can be approached to a subject.
[0008]
[Means for Solving the Problems]
The above object includes an X-ray tube apparatus that generates X-rays for X-ray fluoroscopy and radiography, and an X-ray image receiving apparatus that detects X-rays irradiated from the X-ray tube apparatus and transmitted through a subject. In the X-ray fluoroscopic apparatus, the X-ray image receiving apparatus uses a flat sensor, and is achieved by being separated from the X-ray tube apparatus and independently movable.
[0009]
If a flat sensor is used in the X-ray image receiving apparatus, there is no need to remove the imaging cassette when X-ray fluoroscopy and imaging are repeated, which reduces the burden on the operator when imaging. This makes it easier to take timing when shooting.
If the flat sensor (X-ray image receiving device) is separated from the X-ray tube device and can be moved independently, it can be moved around the object table as compared with the conventional device using the C-arm type support device and the C-arm. As a result, the range in which the surgeon can approach the subject in the IVR procedure is greatly expanded.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing an embodiment of an X-ray fluoroscopic apparatus according to the present invention, and shows a state during an IVR treatment.
In FIG. 1, 1 to 4, 6, 9, 10, 13 and 25 are the same as those in FIG. Further, 15 is a flat sensor, 16 is a support base, 18 is an X-ray control device, 19 is an X-ray control cable, 20 is an overhead traveling X-ray tube support device, 21 is an image / position data transmitter, and 22 is an image / position data. A position data receiver, 23 is an X-ray tube support device control cable, 24 is an image / X-ray tube support device control device, and 26 is an X-ray control communication cable.
[0011]
FIG. 2 is a block diagram of the device of the present invention shown in FIG.
In FIG. 2, reference numeral 31 denotes a position detector of the flat sensor 15 supported on the support base 16 together with the flat sensor 15 and the image / position data transmitter 21. Reference numeral 32 denotes an image processing device, 33 denotes an arithmetic unit, 34 denotes a collimator drive control unit, and 35 denotes an X-ray tube support device drive control unit. These are the image / X-ray tube support device control device 24 together with the image / position data receiver 22. Is provided. Reference numerals 36 and 37 denote a drive device and a position detection device for the collimator 25. Reference numerals 38 and 39 denote a drive device and a position detection device for the overhead traveling X-ray tube support device 20. 2, the same reference numerals as those in FIG. 1 denote the same or corresponding parts.
[0012]
Here, the subject 1 is placed on the subject table 9 and is subject to IVR treatment by the A operator 2 and the B operator 3.
Further, the X-ray tube device 6 is supported by an overhead traveling X-ray tube support device 20 so as to be rotatable about the X1, Y2, and Z axes shown in the figure and passing through the focal point of the X-ray tube device 6. Each of these six axes is provided with a drive device 38 such as a motor for driving each axis and a position detection device 39 such as a rotary encoder for detecting the amount of movement of each axis. The operation of the X-ray tube device 6 in the X, Y, and Z-axis directions and the rotation operation around the θ1, θ2, and θ3 axes will be described in detail later, but an image / X-ray tube support that captures the positional displacement of the planar sensor 15 will be described later. It is controlled by the control of the device controller 24.
[0013]
Here, as an X-ray image receiving device for visualizing X-rays irradiated from the X-ray tube device 6 and transmitted through the subject 1, the outer shape is small in the same effective visual field as II8 in the conventional device (see FIG. 5). A lightweight flat sensor 15 is used.
The flat sensor 15 is made of a phosphor that emits fluorescence when absorbing X-rays and a semiconductor material, and generates an electrical signal corresponding to the amount of fluorescence from the phosphor. For example, the flat sensor 15 is substantially the same as the phosphor. This is a flat sensor disclosed in Japanese Patent Application Laid-Open No. 61-62283, etc., which has an area and a photodetector provided in close contact with the phosphor. This flat sensor 15 is an X-ray image receiving device for X-ray fluoroscopy and radiography, and has the function of fluoroscopy by II and radiography by X-ray film, etc., and has a smaller outer shape than II in the same effective field of view as II. It is known that
[0014]
The flat sensor 15 is supported by the support base 16 so as to be rotatable about the X1, Y2, and Z axes shown in the drawing and the θ1, θ2, and θ3 axes that are parallel to the three axes, similarly to the X-ray tube device 6 described above. Yes. Even if the position of the X-ray tube apparatus 6 is changed by the operation of these six axes, the spatial position and angle of the planar sensor 15 with respect to the X-ray tube apparatus 6 can be made constant.
Each of the six axes of the flat sensor 15 is provided with a position detection device 31 such as a rotary encoder that detects the amount of movement of each axis.
Further, the flat sensor 15 includes a fluoroscopic or photographed image data of the subject 1 obtained when the X-rays irradiated by the X-ray tube device 6 pass through the subject 1, and a position detection device 31 of the flat sensor 15. An image / position data transmitter 21 that wirelessly transmits position data to an image / position data receiver 22 provided in the image / X-ray tube support device controller 24 is provided.
[0015]
When the image / position data receiver 22 receives the image data and the position data of the flat sensor 15, the image / position data receiver 22 outputs the image data to the image processing device 32 and the position data to the arithmetic device 33.
The image processing device 32 outputs the processed image data to the TV monitor 10 after performing processing such as D / A conversion and contour enhancement of the image data. The TV monitor 10 displays the image data sent from the image processing device 32 as an image on the screen.
[0016]
The computing device 33 computes the position data received from the image / position data receiver 22, and gives the X-ray tube support device drive control unit 35 a spatial relationship between the predetermined flat sensor 15 and the X-ray tube device 6. Based on the relative position, the current position of the X-ray tube apparatus 6 calculated from the current position of the flat sensor 15 is output.
The X-ray tube support device drive control unit 35 receives the current position of the X-ray tube device 6 received from the arithmetic device 33 and the position detection device 39 provided on each axis of the overhead traveling X-ray tube support device 20. The driving devices 38 provided on the respective axes of the overhead traveling X-ray tube support device 20 are controlled so that the position data coincides with each other. By this control, the X-ray tube device 6 moves to a predetermined spatial relative position between the flat sensor 15 and the X-ray tube device 6.
[0017]
The computing device 33 computes the position data received from the image / position data receiver 22 and responds to the collimator drive control unit 34 according to a predetermined distance between the flat sensor 15 and the X-ray tube device 6. Based on the optimum opening of the collimator 25, the current opening of the collimator 25 calculated from the distance between the current flat sensor 15 and the X-ray tube device 6 is output.
The collimator drive control unit 34 receives each opening of the collimator 25 received from the computing device 33 and each position of the collimator 25 so that the position data from the position detection device provided on each axis of the collimator 25 matches. The drive device 36 provided on the shaft is controlled. By this control, the collimator 25 operates to an optimum opening degree corresponding to a predetermined distance between the flat sensor 15 and the X-ray tube device 6.
[0018]
Further, the calculation device 33 calculates the position data received from the image / position data receiver 22 and outputs the current distance between the flat sensor 15 and the X-ray tube device 6 to the X-ray control device 18. is there.
The X-ray control device 18 controls the X-ray tube device 6 so that the X-ray condition is optimized based on the optimum X-ray condition according to the predetermined distance between the flat sensor 15 and the X-ray tube device 6. It is something to control. By this control, the X-ray tube apparatus 6 emits X-rays under an X-ray condition corresponding to a predetermined distance between the flat sensor 15 and the X-ray tube apparatus 6.
[0019]
X-ray fluoroscopy and radiographing by the above-described apparatus of the present invention will be described below.
First, the operator 4 receives a request from the A operator 2 and the B operator 3 and operates the support base 16 to an appropriate position to move the flat sensor 15.
The position displacement of the flat sensor 15 by the operator 4 is detected by a position detection device 31 that detects the movement amount of each axis provided in the flat sensor 15, and image / position data is used as the current position data of the flat sensor 15. The transmitter 21 wirelessly transmits the image / position data receiver 22 provided in the image / X-ray tube support device controller 24.
[0020]
The image / X-ray tube support device control device 24 controls the overhead traveling X-ray tube support device 20, the collimator 25, and the X-ray control device 18 based on the current position data received by the image / position data receiver 22. As a result, the X-ray tube apparatus 6 moves to a predetermined spatial relative position between the plane sensor 15 and the X-ray tube apparatus 6 (see FIG. 3), and the collimator 25 is moved to the predetermined plane sensor 15. The X-ray control device 18 operates to an optimum opening according to the distance between the X-ray tube device 6 and the X-ray tube device 6. X-ray conditions are set (see FIG. 4). 3 shows the optimum opening operation of the collimator 25 when the support device 20 in FIG. 3 is read as the collimator 25, the drive device 38 as the drive device 36, and the position detection device 39 as the position detection device 37. It is expressed as a flowchart of (collimation).
[0021]
As described above, the positioning of the X-ray tube device 6 (or the flat sensor 15) and the optimization of the X-ray conditions of the collimation and the X-ray control device 18 are automatically performed. The subject 1 is seen through or imaged by the operation of the control device 18. That is, the X-rays irradiated by the X-ray tube device 6 pass through the subject 1 and enter the flat sensor 15. The X-rays incident on the flat sensor 15 are replaced with image data by the flat sensor 15, and the image data is transferred to the image / X-ray tube support device controller 24 by the image / position data transmitter 21 provided in the flat sensor 15. The image / position data receiver 22 is wirelessly transmitted.
[0022]
The image / X-ray tube support device controller 24 outputs the processed image data to the TV monitor 10 as described above. Thus, the TV monitor 10 displays the image data sent from the image processing device 32 as an image on the screen, and the A operator 2 and the B operator 3 obtain a desired X-ray fluoroscopic or captured image.
[0023]
According to the device of the present invention, since the flat sensor 15 is used as the X-ray image receiving device, the operation of removing the imaging cassette 14 (see FIG. 5) is eliminated when X-ray fluoroscopy and imaging are repeated. The burden on the operator 4 at the time of shooting is reduced, and the timing at the time of shooting is made easier.
By using the flat sensor 15 in the X-ray image receiving apparatus, the outer shape can be reduced in size in the same effective visual field as compared with the case where II8 is used in the X-ray image receiving apparatus (see FIG. 5). In other words, an X-ray image receiving apparatus with a large field of view can be realized by the small flat sensor 15. Further, development processing on an image (X-ray film image) using the imaging cassette 14 (see FIG. 5) is unnecessary, and the captured image (image captured by the flat sensor 15) can be observed immediately.
[0024]
Further, the support of the X-ray tube device 6 and the X-ray image receiving device (planar sensor 15) was configured as follows instead of the C-arm type support device 5 and the C-arm 7 (both see FIG. 5). That is, the X-ray tube device 6 is supported by the overhead traveling X-ray tube support device 20, and the X-ray image receiving device has the same effective field of view as II8 instead of the combination of II8 and imaging cassette 14 (both see FIG. 5). The flat sensor 15 having an outer shape smaller than that of the II 8 is used and supported by the support 16 (separated from the X-ray tube device 6 and can be moved independently). For this reason, the space around the subject table 9 is expanded, and the range in which the surgeons 2 and 3 can approach the subject 1 in the IVR treatment is greatly expanded. This also means an increase in space for placing devices and instruments used in IVR procedures.
[0025]
In the above-described embodiment, the position detectors 31 and 39 such as a rotary encoder are used for position detection of the flat sensor 15 and the overhead traveling X-ray tube support device 20 (X-ray tube device 6). However, the present invention is not limited to this. For example, a movement amount detection device combining a gyro represented by an inertial navigation device of an aircraft and an acceleration sensor may be used. If the inertial navigation device is used for detecting the position of the flat sensor 15, the operator 4 holds the flat sensor 15 in his / her hand and moves it to a free position, and automatically controls the position of the X-ray tube device 6 at that position and the collimator 25. It is also possible to automatically set the opening and the X-ray condition, thereby increasing the degree of freedom of fluoroscopy and imaging positions.
[0026]
In the above-described embodiment, the position control of the X-ray tube device 6, the opening of the collimator 25, and the setting of the X-ray conditions are performed based on the position of the flat sensor 15 which is an X-ray image receiving device. The drive device may be provided on the 15 side, and the position control of the flat sensor 15 (support 16), the opening degree of the collimator 25, and the setting of the X-ray condition may be performed based on the position of the X-ray tube device 6. In this case, the same effect as in the above-described embodiment can be obtained.
[0027]
Further, in the above-described embodiment, the positioning of the X-ray tube device 6 (or the flat sensor 15) and the collimation and optimization of the X-ray conditions of the X-ray control device 18 are automatically performed. However, the former may be manually performed and the latter may be wired.
[0028]
In short, the effect of the present invention can be obtained by using the flat sensor 15 as the X-ray image receiving device and separating it from the X-ray tube device 6 so that it can be moved independently. The following effects can also be obtained.
That is, according to the above-described embodiment, the operator 4 performs the X-ray fluoroscopy and imaging operations from various positions and angles according to the requirements of the operators 2 and 3 during the IVR operation. The movement of the X-ray tube device 6, the opening control of the collimator 25, and the X-ray condition setting of the X-ray control device 18 are automatically followed and optimally performed only by the position setting.
[0029]
According to this, the time required for the positioning work of the X-ray tube apparatus 6 and the X-ray image receiving apparatus (planar sensor 15), the X-ray condition and the collimation setting work due to the change of the fluoroscopic and radiographic positions is reduced. I can plan. This means that the fluoroscopic and photographed images required by the respective operators 2 and 3 can be displayed on the TV monitor 10 quickly and only by setting the position of the flat sensor 15 while reducing the burden on the operator 4. .
In addition, the optimal control and setting also means a reduction in unnecessary exposure to the operators 2 and 3 and the operator 4 or the subject 1, which can improve the throughput of the IVR treatment, This will greatly contribute to the expansion of the possibility of IVR treatment. Further, since the position data and the image data of the X-ray image receiving device (planar sensor 15) are transmitted to the image / X-ray tube support device control device 24 by wireless transmission, the image data communication cable 12 ( (See FIG. 5) can be eliminated.
[0030]
【The invention's effect】
As described above, according to the present invention, the flat sensor is used as the X-ray image receiving apparatus, and this is separated from the X-ray tube apparatus and can be moved independently. There are effects such as reduction, facilitation of taking the timing at the time of imaging, and remarkably widening the range in which the operator can approach the subject in the IVR treatment.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an embodiment of a device of the present invention.
FIG. 2 is a block diagram of the device of the present invention shown in FIG.
FIG. 3 is a flowchart showing movement control of the X-ray tube apparatus (ceiling traveling X-ray tube support apparatus) in FIG. 1;
FIG. 4 is a flowchart showing X-ray condition setting control of the X-ray tube apparatus (X-ray control apparatus).
FIG. 5 is a perspective view of a conventional device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Subject, 2 ... A operator, 3 ... B operator, 4 ... operator, 5 ... C arm type support apparatus, 6 ... X-ray tube apparatus, 7 ... C arm, 8 ... II (image receiving apparatus), DESCRIPTION OF SYMBOLS 9 ... Subject table, 10 ... TV monitor, 11 ... Video control device, 12 ... A image data communication cable, 13 ... B image data communication cable, 14 ... Cassette for imaging | photography, 15 ... Planar sensor (image receiving device), 16 ... Support base, 18 ... X-ray control device, 19 ... X-ray control cable, 20 ... Ceiling-running X-ray tube support device, 21 ... Image / position data transmitter, 22 ... Image / position data receiver, 23 ... X-ray Tube support device control cable, 24 ... Image / X-ray tube support device control device, 25 ... Collimator, 26 ... X-ray control communication cable, 31, 37, 39 ... Position detection device, 32 ... Image processing device, 33 ... Calculation Device, 34 ... Collimator drive control unit, 35 ... Line pipe support drive control unit, 36, 38 ... driving device.

Claims (5)

The X-ray tube apparatus for generating X-rays for X-ray fluoroscopy and radiography and the X-ray tube apparatus are separated and movable independently, and are irradiated from the X-ray tube apparatus and pass through the subject. In an X-ray fluoroscopic apparatus comprising an X-ray image receiving device that detects X-rays that have been performed,
The X-ray image receiving apparatus includes: a plane sensor that detects X-rays; a position detection unit that detects a position of the plane sensor; and a transmission unit that transmits position information of the plane sensor detected by the position detection unit. Prepared,
The X-ray tube device
A receiving unit that receives the position information transmitted from the transmitting unit;
The X-ray tube apparatus should be based on information on the relative positional relationship between the plane sensor and the X-ray tube apparatus determined in advance and the position information of the plane sensor received by the receiving unit. A calculation unit for calculating a position;
A drive unit for moving the position of the X-ray tube device;
A control unit that controls the drive unit so that the X-ray tube apparatus moves to the position calculated by the calculation unit;
X-ray fluoroscopic apparatus which comprising the The X-ray tube device includes a collimator that adjusts an X-ray irradiation area, a collimator driving unit that adjusts the opening of the collimator, and a collimator driving control unit that controls the collimator driving unit,
The calculation unit is configured to perform a collimator operation according to a current distance between the flat sensor and the X-ray tube device based on a predetermined collimator opening degree according to a distance between the flat sensor and the X-ray tube device. Calculate the opening,
The collimator drive control unit controls the collimator drive unit to have the same opening as the opening of the collimator calculated by the calculation unit,
The collimator drive unit adjusts the opening of the collimator based on the control of the collimator drive control unit;
The X-ray fluoroscopic apparatus according to claim 1. The X-ray tube apparatus for generating X-rays for X-ray fluoroscopy and radiography and the X-ray tube apparatus are separated and movable independently, and are irradiated from the X-ray tube apparatus and pass through the subject. In an X-ray fluoroscopic apparatus comprising an X-ray image receiving device that detects X-rays that have been performed,
The X-ray tube device includes a position detection unit that detects a position of the X-ray tube device, and a transmission unit that transmits position information of the X-ray tube device detected by the position detection unit,
The X-ray receiver is
A planar sensor for detecting X-rays;
A receiving unit that receives the position information transmitted from the transmitting unit;
The plane sensor should be based on information on the relative positional relationship between the plane sensor and the X-ray tube apparatus determined in advance and the position information of the X-ray tube apparatus received by the receiving unit. A calculation unit for calculating a position;
A drive unit for moving the position of the planar sensor;
A control unit that controls the drive unit so that the planar sensor moves to the position calculated by the calculation unit;
X-ray fluoroscopic apparatus characterized by comprising The X-ray tube device includes a collimator that adjusts an X-ray irradiation area, a collimator driving unit that adjusts the opening of the collimator, and a collimator driving control unit that controls the collimator driving unit,
The calculation unit is configured to perform a collimator operation according to a current distance between the flat sensor and the X-ray tube device based on a predetermined collimator opening degree according to a distance between the flat sensor and the X-ray tube device. Calculate the opening,
The collimator drive control unit controls the collimator drive unit to have the same opening as the opening of the collimator calculated by the calculation unit,
The collimator drive unit adjusts the opening of the collimator based on the control of the collimator drive control unit;
The X-ray fluoroscopic apparatus according to claim 3. The arithmetic unit outputs a current distance between the flat sensor and the X-ray tube device to an X-ray control unit that controls the X-ray tube device,
The X-ray control unit controls the X-ray condition of the X-ray tube apparatus based on a predetermined X-ray condition according to a distance between the flat sensor and the X-ray tube apparatus. The X-ray fluoroscopic apparatus according to any one of claims 1 to 4.

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