JP2004033420A - Fluoroscopic imaging apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the height of a subject from a floor from largely changing according to the rising/lowering motion of a top plate on which the subject is laid from the horizontal position. <P>SOLUTION: When a priority motion changeover switch 17b of a control panel 17 is turned on and a top plate rising/lowering operation switch 17a is turned on, locus data 19a stored in a memory 19 of a control part 16 are read, and a top plate rotation driving motor 15 and a top plate lifting driving motor 15c of a fluoroscopic imaging table 15 make motions so that the fluoroscopic imaging table 15 is raised/lowered. After that, signals detected by a top plate rotation angle detector 15b and a top plate lifting height detector 15d are returned to the control part 16, and it is confirmed that the process is executed according to the locus data 19a. Then, an imaging system consisting of an X-ray tube device and X-ray image detecting part can be moved parallel to the top plate in the range of movement limited by the locus data 19a. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an X-ray fluoroscopic imaging apparatus that performs an X-ray fluoroscopic imaging by moving an image system including an X-ray tube apparatus and an X-ray image detecting unit in parallel to a top plate and rotating the image system up and down. The present invention relates to an X-ray fluoroscopic apparatus whose operation range is limited by rotation.
[0002]
[Prior art]
The X-ray fluoroscopy apparatus includes a control unit and a fluoroscopy table, and includes an X-ray tube apparatus that emits X-rays and an X-ray image detection unit that receives an X-ray transmission image of a subject placed on a top plate ( Spot imaging device, imaging system, etc.) are placed opposite each other with the top plate interposed therebetween, and the X-rays radiated from the X-ray tube device pass through the diagnostic part of the subject placed on the top plate, and the X-rays The transmitted image is received by an X-ray image detecting unit such as an image intensifier, and is transmitted through and photographed.
The fluoroscopy table has an over-table tube type in which the X-ray tube device is located on the top plate and the X-ray image detecting unit is located below the top plate. There is an under-table tube type in which a line image detecting unit is provided on a top plate.
Since the X-ray tube device is located farther from the tabletop, the overtable tube type fluoroscopy table has a large space above the tabletop, making it easy to observe the subject, and changing the position of the subject. Also easy to do. Therefore, it is convenient when performing various types of diagnosis (for example, myelography or IVR) for the subject, or when using another diagnosis (for example, endoscopic diagnosis or ultrasonic diagnosis) in combination. Another feature is that it is easy to hold a heavy spot photographing device. Then, during operation of the apparatus, it is not necessary to pay much attention to the interference between the subject and the X-ray tube apparatus. Therefore, the apparatus is used as a remote-controlled fluoroscopic imaging table for a group examination or the like.
The under table tube type fluoroscopic imaging table allows the spot imaging device to be in close contact with the subject, and a clearer image can be obtained. Further, since the distance between the X-ray tube device and the spot photographing device is shorter than that of the over-table tube type, the capacity of the X-ray tube device can be small. Further, there is a feature that it is easy to perform enlarged imaging by moving the spot imaging device away from the subject. Therefore, it is used as a close-up operation type fluoroscopic imaging table.
In any type of fluoroscopy table, when used for gastrointestinal diagnosis, a compression method is used in which the affected part, such as the stomach, is diagnosed by pressing the affected part such as the stomach from the upper part of the subject who has taken the contrast agent on the tabletop. Then, the compression unit is configured to be located at the upper part, and is compressed at the diagnosis site.
[0003]
2. Description of the Related Art Conventionally, in a fluoroscopy table used for a contrast examination of a digestive tract using a contrast agent such as barium, a mechanism for performing a top-down operation includes one drive motor and two drive motors. . When two drive motors are used, one motor is used for each of the top and bottom drive operation and the top plate rotation operation drive, and the top and bottom operation is performed by the interlocking operation of these two drive shafts. That is common. The advantage of realizing the top plate raising / lowering operation by the interlocking operation of the two drive shafts is that when the top / bottom angle is 0 degree, that is, when the top plate is horizontal, only the top plate raising / lowering drive shaft is driven to drive the floor surface. -It is easy to get on and off the subject when the height between the top surfaces is reduced.
[0004]
FIG. 5 shows an overtable tube type X-ray fluoroscopic apparatus. The X-ray fluoroscopic apparatus includes a fluoroscopic table 15 and a console 20. The console 20 includes a control unit 16 inside and an operation panel 17 on the upper surface. In the fluoroscopy table 15, the main support 5 is erected on the base 6, the holding unit 5a is moved up and down on the main support 5 by the holding unit driving mechanism 5b, and the holding unit 5a is mounted on the front horizontally. The top plate 4 is rotated up and down about its axis by the top plate rotation mechanism 4a. Then, the X-ray tube device 1 is mounted on the upper part of the column 2 with the top plate 4 interposed therebetween, and the X-ray image detector 3 is mounted on the lower part opposite to the X-ray tube device. It can move in the longitudinal direction of the plate 4. The top plate 4 can be independently moved in a plane by the top plate up / down / left / right moving mechanism 4b. Further, the X-ray tube device 1 can be rotated by the X-ray tube rotating mechanism 1a, and the X-ray image detecting section 3 can be moved by the X-ray image detecting section driving mechanism 3a to perform oblique X-ray irradiation. A housing 11a is attached to the side surface of the column 2, and the compression unit 8 is housed therein. If necessary, the compression unit 8 is tilted down to the subject side, and the diagnosis part of the subject is moved to the operation panel 17 of the console 20. You can operate from and press.
[0005]
When performing the top-up operation, the longitudinal ends of the X-ray tube apparatus 1, the X-ray image detection unit 3, and the top 4 conventionally held by the fluoroscopy table 15 collide with the floor or ceiling. In general, the operation of each part is restricted so as not to be performed. It is general that the moving range of the image system formed by the opposed X-ray tube apparatus 1 and the X-ray image detecting unit 3 is set as large as possible within the range of the operation limitation.
[0006]
FIG. 6 shows (a) the horizontal position and (b) the inclined position of the conventional perspective imaging table 15. In the fluoroscopic imaging table 15, the top plate 4 rotates about the rotation center 20 at which the main support 5 can be moved up and down, and the top plate 4 rotates from (a) the horizontal position (θ ₀ ) to (b) the inclined position (θ ₁ ). can do. Then, the image system including the X-ray tube device 1 and the X-ray image detection unit 3 can be moved in parallel with the top plate. The movement amount y ₀ in a horizontal _position, when y ₁ in an inclined position, in order to y 0 ₌ y _1, the image intensifier and CCD camera of the X-ray image detector 3 is interfering with the floor surface in order to avoid, from h ₀ of the height of the horizontal position from the floor of the center of rotation 20, it must be increased to h ₁ of the inclined position. In other _words, the _h 1> h _0. While maintaining such a relationship, the inclination of the tabletop 4 is perspectively photographed with a rotation locus giving priority to the movement amount y ₁ (y ₁ = y ₀ ) of the image system (X-ray tube apparatus 1 -X-ray image detecting unit 3). The table 15 is driven.
[0007]
FIG. 7 shows a relationship between the top plate rotation angle (the tilt angle) θ of the fluoroscopic imaging table 15 and the top plate height h of the rotation center 20. Video system giving priority to the movement amount y ₁ of (X-ray tube apparatus 1-X-ray image detecting section 3), the lower is the rotation center 20 so as not lodged in the floor above the fluoroscopic imaging table 15 the video system be defeated electromotive Is driven. As shown in FIG. 7, the driving relational expression linearly changes and rises up to a predetermined limit height.
[0008]
[Problems to be solved by the invention]
The conventional X-ray fluoroscopic apparatus is configured as described above, but with the diversification of examinations, the examination target of the fluoroscopic examination table 15 is expanded to examinations other than the contrast examination of the digestive tract, and the like. In the movement trajectory of the top plate raising / lowering operation, what does not comply with the intention of the inspector has come to occur. For example, in the case where a test instrument is attached to the subject, or in the case of a subject who needs assistance, the examiner, the assistant, and the test instrument are supported on the fluoroscopy table 15 to provide assistance. In some cases, the top 4 on which the subject is placed may be turned upside down. At this time, the position (height from the floor) of the test instrument or the subject changes significantly from the horizontal position to the direction in which the tilting motion occurs, and the position of the test instrument or the subject changes greatly. There is a problem that it becomes difficult.
This is due to the restriction of the tilting motion and the control of the trajectory of the tilting motion so that the moving range of the video system is made as large as possible without colliding with the floor or ceiling.
[0009]
The present invention has been made in view of such circumstances, and the height position of the subject from the floor greatly changes as the top plate on which the subject is placed is moved up and down from the horizontal position. It is an object of the present invention to provide an X-ray fluoroscopic apparatus that does not perform this operation.
[0010]
[Means for Solving the Problems]
In order to achieve the above object, an X-ray fluoroscopic apparatus according to the present invention is configured such that an image system including an X-ray tube apparatus and an X-ray image detecting unit is arranged to face each other with a top plate on which a subject is placed interposed therebetween. An X-ray fluoroscopy apparatus for performing X-ray fluoroscopy / imaging by moving the system in parallel to the tabletop and rotating the tabletop or image system up and down. A memory storing a trajectory operation control program and trajectory data, a rotation angle detector and an elevation height detector provided on a fluoroscopic table, and an operation axis limited to a falling trajectory by turning on the priority operation switch. The above-mentioned trajectory data is switched so that the height of the center of the up-down rotation from the floor and the up-down rotation angle can be changed.
[0011]
The X-ray fluoroscopic apparatus according to the present invention is configured as described above, stores the up-down trajectory operation program and the trajectory data in the memory of the control unit, and sets the rotation angle detector and the elevation height detector on the fluoroscopic table. By turning on the priority operation changeover switch provided on the operation panel, the set trajectory data is read out from the memory, and the rotation angle detector and the elevation height detector are read in accordance with the up-down trajectory operation control program. The signal is returned and automatically controlled, and the fluoroscopy table is moved up and down. Therefore, the trajectory data of the restricted motion axis is switched to change the height of the center of the tilting rotation from the floor and the tilting rotation angle, so that the top plate on which the subject is placed is tilted from the horizontal position. In addition, the subject can be turned up and down without greatly changing the height position from the floor.
Then, the method of performing the top-down movement by allowing the conventional operation control to make the moving range of the video system as wide as possible, and the movement amount of the top lifting operation by limiting the moving range of the video system. Can be switched according to the inspection target (inspection content).
Also, by turning on the priority operation changeover switch, the operable range of the video system is limited, so that the top plate elevating operation during the tilting operation is not performed depending on the top plate rotation angle, so that the height of the top plate is reduced. It will not change. Therefore, in the case of nursing care that meets the task, the caregiver does not have to be overwhelmed.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
One embodiment of the fluoroscopic apparatus according to the present invention will be described with reference to FIG. FIG. 1 is a diagram showing a control system of the X-ray fluoroscopic apparatus according to the present invention.
The X-ray fluoroscopic apparatus according to the present invention includes a top plate raising / lowering operation switch 17 a provided on the operation panel 17, a moving amount y of the image system, and a top plate height h depending on the top plate rotation angle θ. , A CPU 16a and a hard disk 16b provided in the control unit 16, a trajectory data 19a, and a trajectory motion control program 19b for executing the data. A memory 19, a video system driving motor 15e provided on the fluoroscopic imaging table 15, for driving a video system, a top rotation driving motor 15a for rotating the top, and a top lifting drive motor 15c for lifting and lowering the top. , A top plate rotation angle detector 15b that detects the top plate rotation angle θ, and a top plate elevation height detector 15d that detects the top plate elevation height h.
[0013]
This X-ray fluoroscopic apparatus has the same appearance as that shown in FIG. 5, and has a main support 5 erected on a base 6, a support 5 a, a top plate 4, and a support 2 having an X-ray tube device 1 at the tip. And an X-ray image detector 3 provided below the top 4. The holding unit 5a is moved as indicated by an arrow by a holding unit driving mechanism 5b using a top plate elevating drive motor 15c shown in FIG. The top plate 4 held by the holding unit 5a is rotated as shown by an arrow by a top plate rotation mechanism 4a by a top plate rotation drive motor 15a shown in FIG.
The X-ray fluoroscopy apparatus performs a raising / lowering operation by combining an operation in the top-plate elevating direction and an operation in the top-plate rotating direction. The raising / lowering operation is that the top board 4 moves from the horizontal direction to the vertical direction with respect to the floor surface, or vice versa. The raising and lowering operation can be performed by the top rotating mechanism 4a. However, depending on the height of the top 4 from the floor, as the rotation proceeds, interference between the top 4 and the floor occurs. For this reason, in the raising / lowering operation, the top plate 4 is rotated and, at the same time, the top plate elevation height h is changed according to the top plate rotation angle θ so as not to cause interference.
[0014]
The difference between the present X-ray fluoroscopic apparatus and the conventional apparatus is that the height of the horizontal top plate 4 linearly increases and rises as the apparatus is tilted in the conventional apparatus. By turning on the priority operation changeover switch 17b provided on the operation panel 17, the height of the horizontal position is maintained without changing to a predetermined angle, and the height increases linearly as the vehicle tilts further. The point is that the height of the top plate 4 becomes lower at the same angle as that of the apparatus described above. By turning off the priority operation changeover switch 17b, the same operation as that of the conventional device can be performed.
[0015]
The function and operation of each component of the control system of the X-ray fluoroscopic apparatus will be described.
The top plate raising / lowering operation switch 17a is provided on the operation panel 17, and when this switch is pressed, the top plate rotation drive motor 15a is rotated, and the fluoroscopic imaging table 15 is raised / lowered. Normally, this switch uses an operation lever which is tilted left and right. When the switch is tilted left, the fluoroscopic imaging table 15 is tilted in the horizontal direction, and when tilted right, it is tilted in the upright position.
The priority operation changeover switch 17b is unique to the present X-ray fluoroscopic apparatus, and a push button type switch is provided on the operation panel 17, and by pressing this switch, the moving amount y of the image system is limited, The priority operation is performed by lowering the height h of the top board according to the rotation angle θ.
In FIG. 2, in order to compare (a) the present apparatus and (b) the conventional apparatus, when the top rotation angle θ ₂ = θ ₁ is the same, the top lifting height h and the moving amount y of the image system are calculated. Show the differences.
In this apparatus, the priority operation changeover switch 17b of the operation panel 17 shown in FIG. 1 is turned on, and the top plate raising / lowering operation switch 17a is operated to change from the horizontal position (top plate rotation angle θ ₀ ) to FIG. When raised or lowered to the top plate rotation angle theta ₂ shown in), the top plate lifting height h becomes h _2. In contrast, when the conventional device for raisably top plate rotation angle theta in the same top plate rotation angle θ _{1 =} θ _2, the top plate lifting height h h _1> h _2, and the top plate lifting of the device It is higher than the height _{h 2.} In the apparatus by reducing the amount of movement y ₂ video system is controlled lower top plate lifting height h _2. In contrast with conventional apparatus the same as the movement amount y ₀ of the horizontal position of the shift amount y ₁ video system, by raising the top plate lifting height h _1, is controlled larger than the movement amount y ₂ of the apparatus I have. The ratio of the amount of movement y _is, y _1: y 2 = 3: 2 about size, realizes the locus of lifting restrictions. That is, the top plate rotation angle θ that can avoid interference with the image intensifier and CCD camera is enabled to an angle that can keep the top plate lifting height h ₂ by h _0.
[0016]
FIG. 3 shows the relationship between the top-plate rotation angle (tilt angle) θ and the top-height height h.
In this apparatus employs a lift limit control for controlling the apparatus in rotation locus giving priority to the top plate lifting height h _2, the movement amount y of video system in the conventional apparatus (X-ray tube apparatus 1-X-ray image detecting section 3) A video system priority control for controlling the apparatus with a rotation locus giving priority to ₁ is adopted. In the elevation limit control of the device, until the top plate rotation angle (electromotive tilt angle degree) theta is 22 degrees, the top plate lifting height h without lifting operation is the same controlled the height h ₀ of the horizontal position, the It increases linearly from the state to 67 degrees, and is kept at a constant height at a top plate rotation angle θ larger than that. In contrast in the video system priority control in the conventional device, the top plate lifting height h increases linearly from the height h ₀ of the horizontal position, is held on the top plate rotation angle θ at a constant height above 67 degrees . Due to this difference in control, especially when the rotation angle θ of the tabletop is small, the tabletop elevation height h is lower than that of the conventional apparatus, and the subject can be assisted at a low position in a comfortable posture.
In this apparatus, when the priority operation changeover switch 17b provided on the operation panel 17 shown in FIG. 1 is turned on, the apparatus can be operated by the lifting / lowering restriction control. Control can be performed.
[0017]
The CPU 16a and the hard disk 16b are provided in the control unit 16, store a control program in the hard disk 16b, and control the X-ray high voltage generator (not shown) and the fluoroscopic table 15.
The memory 19 stores the trajectory data 19a and the up-down trajectory operation control program 19b. The trajectory data 19a is data of the trajectory of the fluoroscopic table 15 rotating up and down. 19a.
The driving system of the fluoroscopic imaging table 15 includes a video system driving motor 15e for driving an image system, a top rotating motor 15a for rotating the top, and a top lifting drive motor 15c for raising and lowering the top. 15.
The detection system of the fluoroscopic imaging table 15 is provided with a top rotation angle detector 15b for detecting the top rotation angle θ and a top elevation detector 15d for detecting the top elevation h. ing.
[0018]
When the operator turns on the priority operation changeover switch 17b of the operation panel 17 according to the inspection target, the locus data 19a and the up-down locus operation control program 19b are read out from the memory 19 according to the selected up-down operation. It is. Then, by operating the top-up / down operation switch 17a, the selected up / down trajectory operation control program 19b is executed, and the image-system drive motor 15e, the top-plate elevation drive motor 15c, and the top-plate rotation drive motor 15a are operated. The output signal is switched, and is controlled according to the trajectory characteristic data of the elevation control shown in FIG. In this operation, a table height detector 15d for detecting the table height h and a table rotation detector 15b for detecting the table rotation angle θ are attached to the fluoroscopic imaging table 15, and the CPU 16a determines the position thereof. The motor is driven so as to be at the position of the trajectory data 19a stored in the memory 19 in advance while recognizing the position by taking in the detection data of (movement amount).
[0019]
Further, when the priority operation switch 17b is turned on when the position of the video system exceeds the movement amount y of the operable range, a message indicating that this switch operation cannot be accepted, or the range in which the video system can be operated. Is displayed on the operation panel 17.
[0020]
In the above embodiment, the priority operation changeover switch 17b is operated independently. However, the operation panel 17 may be provided with a switch for selecting the content to be inspected, and may be linked with the switch. For example, X-ray imaging conditions are stored in advance in the memory 19 of the control unit 16 for each examination site such as a lung and abdomen, and when these X-ray imaging conditions are read out at the time of the inspection, an imaging condition selection switch for each inspection site to be used. The up-and-down locus motion control program 19b may be stored in advance in correspondence with the function of (1).
[0021]
Further, in the embodiment, the explanation has been made on the fluoroscopic imaging table 15 shown in FIG. 5, but the present invention can also be applied to the C-arm fluoroscopic table shown in FIG. In this apparatus, a main support 26 is fixed to a base 25, and a C-arm holding unit 27 that holds a C-arm 27 a having an X-ray tube device 21 and an X-ray image detection unit 22 attached to upper and lower ends, and a top plate 23. Is attached to the slide plate 26a, and the slide plate 26a moves up and down on the main support 26. Then, the video system is controlled from the remote operation console 24 and the proximity operation console 24 a via the drive unit of each unit and the cable 29.
Then, the present apparatus includes (1) up and down movement, (2) table up and down movement, (3) top and left movement, (4) top length manual operation, (5) top plate rolling, and (6) top and bottom movement , (7) C-arm rotation, (8) C-arm slide, (9) C-arm length manual operation, (10) X-ray image detection unit longitudinal movement. In particular, the relationship between (2) table lifting and lowering and video system (1) tilting and (7) C-arm rotation is based on the relationship between the height h of the top plate of the X-ray fluoroscopic apparatus and the rotation angle θ of the top plate. It corresponds to a relationship and can be similarly applied.
[0022]
【The invention's effect】
The X-ray fluoroscopic apparatus according to the present invention is configured as described above, and switches the priority operation switch provided on the operation panel according to the examination contents in accordance with the versatile and various surgical procedures to move the video system. A new top-down method that lowers the height of the tabletop by limiting the range of movement of the tabletop movement by limiting the range, and a conventional tabletop that is operated to control the moving range of the video system as wide as possible You can select the method of raising and lowering.
Then, by turning on the priority operation switch, the trajectory data of the operation axis to be restricted is switched, the height of the rotation center of the tilt from the floor and the rotation angle of the tilt are changed, and the operable range of the video system is limited, Depending on the top plate tilting angle, the top plate elevating operation at the time of the tilting operation is not performed, so that the height of the top plate does not change. Therefore, the assistance can be facilitated and the test effect can be improved without greatly changing the burden on the caregiver of the subject and the position of the test instruments arranged around the subject.
[Brief description of the drawings]
FIG. 1 is a diagram showing an embodiment of an X-ray fluoroscopic apparatus according to the present invention.
FIG. 2 is a diagram showing the relationship between the height h of the top board and the moving amount y of the image system in the X-ray fluoroscopic apparatus of the present invention.
FIG. 3 is a diagram illustrating a control method of the X-ray fluoroscopic apparatus according to the present invention.
FIG. 4 is a diagram showing another embodiment of the X-ray fluoroscopic apparatus according to the present invention.
FIG. 5 is a view showing a conventional over-table tube type X-ray fluoroscopic apparatus.
FIG. 6 is a diagram showing the relationship between the height h of the top board and the moving amount y of the video system in the conventional X-ray fluoroscopic apparatus.
FIG. 7 is a diagram showing a control method of a conventional X-ray fluoroscopic apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... X-ray tube apparatus 1a ... X-ray tube rotation mechanism 2 ... support | pillar 2a ... support | pillar drive mechanism 3 ... X-ray image detection part 3a ... X-ray image detection part drive mechanism 4 ... Top plate 4a ... Top plate rotation mechanism 4b ... Top Plate up / down / left / right movement mechanism 5 Main support 5a Holder 5b Holder drive 6 Base 8 Compression cylinder 11a Housing 15 Perspective imaging table 15a Top plate rotation drive motor 15b Top plate rotation angle detection Device 15c: Top-plate elevating drive motor 15d: Top-plate elevating height detector 15e: Video system driving motor 16: Control panel 16a: CPU
16b Hard disk 17 Operation panel 17a Top-top operation switch 17b Priority operation switch 19 Memory 19a Path data 19b Elevation path operation control program 20 Center of rotation 21 X-ray tube apparatus 22 X-ray Image detection unit 23 ... Top 24 ... Remote console 24a ... Proximity console 25 ... Base unit 26 ... Main support 26a ... Slide plate 27 ... C arm holding unit 28 ... Top plate elevating support unit 28a ... Top plate rotation support unit 29 …cable

Claims (1)

An image system consisting of an X-ray tube device and an X-ray image detection unit is arranged opposite to a top plate on which a subject is placed, and the image system is moved in parallel with the top plate, and the top plate or the image system is rotated upside down. An X-ray fluoroscopic apparatus for performing X-ray fluoroscopy and imaging by using a priority operation changeover switch on an operation panel, a memory storing a tilting trajectory operation control program and trajectory data in a control unit, and a rotation angle on a fluoroscopic imaging table A trajectory data of an operating axis limited to a trajectory by turning on the priority operation changeover switch. An X-ray fluoroscopic apparatus characterized in that a rotation angle can be changed.

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