JP2006025893A - X-ray image diagnostic device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make an automatic positioning function highly functional. <P>SOLUTION: In an X-ray image diagnostic device in which an arm 1 for holding an X-ray tube 2 and an X-ray detector 3 so as to face each other holding an examinee between them is provided and the arm is rotatable around the body axis of the examinee and tiltable along the body axis direction of the examinee, a memory 8d for recording the operation track of the arbitrarily operated arm and a system controller 10 for restoring the operation track of the arm recorded in the memory are provided. Consequently, since X-ray radiographing is performed by positioning the arm in the form of reproducing the track that an operator moves the arm beforehand, the movement of the arm is efficient and it is speedily positioned. Consequently, burdens on the examinee are reduced and the throughput of diagnosing is improved. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an X-ray image diagnostic apparatus, and more particularly to an auto-positioning function provided in the X-ray image diagnostic apparatus.

  The X-ray diagnostic imaging apparatus detects an X-ray from an X-ray tube with an X-ray detector comprising, for example, an image intensifier and a television camera, obtains an X-ray image, and displays this on a monitor so that it can be observed. It has become. In this case, the subject is placed on a bed, and a holding device (usually referred to as a C arm) in which an X-ray tube and an X-ray detector are formed in a C shape so as to sandwich the bed. Held at both ends. Then, by changing the angle of the C-arm three-dimensionally, the X-ray irradiation angle on the subject is changed, and X-ray imaging is performed so that the region to be examined can be easily seen.

  By the way, in the routine examination of the subject by the X-ray image diagnostic apparatus, from which direction the subject should be observed (that is, in which direction the X-ray image should be taken) is determined in advance as a plurality of observation directions. For example, as a routine examination for a subject suspected of having a heart disease, a contrast medium is injected into the left coronary artery, the right coronary artery, and the left ventricle, and X-ray imaging is performed. In photographing each part, the direction in which the most effective observation is possible is determined from the shape of each part. Therefore, in the routine examination, in order to reproduce these optimum observation directions (that is, imaging directions), the position of the X-ray tube and the X-ray detector relative to the subject is driven each time the C-arm is driven. (Hereinafter, this operation is referred to as positioning).

  In order to facilitate the positioning of the X-ray tube and the X-ray detector with respect to such a subject, the X-ray diagnostic imaging apparatus is provided with an auto-positioning function. In this auto-positioning function, data related to the position of the X-ray tube and the X-ray detector with respect to the subject (hereinafter referred to as positioning information) is generally determined based on the rotation angle and body of the C arm with respect to the body axis of the subject. The angle of inclination along the axial direction and the position of the X-ray detector (the distance from the focal point of the X-ray tube to the incident surface of the X-ray detector) are indicated. That is, for example, a number and a registered position are associated with each other and registered in the X-ray image diagnostic apparatus in advance, and by simply inputting the number, the registered position is called and an X-ray tube and an X-ray detector are connected to the position. It is a mechanism to move.

The X-ray image diagnostic apparatus is used not only for routine examination but also for general diagnosis. In addition, there are cases in which the shooting direction that is used by many surgeons such as doctors and technicians and that is considered optimal by the surgeons is slightly different. Therefore, the number of registered positions becomes enormous, causing problems that each operator can not remember the registration numbers corresponding to multiple observation directions, and as the number of operators increases, it becomes complicated and confusing, As an auto-positioning function that reproduces the desired X-ray imaging direction, a list of registered positioning information is displayed, and each operator can select the desired imaging direction to enable positioning with one touch. It has been proposed (see, for example, Patent Document 1).
JP-A-8-289885

  By the way, in the operation of the auto-positioning function when the operator selects a desired imaging direction, the C-arm is first returned from the current position to the reference position and then moved to the selected desired position. Therefore, for example, even if the current position and the target position are different by only +10 degrees in rotation angle, the operation returns to the reference position and then proceeds to the current position +10 degrees. Therefore, when the surgeon sets a new position and performs a start operation, the surgeon thinks that the C-arm will advance +10 degrees, but returns to the reference position, so the direction assumed by the surgeon I was often surprised when the C-arm started to move in the opposite direction.

  In addition, since the operation to return to the reference position is performed, the time to reach the target position is delayed, so that the burden on the subject is increased and the diagnosis throughput is reduced. Furthermore, when there is an interference on the movement locus to the target position, it takes time to decelerate to avoid it, which is also a factor for delaying the time to reach the target position. It was.

  The present invention has been made to solve such problems.

  In order to solve the above-described problems, the invention described in claim 1 is directed to an X-ray tube that generates X-rays to be irradiated on a subject, a holding unit that holds the X-ray tube, and an operation locus of the holding unit. An X-ray diagnostic imaging apparatus comprising: storage means for recording; and movement control means for moving the holding means on the basis of an operation locus stored in the storage means.

  The invention described in claim 2 is the X-ray diagnostic imaging apparatus according to claim 1, further comprising an instruction means for an operator to arbitrarily instruct storage of an operation locus of the holding means. To do.

  According to a third aspect of the present invention, in the X-ray diagnostic imaging apparatus according to the first aspect, the storage unit stores movement trajectories of the holding unit to a plurality of positions, and the movement control unit The holding means is moved in the order in which the movement trajectories to the plurality of positions are stored.

  As shown in the section of the means for solving the above problems, according to the invention of each claim described in the claims of the present invention, the following effects can be obtained.

  According to the first and second aspects of the invention, it is possible to achieve high functionality of the auto positioning function. In other words, the X-ray imaging can be performed by positioning the arm in a form that reproduces the trajectory in which the operator has moved the arm in advance, so that the movement of the arm is not wasted and the positioning can be achieved quickly. Therefore, the burden on the subject can be reduced and the diagnostic throughput can be improved.

  According to the invention described in claim 3, the arm is moved to a plurality of positions as desired by the operator, the movement trajectory is recorded, and then the movement trajectory is restored. By sequentially moving the arm, the arm can be moved without waste, so that the time required to reach the target position of the X-ray tube or the X-ray detector can be shortened. Therefore, the burden on the subject can be reduced and the diagnostic throughput can be improved.

  Hereinafter, embodiments of an X-ray image diagnostic apparatus according to the present invention will be described in detail with reference to FIGS. 1 to 5.

  FIG. 1 is a system diagram showing a schematic configuration of an embodiment of an X-ray image diagnostic apparatus according to the present invention.

  This X-ray diagnostic imaging apparatus is provided with, for example, a C-shaped arm 1 and is held at both ends so that an X-ray tube 2 and an X-ray detector 3 face each other. . A bed 4 having a bed top 4a for placing the subject is placed so that the subject is positioned between the X-ray tube 2 and the X-ray detector 3. The arm 1 is supported by a supporter 5 and can be rotated around a couch top 4a around a support shaft (not shown). Further, the arm 1 is moved along a bending direction by a slide mechanism (not shown). Can be tilted. Further, the X-ray detector 3 can advance and retract with respect to the direction of the X-ray tube 2.

  The X-ray detector 3 is a flat panel type radiation formed of a semiconductor array in which, for example, switching elements and capacitors formed on a glass substrate are covered with a photoconductive film that converts X-rays into electric charges. A flat panel detector (FPD) or an X-ray image is converted into a visible light image by an image intensifier (hereinafter abbreviated as II). I. The visible light image is captured by a television camera via an optical system that controls the transmission amount of the visible light image formed on the output phosphor screen.

  Connected to the X-ray tube 2 is an X-ray generator 6 that controls output conditions such as tube voltage, tube current, and X-ray pulse width in order to generate desired X-rays from the X-ray tube 2. The X-ray detector 3 exchanges output signals and control signals with the X-ray detector interface 7. The X-ray detector interface 7 supplies an image signal to the image processing device 8 via the input interface 8 a, and the image processing device 8 is connected to the monitor 9.

  Each component such as the bed 4, the support device 5, the X-ray generation device 6, the X-ray controller interface 7, and the image processing device 8 is organically controlled by a system control unit 10 including a CPU, X-ray imaging at a desired position is performed on the specimen, or an X-ray image acquired by X-ray imaging is displayed on the monitor 9. Therefore, the system control unit 10 is connected to an operation unit 11 including a keyboard, a mouse, a joystick, and the like for an operator to appropriately input setting values and instruction contents. Note that an operation unit may also be provided in the bed 4 so that the vertical movement and horizontal movement of the bed top 4 a can be operated, and the operation of the support device 5 can be controlled via the system control unit 10.

  The image processing apparatus 8 includes an X-ray / support device control interface 8b that transmits and receives control signals to and from the system controller 10, an arithmetic unit 8c that adds image signals and performs subtraction processing, It has a memory 8d for storing image data, processed image data and positioning information, a hard disk device 8e, a video unit 8f for converting image data into a video signal, etc., which are connected to each other via a bus line 8g. ing.

  The positioning information indicates an imaging direction for obtaining an X-ray transmission image of the subject and a position to be taken by the X-ray tube 2 and the X-ray detector 3 with respect to the subject. The rotation angle with respect to the body axis of the subject, the tilt angle of the arm 1 along the body axis direction, and the position of the X-ray detector 3 are also represented. For example, as four representative photographing directions, LAO (Left Anterior Oblique view: second oblique position), CAU (Caudal view: first head oblique direction), RAO (Right Anterior Oblique view: first oblique position), CRA (Cranial view: direction of the caudal head), and the position of the X-ray detector 3 is represented by a distance SID (Source image distance) from the focal point of the X-ray tube 2 to the incident surface of the X-ray detector 3.

  However, the information is not limited thereto, and the position of the bed top 4a with respect to the arm 1 and the height of the bed 4 are also necessary information. Further, for example, when the support device 5 is not of the type that is installed on the floor but of the ceiling traveling type, the manual information on the side of the ceiling, the manual of the ceiling length, and the like are also necessary information as the position information.

  Next, the operation of the first embodiment of the X-ray image diagnostic apparatus according to the present invention configured as described above will be described with reference to FIGS.

  FIG. 2 is a flowchart showing a recording method of the movement locus when the operator moves the arm 1 from the current position to a desired position. First, this operation will be described.

  That is, as step 1, the surgeon inputs a trigger signal for starting recording of the movement path of the arm 1 moved from the current position from the operation unit 11. This trigger signal is transmitted to the system control unit 10, and for example, RAO, CRA, SID, etc. are recorded in the memory 8d as data of the current position. Next, as step 2, the operator moves the arm 1 to a desired position with the joystick of the operation unit 11 and the locus is sequentially recorded in the memory 8d.

  In this case, the movement of the arm 1 is a movement only in the LAO / RAO direction, a movement only in the CAU / CRA direction, or a combination of both as a position desired by the operator. In any case, the trajectory of the arm 1 operated by the surgeon is faithfully recorded. When the arm 1 reaches the position desired by the surgeon, the surgeon inputs a trigger signal for ending the recording from the operation unit 11 as step 3. Thereby, a series of movement is completed.

  In addition, at the desired position where the arm 1 has reached, X-rays are then emitted from the X-ray tube 2 to observe a desired observation site of the subject as an X-ray fluoroscopic image or to perform X-ray imaging. It goes without saying that it can be done. In addition, as a method of recording the arm movement trajectory, a log of the rotational motion of the motor that rotates the arm after the recording start trigger signal is input and until the recording end trigger signal is input. Or the position where the arm has moved from when the trigger signal for starting recording is input to when the trigger signal for recording end is input is recorded with a potentiometer or the like.

  Next, the procedure for restoring the movement of the arm 1 recorded as described above will be described with reference to the flowchart shown in FIG.

  That is, as step 11, the surgeon inputs a trigger signal for starting restoration of the movement path of the arm 1 recorded in the memory 8 d from the operation unit 11. Therefore, this trigger signal is transmitted to the system control unit 10 and when it is recognized that it is a movement path restoration instruction, the trajectory of the arm 1 recorded in the memory 8d is sequentially read out in step 12. Then, the information read from the memory 8d is transmitted to the support device 5 through the system control unit 10, and the arm 1 is driven according to the information. When it is confirmed that the arm 1 has reached the predetermined positions of LAO / RAO and CAU / CRA and all the positions including the SID have reached the designated positions, the restoration is completed as step 13. Thus, reading of information from the memory 8d is stopped. Therefore, an X-ray fluoroscopic image is observed at this position or X-ray imaging is performed. When the X-ray imaging or the like is completed, the operator inputs a restoration completion signal from the operation unit 11 to complete the restoration operation (step 13).

  As described above, according to the present invention, the arm 1 is positioned in a manner that faithfully reproduces the trajectory of the movement of the arm 1 in advance by the operator, so that the movement of the arm 1 is not wasteful and the positioning can be achieved quickly. I can make it.

  Next, a second embodiment of the present invention will be described.

  For example, in a routine examination, since a plurality of observation directions are determined in advance according to the observation site of the subject, an X-ray image is taken by first placing the arm 1 at the A position, and then the arm 1 at the B position. FIG. 4 shows an operation mode in which several positions are sequentially moved so as to move an X-ray image and move the arm 1 to the C position to take an X-ray image. This will be described with reference to the flowchart shown in FIG.

  A method for recording the motion trajectory of the arm 1 is shown in FIG. That is, as step 21, the surgeon inputs a trigger signal for starting recording of the movement path of the arm 1 from the operation unit 11. This trigger signal is transmitted to the system control unit 10, and for example, RAO, CRA, SID, etc. are recorded in the memory 8d as data of the current position. Next, as step 22, the arm 1 is moved to a desired A position by a joystick or the like of the operation unit 11. Thereby, the locus is sequentially recorded in the memory 8d. In step 23, the fact that the A position is a predetermined stop position is recorded in the memory 8d. If necessary, the operator emits X-rays from the X-ray tube 2 at the A position, and observes a desired observation site of the subject as an X-ray fluoroscopic image or performs X-ray imaging. Or you may.

  If the A position is recorded as the stop position of the arm 1, the surgeon next operates the joystick or the like of the operation unit 11 as step 24 to move the arm 1 from the A position to the B position. Also at this time, the trajectory of the arm 1 moved to the B position desired by the operator is sequentially recorded in the memory 8d. However, since the current position is known as the A position, it is not necessary to acquire the data of the current position again. When the position B is reached, in step 25, the fact that the position B is a predetermined stop position is recorded in the memory 8d. Here, the operator may also irradiate X-rays from the X-ray tube 2 and observe a desired observation site of the subject as an X-ray fluoroscopic image, or may perform X-ray imaging.

  If the B position is recorded as the stop position of the arm 1, then, in step 26, the operator moves the arm 1 from the B position to the C position with a joystick or the like of the operation unit 11. Also at this time, the movement trajectory of the arm 1 moved by the operator to the C position is sequentially recorded in the memory 8d. However, since the current position is known as the B position, it is necessary to acquire the data of the current position again. There is no. When the position C is reached, step 27 records that the position C is a predetermined stop position in the memory 8d. Here, the operator may also irradiate X-rays from the X-ray tube 2 and observe a desired observation site of the subject as an X-ray fluoroscopic image, or may perform X-ray imaging.

  When the C position is recorded as the stop position of the arm 1, the operator inputs a trigger signal to end the recording of the movement locus of the arm 1 from the operation unit 11 as step 28. Thereby, a series of movement is completed.

  The procedure for restoring the movement of the arm 1 recorded in this way is shown in FIG. 5, and the restoration procedure will be described next.

  First, in step 31, the surgeon inputs a trigger signal for starting restoration of the recorded movement path of the arm 1 from the operation unit 11. Therefore, when this trigger signal is transmitted to the system control unit 10 and is recognized as an instruction for restoring the movement path, the movement trajectory of the arm 1 recorded in the memory 8d is sequentially read out and read from the memory 8d. The issued information is transmitted to the support device 5 through the system control unit 10, and the arm 1 is driven according to the information. That is, in step 32, the arm 1 is moved to the designated A position, and when reaching the A position, the arm 1 is stopped. Here, the surgeon emits X-rays from the X-ray tube 2 and observes a desired observation site of the subject as an X-ray fluoroscopic image or performs X-ray imaging (step 33).

  When the observation of the X-ray fluoroscopic image at the position A and the X-ray imaging are finished, the operator inputs an imaging end signal from the operation unit 11 (step 34). In response to this, in step 35, data indicating the next movement trajectory of the arm 1 is read from the memory 8 d and transmitted to the support device 5. Therefore, the arm 1 is moved from the A position to the B position. When the position B is reached, the arm 1 is stopped. Here, the surgeon emits X-rays from the X-ray tube 2 and observes a desired observation site of the subject as an X-ray fluoroscopic image or performs X-ray imaging (step 36).

  When the observation of the X-ray fluoroscopic image and the X-ray imaging at the B position are completed, the operator inputs an imaging end signal from the operation unit 11 (step 37). In response to this, in step 38, data indicating the next movement locus of the arm 1 is read from the memory 8d and transmitted to the support device 5. Therefore, the arm 1 is moved from the B position to the C position. When the position C is reached, the arm 1 is stopped. Here, the operator emits X-rays from the X-ray tube 2 and observes a desired observation site of the subject as an X-ray fluoroscopic image or performs X-ray imaging (step 39).

  When the observation of the X-ray fluoroscopic image at the C position and the X-ray imaging are completed, the surgeon inputs a restoration completion signal from the operation unit 11 (step 40). Thus, reading of information from the memory 8d is stopped, and a series of operations is thereby completed.

  As described above in detail, according to the present invention, it is possible to achieve higher functionality of the auto positioning function. That is, the arm 1 is moved according to the surgeon's intention, the movement trajectory is recorded, and then the movement trajectory is restored to give the arm 1 a lean movement. Therefore, the target of the X-ray tube or the X-ray detector can be obtained. Time to reach the position can be shortened. Therefore, the burden on the subject can be reduced and the diagnostic throughput can be improved.

  In addition, this invention is not limited to the above-mentioned embodiment, In the range which does not deviate from a summary, implementation with a various form is possible. For example, although the C arm is described as an example of the holding means for holding the X-ray tube 2 and the X-ray detector 3, other holding means such as an omega arm may be used. Further, although the description has been made assuming that the joystick of the operation unit 11 is used as means for moving the arm 1 to a desired position, the movement locus of the arm 1 may be determined by inputting a numerical value.

1 is a system diagram showing a schematic configuration of an embodiment of an X-ray image diagnostic apparatus according to the present invention. (Example 1, Example 2) 6 is a flowchart for explaining a recording method of an arm movement locus in the first embodiment. (Example 1) 3 is a flowchart shown for explaining a method for restoring a recorded movement trajectory of an arm in the first embodiment. (Example 1) 10 is a flowchart shown for explaining a recording method of an arm movement locus in the second embodiment. (Example 2) 10 is a flowchart for explaining a method for restoring a recorded movement trajectory of an arm in the second embodiment. (Example 2)

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Arm 2 X-ray tube 3 X-ray detector 4 Bed 4a Bed top plate 5 Supporter 6 X-ray generator 7 X-ray controller interface 8 Image processing device 8a Input interface 8b X-ray / support device control interface 8c Operation part 8d Memory 8e Hard disk device 8f Video part 8g Bus line 9 Monitor 10 System control part 11 Operation part

Claims (3)

An X-ray tube that generates X-rays for irradiating the subject;
Holding means for holding the X-ray tube;
Storage means for storing an operation trajectory of the holding means;
An X-ray diagnostic imaging apparatus comprising: a movement control unit that moves the holding unit based on an operation trajectory stored in the storage unit. The X-ray diagnostic imaging apparatus according to claim 1, further comprising instruction means for an operator to arbitrarily instruct storage of an operation locus of the holding means. The storage means stores movement trajectories of the holding means to a plurality of positions, and the movement control means moves the holding means in the order in which the movement trajectories to the plurality of positions are stored. The X-ray diagnostic imaging apparatus according to claim 1.

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