JP2006034354A - Medical diagnostic apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a medical diagnostic apparatus capable of increasing the degree of freedom of the mobility of the apparatus. <P>SOLUTION: Four proximity sensors 28 are disposed on the side face of an image intensifier (I.I) 25 which is one of movable parts. An image pickup system control part controls the drive of the I.I 25 so as to stop the operation of the I.I 25 when the proximity sensor 28 detects an object represented by a subject M or the like near the I.I 25 and so as to allow the operation in an optional direction of the I.I 25 when input for performing the operation of the I.I 25 is performed after the stoppage. Thus, by making the operation in the optional direction of the I.I 25 possible when the operation (return operation) of the I.I 25 is input again after the stoppage, the degree of the freedom of the mobility of the apparatus in the return operation is increased. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a medical diagnostic apparatus that obtains a radiographic image for diagnosis by moving a movable part and detecting radiation, and in particular, a technique for detecting the presence of an object in a non-contact manner using a proximity sensor provided in the movable part. About.

  An X-ray diagnostic apparatus will be described as an example of a medical diagnostic apparatus. In an X-ray diagnostic apparatus, an operator or a peripheral device (hereinafter referred to as “object”) that operates a subject or apparatus by moving a movable part. The movable part may collide. In order to prevent this collision, conventionally, a non-contact type proximity sensor represented by a capacitance type or the like has been provided, and the presence of the target object is detected by the proximity sensor in a non-contact manner. The movable part can be stopped. In the capacitance type, the proximity sensor is composed of a transmission electrode and a reception electrode. When an obstacle such as an object enters the electromagnetic field from the transmission electrode, the capacitance between the two electrodes increases and the electromagnetic field is increased. The object is detected in a non-contact manner using the decrease in the strength of the image (for example, see Patent Document 1).

By the way, since a movable part is stopped before a movable part collides with a target object for the purpose of collision prevention, a clearance gap is made between a movable part and a target object. Since the sensitivity of the sensor varies depending on the shape and size of the object, this gap is set wider with a margin. For example, it is set to about several centimeters.
JP 2001-208504 A (page 2-5, FIGS. 2 and 4)

  However, in order to obtain a better image, an X-ray detector (for example, an image intensifier) that is one of the movable parts may be brought close to the subject as much as possible to perform imaging. In this case, even if it is necessary to approach within the above-described gap, further approach is impossible unless the proximity sensor that moves together with the movable part or the operation of the movable part is invalidated.

  Further, since it is difficult to accurately specify the position of the object with the capacitive proximity sensor, a return operation is performed in which the movable part is moved again after being moved closer to the object and stopped. In this case, the operation in the direction in which the proximity sensor that detects the approach of the object is arranged is prohibited. Therefore, since the operation of the arranged direction is prohibited even in the direction away from the object, the direction of the return operation is unnecessarily narrowed.

  This invention is made in view of such a situation, and it aims at providing the medical diagnostic apparatus which can raise the freedom degree of the movement of an apparatus.

  In order to achieve such an object, the present invention has the following configuration.

  That is, the invention described in claim 1 is a medical diagnostic apparatus that obtains a diagnostic radiation image by moving a movable part and detecting radiation, and detects the presence of an object in the movable part without contact. And a drive control means for controlling the drive of the movable part. When the proximity sensor detects an object in the vicinity of the movable part, the operation of the movable part is stopped, and after that stop, the operation of the movable part is stopped. The drive control means controls the drive of the movable part so as to enable the movement of the movable part in any direction when an input is performed.

  [Operation / Effect] According to the first aspect of the present invention, when the proximity sensor detects an object in the vicinity of the movable part, the operation of the movable part is stopped and the input of the movable part is performed after the stop. When performing the above, the drive control means controls the drive of the movable part so that the movable part can be operated in an arbitrary direction. As described above, the operation of the movable part after the stop, that is, the return operation can be performed if the input described above is provided. Therefore, if there is an input regarding the return operation, the movable portion can be operated in any direction, thereby increasing the degree of freedom of movement of the device in the return operation.

  In a preferred example of the above-described invention, when an input for operating the movable part in the direction in which the object is approached after the stop is performed, the input is movable at a distance shorter than the distance between the object and the proximity sensor in the stopped state. Control is performed so that the portion is moved and moved in the approaching direction as described above (the invention according to claim 2). By controlling in this way, it is possible to perform imaging by bringing the movable part closer to a distance shorter than the distance between the target object and the proximity sensor in the stopped state, and as close as possible. As a result, a better diagnostic radiation image can be obtained.

  According to the medical diagnostic apparatus of the present invention, when the proximity sensor detects an object in the vicinity of the movable part, the operation of the movable part is stopped, and after the stop, the input for performing the operation of the movable part is performed. The drive control means controls the drive of the movable part so as to enable the movement of the movable part in any direction. Therefore, if there is an input about the re-operation (return operation) of the movable part after the stop, it is possible to increase the degree of freedom of movement of the apparatus in the return operation by enabling the operation of the movable part in any direction. .

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a front view showing a schematic configuration of an X-ray diagnostic apparatus according to an embodiment, FIG. 2 is a block diagram of an image processing system in the apparatus, and FIG. 3 is an image intensifier ( Hereinafter, it is a schematic view of a proximity sensor provided in (abbreviated as “I.I”). In this embodiment, an X-ray diagnostic apparatus will be described as an example of a medical diagnostic apparatus.

  As shown in FIG. 1, the X-ray diagnostic apparatus according to the present embodiment includes a top plate 1 on which a subject M is placed and an imaging system main body 2 that images the subject M, and FIG. As shown, an image processing system 3 is provided. As shown in FIG. 1, the top plate 1 is configured to be movable up and down and horizontally.

  First, the imaging system main body 2 will be described with reference to FIG. The imaging system main body 2 is supported by a base portion 21 installed on the floor (xy plane in the drawing), a C-type arm support portion 22 supported by the base portion 21, and a C-type arm support portion 22. C-type arm 23, X-ray tube 24 supported at one end of C-type arm 23, and I.V. I25.

  The base 21 is configured to rotate around the vertical axis (z axis in the figure) with respect to the floor surface by driving a motor (not shown), and the base 21 is driven by driving another motor (not shown). Each of the C-type arm support portions 22 is configured to rotate around the body axis (y axis in the drawing) of the subject M with respect to the base portion 21. Further, the C-arm 23 is configured to rotate around an axis (x-axis in the figure) that is orthogonal to the body axis in a horizontal plane by driving another motor (not shown).

  On the X-ray irradiation side of the X-ray tube 24 supported at one end of the C-arm 23, a collimator 26 for controlling the X-ray irradiation field is disposed. I.C supported by the other end of the C-arm 23. A television (TV) camera 27 is disposed on the back surface of I25 (the surface opposite to the X-ray detection surface). By driving a motor (not shown), I.D. Each is configured such that the TV camera 27 rotates about the vertical axis (z axis in the drawing) with respect to I25.

  In addition, the base part 21 and the C-type arm support part 22 may be configured to be movable up and down and horizontally as in the case of the top board 1 so that the C-type arm can be moved up and down and moved back and forth. The top plate 1 and the imaging system main body 2 are moved as described above, so that An X-ray image for diagnosis can be obtained by processing the X-ray detection signal detected by I25 and detected by the image processing system 3 described later. Further, the base unit 21, the C-type arm support unit 22, the C-type arm 23, the X-ray tube 24, and the I.D. I25 or the like corresponds to a movable part in the present invention.

  In particular, among these movable parts, the X-ray tube 24 and the I.D. The I25 is likely to collide with an operator (operator) who operates the subject M and the apparatus and peripheral devices (hereinafter referred to as “objects”). Therefore, the X-ray tube 24 and I.I. By providing the proximity sensor at I25, the proximity sensor detects the presence of the object in a non-contact manner. In this embodiment, as shown in FIGS. Four proximity sensors 28 are arranged on the side surface of I25, and each proximity sensor 28 is arranged every 90 °. The area detected by each proximity sensor 28 is in the range of 90 °. The proximity sensor 28 includes a transmission electrode and a reception electrode (not shown). When an obstacle such as an object enters the electromagnetic field from the transmission electrode, the capacitance between both electrodes increases and the strength of the electromagnetic field decreases, thereby detecting the object in a non-contact manner. A capacitive proximity sensor is used in this embodiment.

  Next, the image processing system 3 will be described with reference to FIG. The image processing system 3 includes a top panel control unit 31 that controls raising and lowering and horizontal movement of the top panel 1, an imaging system control unit 32 that controls driving of the imaging system main body 2, An image processing unit 33 that detects an X-ray detection signal at I25, extracts the detected X-ray detection signal as a video signal by the TV camera 27, and performs various processes on the extracted signal, and each of these components A controller 34 that controls the image processing unit, a processed image, a distance between an object to be described later and the proximity sensor 28, and an I.D. The distance set in advance to stop I25 or I.I. A memory unit 35 for storing a distance set in advance to stop (re-stop) the I25 again, an input unit 36 for an operator to perform input settings, and a monitor 37 for displaying the processed image as an X-ray image Etc.

  The top board control unit 31 moves the top board 1 up and down or horizontally to accommodate the subject M up to the imaging position, or moves up and down or horizontally to set the subject M to a desired position, or horizontally moves it. The image is picked up while the image is picked up, or the image is moved horizontally or moved up and down after the image pick-up is finished to control the image to be retracted. As shown in FIG. 1, the imaging system control unit 32 rotates the base unit 21 around the vertical axis so that the C-type arm support unit 22, the C-type arm 23, the X-ray tube 24, and the I.D. I25 or the like is rotated around the vertical axis, or the C-arm support portion 22 is rotated around the body axis of the subject M or around the x-axis center in the figure, so that the C-arm 23, the X-ray tube 24, or I . For example, I25 is rotated around the body axis or around the x axis in the figure, or the TV camera 27 is rotated around the vertical axis. In addition, in the imaging system control unit 32, the proximity sensor 28 is an I.D. When an object is detected in the vicinity of I25, the operation of I.I25 is stopped. When an input for performing the operation of I25 is performed, I.I. Control is performed so as to enable the operation (return operation) of I25 in any direction. The imaging system control unit 32 corresponds to drive control means in this invention. Specific I.D. The drive control of I25 will be described later.

  The controller 34 is configured by a central processing unit (CPU) and the like, and the memory unit 35 is configured by a storage medium represented by ROM (Read-only Memory), RAM (Random-Access Memory), and the like. Yes. The input unit 36 includes a pointing device represented by a mouse, keyboard, joystick, trackball, touch panel, and the like.

  The memory unit 35 includes a detection distance storage unit 35a that stores the distance between the object and the proximity sensor 28; Stop distance storage unit 35b for storing a distance set in advance to stop I25, and I.I. A re-stop distance storage unit 35c that stores a preset distance for stopping I25 again is provided. The distance from the object detected by the proximity sensor 28 is stored in the detection distance storage unit 35a. I. The distance to stop I25 is I.I. When an object exists in the vicinity of I25, it corresponds to the distance from the object, and the distance is stored in advance in the stop distance storage unit 35b. In addition, after the return operation, the I.D. The distance for stopping I25 again is stored in advance in the restart distance storage unit 35c.

  The detection distance storage unit 35a and the stop distance storage unit 35b are connected to the subtraction circuit 38, and the detection distance storage unit 35a and the re-stop distance storage unit 35c are connected to the arithmetic circuit 39. In this specification, in order to distinguish the former arithmetic circuit 38 from the latter arithmetic circuit 39, the former is referred to as a “first arithmetic circuit” and the latter is referred to as a “second arithmetic circuit”. Specific functions of the various distance storage units 35a to 35c and the first and second arithmetic circuits 38 and 39 will be described later.

  Next, I.I. Refer to the explanatory diagrams of FIGS. 4 and 5 and the flowchart of FIG. 6 for the control of I25 and the specific functions of the various distance storage units 35a to 35c and the first and second arithmetic circuits 38 and 39. To explain. FIG. 4 is an explanatory diagram schematically illustrating the distance between the object and the proximity sensor 28 when the proximity sensor 28 moves. FIG. 5 illustrates signals transmitted and received by the controller 34 and the imaging system control unit 32. FIG. 6 is a flowchart schematically showing a series of control flows for driving the image intensifier (I.I) 25 of the present embodiment. 4 to 6 show I.D. in which the proximity sensor 28 is a movable part. I.I25 so that an object is detected in the vicinity of I25. Note that this is an explanatory diagram when the proximity sensor 28 is brought close together with I25.

(Step S1) Detection by Proximity Sensor As shown in FIG. 4, the proximity sensor 28 detects the presence of the object X in a non-contact manner. At this time, the proximity sensor 28 detects the distance d between the object X and the proximity sensor 28. Data of the detected distance d is sent to the detection distance storage unit 35a of the memory unit 35, and is written and stored in the detection distance storage unit 35a.

(Step S2) d = d ₁ ?
I. The distance (stop distance) for stopping I25 is d ₁ as shown in FIGS. 4 (a) and 5 (a). This distance d ₁ is stored in advance in the stop distance storage unit 35b. From the detected distance storage unit 35a, reads the data of the distance d between the object X and the proximity sensor 28, the stopping distance storage unit 35b, reads the data of the stopping distance d _1, the two data to the first subtraction circuit 38 Send it in. Before the stop, d> d ₁ as shown in FIG. 4A. Therefore, if the value (d−d ₁ )> 0 subtracted by the first subtraction circuit 38, the process returns to step S1 and the value ( Steps S1 and S2 are repeated until d−d ₁ ) = 0, that is, until d = d ₁ . if the d = d _1, the process proceeds to step S3.

If (step S3) Stop d = d _1, I. Suppose that the object X is detected in the vicinity of I25. The operation of I25 is stopped. Specifically, as shown in FIG. 5A, the controller 34 outputs a stop signal S ₁ and sends it to the imaging system control unit 32. The imaging system control unit 32 receives the stop signal S ₁ and receives the I.D. So that I25 is stopped. The drive of I25 is controlled.

After stopping the (step S4) input and return operation step S3, if there is an input for the return operation from the input unit 36, as shown in FIG. 5 (b), the controller 34 outputs to the imaging system controls the return signal S ₂ Send to part 32. Imaging system control unit 32 receives the return signal S _2, I. I.I25 to allow movement in any direction. The drive of I25 is controlled. I. After this stop. The re-operation of I25 is a return operation.

(Step S5) Is it moving in the approaching direction?
In the direction of approaching the object X after the stop described above, I.D. When the operator performs input for operating I25 through the input unit 36, the process proceeds to the next step S6. In any direction other than the approaching direction When the operator performs input for operating I25 at the input unit 36, the I.I. Move I25.

(Step S6) Detection by proximity sensor When operating I25, the proximity sensor 28 detects the distance d between the object X and the proximity sensor 28 as in step S1. Similarly to step S1, data of the detected distance d is stored in the detected distance storage unit 35a.

(Step S7) d = d ₂ ?
I. The distance for re-stopping I25 (re-stop distance) is d ₂ as shown in FIGS. 4 (b) and 5 (c). This distance d ₂ is stored in advance in the restart distance storage unit 35c. In order to prevent a collision, the re-stop distance d ₂ is shorter than the stop distance d ₁ (d ₂ <d ₁ ). From the detected distance storage unit 35a, it reads the data of the distance d between the object X and the proximity sensor 28, from the re-stopping distance storage unit 35c, reads the data of the re-stop distance d _2, both data second subtraction circuit To 39. Before the stop, d> d ₂ as shown in FIG. 4B. Therefore, if the value (d−d ₂ )> 0 subtracted by the second subtraction circuit 39, the process returns to step S6 to return the value ( Steps S6 and S7 are repeated until d−d ₂ ) = 0, that is, until d = d ₂ . if the d = d _2, the process proceeds to step S8.

If (step S8) Re stop d = d _2, the distance d ₁ between the proximity sensor 28 to the object X in the stopped state in step S3, that is, until the shorter than the stopping distance d ₁ again stop distance d ₂ I. Assuming that I25 was as close as possible, I.I. Stop the operation of I25 again. Specifically, as shown in FIG. 5C, the controller 34 outputs a re-stop signal S ₃ and sends it to the imaging system control unit 32. The imaging system control unit 32 receives the re-stop signal S ₃ and receives the I.I. So that I25 is stopped again. The drive of I25 is controlled.

  According to the apparatus of this embodiment configured as described above, the proximity sensor 28 is a movable part. When the object X is detected in the vicinity of I25, I.I. The operation of I25 is stopped, and after the stoppage, I.I. When an input for performing the operation of I25 is performed, I.I. In order to enable the operation of I25 in any direction, the imaging system control unit 32 sets the I.D. The drive of I25 is controlled. Thus, the I.D. The re-operation of I25, that is, the return operation can be performed if the above-described input is present. Therefore, if there is an input for the return operation, I.D. By enabling the operation of I25 in any direction, the degree of freedom of movement of the device in the return operation can be increased.

In addition, in the direction in which the object X is approached after the stop described above, I.D. When performing an input to operate the I25 is, I. in stopping distance d again stop distance d ₂ less than ₁ between the object X and the proximity sensor 28 in its stopped state I25 is controlled to move and stop in the approaching direction described above. By controlling in this manner, I. until re stopping distance d ₂ Imaging can be performed by bringing I25 closer and as close as possible. As a result, a better diagnostic X-ray image can be obtained.

  The present invention is not limited to the above-described embodiment, and can be modified as follows.

  (1) In the above-described embodiment, the X-ray diagnostic apparatus that performs imaging by driving the C-type arm has been described as an example. However, in the present invention, the drive mechanism other than the C-type arm is an X-ray tube or I.D. The present invention may be applied to an X-ray diagnostic apparatus that supports and moves I.

  (2) In the above-described embodiment, the X-ray diagnostic apparatus has been described as an example. You may apply to the apparatus which detects. Thus, I.I. The present invention can be applied to any medical diagnostic apparatus that obtains a diagnostic radiation image by moving a movable part represented by I25 and the like to detect radiation.

  (3) In the above-described embodiments, the proximity sensor is a capacitance type. However, when the object is a metal or a conductor, an induction type may be adopted, or when the object is a magnetic substance. May adopt a magnetic format. In addition, a photoelectric proximity sensor using light as a detection medium, an ultrasonic proximity sensor using sound as a detection medium, a radiation proximity sensor using radiation as a detection medium, a thermal energy detection medium, Any proximity sensor that detects the presence of an object in a non-contact manner, such as a temperature proximity sensor, is not particularly limited.

  (4) In the above-described embodiment, the I.D. I had a proximity sensor on the side of I. It may be provided on the I detection surface. Since the proximity sensor according to the embodiment includes the transmission electrode and the reception electrode, the proximity sensor may be provided in the effective detection area if the thin electrode does not interfere with detection of radiation such as X-rays. Of course, a proximity sensor may be provided in a region (end portion) other than the effective region of the detection surface.

  (5) In the above-described embodiment, the I.D. I is equipped with a proximity sensor. However, if it is a movable part such as an X-ray tube, a base part, a C-type arm support part, a C-type arm 23, etc. The installation location is not particularly limited. In addition, I.I. Proximity sensors may be provided in a plurality of movable parts, for example, both I and the X-ray tube may be provided with proximity sensors.

  (6) In the above-described embodiment, the controller 34 that performs overall control and the imaging system control unit 32 that exclusively controls the motion of the imaging system main body 2 are divided into one.

(7) In the above-described embodiment, the restart distance d ₂ is a constant, and the restart distance d ₂ is stored in advance in the restart distance storage unit 35c. However, the restart distance d ₂ needs to be a constant. Alternatively, the re-stop distance d ₂ may be stored in the re-stop distance storage unit 35c each time the stop is performed.

For example, if d ₂ > d ₃ > d ₄ ... And stopped in step S3, the stop distance d ₂ is input from the input unit 36 in step S4, stored in the stop distance storage unit 35c, and restarted in step S8. Then, d ₃ is input from the input unit 36, and this is stored in the re-stop distance storage unit 35c as the re-stop distance d ₃ . Similarly, when re-stop is performed at the second stop distance d ₃ , d ₄ is input from the input unit 36 and stored in the stop distance storage unit 35 c as the stop distance d ₄ . Hereinafter, the same may be repeated.

Further, for example, d ₁ , d ₂ , d ₃ ,... Are multiplied by a coefficient α satisfying 0 <α <1, and d ₂ = α × d ₁ , d ₃ = α × d ₂ , d ₄ = α × d. Assume that the relationship of ₃ , ... is satisfied. At this time, d ₁ > d ₂ > d ₃ > d ₄ . If the stop operation is input from the input unit 36 in step S3 and the return operation is input in step S4, the stop distance d ₁ is multiplied by the coefficient α to obtain the stop distance d ₂ and stored in the stop distance storage unit 35c. If the operation is stopped again at step S8, and there is an input regarding the return operation from the input unit 36, the re-stop distance d ₃ is obtained by multiplying the re-stop distance d ₂ by the coefficient α and stored in the re-stop distance storage unit 35c. Similarly, assuming that the value obtained by multiplying the restart distance in order by the coefficient α every time the restart is stopped in step S8 is the next restart distance, even if the multiplication of the coefficient α is repeated (N−1) times, that is, Even if (N-1) times of approaching operations are repeated, the obtained value d _N satisfies d _N > 0. Therefore, even if the approaching operation is repeated, the approaching operation can be continued without causing the movable part and the object to collide.

  In addition, it is not limited to the two methods described above, and the method for determining the re-stop distance may be shorter than the stop distance.

  (8) In the above-described embodiment, when the operation (return operation) of the movable part after the stop is performed again, the stop is performed again using the same proximity sensor as before the stop, but the present invention is not limited to this. For example, when the return operation is performed, the stop may be performed again using a contact sensor.

It is the front view which showed schematic structure of the X-ray diagnostic apparatus which concerns on an Example. It is a block diagram of the image processing system in an Example apparatus. It is the schematic of the proximity sensor provided in the image intensifier (II) of the Example apparatus. (A), (b) is explanatory drawing typically demonstrated about the distance of a target object and a proximity sensor when a proximity sensor moves. (A)-(c) is explanatory drawing which demonstrated typically each signal which a controller and an imaging system control part transmit / receive. It is the flowchart which showed the flow of a series of control about the drive of the image intensifier (II) of a present Example.

Explanation of symbols

25 ... Image Intensifier (I.I)
28 ... Proximity sensor 32 ... Imaging system control unit d ... Distance d ₁ ... Stop distance d ₂ ... Re-stop distance M ... Subject X ... Object

Claims (2)

  It is a medical diagnostic device that obtains diagnostic radiation images by moving the movable part and detecting radiation. The proximity sensor that detects the presence of an object in a non-contact manner on this movable part and the drive of the movable part are controlled. Drive control means, and when the proximity sensor detects an object in the vicinity of the movable part, the operation of the movable part is stopped, and when the input for performing the operation of the movable part is performed after the stop, the movable part The medical control apparatus is characterized in that the drive control means controls the drive of the movable part so as to enable the movement in any direction. 2. The medical diagnostic apparatus according to claim 1, wherein when an input for operating the movable part in a direction in which the target object approaches after the stop is performed, the distance is shorter than a distance between the target object and the proximity sensor in the stopped state. The medical diagnostic apparatus characterized in that the drive control means controls the drive of the movable part so that the movable part is moved in the approaching direction at a distance and stopped.

Images