JP2009233252A - Radiography apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a radiography apparatus capable of changing the position and direction of a radiation source and a radiation detecting means according to the position and posture of a subject such as a patient. <P>SOLUTION: The radiography apparatus comprises a cart which can move and run, and a detector holding mechanism. The cart comprises a means for setting the target position and direction of the cart inside a radiation room, a cart running means for moving the cart to the set target position and in the target direction, a power source for operating the cart running means, a cart self-propelled running control means, and a cart position detecting means for detecting the position and direction of the cart. The detector holding mechanism comprises a means for setting the target position and direction of a detector for detecting radiation penetrating the subject, a detector free holding arm for moving the detector to the set target position and in the target direction, a power source for operating the arm, a detector movement control means, and a detector relative position detecting means for detecting the position of the detector determined by the arm relative to the cart. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a radiation imaging apparatus that can reduce the burden on a subject, and in particular, the position and orientation of a detector that detects radiation transmitted through a subject can be changed to change the posture and position of the subject. The present invention relates to a radiation imaging apparatus capable of imaging a subject at an arbitrary plurality of positions and orientations.

Conventionally, radiation (X-rays, α-rays, β-rays, γ-rays, electron beams, ultraviolet rays, etc.) transmitted through the subject is directly or indirectly used for taking medical diagnostic images and industrial nondestructive inspections. Radiation detection means such as a radiation image detector or a radiation image detection medium that captures a radiation image by taking it out as an electrical signal is used.
As a radiographic image detection medium that indirectly extracts radiation as an electrical signal, once the energy of the radiation that has passed through the subject is accumulated, it is irradiated with excitation light to generate fluorescence, and the generated fluorescence is extracted as an electrical signal. Thus, there is a medium called a phosphor sheet for taking a radiographic image.

On the other hand, as a radiation image detector that directly extracts radiation as an electrical signal, a radiation solid state detector that extracts radiation as an electrical image signal (hereinafter referred to as a flat panel detector “Flat Panel Detector”, also simply referred to as FPD) There are X-ray image tubes that extract radiation images as visible images.
The FPD collects, for example, electron-hole pairs (e-h pairs) emitted from a photoconductive film such as amorphous selenium upon incidence of radiation and reads them out as electric signals. And a phosphor layer (scintillator layer) formed of a phosphor that emits light (fluorescence) upon incidence of radiation. The phosphor layer converts radiation into visible light, and converts the visible light into There are two methods, namely, an indirect method of converting radiation into an electric signal as visible light, which is read by a photoelectric conversion element.

Conventionally, a radiation imaging apparatus that includes a radiation source and the radiation detection means as described above, and that captures a radiation image of the subject by passing the subject through the subject and detecting the radiation by the radiation detection means. It was fixedly installed in the radiation chamber, and the movable range and direction of the radiation detection means were restricted. (See Patent Documents 1 and 2).
For example, if you want to shoot from the whole circumference of the torso without moving a standing patient, the radiation imaging device using the arm called C-arm has a limited operating range of the arm, and is limited by its operating range. There was a problem that some parts of the body, such as the chest, could not be photographed. Further, in a general radiography apparatus, the radiation source can be freely moved as in the case of traveling on the ceiling, but the detector does not move in the circumferential direction, so there is a problem that there is a part that cannot be imaged.

For example, as shown in FIG. 5, the radiation imaging apparatus disclosed in Patent Document 1 includes a round-trip radiation imaging apparatus 300 and an information management apparatus 400 provided in a management room.
The round imaging radiography apparatus 300 includes an operation panel 322, a round trip display monitor (round trip side image display means) 324, and a cart 320 on which a round trip radio antenna 326 is mounted, and a column 312 standing on the front side of the cart 320. And a horizontal arm 314 rotatably provided around the vertical axis of the column 312, a radiation tube (radiation source) 310 attached to the horizontal arm 314, and a subject (patient) H The information management apparatus 400 includes a management-side display monitor 410 and a management-side wireless antenna 412. The flat panel radiation detector 316 detects radiation emitted from the radiation tube 310.

When the carriage 320 is moved, the horizontal arm 314 is directed backward to have a compact posture overlapping the carriage 320, and the radiation tube 310 can be easily moved above the subject H during radiography. .
With this configuration, the image data radiographed by the roundabout radiography apparatus 300 is received by the management-side wireless antenna 412 of the information management apparatus 400, displayed on the management-side display monitor 410, and the imaging completion information “OK” is displayed from the operation panel. ”Or re-imaging command information“ re-imaging ”, and wirelessly transmits the information to the rounding radiography apparatus 300, and the rounding radiography apparatus 300 transmits the imaging completion information“ OK ”or the re-imaging command information“ Processing is performed based on “re-photographing”. As a result, the radiographic work by rounds can be performed efficiently and the burden on the examiner and the doctor in charge can be reduced.

  In addition, as shown in FIG. 6, the radiation imaging apparatus described in Patent Document 2 includes a top plate 510 on which a subject is placed, a radiation generation unit 520 that irradiates the subject with radiation, and the radiation generation unit 520. A first arm 522 that supports the first arm 522 and a support column 540 that supports the first arm 522, and a support column moving mechanism that enables the support column 540 to move in the longitudinal direction of the top plate 510 independently of the radiation generation unit 520. . By making the support column 540 movable in the longitudinal direction of the top plate 510 independently of the radiation generator 520, only the support column 540 is maintained while maintaining the position of the radiation generator 520 relative to the subject in accordance with the convenience of the operation. It can be moved in the top plate longitudinal direction. Accordingly, it is possible to secure a standing position of a person and an arrangement space for various devices around the subject with a high degree of freedom. In the figure, reference numeral 512 denotes a leg portion, 530 denotes a radiation detection portion, 532 denotes a second arm, and 544 denotes a radiation generating portion slider. Reference numeral 560 denotes a first operation switch for instructing the entire drive. Reference numeral 550 denotes a second operation switch for instructing movement of the column. Reference numeral 542 is a third operation switch for moving the radiation source. Is a switch for instructing movement of the radiation generation unit 520 and the radiation detection unit 530.

Japanese Patent Laid-Open No. 2007-176 JP 2007-313254 A

  In Patent Document 1 described above, the radiographic work can be efficiently performed and the burden on the examiner and the doctor in charge can be reduced. In Patent Document 2, a person's standing position and the arrangement space for various devices around the subject. However, in Patent Document 1, the positions of the radiation generating means and the radiation detecting means are fixed, and in Patent Document 2, the radiation generating means and the radiation detecting means are the subject. However, the imaging range is limited by the movable range of the arm and the radiation detection means, and the radiation detection means is not rotatable in the peripheral direction of the subject. There was a problem that a part that could not be produced. For example, normally, the subject (patient) can only move a little in the vertical direction in the case of standing-up imaging and in the body axis direction in the case of lying-up imaging, and the position and direction of the radiation detection means can be freely changed. Therefore, there is a problem that only a predetermined position / direction of a cross section can be taken with respect to the subject (patient).

  When the subject (patient) cannot move the foot to a desired position in the imaging range due to the mechanism of the radiography apparatus, for example, when taking a foot in accordance with the movable range and orientation of the radiation detection means in the radiography apparatus For example, it is necessary to change the position and posture of the body by lifting the patient or tilting the body, so that not only the operator (engineer) cannot work smoothly but also the subject (patient). It is very cumbersome and may be particularly painful for a subject (patient) with a disability.

  The object of the present invention is to solve the above-mentioned problem, and the subject (patient) does not change the position and posture of the body in accordance with the movable range and orientation of the radiation detection means in the radiation imaging apparatus. The position and orientation of the radiation source and radiation detection means in the radiation imaging device can be changed according to the patient's position and posture, such as being able to take images from the entire circumference of the patient's torso without moving the patient in a standing position. It is providing the radiography apparatus which can be performed.

  In order to achieve the above object, the present invention is a radiographic apparatus having a cart that can travel and a detector holding mechanism that is provided in the cart and that detects a detector that detects radiation transmitted through a subject. The carriage includes a carriage target position setting means for setting a target position and direction of the carriage in a radiation room, and a carriage traveling means for moving the carriage to the target position and the direction set by the carriage target position setting means. , A power source for operating the carriage traveling means and a carriage self-running control means, and a carriage position detection means for detecting the position and orientation of the carriage in the radiation chamber, the detector holding mechanism, Detector target position setting means for setting the target position and orientation of the detector, and the target position set by the detector target position setting means And a detector-free holding arm that moves the detector in the direction, a power source and detector movement control means for operating the detector-free holding arm, and a position relative to the carriage determined by the detector free-holding arm. A radiation imaging apparatus including a detector relative position detection unit is provided.

Here, the target position and orientation of the carriage are represented by an X coordinate, a Y coordinate, and a Z _θ coordinate (rotation on the XY plane) when the floor surface is an XY plane. Is preferably represented by a Z coordinate, an _Xθ coordinate (rotation on the YZ plane), and a _Yθ coordinate (rotation on the ZX plane).

  According to the present invention, the subject (patient) does not change the position and posture of the body in accordance with the movable range and orientation of the radiation detection means in the radiation imaging apparatus, but instead of the radiation source and radiation detection means in the radiation imaging apparatus. Since the position and orientation are changed in accordance with the position and posture of the patient, the radiation imaging apparatus can obtain radiographic image data from any of a plurality of directions without placing an extra burden on the subject (patient). Can be realized.

Hereinafter, embodiments of a radiation imaging apparatus according to the present invention will be described in detail with reference to the drawings.
The present invention relates to a configuration of a cart and a detector mounted on the cart among radiation imaging devices.

  FIG. 1 and FIG. 2 are views for explaining an embodiment of a cart of a radiation imaging apparatus and a detector mounted on the cart according to the present invention, and FIG. 1 shows a detector on the cart in the case of standing position imaging. The basic state is shown, and FIG. 2 shows the basic state of the detector on the carriage in the case of lying-down photography.

  1 and 2, 10 is a carriage, 10a is a wheel, 12 is an apparatus body, 14 is a battery charging means, 16a is a first telescopic column, 16b is a second telescopic column, 18a is a first rotating joint, and 18b is a first rotating joint. 2 rotation joints, 20 is a detector, 22 is a detector relative position detecting means, 24 is a detector panel attaching / detaching handle, 26 is a cart tilt detecting means, and 28 is an obstacle detecting means.

  In FIG. 1, (a) is a front view, (b) is a side view, (c) is a first telescopic column 16a, a second telescopic column 16b, a first rotary joint 18a, and a second rotary joint 18b. FIG. 2 is a side view in a different state, in which FIG. 2 (a) is a front view and FIG. 2 (b) is a side view.

  The wheel 10a of the carriage 10 may be any known means as long as it is not fixed to the floor and can be freely moved without being restricted by a moving position such as a rail. A configuration used for a robot or the like is conceivable. It is necessary to provide a lock mechanism that fixes the position of the carriage so that it does not move during shooting.

When the floor surface is an XY plane, the carriage 10 can move to any coordinate position represented by the X, Y, and Z _θ coordinates (rotation on the XY plane) shown in FIG. is there.

  The carriage position detection means (not shown) is attached to the carriage and detects the position of the carriage. A reference mark is attached to the floor or the standing position of the patient, and this reference mark is used as a reference position. The distance from the wall to the carriage is obtained by integrating with an acceleration sensor or the like, or the distance from the wall to the carriage is measured with a laser rangefinder and calculated from the measurement results at a plurality of points.

The position of the carriage detected by the carriage position detecting means (not shown) is the X coordinate, Y coordinate, Z _θ coordinate (on the XY plane) shown in FIG. 3A when the floor surface is the XY plane. (Rotation) coordinate position.

As the detector 20, any known detection means may be used as long as it can detect radiation. For example, a conventional film / developer film / screen (F / S) method (using a cassette with a film sandwiched between two screens), phosphor, photostimulable phosphor, storage Any of a fluorescent substance sheet called IP (imaging plate) using a fluorescent substance, an in-IP reading unit, and a radiation solid state detector (FPD (Flat Panel Detector)) may be used.
The radiation solid state detector used in the present invention is a normal radiation detector used in a radiographic imaging apparatus, and is a so-called FPD (Flat Panel Detector), which is a photoconductive material such as amorphous selenium. A so-called direct type FPD that collects electron-hole pairs (e-h pairs) emitted from the photoconductive film by incidence of radiation and reads them as electrical signals by the TFT using a film and TFT (Thin Film Transistor), etc. In addition, a scintillator layer formed of a phosphor that emits light (fluorescence) such as “CsI: Tl”, a photodiode, a TFT, etc. is used, and the light emitted from the scintillator layer by the incidence of radiation is photoelectrically converted by the photodiode. Thus, any of so-called indirect FPDs that are read out as electrical signals by TFTs may be used. The direct FPD is particularly preferable in that the effects of the present invention can be suitably exhibited.

  The first telescopic strut 16a and the second telescopic strut 16b, which are telescopic struts, and the first rotary joint 18a and the second rotary joint 18b, which are rotatable joints, can change and hold the detector 20 at an arbitrary position. A detector-free holding arm having multiple possible degrees of freedom is constructed. The configuration of the detector free holding arm shown in FIGS. 1 and 2 is merely an example, and may have any configuration as long as it has a similar function.

The detector 20 has a Z coordinate, an X _θ coordinate (rotation on the YZ plane), and a Y _θ coordinate (on the ZX plane) shown in FIG. It is possible to move to an arbitrary coordinate position represented by

The relative position of the detector 20 with respect to the carriage detected by the detector relative position detecting means 22 is the Z coordinate, _Xθ coordinate (on the YZ plane) shown in FIG. 3B when the floor surface is the XY plane. Rotation), Y _θ coordinates (rotation on the ZX plane).

Therefore, the degree of freedom of movement of the detector on the carriage is the degree of freedom of movement of the three axes of the carriage in the X direction, Y direction, and Z _θ direction (rotation on the XY plane), and the Z direction and X _θ direction ( rotation of the YZ plane), the combined freedom of movement of the three axes of detectors Y _theta direction (rotation on the ZX plane), there is freedom of movement of the six axes.

  The cart inclination detecting means 26 is a means for detecting the inclination of the cart 10, and a commercially available inclination sensor or the like can be used. For example, even if the floor itself is inclined, or even if the floor is horizontal, the wheel may fall into a groove in the floor or the cable provided on the floor may be stepped on. If detected, the detector position shift is corrected based on the detected direction and amount of tilt. In this correction, the detector coordinates are automatically corrected directly by the detector free holding arm (for example, in the above example, the first extending / lowering support 16a, the second extending / lowering support 16b, the first rotating joint 18a, and the second rotating joint 18b). Alternatively, the height of the carriage 10 itself may be adjusted by jacking up and corrected horizontally.

  The obstacle detection means 28 is preferably provided at the four corners of the carriage as shown in FIGS. 1 and 2, and measures the distance to the object in the traveling direction with a laser range finder or ultrasonic range finder, etc. If the distance is equal to or less than a certain value, the vehicle is determined to be an obstacle. When the distance is determined to be an obstacle, traveling of the carriage is stopped. In addition to stopping, a warning sound may be issued by a speaker (not shown) or a warning message may be displayed on the operation panel / monitor means or the like to approach the obstacle.

  The battery charging means 14 is mainly for charging a battery built in the apparatus main body 12 serving as a power source for traveling of the carriage with external power. The operating power may be supplied from the battery to the control electric circuit (corresponding to each control unit and each control means shown in the control block diagram of FIG. 4) in the apparatus main body 12. The battery may be built in the apparatus main body 12 or may be externally connected. When external power is directly supplied to the apparatus main body 12 using a cord, the battery charging means 14 is not necessary.

  The radiation source (not shown) is a movable ceiling type, and this radiation source is combined with the detector configuration mounted on the carriage described above, and the radiation source and detector are moved in the body axis direction and peripheral direction of the subject (patient). By photographing while performing radiography, it is possible to perform radiography in an arbitrary direction with respect to the subject (patient).

The above configuration is a basic configuration example of the radiation imaging apparatus according to the present invention.
Further, in the above-described configuration, each of the radiation source (not shown), the detector 20, and the carriage 10 is provided with wireless communication means capable of transmitting and receiving signals to each other, and can be operated in cooperation by communicating with each other. .

  FIG. 4 is a control block configuration diagram of the radiation imaging apparatus according to the present invention, which is roughly composed of a radiation source control block, a detector control block, and a carriage control block. Each control block shown in FIG. 4 is not necessarily clearly shown in FIGS. 1 and 2, but basically, a control circuit (not shown) and a control program which are mainly built in the apparatus main body 12, and FIGS. This is realized by the configuration of 2.

  The radiation source control block includes a radiation source control unit 210, a radiation source communication unit 212, and a radiation source movement control unit 214.

  The detector control block includes a detector control unit 220, detector target position setting means 222, detector relative position detection means 224, operation panel / monitor means 226, detector movement control means 228, and detector communication means 230.

  The control block of the carriage includes a carriage control unit 240, a carriage target position setting means 242, a carriage position detection means 244, a carriage inclination detection means 246, an obstacle detection means 248, a carriage self-running control means 250, and a carriage communication means 252.

  The operation panel / monitor means 226 in FIG. 4 (not shown in FIGS. 1 and 2 also has a function as a target position setting means for the radiation source and detector) controls the radiation source and sets conditions on the panel side. Usually, it is provided in the operation room or radiation source side away from the radiation imaging apparatus, but by providing a similar function on the detector side, the operator ( The technician does not return to the operation room (information management device 400 side in FIG. 5) or the like during work, and the radiation conditions, the radiation positioning positions, and the imaging conditions (the target position of the carriage and the target position of the detector) on the spot. Etc.) will be set up quickly and easily.

  Although the operation panel / monitor means 226 is provided on the detector side in FIG. 4, it may be provided not on the detector side but on the cart side. Further, the function of the operation panel / monitor means 226 is provided in the detector or the cart, or instead of being provided in the detector or the cart, it is built in a remote controller (so-called remote controller) capable of wireless communication. You may make it perform said various function operation using.

The detector movement control means 228 in FIG. 4 uses the power from the power source (battery) to generate the first telescopic support column 16a, the first rotary joint 18a, the second rotary joint 18b, and the second extendable support column 16b in FIGS. The position and direction of the detector 20 are moved to predetermined positions of the Z coordinate, the X _θ coordinate (rotation on the YZ plane), and the Y _θ coordinate (rotation on the ZX plane) It is a means to control.

The bogie self-running control means 250 in FIG. 4 controls movement of the position and direction of the bogie to desired positions of the X coordinate, the Y coordinate, and the Z _θ coordinate (rotation on the XY plane) by electric power from the power source (battery). It is means to do.

  As described above, the cart position detecting means 244 in FIG. 4 is for detecting the position of the cart. The reference mark attached to the floor or the standing position of the patient is used as the reference position, and the distance from the reference mark to the cart is accelerated. It is calculated by integrating with a sensor or the like, or the distance from the wall to the carriage is measured with a laser rangefinder and calculated from the measurement results at a plurality of points.

  1 and 2, the communication means capable of wireless transmission / reception is not shown. However, as shown in the control block diagram of FIG. 4, wireless communication means are provided for each of the radiation source and the detector. Thus, it is also possible to make signals and data communicate with each other and to operate both in conjunction.

(A) Communicating between the radiation source and the detector to acquire the other party's position information, and based on the acquired position information, the two are linked to automatically move each position to an appropriate position. You may do it. The self-propelled carriage having the degree of freedom in the X direction, the Y direction, and the Z _θ direction (rotation on the XY plane) and the Z direction, the X _θ direction (rotation on the YZ plane), the Y _θ direction (on the ZX plane) A detector holding mechanism with a degree of freedom in rotation may be used, but the carriage is made non-self-propelled, and the detector free holding arm is made of a joint mechanism or a guide rail (X direction, Y direction, Z direction) , (X direction, Y direction, Z _θ direction) may have a detector positioning mechanism (detector moving unit) having a degree of freedom. In that case, the detector relative position detection means detects the position coordinates in these directions.

  The position information of the radiation source and detector may be acquired by a known potentiometer, rotary encoder, linear encoder, etc. If the accuracy is improved, it may be acquired by GPS (Global Positioning System). It is done.

(B) After moving the radiation source and the detector to the initial positions in advance, they may be operated in conjunction with each other by a preset operation. A guide rail or the like may be used. Here, the initial position is a position designated by the menu, and the linkage between the two is not the mutual position detection as in (a) above, but each of them may be moved according to a predetermined operation pattern. Good.

(C) Image recognition means using a CCD (Charge Coupled Device) or the like is attached to each of the detector and the radiation source, and the image recognition means moves while recognizing each other's position. You may do it. The image recognition means can also acquire patient positioning information, and the positioning information can be used for optimal alignment control of the radiation source and the detector.

  In ordinary radiation imaging apparatuses such as Patent Documents 1 and 2, there are mechanical (structural) restrictions on the stand and table, and it is difficult to image a subject (patient) at an arbitrary position and direction. According to the radiation imaging apparatus of the present invention, since the detector can be given substantially six degrees of freedom of movement, imaging can be performed at any position and direction.

  In addition, for each subject (patient) that has been imaged once, the detector position / direction at the time of imaging, the position / direction of the carriage, etc. are stored (registered) in the storage device, and the image is taken again after a second visit. By reading out the position / direction of the detector of the subject (patient) from the storage device and setting it as the detector target position and the cart target position, the amount of alignment work can be greatly reduced. This technique seems to be particularly effective for a subject (patient) who must take a picture at a difficult position. It is also possible to automatically align the radiation source to the optimum position in conjunction with the position and direction of the detector.

The radiographic apparatus according to the present invention is also advantageous for long imaging.
That is, in the case of a normal standing stand, it is possible to shoot a plurality of times while changing the height, for example, by using a long cassette for CR (Computed Radiography) for 3 sheets. In the case of DR (Digital Radiography), shooting is performed three times while moving. In the case of supine position shooting, it is only necessary to be able to shoot three times while moving, but this is not possible because a normal bed has only one stroke, which is large (moving three times while moving) It would be nice if there was a bed, but not realistic). However, since the position and direction of the detector can be freely changed as described above when the radiation imaging apparatus according to the present invention is used, the present invention can also be applied to conventional CR and DR.

  The radiographic apparatus according to the present invention can also be applied to tomosynthesis. Tomosynthesis is a digital tomography function that utilizes an FPD (Flat Panel Detector), which easily reconstructs an arbitrary section from an image obtained by one continuous radiography. Since the tomographic image of the subject can be obtained, the restraint time of the subject can be shortened, but the radiation imaging apparatus of the present invention can arbitrarily change the position and direction of the detector, so that the tomosynthesis is also possible. It is valid.

  Furthermore, when the radiation imaging apparatus according to the present invention is used, imaging similar to CT (Computed Tomography) and CBCT (Conebeam Computed Tomography) can be performed.

  CBCT (Conebeam Computed Tomography) basically reconstructs images by photographing a plurality of images in the same manner as in tomosynthesis. In CBCT (Conebeam Computed Tomography), as with CT, a radiation source and a detector are usually integrated by a C-arm, and a plurality of images are rotated and reconstructed. However, in the case of a general imaging stand, since there is no mechanism for rotating the radiation source and the detector, imaging such as CBCT cannot be performed. However, when the radiation imaging apparatus of the present invention is used, since the positions and directions of the radiation source and the detector can be arbitrarily changed as described above, imaging similar to CBCT can be performed.

  The cart and the detector-free holding arm according to the present invention are useful because they can be used even when there is no power source if they can be operated manually.

(A), (b) and (c) are the front view, side view, and side view of a different use state which respectively show the apparatus structure of one Embodiment of the radiography apparatus which concerns on this invention. (A) And (b) is the front view and side view which respectively show the different use condition of the radiography apparatus shown in FIG. It is explanatory drawing for demonstrating the coordinate for showing the position of the trolley | bogie of the radiography apparatus shown in FIG. 1, and a detector. It is a block block diagram of the radiography apparatus shown in FIG. It is a schematic diagram for demonstrating the conventional radiography apparatus. It is a perspective view for demonstrating the other conventional radiography apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Bogie 10a Wheel 12 Apparatus main body 14 Battery charging means 16a 1st expansion-contraction support | pillar 16b 2nd expansion-contraction support | pillar 18a 1st rotation joint 18b 2nd rotation joint 20 Detector 22 Detector relative position detection means 24 Detector panel attachment / detachment handle 26 Truck inclination detection means 28 Obstacle detection means 210 Radiation source control section 212 Radiation source communication means 214 Radiation source movement control means 220 Detector control section 222 Detector target position setting means 224 Detector relative position detection means 226 Operation panel monitor means 228 Detector movement control means 230 Detector Communication means 240 Dolly control unit 242 Dolly target position setting means 244 Dolly position detection means 246 Dolly inclination detection means 248 Obstacle detection means 250 Dolly self-running control means 252 Dolly communication means 300 For round trip Ray imaging apparatus 310 radiation tube (radiation source)
312 support 314 horizontal arm 316 flat panel radiation detector 320 cart 322 operation panel 324 round side display monitor (round side image display means)
326 roundabout side radio antenna 400 information management device 410 management side display monitor 412 management side radio antenna 510 top plate 512 leg 520 radiation generation unit 522 first arm 530 radiation detection unit 532 second arm 540 support 542 third operation switch 544 radiation Generation unit slider 550 Second operation switch 560 First operation switch H Subject

Claims (2)

A cart capable of traveling,
A radiation imaging apparatus that includes a detector holding mechanism that holds a detector that detects radiation that has been transmitted through a subject and is provided in the carriage.
The cart is
Trolley target position setting means for setting a target position and orientation of the trolley in a radiation room;
Trolley travel means for moving the trolley to the target position and orientation set by the trolley target position setting means;
A power source for operating the carriage running means and a carriage self-running control means;
A carriage position detecting means for detecting the position and orientation of the carriage in the radiation chamber;
The detector holding mechanism is
Detector target position setting means for setting the target position and orientation of the detector;
A detector-free holding arm that moves the detector to the target position and the direction set by the detector target position setting means;
A power source and detector movement control means for operating the detector free holding arm;
A radiation imaging apparatus comprising detector relative position detection means for detecting a position relative to the carriage determined by the detector free holding arm. The target position and orientation of the carriage are represented by an X coordinate, a Y coordinate, and a Z _θ coordinate (rotation on the XY plane) when the floor surface is an XY plane. The target position and orientation of the detector is Z The radiation imaging apparatus according to claim 1, wherein the radiation imaging apparatus is represented by coordinates, X _θ coordinates (rotation on the YZ plane), and Y _θ coordinates (rotation on the ZX plane).

Images