JP2014023690A - Radiography control apparatus and radiography control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily position an X-ray irradiation section with respect to an X-ray detection sensor without increasing workload of radiography.SOLUTION: A radiography control apparatus controls the radiography using an X-ray irradiation section and an X-ray detection sensor for detecting the X ray applied from the X-ray irradiation section. The radiography control apparatus includes: retaining means that retains the X-ray irradiation section with a multi-joint arm; setup means that sets a direction or a distance of the X-ray irradiation section with respect to the X-ray detection sensor; and control means that controls the drive of the multi-joint arm to move the X-ray irradiation section while retaining the direction and the distance of the X-ray irradiation section set by the setup means.

Description

  The present invention relates to an X-ray imaging control apparatus and an X-ray imaging control method for controlling X-ray imaging using an X-ray irradiation unit and an X-ray detection sensor.

  In medical practice, X-ray imaging is often performed in an X-ray imaging room dedicated to X-ray imaging. In the X-ray imaging room, devices necessary for X-ray imaging such as an X-ray irradiation unit, an X-ray detection sensor, and a control PC for controlling X-ray imaging are arranged. In the X-ray imaging room, there are an overhead traveling type holding device, a floor traveling type holding device, a wall traveling type holding device, and the like as devices for holding the X-ray irradiation unit. In these, movement guides for moving the X-ray irradiation unit are arranged on the ceiling, floor, and wall, respectively, and the X-ray irradiation unit can be moved along the movement guide.

  The movement guide can move the X-ray irradiation unit in a linear direction along a preset orthogonal axis, and the holding mechanism fixes the X-ray irradiation unit at a predetermined position on the movement guide. I can do it. This fixing can be released by controlling a fixing release switch or the like. Patent Document 1 discloses a ceiling traveling mechanism that moves an X-ray irradiation unit along an orthogonal axis parallel to a detection surface of an X-ray detector.

JP2011-239915A

  However, in the conventional movement guide disclosed in Patent Document 1, the range in which the X-ray irradiation unit can be moved depends on the movement guide arranged in advance.

  Therefore, once the movement guide is arranged on the ceiling, floor, wall, etc., the X-ray irradiation unit can only move along the arranged movement guide, so an X-ray detection sensor or an X-ray detection sensor is incorporated. The imaging stand must be arranged within a movable range of the X-ray irradiation unit.

  The movement guide is limited to movement on a straight line or movement on an arc line, and since many devices necessary for imaging are arranged in the X-ray imaging room, an X-ray detection sensor and an X-ray detection sensor Limitation of the arrangement of the photographic stand with built-in becomes large. In particular, when there are a plurality of imaging tables, the plurality of imaging tables cannot be arranged within the movement range of one X-ray irradiation unit, and a plurality of X-ray irradiation units are often arranged. As a result, additional costs are incurred, resulting in an increase in the economic burden on the installer and obstruction of free layout in the X-ray imaging room.

  On the other hand, when X-ray imaging using a portable X-ray detection sensor is performed, the patient himself holds the X-ray detection sensor, and the X-ray irradiation unit is disposed at a position facing the X-ray detection sensor. Also in this case, similarly to the X-ray imaging using the imaging table described above, the movement range of the X-ray irradiation unit is limited by the arrangement of the movement guide and the like, and as a result, the patient position is limited.

  In particular, when taking an image while adjusting the X-ray incident angle of the X-ray irradiation unit while maintaining a certain distance from a predetermined position of the X-ray detection sensor, a new movement guide on an arc is introduced. The shooting work has become more complicated, such as the need for shooting.

  The present invention has been made in view of the above problems, and an object of the present invention is to facilitate alignment of an X-ray irradiation unit with respect to an X-ray detection sensor without increasing an X-ray imaging work load.

  The X-ray imaging control apparatus of the present invention has been made in view of the above problems, and uses an X-ray irradiation unit and an X-ray detection sensor that detects X-rays emitted from the X-ray irradiation unit. In an X-ray imaging control apparatus that controls X-ray imaging, a holding unit that holds the X-ray irradiation unit with an articulated arm, and a setting unit that sets the direction or distance of the X-ray irradiation unit with respect to the X-ray detection sensor; And control means for moving the X-ray irradiation unit while controlling the direction or distance of the X-ray irradiation unit set by the setting unit by controlling driving of the articulated arm. It is characterized by.

  According to the present invention, alignment of the X-ray irradiation unit with respect to the X-ray detection sensor can be facilitated without increasing the X-ray imaging work load.

It is a figure which shows the example of the layout of the X-ray imaging room where the X-ray imaging control apparatus is arrange | positioned. It is a figure which shows the function structure of an X-ray imaging control apparatus. It is a figure which shows the control flow of an X-ray imaging control apparatus. It is the figure which showed the example which moves an X-ray irradiation part, hold | maintaining the direction with respect to the sensor surface of an X-ray detection sensor. It is the figure which showed the example which moves an X-ray irradiation part, making constant the distance from the predetermined position of the sensor surface of an X-ray detection sensor. It is a figure which shows an example of the setting of the movement of the X-ray irradiation part using the portable X-ray detection sensor in 2nd embodiment. It is a figure which shows an example of the setting of the movement of the X-ray irradiation part using the portable X-ray detection sensor in 2nd embodiment.

(First embodiment)
FIG. 1 shows an example of the layout of an X-ray imaging room in which the X-ray imaging control apparatus according to this embodiment is arranged. The layout of the shooting room shown in FIG. 1 shows a view of the shooting room viewed from the direction from the ceiling to the floor.

  Reference numeral 100 denotes an X-ray imaging room 100 in which an X-ray imaging control apparatus having an X-ray irradiation unit in this embodiment, an X-ray detection sensor that detects X-rays transmitted through a subject and generates an X-ray imaging image, and the like. It is. Reference numeral 101 denotes a patient changing room outside the X-ray imaging room 100.

  Reference numeral 121 denotes a standing radiograph 121 that is for standing radiography and incorporates an X-ray detection sensor (not shown). When performing X-ray imaging using the standing imaging platform 121, the subject stands in front of the standing imaging platform 121, irradiates the subject with X-rays, and performs X-ray imaging.

  Reference numeral 122 denotes a supine position imaging table 122 that is used for supine position imaging and incorporates an X-ray detection sensor. When performing X-ray imaging using the supine imaging stand 122, the subject lies on the supine imaging stand 122, performs X-ray irradiation on the subject, and performs X-ray imaging.

  The X-ray imaging room 100 is provided with two imaging tables, a standing imaging table 121 and a supine imaging table 122. In the present embodiment, it is assumed that the orientations of the sensor surfaces of the X-ray detection sensors built in the standing position imaging table 121 and the lying position imaging table 122 are different.

  Reference numeral 111 denotes an X-ray irradiation unit 111 that irradiates a subject (patient) with X-rays for X-ray imaging. The X-ray irradiation unit performs X-ray irradiation in response to an external X-ray irradiation instruction signal.

  An X-ray collimator 112 is attached to the X-ray irradiation unit 111.

  Reference numeral 114 denotes an X-ray irradiation unit support arm 114 that functions as a holding unit for holding the X-ray irradiation unit 111 at a predetermined position from the ceiling. The X-ray irradiation unit support arm 114 includes a multi-joint arm 115 that can adjust the position and orientation of the X-ray irradiation unit 111. The articulated arm 115 incorporates an expansion / contraction mechanism composed of a telescopic member, a posture changing mechanism composed of a rotating member, etc., and moves the X-ray irradiation unit 111 to an arbitrary position and posture by driving a drive motor. Or it can be fixed.

  The articulated arm in the present embodiment has a plurality of rotation axes and increases the degree of freedom in positioning the X-ray irradiation unit 111 that is the object to be held. As shown in FIG. 1, a wide degree of freedom can be ensured by having two rotating shafts in different rotational directions and extendable arm portions. It is also possible to secure a degree of freedom by a plurality of rotating shafts in different rotation directions without having an arm portion that can be expanded and contracted other than this mechanism. Any mechanism may be used as long as it increases the degree of freedom in positioning the X-ray irradiation unit 111.

  Reference numeral 130 denotes the expansion / contraction direction of the articulated arm 115, and 131 denotes the rotation direction of the articulated arm 115. Reference numeral 132 denotes the rotation direction of the X-ray irradiation unit 111.

  Reference numeral 113 denotes an X-ray support arm rotating shaft 113 arranged to fix the X-ray irradiation unit support arm 114 to the wall of the imaging room. Reference numeral 135 denotes a range in which the X-ray irradiation unit 111 can be moved by the articulated arm 115.

  102 controls the articulated arm 115, aligns the X-ray detection sensor and the X-ray irradiation unit 111, and controls the X-ray detection sensor and the X-ray irradiation unit 111 to perform X-ray imaging. It is the X-ray imaging control apparatus 102 which performs. A detailed functional configuration of the X-ray imaging control apparatus 102 will be described later.

  Reference numeral 120 denotes an X-ray console 120 for receiving an instruction from the user and transmitting a control signal to the X-ray imaging control apparatus 102 to perform X-ray imaging control. The control signal is transmitted to the X-ray imaging control apparatus 102 via wireless or a cable (not shown). The above is the overall configuration of the system having the X-ray imaging control apparatus 102 in the present embodiment.

  In the present embodiment, when X-ray imaging is performed, the X-ray detection sensor or the direction or distance of the X-ray irradiation unit 111 with respect to the imaging table incorporating the X-ray detection sensor is controlled. For example, when the orientation of the X-ray irradiation unit 111 with respect to the standing imaging stand 121 is maintained, the orientation of the X-ray irradiation unit 111 is set to be parallel to the orthogonal axis with respect to the X-ray detection surface of the standing imaging stand 121. Then, the movement of the X-ray irradiation unit 111 is limited only to the movement axis indicated by 133 by expanding and contracting the articulated arm 115.

  By performing this control, for example, long-time photography, tomography, etc. in which X-ray photography of each part of the subject is acquired and the respective X-ray photography images are combined to obtain a long X-ray photography image, This can be easily performed without arranging a movement guide for guiding the movement of the X-ray irradiation unit 111. Therefore, there is no need to limit the arrangement of the imaging table, preparation of a moving guide, and the like, and the degree of freedom of the position of the X-ray irradiation unit when performing X-ray imaging can be improved without increasing the workload of X-ray imaging. I can do it. When performing X-ray imaging, the articulated arm 115 may actively change the position and orientation of the X-ray irradiation unit 111 by an internal drive motor. Further, the position and orientation of the X-ray irradiation unit 111 are assumed to be in a state where the user can move manually, so that the orientation or distance of the X-ray irradiation unit 111 with respect to the imaging table is not changed. The arm 115 may be controlled. Note that when the movement limitation of the X-ray irradiation unit 111 by the articulated arm 115 is released, the user presses a setting release pressing unit arranged on the X-ray console 120 so that the X-ray imaging control apparatus The release means functions and can be released.

  Next, a functional configuration of the X-ray imaging control apparatus 102 in the present embodiment will be described.

(Configuration of X-ray imaging control device)
FIG. 2 is a diagram illustrating a functional configuration of the X-ray imaging control apparatus 102 according to the present embodiment. Hereinafter, each mechanism configuration will be described. Note that each configuration of the X-ray imaging control apparatus 102 in the present embodiment is replaced with a personal computer including a CPU (Central Processing Unit), a RAM (Random Access Memory) in which various control programs are stored, and the like. Is also possible. What if it can receive control signals and data signals from the X-ray console 120, perform various processes, and send control signals to the articulated arm 115, X-ray detection sensor, and X-ray irradiation unit 111? It may be a simple configuration.

  Reference numeral 201 denotes an input unit 201 that acquires a control signal or a data signal from the X-ray console 120. As control signals from the X-ray console 120, there are an imaging stand selection instruction signal used for X-ray imaging, an X-ray imaging start signal, an imaging type setting signal, an imaging condition setting signal, and the like.

  The data signal includes the tube voltage of the X-ray irradiator 111 when performing X-ray imaging, the value of the tube current, and the like. These control signals and data signals are acquired and various control processes are performed.

  Reference numeral 202 denotes an acquisition unit 202 that functions as a position and orientation acquisition unit that acquires the position and orientation of an X-ray detection sensor used for X-ray imaging. In this embodiment, since the articulated arm 115 is controlled based on the position and orientation of the X-ray detection sensor used for X-ray imaging, the position and orientation of the X-ray detection sensor are required.

  The position and orientation of the X-ray detection sensor are determined by comparing the imaging table ID and the imaging platform position and orientation stored in advance when the imaging platform used for X-ray imaging is selected by the control signal from the X-ray console 120. It can be obtained by referring to a look-up table showing correspondence.

  In addition, when the photographing stand has a storage means for storing its own position and orientation, an inquiry signal for inquiring the position and orientation to the photographing stand is transmitted, and a signal indicating the position and orientation is received from the subject photographing stand. By doing so, the position and orientation of the imaging platform used for X-ray imaging may be acquired. If the user knows the position and orientation of the imaging stand used for X-ray imaging in advance, a signal indicating the position and orientation of the imaging platform used for X-ray imaging may be input from the X-ray console 120. .

  A setting unit 203 sets the direction and distance of the X-ray irradiation unit 111 with respect to the X-ray detection sensor using the information acquired by the input unit 201 and the acquisition unit 202. The setting unit 203 determines the imaging type based on the imaging type setting signal input by the input unit 201, and sets the direction or distance of the X-ray irradiation unit 111 with respect to the X-ray detection sensor.

  For example, when the imaging type is long imaging, the direction of the X-ray irradiation unit 111 is fixed, and the X-ray irradiation unit 111 is moved in parallel to the imaging surface of the imaging table in which the X-ray detection sensor is built. X-ray imaging.

  Here, the direction of the X-ray irradiation unit 111 is a direction parallel to the orthogonal axis of the sensor surface of the imaging table. Further, when it is necessary to acquire a captured image of a specific direction of the subject, the direction of the X-ray irradiation unit 111 may be set so as to have a predetermined angle with respect to the orthogonal axis of the sensor surface of the imaging table. .

  On the other hand, when the imaging type is CT imaging for obtaining information on the internal three-dimensional structure of the subject, it is necessary to acquire a plurality of captured images from different directions and reconstruct the acquired plurality of captured images. . In this case, X-ray imaging is performed by moving the X-ray irradiation unit 111 so that the distance of the X-ray irradiation unit 111 from a predetermined position on the sensor surface of the imaging table is constant. That is, the movement trajectory of the X-ray irradiation unit 111 is an arc centered on a predetermined position on the sensor surface of the imaging stand.

  Reference numeral 204 denotes an arm control unit 204 that controls the driving of the articulated arm 115 based on the setting of the setting unit 203. The arm control unit 204 realizes the setting of the setting unit 203 by transmitting a drive signal to the drive motor in the articulated arm 115.

  Here, specific control for moving the position of the X-ray irradiation unit 111 while maintaining the orientation of the X-ray irradiation unit 111 will be described.

  FIG. 4 is a diagram illustrating an example of moving the X-ray irradiation unit while maintaining the orientation of the X-ray detection sensor with respect to the sensor surface. In FIG. 4, it is assumed that the X-ray support arm rotation shaft 113 of the articulated arm 115 is positioned in a direction perpendicular to the sensor surface of the standing position imaging stand 121.

  In order to perform the control shown in the figure, the X-ray support arm rotating shaft 113 is rotated and the X-ray irradiation unit 111 is moved. Since the X-ray irradiation unit 111 is moved in a circular arc only by the rotational movement, the articulated arm 115 is expanded and contracted according to the rotation angle. Specifically, when the direction of the articulated arm 115 is perpendicular to the sensor surface of the X-ray detection sensor, the articulated arm 115 is most contracted, and as the direction of the articulated arm 115 moves away from the vertical, The articulated arm 115 is extended. Quantitatively, the articulated arm 115 may be extended by the inverse cosine with respect to the rotation center of the articulated arm 115. During the movement, the joint between the articulated arm 115 and the X-ray irradiation unit 111 is driven so that the X-ray irradiation unit 111 always faces the sensor surface of the X-ray detection sensor. With the above control processing, the X-ray irradiation unit 111 shown in FIG. 4 can be moved. Since the position and orientation of the sensor surface of the X-ray detection sensor and the position of the X-ray irradiation unit 111 are acquired in advance, the control process can be controlled by the same process as that of a general robot arm. Is possible.

  FIG. 5 is a diagram illustrating an example of moving the X-ray irradiation unit while keeping the distance from a predetermined position on the sensor surface of the X-ray detection sensor constant. 5, it is assumed that the X-ray support arm rotation shaft 113 of the articulated arm 115 is positioned in a direction perpendicular to the sensor surface of the standing imaging stand 121 as in FIG. In the movement shown in FIG. 5 as well, the X-ray support arm rotating shaft 113 is rotated to move the X-ray irradiation unit 111. Similarly, only the rotational movement causes the X-ray irradiation unit 111 to move in a circular arc, so that the articulated arm 115 is expanded and contracted according to the rotation angle. In the movement control of FIG. 5, the amount of expansion / contraction of the articulated arm 115 is increased compared to the movement control of FIG. 4. By increasing the expansion / contraction amount by a predetermined value or more, the arc-shaped movement shown in FIG. 5 becomes possible.

  During the movement, the joint between the articulated arm 115 and the X-ray irradiation unit 111 is driven so that the X-ray irradiation unit 111 always faces a predetermined position on the sensor surface of the X-ray detection sensor. With the above control processing, the X-ray irradiation unit 111 shown in FIG. 5 can be moved. It is also possible to change the curvature of the arc by adjusting the amount of expansion / contraction of the articulated arm 115.

  In addition to the movement control described with reference to FIG. 4 or FIG. 5, the X-ray console 120 functions as a movement axis setting means for setting orthogonal movement axes including the XYZ axes shown in FIG. The movement of the line irradiation unit 111 may be limited on the orthogonal movement axis.

  In addition to the above-described functional configuration, the X-ray imaging control apparatus 102 transmits an imaging ready request signal to the X-ray detection sensor, transmits an X-ray irradiation signal to the X-ray irradiation unit 111, an X-ray detection sensor and an X-ray. Although it also has functions such as synchronization control with the irradiation unit 111, detailed description thereof is omitted.

(Control flow)
Next, a control flow of the X-ray imaging control apparatus 102 in the present embodiment will be described. Each process of the following control flow is performed by each component of the X-ray imaging control means 102 shown in FIG. In each step of the control flow below, a computer having the same function as each component of the X-ray imaging control unit 102 reads a computer program recorded on a computer-readable recording medium and performs various control processes. May be realized.

(Step 301) (Input step)
This step is an input process for acquiring a control signal or data signal from the X-ray console 120 by the input means 201. In this step, a selection instruction for selecting an imaging table used for X-ray imaging from a plurality of imaging tables, an imaging type setting instruction, and the like are input.

(Step 302) (Acquisition step)
This step is an acquisition step in which the acquisition unit 202 acquires the position and orientation of an X-ray detection sensor (selected imaging stand) used for X-ray imaging. The position and orientation of the X-ray detection sensor are acquired by acquiring information from the imaging table or by inputting data from the user.

(Step 303) (Setting step)
This step is a setting step in which the setting unit 203 sets the direction or distance of the X-ray irradiation unit 111 with respect to the X-ray detection sensor. When the imaging type setting input in step 301 is long imaging, the direction of the X-ray irradiation unit 111 with respect to the X-ray detection sensor is set to be constant. When the imaging type setting input in step 301 is long imaging, the distance of the X-ray irradiation unit 111 from a predetermined position on the sensor surface of the X-ray detection sensor is set to be constant.

(Step 304) (Arm control step)
This step is an arm control process in which the arm control unit 204 controls the driving of the articulated arm 115 based on the setting of the setting unit 203. By controlling the driving of the articulated arm 115 during X-ray imaging or X-ray imaging preparation, the X-ray is maintained while maintaining the direction or distance of the X-ray irradiation unit 111 with respect to the X-ray detection sensor. The irradiation unit 111 is moved. The specific mechanism control is as described for the arm control means 204 described above.

  The above is the control flow of the X-ray imaging control apparatus 102 in the present embodiment.

(Second embodiment)
In the first embodiment, control related to X-ray imaging using an imaging table in the X-ray imaging room 100 as an X-ray detection sensor has been described. In the present embodiment, an example in which a portable X-ray detection sensor is used as the X-ray detection sensor will be described.

  FIG. 6 is a diagram illustrating an example of setting of movement of the X-ray irradiation unit using the portable X-ray detection sensor according to the present embodiment.

  Reference numeral 150 denotes a portable X-ray detection sensor 150 in the present embodiment. The portable X-ray detection sensor 150 is an X-ray detection sensor having a size and weight that can be carried by a human hand, and can be used in various X-ray imaging scenes and is highly convenient.

  As shown in FIG. 6, for example, X-ray imaging of the patella 141 can be performed by the patient 140 holding the portable X-ray detection sensor 150 and irradiating the X-ray from the X-ray irradiation unit 111. The X-ray irradiation unit 111 is installed so that X-rays enter the knee joint from the foot direction as shown in FIG. When such X-ray imaging is performed, proper positioning of the X-ray irradiation unit 111 with respect to the X-ray detection sensor 150 may be difficult. This is because the portable X-ray detection sensor 150 is easy to carry, but its position and posture are not fixed, so that the position and posture may change due to body movement of the patient 140 and the like.

  In the present embodiment, since the position and orientation of the portable X-ray detection sensor 150 can be acquired as in the first embodiment, the X-ray detection is performed by the same control as in the first embodiment. The X-ray irradiation unit 111 can be appropriately positioned with respect to the X-ray detection sensor 150 while maintaining the orientation of the X-ray irradiation unit 111 with respect to the sensor 150. Note that this method is not limited to patella axial position imaging, but targets all imaging in which the position of the X-ray irradiation unit 111 is changed in accordance with the operator's intention.

  Next, another example of the X-ray irradiation unit using the portable X-ray detection sensor will be described.

  FIG. 7 is a diagram illustrating an example of setting of movement of the X-ray irradiation unit using the portable X-ray detection sensor in the present embodiment.

  When imaging the axial direction of the patella 141 of the patient 140, the X-ray irradiation unit 111 is installed so that X-rays enter the knee joint from the foot direction as shown in FIG. When setting the X-ray incident angle, it is necessary to change the X-ray incident angle according to the angle formed by the patella, the femur, and the tibia while keeping the distance from the X-tube focus to the X-ray detection sensor 150 constant. Even when the X-ray incident angle is set, there may be a problem that the position and posture of the portable X-ray detection sensor 150 change due to the body movement of the patient 140 described above.

  In the present embodiment, since the position and orientation of the portable X-ray detection sensor 150 can be acquired as in the first embodiment, the X-ray detection is performed by the same control as in the first embodiment. The X-ray irradiation unit 111 can be appropriately positioned with respect to the X-ray detection sensor 150 while maintaining the distance of the X-ray irradiation unit 111 from the sensor 150. In addition, since each structure and control flow of the X-ray imaging control apparatus 102 in this embodiment are the same as that of 1st embodiment, description is abbreviate | omitted.

Claims (23)

In an X-ray imaging control apparatus that controls X-ray imaging using an X-ray irradiation unit and an X-ray detection sensor that detects X-rays emitted from the X-ray irradiation unit,
Holding means for holding the X-ray irradiation unit with an articulated arm;
Setting means for setting the direction or distance of the X-ray irradiation unit with respect to the X-ray detection sensor;
Control means for moving the X-ray irradiation unit while maintaining the orientation or distance of the X-ray irradiation unit set by the setting unit by controlling the driving of the articulated arm. A characteristic X-ray imaging control apparatus. An imaging stand incorporating the X-ray detection sensor;
Obtaining means for obtaining the position of the imaging table;
The X-ray imaging control apparatus according to claim 1, wherein the setting unit sets an orientation or a distance of the X-ray irradiation unit with respect to the X-ray detection sensor based on the position acquired by the acquisition unit. . It further has a selection means for selecting a photographic stand used for photographing from a plurality of photographic stands,
The X-ray imaging control apparatus according to claim 2, wherein the acquisition unit acquires a position of the imaging table selected by the selection unit.   The X-ray imaging control apparatus according to claim 1, wherein the setting unit sets an orientation of the X-ray irradiation unit so as to be parallel to an orthogonal axis of a sensor surface of the X-ray detection sensor.   2. The X-ray according to claim 1, wherein the setting unit sets an orientation of the X-ray irradiation unit so as to have a predetermined angle with respect to an orthogonal axis of a sensor surface of the X-ray detection sensor. Shooting control device.   2. The X-ray according to claim 1, wherein the setting unit sets the position of the X-ray irradiation unit so that a distance from a predetermined position of a sensor surface of the X-ray detection sensor is constant. Shooting control device. A pressing part that the user can press;
The X-ray imaging control apparatus according to claim 1, further comprising: a canceling unit that cancels the setting by the setting unit in response to pressing of the pressing unit.   The said control means controls the said articulated arm so that the said X-ray irradiation part may move, hold | maintaining the direction or distance of the said X-ray irradiation part set by the said setting means. The X-ray imaging control apparatus according to 1.   The control unit is configured to hold the orientation or distance of the X-ray irradiation unit set by the setting unit in a state where the position of the X-ray irradiation unit can be moved by a user's manual operation. The X-ray imaging control apparatus according to claim 1, wherein: A moving axis setting means for setting an orthogonal moving axis in which the X-ray irradiator can move;
The X-ray imaging control apparatus according to claim 1, wherein the control unit controls the multi-joint arm so that the X-ray irradiation unit can move along the orthogonal movement axis. An imaging condition setting means for setting imaging conditions for the X-ray imaging;
The X-ray imaging control apparatus according to claim 1, wherein the setting unit sets an orientation or a distance of the X-ray irradiation unit with respect to the X-ray detection sensor based on the imaging conditions. When long imaging is set by the imaging condition setting unit, the setting unit moves the X-ray irradiation unit while maintaining the orientation of the X-ray irradiation unit with respect to the X-ray detection sensor,
When the tomography is set by the imaging condition setting unit, the setting unit moves the X-ray irradiation unit while maintaining a distance of the X-ray irradiation unit with respect to the X-ray detection sensor. The X-ray imaging control apparatus according to claim 11. A position and orientation acquisition means for acquiring the position and orientation of the X-ray detection sensor;
The said setting means sets the direction or distance of the said X-ray irradiation part with respect to the said X-ray detection sensor based on the said position and attitude | position acquired by the said position and orientation acquisition means. X-ray imaging control device. The articulated arm has a rotating member and a telescopic member,
The control means includes
When it is set by the setting means to hold the orientation of the X-ray irradiation unit,
Extending the expansion / contraction member by an arc cosine with respect to the rotation center of the articulated arm, and rotating the rotation member to make the direction of the X-ray irradiation unit perpendicular to the sensor surface of the X-ray detection sensor,
When it is set by the setting means to hold the distance of the X-ray irradiation unit from a predetermined position on the sensor surface of the X-ray detection sensor,
Extending the telescopic member to the intersection of a straight line from the rotation center of the articulated arm and a circle centered on the predetermined position, and rotating the rotary member to move the X-ray irradiation unit in the direction of the predetermined position The X-ray imaging control apparatus according to claim 1, wherein the X-ray imaging control apparatus is directed to the X-ray imaging control apparatus.   The X-ray imaging control apparatus according to claim 14, wherein the control unit changes a length of expansion / contraction of the expansion / contraction member according to the number of rotating members of the articulated arm. In an X-ray imaging control apparatus that controls X-ray imaging using an X-ray irradiation unit and an X-ray detection sensor that detects X-rays emitted from the X-ray irradiation unit,
Holding means for holding the X-ray irradiation unit with an articulated arm;
An X-ray imaging control apparatus comprising: a control unit that moves the X-ray irradiation unit in parallel with a sensor surface of the X-ray detection sensor by controlling driving of the articulated arm.   The X-ray imaging control apparatus according to claim 16, wherein the control unit changes a distance between a sensor surface of the X-ray detection sensor and the X-ray irradiation unit. In an X-ray imaging control apparatus that controls X-ray imaging using an X-ray irradiation unit and an X-ray detection sensor that detects X-rays emitted from the X-ray irradiation unit,
Holding means for holding the X-ray irradiation unit with an articulated arm;
X-ray imaging control, characterized by controlling the drive of the articulated arm to move the X-ray irradiator in an arc around a predetermined position on the sensor surface of the X-ray detection sensor apparatus.   The X-ray imaging control apparatus according to claim 18, wherein the control unit changes a curvature of the arc. In an X-ray imaging control apparatus that controls X-ray imaging using an X-ray irradiation unit and an X-ray detection sensor that detects X-rays emitted from the X-ray irradiation unit,
Holding means for holding the X-ray irradiation unit with an articulated arm;
Obtaining means for obtaining the position of the X-ray irradiation unit and the position of the X-ray detection sensor;
Control means for setting a relative position between the X-ray irradiation unit and the X-ray detection sensor by controlling the articulated arm based on the position acquired by the acquisition means. X-ray imaging control device. An X-ray irradiation unit;
An X-ray detection sensor for detecting X-rays irradiated from the X-ray irradiation unit;
Holding means for holding the X-ray irradiation unit with an articulated arm;
Setting means for setting the direction or distance of the X-ray irradiation unit with respect to the X-ray detection sensor;
Control means for moving the X-ray irradiation unit while maintaining the orientation or distance of the X-ray irradiation unit set by the setting unit by driving the articulated arm. X-ray imaging control device. An X-ray imaging apparatus having an X-ray irradiation unit, an X-ray detection sensor that detects X-rays emitted from the X-ray irradiation unit, and a holding unit that holds the X-ray irradiation unit with an articulated arm is controlled. An X-ray imaging control method,
A setting step for setting the direction or distance of the X-ray irradiation unit with respect to the X-ray detection sensor;
And controlling the driving of the articulated arm to move the X-ray irradiation unit while maintaining the direction or distance of the X-ray irradiation unit set in the setting step. A characteristic X-ray imaging control method. Computer
An X-ray imaging apparatus having an X-ray irradiation unit, an X-ray detection sensor that detects X-rays emitted from the X-ray irradiation unit, and a holding unit that holds the X-ray irradiation unit with an articulated arm is controlled. An X-ray imaging control apparatus,
Setting means for setting the direction or distance of the X-ray irradiation unit with respect to the X-ray detection sensor;
Control means for moving the X-ray irradiation unit while maintaining the orientation or distance of the X-ray irradiation unit set by the setting unit by controlling the driving of the articulated arm. A computer program recorded on a computer-readable recording medium that functions as a characteristic X-ray imaging control apparatus.

Images