JP2016214706A - Mobile X-ray diagnostic apparatus and medical image diagnostic system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile X-ray diagnostic apparatus which is used in conjunction with another medical image diagnostic apparatus and is capable of improving position reproducibility in a simplified configuration.SOLUTION: A mobile X-ray diagnostic apparatus according to an embodiment of the present invention comprises: a movable frame including a movable part and a bottom part which is detachably coupled to moving rails via a support body mounted on the rails, the rails being for a rack of another medical image diagnostic apparatus and being laid on an installation surface of the rack, and which moves along the rails integrally with the support body in the state being coupled to the rails, while being freely movable on the installation surface via the movable part in a detached state being detached from the rails; a position information presentation unit which acquires the current position information of the apparatus on the rails based on an output signal from a position sensor of the support body, and which causes a display unit to display the current position information of the apparatus; and an X-ray imaging system mounted to the movable frame.SELECTED DRAWING: Figure 2

Description

  Embodiments described herein relate generally to a mobile X-ray diagnostic apparatus and a medical image diagnostic system.

  An X-ray diagnosis apparatus may be installed in the same examination room as other medical image diagnosis apparatuses such as an X-ray CT (Computed Tomography) apparatus, a magnetic resonance imaging (MRI) apparatus, and a nuclear medicine diagnosis apparatus. . In this case, it is possible to obtain a wide variety of new effects such as the ability to analyze the subject more precisely than in the case where each apparatus is used alone.

  For example, according to an IVR-CT (InterVentional Radiology-CT) system in which an X-ray CT apparatus and an X-ray diagnostic apparatus are installed in the same room, an apparatus for imaging a subject is switched according to clinical needs. be able to. For this reason, the examination and treatment of the subject can be performed under fluoroscopy, and X-ray CT imaging can be performed while the same subject is placed on the same bed. Therefore, more precise examination can be performed and the burden on the subject can be reduced as compared with the case where each apparatus is used alone.

  On the other hand, X-ray diagnostic apparatuses include a mobile X-ray diagnostic apparatus (mobile C arm) that is configured not to be fixed in an examination room but to be freely movable. The mobile X-ray diagnostic apparatus is very convenient for the user because it can be used in a plurality of examination rooms and is less expensive than the fixed X-ray diagnostic apparatus.

US Pat. No. 8,245,335 JP-A-6-269436

  However, since the mobile X-ray diagnostic apparatus can freely change the installation position, the reproducibility of the installation position is poor. Therefore, when a mobile X-ray diagnostic apparatus is used as an X-ray diagnostic apparatus used with other medical image diagnostic apparatuses, position reproducibility such as the past imaging position of itself or the imaging position of other medical image diagnostic apparatuses is ensured. This makes it difficult to compare a captured image with another medical image diagnostic apparatus with its own captured image. If a mobile X-ray diagnostic apparatus is used as an X-ray diagnostic apparatus used with other medical image diagnostic apparatuses, it is difficult to control the positional relationship between the medical image diagnostic apparatus and the mobile X-ray diagnostic apparatus. It is difficult to perform interference control for preventing the collision.

  However, introducing a large sensing system for ensuring the position reproducibility of the mobile X-ray diagnostic apparatus and controlling the interference with other medical image diagnostic apparatuses is cumbersome and costly. It will take.

  In order to solve the above-described problem, a mobile X-ray diagnostic apparatus according to an embodiment of the present invention has a movable portion, is a rail for moving a base of another medical image diagnostic apparatus, and the installation of the base A support body placed on a rail laid on the surface is removably connected to the rail, and in a connected state connected to the rail, the support body and the support body are integrated along the rail. And a rail that is based on an output signal of a position sensor of the support, and a bottom that freely moves on the installation surface via the movable portion in the detached state separated from the rail. A position information presenting unit that acquires current position information of the own device and displays the current position information of the own device on a display unit, and an X-ray imaging system attached to the movable housing Is.

1 is an external view showing an example of a medical image diagnostic system including a mobile X-ray diagnostic apparatus according to a first embodiment of the present invention. The block diagram which shows the internal structural example of a mobile X-ray diagnostic apparatus. Explanatory drawing which shows an example of a mode that a moving housing | casing moves along a rail integrally with a support body in the connection state where the bottom part was connected with the rail via the support body. The block diagram which shows the internal structural example of the mount frame of a X-ray CT apparatus. The block diagram which shows an example of the function implement | achieved by the processing circuit of a mobile X-ray diagnostic apparatus. The block diagram which shows an example of the function implement | achieved by the processing circuit of a X-ray CT apparatus. With the processing circuit shown in FIG. 1, when the mobile X-ray diagnostic apparatus is used together with other medical image diagnostic apparatuses, the position reproducibility is improved with a simple configuration and the distance from each other is kept within a predetermined distance. The flowchart which shows an example of the procedure at the time of performing the process which performs interference control in cooperation with another medical image diagnostic apparatus. The subroutine flowchart which shows an example of the procedure of the connection process performed by step S1 of FIG. 7 by a connection control function in case a support body is provided integrally with a bottom part. (A) is explanatory drawing which shows an example of the mode of a shift | offset | difference state from a detached state when a support body is provided integrally with a bottom part, and a rail is provided as a recessed part in a floor surface, (b) is a support Explanatory drawing which shows an example of the mode of a transition from a detachment | leave state in a case where a body is provided integrally with a bottom part, and a rail protrudes from a floor surface. The subroutine flowchart which shows an example of the procedure of the connection process performed by step S1 of FIG. 7 by a connection control function in the case where a support body is provided as a separate body from the bottom. (A) is explanatory drawing which shows an example of the mode of a transition from a detached state to a connected state when the support is provided as a separate body from the bottom and the rail is provided as a recess on the floor surface, (b) Is an explanatory view showing an example of the shape of a support coupling mechanism when the support is provided separately from the bottom, and (c) is a support coupling mechanism when the support is provided separately from the bottom. Explanatory drawing which shows the other example of the shape of. The subroutine flowchart which shows an example of the procedure of the interference control process performed by the interference control function of a mobile X-ray diagnostic apparatus by step S3 of FIG. The subroutine flowchart which shows an example of the procedure of the interference control process performed by the interference control function of a X-ray CT apparatus according to execution of the interference control function of a mobile X-ray diagnostic apparatus in step S3 of FIG. The flowchart which shows an example of the procedure at the time of associating CT image and the positional information on the rail at the time of imaging with an X-ray CT apparatus. Explanatory drawing which shows an example in case a rail has a branch rail.

  Embodiments of a mobile X-ray diagnostic apparatus and a medical image diagnostic system according to the present invention will be described with reference to the accompanying drawings.

  Conventionally, a medical image diagnostic apparatus such as an X-ray CT apparatus and an MRI apparatus, which can travel along a floor surface or a rail on a ceiling, and an overhead traveling X-ray diagnostic apparatus are used together. Medical image diagnostic systems such as CT systems are known. The mobile X-ray diagnostic apparatus according to one embodiment of the present invention can be suitably used in place of the overhead traveling X-ray diagnostic apparatus in this type of medical image diagnostic system.

  FIG. 1 is an external view showing an example of a medical image diagnostic system 1 including a mobile X-ray diagnostic apparatus 10 according to the first embodiment of the present invention. In this embodiment, an X-ray CT apparatus 11 that travels on the floor surface 100 is used as another medical image diagnostic apparatus used together with the mobile X-ray diagnostic apparatus 10, and the medical image diagnostic system 1 is an IVR-CT system. An example of the case is shown.

  The medical image diagnostic system 1 includes a mobile X-ray diagnostic apparatus 10, an X-ray CT apparatus 11 as another medical image diagnostic apparatus, and a rail 12 laid on the installation surface of the X-ray CT apparatus 11. In the present embodiment, an example in which the X-ray CT apparatus 11 is installed on the floor surface 100 and travels on the floor surface 100 will be described. For this reason, the rail 12 is laid on the floor surface 100 and is used for traveling of the X-ray CT apparatus 11. The gantry 13 of the X-ray CT apparatus 11 has a base 14 that moves on the rail 12 along the rail 12. The rail 12 may be provided as a recess in the floor surface 100 or may be provided so as to protrude. Moreover, although the example in case the rail 12 is a straight line was shown in FIG. 1, the rail 12 may not be a straight line, a curve may be sufficient, and there may be a branch. Moreover, although the example in case the rail 12 is two recessed parts provided in the floor surface 100 was shown in FIG. 1, the number of the rails 12 may be one and may be three or more.

  A bed 16 having a top plate 15 is installed on the floor surface 100. The top 15 is configured so that the subject O can be placed thereon. The bed 16 can be controlled by each of the mobile X-ray diagnostic apparatus 10 and the X-ray CT apparatus 11, and the top 15 is moved up and down in the Y-axis direction and transferred along the Z-axis direction, or the XYZ-axis It can be rotated (pitching, yawing, rolling) about each axis. Information regarding the movement of the top 15 and information on the current position are given to the mobile X-ray diagnostic apparatus 10 and the X-ray CT apparatus 11.

  A ceiling traveling type display 17 is suspended from the ceiling. The display 17 is configured by a general display output device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) display, for example, and displays a medical image or the like according to the control of the mobile X-ray diagnostic apparatus 10 and the X-ray CT apparatus 11. . In the following description, X-ray fluoroscopic images, DSA (Digital Subtraction Angiography) images, parametric imaging (PI) images, and the like generated by imaging of the mobile X-ray diagnostic apparatus 10 are collectively referred to as X-ray images. To do.

  FIG. 2 is a block diagram illustrating an internal configuration example of the mobile X-ray diagnostic apparatus 10. As shown in FIGS. 1 and 2, the mobile X-ray diagnostic apparatus 10 includes a movable housing 20 and an X-ray imaging system 21.

  A display 22 is attached to the movable housing 20 (see FIG. 1). The movable housing 20 includes an extended housing 23 and a box-shaped housing body 24.

  The display 22 is configured by a general display output device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) display, for example, and displays an X-ray image, as well as information on the position of the current machine on the rail 12 and The information of the position of the imaging target position of the own device on the rail 12 is displayed. The display 22 is attached to the upper part of a box-shaped housing body 24, for example.

  The X-ray imaging system 21 includes at least an X-ray detector 25, an X-ray source 26, and a C arm 27. The X-ray detector 25 is provided at one end of the C-arm 27 so as to be opposed to the X-ray source 26 across the subject O supported by the top plate 15 of the bed 16. The X-ray detector 25 is composed of a flat panel detector (FPD), detects X-rays irradiated to the X-ray detector 25, and generates X-ray projection data based on the detected X-rays. Output. This projection data is given to the processing circuit 45 via the controller 41. The X-ray detector 25 may include an image intensifier, a TV camera, and the like.

  The X-ray source 26 is provided at the other end of the C arm 27 and has an X-ray tube and an X-ray diaphragm. The X-ray diaphragm is an X-ray irradiation field diaphragm composed of, for example, a plurality of lead feathers. The X-ray diaphragm is controlled by the controller 41 to adjust the irradiation range of X-rays emitted from the X-ray tube.

  The C arm 27 holds the X-ray detector 25 and the X-ray source 26 together. When the C-arm 27 is driven by being controlled by the controller 41, the X-ray detector 25 and the X-ray source 26 move around the subject O as a unit.

  The C arm 27 is attached to the side surface of the housing body 24 located on the back side of the display screen of the display 22, for example.

  In a region including the bottom surface of the extended housing 23 and the housing body 24 (hereinafter referred to as the bottom portion 30), a wheel 31 as an example of a movable portion and a coupling mechanism 32 are provided. The bottom 30 is a part of the movable housing 20. Further, the movable housing 20 further includes a controller 41, an input circuit 42, a storage circuit 43, a communication circuit 44, and a processing circuit 45 (see FIG. 2).

  The mobile X-ray diagnostic apparatus 10 can freely move on the floor surface 100 via a movable part provided on the bottom part 30. In the present embodiment, an example in which the wheel 31 is used as the movable part will be described. The connection mechanism 32 is used for removably connecting the bottom 30 to the rail 12 via the support body 50.

  The controller 41 is controlled by the processing circuit 45 to control the X-ray imaging system 21, thereby performing X-ray fluoroscopic imaging of the subject O, generating projection data, and supplying the projection data to the processing circuit 45. For example, the controller 41 is controlled by the processing circuit 45 to generate projection data before and after the administration of the contrast medium, and give the projection data to the processing circuit 45.

  The controller 41 has at least a processor and a storage circuit. The controller 41 is controlled by the processing circuit 45 according to the program stored in the storage circuit, and controls the X-ray imaging system 21 to execute fluoroscopic imaging of the subject O and generate image data. To the processing circuit 45. The storage circuit of the controller 41 provides a work area for temporarily storing programs and data executed by the processor of the controller 41. The storage circuit of the controller 41 has a configuration including a recording medium that can be read by a processor, such as a magnetic or optical recording medium or a semiconductor memory, and some or all of the programs and data in these storage circuits. May be configured to be downloaded via an electronic network.

  The input circuit 42 is configured by a general input device such as a trackball, a switch button, a mouse, a keyboard, or a numeric keypad, and outputs an operation input signal corresponding to a user operation to the processing circuit 45. The input circuit 42 may be attached to a position where the user can operate while checking the display screen of the display 22, for example, on the upper part of the housing body 24.

  Note that the display 22 and the input circuit 42 may integrally form an operation panel. In this case, the operation panel includes a hard key as a part of the input circuit 42 such as a button for giving a unique instruction signal to the processing circuit 45 when the user presses, and a display input device. In this case, the display input device includes the display 22 and a touch panel as a part of the input circuit 42 provided in the vicinity of the display 22. The display 22 is controlled by the processing circuit 45 to display information for operating the mobile X-ray diagnostic apparatus 10 and a plurality of soft keys for operating the mobile X-ray diagnostic apparatus 10. The touch panel gives the processing circuit 45 information on the position indicated on the touch panel by the user.

  The storage circuit 43 includes a recording medium readable by a processor, such as a magnetic or optical recording medium or a semiconductor memory. You may comprise so that a part or all of the program and data in these storage media may be downloaded by communication via an electronic network. The storage circuit 43 is controlled by the processing circuit 45 and stores, for example, image data output from the X-ray imaging system 21.

  The communication circuit 44 implements various information communication protocols according to the network form. The communication circuit 44 connects the mobile X-ray diagnostic apparatus 10 to the X-ray CT apparatus 11 and other devices according to these various protocols. For this connection, connection by infrared communication, electrical connection through an electronic network, or the like can be applied. Here, an electronic network means an information communication network using telecommunications technology in general, in addition to a wireless / wired LAN (Local Area Network) and the Internet network, a telephone communication line network, an optical fiber communication network, a cable communication network, Includes satellite communications networks.

  The processing circuit 45 reads out and executes the program stored in the storage circuit 43, so that the position reproducibility can be obtained with a simple configuration when the mobile X-ray diagnostic apparatus 10 is used together with another medical image diagnostic apparatus 11. It is a processor that executes the process for improving and performs the interference control in cooperation with the other medical image diagnostic apparatuses 11 so as not to approach each other within a predetermined distance.

  FIG. 3 is an explanatory diagram illustrating an example of a state in which the movable housing 20 moves along the rail 12 integrally with the support body 50 in a connected state where the bottom portion 30 is connected to the rail 12 via the support body 50. is there.

  The support body 50 is used for detachably connecting the bottom 30 to the rail 12. The support 50 includes a coupling mechanism 51, a position sensor 52, drive wheels 53, and a processing circuit 54.

  The support body 50 may be always placed on the rail 12 and provided as a separate body from the bottom part 30, or may be provided integrally with the bottom part 30. The shape of the support body 50 has a shape that can be placed on the rail 12 according to the shape of the rail 12. Moreover, the support body 50 may be mounted so as to straddle the plurality of rails 12 when the plurality of rails 12 are laid.

  When the support body 50 is always placed on the rail 12 and is provided as a separate body from the bottom portion 30, the movable housing 20 is detached from the rail 12 and freely moves on the floor surface 100 via the wheels 31. In a state in which the connection mechanism 32 and the connection mechanism 51 can be operated (hereinafter referred to as a detached state), the connection mechanism 32 and the connection mechanism 51 are controlled by the processing circuit 45 to be disconnected from each other. On the other hand, in a state where the bottom portion 30 is coupled to the rail 12 via the support body 50 and the movable housing 20 moves along the rail 12 integrally with the support body 50 (hereinafter referred to as a coupled state), the coupling mechanism 32 and The coupling mechanism 51 is controlled and coupled to the processing circuit 45 (see FIG. 3). Further, the coupling mechanism 32 and the coupling mechanism 51 may connect the processing circuit 45 of the movable housing 20 and the processing circuit 54 of the support so that data can be transmitted and received between them.

  On the other hand, when the support body 50 is provided integrally with the bottom portion 30, the connection mechanism 32 of the bottom portion 30 and the connection mechanism 51 of the support body 50 are always connected regardless of the connected state or the detached state. The connection is not broken and can be regarded as one connection mechanism.

  When the support body 50 is placed on the rail 12, the position sensor 52 outputs a signal indicating information on the current position of the support body 50 on the rail 12. As information on this position, for example, when one end point of the rail 12 is the retracted position (park position) of the gantry 13, the other end point is the reference position of the support body 50, and the distance from the reference position of the support body 50 is Can be used.

  As the position sensor 52, for example, various members conventionally known as members used for position control of the linear motor table can be used. For example, a displacement sensor such as a potentiometer or a rotary sensor can be used. . Further, when various sensor groups are provided in the vicinity of the rail 12, the position sensor 52 may output a signal indicating position information using output signals of these sensor groups. These sensor groups include an origin sensor and a limit switch.

  The drive wheel 53 is controlled by the processing circuit 54 to move the position of the support body 50 on the rail 12. For example, when the support body 50 is always placed on the rail 12 and provided as a separate body from the bottom portion 30, in the detached state, the processing circuit 54 performs autonomous position control by driving the drive wheels 53. It is preferable to wait at the reference position of the support 50. At this time, the output signal of the position sensor 52 is preferably calibrated (zero reset) at the reference position.

  Further, a holding device that holds the support 50 may be provided on a part of the base 14 of the X-ray CT apparatus 11. In this case, in the detached state, the support body 50 is autonomously controlled by the processing circuit 54 driving the drive wheels 53 and is held by the holding device. The support body 50 is integrated with the X-ray CT apparatus 11. You may wait for the arrival of the next connected state while moving. At this time, the base 14 may further include a storage area for storing the support body 50, and the holding device may be configured by, for example, a locking piece to lock the support body 50 in the storage area.

  The support 50 may move on the rail 12 by autonomous position control, or may be manually held on the rail 12 through the moving housing 20 connected to the support 50 or directly by the user. May be moved. When the support body 50 does not need to perform autonomous position control, the support body 50 may not include the drive wheels 53. Further, when the drive wheel 53 is not provided, the support body 50 may directly contact the rail 12 and slide along the rail 12, or may contact the rail 12 via a driven wheel.

  The processing circuit 54 is a processor that gives an output signal of the position sensor 52 to the processing circuit 45 of the movable casing 20 by reading and executing a program stored in a storage circuit provided inside the processing circuit 54. is there. Data transmission / reception between the processing circuit 54 and the processing circuit 45 may be performed via the coupling mechanism 32 and the coupling mechanism 51, or via a communication circuit (not shown) of the support 50 and the communication circuit 44 of the movable housing 20. Also good.

  In addition, the support body 50 may have a display. Further, the processing circuit 54 has a function of obtaining the current position information of the own machine on the rail 12 based on the output signal of the position sensor 52 and displaying the current position information of the own machine on the display. Good.

  FIG. 4 is a block diagram showing an example of the internal configuration of the gantry 13 of the X-ray CT apparatus 11.

  The gantry 13 includes a CT imaging device 61 including a rotating unit, a driving device 62 provided on the base 14, and a position sensor 63. The gantry 13 includes an input circuit 64, a storage circuit 65, a communication circuit 66, and a processing circuit 67 attached to the gantry 13.

  The rotating body of the CT imaging device 61 is supported by the gantry 13 by holding an X-ray tube, a diaphragm, an X-ray detection unit, a DAS (Data Acquisition System), and the like integrally. By rotating the rotating body under the control of the processing circuit 67, the X-ray tube, the diaphragm, the X-ray detector, and the DAS integrally rotate around the object O and acquire projection data of the object.

  The driving device 62 of the base 14 is slidably attached to the rail 12 and controlled by the processing circuit 67 to move the position of the gantry 13 on the rail 12.

  The position sensor 63 has the same configuration as the position sensor 52, and outputs a signal indicating information on the current position of the gantry 13 on the rail 12 to the processing circuit 67. The information on the position may be, for example, information on the distance from the reference position of the support body 50 of the rail 12 or information on the distance based on the retracted position (park position) of the gantry 13.

  The input circuit 64 is configured by a general input device such as a trackball, a switch button, a mouse, a keyboard, or a numeric keypad, and outputs an operation input signal corresponding to a user operation to the processing circuit 67. For example, the input circuit 64 is attached to a side surface of the gantry 13 where the user can operate.

  The storage circuit 65 includes a recording medium readable by a processor, such as a magnetic or optical recording medium or a semiconductor memory. You may comprise so that a part or all of the program and data in these storage media may be downloaded by communication via an electronic network. The storage circuit 65 is controlled by the processing circuit 67 and stores, for example, image data output from the CT imaging device 61.

  The communication circuit 66 implements various information communication protocols according to the network form. The communication circuit 66 connects the X-ray CT apparatus 11 to the mobile X-ray diagnostic apparatus 10 and other devices according to these various protocols. For this connection, connection by infrared communication, electrical connection through an electronic network, or the like can be applied. Here, an electronic network means an information communication network using telecommunications technology in general, in addition to a wireless / wired LAN (Local Area Network) and the Internet network, a telephone communication line network, an optical fiber communication network, a cable communication network, Includes satellite communications networks.

  The processing circuit 67 reads and executes the program stored in the storage circuit 65 so that when the X-ray CT apparatus 11 is used together with the mobile X-ray diagnostic apparatus 10, the processing circuit 67 does not approach each other within a predetermined distance. 2 is a processor that executes processing for interference control in cooperation with the mobile X-ray diagnostic apparatus 10.

  FIG. 5 is a block diagram illustrating an example of functions realized by the processing circuit 45 of the mobile X-ray diagnostic apparatus 10.

  The processing circuit 45 realizes at least a connection control function, a position information presentation function, an interference control function, and an X-ray image generation function. Each of these functions is stored in the storage circuit 43 in the form of a program.

  The connection control function controls connection and disconnection of the bottom 30 and the rail 12 via the support body 50.

  The position information presentation function acquires the current position information of the own machine on the rail 12 based on the output signal of the position sensor 52 of the support 50 and displays the current position information of the own machine on the display 22 or the display 17. It is a function. Here, “acquisition” in the present embodiment is not limited to receiving the data itself, but includes receiving original data that is the source of the data and obtaining the data by calculation using the original data. That is, the position information presentation function may receive the current position information itself on the rail 12 from the processing circuit 54 of the support 50, or receive the output signal of the position sensor 52 and use this signal. The position of the aircraft may be obtained by calculation.

  The interference control function acquires the current position information of the gantry 13 on the rail 12 from the X-ray CT apparatus 11, and if the distance between the own machine and the gantry 13 is within a predetermined distance, this distance is larger than the predetermined distance. Thus, it has a function of instructing the gantry 13 via the communication circuit 44 and the communication circuit 66 to move on the rail 12 in a direction away from the own machine.

  The X-ray image generation function generates an X-ray image (X-ray fluoroscopic image, DSA image, PI image, etc.) of the subject O by controlling the X-ray imaging system 21. This is a function for storing the current position information of the own device in the storage circuit 43 in association with each other. The X-ray image generation function has a function of displaying an X-ray image on the display 22 or the display 17.

  FIG. 6 is a block diagram illustrating an example of functions realized by the processing circuit 67 of the X-ray CT apparatus 11.

  The processing circuit 67 realizes at least a position information acquisition function, an interference control function, and a CT image generation function. Each of these functions is stored in the storage circuit 65 in the form of a program.

  The position information acquisition function acquires the current position information of the gantry 13 on the rail 12 based on the output signal of the position sensor 52 of the support 50, and uses the current position information of the gantry 13 as the communication circuit 66 and the communication circuit 44. This is a function given to the mobile X-ray diagnostic apparatus 10 via

  The interference control function is such that if the distance between the mobile X-ray diagnostic apparatus 10 and the gantry 13 is within a predetermined distance, the rail is directed away from the mobile X-ray diagnostic apparatus 10 so that the distance becomes larger than the predetermined distance. 12 is a function for controlling the driving device 62 so as to move on.

  The CT image generation function acquires the X-ray transmission data of the subject O by controlling the CT imaging device 61, generates a reconstructed image (CT image) based on this data, and this CT image and the rail 12 This is a function of storing the current position information of the gantry 13 in the storage circuit 65 in association with each other. The CT image generation function has a function of displaying a CT image on the display 22 or the display 17.

  Next, an example of the operation of the medical image diagnostic system 1 including the mobile X-ray diagnostic apparatus 10 according to the present embodiment will be described.

  FIG. 7 shows an improvement in position reproducibility with a simple configuration when the mobile X-ray diagnostic apparatus 10 is used together with another medical image diagnostic apparatus 11 by the processing circuit 45 shown in FIG. It is a flowchart which shows an example of the procedure at the time of performing the process which controls interference in cooperation with the other medical image diagnostic apparatus 11 so that it may not approach within the distance. In FIG. 7, reference numerals with numbers added to S indicate steps in the flowchart.

  First, in step S1, the processing circuit 45 shifts the movable casing 20 from the detached state to the connected state by connecting the bottom 30 and the rail 12 via the support body 50 by the connection control function.

  Next, in step S2, the processing circuit 45 obtains the current position information of the own machine on the rail 12 based on the output signal of the position sensor 52 of the support 50 by the position information presenting function. Is displayed on the display 22 or the display 17.

  Next, in step S <b> 3, the mobile X-ray diagnostic apparatus 10 moves along the rail 12 toward the X-ray imaging position (target position). The processing circuit 45 controls the position of the gantry 13 by the interference control function so as to avoid interference (collision) between the mobile X-ray diagnostic apparatus 10 and the gantry 13, and is directed toward the target position of the mobile X-ray diagnostic apparatus 10. To help move.

  The target position may not be set in the position information presentation function, but may be set in the position information presentation function by the user via the input circuit 42, for example. The setting timing may be performed before the procedure illustrated in FIG. 7 or may be performed by steps S1 to S3. Specifically, for example, the user may directly set and set the numerical value of the target position on the rail 12 via the input circuit.

  The user may desire X-ray imaging at one of the past X-ray images and CT images stored in the storage circuit 43 and at the same position as the imaging position of the image. In this case, the user selects the image via the display 22 and the input circuit 42. At this time, the position information presentation function causes the display 22 to display position information associated with the selected image. The user may instruct via the input circuit 42 to set the displayed position information as the target position. When position information on the rail 12 is associated with the selected image, the position information presentation function may automatically set this position as the target position.

  Next, in step S4, the processing circuit 45 acquires the X-ray transmission data of the subject O by controlling the X-ray imaging system 21 by the X-ray image generation function, and generates an X-ray image based on this data. Generate.

  Next, in step S <b> 5, the processing circuit 45 associates this X-ray image with the current position information of the support 50 on the rail 12 and stores it in the storage circuit 43 by the X-ray image generation function.

  Next, in step S6, the processing circuit 45 causes the X-ray image generation function to display an X-ray image on at least one of the display 22 and the display 17.

  According to the above procedure, when the mobile X-ray diagnostic apparatus 10 is used together with another medical image diagnostic apparatus 11, the position reproducibility of the mobile X-ray diagnostic apparatus 10 can be improved with a simple configuration, and each other. Interference control can be performed in cooperation with other medical image diagnostic apparatuses 11 so as not to approach within a predetermined distance. If interference control is not necessary, step S3 may be omitted.

  Subsequently, a process (a connection process) for moving the movable housing 20 from the detached state to the connected state by connecting the bottom 30 and the rail 12 via the support body 50 by the connection control function will be described in detail. As described above, the support body 50 may be always placed on the rail 12 and provided as a separate body from the bottom part 30, or may be provided integrally with the bottom part 30.

  First, a connection process in the case where the support body 50 is provided integrally with the bottom 30 will be described.

  FIG. 8 is a subroutine flowchart showing an example of the procedure of the connection process executed by the connection control function in step S1 of FIG. 7 when the support body 50 is provided integrally with the bottom portion 30.

  FIG. 9A shows an example of the transition from the detached state to the connected state when the support 50 is provided integrally with the bottom 30 and the rail 12 is provided as a recess in the floor surface 100. It is explanatory drawing, (b) is an example of the mode of a transition from a separation state in the case where the support body 50 is provided integrally with the bottom portion 30 and the rail 12 is provided so as to protrude from the floor surface 100. It is explanatory drawing shown. FIG. 9 shows an example in which the wheels 31 are rotatable balls.

  In addition, when the support body 50 is provided integrally with the bottom part 30, the connection mechanism 32 of the bottom part 30 and the connection mechanism 51 of the support body 50 are always connected regardless of any state of a connection state and a detached state. The connection is not broken and can be regarded as one connection mechanism 32 (51). In this case, the connection mechanism 32 (51) of the movable housing 20 has a configuration in which the support 50 is moved in the direction of projecting and retracting from the bottom 30 while the support 50 is connected to the bottom 30. Various mechanisms are known as a mechanism for moving other members (support 50) of this type in a straight line or extending and contracting, and any of these can be used.

  First, in step S11, for example, the user manually moves the mobile X-ray diagnostic apparatus 10 in the detached state on the floor surface 100 so that the bottom 30 is above the rail 12 (upper part of FIG. 9A). (Refer to the upper figure in FIG. 9B).

  Next, in step S12, the connection mechanism 32 (51) moves the support 50 from the bottom 30 toward the rail 12 while the support 50 is connected to the bottom 30 by the connection control function of the processing circuit 45. The support body 50 is placed on the rail 12. As a result, the movable casing 20 shifts to a connected state connected to the rail 12 via the support 50 (see the lower diagram in FIG. 9A, the lower diagram in FIG. 9B, and FIG. 3).

  Note that the connection mechanism 32 (51) is supported by the connection control function of the processing circuit 45 so as to shift from the lower diagram to the upper diagram in FIGS. The support 50 may be moved from the rail 12 toward the bottom 30 while the body 50 is connected to the bottom 30.

  Next, in step S13, the support 50 is calibrated for position information at a predetermined position. Specifically, first, the support body 50 and the movable casing 20 in the connected state are moved to the reference position (calibration) manually or electrically by the drive wheels 53. Then, via the input circuit 42 or an input circuit such as a push button (not shown) provided on the support 50, the user can confirm that the current position is the reference position, that is, the current output signal of the position sensor 52. Is notified to the position information presentation function that the output signal of the reference position is calibrated. Then, it progresses to step S2 of FIG. As a result, the output signal of the position sensor 52 used in step S2 of FIG. 7 is a signal that has been appropriately calibrated.

  In addition, when the reference position of the support body 50 is one end of the rail 12, the calibration position of the gantry 13 may be the park position of the gantry 13 provided at the other end of the rail 12.

  With the above procedure, when the support body 50 is provided integrally with the bottom portion 30, the bottom portion 30 and the rail 12 can be connected via the support body 50.

  Next, a connection process when the support body 50 is always placed on the rail 12 and provided as a separate body from the bottom portion 30 will be described.

  FIG. 10 is a subroutine flowchart showing an example of the procedure of the connection process executed by the connection control function in step S1 of FIG. 7 when the support body 50 is provided separately from the bottom portion 30.

  FIG. 11A shows an example of the transition from the detached state to the connected state when the support 50 is provided as a separate body from the bottom 30 and the rail 12 is provided as a recess in the floor surface 100. It is explanatory drawing which shows. FIG. 11B is an explanatory view showing an example of the shape of the coupling mechanism 51 of the support 50 when the support 50 is provided separately from the bottom 30, and FIG. 11C is an illustration of the support 50 at the bottom. 30 is an explanatory view showing another example of the shape of the coupling mechanism 51 of the support body 50 when provided as a separate body from 30. FIG.

  When the support body 50 is always placed on the rail 12 and the support body 50 and the bottom portion 30 are provided separately, the connecting mechanism 32 of the bottom portion 30 can be connected to the support body 50 placed on the rail 12. And has a configuration that is movable from the bottom 30 in the protruding and retracting direction. As this type of mechanism that moves itself in a straight line or expands and contracts, various types are known in the past, and any of these can be used. The connecting mechanism 51 of the support 50 has a shape that can be connected to the connecting mechanism 32 of the bottom 30.

  In FIG. 11B, the coupling mechanism 51 of the support 50 is a cylindrical recess provided on the upper surface of the support 50, and the coupling mechanism 32 of the bottom 30 has a column having a smaller radius than the cylinder of the coupling mechanism 51. An example of the case is shown. In FIG. 11B, the coupling mechanism 51 of the support 50 is a cross-shaped recess provided on the upper surface of the support 50, and the coupling mechanism 32 of the bottom 30 has a radius smaller than the cylinder of the coupling mechanism 51. The example in the case of having a cross pillar is shown.

  When the support body 50 and the bottom part 30 are provided as separate bodies, in the detached state, the coupling mechanism 32 and the coupling mechanism 51 are controlled by the coupling control function of the processing circuit 45 to be disconnected from each other ( (Refer to the upper diagram of FIG. 11A).

  First, in step S21, for example, the user manually moves the mobile X-ray diagnostic apparatus 10 in the detached state on the floor surface 100 so that the bottom 30 is located above the support 50 placed on the rail 12. (Refer to the upper diagram of FIG. 11A).

  Next, in step S <b> 22, the connection mechanism 32 of the movable casing 20 is moved from the bottom 30 toward the rail 12 by the connection control function of the processing circuit 45 and is connected to the connection mechanism 51 of the support 50. As a result, the movable casing 20 shifts to a connected state in which the movable casing 20 is connected to the rail 12 via the support body 50 (see the lower view of FIG. 11A and FIG. 3).

  In the transition from the connected state to the disengaged state, the connection mechanism 32 moves the connection mechanism 51 from the rail 12 to the bottom by the connection control function of the processing circuit 45 so that the lower diagram in FIG. What is necessary is just to move toward 30.

  In addition, the connection mechanism 32 of the movable housing 20 is formed as a recess, and the connection mechanism 51 of the support body 50 is configured to be movable toward the connection mechanism 32 in the direction of projecting and retracting from the upper surface of the support body 50. Also good.

  Next, in step S23, as in step S13 of FIG. 8, the support 50 is calibrated for position information at a predetermined position, and the process proceeds to step S2 of FIG.

  By the above procedure, when the support body 50 is provided as a separate body from the bottom portion 30, the bottom portion 30 and the rail 12 can be connected via the support body 50.

  Subsequently, the position of the gantry 13 is controlled by the interference control function of the mobile X-ray diagnostic apparatus 10 so as to avoid interference (collision) between the mobile X-ray diagnostic apparatus 10 and the gantry 13, and the mobile X-ray diagnostic apparatus A process (interference control process) for supporting movement toward the ten target positions will be described in detail.

  The interference control process is performed by cooperation of the interference control function of the mobile X-ray diagnostic apparatus 10 and the interference control function of the X-ray CT apparatus 11. There are the following three types of cooperation methods.

  The first cooperative method is a method in which the interference control function of the mobile X-ray diagnostic apparatus 10 obtains a distance between apparatuses, determines a collision risk, and transmits a movement instruction to the X-ray CT apparatus 11 according to the risk. It is. In this method, the X-ray CT apparatus 11 does not move spontaneously until a movement instruction is received.

  The second cooperative method is a method in which the interference control function of the mobile X-ray diagnostic apparatus 10 determines the distance between apparatuses but does not determine the risk of collision, and gives only the distance between apparatuses to the X-ray CT apparatus 11. In this method, the collision risk is determined based on the inter-device distance received by the interference control function of the X-ray CT apparatus 11, and the apparatus moves so as to avoid the collision by itself according to the risk. In the first and second cooperative methods, the current position information of the gantry 13 is given from the X-ray CT apparatus 11 to the mobile X-ray diagnostic apparatus.

  The third cooperative method is a method in which the interference control function of the mobile X-ray diagnostic apparatus 10 gives only the current position information of the own apparatus to the X-ray CT apparatus 11. In this method, the distance between the devices is obtained based on the positional information of the support 50 received by the interference control function of the X-ray CT apparatus 11, and the collision risk is determined, and the collision is avoided according to the risk. Moving. In this method, the current position information of the gantry 13 may not be given from the X-ray CT apparatus 11 to the mobile X-ray diagnostic apparatus.

  Here, the operation of the interference control function of the mobile X-ray diagnostic apparatus 10 in the first cooperative method will be described with reference to FIG. 12, and the operation of the interference control function of the X-ray CT apparatus 11 in the second cooperative method will be described. This will be described with reference to FIG.

  FIG. 12 is a subroutine flowchart showing an example of the procedure of the interference control process executed by the interference control function of the mobile X-ray diagnostic apparatus 10 in step S3 of FIG. FIG. 12 shows that the interference control function of the mobile X-ray diagnostic apparatus 10 moves on the rail 12 in a direction away from the base 13 with respect to the base 13 when the distance between the base and the base 13 is within a predetermined distance. An example of the procedure (first cooperative method) in the case of having the function of instructing to do is shown.

  In step S31, the processing circuit 45 of the mobile X-ray diagnostic apparatus 10 acquires the current position information of the gantry 13 on the rail 12 from the X-ray CT apparatus 11 via the communication circuits 66 and 44 by the interference control function. To do. Further, the processing circuit 45 acquires the current position information of the own device on the rail 12 from the position information presentation function by the interference control function. And the processing circuit 45 calculates | requires the distance (distance between apparatuses) of the present own apparatus and the mount frame 13 by an interference control function.

  In addition, the distance between apparatuses calculated | required here may be the distance between the z direction center positions of each other apparatus (refer FIG. 3), may be the distance between the opposing surfaces of each other apparatus, The distance between adjacent members may be used. Regardless of which distance is defined as the distance between devices, for example, by setting the predetermined distance appropriately in consideration of the rotation of the C-arm 27, collision between devices can be prevented in advance. it can. The predetermined distance may be stored in advance in the storage circuits 43 and 65, may be acquired via a network, or may be set via the input circuits 42 and 64.

  Next, in step S32, the processing circuit 45 determines whether or not the current distance between the own machine and the gantry 13 (the distance between the devices) is within a predetermined distance by the interference control function. If the distance between the devices is within the predetermined distance, it is determined that there is a high risk of collision between the devices, and the process proceeds to step S33. On the other hand, if the distance between the devices is greater than the predetermined distance, it is determined that the risk of collision between the devices is low, and the process proceeds to step S34.

  Next, in step S33, the processing circuit 45 instructs the processing circuit 67 of the gantry 13 to move on the rail 12 in the direction away from the own machine through the communication circuits 44 and 66 by the interference control function. Give to interference control function. At this time, the processing circuit 45 may also provide the processing circuit 67 with at least one of the current position information of the own machine and information on the current distance between the own machine and the gantry 13. In response to this instruction, the processing circuit 67 of the X-ray CT apparatus 11 moves the gantry 13 away from the mobile X-ray diagnostic apparatus 10 by the interference control function.

  Next, in step S34, the processing circuit 45 determines whether or not the support 50 has stopped by using the interference control function, for example, based on whether or not the position change amount within a predetermined time is equal to or less than a predetermined value. When the support body 50 stops, it progresses to step S4 of FIG. On the other hand, if the support 50 is moving, the process returns to step S31 to continue the interference control process.

  FIG. 13 is a subroutine flowchart showing an example of the procedure of the interference control process executed by the interference control function of the X-ray CT apparatus 11 in accordance with the execution of the interference control function of the mobile X-ray diagnostic apparatus 10 in step S3 of FIG. It is. The procedure shown in FIG. 13 is executed in parallel with the procedure shown in FIG. FIG. 13 illustrates an example of a procedure (second cooperative method) when the interference control function of the X-ray CT apparatus 11 receives information on the distance between the apparatuses from the mobile X-ray diagnostic apparatus 10 and does not receive a movement instruction. Showed about.

  In step S41, the processing circuit 67 of the X-ray CT apparatus 11 acquires information on the distance between the current apparatuses from the mobile X-ray diagnostic apparatus 10 via the communication circuits 44 and 66 by the interference control function.

  Next, in step S42, the processing circuit 67 determines whether or not the current distance between the devices is within a predetermined distance by the interference control function. If the distance between the devices is within the predetermined distance, it is determined that there is a high risk of collision between the devices, and the process proceeds to step S43. On the other hand, if the distance between the devices is greater than the predetermined distance, it is determined that the risk of collision between the devices is low, and the process proceeds to step S4 in FIG.

  Next, in step S43, the processing circuit 67 is driven to move on the rail 12 in a direction away from the mobile X-ray diagnostic apparatus 10 so that the distance between the apparatuses becomes larger than a predetermined distance by the interference control function. The device 62 is controlled, and the process returns to step S41.

  The position of the gantry 13 is controlled so as to avoid interference (collision) between the mobile X-ray diagnostic apparatus 10 and the gantry 13 by the cooperation method of interference control including the examples shown in FIGS. 12 and 13. The movement of the X-ray diagnostic apparatus 10 toward the target position can be supported.

  FIG. 14 is a flowchart illustrating an example of a procedure when the X-ray CT apparatus 11 associates a CT image with positional information on the rail 12 at the time of imaging.

  First, in step S51, the processing circuit 67 of the X-ray CT apparatus 11 acquires the current position information of the gantry 13 on the rail 12 based on the output signal of the position sensor 63 of the gantry 13 by the position information acquisition function.

  Next, in step S52, the processing circuit 67 acquires the X-ray transmission data of the subject O by controlling the CT imaging device 61 by the CT image generation function, and reconstructed images (CT images) based on this data. ) Is generated.

  Next, in step S53, the processing circuit 67 associates this CT image with the current position information of the gantry 13 on the rail 12 and stores them in the storage circuits 65 and 43 by the CT image generation function.

  Next, in step S54, the processing circuit 67 causes the CT image generation function to display the CT image on at least one of the display 22 and the display 17.

  With the above procedure, the CT image can be associated with the positional information on the rail 12 at the time of imaging. If the user desires X-ray imaging at one of the past CT images and at the same position as the imaging position of the image, the position information on the rail 12 is associated with the CT image. This position can be set as the target position very easily.

  In addition, although the example in case the rail 12 is a straight line was shown in FIG. 1, the rail 12 may not be a straight line, may be a curve, and there may be a branch.

  FIG. 15 is an explanatory diagram illustrating an example of the case where the rail 12 includes the branch rail 71.

  A branch rail 71 may be laid on the rail 12. In this case, the support body 50 connected to the rail 12 can move from the rail 12 to the branch rail 71.

  As shown in FIG. 15, consider a case where the branch rail 71 is laid so that the support 50 can be positioned on the central axis of the long axis of the top plate 15. In this case, the X-ray imaging system 21 can be positioned on the head side of the subject O placed on the top 15. For this reason, the C-arm 27 performs X-rays while performing rotation (main rotation) about the support arm that supports the C-arm 27 on the movable casing 20 as a rotation axis, in addition to the circular movement of the C-arm 27 along the arc direction. An image can be taken.

  Therefore, even when an imaging position (observation angle) that cannot be covered by the circular movement of the C arm 27 from the side of the subject O occurs, the mobile X-ray diagnosis connected to the rail 12 via the support 50 is performed. By moving on the branch rail 71, the apparatus 10 can perform imaging by main rotation, and can easily perform imaging of an imaging position (observation angle) that cannot be covered by arc movement.

  In general, the mobile X-ray diagnostic apparatus has a high degree of freedom of movement, so the position reproducibility of the C-arm at the time of image acquisition is poor, and past X-ray images and other modality images (such as CT images) It is difficult to compare and display. It is also difficult to control interference to prevent collision between devices with other modalities.

  On the other hand, when the mobile X-ray diagnostic apparatus 10 according to the present embodiment is used together with another medical image diagnostic apparatus 11, a rail for moving the gantry 13 of the other medical image diagnostic apparatus 11 via the support 50. 12 is detachably connected to the rail 12 through a support 50 placed on the rail 12. In addition, the position information of the own device based on the output signal of the position sensor 52 of the support 50 can be acquired. Therefore, according to the mobile X-ray diagnostic apparatus 10, in a connected state used with other medical image diagnostic apparatuses 11, position reproducibility can be improved with a very simple configuration without using a large-scale sensing system. In addition, the floor surface 100 can be moved freely in the detached state and can be shared with users in other examination rooms.

  In addition, the mobile X-ray diagnostic apparatus 10 uses the position information of its own apparatus based on the output signal of the position sensor 52 of the support 50 in the connected state used with the other medical image diagnostic apparatuses 11, so that the mutual apparatus Interference control can be performed in cooperation with other medical image diagnostic apparatuses 11 so as not to approach within a predetermined distance. For this reason, it is possible to prevent interference between the devices.

  In addition, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  Further, in the embodiment of the present invention, each step of the flowchart shows an example of processing that is performed in time series in the order described. The process to be executed is also included.

  For example, in the present embodiment, an example in which the installation surface of the other medical image diagnostic apparatus 11 is the floor surface 100 and the rail 12 is laid on the floor surface 100 is shown, but the rail 12 is laid on the ceiling. Alternatively, the mobile X-ray diagnostic apparatus 10 may be coupled to the ceiling rail 12 via the support 50.

  Further, the connection control function, the position information presentation function, the interference control function, and the X-ray image generation function of the processing circuit 45 in the present embodiment are the connection control unit, the position information presentation unit, the interference control unit, and the X-ray in the claims. Each corresponds to an image generation unit.

  In addition, the term “processor” related to the controller 41 and the processing circuits 45, 54, and 67 in this embodiment is, for example, a dedicated or general-purpose CPU (Central Processing Unit), GPU (Graphics Processing Unit), or a specific application. Application Specific Integrated Circuit (ASIC), programmable logic device (for example, Simple Programmable Logic Device (SPLD), Complex Programmable Logic Device (CPLD), and Field Programmable Gate Array (Field) Programmable Gate Array (FPGA)). The processor implements various functions by reading and executing programs stored in the storage circuits 43 and 65.

  Further, instead of storing the program in the storage circuits 43 and 65, the program may be directly incorporated in the circuit of the processor. In this case, the processor implements various functions by reading and executing a program incorporated in the circuit. In this embodiment, an example in which each controller 41 and processing circuits 45, 54, and 67 realize each function has been described. However, each controller 41, processing circuit 45, 54 and 67 may be configured, and each function may be realized by each processor executing a program. When a plurality of processors are provided, a storage medium that stores a program may be provided for each processor.

DESCRIPTION OF SYMBOLS 1 Medical diagnostic imaging system 10 Mobile X-ray diagnostic apparatus 11 Medical diagnostic imaging apparatus (X-ray CT apparatus)
12 rails 13 mounts 17 and 22 display 20 moving case 21 X-ray imaging system 30 bottom 31 movable part (wheel)
32 connection mechanism 42, 61 input circuit 43, 65 storage circuit 45, 67 processing circuit 50 support 51 connection mechanism 52, 63 position sensor 63 position sensor 71 branch rail

Claims (8)

It has a movable part and can be detached from the rail via a support body mounted on a rail that is a rail for moving the base of another medical diagnostic imaging apparatus and is laid on the installation surface of the base In the connected state connected to the rail, it moves along the rail integrally with the support body, while in the detached state separated from the rail, it can freely move on the installation surface via the movable part. A moving housing having a bottom that moves to
A position information presenting unit that acquires current position information of the own machine on the rail based on an output signal of the position sensor of the support, and displays the current position information of the own machine on a display unit;
An X-ray imaging system attached to the movable housing;
A mobile X-ray diagnostic apparatus. An X-ray image generation unit that generates an X-ray image of a subject by controlling the X-ray imaging system, and stores the X-ray image and the current position information of the own device on the rail in association with each other. ,
The mobile X-ray diagnostic apparatus according to claim 1, further comprising: The position information presentation unit
When one of the X-ray images stored in the storage unit is selected by the user via the input unit, position information associated with the selected X-ray image is further displayed on the display unit.
The mobile X-ray diagnostic apparatus according to claim 2. The current position information of the gantry on the rail is acquired from the other medical image diagnostic apparatus, and when the distance between the own machine and the gantry is within a predetermined distance, the distance is larger than the predetermined distance. An interference control unit for instructing the base to move on the rail in a direction away from the base unit;
The mobile X-ray diagnostic apparatus according to any one of claims 1 to 3, further comprising: A connection control unit for controlling connection and disconnection of the bottom and the rail via the support;
Further comprising
The bottom is
And having a connecting mechanism that moves the support in a direction that protrudes and retracts from the bottom while connecting the support to the bottom.
The coupling mechanism is
Based on the control of the connection control unit, in the disengaged state, the support is moved from the bottom toward the rail while being placed on the rail while the support is connected to the bottom. By moving the movable housing to the connected state connected to the rail, and in the connected state, moving the support from the rail toward the bottom while connecting the support to the bottom, Transition to the detached state in which the movable housing is detached from the rail;
The mobile X-ray diagnostic apparatus according to any one of claims 1 to 4. A connection control unit for controlling connection and disconnection of the bottom and the rail via the support;
Further comprising
The bottom is
It has a shape that can be connected to the support mounted on the rail, and has a connecting mechanism that can move in the direction of protruding and retracting from the bottom,
The coupling mechanism is
Based on the control of the connection control unit, in the detached state, the connection mechanism is connected to the rail by moving the connection mechanism from the bottom toward the rail and connecting to the connection mechanism of the support. Moving the moving housing to a state, and moving the moving housing to the detached state separated from the rail by moving the connecting mechanism from the rail toward the bottom in the connected state.
The mobile X-ray diagnostic apparatus according to any one of claims 1 to 4. The movable housing is
In the connected state, it is configured to move along the branch rail branched from the rail and to be positioned on the branch rail.
The mobile X-ray diagnostic apparatus according to any one of claims 1 to 6. The other medical image diagnostic apparatus;
The rail;
The support;
The mobile X-ray diagnostic apparatus according to any one of claims 1 to 7,
A medical diagnostic imaging system.

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