JP2021013508A - Bed device and medical diagnostic apparatus - Google Patents

Abstract

To provide a bed device and a medical diagnostic apparatus which improve operability regarding the movement of a top plate provided on the bed device.SOLUTION: The bed device comprises: a top plate for placing an analyte thereon; a drive part for driving the top plate in response to a drive signal; and a switch mechanism which, when the top plate moves to a specific position in a first state where the top plate is not connected mechanically with the drive part, switches the state of the top plate to a second state where the top plate is connected mechanically with the drive part.SELECTED DRAWING: Figure 1

Description

Embodiments of the present invention relate to sleeper devices and medical diagnostic devices.

Conventionally, the medical sleeper device used for imaging with a diagnostic device such as an X-ray CT (Computed Tomography) device moves the top plate mainly by mechanical control according to the operation accepted by the input interface, but the clutch is disengaged ( Hereinafter, the top plate may be referred to as free), so that the operator can manually operate the top plate. However, in order for the operator to move the top plate to a desired position in the free top plate state and fix (lock) the top plate at that position, it is necessary to instruct the clutch to be connected via the input interface. there were.

Japanese Unexamined Patent Publication No. 6-14918

An object to be solved by the present invention is to improve the operability regarding the movement of the top plate provided in the sleeper device.

The bed device of the embodiment includes a top plate, a drive unit, and a switching mechanism. The subject is placed on the top plate. The drive unit drives the top plate according to the drive signal. The switching mechanism mechanically connects the state of the top plate to the drive unit when the top plate moves to a specific position in the first state in which the top plate is not mechanically connected to the drive unit. Switch to the second state.

It is a block diagram of the X-ray CT apparatus 1. The figure for demonstrating the control of the sleeper apparatus 30 by the top plate position control function 57. The figure for demonstrating the adjustment content of the position of the top plate 33 by the position adjustment function 57-2. The figure for demonstrating the adjustment content of the position of the top plate 33 by the position adjustment function 57-2. The figure for demonstrating the adjustment content of the position of the top plate 33 by the position adjustment function 57-2. The flowchart which shows an example of the flow of processing executed by the top plate position control function 57. The block diagram of the top plate position control function 57A of the X-ray CT apparatus 1A of the 2nd Embodiment. The figure for demonstrating the adjustment content of the position of the top plate 33 by the position adjustment function 57-2A. The figure for demonstrating the adjustment content of the position of the top plate 33 by the position adjustment function 57-2A. The figure for demonstrating the adjustment content of the position of the top plate 33 by the position adjustment function 57-2A. The figure for demonstrating the adjustment content of the position of the top plate 33 by the position adjustment function 57-2A. The figure for demonstrating the adjustment content of the position of the top plate 33 by the position adjustment function 57-2A. The flowchart which shows an example of the flow of processing executed by the top plate position control function 57A. The figure which shows an example of the data about the shooting condition stored in the memory 41. The block diagram of the top plate position control function 57B of the X-ray CT apparatus 1B of the 3rd Embodiment. The figure for demonstrating the adjustment contents of the position of the top plate 33 by the position adjustment function 57-2B of the X-ray CT apparatus 1B of the 3rd Embodiment. The figure for demonstrating the adjustment contents of the position of the top plate 33 by the position adjustment function 57-2B of the X-ray CT apparatus 1B of the 3rd Embodiment. The flowchart which shows an example of the flow of processing executed by the top plate position control function 57B.

Hereinafter, the bed device and the medical diagnostic device of the embodiment will be described with reference to the drawings. The sleeper device is realized by one or more processors. The sleeper device can generate medical image data such as an X-ray CT (Computed Tomography) device, a PET (Positron Emission Tomography) -CT device, and a nuclear medicine diagnostic device. The subject is placed at the time of imaging with the medical image diagnostic device of. Hereinafter, an example of a specific embodiment will be described assuming that the medical diagnostic apparatus is an X-ray CT apparatus.

<First Embodiment>
FIG. 1 is a configuration diagram of an X-ray CT apparatus 1. The X-ray CT device 1 includes, for example, a gantry device 10, a sleeper device 30, and a console device 40. In FIG. 1, for convenience of explanation, both a view of the gantry device 10 from the Z-axis direction and a view from the X-axis direction are shown, but in reality, the gantry device 10 is one. In the embodiment, the rotation axis of the rotation frame 17 in the non-tilt state or the longitudinal direction of the top plate 33 of the sleeper device 30 is orthogonal to the Z-axis direction and the Z-axis direction, and the axis horizontal to the floor surface is the X-axis. The direction orthogonal to the Z-axis direction and the direction perpendicular to the floor surface is defined as the Y-axis direction, respectively.

The gantry device 10 includes, for example, an X-ray tube 11, a wedge 12, a collimator 13, an X-ray high voltage device 14, an X-ray detector 15, and a data acquisition system (hereinafter, DAS: Data Acquisition System) 16. , A rotating frame 17 and a control device 18.

The X-ray tube 11 generates X-rays by irradiating thermoelectrons from the cathode (filament) toward the anode (target) by applying a high voltage from the X-ray high voltage device 14. The X-ray tube 11 includes a vacuum tube. For example, the X-ray tube 11 is a rotating anode type X-ray tube that generates X-rays by irradiating a rotating anode with thermoelectrons.

The wedge 12 is a filter for adjusting the X-ray dose applied to the subject P from the X-ray tube 11. The wedge 12 attenuates the X-rays that pass through itself so that the distribution of the X-ray dose radiated from the X-ray tube 11 to the subject P becomes a predetermined distribution. The wedge 12 is also called a wedge filter or a bow-tie filter. The wedge 12 is, for example, a product obtained by processing aluminum so as to have a predetermined target angle and a predetermined thickness.

The collimator 13 is a mechanism for narrowing down the irradiation range of X-rays transmitted through the wedge 12. The collimator 13 narrows down the X-ray irradiation range by forming a slit, for example, by combining a plurality of lead plates. The collimator 13 is sometimes called an X-ray diaphragm. The narrowing range of the collimator 13 may be mechanically driveable.

The X-ray high voltage device 14 includes, for example, a high voltage generator and an X-ray control device. The high voltage generator has an electric circuit including a transformer, a rectifier, and the like, and generates a high voltage applied to the X-ray tube 11. The X-ray control device controls the output voltage of the high voltage generator according to the X-ray dose to be generated in the X-ray tube 11. The high voltage generator may be one that boosts the voltage by the transformer described above, or may be one that boosts the voltage by an inverter. The X-ray high-voltage device 14 may be provided on the rotating frame 17, or may be provided on the side of the fixed frame (not shown) of the gantry device 10.

The X-ray detector 15 detects the intensity of X-rays generated by the X-ray tube 11 and passed through the subject P and incident. The X-ray detector 15 outputs an electric signal (or an optical signal or the like) according to the intensity of the detected X-ray to the DAS 16. The X-ray detector 15 has, for example, a plurality of X-ray detection element sequences. Each of the plurality of X-ray detection element sequences is an array of a plurality of X-ray detection elements in the channel direction along an arc centered on the focal point of the X-ray tube 11. The plurality of X-ray detection element sequences are arranged in the slice direction (column direction, row direction).

The X-ray detector 15 is, for example, an indirect detector having a grid, a scintillator array, and an optical sensor array. The scintillator array has a plurality of scintillators. Each scintillator has a scintillator crystal. The scintillator crystal emits an amount of light according to the intensity of the incident X-rays. The grid is arranged on the surface of the scintillator array where X-rays are incident, and has an X-ray shielding plate having a function of absorbing scattered X-rays. The grid may also be called a collimator (one-dimensional collimator or two-dimensional collimator). The optical sensor array includes, for example, an optical sensor such as a photomultiplier tube (PMT). The optical sensor array outputs an electric signal according to the amount of light emitted by the scintillator. The X-ray detector 15 may be a direct conversion type detector having a semiconductor element that converts incident X-rays into an electric signal.

The DAS 16 has, for example, an amplifier, an integrator, and an A / D converter. The amplifier performs amplification processing on the electric signal output by each X-ray detection element of the X-ray detector 15. The integrator integrates the amplified electrical signal over the view period (described later). The A / D converter converts an electric signal indicating the integration result into a digital signal. The DAS 16 outputs the detection data based on the digital signal to the console device 40. The detection data is a digital value of the X-ray intensity identified by the channel number, the column number, and the view number indicating the collected view of the X-ray detection element of the generation source. The view number is a number that changes according to the rotation of the rotation frame 17, for example, a number that is incremented according to the rotation of the rotation frame 17. Therefore, the view number is information indicating the rotation angle of the X-ray tube 11. The view period is a period within a period from the rotation angle corresponding to a certain view number to the rotation angle corresponding to the next view number. The DAS 16 may detect the change of view by a timing signal input from the control device 18, an internal timer, or a signal acquired from a sensor (not shown). .. When X-rays are continuously exposed by the X-ray tube 11 in the case of performing a full scan, the DAS 16 collects a detection data group for the entire circumference (360 degrees). When X-rays are continuously exposed by the X-ray tube 11 in the case of performing a half scan, the DAS 16 collects detection data for a half circumference (180 degrees).

The rotating frame 17 is an annular member that supports the X-ray tube 11, the wedge 12, the collimator 13, and the X-ray detector 15 so as to face each other. The rotating frame 17 is rotatably supported by the fixed frame around the subject P introduced inside. The rotating frame 17 further supports the DAS 16. The detection data output by the DAS 16 has a photodiode provided in a non-rotating portion (for example, a fixed frame) of the gantry device 10 by optical communication from a transmitter having a light emitting diode (LED) provided in the rotating frame 17. It is transmitted to the receiver and transferred to the console device 40 by the receiver. The method of transmitting the detection data from the rotating frame 17 to the non-rotating portion is not limited to the method using the above-mentioned optical communication, and any non-contact type transmitting method may be adopted. The rotating frame 17 is not limited to an annular member as long as it can support and rotate an X-ray tube 11 or the like, and may be a member such as an arm.

The X-ray CT apparatus 1 is, for example, a Rotate / Rotate-Type X-ray CT apparatus (third) in which both the X-ray tube 11 and the X-ray detector 15 are supported by the rotating frame 17 and rotate around the subject P. Generation CT), but not limited to this, in Stationary / Rotate-Type in which a plurality of X-ray detection elements arranged in an annular shape are fixed to a fixed frame and the X-ray tube 11 rotates around the subject P. It may be an X-ray CT apparatus (4th generation CT).

The control device 18 has, for example, a processing circuit having a processor such as a CPU (Central Processing Unit) and a drive mechanism including a motor and an actuator. The control device 18 receives an input signal from the input interface 43 attached to the console device 40 or the gantry device 10 and controls the operation of the gantry device 10 and the sleeper device 30. For example, the control device 18 rotates the rotating frame 17 and tilts the gantry device 10. When tilting the gantry device 10, the control device 18 rotates the rotating frame 17 around an axis parallel to the Z-axis direction based on the tilt angle (tilt angle) input to the input interface 43. The control device 18 grasps the rotation angle of the rotation frame 17 by the output of a sensor (not shown) or the like. Further, the control device 18 provides the scan control function 55 with the rotation angle of the rotation frame 17 at any time. The control device 18 may be provided in the gantry device 10 or in the console device 40.

The sleeper device 30 is a device on which the subject P to be scanned is placed, moved, and introduced into the rotating frame 17 of the gantry device 10. The sleeper device 30 has, for example, a base 31, a sleeper drive device 32, a top plate 33, a support frame 34, a position sensor 35, and a stopper 36. The base 31 includes a housing that movably supports the support frame 34 in the vertical direction (Y-axis direction). The sleeper drive device 32 includes a motor and an actuator. The sleeper drive device 32 moves the top plate 33 on which the subject P is placed in the longitudinal direction (Z-axis direction) of the top plate 33 along the support frame 34. The top plate 33 is a plate-shaped member on which the subject P is placed. The top plate 33 can be manually operated by an operator (for example, a doctor, a professional engineer, etc.) or mechanically connected to the sleeper drive device 32. The operator appropriately switches between manually operating the top plate 33 and operating the machine.

The sleeper drive device 32 may move not only the top plate 33 but also the support frame 34 in the longitudinal direction of the top plate 33. Further, contrary to the above, the gantry device 10 may be movable in the Z-axis direction, and the rotation frame 17 may be controlled to come around the subject P by the movement of the gantry device 10. Further, both the gantry device 10 and the top plate 33 may be movable. Further, the X-ray CT device 1 may be a device in which the subject P is scanned in a standing position or a sitting position. In this case, the X-ray CT device 1 has a subject support mechanism instead of the sleeper device 30, and the gantry device 10 rotates the rotating frame 17 about an axial direction perpendicular to the floor surface.

The position sensor 35 senses the position of the top plate 33. In the position sensor 35, for example, in order to prevent the top plate 33 from coming off the support frame 34, the position information of the top plate 33, particularly the top plate 33 reaches the movement limit (the end of the movable region of the top plate 33). It is a sensor that acquires information on whether or not it is installed. The position sensor 35 is, for example, a photo sensor or an proximity sensor. The position sensor 35 is, for example, a sensor that acquires position information of the top plate 33 when the top plate 33 is moved in a direction approaching the installation position of the gantry device 10 (hereinafter, IN direction), and an installation direction of the gantry device 10. The sensor includes a sensor that acquires the position information of the top plate 33 when the top plate 33 is moved in a direction away from the above (hereinafter, OUT direction). The stopper 36 is a stop device that prevents the top plate 33 from being separated from the support frame 34.

The console device 40 has, for example, a memory 41, a display 42, an input interface 43, and a processing circuit 50. In the embodiment, the console device 40 will be described as a separate body from the gantry device 10, but the gantry device 10 may include a part or all of each component of the console device 40.

The memory 41 is realized by, for example, a RAM (Random Access Memory), a semiconductor memory element such as a flash memory, a hard disk, an optical disk, or the like. The memory 41 stores, for example, detection data, projection data, reconstructed image data, CT image data, information on the subject P, imaging conditions, and the like. These data may be stored in an external memory with which the X-ray CT apparatus 1 can communicate, instead of the memory 41 (or in addition to the memory 41). The external memory is controlled by the cloud server, for example, when the cloud server that manages the external memory receives a read / write request.

The display 42 displays various information. For example, the display 42 displays a medical image (CT image) generated by a processing circuit, a GUI (Graphical User Interface) image that accepts various operations by an operator, and the like. The display 42 is, for example, a liquid crystal display, a CRT (Cathode Ray Tube), an organic EL (Electroluminescence) display, or the like. The display 42 may be provided on the gantry device 10. The display 42 may be a desktop type or a display device (for example, a tablet terminal) capable of wirelessly communicating with the main body of the console device 40.

The input interface 43 accepts various input operations by the operator and outputs an electric signal indicating the contents of the received input operations to the processing circuit 50. For example, the input interface 43 includes collection conditions for collecting detection data or projection data (described later), reconstruction conditions for reconstructing a CT image, image processing conditions for generating a post-processed image from a CT image, and the like. Accepts input operations. For example, the input interface 43 is realized by a mouse, a keyboard, a touch panel, a drag ball, a switch, a button, a joystick, a camera, an infrared sensor, a microphone, and the like. The input interface 43 may be provided on the gantry device 10. Further, the input interface 43 may be realized by a display device (for example, a tablet terminal) capable of wireless communication with the main body of the console device 40.

The network connection circuit 44 includes, for example, a network card having a printed circuit board, a wireless communication module, and the like. The network connection circuit 44 implements an information communication protocol according to the form of the network to be connected.

The processing circuit 50 controls the overall operation of the X-ray CT device 1, the operation of the gantry device 10, and the operation of the sleeper device 30. The processing circuit 50 executes, for example, a system control function 51, a pre-processing function 52, a reconstruction processing function 53, an image processing function 54, a scan control function 55, a display control function 56, a top plate position control function 57, and the like. These components are realized, for example, by the hardware processor executing a program (software) stored in the memory 41. The hardware processor is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an application specific integrated circuit (ASIC), or a programmable logic device (for example, a simple programmable logic device (Simple Programmable Logic)). It means a circuit such as a Device (SPLD) or a Complex Programmable Logic Device (CPLD) or a Field Programmable Gate Array (FPGA). Instead of storing the program in the memory 41, the program may be configured to be directly embedded in the circuit of the hardware processor. In this case, the hardware processor realizes the function by reading and executing the program embedded in the circuit. The hardware processor is not limited to the one configured as a single circuit, and may be configured as one hardware processor by combining a plurality of independent circuits to realize each function. Further, a plurality of components may be integrated into one hardware processor to realize each function.

Each component of the console device 40 or the processing circuit 50 may be distributed and implemented by a plurality of hardware. The processing circuit 50 may be realized not by the configuration of the console device 40 but by a processing device capable of communicating with the console device 40. The processing device is, for example, a workstation connected to one X-ray CT device, or a device connected to a plurality of X-ray CT devices and collectively executing processing equivalent to the processing circuit 50 described below ( For example, a cloud server).

The system control function 51 controls various functions of the processing circuit 50 based on the input operation received by the input interface 43.

The pre-processing function 52 performs pre-processing such as logarithmic conversion processing, offset correction processing, sensitivity correction processing between channels, and beam hardening correction on the detection data output by DAS 16 to generate projection data.

The reconstruction processing function 53 performs reconstruction processing by a filter correction back projection method, a successive approximation reconstruction method, or the like on the projection data generated by the preprocessing function 52 to generate and generate CT image data. The CT image data is stored in the memory 41.

The image processing function 54 converts CT image data into three-dimensional image data or cross-sectional image data of an arbitrary cross section by a known method based on the input operation received by the input interface 43. The conversion to the three-dimensional image data may be performed by the preprocessing function 52.

The scan control function 55 controls the collection process of the detection data in the gantry device 10 by instructing the X-ray high voltage device 14, the DAS 16, the control device 18, and the sleeper drive device 32. The scan control function 55 controls the operation of each part when taking a picture for collecting a positioning image and taking a picture used for diagnosis.

The display control function 56 displays various images on the display 42.

The top plate position control function 57 moves the top plate 33 to the sleeper drive device 32 according to the position information of the top plate 33.

When the sleeper device 30 includes a dedicated processing circuit, the top plate position control function 57 may be included in the dedicated processing circuit of the sleeper device 30. The "sleeper device" in the claims is a combination of the sleeper device 30, the control device 18, and the top plate position control function 57.

FIG. 2 is a diagram for explaining control of the sleeper device 30 by the top plate position control function 57. The sleeper drive device 32 includes, for example, a clutch 32-1, a driver 32-2, a motor 32-3, an actuator 32-4, and an encoder 32-5.

The clutch 32-1 is specified in a possible first state (top plate free state) in which the top plate 33 is not mechanically connected to the drive unit (driver 32-2 and the sleeper drive function 57-3 described later). When it is moved to the position (described later), the top plate free is released and the second state mechanically connected to the drive unit is switched. The clutch 32-1 is an example of a "switching mechanism".

For example, when the operator wants to move the top plate 33 manually or wants to move the top plate 33 more quickly, the operator releases the clutch 32-1 so as to be in the first state. Further, when the operator wants to move the top plate 33 more carefully, the operator operates the sleeper device 30 by connecting the clutch 32-1 so as to be in the second state and operating the input interface 43 of the gantry device 10. To do.

The driver 32-2 controls the motor 32-3 and the actuator 32-4 in the second state. The driver 32-2 sends a current to the motor 32-3 and the actuator 32-4 according to the output of the top plate position control function 57. The motor 32-3 and the actuator 32-4 control the movement of the base 31 and the top plate 33 based on the current sent by the driver 32-2.

The encoder 32-5 detects, for example, at least the moving speed of the top plate 33 in the longitudinal direction. The encoder 32-5 is, for example, an absolute encoder.

"Move the top plate 33 to a specific position" means that a predetermined position of the top plate 33 (for example, the edge of the top plate 33, the position of the center of gravity of the top plate 33, the placement position of the subject P, the subject P) A predetermined position (for example, a movement limit of the top plate 33, a position before a predetermined distance from a target position when the top plate 33 is moved, etc.) is reached.

The top plate position control function 57 drives the top plate 33 according to a drive signal.

The top plate position control function 57 includes, for example, a first acquisition function 57-1, a position adjustment function 57-2, a sleeper drive function 57-3, and a switching control function 57-4. The first acquisition function 57-1 acquires the position information of the top plate 33. The first acquisition function 57-1 acquires, for example, the position information sensed by the position sensor 35. Further, the first acquisition function 57-1 may generate the position information of the top plate 33 by itself based on the detection result of the moving speed of the top plate 33 detected by the encoder 32-5.

The first acquisition function 57-1 may determine whether or not there is a positional deviation between the position of the top plate 33 when the state of the top plate is switched to the second state and the target position (described later). Good. The misalignment of the top plate 33 includes misalignment due to the engagement of the clutch 32-1, rebound when the top plate 33 and the stopper 36 interfere with each other, and overrun where the top plate 33 exceeds the stopper 36. The first acquisition function 57-1 is an example of the “first acquisition unit”.

The "target position" may be the same as the above-mentioned specific position, or may be a position different from the specific position. The target position corresponds to, for example, a preset allowable limit of movement (in limit, out limit) of the top plate 33.

The position adjustment function 57-2 cancels the misalignment between the position of the top plate 33 when the state of the top plate 33 is switched to the second state and the target position. The adjustment amount for moving is derived and output to the sleeper drive function 57-3. The position adjustment function 57-2 derives the adjustment amount based on, for example, the position information of the top plate 33 sensed by the position sensor 35 and the detection result by the encoder 32-5. The position adjustment function 57-2 may omit the derivation of the adjustment amount of the top plate 33 when it is not determined by the first acquisition function 57-1 that the position shift of the top plate 33 has occurred.

The sleeper drive function 57-3 has a top plate 33 when the position of the top plate 33 when the state of the top plate 33 is switched to the second state exceeds the target position or has not reached the target position. Is generated to move the drive signal to the target position.

The sleeper drive function 57-3 generates a command pulse (drive signal) for moving the top plate 33 based on the adjustment amount derived by the position adjustment function 57-2, and causes the driver 32-2 of the sleeper drive device 32 to generate a command pulse (drive signal). The top plate 33 is driven by transmission. A driver 32-2 having the functions of the position adjustment function 57-2 and the sleeper drive function 57-3 is an example of the "drive unit".

The sleeper drive function 57-3 displays the display 42 on the display 42 when the top plate 33 cannot be moved by the sleeper drive function 57-3 as a result of an overrun in which the top plate 33 exceeds the stopper 36. Is made to output warning information so as to return the position of the top plate 33 to the original position.

The switching control function 57-4 controls whether to make the top plate 33 free or to end the top plate free by controlling the engagement or disengagement of the clutch 32-1 according to the operation of the operator. .. Further, in the switching control function 57-4, the clutch 32-1 is in the first state, and the position information acquired by the first acquisition function 57-1 exceeds the predetermined position of the top plate 33. When indicating that, the clutch 32-1 is switched to the second state without any operation by the operator.

With the above configuration, the X-ray CT apparatus 1 scans the subject P in a scanning mode such as a helical scan, a conventional scan, and a step-and-shoot. The helical scan is a mode in which the rotating frame 17 is rotated while the top plate 33 is moved to spirally scan the subject P. The conventional scan is a mode in which the rotating frame 17 is rotated while the top plate 33 is stationary to scan the subject P in a circular orbit. The step-and-shoot is a mode in which the position of the top plate 33 is moved at regular intervals to perform a conventional scan in a plurality of scan areas.

[Adjusting the position of the top plate 1]
The position adjusting function 57-2 adjusts the position of the top plate 33 so that when the top plate 33 and the stopper 36 interfere with each other, the bounce that the top plate 33 moves due to the interference is offset. 3 to 5 are views for explaining the content of adjusting the position of the top plate 33 by the position adjusting function 57-2.

As shown in FIG. 3, when the top plate 33 is free, the operator can move the top plate 33 in the direction D1 shown in the drawing.

FIG. 4 is a diagram showing the positional relationship of the bed device 30 after a lapse of a predetermined time from the state shown in FIG. As a result of the operator applying a force to move the top plate 33 in the OUT direction as shown in FIG. 3, the top plate 33 moves in the OUT direction and approaches the stopper 36 as shown in the direction D2 of FIG. It interferes with the stopper 36 and bounces off, and moves in the IN direction away from the stopper 36. The position sensor 35 provides information indicating that, for example, when the top plate 33 moves in the OUT direction and approaches the stopper 36, the end portion of the top plate 33 has passed the monitoring area of the position sensor 35 (for example, the top plate). When the position information of the end portion of 33 (such as information indicating that the predetermined threshold value has been exceeded) is acquired, the information indicating that the top plate 33 has reached the predetermined position is output to the sleeper drive device 32. At this time, the clutch 32-1 is engaged, and the top plate 33 is in a state where the top plate free is completed even if there is no operation by the operator.

The position adjustment function 57-2 is such that the top plate 33 is stopped at a predetermined position based on the position information of the top plate 33 acquired by the position sensor 35 (for example, the end portion of the top plate 33 and the stopper 36 are brought together. Derivation of the amount of movement required to make it in contact and rest). Further, the position adjusting function 57-2 may derive the amount of rebound of the top plate 33 based on the moving speed acquired by the encoder 32-5.

FIG. 5 is a diagram showing the positional relationship of the bed device 30 after a lapse of a predetermined time from the state shown in FIG. The sleeper drive function 57-3 moves the top plate 33 in the direction D3 so as to offset the amount of bounce derived by the position adjustment function 57-2. By performing such control, the operator feels that the top plate 33 has come into contact with the stopper 36 and has been stopped with a response (click feeling) as if it was automatically guided to a stationary position. be able to.

[Processing flow 1]
FIG. 6 is a flowchart showing an example of the flow of processing executed by the top plate position control function 57.

First, the switching control function 57-4 accepts the operation of starting the first state by the operator and determines whether or not to start the first state (step S100). If it is not determined to start the first state, the switching control function 57-4 performs the process of step S100 again after the elapse of a predetermined time. When it is determined to start the first state, the switching control function 57-4 releases the clutch 32-1 and starts the first state (step S102).

Next, the switching control function 57-4 accepts the operation of ending the first state by the operator and determines whether or not to end the first state (step S104). If it is not determined to end the first state, the first acquisition function 57-1 determines whether or not the top plate 33 has moved to a specific position by the position sensor 35 (step S106). If it is not determined that the device has moved to a specific position, the first acquisition function 57-1 returns the process to step S104. When it is determined that the position has been moved to a specific position, the switching control function 57-4 ends the first state and starts the second state (step S108).

Next, the first acquisition function 57-1 determines whether or not the position shift has occurred and the top plate 33 has bounced back in the IN direction based on the position information of the top plate 33 (step S110). When it is determined that there is a bounce, the sleeper drive function 57-3 adjusts the position in the OUT direction based on the result that the position adjustment function 57-2 derives an adjustment amount that offsets the misalignment of the top plate 33. Is output to the sleeper drive device 32 (step S112). If it is not determined that there is a bounce, the first acquisition function 57-1 ends the process of this flowchart.

In addition, in the processing of the above-mentioned flowchart, the processing of step S110 may be omitted. In that case, the sleeper drive function 57-3 performs a process of moving the top plate 33 to the target position in step S112.

In the above embodiment, in the scene where the top plate 33 is moved in the OUT direction, the top plate position control function 57 cancels out the amount of rebound caused by the interference between the top plate 33 and the stopper 36. Similar control may be performed even when the top plate 33 moves in the IN direction. For example, when it is desired to quickly move the top plate 33 for cleaning the periphery of the X-ray CT device 1 and the sleeper device 30, the operator sets the clutch 32-1 in the first state and moves it in the IN direction. There is. In such a situation, even if the operator pushes the top plate 33 too much in the IN direction, the switching control function 57-4 switches the clutch 32-1 to the second state at a suitable position, so that the top plate 33 The 33 can be stopped within the movable region.

According to the X-ray CT apparatus 1 of the first embodiment described above, when the position information of the top plate 33 moves to a specific position, the clutch 32-1 is switched to the second state mechanically connected. As a result, even if the top plate 33 bounces or overruns, the top plate 33 is moved so that the sleeper drive function 57-3 cancels the misalignment. The operability related to the movement of the top plate 33 can be improved.

<Second embodiment>
Hereinafter, the X-ray CT apparatus 1A of the second embodiment will be described. In the following description, elements having a configuration different from that of the X-ray CT apparatus 1 of the first embodiment will be described by adding A to the same reference numerals as those of the first embodiment.

FIG. 7 is a block diagram of the top plate position control function 57A of the X-ray CT apparatus 1A of the second embodiment. The top plate position control function 57A of the X-ray CT apparatus 1A of the second embodiment has a second acquisition function 57-5 as compared with the top plate position control function 57 of the X-ray CT apparatus 1 of the first embodiment. The difference is that

The second acquisition function 57-5 acquires the position information regarding the subject P. The position information regarding the subject P indicates, for example, the positional relationship between the gantry device 10, the top plate 33, and the subject P, which is acquired by analyzing an image including the subject P captured by the camera 19 described later. Information. The second acquisition function 57-5 is an example of the “second acquisition unit”.

The second acquisition function 57-5 is a target position (for example, an eyeball line of the subject P, a clavicle line, etc.) for aligning the imaging start position of the subject P, which is input by the operator via the input interface 43. ) To get information about. The second acquisition function 57-5 recognizes the outline of the body of the subject P and parts such as the face, torso, arms, and legs by analyzing the image captured by the camera 19, and the position information thereof. To get. The second acquisition function 57-5 may select a method of analyzing the image captured by the camera 19 based on the information regarding the target position. For example, when the target position is the line of the eyeball of the subject P, the second acquisition function 57-5 may omit the analysis for acquiring the positions of the body portion, the arm, and the leg of the subject P.

Whether or not the switching control function 57-4 switches from the first state to the second state by further using the acquisition result by the second acquisition function 57-5 in addition to the acquisition result by the first acquisition function 57-1. You may perform the process of determining whether or not.

The position adjustment function 57-2A is at least one of the position information of the top plate 33 which is the acquisition result by the first acquisition function 57-1 and the position information about the subject P which is the acquisition result by the second acquisition function 57-5. The adjustment amount of the top plate 33 is derived based on the above. The sleeper drive function 57-3 generates a command pulse (drive signal) for moving the top plate 33 based on the adjustment amount derived by the position adjustment function 57-2A, and causes the driver 32-2 of the sleeper drive device 32 to generate a command pulse (drive signal). The top plate 33 is driven by transmission.

[Top plate position adjustment example 2]
8 to 10 are views for explaining the content of adjusting the position of the top plate 33 by the position adjusting function 57-2A.

The camera 19 photographs the subject P placed on the sleeper device 30. The camera 19 is installed at an arbitrary position such as, for example, the outer wall portion of the gantry device 10, the inside of the photographing dome of the gantry device 10, the vicinity of the photographing position, and the positional relationship between the gantry device 10, the top plate 33, and the subject P. Take an image to grasp. The image taken by the camera 19 is stored in the memory 41 and analyzed by the top plate position control function 57A.

In the first state, the operator moves the top plate 33 on which the subject P is placed in the IN direction (moving direction shown in FIG. 8) so as to approach the gantry device 10. The second acquisition function 57-5 acquires, for example, an image in which the position of the subject P is known, which is captured by the camera 19 at the timing when the operator puts it in the first state. The second acquisition function 57-5 analyzes the acquired image and outputs the analysis result to the position adjustment function 57-2A.

The position adjustment function 57-2A aligns the top plate 33 on which the subject P is placed with the target position for alignment of the subject P to the reference position indicated by the floodlight (not shown) of the gantry device 10, and the imaging start position. In order to move the top plate 33 on which the subject P is placed, a movement amount indicating how much the top plate 33 needs to be moved in the IN direction is derived. The second acquisition function 57-5 analyzes, for example, the acquired image and determines whether or not the target position matches the reference position indicated by the floodlight. The position adjustment function 57-2A is a position adjustment process for eliminating the deviation between the target position and the reference position when it is determined by the second acquisition function 57-5 that the target position does not match the reference position. To derive a command pulse and output it to the sleeper drive function 57-3. The position adjustment function 57-2A ends the position adjustment when it is determined by the second acquisition function 57-5 that the target position matches the reference position.

The sleeper drive function 57-3 provides the position information of the top plate 33 and the position information of the top plate 33 so that the top plate 33 does not move excessively in the IN direction in the situations shown in FIGS. 9 and 10 in the first state. Of the position information of the top plate 33, which is the acquisition result of the first acquisition function 57-1, and the position information of the subject P, which is the acquisition result of the second acquisition function 57-5, after acquiring the position information of the subject P. The top plate 33 is moved based on at least one of them.

In the switching control function 57-4, the top plate 33 is in a predetermined position based on the position information regarding the subject P acquired by the second acquisition function 57-5 and the clutch 32-1 is in the first state. When it can be estimated that the clutch 32-1 has been reached, or when it is estimated that the alignment of the subject P has been completed, even if there is no operation by the operator, the clutch 32-1 is engaged to enter the second state. Switch.

9 and 10 are diagrams showing the positional relationship of the bed device 30 after a lapse of a predetermined time from the state shown in FIG. As shown in FIG. 9, when the distance between the line of sight of the subject P and the reference position L is within a predetermined distance, the second state may be switched to, or the top plate may be switched to the reference position L as shown in FIG. You may switch to the second state when 33 moves. When the distance between the line of sight of the subject P and the reference position L is within a predetermined distance (for example, the remaining number [cm]) and the second state is switched, the remaining distance to be moved to the target position is the sleeper. The automatic alignment may be performed so that the drive function 57-3 is mechanically in the state shown in FIG. 10, or the operator confirms the reference position L and the target position of the subject P, and the input interface 43 The final alignment may be performed by setting the stop position of the subject P to the state shown in FIG. 10 by operating.

If there is a positional deviation between the target position and the current position of the subject P after switching to the second state, the position adjustment function 57-2A adjusts the position to eliminate the positional deviation.

[Top plate position adjustment example 3]
The switching control function 57-4 is in the first state, and when the position information acquired from the first acquisition function 57-1 indicates that the top plate 33 has reached a predetermined position, the operator Switch to the second state even if there is no operation of.

11 and 12 are views for explaining the content of adjusting the position of the top plate 33 by the position adjusting function 57-2A. The first acquisition function 57-1 includes, for example, the sensing result of the position sensor 35-1 in the photographing dome of the gantry device 10 shown in FIG. 11 and the sensing result of the position sensor 35-2 at an arbitrary position on the top plate 33. Acquires the position information of the top plate 33. The position sensor 35-1 and the position sensor 35-2 are, for example, a pair of proximity sensors. When the position sensor 35-2 is a reflective photoelectric sensor, the position sensor 35-1 is a reflector.

The switching control function 57-4 is in the first state, and the sensing result of the position sensor 35-1 acquired by the first acquisition function 57-1 and the position sensor 35-2 at an arbitrary position on the top plate 33. The distance between the position sensor 35-1 and the position sensor 35-2 is acquired based on the sensing result of the above, and the operation is performed when the distance between the position sensor 35-1 and the position sensor 35-2 becomes equal to or less than a predetermined distance. It switches to the second state even if there is no operation by the person.

[Processing flow 2]
FIG. 13 is a flowchart showing an example of the flow of processing executed by the top plate position control function 57A.

First, the switching control function 57-4 accepts the operation of starting the first state by the operator and determines whether or not to start the first state (step S200). If it is not determined to start the first state, the switching control function 57-4 performs the process of step S100 again after the elapse of a predetermined time. When it is determined to start the first state, the switching control function 57-4 releases the clutch 32-1 and starts the first state (step S202).

Next, the switching control function 57-4 accepts the operation of ending the first state by the operator and determines whether or not to end the first state (step S204). If it is not determined that the first state is terminated, the second acquisition function 57-5 determines whether or not the subject P has reached the target position based on the image captured by the camera 19 (step S206). .. In the process of step S206, instead of the process by the second acquisition function 57-5, the first acquisition function 57-1 moves the top plate 33 to the position where the subject P reaches the target position by the position sensor 35. You may perform the process of determining whether or not it has been done.

If it is not determined that the target position has been reached, the second acquisition function 57-5 returns the process to step S204. When it is determined that the target position has been reached, the switching control function 57-4 ends the first state and starts the second state (step S208).

Next, the position adjusting function 57-2A determines whether or not there is a positional deviation between the target position and the actual stop position based on the position information of the top plate 33 acquired by the first acquisition function 57-1. (Step S210). When it is determined that there is a misalignment, the sleeper drive function 57-3 outputs a pulse command for moving the top plate 33 in the direction of eliminating the misalignment to the sleeper drive device 32 (step S212). If it is not determined that there is a misalignment, the first acquisition function 57-1 ends the process of this flowchart.

According to the X-ray CT apparatus 1A of the second embodiment described above, the position adjusting function 57-2A has the first acquisition function 57-in the situation where the clutch 32-1 is in the first state of being released. It is determined whether or not the stop position has been reached based on at least one of the position information of the top plate 33 acquired by 1 and the position information of the subject P acquired by the second acquisition function 57-5, and the vehicle is stopped. When the position is reached, the switching control function 57-4 switches the clutch 32-1 from the first state to the second state regardless of the operation of the operator, so that the operator can change from the first state to the second state. It is possible to omit the operation of returning to.

<Third embodiment>
Hereinafter, the X-ray CT apparatus 1B of the third embodiment will be described. In the following description, the elements having different configurations from the X-ray CT apparatus 1 of the first embodiment and the X-ray CT apparatus 1A of the second embodiment are the same as those of the first embodiment or the second embodiment. It will be described by adding B to the reference numerals.

FIG. 14 is a diagram showing an example of data relating to shooting conditions stored in the memory 41. The shooting conditions include, for example, information about a shooting site, a target position, and a model used for image analysis by the second acquisition function 57-5B. The operator selects and inputs the imaging conditions used for imaging the subject P via the input interface 43 before the start of imaging.

FIG. 15 is a block diagram of the top plate position control function 57B of the X-ray CT apparatus 1B of the third embodiment. The top plate position control function 57B further includes a third acquisition function 57-6 as compared with the top plate position control function 57A of the second embodiment.

The third acquisition function 57-6 acquires the imaging conditions selected by the operator, acquires information on the imaging portion and the target position, and outputs the information to the second acquisition function 57-5B. The second acquisition function 57-5B analyzes the image of the subject P based on the information regarding the imaging site and the target position output by the third acquisition function 57-6. The third acquisition function 57-6 is an example of the “third acquisition unit”.

The position adjustment function 57-2B is based on at least one of an acquisition result by the first acquisition function 57-1, an acquisition result by the second acquisition function 57-5B, and an acquisition result by the third acquisition function 57-6. The position of the top plate 33 is adjusted.

16 and 17 are diagrams for explaining the content of adjusting the position of the top plate 33 by the position adjusting function 57-2B of the X-ray CT apparatus 1B of the third embodiment. The camera 19B of the X-ray CT apparatus 1B of the third embodiment is installed on the ceiling portion of the room where the X-ray CT apparatus 1B is installed, for example, as shown in FIG. The grounding position of the camera 19B of the X-ray CT device 1B of the third embodiment is not limited to the illustrated example, and the device outer wall portion of the gantry device 10 and the gantry device are the same as those of the second embodiment. It may be installed at an arbitrary position such as in the shooting dome of 10 or near the shooting position.

The operator selects and inputs the imaging conditions used for imaging the subject P via the input interface 43 before the start of imaging. The third acquisition function 57-6 acquires information regarding the imaging conditions of the subject P selected and input by the operator, and outputs the information to the second acquisition function 57-5B.

The second acquisition function 57-5B is, for example, at the time when the operation of the first state is performed by the operator, and the image captured by the camera 19B is captured before the operator manually moves the top plate 33. get. The position adjustment function 57-2B derives an amount (hereinafter, movement amount D) for moving the top plate 33 in order to move the subject P to the imaging start position.

FIG. 17 is a diagram showing the positional relationship of the bed device 30 after a lapse of a predetermined time from the state shown in FIG. As shown in FIG. 17, the switching control function 57-4 is in the first state, and when the result of moving the top plate 33 acquired by the second acquisition function 57-5 reaches the movement amount D. , Even if there is no operation by the operator, the clutch 32-1 is engaged and switched to the second state.

The position adjustment function 57-2B determines whether or not there is a positional deviation between the target position and the current position of the subject P after switching to the second state, and if it is determined that there is a positional deviation, that position. Adjust the position to eliminate the deviation.

[Processing flow 3]
FIG. 18 is a flowchart showing an example of the flow of processing executed by the top plate position control function 57A.

First, the third acquisition function 57-6 acquires information regarding the imaging conditions of the subject P (step S300). Next, the switching control function 57-4 accepts the operation of starting the first state by the operator and determines whether or not to start the first state (step S302). If it is not determined to start the first state, the switching control function 57-4 performs the process of step S100 again after the elapse of a predetermined time. When it is determined to start the first state, the second acquisition function 57-5B analyzes the image captured by the camera 19B and acquires information on the target position (step S304). The position adjustment function 57-2B derives the movement amount D based on the acquisition result by the second acquisition function 57-5B and the information regarding the imaging conditions of the subject P acquired by the third acquisition function 57-6 (step). S306). Next, the switching control function 57-4 releases the clutch 32-1 and starts the first state (step S308).

Next, the switching control function 57-4 accepts the operation of ending the first state by the operator and determines whether or not to end the first state (step S310). If it is not determined to end the first state, the first acquisition function 57-1 determines whether or not the top plate 33 has been moved to the position where the subject P reaches the target position by the position sensor 35 (step). S312). In the process of step S312, instead of the process by the first acquisition function 57-1, did the second acquisition function 57-5B reach the target position of the subject P based on the image taken by the camera 19B? You may perform the process of determining whether or not.

If it is not determined that the target position has been reached, the process returns to step S310. When it is determined that the target position has been reached, the switching control function 57-4 ends the first state and starts the second state (step S314).

Next, the position adjusting function 57-2B determines whether or not there is a positional deviation between the target position and the actual stop position based on the position information of the top plate 33 acquired by the first acquisition function 57-1. (Step S316). When it is determined that there is a misalignment, the sleeper drive function 57-3 outputs a pulse command for moving the top plate 33 in the direction of eliminating the misalignment to the sleeper drive device 32 (step S318). If the first acquisition function 57-1 does not determine that there is a misalignment, the process of this flowchart ends.

According to the X-ray CT apparatus 1B of the third embodiment described above, the position adjustment function 57-2B is the first acquisition function 57-in the situation where the clutch 32-1 is in the first state of being released. In addition to the position information of the top plate 33 acquired by 1 and the position information of the subject P acquired by the second acquisition function 57-5B, further photographing of the subject P acquired by the third acquisition function 57-6. By moving the top plate 33 based on the information regarding the conditions, the operator can more easily operate the top plate 33 in the first state.

According to at least one embodiment described above, the top plate 33 on which the subject is placed, the sleeper drive function 57-3 that drives the top plate 33 according to the drive signal, and the sleeper drive function 57-3 that drives the top plate 33 according to the drive signal. Clutch 32-1 that switches the state of the top plate 33 to the second state that is mechanically connected to the sleeper drive function 57-3 when it moves to a specific position in the first state that is not mechanically connected to As a result, the operability regarding the movement of the top plate 33 provided in the sleeper device 30 can be improved.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, as well as in the scope of the invention described in the claims and the equivalent scope thereof.

1 X-ray CT device 10 Stand device 30 Sleeper device 32 Sleeper drive device 32-1 Clutch 33 Top plate 40 Console device 41 Memory 50 Processing circuit 57, 57A, 57B Top plate position control function 57-1 First acquisition function 57-2 , 57-2A, 57-2B Position adjustment function 57-3 Sleeper drive function 57-4 Switching control function 57-5, 57-5B Second acquisition function 57-6 Third acquisition function

Claims (6)

The top plate on which the subject is placed and
A drive unit that drives the top plate according to a drive signal,
When the top plate moves to a specific position in the first state that is not mechanically connected to the drive unit, the state of the top plate is changed to the second state that is mechanically connected to the drive unit. Switching mechanism to switch and
A sleeper device equipped with. If there is a positional deviation between the position of the top plate when the state of the top plate is switched to the second state and the target position, the drive unit has the top plate so as to cancel the displacement. To move,
The sleeper device according to claim 1. The target position is a position corresponding to a preset allowable limit of movement of the top plate.
When the position of the top plate when the state of the top plate is switched to the second state exceeds the target position or has not reached the target position, the drive unit is the top plate. To the target position,
The sleeper device according to claim 2. The first acquisition unit that acquires the position information of the top plate and
Further provided with a second acquisition unit for acquiring position information regarding the subject,
The driving unit moves the top plate based on at least one of the position information of the top plate and the position information regarding the subject.
The bed device according to any one of claims 1 to 3. A third acquisition unit for acquiring information on the imaging conditions of the subject is further provided.
The driving unit further moves the top plate based on the information regarding the imaging conditions of the subject.
The bed device according to any one of claims 1 to 4. The sleeper device according to any one of claims 1 to 5.
A gantry device that generates medical image data related to the subject, and
A console device for operating the sleeper device and the gantry device, and
A medical diagnostic device equipped with.

Images