JP3183103U - X-ray equipment - Google Patents

Abstract

An object of the present invention is to support an object and to accurately detect an inspiratory state peak or an expiratory state peak without bothering an operator when performing a procedure, and perform X-ray irradiation of an X-ray imaging apparatus. Provided is an X-ray imaging apparatus capable of performing at a predetermined timing.
A robot arm 6 and an object holding mechanism provided in an imaging unit hold an object 3 at an imaging position of an imaging unit 4, and a position detection mechanism detects a positional displacement amount of the object holding mechanism with respect to the imaging unit 4. 8, and based on the detected change in position, the peak of the breathing state and the peak of the inhalation state of the subject are detected, the breathing phase estimation means estimates the breathing phase, and the estimated breathing Based on this phase, X-rays are irradiated in synchronization with a desired point in the respiratory cycle of the subject 3.
[Selection] Figure 1

Description

  The present invention relates to an X-ray imaging apparatus, and more particularly to an X-ray imaging apparatus capable of performing X-ray fluoroscopy in synchronization with breathing while holding the subject regardless of the ability of the subject (patient).

  An X-ray imaging apparatus as a medical diagnostic apparatus includes an X-ray irradiation unit having an X-ray tube, an imaging unit having an X-ray detector, an imaging unit drive control unit that controls driving of the imaging unit, an X-ray tube and an X-ray An imaging driving unit that drives an imaging system such as a detector, a processing unit for X-ray image data, an image display unit, and the like are included.

  A method is used in which a subject stands between an imaging unit and an X-ray irradiation unit and X-ray fluoroscopic imaging is performed by detecting X-rays that have passed through the subject. In addition, X-ray images obtained by X-ray fluoroscopy provide important information to clinicians, so the quality of the images is important.

Usually, the highest quality X-ray image of the chest is obtained when taken at the peak of the inspiratory state when breathing inspiration is complete. This is because the diaphragm moves most to the abdomen at the peak of the inhalation state, and the imaging region for the chest is the widest.
In addition, the highest quality X-ray image of the abdomen is obtained when it is taken at the peak of the expiration state when the expiration of breathing is completed. This is because the diaphragm moves to the chest side at the peak of the expiration state, and the imaging region for the abdomen is the widest.

  Therefore, in general, an operator (X-ray engineer) issues an instruction to the subject, such as “Take a big breath. Yes. Perform X-ray imaging. However, if it is difficult to respond to instructions, such as a child or a patient using a ventilator, the operator holds the subject, such as putting his hand behind him, and determines the breathing state of the subject. X-ray imaging is performed in synchronization with the peak of the inspiratory state (a state where a large inhalation has been taken) or the peak of the expiratory state (a state where the breath has been completely exhaled). As a method for confirming the respiratory state at the time of X-ray imaging, there is a confirmation method by optical measurement or ultrasonic measurement disclosed in Patent Document 1 in addition to a method in which an operator confirms by hand or eyes. In the method described in Patent Document 1, there is a risk of X-ray exposure because an operator holds a subject that is difficult to respond to an instruction by hand.

JP 2004-57559 A

In a conventional X-ray imaging apparatus, when the subject is a child or a patient who is difficult to stand independently, the subject may be displaced from the imaging position unless the subject is held from the outside. Must be held by hand.
In addition, when the imaging target region of the subject is the chest or abdomen, the operator needs to check the respiratory state of the subject in order to perform imaging in time with the peak of the respiratory cycle in which the imaging target region is most expanded. There is. It is also necessary to prevent the operator from being exposed to X-rays.

  The present invention has been made in view of the above points. While holding the subject, the inspiration state peak (the maximum point of the respiration state) or the exhalation state peak after exhaling. (Minimum point of breathing state) etc. are accurately captured and the phase of breathing is estimated, and X-rays are irradiated at a predetermined timing based on the estimated breathing phase regardless of the subject's ability, An apparatus capable of performing X-ray fluoroscopic imaging is provided.

In order to solve the above-described problems, an X-ray imaging apparatus of the present invention includes an X-ray irradiation unit having an X-ray tube and an X-ray detector that detects transmitted X-rays that are transmitted through the subject while facing the X-ray tube. And a means for supporting the X-ray detector, a robot arm provided on the X-ray detector or the means for supporting the X-ray detector, and a tip of the robot arm connected to the subject. An imaging unit having a subject holding unit that presses and holds the support unit, a robot arm controller that controls the robot arm, an imaging unit drive control unit that controls the imaging unit, the X-ray tube, and the X-ray detection An imaging drive unit that drives the scanner, an X-ray image data processing unit that processes X-ray image data obtained by the imaging unit, an image display unit that displays the X-ray image data, and the X-ray irradiation unit Operation unit that is arranged in the room and operates the whole Et al constructed.

  Further, the means for detecting the respiratory state of the subject and estimating the respiratory phase based on data obtained from a position detection mechanism for detecting the position of the subject holding means that varies with the body movement of the subject. It is provided in the robot arm controller and images are taken in synchronism with the peak of the inspiratory state or the vicinity thereof or the peak of the expiratory state or the vicinity thereof based on the data of the respiratory phase estimating means.

  In addition, a grip bar is provided for the patient to grasp.

The robot arm provided in the imaging unit and the subject holding means connected to the tip of the robot arm hold the subject to the imaging unit from behind and hold it in the imaging unit regardless of the ability of the subject (patient). Can do.
Since the operator of the X-ray imaging apparatus can operate the X-ray imaging apparatus without directly holding the subject during imaging, the operator can be prevented from being exposed to X-rays.

  The respiratory synchronization X-ray imaging apparatus according to the present invention estimates the breathing phase of the subject based on fluctuations in the position data of the subject holding means, and nears the peak of the inspiration state based on the estimated breathing phase. Since X-rays are emitted in synchronization with the desired point, X-ray imaging of the chest is possible with the imaging region for the chest being most expanded. In addition, when X-rays are irradiated in synchronization with a desired point such as the vicinity of the peak of the expiration state, X-ray imaging of the abdomen is possible with the imaging region for the abdomen most expanded.

  By gripping the grasping rod provided in the imaging unit, the subject can be given a sense of security and can be prevented from falling laterally. Furthermore, when the subject extends his arm forward, the distance between the left and right scapula is widened, and X-ray imaging of the chest can be performed in a state where an imaging region having high permeability to the chest is expanded.

It is a figure explaining the whole structure of the patient support type | mold respiratory synchronization X-ray imaging apparatus which concerns on this invention. It is a block diagram explaining the detail of a position detection mechanism. It is a timing chart explaining the detection of a respiratory state and X-ray imaging operation. It is a timing chart explaining the detection of a respiratory cycle and X-ray imaging operation. It is a timing chart explaining operation | movement of the position detection mechanism which concerns on this invention. It is a cross-sectional structure diagram of the subject holding means according to the present invention. It is a figure explaining the reference coordinate system used for explanation concerning the present invention.

FIG. 1 is a block diagram showing an embodiment of a patient-supported respiratory synchronization X-ray imaging apparatus according to the present invention.
The X-ray imaging apparatus includes an X-ray tube 1 that emits X-rays, an X-ray detector 5 that detects X-ray detectors 5 that transmit X-rays that are transmitted through the subject 3 and face the X-ray tube 1. The imaging unit 4 includes an imaging unit 4 that contacts and fixes the imaging target region of the subject 3, a robot arm 6 installed in the imaging unit 4, a gripping rod 9, and a subject holding means 7 connected to the tip of the robot arm 6. The The subject holding means 7 includes a position detection mechanism 8 that holds the subject 3 in the imaging unit 4 and detects body movement of the subject 3.

  The X-ray tube 1 is connected to a high voltage generator 2 that applies a high voltage, and an X-ray controller 10 is connected to the high voltage generator 2. An imaging condition setting unit 11 for setting imaging conditions such as tube voltage and tube current is connected. A robot arm controller 12 is connected to the position detection mechanism 8, and the robot arm controller 12 and the X-ray controller 10 are connected. A robot arm operation unit 26 is connected to the robot arm controller 12, and the imaging condition setting unit 11 and the robot arm operation unit 26 are included in an operation unit 27 that operates the entire X-ray imaging apparatus. The X-ray irradiation unit including the X-ray tube 1 is disposed in a separate room.

The operation of X-ray imaging will be described in order. The subject 3 stands in front of the imaging unit 4 and holds the grip rod 9. When the subject 3 is a child or a patient with a disability in the upper limb, the operator (X-ray engineer) guides the hand of the subject 3 to the gripping rod 9 and grips it. The operator operates the robot arm 6 using the robot arm operation unit 26, presses the back of the subject 3 with the subject holding means 7 connected to the tip of the robot arm 6, and takes the subject 3 to the imaging unit 4. Hold at the shooting position.
Even if the subject 3 is difficult to stand independently, such as a child or a patient with a lower limb disorder, the robot arm 6 and the subject holding means 7 hold the subject 3 at the imaging position of the imaging unit 4 and are stable. X-ray photography. The subject 3 is held by the frictional force acting on the contact surfaces of the front and rear body surfaces of the subject 3 between the imaging unit 4 and the subject holding means 7. Further, when the subject 3 grasps the grasping rod 9 by hand, the subject 3 can obtain a sense of security and prevents the lateral tilting.

  FIG. 7 is a perspective view showing the positional relationship among the imaging unit 4, the robot arm 6, the subject holding means 7, and the gripping rod 9, and shows the XYZ reference coordinate system used in this description. In the coordinate system, the horizontal axis from the center of the imaging unit 4 toward the X-ray tube 1 is the X axis, the horizontal axis from the X-ray tube 1 toward the imaging unit 4 is the Y axis, and the vertical upward is the Z axis. . Since the front surface (chest or abdomen side) of the subject 3 is fixed in contact with the imaging unit 4, the subject holding means 7 pays attention to the movement of the rear surface (back side) of the subject with breathing. The position detection mechanism 8 connected to the subject holding means 7 detects the body movement (X-axis displacement amount) of the subject 3 while holding the subject.

FIG. 6 shows a cross-sectional structure of the subject holding means 7 in the XY plane (the XY plane shown in FIG. 7 which is a plane including the X axis and the Y axis).
The subject holding means 7 includes a hand 100 that directly supports the subject 3, a displacement detector 170 of the position detection mechanism 8, and a housing 110. The housing 110 passes through the rotation axis C and is around the Z axis. The hand 100 is supported in a freely rotating manner, one end of the housing 110 has a fitting surface B, and the central axis of the distal end portion of the robot arm 6 coincides with the y-axis shown in the figure, which is the central axis of the housing 110. Fitted and connected. Therefore, the position of the tip of the robot arm 6 is the same as the position of the center O of the subject holding means 7 in FIG.

The shape of the hand portion of the hand 100 (upper part of FIG. 6) is, for example, a gentle circular arc shape of the palm, and the mechanism material 130 of the hand 100 is a material having high rigidity and mechanical strength and good X-ray transmittance, for example, Carbon processed products are used. The surface of the mechanism material 130 is covered with a waterproof outer skin 150 with a cushioning material 140 such as a sponge. The movable angle Δθ of the hand 100 is limited to within ± several degrees with respect to the y axis due to the gap G between the wrist side of the hand 100 (lower part in FIG. 6) and the housing 110. Since the angle Δθ is small, the displacement ΔAx in the X-axis direction of the hand 100 corresponding to the angle Δθ is regarded as ΔAx = kΔθ using the coefficient k.
By extending an elastic body 160 such as a coil spring on the hand side of the hand 100, the hand side of the hand 100 is pushed in the minus direction of the x axis. When the operator operates the robot arm 6 and the hand 100 comes into contact with the subject 3, the displacement detector 170 starts to detect the body movement of the subject 3.

  An operation in which the position detection mechanism 8 detects the body movement of the subject 3 will be described. FIG. 2 shows an electrical configuration of the position detection mechanism 8. The position detection mechanism 8 uses the X-axis signal Ax at the tip of the robot arm 6 and the displacement detector signal 13 to detect the respiratory state of the subject 3 with the respiratory state detection means 24, and this is detected by the respiratory displacement amount calculation means 25. The numerical value is converted into the displacement amount signal 19, and the numerically converted position information of the subject holding means 7 is transmitted to the robot arm controller 12.

FIG. 5 shows the time change of the signal of each part of the position detection mechanism 8. The X-axis signal Ax at the tip of the robot arm 6 is used as a signal indicating the position of the housing 110.
The displacement detector signal 13 while the hand 100 is away from the subject 3 (between a and b in FIG. 5) indicates the maximum value xmax. When the operator operates the robot arm 6 in the direction in which the X-axis coordinate decreases (ac in FIG. 5), the hand 100 of the subject holding means 7 contacts the subject (point b in FIG. 5), and the robot As the X-axis signal Ax at the tip of the arm 6 decreases, the displacement detector signal 13 decreases to the minimum value xmin. The operator operates the robot arm 6 to hold the subject 3 in the imaging unit (between b and c in FIG. 5). When the operator completes the holding of the subject 3 by the subject holding means 7, the operator presses a manual holding operation completion switch (not shown) (time point c in FIG. 5).

  The robot arm controller 12 gradually changes the X-axis signal Ax at the tip of the robot arm in the positive direction (between cd in FIG. 5). As the tip of the robot arm moves, the casing 110 also moves in the positive direction of the X axis, so the contracted elastic body starts to expand, and the displacement detector signal 13 starts to increase. The displacement detector 170 is calibrated in advance with an average value x0 = (xmin + xmax) / 2 of the minimum value xmin and the maximum value xmax of the displacement detector signal 13 as a zero point. When the displacement detector signal 13 cuts from zero to the zero point (point d in FIG. 5), the robot arm holding signal 14 is transmitted to the robot arm controller 12 to stop the X-axis coordinate movement of the robot arm tip, and the robot arm (D in FIG. 5).

  After the point d in FIG. 5, if the displacement detector signal 13 reaches xmax due to the respiration of the subject 3 (near the point e in FIG. 5), the holding of the robot arm 6 is once released, and the robot arm The tip X-axis signal Ax is changed in the plus direction by a preset value ΔAx, and the robot arm is held again. If the displacement detector signal 13 decreases and reaches xmin due to respiration of the subject 3 (near the point f in FIG. 5), the robot arm 6 is released and the X-axis signal Ax at the tip of the robot arm is released. Is changed in the minus direction by a preset value ΔAx, and the robot arm 6 is held again.

  After the robot arm holding signal 14 is output, the displacement detector signal 13 immediately after detecting the maximum point (the peak of the expiration state) and the minimum point (the peak of the inspiration state) of the displacement detector signal 13 is obtained. When it coincides with x0 during the increasing process (exhalation state) (g point in FIG. 5), a respiration measurement start signal 15 indicating the holding ready state is output.

  The displacement detector signal 13 measured after point g in FIG. 5 is detected as data indicating the breathing state of the subject, and the digitized displacement amount signal 19 is transmitted to the robot arm controller 12. The Let X be the magnitude of the displacement signal 19 representing the body movement due to breathing of the subject 3, and let the curve drawn by X change over time be called a breathing curve.

  FIG. 3 is a timing chart illustrating a control process in which the phase of respiration is estimated using the displacement signal 19 (respiration curve) and X-ray imaging is performed in synchronization with the respiration of the subject 3. In order to set a desired point in the breathing cycle in which X-ray irradiation is synchronized according to the subject 3, the robot arm controller 12 is assigned in advance a threshold Y for the minimum displacement Xmin, that is, the peak of the inspiration state. Therefore, a displacement amount X1 = Xmin × (1 + Y) at the start of X-ray irradiation is calculated. X-ray irradiation means for outputting the X-ray radiation signal 22 to the X-ray controller 10 when the displacement amount X1 near the peak of the inspiratory state reaches the peak of the inspiratory state from the peak of the expiratory state is configured. Yes.

  Next, the imaging operation of the fluoroscopic imaging of the chest will be described with reference to FIG. When an operator (X-ray engineer) operates the robot arm 6 with the robot arm operation unit 26, holds the subject 3 in the imaging unit 4 with the subject holding means 7, and presses a holding completion switch (not shown), the ready signal 16 is generated. It is input to the X-ray controller 10 (time a in FIG. 3).

In response to this, a starter activation signal 17 is transmitted from the X-ray controller 10 to a starter device (not shown), the rotary anode of the X-ray tube 1 starts operating, and a respiratory measurement operation signal 18 is transmitted to the robot arm controller 12. Is done.
The robot arm controller 12 transmits a measurement operation signal to the position detection mechanism 8 in response to the respiration measurement operation signal 18 (time b in FIG. 3). Next, when the position detection mechanism 8 transmits the respiration measurement start signal 15, the measured displacement amount signal 19 starts to be input to the robot arm controller 12 (time point c in FIG. 3).

  In response to the displacement signal 19, the robot arm controller 12 performs waveform shaping on the displacement signal 19 and subtracts the current displacement signal 19 (Xtn) from the previous displacement signal 19 (Xtn-1). Then, based on the detection that the result has changed from the negative state to zero or positive, the peak of the expiration state (time point d in FIG. 3) of the subject 3 is detected, while the subtraction result is zero or positive from the positive state. Based on the detection of the change to minus, the peak of the inhalation state of the subject 3 (time point e in FIG. 3) is detected. When the sign of the time variation (Xtn-1−Xtn) of the displacement amount signal 19 is the same for two or more times and is negative, it is regarded as an exhalation state, and when the sign is the same for two or more times and is positive and is positive, it is regarded as an inspiration state.

The displacement amount X at the peak of the intake state is measured and stored as Xmin.
The displacement at the start of X-ray irradiation is based on the threshold value Y and the displacement amount Xmin set so that the displacement amount at the actual X-ray irradiation becomes a value in the vicinity including the displacement amount Xmin at the peak of the intake state. X1 = Xmin × (1 + Y) is calculated and stored as the amount X1.

  When the rotational speed of the rotating anode of the X-ray tube 1 reaches the rotational speed necessary for imaging, a rotation confirmation signal is input from the starter device to the X-ray controller 10, and the imaging preparation completion state 20 is turned on. It is displayed on the operation unit 27 by character display, lamp lighting, or the like. (Time point f in FIG. 3)

  When the operator confirms the display and presses an X-ray switch (not shown), an X-ray signal 21 is input to the X-ray controller 10 (at time g in FIG. 3). The displacement reduction process from the peak of the expired state (time point h in FIG. 3) after the input of the X-ray signal 21, that is, the displacement amount in the inhalation process is measured and compared with the displacement amount X1. An X-ray radiation signal 22 is output from the robot arm controller 12, and X-rays are emitted. (Time point i in FIG. 3)

  When the X-ray emission signal 22 is input from the robot arm controller 12 to the X-ray controller 10, a tube voltage signal 23 is output from the X-ray controller 10 to the high voltage generator 2, and the X voltage controller 2 outputs the X voltage from the high voltage generator 2. A high voltage is applied to the tube 1 to start X-ray irradiation (time i in FIG. 3). After the elapse of the imaging time set by the imaging condition setting unit 11, the high voltage output from the high voltage generator 2 is stopped, and the X-ray imaging is completed. (Time point j in FIG. 3)

  As the operator (X-ray engineer) releases a ready switch (not shown), the ready signal 16 and the X-ray signal 21 are stopped, and the X-ray imaging of the chest is finished. (At time k in FIG. 3)

  In the above embodiment, the X-ray fluoroscopic operation of the chest has been described, but the present invention can also be applied to X-ray fluoroscopic imaging of the abdomen. That is, in the case of X-ray fluoroscopy of the abdomen, the displacement amount Xmax of the peak of the expiration state (time point d in FIG. 3) of the subject 3 detected based on the displacement amount signal 19 is measured and stored. The threshold value Y is set so as to include the peak. X2 = Xmax × (1−Y) is calculated and stored as the displacement amount X2 at the start of X-ray emission.

  The threshold value Y is suitably determined according to the subject, the imaging region, etc., such as determining the data by measuring data using an actual device and a subject phantom, or setting a Y value setting device individually for infants and adults. Select and set the value.

Next, another photographing operation will be described with reference to the timing chart of FIG.
In the respiratory synchronization X-ray imaging apparatus of the above-described embodiment, the imaging time setting unit 11 inputs a preset imaging time T2 to the X-ray controller 10 in advance.
4 is the same as the time point a to the time point e in FIG.

In the robot arm controller 12, instead of the displacement distance Xmin of the peak in the inspiration state, a time T from the peak in the expiration state (time point d in FIG. 4) to the peak in the inspiration state (time point e in FIG. 4) is measured. Remember.
T1 = T−T2 is calculated from the imaging time T2 and time T set by the imaging condition setting unit 11 and input to the X-ray controller 10 and stored.

When the rotational speed of the rotary anode of the X-ray tube 1 reaches the rotational speed necessary for imaging, a rotation confirmation signal is input from the starter device to the X-ray controller 10. When the photographing preparation completion state is reached, a preparation completion display is displayed on the operation unit 27 (time f in FIG. 4).
When this display is confirmed and the operator (X-ray engineer) presses an X-ray switch (not shown), the X-ray signal 21 is input to the X-ray controller 10 (time point g in FIG. 4). The time from the peak of the expired state after inputting the X-ray signal 21 (time h in FIG. 4) is measured, and the X-ray radiation signal 22 is output from the robot arm controller 12 at time T1 (time i in FIG. 4). ).

When an X-ray radiation signal 22 is input from the robot arm controller 12 to the X-ray controller 10, a high voltage is applied to the X-ray tube 1 from the high voltage generator 2 connected to the X-ray controller 10, Irradiation begins (time points i to j in FIG. 4).
After the elapse of the imaging time T2 set by the imaging condition setting unit 11, the high voltage output from the high voltage generator 2 is stopped, and the X-ray imaging ends (time j in FIG. 4).

  The operator (X-ray engineer) releases a ready switch (not shown), and accordingly, the ready signal 16 and the X-ray signal 21 are stopped and finished (time k in FIG. 4).

  In the above embodiment, in order to measure the displacement amount of the body movement based on the breathing of the subject, the inclination angle of the subject holding means 7 (with respect to the casing B of the hand A) that holds the subject at the tip of the robot arm is measured. However, the holding means may be formed into a belt shape, hold the subject with a constant tension, and measure the movement displacement of the belt. These are collectively referred to as a position detection mechanism. A pair of robot arms may be provided on the left and right of the subject.

  The present invention is not limited to X-ray imaging at the peak of the inspiratory state or the peak of the expiratory state, but also at other points of the subject's breathing cycle, such as the desired intermediate state of the peak of the inspiratory state or the peak of the inspiratory state. X-ray imaging can also be performed.

DESCRIPTION OF SYMBOLS 1 X-ray tube 2 High voltage generator 3 Subject 4 Imaging part 5 X-ray detector 6 Robot arm 7 Subject holding means 8 Position detection mechanism 9 Grip stick 10 X-ray controller 11 Imaging condition setting device 12 Robot arm controller 13 Displacement detector signal 14 Robot arm holding signal 15 Respiration measurement start signal 16 Ready signal 17 Starter activation signal 18 Respiration measurement operation signal 19 Displacement amount signal 20 Imaging ready state 21 X-ray signal 22 X-ray radiation signal 23 Tube voltage signal 24 Respiration state detection means 25 Respiration displacement amount calculation means 26 Robot arm operation unit 27 Operation unit 100 Hand 110 Case 130 Mechanism material 140 Buffer material 150 Outer skin 160 Elastic body 170 Displacement detector B Fitting surface C Center of rotation axis G Clearance O Center

Claims (3)

X-ray irradiation means for irradiating X-rays, X-ray detector for detecting X-rays irradiated from the X-ray irradiation means and transmitted through the subject, X-ray detector support means for supporting the X-ray detector, and Based on the detected position, an object holding means for pressing and holding the object against the X-ray detector or the X-ray detector support means, a position detection mechanism for detecting the position of the object holding means, and the detected position A control means for controlling the position of the subject holding means,
The apparatus further includes a respiration phase estimating unit that estimates a respiration phase of the subject based on the detected position change, and the X-ray irradiation unit is configured to generate an X-ray based on the estimated respiration phase. An X-ray imaging apparatus characterized by having a function of controlling the irradiation timing.   The X-ray imaging apparatus according to claim 1, further comprising an operation unit for operating the subject holding unit, wherein the operation unit is disposed in a room different from the X-ray irradiation unit. .   The X-ray imaging apparatus according to claim 1, wherein a grip bar that can be gripped by a patient is provided in the imaging unit.

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