JP4314013B2 - X-ray fluoroscopic equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an X-ray diagnostic apparatus used for medical diagnosis, and more particularly to an X-ray fluoroscopic apparatus capable of positioning an image system so as to capture a wide range.
[0002]
[Prior art]
X-ray fluoroscopic apparatuses are indispensable in the field of diagnosis, but in recent years, they have been used not only for diagnosis but also for treatment. This treatment is performed by inserting a catheter with various instruments at the tip into the subject under fluoroscopy, and can reduce the pain given to the subject compared to conventional surgical treatment. Because of its great merit that it can be treated at low cost, it is rapidly spreading. Such a treatment method is called IVR (INTERVENTIONAL RADIOLOGY).
[0003]
This X-ray fluoroscopic apparatus has an X-ray imaging system and a holding mechanism section that can move the X-ray imaging system, and also constitutes a top plate for placing a subject and a mechanism section that can move the table. Since these have a risk of contact with each other by the operation of the video system and the top plate, a determination by each operation, deceleration in response to the operation of the operator, be contacted by causing the stop or automatic retracting action The avoidance operation is performed so as not to occur (for example, Patent Document 1). This prior art selection, or the only limits simply operating range without retracting operation for preventing contact, whether to save operation for preventing contact, the each time optionally intent of such situations and doctors It is an X-ray fluoroscopic apparatus improved so as to be able to.
[0004]
[Patent Document 1]
Japanese Patent Laid-Open No. 10-201748
[Problems to be solved by the invention]
However, the operator contacts by selecting the switch that case stopping the operation to the operation, after operating the shaft in order to avoid contact, and manipulate axis to be operated again, made contact avoidance switch An operation to avoid this must be performed. For example, when the C-arm is moved in the body axis direction and contact with the top plate occurs before the desired position, the operator temporarily stops the operation of the C-arm in the body axis direction and does not touch the top plate. Move up and down. Then, after operating the C arm again and moving it to a desired position, the height of the column supporting the C arm and the top plate is changed so as to reset the top plate height to a height at which the procedure can be easily performed.
[0006]
An object of the present invention allows mobile video system to the site to be diagnosed in contact with the one without the operation stop operation of each mechanism and a position in contact likely to floor or ceiling or the like by the relationship, the top plate from the floor It is intended to perform inspection, diagnosis, and treatment speedily and smoothly with a constant height.
[0007]
[Means for Solving the Problems]
To achieve the above object, the C-arm, X-ray irradiation means for irradiating the subject on the top plate with X-rays, and the X-ray irradiation means and the subject are arranged opposite to each other so as to transmit the subject. and the X-ray detection means for detecting X-rays, the X-ray fluoroscopic imaging apparatus comprising, display means for displaying an image transmitted X-ray signal output from the X-ray detecting means, said top plate and said X-ray irradiation A top plate mechanism unit (3) having position detecting means for detecting position information of each of the means and the X-ray detection means , and an elevating mechanism that is integrated with the C arm and the top plate and moves the top plate in the vertical direction. ) And a mechanism (8) having a drive mechanism for raising and lowering the C-arm and the top plate, and an elevating mechanism for moving the top plate up and down, and detected by the position detection means the top plate and on the basis of the position information The line illumination means and the X-ray detecting unit so as not to contact each with operating upward the top plate using said mechanism (8), the top plate with the top plate mechanism part (3) And a control means for controlling so that the height of the top plate from the floor surface is kept constant. The control means causes the upward movement by the mechanism section (8) and the downward movement by the top plate mechanism section (3) to operate at the same speed.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 shows an outline of the configuration of the X-ray fluoroscopic apparatus. The X-ray fluoroscopic apparatus is a kind of C-arm type, and is used for cardiovascular examinations and the like. An image device 1 composed of an image intensifier or a flat detector for visualizing X-rays, a top plate mechanism unit 3 having a top plate 2 on which a subject is placed, and X-rays that generate X-rays Tube device 4, C-arm slide unit 5 and C-arm rotating unit 6 for holding the C-arm, C-arm traveling rail unit 7 for moving the C-arm in the longitudinal direction of the subject, and raising and lowering the entire top plate X-ray from a fluoroscopic imaging table 9 comprising a mechanism unit 8, a console 10 for operating the fluoroscopic imaging table 9, and a fluoroscopic imaging monitor 16 for visualizing an X-ray fluoroscopic image signal output from the video apparatus 1. A fluoroscopic imaging device is configured. The video apparatus 1 operates in an approaching direction and a retreating direction to the subject using a built-in driving unit. The top plate mechanism 3 includes a lifting mechanism that moves the top plate 2 in the vertical direction. Further, the C-arm traveling rail portion 7 is used to operate the subject in the longitudinal direction and the lateral direction. The mechanism unit 8 includes a drive mechanism for raising and lowering the C-arm and the top plate, and a lifting mechanism for the entire top plate. Each drive unit that operates can be detected by a position detector, and the position information is taken into the arithmetic unit.
[0009]
FIG. 2 shows a block diagram of the control device of the first embodiment. The operation command from the console 10 is transmitted to the CPU 12 through the control circuit, and the CPU 12 outputs the operation command to the drive device 13 for the operation command target shaft to operate the motor 14. The motor 14 is provided with a position detector 15 such as a rotary encoder for determining the position of each operation axis, and mutual contact between the mechanisms of the apparatus is performed by the CPU 12 based on position information from the position detector. The contact is monitored, and the operation command output to the drive device is limited with respect to the operation command from the console 10. In the position detection of the top plate, the vertical position of the top plate is detected by a position sensor (not shown) provided on the top plate. When the X-ray tube device 4 is directly below the top plate 2, the position sensor sends the detected bed position information to the control circuit 11 with the position where the top plate 2 and the X-ray tube device 4 are at the same height as the origin. The sent position information is stored in a memory or the like, and the CPU 12 monitors contact based on this position information. The mechanism unit 8, the C-arm slide unit 5 and the C-arm rotation unit 6 are similarly provided with position sensors, and each position information is stored in a memory or the like and monitors contact .
[0010]
When it is determined that the X-ray tube apparatus 4 is in contact with the top plate by performing a (slide) operation to rotate the C-arm around the subject, conventionally, the operation of the C-arm is interlocked as shown in FIG. Therefore, this operation cannot be continued (g). Also, in this case, the operator moves the top up to an arbitrary position to avoid contact (h), and then performs the C-arm slide operation again to perform the position and orientation operation to be diagnosed (i). . Further, since the working height of the doctor is increased by the operation of moving the top plate upward, in some cases, it is necessary to move the entire top plate downward to lower the working height. Such an operation is a complicated operation for the operator and takes an inspection time. Therefore, when the contact between the mechanism part and the positional relationship is determined, the operation is performed by avoiding the contact without changing the top plate height by performing the combined operation of the top plate vertical motion and the top plate vertical motion. By performing control that can be continued, the above-described series of complicated operations can be avoided, and an operation that enables positioning to a site to be diagnosed can be performed with a simple operation. At this time, since the operation other than the target operation axis is performed, a message indicating that the combined operation is being performed is displayed on the operation panel to alert the operator.
[0011]
FIG. 4 shows a contact avoidance operation according to the present invention. Contact determination is performed from the mutual positional relationship based on position information stored in a memory or the like of a mechanism unit or the like using a position sensor of each drive unit that performs an operation. When it is determined that the X-ray tube device 4 and the top plate are in contact with each other by the C-arm slide operation (FIG. 4A) (FIG. 4B), the X-ray tube device 4 contacts the lower side of the top plate 2. Therefore, the top plate 2 is moved upward to avoid contact . At this time, the C-arm slide operation is performed while calculating to keep the gap between the top plate 2 and the X-ray tube apparatus 4 constant, and the height of the top plate raised for the contact avoidance process is Operate downward (FIG. 4C). The C arm and the top plate 2 are integrated with each other via the top plate mechanism unit 3, and the top plate 2 is moved upward using the mechanism unit 8 and the top plate 2 is used using the top plate mechanism unit 3. The top plate 2 height from the floor surface can always be kept constant by moving the down. It is possible to operate the combination of the upward movement of the top plate and the downward movement of the top plate and the C-arm slide operation, which are a series of processes, in this case. By operating the top-bottom operation at the same speed, the top-plate height from the floor can be kept constant at all times. Therefore, in order to perform the contact avoiding operation, the contact determination on the software based on the storage means such as the memory storing the position information from the position sensor without the operator turning ON / OFF the operation lever or switch each time, An avoidance operation can be performed. Therefore, the operator's operation procedure is reduced accordingly.
[0012]
FIG. 3 shows the operation steps of the first embodiment. When the operator performs an operation to move the video system to an arbitrary position (S1), the CPU performs a calculation for determining mutual contact corresponding to the operation axis from the position information stored in the memory or the like (S2). If it is determined that the contact is made at this time (S3), the speed and direction of the top plate up and down movement are set so that the top plate height becomes constant during the operation (S4). Similarly, since an operation command can be output to the operation axis, the speed is set and the operation command is output (S5) and (S6), and all operation command outputs are stopped when the operation is stopped. If it is determined that there is no contact , the operation command is continuously output because there is no need to limit the operation, and the operation command output corresponding to the operation axis is stopped when the operation of the operator is stopped.
[0013]
The above description relates to an example, and can be changed to various types without departing from the spirit of the present invention.
[0014]
For example, the present invention is not only applied when the C-arm and the top plate are in contact with each other, but can be similarly applied to the operation of the C-arm and the contact between the floor and the ceiling. It can also be applied to contact . Further, a separate operation range limiting circuit may be provided and configured on separate hardware. The present invention can be applied not only to the C-arm type fluoroscopic imaging apparatus shown in FIG. 1 but also to other types of X-ray fluoroscopic imaging apparatuses.
[0015]
Next, as a second embodiment, the contact avoidance mechanism is provided with an auto-positioning mechanism. The display device 16, the console 10, and the position sensor are connected to the control circuit 11, and automatic positioning is realized when an operator inputs a command or the like under the control of the control circuit 11. Here, the auto-positioning mechanism automatically rotates and slides the image device 1 composed of an image intensifier or a flat detector according to the posture of the C-arm, and avoids contact with the top plate 2. This is a mechanism for moving to the optimal shooting position. For example, in the case of head photography, the head position is determined on the top 2 and the head position is set in advance through a computer including the control circuit 11. Based on the setting information, the C-arm is automatically rotated and the slide top is raised, and the C-arm is lowered to perform a series of operations. That is, the video apparatus 1 and the X-ray tube apparatus 4 can be set at an optimal position for head imaging while avoiding contact with the top board 2 by a single operation. The auto-positioning mechanism automatically slides the imaging device 1 and the X-ray tube device 4 so as to irradiate X-rays suitable for head imaging when the operator sets to perform head imaging. A function of adjusting the aperture of the X-ray tube device 4 so as to irradiate X-rays only in the imaging range in order to avoid exposure is also included.
[0016]
As described above, perform contact determination by calculating the positional relationship between the mechanism, when it is determined that it is in contact, when the top plate on which the subject is Neno, X-ray imaging system and the X-ray tube apparatus is operated Each is controlled to avoid contact and have a constant top plate height. In this way, mutual contact between the mechanisms can be avoided, and the top plate height can be kept constant at all times.
[0017]
【The invention's effect】
According to the present invention, in the operation of the X-ray tube support device, it is possible to continue the operation without stopping by the mutual contact of the operation axes, and it is possible to operate to the target position by one operation. In addition, since the height of the top plate is not changed, the operator can perform inspection, diagnosis, and treatment without feeling uncomfortable before and after the operation.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing an X-ray fluoroscopic apparatus embodying the present invention.
FIG. 2 is a block diagram showing a drive system of the present invention.
FIG. 3 is a flowchart relating to the operation of the present invention.
FIG. 4 is a diagram showing an operation of an X-ray fluoroscopic apparatus embodying the present invention.
FIG. 5 is a diagram showing the operation of a conventional X-ray fluoroscopic apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Image apparatus 2 Top plate 3 Top plate mechanism part 4 X-ray tube apparatus 5 C arm slide part 6 C arm rotation part 7 C arm travel rail part 7
8 Mechanism 9 Fluoroscopy Table 10 Console 11 Control Circuit 12 CPU
13 drive device 14 motor 15 position detector 16 fluoroscopic monitor

Claims (2)

An X-ray irradiating means for irradiating the subject on the top board with X-rays, and an X-ray for detecting the transmitted X-rays of the subject disposed opposite to each other with the X-ray irradiating means sandwiched between the subject and the subject In an X-ray fluoroscopic apparatus comprising: a detection unit; and a display unit that displays an image of a transmitted X-ray signal output from the X-ray detection unit.
Position detecting means for detecting position information of the top plate, the X-ray irradiating means and the X-ray detecting means , and an elevating mechanism for integrally operating the C arm and the top plate and operating the top plate in the vertical direction A top plate mechanism section (3) having a drive mechanism for moving the C arm and the top plate up and down, and a mechanism section (8) having a lifting mechanism for moving the top plate up and down. With
Based on the position information detected by the position detection means, the top plate is moved upward using the mechanism unit (8) so as not to contact the top plate, the X-ray irradiation means and the X-ray detection means, respectively. And a control means for controlling the top plate to move downward using the top plate mechanism (3) so as to keep the height of the top plate from the floor constant. X-ray fluoroscopic apparatus characterized by the above.   The X-ray fluoroscopic imaging according to claim 1, wherein the control means causes the upward movement by the mechanism portion (8) and the downward movement by the top plate mechanism portion (3) to operate at the same speed. apparatus.

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