JP4564119B2 - IVR-CT equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an IVR-CT apparatus, and in particular, a CT frame, an X-ray imaging apparatus, and a bed can perform cooperative and functional operations of each apparatus without causing mutual interference, and safety aspects. The present invention relates to an IVR-CT apparatus that is also considered.
[0002]
[Prior art]
Conventionally, an IVR-CT apparatus has been proposed in which an X-ray CT apparatus and an X-ray imaging apparatus including a substantially C-shaped supporter are combined. The X-ray CT apparatus here, as is well known, introduces a subject placed on a bed into a cavity provided with an X-ray generation source and an X-ray detector around it. At the same time, the X-ray transmission information in each direction relating to the subject is read while rotating the X-ray generation source and the X-ray detector around the cavity H, and a tomographic image is reconstructed based on the read information. An X-ray imaging apparatus provided with a substantially C-shaped support (hereinafter referred to as C-arm) uses an X-ray generation source and an X-ray detector provided at one end and the other end of the support. X-ray imaging is performed, and the apparatus is used particularly for the purpose of angiography in a subject. This is generally called an “angio device” (hereinafter, the term “angio device” is used). This apparatus also enables the X-ray imaging to be performed simultaneously with the operation or examination by the doctor in conjunction with the operation of inserting the catheter into the subject. For this reason, the angio apparatus in the IVR-CT apparatus is also a place where the actual meaning of “IVR (Interventinal Radiology)” is formed.
[0003]
In such an IVR-CT apparatus, the X-ray CT apparatus and the angio apparatus can be operated in the same space. For example, it is possible to determine how to perform an X-ray examination in the other apparatus based on information about the subject acquired by one apparatus, and to carry out the execution without taking a relatively long time. There is a feature.
[0004]
By the way, when adopting such a method of use, pay particular attention to the movement of the CT mount and the angio device (especially the C arm) and the relative positional relationship between them and the bed so that they do not interfere with each other. It is necessary to operate each device. For example, in an IVR-CT apparatus provided with a self-propelled CT mount, it is necessary to take measures (mode setting) such as making the angio apparatus usable state only after the CT mount is retracted to the park position. There is.
[0005]
[Problems to be solved by the invention]
However, in the conventional IVR-CT apparatus, the mode setting as described above, that is, the “CT base retracting-angio apparatus can be used” mode is opposite to the “CT base (X-ray CT apparatus) can be used”. The operation control based on the mode setting in which the mode of “retraction of the angio device (C arm)” is alternately performed has a problem that the usability is very poor. In such an operation mode, an X-ray CT apparatus and an angio apparatus coexist, potentially enabling more functional medical care or examination, and the original function of the IVR-CT apparatus that is aiming for it, It cannot be said that it makes the best use of it.
[0006]
In addition, it is of course possible to operate both the X-ray CT apparatus and the angio apparatus freely without using mode setting means, but in the past, each apparatus recognized the positional relationship between each other. Since there was no such thing, the user was ultimately burdened with respect to preventing both devices from causing interference. Moreover, in such a case, depending on how the user uses, both devices or these and the bed easily interfere with each other, and there is no denying the possibility that the subject on the bed will be caught.
[0007]
The present invention has been made in view of the above circumstances, and an object of the present invention is to accurately grasp the positional relationship between an X-ray CT apparatus, a CT mount, an angio apparatus (particularly, its C arm), and a bed. Accordingly, it is an object of the present invention to provide an IVR-CT apparatus that can prevent mutual interference, improve the functional operation of each apparatus or improve the operability thereof, and also ensure the safety of a subject.
[0008]
[Means for Solving the Problems]
The present invention takes the following means in order to solve the above problems.
[0009]
  That is, the IVR-CT apparatus according to claim 1 is an X-ray CT apparatus including a bed on which a subject is placed and a CT gantry having a cavity that faces the bed and can be inserted therein; An IVR-CT apparatus comprising: a support having a shape; and an X-ray imaging apparatus having an X-ray generation unit and an X-ray detection unit provided to face one end and the other end of the support, respectively, The power source for changing the position of the gantry relative to the bed, the power source for operating the X-ray imaging apparatus, and the absolute coordinate value defined in a predetermined coordinate system are used to detect the position of the CT gantry. At least one position detection means for controlling the power sources of the CT gantry and the X-ray imaging apparatus, and moving the CT gantry and the X-ray imaging apparatus based on the output of the position detection means. Wherein the beauty CT gantry, the X-ray imaging apparatus and controlling the relative positional relationship of the bedAnd make them work togetherA control means is provided.
[0010]
  The IVR-CT apparatus according to claim 2 is the apparatus according to claim 1, wherein the power source of the CT gantry changes the posture of the CT gantry with respect to the bed, and the position detection means includes the CT The posture of the gantry is detected by the absolute coordinate value, and the control unit is configured to move the CT gantry and the X-ray imaging apparatus based on the position and posture of the CT gantry detected by the position detecting unit. Controls the relative positional relationship between the CT gantry, the X-ray imaging apparatus, and the bedAnd make them work togetherIt is characterized by that.
[0011]
  Furthermore, the IVR-CT apparatus according to claim 3 is the apparatus according to claim 1 or 2, wherein the CT gantry includes two or more position detection means, and the control means includes the two or more position detection means. Controlling the movement of the CT gantry and the X-ray imaging apparatus and the relative positional relationship between the CT gantry, the X-ray imaging apparatus and the bed while contrasting the outputs.And make them work togetherIt is characterized by that.
[0012]
  In addition, the IVR-CT apparatus according to claim 4 is the absolute apparatus used in the apparatus according to any one of claims 1 to 3, which is used when the power is turned on again after the apparatus body is turned off. The coordinate value is characterized in that the value immediately before the power is turned off is applied.
[0013]
With the IVR-CT apparatus configured as described above, the state of the CT mount, that is, the position of the CT mount when viewed from the whole IVR-CT apparatus, its tilt angle, etc. can be accurately grasped by the position detection means. It becomes possible. Then, by grasping the state of the CT gantry, cooperative operation between the gantry and the other devices constituting the IVR-CT apparatus can be performed. More specifically, for example, it is possible to use the CT mount and the supporter of the X-ray imaging apparatus closer to each other, and the other apparatus is retracted when using one apparatus as in the past. In the present invention, it is not necessary to move to the position.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing the overall configuration of the IVR-CT apparatus according to the present embodiment, FIG. 2 is a plan view thereof, and FIG. 3 is a side view thereof. 1 to 3, the IVR-CT apparatus is an X-ray CT apparatus including a bed 1 on which a subject P is placed and a CT mount G having a cavity H that faces the bed 1 and can be inserted into the bed 1. 2 and an X-ray imaging apparatus (hereinafter referred to as an angio apparatus) 4 having a substantially C-shaped support (hereinafter referred to as a C arm) 3 that covers the bed 1 from the side in a normal state. In the C arm 3 of the angio device 4, X-rays constituted by an X-ray tube (X-ray generating means) 5 and, for example, an image intensifier (II) are provided at one end and the other end, respectively. Detectors (X-ray detection means) 6 are provided so as to face each other.
[0015]
As shown in FIG. 1, the bed 1 includes a leg 1a and a top board 1b installed on the leg 1a. In FIG. 1 etc., the leg 1a is a fixed type. Therefore, the bed 1 in the present embodiment is not basically configured to change its own location. Moreover, it is preferable that the leg 1a is provided in a place where it does not interfere with the operation / movement (described later) of the CT mount G and C arm 3. In FIG. 1 or FIG. 3, it is shown that the leg 1a which becomes a substantially rectangular parallelepiped shape is provided along the outermost end part of the top plate 1b according to this request.
[0016]
Although the bed 1 is basically fixed above, the present invention is not particularly limited to this form. For example, the top plate 1b may be provided with a top plate that can be operated in the front-rear direction, or the bed 1 itself can be translated along with the legs 1a, or can be moved up and down. Of course.
[0017]
The X-ray CT apparatus 2 includes a display device 2a, an image reconstruction device (not shown) and the like as shown in FIG. An X-ray generator (not shown) and an X-ray detector (not shown) are provided in the CT mount G and around the cavity H so as to be rotatable along the surrounding portion. Among these, the X-ray detector is connected to the image reconstruction device, and the latter reconstructs a tomographic image related to the subject P based on the former output. The reconstructed tomographic image is displayed on the display device 2a.
[0018]
Further, the CT gantry G translates in a direction (front-rear direction) in which the bed 1 can be introduced into or led out from the cavity H as shown in an end view in FIG. This translational operation in the front-rear direction is realized by a power source (not shown) installed in the CT mount G.
[0019]
In addition to the operation in the front-rear direction, the CT mount G can be tilted in the front-rear direction as indicated by arrows A and B in FIG. 3, and its posture can be changed. Yes. In the present embodiment, this tilt angle can be in the range of 30 degrees (60 degrees in total) in the front and rear directions (in the directions of arrows A and B in the figure). This makes it possible to acquire an X-ray image of the subject P that is crossed in an oblique direction.
[0020]
Further, in the CT mount G, two sets of absolute encoders (position detecting means, hereinafter abbreviated as AE) 10 are provided in the present embodiment. This is to recognize the motion amount related to the translational motion in the front-rear direction of the CT gantry G itself with an absolute coordinate value.
[0021]
As a configuration of the AE 10, for example, the one shown in FIG. 4 may be used.
In this figure, an AE 10 includes a rotor 10a whose surface is preliminarily engraved with a magnetic scale, a shaft 10b disposed so as to penetrate the center of the rotor 10a, and a detection head 10c provided along the surface of the rotor 10a. It is comprised by. “Rotational motion” obtained by converting the “translational motion” of the CT mount G by an appropriate mechanism is input to the shaft 10b. The appropriate mechanism here may simply be a pinion rack or the like.
[0022]
According to the AE 10 having such a configuration, a signal having a predetermined output corresponding to a magnetic scale pattern preliminarily engraved in the rotor 10a is acquired from the detection head 10c. That is, the translation operation of the CT mount G can be recognized by the absolute position of the CT mount G when viewed from the entire IVR-CT apparatus, that is, the absolute coordinate value, based on the output of the AE10. Become.
[0023]
The “absolute coordinate value” referred to above is, for example, a coordinate value when a certain point in the installation room of the IVR-CT apparatus is defined as an origin (predetermined coordinate system) and the position of the CT mount G is described therefrom. That is. In FIG. 2, the point indicated by the symbol O is the origin, and the position and / or orientation of the CT mount G, that is, its state is described from there. For example, the position change of the gantry G due to the translation operation is described by coordinates along the X axis in FIG. Needless to say, the setting of the origin O itself or the setting of the axis is basically free.
[0024]
Further, from the above configuration related to the AE 10, the “absolute coordinate value” read by the AE 10 is retained even after the power of the IVR-CT apparatus main body is shut off. That is, if the power supply is cut off, the rotation of the rotor 10a stops, but the stopped state reveals that a predetermined magnetic scale pattern faces the detection head 10c. “Stopping 10a” corresponds to “holding absolute coordinate values” as it is. Thus, in this embodiment, the absolute coordinate value used when the power is turned on again is the value immediately before the power is turned off.
[0025]
In the above description, the magnetic AE 10 has been described as an example, but the present invention is not limited to this embodiment. For example, a brush type or photoelectric type encoder may be used instead of the magnetic type. Further, if the amount of motion related to the translational motion of the CT mount G can be expressed appropriately, the type of rotary encoder or linear encoder is not particular.
[0026]
The angio device 4 includes the above-described C arm 3 and the X-ray tube 5 and the X-ray detector 6 provided at both ends thereof, as well as an image reconstruction device (not shown) connected to the X-ray detector 6. The display device 4a and the like are provided. With these configurations, the angio device 4 simultaneously performs X-ray imaging related to angiography and the like while performing surgery or examination by a doctor such as inserting a catheter into the subject P. It is possible.
[0027]
The C arm 3 is connected to a fixed arm 3a provided so as to cover the arm from the outside via a connection portion 3b. The connecting portion 3b is configured to be able to slide the C arm 3 with respect to the fixed arm 3a as shown by an arrow C in FIG.
[0028]
As shown in FIG. 1, one end of the fixed arm 3a is rotatably attached to a fulcrum 3c provided on the ceiling. The fixed arm 3a and the C arm 3 rotate by the fulcrum 3c as shown by an arrow D in FIG.
[0029]
Furthermore, as shown in FIG. 1 or FIG. 2, the fulcrum 3c is installed between the ceiling surface and a base 3d. Then, the base 3d moves in the direction indicated by the arrow E in FIG. 2 along the rail 3e. As a result, the C-arm 3 can also translate in the direction of arrow E.
[0030]
In addition, in order to implement | achieve the operation | movement which concerns on the above-mentioned figure arrow C, D, and E, the motive power source which is not illustrated respectively is provided in the applicable appropriate location.
[0031]
In addition to the above configuration, the IVR-CT apparatus according to the present embodiment is appropriately provided with an interlock device (not shown) for the CT mount G or C arm 3. This is provided for the purpose of demarcating the operation range of the CT mount G and the C arm 3 to a certain area and for avoiding these sudden operations. It is also preferable to provide an interlock having a purpose of avoiding an unexpected collision that may occur between both the CT mount G and the C arm 3. Here, if a concrete thing is mentioned as an interlock apparatus, what is necessary is just to use a known limiter, a contact sensor, etc. Here, the “limiter” is, for example, a bar that tilts when it comes into contact with the CT mount G or C arm 3 and determines the transmission of a control signal depending on whether the bar is tilted. It is.
[0032]
As shown in the block diagram of FIG. 5, the IVR-CT apparatus including the above components is a control device (control means) for controlling operations of the bed 1, the X-ray CT device 2, and the angio device 4. C is provided. More specifically, based on the inputs of two sets of AEs 10 provided on the CT mount G, the power source provided on the CT mount G itself and the C arm 3 are compared with these inputs. 1 and 2, the control device C controls ON / OFF of the power source that realizes the operation according to the arrows C, D, and E in FIG. Further, if the bed 1 can be moved up and down as described above, the power source that realizes the operation may be controlled as shown in the figure. In addition, the control apparatus C always grasps the relative positional relationship between the CT mount G, the C arm 3 and the bed 1.
[0033]
Below, the effect | action thru | or effect of the IVR-CT apparatus which becomes the said structure is demonstrated. Note that the work procedure described below merely means presentation of an embodiment, and does not mean that it must be used in this way.
[0034]
First, the subject P is placed on the bed 1. At that time or in advance, a contrast medium is administered to the subject P, and insertion of a catheter or the like is completed as necessary.
[0035]
Next, X-ray imaging by the angio device 4 is started. At this time, the C-arm 3 is positioned such that the part to be imaged with respect to the subject P has a relative positional relationship such that it is sandwiched between the X-ray tube 5 and the X-ray detector 6. Further, this positioning is performed by adjusting the operation of the C arm 3 along arrows C, D, and E shown in FIGS. In the present example, as shown in FIG. 1 or FIG. 3, the position of the C arm 3 is such that both the X-ray tube 5 and the X-ray detector 6 are on a vertical line penetrating the subject P and the bed 1 vertically. Shall be determined as After that, the normal X-ray imaging procedure is followed.
[0036]
After the X-ray imaging with the angio device 4 is completed in this way, the next processing is performed with the X-ray CT device 2. In the present embodiment, since the bed 1 is basically fixed, the CT frame G performs a translation operation in the direction of the subject P and the bed 1. After the translation operation, the CT mount G is moved to a position where the cavity H is located at a site to be imaged with respect to the subject P. Thereafter, the procedure for normal X-ray imaging is performed in the same manner as the angio apparatus 4 described above. Accordingly, a CT reconstruction image is acquired. In this case, a method of performing imaging while rotating the CT mount G and rotating the X-ray generator and the X-ray detector provided around the cavity H, that is, so-called “helical scan” Of course, a reconstructed image may be acquired by the method of "." In addition, according to circumstances, the posture of the CT mount G, that is, the tilt angle is adjusted in advance so as to be appropriate in relation to the part to be imaged.
[0037]
By the way, in the present embodiment, at the time of CT imaging as described above, as shown in FIG. 3, it is not necessary to move the C arm 3 to the retracted position (see the two-dot chain line in FIG. 2). It is possible to keep the position at the time of X-ray imaging performed in the above. This is due to the action of the AE 10 provided on the CT mount G and the control device C that receives this output. That is, the translation operation of the CT mount G is always grasped by the AE 10 and is monitored by the control device C, and the state is recognized by the absolute coordinate value. Therefore, when the control device C determines that the C arm 3 and the CT mount G are likely to interfere based on the absolute coordinate values output from the AE 10, the control device C It works on the above power source and turns it off. That is, since the CT mount G stops, a situation where it collides with the C arm 3 is prevented in advance. Further, since the absolute coordinate value regarding the CT gantry G sent from the AE 10 is also noted in the control device C in relation to the bed 1, its operation or rest depends on the relative positional relationship with the bed 1. Is also determined.
[0038]
When CT imaging by the X-ray CT apparatus 2 is completed in this manner, re-imaging by the angio apparatus 4 or imaging by the X-ray CT apparatus 2 will be performed as appropriate thereafter. Even in such a case, it is needless to say that it is not necessary to move the other device to the retracted position in order to operate one device by the action of the AE 10 and the control device C.
[0039]
As will be apparent from the above description, the action of the control device C can be summarized as follows: based on the output of the AE 10, the movement of the CT mount G and the angio device 4 and the relative position between them and the bed 1. It can be said that it controls the relationship.
[0040]
Thus, according to the IVR-CT apparatus in the present embodiment, since these apparatuses are under the control of the AE 10 and the control apparatus C at the time of X-ray imaging by the X-ray CT apparatus 2 or the angio apparatus 4, first, There is no concern of interfering with each other. In addition, since it is not necessary to move both devices to the retracted position, more functional or agile medical examination or examination can be carried out, and the operability is improved in each stage. Furthermore, a situation in which the subject P is sandwiched by the translation operation of the CT mount G does not occur. In short, the IVR-CT apparatus according to the present embodiment is capable of cooperative operation and functional operation of the X-ray CT apparatus 2 and the angio apparatus 4 and also ensures safety related to the subject P. It can be said that
[0041]
Moreover, the following effects can be pointed out especially about the IVR-CT apparatus in this embodiment. That is, in this embodiment, two sets of AEs 10 in the CT mount G are provided, but according to this, two absolute coordinate values sent from both are always compared, and the difference between them is taken into consideration. While moving, the movement of the CT mount G or the like can be determined. For example, in the normal state, only the output of one AE10 is referred to, but when the difference between the outputs of two AE10s becomes large, the control is performed with the average value of them. It is possible to implement.
[0042]
Further, since the grasping of the state of the CT mount G by the AE 10 is based on the “absolute coordinate value”, the grasping is performed from the viewpoint of “the entire IVR-CT apparatus”.
That is, the state of each apparatus is always grasped from the viewpoint of the entire IVR-CT apparatus, and appropriate control can be performed based on this.
[0043]
After all, in the present embodiment, the above-described cooperative operation, functional operation, and effects related to ensuring safety can be more reliably enjoyed.
[0044]
In addition, in the present embodiment, the “absolute coordinate value” read by the AE 10 is held even after the IVR-CT apparatus main body is turned off. In other words, in the present embodiment, the absolute coordinate value used when the power is turned on again is the value immediately before the power is turned off, so that the continuity of operation regarding the power shutdown or before and after the power on can be maintained. it can.
[0045]
  UpIn the embodiment, the “form in which the X-ray CT apparatus 2 and the angio apparatus 4 operate in cooperation with each other”Theory ofDo the lightIt was.
[0046]
In the above-described embodiment (especially, description of the effect), the description has been made mainly focusing on the translation operation of the CT mount G. In addition, the “tilt angle” related to the mount G referred to above is also referred to as AE. Of course, it is possible to recognize the absolute coordinate value detected by, and to realize such control that the CT mount G and the angio device 4 do not interfere with each other based on the absolute coordinate value. In such a case, since a comprehensive state grasp (translation operation and tilt operation) regarding the CT mount G is performed, more appropriate control will be possible. Of course, such a form is clearly within the scope of the present invention.
[0047]
Further, in the IVR-CT apparatus in the above embodiment, the C arm 3 in the angio apparatus 4 is only provided integrally, but the present invention includes an angio apparatus in which two (or more) C arms 3 are provided. It can also be applied to an IVR-CT apparatus called a so-called “bi-play system”.
[0048]
The system is configured as shown in FIGS. 6 and 7, for example. The IVR-CT apparatus shown in these drawings is the same as that shown in FIGS. 1 to 3 in that one set of the X-ray CT apparatus 2 including the CT mount G is provided. However, the angio apparatus 4 ′ includes a C arm 3.₁And C-arm 3₂It becomes the form where two sets of are provided. However, C-arm 3₁And 3₂The configuration itself is not largely different from the configuration related to the C-arm 3 described above. Further, as shown in FIG. 6, the bed 1 in this system is configured to be capable of rotating so as to maintain a parallel relationship between the surface of the top board 1 a and the ground. This enables the bed 1 (or the subject P) to be perpendicular to the positioning in addition to the positioning when insertion into the CT mount G is possible (see FIG. 6).
[0049]
Even in such a case, in the management of the AE 10 and the control apparatus C, the X-ray CT apparatus and the two C arms 3 are used.₁And 3₂Therefore, it is not difficult to apply the description related to the above-described embodiment so as to be compatible with the buy-play system. Is easily conceivable.
[0050]
【The invention's effect】
As described above, according to the IVR-CT apparatus of the present invention, by providing the position detection means and the control means, the X-ray CT apparatus and the X-ray imaging apparatus do not interfere with each other, and both cooperate. Operation can be realized. Further, in the past, when one device was used, the other device had to be moved to a retracted position or the like. However, according to the present invention, such movement is not necessary, and thus more functional. Medical treatment or examination can be performed, and the operability is improved in each stage. Furthermore, according to the present invention, it is possible to provide an IVR-CT apparatus with higher safety for a subject.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing an overall configuration of an IVR-CT apparatus according to an embodiment.
FIG. 2 is a plan view showing an overall configuration of the IVR-CT apparatus shown in FIG.
FIG. 3 is a side view showing the overall configuration of the IVR-CT apparatus shown in FIG.
FIG. 4 is an explanatory diagram showing a configuration example of an absolute encoder.
FIG. 5 is a block diagram showing an outline of control according to the present embodiment.
6 is a plan view showing an overall configuration of an IVR-CT apparatus that is different from those shown in FIGS. 1 to 3. FIG.
7 is a side view showing an overall configuration of the IVR-CT apparatus shown in FIG. 6. FIG.
[Explanation of symbols]
P subject
1 sleeper
1a leg
1b Top plate
2 X-ray CT system
2a Display device
G CT mount
H cavity
3 C arm (support)
3a Fixed arm
3b connection
3c fulcrum
3d base
3e rail
4 Angio equipment (X-ray imaging equipment)
4a Display device
5 X-ray tube (X-ray generation means)
6 X-ray detector (X-ray detection means)
10 Absolute encoder (position detection means)
C Control device (control means)

Claims (4)

An X-ray CT apparatus including a bed on which a subject is placed, a CT gantry having a cavity that faces the bed and can be inserted therein, a substantially C-shaped support device, one end of the support device, and the like In an IVR-CT apparatus constituted by an X-ray imaging apparatus having an X-ray generation means and an X-ray detection means provided to face the ends,
The position of the CT gantry with a power source for changing the position of the CT gantry relative to the bed, a power source for operating the X-ray imaging apparatus, and absolute coordinate values defined in a predetermined coordinate system And at least one position detecting means for detecting
The power sources of the CT gantry and the X-ray imaging apparatus are controlled, and the CT gantry and the X-ray imaging apparatus are moved based on the output of the position detecting means, and the CT gantry, the X-ray imaging apparatus, and the An IVR-CT apparatus comprising control means for controlling the relative positional relationship of the bed to operate in a coordinated manner . The power source of the CT mount changes the posture of the CT mount with respect to the bed,
The position detecting means detects the posture of the CT mount by the absolute coordinate value,
Based on the position and orientation of the CT gantry detected by the position detecting means, the control means is configured to move the CT gantry and the X-ray imaging apparatus relative to each other and to compare the CT gantry, the X-ray imaging apparatus, and the bed. Control the positional relationship and operate in cooperation with each other .
The IVR-CT apparatus according to claim 1. The CT gantry comprises two or more position detection means,
The control means controls the relative positions of the CT gantry, the X-ray imaging apparatus, and the bed, and the relative positions of the CT gantry, the X-ray imaging apparatus, and the bed, while comparing the outputs from the two or more position detection means. The IVR-CT apparatus according to claim 1 or 2, wherein the IVR-CT apparatuses are operated in cooperation with each other .   The IVR according to any one of claims 1 to 3, wherein the absolute coordinate value used when the power is turned on again after the power of the apparatus main body is turned off is a value immediately before the power is turned off. -CT equipment.

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