JP5004416B2 - Medical X-ray fluoroscopic apparatus - Google Patents

Description

  The present invention relates to a medical X-ray fluoroscopic imaging apparatus that performs examination, diagnosis, and treatment using X-ray fluoroscopic images of a subject.

  With the diversification of X-ray image diagnosis techniques, X-ray fluoroscopic apparatuses including a fluoroscopic imaging table using a C-arm have been proposed so that X-ray irradiation can be performed from more complex angles (for example, Patent Documents 1 and 2).

  As shown in FIG. 1, the fluoroscopic imaging table 10 includes a C arm 11 and a top plate 12, and has an X-ray generation unit 13 at one end of the C arm 11 and an X-ray imaging unit 14 at the other end. The subject is placed on the top 12 and is sandwiched between the X-ray generation unit 13 and the X-ray imaging unit 14. In this state, by driving the C-arm 11 and the top plate 12, the angle of the irradiation center axis (axis connecting the X-ray generation unit and the X-ray imaging unit) to the subject is arbitrarily changed, and the test is performed from the desired angle. A person's region of interest is imaged.

  The C arm 11 and the top plate 12 are driven by a plurality of operation shafts (drive mechanisms). For example, (1) C-arm 11 moves in the X-axis direction, (2) C-arm 11 rotates about the Y-axis, (3) C-arm 11 slides in the arc direction, (4) Top plate 12 Are moved in the X-axis direction, and (5) the top plate 12 is moved in the Y-axis direction.

  At that time, it is necessary that the X-ray generation unit 13, the X-ray imaging unit 14, and the top 12 (subject) do not contact each other (also referred to as interference) by driving the C arm 11 or the top 12 is there. Therefore, by performing interference determination for each operation and performing a deceleration, stop, or automatic retraction operation according to the operation of the operator, an avoiding operation is performed so as not to cause interference between the constituent members. .

  In this X-ray fluoroscopic apparatus, the operation axes of the C-arm and the top plate are registered in advance with the operation axes of the fluoroscopic imaging table in accordance with the inspection procedure, so that only the registered operation axes can be operated. It is configured.

JP 2000-325331 A JP 2000-210277 JP

  However, in the above-described X-ray fluoroscopic apparatus, only the operation axes registered in advance in accordance with the inspection procedure can be operated. Therefore, there is a problem that even if there is a scene where it is desired to operate other than the registered operation axis according to a change in the inspection status, the operation axis cannot be operated.

  The present invention has been made in view of the above circumstances, and its main purpose is to be able to select a drive mechanism that can be arbitrarily driven regardless of the examination technique. The X-ray generation unit, the X-ray imaging unit, the subject's An object of the present invention is to provide an X-ray fluoroscopic apparatus capable of determining the positional relationship flexibly.

  The medical X-ray fluoroscopic apparatus of the present invention includes a top plate on which a subject is placed, an X-ray generation unit that irradiates the subject with X-rays, and an X-ray that uses the X-rays transmitted through the subject as a visible image. From the imaging unit, a plurality of drive mechanisms that change the relative positions of the X-ray generation unit, the X-ray imaging unit, and the top plate so that the region of interest of the subject can be imaged from various angles, and the plurality of drive mechanisms Drive mechanism selecting means for selecting an arbitrary drive mechanism and classifying it into an operable movable drive mechanism and an inoperable fixed drive mechanism is provided.

  According to the above apparatus, by providing the drive mechanism selection means, an arbitrary drive mechanism can be selected from a plurality of drive mechanisms. Therefore, the movable drive mechanism and the fixed drive mechanism can be changed flexibly, and the X-ray generation unit, the X-ray imaging unit, and the top plate can be operated according to the inspection situation.

  Hereinafter, the device of the present invention will be described in more detail.

  The apparatus of the present invention usually has a fluoroscopic imaging table, a console, an image processing apparatus, and a monitor.

  The fluoroscopic imaging table includes an X-ray generation unit, an X-ray imaging unit, and a top plate on which the subject is placed. A typical example is a configuration using a C-arm that holds an X-ray generation unit and an X-ray imaging unit. In addition, there is a configuration in which the X-ray generator is movably supported from the ceiling without using the C-arm.

  The X-ray generator irradiates the subject with X-rays. Usually, an X-ray tube for generating X-rays and an X-ray diaphragm for limiting an X-ray irradiation field from the X-ray tube are provided.

  The X-ray imaging unit can use various configurations in which X-rays transmitted through the subject are visible images. For example, a combination of an image intensifier (I.I.) and a TV camera or an FPD (Flat Panel Detector) can be used. The image visualized by the X-ray imaging unit is sent to the image processing apparatus, subjected to image processing as necessary, and the processed image is displayed on the monitor.

  These X-ray generation unit and X-ray imaging unit are provided at both ends of the C arm, for example, and are arranged so that the top plate is sandwiched between the X-ray generation unit and the X-ray imaging unit. The C arm is configured to be driven in various directions. On the other hand, the top plate on which the subject is placed is also configured to be driven in various directions. The C-arm and the top board are relatively driven by operation from the console, thereby changing the irradiation central axis for the subject in various ways, and imaging the region of interest of the subject from various angles. It is configured to be able to.

  The C-arm drive direction includes movement in the X-axis direction (left-right direction), movement in the Z-axis direction (vertical direction), slide along the arc of the C-arm, and the Y-axis (front-rear axis) of the C-arm itself. For example, center rotation.

  The driving direction of the top plate includes the movement of the top plate in the X-axis direction, the movement of the top plate in the Y-axis direction, the movement of the top plate in the Z-axis direction, the rotation of the top plate about the X-axis, For example, rotation about the Y axis of the plate.

  In addition, an operation of moving the X-ray generation unit or the X-ray imaging unit itself back and forth in the direction of the irradiation center axis can also be mentioned.

  Here, each operation described above is performed by a drive mechanism that can be independently controlled based on an operation signal output from an operation means such as an operation console. A plurality of drive mechanisms are provided, but the number is not particularly limited. The plurality of drive mechanisms are classified into a movable drive mechanism that can be operated by the drive mechanism selection means and a fixed drive mechanism that cannot be operated. It is set so that all the drive mechanisms do not operate at all times, and only the drive mechanism selected by the drive mechanism selection unit may be controlled to be a movable drive mechanism. Alternatively, all the drive mechanisms may be set to operate at all times, and only the drive mechanism selected by the drive mechanism selection unit may be controlled to be a fixed drive mechanism.

  In the device of the present invention, based on the operation signal from the operation means, it is determined whether the drive mechanism to be driven by the operation signal is selected as the movable drive mechanism by the drive mechanism selection means, and is selected as the movable drive mechanism. In this case, it is preferable to include an operation restriction determination unit that allows the operation of the drive mechanism and, if not selected, restricts the operation of the drive mechanism. In this case, even when an operation signal is erroneously output to the fixed drive mechanism, the fixed drive means does not operate, and malfunction can be reliably prevented. Typically, the operation restriction determination unit includes a selection determination unit that determines whether the drive mechanism to be driven by the operation signal is selected as the movable drive mechanism by the drive mechanism selection unit, and the determination result of the selection determination unit. And an operation signal control means for performing ON / OFF control of the operation permission signal. More preferably, it is desirable to have an interference calculation / determination unit that determines whether interference occurs in each part of the fluoroscopic imaging apparatus in accordance with the operation of the movable drive mechanism based on the determination result of the selection unit. In that case, the operation signal control means turns on the operation permissible signal only when each part of the fluoroscopic imaging apparatus does not interfere according to the determination result of the interference calculation / determination means.

  The change between the movable drive mechanism and the fixed drive mechanism by the drive mechanism selection means can be arbitrarily performed at any scene in the inspection. Therefore, the movable drive mechanism and the fixed drive mechanism are appropriately changed according to the inspection situation. can do. Along with this, only necessary drive mechanisms can be operated according to the examination status, and unnecessary drive mechanisms can be disabled, so the positional relationship between the X-ray generator, X-ray imaging unit, and subject can be safely and quickly. Can be determined.

  Furthermore, it is also preferable to have a default setting means for registering the movable drive mechanism and the fixed drive mechanism in advance according to the inspection procedure. In the case of having this default setting means, the drive mechanism selecting means is provided with a default canceling section that enables the change of the movable drive mechanism and the fixed drive mechanism regardless of the registered contents of the default setting means. According to this configuration, it is possible to arbitrarily change the movable drive mechanism that is not set by the default setting means to the fixed drive mechanism and vice versa, without being restricted by the registration contents of the default setting means. A free drive mechanism can be selected.

  In addition, it is also desirable to have an operation display unit that displays the movable drive mechanism and the fixed drive mechanism that are classified by the drive mechanism selection means in a distinguishable manner. With this operation display section, the operator can easily recognize which drive mechanism is currently selected as the movable (fixed) drive mechanism, and the operation can be performed without issuing an unnecessary operation command to the fixed drive mechanism. Can be improved. The operation display unit is configured such that, for example, a mark schematically showing the operation of each unit can be lit on the screen on the console, and the operation represented by the lit mark is an operation by the movable drive mechanism Is mentioned.

  According to the device of the present invention, the following effects can be achieved.

  (1) By providing the drive mechanism selection means, it is possible to select an arbitrary drive mechanism from a plurality of drive mechanisms, and accordingly, the movable drive mechanism and the fixed drive mechanism can be changed flexibly. .

  (2) Since the drive means that is a fixed drive mechanism by the drive mechanism selection means does not operate, an unintended operation is not performed, thereby improving safety. In addition, it is possible to quickly position the region of interest by reducing unnecessary operations due to erroneous operations, and it is possible to concentrate on examination, diagnosis, and treatment without feeling stress on the fluoroscopic imaging apparatus.

  (3) Even if there is a default setting means that registers the movable drive mechanism and the fixed drive mechanism in advance according to the inspection procedure, the movable drive mechanism and the fixed drive mechanism can be changed regardless of the registered contents. By providing the default canceling unit, it is possible to select a free drive mechanism according to the inspection scene.

  (4) By providing an operation display unit that displays the movable drive mechanism and the fixed drive mechanism in an identifiable manner, the operator can easily recognize which drive mechanism is operable. Accordingly, operability can be improved without issuing unnecessary operation commands to the fixed drive mechanism.

  Embodiments of the present invention will be described below.

<Example 1>
First, an embodiment of the present invention having a normal mode in which all drive mechanisms can operate and a selection mode in which only a specific drive mechanism selected can be operated will be described with reference to FIGS.

(overall structure)
As shown in FIG. 1, the X-ray fluoroscopic apparatus of this example includes a fluoroscopic imaging table 10, an operation console 20 for operating the fluoroscopic imaging table 10, and an image processing device 30.

(Fluoroscopy table)
The fluoroscopic imaging table 10 includes a C arm 11 and a top plate 12, and has an X-ray generation unit 13 at one end of the C arm 11 and an X-ray imaging unit 14 at the other end. The subject is placed on the top 12 and is sandwiched between the X-ray generator 13 and the X-ray imaging unit 14, and an X-ray fluoroscopic image is taken from a desired angle. To image the region of interest from a predetermined angle, the angle of the irradiation center axis (axis connecting the X-ray generator and X-ray imaging unit) to the subject is arbitrarily changed by driving the C-arm 11 or the top 12 Let

  The X-ray generator 13 includes an X-ray tube device (X-ray source), a movable diaphragm that limits the X-ray irradiation range, and a high-voltage device that generates X-rays by applying a high voltage to the X-ray tube device. And are included. The X-ray imaging unit 14 shoots the image intensifier (II) that converts the X-rays irradiated from the X-ray generation unit 13 and transmitted through the subject into visible light and the converted visible light to obtain image data. TV camera to output as is included.

  Such a fluoroscopic imaging table 10 has a plurality of drive mechanisms. For example, manual top length, top / left movement, independent top / bottom elevation, manual C-arm length, C-arm rotation, slide movement in the C-arm arc direction, X-ray imaging unit back-and-forth movement, top-plate rolling, top-plate lift The top plate can be moved up and down with the C arm 11 and the top plate 12 integrated.

  Here, the fluoroscopic imaging table 10 has a total of ten drive mechanisms. The fluoroscopic imaging table 10 has a Z column 15, an X beam 16 that slides along the Z column 15 and can rotate with respect to the Z column 15, and a telescopic Y beam 17 connected to one end of the X beam 16. . The C arm 11 is attached to a slider 18 that moves along the X beam 16. A top plate 12 parallel to the X beam 16 is attached to the end of the Y beam 17. The operation of each part is as follows.

(1) C-arm length manual: C-arm 11 moves in the X-axis direction.
(2) C-arm rotation: C-arm 11 rotates around the Y axis.
(3) C arm slide: The C arm 11 slides in the arc direction, that is, rotates around the X axis.
(4) II back-and-forth movement: II moves back and forth in the direction of the X-ray generator.
(5) Top plate length manual: The top plate 12 moves in the X-axis direction.
(6) Top plate left-right movement: The top plate 12 moves in the Y-axis direction.
(7) Top plate independent lift: The top plate 12 and the C arm 11 move independently in the Z-axis direction.
(8) Top plate rolling: The top plate 12 rotates around the X axis.
(9) Top plate integrated lifting: The top plate 12 and the C arm 11 move together in the Z-axis direction.
(10) Top plate tilting motion: The top plate 12 and the C arm 11 rotate together around the Y axis.

(Operation console)
On the other hand, X-ray irradiation and driving of the C-arm 11 and the top board 12 are performed remotely from the console 20. The console 20 includes an X-ray irradiation switch, a C-arm controller 21, a top panel operator 22, and an operation panel 23 that displays position information of components.

  Here, joysticks are used for the C-arm controller 21 and the top panel controller 22. The operation panel 23 includes a so-called touch panel, and displays mode switching, setting change of the movable drive mechanism and the fixed drive mechanism, and whether or not each drive mechanism can be operated.

  For example, as shown in FIG. 2, a mode button is displayed on the operation panel 23, and a normal mode in which all drive mechanisms can be operated by pressing this mode button and a selection in which only a selected specific drive mechanism can be operated. Switching between modes is possible.

  In the selection mode, by touching the schematic mark shown on the operation panel 23, the drive mechanism represented by the schematic mark can be changed to an operable movable drive mechanism, an inoperable fixed drive mechanism, or arbitrarily changed. be able to. FIG. 2 shows that C-arm rotation and top plate independent lifting are selected as the movable drive mechanism. FIG. 2 shows that when a C-arm slide is selected, the model mark is lit (indicated by a rectangular shade in the figure).

  Moreover, as shown in FIG. 3, the schematic diagram of each component, such as C arm and a top plate, is shown, and the operation condition is displayed. For example, C-arm rotation, C-arm slide, II back-and-forth movement, independent top / bottom lifting, top / bottom tilting, top / bottom lifting / lowering, top-plate rolling, rotation angle of each component (movement distance) and driving by ○ × The availability is displayed. FIG. 3 (A) shows that the C-arm rotation and the independent top / bottom lift are operable by the movable drive means. Similarly, FIG. 3B shows that the C-arm slide is also movable and operable.

  Further, a monitor 24 for displaying an X-ray image is mounted on the console 20 (FIG. 1). The monitor 24 displays an X-ray fluoroscopic image output through an image processing device 30 described below.

(Image processing device)
The image processing apparatus 30 performs various image processing such as necessary gradation processing based on the digital image data output from the X-ray imaging unit.

(Drive mechanism selection means)
When the above-described operation of the C-arm and the top plate is performed in the selection mode, the drive mechanism selection means 20A is used as shown in the functional block diagram of FIG. The drive mechanism selection means 20A inputs an operable drive mechanism from the operation panel 23, sets it as a movable drive mechanism in the drive mechanism setting memory 25, and classifies the other drive mechanisms as fixed drive mechanisms. A plurality of drive mechanisms can be set as the movable drive mechanism. This setting is performed by pressing the model mark of each drive mechanism on the operation panel 23 of FIG. 2, and the setting is canceled by pressing the model mark again.

  When there is an operation command from the operating devices 21 and 22 to a specific drive mechanism, the selection determining means 26 determines whether the drive mechanism from which the operation command is issued is a movable drive mechanism (FIG. 4). As a result, if the drive mechanism for which the operation command is issued is a movable drive mechanism, the X-ray generation unit, the X-ray imaging unit, and the top board (subject) do not interfere with each other when the movable drive mechanism is driven. This is determined by the interference calculation / determination means 27. Then, based on the determination result, the movable drive mechanism is decelerated, stopped, or automatically retracted to avoid interference between the constituent members.

  Both driving mechanisms are operated by driving the motor 42 via the control device 41. The operation state of each drive mechanism is detected by the position detector 43, and the detection result is used for the determination processing in the interference calculation / determination means 27. In FIG. 4, only three control devices, motors, and position detectors are shown, but each of these components actually exists for each drive mechanism.

  On the other hand, in the normal mode, since all the drive mechanisms are movable drive mechanisms, it is not necessary to make a determination by the selection determination means 26. If there is an operation command from the operating devices 21 and 22, the interference calculation / determination means 27 determines whether or not interference occurs between the X-ray generation unit, the X-ray imaging unit, and the top board when the drive mechanism is operated. And decelerate, stop, or automatically retract according to the operation of the operator.

(Processing procedure)
Next, the operation procedure of the drive mechanism of this apparatus will be described based on the flowchart of FIG. 5 with reference to FIGS.

  First, when there is an operation signal from an operating device such as the C-arm operating device 21 or the top panel operating device 22 (step S1), it is determined whether the current operating mode is the selection mode or the normal mode (step S2).

  At this time, if the mode is the selection mode, the selection determination means 26 determines whether the drive mechanism to which the operation signal is input is a movable drive mechanism (step S3). This determination is made by reading the setting data of the movable drive mechanism from the drive mechanism setting memory 25 (step S4) and checking whether the setting data is collated with the drive mechanism to which the operation signal is input. Since the setting data of the movable drive mechanism can be arbitrarily changed by an input from the operation panel 23, if there is a setting change (step S5), the selection determination means 26 based on the update data reflecting the setting change. Judge by.

  On the other hand, in the normal mode, all the drive mechanisms are operable, so the interference calculation / determination means 27 performs the processing of steps S5 to S7, which will be described later, along with the operation of the drive mechanism to be operated. Then, it is determined by calculating whether or not interference of each part occurs.

  Subsequently, in the normal mode or in the selection mode, when the drive mechanism to which the operation signal is input is a movable drive mechanism, the interference calculation / determination unit 27 determines whether there is interference between the constituent members. In this determination, the position detector 43 detects the operation status of the C arm 11 and the top plate 12 (step S6), and calculates the position of each component based on the position data (step S7). Then, based on the calculation result, it is determined whether or not interference occurs (step S8). If it is determined that interference does not occur, the operation permission signal is turned ON (step S9), and the drive device to which the operation signal is input is operated. Conversely, when the drive mechanism to which the operation signal is input in the selection mode is a fixed drive mechanism, or when it is determined that interference occurs due to the operation of the drive mechanism, the operation permission signal is turned OFF (step S10), The drive device to which the operation signal is input is not operated.

  As described above, according to the above-described apparatus, it is possible to arbitrarily change the movable drive mechanism and the fixed drive mechanism. Therefore, the drive mechanism can be operated according to the inspection status.

  In this example, the drive mechanism is controlled by software, but it is also possible to provide an operation range limiting circuit in each drive mechanism and configure the same mechanism on separate hardware.

<Example 2>
Next, an embodiment of the present invention using an X-ray fluoroscopic apparatus in which a movable drive mechanism is defined in accordance with an inspection procedure defined in an anatomical program will be described with reference to FIGS. Here, the description will mainly focus on differences from the first embodiment, and a description of common points will be omitted.

  This apparatus is common to the first embodiment in that the fluoroscopic imaging table 10, the console 20 and the image processing apparatus 30 are provided, but the movable drive mechanism is automatically set according to the inspection technique. The difference is that the inspection technique interlocking mode and the inspection technique non-interlocking mode in which the movable drive mechanism can be selected regardless of the inspection technique can be used.

  As shown in the functional block diagram of FIG. 6, the inspection technique linkage mode is normally set, and when an inspection technique is selected, a drive mechanism corresponding to the inspection technique is read from the registration table 28.

  On the other hand, by operating the release unit 29 (default release unit) from the operation panel 23, the inspection technique non-interlocking mode can be set. In that case, similarly to the first embodiment, the movable drive means is appropriately selected from the operation panel 23, and the contents of the drive mechanism setting memory 25 are updated.

  A series of operation procedures according to this example will be described with reference to the flowchart of FIG.

  First, an operation signal input from the operating devices 21 and 22 (step S21) and an ON / OFF input (step S22) of the release unit 29 are performed, and it is determined whether or not the inspection technique interlocking mode is set (step S23).

  If the inspection technique link mode is selected, the default setting data is read from the registration table 28, and a movable drive mechanism corresponding to the inspection technique is selected (step S24). On the other hand, in the inspection technique non-interlocking mode, the movable drive mechanism is appropriately set from the operation panel, and the setting data in the drive mechanism setting memory 25 is updated (step S25).

  Subsequently, in the inspection technique interlocking mode, it is determined whether or not the drive mechanism to which the operation signal is input from the operating devices 21 and 22 is the movable driving mechanism in the default setting data. Then, it is determined whether or not the drive mechanism to which the operation signal is input from the operating devices 21 and 22 is the movable drive mechanism based on the setting data in the drive mechanism setting memory 25 (step S27).

  After this determination, as in the first embodiment, if the drive mechanism to which the operation signal is input is not the movable drive mechanism, the operation permission signal is turned OFF and the interference determination of the movable drive mechanism is performed in steps S28 to S32. The operation permission signal is turned ON or OFF by the interference determination.

  According to the apparatus of this example, the movable drive mechanism can be arbitrarily changed regardless of the default setting contents of the anatomical program, and the drive mechanism can be operated in accordance with the inspection state.

  The apparatus of the present invention can be used as an X-ray fluoroscopic apparatus in a medical field.

1 is an overview of an X-ray fluoroscopic apparatus. It is explanatory drawing which shows the example of a display of the operation panel of Example 1 of this invention. It is explanatory drawing which shows the example of a display of the operation panel of Example 1 of this invention. It is a functional block diagram of Example 1 of the present invention. It is a flowchart which shows the process sequence of Example 1 of this invention. FIG. 6 is a functional block diagram of Embodiment 2 of the present invention. 6 is a flowchart showing a processing procedure of Embodiment 2 of the present invention.

Explanation of symbols

10 Fluoroscopy table 11 C-arm 12 Top panel 13 X-ray imaging unit
14 X-ray generator 15 Z column 16 X beam 17 Y beam
18 Slider
20 Console 21 C-arm controller 22 Top panel controller 23 Control panel
24 Monitor 25 Drive mechanism setting memory
26 Selection judgment means 27 Interference calculation / judgment means
28 Registration table 29 Release part
20A Drive mechanism selection means
30 Image processing device
41 Controller 42 Motor 43 Position detector

Claims (2)

Examination from various angles, a top plate on which the subject is placed, an X-ray generation unit that irradiates the subject with X-rays, an X-ray imaging unit that makes X-rays transmitted through the subject visible images Inspection mechanism by selecting multiple drive mechanisms that change the relative positions of the X-ray generator, X-ray imaging unit, and top plate, and any drive mechanism from these multiple drive mechanisms According to the above, after dividing in advance into an operable movable drive mechanism and an inoperable fixed drive mechanism, the sections are separated into individual drive mechanisms in accordance with a change input of the section from the fixed drive mechanism to the movable drive mechanism. A drive mechanism selection means to be changed, an interference calculation and determination means for determining presence / absence of interference with each part generated by the operation of the movable drive mechanism, and the movable drive mechanism based on the interference calculation and determination means An operation signal control means for controlling an operation signal for operating Medical X-ray fluoroscopic imaging apparatus characterized by having a.   The medical X-ray fluoroscopic apparatus according to claim 1, further comprising an operation display unit configured to display the movable drive mechanism and the fixed drive mechanism classified by the drive mechanism selection unit in a distinguishable manner.

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