JP5627185B2 - X-ray diagnostic equipment - Google Patents

Description

  The present invention relates to an X-ray diagnostic apparatus, and more particularly to an X-ray diagnostic apparatus having a function of detecting a contact body that contacts a moving unit.

  An X-ray diagnostic apparatus includes an X-ray generation unit that irradiates a subject with X-rays, and an X-ray detection unit that detects X-rays emitted from the X-ray generation unit and transmitted through the subject. Using the image data generated from the X-ray projection data detected in step 1, examination of various parts of the subject is performed. As X-ray diagnostic apparatuses, there are apparatuses that have made progress mainly in the cardiovascular field with the development of angiographic examinations using catheters and IVR (Interventional Radiology). As the X-ray diagnostic apparatus for the circulatory organ, there is an apparatus that enables imaging from various angles with respect to the subject placed on the bed by moving the X-ray generation unit and the X-ray detection unit. It is known (for example, refer to Patent Document 1).

  By the way, in the X-ray diagnostic apparatus, in order to prevent danger, contact between a moving unit such as an X-ray generation unit and an X-ray detection unit and a contact unit such as a peripheral unit or a subject due to the movement of the moving unit. There is known a touch sensor that can detect (see, for example, Patent Document 2).

  The touch sensor outputs a non-detection signal indicating that the switch is OFF in the non-contact state, and outputs a detection signal indicating that the switch is ON when the touch sensor is in contact. Based on this detection signal, the operation of the touched mobile unit is controlled.

JP 2006-239126 A JP 2005-322657 A

  However, since a predetermined operation such as an emergency stop of a predetermined moving unit corresponding to the touch sensor is performed based on a detection signal from the touch sensor, it is unnecessary even when the contact between the moving unit and the contact body is not dangerous. There is a problem that the operation is performed and the inspection takes time.

The present invention has been made to solve the above-described problems, and is in contact with a contact body according to the contact body.
It is an object of the present invention to provide an X-ray diagnostic apparatus that controls the movement of later X-ray generation means and X-ray detection means .

In order to solve the above problem, an X-ray diagnostic apparatus of the present invention is irradiated with X-ray generation means for irradiating a subject placed on a top plate with X-rays, and the X-ray generation means, X-ray detection means for detecting X-rays transmitted through the subject and generating X-ray projection data, holding means for holding the X-ray generation means and the X-ray detection means movably, and holding means A detecting means for detecting a contact body that is in contact with movement of the X-ray generation means and the X-ray detection means by operation, and the contact body that is in contact with the detecting means based on a detection signal detected by the detecting means. The X-ray generation means and the X-ray detection means are urgently stopped by operating the holding means after contact with the contact body according to the determination means for determination and the contact information determined by the determination means Move, decelerate, And, wherein the direction of movement, characterized in that a movement control means for performing at least one control of the be retracted in the opposite direction.

According to the present invention, to determine the contact body in contact with the movement of the X-ray generating means and the X-ray detecting means, the X-ray generating means and the X-ray detecting means after contact with the contact body in accordance with the contact body is determined Move
It is possible to control whether to make it happen. As a result, the time required for the inspection can be reduced and the inspection can be performed efficiently.

The block diagram which shows the structure of the X-ray diagnostic apparatus which concerns on the Example of this invention. The figure which shows an example of a structure of the holding | maintenance part which concerns on the Example of this invention. The block diagram which shows the detail of a structure of the contact body detection part which concerns on the Example of this invention. The figure which shows the example of arrangement | positioning of the contact body detection part which concerns on the Example of this invention. The figure which shows the example of arrangement | positioning of the contact body detection part which concerns on the Example of this invention. The figure which shows the example of arrangement | positioning of the contact body detection part which concerns on the Example of this invention. The figure which shows an example of the detection signal output from each discrimination | determination sensor in the 2nd detection part which concerns on the Example of this invention. The figure which shows an example of the detection signal output from each discrimination | determination sensor in the 2nd detection part which concerns on the Example of this invention.

  Examples of the present invention will be described.

  Embodiments of an X-ray diagnostic apparatus according to the present invention will be described below with reference to FIGS.

  FIG. 1 is a block diagram showing a configuration of an X-ray diagnostic apparatus according to an embodiment of the present invention. The X-ray diagnostic apparatus 100 includes a bed 40 on which the subject P is placed, an X-ray generation unit 10 that irradiates the subject P placed on the bed 40 with X-rays, and the subject P. An X-ray detection unit 20 that detects X-rays generated to generate X-ray projection data, and a high-voltage generation unit 30 that supplies a high voltage necessary for X-ray imaging to the X-ray generation unit 10.

  The X-ray diagnostic apparatus 100 includes a holding unit 50 that holds the X-ray generation unit 10 and the X-ray detection unit 20 movably, a movement control unit 60 that controls the operations of the bed 40 and the holding unit 50, and a holding unit. 50 generates the image data from the X-ray projection data generated by the X-ray projection data generated by the X-ray detection unit 20 and the X-ray projection data generated by the X-ray detection unit 20. And an image data generation unit 90.

  Furthermore, the X-ray diagnostic apparatus 100 includes a display unit 91 that displays the image data generated by the image data generation unit 90, subject information for identifying the subject P, body position of the subject P, imaging region, X-ray irradiation. It has an operation unit 92 for setting shooting conditions including conditions, setting and selecting various conditions related to display, inputting various commands, and the like, and a system control unit 93 for controlling these units as a whole. Yes.

  The bed 40 includes a top board 41 on which the subject P is placed, and a top board support part 42 that supports the top board 41 so as to be movable in the longitudinal direction, the width direction, and the up-down direction. The top plate support unit 42 includes a mechanism for driving the top plate 41 in the longitudinal direction, a mechanism for driving in the width direction, a mechanism for driving in the vertical direction, and the longitudinal direction and width direction of the top plate 41 provided in each mechanism. And a position detector for detecting the position in the vertical direction. Then, the top plate support unit 42 performs X-ray imaging of the subject P between the X-ray generation unit 10 and the X-ray detection unit 20 on the top plate 41 on which the subject P is placed under the control of the movement control unit 60. Move to a possible position. Further, the position information of the top plate 41 in the moved longitudinal direction, width direction, and vertical direction is output to the movement control unit 60 as movement information.

  The X-ray generation unit 10 is disposed between an X-ray tube unit 11 having an X-ray tube that generates X-rays, the X-ray tube unit 11 and the subject P, and emits from the X-ray tube unit 11 to the subject P. And an X-ray diaphragm unit 12 for limiting the irradiation range of X-rays. The X-ray diaphragm 12 can rotate about an imaging axis SA that connects the X-ray focal point of the X-ray tube 11 and the center of the X-ray detection surface of the X-ray detector 20.

  The X-ray detection unit 20 is disposed opposite to the X-ray generation unit 10, detects an X-ray that has passed through the subject P, and converts it into an electrical signal. The X-ray detector 21 converts the X-ray detection unit 20. And a signal processing unit 22 for processing the electrical signal thus generated to generate X-ray projection data. And it is hold | maintained at the holding | maintenance part 50 so that the movement to the direction of imaging | photography axis | shaft SA is possible.

  The X-ray detector 21 includes a detection element that converts incident X-rays into electric charge, a gate driver that supplies a drive pulse for reading to the detection element, an amplifier that converts electric charge accumulated in the detection element into voltage, and an amplifier. A multiplexer that selects the output signal, an A / D converter that converts an analog signal from the multiplexer into a digital signal, and the like are provided. The signal processing unit 22 processes the digital signal output from the X-ray detector 21 to generate X-ray projection data, and outputs the generated X-ray projection data to the image data generation unit 90.

  Note that the X-ray detection unit 20 uses an image intensifier that converts incident X-rays into light, a television camera that captures light from the image intensifier and converts it into an electrical signal, and electricity from the television camera. The signal may be replaced with an A / D converter that converts the signal into a digital signal.

  The high voltage generator 30 includes a high voltage generator 31 that generates a high voltage, an X-ray control unit 32 that controls the high voltage generator 31, and a high voltage generated by the high voltage generator 31 in the X-ray generator 10. A high voltage cable 33 for supplying to the X-ray tube unit 11 is provided.

  The high-voltage generator 31 generates high-frequency radiography X-rays and radiographing X-rays having higher energy than that for fluoroscopy based on a control signal for X-ray irradiation conditions from the X-ray control unit 32. The voltage is supplied to the X-ray tube unit 11 via the high voltage cable 33. In addition, the X-ray control unit 32 controls the high voltage generator 31 based on information on X-ray irradiation conditions such as tube voltage and tube current included in the imaging conditions supplied from the system control unit 93. The X-ray tube unit 11 is set to a tube voltage and a tube current for fluoroscopy and imaging.

  The high voltage cable 33 has one end connected to the high voltage generator 31 and the other end connected to the X-ray tube unit 11.

  FIG. 2 is a diagram illustrating an example of the configuration of the holding unit 50. The holding unit 50 includes units that can rotate the floor turning arm 51, the stand 52, the arm holder 53, and the C arm 54, a mechanism that drives each unit, and a rotation of each unit provided in the mechanism. An angle detector for detecting the angle, a mechanism for moving the X-ray detector 20 in the direction of the imaging axis SA, and a position detector for detecting the position of the X-ray detector 20 provided in the mechanism. Yes. The movement control unit is arranged in the examination room that can prevent leakage of X-rays to the outside together with the bed 40 and uses the angle information of each unit detected by the angle detector and the position information of the X-ray detection unit 20 as movement information. 60.

  The floor turning arm 51 is arranged on the floor surface 59 so as to be turnable around a vertical first rotation axis Z1 perpendicular to a reference line BL passing through the center line of the top plate 41 at the center position in the width direction. One end is supported to be rotatable about the first rotation axis Z1, and the stand 52 disposed on the upper surface of the other end can be rotated about the vertical second rotation axis Z2. I support it.

  The stand 52 is arranged on the floor turning arm 51 so as to be turnable around the first turning axis Z1, and the arm holder 53 arranged on the side surface of the upper end portion is turned in a horizontal third direction orthogonal to the imaging axis SA. It is supported so as to be rotatable about the axis Z3.

  One end of the arm holder 53 is supported by the stand 52, and the C arm 54 disposed at the other end is rotated about the fourth rotation axis Z4 orthogonal to the imaging axis SA and the third rotation axis Z3. I support it as possible.

  The C-arm 54 has a C-shape and is supported by the arm holder 53 so that the portions other than both ends are slidable. The X-ray generation unit 10 and the X-ray detection unit 20 arranged at both ends are connected to the fourth rotation. It is supported so as to be rotatable around the moving axis Z4.

  The holding unit 50 rotates the floor turning arm 51 under the control of the movement control unit 60, rotates the stand 52, rotates the arm holder 53, and rotates the C arm 54. The line detection unit 20 is set to an angle at which X-ray imaging can be performed with respect to the subject P on the top board 41.

  The movement control unit 60 shown in FIG. 1 is based on the position information output from the top plate support unit 42 of the bed 40, the angle information and the position information output from the holding unit 50, and the top plate support unit 42 and the holding unit. 50 is controlled. And the top plate 41 of the bed 40, each unit of the holding | maintenance part 50, and the X-ray detection part 20 are moved. Further, the position information of the moving top plate 41 output from the top plate support section 42, the angle information of each moving unit output from the holding section 50, and the position information of the X-ray detection section 20 are detected by the contact body. To the unit 70.

  The contact body detection unit 70 includes first and second detection units 71 and 72 that detect contact with the contact body by the movement of the X-ray generation unit 10 and the X-ray detection unit 20 by the holding unit 50, and a second Based on the detection signal detected by the detection unit 72, a determination unit 73 is provided that determines a contact body that has contacted the second detection unit 72.

  The first detection unit 71 includes a predetermined moving unit such as each unit of the X-ray generation unit 10, the X-ray detection unit 20, and the holding unit 50, and a peripheral unit or subject that is a contact body of the moving unit. Contact with P or the like is detected, and the detection signal is output to the system control unit 93.

  The second detection unit 72 detects contact between each moving unit and a peripheral unit that is a contact body of the moving unit, a peripheral device that is brought into the examination room other than the X-ray diagnostic apparatus 100, and the like. Further, contact between a predetermined unit and a moving unit that is a contact body of the unit is detected. Then, the detection signal is output to the determination unit 73.

  The discriminating unit 73 discriminates the contact body in contact with each moving unit based on the movement information output from the movement control unit 60 and the detection signal output from the second detection unit 72, and information on the determined contact body In addition, the mobile unit information and the discrimination information including the movement information are output to the system control unit 93. Further, the contact body that has contacted the predetermined unit is determined, and information on the determined contact body, information on the predetermined unit, and information on the mobile unit that is the determined contact body and determination information including the movement information are displayed in the system control unit 93. Output to.

  The image data generation unit 90 generates image data such as fluoroscopic image data and captured image data from the X-ray projection data output in line units from the signal processing unit 22 of the X-ray detection unit 20, and displays the generated image data Output to the unit 91.

  The display unit 91 is supported by hanging hardware held on the ceiling of the examination room, includes a liquid crystal panel or a CRT monitor, and displays the image data output from the image data generation unit 90.

  The operation unit 92 is an interactive interface including an input device such as a keyboard, a trackball, a joystick, and a mouse, a display panel, and various switches, and performs operations for setting shooting conditions, input operations for various commands, and the like. Do.

  The system control unit 93 includes a CPU and a storage circuit. The system control unit 93 temporarily stores input information such as command signals and imaging conditions supplied from the operation unit 92, and then, based on these input information, the X-ray generation unit 10, X The line detection unit 20, the high voltage generation unit 30, the movement control unit 60, the contact body detection unit 70, and the image data generation unit 90 are controlled and the entire system is controlled.

  Hereinafter, an example of the operation of the X-ray diagnostic apparatus 100 when in contact with the moving unit will be described with reference to FIGS. 1 to 8. FIG. 3 is a block diagram illustrating details of the configuration of the contact body detection unit 70. 4 to 6 are diagrams illustrating examples of arrangement of the contact body detection unit 70. FIG. 7 and 8 are diagrams illustrating examples of detection signals output from the second detection unit 72 in the contact body detection unit 70. FIG.

  In FIG. 3, the first detection unit 71 in the contact body detection unit 70 includes, for example, a touch sensor 711 having a sheet switch, a touch sensor 712, and the like.

  As shown in FIG. 4, a plurality of touch sensors 711 are arranged on the front edge including the surface that irradiates the subject P of the X-ray generation unit 10 with X-rays. Then, the non-detection signal of the seat switch that is opened when the front surface of the X-ray generation unit 10 is in a non-contact state is output to the system control unit 93. In addition, a detection signal of the seat switch that is closed when touched is output to the system control unit 93. Based on the detection signal output from the touch sensor 711, the system control unit 93 detects that the front surface of the X-ray generation unit 10 is in contact with the bottom surface of the top plate 41. Then, the movement control unit 60 is instructed to urgently stop the X-ray generation unit 10.

  As described above, based on the detection signal from the touch sensor 711, the X-ray generation unit 10 that is a predetermined moving unit corresponding to the touch sensor 711, and the top plate 41 as a predetermined contact body of the X-ray generation unit 10. Can be detected. And it can control by the predetermined | prescribed operation | movement which makes the X-ray generation part 10 stop urgently.

  As shown in FIG. 5, the touch sensor 712 has a plurality of sheet switches arranged on the front edge including the X-ray detection surface of the X-ray detection unit 20. Then, the non-detection signal of the seat switch that is opened when the front surface of the X-ray detection unit 20 is not in contact is output to the system control unit 93. In addition, the detection signal of the closed sheet switch when touched is output to the system control unit 93. The system control unit 93 detects that the X-ray detection unit 20 and the subject P are in contact based on the detection signal output from the touch sensor 712. Then, after instructing the movement control unit 60 to urgently stop the X-ray detection unit 20, for example, the X-ray detection unit 20 is retracted in a direction opposite to the moving direction of the imaging axis SA.

  Thus, based on the detection signal from the touch sensor 712, the X-ray detection unit 20 corresponding to the touch sensor 712 and the subject P as the predetermined contact body of the X-ray detection unit 20 can be detected. . The X-ray detection unit 20 can be controlled by a predetermined operation.

  The second detection unit 72 includes each determination sensor such as two determination sensors 721, a determination sensor 722, two determination sensors 723, and two determination sensors 724, and each determination sensor includes a plurality of determination sensors arranged in a line. It has a pressure sensor. Note that a plurality of pressure sensors arranged in a two-dimensional direction may be used for each discrimination sensor.

  The two discrimination sensors 721 have a plurality of pressure sensors arranged in a line in the direction around the fourth rotation axis Z4 shown in FIG. 2, and as shown in FIG. 4, the side surface of the X-ray generation unit 10 The C-arm 54 is disposed on the side surface forming the C-shape of the C-arm 54 and on both side surfaces of the side surface facing the side surface. And the non-detection signal of each pressure sensor that is not pressurized when the side surface of the X-ray generation unit 10 is in the non-contact state, the position of the pressure sensor that is pressurized to the contacted part of the plurality of pressure sensors, and A detection signal including the magnitude of pressure applied to the pressure sensor at this position is output to the determination unit 73.

  As shown in FIG. 5, the discrimination sensor 722 includes a plurality of pressure sensors arranged over all the side surfaces of the X-ray detection unit 20 and arranged in a line along the peripheral direction of the side surfaces. Have. And the non-detection signal of each pressure sensor that is not pressurized when the side surface of the X-ray detection unit 20 is in the non-contact state, the position of the pressure sensor that is pressurized to the contacted part of the plurality of pressure sensors, and A detection signal including the magnitude of pressure applied to the pressure sensor at this position is output to the determination unit 73.

  Further, each of the two discrimination sensors 723 includes a plurality of pressure sensors arranged in a line along the longitudinal direction of the side surface of the floor turning arm 51 of the holding unit 50. As shown in FIG. 51 on both sides. And the non-detection signal of each pressure sensor which is not pressurized when the side surface of the floor swivel arm 51 is in the non-contact state, the position of the pressure sensor which is pressurized to the contacted part among the plurality of pressure sensors, and this A detection signal including the magnitude of the pressure applied to the position pressure sensor is output to the determination unit 73.

  Further, each of the two discrimination sensors 724 has a plurality of pressure sensors arranged in a line along the longitudinal direction of the top plate 41, and as shown in FIG. It is arranged on both side surfaces in the vicinity of. And the non-detection signal of each pressure sensor that is not pressurized when the side surface of the top plate support part 42 is in the non-contact state, the position of the pressure sensor that is pressurized to the contacted part among the plurality of pressure sensors, and A detection signal including the magnitude of pressure applied to the pressure sensor at this position is output to the determination unit 73.

  The discriminating unit 73 discriminates a contact body in contact with each moving unit based on the movement information output from the movement control unit 60 and the detection signals output from the respective discrimination sensors 721 to 723 of the second detection unit 72. . Then, the discriminating information including the discriminated contact body, the information on the moving unit that has come into contact with the contact body, and the moving information of the moving unit is output to the system control unit 93. Further, based on the movement information output from the movement control unit 60 and the detection signal output from the determination sensor 724 of the second detection unit 72, the movement unit in contact with the top plate support unit 42 which is a predetermined unit is determined. To do. Then, the discriminating information including the discriminated moving unit and the information on the top plate support part 42 in contact with the moving unit, and the discriminating information including the discriminating movement information of the moving unit is output to the system controller 93.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of each mobile unit and displays the discrimination information on the display unit 91.

  Based on an instruction from the system control unit 93, the movement control unit 60 performs operations such as an emergency stop operation, a deceleration stop operation, a retraction operation in a direction opposite to the movement direction, and the like on the holding unit 50. Control.

  7 and 8 are diagrams illustrating examples of detection signals output from the discrimination sensors 721 to 724 in the second detection unit 72. FIG. The horizontal axis indicates, for example, seven pressure sensors S1 to S7 among the plurality of pressure sensors arranged in a row of the discrimination sensors 721 to 724, and the vertical axis indicates the pressure applied to each pressure sensor S1 to S7. Indicates the magnitude of pressure. In addition, the change with time of the detection signal in each of the pressure sensors S1 to S7 is divided into three first to third steps.

  In FIG. 7A, in the first step, at least the pressure sensors S1 to S7 are in contact. In the second step after time t1 from the first step, at least the pressure sensors S1 to S7 are in contact with a pressure stronger than the pressure in the first step. In the third step after time t2 from the second step, at least the pressure sensors S1 to S7 are in contact with substantially the same pressure as in the second step.

  In FIG. 7B, in the first step, the pressure sensors S3 to S6 are in contact. In the second step after time t1 from the first step, the pressure sensors S3 to S6 are in contact with a pressure stronger than the pressure in the first step. In the third step after time t2 from the second step, the pressure sensors S3 to S6 are in contact with substantially the same pressure as the pressure in the first and second steps.

  In FIG. 7C, at least the pressure sensors S1 to S7 are in contact in the first step. In the second step after time t1 from the first step, at least the pressure sensors S1 to S7 are in contact with a pressure stronger than the pressure in the first step. In the third step after time t2 from the second step, at least the pressure sensors S1 to S7 are in contact at a pressure lower than the pressure in the first and second steps.

  In FIG. 8A, in the first step, the pressure sensors S2 to S6 are in contact. In the second step after time t1 from the first step, the pressure sensors S2 to S6 are in contact with a pressure stronger than the pressure in the first step. In the third step after time t2 from the second step, the pressure sensors S1 to Sn are in a non-contact state.

  In FIG. 8B, in the first step, the pressure sensors S2 to S6 are in contact. In the second step after time t1 from the first step, the pressure sensors S2 to S6 are in contact with a pressure stronger than the pressure in the first step. In the third step after time t2 from the second step, the pressure sensors S2 to S6 are in contact with substantially the same pressure as in the second step.

  In FIG. 8C, in the first step, the pressure sensors S2 to S5 are in contact. In the second step after time t1 from the first step, the pressure sensors S2 to S5 are in contact with a pressure stronger than the pressure in the first step. In the third step after time t2 from the second step, the pressure sensors S2 to S5 are in contact with a pressure lower than the pressure in the first and second steps.

  Next, based on the detection signal output from the discrimination sensor 721, an example of the discrimination information output from the discrimination unit 73 and the operation of each operation unit according to the discrimination information will be described.

  First, when the detection signal shown in FIG. 7A is output from the discrimination sensor 721, the discrimination unit 73 is a heavy object or a fixed object because the pressure after contact does not attenuate, and at least the pressure sensor Since it has the width | variety of S1 thru | or S7, it will discriminate | determine that the contact body which contacted the side surface of the X-ray generation part 10 is a peripheral apparatus, for example. Then, information on the X-ray generation unit 10 and peripheral devices, and information on the units of the holding unit 50 moving the X-ray generation unit 10 and discrimination information including movement information are output to the system control unit 93.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of the holding unit 50 in order to prevent danger, and also displays the X-ray generation unit 10 on the display unit 92. In addition, information on peripheral devices, information on units of the holding unit 50 that moved the X-ray generation unit 10, and movement information are displayed. In addition, the movement control unit 60 performs control for causing the holding unit 50 to perform an operation of urgently stopping the X-ray generation unit 10 based on an instruction from the system control unit 93.

  When the detection signal shown in FIG. 7C is output from the discrimination sensor 721, the discrimination unit 73 is a light object or an easily movable object because the pressure after contact is attenuated. Since it has at least the widths of the pressure sensors S1 to S7, it is determined that the contact body in contact with the side surface of the X-ray generation unit 10 is a protective curtain. Then, the information on the X-ray generation unit 10 and the protection curtain, and the discrimination information including the information on the unit of the holding unit 50 moving the X-ray generation unit 10 and the movement information are output to the system control unit 93.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of the holding unit 50 in order to prevent danger, and also displays the X-ray generation unit 10 on the display unit 92. And information on the protection curtain, and information on the unit of the holding unit 50 that has moved the X-ray generation unit 10 and movement information are displayed. Further, the movement control unit 60 performs control to cause the holding unit 50 to perform an operation of decelerating the X-ray generation unit 10 while maintaining the trajectory based on an instruction from the system control unit 93. Then, when a pressure larger than a predetermined pressure is detected during the decelerating movement, control is performed to cause the holding unit 50 to perform an operation of urgently stopping the X-ray generation unit 10.

  In this way, the contact body that has come into contact with the X-ray generation unit 10 can be identified as a peripheral device, a protective curtain, or the like. Then, in accordance with the determination information, it is possible to perform control for causing the holding unit 50 to execute an operation for urgently stopping the X-ray generation unit 10 or an operation for moving the X-ray generation unit at a reduced speed. Thereby, the stop time of the inspection by contact can be reduced without taking a risk.

  In addition, the display unit 92 displays the X-ray generation unit 10 and information about the identified peripheral devices and protective curtains, and the unit information and movement information of the holding unit 50 that has moved the X-ray generation unit 10, thereby making an emergency stop. After that, the operation for releasing can be performed quickly.

  Next, based on the detection signal output from the discrimination sensor 722, an example of the discrimination information output from the discrimination unit 73 and the operation of the operation unit according to the discrimination information will be described.

  First, when the detection signal shown in FIG. 7B is output from the discrimination sensor 722, the discrimination unit 73 is a heavy object or a fixed object because the pressure after contact does not attenuate, and the pressure sensor S3 Since it has the width | variety thru | or S5, it determines with the contact body which contacted the side surface of the X-ray detection part 20 being the hanging bracket of the display part 91, for example.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of the holding unit 50 in order to prevent danger, and also displays the X-ray detection unit 20 on the display unit 92. In addition, the information of the hanging bracket of the display unit 92, the information of the unit of the holding unit 50 that has moved the X-ray detection unit 20, and the movement information are displayed. In addition, the movement control unit 60 performs control to cause the holding unit 50 to perform an operation of urgently stopping the X-ray detection unit 20 based on an instruction from the system control unit 93.

  When the detection signal illustrated in FIG. 7C is output from the determination sensor 722, the determination unit 73 performs X-rays similarly to the case where the detection signal illustrated in FIG. 7C is output from the determination sensor 721. It is determined that the contact body in contact with the side surface of the detection unit 20 is a protective curtain.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of the holding unit 50 in order to prevent danger, and also displays the X-ray detection unit 20 on the display unit 92. And information on the protection curtain, and information on the unit of the holding unit 50 that has moved the X-ray detection unit 20 and movement information are displayed. Further, the movement control unit 60 performs control to cause the holding unit 50 to perform an operation of decelerating the X-ray detection unit 20 while maintaining the trajectory based on an instruction from the system control unit 93. Then, when a pressure larger than a predetermined pressure is detected during the decelerating movement, control is performed to cause the holding unit 50 to perform an operation of urgently stopping the X-ray detection unit 20.

  In this way, the contact body that has come into contact with the X-ray detection unit 20 can be identified as a hanging bracket, a protective curtain, or the like of the display unit 92. Then, in accordance with the discrimination information, it is possible to perform control for causing the holding unit 50 to execute an operation for urgently stopping the X-ray detection unit 20 or an operation for decelerating movement. Thereby, the stop time of the inspection by contact can be reduced without taking a risk.

  In addition, by displaying the X-ray detection unit 20 and the information of the hanging brackets and protective curtains of the display unit 91 as well as the information and movement information of the unit of the holding unit 50 that has moved the X-ray detection unit 20 on the display unit 92 The operation for releasing after an emergency stop can be quickly performed.

  Next, based on the detection signal output from the determination sensor 723, an example of the determination information output from the determination unit 73 and the operation of the operation unit according to the determination information will be described.

  First, when the detection signal shown in FIG. 7A is output from the determination sensor 723, the determination unit 73 turns the floor as in the case where the detection signal of FIG. 7A is output from the determination sensor 721. It is determined that the contact body in contact with the side surface of the arm 51 is a peripheral device.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of the holding unit 50 in order to prevent danger, and also displays the floor turning arm 51 and the display unit 92. Information on peripheral devices and movement information of the floor turning arm 51 are displayed. Further, the movement control unit 60 performs control for causing the holding unit 50 to perform an operation of urgently stopping the floor turning arm 51 based on an instruction from the system control unit 93.

  In addition, when the detection signal shown in FIG. 8A is output from the discrimination sensor 723, the discrimination unit 73 is in a non-contact state after being contacted and increasing in pressure. Since it is a movable object and has the width of the pressure sensors S2 to S6, the contact body is caught between the floor turning arm 51 and the floor surface 59 after contacting the side surface of the floor turning arm 51, for example. It is determined that the object is a light object such as an operator's slipper.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of the holding unit 50 in order to prevent danger, and also displays the floor turning arm 51 and the display unit 92. Information on a light object such as slippers, information on the unit of the holding unit 50 that has moved the floor turning arm 51, and movement information are displayed. Further, the movement control unit 60 performs control to cause the holding unit 50 to perform an operation of retracting the floor turning arm 51 in the direction opposite to the turning direction after the emergency stop of the floor turning arm 51 based on an instruction from the system control unit 93.

  Thus, the contact body that has come into contact with the floor turning arm 51 can be identified as a light object such as a peripheral device or a slipper. Then, based on the determined determination information, it is possible to perform a control for causing the holding unit 50 to perform an operation of emergency stopping the floor turning arm 51, an operation of retracting after the emergency stop. Thereby, the stop time of the inspection by contact can be reduced without taking a risk.

  Further, by displaying information on the floor turning arm 51 and light objects such as slippers and the like, and information on movement of the floor turning arm 51 on the display unit 92, an operation for releasing after an emergency stop is performed. Can be done quickly.

  Next, based on the detection signal output from the discrimination sensor 724, an example of the discrimination information output from the discrimination unit 73 and the operation of the operation unit according to the discrimination information will be described.

  First, when the detection signal shown in FIG. 8B is output from the discrimination sensor 724, the discrimination unit 73 is a hard object because the contact pressure increases and does not attenuate, and the width of the pressure sensors S2 to S6 Therefore, it is determined that the moving unit that is in contact with the side surface of the top support 42 is the C arm 54, for example.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of the holding unit 50 in order to prevent danger, and instructs the display unit 92 to the top plate support unit 42. And information on the C arm 54, information on the unit of the holding unit 50 that has moved the C arm 54, and movement information. Further, the movement control unit 60 performs control to cause the holding unit 50 to perform an operation of urgently stopping the C-arm 54 based on an instruction from the system control unit 93.

  When the detection signal shown in FIG. 8C is output from the discrimination sensor 724, the discrimination unit 73 is an elastic and easily movable object because the pressure after contact is attenuated. Since the pressure sensors S2 to S5 have the width, the moving unit that is in contact with the side surface of the top support 42 is disposed, for example, in the vicinity of the X-ray generator 10 as shown in FIG. It is determined that the high-voltage cable 33 is connected.

  Based on the discrimination information output from the discrimination unit 73, the system control unit 93 instructs the movement control unit 60 to control the operation of the holding unit 50 in order to prevent danger, and instructs the display unit 92 to the top plate support unit 42. And information on the high voltage cable 33, information on the unit of the holding unit 50 that has moved the high voltage cable 33, and movement information. In addition, the movement control unit 60 performs control to cause the holding unit 50 to perform a decelerating movement while maintaining the trajectory of the C arm 54 based on an instruction from the system control unit 93. Then, when a pressure larger than a predetermined pressure is detected during the decelerating movement, control is performed to cause the holding unit 50 to perform an operation of urgently stopping the C arm 54.

  In this manner, the moving unit that has come into contact with the top support 42 can be identified as the C arm 54 or the high voltage cable 33. Then, in accordance with the determination information, it is possible to perform a control for causing the holding unit 50 to execute an operation for urgently stopping the C54 arm, an operation for decelerating and the like. Thereby, the stop time of the inspection by contact can be reduced without taking a risk.

  Further, the display unit 92 displays the information on the top plate support unit 42 and the discriminated C arm 54 and the high voltage cable 33, and the unit information and movement information of the holding unit 50 that has moved the C arm 55, so that an emergency stop is performed. After that, the operation for releasing can be performed quickly.

  According to the embodiment of the present invention described above, each of the discrimination sensors 721 to 723 is provided, and the contact body in contact with the moving unit in which the discrimination sensor is arranged can be discriminated from the detection signal of the discrimination sensor. Then, according to the determined determination information, it is possible to perform control for causing the holding unit 50 to execute the operation of the moving unit that has come into contact. Thereby, the stop time of the inspection by contact can be reduced without taking a risk. In addition, by displaying the information on the moving unit that has contacted the display unit 92 and the information on the determined contact body, and the information on the unit of the holding unit 50 that has moved the moving unit and the moving information, it is possible to cancel after the emergency stop. The operation can be performed quickly.

  In addition, a discrimination sensor 724 is provided, and a moving unit in contact with the top plate support portion 42 on which the discrimination sensor is arranged can be discriminated from the detection signal of the discrimination sensor. Then, according to the determined determination information, it is possible to perform control for causing the holding unit 50 to execute the operation of the moving unit that has come into contact. Thereby, the stop time of the inspection by contact can be reduced without taking a risk. Moreover, in order to cancel after the emergency stop, the display unit 92 displays information on the top plate support unit 42 and the determined moving unit, and information on the unit of the holding unit 50 that moved the moving unit and movement information. Can be performed quickly.

  As described above, the time required for the inspection can be reduced and the inspection can be performed efficiently.

DESCRIPTION OF SYMBOLS 10 X-ray generation part 11 X-ray tube part 12 X-ray diaphragm part 20 X-ray detection part 21 X-ray detector 22 Signal processing part 30 High voltage generation part 31 High voltage generator 32 X-ray control part 40 Bed 41 Top plate 42 Top plate support unit 50 Holding unit 60 Movement control unit 70 Contact body detection unit 71 First detection unit 72 Second detection unit 73 Determination unit 90 Image data generation unit 91 Display unit 92 Operation unit 93 System control unit 100 X-ray diagnosis apparatus

Claims (4)

X-ray generation means for irradiating the subject placed on the top plate with X-rays;
X-ray detection means for generating X-ray projection data by detecting X-rays irradiated by the X-ray generation means and transmitted through the subject;
Holding means for holding the X-ray generation means and the X-ray detection means movably;
Detection means for detecting a contact body that is in contact with movement of the X-ray generation means and the X-ray detection means by the operation of the holding means;
A discriminating unit for discriminating the contact body in contact with the detection unit based on a detection signal detected by the detection unit;
In accordance with the contact object determination information determined by the determination means, the X-ray generation means and the X-ray detection means are urgently stopped or moved at a reduced speed by operating the holding means after contact with the contact body . And a movement control means for performing at least one control of retreating in a direction opposite to the direction of movement ,
An X-ray diagnostic apparatus comprising:   The detection means is arranged in a unit that is moved by the holding means other than the X-ray generation means, the X-ray detection means, or the X-ray generation means and the X-ray detection means. Item 2. The X-ray diagnostic apparatus according to Item 1. A top plate support means for movably supporting the top plate;
The discriminating unit discriminates a unit including the X-ray generation unit and the X-ray detection unit moved by the holding unit based on a detection signal from the detection unit arranged on the top plate support unit. The X-ray diagnostic apparatus according to claim 1. The detection means has a plurality of pressure sensors,
The discriminating means determines the contact based on the position of the pressure sensor pressed to the portion of the plurality of pressure sensors that has contacted the contact body and the pressure applied to the pressure sensor at this position. The X-ray diagnostic apparatus according to any one of claims 1 to 3, wherein the body is discriminated.

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