JP6292931B2 - X-ray imaging apparatus and method for adjusting movement and aperture of X-ray imaging unit - Google Patents

Description

  The present invention relates to an X-ray imaging apparatus that performs X-ray imaging using X-rays and obtains an X-ray image, and particularly relates to control of an imaging position and a diaphragm by an X-ray imaging unit including an X-ray source.

  An X-ray imaging apparatus irradiates a desired part of a subject with X-rays emitted from an X-ray source, and detects the X-rays transmitted through the subject with an X-ray detection unit arranged opposite to the X-ray source. To obtain an X-ray signal, and the X-ray signal is processed by an image processing unit to generate an X-ray image. At the time of imaging, the subject is usually fixed in a state of being laid on a bed or the like, and the X-ray source and the X-ray detector are moved to a desired position so as to sandwich the subject, and the aperture of the X-ray source is adjusted, An imaging range (X-ray irradiation area) is determined.

  Conventionally, the method of moving the image pickup unit and adjusting the diaphragm is performed by a method in which the operator directly operates the device. However, the movement of the image pickup unit is a heavy device, so the operability is poor. On the other hand, X-ray imaging apparatuses that can move the imaging unit and adjust the diaphragm by operating a lever or dial provided on the operation panel while confirming a fluoroscopic image are also widely used. In addition, as a technique for improving the operability of the diaphragm, in Patent Document 1, a plurality of blocks obtained by dividing the X-ray irradiation area are displayed on a display device, and the X-ray diaphragm is controlled according to the block selected by the operator. A method has been proposed.

International Publication No. 2010/122917

  In an apparatus that moves the imaging unit or adjusts the aperture by operating a lever or dial, there is a problem that it is difficult to intuitively grasp the X-ray irradiation position or region. Further, since it is necessary to perform an operation while confirming the fluoroscopic image, the exposure amount of the subject increases. Even with the technique described in Patent Document 1, the operability of the aperture is improved, but in order to display the X-ray irradiation area on the display device, it is necessary to image the area, and exposure for that is unavoidable.

  The present invention provides an X-ray imaging apparatus that eliminates unnecessary exposure, has good operability in adjusting the imaging position and aperture, and allows the operator to intuitively grasp the imaging position and area. Let it be an issue.

  An X-ray imaging apparatus of the present invention that solves the above problems includes an X-ray source, an imaging unit that acquires an X-ray image of a subject, a table that lays the subject, and a position of the imaging unit relative to the table. A drive mechanism unit that moves, and a control unit that controls the drive mechanism unit based on positional information of an operating device that specifies a position to be imaged by the imaging unit.

  According to the present invention, the imaging unit can be automatically moved by pointing the position with the operation device. As a result, the position of the image pickup unit can be adjusted with good operability without unnecessary exposure. In addition, the diaphragm can be adjusted at the adjusted imaging position by operating the same operating device.

The figure which shows the whole outline | summary of embodiment of the X-ray imaging device of this invention. Top view of the X-ray imaging apparatus of FIG. The figure which shows the composition of the blade of the X-ray diaphragm Functional block diagram of the X-ray imaging apparatus of the first embodiment The figure which shows the operation device and position detector which are used for 1st embodiment. The figure which shows the process sequence in 1st embodiment. It is a figure which shows the movement of the imaging part by the operating device in 1st embodiment, and shows the position before the movement of an imaging part. It is a figure which shows the movement of the imaging part by the operating device in 1st embodiment, and shows the position after the movement of an imaging part. The figure explaining the position detection method of an operation device The figure which shows the operation device used for 2nd embodiment. Functional block diagram of the X-ray imaging apparatus of the second embodiment The figure which shows the process sequence in 3rd embodiment. The figure which shows the operation device used for 4th embodiment. The figure which shows the process sequence in 4th embodiment. It is a figure explaining the example of adjustment of the aperture diaphragm by the operation device of a 4th embodiment, (a) is a figure showing the state where all the aperture blades opened 50%, (b) is one of the aperture blades of the table short direction The figure which shows the state which one opened fully and the other one closed, (c) and (d) are the figures which respectively show the state to which the operating device moved from the state of (a), and the aperture changed following it. (E) And (f) is a figure which shows the state to which the operating device moved from the state of (b), respectively, and the aperture_diaphragm | restriction changed following it. FIGS. 9A and 9B are diagrams illustrating an example of adjustment (change example) of an aperture using the operation device according to the fourth embodiment, in which FIG. 9A illustrates a state in which the photographing position in the Y direction is fixed and the aperture is fully open, and FIG. (C) is the state where the diaphragm is closed at the position of the operating device, and (d) and (e) are the states where the operating device has moved from the state of (c) and the aperture changes accordingly. It is a figure which shows the state which carried out. The figure which shows the whole outline | summary of the X-ray imaging device of 5th embodiment. The figure explaining the imaging | photography possible space in the X-ray imaging device of 5th embodiment. The figure which shows the process sequence in 5th embodiment.

Hereinafter, embodiments of the X-ray imaging apparatus of the present invention will be described with reference to the drawings.
1 and 2 are external views showing an overall outline of an X-ray imaging apparatus to which the present invention is applied. As shown in FIGS. 1 and 2, the X-ray imaging apparatus 100 includes, as main structures, a stand unit 10 installed on a floor surface of an examination room, and a support frame 30 that also functions as a bed on which a subject is placed. A support arm unit 20 that supports the support frame 30 so as to be movable in the vertical direction and the rotation direction with respect to the stand unit 10, and a support column unit 50 that supports the X-ray source 104 and is movably connected to the support frame 30 It has. An X-ray irradiation unit 104 including an X-ray tube is fixed to the end of the column unit 50, and an X-ray detection unit 112 that detects X-rays emitted from the X-ray irradiation unit 104 and transmitted through the subject is provided in the support frame 30. It is stored. In addition to these structures, the X-ray imaging apparatus 100 uses the X-ray signal detected by the operation unit and the control unit for operating each unit of the X-ray imaging apparatus and the X-ray detection unit 112 to display an image. An image processing unit to be created, a display unit for displaying the created image, and the like are provided, and these operation units and the like are placed in an operation room different from the examination room.

  Although not shown, the elevating mechanism and the rotating mechanism for elevating and lowering the support arm unit 20 with respect to the stand unit 10 are housed inside the stand unit 10. With these mechanisms, the support arm portion 20 can move in the vertical direction and the rotation direction with respect to the stand portion 10. The vertical direction is shown as the Z direction in FIG. Although not shown, the support arm 20 is provided with a slide mechanism that slides the support frame 30 with respect to the support arm 20 along the longitudinal direction thereof. The longitudinal direction of the support frame 30 is shown as the Y direction in FIGS. 1 and 2, but when the support arm portion 20 rotates with respect to the stand portion 10, the longitudinal direction has an angle with respect to the horizontal direction. Become. The X direction orthogonal to the Y direction is the short direction of the support frame 30. A table 102 on which a subject is placed is provided on the upper portion of the support frame 30. The table 102 may be fixed to the support frame 30, or may be configured to be slidable.

  The support frame 30 is provided with an X-ray irradiation unit moving mechanism that slides the support column 50 in the longitudinal direction and the short direction of the table 102 with respect to the support frame 30. The X-ray irradiation unit moving mechanism is not particularly limited, and a known slide mechanism can be used. In this embodiment, the X-ray irradiation unit moving mechanism is provided on one end side in the longitudinal direction of the support frame 30. It has a motor, a main sprocket that rotates by the movement of the motor, a driven sprocket provided on the other end side of the support frame 30, and a chain that connects both sprockets. The base 51 of the column 50 is fixed to the chain, and the base 51, that is, the column 50 can be slid in the table longitudinal direction by rotating the chain with a sprocket. The table width direction can also be slid by a mechanism similar to the longitudinal movement mechanism described above.

  The X-ray irradiation unit 104 fixed to the distal end side of the column unit 50 is a device that irradiates the subject with X-rays, such as an X-ray tube or an X-ray filter that selectively transmits X-rays of specific energy. And is connected to the high voltage generator. The X-ray irradiation unit 104 can be moved in the table longitudinal direction and the transversal direction by sliding the support column 50 by the X-ray irradiation unit moving mechanism described above. On the subject side of the X-ray irradiation unit 104, an X-ray stop 106 having a plurality of diaphragm blades and setting an X-ray irradiation region for the subject is provided.

  For example, as shown in FIG. 3, the diaphragm 106 includes a pair of blades 160A and 160B that open and close in a first direction and a pair of blades 160C and 160D that open and close in a second direction orthogonal to the first direction. And a diaphragm blade drive mechanism that drives these four blades independently or for each set. The state in which all four blades are fully open (the state on the left side in FIG. 3) is the maximum irradiation range, and the maximum irradiation range is obtained by changing the degree of opening and closing of each blade as shown on the right side in FIG. Any area within the area can be set as an imaging area irradiated with X-rays. The X-ray stop 106 is provided with an irradiation lamp that illuminates the imaging region with light. The degree of opening and closing can be confirmed by the irradiation range of the irradiation lamp.

  The X-ray detection unit 112 installed inside the support frame 30 has a configuration in which a plurality of detection elements are arranged in a two-dimensional array, and detects X-rays emitted from the X-ray irradiation unit 104 and transmitted through the subject. Then, an X-ray signal corresponding to the incident X-ray dose is output. The X-ray signal detected by the X-ray detection unit 104 is processed by the image processing unit and displayed on the display unit as an X-ray image.

  An X-ray detector moving mechanism (not shown) that slides the X-ray detector 112 is installed on the support frame 30. The X-ray detection unit moving mechanism includes a slide mechanism that slides the X-ray detection unit 112 in the longitudinal direction of the table and a slide mechanism that slides in the lateral direction. The X-ray detector moving mechanism may be a mechanism independent of the X-ray irradiator moving mechanism, but the X-ray irradiator and the X-ray detector are arranged on the support column 50 so as to face each other. It is also possible to employ a support column moving mechanism that serves both as a moving mechanism and an X-ray detector moving mechanism.

The support unit 50 may be provided with a compression device 90 on the side facing the support frame 30 for performing imaging while compressing the region of interest of the subject.
In addition, the X-ray imaging apparatus 100 is provided with a position detector 220 for detecting the position of the operating device used by the operator to specify the imaging position. The X-ray imaging apparatus 100 of the present embodiment is characterized in that the X-ray tube, the X-ray detector, or the X-ray diaphragm is controlled using the position information of the operation device detected by the position detector. Hereinafter, a control embodiment will be described based on the structure of the X-ray imaging apparatus 100.

<First embodiment>
The present embodiment is characterized in that the movement operation of the X-ray irradiation unit and the X-ray detector (also generically referred to as an imaging unit in the following description) is controlled using position information of the operating device. A functional block diagram of the X-ray imaging apparatus 100 of the present embodiment is shown in FIG. In this functional block diagram, the X-ray irradiation unit moving mechanism and the X-ray detecting unit moving mechanism adopt a configuration in which one strut moving mechanism unit 134 serves as the same.

  As illustrated, the X-ray imaging apparatus 100 processes an X-ray signal detected by the X-ray detection unit 102 to generate an X-ray image, an X-ray image generated by the image processing unit 114, and the like. An image storage unit 116 for storing, a display unit 118 for displaying X-ray images, a control unit 120 for controlling each unit, and an operation unit (operation room side operation unit) 122 for inputting necessary commands to the control unit 120 are provided. ing. The control unit 120 operates the X-ray irradiation unit (high voltage generation unit 105) 104 according to the imaging conditions (tube voltage, tube current, anode rotation speed) input from the operation unit 122 or set in advance, The image processing unit 114 is operated under the processing conditions input from the unit 122. Image processing includes gamma conversion, gradation conversion, enlargement / reduction of an X-ray image, and the like.

  The control unit 120 controls the operation of the support column moving mechanism unit 134. The control of the support moving mechanism unit 134 is performed based on the position information obtained from the position information of the operation device 200 operated by the operator. However, apart from this control, it is possible to control the operation of the column moving mechanism unit 134 by an operation from the operation unit 122, for example, a dial or a lever. In order to obtain the position information of the operation device 200, a position detector 220 for detecting the position of the operation device 200 is added to the X-ray imaging apparatus 100, and X-ray irradiation is performed based on the position information from the position detector 220. A position calculation unit 240 that calculates the movement amount (control amount) of the unit 104 and the X-ray detection unit 112 is provided. Further, the control unit 120 may include a control amount storage unit 124 that stores the control amount of the column moving mechanism unit 134 by the control unit 120, for example, the position information of the finally set X-ray irradiation unit 104 and X-ray detection unit 112.

  In the X-ray imaging apparatus having such a configuration, in order to perform imaging of a desired part of the subject, first, the subject is placed on the table 102 of the support frame 30 and, if necessary, a support arm for the stand unit 10. After adjusting the height and angle of the unit 20, the position of the column 50 with respect to the support frame 30, that is, the position in the longitudinal direction of the table 102 is adjusted, and the X-ray irradiation unit 104 (and X-ray detection) fixed to the column 50 Part 112) moves the column so as to face the desired position of the subject laid on the table 102. At this time, the X-ray irradiation unit 104 and the X-ray detection unit 112 are moved intuitively and automatically using the operation device 200 and the position detector 220 that detects the movement.

  As shown on the left side of FIG. 5, the operating device 200 includes a transmission unit 202 that transmits position information and a gripping unit 204 that is a handle of the operator, and a transmission from the transmission unit 202 is transmitted to the gripping unit 204. A switch (position detection start switch) 203 for starting is provided.

  Various signals can be considered as the signals transmitted by the transmitting unit 202 as long as the three-dimensional position detection is possible in combination with the position detector. Here, two types of signals having different transmission speeds, specifically, For this, ultrasonic waves and infrared rays are used. That is, the transmitting unit 202 includes a transmitter (ultrasonic speaker) that transmits ultrasonic waves and a light emitting unit (infrared light source) that emits infrared rays. Although it does not limit as a light emission part, well-known LED etc. are employable. When the position detection start switch 203 is operated by the operator, ultrasonic waves and infrared rays are emitted from the transmitter and the light emitting unit, respectively.

  As shown on the right side of FIG. 5, the position detector 220 includes two receivers (a microphone 222 and an infrared receiver 224) that receive ultrasonic waves and infrared rays, respectively. The position detector 220 is fixed to at least three positions of the X-ray imaging apparatus 100. The two receivers may be provided separately as long as they are in the vicinity. In the example illustrated in FIG. 1, position detectors 220 </ b> A, 220 </ b> B, 220 </ b> C, and 220 </ b> D are fixed to four stationary portions of the X-ray imaging apparatus 100, i.e., the stand unit 10.

  Based on the configuration of the operation device 200 and the position detector 220 described above, control of the support column moving mechanism unit 134 by the control unit 120 will be described with reference to FIGS. 6 and 7. 6 is a diagram showing a control procedure, FIG. 7 is a diagram showing the movement of the imaging unit (X-ray irradiation unit 104 and X-ray detection unit 112), FIG. 7A is a state before the movement, and FIG. 7B is a movement. The later state is shown.

  First, after placing the subject on the table, the operator holds the operation device 200, moves the operation device 200 to the portion of the subject to be imaged, as shown in FIG. 7A, and the position detection start switch 203 of the operation device 200. Is pressed (S601). When the switch 203 is pressed, ultrasonic waves and infrared rays are transmitted from the operation device 200 and received by a plurality of position detectors (reception units) 220 fixed to the X-ray imaging apparatus. The position calculation unit 240 inputs the coordinates of each position detector 220 (coordinates in the apparatus coordinate system) and the time until the position detector 220 receives the ultrasonic wave after receiving the infrared rays from the operation device 200, and operates the operation. The position of the container 200 is calculated (S602).

  As shown in FIG. 8, in the three receivers S1, S2, and S3, when the time from infrared reception to ultrasonic reception is t1, t2, and t3, the time from infrared transmission to reception is negligible. Since the distance is short, the distance between the receivers S1, S2, and S3 and the operation device 200 is obtained by multiplying the ultrasonic wave propagation speed (sound speed) by these times. Therefore, for example, the coordinates of the center position of the transmitter 202 of the operating device 200 are (x, y, z), and the coordinates of the three receivers S1, S2, S3 are (xs1, ys1, zs1), (xs2, ys2), respectively. , Zs2) and (xs3, ys3, zs3), the coordinates (x, y, z) of the operating device 200 can be calculated by solving simultaneous equations of the following equations (1) to (3).

[Equation 1]
(xs1-x) ² + (ys1-y) ² + (zs1-z) ² = (t1 × c) ² (1)
(xs2-x) ² + (ys2-y) ² + (zs2-z) ² = (t2 × c) ² (2)
(xs3-x) ² + (ys3-y) ² + (zs3-z) ² = (t3 × c) ² (3)
Where c is the speed of sound.

  The control unit 120 operates the support column moving mechanism unit 134 using the position information of the operation device 200 calculated by the position calculation unit 240 to detect the center of the X-ray irradiation unit 104 and the X-ray detection as shown in FIG. 7B. The support column part 50 is moved along the y direction, that is, the longitudinal direction of the table so that the center of the part 112 coincides with the position of the operation device 200 in the y direction (S603). When the column moving mechanism unit 134 has a mechanism that slides the column unit 50 in the short direction (x direction) of the table, the center of the X-ray irradiation unit 104 and the X-ray detection unit 112 also in the x direction. The support column 50 may be moved so that the center of the position coincides with the position in the x direction of the operating device 200 detected by the position detector. The positions in the z direction of the X-ray irradiation unit 104 and the X-ray detection unit 112 are set by the lifting mechanism of the column arm unit 20 and do not change by the movement of the column unit 50.

Here, the case where the signals transmitted by the operation device 200 are infrared rays and ultrasonic waves is shown, but a signal having a faster propagation speed than the sound waves, such as radio waves, may be used instead of infrared rays. Thus, when the operation device 200 transmits two types of signals having different propagation speeds (a signal S1 having a high propagation speed C1 and a signal S2 having a slow propagation speed C2), from the reception of the signal S1 to the reception of the signal S2. If the times are Δt1, Δt2, and Δt3, the right side of the equations (1) to (3) can be generalized and described as follows.
[Equation 2]
Δt1 × C2 ÷ {1- (C2 / C1)}
Δt2 × C2 ÷ {1- (C2 / C1)}
Δt3 × C2 ÷ {1- (C2 / C1)}

  After the X-ray irradiation unit 104 and the X-ray detection unit 112 are positioned at a desired position of the subject using the calculated position information of the operating device 200, the X-ray diaphragm 106 is adjusted as necessary to determine the irradiation range. (S604) and photographing is performed (S605). The diaphragm 106 is adjusted by operating a dial or the like provided in the X-ray imaging apparatus or the operation system while confirming the X-ray irradiation range with an illumination lamp, for example.

  The positional information of the X-ray irradiation unit 104 and the X-ray detection unit 112 determined by the operation of the operation device 200 is stored in the control amount storage unit 124. The stored position information can be read and used for the same subject, for example, when another part is imaged and then the original part is imaged again.

  In the above description, the case where the position detector (receiver) 220 is fixed to the stand unit 10 of the X-ray imaging apparatus 100 has been described as an example, but the receiver is an inspection in which the X-ray imaging apparatus 100 is placed. It is not limited to the X-ray imaging device as long as it is a room and can receive a signal from the controller. In this case, prior to using the operating device 200, calibration is performed to associate the coordinate system of the examination room with the coordinate system of the X-ray imaging apparatus.

  Moreover, in order to detect the position information of the operating device, the case of using a combination of a transmitter and a position detector that transmits and receives ultrasonic waves and infrared rays has been described. However, a magnetic detector that can detect the position information of the operating device is known. It is possible to replace this with a three-dimensional position detection device. It is also possible to use a marker that can be recognized by a camera or the like as the operating device and detect the position by image processing from the marker image.

  According to the present embodiment, it is possible to move the imaging unit to a desired position simply by moving the operating device 200 to the portion of the subject to be imaged and transmitting the position information, and the operation is easy and intuitive. Thus, the setting of the imaging position can be confirmed. In addition, since it is not necessary to perform fluoroscopy or imaging before determining the imaging position, it is possible to eliminate extra X-ray exposure.

  Further, by storing the control amount by the control unit 120, it is read out from the control amount storage unit 130 without using the operating device 200 each time, for example, when imaging of a plurality of locations is repeated for the same subject. Using the control amount, it is possible to smoothly shoot a plurality of locations.

<Second embodiment>
Also in the present embodiment, the position of the imaging unit with respect to the table on which the subject is placed is controlled based on the position information of the operation device 200 as in the first embodiment. A feature is that a function of adjusting the line stop 106 is added. The following description will focus on the additional functions.

  As shown in FIG. 9, the operation device 200 used in the present embodiment includes a transmission unit 202 and a grip unit 204, and the transmission unit 202 transmits an ultrasonic transmitter that emits ultrasonic waves and infrared rays in the same manner as the first embodiment. A light emitting unit for emitting light is provided. The gripper 204 is provided with a position detection start switch 203 for emitting a signal from the transmitter 202 and starting position detection by the position detector. Furthermore, the grip unit 204 is provided with operation buttons 206 and 208 for operating the X-ray diaphragm 106. The operation button 206 is, for example, an operation tool that adjusts the degree of opening and closing of the pair of blades 160A and 160B of the X-ray diaphragm 106 shown in FIG. 3, and the operation button 207 is an operation tool that adjusts the degree of opening and closing of the blades 160C and 160D. Each of these comprises a pair of buttons operated in the opening direction and the closing direction, and the amount of aperture changes according to the duration of time during which these buttons are kept pressed. The example of the operation button shown in FIG. 9 adjusts the opening / closing degree of the diaphragm in two directions orthogonal to each other. However, by providing an operation tool that increases the number of push buttons or switches the function of the push buttons, By independently controlling the blades, it is possible to adjust the irradiation range in an arbitrary direction and size.

  The operation device 200 is connected to the X-ray imaging apparatus 100 in a wired or wireless manner, and the operation of these push buttons 205 is performed by a signal associated with the operation as in the operation by the input device 122 of the X-ray imaging apparatus. 120.

  FIG. 10 shows a functional block diagram of the X-ray imaging apparatus of the present embodiment. 10, the same elements as those shown in the functional block diagram of FIG. 4 are denoted by the same reference numerals, and detailed description thereof is omitted. As shown in FIG. 10, the X-ray imaging apparatus of the present embodiment includes a drive mechanism (X-ray diaphragm mechanism unit) 132 for the X-ray diaphragm 106 that operates according to a control signal from the control unit 120. In the example illustrated in FIG. 10, the X-ray imaging apparatus 100 and the operation tool 200 are connected wirelessly or by wire (connection lines indicated by dotted lines in the drawing), and signals from the operation tool 200 are transmitted to the X-ray imaging apparatus. 100 can be received.

  The movement control of the imaging unit in the X-ray imaging apparatus of the present embodiment is the same as the procedure of the first embodiment shown in FIG. 6, but in this embodiment, after the imaging unit is moved to a desired position, FIG. 6, the push button 205 of the operation tool 200 is operated while checking with the irradiation lamp. The control unit 120 controls the opening / closing degree of the diaphragm according to the operation of the push button 205 of the operation device 200. That is, the blade is driven in the direction to open the aperture while the open button of the push button 206 or 207 is pressed, and the blade is driven in the direction to close the aperture while the close button of the push button 206 or 207 is pressed. To drive. Even when push buttons for independently operating the individual blades constituting the X-ray diaphragm 106 are provided, the open / close degree of each blade is adjusted in the same manner to determine the X-ray irradiation range and irradiation position.

  According to the present embodiment, the operation device 200 for determining the imaging position is provided with a function as an operation tool for adjusting the X-ray diaphragm. The imaging unit and the X-ray aperture can be adjusted.

<Third embodiment>
In the present embodiment, moving the imaging unit based on the position information of the operation device 200 and adjusting the opening / closing degree of the X-ray diaphragm 106 by operating the operation device 200 are the same as in the second embodiment. The embodiment is characterized in that the operating device 200 is not provided with a push button for adjusting the opening / closing degree of the X-ray diaphragm, but the opening / closing degree of the X-ray diaphragm is controlled based on the position information of the operating device 200. . Hereinafter, this embodiment will be described focusing on differences from the first embodiment and the second embodiment.

  Also in this embodiment, the configuration of the operation device 200 is the same as that shown in FIG. 5, and includes a transmission unit 202 that transmits position information and a grip unit 204 that is a handle of the operator. Is provided with a switch (position detection start switch) 203 for starting transmission from the transmission unit 202. The configuration of the X-ray imaging apparatus 100 is almost the same as the configuration shown in FIG. 10, but the X-ray imaging apparatus 100 controls the X-ray diaphragm based on information from the position detector 220. The function of communicating with the imaging device 100 by wire or wireless may not be provided.

  FIG. 11 shows a flow of control of movement of the imaging unit and adjustment of the X-ray diaphragm according to the present embodiment. In FIG. 11, the same processes as those in FIG. Also in the present embodiment, first, the operation device 200 is moved to the imaging position, the position detection start switch 203 is operated, and position detection of the operation device 200 by the position detector 220 is started (S601). The movement amount (control amount) of the imaging unit in the Y direction is calculated based on the position information of 200 (S602), the imaging unit is moved in the table longitudinal direction (S603), and the calculation method of the operating device position is first. And it is the same as 2nd embodiment.

  When the imaging position in the Y direction is determined, the operator moves the operating device 200 in the vertical direction (Z direction), operates the position detection start switch 203 again, and operates the operating device 200 by the position detector 220. Position detection is started (S611). The position calculation unit 240 calculates the displacement in the z direction of the operation device 200 from the z direction coordinates of the operation device 200 detected in step S602 and the z direction coordinates of the operation device 200 detected in step S611 (S612). Based on the amount of displacement, the control unit 120 operates the X-ray diaphragm mechanism unit 132 to adjust the diaphragm amount of the X-ray diaphragm 106 (S613).

  Here, for the control of the aperture amount, a different control method can be adopted depending on the state of the X-ray aperture 106 when the position of the imaging unit is determined. One method is that the initial position of the X-ray diaphragm 106 is, for example, a state in which all blades are opened by 50%, and the state of the X-ray diaphragm 106 is reset to the initial position when the operation device 200 is used. Applicable when In this case, at the time when the detection of the position of the operation device 200 is started (step S611), the X-ray diaphragm 106 is in the initial position, that is, the state where it is opened 50%, and the illumination lamp is in the imaging range where it is opened 50%. Illuminate. Thereafter, for example, when the operating device 200 is moved upward and position information after the movement is detected, the control unit 120 moves in the direction of opening the blades according to the moving distance of the operating device 200 in the Z direction. Further, when the operating device 200 is moved downward and position information after the movement is detected, the control unit 120 moves in the direction of closing the blades according to the movement distance in the Z direction. In both the upper and lower directions, the moving distance and the moving distance of the blade are proportional within the moving range of the blade.

  As another method, the relationship between the position of the operating device 200 in the Z direction and the degree of opening and closing of the blades is stored in advance, and based on this relationship, the diaphragm blades are adjusted to the degree of opening and closing according to the position of the operating device 200 in the Z direction. It is also possible to adjust. In this case, for example, the maximum value of the movable range in the Z direction of the operating device 200 is set to the maximum value of the opening / closing degree, and the minimum value of the movable range is set to the minimum value of the opening / closing degree. When the position of the operating device 200 is first detected (S602), the diaphragm blades are automatically controlled so that the opening degree of the X-ray diaphragm corresponding to the Z-direction coordinates of the operating device 200 at that time is obtained. At this time, the imaging range determined by the degree of opening and closing is illuminated by the illumination lamp. With reference to this range, the operating device 200 is moved upward to further open the X-ray diaphragm, and the operating device is to be closed. Move 200 down. After the movement, the position detection start switch 203 is operated again, the position of the operating device 200 is detected, the aperture moving mechanism 132 is controlled based on this position information, and the aperture opening / closing corresponding to the position of the operating device 200 after the movement is performed. To the degree.

  In the present embodiment, since the movement amount of the operation device 200 is proportional to the opening / closing degree of the aperture, and because the movement range of the operation device 200 substantially corresponds to the movement range of the blades, the operator can A change in aperture due to the movement of 200 can be predicted.

  The relationship between the opening / closing of the X-ray diaphragm and the movement of the operating device may be vice versa, rather than opening the X-ray diaphragm when moving the operating device 200 upward and closing it when moving the operating device 200 downward. Good.

  Further, as described above, the position detection of the operation device 200 may be performed only when the position detection start switch 203 is operated. Infrared and ultrasonic waves may be continuously emitted at a predetermined interval, and position detection may be performed at a sampling time corresponding to the interval. Even when a three-dimensional position detector other than the combination of infrared and ultrasonic waves is used, position detection can be performed with a predetermined sampling time. When the position of the operating device 200 is continuously detected, the diaphragm moving mechanism unit 132 is controlled according to the changed detection position, and the movement of the operating device 200 and the opening / closing of the diaphragm are linked. As a result, the adjustment of the diaphragm and the up-and-down movement of the operating device are linked, so that a more intuitive operation is possible.

<Fourth embodiment>
The X-ray imaging apparatus of this embodiment controls the moving mechanism part of an imaging part using the positional information on the operation device 200 similarly to 1st embodiment. Similarly to the third embodiment, the X-ray diaphragm 106 is controlled using the position information of the operation device 200. However, in the first embodiment, the control of the position of the imaging range is limited to the control of the support moving mechanism unit. However, in this embodiment, the position of the imaging range on the XY plane is controlled by controlling the X-ray diaphragm 106. Control. In addition, the X-ray imaging apparatus of the third embodiment controls the entire aperture blade using the position information in the Z direction and adjusts the aperture amount, whereas the present embodiment is configured in the X direction and the Y direction. The feature is that the plurality of blades are independently controlled using the position information, and the aperture amount and the photographing range are simultaneously controlled.

  An operating device 200 used in the X-ray imaging apparatus of the present embodiment is shown in FIG. As shown in the figure, this operating device 200 also has the same shape as the operating device shown in FIG. 5, and is composed of a transmitter 202 and a gripper 204, and the gripper 204 has a position detection start switch for instructing the start of position detection. 203 is provided. Further, the grip unit 204 is provided with a confirmation switch 205 that supports the confirmation of the photographing position. The operation device 200 is configured to generate a control signal by operating the confirmation switch 205 and send the control signal to the X-ray imaging apparatus 100 by wire or wirelessly.

  An example of the operation of this embodiment is shown in FIG. The configuration of the apparatus is the same as that of the functional block diagram shown in FIG. 10, and the present embodiment will be described with reference to the elements in FIG. 10 as appropriate.

  In this embodiment, the aperture blades are all set to a constant initial value of opening / closing degree, for example, 50%. FIG. 14A shows a state where the opening / closing degree of the blades 160A to 160D is 50%. In FIG. 14, a square indicated by a hatched portion indicates a shooting area where the opening / closing degree of the aperture 106 is maximum, and an inner white area indicates a shooting range determined by a predetermined opening / closing degree (here, 50%). In this state, first, the operating device 200 is moved to the imaging position, the position detection start switch 203 is operated, and position detection of the operating device 200 by the position detector 202 is started (S601), and the detected position of the operating device 200 is detected. Based on the information, the movement amount (control amount) of the imaging unit in the Y direction is calculated (S602), and the imaging unit is moved in the longitudinal direction of the table (S603). The calculation method of the operating device position is the same as that in the first embodiment. At this time, the X direction of the operating device 200 is calculated in addition to the Y direction.

  Next, the control unit 120 uses the positional information in the X direction to control the blade driving mechanism unit of the X-ray diaphragm 106, and as shown in FIG. 14B, the degree of opening and closing is kept the same as the initial state. The photographing position is moved as it is (S621). In the state shown in FIG. 14B, the position of the upper and lower (Y direction) blades is not changed, and the position of the left and right (X direction: table short direction) blades is 100% and the other is 0%. It moves so that it may be open and closed. This state can be confirmed by the irradiation lamp. After confirmation, when the operator operates the confirmation button 205 of the operating device 200 (S622), the control unit 120 receives the signal, and controls the X-ray diaphragm 106 based on the position information of the operating device 200 detected next. Switch from shooting range position control to open / close control.

  After the confirm button 205 is pressed, the operating device 200 moves from the position shown in FIG. 14A to the position shown in FIGS. 14C and 14D, for example, and is moved by the operation of the position detection start switch 203. When the position of the operating device 200 is detected, the control unit 120 calculates the amount of movement (S624), and moves the aperture blade in accordance with the amount of movement and the direction of movement (S625). Specifically, control is performed so that the X-ray diaphragm 106 opens and closes twice the absolute value of the difference between the position at the time of confirming the imaging position and the position after the operation device is moved after confirmation. The center of the opening / closing operation is the position of the operation device 200 when the photographing position is determined. In the state shown in FIG. 14C, the operation device 200 moves to the right in the X direction by a distance close to about 50%, and slightly moves to the lower side in the Y direction. Corresponding to this amount of movement, the blades are opened to nearly 100% in the left-right direction, and the open / close degree is smaller than the initial value in the up-down direction. As a result, an elongated irradiation range is set on the left and right. In FIG. 14D, the operating device 200 moves in an oblique direction (right side in the X direction and lower side in the Y direction), and an irradiation range is set with an open / closed degree in the XY direction corresponding to the moving distance. As can be seen from these examples, the moving operation of the operating device 200 is similar to the operation of directly opening and closing the aperture blades and can be operated intuitively.

  The case where the shooting position at the time of shooting position determination is biased to one side in the X direction as shown in FIG. 14B is basically the same as that shown in FIG. When the moving distance of 200 exceeds the moving range of the aperture blade, the aperture blade is controlled within the limit of the moving range. In the example shown in FIG. 14E, the opening / closing degree of the aperture blade calculated from the moving distance of the operating device 200 exceeds the upper limit of the opening / closing degree of the aperture blade, and therefore the movement of the aperture blade stops at the upper limit. FIG. 14F shows a case where the operating device 200 is operated within the allowable range of the degree of opening / closing of the diaphragm blades.

  According to the present embodiment, after determining the imaging position in the table longitudinal direction, it is possible to simultaneously change the imaging position in the lateral direction of the table and adjust the opening / closing degree of the X-ray diaphragm by operating the operation unit 200.

  Note that the operation example shown in FIG. 13 is an example, and other control methods can be used to adjust the imaging position in the lateral direction of the table and the X-ray aperture. For example, when the X-ray aperture is fully opened in the initial state and the imaging position in the table longitudinal direction is determined from the Y-direction coordinates of the operating device 200, the imageable area is illuminated with the irradiation lamp. The operator can confirm whether or not the region of interest to be imaged is within the imageable range. FIG. 15A shows the relationship between the imageable region 501 and the region of interest 503. The area indicated by diagonal lines is the imageable range. If the region of interest 503 is within the imageable range, the confirm button is pressed to define the position of the column 50 in the Y direction.

  Next, as shown in FIG. 15B, the operating device 200 is moved over the region of interest (the part to be imaged) 503, and the position detection start switch 203 is pressed. As a result, the coordinates (X coordinate) of the center of the operating device 200 are obtained, and the control unit 120 controls the X-ray diaphragm moving mechanism unit 132 and closes the diaphragm with this position as the center position. FIG. 15C shows a state in which the aperture is completely closed. Thereafter, when the operating device 203 is moved in an arbitrary direction while the switch 203 is kept pressed, the open / closed degree of the X-ray diaphragm changes as shown in FIGS. 15 (d) and 15 (e). The change in the degree of opening / closing is the same as the method described with reference to FIGS. 13 and 14, and the absolute difference between the position of the operating device 200 when the position of the region of interest is specified and the position of the operating device 200 after the movement is absolute. Control is performed so that the X-ray aperture 106 opens and closes twice the value. Further, when the movement amount of the operating device 200 exceeds the movable range of the diaphragm blades, the X-ray diaphragm does not open any more.

  Also in this case, the position information is obtained at a predetermined sampling interval by continuously pressing the switch 203, whereby the switch operation and the opening / closing operation of the X diaphragm can be linked, and the irradiation range by the X-ray diaphragm is an irradiation lamp. Are sequentially displayed to the operator, the operator can determine the range in which the region of interest is imaged at an appropriate magnification while confirming it.

<Fifth embodiment>
The present embodiment is applied to an X-ray imaging apparatus in which a plurality of imaging stands are arranged in the same examination room. One of the plurality of imaging tables is a bed apparatus having a table on the upper surface, and the other is a support table for an X-ray detector that can image a subject in a standing position, for example. Also in the present embodiment, the control of each mechanism unit of the apparatus using the position information of the operation device 200 that the operator moves in the examination room is the same as the above-described embodiments.

  The overall configuration of an X-ray imaging apparatus 300 to which this embodiment is applied is shown in FIGS. 16 and 17. In these drawings, elements having the functions of FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted. In the X-ray imaging apparatus 300, a support base 302 including a second X-ray detection unit 112B is fixed to the floor surface at a position away from the bed 301 installed on the floor surface. The X-ray detection unit 112B is supported by the support base 302 so that the detection surface is a vertical surface, and includes a mechanism that slides in the vertical direction.

  The X-ray tube 104 is rotatably fixed to one end of an X-ray tube support 307 that can be expanded and contracted in the vertical direction. The other end of the support 307 is a rail (not shown) provided on the ceiling of the examination room. Is fixed to an X-ray moving mechanism 309 that moves along The X-ray tube 104 includes an examination room side operation unit 305 that controls the moving direction of the X-ray movement mechanism unit 309 and a rotation mechanism unit (not shown). The X-ray tube 104 can be moved in the X, Y, and Z directions in the examination room by the support 307 and the X-ray tube moving mechanism unit 309. Further, the X-ray tube 104 is supported by the support table 302 from the position where the X-ray irradiation direction of the X-ray tube 104 faces the X-ray detection unit 112 </ b> A housed in the bed 301 by the rotation mechanism unit of the X-ray tube 104. The angle can be changed to a position toward the detection unit 112B. The X-ray tube moving mechanism unit 309 is provided with an electromagnetic brake 310 that individually stops the movement and rotation of the X-ray tube 104 in three directions.

  The examination room side operation unit 305 provided in the X-ray tube 104 is provided with an irradiation lamp switch 311 that supports turning on and off the irradiation lamp 306 and an electromagnetic brake release switch 312 that releases the electromagnetic brake 310. Yes.

  Further, position detectors 220 </ b> A to 220 </ b> D for detecting the position of the operating device 200 to be moved in the examination room are fixed in the vicinity of the rail on which the X-ray tube moving mechanism unit 309 moves. Although four position detectors are shown in the figure, the number of position detectors may be three or more.

  The X-ray imaging apparatus 300 having such a configuration captures a supine position with the subject placed on the table 102 provided on the upper surface of the bed 301, and stands with the subject facing the X-ray detection unit 112 </ b> B of the support base 302. Depending on the purpose of shooting, these two shootings are used properly and appropriately performed. In the lying position, the position of the X-ray detection unit 112A inside the bed 301 is adjusted, and the X-ray tube moving mechanism unit 309 and the rotation mechanism unit of the X-ray tube 104 are driven. As shown in FIG. Imaging is performed so that the irradiation direction of the X-ray tube 104 is directed to the X-ray detection unit 112 </ b> A. In the standing imaging, the height of the X-ray detection unit 112 </ b> B of the support base 302 is adjusted and the X-ray of the X-ray tube 104 is adjusted. The X-ray tube moving mechanism 309 and the rotating mechanism are driven, and the X-ray tube 104 is rotated so that the irradiation direction of the X-ray tube 104 faces the X-ray detector 112B as shown in FIG. .

  At this time, it is determined whether the photographing with the table 102 or the photographing with the support base 302 is performed according to the position of the operation device 200, and the control based on the position information of the operation device 200 is varied according to the result. In order to make this determination, in the present embodiment, the shootable space 400A on the table 102 and the shootable space 400B on the front surface of the support base 302 are grasped in advance and stored. The designation of the coordinates of these spaces may be performed by designating positions of three or more points with the operation device 200, or may be automatically set based on a SID (Source Image Distance).

  The flow of the operation procedure is shown in FIG. First, prior to operating the operating device 200, the operator operates the electromagnetic brake release switch 312 to release the X-ray tube moving mechanism 309 and the electromagnetic brake 310 of the rotating mechanism (S700). For example, when shooting in a standing position, the operator moves the operating device 200 to the shootable space 400B on the front surface of the support base 302 and operates the position detection start switch 203 (S701). The position (coordinates of the center of the transmitting unit 202) is calculated (S702).

  The control unit 120 determines whether the position of the operation device 200 is in the shootable space 400A or the shootable space 400B (S704). When the position of the X-ray tube 104 at this time is on the space 400A side and the operating device 200 is in the radiographable space 400B in front of the support base 302, the X-ray tube moving mechanism unit 309 is operated to operate the X-ray tube. After moving the tube 104 to a position adjacent to the imageable space 400B (S705), the X-ray tube rotation mechanism is operated to rotate the X-ray tube 104 from the downward direction to the horizontal direction (S706). Conversely, when the position of the X-ray tube 104 is on the space 400B side and the position of the operating device 200 is in the imageable space 400A, the X-ray tube 104 is moved directly above the imageable space 400A (S705). ), The X-ray tube rotating mechanism is operated to rotate the X-ray tube 104 from the downward direction to the horizontal direction (S706).

  In the case of standing position shooting, when the operator moves the operating device 200 in the vertical direction in the space 400B and operates the position detection start switch 203 at a desired position, the detected position of the operating device 200 (Z The X-ray detector 104B is moved to (direction position), and the moving mechanism unit 309 (support 307) is operated to move the X-ray tube 104 in the Z direction to be positioned at a desired imaging position (S706). Thereafter, the X-ray diaphragm 106 is adjusted as necessary to perform imaging (S707). In this case, the X-ray diaphragm may be adjusted manually, or any of the methods described in the second to fourth embodiments may be adopted. The same is true for shooting in the recumbent position.

  According to this embodiment, even when there are a plurality of imaging stands in the examination room, the X-ray tube 104 can be moved and rotated by using the position information of the operation device 200, thereby causing unnecessary exposure. The shooting position can be set by an intuitive and easy operation. Furthermore, control of the X-ray diaphragm 106 can be added to the operating device 200, and operability can be improved.

  ADVANTAGE OF THE INVENTION According to this invention, the operativity is improved and the X-ray imaging device which can prevent an unnecessary exposure is provided.

DESCRIPTION OF SYMBOLS 10 ... Stand part, 30 ... Support frame, 50 ... Column part, 70 ... Column arm part, 90 ... Compression apparatus, 100, 300 ... X-ray imaging apparatus, 102 ... Table, 103 ... X-ray tube, 104 ... X-ray irradiation unit, 105 ... high voltage generation unit, 106 ... X-ray diaphragm, 112 (112A, 112B) ... X-ray detector , 114... Image processing unit, 116... Image storage unit, 118... Display unit, 120... Control unit, 122. Support column moving mechanism, 132... X-ray diaphragm mechanism, 160A to 160D. Diaphragm blade, 200... Operation device, 202. .. Grasping part, 220 (220A to 220D) ... Position detector, 240 Manipulator position computing section, 301 ... support base, 307 ... X-ray tube supporting unit, 309 ... X-ray tube moving mechanism, 310 ... laboratory side operation unit

Claims (14)

An imaging unit that has an X-ray source and acquires an X-ray image of the subject, a table that lays the subject, a drive mechanism unit that moves the position of the imaging unit relative to the table, and the imaging unit A control unit that controls the drive mechanism unit based on position information of an operating device that designates a position; and an X-ray diaphragm that adjusts an X-ray irradiation range by the X-ray source ,
The X-ray imaging apparatus , wherein the control unit controls the X-ray diaphragm based on position information of the operation device. The X-ray imaging apparatus according to claim 1,
An X-ray imaging apparatus, further comprising: an arithmetic unit that inputs a signal from a position detector that detects the position of the operation unit and calculates a control amount of the drive mechanism unit. The X-ray imaging apparatus according to claim 2,
An X-ray imaging apparatus, further comprising a storage unit that stores a control amount of the drive mechanism unit calculated by the calculation unit. The X-ray imaging apparatus according to claim 1,
Before SL control unit receives a signal from the operation device, X-rays imaging apparatus characterized by controlling the opening and closing of said aperture. The X-ray imaging apparatus according to claim 1,
The control unit controls the drive mechanism unit based on movement information of the operation unit along the surface of the table, and based on movement information of the operation unit in a direction perpendicular to the surface of the table. An X-ray imaging apparatus that controls the X-ray diaphragm. The X-ray imaging apparatus according to claim 5,
A storage unit that stores a relationship between a predetermined degree of opening / closing of the diaphragm and a vertical position of the operating device; and the control unit opens and closes the X-ray diaphragm based on the relationship stored in the storage unit An X-ray imaging apparatus that controls the X-ray imaging apparatus. The X-ray imaging apparatus according to claim 1,
The control unit controls the drive mechanism unit based on movement information of the operation unit along the longitudinal direction of the table, and based on movement information of the operation unit along the short direction of the table. An X-ray imaging apparatus, wherein the diaphragm is controlled so that the position of the X-ray irradiation range moves. The X-ray imaging apparatus according to claim 7,
The operation device includes a changeover switch for switching control by the control unit,
The X-ray imaging apparatus, wherein the control unit switches between the control of the drive mechanism unit and the control of the X-ray diaphragm by operating the changeover switch. The X-ray imaging apparatus according to any one of claims 1 to 8,
A support base for supporting the X-ray detector at a position spatially separated from the table;
The drive mechanism includes a space movement mechanism that moves the imaging unit between a space where the table is placed and a space where the support is placed,
The control unit controls the space movement mechanism unit based on the position information of the operation device, and moves the X-ray source to either a position facing the table or a position facing the support base. An X-ray imaging apparatus characterized by the above. An imaging unit that has an X-ray source and acquires an X-ray image of the subject, a table that lays the subject, a drive mechanism unit that moves the position of the imaging unit relative to the table, and the imaging unit and a control unit for controlling the drive mechanism based on the position information of the operating device for specifying a position, and a support base for supporting the X-ray detector in the table and spatially spaced locations,
The drive mechanism includes a space movement mechanism that moves the imaging unit between a space where the table is placed and a space where the support is placed,
The control unit controls the space movement mechanism unit based on the position information of the operation device, and moves the X-ray source to either a position facing the table or a position facing the support base. An X-ray imaging apparatus characterized by the above. The X-ray imaging apparatus according to claim 2,
The operation device includes a transmitter that transmits first and second signals having different propagation speeds,
The position detector comprises at least three receivers for receiving the first and second signals;
In the three receivers, the arithmetic unit receives a time from when the first signal having a high propagation speed is received to a time when the second signal having a low propagation speed is received, the first signal, and the first signal. An X-ray imaging apparatus, wherein the position of the operation device is calculated using the propagation speed of the signal of 2. A method of adjusting the movement and aperture of the X-ray imaging unit so as to image a desired position of a subject,
Detecting the amount of movement of the operating device in the first direction;
After controlling the drive mechanism unit of the X-ray imaging unit based on the movement amount of the operating device in the first direction, and positioning the X-ray imaging unit at a position facing the subject fixing unit,
Detecting the amount of movement of the controller in the second direction;
A method of controlling a diaphragm of the X-ray imaging unit based on a movement amount of the operation device in a second direction. The method of claim 12, comprising:
The method according to claim 1, wherein the first direction is a direction along a longitudinal direction of the subject fixing portion, and the second direction is a direction away from or approaching the subject fixing portion. The method of claim 12, comprising:
The method according to claim 1, wherein the first direction is a direction along a longitudinal direction of the subject fixing portion, and the second direction is a direction along a short direction of the subject fixing portion.

Images