JP6355916B2 - X-ray diagnostic equipment - Google Patents

Description

  Embodiments described herein relate generally to an X-ray diagnostic apparatus.

  2. Description of the Related Art Conventionally, a technique for displaying an X-ray diagnostic image that allows an imaging target such as a blood vessel to be viewed stereoscopically using an X-ray diagnostic apparatus has been proposed. An image that can be viewed stereoscopically is called a three-dimensional (3D) image. In order to display a 3D image, a left-eye image and a right-eye image are individually displayed. It is necessary to make it visible with the left eye and the right eye.

  As a method of acquiring an image for the left eye and an image for the right eye using the X-ray diagnostic apparatus, in addition to a method of performing a three-dimensional image reconstruction process, two-dimensional (2D) X for the left eye is actually used. There is a method of collecting a line projection image and a 2D X-ray projection image for the right eye. The left-eye X-ray projection image and the right-eye X-ray projection image are collected not only by an X-ray diagnostic apparatus having a plurality of X-ray imaging systems but also by an X-ray diagnostic apparatus having a single X-ray imaging system. can do.

  In particular, as a method of collecting a left-eye image and a right-eye image using an X-ray diagnostic apparatus having a single X-ray imaging system, the X-ray imaging system is continuously reciprocated like a pendulum. A method of taking a picture has been proposed. In this method, an X-ray image having two parallaxes is sequentially collected while moving a single X-ray imaging system, and a stereoscopic image for one frame is generated from the collected two parallax images. Can do.

  Further, in addition to the image for the left eye and the image for the right eye, an X-ray fluoroscopic image is captured at an intermediate position between the shooting position of the image for the left eye and the shooting position of the image for the right eye. There has also been proposed a method of distributing and superimposing the image for the right eye.

JP 2013-81690 A JP 2013-233319 A

  When performing stereoscopic viewing during an intervention, it is necessary to generate an X-ray image having two parallaxes in real time.

  Therefore, an object of the present invention is to provide an X-ray diagnostic apparatus capable of collecting a stereoscopic X-ray image in a shorter imaging time using a single imaging system.

An X-ray diagnostic apparatus according to an embodiment of the present invention includes a first drive mechanism, a second drive mechanism, a control system, and a data processing system. The first drive mechanism reciprocates the imaging system along the first trajectory. The second drive mechanism reciprocates the imaging system along a second trajectory that at least partially overlaps the first trajectory. The control system is configured such that the imaging system reciprocates along the first trajectory and the second trajectory , and the imaging by the second drive mechanism after a deceleration period of the imaging system by the first drive mechanism. While the system is decelerated, the first drive mechanism and the second drive mechanism are accelerated so that the imaging system is accelerated by the second drive mechanism after the acceleration period of the imaging system by the first drive mechanism. Control the drive mechanism. The data processing system generates X-ray image data for stereoscopic viewing based on at least two frames of X-ray image data collected at different positions by the imaging system.
An X-ray diagnostic apparatus according to an embodiment of the present invention includes a first drive mechanism, a second drive mechanism, a control system, and a data processing system. The first drive mechanism reciprocates the imaging system along the first trajectory. The second drive mechanism reciprocates the imaging system along a second trajectory that at least partially overlaps the first trajectory. In the control system, the imaging system reciprocates along the first trajectory and the second trajectory, and a stop period for changing the direction of one of the first drive mechanism and the second drive mechanism. The first drive mechanism and the second drive mechanism are controlled so as not to overlap with the stop period for the other direction change. The data processing system generates X-ray image data for stereoscopic viewing based on at least two frames of X-ray image data collected at different positions by the imaging system.

1 is a configuration diagram of an X-ray diagnostic apparatus according to an embodiment of the present invention. The graph which shows the 1st example of control of the moving speed of the support | pillar side arm shown in FIG. 1, a C-type arm, and an imaging | photography system. The graph which shows the 2nd example of control of the moving speed of the support | pillar side arm shown in FIG. The figure which shows the example of the X-ray exposure position for imaging | photography the X-ray image for stereoscopic vision. The figure which shows operation | movement of the X-ray diagnostic apparatus shown in FIG.

  An X-ray diagnostic apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a configuration diagram of an X-ray diagnostic apparatus according to an embodiment of the present invention.

  The X-ray diagnostic apparatus 1 includes a first arm 2, a first rotating shaft 3, a second arm 4, a second rotating shaft 5, an imaging system 6, a bed 7, a control system 8, a data processing system 9, and a display. A device 10 and an input device 11 are provided. The imaging system 6 includes an X-ray generator 12 and an X-ray detector 13.

  The first arm 2 can be rotated around the first rotation shaft 3. Moreover, the 1st arm 2 can be attached to a ceiling by using the 1st rotating shaft 3 as a support | pillar so that it may be shown in figure. Therefore, hereinafter, the first arm 2 will be referred to as a support arm 2 and the first rotating shaft 3 will be referred to as a support pivot 3.

  The support arm 2 is configured to be able to slide relative to the support pivot axis 3 along the arc-shaped first slide axis S <b> 1 by the first slide mechanism 14. Therefore, the shape of the support arm 2 can also be an arc. Hereinafter, the first slide shaft S1 is referred to as a support-side arc slide shaft S1, and the first slide mechanism 14 is referred to as a support-side arm slide mechanism 14.

  Note that the column-side arm slide mechanism 14 for sliding the column-side arm 2 along the column-side arc slide axis S1 is pivoted with the center position of the column-side arc slide axis S1 formed on the column-side arm slide mechanism 14 being pivoted. It is desirable to arrange so as to be offset from the shaft 3. That is, it is preferable to arrange the support arm slide mechanism 14 at a position offset from the center of the support pivot shaft 3 in a direction perpendicular to the support pivot shaft 3 rather than directly below the support pivot shaft 3 suspended from the ceiling. is there. In this case, the support-side arm slide mechanism 14 rotates around the support column turning shaft 3 through a circular orbit centered on the support column rotation shaft 3.

  When the support arm slide mechanism 14 is arranged in this way, the end of the support arm 2 on the support pivot axis 3 side can be brought closer to the ceiling at the initial position of the support arm 2. That is, if the relative position of the support arm slide mechanism 14 with respect to the ceiling is constant, the support arm 2 can be brought closer to the ceiling. In addition, the column-side arm slide mechanism 14 itself can be made closer to the ceiling as compared with the case where the column-side arm slide mechanism 14 is arranged at the tip of the column turning shaft 3. As a result, the X-ray diagnostic apparatus 1 can be installed even when the ceiling of the radiographing room is low.

  On the other hand, the second arm 4 can be rotated around the second rotation shaft 5. An imaging system 6 is attached to the second arm 4. Typically, as shown in the drawing, an X-ray generation unit 12 including an X-ray tube for irradiating X-rays toward the subject O is fixed to one end of the second arm 4, and the second arm 4 is fixed. An X-ray detector 13 is fixed to the other end of the arm 4 so as to face the X-ray generation unit 12 with the subject O set on the bed 7 interposed therebetween. Therefore, the shape of the second arm 4 is C-shaped. Therefore, hereinafter, the second arm 4 is referred to as a C-type arm 4, and the second rotation shaft 5 is referred to as a C-type arm main rotation shaft 5.

  The C-type arm 4 is configured to be able to slide relative to the C-type arm main rotary shaft 5 along the arc-shaped second slide axis S2 by the second slide mechanism 15. Hereinafter, the second slide shaft S2 is referred to as a C-type arm slide shaft S2, and the second slide mechanism 15 is referred to as a C-type arm slide mechanism 15. By driving the C-arm 4 in the direction of the C-arm slide axis S2, the C-arm 4 can be rotated like a propeller by the C-arm main rotary shaft 5 with the desired position of the C-arm 4 as a rotation axis. .

  A C-arm main rotation shaft 5 for rotating the C-arm 4 is fixed to the support arm 2. Therefore, the C-arm main rotary shaft 5 itself can be moved along with the C-arm 4 along the support-side arc slide shaft S1. In addition, the C-type arm 4 and the C-type main arm rotation shaft 5 can be rotated around the support column turning shaft 3 together with the support column side arm 2. For this reason, it is possible to incline the C-type arm 4 and the C-type main arm rotation shaft 5 at an arbitrary angle. In addition, the attachment position of the C-arm main rotary shaft 5 to the support-side arm 2 is such that the end of the support-side arm 2 is an obstacle to peripheral equipment and causes interference to prevent interference. The end of the arm 2 is desirable.

  The column-side arm slide mechanism 14 for sliding the column-side arm 2 along the column-side arc slide axis S1 and the C-type arm slide mechanism 15 for sliding the C-type arm 4 along the C-type arm slide axis S2 Any structure can be adopted. Typically, a slide guide mechanism in which a cylindrical wheel runs on a rail curved in an arc shape can be used for one or both of the support arm slide mechanism 14 and the C-arm slide mechanism 15.

  However, the support side arm slide mechanism 14 is loaded with the imaging system 6, the C-type arm 4, the C-type arm main rotary shaft 5, and the support side arm 2. Accordingly, the strut-side arm slide mechanism 14 having a high rigidity leads to an improvement in image quality by suppressing vibration. Therefore, a slide guide mechanism having a holding structure in which a plurality of spheres roll while rolling on an arc-shaped rail may be used as the support arm slide mechanism 14.

  In addition, in the state where the C-arm main rotary shaft 5 is perpendicular to the support column turning shaft 3, the support arm is configured so that the support arm slide mechanism 14 holds a portion that cannot be regarded as the end of the support arm 2. It is preferable to arrange the slide mechanism 14. That is, assuming that the state in which the C-arm main rotary shaft 5 is perpendicular to the support column turning shaft 3 is the initial position of the support column side arm 2, the support column swing axis of the support column side arm 2 is the initial position of the support column side arm 2. It is desirable to arrange the strut-side arm slide mechanism 14 so that the end on the third side protrudes from the strut-side arm slide mechanism 14.

  If it does so, in the initial position of the support | pillar side arm 2, it becomes possible to move the support | pillar side arm 2 and the C-type arm main rotating shaft 5 to both the positive direction and the negative direction in the support | pillar side circular arc slide axis | shaft S1 direction. In other words, the support arm 2 and the C-arm main rotary shaft 5 can be moved from the initial position in the support column arc slide axis S1 direction to both the positive and negative directions.

  Moreover, even if the stroke ranges in the direction of the columnar arc slide axis S1 of the columnar arm 2 are provided on both sides from the initial position, the columnar arm 2 does not protrude from the center of the columnar turning shaft 3 at the initial position of the columnar arm 2. Further, even if the support arm 2 is slid, the protruding length of the support arm 2 from the center of the support rotating shaft 3 can be shortened.

  That is, it is possible to avoid the strut-side arm 2 from excessively projecting from the center of the strut turning shaft 3 while securing the stroke range from the initial position of the strut-side arm 2 on both sides in the direction of the strut-side arc slide axis S1. it can. For this reason, interference with the support | pillar side arm 2 and peripheral equipment can be kept to the minimum.

  The control system 8 is a system for imaging the subject O by controlling the support arm 2, the C-shaped arm 4, and the imaging system 6. That is, the column turning shaft 3 and the column side arm slide mechanism 14 are controlled by a control signal from the control system 8. Thereby, positioning of the support | pillar side arm 2 can be performed. Similarly, the C-arm main rotary shaft 5 and the C-arm slide mechanism 15 are controlled by a control signal from the control system 8. As a result, the C-arm 4 can be positioned.

  Furthermore, X-rays can be emitted toward the subject O by applying a voltage to the X-ray generator 12 from a high voltage generator provided in the control system 8. In addition, the control system 8 includes devices necessary for photographing including a drive device for driving the bed 7. In addition, instruction information to be input to the control system 8 can be input from the input device 11.

  Then, the control system 8 controls the left-eye X-ray image data and the right-eye X-ray image data for performing stereoscopic vision, respectively, according to the control of each component of the X-ray diagnostic apparatus 1 as described above. It is configured to allow shooting from the direction. Specifically, the control system 8 operates the support-side arm slide mechanism 14 and the C-type arm slide mechanism 15 so that three or more frames of X-ray image data having parallax for stereoscopic viewing can be captured. X-ray exposure timing can be controlled.

  First, control of the column side arm slide mechanism 14 and the C-type arm slide mechanism 15 will be described.

  The control system 8 follows a first track formed by driving the column-side arm 2 by the column-side arm slide mechanism 14 and a second track formed by driving the C-type arm 4 by the C-type arm slide mechanism 15. Thus, the post-side arm slide mechanism 14 and the C-type arm slide mechanism 15 are controlled so that the photographing system 6 reciprocates.

  As shown in the figure, when the support arm 2 and the C arm 4 are positioned so that the support-side arc slide shaft S1 and the C-type arm slide shaft S2 are on the same plane, the support-side arc slide shaft S1 and C The mold arm slide shaft S2 is concentric. Accordingly, at least a part of the arc-shaped second trajectory of the imaging system 6 formed by driving the C-shaped arm slide mechanism 15 is an arc-shaped first trajectory formed by driving the column-side arm slide mechanism 14. Will overlap.

  For this reason, the imaging system 6 reciprocates along the first trajectory and the second trajectory at least partially overlapping each other. In this case, the trajectory of the imaging system 6 formed by the first trajectory and the second trajectory also has an arc shape. Therefore, the control system 8 reciprocates the imaging system 6 along an arc-shaped track formed by the first track and the second track.

  FIG. 2 is a graph illustrating a first control example of the moving speed of the support arm 2, the C-type arm 4, and the imaging system 6 shown in FIG.

  In FIG. 2, each vertical axis represents angular velocity, and each horizontal axis represents time t. 2A shows the time change of the angular velocity v1 of the support arm 2, FIG. 2B shows the time change of the angular velocity v2 of the C-type arm 4, and FIG. 2C shows the time change of the angular velocity v of the imaging system 6. Each change is shown.

  As shown in FIGS. 2A and 2B, the support arm 2 and the C-arm 4 can be driven at the same timing. That is, it is possible to accelerate the column-side arm 2 and the C-type arm 4 in the same period and to decelerate the column-side arm 2 and the C-type arm 4 in the same period.

  In addition, in order to accelerate again in the reverse direction after stopping the support | pillar side arm 2, predetermined | prescribed waiting time is needed. Similarly, in order to accelerate again in the reverse direction after stopping the C-arm 4, a predetermined waiting time is required. The standby time for reversing the movement direction of the support arm 2 and the standby time for reversing the movement direction of the C-arm 4 are the motor for operating the support arm slide mechanism 14 and the C-arm slide. If the motors for operating the mechanism 15 are appropriately selected, they can be made equal to each other.

  When the support-side arm slide mechanism 14 and the C-type arm slide mechanism 15 are operated simultaneously in synchronization with each other, the imaging system 6 reciprocates along the first trajectory formed by the operation of the support-side arm slide mechanism 14. The imaging system 6 reciprocates along the second trajectory formed by the operation of the C-type arm slide mechanism 15 at the same timing.

  As a result, the angular acceleration of the imaging system 6 can be the sum of the angular accelerations of the support arm 2 and the C-arm 4. In addition, the angular velocity v of the imaging system 6 can be the sum of the angular velocity v1 of the support arm 2 and the angular velocity v2 of the C-arm 4 even during constant speed movement. For this reason, compared with the case where the imaging system 6 is reciprocated by a single arm, the time required for the imaging system 6 to reciprocate can be dramatically reduced. On the contrary, if the reciprocation time of the imaging system 6 is constant, the load applied to each arm can be reduced.

  FIG. 3 is a graph showing a second control example of the moving speed of the support arm 2, C-type arm 4 and imaging system 6 shown in FIG.

  In FIG. 3, each vertical axis represents angular velocity, and each horizontal axis represents time t. 3A shows the time change of the angular velocity v1 of the support arm 2, FIG. 3B shows the time change of the angular velocity v2 of the C-type arm 4, and FIG. 3C shows the time change of the angular velocity v of the imaging system 6. Each change is shown.

  As shown in FIGS. 3A and 3B, the support arm 2 and the C-arm 4 can be driven at different timings. That is, it is possible to accelerate the columnar arm 2 and the C-type arm 4 in different periods and to decelerate the columnar arm 2 and the C-shaped arm 4 in different periods. In this case, the imaging system 6 is formed by the operation of the C-type arm slide mechanism 15 at a timing different from the timing of the reciprocating movement of the imaging system 6 along the first trajectory formed by the operation of the support arm slide mechanism 14. Reciprocate along the second trajectory.

  More ideally, as shown in FIGS. 3A and 3B, the C-type arm slide mechanism 15 decelerates the imaging system 6 after a deceleration period of the imaging system 6 by the support-side arm slide mechanism 14, while It is desirable to accelerate the C-type arm slide mechanism 15 after the acceleration period of the imaging system 6 by the support arm slide mechanism 14. In addition, the column-side arm slide mechanism 14 and C so that the stop period for changing the direction of one of the column-side arm slide mechanism 14 and the C-type arm slide mechanism 15 does not overlap with the stop period for changing the other direction. It is desirable to control the mold arm slide mechanism 15.

  Then, as shown in FIG. 3C, the time required for the reciprocating movement of the photographing system 6 can be reduced, and the change in the angular velocity of the photographing system 6 can be smoothed. In particular, if the angular velocity and angular acceleration of the support arm 2 are the same as the angular velocity and angular acceleration of the C-type arm 4 as shown in the figure, the stop time of the photographing system 6 is set to zero and the angular acceleration of the photographing system 6 is set. Can be made constant.

  Next, control of the X-ray exposure timing will be described.

  The relative position of the imaging system 6 with respect to the stationary system including the subject O and the bed 7 can be specified by the coordinates in the columnar arc slide axis S1 direction and the coordinates in the C-arm slide axis S2 direction. For this reason, the control system 8 has a function of controlling the X-ray exposure timing based on the control position of the imaging system 6 by the support arm slide mechanism 14 and the control position of the imaging system 6 by the C-type arm slide mechanism 15. have. Thereby, X-ray image data having parallax can be imaged from a predetermined imaging position of the imaging system 6 that reciprocates.

  FIG. 4 is a diagram illustrating an example of an X-ray exposure position for capturing a stereoscopic X-ray image.

  4 (A), (B), (C), and (D), the dotted line indicates the trajectory of the X-ray generator 12 and the X-ray detector 13 constituting the imaging system 6, and the solid line indicates the X-ray exposure position. The alternate long and short dash lines indicate the X-ray exposure direction.

  As shown in FIG. 4A, the imaging system 6 can be repeatedly reciprocated like a pendulum along an arcuate trajectory, and X-rays can be exposed at positions at both ends of the trajectory where the angular velocity becomes zero. Then, two frames of X-ray image data having two parallaxes can be collected sequentially. One X-ray image data can be used as left-eye X-ray image data, and the other X-ray image data can be used as right-eye X-ray image data. In this case, if X-ray image data having two parallaxes are displayed while being sequentially updated, a stereoscopic image can be displayed as a moving image. Therefore, the control angle of the imaging system 6 can be determined so that two frames of X-ray image data having appropriate two parallaxes can be captured.

  Further, as shown in FIG. 4B, X-rays can be exposed at positions other than both ends of the trajectory. Then, X-rays can be exposed while avoiding the timing at which the moving directions of the support arm 2 and the C-arm 4 are reversed. For this reason, X-rays can be exposed while the imaging system 6 has less vibration and moves at a stable angular velocity.

  On the other hand, as shown in FIGS. 4C and 4D, X-rays can be exposed from a plurality of three or more positions. FIG. 4C shows an example in which X-rays are exposed from three directions. In this case, if three frames of X-ray image data corresponding to three different directions are displayed, a stereoscopic image whose appearance changes depending on the viewing angle can be displayed as a moving image. Alternatively, if two frames of X-ray image data are displayed while being updated, a stereoscopic image can be displayed as a moving image that changes in appearance over time.

  As described above, a plurality of X-ray image data corresponding to different directions used as the X-ray image data for the left eye and the X-ray image data for the right eye are in a state where the imaging system 6 is stationary or the imaging system 6 is moving. Thus, the position of the imaging system 6 and the X-ray exposure timing can be controlled by the control system 8.

  Next, functions of the data processing system 9 will be described.

  The data processing system 9 has a function of generating X-ray image data to be displayed by data processing including A / D (analog to digital) conversion of the X-ray image data collected by the imaging system 6, and the generated X-ray image data. The display device 10 has a function of displaying line image data. In particular, the data processing system 9 has a function of generating stereoscopic X-ray image data based on at least two frames of X-ray image data collected at different positions by the imaging system 6.

  Of the constituent elements of the data processing system 9, the constituent elements that execute digital information processing can be constructed by having a computer read a medical image processing program. In addition, the data processing system 9 can be configured using necessary circuits such as an A / D converter.

  As a method of displaying a stereoscopic image based on the X-ray image data for the left eye and the X-ray image data for the right eye, any known method can be used. As a typical method, a method using a normal display and dedicated glasses and a method using a dedicated display are known.

  In the case of using dedicated glasses, a method is known in which a left-eye image and a right-eye image are alternately switched and displayed at a certain time difference, while the dedicated glasses have a function as a polarizing plate. In this case, circularly polarized light in different rotational directions is applied to the left-eye image and the right-eye image, and the two-parallax image is visually recognized separately by the left and right eyes by using circularly polarized glasses.

  Alternatively, a method of time-divisionally displaying a left-eye image and a right-eye image as images of different wavelength bands is also known. In this case, the image for the left eye and the image for the right eye that have passed through the filter and become light in different wavelength bands are visually recognized by the left and right eyes individually through the wavelength selection glasses.

  As another method, the left-eye image and the right-eye image are alternately displayed in a time-division manner, and the left-eye image and the right-eye are opened and closed in synchronization with the time-division. A method for visually recognizing an image is also known.

  On the contrary, there is also known a method of outputting position information and azimuth information from dedicated glasses and switching an image to be output on a display in accordance with the position information and azimuth information of the glasses.

  On the other hand, as a method that does not use dedicated glasses, a phase difference plate having a phase difference is superimposed on the surface of the display, or a film in which irregularities are arranged with a screen line number different from the resolution of the display is superimposed on the surface of the display. The method is known. These methods are also called space division methods, and the left eye image and the right eye image are visually recognized by the left eye and the right eye individually by a phase difference plate or film.

  Then, the data processing system 9 performs display processing according to the collection position of a plurality of X-ray image data having two or more parallaxes collected by moving one imaging system 6 to perform stereoscopic X-rays. It is configured to generate image data. Specifically, if two frames of X-ray image data corresponding to two different directions are used as two-parallax image data, one frame of image data that can be stereoscopically viewed from one direction is generated. Can do. Also, based on X-ray image data for a plurality of frames corresponding to three or more different directions, image data that can be stereoscopically viewed from a plurality of different directions, that is, a stereoscopic image that changes in appearance depending on the viewing direction Data can be generated.

  Next, the operation and action of the X-ray diagnostic apparatus 1 will be described.

  FIG. 5 is a diagram showing the operation of the X-ray diagnostic apparatus 1 shown in FIG.

  FIG. 5 shows an example in which the support arm 2, the C-arm 4 and the imaging system 6 are controlled at the moving speed shown in FIG.

  Step S1 shows an initial state of the photographing system 6. From this state, the support-side arm slide mechanism 14 is driven, and the support-side arm 2 is accelerated in the direction of the support-side arc slide axis S1, as shown in step S2. As a result, the imaging system 6 moves along an arcuate trajectory.

  Next, in step S3, when the speed of the support arm 2 reaches a constant speed, the speed becomes constant. On the other hand, the C-type arm slide mechanism 15 is driven, and the C-type arm 4 is accelerated in the direction of the C-type arm slide axis S2. As a result, the imaging system 6 further moves along an arcuate trajectory.

  Subsequently, when the speed of the C-type arm 4 reaches a constant speed, the speed becomes constant. On the other hand, the column side arm slide mechanism 14 is driven, and the column side arm 2 is decelerated. As a result, the speed of the support arm 2 becomes zero and stops. Then, the C-type arm slide mechanism 15 is driven and the C-type arm 4 is decelerated. As a result, the speed of the C-arm 4 becomes zero and stops.

  For this reason, the photographing system 6 stops at zero speed. At this time, X-rays are exposed in the imaging system 6.

  Next, in step S4, the column side arm slide mechanism 14 is driven, and the column side arm 2 is accelerated in the direction opposite to the column side arc slide axis S1. As a result, the imaging system 6 moves in the reverse direction along the arcuate trajectory. That is, the moving direction of the photographing system 6 is reversed.

  Next, in step S5, when the speed of the support arm 2 reaches a constant speed, the speed becomes constant. On the other hand, the C-type arm slide mechanism 15 is driven, and the C-type arm 4 accelerates in the direction opposite to the C-type arm slide axis S2. As a result, the photographing system 6 further moves in the reverse direction along the arcuate trajectory.

  Subsequently, when the speed of the C-type arm 4 reaches a constant speed, the speed becomes constant. On the other hand, the column side arm slide mechanism 14 is driven, and the column side arm 2 is decelerated. As a result, the speed of the support arm 2 becomes zero and stops.

  Next, in step S6, the C-arm slide mechanism 15 is driven and the C-arm 4 is decelerated. As a result, the speed of the C-arm 4 becomes zero and stops. For this reason, the photographing system 6 stops at zero speed. At this time, X-rays are exposed in the imaging system 6.

  Next, in step S7, the column side arm slide mechanism 14 is driven, and the column side arm 2 is accelerated in the direction of the column side arc slide axis S1. As a result, the imaging system 6 moves along an arcuate trajectory. That is, the moving direction of the photographing system 6 is reversed again.

  Next, in step S8, when the speed of the support arm 2 reaches a constant speed, the speed becomes constant. On the other hand, the C-type arm slide mechanism 15 is driven, and the C-type arm 4 is accelerated in the direction of the C-type arm slide axis S2. As a result, the imaging system 6 further moves along an arcuate trajectory.

  The operation from step S3 to step S8 can be repeated an arbitrary number of times by controlling the photographing system 6 by the control system 8. Thereby, X-ray image data having two parallaxes can be sequentially captured.

  Then, the data processing system 9 sequentially displays the two frames of X-ray image data having two parallaxes captured by the imaging system 6 on the display device 10 while updating them. Thereby, the X-ray image which can perform a stereoscopic view is displayed on the display apparatus 10 as a moving image.

  In other words, the X-ray diagnostic apparatus 1 as described above operates two arms to reciprocate the imaging system 6 to capture a plurality of frames of X-ray image data having stereoscopic parallax at different positions. Is. Further, the X-ray diagnostic apparatus 1 can smoothly accelerate and decelerate the imaging system 6 by reciprocally moving two arms in a relational manner.

  Therefore, according to the X-ray diagnostic apparatus 1, the time required for the reciprocating operation of the imaging system 6 can be shortened. In particular, if the two arms are controlled relationally with an appropriate time difference, the acceleration of the imaging system 6 can be made constant. Further, the moving direction of the photographing system 6 can be instantaneously reversed.

  When the reciprocating operation of the imaging system 6 becomes possible in a short period, X-ray images with a small parallax angle suitable for stereoscopic vision can be collected at a high frame rate. As a result, the sampling frequency of the stereoscopic image is improved, and real-time characteristics can be obtained. This makes it possible to easily observe changes and movements in the contrast agent flow.

  In addition, the imaging system 6 can be reciprocated using a power source such as two motors. For this reason, the load per power source can be reduced. As a result, vibration due to the reciprocating operation of the imaging system 6 can be reduced. In addition, the X-ray diagnostic apparatus 1 can be configured using a small power source.

  Although specific embodiments have been described above, the described embodiments are merely examples, and do not limit the scope of the invention. The novel methods and apparatus described herein can be implemented in a variety of other ways. Various omissions, substitutions, and changes can be made in the method and apparatus described herein without departing from the spirit of the invention. The appended claims and their equivalents include such various forms and modifications as are encompassed by the scope and spirit of the invention.

  For example, in the above-described embodiment, the case has been described in which the imaging system 6 is reciprocated along an arcuate trajectory. However, the imaging system 6 may be reciprocated along a trajectory that is not arcuate. As a specific example, a first drive mechanism that translates the imaging system along a linear first trajectory, and a linear second trajectory that at least partially overlaps the first trajectory. The X-ray diagnostic apparatus can also be provided with a second drive mechanism that translates along the axis. In this case, the imaging system can be reciprocated along a linear track by the control of the first drive mechanism and the second drive mechanism.

  As another specific example, the imaging system 6 can be moved three-dimensionally along an 8-shaped or elliptical trajectory using two drive mechanisms. In this case, the imaging system 6 reciprocates like a pendulum along a trajectory on the projection plane.

  As described above, the X-ray diagnostic apparatus includes a first drive mechanism that reciprocates the imaging system along the first trajectory, and a second trajectory that at least partially overlaps the first trajectory. A second drive mechanism that reciprocates the imaging system can be provided. Then, the first drive mechanism and the second drive mechanism can be controlled by the control system so that the imaging system reciprocates along the first track and the second track. Thereby, the imaging system can be reciprocated along a desired trajectory. Of course, the imaging system can be reciprocated by providing three or more moving mechanisms in the X-ray diagnostic apparatus and controlling the three or more moving mechanisms.

  In the above-described embodiment, the column side arm slide mechanism 14 functions as a first drive mechanism, and the C-type arm slide mechanism 15 functions as a second drive mechanism.

1 X-ray diagnostic device 2 First arm (support arm)
3 First axis of rotation (spindle pivot axis)
4 Second arm (C-type arm)
5 Second rotation axis (C-arm main rotation axis)
6 imaging system 7 bed 8 control system 9 data processing system 10 display device 11 input device 12 X-ray generator 13 X-ray detector 14 first slide mechanism (post-side arm slide mechanism)
15 Second slide mechanism (C-arm slide mechanism)
O Subject S1 First slide axis (post-side arc slide axis)
S2 Second slide shaft (C-arm slide shaft)

Claims (4)

A first drive mechanism for reciprocating the imaging system along a first trajectory;
A second drive mechanism for reciprocating the imaging system along a second trajectory that at least partially overlaps the first trajectory;
The imaging system reciprocates along the first trajectory and the second trajectory , and the imaging system is decelerated by the second driving mechanism after a deceleration period of the imaging system by the first driving mechanism. On the other hand, the first driving mechanism and the second driving mechanism are controlled so that the imaging system is accelerated by the second driving mechanism after the imaging system is accelerated by the first driving mechanism. A control system to
A data processing system for generating stereoscopic X-ray image data based on at least two frames of X-ray image data collected at different positions by the imaging system;
An X-ray diagnostic apparatus comprising: A first drive mechanism for reciprocating the imaging system along a first trajectory;
A second drive mechanism for reciprocating the imaging system along a second trajectory that at least partially overlaps the first trajectory;
The imaging system reciprocates along the first trajectory and the second trajectory, and the stop period for changing the direction of one of the first drive mechanism and the second drive mechanism is the other direction. A control system for controlling the first drive mechanism and the second drive mechanism so as not to overlap with a stop period for conversion ;
A data processing system for generating stereoscopic X-ray image data based on at least two frames of X-ray image data collected at different positions by the imaging system;
An X-ray diagnostic apparatus comprising: The control system, the imaging system of the X-ray diagnostic apparatus according to claim 1 or 2, wherein configured to reciprocate along an arc-shaped trajectory. The control system is configured to control an X-ray exposure timing based on a control position of the imaging system by the first drive mechanism and a control position of the imaging system by the second drive mechanism. The X-ray diagnostic apparatus according to any one of claims 1 to 3 .

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