JPH02152442A - X-ray fluoroscopic apparatus - Google Patents

Abstract

PURPOSE:To reduce an installation space by reducing the number of connection cables and to enhance functionality by enhancing reliability by dispersing control units in the constitutional elements concerned or in the vicinity thereof at every individual control units of each constitutional elements and respectively arranging the same in the vicinity of internal constitutional parts. CONSTITUTION:A fluoroscopic table 1, an X-rays generator 2, the first operator 3 and the second operator 4 are provided. Control units are dispersed in the constitutional elements concerned or in the vicinity thereof at every individual elements and respectively arranged in the vicinity of internal constitutional parts such as switches 7a-7f, actuators 8a-8c, sensors 9a-9b and display devices 10a-10c. By this method, the connection cables 6a-6d of the internal constitutional parts and the indivisual control units can be shortened to a large extent. By mutually connecting the respective control units by a communication circuit 17, the transmission of data between the respective constitutional parts can be executed by a reduced number of cables. Therefore, wiring quantity can be reduced to a large extent and an installation space can be reduced. Further, since the total length of the cables is shortened, the noise from a high voltage cable becomes hard to pick up and the reliability of the apparatus can be enhanced.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an X-ray fluoroscopic imaging device that emits X-rays to a subject and takes a transmitted X-ray image thereof, and in particular, the present invention relates to an The present invention relates to an X-ray fluoroscopic imaging device that can reduce the installation space by reducing the number of cables connecting component parts and a control device, and can improve reliability and provide high functionality.

[Conventional technology]

As shown in FIG. 9, a conventional X-ray fluoroscopic imaging apparatus includes a fluoroscope table 1 that emits X-rays to a subject and obtains a transmitted X-ray image, and a fluoroscope table 1 that is supplied with electric power for generating X-rays. A Xi generator 2 to be supplied, one or more operating devices 3, 4 for operating the fluoroscopy table 1, and a control device 5 connected to each of the above components and controlling each component are provided. It was done.

Note that the two operating devices 3 and 4 are used to operate the fluoroscopic table 1 by a doctor or an X-ray technician.

The first operating device 3 is normally placed in a separate operating room from the imaging room in which the fluoroscopy table 1 is installed, and the second operating device 4 is used to operate immediately near the fluoroscopy table 1 and is used for imaging. It is placed indoors. In addition, in FIG. 9, symbols 6a, 6b, 6c
, 6d are the control device 5 and the viewing table 1. X-ray generator 2. These are cables that connect the controllers 3 and 4, respectively.

As shown in FIG. 10, the fluoroscopy table 1.degree. Inside each component such as the operating devices 3 and 4, there are switches 7a, 7b, 7c, and switches for operating various mechanisms.
...and the actuator 8a that drives those mechanisms.
, 8b, 8c, and sensors 9a, 9b, 9c, for detecting and controlling the operation of these actuators 88-8C.
. . . and display devices 10a, 10b, 1 for various displays.
Internal components such as 0c are incorporated, and these internal components and the control device 5 are connected to the cables 6a and 6b.

They were connected at 6c and 6d, respectively.

[Problem to be solved by the invention]

However, in such a conventional X-ray fluoroscopic imaging apparatus, as shown in FIG. 9, one control device 5 controls the fluoroscopy table 1.
X-ray generator 2. Since a system was adopted in which each component such as the operating devices 3 and 4 was centrally controlled, as shown in FIG.
, 7b, ..., actuators 8a, 8b, ..., sensors 9a, 9b, ..., and indicators 10a, 10b, ...
... and the control device 5 had to be connected with a large number of cables 6a to 6d, respectively. Here, in an actual device, there are several tens to several tens of pixels of sensors 9a, 9b, . . . , switches 7a, 7b, .

..., etc., so there are dozens of each, so the above cable 6
The total number of items a to 6d was about 500 at most. Also, the fluoroscopy table 1 and the control device'? The length of the cable 6a between the first controller 3 and the control device 5 is approximately 10 to 20 m, and the length of the cable 6C between the first controller 3 and the control device 5 is approximately 20 to 30 m.
It was as long as m.

Therefore, the amount of wiring of the cables 68 to 6d becomes enormous, and a large installation space is required for wiring the cables 6a to 6d. In addition, high-voltage power of tens of thousands to tens of thousands of volts is used to generate X-rays, but when the number of cables 6a to 6d is large and their total length is very long as described above, the high voltage is increased accordingly. This made it easier to pick up noise from the voltage cable. Therefore.

The noise may enter the control device 5 and cause malfunctions, reducing the reliability of the device.

Furthermore, since a large number of cables 6a to 6d are connected in a complicated manner, maintenance work such as inspecting each part of the device and replacing internal components is difficult, and it is not possible to add or expand functions. Ta.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an XG fluoroscopic imaging device that can solve these problems.

[Means to solve the problem]

In order to achieve the above object, an X-ray fluoroscopic imaging apparatus according to the present invention includes a fluoroscopy table that emits X-rays to a subject and obtains a transmitted X-ray image, and a fluoroscopy table that supplies power for generating X-rays to the fluoroscopy table. an X-ray fluoroscopic imaging device comprising: an X-ray generating device; one or more operating devices for operating the fluoroscopy table; and a control device connected to each of the components and controlling the respective components. In the above, the control device is arranged in a distributed manner inside or near each individual control device that controls the operation of each component, and the individual control devices are interconnected through a communication line. death.

Further, an individual control device installed inside or near one of the above-mentioned operating devices is equipped with a microprocessor and a time monitoring means connected to the microprocessor. It is provided with a storage device in which identification codes, communication management orders, etc. are written, and includes communication management means for managing the communication line, which can be written to and read out at any time.

[For production]

In the X-ray fluoroscopic imaging apparatus configured in this way, the control devices are distributed inside or near the internal components for each individual control device that controls the operation of each component, and each control device is located near the internal components. This arrangement shortens the cables connecting the internal components and the individual control devices.

Furthermore, by interconnecting the individual control devices with communication lines, information transmission between each component can be carried out using a small number of cables. Furthermore, a microprocessor installed in an individual control device installed inside or near one operating device, a time monitoring means, and a storage device that can be written to and read out at any time, including a communication management means, allows time to be divided. It is possible to transmit information between each individual control device, and if there is an abnormality such as a failure in any individual control device, it can be detected immediately and the individual control device can be connected to the communication line. Disconnected due to communication procedures,
This prevents other individual control devices from becoming inoperable.

〔Example〕

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a block diagram showing an embodiment of an X-ray fluoroscopic imaging apparatus according to the present invention. This X-ray fluoroscopic imaging device emits X-rays to a subject and photographs the transmitted X-ray image.As shown in FIG. The operating device 3 includes an operating device 3 and a second operating device 4.

The above-mentioned fluoroscope table 1 emits X-rays to a subject to obtain a transmitted X-ray image for medical diagnosis. Although not shown, it is equipped with an automatic transport mechanism for X-ray film and various postures of the subject. It is equipped with a mechanism to change the shape and a mechanism to compress the subject's abdomen. Inside the viewing table 1, there are switches 7a for operating the various mechanisms described above, actuators 8a, 8b, and 8c for driving these mechanisms, and a switch for detecting and controlling the operations of these actuators 88 to 8c. Sensor for 9 a + 9 b + 9 c + 9 d
Internal components such as l9e are incorporated. The X-ray generator 2 supplies power for X-ray generation to the fluoroscopy table 1, and includes a switch 7b and a sensor 9f.
Internal components such as a display 10a and the like are incorporated. The first and second operating devices 3 and 4 are for a doctor or an X-ray technician to operate the fluoroscopy table 1, and the first operation device 3 is usually located in the imaging room where the fluoroscopy table 1 is installed. A second operating device 4 is placed in a separate operating room, and a second operating device 4 is placed in the photographing room for operation in the immediate vicinity of the fluoroscopy table 1. Inside the first and second operating devices 3 and 4, internal components such as switches 7c and 7d and a display 10b, and internal components such as switches 7e and 7f and a display 10c are incorporated, respectively. ing.

Here, in the present invention, a communication management control device l is provided as an individual control device inside or near the first operating device 3.
ie is provided, as well as a fluoroscopy table 1 and an X-ray generator 2.
Also, within or near each component such as the second operating device 4, slave control devices 11a and llb are installed as individual control devices.
, llc, 11d, and llf are arranged in a dispersed manner.

The subordinate control devices 11a, llb, and llc include an automatic transport mechanism for X-ray film, a mechanism for variously changing the posture of a patient, a mechanism for compressing the abdomen of a patient, etc.
It controls the operation of each part individually, and is placed inside or near the fluoroscopy table 1. An actuator 8a and sensors 9a and 9b, which are internal components of the fluoroscopy table 1, are connected to one subordinate control device 11a by a cable 6a, and to another subordinate control device Ilb,
Similarly, the actuator 8b and sensor 9c.

9d is connected by a cable 6a', and a switch 7a, an actuator 8c, and a sensor 9e are also connected to another slave control device lie by a cable 6a''.
It controls the operation of the X-ray generator 2, and is located inside the X-ray generator 2. A switch 7b, a sensor 9fm, and a display 10a, which are internal components of the X-ray generator 2, are connected to this slave control device 11d by a cable 6b. Further, the slave control device 11f individually controls the operation of the second operating device 4, and is disposed inside or near the second operating device 4. Switches 7e and 7f, which are internal components of the second operating device 4, and a display 10c are connected to the slave control device 11f by a cable 6d.

Further, the communication management control device lie individually controls the operation of the first operating device 3, and is disposed inside or near the first operating device 3. Switches 7c and 7d, which are internal components of the first operating device 3, and a display 10b are connected to the communication management control device lie by a cable 6c. Furthermore, a microprocessor (hereinafter referred to as rMPU) is installed inside the communication management control device lie.
A timer 13 as a time monitoring means connected to this, a memory device (hereinafter abbreviated as "rRAM") 14 that can be written and read at M times, and a read-only memory device (hereinafter abbreviated as rROMJ) ) 15 are provided. The MPU 12e controls the first operating device 3 according to a control program prestored in the ROM 15, and also controls each slave control device 11a based on a communication procedure described later using a communication control program prestored in the ROM 15. The above communication line 1 performs communication processing for each ~lid and llf, detects errors in messages transmitted via the communication line 17 described later, etc.
7 is managed and controlled. The timer 13 is
When the P U 12e manages the communication line 17 (described later), it detects by time monitoring that an abnormality has occurred in any of the subordinate control devices 11a to lid, llf and communication according to the communication rules described later is no longer possible. , to notify the MPU 12e. The RAM 14 is a storage device that can be written to and read from at any time, and is used for each slave control device 11a to lid.
, llf identification codes, the order in which the communication management control device lie communicates with each of the slave control devices 11a to lid, and 11f, and the status of whether each of the slave control devices 11a to lid and llf is capable of normal communication operation. It includes a communication management means 16 that stores the amount of communication fi17 to be described later.

The communication management control device 11e serves as a master station, and the subordinate control devices 11a to 11f communicate with each other as slave stations.

Note that MPUs 12a and 12b are also provided inside each of the slave control devices 11a to 11f, respectively.

12c, 12d, and 12f are installed. Each of the MPUs 12a to 12d and 12f controls each part of the fluoroscopy table 1, the X-ray generator 2, and the second operating device 4 based on a control program.

Further, the communication management control device 11e and each of the subordinate control devices 11a to lid, llf are interconnected through a communication line 17. This communication line 17 is for exchanging information between the individual control devices 11a to 11a, and usually consists of one or several cables.

Next, the operation of the X-ray fluoroscopic imaging apparatus configured as described above will be explained. First, the communication management control device 11e in the first controller 3 that has the function of managing the communication line 17 works as a master station, and controls each slave in the fluoroscopy table 1, the xuA generator 2, and the second controller 4. Devices 11a-lid, ll
f is used as a slave station to mutually exchange information and communicate via the communication line 17. Here, FIG. 2 is a time chart showing a procedure in which the communication management control device lie communicates with each subordinate control device 11a to lid, llf, and FIG. RAM
14 is an identification table of each slave control device 11a-lid, llf written in the communication management means 16 in 14. In FIG. 2, in order to simplify the explanation, only two slave control devices 11a and llb are shown as slave stations. Also,
Also in FIG. 3, the slave stations are two slave control devices 11a.

The case of only 11b is shown. In FIG. 3, for example, at address 4000 of the identification topsoil, an identification code a indicating the subordinate control device 11a, which is the first communication partner station, is written, and at address 4001, the second communication partner station is written. An identification code indicating the slave control device 11b is written, and 16 is written at address 4002 as a code indicating the end of the identification table.
This shows a state in which the base number (l F F I+) is written.Then, the communication management control device li shown in FIG.
When the MPU 12e in e reads out the identification code a written in address 4000 of the identification table on the communication management means 16.

Communication is first started with the slave control device 11a indicated by the identification code a. Then, if communication is performed normally with this subordinate control device 11a according to the communication procedure explained in FIG.
The identification code written at address 001 is read out, and communication is performed in accordance with the communication procedure shown in FIG. 2, as with the slave control device 11b indicated by the identification code. Next, 4002
By reading the identification code FF written at the address, it is recognized that it is the last of the identification clothes shown in Fig. 3, and it returns to the beginning of the identification clothes again and reads the identification code a at address 4000. Communication is resumed with the subordinate control device 11a shown in FIG.

Below, the procedure for communicating with each subordinate control device indicated by the identification code of the identification garment shown in FIG. 3 will be explained with reference to the time chart shown in FIG. 2.

First, the MPU 1 of the communication management control device 11e shown in FIG.
2e is an identification code (
First, read out the identification code a of the slave station to be communicated from address 4000 (see Figure 3), and write the start code, for example 01'' in hexadecimal as shown in Figure 2, to the communication line 1 shown in Figure 1.
7 to all slave controllers, here lla, llb
Send to.

At the same time, the MPU 12e starts the timer 13 shown in FIG. 1, and after a certain monitoring period, the timer 13 outputs a timer signal to the MPU 12e. Next, following the start code II OI II, the identification code a is transmitted to all slave control devices 11a and 11b via the communication line 17. Each subordinate control device 11a
, llb receives the identification code a following the start code II OI II and compares it with its own identification code. Here, since the identification code of the slave control device 1] and a matches, the slave control device 11a transmits an acknowledgment A, for example, II O671 in hexadecimal, to the communication line 17. At this time, since the identification code is different from the own identification code, the other subordinate control device 11b ignores the subsequent received information until the identification code following the start code is transmitted from the communication management control device lie again.

When the communication management control device 11s receives the acknowledgment A from the slave control device 11a indicated by the identification code a, it sends a message P to be transmitted and a check code for determining whether there is an error in this message P. Now, check the communication line 1.
7 to the subordinate control device 11a. The message P and checksum are constructed as shown in FIG.

For example, it is assumed that the message P sent to the slave control device 11a is composed of a message (2) consisting of the character string "XON" and a message (2) consisting of the character string "GO30."

Then, these messages I and message ■ are expressed in hexadecimal numbers, and each is added as shown in the following equation (1).

58+4F+4E+47+4F+33+30=IEE
...(1) LEE of this addition result (hexadecimal number)
The last two digits EE are added to the message P as a checksum and transmitted to the slave control device 11a.

Next, the slave control device 11a adds the received messages P according to equation (1) in the same way as above, and the last two digits of the addition result are the EE of the checksum sent next to the message P. If they are compared, it is determined that the message P has been correctly received, and an acknowledgment B is sent to the communication management control device 11e. Subsequently, the slave control device i1a performs the following steps in the same manner as shown in FIG.
The message Q and checksum are sent to the communication management control device
Send to.

Here, if the last two digits of the above addition result are not equal to the checksum EE, it is assumed that a transmission error occurred while the message P was being transmitted via the communication line 17 shown in FIG. As shown in the figure, the slave control device 11a transmits a negative response G to the communication management control device lie. Such an error in the message P occurs due to noise entering the communication line 17, but as shown in FIG. Since errors in the message P can be detected, the communication management control device lie and the subordinate control device il 11 a can prevent incorrect control operations due to errors in the message P that have occurred.

Furthermore, when the subordinate control device 11a malfunctions and cannot communicate normally, as shown in FIG. Before the slave control device 11a shown in FIG. 2 transmits the end code, the timer signal in the communication management control device
12 e. As a result, the timer 13 of the communication management and control device 11e, that is, the time monitoring means, can prevent the communication management and control device lie from waiting forever for a response from the subordinate control device 11a that cannot communicate normally. can.

Next, the communication management control device lie
Message Q sent from 1a is added according to formula (1) in the same way as above, and the addition result is compared with the checksum sent next to message Q. If they are equal, message Q has been received correctly. 4C is sent to the slave control device 11a on an affirmative path.
Send. The slave control device 11a receives the above acknowledgment C.
When you receive the ending code, for example 14 in hexadecimal Q
4 Send II to the communication management control device lie. Thereafter, a timer signal is output from the timer 13 that was activated when the start code was first transmitted. As a result, communication between the communication management control device lie and the first subordinate control device 11a ends.

When the communication with the subordinate control device 11a ends in this way, the MPU 12e in the communication management control device 11e
The identification code of the slave station to be communicated with next is read from address 4001 of the identification table on the communication management means 16 shown in the figure, as shown in the lower half of FIG.

Communication is performed between the communication management control device 11e and the second subordinate control device 11b in the same manner as the communication procedure described above.

When the communication with the subordinate control device 11b is completed, the MPU 12e reads the identification code FF from address 4002 of the identification table shown in FIG. It recognizes it, returns to the beginning of the identification table, reads the identification code a at address 4000, and resumes communication with the slave control device 11a.

During the communication procedure as described above, an abnormality in one communication can be discovered by the checksum function shown in FIG. 5 and the function of the timer 13 shown in FIG. 6. However, X-ray fluoroscopic imaging equipment is often used in emergency medical settings, and even if there is an abnormality in a part of the equipment, if it does not hinder the acquisition of fluoroscopic X-ray images, it is possible to perform X-ray imaging, etc. Must continue. Therefore, for example, even if the second operating device 4 installed in the imaging room shown in FIG. 1 breaks down, X-ray imaging can continue as long as the first operating device 3 installed in the operating room is normal. Therefore, the corresponding slave control device Ll
It is necessary to automatically exclude f from the communication target so that the operation can continue. Therefore, when a communication abnormality is detected as described above, the operation in which the communication management control device lie automatically excludes the corresponding subordinate control device (for example, 11f) from the communication target will be explained with reference to FIG. 7. do.

Figure 7 shows the R provided inside the communication management control device lie.
It is an identification table of each slave control device 11a-lid, llf written in the communication management means 16 in AM14. The communication management control device 11e then converts the identification code f of the subordinate control device 11f in which the abnormality has occurred to 110 in hexadecimal, for example.
00 and when searching for the identification code of the subordinate control device as the communication partner, if the identification code OO at address 4004 is read after address 4003, it is skipped and the identification code FF at the next address 4005 is read. It reads out, returns to the beginning of the identification table again, reads the identification code a at address 4000, and communicates with the slave control device 11a. In this way, by rewriting the identification code corresponding to the slave control device in which the abnormality has occurred into a numerical value indicating that communication is not possible in the communication management means 16 in the communication management control device lie, some of the slave control devices Even if communication becomes impossible, use of the X-ray fluoroscopy apparatus can be continued. In addition, in the above explanation,
- If a communication error or an abnormality due to time monitoring occurs, the corresponding subordinate control device will be excluded from the communication target, but in Figure 2, the system returns to the start code again and communicates again, causing an abnormality to occur multiple times. In some cases, the slave control device in question may be separated from the communication target. In this case, it is possible to reduce the possibility that the X-ray fluoroscopic imaging apparatus becomes inoperable.

FIG. 8 is an identification diagram showing a procedure for frequently communicating with a specific subordinate control device.

In this case, by writing the identification code f of a specific slave control device whose communication frequency is to be increased, for example, llf, in the identification code on the communication management means 16, more often than other identification codes, it is possible to identify the slave control device 11f. Communication can be performed frequently.

By using such a communication procedure using identification clothing, it is possible to utilize the communication line 17 shown in FIG. 1 as effectively as possible to perform efficient communication.

Although FIG. 2 shows a case where a checksum is used as a check code for detecting communication errors, the present invention is not limited to this, and the present invention is not limited to this. You can.

Further, in FIG. 1, the communication management control device lig is provided inside or near the first operating device 3, but it is not limited to this, and may be provided inside or near the second operating device 4. . Alternatively, it may be provided inside or near the fluoroscopy table 1 or the X-ray generator 2.

〔Effect of the invention〕

Since the present invention is configured as described above, the control device is controlled by the viewing table 1. X-ray generator 2. Each individual control device 11a to 11f that controls the operation of each component such as the operating devices 3 and 4 is distributed inside or near the component, and near internal components such as switches, actuators, sensors, and indicators. Cables 6 connecting the internal components and each of the individual control devices 11a to llf by arranging the cables 6
B, 6b, 6c, and 6d can be significantly shortened.

In addition, each individual control device 11a to llf is connected to a communication line 17.
By interconnecting each component, information transmission between each component can be carried out using fewer cables. Therefore, the amount of required cable wiring can be significantly reduced, and the installation space for the wiring process can be reduced. In addition, since the total length of the cables mentioned above is significantly shortened, it becomes difficult to pick up noise from the high voltage cables, reducing the causes of malfunction of each individual control device 11a to llf, and improving the reliability of the device. can do. Furthermore, since an MPU 12e is installed in one individual control device (communication management control device 11e in FIG. 1), a time monitoring means (timer 13) and a communication management means 16 are provided, so that a communication line 17 is provided. Even if there is an error in the message received by each of the individual control devices 11a~], 1d, and llf due to noise mixed in, or if any of the individual control devices becomes unable to communicate, this can be detected immediately. can do. Furthermore, since the communication management means 16 is provided in a storage device (RAM 14) that can be written and read at any time, the communication management control device 11e automatically selects the individual control device detected as described above as a communication target. X-ray diagnosis can be continued without stopping the entire X-ray fluoroscopic imaging apparatus.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the X-ray fluoroscopic imaging apparatus according to the present invention, FIG. 2 is a time chart showing the procedure for mutual communication between individual control devices, and FIG. An explanatory diagram showing the identification of each individual control device,
Fig. 4 is an explanatory diagram showing the structure of the message and checksum during communication, Fig. 5 is an explanatory diagram showing the transmission of a negative response when a transmission error occurs during message transmission, and Fig. 6 is an explanatory diagram showing the structure of the message and checksum during communication. An explanatory diagram showing a state in which a timer signal is output from the time monitoring means before an end code is sent when the control device malfunctions and normal communication is not possible. FIG. 7 shows each individual control written in the communication management means. FIG. 8 is an explanatory diagram showing other examples of device identification clothing. FIG. 8 is an explanatory diagram showing identification clothing when communication is frequently performed with specific individual control devices. FIG. 1 is an explanatory diagram and a block diagram showing a conventional X-ray fluoroscopic imaging device. 1... Transmission table, 2... X-ray generator, 3,
4... Operating device, 6a-6d... Cable, 78
~7f...Switch, 8a~8c...Actuator, 9a~9f...Sensor, 10a~10
c...Display unit, 11a-llf...Individual control device, 12a-12f...Microprocessor (MP
U), 13... timer (time monitoring means), 1
4...RAM (storage device that can be written and read at any time) 15...ROM, 16...Communication management means. 17... Communication line.

Claims (1)

[Claims] a fluoroscopy table that emits X-rays to a subject and obtains a transmitted X-ray image;
An X-ray generator that supplies power for generating X-rays to the fluoroscopy table, one or more operating devices for operating the fluoroscopy table, and is connected to each of the above components to control each component. In the X-ray fluoroscopic imaging apparatus comprising a control device, the control device is arranged separately inside or near the component for each individual control device that controls the operation of each of the components, and The individual control devices are connected to each other through a communication line, and a microprocessor is installed in the individual control device provided inside or near one of the above-mentioned operating devices and is connected to the microprocessor. The present invention is characterized in that it is provided with a storage device in which identification codes, communication management orders, etc. of each of the individual control devices are written and can be written to and read out at any time, including communication management means for managing the communication lines. X-ray fluoroscopy equipment.