JPH03277347A - X-ray radiographing device - Google Patents

Abstract

PURPOSE:To display the rotational direction of a C-shaped arm on the rotational direction instructed by an operator irrespective of a position of the C-shaped arm by detecting the position of the C-shaped arm in the periphery of a body to be examined and controlling the rotational direction of the C-shaped arm so as to coincide with the inputted rotational direction, based on this detecting signal. CONSTITUTION:A position detecting means R3 detects the rotational direction and the rotation quantity of a turning body 12, and detects a position in the peripheral space of a body M to be examined of a C-shaped arm 1. An operator inputs the turning direction and the turning angle of the C-shaped arm 1 corresponding to the desired X-ray photographing direction from an input means 20. A turning control means 21 decides a position of the C-shaped arm in the periphery of the body to be examined from a detecting signal of the position detecting means R3, and controls the turning direction of the C-shaped arm so that the turning direction of the C-shaped arm 1 coincides with the inputted turning direction, based on a a result of this decision. A display control means 23 controls a display means 22 so as to display the inputted turning direction even in the case the turning direction of the C-shaped arm 1 is controlled by the control means 21.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application This invention relates to an X-ray fluoroscopic imaging apparatus that performs X&G fluoroscopic imaging of a subject from multiple directions.

B. Prior Art Conventionally, in this type of X-ray fluoroscopic imaging device, an X-ray tube and a χ-ray image intensifier are mounted facing each other on both ends of a C-shaped arm that is arranged to sandwich the subject. There is something. For example, when performing fluoroscopic imaging of the circulatory system using such an apparatus, the following functions are provided to enable X-ray fluoroscopy and imaging from multiple directions.

(1) A function that rotates the C-shaped arm around the subject's body axis, in the LAO (left anterior oblique) direction, which is the direction of rotation to the left when viewed from the subject's head, and vice versa. This function rotates in the RAO (right anterior oblique) direction, which is the direction of rotation of the camera.

(2) A function of rotating the subject along the body axis, which is a function of rotating the subject in the CRANrAL direction, which is the direction of rotation toward the head of the subject, and in the CAIIDAL direction, which is the direction of rotation toward the feet.

It is also equipped with a function to rotate the C-arm around the subject so that the C-arm does not get in the way of the operator performing examinations and treatments. , C-arms are positioned in the surrounding space on the head side, and X-ray fluoroscopic imaging of the subject can be performed from each position.

Furthermore, this type of X-ray fluoroscopic imaging apparatus is usually equipped with functions for displaying each of the rotational directions and the rotational angle, so that confirmation can be made when performing fluoroscopic imaging.

C1 Problems to be Solved by the Invention However, the above-mentioned conventional device has the following problems.

That is, when the above-mentioned C diarm 1 is located in the left space as seen from the head side of the subject M as shown in FIG. When an instruction is given to rotate the C-arm 1 in the LAO direction and the CRA direction (counterclockwise in Figure 6(b)), the C-arm 1 rotates in the LAO direction and CRA direction as shown in Figure 6(a). As shown in , when the C-diam 1 is located in the space on the right side of the subject M, when the C-diam 1 is instructed to move in the same direction as before (LAO direction), the C-diam 1 moves toward the subject M. Rotate toward the right.This will apparently rotate upwards, but in the RA○ direction, which is contrary to the instructions.

Furthermore, as shown in Figure (b), when a rotation instruction is given in the Cl1AllIAL direction, the C arm 1 rotates toward the feet of the subject M, so the apparent upper rotation is in the CAUDAL direction. . This is a switch for instructing the direction of rotation, and a C-arm I by operating this switch.
This can happen because the rotational directions of the C arm are always the same, and conventionally, the digit 1 of the C arm is 1! This is an inconvenience that arises as a result of not considering the position of the subject M in the surrounding space. Furthermore, as shown in FIG. 7(a), with the C-diam 1 positioned in the cranial space of the subject M, as shown in FIG.
When a rotation instruction is given in the LAO direction shown in a), the C arm 1 rotates apparently upward in the CRANIAL direction (towards the head of the subject (See figure (g))). As described above, depending on the position of the C-gear arm 1, the actual rotation direction of the C-gear arm 1 does not match the instructed rotation direction, which may cause confusion when performing diagnosis using X-ray fluoroscopy and photography. Not desirable.

This invention was made in view of the above circumstances, and allows the C-arm to be rotated in the direction of rotation specified by the operator and to display the direction of rotation, regardless of the position of the C-arm. The purpose of the present invention is to provide an X-ray fluoroscopic imaging device.

09 Means for Solving the Problems The present invention has the following configuration to achieve the above object.

That is, the X-ray fluoroscopic imaging apparatus according to the present invention includes an X-ray tube and an X-ray tube.
The C arm, which supports the M image intensifier in opposition, is moved along the circumference of the subject lying supine on the bed, and rotated in and around the subject's body axis to capture χ from multiple directions. An X-ray fluoroscopic imaging apparatus that performs fluoroscopic imaging includes an input means for inputting a rotation direction and a rotation angle of the C-ziarm, a display means for displaying the rotation direction and rotation angle of the C-ziarm, and a display means for displaying the rotation direction and rotation angle of the C-ziarm. position detection means for detecting the position of the C diarm around the specimen;
Based on the detection signal of this position detecting means, the rotation direction of the C-ziarm is controlled so that the rotational direction of the C-ziarm matches the input rotational direction, and the C-ziarm is controlled in accordance with the input rotational angle. The present invention is characterized by comprising a rotation control means for controlling the rotation of the arm, and a display control means for controlling the display means to display the input rotation direction.

E2 Effects The effects of the X-ray fluoroscopic imaging apparatus of this invention are as follows.

First, the operator inputs information on the rotation direction and rotation angle of the C-shaped arm corresponding to the desired X-ray imaging direction from the input means. The input information is sent to the rotation control means. Next, the rotation control means determines the position of the C-arm around the subject from the detection signal of the position detection means. Based on this determination result, the rotation direction of the C-arm is controlled so that the rotation direction of the C-arm matches the input rotation direction.

On the other hand, the display control means controls the display means to display the input rotation direction even when the rotation direction of the C-arm is controlled by the rotation direction control means.

As a result, no matter where the C-arm is located, the C-arm is rotated in the rotation direction desired by the operator, and the rotation direction is displayed on the display means.

F. Example Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a perspective view showing a schematic configuration of an X-ray fluoroscopic imaging apparatus according to this embodiment.

In the figure, reference numeral 1 denotes a C-shaped arm similar to that shown in FIGS. 5 to 7, which are explanatory views of the conventional device. C-shaped arm 1 is
It is placed in the space around the subject M in a state where it is suspended from a ceiling wall so as to sandwich the subject M therebetween. An X-ray tube 2 and an X-ray image intensifier 3 are supported at both ends of the C-shaped arm 1. As described in the description of the prior art, this C-shaped arm 1 is capable of rotation around and in the body axis direction of the subject M, and is also rotatable in the space surrounding the subject M. It is configured. Next, the rotation mechanism will be explained with reference to FIG. 2 as well.

First, the rotation of the C-shaped arm 1 around the body axis of the subject M (LA
(rotation in the O direction and RAO direction) is realized by a drive mechanism within the arm holder 4 holding the C-shaped arm 1. A part of a belt (or chain) 5, which fixes both ends to the C-shaped arm 1, is housed in the arm holder 4, and this belt 5 is passed around a drive roller 6. A drive motor M1 that rotates the drive roller 6;
A rotary encoder R1 that detects the rotation direction and rotation amount of the drive motor is provided in the arm holder 4 (
However, it is shown outside the arm holder 4 in the drawing)
. Due to the rotation of the drive motor, the C-shaped arm 1 is rotated around the body axis of the subject M via the heald 5. Note that reference numeral 7 is a guide roller for guiding the heald 5 to the drive roller 6.

Rotation of the C-shaped arm 1 in the body axis direction of the subject M (rotation in the head side - CRA direction and leg side - CAU direction) rotates the arm holder 4 in the body axis direction of the subject M. This is achieved by moving. Base of arm holder 4 (C-shaped arm 1
(the opposite end holding the telescopic arm 8) is rotatably supported by the side surface of the telescopic arm 8, and a gear 9 is fixed near the support surface. The gear 9 meshes with a pinion gear 10, and the pinion gear 10 is attached to the output shaft of a drive motor M2 provided within the telescopic arm 8.

Due to this rotation of the drive motor tag, the C-shaped arm I rotates in the body axis direction of the subject M together with the arm holder 4.

Note that the symbol R2 is a rotary encoder that detects the rotation direction and amount of rotation between the drive motors.

In addition, the above-mentioned telescopic arm 8 extends and contracts in the vertical direction perpendicular to the body axis of the subject M, and the rL-shaped rotating arm 1
It is held at the lower end of 1. The other end of the rotating arm 11 is fixed to a rotating body 12, and the rotating body 12 is attached to a rotating base 13 fixed to the ceiling wall of the examination room where the X-ray fluoroscopic imaging device is installed. Rotate. This rotating body 12
The old drive motor rotates the , and R3 is the rotating body 1.
By detecting the direction and amount of rotation of C.
This is a low-resolution encoder as a position detection means for detecting the position of the subject M of the arm I in the surrounding space.

As explained above, is the C-shaped arm 1 a drive motor? I3
It is configured to rotate around the body axis of the subject M and in the body axis direction by the drive motor 2 and the drive motor gate 2.

The control system for controlling each of the above rotations is constructed as shown in FIG.

Note that in this figure, the X-ray fluoroscopic imaging device is simplified in illustration.

In the figure, reference numeral 20 is an operation panel as an input means equipped with a plurality of switches for instructing each rotation direction and rotation angle of the C-shaped arm 1, and 2] is an input means for inputting switch signals from the operation panel 20. CP as a rotation control unit that controls the rotation direction and rotation angle of the drive motor M1 and the drive motor H2.
Reference numeral U, 22 is a display panel serving as a display or display means for displaying the rotation direction and rotation angle to inform the operator.
When the C-shaped arm 1 rotates in the LA and O directions, a display section labeled LAO is lit up, and the rotation angle at that time is displayed on the digital panel section. Reference numeral 23 denotes a display control section as a display control means for switching the display on the display panel 22 and the like. In addition, MDl and MD2 are CPU21
This is a motor drive circuit that rotationally drives each drive motor M2 in response to a command signal from the motor drive circuit. Further, the motor drive circuit MD3 is configured to rotationally drive the drive motor old in response to the operation signal from the operation i20.

Next, regarding the operation of the embodiment device described above, the CPU 21
The flowchart in Fig. 4 and Fig. 5 show the operation flow of
This will be explained with reference to FIGS.

- As an example, move the C-shaped arm 1 to 60°CI in the LAO direction?
A case of rotating 30'' in the ANIAL direction will be explained.

In this explanation, the C-shaped arm 1 moves to three locations on the left side, right side, and head side of the subject M, and
Fluoroscopic imaging shall be performed. Furthermore, when the C-shaped arm 1 is located in the space on the left side of the subject M (see FIG. 5(a)), the C-shaped arm 1 rotates in accordance with the instructed rotation direction, as explained in the conventional example. Since it rotates, this position is taken as the initial position of the C-shaped arm 1.

First, when the operator operates the switch provided on the operation panel 20 and instructs the rotation direction and rotation angle of the C-shaped arm 1, such as -60° in the LAO direction and -30° in the CRANIAL direction, the CPU 21 inputs this operation switch signal (step Sl). Determine whether the input operation switch signal is an ON signal (step 52
) If the result of the determination is that it is not an ON signal, it is assumed that an operation to instruct the C-shaped arm 1 to stop rotating is performed, and the process proceeds to step S.
3, a stop signal is output to each motor drive circuit MDI, MD2 to stop the C-arm 1. In this example, LAO direction -60'', CRAtJrAL direction -
30', the ON signal is inputted in step S2, and the process proceeds to the next step S4.

Step S4: The rotation angle of the rotating body 12 detected by the rotary encoder R3 is input.

Step S5: It is determined whether the C-shaped arm 1 is located in the space on the left side of the subject M based on the rotation angle read in step S4.

As mentioned above, when the initial position of the C-arm l is set to the left side of the subject M, for example, the rotary encoder R
By determining whether the rotation angle of 3 is 0°, C
It is determined whether the shaped arm 1 is located in the space to the left of the subject M.

As a result of the determination, if the C-shaped arm 1 is installed at the initial position, each motor drive circuit Mold and l'lD2 is set to rotate the C-shaped arm 1 in the rotation direction and rotation angle input in step Sl. A rotation command signal is output (step S6). This causes the C-arm 1 to rotate by 60 degrees in the LAO direction and 306 degrees in the CRANIAL direction.

If it is determined in step S5 that the C-shaped arm 1 is not located on the left side of the subject M, then it is determined whether the C-shaped arm 1 is located on the right side of the subject M. (Step 37). As before, this determination is also made based on the rotation angle of the rotation body 12 detected by the low-resolution encoder R3, and for example, whether or not the rotation angle is 180° can be used as a criterion.

As a result of the determination, if the C-shaped arm 1 is located in the space on the right side of the subject M, the rotation direction input in step S1 is reversed (step S8).

Then, a command signal corresponding to the reversed rotation direction and the rotation angle input in step S1 is sent to each motor drive circuit M1. It is output to M2 (step S9).

As a result, the C-shaped arm 1 has the L shape shown in FIG.
It rotates not in the AO direction but in the opposite RAO direction (the direction indicated by the dotted line in the figure). That is, as shown in FIG. 6(a),
When the C-shaped arm 1 is located on the right side of the subject M,
The C-arm 1 rotates 60' in the LAO direction, apparently upwards. Similarly, regarding rotation in the body axis direction, the C-shaped arm 1 is not rotated in the CRANIAL direction as shown in FIG. 5(b).
Since it rotates in the CAUDAL direction indicated by the dotted line in the figure, when it is located on the right side of the subject M, the C-shaped arm 1 will apparently rotate upward by 30° in the CRANTAL direction. In this way, when the C-shaped arm 1 is located on the opposite side from the initial position, by rotating it in the opposite direction, it will apparently rotate in the input rotation direction.

Further, in step S7, the C-shaped arm 1
If it is determined that the object is not located on the right side of the head, it is determined that the object is located on the remaining cranial side. C-shaped arm 1
is located on the head side of the subject M, the rotation around the body axis of the subject M in the initial position corresponds to the rotation in the body axis direction, and the rotation in the body axis direction corresponds to the rotation around the body axis. Corresponds to the rotation of Therefore, when a rotation instruction about the body axis in the LAO direction is input, this rotation is converted to the CAUDAL direction at the initial position (the position in Figure 5 (a)), and a rotation instruction in the CRANIAL direction is input. Then, this rotation is converted into the LAO direction at the initial position (step 510).

Then, a command signal corresponding to the converted rotation direction and the rotation angle input in step S1 is sent to each motor drive circuit M1. Output to M2 (step 511).

As a result, the C-shaped arm 1 appears upward and moves 6 in the LAO direction.
0°, rotate 30° in the CRANrAL direction.

As described above, when the C-shaped arm I is located in the right side space and head space of the subject M, the rotation direction input by the surgeon is switched, but at this time, the drive motor A rotary encoder R1 and a rotary encoder R2 provided on the motor 2 detect the rotational direction of the C-arm 1 that has been switched. and display panel 22
The detected rotation direction is displayed. In this case,
The displayed rotation direction will be different from the input rotation direction, leading to confusion for the operator. The display control unit 23 solves this problem, and the display control unit 23 is configured to control the CP
LJ2] controls display switching on the display panel 22 so as to display the rotation direction input in step Sl.

In the above-described embodiment, an X-ray fluoroscopic imaging apparatus having a structure in which the C-shaped arm 1 is suspended from the ceiling was used as an example, but the C-shaped arm 1 is installed on the floor and the surroundings of the subject M are The same applies to a rotating X-ray fluoroscopic imaging device, and the present invention can be applied thereto.

Effects of the G9 Invention As is clear from the above explanation, the X-ray fluoroscopic imaging device according to the present invention detects the position of the C-shaped arm around the subject, and based on this detection signal, detects the position of the C-shaped arm. Since the rotation direction is controlled, the C-arm will rotate in the rotation direction input by the operator, regardless of whether the C-arm is located on the right side, left side, or head side of the subject. be able to.

Furthermore, even if the direction of rotation of the C-arm is changed for this purpose, the display control means controls the display means to display the input rotation direction, regardless of the actual rotation direction of the C-arm. First, the direction of rotation as entered by the operator is displayed.

In this way, even if the operator changes the position of the C-arm to suit his or her needs during diagnosis, the C-arm can be rotated in the direction desired by the operator and displayed. Therefore, X-ray fluoroscopic imaging can be performed in a convenient condition for the operator.

[Brief explanation of the drawing]

Figures 1 to 4 relate to embodiments of the present invention; the first is a perspective view showing a schematic configuration of an X-ray fluoroscopic imaging device, and the second is a rotation mechanism of a C-shaped arm. Partially broken plane area,
FIG. 3 is a schematic block diagram showing the control system of the apparatus, and FIG. 4 is a flowchart showing the processing flow of the CPU. Further, FIGS. 5 to 7 each show a plan view of a C-shaped arm according to a conventional example.

Claims (1)

[Claims] (1) Move the C-shaped arm that supports the X-ray tube and the X-ray image intensifier facing each other along the circumference of the subject lying supine on the bed, and rotate it in the direction and around the body axis of the subject. In an X-ray fluoroscopic imaging apparatus that performs X-ray fluoroscopic imaging from multiple directions by moving the C-arm, an input means for inputting a rotation direction and a rotation angle of the C-shaped arm; a display means for displaying the moving angle;
a position detecting means for detecting the position of the C-shaped arm around the subject, and a C-shaped arm that detects the position of the C-shaped arm so that the rotating direction of the C-shaped arm coincides with the inputted rotating direction based on the detection signal of the position detecting means. a rotation control means for controlling the rotation direction of the C-shaped arm and also for controlling the rotation of the C-shaped arm according to an input rotation angle; and a display means for displaying the input rotation direction. An X-ray fluoroscopic imaging apparatus comprising: a display control means for controlling.