JPH04341244A - X-ray diagnostic device - Google Patents

Abstract

PURPOSE:To exactly position the X-ray generating part in the X-ray image receiving part without being accompanied with cost-up. CONSTITUTION:The device is provided with a light projecting means 9 being movable integrally with an X-ray generating part 4, and a photodetecting means 10 which detects light from this light projecting means 9 and can move integrally with an X-ray image receiving part 2, and when an aligment error is detected by the photodetecting means 10, a signal for correcting this shift amount is fed back to a driving means 8. Subsequently, by driving a holding device 5 by the driving means 8, the control is executed so that the X-ray generating part 4 is moved to such a desirable position as the shift amount becomes zero.

Description

[Detailed description of the invention]

[Purpose of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an X-ray diagnostic apparatus in which an X-ray generating section and an X-ray image receiving section are disposed facing each other while maintaining a predetermined positional relationship.

0002

2. Description of the Related Art A structure as shown in FIG. 15 is known as a type of X-ray diagnostic apparatus. 1 is an up/down bed device on which the subject lies, and an I. I. An X-ray image receiving section 2 such as an image intensifier (image intensifier), film, etc. is disposed, and an X-ray tube and an X-ray aperture device (hereinafter referred to as an X-ray generating section) 4 are disposed in the upper part opposite to this. The X-ray image receiving section 2 and the X-ray generating section 4 are supported by support mechanisms 20, 2.
1 and is incorporated into the bed device 1 in a state of being mechanically and integrally connected. This allows the X-ray image receiving section 2 and
Since the relative positional relationship with the X-ray generating section 4 does not change, the X-rays generated from the X-ray generating section 4 are always irradiated to a predetermined position of the X-ray image receiving section 2.

[0003] As described above, this type of apparatus is constructed so that the X-ray generating section 4 and the X-ray image receiving section 2 always maintain a predetermined positional relationship. X-rays may protrude from the X-ray image receiving section 2,
It has the advantage that part of the line image will not be missing.

However, this type of apparatus has a structure in which the X-ray generating section 4 and the X-ray image receiving section 2 are integrated via the support mechanisms 20 and 21, so that there is no freedom around the subject. There is a drawback that space is restricted and the range in which doctors, attendants, etc. can get close to the subject is narrowed.

Therefore, in order to eliminate the above-mentioned drawbacks, an X-ray diagnostic apparatus has been provided in which the X-ray generating section 4 is separated from the X-ray image receiving section 2 and is held by, for example, a ceiling-type X-ray tube holding device. It has reached the point where In this type of apparatus, it is necessary to position the X-ray generating section 4 on the X-ray image receiving section 2 each time.

FIGS. 12 and 13 show an X-ray tube in which the X-ray generating section is held by a ceiling-type X-ray tube holding device.
FIG. 12 is a configuration diagram showing a radiation diagnostic apparatus, in which FIG. 12 shows the structure as viewed from the side of the subject 16, and FIG. 13 shows the structure as seen from the direction perpendicular to the side of the subject 16. An X-ray image receiving section 2 and a position detecting means 3 are incorporated in the lower part of the up/down bed device 1 on which the subject 16 lies.

The position detecting means 3 detects, for example, the tilting angle θ1 of the bed device 1 and the relative position of the X-ray image receiving section 2 within the bed device 1, for example, the distance L from the end 1A to the center E. . Further, a selector 15 is provided, and this selector 15
is normally operated by an operator to transmit X-rays from the X-ray image receiving section 2
The distance S to the line focal point position F0 and the incident angle θ2 of the X-rays to the X-ray image receiving section 2 are selected.

Reference numeral 7 denotes a calculation means which determines the position F where the focus of the X-rays should be placed, that is, the X-ray image receiving section 2, based on the information θ1 and L from the position detection means 3 and the information S and θ2 from the selector 15. In contrast, an X-ray generating section 4, which will be described later, determines a position to be positioned while maintaining a predetermined positional relationship. Arithmetic means 7
First, the coordinates (X1, Y1, Z1) of the center E of the image receiving part of the X-ray image receiving part 2 are determined based on the information θ1 and L. The coordinate center O is selected at an appropriate position. Next, the coordinates E(X1,
If the X-ray generator 4 is moved by a distance S in the direction determined based on the angles θ1 and θ2 from Y1, Z1), the coordinates F(X2
, Y2, Z2) will be obtained. Next, from the angles θ1 and θ2, the angle θ that the X-ray generating section 4 should face is determined.
3 will be found. The information F (X2, Y2, Z2) and θ3 obtained in this way are sent to the driving means 8, which will be described later.

The driving means 8 drives the holding device 5, which will be described later, based on the information F (X2, Y2, Z2) and θ3 sent from the calculation means 7, and moves the X-ray generating section 4 to the X-ray position as described above. It is moved to the position F where it should be positioned on the line image receiving section 2. This control operation is also performed in consideration of information F'(X2',Y2',Z2') and θ3' fed back from the position detecting means 6, which will be described later. Note that 22 is a bed holding section.

Reference numeral 5 denotes a ceiling-type X-ray tube holding device (hereinafter referred to as the holding device) which is attached to the ceiling 16 and has a support rail 23 movable in the A direction and a support rail 24 movable in the B direction.
, a column 25 that is extendable and retractable in the C direction (vertical direction), and an X-ray tube 4 is connected to the tip of this column 25 via a support arm 26.
' and an X-ray diaphragm 4'' are held together, and the X-ray generating unit 4 is rotatable in the direction D by the rotation mechanism of the support arm 26. The movement in the D direction is driven by a plurality of drive means (not shown) each composed of a motor, a chain mechanism, a motor control circuit, etc. The holding device 5 is also provided with a position detection means 6, and the movement in the A direction is A direction position detector 27, B consisting of a wire 27A for position detection and a winding mechanism 27B
Wire 28A and winding mechanism 28B for detecting position in direction
A B direction position detector 28 consisting of a C direction position detector 28 consisting of a wire 29A and a winding mechanism 29B for detecting a position in the C direction, and a gear 3 for detecting a rotational position in the D direction.
The D-direction position detector 30 includes a rotation angle detection mechanism 30B and a rotation angle detection mechanism 30B. Each of these position detectors 27 to 30
The coordinates F'(X1',
Y1', Z1') and direction θ3' are determined and fed back to the driving means 8.

Next, the operation of the apparatus having the above structure will be explained with reference to FIG. The information θ1 and L detected by the position detection means 3 and the information S and θ2 selected by the selector 15 are sent to the calculation means 7.
calculates information θ3 and F based on this information. Then, using this information θ3 and F, the driving means 8 is controlled to drive the holding device 5 and move the X-ray generating section 4 to the position F where it should be positioned on the X-ray image receiving section 2 as described above. conduct.

The result of this control is always the current position information F'(X2',Y2',Z2') and θ3 from the position detecting means 6.
' is fed back to the driving means 8, so that the driving means 8 receives the previous and subsequent information F(X2, Y2, Z2
) and F'(X2',Y2',Z2'), and θ3 and θ3', and if there is a difference between the information based on this, the X-ray generator 4 is controlled to move closer to the position F. perform an action.

As a result, no matter what angle the bed device 1 is at, no matter what position the X-ray generator 4 is,
The desired position F and direction θ3 of the X-ray generating section 4 are calculated, and the X-ray generating section 4 is finally moved to a desired position F and positioned on the X-ray image receiving section 2.

[0014]

[Problems to be Solved by the Invention] However, in such conventional X-ray diagnostic equipment, there are unavoidable position fluctuation factors in the holding device and bed device that hold the X-ray generating section. There is a problem in that it is difficult to accurately position the X-ray generating section to the X-ray image receiving section.

In other words, since there are unavoidable factors such as deformation and rattling in each component of the holding device and the bed device, the detection signals obtained from the respective position detection means 3 and 6 have slight variations. It contains some errors. For this reason, the position of the X-ray generating section 4 is shifted from the original position, and as a result, it is possible to avoid deviations in the accuracy (alignment accuracy) of the incident from the X-ray generating section 4 to the predetermined position of the X-ray image receiving section 2. It disappears.

Furthermore, the moving directions A, B, and C of the holding device 5 must be parallel to the coordinate axes X, Y, and Z, and therefore must be orthogonal to each other, but this relationship must be maintained. Because it is difficult to

Furthermore, in this structure in which the X-ray generating section 4 is separated from the X-ray image receiving section 2, a more accurate detection mechanism is required to obtain the same performance as a structure in which both are integrated, which increases costs. is unavoidable.

The present invention has been made in response to the above-mentioned problems, and provides an X-ray diagnostic apparatus that can accurately position an X-ray generating section to an X-ray image receiving section without increasing costs. The purpose is to [Structure of the invention]

[0019]

[Means for Solving the Problems] In order to achieve the above object, the present invention provides an arrangement in which an X-ray generating section and an X-ray image receiving section held by a holding means are arranged facing each other, and the X-ray generating section and the X-ray receiving section are arranged facing each other. An X-ray diagnostic apparatus in which an X-ray generating section is moved by a control means to maintain a predetermined positional relationship with the X-ray image receiving section via the holding means based on detection results of each position of the image receiving section.
A light projecting means provided in the ray generating section so as to move integrally therewith, and a light detecting means provided in the X-ray receiving section so as to move integrally therewith and detecting light from the light projecting means. and calculation means for determining the amount of positional deviation from the predetermined positional relationship based on the detection result of the light detection means and outputting a signal for correcting this positional deviation to the control means. It is something.

Another aspect of the present invention is that the X-ray generating section and the X-ray image receiving section held by the holding means are arranged facing each other,
X-ray diagnosis in which the X-ray generating section is moved by the control means to maintain a predetermined positional relationship with the X-ray image receiving section via the holding means based on the detection results of each position of the X-ray generating section and the X-ray image receiving section. In the apparatus, based on the output from the X-ray image receiving section,
a detection means for detecting a radiation irradiation range; and a calculation means for determining a positional deviation amount from the predetermined positional relationship based on the detection result of the detection means and outputting a signal for correcting this positional deviation amount to the control means. It is characterized by having the following.

[0021]

[Operation] The present invention detects the amount of positional deviation from a predetermined positional relationship between the X-ray generating section and the X-ray image receiving section, and then sends a signal for correcting this positional deviation to a control means including a driving means. Since the configuration is such that the X-ray generating section is moved to a predetermined positional relationship by the control means in response to feedback, the X-ray generating section can be accurately positioned in the X-ray image receiving section with a simple structure.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below with reference to the drawings.

FIG. 1 shows a first embodiment of an X-ray diagnostic apparatus according to the present invention, and shows the structure as viewed from a direction perpendicular to the side surface of a subject. Note that the structure seen from the side of the subject is similar to the conventional structure shown in FIG. A position detecting means 3 is incorporated together with an X-ray image receiving section 2 in the lower part of the up/down bed device 1 on which the subject 16 lies. The position detection means 3 is shown in Figure 12.
Similarly, for example, the tilting angle θ1 of the bed device 1 and the relative position L of the X-ray image receiving section 2 within the bed device 1 are detected. In addition, the selector 15 selects the distance S from the X-ray image receiving unit 2 to the X-ray focal position F0 and the incident angle θ2 of the X-rays to the X-ray image receiving unit 2.
Select.

The calculation means 7 calculates the information θ1 and L, S and θ
2, the position F where the X-ray focal point should be placed, that is, the position where the X-ray generating section 4, which will be described later, should be positioned while maintaining a predetermined positional relationship with respect to the X-ray image receiving section 2 is determined. First, the calculation means 7 calculates the coordinates E (X1, Y1, Z1) of the image receiving center E of the X-ray image receiving section 2 based on the information θ1 and L, and then calculates the angle θ1 from the coordinates E (X1, Y1, Z1).
The X-ray generator 4 is moved by a distance S in the direction determined based on Next, the angle θ3 to which the X-ray generating section 4 should be oriented is determined from the angles θ1 and θ2. These pieces of information F and θ3 are sent to drive means 8, which will be described later.

The driving means 8 receives information F(X2, Y2, Z
2) and θ3, by driving the holding device 5, which will be described later.
The X-ray generating section 4 is moved to the position F where it is to be positioned on the X-ray image receiving section 2 as described above. Moreover, this control operation is performed using information F'(
X2', Y2', Z2') and θ3' are also considered. Furthermore, in this embodiment, this control operation is performed using information ΔX2, ΔY2, ΔZ sent from the calculation means 11, which will be described later.
2 and Δθ3 are also considered.

The ceiling-type X-ray tube holding device (holding device) 5 is attached to the ceiling 16 and includes a support rail 23 movable in the A direction, a support rail 24 movable in the B direction, and a support rail 24 movable in the C direction (vertical direction). It is equipped with an extensible column 25. Pillar 25
At the tip of the support arm 26, an X-ray generating section 4 consisting of an integrated X-ray tube 4' and an X-ray aperture device 4'' is held. The mechanism allows rotation in the D direction.

The holding device 5 is provided with a position detecting means 6, which includes an A direction position detector 27 consisting of a wire 27A for detecting the position in the A direction and a winding mechanism 27B, and a wire detecting means 6 for detecting the position in the B direction. 28A and a winding mechanism 28B, a C direction position detector 29 consisting of a wire 29A and a winding mechanism 29B that detects the position in the C direction, and a gear 30A that detects the rotational position in the D direction. and a rotation angle detection mechanism 30B.
It is equipped with Each of these position detectors 27 to 30 detects the coordinates F'(X1',Y2', Z2) of the current position of the X-ray generating section 4.
') and direction θ3' are determined and fed back to the driving means 8.

Reference numeral 9 denotes a light projecting means, which is comprised of, for example, a laser projector that emits a single spot light, and is fixed to the support arm 26 so as to be movable together with the X-ray generating section 4. The projected image of the light projecting means 9 is not limited to the above-mentioned single spot light, but may have various shapes such as a spot shape, a circular shape, a cross shape, a rectangular shape, and the like.

Reference numeral 10 indicates an X-ray image receiving section 2 corresponding to the light projecting means 9.
A light detection means integrally movably fixed by a connecting member 19 detects the light incident from the light projecting means 9. The photodetecting means 10 is composed of a plurality of photosensors 32 arranged in a grid pattern in two-dimensional directions Q and R, as shown in FIG. 2, for example. This detection means 10 detects that when there is no alignment error between the X-ray generating section 4 and the X-ray image receiving section 2, the laser beam from the light projecting means 9 is incident on a position P (0, 0) approximately in the center of the photosensor 32. adjusted so that As a result, at a certain point in time the position P'(Q1,
When the laser beam is incident on R1), it is detected that the alignment is deviated by a distance of Q1 and R1, respectively, from a reference position P that has been adjusted in advance. This detection result is sent to calculation means 11, which will be described later.

Reference numeral 11 denotes a calculation means that calculates the amount of alignment deviation from the reference position P based on the detection result from the light detection means 10, and performs each correction in the A direction to D direction necessary to correct this deviation amount. Movement amount ΔX2, ΔY2, ΔZ
2, Δθ3 is calculated and sent to the driving means 8.

Next, the operation of this embodiment will be explained with reference to FIG. The information θ1 and L detected by the position detection means 3 and the information S and θ2 selected by the selector 15 are sent to the calculation means 7, and the calculation means 7 calculates the information θ3 and F based on these information. . And this information θ
3 and F to drive the holding device 5 with respect to the driving means 8 and control the X-ray generating section 4 to move to the position F where it should be positioned on the X-ray image receiving section 2 as described above.

The result of this control is always the information F'(X2',Y2',Z2') and θ at the current position from the position detecting means 6.
3' is fed back to the driving means 8, so that the driving means 8 receives the previous and subsequent information F(X2, Y2, Z
2) and F'(X2', Y2', Z2'), and θ
3 and θ3', and if there is a difference between the front and rear information based on this, a control operation is performed to bring the X-ray generating section 4 closer to the position F.

Further, the driving means 8 is supplied with information from the calculation means 11 in directions A to D necessary for correcting the amount of alignment deviation.
Each corrected movement amount in the direction ΔX2 , ΔY2 , ΔZ2 , Δ
Since the information of θ3 is sent, the driving means 8 takes this information into consideration and drives the holding device 5 as described above to move the X-ray generating section 4. As a result, the X-ray generating section 4 is controlled to always move so that the amount of misalignment is corrected.

As described above, according to this embodiment, the holding device 5
Even if alignment errors occur due to unavoidable positional fluctuation factors such as deformation or rattling in the bed or bed device 1, these alignment errors are detected and the holding device 5 is always driven in anticipation of these errors. The X-ray generating section 4 can be accurately positioned on the X-ray image receiving section 2. Moreover, the configuration for this purpose is simply to provide the light projecting means 9 in the X-ray generating section 4 and the light detecting means 10 in the X-ray image receiving section 2.
Since a highly accurate detection mechanism is not required, it can be realized without increasing costs.

FIG. 4 shows a second embodiment of the present invention, in which I. I. , a TV camera, a TV monitor, etc., an image processing means 13 for determining the X-ray irradiation field edge from the video signal of the fluoroscopic imaging device 12, and an X-ray irradiation field edge determined by the image processing means 13. This shows an example of a configuration including a calculation means 14 for calculating the correction amount of the position of the holding device 5 from the position information of the holding device 5. The fluoroscopic imaging device 12 is incorporated into the X-ray image receiving section 2 shown in the first embodiment, and assembled so that their centers coincide.

FIGS. 5 to 11 show the principle of determining the edge of the X-ray irradiation field by the image processing means 13. The effective field of view 34 of the fluoroscopic imaging device 12 is normally circular as shown in FIG. Therefore, the boundary between the area where X-rays are not incident and the area where X-rays are incident is linear, so if the boundary where the video signal does not change is found, this will be the edge 33 of the X-ray irradiation field.

If the distance r of the position of the X-ray irradiation field edge 33 from the center O is known, the position of the X-ray generating section 4 can be controlled according to this position by the following method. Note that although the following description will be made regarding only the R direction, the same applies to the Q direction as well. (1) When the X-ray irradiation field 35 circumscribes the effective field of view 34 of the fluoroscopic imaging device 12 or is smaller than that (Fig. 6
)

In this case, after determining the distances r1 and r2 from the center O of the position of each X-ray irradiation field edge 33 in FIG.
The position of the X-ray generating section 4 is corrected so that (2) When the X-ray irradiation field 35 is larger than the circumscribed shape of the effective field of view 34 of the fluoroscopic imaging device 12 (FIG. 8)

In this case, as a first step, by moving the X-ray generating section 4, one of the X-ray irradiation field edges 33 is found as shown in FIG. Next, as the second step, Figure 1
The X-ray generating section 4 is moved so as to find the X-ray irradiation field edge 33 on the opposite side as shown in FIG. Finally, as the third step, Figure 11
The position of each irradiation field edge 33 is equidistant r4 from the center O as shown in FIG.
The position of the X-ray generating section 4 is corrected so that In this case, since each distance on the perspective imaging device 12 does not necessarily match the actual distance, the actual distance is determined by multiplying by a necessary coefficient. In this second embodiment, as in the previous embodiment, it is possible to accurately position the X-ray generating section 4 on the X-ray image receiving section 2 without increasing costs.

As a modification of this embodiment, the above (2)
When the X-ray irradiation field 35 is larger than the circumscribed shape of the effective field of view 34 of the fluoroscopic imaging device 12, as shown in FIG.
When performing position correction, the effective field of view 34 is automatically narrowed down by the X-ray diaphragm device 4'' rather than the circumscribed shape. This eliminates the need for the three-step operation as described above, and only the first step is performed. Since the position of the X-ray generating section 4 can be corrected in this manner, the control operation can be simplified.

[0041] In the present invention, the holding device for holding the X-ray generating section is shown as being attached to the ceiling, but the holding device is not limited to this and may be attached so as to run on the wall surface. In short, it is sufficient if the structure is such that the X-ray generating section is separated from the X-ray image receiving section.

[0042]

[Effects of the Invention] As described above, according to the present invention, alignment errors based on unavoidable position fluctuation factors existing in each structure are detected with a simple configuration, and the holding device is adjusted in anticipation of this. Since the X-ray generating section is corrected so as to be driven and moved to the original position, the X-ray generating section can be accurately positioned on the X-ray image receiving section without increasing costs.

[Brief explanation of the drawing]

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

FIG. 2 is a plan view showing an example of the configuration of a photodetecting means used in the apparatus of this embodiment.

FIG. 3 is a block diagram illustrating the operation of the device of this embodiment.

FIG. 4 is a block diagram showing a second embodiment of the present invention.

FIG. 5 is a schematic diagram illustrating the operating principle of the second embodiment device.

FIG. 6 is a schematic diagram illustrating the operating principle of the second embodiment device.

FIG. 7 is a schematic diagram illustrating the operating principle of the second embodiment device.

FIG. 8 is a schematic diagram illustrating the operating principle of the second embodiment device.

FIG. 9 is a schematic diagram illustrating the operating principle of the second embodiment device.

FIG. 10 is a schematic diagram illustrating the operating principle of the second embodiment device.

FIG. 11 is a schematic diagram illustrating the operating principle of the second embodiment device.

FIG. 12 is a configuration diagram showing a conventional device.

FIG. 13 is a configuration diagram showing a conventional device from a direction perpendicular to FIG. 12;

FIG. 14 is a block diagram illustrating the operation of a conventional device.

FIG. 15 is a perspective view showing another example of the configuration of the conventional device.

[Explanation of symbols]

1 Lifting bed device 2 X-ray image receiving section 3, 6 Position detection means 4 X-ray generation section (X-ray tube and X-ray aperture device) 5 Holding device (ceiling type X-ray tube holding device) 7, 11, 14 Calculating means 8 Drive means 9 Light projection means 10 Light detection means 12 Transparent imaging device 13 Image processing means 19 Connecting members 27, 28, 29, 30 Position detector 32 Photo sensor 33 X-ray irradiation field edge 34 Effective field of view 35 X-ray incident range

Claims (2)

[Claims] Claim 1: An X-ray generating section and an X-ray image receiving section held by a holding means are disposed facing each other, and the X-ray In an X-ray diagnostic apparatus in which a ray generating section is moved so as to maintain a predetermined positional relationship with an X-ray image receiving section via the holding means, a light emitting light provided on the X-ray generating section so as to move integrally therewith. means, a light detecting means which is provided in the X-ray receiving section so as to move integrally therewith and detects the light from the light emitting means, and a light detecting means that detects the light from the predetermined positional relationship based on the detection result of the light detecting means. An X-ray diagnostic apparatus characterized by comprising: arithmetic means for determining the amount of positional deviation and outputting a signal for correcting the amount of positional deviation to the control means. 2. An X-ray generating section and an X-ray image receiving section held by the holding means are disposed facing each other, and the X-ray In an X-ray diagnostic apparatus in which a ray generating section is moved so as to maintain a predetermined positional relationship with an X-ray image receiving section via the holding means, an X-ray irradiation range is detected based on an output from the X-ray image receiving section. and calculating means for determining the amount of positional deviation from the predetermined positional relationship based on the detection result of the detection means and outputting a signal for correcting the amount of positional deviation to the control means. X-ray diagnostic equipment.