JPH0673520B2 - X-ray fluoroscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application This invention relates to X-ray fluoroscopic imaging of a subject from multiple directions.
The present invention relates to a fluoroscopic imaging apparatus.

B. Prior Art Conventionally, as an X-ray fluoroscopic imaging apparatus of this type, an X-ray tube and an X-ray image intensifier are attached so as to face each other at both ends of a C-arm arranged so as to sandwich a subject. There is something. When performing fluoroscopic imaging of the circulatory system using such an apparatus, the following functions are provided so that fluoroscopic imaging and imaging from multiple directions are possible.

(1) With the function of rotating the C-shaped arm around the body axis of the subject, the LAO (left front oblique) direction, which is the rotation direction to the left when viewed from the head side of the subject, and to the right opposite It is a function to rotate in the RAO (right front oblique) direction which is the rotation direction of.

(2) It is a function of rotating along the body axis of the subject, and is a function of rotating in the CRANIAL direction, which is the direction of rotation of the subject toward the head, and the CAUDAL direction, which is the direction of rotation toward the foot.

In addition, a function of rotating the C-arm along the circumference of the subject is provided so that the C-arm does not interfere with the examination and treatment by the operator. For example, on the left side of the subject. C-shaped arms are located in the surrounding spaces on the right side and the head side, and X-ray fluoroscopic imaging of the subject can be performed from the respective positions.

Further, this type of X-ray fluoroscopic imaging apparatus is usually provided with a function of displaying each of the rotating directions and a display of a rotating angle so that confirmation can be performed when performing fluoroscopic imaging.

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

That is, as shown in FIG. 5 (a), when the C-shaped arm 1 is located in the left space as seen from the head side of the subject M, the C-shaped arm 1 is moved in the LAO direction (FIG. 5 (a)). When it is instructed to rotate in the counterclockwise direction in FIG. 2) and the CRA direction (counterclockwise in FIG. 7B), the C-arm 1 rotates in the LAO direction and the CRA direction as instructed, but
As shown in the figure (a), when the C-arm 1 is located in the right space of the subject M, if the C-arm 1 is instructed in the same direction (LAO direction) as before, the C-arm 1 1 rotates toward the right side of the subject M. This apparently rotates in the RAO direction contrary to the instruction. Further, when a rotation instruction in the CRANIAL direction is given as shown in FIG. 6B, the C-shaped arm 1 rotates toward the foot side of the subject M, so that it apparently rotates in the CAUDAL direction. This is a switch for instructing a rotation direction and a rotation direction of the C-arm 1 (C-arm 1
This may occur because the rotation directions of the motors (not shown) for rotating the motors are always the same, and it occurs as a result of conventionally not considering the position of the C-shaped arm 1 (the position of the subject M in the surrounding space). It is inconvenient. Further, as shown in FIG. 7 (a), when the C-shaped arm 1 is positioned in the head side space of the subject M, a rotation instruction in the LAO direction shown in FIG. Arm 1 looks like CRANIAL
When it is rotated in the direction (head side of the subject M) and a rotation instruction in the CRANIAL direction is given, it is rotated in the RAO direction (right side of the subject M) (see (b) in the figure). Thus, depending on the position of the C-shaped arm 1, the actual rotation direction of the C-shaped arm 1,
Since the designated rotation direction does not coincide with the designated rotation direction, it may cause confusion in diagnosis by X-ray fluoroscopy / radiography, which is not preferable.

The present invention has been made in view of such circumstances, and is to rotate the C-shaped arm in the rotation direction instructed by the operator and display the rotation direction regardless of the position of the C-shaped arm. It is an object of the present invention to provide an X-ray fluoroscopic imaging device capable of performing the above.

D. Means for Solving the Problems The present invention has the following configuration in order 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 supporting the line image intensifier in opposition to each other is moved along the circumference of the subject lying on the bed, and is rotated about the body axis direction of the subject and around the body axis, and In an X-ray fluoroscopic imaging apparatus for performing X-ray fluoroscopy, input means for inputting a turning direction and a turning angle of the C-arm, and display means for displaying the turning direction and the turning angle of the C-arm. Position detecting means for detecting the position of the C-arm around the subject,
Based on the detection signal of the position detecting means, a rotation direction determining means for determining the rotation direction of the C-shaped arm so that the rotation direction of the C-shaped arm coincides with the input rotation direction. C depending on the input rotation angle
Rotation control means for controlling the rotation of the shaped arm and display control means for controlling the display means to display the input rotation direction are provided.

E. Operation The operation of the X-ray fluoroscopic imaging apparatus of the present invention is as follows.

First, the operator inputs information about the rotation direction and rotation angle of the C-arm corresponding to the desired X-ray imaging direction from the input means. The input information is sent to the turning direction determining means and the turning control means. The rotation direction determining means determines the position of the C-arm around the subject from the detection signal of the position detecting means, and based on the result of this determination, the rotation direction of the C-arm is the input rotation direction. The rotation direction of the C-arm is determined so as to coincide with. Then, the rotation control means controls the C-arm to rotate in the rotation direction determined by the rotation direction determination means according to the input rotation angle.

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

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

F. Embodiment Hereinafter, an embodiment of the present invention will be described with reference to 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 drawings, reference numeral 1 is a C-shaped arm similar to FIGS. 5 to 7 which is an explanatory view of a conventional device. C-shaped arm 1
The subject M is placed in a space around the subject M in a state of being suspended from the ceiling wall so as to sandwich the subject M. An X-ray tube 2 and an X-ray image intensifier 3 are supported on both ends of the C-arm 1. As described in the description of the prior art, the C-shaped arm 1 is rotatable about the body axis of the subject M and in the body axis direction, and is further configured to rotate in the space around the subject M. It is configured. Next, the rotating mechanism will be described with reference to FIG.

First, the rotation of the C-arm 1 around the body axis of the subject M (LAO
Direction and RAO direction) is realized by the drive mechanism in the arm holder 4 holding the C-shaped arm 1. A part of a belt (or a chain) 5 having both ends fixed to the C-shaped arm 1 is housed in the arm holder 4, and the belt 5 is spanned by a driving roller 6.
A drive motor M1 for rotating the drive roller 6 and a rotary encoder R1 for detecting the rotation direction and the rotation amount of the drive motor M1 are provided in the arm holder 4 (however, in the drawing, the rotary encoder R1 is provided outside the arm holder 4). Shown). The rotation of the drive motor M1 causes C through the belt 5.
The shaped arm 1 rotates about the body axis of the subject M. Reference numeral 7 is a guide roller for guiding the belt 5 to the drive roller 6.

Rotation of the C-shaped arm 1 in the body axis direction of the subject M (rotation of the subject M in the head side-CRA direction and the foot side-CAU direction) rotates the arm holder 4 in the body axis direction of the subject M. It is realized by moving. A base portion of the arm holder 4 (an end portion on the opposite side holding the C-shaped arm 1) is rotatably supported by a side surface portion of the telescopic arm 8, and a gear 9 is fixed near the supporting surface. ing. The gear 9 is meshed with the pinion gear 10,
The pinion gear 10 is attached to the output shaft of a drive motor M2 provided in the telescopic arm 8. Due to the rotating action of the drive motor M2, the C-shaped arm 1 rotates in the body axis direction of the subject M together with the arm holder.

Reference numeral R2 is a rotary encoder that detects the rotation direction and the rotation amount of the drive motor M2.

Further, the above-mentioned telescopic arm 8 extends and contracts in the vertical direction orthogonal to the body axis of the subject M, and has an "L" -shaped rotating arm 11.
Is held at the lower end of. The other end of the rotating arm 11 is fixed to the rotating body 12, and the rotating body 12 is fixed to the ceiling wall of the examination room in which the X-ray fluoroscopic apparatus is installed.
Rotate with 13 as the base. A drive motor M3 rotates the rotating body 12, and a position R3 detects the position of the C-shaped arm 1 in the surrounding space of the subject M by detecting the rotation direction and the rotation amount of the rotating body 12. It is a rotary encoder as a detection means.

As described above, the C-arm 1 is rotated by the drive motor M3 in the space around the subject M to drive the drive motor M1.
The drive motor M2 is configured to rotate around the body axis of the subject M and in the body axis direction.

A control system for controlling each rotation described above is configured as shown in FIG.

In this figure, the X-ray fluoroscopic imaging apparatus is simplified in illustration.

In the figure, reference numeral 20 is an operation panel as an input means having a plurality of switches for instructing each rotation direction and rotation angle of the C-arm 1, and 21 is a switch signal from the operation panel 20. , The rotation direction of the C-arm 1, that is, the rotation directions of the drive motor M1 and the drive motor M2 are determined, and C
A CPU (central processing unit) as a rotation direction determining means and a rotation control means for controlling the rotation direction and the rotation angle of the drive motor M1 and the drive motor M2 so as to rotate the shaped arm 1, and 22 is the rotation thereof. A display panel as a display means for displaying the direction and the rotation angle to inform the operator, for example, C
When the shaped arm 1 rotates in the LAO direction, the display section labeled LAO is turned on and the rotation angle at that time is displayed on the digital panel section. Reference numeral 23 is a display control unit as a display control means for switching the display of the display panel 22.
Note that MD1 and MD2 are motor drive circuits that rotationally drive the drive motors M1 and M2 in response to a command signal from the CPU 21. Further, the motor drive circuit MD3 is configured to rotationally drive the drive motor M3 by an operation signal from the operation panel 20.

Next, regarding the operation of the above-described embodiment apparatus, the flowchart of FIG. 4 showing the operation flow of the CPU 21 and FIG.
This will be described with reference to FIG.

As an example, a case where the C-shaped arm 1 is rotated by 60 ° in the LAO direction and 30 ° in the CRANIAL direction will be described.

In this description, the C-shaped arm 1 moves at three positions on the left and right sides and the head side of the subject M, and X-axis from each position is moved.
Fluoroscopic imaging shall be performed. Further, when the C-shaped arm 1 is located in the left space of the subject M (see FIG. 5 (a)), the C-shaped arm 1 moves in the designated rotational direction as described in the conventional example. Since it rotates, this position is the initial position of the C-arm 1.

First, when the surgeon operates the switches provided on the operation panel 20 to instruct the rotation direction and rotation angle of the C-shaped arm 1 such as LAO direction -60 ° and CRANIAL direction -30 °, CP
U21 inputs this operation switch signal (step S
1). It is determined whether the input operation switch signal is an ON signal (step S2). If the result of determination is that it is not an ON signal, it is determined that an operation to instruct rotation stop of the C-arm 1 has been performed, and the process proceeds to step S3, where a stop signal is output to each motor drive circuit MD1, MD2, and the C-arm Stop 1 In this example, LAO direction -60 °, CRANIAL direction -30 °
Is input, it is assumed that the ON signal is input in step S2, and the process proceeds to the next step S4.

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

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

As described above, when the initial position of the C-shaped arm 1 is set to the left side of the subject M, for example, the rotary encoder R3
It is determined whether the C-shaped arm 1 is located in the left space of the subject M by determining whether the rotation angle of is 0 °.

As a result of the judgment, when the C-arm 1 is installed at the initial position, the rotation command signals are sent to the motor drive circuits MD1 and MD2 so as to rotate the C-arm 1 in the rotation direction and the rotation angle input in step S1. Is output (step S6).
This allows the C-shaped arm 1 to move 60 ° in the LAO direction, CRANIAL
Rotate 30 ° in the direction.

When it is determined in step S5 that the C-shaped arm 1 is not located on the left side of the subject M, it is next determined whether the C-shaped arm 1 is located on the right side of the subject M. (Step S7). This judgment is also made by the rotation angle of the rotating body 12 detected by the rotary encoder R3, as in the above.
For example, whether or not the rotation angle is 180 ° can be used as a criterion.

As a result of the determination, when the C-shaped arm 1 is located in the right space of the subject M, the rotation direction input in step S1 is reversed (step S8). Then, a command signal corresponding to the reverse rotation direction and the rotation angle input in step S1 is output to each motor drive circuit M1, M2 (step S
9).

As a result, the C-shaped arm 1 is the LAO shown in FIG. 5 (a).
It rotates in the opposite RAO direction (the direction shown by the dotted line in the figure) instead of the direction. That is, as shown in FIG. 6A, when the C-shaped arm 1 is located on the right side of the subject M, the C-shaped arm 1 apparently rotates 60 ° in the LAO direction. Similarly, regarding the rotation in the body axis direction, the C-shaped arm 1 is not in the CRANIAL direction shown in FIG.
Since it rotates in the AUDAL direction, when it is located on the right side of the subject M, the C-shaped arm 1 is apparently 30 in the CRANIAL direction.
° rotate. As described above, when the C-shaped arm 1 is located on the side opposite to the initial position, the C-shaped arm 1 is rotated in the opposite direction to apparently rotate in the input rotation direction.

When it is determined in step S7 that the C-shaped arm 1 is not located in the right space of the subject M, it is determined that it is located on the remaining head side. When the C-shaped arm 1 is located on the head side of the subject M, the rotation of the subject M around the body axis 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. Therefore, if a rotation instruction in the LAO direction around the body axis is input,
This rotation CA at the initial position (position in FIG. 5 (a))
When the rotation is converted to the UDAL direction and a rotation instruction to the CRANIAL direction is input, this rotation is converted to the LAO direction at the initial position (step S10). Then, a command signal corresponding to the converted rotation direction and the rotation angle input in step S1 is output to each motor drive circuit M1, M2 (step S11).

As a result, the C-shaped arm 1 is apparently 60 in the LAO direction.
Rotate 30 ° in the CRANIAL direction.

As described above, when the C-shaped arm 1 is located in the right side space and the head side space of the subject M, the rotation direction switching process input by the operator is performed.
Rotary encoder provided on M1 and drive motor M2
R1 and rotary encoder R2 detect the rotation direction of the C-shaped arm 1 that has been switched. Then, the detected rotation direction is displayed on the display panel 22. With this, the rotation direction of the display will be different from the input rotation direction,
This will confuse the surgeon. It is the display control unit 23 that eliminates this, the display control unit 23 of the display panel 22 so that the CPU 21 displays the rotation direction input in step S1 regardless of the detection signals of the rotary encoders R1 and R2. Control display switching.

In the above-described embodiment, the X-ray fluoroscopic imaging apparatus having the structure in which the C-shaped arm 1 is suspended from the ceiling has been taken as an example. The same applies to the rotating X-ray fluoroscopic imaging apparatus, and the present invention can be applied.

G. Effect of the Invention As is clear from the above description, the fluoroscopic imaging apparatus according to the present invention detects the position of the C-arm around the subject, and based on this detection signal, the C-arm Since the rotation direction is controlled, the C-arm can be rotated 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. You can Even if the rotation direction of the C-arm is changed for that purpose, the display control means controls the display means so as to display the input rotation direction. Therefore, regardless of the actual rotation direction of the C-arm. Instead, the rotation direction as displayed by the operator is displayed.

In this way, even if the operator changes the position of the C-arm for the convenience of performing the 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 state for the operator.

[Brief description of drawings]

1 to 4 relate to an embodiment of the present invention. FIG. 1 is a perspective view showing a schematic configuration of an X-ray fluoroscopic imaging apparatus, and FIG. 2 is a rotation mechanism of a C-shaped arm. Partially broken plan view,
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. 5 to 7 are plan views of a C-arm according to a conventional example. 1 ... C-arm, 2 ... X-ray tube 3 ... X-ray image intensifier 20 ... Operation panel, 21 ... CPU 22 ... Display panel, 23 ... Display control unit

Claims (1)

[Claims] 1. A C-shaped arm for supporting an X-ray tube and an X-ray image intensifier in opposition to each other is moved along the circumference of a subject lying on a bed and at the same time, in the body axis direction of the subject and around the body axis. In an X-ray fluoroscopic imaging apparatus for rotating X-ray fluoroscopy from multiple directions, the input means for inputting the turning direction and the turning angle of the C-arm, and the turning direction of the C-arm. And display means for displaying the rotation angle, position detecting means for detecting the position of the C-arm around the subject, and the rotation direction of the C-arm is input based on the detection signal of the position detecting means. Rotation direction determining means for determining the rotation direction of the C-shaped arm so as to coincide with the determined rotation direction, and the C-shaped arm is rotated in the determined rotation direction according to the input rotation angle. Rotation control means for controlling to move , X-rays fluoroscopic imaging apparatus characterized by comprising a display control means for controlling said display means to display the input rotational direction.