JPH11276463A - Fluoroscopic photographing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To lessen a burden of an operator in photographing, to easily take a timing in photographing and to remarkably widen an approach enable range of the operator to a tested person by proving an X-ray image receiving device with a plane sensor capable of freely moving separately and independently of an X-ray tube device. SOLUTION: The position displacement of a plane sensor 15 is detected by a position detecting device, and radio transmitted as the current position data of the plane sensor 15 to an image/position data receiver 22 by an image/ position data transmitter 21. An image/X-ray tube support device control device 24 controls a ceiling traveling type X-ray tube support device 20, a collimator 25 and an X-ray control device 18 according to the received current position data. Thus, an X-ray tube device 6 is moved to a special relative position of the plane sensor 15 and the X-ray tube device 6, the collimator 25 is operated to the optimum opening according to the distance between the plane sensor 15 and the X-ray tube device 6, and the X-ray control device 18 is set to the optimum X-ray condition according to the distance between the plane sensor 15 and the X-ray tube device 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for guiding a guide wire or a catheter to a lesion under radiographic and radiographic guidance, and percutaneously inserting a drug solution or a therapeutic instrument through the catheter. Interventional Radiolgy that reduces invasiveness to the patient by removing or aspirating the contents
The present invention relates to an X-ray fluoroscopic apparatus used for a treatment method (hereinafter abbreviated as IVR).

[0002]

2. Description of the Related Art A conventional X-ray fluoroscopic apparatus of this type will be described with reference to FIG. FIG. 5 is a perspective view of a conventional C-arm type device, showing a state during an IVR treatment. In FIG. 5, 1 is a subject, 2 is an A surgeon, 3 is a B surgeon, 4
Is an operator, 5 is a C-arm type support device, 6 is an X-ray tube device,
7 is a C arm, 8 is an image intensifier
Abbreviated as II), 9 is an object table, 10 is a TV monitor, 11 is a video control device, 12 is an A image data communication cable, 13 is a B image data communication cable, 14 is an imaging cassette, and 25 is a collimator. .

[0003] As shown in the figure, a subject 1 is placed on a subject table 9 and undergoes an IVR operation by a surgeon A and a surgeon 3. The operator 4 operates the C-arm type support device 5 in response to a request from the surgeon A and the surgeon B to perform fluoroscopy or imaging.

[0004] Here, the operator 4 arrives at II8 which is affected by a change in the distance between the X-ray tube device 6 as the X-ray source and the II8 as the X-ray image receiving device and the body thickness of the subject 1. The X-ray conditions such as the change in X-ray intensity and the X-ray quality due to the difference in X-ray absorbance for each region of interest are adjusted to be optimal for image diagnosis. At the same time, the operator 4 includes the subject 1, the operator 2,
In order to prevent unnecessary exposure to the X-ray tube device 3 and the operator 4 itself, the X-rays irradiated by the X-ray tube device 6 are not unnecessarily expanded according to the distance between the X-ray tube device 6 and II8, and The collimator 25 is operated so as to secure the fluoroscopic field of view required by the operators 2 and 3.

[0005] Thus, during the IVR procedure, the operator 4
C-arm type support device 5, X-ray tube device 6, and collimator 2
5 is repeated according to the request of the surgeon A and the surgeon B, and the fluoroscopic images required by the surgeons 2 and 3 are displayed on the TV monitor 10. In addition, changes in the affected area before and after surgery,
In order to record the progress of the operation, X-ray imaging is performed by the imaging cassette 14 at the request of the surgeons 2 and 3.

[0006]

The above prior art has the following problems. (1) When performing photographing, the photographing cassette 14 must be mounted on the front of the II 8, and the operator 4 has a large burden. (2) It takes time to switch from fluoroscopy to imaging, and it is easy to miss the timing of imaging. This is mainly due to the work time required for the operator to mount the imaging cassette 14 on the front of the II 8 when switching from fluoroscopy to imaging, as described in (1) above. (3) The C arm 7 and the C arm type support device 5 are large,
The range in which the operators 2 and 3 can approach the subject 1 is limited. According to the support mechanism of the X-ray tube device 6-X-ray image receiving device (II8) using the C-arm 7, by moving the X-ray tube device 6 (or II8) to an arbitrary angle, the other one is accordingly moved. Since the position of the II8 (or the X-ray tube device 6) is determined, only one positioning is required, and it is advantageous only in this point. However, as shown in FIG.
In the space occupied by the arm-type support device 5, the surgeons 2, 3
Cannot be established, and the range in which the operators 2 and 3 can approach the subject 1 is limited. This not only hinders the efficiency of currently available IVR procedures, but also places restrictions on the potential of new IVR procedures that will be developed in the future, which is extremely undesirable. In particular, in the IVR operation, the main purpose is not to perform X-ray fluoroscopy and imaging, but to perform fluoroscopy / radiography of the device.
Since the main purpose is for the operators 2 and 3 to treat the subject 1 using the imaging function, it is required that the space occupied by the X-ray fluoroscopic apparatus be minimized.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and reduces the burden on the operator when performing photographing.
It also makes it easier to take timings when shooting,
It is an object of the present invention to provide an X-ray fluoroscopic apparatus capable of remarkably widening a range in which an operator can approach an object in an R operation.

[0008]

SUMMARY OF THE INVENTION An object of the present invention is to provide an X-ray tube apparatus for generating X-rays for X-ray fluoroscopy and radiography, and an X-ray tube apparatus.
An X-ray imaging apparatus for detecting X-rays emitted from a X-ray tube apparatus and transmitted through a subject, wherein the X-ray imaging apparatus uses a flat sensor, and the X-ray tube apparatus And is independently movable.

If a flat sensor is used in an X-ray image receiving apparatus,
When repeating fluoroscopy and imaging, there is no need to remove the imaging cassette, which reduces the burden on the operator when performing imaging and facilitates the timing of imaging. And a plane sensor (X-ray image receiving device)
Is separated from the X-ray tube device and is made movable independently, C
Compared with the conventional device using the arm-type support device and the C-arm, the space around the subject table is increased, and the range in which the operator can approach the subject in the IVR operation is greatly expanded.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of an X-ray fluoroscopic apparatus according to the present invention, showing a state during an IVR treatment. In FIG. 1, 1-4, 6, 9, 1
Reference numerals 0, 13, and 25 are the same as those in FIG. Also, 15
Is a flat sensor, 16 is a support, 18 is an X-ray controller, 1
9 is an X-ray control cable, 20 is an overhead traveling X-ray tube support device, 21 is an image / position data transmitter, 22 is an image / position data receiver, 23 is an X-ray tube support device control cable, 2
4 is an image / X-ray tube support device control device, and 26 is a communication cable for X-ray control.

FIG. 2 is a block diagram of the apparatus of the present invention shown in FIG. In FIG. 2, reference numeral 31 denotes a position detector of the plane sensor 15 supported on the support 16 together with the plane sensor 15 and the image / position data transmitter 21. 32 is an image processing device, 33 is an arithmetic unit, 34 is a collimator drive control unit, 35 is an X-ray tube support device drive control unit, and these are the image / X-ray tube support device control device 24 together with the image / position data receiver 22. It is provided in. Reference numerals 36 and 37 denote a driving device and a position detecting device of the collimator 25. 38 and 3
Reference numeral 9 denotes a driving device and a position detecting device of the ceiling traveling type X-ray tube supporting device 20. In FIG. 2, the same reference numerals as those in FIG. 1 denote the same or corresponding parts.

Here, the subject 1 is placed on the subject table 9, and the IV by the A surgeon 2 and the B surgeon 3
It is the subject of R treatment. The X-ray tube device 6 is
The X, Y, and Y shown in FIG.
Illustrated θ1, θ2, θ passing through the Z-axis direction and the focal point of the X-ray tube device 6
A driving device 38 such as a motor for driving each of the six axes is supported so as to be rotatable about three axes.
And a position detecting device 39 such as a rotary encoder for detecting the amount of movement of each axis. The operation of the X-ray tube device 6 in the X, Y, and Z-axis directions and the rotation operation around the θ1, θ2, and θ3 axes will be described in detail later. It is controlled by the control of the device control device 24.

An X-ray image receiving device for visualizing X-rays emitted from the X-ray tube device 6 and transmitted through the subject 1 includes:
Here, a small-sized and lightweight flat sensor 15 is used in the same effective field of view as II8 (see FIG. 5) in the conventional device. The flat sensor 15 is made of a fluorescent material that emits fluorescence when absorbing X-rays, and a semiconductor material, and generates an electric signal according to the amount of fluorescent light from the fluorescent material. This is a flat sensor disclosed in Japanese Patent Application Laid-Open No. 61-62283 and the like comprising a photodetector having an area and provided in close contact with the phosphor. The flat sensor 15 is an X-ray image receiving apparatus for X-ray fluoroscopy and radiography, and has both functions of fluoroscopy by II and radiography by an X-ray film or the like.
It is known that the outer shape is smaller than II in the same effective field of view.

The flat sensor 15 is supported by a support 16
Similarly to the X-ray tube device 6, the X-ray tube device 6 is supported so as to be rotatable around X1, Y, and Z axis directions and θ1, θ2, and θ3 axes parallel to the three axes. By these six-axis operations, even if the position of the X-ray tube device 6 changes, the spatial position and angle of the flat sensor 15 with respect to the X-ray tube device 6 can be kept constant. Each of the six axes of the plane sensor 15 is provided with a position detecting device 31 such as a rotary encoder for detecting the amount of movement of each axis. Also, the flat sensor 15
In the X-ray tube device 6, X-rays are transmitted through the subject 1, X-ray or fluoroscopic image data obtained by passing through the subject 1, and the position data of the position detection device 31 of the flat sensor 15, An image / position data transmitter 21 for wireless transmission to an image / position data receiver 22 provided in the image / X-ray tube support apparatus controller 24 is provided.

The image / position data receiver 22 receives the image data and the position data of the plane sensor 15 and outputs the image data and the position data to the image processing unit 32 and the arithmetic unit 33, respectively. The image processing device 32 outputs the processed image data to the TV monitor 10 after performing processes such as D / A conversion and contour enhancement of the image data. The TV monitor 10 displays the image data sent from the image processing device 32 as an image on its screen.

The arithmetic unit 33 is an image / position data receiver 2
2 to calculate the position data received from the X-ray tube support device drive control unit 35 and the predetermined plane sensor 15 and X
The present position of the X-ray tube device 6 calculated from the current position of the planar sensor 15 based on the spatial relative position with respect to the tube device 6 is output. The X-ray tube support device drive control unit 35 receives the current position of the X-ray tube device 6 received from the arithmetic unit 33 and the position detection device 39 provided on each axis of the ceiling traveling type X-ray tube support device 20. The driving device 38 provided on each axis of the ceiling traveling type X-ray tube support device 20 is controlled so that the position data coincides with the position data. By this control, the X-ray tube device 6 moves to a predetermined spatial relative position between the plane sensor 15 and the X-ray tube device 6.

The arithmetic unit 33 calculates the position data received from the image / position data receiver 22 and sends a predetermined plane sensor 1 to the collimator drive control unit 34.
Based on the optimal opening of the collimator 25 according to the distance between the X-ray tube device 5 and the X-ray tube device 6, the current opening of the collimator 25 calculated from the current distance between the planar sensor 15 and the X-ray tube device 6 Is output. The collimator drive control unit 34 controls each of the collimators 25 so that the current opening degree of the collimator 25 received from the arithmetic unit 33 and the position data from the position detection device provided on each axis of the collimator 25 match. It controls the drive device 36 provided on the shaft. With this control, the collimator 25 operates up to an optimal opening according to the predetermined distance between the flat sensor 15 and the X-ray tube device 6.

Further, the arithmetic unit 33 calculates the position data received from the image / position data receiver 22, and outputs the current distance between the plane sensor 15 and the X-ray tube unit 6 to the X-ray control unit 18. Is what you do. The X-ray controller 18
The X-ray tube device 6 is controlled so that the X-ray conditions are optimized based on the optimum X-ray conditions according to the predetermined distance between the plane sensor 15 and the X-ray tube device 6. With this control, the X-ray tube device 6 emits X-rays under X-ray conditions corresponding to a predetermined distance between the flat sensor 15 and the X-ray tube device 6.

The X-ray fluoroscopy and radiography by the above-described apparatus of the present invention will be described below. First, the operator 4 includes the A surgeon 2 and the B surgeon.
In response to the request of the surgeon 3, the support base 16 is operated to an appropriate position to move the plane sensor 15. The position displacement of the flat sensor 15 by the operator 4 is detected by a position detecting device 31 provided on the flat sensor 15 and detecting the amount of movement of each axis, and the current position data of the flat sensor 15 is used as image / position data. Image / position data receiver 2 provided in image / X-ray tube support device controller 24 by transmitter 21
2 is wirelessly transmitted.

Based on the current position data received by the image / position data receiver 22, the image / X-ray tube support device controller 24 controls the ceiling traveling X-ray tube support device 20, the collimator 2
5 and the X-ray controller 18 are controlled. Thereby, the X-ray tube device 6 moves to a predetermined spatial relative position between the plane sensor 15 and the X-ray tube device 6 (see FIG. 3), and the collimator 25 moves the predetermined plane sensor 15 to the predetermined position. It operates up to the optimal opening according to the distance between the X-ray tube device 6 and
The X-ray control device 18 is set to an optimum X-ray condition according to a predetermined distance between the plane sensor 15 and the X-ray tube device 6 (see FIG. 4). FIG. 3 shows the supporting device 20 in FIG. 3 as the collimator 25 and the driving device 38 as the driving device 3.
6 and the position detecting device 39 are replaced with the position detecting device 37, respectively, and the result is shown as a flowchart of the optimal opening operation (collimation) of the collimator 25.

As described above, the positioning of the X-ray tube device 6 (or the plane sensor 15) and the optimization of the collimation and the X-ray conditions of the X-ray control device 18 are automatically performed. The operation of the X-ray control device 18 causes the subject 1 to be viewed or photographed. That is, the X-rays emitted by the X-ray tube device 6 pass through the subject 1 and enter the flat sensor 15. The X-rays incident on the plane sensor 15 are replaced with image data by the plane sensor 15,
The image data is wirelessly transmitted by an image / position data transmitter 21 provided on the flat sensor 15 to an image / position data receiver 22 provided on the image / X-ray tube support device controller 24.

The image / X-ray tube supporting device controller 24 outputs the processed image data to the TV monitor 10 as described above. Thereby, the TV monitor 10 is connected to the image processing device 3.
The image data sent from 2 is displayed as an image on the screen, and the A surgeon 2 and the B surgeon 3 obtain a desired X-ray fluoroscopic or photographed image.

According to the apparatus of the present invention, since the plane sensor 15 is used as the X-ray image receiving apparatus, the operation of removing the imaging cassette 14 (see FIG. 5) when repeating X-ray fluoroscopy and imaging is eliminated. For this reason, the burden on the operator 4 at the time of photographing is reduced, and the timing at the time of photographing is easily taken. According to the use of the flat sensor 15 in the X-ray image receiving apparatus, the outer shape can be reduced in the same effective visual field as compared with the case where the II8 is used in the X-ray image receiving apparatus (see FIG. 5). In other words, a large-field X-ray image receiving apparatus can be realized by the small flat sensor 15. Further, development processing on an image (X-ray film image) using the imaging cassette 14 (see FIG. 5) is not required, and a captured image (an image captured by the plane sensor 15) can be immediately observed.

The X-ray tube device 6 and the X-ray image receiving device (plane sensor 15) are supported by the C-arm type support device 5 and the C-arm 7 (both shown in FIG. 5) as follows. That is, the X-ray tube device 6 is a ceiling traveling type X-ray tube support device 20.
The X-ray receiving apparatus uses a flat sensor 15 which is smaller in size than the II8 in the same effective field of view as the II8, instead of the combination of the II8 and the imaging cassette 14 (both refer to FIG. 5). (Supported separately from the X-ray tube device 6 and movable independently). For this reason, the space around the subject table 9 is widened, and the range in which the surgeons 2 and 3 can approach the subject 1 in the IVR operation has been greatly expanded. This also means an increase in the space for placing devices and instruments used in IVR procedures.

In the above embodiment, the position sensors 31, 3 such as rotary encoders are used to detect the positions of the flat sensor 15 and the ceiling traveling type X-ray tube support device 20 (X-ray tube device 6).
Although 9 is used, the present invention is not limited to this, and for example, a movement amount detection device combining a gyro represented by an inertial navigation device of an aircraft and an acceleration sensor may be used. If the inertial navigation device is used to detect the position of the plane sensor 15, the operator 4 moves the plane sensor 15 to a free position while holding the plane sensor 15 in his / her hand, and automatically controls the position of the X-ray tube device 6 at that position and the collimator 25. The automatic setting of the opening degree and the automatic setting of the X-ray condition can be performed, and the degree of freedom of the fluoroscopy and the imaging position can be increased.

In the above embodiment, the position control of the X-ray tube device 6, the opening degree of the collimator 25, and the setting of the X-ray conditions are performed based on the position of the plane sensor 15 which is the X-ray image receiving device. , The driving device is provided on the flat sensor 15 side,
Based on the position of the X-ray tube device 6, the plane sensor 15 (support 1
6) The position control, the opening of the collimator 25, and the setting of the X-ray condition may be performed. In this case, the same effects as those in the above-described embodiment can be obtained.

Further, in the above embodiment, the positioning of the X-ray tube device 6 (or the plane sensor 15), the collimation and the optimization of the X-ray conditions of the X-ray controller 18 are automatically performed. Although the image data is transmitted wirelessly, the former may be performed manually and the latter may be transmitted by wire.

In short, the effect of the present invention can be obtained by using the plane sensor 15 as the X-ray image receiving device and separating it from the X-ray tube device 6 so as to be able to move independently. In addition, the following effects can also be obtained. That is, according to the above embodiment, the operator 4
During R operation, various positions according to the needs of the surgeons 2 and 3,
When repeatedly performing X-ray fluoroscopy and imaging operations from an angle, the movement of the X-ray tube device 6, the control of the opening of the collimator 25, and the setting of the X-ray conditions of the X-ray control device 18 are automatically performed only by setting the position of the plane sensor 15. Followed and performed optimally.

According to this, the time required for the positioning work of the X-ray tube device 6 and the X-ray image receiving device (plane sensor 15) and the setting work of the X-ray condition and the collimation due to the change in the positions of the fluoroscopy and the radiography. Can be shortened. This means that the fluoroscopic and photographed images required by the operators 2 and 3 can be promptly displayed on the TV monitor 10 only by setting the position of the flat sensor 15 and with the burden on the operator 4 reduced. . The optimal control and setting also means a reduction in unnecessary exposure to the operators 2 and 3 or the operator 4 or the subject 1, and therefore, an improvement in the throughput of the IVR treatment and a future This will greatly contribute to expanding the possibilities of IVR procedures. Further, since the position data and the image data of the X-ray image receiving apparatus (plane sensor 15) are transmitted to the image / X-ray tube support apparatus control apparatus 24 by wireless transmission, the image data communication cable 12 on the floor, which becomes an obstacle during the treatment,
(See FIG. 5) can be eliminated.

[0030]

As described above, according to the present invention, X
A flat sensor is used as the X-ray image receiving device, which is separated from the X-ray tube device and can be moved independently, so that the burden on the operator when taking images is reduced, and the timing at the time of imaging can be easily taken. Furthermore, there is an effect that the range in which the operator can approach the subject in the IVR operation can be significantly increased.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the device of the present invention.

FIG. 2 is a block diagram of the device of the present invention shown in FIG.

FIG. 3 is a flowchart showing movement control of the X-ray tube device (ceiling traveling type X-ray tube support device) in FIG. 1;

FIG. 4 is a flowchart showing an X-ray condition setting control of the X-ray tube apparatus (X-ray control apparatus).

FIG. 5 is a perspective view of a conventional device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Subject, 2 ... A surgeon, 3 ... B surgeon, 4 ... Operator, 5
... C-arm type support device, 6 ... X-ray tube device, 7 ... C arm, 8 ... II (image receiving device), 9 ... Subject table, 10
... TV monitor, 11 ... Video control device, 12 ... A image data communication cable, 13 ... B image data communication cable, 1
4 ... cassette for photographing, 15 ... flat sensor (image receiving device),
16 ... support base, 18 ... X-ray control device, 19 ... X-ray control cable, 20 ... ceiling traveling type X-ray tube support device, 21 ... image / position data transmitter, 22 ... image / position data receiver,
23: X-ray tube support device control cable, 24: image / X-ray tube support device control device, 25: collimator, 26: X-ray control communication cable, 31, 37, 39: position detection device
32 image processing device, 33 arithmetic device, 34 collimator drive control unit, 35 X-ray tube support device drive control unit, 3
6, 38 ... a driving device.

Claims (1)

[Claims] 1. An X-ray tube apparatus for generating X-rays for X-ray fluoroscopy and imaging, and an X-ray image receiving apparatus for detecting X-rays emitted from the X-ray tube apparatus and transmitted through a subject. An X-ray fluoroscopic apparatus, wherein the X-ray receiving apparatus uses a flat sensor and is movable independently of the X-ray tube apparatus.