WO2010109531A1 - 放射線撮影装置 - Google Patents
放射線撮影装置 Download PDFInfo
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- WO2010109531A1 WO2010109531A1 PCT/JP2009/001364 JP2009001364W WO2010109531A1 WO 2010109531 A1 WO2010109531 A1 WO 2010109531A1 JP 2009001364 W JP2009001364 W JP 2009001364W WO 2010109531 A1 WO2010109531 A1 WO 2010109531A1
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- speed
- top plate
- radiation
- moving
- acceleration
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- 230000005855 radiation Effects 0.000 title claims abstract description 68
- 238000003325 tomography Methods 0.000 title claims abstract 3
- 230000033001 locomotion Effects 0.000 claims abstract description 130
- 238000003384 imaging method Methods 0.000 claims abstract description 123
- 230000001133 acceleration Effects 0.000 claims abstract description 55
- 238000013459 approach Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 13
- 230000000153 supplemental effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 6
- 238000002601 radiography Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/025—Tomosynthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0487—Motor-assisted positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4476—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/48—Diagnostic techniques
- A61B6/486—Diagnostic techniques involving generating temporal series of image data
- A61B6/487—Diagnostic techniques involving generating temporal series of image data involving fluoroscopy
Definitions
- the present invention relates to a radiographic apparatus capable of acquiring a radioscopic image of a subject, and more particularly to a radiographic apparatus capable of moving a radiation source and a radiation detector with respect to a top board.
- a medical institution is equipped with a radiation imaging apparatus that acquires a fluoroscopic image of a subject.
- a radiation imaging apparatus that acquires a fluoroscopic image of a subject.
- FIG. 9 the conventional radiation imaging apparatus 51 is provided with a top plate 52 on which the subject M is placed, a radiation source 53 provided under the top plate 52, and an upper portion of the top plate 52.
- Radiation detecting means (I / I tube) 54 is provided.
- the radiation source 53 and the I / I tube 54 are movable along the body axis direction A of the subject M with respect to the top plate 52.
- the radiation source 53 and the I / I tube 54 move relative to the top plate 52 while maintaining a relative positional relationship, and they may be collectively referred to as an imaging system.
- the subject M When photographing a fluoroscopic image, the subject M is placed on the top 52 in a supine position.
- some of the radiation imaging apparatuses 51 are configured so that the standing subject M can also be imaged.
- the top plate 52 if the top plate 52 can be erected with respect to the floor surface of the examination room as shown in FIG. 10, the top plate 52 becomes horizontal with the floor surface as shown in FIG. It can also be made.
- the radiation source 53 and the I / I tube 54 move following the tilting movement of the top plate 52 while maintaining the relative positional relationship with the top plate 52. That is, the radiation source 53 and the I / I tube 54 are moved together with the top plate 52.
- the I / I tube 54 is movable in the body axis direction of the subject M with respect to the top plate 52, and the drive motor 63 drives the I / I tube 54 to change the position of the I / I tube 54.
- the radiation imaging apparatus 51 includes two pulleys 60 a and 60 b arranged in the body axis direction of the subject M, and a belt 61 is hung on the pulleys.
- the belt 61 is connected to a column 54a that supports the I / I tube 54 and a balance weight 62 that has a weight comparable to that of the I / I tube 54 and the column 54a.
- the drive motor 63 drives one of the two pulleys 60a and 60b, so that the I / I tube 54 moves forward and backward along the body axis direction A.
- the pulley 60a, the pulley 60b, the belt 61, and the balance weight 62 are built in the radiation imaging apparatus 51.
- the balance weight 62 plays an important role for the radiation imaging apparatus 51 that employs a configuration in which the top plate 52 can be raised and lowered.
- the I / I tube 54 tends to slide along with the column 54a with respect to the top plate 52, as shown by the dotted arrows in FIG.
- a balance weight 62 is provided.
- the balance weight 62 and the I / I tube 54 are disposed at positions where they are pulled with respect to the pulley 60b. That is, the I / I pipe 54 and the balance weight 62 are pulled through the belt 61 so as to cancel each other's sliding movement.
- the present invention has been made in view of such circumstances, and an object thereof is to provide a radiation imaging apparatus in which an imaging system moves faithfully according to an operator's designation.
- the present invention has the following configuration. That is, the present invention relates to a top plate, a radiation source for irradiating the top plate with a radiation beam, a radiation detection means for detecting the radiation beam, and a radiation source movement for moving the radiation source forward and backward with respect to the top plate. Means, radiation source movement control means for controlling the detector, detector movement means for moving the radiation detection means forward and backward in a predetermined direction with respect to the top plate, detector movement control means for controlling the radiation detector, radiation source, radiation
- a radiation imaging apparatus including an instruction input unit that inputs an instruction to move a movement target that is at least one of the detection units, the target of the movement target is determined based on the movement instruction input to the instruction input unit.
- Target speed acquisition means for obtaining a target speed that is a specific movement speed
- position information acquisition means for acquiring position information indicating the position of the movement target with respect to the top board, and the actual movement target based on the position information
- An actual speed obtaining means for obtaining an actual speed as a moving speed
- an acceleration obtaining means for obtaining an acceleration of a moving object based on the actual speed
- a speed difference obtaining means for subtracting the actual speed from the target speed to obtain a speed difference
- a speed Additional movement control means for additionally moving the movement target so as to compensate for the difference
- the additional movement control means is characterized by moving the movement target so that the acceleration of the movement target approaches zero. is there.
- the actual speed which is the moving speed of the moving object
- the speed difference is subtracted by subtracting the actual speed from the target speed obtained based on the operator's instruction.
- the movement control amount (control amount) of the movement target is additionally increased so as to compensate for this speed difference.
- the actual speed is slightly lower than the target speed, the actual speed will exceed the target speed and the actual speed will be higher than the target speed if the control target is additionally increased regardless of the acceleration of the target. Slightly higher. If this is made the target speed, the actual speed is now lower than the target speed. Thus, an actual speed overshoot occurs.
- the control amount that brings the acceleration closer to 0 is an additional control amount that is obtained by weighting and adding the above-described element based on the speed difference and the element based on the ratio of the current acceleration to the speed difference.
- the apparatus further includes setting value storage means for storing a speed difference setting referred to by the additional movement control means, and the additional movement control means sets the acceleration to be moved to 0 when the speed difference is smaller than the speed difference setting value. It is more desirable to move the object to be moved closer.
- the additional movement control means brings the acceleration of the moving object closer to 0 when the speed difference is smaller than the speed difference set value. In this way, the imaging system can be moved more reliably because the acceleration does not approach 0 from the start of the movement of the imaging system.
- the above moving object is a radiation detection means.
- a specific configuration of the radiation detection means includes an image intensifier. This is a heavy load, and it is difficult to move it as instructed by the surgeon. According to the above-described configuration, even when a heavy load is moved, there is no rattling with the movement.
- the position information acquisition means described above is more preferably a potentiometer.
- the above-described configuration represents a specific aspect of the present invention.
- the potentiometer includes a rod and a slide, and is configured such that the slide potential changes as the slide moves on the rod. If such a potentiometer is employed as the position information acquisition means, the position of the moving target with respect to the top plate can be known reliably at a low cost.
- the device moving means is configured to move integrally with the top plate while maintaining the positional relationship with the top plate, and it is more desirable that the predetermined direction is the longitudinal direction of the top plate.
- the top plate can be undulated. That is, if the top plate can be raised with respect to the floor surface of the examination room in accordance with the purpose of the examination, it can be laid down.
- the set value storage means also stores the first weighting coefficient and the second weighting coefficient, and the additional movement control amount performed by the additional movement control means includes the first weighting coefficient in the speed difference. It is more desirable to add the product obtained by multiplying the product obtained by multiplying the acceleration ratio to the speed difference by the second weighting factor.
- the configuration of the present invention it is possible to perform feedback control that recursively controls the movement of the movement target.
- the configuration of the present invention is characterized in that the acceleration of the moving object is obtained. That is, when the speed of the moving object approaches a predetermined speed, the acceleration of the moving object is brought close to 0. By doing so, it is possible to suppress overshoot and reliably prevent the movement target from rattling every time it moves, so that it is possible to provide a radiation imaging apparatus with excellent operability.
- FIG. 1 is a functional block diagram illustrating a configuration of an X-ray imaging apparatus according to Embodiment 1.
- FIG. 6 is a flowchart for explaining the operation of the radiation imaging apparatus according to the first embodiment.
- FIG. 3 is a schematic diagram illustrating a speed change of the imaging system according to the first embodiment. 6 is a flowchart illustrating the operation of an additional movement control unit according to the first embodiment.
- FIG. 3 is a schematic diagram illustrating a speed change of the imaging system according to the first embodiment.
- FIG. 3 is a schematic diagram illustrating a speed change of the imaging system according to the first embodiment. It is a functional block diagram explaining the structure of the X-ray imaging apparatus which concerns on 1 modification of this invention.
- Radiation source 4 I / I tube (radiation detection means) 15 Imaging system moving mechanism (radiation source moving means / detector moving means) 16 Imaging system movement control unit (radiation source movement control means / detector movement control means) 21 position information acquisition unit (position information acquisition means) 22 Actual speed acquisition unit (actual speed acquisition means) 23 Acceleration acquisition unit (acceleration acquisition means) 24 target speed acquisition unit (target speed acquisition means) 25 Speed difference acquisition unit (speed difference acquisition means) 26 Additional movement control unit (additional movement control means) 27 Setting value storage unit (setting value storage means) 32 Operation panel (instruction input means)
- X-rays are an example of radiation according to the present invention.
- FIG. 1 is a functional block diagram illustrating the configuration of the X-ray imaging apparatus according to the first embodiment.
- the X-ray imaging apparatus 1 according to the first embodiment includes a top plate 2 on which a subject M is placed, and a pulsed X-ray beam B provided below the top plate 2.
- An X-ray grid 5 for removing X-rays is provided.
- the I / I tube 4 is supported by a support column 6 movable along the body axis direction A (corresponding to a predetermined direction of the present invention) of the subject.
- the support column 6 has a J shape so as not to interfere with the top plate 2.
- the support 6 is connected to a slider 7a, and the slider 7a is in contact with the potentiometer body 7b.
- the potentiometer body 7b has a rod shape extending in the longitudinal direction of the top 2 (the body axis direction A of the subject M), and the slider 7a can reciprocate on the surface of the potentiometer body 7b as the column 6 moves.
- Electrodes are provided at both ends of the potentiometer body 7b.
- the potential of the slider 7a changes correspondingly.
- the position of the slider 7a relative to the potentiometer body 7b can be determined. That is, the electrode for potential measurement is provided on the slider 7a. Note that the combination of the slider 7a and the potentiometer 7b is the potentiometer 7 according to the present invention.
- the base of the column 6 is connected to the belt 8.
- the X-ray imaging apparatus 1 according to the first embodiment is provided with two pulleys on which the belt 8 is hung, a balance weight connected to the belt 8, and a drive motor for driving the pulley.
- These configurations are specific configurations of the imaging system moving mechanism 15. Since these configurations are the same as the conventional configurations, refer to the background art for details.
- the X-ray tube 3 is attached to the base of the column 6. Therefore, the I / I tube 4 and the X-ray tube 3 are moved together as the support 6 is moved.
- the weight of the balance weight is set by adding the weight of the X-ray tube 3 as well as the I / I tube 4.
- the I / I tube 4 and the X-ray tube 3 are also movable in the body side direction S of the subject.
- a rail is provided at a position between the base of the support column 6 and the belt 8 so that the support column 6 extends in the body side direction S of the subject, and the support column 6 can move along this rail.
- the X-ray tube 3 has a similar configuration.
- the configuration of the first embodiment includes an X-ray tube control unit 10 that controls the tube voltage of the X-ray tube 3, the tube current, and the temporal width of the pulse in the X-ray beam B.
- the structure of Example 1 is provided with the top-plate raising / lowering mechanism 13 which raises / lowers the top plate 2, and the top-plate undulation control part 14 which controls this.
- the X-ray imaging apparatus 1 according to the first embodiment includes an imaging system moving mechanism 15 that moves the I / I tube 4 and an imaging system movement control unit 16 that controls the imaging system moving mechanism 15.
- the X-ray imaging apparatus 1 includes a target speed acquisition unit 24 that obtains a target speed K that is a target movement speed of the I / I tube 4 based on the movement instruction input to the instruction input unit, a top plate Position information acquisition unit 21 for acquiring position information P indicating the position of the I / I tube 4 with respect to 2, and an actual speed for obtaining an actual speed V that is an actual moving speed of the I / I tube 4 based on the position information P
- An additional movement control unit 26 that additionally moves the I / I tube 4 so as to compensate for the speed difference D, a speed difference setting value MD that the additional movement control unit 26 refers to, and a setting value storage that stores other weighting factors Part 27.
- the X-ray imaging apparatus 1 includes an operation panel 32 that receives an operator's instruction and a display unit 31 that displays an X-ray fluoroscopic image.
- the X-ray imaging apparatus 1 includes an X-ray tube control unit 10, a top plate undulation control unit 14, an imaging system movement control unit 16, a position information acquisition unit 21, an actual speed acquisition unit 22, an acceleration acquisition unit 23, a target speed.
- a main control unit 33 that controls the acquisition unit 24, the speed difference acquisition unit 25, and the additional movement control unit 26 is provided.
- the main control unit 33 is constituted by a CPU, and realizes each unit by executing various programs. Further, each of the above-described units may be divided and executed by an arithmetic device that takes charge of them.
- the X-ray tube 3 is irradiated with X-rays toward the subject at a predetermined tube current, tube voltage, and irradiation time under the control of the X-ray tube control unit 10.
- the X-ray tube 3 and the I / I tube 4 are movable along the body axis direction A (longitudinal direction of the top 2) of the subject M according to the control of the imaging system movement control unit 16.
- the X-ray grid 5 is provided so as to cover the X-ray incident surface of the I / I tube 4.
- an absorption foil that absorbs scattered X-rays generated inside the subject M is arranged.
- the top plate 2 is in a lying state, but as shown in FIG. 10, the top plate 2 can be erected and can be in a lying state again.
- the top plate 2 is raised and lowered by the top plate raising and lowering mechanism 13.
- the top plate raising and lowering mechanism 13 integrally raises and lowers the X-ray tube 3, the I / I tube 4, the support 6, the potentiometer body 7 b, and the imaging system moving mechanism 15 together with the top plate 2.
- the relative positional relationship between each member and the top plate 2 is maintained.
- the top plate 2 stands up when one end 2p in the longitudinal direction (the body axis direction A of the subject) moves upward, and the up-standing top plate 2 moves one end 2p downward.
- it is configured to lie down again.
- FIG. 2 is a flowchart for explaining the operation of the radiation imaging apparatus according to the first embodiment.
- an X-ray fluoroscopic image of a subject is acquired by placing a subject M and placing an imaging system movement instruction step instructing movement of the imaging systems 3 and 4.
- S2 a parameter calculation step S3 for calculating various parameters from the position information P of the imaging systems 3 and 4, and an additional movement step S4 for additionally moving the imaging systems 3 and 4 by comparing various parameters.
- the exposure instruction step S5 for instructing the X-ray exposure and the exposure step S6 for exposing the subject M to the X-ray are performed in order.
- the details of these steps will be described in order with reference to the drawings.
- the top 2 is assumed to be lying down, and the subject M is placed on the top 2 and an X-ray fluoroscopic image is taken.
- imaging system movement instruction step S2 First, the subject M is placed on the top 2. Here, it is assumed that the surgeon instructs to move the imaging system along the body axis direction A of the subject M through the operation panel 32.
- the main control unit 33 receives the operator's instruction, sends a movement instruction signal to the imaging system movement control unit 16, and instructs the imaging system 3 and 4 to move.
- the movement instruction signal includes speed information indicating a speed at which the imaging systems 3 and 4 are moved and period information indicating a period during which the imaging systems 3 and 4 are moved. This movement instruction signal is also sent to the target speed acquisition unit 24, so that the target speed acquisition unit 24 knows at what speed the imaging system movement control unit 16 is moving the imaging systems 3 and 4.
- the imaging system movement control unit 16 controls a drive motor attached to the imaging system movement mechanism 15 and starts moving the imaging systems 3, 4. Along with this, the slider 7a slides while being guided by the potentiometer body 7b. From this point, the potentiometer 7 sends the position signals of the imaging systems 3 and 4 to the position information acquisition unit 21.
- the position information acquisition unit 21 acquires position information P of the imaging systems 3 and 4 based on the received position signal.
- the position information acquisition unit 21 reads the electric signal output from the potentiometer 7 and linearly converts the electric signal to obtain position information P representing the position of the imaging systems 3 and 4 with respect to the top 2. .
- the position information P is sent to the actual speed acquisition unit 22.
- the position information P may be transmitted to the actual speed acquisition unit 22 after being converted into digital data by the position information acquisition unit 21.
- the actual speed acquisition unit 22 obtains the actual speed V by differentiating the position information P with respect to time. This indicates the speed when the imaging systems 3 and 4 are moved by the drive motor. The actual speed V at this time is illustrated. As shown in FIG. 3, the imaging systems 3 and 4 start to move from the time T0 when the movement starts, and the actual speed V at the time T0 is zero. From this, the actual speed V gradually increases.
- the actual speed V obtained by the actual speed acquisition unit 22 is sent to each of the acceleration acquisition unit 23 and the speed difference acquisition unit 25.
- the acceleration acquisition unit 23 obtains the acceleration A by differentiating the actual speed V with respect to time. This acceleration A is sent to the additional movement control unit 26.
- the target speed K is sent from the target speed acquisition unit 24 to the speed difference acquisition unit 25.
- the target speed K represents the movement instruction of the imaging systems 3 and 4 sent from the imaging system movement control unit 16 to the imaging system movement mechanism 15 in terms of speed. There is no security to be moved according to. This is because there is a possibility that the torque of the drive motor is insufficient.
- the target speed K sent from the target speed acquisition unit 24 is the target speed that the actual speed V reaches. Since the actual speed V at time T0 is 0, the actual speed V does not immediately become the target speed K. In order to provide the X-ray fluoroscopic image 1 with good operability, it is necessary to prevent the overshoot and smoothly set the actual speed V to the target speed K.
- the speed difference acquisition unit 25 obtains the current speed difference D based on the target speed K and the actual speed V that are sent as needed. That is, the actual speed V at a certain time is subtracted from the target speed K at a certain time to obtain a speed difference D (see FIG. 3). The speed difference D is sent to the additional movement control unit 26.
- the additional movement step S4 which is the most characteristic part in the configuration of the first embodiment will be described.
- the operation of the additional movement control unit 26 is shown in the flowchart in FIG.
- the operation of the additional movement control unit 26 includes a first small first step T1 for determining whether or not to perform additional movement, a third small step T3 for determining a speed difference, and an instruction for bringing the acceleration of the imaging system close to zero. And a fourth small step T4.
- the additional movement control unit 26 compares the speed difference set value MD stored in the set value storage unit 27 with the speed difference D. When the speed difference D is smaller than the speed difference set value MD (see FIG. 3), the additional movement control unit 26 recognizes that it is necessary to calculate an additional control amount according to the speed and acceleration, and stores the set value. The weighting coefficients ⁇ and ⁇ for the speed and acceleration stored in the unit 27 are read out.
- step T3 If the determination at the third small step T3 is yes, it means that the speed difference D is small, and that the actual speed V is approaching the target speed K. If the high acceleration A is maintained as it is, the actual speed V exceeds the target speed K because of excessive momentum. Then, in order to cancel out the excess of the speed, it is necessary to decelerate the imaging systems 3 and 4, and an overshoot as shown in FIG. 13 occurs.
- the additional movement control unit 26 instructs the current acceleration A of the imaging systems 3 and 4 to approach zero.
- a value obtained by multiplying the speed difference D by the weighting coefficient ⁇ and a ratio obtained by multiplying the ratio of the acceleration A to the speed difference D by the weighting coefficient ⁇ are obtained.
- ⁇ is a positive coefficient
- ⁇ is a negative coefficient. That is, the additional control amount X can be expressed as follows.
- the weighting coefficient ⁇ corresponds to the first weighting coefficient of the present invention, and the weighting coefficient ⁇ corresponds to the second weighting coefficient of the present invention.
- the additional movement control unit 26 is configured to instruct the imaging system movement control unit 16 so that the acceleration A of the imaging systems 3 and 4 approaches 0 in order to prevent this.
- the additional movement control unit 26 executes the first small step T1 again and continues to monitor the speed difference D. As described above, since the acceleration A is reduced when the actual speed V approaches the target speed K, the actual speed V gradually approaches the target speed K and eventually exceeds the target speed K as shown in FIG. There is nothing. When the speed difference D is 0, the additional movement control is stopped (fifth small step T5).
- the operation of the additional movement control unit 26 when the movement of the imaging systems 3 and 4 starts is described.
- the similar operation is not limited to the above example, and the additional movement control unit 26 operates as described above when the speed of the imaging systems 3 and 4 is changed as in the case where the imaging systems 3 and 4 are stopped.
- the target speed K is 0 as shown in FIG.
- the additional movement control unit 26 operates, the actual speed V gradually approaches 0 and eventually becomes 0. With such a configuration, it is possible to prevent a phenomenon in which an overshoot occurs immediately before the imaging systems 3 and 4 are stopped and the imaging systems 3 and 4 vibrate immediately before the imaging systems 3 and 4 are stopped.
- the actual speed V that is the moving speed of the imaging systems 3 and 4 is acquired, and the above-described actual speed V is obtained from the target speed K obtained based on the operator's instruction.
- the speed difference D is obtained by subtraction.
- the additional movement control unit 26 additionally increases the movement control amount so that the speed difference D is compensated.
- the additional movement control unit 26 monitors the acceleration A of the imaging systems 3 and 4. . That is, when the actual speed V is slightly lower than the target speed K, the actual speed V exceeds the target speed K if the image pickup systems 3 and 4 are moved by increasing the movement control amount regardless of the acceleration A. The actual speed V is slightly higher than the target speed K. If the imaging systems 3 and 4 are additionally moved so as to set the actual speed V to the target speed K, the actual speed V will be lower than the target speed K this time. That is, an actual speed V overshoot occurs.
- the acceleration A of the imaging systems 3 and 4 is brought close to zero.
- the actual speed V gradually approaches the target speed K, and the actual speed V does not increase or decrease across the target speed K.
- the above-described overshoot can be suppressed, and the phenomenon in which the imaging systems 3 and 4 rattle each time the imaging system 3 and 4 are moved can be surely prevented, and the X-ray imaging apparatus 1 having excellent operability can be provided.
- the present invention is not limited to the configuration of the above-described embodiment, and can be modified as follows.
- the I / I tube 4 is used as the radiation detection means, but the present invention is not limited to this.
- a flat panel detector may be used instead of the I / I tube 4.
- the present invention is not limited to this.
- the present invention can also be applied to the industrial field and the nuclear field.
- the imaging system movement control unit corresponds to the radiation source movement control means and the detector movement control means of the present invention, but this can be made independent. That is, as shown in FIGS. 7 and 8, an X-ray tube movement control unit 16a and an I / I tube movement control unit 16b may be provided instead of the imaging system movement control unit. Further, instead of the imaging system moving mechanism, as shown in FIGS. 7 and 8, an X-ray tube moving mechanism 15a and an I / I tube moving mechanism 15b may be provided.
- the X-ray tube moving mechanism 15a and the I / I tube moving mechanism 15b are configured such that the two imaging system moving mechanisms 15 in the first embodiment are provided independently of the X-ray tube 3 and the I / I tube 4. It has become.
- FIG. 7 summarizes the configuration related to the X-ray tube 3.
- the X-ray imaging apparatus 1 includes an imaging system moving mechanism 15, an imaging system movement control unit 16, a position information acquisition unit 21, and a movement of the imaging systems 3 and 4 in the first embodiment.
- X-ray tube movement mechanism 15a includes a tube speed difference acquisition unit 25a, an X-ray tube additional movement control unit 26a, and an X-ray tube set value storage unit 27a.
- FIG. 8 summarizes the configuration related to the I / I tube 4.
- the X-ray imaging apparatus 1 includes an imaging system moving mechanism 15, an imaging system movement control unit 16, a position information acquisition unit 21, and a movement of the imaging systems 3 and 4 in the first embodiment.
- the actual speed acquisition unit 22, the acceleration acquisition unit 23, the target speed acquisition unit 24, the speed difference acquisition unit 25, the additional movement control unit 26, and the set value storage unit 27 instead of each of the actual speed acquisition unit 22, the acceleration acquisition unit 23, the target speed acquisition unit 24, the speed difference acquisition unit 25, the additional movement control unit 26, and the set value storage unit 27, only the movement of the I / I tube 4 is concerned.
- I / I tube movement mechanism 15b I / I tube movement control unit 16b, I / I tube position information acquisition unit 21b, I / I tube actual speed acquisition unit 22b, I / I tube acceleration acquisition unit 23b, I / I tube
- the threshold value of the speed difference setting value MD is provided in the first embodiment, a configuration in which this threshold value is not used may be used. That is, it is also possible to obtain the additional control amount X sequentially during the period in which the imaging systems 3 and 4 move. In this way, the additional control amount X gradually increases as the speed difference D increases, and gradually increases as the acceleration A decreases. In this way, the moving speed of the imaging systems 3 and 4 can be quickly brought close to the target speed K.
- each part related to the movement of the X-ray tube 3 and each part related to the movement of the I / I tube 4 are both provided, and feedback control of the X-ray tube 3 and the I / I tube 4 is realized independently of each other. It is good also as a structure.
- the present invention is suitable for a medical radiation imaging apparatus.
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Abstract
Description
すなわち、従来構成によれば、I・I管54を指示どおりに動かすことが困難である。バランスウェート62を設けたことで、ベルト61を始動させるときに大きなトルクが必要となる。したがって、駆動モータ63のトルク不足により、駆動モータ63の回転数が指令よりも小さい事態に陥る可能性が出てくる。しかも、ベルト61の制動に抵抗する慣性力も強くなっている。したがって、I・I管54の移動を止めようと駆動モータ63にベルト61を制動させようとすると、今度は、駆動モータ63の回転数が指令よりも大きい事態に陥る。このように、バランスウェート62が存在することで、I・I管54は、指示通りに動かすことがより難しくなっている。
すなわち、本発明は、天板と、天板に対し放射線ビームを照射する放射線源と、放射線ビームを検出する放射線検出手段と、放射線源を天板に対して所定方向に進退移動させる放射線源移動手段と、これを制御する放射線源移動制御手段と、放射線検出手段を天板に対して所定方向に進退移動させる検出器移動手段と、これを制御する検出器移動制御手段と、放射線源、放射線検出手段の少なくともいずれか1つである移動対象の移動の指示を入力させる指示入力手段とを備えた放射線撮影装置において、指示入力手段に入力された移動の指示を基に、移動対象の目標的な移動速度である目標速度を求める目標速度取得手段と、天板に対する移動対象の位置を示す位置情報を取得する位置情報取得手段と、位置情報を基に移動対象の実際的な移動速度である実際速度を求める実際速度取得手段と、実際速度を基に移動対象の加速度を求める加速度取得手段と、目標速度から実際速度を減算して速度差を求める速度差取得手段と、速度差が填補されるように移動対象を追加的に移動させる追加移動制御手段とを備え、追加移動制御手段は、移動対象の加速度を0に近づけるよう移動対象を移動させることを特徴とするものである。
3 放射線源
4 I・I管(放射線検出手段)
15 撮像系移動機構(放射線源移動手段・検出器移動手段)
16 撮像系移動制御部(放射線源移動制御手段・検出器移動制御手段)
21 位置情報取得部(位置情報取得手段)
22 実際速度取得部(実際速度取得手段)
23 加速度取得部(加速度取得手段)
24 目標速度取得部(目標速度取得手段)
25 速度差取得部(速度差取得手段)
26 追加移動制御部(追加移動制御手段)
27 設定値記憶部(設定値記憶手段)
32 操作盤(指示入力手段)
まず、天板2に被検体Mが載置される。ここで術者は、操作盤32を通じて撮像系を被検体Mの体軸方向Aに沿って移動を指示したものとする。主制御部33は、術者の指示を受信して、撮像系移動制御部16に対して、移動指示信号を送出し、撮像系3,4を移動させる指示を行う。移動指示信号には、撮像系3,4を移動させる速度を示す速度情報と、移動させる期間を示す期間情報とが含まれている。この移動指示信号は、目標速度取得部24にも送出され、これにより、目標速度取得部24は、撮像系移動制御部16が撮像系3,4をいかなる速度で移動させようとしているかを知る。撮像系移動制御部16は、撮像系移動機構15に付属の駆動モータを制御し、撮像系3,4,の移動を開始する。これに伴って、ポテンショメータ本体7bに案内されてスライダー7aが摺動する。この時点より、ポテンショメータ7は、撮像系3,4の位置信号を位置情報取得部21に送出する。
位置情報取得部21は、受信した位置信号を基に、撮像系3,4の位置情報Pを取得する。位置情報取得部21は、ポテンショメータ7から出力された電気信号を読み取って、この電気信号に線形的な変換を施すことで、天板2に対する撮像系3,4の位置を表す位置情報Pを得る。この位置情報Pは、実際速度取得部22に送出される。なお、位置情報Pは、位置情報取得部21において、ディジタルデータに変換された上で実際速度取得部22に送出されてもよい。
次に、実施例1の構成における最も特徴的な部分である追加移動ステップS4について説明する。追加移動制御部26の動作を図4におけるフローチャートに示す。追加移動制御部26の動作は、追加的な移動をするかどうか判断する第1小第1小ステップT1と、速度差を判断する第3小ステップT3と、撮像系の加速度を0に近づける指示を行う第4小ステップT4とを備えている。
追加移動制御部26は、速度差Dが0でないとき、追加移動制御部26は、撮像系3,4を追加的に移動の制御量(制御量)を増やす必要があるものと認め、撮像系移動制御部16に対して、現在行われている撮像系3,4の移動に加えて、追加的に制御量を増やすように撮像系3,4の移動を指示する。
追加移動制御部26は、設定値記憶部27に記憶されている速度差設定値MDと速度差Dとを比較する。速度差Dが速度差設定値MD(図3参照)よりも小さい場合、追加移動制御部26は、速度と加速度に応じた追加的な制御量を算出する必要があるものと認め、設定値記憶部27に記憶されている速度、加速度それぞれの重み付け係数α,βを読み出す。
オーバーシュートを防ぐために、追加移動制御部26は、撮像系3,4の現在の加速度Aを0に近づけるように指示する。加速度を0に近づける追加的な制御量としては、速度差Dに重み付け係数αを掛けたものと、速度差Dに対する加速度Aの比に重み付け係数βを掛けたものを足し合わせて求める。ここで、αは正、βは負の係数である。すなわち、追加的な制御量Xは、次の様に表せる。なお、重み付け係数αは本発明の第1重み付け係数に、重み付け係数βは本発明の第2重み付け係数に相当する。追加移動制御部26がこの追加的な制御量Xの算出を行う。
X=α×D+β(A/D)
撮像系3,4の移動が終了した時点で、術者は、操作盤32を通じてX線の曝射の開始をX線撮影装置1に指示する。すると、X線管制御部10は、術者が操作盤32を通じて入力した管電圧、管電流、照射時間に応じてX線管3を制御する。こうして、X線管3が被検体Mに向けて照射され、被検体Mを透過したX線は、I・I管4の入射面に入射され、I・I管4に写りこんだX線透視画像が表示部31に表示される。こうして、実施例1に係るX線撮影装置1におけるX線透視画像の取得は終了となる。
Claims (6)
- 天板と、前記天板に対し放射線ビームを照射する放射線源と、前記放射線ビームを検出する放射線検出手段と、前記放射線源を前記天板に対して所定方向に進退移動させる放射線源移動手段と、これを制御する放射線源移動制御手段と、前記放射線検出手段を前記天板に対して所定方向に進退移動させる検出器移動手段と、これを制御する検出器移動制御手段と、前記放射線源、前記放射線検出手段の少なくともいずれか1つである移動対象の移動の指示を入力させる指示入力手段とを備えた放射線撮影装置において、
前記指示入力手段に入力された移動の指示を基に、前記移動対象の目標的な移動速度である目標速度を求める目標速度取得手段と、
前記天板に対する前記移動対象の位置を示す位置情報を取得する位置情報取得手段と、
前記位置情報を基に前記移動対象の実際的な移動速度である実際速度を求める実際速度取得手段と、
前記実際速度を基に前記移動対象の加速度を求める加速度取得手段と、
前記目標速度から前記実際速度を減算して速度差を求める速度差取得手段と、
前記速度差が填補されるように前記移動対象を追加的に移動させる追加移動制御手段とを備え、
前記追加移動制御手段は、前記移動対象の加速度を0に近づけるよう前記移動対象を移動させることを特徴とする放射線撮影装置。 - 請求項1に記載の放射線撮影装置において、
前記追加移動制御手段が参照する速度差設定を記憶する設定値記憶手段を更に備え、
前記追加移動制御手段は、前記速度差が前記速度差設定値よりも小さいとき、前記移動対象の加速度を0に近づけるよう前記移動対象を移動させることを特徴とする放射線撮影装置。 - 請求項1または請求項2に記載の放射線撮影装置において、前記移動対象は、前記放射線検出手段であることを特徴とする放射線撮影装置。
- 請求項1ないし請求項3に記載の放射線撮影装置において、前記位置情報取得手段は、ポテンショメータであることを特徴とする放射線撮影装置。
- 請求項1ないし請求項4のいずれかに記載の放射線撮影装置において、
前記天板を起伏させる天板起伏機構と、これを制御する天板起伏制御手段を更に備え、
前記天板は、その長手方向の1端が上側に移動することで、起立し、起立した前記天板は、その長手方向の1端が下側に移動することで、横臥する構成となっており、
前記天板を起伏させる際に、前記放射線源、前記放射線源移動手段、前記放射線検出手段、および前記検出器移動手段は、前記天板との位置関係を保った状態で前記天板と一体に移動する構成となっており、
前記所定方向は、前記天板の長手方向となっていることを特徴とする放射線撮影装置。 - 請求項1ないし請求項5のいずれかに記載の放射線撮影装置において、
前記設定値記憶手段は、第1重み付け係数、および第2重み付け係数をも記憶し、
前記追加移動制御手段が行う追加的な移動の制御量は、前記速度差に第1重み付け係数を掛けたものと、前記速度差に対する前記加速度の比に第2重み付け係数を掛けたものとを足し合わせたものであることを特徴とする放射線断層撮影装置。
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CN107981878A (zh) * | 2018-01-02 | 2018-05-04 | 沈阳东软医疗系统有限公司 | 一种x光机运动定位方法、设备、主控制器和系统 |
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JP6257962B2 (ja) * | 2012-09-04 | 2018-01-10 | 東芝メディカルシステムズ株式会社 | X線ct装置 |
EP2904973B1 (en) * | 2012-10-02 | 2016-12-21 | Shimadzu Corporation | X-ray photographing device |
US9848839B2 (en) * | 2013-01-31 | 2017-12-26 | Shimadzu Corporation | Radiographic device |
WO2018042483A1 (ja) * | 2016-08-29 | 2018-03-08 | 株式会社島津製作所 | X線撮影装置用保持機構およびx線撮影装置 |
CN106725747B (zh) * | 2016-12-30 | 2023-08-04 | 重庆西山科技股份有限公司 | 医用切割装置 |
DE102020209714A1 (de) * | 2020-07-31 | 2022-02-03 | Siemens Healthcare Gmbh | Verfahren zur abschnittsweisen Aufnahme einer Röntgenaufnahme |
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