WO2024143638A1

WO2024143638A1 - Tomography device operated in isocentric mode and in non-isocentric mode

Info

Publication number: WO2024143638A1
Application number: PCT/KR2022/021705
Authority: WO
Inventors: 구정두
Original assignee: (주)제노레이
Priority date: 2022-12-29
Filing date: 2022-12-30
Publication date: 2024-07-04
Also published as: KR20240106279A

Abstract

Disclosed is a tomography device operated in an isocentric mode and in a non-isocentric mode. A tomography device operated in an isocentric mode and in a non-isocentric mode according to an aspect of the present invention may comprise: a C-arm provided such that one side thereof is open; an X-ray emission unit movably mounted on one of both sides of the open end of the C-arm; an X-ray detection unit movably mounted on the other side of the open end of the C-arm so as to receive R rays emitted by the X-ray emission unit; a posture adjustment unit for adjusting the angle of rotation of the C-arm; and a control unit for controlling the posture adjustment unit, the X-ray emission unit, and the X-ray detection unit. The controller may control the positions of the X-ray emission unit and the X-ray detection unit such that the X-ray emission unit and the X-ray detection unit are operated in one of a non-isocentric mode in which the center of rotation of the C-arm and the centers of gravity of the C-arm, the X-ray emission unit and the X-ray detection unit are not identical and an isocentric mode in which the center of rotation of the C-arm and the centers of gravity of the C-arm, the X-ray emission unit and the X-ray detection unit are identical.

Description

Tomography device operated in isocentric and non-isocentric modes

The present invention relates to a tomographic imaging device, and more specifically, to a tomographic imaging device operated in isocentric mode and non-isocentric mode.

Meanwhile, this application was supported by the following national research and development project.

[National research and development project that supported this invention]

[Assignment number] 1711174276

[Assignment number]KD000016

[Name of Ministry] Ministry of Science and ICT

[Project management (professional) organization name] Pan-Ministry Life Cycle Medical Device Research and Development Project Group

[Research project name] Pan-ministerial full-cycle medical device research and development (Ministry of Science and Technology)

[Research project name] Development of 3D navigation convergence type low-dose C-Arm CT system

[Contribution rate]1/1

[Name of project carrying out organization] Geno Ray Co., Ltd.

[Research period] 2020.09.01 ~ 2024.12.31

In general, C-arm X-ray (hereinafter referred to as It is an important equipment in the operating room that can diagnose and compare the condition of

Figure 1 is a perspective view showing a conventional C-arm X-ray medical equipment, and Figure 2 is a diagram showing the C-arm support of Figure 1 in a rotated state.

As shown in Figures 1 and 2, the conventional C-arm X-ray medical equipment 1 includes an X-ray generator 10 that generates X-rays and detects the The X-ray detector 20 is connected to the 'C' shaped C-arm support 30.

That is, the bed on which the patient is lying enters the inside of the C-arm support 30 through the open portion of the C-arm support 30, and the patient is exposed to the patient through the X-ray generator 10 and the X-ray detector 20. After tomography of the inside of the machine, the captured image can be viewed on a separate display.

At this time, the C-arm support 30 may be provided to rotate. That is, a rotation motor 40 that rotates the C-arm support 30 is provided, and the C-arm support 30 is rotated without tilting the patient's bed according to the imaging angle of the patient's imaging point. You can shoot.

Meanwhile, the X-ray generator 10 and the When the line detector 20 is located deep inside the C-arm support 30, it is difficult to set up imaging for medical staff because the patient's bed must be entered too deeply, and the posture of the C-arm support 30 moves. If this happens, there is a possibility of collision with the patient or bed.

However, due to the weight of the X-ray generator 10 and the X-ray detector 20, the center of gravity (MC) of the X-ray generator 10, the is formed at a point that is offset rather than coincident with the rotation center (RC) of the C-arm support 30.

Therefore, if no separate power is applied to the C-arm support 30, the C-arm support 30 rotates due to the offset center of gravity, causing the X-ray generator 10 and the X-ray detector 20 to There is a risk of collision with the patient.

Therefore, there is a problem that power must always be applied to the rotation motor 40 that rotates the C-arm support 30, and in order to implement high resolution and a wider FOV, the X-ray generator 10 and the X-ray detector ( 20) must become heavier in size and weight, which causes a high torque of the rotary motor 40, thereby increasing the weight and price of the equipment.

Meanwhile, as a C-arm When taking an image, it tends to be faster and easier for the operator to manually move the C-arm support 30 rather than using a motor to move the C-arm support 30.

However, since power must always be applied to the rotation motor 40, manual operation is not possible. When the driving force of the rotation motor 40 is turned off, the operator may be able to manually operate it, but the offset of the center of gravity described above Due to the problem, there is a risk that the C-arm support 30 rotates on its own and collides with the patient, and there is also a problem that a large amount of force is required because the moment due to the offset center of gravity must be overcome with the operator's muscle strength.

The present invention is to solve the above problems. The purpose of the present invention is to enable the operator to manually control the posture control of the C-arm along with the control through the motor, so that the rotation center of the C-arm and the C-arm can be controlled manually. An isocentric mode in which the centers of gravity of the arm and the components coupled to the C-arm do not coincide, and the center of rotation of the C-arm and the center of gravity of the C-arm and the components coupled to the C-arm coincide. The challenge is to provide a tomographic imaging device that can be operated in isocentric mode, isocentric mode, and non-isocentric mode.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

According to one aspect of the present invention, the C-arm is provided in an open form on one side; an X-ray emitter movably mounted on either side of the opening end of the C-arm; an X-ray detector that is movably mounted on one of the two opening ends of the C-arm and receives X-rays emitted from the X-ray emitter; a posture control unit that adjusts the rotation angle of the C-arm; A control unit that controls the posture adjustment unit, the X-ray emitter, and the X-ray detector, wherein the control unit controls the X-ray emitter and the -A non-isocentric mode in which the centers of gravity of the arm, the X-ray emitter, and the Operates in an isocentric mode and an isocentric mode, controlling the positions of the X-ray emitter and the X-ray detector so that the centers of gravity of the X-ray emitter and the A tomographic imaging device is provided.

The X-ray emitting unit includes a first rail extending toward the inside and outside of the C-arm on either side of the opening end of the C-arm; It may include an X-ray source that is movable along the first rail.

The X-ray detection unit includes a second rail extending toward the inside and outside of the C-arm on the other one of both sides of the opening end of the C-arm; It may include an X-ray detector that is movable along the second rail.

The X-ray radiation unit includes a first rotary arm, one end of which is rotatably extended to either side of the opening end of the C-arm; It may include an X-ray source coupled to the other end of the first rotary arm and whose position moves according to the rotation of the first rotary arm.

The X-ray detection unit includes a second rotary arm, one end of which is rotatably mounted on the other of the two opening ends of the C-arm; It may include an X-ray detector coupled to the other end of the second rotary arm and whose position is moved according to the rotation of the second rotary arm.

The posture adjusting unit may include a motor that rotates the C-arm around the rotation center.

The control unit may be provided to rotate the C-arm through driving the motor in the non-isocentric mode, and to allow a user to manually rotate the C-arm in the isocentric mode.

The control unit, when the movement of the X-ray emitter and the X-ray detector is completed so that the center of gravity of the X-ray emitter, the Turn off the power to enable manual operation of the C-arm, and when the positions of the X-ray emitting unit and the Power can be maintained.

The control unit, when switching between the isocentric mode and the non-isocentric mode, ensures that the imaging area imaged by the moved X-ray emitter and the X-ray detection unit is the same as the imaging area before the switch. The posture adjuster can be controlled so that the horizontal position of is adjusted.

According to the above configuration, the tomography apparatus operated in the isocentric mode and the non-isocentric mode according to the present invention controls the posture of the C-arm using a motor, depending on the selection of the isocentric mode and the non-isocentric mode. The operator can directly control the posture of the C-arm manually, providing freedom of choice and improving work efficiency.

In addition, when selecting the isocentric mode, the center of rotation and the center of gravity coincide, so the C-arm does not rotate even if no separate power is applied, which can improve safety.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a diagram illustrating conventional C-arm X-ray medical equipment.

Figure 2 is a diagram showing the C-arm of the conventional C-arm X-ray medical equipment in a rotated state.

Figure 3 is a perspective view showing a tomographic imaging device operated in isocentric mode and non-isocentric mode according to an embodiment of the present invention.

FIG. 4 is a diagram illustrating when the tomographic imaging device operated in the isocentric mode and the non-isocentric mode of FIG. 3 is operated in the non-isocentric mode.

FIG. 5 is a diagram illustrating when the tomographic imaging device operated in the isocentric mode and non-isocentric mode of FIG. 3 is converted to isocentric mode.

FIG. 6 is a diagram illustrating a state in which the C-arm is rotated when the tomographic imaging device operated in the isocentric mode and non-isocentric mode of FIG. 5 is in isocentric mode.

Figure 7 is a diagram illustrating when a tomographic imaging device operated in an isocentric mode and an isocentric mode according to another embodiment of the present invention is operated in an isocentric mode.

FIG. 8 is a diagram illustrating when the tomographic imaging device operated in the isocentric mode and non-isocentric mode of FIG. 7 is converted to isocentric mode.

FIG. 9 is a diagram illustrating a state in which the C-arm is rotated when the tomographic imaging device operated in the isocentric mode and non-isocentric mode of FIG. 8 is in isocentric mode.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention, parts not related to the description have been omitted in the drawings, and identical or similar components are given the same reference numerals throughout the specification.

The words and terms used in this specification and claims are not to be construed as limited in their usual or dictionary meanings, but according to the principle that the inventor can define terms and concepts in order to explain his or her invention in the best way. It must be interpreted with meaning and concepts consistent with technical ideas.

Therefore, the embodiments described in this specification and the configuration shown in the drawings correspond to a preferred embodiment of the present invention, and do not represent the entire technical idea of the present invention, so the configuration may be replaced by various alternatives at the time of filing of the present invention. There may be equivalents and variations.

In this specification, terms such as “comprise” or “have” are intended to describe the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to describe the presence of one or more other features. It should be understood that it does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

A component being “in front,” “rear,” “above,” or “below” another component means that it is in direct contact with the other component, unless there are special circumstances. This includes not only those placed at the “bottom” but also cases where another component is placed in the middle. In addition, the fact that a component is "connected" to another component includes not only being directly connected to each other, but also indirectly connected to each other, unless there are special circumstances.

Hereinafter, a tomographic imaging device operated in isocentric mode and non-isocentric mode according to an embodiment of the present invention will be described with reference to the drawings.

Figure 3 is a perspective view showing a tomographic imaging device 100 operated in isocentric mode and non-isocentric mode according to an embodiment of the present invention.

The tomographic imaging device (hereinafter referred to as the tomographic imaging device for convenience of explanation) operated in isocentric mode and non-isocentric mode according to this embodiment is a device that photographs the inside of a patient or object using X-rays. As a result, a single image can be photographed, or multiple tomographic images can be obtained by varying the photographed points and implemented as a three-dimensional image.

As shown in FIG. 3, the tomographic imaging device 100 according to this embodiment includes a base 102, a main body 105, a posture adjustment unit, a C-arm 110, an X-ray radiation unit 120, and It may include a line detection unit 130 and a control unit 150.

The C-arm 110 is formed in a circular C shape with one side open, and is provided with an X-ray emitter 120 that emits do.

Here, the open end of the C-arm 110 may mean an end forming an opening where the C-arm 110 is opened.

In addition, an X-ray detection unit 130 that receives X-rays emitted from the

In this embodiment, the X-ray emitter 120 is provided at the upper open end, and the X-ray detector 130 is provided at the lower open end as an example, but the present invention is not necessarily limited thereto.

Additionally, a patient lying on the bed 90 and an object to be examined may be introduced into the C-arm 110 through the opening of the C-arm 110.

At this time, the X-ray emitter 120 and the X-ray detector 130 may be movably mounted on the C-arm 110.

Additionally, the posture adjusting unit 140 may be provided to adjust the posture of the C-arm 110.

That is, the posture adjustment unit 140 may include a posture adjustment unit 142 and an arm rotator 144 provided in the main body 105.

The posture adjustment unit 142 can adjust the position of the C-arm 110 in the horizontal (x-axis or y-axis) direction or the vertical (z-axis) direction, or the C-arm ( 110) can be rotated around the vertical direction (z-axis) to adjust the position and posture of the C-arm 110.

Additionally, the arm rotator 144 may be provided to adjust the rotation angle by rotating the C-arm 110 about the horizontal (x-axis) direction.

A motor 146 may be provided inside the arm rotator 144 to control the rotation angle of the C-arm 110 in the forward or reverse direction. At this time, the motor 146 may serve to restrict the rotation of the C-arm 110. That is, when power is applied to the motor 146, the C-arm 110 is rotated only by the motor 146, and rotation by external forces other than the force of the motor 146 may be restricted. there is.

The main body 105 is coupled with the posture adjusting unit 140 and the like, and can provide a space in which various parts for operating the tomographic imaging device 100 are installed. Additionally, the main body 105 may be provided with a manipulation unit (not shown) for operating the tomographic imaging device 100. The operating unit may be provided with an input unit for the operator to control the tomographic imaging device 100, and the operator may control the angle of the C-arm 110 and the operating mode of the tomographic imaging device 100 through the operating unit. You can choose and control.

The control unit 150 is provided inside the main body 105 and can control the posture adjustment unit 140, the X-ray emitting unit 120, and the X-ray detection unit 130.

Additionally, a base 102 may be provided on the lower side of the main body 105.

The base 102 is a part supported on the ground, and a canister 104 is mounted on the lower side of the base 102 so that it can be moved.

Meanwhile, the X-ray emitting unit 120 includes a first rail 122 and an X-ray source 124 and may be provided to be movable with respect to the C-arm 110.

The first rail 122 is provided to extend from the upper opening end of the C-arm 110 toward the inside and outside of the C-arm 110, and the X-ray source 124 is connected to the first rail 122. It is provided to slide along the rail 122 and may be provided to emit X-rays.

Additionally, the X-ray detection unit 130 may also include a second rail 132 and an X-ray detector and be movable with respect to the C-arm 110.

The second rail 132 is provided to extend from the lower opening end of the C-arm 110 toward the inside and outside of the C-arm 110, and the X-ray detector 134 is the second rail 132. It is provided to be able to slide along the rail 132, and may be equipped to detect X-rays emitted from the X-ray source 124 and transmitted through the object to be inspected.

The X-ray source 124 and the X-ray detector 134 may be moved in position according to the non-isocentric mode or isocentric mode, which will be described later.

That is, the X-ray source 124 and the X-ray detector 134 may be moved to the non-isocentric position or the isocentric position depending on the non-isocentric mode or the isocentric mode.

FIG. 4 is a diagram illustrating when the tomography apparatus 100 is in the non-isocentric mode.

When the tomographic imaging device 100 is in the non-isocentric mode, the X-ray source 124 and the , the center of gravity (MC) of the C-arm 110 may be formed at a position spaced apart from the rotation center (RC) toward the opening end.

As shown in FIG. 4, the arm rotator 144 is coupled to the circumference of the C-arm 110 and can rotate the C-arm 110. At this time, the rotation center (RC) of the C-arm 110 may be formed at the center point of the C-arm 110.

That is, the C-arm 110 can rotate around the rotation center RC.

Meanwhile, the rotation center (RC) of the C-arm 110 is formed at the center point of the C-arm 110, while the Since it is located on the open end side of the C-arm 110, the center of gravity (MC) of the C-arm 110 is from the rotation center (RC) of the C-arm 110 to the open end side of the C-arm 110. It may be formed offset at a spaced apart point.

In this way, the mode in which the tomography apparatus 100 is operated in a state in which the rotation center (RC) of the C-arm 110 and the center of gravity (MC) of the C-arm 110 do not coincide and are offset This will be referred to as non-isocentric mode.

In the non-isocentric mode, the rotation center (RC) and the center of gravity (MC) of the C-arm 110 do not coincide, so a moment that causes the C-arm 110 to rotate due to gravity may act.

At this time, since the motor 146 of the arm rotator 144 of the posture control unit 140 restrains the C-arm 110, the C-arm 110 is not rotated by gravity.

Additionally, the C-arm 110 can be rotated by the motor 146 of the arm rotator 144 to adjust its angle.

Meanwhile, when the operator wishes to manually rotate the C-arm 110, it can be switched to isocentric mode.

As shown in FIG. 5, the isocentric mode is a mode in which the tomographic imaging device 100 is operated with the center of rotation (RC) and the center of gravity (MC) of the C-arm 110 coinciding with each other.

In order to switch to the isocentric mode, as shown in FIG. 5, the X-ray emitter 120 and the X-ray detector 130 are moved to the rotation center (RC) side of the C-arm 110. You can.

That is, the X-ray source 124 of the X-ray emitting unit 120 and the X-ray detector 134 of the It can be moved to the inside of the C-arm 110 and placed in an isocentric position.

As the X-ray source 124 and the At this time, the X-ray source 124 and the You can.

Meanwhile, as the X-ray source 124 and the -The entire arm (110) can be moved horizontally.

FIG. 6 is a diagram illustrating a rotated state of the C-arm 110 when the tomography apparatus 100 is in isocentric mode.

When the X-ray source 124 and the Even if the binding force of the motor 146 of (144) is not applied, the C-arm 110 does not rotate due to gravity, and the operator can manually rotate the C-arm 110 to arbitrarily adjust the imaging position. .

That is, in the non-isocentric mode, the motor 146 of the posture control unit 140 controls the rotation angle of the C-arm 110 while restraining the self-rotation of the C-arm 110 due to gravity, etc. In the central mode, the binding force of the motor 146 of the posture control unit 140 is released and the operator manually adjusts the rotation angle of the C-arm 110 arbitrarily.

The control unit 150 controls the positions of the X-ray source 124 and the By controlling the power of 146, the restraining force applied to the C-arm 110 can be controlled.

In addition, if the power of the motor 146 is turned off in a situation where the X-ray source 124 and the Therefore, a safety accident may occur, so the control unit 150 manually controls the C-arm 110 when the positions of the X-ray source 124 and the X-ray detector 134 are not in the isocentric mode. The power of the motor 146 is maintained so that manipulation is impossible, and the X-ray source ( When the movement of 124) and the X-ray detector 134 is completed, the power of the motor 146 can be turned off to enable manual operation of the C-arm 110.

Of course, the present invention is not limited to this, and the component that restrains the rotation of the C-arm 110 may be formed as a separate device other than the motor 146.

Hereinafter, a tomographic imaging device according to another embodiment of the present invention will be described. In the above-described embodiment, the X-ray source 124 and the X-ray detector 134 are provided to slide, but according to another embodiment of the present invention, the It can be implemented.

7 to 10 are diagrams showing a tomographic imaging device according to another embodiment of the present invention.

The tomographic imaging device according to another embodiment of the present invention has a different configuration of the X-ray emitting unit 220 and the Names and identical reference numerals will be assigned, descriptions will be omitted, and only the differences will be explained.

The X-ray radiation unit 220 of the tomographic imaging device according to another embodiment of the present invention may include a first rotating arm 222 and an X-ray source 224, as shown in FIG. 7.

One end of the first rotary arm 222 is rotatably mounted on the upper opening end of the C-arm 110, and the other end is provided to extend in a direction perpendicular to the rotation axis of the first rotary arm 222. You can.

Additionally, the X-ray source 224 may be coupled to the other end of the first rotary arm 222 and its position may be moved according to the rotation of the first rotary arm 222.

At this time, when the first rotary arm 222 is rotated toward the opening end of the C-arm 110, the X-ray source 224 is located at the non-isocentric position, and the first rotary arm 222 When rotated to the side opposite to the opening end of the C-arm 110, the X-ray source 24 may be positioned at an isocentric position.

The X-ray detection unit 230 may include a second rotating arm 232 and an X-ray detector 234.

One end of the second rotary arm 232 is rotatably mounted on the lower opening end of the C-arm 110, and the other end is provided to extend in a direction perpendicular to the rotation axis of the second rotary arm 232. You can.

Additionally, the X-ray detector 234 may be coupled to the other end of the second rotary arm 232 and its position may be moved according to the rotation of the second rotary arm 232.

At this time, when the second rotary arm 232 is rotated toward the opening end of the C-arm 110, the X-ray detector 234 is located at the non-isocentric position, and the second rotary arm 232 When the C-arm 110 is rotated to the side opposite to the opening end, the X-ray detector 234 may be positioned at an isocentric position.

Therefore, as shown in FIG. 7, when the tomography apparatus 100 is operated in the non-isocentric mode, the X-ray source 224 and the X-ray detector 234 are located at the non-isocentric position, and the C- It is located close to the opening end of the arm 110. At this time, the angle of the C-arm 110 is controlled by the motor 146 of the posture adjustment unit 140, and the posture adjustment unit 140 Since the motor 146 of the arm rotator 144 restrains the C-arm 110, the C-arm 110 does not rotate due to gravity.

As shown in FIG. 8, the isocentric mode is a mode in which the tomographic imaging device is operated with the center of rotation (RC) and the center of gravity (MC) of the C-arm 110 coinciding with each other.

In order to switch to the isocentric mode, as shown in FIG. 8, the X-ray source 224 and the X-ray detector 234 are moved toward the rotation center (RC) of the C-arm 110. The rotation center (RC) and center of gravity (MC) of the C-arm 110 may be aligned.

Meanwhile, as the X-ray source 224 and the -The entire arm (110) can be moved horizontally.

Therefore, as shown in FIG. 9, even if the operator manually rotates the C-arm 110, the center of rotation (RC) and the center of gravity (MC) of the C-arm 110 coincide, so that the Even if the binding force of the motor 146 of the arm rotator 144 is not applied, the C-arm 110 is not rotated by gravity, and the operator can manually rotate the C-arm 110 to arbitrarily adjust the imaging position. You can.

Although the embodiments of the present invention have been described, the spirit of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the spirit of the present invention can add or change components within the scope of the same spirit. , deletion, addition, etc., other embodiments can be easily proposed, but this will also be said to fall within the scope of the present invention.

Claims

C-arm provided in an open form on one side;

an X-ray emitter movably mounted on either side of the opening end of the C-arm;

an X-ray detector that is movably mounted on one of the two opening ends of the C-arm and receives X-rays emitted from the X-ray emitter;

a posture control unit that adjusts the position and rotation angle of the C-arm;

a control unit that controls the posture adjustment unit, the X-ray emitter, and the X-ray detection unit;

Includes,

The control unit operates in a non-isocentric mode in which the rotation center of the C-arm of the X-ray emitter and the X-ray detector and the center of gravity of the C-arm, the X-ray emitter, and the , so that the X-ray emitter and the , A tomographic imaging device operated in isocentric mode and non-isocentric mode, controlling the positions of the X-ray emitter and the X-ray detector.
According to paragraph 1,

The X-ray emitting unit,

a first rail extending toward the inside and outside of the C-arm on either side of the opening end of the C-arm;

an X-ray source movable along the first rail;

A tomography device operating in isocentric mode and non-isocentric mode, including.
According to paragraph 1,

The X-ray detection unit

a second rail extending toward the inside and outside of the C-arm on the other of both sides of the opening end of the C-arm;

an X-ray detector movable along the second rail;

A tomography device operated in isocentric mode and non-isocentric mode, including.
According to paragraph 1,

The X-ray emitting unit,

a first rotary arm whose end is rotatably extended to either side of the opening end of the C-arm;

an X-ray source coupled to the other end of the first rotary arm and whose position moves according to the rotation of the first rotary arm;

A tomography device operated in isocentric mode and non-isocentric mode, including.
According to paragraph 1,

The X-ray detector,

a second rotary arm, one end of which is rotatably mounted on the other of the two opening ends of the C-arm;

an X-ray detector coupled to the other end of the second rotary arm and whose position moves according to the rotation of the second rotary arm;

A tomography device operated in isocentric mode and non-isocentric mode, including.
According to paragraph 1,

The posture control unit

A tomographic imaging device operated in isocentric mode and non-isocentric mode, including a motor that rotates the C-arm around the rotation center.
According to clause 6,

The control unit,

In the non-isocentric mode, the C-arm is rotated by driving the motor,

In the isocentric mode, a tomography apparatus operated in isocentric mode and non-isocentric mode is provided to allow a user to manually rotate the C-arm.
In clause 7,

The control unit,

When the movement of the X-ray emitter and the X-ray detector is completed so that the center of gravity of the X-ray emitter,

Turn off the power of the motor to enable manual operation of the C-arm,

Tomography operated in isocentric mode and non-isocentric mode, maintaining the power of the motor so that manual operation of the C-arm is not possible when the positions of the X-ray emitter and X-ray detector are not in the isocentric mode position. Device.
According to paragraph 1,

The control unit,

When switching between the isocentric mode and the non-isocentric mode,

So that the imaging area photographed by the moved X-ray emitting unit and the X-ray detection unit is the same as the imaging area before the transition,

A tomographic imaging device operated in isocentric mode and non-isocentric mode, controlling the posture adjuster to adjust the horizontal position of the C-arm.