JP2024128432A - X-ray diagnostic equipment - Google Patents

Abstract

An object of the present invention is to perform interference control of an imaging unit with high accuracy in an X-ray diagnostic apparatus.
[Solution] An X-ray diagnostic apparatus according to an embodiment includes an imaging unit having an arm unit, a support unit, and a bed, a sensor, a guide unit, and a control unit. The arm unit holds an X-ray tube and an X-ray detector. The support unit supports the arm unit so that it can move. The bed places a subject on it. The sensor detects an object. The guide unit is installed on the imaging unit and allows the sensor to move along it. The control unit controls the movement of the arm unit based on the planned movement trajectory of the arm unit and the position of the object detected by the sensor.
[Selected Figure] Figure 1

Description

The embodiments disclosed in this specification and the drawings relate to an X-ray diagnostic device.

In catheter treatment, the surgeon moves the C-arm, which holds the X-ray tube and X-ray detector, to ensure a view of the surgical site from various angles. The C-arm is moved so as to rotate around a horizontal axis (rotational movement) or move forward and backward along an arc (arc movement). This includes moving forward and backward along the horizontal and vertical directions (sliding movement). When the X-ray tube or X-ray detector passes near the bed or subject during C-arm movement, interference control is activated to decelerate the C-arm to prevent interference between the C-arm and the bed or subject.

The interference control is performed by calculating the distance between the C-arm and the bed or the subject only at discretely set interference points, and using the calculated distance. In this interference control, depending on the initial position of the C-arm, it may decelerate at a position far away from the bed or the subject.
On the other hand, if medical equipment other than the X-ray diagnostic apparatus is placed near the C-arm, there is a problem that the C-arm may interfere with these equipment when moved.

U.S. Pat. No. 8,548,629

One of the problems that the embodiments disclosed in this specification and the drawings attempt to solve is to perform accurate interference control of an imaging unit in an X-ray diagnostic apparatus. However, the problems that the embodiments disclosed in this specification and the drawings attempt to solve are not limited to the above problem. Problems corresponding to the effects of each configuration shown in each embodiment described below can also be positioned as other problems.

The X-ray diagnostic apparatus according to the embodiment includes an imaging unit including an arm unit, a support unit, and a bed, a sensor, a guide unit, and a control unit. The arm unit holds an X-ray tube and an X-ray detector. The support unit movably supports the arm unit. The bed places a subject on it. The sensor detects an object. The guide unit is installed on the imaging unit and allows the sensor to move along it. The control unit controls the movement of the arm unit based on the planned movement trajectory of the arm unit and the position of the object detected by the sensor.

FIG. 1 is a block diagram showing the configuration of an X-ray diagnostic apparatus 1 according to the first embodiment. FIG. 2 is a perspective view showing the appearance of the arm 51 and its surroundings according to the first embodiment. FIG. 3 is a side view showing the configuration of the arm 51 and its surroundings according to the first embodiment. FIG. 4 is a flowchart showing how the sensor 4 and the arm 51 according to the first embodiment move. FIG. 5 is a front view showing the inner surface of the arm 51 according to the first embodiment. FIG. 6 is a side view showing the configuration of an arm 51 and its surroundings according to a modified example of the first embodiment. FIG. 7 is a perspective view showing a part of a ceiling-mounted imaging unit 6a according to the second embodiment. FIG. 8 is a diagram showing the ceiling cart 8 and its surroundings according to the second embodiment. FIG. 9 is a side view showing the configuration of a bed device 40 according to the third embodiment. FIG. 10 is a side view showing the configuration of an arm 51 and its surroundings according to the fourth embodiment.

Below, an embodiment of the X-ray diagnostic device will be described in detail with reference to the drawings.

First Embodiment
The first embodiment relates to a configuration of an X-ray diagnostic apparatus including a sensor 4 on an arm 51 of an imaging unit 6 .
1 is a block diagram showing the configuration of an X-ray diagnostic apparatus 1 according to the first embodiment. The X-ray diagnostic apparatus 1 is assumed to be used mainly for circulatory systems, but may also be an X-ray television diagnostic apparatus for barium examinations or any other type of X-ray diagnostic apparatus.
As shown in FIG. 1, the X-ray diagnostic apparatus 1 includes a sensor 4 , a guide rail 5 , an imaging unit 6 , and a console 11 .

Sensor 4 detects object B (see FIG. 3). Sensor 4 is a camera, an optical sensor, an ultrasonic sensor, etc. Sensor 4 may be at least one of a camera, an optical sensor, and an ultrasonic sensor, or may include two or three of them.

The guide rail 5 is installed somewhere on the imaging unit 6, allowing the sensor 4 to move along it. The guide rail 5 is an example of a guide unit. In the first embodiment, the guide rail 5 is installed on the arm 51.

The imaging unit 6, under the control of the control unit 110, images the subject P and obtains an X-ray image of the subject P. The imaging unit 6 includes an X-ray generation unit 10, an X-ray detection unit 20, an arm 51, a support unit 52, a bed device 40, a high-voltage generation unit 50, a mechanism control circuit 60, a mechanism unit 70, and an image processing unit 80.

The X-ray generating unit 10 of the imaging unit 6 includes an X-ray tube 2 and an X-ray irradiation field aperture 12. The X-ray tube 2 irradiates X-rays to the subject P under the control of the control unit 110. The X-ray tube 2 is a vacuum tube that generates X-rays, and accelerates thermoelectrons emitted from a cathode (filament) by applying a high voltage between the anode and cathode, causing them to collide with a tungsten anode and generate X-rays.

The X-ray irradiation field aperture 12 slides according to the control of the control unit 110 to form an X-ray cone beam for the X-rays irradiated from the X-ray tube 2. The X-ray irradiation field aperture 12 is located between the X-ray tube 2 and the subject P, and narrows the X-ray beam irradiated from the X-ray tube 2 so that it is selectively irradiated to the region of interest of the subject P.

The X-ray detection unit 20, under the control of the control unit 110, two-dimensionally detects X-rays transmitted through the subject P. The X-ray detection unit 20 includes an X-ray detector (FPD: Flat Panel Detector) 3, a gate driver 22, and an image data generation unit 23.
The X-ray detector 3 is an example of an X-ray detector configured by arranging minute elements two-dimensionally in the row and line directions.

The gate driver 22 is installed to extract electric charges from the X-ray detector 3. The image data generating unit 23 generates image data of the X-ray transmission image based on the raw data (or surface dose data) of the X-ray transmission image output from the X-ray detection unit 20.

The image data generating unit 23 includes a charge/voltage conversion circuit, an A/D (Analog to Digital) conversion circuit, and a parallel/serial conversion circuit (all not shown). The charge/voltage conversion circuit converts the charge read out from the X-ray detector 3 into a voltage. The A/D conversion circuit converts the output of the charge/voltage conversion circuit into a digital signal. The parallel/serial conversion circuit converts the digitally converted image data read out in parallel on a line-by-line basis from the X-ray detector 3 into a serial signal.

The arm 51 holds the X-ray generating unit 10 and the X-ray detecting unit 20 as a single unit. The arm 51 is an example of an arm unit. Note that the arm that holds the X-ray generating unit 10 and the X-ray detecting unit 20 as a single unit is not limited to a so-called C-arm having a "C" shape. For example, the arm that holds the X-ray generating unit 10 and the X-ray detecting unit 20 as a single unit may be a so-called Ω-arm having an "Ω" shape.

The support part 52 supports the arm 51 so that it can move. The movement of the arm 51 includes movement by rotation of the support shaft of the arm 51, movement by an arc, and movement by sliding.

The bed device 40 includes a bed body 41 and a top board 42. The bed device 40 is an example of a bed. The bed body 41 holds the top board 42 and includes various power units for moving (e.g., sliding and rolling) the top board 42. The subject P is placed on the top board 42.
The high voltage generating unit 50 supplies high voltage power to the X-ray tube 2 of the X-ray generating unit 10 under the control of the control unit 110 .
The mechanism control circuit 60 is a power circuit that supplies electricity to the mechanism unit 70 under the control of the control unit 110 to rotate the arm 51 and slide the top plate 42 .

The mechanism unit 70 includes an arm movement mechanism 71, a tabletop sliding mechanism 72, and a sensor movement detection mechanism 73. The arm movement mechanism 71 operates each power unit that constitutes the arm movement mechanism 71 under the control of the control unit 110 via the mechanism control circuit 60. As a result, the arm movement mechanism 71 rotates the arm 51 that holds the X-ray generation unit 10 and the X-ray detection unit 20 in the arc direction of the arm 51, and rotates the arm 51 around its fulcrum.

The top board sliding mechanism 72 operates each power unit constituting the bed main body 41 that holds the top board 42 under the control of the control unit 110 via the mechanism control circuit 60. As a result, the top board sliding mechanism 72 can slide the bed main body 41 in the left-right direction, vertical direction, and body axis direction of the subject P.
The sensor movement detection mechanism 73 causes the sensor 4 to move along the guide rail 5 and detect the object B under the control of the control unit 110 via the mechanism control circuit 60 .

The image processing unit 80 includes an image memory 81 and an image calculation circuit 82. The image memory 81 stores image data that is sequentially output by line or frame from the image data generating unit 23 under the control of the control unit 110.

Under the control of the control unit 110, the image calculation circuit 82 performs image processing on the image data stored in the image memory 81, and stores the image data after image processing in the image memory 81. Examples of image processing include enlargement/tone/spatial filter processing of the image data of the X-ray transmission image, minimum/maximum value tracing processing of image data accumulated in time series, subtraction processing, and addition processing to remove noise.

The console 11 is an example of a medical image processing device. The console 11 includes a display 90, an input interface 100, and a control unit 110. The control unit 110 may be included in the imaging unit 6, for example, in the arm 51.

Under the control of the control unit 110, the display 90 displays the image data of the X-ray transmission image processed by the image processing unit 80 by combining it with text and graphic information such as X-ray irradiation conditions provided by the control unit 110.

The input interface 100 accepts operations by the surgeon and transmits to the control unit 110, for example, patient information on the subject P, a signal corresponding to the optimal X-ray irradiation conditions for the observation target area of the subject P, and a signal indicating an instruction to perform a scan using the sensor 4. The input interface 100 is an example of an input unit. The surgeon is an example of a user.

In response to this, the sensor 4 receives a signal from the input interface 100 via the control unit 110, the mechanism control circuit 60, and the mechanism unit 70. For example, when the sensor 4 receives a signal from the input interface 100 indicating an instruction to perform a scan by the sensor 4, the sensor 4 moves the imaging unit 6 and detects an object.

The control unit 110 includes a processing circuit 111 and a main memory 112. The control unit 110 performs overall control of the X-ray diagnostic apparatus 1 according to instructions from the operator inputted from the input interface 100. The control unit 110 controls the movement of the arm 51, for example, based on the planned movement trajectory of the arm 51 and the position of the object B detected by the sensor 4. The control unit 110 acquires the position of the object B from the sensor movement detection mechanism 73. The control unit 110 acquires the planned movement trajectory of the arm 51 via the arm movement mechanism 71, and controls the movement of the arm 51 in accordance with the position of the object B.

The processing circuit 111 refers to a processing circuit such as a dedicated or general-purpose CPU (Central Processing Unit) or MPU (Micro Processor Unit), an application specific integrated circuit (ASIC), and a programmable logic medical device. The processing circuit 111 realizes the functions described below by reading and executing a program stored in the main memory 112 or directly embedded in the processing circuit 111. The processing circuit 111 is an example of a display control unit and a control unit. The program is an example of a medical image processing program.

The main memory 112 is composed of semiconductor memory elements such as RAM (Random Access Memory) and flash memory, a hard disk, an optical disk, etc. The main memory 112 stores various processing programs (including application programs and the OS (Operating System)) used in the processing circuit 111, and data required for executing the programs.

Figure 2 is a perspective view showing the appearance of the arm 51 and its surroundings of the X-ray diagnostic device 1 according to the first embodiment. As shown in Figure 2, a support part 52 is supported on a stand 53 so as to be freely rotatable about a substantially horizontal rotation axis. An arm 51 is supported on the support part 52 so as to be freely slidably rotated. An X-ray generating unit 10 is mounted on one end of the arm 51, and an X-ray detecting unit 20 is mounted on the other end of the arm 51.

The guide rail 5 is installed on the inner surface (the surface on the X-direction side) of the arm 51. The guide rail 5 is installed so as to curve along the inner surface of the arm 51. The sensor 4 is installed so as to be movable along the guide rail 5. The sensor 4 is equipped with a motor, and moves along the guide rail 5 by the rotation of the motor.

The guide rail 5i may be installed on the inner surface (X-direction surface) of the support portion 52. In this case, the guide rail 5i is installed so as to curve along the inner surface of the support portion 52. The sensor 4i is installed so as to be movable along the guide rail 5i. The sensor 4i is equipped with a motor, and moves along the guide rail 5i by the rotation of the motor.

Fig. 3 is a side view showing the arm 51 and its surrounding configuration of the X-ray diagnostic apparatus 1 according to the first embodiment. As shown in Fig. 3, the sensor 4 transmits a beam in a plane parallel to the XZ plane and measures the distance to the object B. The home position of the sensor 4 is one end of the guide rail 5. The object B is located on the opposite side of the sensor 4 across the arm rotation center point. The object B is also located on the trajectory T of the circular movement of the arm 51, that is, on the trajectory on which the arm 51 rotates around the center point.

When the arm 51 is stopped, the sensor 4 moves from one end of the guide rail 5, which is the home position, to the other end, while measuring the distance between the sensor 4 and object B from positions at regular intervals (detecting object B). Then, after the arm 51 moves and stops, the sensor 4 detects object B while moving from the other end to one end of the guide rail 5.

When the arm 51 is moved, its positional relationship with the surroundings changes, so the sensor 4 scans while the arm 51 is stopped. On the other hand, the arm 51 moves when the sensor 4 is stopped.

4 is a flow chart showing the movement of the sensor 4 and the arm 51 according to the first embodiment. The movement of the sensor 4 and the arm 51 is performed under the control of the control unit 110.
In step ST1, the sensor 4 is located at the first end of the guide rail 5, which is the home position.

In step ST2, the control unit 110 determines whether the arm 51 is scheduled to move within a predetermined time. If the arm 51 is scheduled to move (YES in step ST2), the control unit 110 causes the sensor 4 to perform the process of step ST3. If the arm 51 is not scheduled to move (NO in step ST2), the control unit 110 ends the process.

In step ST3, the sensor 4 detects the object B while moving from the first end to the second end of the guide rail 5. Data related to the detected object B is stored in the main memory 112 of the control unit 110. This is because, before moving the arm 51 to examine the subject P, the control unit 110 acquires data related to the object B (such as the positions of the surrounding objects) scanned once by the sensor 4 in order to grasp the distance between the arm 51 and the surrounding objects.

In step ST4, the arm 51 moves according to the data on the object B detected in step ST3. In the stopped state after the movement of the arm 51, the control unit 110 controls the operation of the imaging unit 6 to perform X-ray imaging of the subject P. Here, X-ray imaging is broadly classified into simple imaging and fluoroscopy imaging. Simple imaging is imaging in which X-rays are irradiated with a relatively high tube current, and mainly means one-shot imaging to collect CR (Computed Radiography) images, but may also be used for video imaging. On the other hand, fluoroscopy is imaging in which X-rays are irradiated with a relatively low tube current, and mainly means video imaging. In addition, fluoroscopy is broadly classified into continuous fluoroscopy and pulse fluoroscopy. Unlike continuous fluoroscopy, pulse fluoroscopy refers to a fluoroscopy method in which X-ray pulses are intermittently and repeatedly irradiated. According to pulse fluoroscopy, the continuity (frame rate) of the fluoroscopy image is slightly inferior to that of continuous fluoroscopy, but the radiation dose to the subject P can be reduced. In this specification, X-ray photography can be either plain or fluoroscopic.

In step ST5, the control unit 110 determines whether the arm 51 is scheduled to move within a predetermined time. If the arm 51 is scheduled to move (YES in step ST5), the control unit 110 causes the sensor 4 to perform the process of step ST6. If the arm 51 is not scheduled to move (NO in step ST5), the control unit 110 ends the process.

In step ST6, the sensor 4 detects the object B while moving from the second end to the first end of the guide rail 5. Data related to the object B detected at that time is stored in the main memory 112 of the control unit 110.

In step ST7, the arm 51 moves in accordance with the data regarding the object B detected in step ST6. After the arm 51 moves and is in a stopped state, the control unit 110 controls the operation of the imaging unit 6 to perform X-ray imaging of the subject P. Then, the determination in step ST2 is performed.

This makes it possible to accurately grasp the distance between the sensor 4 and surrounding objects, and the size of the objects. By detecting object B while the sensor 4 moves, the number of sensors 4 required for interference control can be reduced. By moving the arm 51 while the sensor 4 moves, the position of object B in three-dimensional coordinates can be detected.

The sensor 4 may also be equipped with a swivel mechanism that allows the direction in which the beam is transmitted to be changed. This allows the beam to be transmitted at various angles, making it possible to accurately measure the distance between the sensor 4 and the object B.

The surgeon may also move the arm 51 to change the field of view of the surgical site of the subject P. When the surgeon then stops the movement of the arm 51, the sensor 4 may measure the distance to the object B again. This allows the distance between the sensor 4 and the object B to be measured from each position in a wide range that combines the range in which the sensor 4 can move along the guide rail 5 (the angle θ of the arm 51 from the horizontal support axis) and the range of rotation angles when the arm 51 moves in an arc.

An example of a method for identifying the position of object B will be described. As a premise, when the position of object B is detected, the position of sensor 4 in three-dimensional coordinates (hereinafter referred to as "predetermined coordinates") with a predetermined position as the origin can be identified from the position of sensor 4 on guide rail 5, the position and angle of arm 51, etc. The position of object B as seen from sensor 4 (the relative position of object B from sensor 4, i.e., the position of object B in three-dimensional coordinates with the position of sensor 4 as the origin) can be identified from the angle of the beam transmission direction and the distance according to the beam transmission time. Furthermore, the position of object B in the predetermined coordinates can be obtained from the position of sensor 4 in the predetermined coordinates and the relative position of object B from sensor 4.

The control unit 110 of the console 11 calculates the distance between the arm 51 and object B based on the position of the sensor 4 and the position of object B, and controls the speed at which the arm 51 moves according to this distance. For example, if the position of object B is known, the control unit 110 can determine whether or not the position of object B is included in the trajectory T along which the arm 51 will move in the future. Then, if the position of object B is included in the trajectory T, when the arm 51 approaches object B to a predetermined distance, the control unit 110 controls the moving arm 51 to decelerate.

Figure 5 is a front view showing the inner surface of the arm 51 according to the first embodiment. As shown in Figure 5 (A), a pair of sensors 4 and guide rails 5 are installed on the inner surface of the arm 51.

As shown in FIG. 5B, two sets of sensor 4a and guide rail 5a, and sensor 4b and guide rail 5b are installed on the inner surface of arm 51a. In this way, multiple guide rails may be attached. Also, two or one of a camera, an optical sensor, and an ultrasonic sensor may be attached as sensors 4a and 4b. When three or more guide rails are attached, one or more of each of a camera, an optical sensor, and an ultrasonic sensor may be attached.

By installing multiple guide rails 5, even if one sensor 4 breaks down, the other sensors 4 will continue to operate, so there is no problem. Secondly, since object B is detected from different positions, accuracy can be improved. And the angle of view in the left and right directions can be increased. Also, the scanning time can be shortened. For example, if two guide rails 5 are installed, the two sensors 4 only need to scan half the range each, so the scanning time can be shortened. Furthermore, object B can be viewed in stereoscopic form by two sensors 4 of the same type simultaneously detecting the same object B.

Figure 6 is a side view showing an arm 51 and its surrounding configuration according to a modified example of the first embodiment. As shown in Figure 6, two guide rails 5c and 5d are attached to the side of the arm 51. Guide rail 5c is installed so as to curve along the inner periphery of the side of the arm 51. Guide rail 5d is installed so as to curve along the outer periphery of the side of the arm 51.

The sensor 4c is installed so that it can move along the guide rail 5c. The sensor 4c is equipped with a motor, and moves along the guide rail 5c by the rotation of the motor. The sensor 4d is installed so that it can move along the guide rail 5d. The sensor 4d is equipped with a motor, and moves along the guide rail 5d by the rotation of the motor.

Sensors 4c and 4d transmit beams in the opposite direction to the Y direction (the direction from the back to the front of the paper in FIG. 6). In other words, sensors 4c and 4d are installed so that their detection surfaces face outward on the side of arm 51. Sensors 4c and 4d may be equipped with a swivel mechanism that allows them to change the direction in which they transmit the beam. Also, one or two pairs of sensors 4 and guide rails 5 may be installed on both sides of arm 51. This makes it possible to check the Y direction from the front to the back of the paper in FIG. 6, and the opposite direction to the Y direction from the back to the front of the paper in FIG. 6.

Second Embodiment
The second embodiment relates to a configuration of an X-ray diagnostic apparatus 1 including a sensor 4e on a ceiling cart 8 of an imaging unit 6a.
7 is a perspective view showing a part of a ceiling-suspended imaging unit 6a according to the second embodiment. As shown in FIG. 7, the imaging unit 6a of the X-ray diagnostic apparatus 1 includes an arm 51, a support unit 52, an arm 54, a rail 7, and a ceiling cart 8.

The rail 7 is installed on the ceiling (not shown) of the examination room. The ceiling cart 8 is movable along the longitudinal direction of the rail 7. The upper end of the arm 54 is supported by the ceiling cart 8. The support part 52 is provided at the lower end of the arm 54, and supports the arm 51 so that it can slide along the arc shape of the arm 51, and holds the arm 51 so that it can rotate around the radius of the arc shape. The arm 51 has an X-ray tube 2 and an X-ray detector 3 at both ends. The arm 54 and the support part 52 may be an example of a support part.

Fig. 8 (A) is a side view showing the ceiling cart 8 and its surroundings according to the second embodiment. As shown in Figs. 7 and 8 (A), the guide rail 5e is installed on the underside of the ceiling cart 8. The sensor 4e is installed so as to be movable along the guide rail 5e. The sensor 4e is equipped with a motor, and moves along the guide rail 5e by the rotation of the motor.

Figure 8 (B) is a bottom view showing the underside of the ceiling cart 8 according to the second embodiment. As shown in Figure 8 (B), the guide rail 5e is installed around approximately the periphery of the underside of the ceiling cart 8. The sensor 4e moves around approximately the periphery of the underside of the ceiling cart 8 following the guide rail 5e. The sensor 4e moves when the ceiling cart 8 is stopped. On the other hand, the ceiling cart 8 moves when the sensor 4e is stopped. The sensor 4e transmits a beam in the Z direction (vertically downward) to measure the distance between the object B.

This makes it possible to detect object B present on the underside of the ceiling cart 8. Furthermore, the distance between the sensor 4e and object B can be measured from each position in a wide range that combines the range in which the sensor 4e can move along the guide rail 5e and the range in which the ceiling cart 8 moves along the rail 7.
The sensor 4e may be provided with a swivel mechanism that enables the direction in which the beam is transmitted to be changed.
Also in the second embodiment, the operation of the X-ray diagnostic apparatus 1 is the same as that described in the flowchart of FIG. 4, and therefore a description thereof will be omitted.

Third Embodiment
The third embodiment relates to a configuration of an X-ray diagnostic apparatus 1 having a sensor 4 f on the underside of a top plate 42 of an imaging unit 6 .
Fig. 9 is a side view showing the configuration of a bed apparatus 40 according to the third embodiment. As shown in Fig. 9, the bed apparatus 40 includes a bed body 41 and a tabletop 42. The tabletop 42 moves horizontally on the bed body 41 in the longitudinal direction.

The guide rail 5f is installed in the longitudinal direction on the underside of the tabletop 42 in a portion that does not overlap with the bed body 41. The sensor 4f is installed so as to be movable along the guide rail 5f. The sensor 4f is equipped with a motor, and moves along the guide rail 5f by the rotation of the motor. The sensor 4f moves when the tabletop 42 is stopped. On the other hand, the tabletop 42 moves when the sensor 4f is stopped.

This allows the distance between the sensor 4f and the object B to be measured from various positions in a wide range that combines the range in which the sensor 4f can move along the guide rail 5f and the range in which the top plate 42 moves.

Sensor 4f transmits a beam in the Z direction to measure the distance to object B. This makes it possible to detect object B, such as the X-ray tube 2 of arm 51, that exists vertically below the tabletop 42 and cannot be detected by the sensor 4 installed on arm 51. Furthermore, since the subject P and bed device 40 are covered with a blue tarp during the examination, the surgeon cannot see below the tabletop 42 due to a blind spot, but the surgeon's feet can be detected. Furthermore, it is possible to prevent the arm 51 from hitting the surgeon's feet. In other words, it can be used to grasp the positional relationship between a person (surgeon) and an object (arm 51).

The sensor 4f may have a swing mechanism that can change the direction of beam transmission to any direction. For example, the sensor 4f may transmit a beam in the X direction. This makes it possible to determine whether or not an object B, for example, an obstacle, exists in the direction in which the tabletop 42 on which the subject P is placed moves for the examination. In addition, interference control can be performed not only for the arm 51 but also for the movement of the tabletop 42. That is, when the position of the object B is included in the planned trajectory of the tabletop 42, when the tabletop 42 approaches the object B to a predetermined distance, the control unit 110 may control the moving tabletop 42 to decelerate.
Also in the third embodiment, the operation of the X-ray diagnostic apparatus 1 is the same as that described in the flowchart of FIG. 4, and therefore a description thereof will be omitted.

Fourth Embodiment
The fourth embodiment relates to a configuration of an X-ray diagnostic apparatus 1 including an X-ray tube 2 in an imaging section 6 and sensors 4g and 4h in an X-ray detector 3.
Fig. 10(A) is a side view showing the configuration of an arm 51 and its surroundings according to the fourth embodiment. Fig. 10(B) is a top view showing the top surface of an X-ray tube 2 according to the fourth embodiment. Fig. 10(C) is a bottom view showing the bottom surface of an X-ray detector 3 according to the fourth embodiment.

As shown in Figures 10 (A) and (B), the guide rail 5g is installed so as to surround the outer surface of the X-ray tube 2. The sensor 4g is installed so as to be movable along the guide rail 5g. The sensor 4g is equipped with a motor, and moves along the guide rail 5g by the rotation of the motor. The sensor 4g transmits a beam in a direction from the X-ray tube 2 toward the X-ray detector 3, and measures the distance between the object B. This makes it possible to detect an object B present between the sensor 4g and the X-ray detector 3, for example, before the top plate 42 on which the subject is placed for examination is brought close to the arm 51.

As shown in Figures 10 (A) and (C), the guide rail 5h is installed so as to surround the outer surface of the X-ray detector 3. The sensor 4h is installed so as to be movable along the guide rail 5h. The sensor 4h is equipped with a motor, and moves along the guide rail 5h by the rotation of the motor. The sensor 4h transmits a beam in a direction from the X-ray detector 3 toward the X-ray tube 2, and measures the distance between the sensor 4h and the object B. This makes it possible to detect an object B present between the sensor 4h and the X-ray tube 2, for example, before the top plate 42 on which the subject is placed for examination is brought close to the arm 51.

The sensor 4g may detect the object B through a slit in the aperture cover of the X-ray tube 2. In this case, the sensor 4g moves inside the aperture cover of the X-ray tube 2. The sensor 4h may detect the object B through a slit in the cover of the X-ray detector 3. In this case, the sensor 4h moves inside the cover of the X-ray detector 3.

Furthermore, the sensor 4g may be provided so as to be movable along a slit in the aperture cover of the X-ray tube 2. The sensor 4h may be provided so as to be movable along a slit in the cover of the X-ray detector 3.
In addition, the sensor 4g installed in the X-ray tube 2 and the sensor 4h installed in the X-ray detector 3 may both be present, or only one of them may be present.

Furthermore, the sensors 4g and 4h detect an object B (or a subject P) between the X-ray tube 2 and the X-ray detector 3, but may also measure the distance between the X-ray tube 2 and the X-ray detector 3. The X-ray tube 2 and the X-ray detector 3 move closer to or farther away from each other over time, but by measuring the distance, it is possible to adjust the SID (Source Image Receptor Distance), which is the distance between the focal point and the film.
In the fourth embodiment, the operation of the X-ray diagnostic apparatus 1 is similar to that described in the flowchart of FIG. 4, and therefore a description thereof will be omitted.

According to at least one of the embodiments described above, interference control of the imaging unit can be performed with high precision in an X-ray diagnostic device.

Although several embodiments have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, and combinations of embodiments can be made without departing from the spirit of the invention. These embodiments and their modifications are within the scope of the invention and its equivalents as set forth in the claims, as well as the scope and spirit of the invention.

Reference Signs List 1 X-ray diagnostic device 2 X-ray tube 3 X-ray detector 4 Sensor 5 Guide rail 6 Imaging unit 7 Rail 8 Ceiling cart 40 Bed device 41 Bed body 42 Top plate 51 Arm 52 Support unit 100 Input interface 110 Control unit B Object P Subject

Claims (12)

an imaging unit including an arm unit that holds an X-ray tube and an X-ray detector, a support unit that movably supports the arm unit, and a bed on which a subject is placed;
A sensor for detecting an object;
A guide portion that is installed on the imaging unit and allows the sensor to move along the guide portion;
a control unit that controls movement of the arm unit based on a planned movement trajectory of the arm unit and a position of an object detected by the sensor;
An X-ray diagnostic apparatus comprising: The guide portion is installed on the arm portion.
2. The X-ray diagnostic apparatus according to claim 1. The guide portion is installed on a side surface of the arm portion.
3. The X-ray diagnostic apparatus according to claim 2. The guide portion is installed on the support portion.
2. The X-ray diagnostic apparatus according to claim 1. The sensor is installed so that a detection surface of the sensor faces outward from a side surface of the arm portion.
2. The X-ray diagnostic apparatus according to claim 1. The imaging unit further includes a ceiling cart that moves along a rail installed on a ceiling,
The support portion is supported by the ceiling cart,
The guide unit is installed on the ceiling cart.
2. The X-ray diagnostic apparatus according to claim 1. The bed includes a top plate on which a subject is placed and a bed body that holds the top plate;
The guide portion is installed on the lower surface of the top plate.
2. The X-ray diagnostic apparatus according to claim 1. the control unit calculates a distance between the arm unit and the object based on the position of the sensor and the position of the object, and controls a speed at which the arm unit moves in accordance with the calculated distance.
2. The X-ray diagnostic apparatus according to claim 1. The position of the object is defined by the position of the sensor and the direction and distance from the sensor, or by three-dimensional coordinates with a predetermined position as the origin.
2. The X-ray diagnostic apparatus according to claim 1. the sensor detects the object while moving from one end to the other end of the guide portion when the arm portion is stopped, and detects the object while moving from the other end to the one end of the guide portion after the arm portion moves and stops;
The arm portion moves when the sensor is stopped.
2. The X-ray diagnostic apparatus according to claim 1. The sensor is at least one of an optical camera, an optical sensor, and an ultrasonic sensor.
2. The X-ray diagnostic apparatus according to claim 1. further comprising an input unit for accepting an operation by a user;
the sensor detects movement and an object when a signal indicating that an operation instructing scanning by the sensor has been accepted is received from the input unit;
2. The X-ray diagnostic apparatus according to claim 1.

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