JP3216183B2 - X-ray fluoroscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an X-ray fluoroscopic apparatus, and more particularly to a posture control of a main body frame on which a bed or the like is mounted.

[0002]

2. Description of the Related Art As an X-ray fluoroscopic apparatus, there is a so-called over-table tube type X-ray fluoroscopic apparatus provided with an X-ray tube above a bed. This type of apparatus is configured such that a main body frame on which a bed and an X-ray tube are attached is rotatable, and when a subject rides on the bed, the bed is placed in a standing position and connected to the bed. The examinee rides on the stepped platform by himself, and then performs the examination by inclining the top plate in a horizontal posture.

However, when it is difficult for the subject to stand and step on the platform by himself, such as a severely ill patient, the elderly, the sick, and the disabled,
The caregiver was holding the subject and moving it from the stretcher to the tabletop.

[0004]

However, in this type of X-ray fluoroscopic apparatus, an image intensifier is connected below the top plate, and an optical system and a television camera are connected below the image intensifier. Therefore, in order to secure the installation space, the height of the top plate from the floor surface in the horizontal posture cannot be lowered, and the placement level of the subject becomes higher than the bed surface of the stretcher. As a result, there is a disadvantage that it is difficult for the caregiver to transfer the subject from the stretcher to the top board. In addition, the subject has a drawback that the subject is forced to be lifted to a high position and is burdened with a feeling of oppression.

Therefore, attention is paid to the image intensifier, the optical system connected to the image intensifier, and the vertically long configuration of the television camera, and X-ray fluoroscopy in which the bed can be displaced to a lower position by changing the attitude of the image intensifier. An imaging stand was proposed by the present applicant (Japanese Patent Application No. Hei 3-1472).
No. 87). This X-ray fluoroscopy table is configured such that the image intensifier is rotatably supported so that its posture can be changed between a vertical posture and a horizontal posture, and the bed is configured to be vertically movable. When the bed is moved up and down, the rotation (tilt) of the body frame is performed independently of the up and down movement.

Incidentally, in a conventional X-ray fluoroscopic apparatus, the main body frame is configured to move up and down in conjunction with the rotation.

[0007] On the other hand, if the vertical movement mechanism and the rotation mechanism of the bed are independent of each other, the movement of either mechanism is delayed due to the failure of one of the mechanisms or the difference in load. In such a case, the top plate and the floor surface or the X-ray tube and the ceiling surface may come into contact with each other, possibly causing damage to the device.

The present invention has been made in view of such circumstances, and in an X-ray fluoroscopic apparatus in which a bed up-down movement mechanism and a rotation mechanism are performed independently of each other, either An object of the present invention is to provide an X-ray fluoroscopic apparatus in which a bed or other parts do not contact the floor or ceiling of an examination room even in an abnormal situation where one of the mechanisms breaks down or its operation is delayed. I have.

[0009]

The present invention has the following configuration to achieve the above object. That is, the present invention is configured such that a main body frame including an X-ray tube and a bed is rotatable around a horizontal axis perpendicular to a longitudinal direction of the bed, and the main body frame is moved with respect to a floor of an examination room. In an X-ray fluoroscopic apparatus configured to be vertically movable, an angle detecting means for detecting a rotation angle of the main body frame,
Position detecting means for detecting the vertical position of the main body frame, operating means for instructing the posture of the main body frame, and a combination of an output signal from each of the detecting means and an operating signal from the operating means. In order to avoid the contact between the X-ray tube and the bed and the ceiling and floor of the examination room, the relationship between the rotation angle and the vertical position where the contact is likely to occur is determined in advance, and the range in which the contact can occur Outside, the rotation and the vertical movement of the main body frame are driven, and at least one of the rotation and the vertical movement of the main body frame is stopped within a range where contact can occur, thereby controlling the rotation or the vertical movement of the main body frame. Control means.

[0010]

The operation of the present invention is as follows. That is, based on a combination of an output signal from each detecting means for detecting the rotation angle and the vertical position of the main body frame and an operation signal from the operating means for instructing the attitude of the main body frame, the control means controls the rotation of the main body frame. The movement or the vertical movement is controlled to avoid contact between the X-ray tube and the bed and the ceiling and floor of the examination room. Therefore, in an apparatus having a mechanism in which the rotation of the main body frame and the vertical movement are independent, it is possible to cope with an abnormal situation in which one of the mechanisms breaks down or the operation is delayed.

[0011]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall side view of an X-ray fluoroscopy table according to this embodiment. A vertically movable frame 2 is provided on a base 1 installed on a floor surface so as to be vertically displaceable. The vertically movable frame 2 is provided with a rack gear 3 extending vertically. The rack gear 3 is meshed with a pinion gear 4 driven and rotated by a forward / reverse rotating electric motor (not shown) provided on the base 1, and the vertical movable frame 2 is moved relative to the base 1 by the electric motor. It is designed to be vertically displaced.

A frame 5 for rotating the main body is attached to the vertically movable frame 2 so as to be rotatable around a horizontal axis P1. A fan-shaped rack gear 6 is integrally attached to the main body rotation frame 5. The rack gear 6 is meshed with a pinion gear 8 driven and rotated by a forward / reverse rotating electric motor 7 provided in the vertical movable frame 2, and the main body rotating frame 5 is moved by the electric motor 7 with respect to the vertical movable frame 2. It is designed to be turned.

The body rotation frame 5 has a rotation axis P1.
The main body frame 9 is attached so as to be movable in a horizontal direction orthogonal to the horizontal direction. This body frame 9 has a frame 10
Top plate 11, X-ray tube 12, optical system 14, and X-ray television camera
There is provided an image intensifier 13 having a device 15, and these devices move up and down or rotate integrally with the main body frame 9.

The image intensifier 13 (hereinafter abbreviated as "II" as necessary) is an I.I. rotatable about horizontal rotation axes P2 and P3. I support arm 16,
I. It is rotatably held by the I drive support arm 17,
I. A fan-shaped rack gear 18 is integrally attached to the I drive support arm 17. The rack gear 18 is meshed with a pinion gear 20 that is rotatably driven by a forward / reversely rotatable electric motor 19 contained in the main body rotation frame 5. The I drive support arm 17 is driven to rotate about the rotation axis P3.

This I. The image intensifier 13 also rotates in conjunction with the rotation of the I-drive support arm 17, and can be switched from a vertical posture as shown to a horizontal lateral posture. In the sideways posture, the distance between the vertically long image intensifier 13 and the floor surface increases, and the amount of lowering of the main body frame 9 increases accordingly, and the subject on the stretcher (not shown) is placed on the top plate 11. It is easy to change to

As described above, the image intensifier
In a device in which the body frame 9 is lowered while the body 13 is in the sideways posture, the rotating mechanism of the body frame 9 and the vertical movement mechanism are independent. The rotation of the main body frame 9 is performed at the time of an examination or when a walkable subject rides on the top board 11, for example.
At the time of rotation, there is a possibility that the bed portion (the mounting portion of the top plate 11) of the main body frame 9 and the X-ray tube 12 may come into contact with the floor surface or the ceiling surface of the examination room. It is necessary to work with the mechanism to avoid the contact.

For example, [a] as shown in the front view of FIG. 2, the main body frame 9 is changed from a horizontal posture (a rotation angle in this posture is 0 °) to a standing posture (a rotation angle is 90 °). When rotating, the bed portion of the main body frame 9 is left as it is.
Since a part of 21 is in contact with the floor, the main frame 9 is rotated while being raised. [B] In the reverse case, that is, when returning from the standing posture in which the rotation angle is 90 ° to the horizontal posture, the body frame 9 is rotated while being lowered. If only the rotation is performed from the position raised as described above, the X-ray tube 12 may come into contact with the ceiling surface, which is to avoid this.

[C] As shown in the front view of FIG.
When the main body frame 9 is rotated from a posture inclined 45 ° (−45 °) in a counterclockwise direction (referred to as a reversed inclination posture) to a horizontal posture, the X-ray tube 12 may come into contact with a ceiling surface in the same position. Therefore, the rotation is performed while lowering the main body frame 9. [D] In the reverse case, that is, when changing from the horizontal posture to the reverse inclination posture, the main body frame 9 is raised while avoiding a part of the bed portion 21 of the main body frame 9 from coming into contact with the floor surface. Rotate.

At this time, if a failure occurs in the rotation mechanism or the vertical movement mechanism, or a delay occurs in one of the mechanisms, the above-described cooperative operation between the rotation and the vertical movement is disrupted, and the bed portion 21 is not moved. Contact with the floor surface or contact between the X-ray tube 12 and the ceiling surface occurs. Therefore, the present invention includes a control means capable of avoiding the above-mentioned contact even in such an abnormal situation. An example will be described with reference to FIGS. It should be noted that the control means of this embodiment comprises a main frame 9
Shows an example applied to the case where the operations described in the above [A] to [D] are performed.

First, in the above operations (a) to (d), the turning angle and the vertical position (distance between the floor surface and the bed portion 21) at which the bed portion 21 may come into contact with the floor surface, and The relationship between the rotation angle at which the X-ray tube 12 and the ceiling surface may come into contact with each other and the vertical position is determined in advance according to the size of the examination room.
For example, for the sake of simplicity of explanation, the rotation angle and the vertical position that may come into contact with the floor surface in the operation (rotation between 0 ° and 90 °) described in [A] and [B], and the ceiling surface Table 1 shows an example in which the relationship between the rotation angle and the vertical position at which there is a possibility of contact with the vertical position is obtained at two points.

[0021]

[Table 1]

As shown in column (1) of Table 1, the operation of [a], that is, while raising the main body frame 9,
When turning from the horizontal posture of 90 ° to the standing posture of 90 °, if the vertical position E is 105 mm or less when the rotation angle R is 25 ° or more, the contact between the couch portion 21 and the floor surface may be reduced. It can happen.
Therefore, when this state is reached, the rotation stops,
Only the vertical movement is continued, and when the vertical position E becomes larger than 105 mm, the rotation is resumed. The same applies to the case where the vertical position E is 335 mm or less when the rotation angle R is 70 ° or more.

As shown in column (2), in the operation (a), if the vertical position E is 145 mm or more when the rotation angle R is less than 25 °, the X-ray tube 12 and the ceiling Contact can occur. Therefore, in this state, the vertical movement is stopped, only the rotation is continued, and the vertical movement is resumed when the rotation angle R becomes 25 ° or more. The same applies when the rotation angle R is less than 70 ° and the vertical position E is 375 mm or more.

As shown in column (3), when the operation of [B], that is, when the main body frame 9 is lowered to return from the 90 ° standing posture to the 0 ° horizontal posture while lowering the main frame 9, the rotation angle R becomes 70 degrees. If the vertical position E is 335 mm or less when the angle is equal to or more than 0 °, contact between the bed portion 21 and the floor surface may occur. Therefore, in this state, the vertical movement is stopped, only the rotation is continued, and the vertical movement is restarted when the rotation angle R becomes less than 70 °.
When the rotation angle R is 25 ° or more, the vertical position E is 105 m.
The same applies to m or less.

As shown in column (4), in the operation [b], if the vertical position E is 375 mm or more when the rotation angle R is less than 70 °, the X-ray tube 12 and the ceiling Contact can occur. Therefore, in this state, the rotation is stopped, only the vertical movement is continued, and the rotation is resumed when the vertical position E becomes less than 375 mm. The same applies when the vertical angle E is 145 mm or more when the rotation angle R is less than 25 °.

Next, the operation (0) described in (c) and (d)
(Rotation between ° to -45 °) and the relationship between the rotation angle and the vertical position that may contact the floor surface and the rotation angle and the vertical position that may contact the ceiling surface at one place. Table 2 shows examples obtained.

[0027]

[Table 2]

As shown in column (5) of Table 2, the operation [c], that is, while lowering the body frame 9,
When rotating from a 45 ° reverse inclination posture to a 0 ° horizontal posture, the vertical position E is 105 mm when the rotation angle R is −25 ° or less.
In the following cases, contact between the bed portion 21 and the floor surface may occur. Therefore, in this state, the vertical movement is stopped, only the rotation is continued, and the vertical movement is resumed when the rotation angle R becomes larger than −25 °.

As shown in column (6), in the operation [c], when the rotation angle R is larger than −25 °, the vertical position E
If it is 145 mm or more, contact between the X-ray tube 12 and the ceiling surface may occur. Therefore, in this state, the rotation is stopped, only the vertical movement is continued, and the rotation is resumed when the vertical position E becomes less than 145 mm.

As shown in column (7), when the operation of [d] is performed, that is, when the main body frame 9 is rotated from the horizontal posture of 0 ° to the reverse inclination posture of -45 ° while the main body frame 9 is raised, the rotation angle R
If the vertical position E is equal to or less than 105 mm when is equal to or less than −25 °, contact between the bed portion 21 and the floor surface may occur. Therefore, in this state, the rotation is stopped, only the vertical movement is continued, and the rotation is resumed when the vertical position E becomes larger than 105 mm.

As shown in column (8), in the operation (d), when the rotation angle R is larger than -25 °, the vertical position E
If it is 145 mm or more, contact between the X-ray tube 12 and the ceiling surface may occur. Therefore, in this state, the vertical movement is stopped, only the rotation is continued, and the vertical movement is resumed when the rotation angle R becomes −25 ° or less.

FIG. 4 shows the overall configuration of the control means for stopping the rotation or the vertical movement in accordance with the operation mode of the main body frame 9. That is, the main body frame 9
Angle sensors S (θ0), S (θ1), S (−
θ (1), S (θ2), position sensors S (h1), S (h2), S (h3), S (h4) for detecting the vertical position E of the main body frame 9, and outputs and operations of these sensors. A motor drive circuit 31 for driving the electric motor 7 of the rotation mechanism (see FIG. 1) and a motor drive circuit 33 for driving the electric motor 32 of the vertical movement mechanism are controlled in accordance with a combination with an operation signal from the table 30. And a control circuit. Limit switches and photoelectric switches are used as the angle sensor and the position sensor.

As shown in FIGS. 5 and 7, an angle sensor
S (θ0) outputs an “H level” signal when the rotation angle of the main body frame 9 is smaller than θ0 (= 0 °), and outputs an “L level” signal when θ0 (= 0 °) or more. Is output. Angle sensor
S (θ1) outputs an “H level” signal when the rotation angle of the main body frame 9 is equal to or less than θ1 (= 25 °), and outputs an “L level” signal when the rotation angle is larger than θ1 (= 25 °). Output a signal. The angle sensor S (-θ1) has a rotation angle of the main body frame 9 of -θ1 (=
−25 °) When above, output “H level” signal.
When it is less than θ1 (= -25 °), it outputs a signal of “L level”. The angle sensor S (θ2) outputs an “H level” signal when the rotation angle of the main body frame 9 is equal to or larger than θ2 (= 70 °), and outputs an “L level” signal when less than θ2 (= 70 °). The signal of is output.

As shown in FIGS. 6 and 7, the position sensor
S (h1) outputs an “H level” signal when the vertical position of the main body frame 9 is larger than h1 (= 105 mm), and outputs h1 (=
Outputs "L level" signal at 105mm) or less. In the position sensor S (h2), the vertical position of the body frame 9 is h2 (=
145mm) or more, output the signal of "L level" and h2 (
= 145 mm), the signal of “H level” is output.The position sensor S (h3)
When it is larger than h3 (= 335 mm), an "H level" signal is output, and when it is less than h3 (= 335 mm), an "L level" signal is output. The position sensor S (h4) is "L level" when the vertical position of the main body frame 9 is larger than h4 (= 375 mm).
And outputs an "H level" signal when h4 (= 375 mm) or less.

The operation signal supplied to the control circuit 34 together with the output signals of these sensors is a signal for designating only the rotating direction of the bed 21 (main body frame 9) as shown in FIG. When the bed 21 is rotated clockwise, an operation signal R (+) is output to the control circuit 34. When the bed 21 is rotated counterclockwise, the operation signal R (-) is sent to the control circuit 34. It is output. In addition to the angle sensors described above, sensors for detecting these rotation angles are attached (not shown).

The control circuit 34 raises the main body frame 9 by inputting an operation signal of R (+) when the initial rotation angle R of the main body frame 9 is 0 ° to 90 °, and raises the main body frame 9 to the above-mentioned [A]. When an operation signal of R (−) is input when the rotation angle R is 0 ° to −45 °, the main body frame 9 is raised to perform the operation [d]. 31,33
Is controlled.

When the rotation angle R is 90 ° to 0 °, R
When the operation signal (-) is input, the main body frame 9 is lowered to perform the operation [b], and the rotation angle R becomes -45 ° to 0 °.
When the operation signal of R (+) is inputted at the time of °, the motor drive circuits 31 and 33 are controlled so that the main body frame 9 is lowered to perform the operation [c].

Then, based on a combination of the operation signal and the output signal from each of the sensors, a rotation stop signal R _ST as shown in Tables 1 and 2 is _sent to the motor drive circuit of the rotation mechanism. and it outputs 31, and outputs a vertical movement stop signal E _ST to the motor drive circuit 33 of the vertical movement mechanism.
Its implementation will be described based on an example of a partial circuit configuration of the control circuit 34 shown in FIG.

The control circuit 34 uses the output signal A to
The rotation stop signal R _ST and the vertical movement stop signal E _ST described in the columns (1) and (3) of Tables 1 and 2 are configured to be obtained. ) Column to obtain a rotation stop signal R _ST and a vertical movement stop signal E _ST ,
According to the output signal C, the rotation stop signal R _ST and the vertical movement stop signal E _ST described in the columns (2) and (4) are obtained, and according to the output signal D, the columns (6) and (8) It is configured to obtain the rotation stop signal R _ST and the vertical movement stop signal E _ST described in the columns.

That is, (A) when the output of the angle sensor S (θ 1) becomes a signal of “L level” (when the rotation angle R of the main body frame 9 becomes 25 ° or more), and When the output of the sensor S (h1) is "L level" (frame 9
When the vertical position E is 105 mm or less), the OR gate G1 is
Outputs "H level" signal. Alternatively, an angle sensor
When S (θ2) becomes a signal of “H level” (when the rotation angle R of the main body frame 9 becomes 70 ° or more), and the output of the position sensor S (h3) becomes “L level” (When the vertical position E of the body frame 9 is 335 mm or less)
Gate G1 outputs an "H level" signal.

At this time, if R (+) is output as the operation signal, the rotation stop signal _RST is output as the output signal A of the control circuit 34, and if R (-) is output, The operation stop signal _EST is output, and the control described in the columns (1) and (3) of Table 1 is performed.

(B) When the output of the angle sensor S (-θ1) becomes a signal of “L level” (the rotation angle R of the main body frame 9)
Is -25 ° or less) and the position sensor S (h
1) When the signal becomes “L level” (frame 9
(When the vertical position E is 105 mm or less), an "H level" signal is output from the active low AND gate G2. At this time, if R (+) is output as the operation signal, the vertical movement stop signal E is output as the output signal B of the control circuit 34.
_{If ST} is output and R (-) is output, the rotation stop signal _RST is output, and the control described in the columns (5) and (7) of Table 2 is performed.

(C) When the output of the angle sensor S (θ1) is a signal of “H level” and the output of the angle sensor S (θ0) is a signal of “L level” (rotation angle R: 0 ° ≦ R < 25 °) and when the position sensor S (h2) is a signal of “L level” (when the vertical position E is 145 mm or more), the OR gate G3
An "H level" signal is output. Alternatively, when the output of the angle sensor S (θ2) is a signal of “L level” (rotation angle R
Is less than 70 °), and when the output of the position sensor S (h4) is an “L level” signal (when the vertical position E is 375 mm or more), an “H level” signal is output from the OR gate G3. Is output.

At this time, if R (+) is output as the operation signal, the vertical movement stop signal _EST is output as the output signal C of the control circuit 34, and if R (-) is output,
The rotation stop signal R _ST is output, and the control described in the columns (2) and (4) of Table 1 is performed.

(D) The signal of the output of the angle sensor S (-θ1) is “H level”, and the output of the angle sensor S (θ0) is “L level”.
Signal (rotation angle R: -25 ° <R <0 °)
When the output of the position sensor S (h2) is an "L level" signal (when the vertical position E is 145 mm or more), an "H level" signal is output from the active low AND gate G4. . At this time, if R (+) is output as the operation signal, the rotation stop signal R _ST is output as the output signal D of the control circuit 34, and if R (-) is output, the vertical movement stop signal is output. E _ST is output, and the control described in columns (6) and (8) of Table 2 is performed.

In the above embodiment, for simplicity of explanation, the movement of the main body frame 9 is set to 90 ° rotation and −45 ° rotation, and the rotation angles R are -25 °, + 25 °, + 70 °. Although the example of avoiding the contact between the bed portion 21 and the floor surface or the contact between the X-ray tube 12 and the ceiling surface at the time of the above has been described, the movement of the main body frame 9 is not limited thereto, and more angle sensors may be used. Or a position sensor may be provided to avoid contact at many locations.

<Modification 1> The angle sensor of the above embodiment,
The position sensor is configured in place of a potentiometer or an encoder, and constantly detects the rotation angle R and the vertical position E of the main body frame 9. Based on the combination of the rotation angle R and the vertical position E, output control of the rotation stop signal R _ST and the vertical movement stop signal E _ST is performed by a circuit or a computer.
Implemented by software. For example, as shown in FIG.
Combination range a of rotation angle R and vertical position E where contact between couch portion 21 and the floor may occur, and combination of rotation angle R and vertical position E where contact between X-ray tube 12 and the ceiling surface may occur to previously obtain the range b, the angle sensor, so that the output value of the position sensor when placed in a range a to output a vertical movement stop signal E _ST, outputs a rotation stop signal R _ST if placed in a range b And a computer program for controlling the motor drive circuit 31 for driving the electric motor 7 of the rotating mechanism (see FIG. 1) and the motor drive circuit 33 for driving the electric motor 32 of the vertical movement mechanism. .

<Modification 2> In addition to the above-described modification 1, FIG.
Contact between the bed portion 21 and the floor surface or the X-ray tube 12
Range c, in which contact between the sensor and the ceiling surface cannot occur, is divided into two, and if the output values of the angle sensor and the position sensor fall in one of the divided ranges d, the electric motor 7 of the rotating mechanism (see FIG. 1) When the speed falls within the other range e, a circuit or computer program is created to control the speed of the electric motor 32 of the vertical movement mechanism and control is performed. By doing so, the relationship between the rotation angle R and the vertical position E substantially stays within the allowable range c, the number of stops of the electric motor of each mechanism is reduced, and efficient control can be performed.

[0049]

As is apparent from the above description, the X-ray fluoroscopic apparatus according to the present invention can rotate the body frame based on the combination of the rotation angle and the vertical position of the body frame and the posture of the body frame. Or by controlling the vertical movement, X
Since the tube and couch are configured to avoid contact with the ceiling and floor of the examination room, in a device with a mechanism in which rotation and vertical movement of the body frame are independent, one of the mechanisms fails. The above-mentioned inconvenience of contact can be avoided even in an abnormal situation where the operation is delayed.

[Brief description of the drawings]

FIG. 1 is a side view of an X-ray fluoroscopic apparatus according to an embodiment of the present invention.

FIG. 2 is a front view of the X-ray fluoroscopic apparatus when the main body frame is changed from a horizontal posture to a standing posture.

FIG. 3 is a front view of the X-ray fluoroscopic apparatus when the main body frame is changed from a reversely inclined posture to a horizontal posture.

FIG. 4 is a block diagram showing a configuration example of a control unit.

FIG. 5 is a diagram showing the operation of the angle sensor.

FIG. 6 is a diagram showing the operation of the position sensor.

FIG. 7 is a diagram showing an example of an angular displacement and a positional displacement of a bed.

FIG. 8 is a circuit diagram showing an example of a partial configuration of a control circuit.

FIG. 9 is a diagram showing a relationship between a rotation angle R of the main body frame and a vertical position E.

[Explanation of symbols]

 9 ... body frame 12 ... X-ray tube 20 ... bed part 34 ... control circuit S (θ0), S (θ1), S (-θ1), S (θ2) ... angle sensor S (h1), S (h2), S (h3), S (h4) ・ ・ ・ ・ ・ ・ Position sensor

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-3-111034 (JP, A) JP-A-57-164043 (JP, A) JP-A-3-54613 (JP, U) JP-A 68012 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61B 6/00-6/14

Claims (1)

(57) [Claims] 1. A main body frame including an X-ray tube and a bed is configured to be rotatable around a horizontal axis perpendicular to a longitudinal direction of the bed, and the main body frame is vertically moved with respect to a floor of an examination room. An X-ray fluoroscopic apparatus configured to be movable, an angle detecting unit for detecting a rotation angle of the main body frame, a position detecting unit for detecting a vertical position of the main body frame, and indicating a posture of the main body frame. Operating means for performing the operation, and avoiding contact between the X-ray tube and the bed and the ceiling and floor of the examination room based on a combination of an output signal from each of the detecting means and an operating signal from the operating means. As described above, the relationship between the rotation angle and the vertical position at which there is a possibility of contact is obtained in advance, and the rotation and the vertical movement of the main body frame are driven outside the range where the contact can occur, so that the contact is within the range where the contact can occur so And at least one pivoting or vertical movement of the main body frame is stopped, X-rays fluoroscopic apparatus being characterized in that a control means for controlling the rotation or vertical movement of the main body frame.