JP4985484B2 - X-ray equipment - Google Patents

Description

  The present invention relates to an X-ray irradiation means such as an X-ray tube that irradiates a subject with X-rays, and an X-ray detection means such as a flat panel X-ray detector that receives the X-rays emitted from the X-ray irradiation means; The present invention relates to an X-ray imaging apparatus including a plurality of X-ray imaging means comprising

  In this type of apparatus, when each of the plurality of X-ray imaging means is moved, there is a problem that the X-ray imaging means come into contact with each other and the X-ray irradiation means, the X-ray detection means, and the like are damaged. Therefore, conventionally, the relative positional relationship between the X-ray imaging units is obtained based on the respective positions of the X-ray imaging units, and the X-ray imaging unit is calculated from the obtained relative positional relationship between the X-ray imaging units. Each movement is configured to be controlled (see Patent Document 1).

In the X-ray imaging apparatus, the X-ray irradiating means, the X-ray detecting means, and the C-arm that supports them come into contact with the subject, the operator, other objects, etc. In order to avoid this problem, a capacitive distance sensor is provided on the movable part of the device, and the capacitive distance sensor There has been a technique in which it is detected that an operator, another object, or the like has approached a set distance or less, and the operation of the apparatus is decelerated or stopped with the detection (Patent Document 2). reference).
JP 2004-275745 A JP 2001-208504 A

However, the conventional example described above has the following problems.
In the case of the former conventional example, in order to control the movement from the positional relationship between the X-ray imaging means, it can be moved so as to be close to each other, but the subject or operator unrelated to the X-ray imaging means, There is an inconvenience that cannot be dealt with when another object approaches the X-ray imaging means.

  On the other hand, in the case of the latter conventional example, in order to avoid contact with subjects, surgeons, and other objects, and to improve safety, compare the set distances to slow down or stop the operation of the device It is common to set a long value. As a result, when the latter conventional technique is applied, the operation of the X-ray imaging unit is decelerated or stopped even when the X-ray imaging units approach each other below the set distance. In actual X-ray imaging, fluoroscopy and imaging at various angles are required, and fluoroscopy and imaging in a state where X-ray imaging apparatuses are close to each other are necessary, but the proximity of these X-ray imaging means is obstructed. This has the disadvantage of hindering the original fluoroscopy and shooting work itself.

  The present invention has been made in view of the circumstances as described above, and allows the X-ray imaging means to move close to each other without losing the workability of fluoroscopy and imaging work. The purpose is to improve safety by successfully avoiding contact with unrelated subjects, surgeons, and other objects.

The invention according to claim 1 has the following configuration in order to achieve the above-described object.
That is, the first X-ray irradiation means for irradiating the subject with X-rays and the first X-ray detection means for receiving the X-rays emitted from the first X-ray irradiation means, and the first X-ray irradiation means. The first X-ray imaging unit configured to rotate the X-ray irradiation unit and the first X-ray detection unit around the body axis of the subject and the first X-ray imaging unit are driven separately. And a second X-ray irradiating means for irradiating the subject with X-rays and a second X-ray detecting means for receiving the X-rays emitted from the second X-ray irradiating means. An X-ray imaging apparatus comprising: a second X-ray imaging unit configured to rotate the X-ray irradiation unit and the second X-ray detection unit around the body axis of the subject;
First and second position detecting means for detecting positions of the first and second X-ray imaging means, and the first and second position detecting means based on position information from the first and second position detecting means. A closest approach distance calculating means for calculating the closest approach distance of the two X-ray imaging means, and an apparatus approach for outputting a device approach signal when the calculated distance by the closest approach distance calculating means is equal to or less than a first set distance A first approach control means for decelerating or / and stopping the driving of each of the first and second X-ray imaging means in response to a device approach signal from the device approach detection means; And a non-contact type approach detecting means provided in the second X-ray imaging means for detecting that another object has approached the second set distance which is larger than the first set distance and outputting an approach signal. And the approach detection means The second approach control means for decelerating and / or stopping the driving of the first and second X-ray imaging means in response to the approach signal, and the distance calculated by the closest distance calculation means is set to a second value. A restriction detecting means for outputting a restriction signal when the distance is equal to or less than a distance; and an action restriction means for stopping the operation of the second approach control means when the restriction signal is output in the output state of the approach signal. It is characterized by having prepared.

(Action / Effect)
According to the configuration of the X-ray imaging apparatus of the first aspect of the invention, the first X-ray imaging means and the second X-ray imaging means are less than the second set distance from the subject, the operator, other objects, and the like. When approaching, the approach detection means detects that and causes the second approach control means to perform an operation, decelerates and / or stops the driving of each of the first and second X-ray imaging means, The contact between the X-ray imaging apparatus or the second X-ray imaging means and the subject, the operator, or another object can be avoided.
Even if the first and second X-ray imaging units approach each other below the second set distance, if the first and second X-ray imaging units do not approach the first set distance or less, the operation restriction unit causes the second approach control unit to operate. The first X-ray imaging unit and the second X-ray imaging unit are stopped and move continuously unless approaching the first set distance or less that is closer to the second set distance. be able to.
When the first and second X-ray imaging means approach each other below the first set distance, the apparatus approach detection means detects that and causes the first approach control means to perform an operation. The driving of each of the two X-ray imaging units can be decelerated or / and stopped, and contact between the first and second X-ray imaging units can be avoided.
Therefore, even if an approach signal is output from the approach detection unit, the first and second X-ray imaging units are brought close to each other until the first set distance is less than the second set distance. Since they can move, it is possible to smoothly perform fluoroscopy and shooting at various angles, and it is possible to suppress troubles in fluoroscopy and shooting operations.
In addition, the first and second X-ray imaging units are not close to the second set distance or less, and each of the first and second X-ray imaging units is subject to the subject, the operator, and other objects. And when the first X-ray imaging unit and the second X-ray imaging unit approach the first set distance or less, the first and second X-ray imaging units. Therefore, it is possible to satisfactorily avoid contact between the first and second X-ray imaging means and the subject, the operator, and other objects, and the first X-ray imaging means and the second X-ray imaging means. Contact with the X-ray imaging means can be avoided, and as a whole, the X-ray imaging means can be moved close to each other without impairing the workability of fluoroscopy and imaging operations, and without being affected by the X-ray imaging means. Safety can be improved by successfully avoiding contact with examiners, surgeons, and other objects.

The invention according to claim 2
The X-ray imaging apparatus according to claim 1,
A plurality of approach detection means are provided to output an approach signal by detecting that another object has approached the second set distance or less in each of a plurality of preset areas. A regulation approach detection means discriminating means for discriminating an approach detection means for sensing the approach of the first and second X-ray imaging means when output; When it is output, only the operation by the second approach control means in response to the approach signal from the approach detection means determined by the restricted approach detection means discrimination means is stopped.

(Action / Effect)
According to the configuration of the X-ray imaging apparatus of the invention according to claim 2, the state in which the first and second X-ray imaging units approach the second set distance or less but do not approach the first set distance or less. Then, the approach detecting means that detects the state is discriminated by the restricting approach detecting means discriminating means, and the second approach control means is not operated depending on the approach signal from the judged approach detecting means. The second approach control means can be operated by an approach signal from the approach detection means that has not been discriminated by the approach detection means discrimination means.
Therefore, the first and second X-ray imaging units can approach while the first and second X-ray imaging units can be brought close to each other without being less than the first set distance, and the first and second X-ray imaging units can approach each other. When another object approaches from the side other than the side, the second approach control means is operated to decelerate and / or stop the first and second X-ray imaging means. This makes it possible to move easily and avoids contact with subjects, surgeons and other objects that are unrelated to X-ray imaging means without sacrificing the workability of fluoroscopy or radiography. it can.

The invention according to claim 3
The X-ray imaging apparatus according to claim 1 or 2,
Contact detection means provided in each of the first and second X-ray imaging means for mechanically detecting contact with another object and outputting a contact signal; and in response to the contact signal from the contact detection means, Drive stop means for automatically stopping the drive of each of the first and second X-ray imaging means is provided.

(Action / Effect)
According to the configuration of the X-ray imaging apparatus of the third aspect of the present invention, the subject, the operator, other objects, etc. suddenly suddenly approach and come into contact with the first and second X-ray imaging means. In such a case, the contact can be mechanically detected by the contact detection means, and the first and second X-ray imaging means can be automatically stopped.
Accordingly, since the first and second X-ray imaging means can be prevented from continuously moving even after contact with the subject, the operator, and other objects, the impact force associated with the contact can be alleviated, and the subject is examined. It is possible to reduce damages such as injury to the operator and surgeon and damage to other objects and devices as much as possible, thereby further improving safety.
In particular, since the first and second X-ray imaging means are performing fluoroscopy and imaging work in a state where they are close to the second set distance or less but are not close to the first set distance or less, the approach detection means ( In the case of the invention according to claim 2, the operation of the second approach control means is stopped by the approach signal from the approach detection means) that detects the approach between the first and second X-ray imaging means. The first and second X-ray imaging means are easily contacted by the subject, the operator, and other objects, but the contact is detected mechanically by the contact detection means. Since the first and second X-ray imaging means are automatically stopped, the first and second X-ray imaging means are brought into contact with the subject, the operator, other objects, etc. Can reduce the impact force caused by contact between X-ray imaging means, The safety can minimize reduce damage such breakage of other materials and device can be further improved.

According to the configuration of the X-ray imaging apparatus according to the first aspect of the present invention, the first X-ray imaging means and the second X-ray imaging means are connected to the subject, the operator, other objects, etc. When approaching the set distance or less, the approach detection means detects this and causes the second approach control means to perform an operation, and decelerates and / or stops the driving of each of the first and second X-ray imaging means. The contact between the first X-ray imaging apparatus or the second X-ray imaging means and the subject, the operator, or other objects can be avoided.
Even if the first and second X-ray imaging units approach each other below the second set distance, if the first and second X-ray imaging units do not approach the first set distance or less, the operation restriction unit causes the second approach control unit to operate. The first X-ray imaging unit and the second X-ray imaging unit are stopped and move continuously unless approaching the first set distance or less that is closer to the second set distance. be able to.
When the first and second X-ray imaging means approach each other below the first set distance, the apparatus approach detection means detects that and causes the first approach control means to perform an operation. The driving of each of the two X-ray imaging units can be decelerated or / and stopped, and contact between the first and second X-ray imaging units can be avoided.
Therefore, even if an approach signal is output from the approach detection unit, the first and second X-ray imaging units are brought close to each other until the first set distance is less than the second set distance. Since they can move, it is possible to smoothly perform fluoroscopy and shooting at various angles, and it is possible to suppress troubles in fluoroscopy and shooting operations.
In addition, the first and second X-ray imaging units are not close to the second set distance or less, and each of the first and second X-ray imaging units is subject to the subject, the operator, and other objects. And when the first X-ray imaging unit and the second X-ray imaging unit approach the first set distance or less, the first and second X-ray imaging units. Therefore, it is possible to satisfactorily avoid contact between the first and second X-ray imaging means and the subject, the operator, and other objects, and the first X-ray imaging means and the second X-ray imaging means. Contact with the X-ray imaging means can be avoided, and as a whole, the X-ray imaging means can be moved close to each other without impairing the workability of fluoroscopy and imaging operations, and without being affected by the X-ray imaging means. Safety can be improved by successfully avoiding contact with examiners, surgeons, and other objects.

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is an overall schematic perspective view showing an embodiment 1 of an X-ray imaging apparatus according to the present invention, in which an examination table 2 on which a subject H is placed is provided on a base 1.
A first X-ray imaging unit 4a is provided on the rail 3 provided on the ceiling so as to be movable and fixed in a horizontal two-dimensional direction, while a second X-ray imaging unit 4b is installed on the floor surface.

The first X-ray imaging unit 4a is configured as follows.
That is, a first holding member 5a is provided on the rail 3 so as to be movable in the horizontal direction, and the first holding member 5a is provided with a ring that is rotatable around a horizontal axis (body axis of the subject H). A first arm 6a having a shape is provided. The first arm 6a is provided with a first X-ray tube 7a as a first X-ray irradiation means for irradiating the subject H with X-rays and X-rays irradiated from the first X-ray tube 7a. A first flat panel X-ray detector 8a is attached as a first X-ray detection means to be received, and the first X-ray tube 7a and the first flat panel X are rotated by the rotation of the first arm 6a. The line detector 8a can be rotated around the body axis of the subject H.

The second X-ray imaging unit 4b is configured as follows.
That is, a second holding member 5b is provided on the base 1a so as to be rotatable about a horizontal axis (body axis of the subject H), and the body of the subject H is provided on the second holding member 5b. A C-shaped second arm 6b is provided so as to be rotatable around a horizontal axis perpendicular to the axis. The second arm 6b is provided with a second X-ray tube 7b as a second X-ray irradiation means for irradiating the subject H with X-rays, and X-rays irradiated from the second X-ray tube 7b. A second flat panel type X-ray detector 8b is attached as a second X-ray detection means to be received, and the second X-ray tube 7b and the second flat panel type are rotated by the rotation of the second holding member 5b. The X-ray detector 8b is configured to be rotatable around the body axis of the subject H.

  Each of the first and second X-ray imaging units 4a and 4b is configured to be individually drivable, and the first and second X-ray imaging units 4a and 4b are individually displaced to be different for the same region of interest. In the case where an image is obtained by irradiating X-rays from the direction, the first and second are avoided while avoiding the approach and collision with other objects (excluding the first and second X-ray imaging units 4a and 4b). The two X-ray imaging units 4a and 4b can be displaced favorably and will be described below.

  In other words, each of the first and second X-ray imaging units 4a and 4b includes a non-contact type first detector that detects an approach with another object (including the first and second X-ray imaging units 4a and 4b). First and second approach detection means 9A and 9B (see FIG. 6) and first and second contact detection means 10A and 10B (see FIG. 7) for mechanically detecting contact with other objects are provided. ing.

  The first approach detection means 9A and the second approach detection means 9B, and the first contact detection means 10A and the second contact detection means 10B have the same configuration as each other. The case of the X-ray imaging unit 4a will be described as an example.

  The first approach detection means 9A will be described. The side cross-sectional view of the main part of FIG. 2 is provided on the detector outer frame member 8a1 of the first flat panel X-ray detector 8a of the first X-ray imaging means 4a. As shown in the front view of the first flat panel X-ray detector in FIG. 3, the first approach is to detect the approach of another object by the change of the electromagnetic field so as to cover the side surface in the X-ray incident direction. First, second, third and fourth non-contact sensors 11a, 11b, 11c and 11d for detectors are provided.

  Further, the X-ray tube outer frame member 7a1 of the first X-ray tube 7a of the first X-ray imaging means 4a is provided with a side cross-sectional view of the main part of FIG. 4 and the first X-ray tube of FIG. As shown in the partially omitted front view, the first, second, third and fourth X-rays are detected so as to detect the approach distance of another object by changing the electromagnetic field so as to cover the side surface in the X-ray irradiation direction. Tube non-contact sensors 12a, 12b, 12c, and 12d are provided.

  As shown in the block diagram of FIG. 6, the first, second, third, and fourth non-contact sensors 11a, 11b, 11c, 11d for the detector, and the first, second, third, and fourth X A first comparison means 13 is connected to each of the non-contact sensors 12a, 12b, 12c and 12d for the tube, and the first comparison means 13 is connected to the first set distance and a second set distance longer than that. And are entered.

  In the first comparison means 13, the first, second, third and fourth non-contact sensors 11a, 11b, 11c and 11d for detectors, and the first, second, third and fourth X-ray tubes When the approach distance detected by each of the non-contact sensors 12a, 12b, 12c, and 12d is compared with the first and second set distances, and any one of the detected approach distances is less than or equal to the second set distance An approach signal is output at the same time, and a stop signal is output when any one of the detected approach distances is less than or equal to the first set distance.

  Further, the first contact detection means 10A will be described. FIG. 2 and FIG. 3 show the detector outer frame member 8a1 of the first flat panel X-ray detector 8a of the first X-ray imaging means 4a. As described above, the detector contact member 15 made of a conductor plate having high X-ray permeability can be displaced via the detector compression coil spring 16 so as to cover the peripheral side surface from the front surface of the X-ray incident surface in the X-ray irradiation direction. Is provided.

  A detector limit switch 17 is provided on the detector outer frame member 8 a 1, while a conical detector cam member 18 is provided on the inner surface side of the detector contact member 15, and at the back of the detector cam member 18. The tip of the detector limit switch 17 is arranged, and other objects approach the detector contact member 15 from the front surface and the peripheral side surface of the X-ray incident surface in the X-ray irradiation direction of the first flat panel X-ray detector 8a. As the contact occurs, the detector contact member 15 is displaced against the biasing force of the detector compression coil spring 16 and acts on the detector limit switch 17 to detect that another object is in contact and output a contact signal. Is configured to do.

  Further, the X-ray tube outer frame member 7a1 of the first X-ray imaging unit 4a of the first X-ray imaging unit 4a has a front surface of the X-ray irradiation surface in the X-ray irradiation direction as shown in FIGS. An X-ray tube contact member 20 made of a conductive plate having a high X-ray permeability is provided so as to be displaceable via a compression coil spring 21 for the X-ray tube so as to cover the peripheral side surface.

  An X-ray tube limit switch 22 is provided on the X-ray tube outer frame member 7 a 1, while a conical X-ray tube cam member 23 is provided on the inner surface side of the X-ray tube contact member 20. The tip of the X-ray tube limit switch 22 is arranged in the inner part of the inside, and other objects approach from the front surface and peripheral side surface of the X-ray irradiation direction of the first X-ray tube 7a in the X-ray irradiation direction, and contact for the X-ray tube As the member 20 is contacted, the X-ray tube contact member 20 is displaced against the urging force of the X-ray tube compression coil spring 21 and acts on the X-ray tube limit switch 22 to detect that another object has come into contact. And a contact signal is output.

  As shown in the block diagram of FIG. 7, a driver 24 is connected to the detector limit switch 17 and the X-ray tube limit switch 22, and the first arm 6 a in the first X-ray imaging unit 4 a is connected to the driver 24. The first swing motor M1 that rotates, the first arm slide motor M2 that rotates by sliding the first arm 6a, and the first flat panel X-ray detector 8a are connected to the first X-ray tube 7a. The first detector / perspective motor M3 that is closer to the front and the second swing motor M4 that rotates the second arm 6b and the second arm 6b in the second X-ray imaging means 4b are slid. The second arm slide motor M5 that rotates and the second detector far-field motor M6 that moves the second flat panel X-ray detector 8b to and from the second X-ray tube 7b. In response to a contact signal from either the detector limit switch 17 or the X-ray tube limit switch 22, the first and second swing motors M1, M4, the first and second arm slides are connected. The driving of the motors M2 and M5 and the first and second detector perspective motors M3 and M6 is automatically stopped, that is, the first and second X-ray imaging units 4a and 4b are driven. The drive stopping means is configured to automatically stop the operation.

As shown in the block diagram of the control configuration of FIG. 8, the first swing motor M1 is provided with a first holding member rotary encoder RE1 that detects the amount of movement of the first holding member 5a from the amount of rotation thereof. The first arm slide motor M2 is provided with a first arm rotary encoder RE2 that detects the amount of movement of the first arm 6a from the amount of rotation of the first arm slide motor M2, and the first detector distance motor M3 includes Is provided with a first detector rotary encoder RE3 for detecting the amount of movement of the first flat panel X-ray detector 8a which is close to the first X-ray tube 7a from the amount of rotation.
The second swing motor M4 is provided with a second holding member rotary encoder RE4 that detects the amount of movement of the second holding member 5b from the amount of rotation thereof, and the second arm slide motor M5 has the second arm slide motor M5. The second arm rotary encoder RE5 for detecting the movement amount of the second arm 6b from the rotation amount is provided, and the second detector distance motor M6 receives the second X-ray from the rotation amount. A second detector rotary encoder RE6 is provided for detecting the amount of movement of the second flat panel X-ray detector 8b that is close to the tube 7b.

The first holding member rotary encoder RE1, the first arm rotary encoder RE2, and the first detector rotary encoder RE3 are substantially similar to the three-dimensional outer shape of the first X-ray imaging unit 4a. A first outer shape data registration unit 25 for registering three-dimensional model outer shape data in an STL (Standard Triangle Language) format representing the first holding member 5a, first arm 6a and the first flat panel X-ray detector 8a are configured to detect the position of the entire first X-ray imaging means 4a associated with the displacement of each.
The second holding member rotary encoder RE4, the second arm rotary encoder RE5, and the second detector rotary encoder RE6 are substantially similar to the three-dimensional outer shape of the second X-ray imaging unit 4b. A second outer shape data registration unit 27 for registering three-dimensional model outer shape data in an STL (Standard Triangle Language) format representing the shape of the second is connected to the second position detecting means 28, and the second holding member 5b, the second The arm 6b and the second flat panel X-ray detector 8b are configured to detect the position of the entire second X-ray imaging means 4b associated with the displacement of the arm 6b and the second flat panel X-ray detector 8b.

  Closest distance calculation means 29 is connected to each of the first and second position detection means 26 and 28, and the first and second X-ray images detected by the first and second position detection means 26 and 28, respectively. The entire positions of the means 4a and 4b are input to the closest approach distance calculating means 29, and the first X-ray imaging means 4a and the second X-ray imaging means 4a and second The distance that the X-ray imaging unit 4b is closest to is calculated.

  The second comparison means 30 is connected to the closest approach distance calculation means 29. In the second comparison means 30, the closest set distance calculated by the closest approach distance calculation means 29 and the same first set distance as described above. The apparatus approach detection means 31 is configured to output an apparatus approach signal when the distance calculated by the closest approach distance calculation means 29 is equal to or less than the first set distance.

  A driver 24 is connected to the apparatus approach detection unit 31 so that the driving of the first and second X-ray imaging units 4a and 4b is automatically stopped in response to an apparatus approach signal from the apparatus approach detection unit 31. First approach control means is configured. The first approach control means is configured to decelerate the drive of each of the first and second X-ray imaging means 4a and 4b in response to the apparatus approach signal, or to stop after the deceleration. It may be configured.

  The closest approach distance calculating means 29 is connected to the third comparing means 32, and the closest approach distance calculated by the closest approach distance calculating means 29 is compared with the above-mentioned second set distance. The restriction detection means 33 is configured to output a restriction signal when the distance calculated by the distance calculation means 29 is equal to or less than the second set distance.

The operation restriction means 34 is connected to the third comparison means 32, the first and second approach detection means 9 A and 9 B are connected to the operation restriction means 34, and the operation restriction means 34 is connected to the driver 24. ing.
In the operation restricting means 34, no restriction signal is output from the third comparing means 32 constituting the restriction detecting means 33 in a state where the approach signals are being output from the first and second approach detecting means 9A, 9B. Sometimes, the second approach control means is configured to output an approach signal to the driver 24 and automatically stop driving of the first and second X-ray imaging means 4a and 4b in response to the approach signal. Has been. The second approach control means is configured to decelerate the drive of each of the first and second X-ray imaging means 4a and 4b in response to the approach signal, or to stop after the deceleration. You can do it.

In the operation restricting means 34, a restriction signal is output from the third comparison means 32 constituting the restriction detecting means 33 in a state where the approach signals are being output from the first and second approach detecting means 9 </ b> A and 9 </ b> B. The output of the approach signal to the driver 24 is stopped, that is, the operation by the second approach control means is stopped, and the driving of each of the first and second X-ray imaging means 4a and 4b is automatically performed. The operation restricting means is configured so as not to stop.
Further, when stop signals are output from the first and second approach detection units 9A and 9B, the first and second X-ray imaging units 4a and 4b, respectively, regardless of the presence or absence of a restriction signal from the comparison unit 32. Is configured to automatically stop driving.

With the above configuration, when an approach signal is output from the first and second approach detection units 9A and 9B, if a restriction signal is output, the first X-ray imaging unit 4a and the second X-ray are output. Assuming that this is due to the approach to the imaging means 4b, the driving of the first and second X-ray imaging means 4a and 4b can be continued, and the fluoroscopy and imaging from an oblique direction can be performed smoothly.
When the first X-ray imaging unit 4a and the second X-ray imaging unit 4b approach the first set distance or less, it is possible to prevent the drive from being stopped to cause a collision.

  Further, when the first X-ray imaging unit 4a and the second X-ray imaging unit 4b are separated from each other by the second set distance, an approach signal is received from the first and second approach detection units 9A and 9B. When the output is made, it is assumed that the other object is approaching, the driving of the first and second X-ray imaging means 4a, 4b is stopped, and the collision with the other object can be avoided, and even if it collides, the impact is Can be relaxed.

  Further, when other objects approach the first and second X-ray imaging units 4a and 4b below the first set distance, the first and second X-ray tubes 7a and 7b, and the first and second X-ray imaging units 4a and 4b. When the flat panel X-ray detectors 8a and 8b of 2 are in close proximity to other objects and the contact member 15 for detectors and the contact member 20 for X-ray tubes come into contact with the other objects, the drive stop means is activated and the first And the second X-ray imaging means 4a and 4b are stopped, and the first and second X-ray tubes 7a and 7b and the first and second flat panel X-ray detectors 8a and 8b are others. It is possible to prevent damage due to collision with an object.

9 and 10 are block diagrams showing the control configuration of the second embodiment of the X-ray imaging apparatus according to the present invention. The differences from the first embodiment are as follows.
That is, the first approach detection means 9A includes the first, second, third and fourth non-contact sensors for detectors 11a, 11b, 11c, 11d and the first, second, third and fourth. A separate first comparison means 13 is connected to each of the X-ray tube non-contact sensors 12a, 12b, 12c, and 12d, and each of the first comparison means 13 has a second setting longer than the first set distance. The distance is entered.

  In the first comparison means 13, the first, second, third and fourth non-contact sensors 11a, 11b, 11c and 11d for detectors, and the first, second, third and fourth X-ray tubes The approach distance detected by each of the non-contact sensors 12a, 12b, 12c, and 12d is compared with the second set distance, and an approach signal is output when the detected approach distance is equal to or less than the second set distance. It has become.

All the first comparison means 13 are connected to the driver 24 via the gate 41. These gates 41 constitute a first gate 41A for the first X-ray imaging means 4a.
The second X-ray imaging unit 4b is similarly configured, and the gates thereof constitute a second gate 41B (see FIG. 10), and as shown in FIG. 10, the first gate 41A and The operation restricting means 42 is constituted by the second gate 41B.

  As shown in FIG. 10 (FIG. 9), the first position detection means 26 and the second position detection means 28 are connected to the restriction approach means determination means 43 and the restriction signal from the third comparison means 32. Is configured to input.

  In the restriction approach means discriminating means 43, a third comparison is made based on the overall positions of the first and second X-ray imaging means 4a and 4b detected by the first and second position detecting means 26 and 28, respectively. When a restriction signal is input from the means 32, a non-contact sensor that detects the approach of the first and second X-ray imaging means 4a and 4b, which becomes a non-contact sensor to be restricted, is position-non-contact. Discrimination from a sensor correlation table (not shown), a sensor regulation signal is output to the gate 41 connected to the discriminated non-contact sensor, and non-contact due to the approach of the first and second X-ray imaging units 4a and 4b The drive of the device is not stopped by the approach signal from the sensor, and the drive of the device is stopped by the approach detection of other objects by other non-contact sensors. Is adapted to stop the operation only by the second access control means in response to the approaching signal from the non-contact sensor is determined by the means 43.

  More specifically, in the position-sensor correlation table, when approaching below the second set distance based on the overall positions of the first and second X-ray imaging units 4a and 4b, the approach is made. Sensors for detecting the state include first, second, third and fourth detector non-contact sensors 11a, 11b, 11c, 11d constituting first and second approach detecting means 9A, 9B, and first Which one of the first, second, third, and fourth non-contact sensors for X-ray tubes 12a, 12b, 12c, and 12d is correlated and stored as position-sensor correlation data.

  The relationship between the position and the sensor is not limited to one sensor. For example, the second X-ray detector 8a has a second X-ray detector at the corner of the square first flat panel X-ray detector 8a. When the tube 7b or the second flat panel X-ray detector 8b approaches and the first and second detector non-contact sensors 11a and 11b simultaneously output an approach signal, the sensor to be regulated The first and second non-contact sensors 11a, 11b for detectors and the first, second, third and fourth non-contact sensors 11a, 11b, 11c, 11d for the second X-ray imaging means 4b, In addition, the number of the non-contact sensors 12a, 12b, 12c, and 12d for the first, second, third, and fourth X-ray tubes is correlated, and the number thereof is various. Other configurations are the same as those of the first embodiment, and the description thereof is omitted by assigning the same reference numerals.

  According to the configuration of the second embodiment, the first and second X-ray imaging units 4a and 4b are close to the second set distance or less but are not close to the first set distance, The non-contact sensor that detects the state is discriminated by the regulation approach detection means discrimination means 43, and the second approach control means is not operated depending on the approach signal from the judged approach detection means, and the regulation approach detection means. The second approach control means is operated according to the approach signal from the approach detection means that has not been discriminated by the discrimination means 43.

  Thereby, the first and second X-ray imaging units 4a and 4b can be brought close to each other without being less than or equal to the first set distance, and the first and second X-ray imaging can be performed. When another object approaches from a side other than the approaching side of the means 4a, 4b, the second approach control means is operated to automatically stop the first and second X-ray imaging means 4a, 4b to perform fluoroscopy or imaging. Without impairing the workability of the work, it is possible to satisfactorily avoid contact with subjects, surgeons, and other objects unrelated to the X-ray imaging means, thereby further improving safety.

In the above embodiment, the first and second flat panel X-ray detectors 8a and 8b are used as the X-ray detection means. However, the present invention is not limited to these, and an image intensifier may be used.
In the above embodiment, the rotary encoder is used to detect the positions of the first and second X-ray imaging units 4a and 4b. However, various units such as a potentiometer can be applied.

1 is an overall schematic perspective view showing Embodiment 1 of an X-ray imaging apparatus according to the present invention. It is side surface sectional drawing of the principal part. It is a front view of a 1st flat panel type | mold X-ray detector. It is side surface sectional drawing of the principal part. It is a front view of a 1st X-ray tube. It is a block diagram which shows the structure of a 1st approach detection means. It is a block diagram which shows the structure of a drive stop means. It is a block diagram which shows a control structure. It is a block diagram which shows the control structure of Example 2 of the X-ray imaging apparatus which concerns on this invention. 6 is a block diagram illustrating a control configuration of Embodiment 2. FIG.

Explanation of symbols

4a: first X-ray imaging means 4b: second X-ray imaging means 7a: first X-ray tube (first X-ray irradiation means)
7b ... Second X-ray tube (second X-ray irradiation means)
8a: First flat panel X-ray detector (first X-ray detection means)
8b ... Second flat panel X-ray detector (second X-ray detection means)
9A ... 1st approach detection means 9B ... 2nd approach detection means 10A ... 1st contact detection means 10B ... 2nd contact detection means 26 ... 1st position detection means 28 ... 2nd position detection means 29 ... Nearest approach distance calculation means 31 ... apparatus approach detection means 33 ... regulation detection means 34 ... motion restriction means 42 ... motion restriction means 43 ... regulation approach means discrimination means H ... subject

Claims (3)

The first X-ray is provided with first X-ray irradiation means for irradiating the subject with X-rays and first X-ray detection means for receiving X-rays emitted from the first X-ray irradiation means. The first X-ray imaging unit configured to rotate the irradiation unit and the first X-ray detection unit around the body axis of the subject, and the first X-ray imaging unit are arranged to be driven separately. The second X-ray irradiation means for irradiating the subject with X-rays and the second X-ray detection means for receiving the X-rays emitted from the second X-ray irradiation means, and the second An X-ray imaging apparatus comprising: a second X-ray imaging unit configured to rotate the X-ray irradiation unit and the second X-ray detection unit around a body axis of the subject.
First and second position detecting means for detecting positions of the first and second X-ray imaging means, and the first and second position detecting means based on position information from the first and second position detecting means. A closest approach distance calculating means for calculating the closest approach distance of the two X-ray imaging means, and an apparatus approach for outputting a device approach signal when the calculated distance by the closest approach distance calculating means is equal to or less than a first set distance A first approach control means for decelerating or / and stopping the driving of each of the first and second X-ray imaging means in response to a device approach signal from the device approach detection means; And a non-contact type approach detecting means provided in the second X-ray imaging means for detecting that another object has approached the second set distance which is larger than the first set distance and outputting an approach signal. And the approach detection means The second approach control means for decelerating and / or stopping the driving of the first and second X-ray imaging means in response to the approach signal, and the distance calculated by the closest distance calculation means is set to a second value. A restriction detecting means for outputting a restriction signal when the distance is equal to or less than a distance; and an action restriction means for stopping the operation of the second approach control means when the restriction signal is output in the output state of the approach signal. An X-ray imaging apparatus comprising: The X-ray imaging apparatus according to claim 1,
A plurality of approach detection means are provided to output an approach signal by detecting that another object has approached the second set distance or less in each of a plurality of preset areas. A regulation approach detection means discriminating means for discriminating an approach detection means for sensing the approach of the first and second X-ray imaging means when output; An X-ray imaging apparatus configured to stop only the operation by the second approach control means in response to the approach signal from the approach detection means determined by the restricted approach detection means determination means when being output . The X-ray imaging apparatus according to claim 1 or 2,
Contact detection means provided in each of the first and second X-ray imaging means for mechanically detecting contact with another object and outputting a contact signal; and in response to the contact signal from the contact detection means, An X-ray imaging apparatus comprising: a drive stopping unit that automatically stops driving of each of the first and second X-ray imaging units.

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