JP7367392B2 - X-ray imaging device - Google Patents

Description

The present invention relates to an X-ray imaging device.

2. Description of the Related Art Conventionally, an X-ray imaging apparatus including a mechanism for moving an X-ray tube is known (for example, see Patent Document 1).

The above-mentioned Patent Document 1 discloses an X-ray tube for irradiating X-rays, an upright imaging table that performs X-ray imaging with the subject in an upright position, and an X-ray imaging platform that performs X-ray imaging with the subject lying down. An X-ray photographing apparatus is disclosed that includes a horizontal mounting table for performing the X-ray tube and a suspension holding mechanism for moving the X-ray tube. The suspension holding mechanism is configured to hold the X-ray tube so as to move it toward each of the standing imaging table and the horizontal mounting table, and is configured to be suspended from the ceiling and to be able to travel on the ceiling. . Further, this suspension holding mechanism includes a horizontal movement mechanism that moves under drive control of a motor, and a column that can extend and contract in the vertical direction. The X-ray imaging apparatus also includes an operation panel. The X-ray imaging apparatus is configured to move the suspension holding mechanism to a position where the operator desires to take an image when the operator operates the operation panel. For example, after the previous imaging is completed on the standing imaging stage, the subject is moved to the horizontal mounting stage. After that, the operator selects the "auto position" item (movement destination) displayed on the operation panel. The X-ray imaging apparatus is configured to move the suspension holding mechanism to a position based on the selected "auto position."

Japanese Patent Application Publication No. 2007-244569

However, in the X-ray imaging apparatus as described in Patent Document 1, the operator (worker) has to perform the work of changing the position of the X-ray tube (operation on the operation panel). Although not described, it is necessary to guide the subject to the position where X-ray photography will be performed. In other words, during the period when the operator is operating the operation panel to change the position of the X-ray tube (X-ray irradiation unit), the operator can easily guide the subject to the position where X-ray photography will be performed. There may be cases where this is not possible. Therefore, the operator (worker) can easily perform the work of changing the position of the X-ray tube (X-ray irradiation unit) and the work of guiding the subject (subject) in parallel. Development of an X-ray imaging device is desired.

This invention was made in order to solve the above-mentioned problems, and one purpose of this invention is to reduce the work of an operator to change the position of the X-ray irradiation unit and the work of guiding a subject. An object of the present invention is to provide an X-ray imaging apparatus that can easily perform the following operations in parallel.

In order to achieve the above object, an X-ray imaging apparatus according to a first aspect of the present invention includes an X-ray irradiation section including an X-ray source that irradiates X-rays to a subject; an X-ray detection unit including a plurality of X-ray detectors that detect X-rays; a moving unit that moves the X-ray irradiation unit; an imaging unit that acquires an image; and a detection unit that detects at least one of positional information indicating the position of the subject and movement direction information indicating the moving direction of the subject based on the image of the subject acquired by the imaging unit; Based on at least one of the location information and movement direction information, it is determined which of the plurality of X-ray detectors should perform X-ray imaging, and the method corresponds to the determined X-ray detector. a control unit that controls the operation of the moving unit so as to move the X-ray irradiation unit to an irradiation position corresponding to the determined X-ray detector or an imaging preparation position that is provided separately from the irradiation position; , is provided. Further, the X-ray imaging apparatus according to the second aspect of the present invention includes an X-ray irradiation section including an X-ray source that irradiates the subject with X-rays, and detects the X-rays irradiated from the X-ray irradiation section. an X-ray detection section including an X-ray detector for irradiation, a moving section for moving the X-ray irradiation section, an imaging section for acquiring images of a subject including a subject, and an image of the subject acquired by the imaging section. Based on this, at least one of the position information indicating the position of the subject and the movement direction information indicating the movement direction of the subject is detected, and the X-ray irradiation unit is detected based on at least one of the position information and the movement direction information. a control unit that controls the operation of the moving unit so as to move the subject, and the control unit uses position information to indicate that the subject is located in a determination area that is an area determined corresponding to the X-ray detector. and movement direction information, and based on detecting that the subject is located in the determination area, move the X-ray irradiation unit to the imaging preparation position corresponding to the X-ray detector, and Based on the detection that the subject is located at the X-ray imaging position corresponding to the X-ray detector based on the position information, the The moving unit is configured to control the operation of the moving unit so as to move the moving unit. Further, the X-ray imaging apparatus according to the third aspect of the present invention includes an X-ray irradiation section including an X-ray source that irradiates the subject with X-rays, and detects the X-rays irradiated from the X-ray irradiation section. an X-ray detection section including an X-ray detector for irradiation, a moving section for moving the X-ray irradiation section, an imaging section for acquiring images of a subject including a subject, and an image of the subject acquired by the imaging section. Based on this, at least one of the position information indicating the position of the subject and the movement direction information indicating the movement direction of the subject is detected, and the X-ray irradiation unit is detected based on at least one of the position information and the movement direction information. a control unit that controls the operation of the moving unit so as to move the subject; and movement direction information, and based on detecting that the subject is located in the determination area, the X-ray irradiation unit is moved to the imaging preparation position corresponding to the X-ray detector. , configured to control the operation of the moving unit.

As described above, in the X-ray imaging apparatus in the first aspect, based on the image of the subject acquired by the imaging unit, position information indicating the position of the subject and movement direction information indicating the direction of movement of the subject are obtained. The X-ray irradiation unit is configured to be moved based on at least one of position information and movement direction information. Thereby, the operation can be controlled so that the X-ray irradiation section is automatically moved to the irradiation position where the X-rays are irradiated to the subject located at the imaging position. This eliminates the need for the worker to input operations to change the position of the X-ray irradiation unit, so the worker can perform both the work of changing the position of the X-ray irradiation unit and the work of guiding the subject. can easily be done in parallel. In this way, since the work of changing the position of the X-ray irradiation unit and the work of guiding the subject can be performed in parallel, the time required for X-ray imaging can be shortened.

FIG. 1 is a perspective view for explaining the configuration of an X-ray imaging apparatus according to a first embodiment. FIG. 1 is a block diagram showing the overall configuration of an X-ray imaging apparatus according to a first embodiment. FIG. 1 is a front view for explaining the overall configuration of an X-ray imaging apparatus according to a first embodiment. FIG. 2 is a diagram of an image captured by an imaging unit, including a subject and a worker according to the first embodiment. FIG. 3 is a plan view for explaining an area for determining an X-ray detector for performing X-ray imaging according to the first embodiment. FIG. 2 is a front view for explaining an irradiation position where an X-ray irradiation unit is located when X-ray imaging is performed according to the first embodiment. FIG. 3 is a plan view for explaining control for moving the X-ray irradiation unit to an imaging preparation position according to the first embodiment. FIG. 3 is a front view for explaining control for moving the X-ray irradiation unit to an imaging preparation position according to the first embodiment. FIG. 3 is a plan view for explaining control for moving the X-ray irradiation unit from the imaging preparation position to the irradiation position according to the first embodiment. FIG. 3 is a front view for explaining control for moving the X-ray irradiation unit from the imaging preparation position to the irradiation position according to the first embodiment. FIG. 3 is a front view for explaining control to avoid collision between the X-ray irradiation unit and the subject according to the first embodiment. FIG. 3 is a front view illustrating control for lowering the top plate according to the first embodiment. FIG. 3 is a front view illustrating control for raising the top plate according to the first embodiment. FIG. 3 is a front view for explaining control for determining an irradiation position based on the body dimensions of a subject according to the first embodiment. FIG. 3 is a flowchart diagram for explaining control processing of the X-ray imaging apparatus according to the first embodiment. FIG. 2 is a perspective view showing the overall configuration of an X-ray imaging apparatus according to a second embodiment. FIG. 2 is a block diagram showing the overall configuration of an X-ray imaging apparatus according to a second embodiment. FIG. 7 is a plan view for explaining control for detecting distances between a subject and a worker, and a standing position detector and a lying position detector, based on a parallax image according to a second embodiment. FIG. 7 is a flowchart diagram for explaining control processing of the X-ray imaging apparatus according to the second embodiment.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments embodying the present invention will be described based on the drawings.

[First embodiment]
(Configuration of X-ray imaging device)
The overall configuration of an X-ray imaging apparatus 100 according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 14.

As shown in FIGS. 1 and 2, the X-ray imaging apparatus 100 includes an X-ray irradiation section 1, an X-ray detection section 2, a moving section 3, an imaging section 4, a control section 5, and a storage section 6. , is provided.

As shown in FIG. 1, the X-ray irradiation unit 1 includes an X-ray source (X-ray tube) 11 that irradiates the subject P with X-rays. Further, a collimator 12 is provided below the X-ray source 11. The collimator 12 is configured to narrow down the range of X-rays irradiated from the X-ray source 11. The X-ray irradiation unit 1 is supported so as to be suspended from the ceiling C. Specifically, the X-ray irradiation unit 1 is suspended from the ceiling C by a support unit 30, a vertical movement unit 31, and a horizontal movement unit 32, which will be described later. It is supported in a way that it can be lowered.

The X-ray detection section 2 detects the X-rays irradiated by the X-ray irradiation section 1. Moreover, the X-ray detection unit 2 includes an upright position detector 21 and a recumbent position detector 22 that are arranged apart from each other. Further, as shown in FIG. 3, the supine position detector 22 includes a top plate 22a on which the subject P is placed. The standing detector 21 has a first X-ray detection region 20a. Further, the supine position detector 22 has a second X-ray detection region 20b. Note that the upright position detector 21 and the recumbent position detector 22 are an example of "a plurality of X-ray detectors" in the claims.

As shown in FIG. 3, the standing detector 21 is configured to detect X-rays irradiated to the subject P while standing on the floor F. Further, the supine position detector 22 is configured to detect X-rays irradiated to the subject P while the subject P is placed on the top plate 22a. Further, the first X-ray detection site 20a and the second X-ray detection site 20b are each configured to be movable according to the imaging site of the subject P. For example, the second X-ray detection part 20b is arranged at the lower part of the top plate 22a, and is configured to be movable in parallel to a horizontal plane (a plane including the X direction and the Y direction in FIG. 3). Further, the first X-ray detection site 20a and the second X-ray detection site 20b are, for example, FPDs (Flat Panel Detectors), and detect X-rays that have passed through the subject P.

The moving section 3 moves the X-ray irradiation section 1. As shown in FIGS. 1 and 2, the moving section 3 includes a supporting section 30 that supports the X-ray irradiation section 1, a vertical moving section 31 that moves the supporting section 30 in the vertical direction, and a vertical moving section 31 that supports the X-ray irradiation section 1. It includes a horizontal movement section 32 that moves in the horizontal direction. Further, the moving unit 3 includes a top plate elevating unit 33 that moves the top plate 22a up and down.

The support section 30 is attached to the lower part of the vertical movement section 31 and is configured to support the X-ray irradiation section 1 . The support part 30 is attached to the lower part of the vertically moving part 31, and is configured to be rotatable about the vertical direction with respect to the vertically moving part 31. Further, the support section 30 is configured to connect the vertical movement section 31 and the X-ray irradiation section 1. The X-ray irradiation unit 1 is configured to be rotatable about the horizontal direction with respect to the support unit 30.

The vertical movement section 31 is configured to be expandable and contractible in the vertical direction. By expanding and contracting the vertical movement section 31, the support section 30 is moved in the vertical direction, thereby moving the X-ray irradiation section 1 in the vertical direction.

The horizontal movement section 32 includes a first horizontal movement section 32a, a second horizontal movement section 32b, and a fixed rail 32c. The horizontal movement unit 32 moves the vertical movement unit 31 horizontally with respect to the ceiling C. Specifically, the fixed rail 32c is fixed to the ceiling C. The first horizontal moving section 32a is movable with respect to the fixed rail 32c, and extends in a direction (Y direction in FIG. 1) perpendicular to the direction in which the fixed rail 32c extends (X direction in FIG. 1). It is set in. The second horizontal moving section 32b is attached so as to be movable in the direction in which the first horizontal moving section 32a extends (the Y direction in FIG. 1). That is, by moving the first horizontal moving section 32a on the fixed rail 32c while the second horizontal moving section 32b is stationary relative to the first horizontal moving section 32a, the X-ray irradiation section 1, the support The section 30 and the vertical movement section 31 move in the X direction in FIG. Furthermore, while the first horizontal moving section 32a is stationary with respect to the fixed rail 32c, the second horizontal moving section 32b moves on the first horizontal moving section 32a, so that the X-ray irradiation section 1, the support The section 30 and the vertical movement section 31 move in the Y direction in FIG.

As shown in FIG. 4, the imaging unit 4 is configured to obtain a captured image A that includes at least one of the subject P and the worker Q who performs the X-ray imaging work, who is a person other than the subject P. There is. That is, the imaging unit 4 is configured to obtain a captured image A that includes at least one of the subject P and the worker Q who have entered the examination room from the entrance E. Further, the imaging unit 4 is disposed at either the horizontal moving unit 32 provided at a position above the vertical moving unit 31, or the upper part of the vertical moving unit 31, and is located below. It is configured to acquire images of the subject P and the worker Q. Specifically, as shown in FIG. 1, the imaging section 4 is attached to the second horizontal movement section 32b above the X-ray irradiation section 1. That is, the imaging unit 4 is installed so that the upright position detector 21, the lying position detector 22, and the X-ray irradiation unit 1 are within the same angle of view, and the captured image A in a non-vertical plane is get. Note that a "non-vertical surface" is a plane that is not a vertical plane, and in the first embodiment, means a horizontal plane (a plane including the X direction and the Y direction in FIG. 1). Further, the captured image A is an example of the "image of the subject" in the claims. The subject P is an example of a "subject" within the scope of the claims. Further, the worker Q is an example of a "target person" in the scope of the claims.

As shown in FIG. 2, the control section 5 controls the operations of the X-ray irradiation section 1 and the X-ray detection section 2 during X-ray imaging. The control unit 5 includes, for example, a processor such as a CPU (Central Processing Unit). The control unit 5 controls at least one of position information Pa indicating the position of the subject P and movement direction information Pb indicating the movement direction of the subject P based on the captured image A acquired by the imaging unit 4. To detect. Further, the control unit 5 controls at least one of position information Qa indicating the position of the worker Q and movement direction information Qb indicating the movement direction of the worker Q based on the captured image A acquired by the image capture unit 4. To detect. The control unit 5 controls the operation of the moving unit 3 to move the X-ray irradiation unit 1 based on at least one of the position information Pa and Qa and the movement direction information Pb and Qb. It is configured. Further, the control unit 5 controls the operation of the moving unit 3 to move the X-ray detection unit 2 based on at least one of the position information Pa and Qa and the movement direction information Pb and Qb. It is configured. Note that details of control of the X-ray irradiation section 1 and the X-ray detection section 2 will be described later.

(About control regarding acquisition of location information and movement direction information)
In the first embodiment, as shown in FIG. 4, the captured image A acquired by the imaging unit 4 and the images of the subject P and the worker Q are used as first training data to create a learned model that has been machine learned in advance. It is configured to acquire at least one of position information Pa and Qa and movement direction information Pb and Qb based on the following information. Specifically, the control unit 5 performs machine learning on a plurality of pre-obtained images including the subject P and the worker Q to obtain feature quantities for detecting each of the subject P and the worker Q. and feature amounts for detecting the movement directions of each of the subject P and the worker Q as training data. Then, by specifying the position and movement direction of each of the subject P and the worker Q based on the learned teacher data and the captured image A acquired by the imaging unit 4, the position information Pa and Qa and the movement direction are determined. At least one of information Pb and information Qb is acquired. Note that in this embodiment, deep learning (AI) is used as machine learning.

In addition, the control unit 5 uses learning data obtained by machine learning images of the subject P and the worker Q in advance as first teacher data, and a plurality of subjects P acquired by the imaging unit 4. The machine is configured to generate a learned model by performing machine learning (re-learning) using the captured image A of the worker Q as second training data. Specifically, the configuration is such that a plurality of captured images A of the subject P and the worker Q acquired by the imaging unit 4 are stored in the storage unit 6 (see FIG. 2) each time an X-ray image is taken. has been done. The apparatus is configured to perform machine learning using a plurality of newly acquired images A each time an X-ray image is taken as training data.

Further, the control unit 5 identifies and detects the subject P and the worker Q who performs the X-ray imaging work based on the captured image A acquired by the imaging unit 4, and also identifies and detects the subject P and the worker Q who performs the X-ray imaging work. It is configured to acquire at least one of position information Pa and movement direction information Pb. Specifically, the subject P and the worker Q are distinguished based on the captured image A obtained by the imaging unit 4 and the feature amounts of the subject P and the worker Q that have been obtained in advance. configured to be separately identified.

(About control regarding determination of X-ray detector)
The control unit 5 performs X-ray imaging in which of the upright position detector 21 and the lying position detector 22, based on at least one of the position information Pa and Qa and the movement direction information Pb and Qb. is configured to determine which That is, the control unit 5 determines whether at least one of the subject P and the worker Q is located in determination regions R1 and R2, which are regions defined corresponding to the upright position detector 21 and the lying position detector 22, respectively. This is detected based on at least one of the position information Pa and Qa and the moving direction information Pb and Qb, and at least one of the subject P and the worker Q is detected in which of the determination regions R1 and R2. The X-ray detector is configured to determine which of the upright position detector 21 and the recumbent position detector 22 to perform X-ray imaging based on the detection of the position of the patient. Note that the determination region R1 is a region defined corresponding to the upright position detector 21, and the determination region R2 is a region determined corresponding to the supine position detector 22. Further, the determination regions R1 and R2 are an example of "a plurality of determination regions" in the claims.

Specifically, as shown in FIG. 5, a determination region R1 and a determination region R2 are set in advance in a horizontal plane. For example, when the control unit 5 detects that the subject P is located in the determination region R1, the control unit 5 determines to perform X-ray imaging using the standing position detector 21. Further, when the control unit 5 detects that the subject P is located in the determination region R2, the control unit 5 determines to perform X-ray imaging using the supine position detector 22.

(Regarding control regarding movement of the X-ray irradiation unit)
As shown in FIG. 6, the control section 5 controls the operation of the moving section 3 so as to move the X-ray irradiation section 1 to the irradiation position corresponding to the determined X-ray detector. Specifically, the control unit 5 sets in advance the upright irradiation position S1 where the X-ray irradiation unit 1 is located when performing X-ray photography at the upright position detector 21 and the X-ray photography at the lying position detector 22. A supine irradiation position S2 where the X-ray irradiation unit 1 is located when performing the X-ray irradiation is set. When it is determined that X-ray imaging will be performed using either the upright detector 21 or the supine detector 22, the upright irradiation is performed at the irradiation position corresponding to the determined X-ray detector. The operation of the moving unit 3 is controlled to move the X-ray irradiation unit 1 to either the position S1 or the supine irradiation position S2.

Further, the control unit 5 starts the operation of the moving unit 3 based on detecting in which judgment area of the judgment areas R1 and R2 at least one of the subject P and the worker Q is located. It is configured to perform control to cause As shown in FIGS. 7 and 8, for example, the control unit 5 uses the upright position detector 21 and the recumbent position detector 21 based on whether the subject P is located in one of the determination regions R1 and R2. When it is determined which of the X-ray detectors 22 will be used to perform X-ray imaging, control is performed to start the operation of the moving section 3 so that the X-ray irradiating section 1 starts moving.

The control unit 5 also controls each of the determined X-ray detectors based on the detection that at least one of the subject P and the worker Q is located in one of the determination regions R1 and R2. , the X-ray irradiation section 1 is moved to an upright imaging preparation position S11 or a supine imaging preparation position S12, which are provided separately from the upright irradiation position S1 and the supine irradiation position S2. Note that the standing imaging preparation position S11 and the supine imaging preparation position S12 are examples of "imaging preparation positions" in the claims.

Specifically, as shown in FIGS. 7 and 8, a standing imaging preparation position S11 where the X-ray irradiation unit 1 is located when it is decided to perform X-ray imaging using the standing detector 21; When it is decided to perform X-ray imaging using the supine position detector 22, a supine imaging preparation position S12 where the X-ray irradiation unit 1 is located is set in advance. The standing imaging preparation position S11 and the supine imaging preparation position S12 are positions where the vertical movement section 31 is moved upward so as not to interfere with the movement of the subject P and the worker Q. For example, when it is determined to perform X-ray imaging using the standing position detector 21 by detecting that the subject P is located in the determination region R1, the control unit 5 controls the moving unit 3. As a result, the X-ray irradiation unit 1 starts moving in the horizontal direction. Then, the control unit 5 moves the X-ray irradiation unit 1 to the standing imaging preparation position S11.

In addition, the control unit 5 detects that the subject P is located at the upright imaging position T1 and the lying imaging position T2 corresponding to the X-ray detector determined based on the position information Pa. Based on this, the operation of the moving unit 3 is controlled so as to move the X-ray irradiation unit 1 to the upright irradiation position S1 and the supine irradiation position S2. Note that the upright imaging position T1 is an X-ray imaging position corresponding to the upright detector 21, and the supine imaging position T2 is an X-ray imaging position corresponding to the supine detector 22. Furthermore, the upright imaging position T1 and the supine imaging position T2 are examples of "X-ray imaging positions" in the claims.

Specifically, as shown in FIGS. 9 and 10, a standing imaging position T1 where the subject P is located when performing X-ray imaging using the upright detector 21 and a supine position detector 21 are determined in advance. A supine position imaging position T2 in which the subject P is positioned when performing X-ray imaging using the X-ray imaging device 22 is set. For example, the control unit 5 detects that the subject P is located at the standing imaging position T1 based on the position information Pa. Then, based on detecting that the subject P is located at the standing imaging position T1, the control unit 5 controls the X-ray irradiation unit 1, which has been stopped at the standing imaging preparation position S11. The moving unit 3 is controlled to move to the standing irradiation position S1, which is the position where radiographing is performed.

In addition, after performing X-ray photography using one of the X-ray detectors out of the standing detector 21 and the lying detector 22, the control unit 5 controls whether the subject P and the worker Q Movement toward the detector is detected based on the movement direction information Pb and Qb, and based on the detected movement of the patient P and the worker Q, the movement of the patient P and the worker Q and X is detected. It is configured to control the movement of the X-ray irradiator 1 so as to avoid collision with the ray irradiator 1.

Specifically, as shown in FIG. 11, for example, the control unit 5 performs X-ray imaging using the upright detector 21, and then moves the subject P toward the supine detector 22. This is detected based on the movement direction information Pb, and based on the detected movement of the subject P, the X-ray irradiation unit 1 is configured to avoid collision between the subject P and the X-ray irradiation unit 1. It is configured to perform control to move from the standing irradiation position S1 to the retracted position S21.

Further, as shown in FIG. 12, the control unit 5 operates the tabletop lifting/lowering unit 33 to raise and lower the tabletop 22a based on the determined lying position photographing position T2 corresponding to the determined lying position detector 22. is configured to control. Furthermore, before the subject P arrives at the supine position imaging position T2 corresponding to the determined supine position detector 22, the control unit 5 controls at least one of the position information Pa and Qa and the moving direction information Pb and Qb. Based on this, the top plate lifting/lowering unit 33 is controlled to lower the top plate 22a.

Specifically, the control unit 5 moves the subject P towards the lying position detector 22 after performing X-ray imaging using the standing position detector 21 or after entering the room from the entrance E. When the worker Q moves toward the supine position detector 22, the top plate 22a is lowered before the subject P arrives at the supine position imaging position T2 corresponding to the supine position detector 22. Controls the top plate elevating and lowering moving unit 33. As shown in FIG. 13, when it is detected based on the position information Pa that the subject P is placed on the top plate 22a, the subject P is photographed in a supine position by raising the top plate 22a. The top plate lifting/lowering unit 33 is controlled to move to position T2.

Further, the control unit 5 detects body size information, which is information about the body size of the subject P, based on the image of the subject P acquired by the imaging unit 4, and based on the body size information, It is configured to determine an upright irradiation position S1 and a supine irradiation position S2. For example, as shown in FIG. 14, when X-ray imaging is performed using the standing detector 21, the control unit 5 sets the standing imaging position T1 based on the captured image A acquired by the imaging unit 4. Obtain the body dimensions of the located subject P. The apparatus is configured to detect a standing irradiation position S1 suitable for the physique of the subject P based on the acquired body dimensions of the subject P. Note that although an example is shown here in which X-ray photography is performed using the standing position detector 21, the present invention is not limited to this. Even when performing X-ray imaging using the supine position detector 22, the body dimensions of the subject P may be acquired to determine the supine position irradiation position S2.

(Control processing by the X-ray imaging apparatus 100 of the first embodiment)
Next, with reference to FIG. 15, a control processing flow regarding X-ray imaging by the X-ray imaging apparatus 100 according to the first embodiment will be described. Control regarding X-ray imaging by this X-ray imaging apparatus 100 is executed by the control unit 5.

First, in step 101, a captured image A obtained by the imaging section 4 is obtained.

Next, in step 102, the subject P and the worker Q are detected based on the captured image A acquired in step 101. Furthermore, if the subject P and the worker Q are not detected in the captured image A, the process returns to step 101. If the subject P and the worker Q are detected in the captured image A, the process advances to the next step 103.

Next, in step 103, position information Pa and Qa and movement direction information Pb and Qb of the subject P and worker Q are acquired, and the acquired position information Pa and Qa and movement direction information Pb and Qb are obtained. Based on this, the moving direction of the subject P and the worker Q is determined. If it is determined that the subject P and the worker Q are moving in the direction of the standing position detector 21, the process advances to step 104. Further, if it is determined that the subject P and the worker Q are moving in the direction of the supine position detector 22, the process proceeds to step 110.

(Control related to X-ray photography using standing position detector)
In step 104, if it is detected that at least one of the subject P and the worker Q is located in the determination region R1 based on the position information Pa and Qa and the movement direction information Pb and Qb, the next step 105 Proceed to. If neither the subject P nor the worker Q is detected to be located in the determination region R1, the process returns to step 101.

Next, in step 105, based on the detection that at least one of the subject P and the worker Q is located in the determination area R1, it is possible to perform X-ray photography using the standing position detector 21. It is determined.

Next, in step 106, when it is determined to perform X-ray imaging using the standing detector 21, the X-ray irradiation unit 1 is moved toward the standing imaging preparation position S11. Then, the X-ray irradiation unit 1 is put on standby at the standing imaging preparation position S11.

Next, in step 107, it is detected whether the subject P is located at the standing imaging position T1 based on the position information Pa.

Next, in step 108, if it is detected in step 107 that the subject P is located at the standing imaging position T1, the X-ray irradiation unit 1 that has been on standby is moved from the standing imaging preparation position S11. It is moved to the standing photographing position T1. Note that if it is not detected in step 107 that the subject P is located at the standing imaging position T1, the process returns to step 106, and the X-ray irradiation unit 1 waits at the standing imaging preparation position S11. It will be done.

Next, in step 109, after the X-ray irradiation unit 1 arrives at the standing irradiation position S1, X-ray photography is performed.

(Control related to X-ray photography using a supine position detector)
On the other hand, in step 110, if it is detected that at least one of the subject P and the worker Q is located in the determination region R2 based on the position information Pa and Qa and the movement direction information Pb and Qb, the next Proceed to step 111. If neither the subject P nor the worker Q is detected to be located in the determination region R2, the process returns to step 101.

Next, in step 111, based on the detection that at least one of the subject P and the worker Q is located in the determination region R2, X-ray photography may be performed using the supine position detector 22. It is determined.

Next, in step 112, when it is decided to perform X-ray photography using the supine position detector 22, the top plate 22a is lowered.

Next, in step 113, when it is determined to perform X-ray imaging using the supine position detector 22, the X-ray irradiation unit 1 is moved toward the supine imaging preparation position S12. Then, the X-ray irradiation unit 1 is put on standby at the supine imaging preparation position S12.

Next, in step 114, it is detected whether or not the subject P is placed on the top plate 22a based on the position information Pa.

Next, in step 115, if it is detected in step 116 that the subject P is placed on the top plate 22a, the top plate 22a is raised. If it is not detected that the subject P is placed on the top plate 22a, the process returns to step 113.

Next, in step 116, it is detected whether the subject P is located at the supine position imaging position T2 based on the position information Pa.

Next, in step 117, if it is detected in step 116 that the subject P is located at the supine imaging position T2, the X-ray irradiation unit 1, which has been on standby, moves from the supine imaging preparation position S12. The patient is moved to the supine irradiation position S2. Note that if it is not detected in step 116 that the subject P is located at the supine imaging position T2, the process returns to step 113, and the X-ray irradiation unit 1 is made to stand by at the supine imaging preparation position S12. .

Next, in step 118, after the X-ray irradiation unit 1 arrives at the supine irradiation position S2, X-ray photography is performed.

Note that either the process of raising the top plate 22a in step 115 or the process of moving the X-ray irradiation unit 1 to the supine imaging position T2 in steps 116 and 117 may be performed first.

(Effects of the first embodiment)
In the first embodiment, the following effects can be obtained.

As described above, the X-ray imaging apparatus 100 of the first embodiment includes the X-ray irradiation unit 1 including the X-ray source 11 that irradiates the subject P with X-rays, and the X-ray irradiation unit 1 that A captured image that includes an X-ray detection unit 2 that detects X-rays, a moving unit 3 that moves the X-ray irradiation unit 1, and at least one of a subject P and a worker Q who is a person other than the subject P. and an imaging unit 4 that acquires A, and based on the captured image A acquired by the imaging unit 4, position information Pa and Qa indicating the positions of the subject P and the worker Q, and the subject P and the work. At least one of moving direction information Pb and Qb indicating the moving direction of person Q is detected, and the X-ray irradiation unit 1 is moved based on at least one of positional information Pa and Qa and moving direction information Pb and Qb. It is configured to control the operation of the moving unit 3 as shown in FIG. Moreover, in the X-ray imaging apparatus 100 of the first embodiment, with the above-described configuration, based on the captured image A acquired by the imaging unit 4, position information Pa and Qa indicating the positions of the subject P and the worker Q are used. X It is configured to move the line irradiation unit 1. As a result, the X-ray irradiation unit 1 is automatically moved to the upright irradiation position S1 and the supine irradiation position S2, where X-rays are irradiated to the subject P located at the upright imaging position T1 and the supine imaging position T2. The movement can be controlled to move the object. Therefore, the operator Q does not need to input an operation to change the position of the X-ray irradiator 1, so the operator Q does not need to input an operation to change the position of the X-ray irradiator 1, and the patient P This can easily be done in parallel with the work of inducing. In this way, since the work of changing the position of the X-ray irradiation unit 1 and the work of guiding the subject P can be performed in parallel, the time required for X-ray imaging can be shortened.

Further, in the first embodiment, further effects can be obtained by configuring as follows.

That is, in the first embodiment, the X-ray detection unit 2 includes an upright position detector 21 and a recumbent position detector 22 that are arranged apart from each other, and includes at least position information Pa and Qa and movement direction information Pb and Qb. Based on this, it is determined which X-ray detector to perform X-ray photography among the standing detector 21 and the lying detector 22, and the irradiation position corresponding to the determined X-ray detector is determined. The apparatus further includes a control section 5 that controls the operation of the moving section 3 so as to move the X-ray irradiation section 1 . With this configuration, the control unit 5 allows the worker Q to input information regarding which X-ray detector to perform X-ray imaging, of the standing detector 21 and the lying detector 22. The X-ray irradiation unit 1 can be moved without the need for As a result, the position of the X-ray irradiation unit 1 can be changed without interrupting the work of guiding the subject P by the operator Q.

Further, in the first embodiment, the control unit 5 allows the subject P and the worker Q to be placed in determination areas R1 and R2, which are areas defined corresponding to the upright position detector 21 and the lying position detector 22, respectively. Based on at least one of position information Pa and Qa and movement direction information Pb and Qb, it is detected that at least one of It is configured to perform control to start the operation of the moving unit 3 based on detecting whether at least one of the workers Q is located. With this configuration, the operation of the moving unit 3 can be started before the subject P arrives at the X-ray imaging position. As a result, the time required for X-ray imaging can be easily shortened compared to the case where the operation of the moving unit 3 is started after the subject P arrives at the X-ray imaging position.

Further, in the first embodiment, the control unit 5 controls the determined X-ray detector based on the detection that at least one of the subject P and the worker Q is located in the determination regions R1 and R2. The X-ray irradiation unit 1 is moved to the upright imaging preparation position S11 or the lying imaging preparation position S12, which are provided separately from the upright irradiation position S1 and the lying irradiation position S2, respectively, and the X-ray irradiation unit 1 is determined based on the position information Pa. Based on the detection that the subject P is located at the upright imaging positions T1 and T2 corresponding to the X-ray detectors, X-ray irradiation is performed at the upright irradiation position S1 and the supine irradiation position S2. It is configured to control the operation of the moving section 3 so as to move the section 1. With this configuration, until the subject P moves to the X-ray imaging position, the X-ray irradiation section 1 is moved to the upright imaging preparation position S11 and the supine imaging preparation position corresponding to the determined X-ray detector. After being kept on standby in S12, the X-ray irradiation unit 1 can be moved to the upright irradiation position S1 and the supine irradiation position S2. As a result, while reducing the time required for X-ray imaging, it is possible to prevent the subject P from coming into contact with the X-ray irradiation unit 1 when moving.

Further, in the first embodiment, the control unit 5 performs X-ray imaging on the subject P and the worker after performing X-ray photography using one of the X-ray detectors out of the standing detector 21 and the lying detector 22. The movement of the patient P toward another X-ray detector is detected based on the movement direction information Pb and Qb, and the movement of the patient P and the worker Q is detected based on the detected movement of the patient P and the worker Q. The X-ray irradiation unit 1 is controlled to move so as to avoid a collision between the worker Q and the X-ray irradiation unit 1. With this configuration, when the patient P and the worker Q move, the X-ray irradiator 1 does not have to be moved upwards by the worker Q to move the X-ray irradiator 1 toward the patient. It can be moved to a position where it does not come into contact with P and worker Q. As a result, the operator Q does not need to move the X-ray irradiation unit 1, so that, for example, the operator Q can move the equipment, the examinee P, and the operator Q without interrupting the work of guiding the examinee P. contact can be avoided.

Further, in the first embodiment, the control unit 5 identifies and detects the subject P and the worker Q who performs the X-ray imaging work based on the captured image A acquired by the imaging unit 4, and It is configured to acquire at least one of position information Pa and movement direction information Pb regarding the subject P. Here, when the worker Q and the patient P move while being separated from each other, it may be difficult to determine which X-ray detector should perform X-ray imaging just by detecting the position of the person. It is thought that there is. As in the first embodiment, if the patient P and the worker Q who performs the X-ray imaging work are configured to be identified and detected, position information Pa and movement direction information only regarding the patient P can be detected. Since Pb can be detected, movement of the X-ray irradiation unit 1 can be controlled more accurately.

Further, in the first embodiment, the plurality of X-ray detectors are configured to detect X-rays irradiated to the subject P while the subject P is standing on the floor F. A supine position detector that includes a detector 21 and a top plate 22a and is configured to detect X-rays irradiated to the subject P while the subject P is placed on the top plate 22a. 22, and the control unit 5 determines which of the upright position detector 21 and the recumbent position detector 22 the The detector is configured to determine whether to perform X-ray imaging and to control the operation of the moving unit 3 so as to move the X-ray irradiation unit 1 to the upright irradiation position S1 and the supine irradiation position S2. There is. With this configuration, the control unit 5 can eliminate the need for the worker Q to input information regarding which X-ray detector, the standing detector 21 or the lying detector 22, is used to perform X-ray photography. The X-ray irradiation unit 1 can be moved. As a result, there is no need for the operator Q to perform any operation work, and the position of the X-ray irradiation unit 1 can be changed without interrupting the work performed by the operator Q to guide the subject P.

Further, in the first embodiment, the moving unit 3 includes a tabletop lifting/lowering unit 33 that raises and lowers the tabletop 22a, and the control unit 5 moves the tabletop 22a to a position corresponding to the determined positioning position detector 22 at the positioning position T2. Based on this, the operation of the top plate elevating/lowering section 33 is controlled so as to raise/lower the top plate 22a. With this configuration, when taking an image using the recumbent position detector 22, the position of the top plate 22a can be automatically raised or lowered without depending on the operation of the operator Q who performs X-ray photography. As a result, the work burden on the worker Q can be further reduced.

In the first embodiment, before the subject P arrives at the supine position imaging position T2 corresponding to the determined decubitus position detector 22, the control unit 5 transmits the position information Pa and Qa and the movement direction information Pb. Based on at least one of Qb and Qb, the top board elevating and lowering section 33 is controlled to lower the top board 22a. With this configuration, the height of the top plate 22a can be lowered automatically before starting X-ray imaging using the lying position detector 22, without requiring any operation by the operator Q. . As a result, the operator Q is able to lower the top plate 22a without interrupting the guidance work when guiding the subject P, and is also able to lower the top plate 22a after the guidance work. Work time can be shortened. Moreover, since the top plate 22a is in a lowered state, the work of placing the subject P on the top plate 22a can be easily performed.

Further, in the first embodiment, the control unit 5 detects body dimension information, which is information about the body dimensions of the subject P, based on the image of the subject P acquired by the imaging unit 4, and The apparatus is configured to determine the upright irradiation position S1 and the supine irradiation position S2 based on the dimension information. With this configuration, the upright irradiation position S1 and the supine irradiation position S2 can be adjusted according to the body dimensions of the subject P. As a result, it is no longer necessary for the operator Q to manually adjust the position of the X-ray irradiation unit 1 according to the body dimensions of the examinee P after guiding the examinee P. The burden can be reduced.

Further, in the first embodiment, the position is determined based on the captured image A acquired by the imaging unit 4 and a learned model in which images of the subject P and the worker Q are subjected to machine learning in advance as first teacher data. It is configured to acquire at least one of information Pa and Qa and movement direction information Pb and Qb. With this configuration, the position information Pa and Qa and the movement direction information Pb and Qb can be detected with high accuracy in order to compare the acquired images of the subject P and the worker Q with the learned model acquired in advance. I can do it. As a result, the work burden on the worker Q can be reduced while improving the detection accuracy of the position information Pa and Qa and the movement direction information Pb and Qb.

In addition, in the first embodiment, the learning data obtained by machine learning the images of the subject P and the worker Q in advance as the first teacher data and the images of the plurality of subjects acquired by the imaging unit 4 are used. It is configured to generate a learned model by performing machine learning (re-learning) using captured image A of P and worker Q as second training data. With this configuration, teacher data can be accumulated every time an X-ray photographing operation is performed. As a result, detection accuracy can be improved by updating learning data every time X-ray imaging is performed.

In the first embodiment, the moving unit 3 includes a vertical moving unit 31 that moves the X-ray irradiation unit 1 in the vertical direction, and a horizontal moving unit 31 that moves the vertical moving unit 31 horizontally with respect to the ceiling C. The imaging unit 4 is disposed at either the horizontal moving unit 32 provided at a position above the vertical moving unit 31 or the upper part of the vertical moving unit 31. At the same time, it is configured to acquire images of the subject P and the worker Q located below. With this configuration, images of a relatively wide range can be acquired. Therefore, the positional information Pa and Qa and the moving direction information Pb and Qb can be acquired over a wide range, so that the accuracy in detection can be improved.

[Second embodiment]
The configuration of the X-ray imaging apparatus 200 according to the second embodiment will be described with reference to FIGS. 16 to 18. This second embodiment is a first embodiment configured to acquire position information Pa and movement direction information Pb about the subject P and position information Qa and movement direction information Qb about the worker Q by machine learning. Unlike the embodiment, position information Pa and movement direction information Pb about the subject P and position information Qa and movement direction information Qb about the worker Q are acquired based on distance information using the stereo camera 241. is configured to do so. In addition, in the drawings, parts having the same configuration as those in the first embodiment are illustrated with the same reference numerals, and explanations thereof will be omitted.

(Configuration of X-ray inspection apparatus according to second embodiment)
As shown in FIGS. 16 and 17, an X-ray imaging apparatus 200 according to the second embodiment of the present invention includes an imaging section 204 and a control section 205. The imaging unit 204 includes a stereo camera 241 and is configured to obtain a parallax image B including at least one of the subject P and the worker Q. The control unit 205 is configured to acquire at least one of the position information Pa and Qa and the movement direction information Pb and Qb based on the parallax image B acquired by the imaging unit 204. That is, based on the parallax image B acquired by the stereo camera 241, at least one of the position information Pa and movement direction information Pb about the subject P, and at least the position information Qa and movement direction information Qb about the worker Q. On the other hand, it is configured to obtain .

Specifically, the plurality of parallax images B acquired by the stereo camera 241 and the characteristics about the subject P, the worker Q, the standing position detector 21, and the lying position detector 22 acquired in advance After detecting the position information for each of the subject P, the worker Q, the standing position detector 21, and the lying position detector 22 based on the amount, and approximating each to an ellipse, Find the distance between each. For example, as shown in FIG. 18, the distance between the subject P and the standing position detector 21 is D1, the distance between the worker Q and the standing position detector 21 is D2, and the distance between the subject P and the lying position detector 22 is D1. The distance between the operator Q and the lying position detector 22 is assumed to be D3, and the distance between the worker Q and the lying position detector 22 is assumed to be D4. The control unit 205 is configured to detect movement direction information Pb and Qb by detecting D1 to D4 for a plurality of parallax images B. Note that the other configurations of the second embodiment are the same as those of the first embodiment.

(Control processing by the X-ray imaging apparatus 200 of the second embodiment)
Next, with reference to FIG. 19, a control processing flow regarding X-ray imaging by the X-ray imaging apparatus 200 according to the second embodiment will be described. Further, control regarding X-ray imaging by the X-ray imaging apparatus 200 according to the second embodiment is controlled by a control unit 205.

First, in step 301, a parallax image B including at least one of the subject P and the worker Q is acquired by the stereo camera 241.

Next, in step 302, the subject P and worker Q are detected from the parallax image B obtained in step 301, based on the feature amounts of the subject P and worker Q that have been obtained in advance. Note that if the subject P and the worker Q are detected, the process advances to step 303; if neither the subject P nor the worker Q is detected, the process returns to step 301.

Next, in step 303, after detecting each of the subject P, the worker Q, the standing position detector 21, and the lying position detector 22 from the parallax image B acquired in step 301, an ellipse is detected for each of them. The shape is approximated and the distance between each is detected.

Next, in step 304, based on the distances between the subject P, the worker Q, the standing position detector 21, and the lying position detector 22 acquired in step 303, And the moving direction of the worker Q is determined.

Note that if it is determined that the robot is moving in the direction of the standing position detector 21, the process advances to step 104. If it is determined that the patient is moving in the direction of the supine position detector 22, the process proceeds to step 110. Then, in steps 104 to 109 and steps 110 to 118, the same processing as in the first embodiment is performed.

(Effects of the second embodiment)
In the second embodiment, the following effects can be obtained.

In the second embodiment, as described above, the imaging unit 204 includes the stereo camera 241 and is configured to acquire the parallax image B, and based on the parallax image B acquired by the imaging unit 204, It is configured to detect at least one of position information Pa and Qa and movement direction information Pb and Qb. With this configuration, it is possible to obtain a three-dimensional positional relationship between each of the standing position detector 21 and the lying position detector 22 and each of the subject P and the worker Q. As a result, the positional relationship between the subject P and worker Q and the X-ray detector and the moving direction of the subject P and worker Q can be detected more accurately. Further, as shown in the first embodiment, when performing image processing by machine learning, it is necessary to acquire a large amount of image data as learning data. Therefore, it is conceivable that it takes time to operate the X-ray imaging apparatus 100. Taking this point into consideration, if the X-ray imaging device 200 is configured in this way, there is no need to learn a large amount of learning data in advance by machine learning, so the time required to operate the X-ray imaging device 200 can be shortened. can do.

Note that other effects of the second embodiment are similar to those of the first embodiment.

[Modified example]
Note that the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the description of the embodiments described above, and further includes all changes (modifications) within the meaning and range equivalent to the claims.

For example, in the first and second embodiments described above, position information Pa and Qa and movement direction information Pb and Qb are detected for the subject P and the worker Q based on the images acquired by the imaging unit 4. Although an example is shown, the present invention is not limited to this example. For example, at least one of the position information Pa and the movement direction information Pb may be detected only for the subject P. Alternatively, at least one of the position information Qa and the moving direction information Qb may be detected only for the worker Q.

Furthermore, in the first and second embodiments described above, the example in which it is determined which X-ray detector is to perform X-ray photography based on at least one of the position information Pa and Qa and the movement direction information Pb and Qb However, the present invention is not limited thereto. The determination may be made based on at least one of the position information Pa and movement direction information Pb regarding the subject P. Alternatively, the determination may be made based on at least one of the position information Qa and the moving direction information Qb regarding the worker Q.

Further, in the first and second embodiments described above, an example was shown in which the operation of the moving unit 3 is controlled based on at least one of the position information Pa and Qa and the movement direction information Pb and Qb, but the present invention is not limited to this. Not limited. For example, the control may be performed based on at least one of the position information Pa and movement direction information Pb regarding the subject P. Further, the control may be performed based on at least one of the position information Qa and the moving direction information Qb regarding the worker Q.

Furthermore, in the first and second embodiments, the X-ray detection unit 2 includes the upright position detector 21 and the recumbent position detector 22 which are arranged apart from each other, and includes position information Pa and Qa, movement direction information Pb and Based on at least one of Qb, it is determined which X-ray detector of the upright position detector 21 and the lying position detector 22 is to perform X-ray imaging, and the method corresponds to the determined X-ray detector. Although an example has been shown in which the control unit 5 is further provided to control the operation of the moving unit 3 so as to move the X-ray irradiation unit 1 to the irradiation position, the present invention is not limited to this. For example, X-ray photography may be performed using an X-ray imaging apparatus equipped with one X-ray detector. That is, the operation of the moving section 3 may be controlled so as to move the X-ray irradiation section 1 to one X-ray irradiation position.

Further, in the first and second embodiments described above, the control unit 5 causes the test subject to enter the determination areas R1 and R2, which are areas defined corresponding to the upright position detector 21 and the recumbent position detector 22, respectively. and the worker Q is located based on at least one of the position information Pa and Qa and the moving direction information Pb and Qb. Although an example has been shown in which control is performed to start the operation of the moving unit 3 based on detecting whether at least one of the examiner P and the worker Q is located, the present invention is not limited to this. Not limited. For example, the X-ray detector that performs X-ray imaging may be determined based on the moving direction of at least one of the subject P and the worker Q without providing the determination regions R1 and R2. Further, a determination area may be provided separately from the determination areas R1 and R2, and the moving direction of at least one of the subject P and the worker Q may be detected.

Furthermore, in the first and second embodiments described above, the control unit 5 determines the determined The X-ray irradiation unit 1 is moved to the upright imaging preparation position S11 or the lying imaging preparation position S12, which are provided separately from the upright irradiation position S1 and the supine irradiation position S2 of the X-ray detector, and the position information Pa Based on the detection that the subject P is located at the upright imaging position T1 and the lying imaging position T2 corresponding to the X-ray detector determined based on the Although an example has been shown in which the operation of the moving section 3 is controlled to move the X-ray irradiating section 1 to the irradiation position S2, the present invention is not limited to this. For example, it may be possible to detect that the patient P is located at the X-ray imaging position by detecting only the position information Qa about the worker Q instead of the position information Pa about the patient P. good.

Furthermore, in the first and second embodiments described above, after X-ray photography is performed using one of the X-ray detectors of the upright position detector 21 and the recumbent position detector 22, the subject P and the worker Q is detected to move toward other X-ray detectors based on movement direction information Pb and Qb, and based on the detected movements of patient P and worker Q, Although an example has been shown in which the X-ray irradiation section 1 is controlled to move so as to avoid a collision between the worker Q and the X-ray irradiation section 1, the present invention is not limited to this. For example, a configuration may be configured to avoid collision based on the movement of the patient P and the worker Q before performing X-ray imaging using one of the multiple X-ray detectors. good. In addition, after X-ray imaging, when moving from the X-ray detector toward the entrance E of the room, based on the detected movement of the patient P and worker Q, The X-ray irradiation unit 1 may be controlled to move so as to avoid a collision between the X-ray irradiation unit 1 and the X-ray irradiation unit 1. Alternatively, the X-ray irradiation unit 1 may be controlled to move based on the movement of either the subject P or the worker Q to avoid a collision.

Furthermore, in the first and second embodiments described above, the control unit 5 identifies the subject P and the worker Q who performs the X-ray imaging work based on the captured image A acquired by the imaging unit 4. Although an example has been shown in which the object is detected and at least one of the position information Pa and movement direction information Pb about the subject P is acquired, the present invention is not limited to this. For example, the subject P and the worker Q may be detected without being identified. Alternatively, the X-ray detector that performs X-ray photography may be determined by acquiring at least one of the position information Qa and movement direction information Qb regarding the worker Q.

Furthermore, in the first and second embodiments described above, the plurality of X-ray detectors are configured to detect X-rays irradiated to the subject P while the subject P is standing on the floor surface F. It has a standing position detector 21 and a top plate 22a, and is configured to detect X-rays irradiated to the subject P while the subject P is placed on the top plate 22a. The controller 5 has a lying position detector 22, and the control unit 5 selects one of the standing position detector 21 and the lying position detector 22 based on at least one of the position information Pa and Qa and the movement direction information Pb and Qb. In addition to determining which X-ray detector should perform X-ray imaging, the operation of the moving unit 3 is controlled to move the X-ray irradiation unit 1 to the upright irradiation position S1 and the supine irradiation position S2. Although an example is shown in which the configuration is as follows, the present invention is not limited to this. For example, X-ray photography may be performed using an X-ray imaging apparatus that includes three or more X-ray detectors.

Further, in the first and second embodiments, the moving unit 3 includes a top elevation moving unit 33 that raises and lowers the top 22a, and the control unit 5 controls the lying position corresponding to the determined lying position detector 22. Although an example has been shown in which the operation of the top elevating and lowering section 33 is controlled to raise and lower the top 22a based on the photographing position T2, the present invention is not limited to this. For example, the X-ray irradiation section 1 may be moved in the vertical direction based on the supine imaging position T2 without raising and lowering the top plate 22a.

Furthermore, in the first and second embodiments described above, the control unit 5 collects the position information Pa and Qa before the subject P arrives at the lying position imaging position T2 corresponding to the determined lying position detector 22. Although an example has been shown in which the top plate lifting/lowering unit 33 is controlled to lower the top plate 22a based on at least one of the moving direction information Pb and Qb, the present invention is not limited to this. I can't do it. For example, the step stool used when placing the subject P on the top plate 22a may be raised instead of lowering the top plate 22a.

Further, in the first and second embodiments described above, the control unit 5 detects body dimension information, which is information about the body dimensions of the subject P, based on the image of the subject P acquired by the imaging unit 4. In addition, although an example has been shown in which the upright irradiation position S1 and the recumbent irradiation position S2 are determined based on body size information, the present invention is not limited to this. For example, the upright irradiation position S1 and the supine irradiation position S2 may be detected by acquiring information regarding the subject P such as BMI (Body Mass Index) in advance. In addition, body size information is acquired not only for the subject P but also for the worker Q, and based on the acquired body size information for the subject P and worker Q, the X-ray irradiation unit 1 and the subject The operation of the moving unit 3 may be controlled so as to avoid collisions with the operator P and the operator Q.

Further, in the first embodiment, based on the captured image A acquired by the imaging unit 4 and the learned model in which images of the subject P and the worker Q are machine learned in advance as first teacher data, Although an example has been shown in which at least one of the position information Pa and Qa and the movement direction information Pb and Qb is acquired, the present invention is not limited to this. For example, the position information Pa and movement direction information Pb may be detected only for the subject P by performing machine learning using images only for the subject P as training data.

In addition, in the first embodiment, the learning data obtained by machine learning the images of the subject P and the worker Q in advance as the first teacher data, and the learning data obtained by machine learning the images of the subject P and the worker Q, and the Although an example has been shown in which a trained model is generated by performing machine learning (relearning) using images of worker P and worker Q as second training data, the present invention is not limited to this. I can't do it. For example, machine learning (re-learning) may be performed only on the image of the subject P as the second training data.

In the first and second embodiments described above, the moving unit 3 includes a vertical moving unit 31 that moves the X-ray irradiation unit 1 in the vertical direction, and a vertical moving unit 31 that moves the vertical moving unit 31 in the horizontal direction with respect to the ceiling C. The imaging unit 4 is provided with a horizontal moving unit 32 provided at a position above the vertical moving unit 31 and an upper part of the vertical moving unit 31. Although an example has been shown in which the object is arranged and configured to acquire an image of a subject located below, the present invention is not limited to this. For example, the imaging section 4 may be arranged both in the horizontal movement section 32 and above the vertical movement section 31. Alternatively, the imaging unit 4 may be arranged to the side of the X-ray irradiation unit 1 to acquire the captured image A of at least one of the subject P and the worker Q.

Further, in the first and second embodiments, the control for acquiring the position information Pa and Qa and the movement direction information Pb and Qb, the control for performing X-ray photography, and the control of the moving unit 3 are performed in one step. However, the present invention is not limited to this. An image processing section is provided separately from the control section 5, and the image processing section performs control for acquiring position information Qa and Pa and movement direction information Pb and Qb, and the control section 5 performs other controls. It may also be configured to do so. The image processing unit includes, for example, a processor such as a GPU (Graphics Processing Unit) or an FPGA (Field-Programmable Gate Array) configured for image processing. Similarly, regarding the drive of the moving section 3, a movement control section may be provided separately from the control section 5 to control the operation of the moving section 3.

In the first embodiment, based on the captured image A acquired by the imaging unit 4 through machine learning, position information Pa and movement direction information Pb about the subject P, and position information Qa and movement direction about the worker Q are obtained. In the second embodiment, based on the parallax image B acquired by the stereo camera 241, the position information Pa and movement direction information Pb about the subject P, and the operator Although an example has been shown in which the position information Qa and movement direction information Qb regarding Q are acquired, the present invention is not limited to this. For example, by combining the configuration of the first embodiment and the configuration of the second embodiment and performing machine learning on the parallax image B acquired by the stereo camera 241, the position information Pa and the movement direction of the subject P can be obtained. It may be configured to acquire the information Pb, and the position information Qa and movement direction information Qb regarding the worker Q.

Furthermore, in the second embodiment, the imaging unit 4 includes the stereo camera 241 and is configured to acquire the parallax image B, and based on the parallax image B acquired by the imaging unit 4, the position information Pa and Although an example has been shown in which at least one of Qa and the moving direction information Pb and Qb is detected, the present invention is not limited to this. For example, at least one of the positional information Pa and Qa and the moving direction information Pb and Qb may be detected by detecting the distance using a lidar (light detection and ranging) other than a stereo camera.

[Mode]
It will be appreciated by those skilled in the art that the exemplary embodiments described above are specific examples of the following aspects.

(Item 1)
an X-ray irradiation unit including an X-ray source that irradiates the subject with X-rays;
an X-ray detection unit that detects the X-rays irradiated from the X-ray irradiation unit;
a moving unit that moves the X-ray irradiation unit;
an imaging unit that acquires an image of a subject including at least one of the subject and a person other than the subject;
Based on the image of the subject acquired by the imaging unit, at least one of position information indicating the position of the subject and movement direction information indicating the movement direction of the subject is detected, and the position information and An X-ray imaging apparatus configured to control an operation of the moving section so as to move the X-ray irradiation section based on at least one of the moving direction information.

(Item 2)
The X-ray detector includes a plurality of X-ray detectors arranged apart from each other,
Based on at least one of the position information and the movement direction information, it is determined which of the plurality of X-ray detectors is to perform X-ray imaging, and the determined X-ray The X-ray imaging apparatus according to item 1, further comprising a control section that controls the operation of the moving section so as to move the X-ray irradiation section to an irradiation position corresponding to a detector.

(Item 3)
The control unit determines that the subject is located in a determination area that is an area defined corresponding to each of the plurality of X-ray detectors based on at least one of the position information and the movement direction information. and is configured to perform control to start the operation of the moving unit based on the detection of which of the plurality of determination areas the target person is located in. , the X-ray imaging device according to item 2.

(Item 4)
The subject includes the subject,
Based on detecting that the subject is located in the determination area, the control unit may cause each of the determined X-ray detectors to move the X-ray detector to an imaging preparation position that is provided separately from the irradiation position. Based on moving the X-ray irradiation unit and detecting that the subject is located at an X-ray imaging position corresponding to the determined X-ray detector based on the position information, The X-ray imaging apparatus according to item 3, wherein the X-ray imaging apparatus is configured to control the operation of the moving section so as to move the X-ray irradiation section to an irradiation position.

(Item 5)
The control unit may control that the subject moves toward the other X-ray detector after performing X-ray photography using one of the X-ray detectors among the plurality of X-ray detectors. , detecting based on the movement direction information, and moving the X-ray irradiation unit based on the detected movement of the subject so as to avoid a collision between the subject and the X-ray irradiation unit. The X-ray imaging apparatus according to any one of items 2 to 4, which is configured to perform control.

(Item 6)
The control unit identifies and detects the subject and a worker who performs X-ray imaging work based on the image of the subject acquired by the imaging unit, and the The X-ray imaging apparatus according to any one of items 2 to 5, which is configured to acquire at least one of position information and the movement direction information.

(Item 7)
The plurality of X-ray detectors include a standing detector configured to detect X-rays irradiated to the subject while the subject is standing on the floor, and a top plate. and a supine position detector configured to detect X-rays irradiated to the subject while the subject is placed on the top plate,
The control unit determines which of the upright position detector and the lying position detector is used to perform X-ray photography, based on at least one of the position information and the movement direction information. The X-ray imaging apparatus according to any one of items 2 to 6, wherein the X-ray imaging apparatus is configured to control the operation of the moving section so as to move the X-ray irradiation section to the irradiation position.

(Item 8)
The moving unit includes a top plate lifting/lowering unit that moves the top plate up and down,
The control unit is configured to control the operation of the tabletop lifting/lowering unit to raise and lower the tabletop based on the determined X-ray imaging position corresponding to the supine position detector. , the X-ray imaging device according to item 7.

(Item 9)
The subject includes the subject,
The control unit controls the top plate based on at least one of the position information and the moving direction information before the subject arrives at the lying position imaging position corresponding to the determined lying position detector. The X-ray imaging apparatus according to item 8, wherein the X-ray photographing apparatus is configured to control the top elevation moving unit so as to lower the top plate.

(Item 10)
The subject includes the subject,
The control unit detects body size information, which is information about the body size of the subject, based on the image of the subject acquired by the imaging unit, and controls the irradiation based on the body size information. The X-ray imaging apparatus according to any one of items 2 to 9, configured to determine a position.

(Item 11)
At least one of the position information and the movement direction information is determined based on the image of the subject acquired by the imaging unit and a trained model in which the image of the subject is subjected to machine learning in advance as first teacher data. The X-ray imaging apparatus according to any one of items 1 to 10, configured to acquire images.

(Item 12)
Machine learning is performed using learning data obtained by performing machine learning on an image of the target person in advance as the first teacher data and a plurality of images of the target person acquired by the imaging unit as second teacher data. The X-ray imaging apparatus according to item 11, wherein the X-ray imaging apparatus is configured to generate the learned model by performing the following steps.

(Item 13)
The imaging unit includes a stereo camera and is configured to acquire a parallax image,
The X-ray imaging according to any one of items 1 to 10, which is configured to detect at least one of the position information and the movement direction information based on the parallax image acquired by the imaging unit. Device.

(Item 14)
The moving unit includes a vertical moving unit that moves the X-ray irradiation unit in the vertical direction, and a horizontal moving unit that moves the vertical moving unit horizontally with respect to the ceiling,
The imaging unit is disposed above the horizontal movement unit, which is provided at a position above the vertical movement unit, and above the vertical movement unit, and is configured to capture the object located below. The X-ray imaging apparatus according to any one of items 1 to 13, configured to acquire an image of a person.

100, 200 X-ray imaging device 1 X-ray irradiation unit 2 X-ray detection unit 3 Moving unit 4, 204 Imaging unit 5, 205 Control unit 11 X-ray source 21 Standing detector 22 Recumbent detector 22a Top plate 31 Vertical direction Moving unit 32 Horizontal moving unit 33 Top plate elevating unit A Captured image B Parallax image C Ceiling F Floor P Subject Pa, Qa Position information Pb, Qb Moving direction information Q Operator (subject)
S1 Standing irradiation position (irradiation position)
S2 Supine position irradiation position (irradiation position)
S11 Standing shooting preparation position (shooting preparation position)
S12 Supine photography preparation position (photography preparation position)
T1 Standing imaging position (X-ray imaging position)
T2 Supine position imaging position (X-ray imaging position)

Claims (16)

an X-ray irradiation unit including an X-ray source that irradiates the subject with X-rays;
an X-ray detection section including a plurality of X-ray detectors that detect X-rays emitted from the X-ray irradiation section;
a moving unit that moves the X-ray irradiation unit;
an imaging unit that acquires an image of a subject including at least one of the subject and a person other than the subject;
Based on the image of the target person acquired by the imaging unit, at least one of position information indicating the position of the target person and movement direction information indicating the moving direction of the target person is detected, and the detected position information and determining which of the plurality of X-ray detectors is to perform X-ray imaging based on at least one of the movement direction information, and determining which of the plurality of X-ray detectors is to perform X-ray imaging, and The moving unit is operated to move the X-ray irradiation unit to a corresponding irradiation position or to an imaging preparation position that corresponds to the determined X-ray detector and is provided separately from the irradiation position. An X-ray photographing apparatus, comprising: a control section for controlling. The X-ray imaging apparatus according to claim 1, wherein the plurality of X-ray detectors are arranged apart from each other. The control unit determines that the subject is located in a determination area that is an area defined corresponding to each of the plurality of X-ray detectors based on at least one of the position information and the movement direction information. and is configured to perform control to start the operation of the moving unit based on the detection of which of the plurality of determination areas the target person is located in. , The X-ray imaging apparatus according to claim 1 or 2. The subject includes the subject,
The control unit moves the X-ray irradiation unit to the imaging preparation position based on detecting that the subject is located in the determination area, and moves the X-ray irradiation unit to the imaging preparation position based on the position information. The movement unit is operated to move the X-ray irradiation unit to the irradiation position based on detecting that the subject is located at the X-ray imaging position corresponding to the ray detector. The X-ray imaging apparatus according to claim 3, wherein the X-ray imaging apparatus is configured to control. The control unit may control that the subject moves toward the other X-ray detector after performing X-ray photography using one of the X-ray detectors among the plurality of X-ray detectors. , detecting based on the movement direction information, and moving the X-ray irradiation unit based on the detected movement of the subject so as to avoid a collision between the subject and the X-ray irradiation unit. The X-ray imaging apparatus according to any one of claims 1 to 4, which is configured to perform control. The control unit identifies and detects the subject and a worker who performs X-ray imaging work based on the image of the subject acquired by the imaging unit, and the The X-ray imaging apparatus according to any one of claims 1 to 5, configured to acquire at least one of position information and the movement direction information. The plurality of X-ray detectors include a standing detector configured to detect X-rays irradiated to the subject while the subject is standing on the floor, and a top plate. and a supine position detector configured to detect X-rays irradiated to the subject while the subject is placed on the top plate,
The control unit determines which of the upright position detector and the lying position detector is used to perform X-ray photography, based on at least one of the position information and the movement direction information. According to any one of claims 1 to 6, the X-ray irradiation unit is configured to control the operation of the moving unit so as to move the X-ray irradiation unit to the irradiation position or the imaging preparation position. X-ray imaging equipment. The moving unit includes a top plate lifting/lowering unit that moves the top plate up and down,
The control unit is configured to control the operation of the top elevation moving unit to raise and lower the top based on the determined lying position imaging position corresponding to the lying position detector. The X-ray imaging device according to claim 7. The subject includes the subject,
The control unit controls the top plate based on at least one of the position information and the moving direction information before the subject arrives at the supine position imaging position corresponding to the determined supine position detector. The X-ray imaging apparatus according to claim 8, wherein the X-ray imaging apparatus is configured to control the top plate elevating/lowering unit so as to lower the top plate. The subject includes the subject,
The control unit detects body size information, which is information about the body size of the subject, based on the image of the subject acquired by the imaging unit, and controls the irradiation based on the body size information. The X-ray imaging apparatus according to any one of claims 1 to 9, configured to determine a position. At least one of the position information and the movement direction information is determined based on the image of the subject acquired by the imaging unit and a trained model in which the image of the subject is subjected to machine learning in advance as first teacher data. The X-ray imaging apparatus according to any one of claims 1 to 10, configured to acquire an image. Machine learning is performed using learning data obtained by performing machine learning on an image of the target person in advance as the first teacher data and a plurality of images of the target person acquired by the imaging unit as second teacher data. The X-ray imaging apparatus according to claim 11, wherein the X-ray imaging apparatus is configured to generate the learned model by performing the following steps. The imaging unit includes a stereo camera and is configured to acquire a parallax image,
The X-ray according to any one of claims 1 to 10, configured to detect at least one of the position information and the movement direction information based on the parallax image acquired by the imaging unit. Photography equipment. The moving unit includes a vertical moving unit that moves the X-ray irradiation unit in the vertical direction, and a horizontal moving unit that moves the vertical moving unit horizontally with respect to the ceiling,
The imaging unit is disposed above the horizontal movement unit, which is provided at a position above the vertical movement unit, and above the vertical movement unit, and is configured to capture the object located below. The X-ray imaging apparatus according to any one of claims 1 to 13, configured to acquire an image of a person. an X-ray irradiation unit including an X-ray source that irradiates the subject with X-rays;
an X-ray detection section including an X-ray detector that detects the X-rays irradiated by the X-ray irradiation section;
a moving unit that moves the X-ray irradiation unit;
an imaging unit that acquires images of subjects including the subject;
Based on the image of the subject acquired by the imaging unit, at least one of position information indicating the position of the subject and movement direction information indicating the movement direction of the subject is detected, and the position information and a control unit that controls the operation of the moving unit so as to move the X-ray irradiation unit based on at least one of the moving direction information,
The control unit detects that the subject is located in a determination area that is an area defined corresponding to the X-ray detector based on at least one of the position information and the movement direction information, and Based on detecting that the subject is located in the determination area, the X-ray irradiation section is moved to the imaging preparation position corresponding to the X-ray detector, and the X-ray detection is performed based on the position information. The X-ray irradiation section is moved to an irradiation position provided separately from the imaging preparation position based on detecting that the subject is located at an X-ray imaging position corresponding to the imaging device. , an X-ray imaging apparatus configured to control the operation of the moving section. an X-ray irradiation unit including an X-ray source that irradiates the subject with X-rays;
an X-ray detection section including an X-ray detector that detects the X-rays irradiated by the X-ray irradiation section;
a moving unit that moves the X-ray irradiation unit;
an imaging unit that acquires images of subjects including the subject;
Based on the image of the subject acquired by the imaging unit, at least one of position information indicating the position of the subject and movement direction information indicating the movement direction of the subject is detected, and the position information and a control unit that controls the operation of the moving unit so as to move the X-ray irradiation unit based on at least one of the moving direction information,
The control unit detects that the subject is located in a determination area that is an area defined corresponding to the X-ray detector based on at least one of the position information and the movement direction information, and Based on detecting that the subject is located in the determination area, the operation of the moving unit is controlled to move the X-ray irradiation unit to an imaging preparation position corresponding to the X-ray detector. An X-ray imaging device configured with.

Images