JP7799540B2 - X-ray fluoroscopy equipment - Google Patents

Description

The present invention relates to an X-ray fluoroscopy device, and more particularly to an X-ray fluoroscopy device that can acquire X-ray images by raising or lowering a table.

An X-ray fluoroscopy device comprises a fluoroscopy table including a table on which a subject is placed, an X-ray tube that irradiates the subject with X-rays, and an X-ray detector mounted within the table's support frame. The fluoroscopy table table, X-ray tube, and X-ray detector are drivably supported by a support unit equipped with multiple movable axes. The multiple movable axes included in the support unit are driven by a drive unit. An X-ray fluoroscopy device configured in this way irradiates the subject with X-rays from the X-ray tube, detects the X-rays that have passed through the subject with the X-ray detector, and generates and displays an X-ray image from the X-ray signal output by the X-ray detector.

In such an X-ray fluoroscopy device, the table and X-ray tube included in the fluoroscopy table can be moved together or independently by driving multiple movable axes with a drive unit, thereby moving the X-ray irradiation position to any position. That is, in an X-ray fluoroscopy device, for example, it is possible to tilt the X-ray tube and table together while maintaining their positional relationship, tilt the X-ray tube relative to the table, move the table in the major or minor axis direction while maintaining the positional relationship between the X-ray tube and X-ray detector, or move the table up and down.

Patent Document 1 discloses an X-ray fluoroscopy device that raises and lowers a tabletop when it is rotated so that the intersection of the tabletop and a line connecting the X-ray tube and detector is maintained at a constant height in the vertical direction.

International Publication No. 2014/041725

When performing a urological examination using an X-ray fluoroscopy device, the patient is placed with the affected area at the edge of the table, as shown in Figures 2(a) and (b), and the doctor sits in a chair facing the short side of the table to examine the patient's affected area. Furthermore, during the examination, the table may be rotated (standing up) by approximately 10 degrees. Therefore, when rotating the table in the direction of standing the patient (in the direction of the arrow in Figure 2(a)), there is a risk that the table may hit the doctor's knees or that the doctor's knees may become pinched between the bottom of the table and the floor.

Patent Document 1 makes it possible to maintain a constant height of the doctor's area of interest from the floor, but does not take into consideration interference between the table and the doctor.

If a doctor carefully rotates the table to avoid interference between themselves and the table, the examination will take longer and examination efficiency will decrease. Therefore, it is desirable to ensure the doctor's safety during urological examinations while allowing the doctor to rotate the table without being aware of interference between themselves and the table.

The object of the present invention is to provide an X-ray fluoroscopy device that allows doctors to rotate the table without worrying about interference between the doctor and the table.

To achieve the above object, the X-ray fluoroscopy apparatus of the present invention comprises a table on which a subject is placed, an X-ray generation unit that irradiates the subject with X-rays, a rotation mechanism that rotates the table, a lifting mechanism that raises and lowers the table in the vertical direction, a control unit that controls the operation of the rotation mechanism and the lifting mechanism, and an operation unit that receives table rotation instructions from an operator. When the operation unit receives an instruction to rotate the table, which has the subject placed in a supine position with their feet on one end and their head on the other end, in a direction that raises the subject's head relative to their feet, the control unit rotates the table using the rotation mechanism so that the distance between one end of the table and the floor is maintained, and raises the table using the lifting mechanism in accordance with the table rotation angle.

This invention allows doctors to rotate the table without worrying about interference between themselves and the table, improving examination efficiency.

1 is a diagram showing the overall configuration of an X-ray fluoroscopic imaging apparatus 1 according to the present embodiment. 1A and 1B are a front view and a side view, respectively, showing the positional relationship between a subject (patient) 10 and an operator (doctor) 20 when a urological examination is performed using the X-ray fluoroscopic apparatus 1 of this embodiment. 1A is a front view of a state in which a table 109 is horizontal when a urological examination is performed using the X-ray fluoroscopic apparatus 1 of the first embodiment, and FIG. 1B is a front view of a state in which the table 109 is activated. 1A is a block diagram of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the first embodiment, and FIG. 1B is a diagram showing a lifting operation distance _hc of a table 109 of the first embodiment. 4 is a flowchart showing the operation of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the first embodiment. 10(a) to 10(d) are front views showing the rotation angle of the table 109 and its height from the floor when a urological examination is performed using the X-ray fluoroscopy apparatus 1 of the second embodiment, and FIG. 10(e) is a front view of the X-ray fluoroscopy apparatus 1 of the first embodiment with the table 109 rotated 90 degrees. FIG. 11 is a block diagram of a control unit 117 of an X-ray fluoroscopic imaging apparatus 1 according to a second embodiment. 10 is a flowchart showing the operation of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the second embodiment. FIG. 11 is a block diagram of a control unit 117 of an X-ray fluoroscopic imaging apparatus 1 according to a third embodiment. 10 is a flowchart showing the operation of a control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the third embodiment. FIG. 11 is a block diagram of a control unit 117 of an X-ray fluoroscopic imaging apparatus 1 according to a fourth embodiment. FIG. 11 is a block diagram of a control unit 117 of an X-ray fluoroscopic imaging apparatus 1 according to a fifth embodiment.

Embodiments of the present invention will be described below with reference to the accompanying drawings.

First, the overall configuration of the X-ray fluoroscopy apparatus 1 of this embodiment will be described. FIG. 1 is a diagram showing the overall configuration of the X-ray fluoroscopy apparatus 1 of this embodiment. FIG. 2 is a diagram showing the positional relationship between the subject (patient) 10 and the operator (doctor) 20 when a urological examination is performed using the X-ray fluoroscopy apparatus 1.

The X-ray fluoroscopy apparatus 1 of the present invention comprises a table 109 on which the subject 10 is placed, an X-ray generation unit 101 that irradiates the subject 10 with X-rays, a rotation mechanism 107a that rotates the table 109, an elevation mechanism 107b that raises and lowers the table 109 in the vertical direction, a control unit 117 that controls the operation of the rotation mechanism 107a and the elevation mechanism 107b, and an operation unit 118 that receives instructions from the operator 20, such as for rotating the table 109. The X-ray fluoroscopy apparatus 1 will be described in more detail below. Note that in FIG. 1, the Z direction is the vertical direction, and the X and Y directions are the longitudinal and lateral directions of the table 109, respectively.

The X-ray fluoroscopy device 1 has a connecting part 106 and a stand part 100 that supports the connecting part 106 on the floor. A table 109 and a support column 103 are mounted on the connecting part 106. An X-ray generation unit 101 is supported at the tip of the support column 103.

The stand unit 100 has a built-in connection unit movement mechanism 107. The connection unit movement mechanism 107 includes an elevation mechanism 107b that moves the connection unit 106 in the Z direction, and a rotation mechanism 107a that rotates the connection unit 106 around an axis in the Y direction. As a result, when the connection unit movement mechanism 107 moves the connection unit 106 up and down and/or rotates it, the table 109 and X-ray generation unit 101 mounted on the connection unit 106 can rotate and/or move up and down while maintaining their positional relationship. By rotating the table 109 around an axis in the Y direction, the connection unit movement mechanism 107 can position the subject 10 on the table 109 in a supine position, an upright position, or a reverse tilt position where the head is lower than the feet.

The connecting unit 106 is also provided with a support column movement mechanism 104 that moves the support column 103 in the Y direction. When the support column movement mechanism 104 moves the support column 103 in the Y direction, the X-ray generation unit 101 moves in the width direction (Y direction) of the table 109.

The table 109 comprises a support frame 105 mounted on a connecting portion 106 and a top plate 108 supported by the support frame 105. The support frame 105 has a built-in mechanism that enables the top plate 108 to move in the longitudinal direction (X direction) of the top plate 108. In addition, an X-ray detector 113 is disposed in a position opposite the X-ray generation unit 101 within the support frame 105. The X-ray detector 113 detects X-rays irradiated from the X-ray generation unit 101 and transmitted through the subject 10. The X-ray detector 113 is configured, for example, with multiple detection elements that detect X-rays arranged in a two-dimensional array, and outputs an X-ray signal corresponding to the amount of X-rays that have transmitted through the subject 10.

In this embodiment, the X-ray generation unit 101 is moved in the Y direction relative to the table 109 by moving the support column 103 in the Y direction on the connecting part 106, but this embodiment is not limited to this configuration. It may also be configured such that the top plate 108 is moved in the Y direction relative to the support frame 105, or the table 109 is moved in the Y direction relative to the connecting part 106.

The X-ray generator 101 is also connected to a high-voltage generator 112 that supplies power. The X-ray detector 113 is connected to an X-ray image processor 114 that performs image processing on the X-ray signals output by the X-ray detector 113. For example, the X-ray image processor 114 performs image processing such as gamma conversion, tone conversion, and image enlargement/reduction. The X-ray image processor 114 is connected to a display device 115 that displays X-ray images and an external memory unit 116 that stores X-ray images. The operation unit 118 accepts instructions from the user. The control unit 117 controls each component of the X-ray fluoroscopy apparatus in accordance with the instructions accepted by the operation unit 118.

The X-ray generation unit 101 has an X-ray tube that generates X-rays by receiving power supply from a high-voltage generation unit 112. The X-ray generation unit 101 also includes an X-ray filter that selectively transmits X-rays of specific energy, and an X-ray diaphragm device 102 that sets an X-ray irradiation area on the subject. The X-ray diaphragm device 102 has a plurality of movable limiting blades that block the X-rays generated from the X-ray generation unit 101, and moves by controlling each of the plurality of movable limiting blades (not shown) to determine the X-ray irradiation area on the subject.
The operation of the control unit 117 will be described in detail below in accordance with the first to fifth embodiments.

<<<First Embodiment>>>
The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the first embodiment will be described.

As shown in Figures 2(a) and (b), when performing a urological examination using the X-ray fluoroscopy apparatus 1, the patient subject (patient) 10 is placed on the horizontally positioned table 109 with the affected area positioned at the longitudinal end. Specifically, the patient is placed on the table 109 in a supine position with their feet facing end 109a of the table 109 and their head facing end 109b, with their legs bent. At this time, the operator (doctor) 20 sits in a chair facing the short side of end 109a of the table 109 and diagnoses the patient's affected area.

During diagnosis, the table 109 may be rotated (raised) by approximately 10 degrees in a direction that raises the subject's 10 head relative to their feet (in the direction of the arrow in Figure 2(a)). When the table 109 is rotated, there is a risk that the knees of the operator 20 may become pinched between the edge 109c of the bottom surface of the table 109 and the floor surface 2.

In this embodiment 1, when the operation unit 118 receives an instruction from the operator 20 to rotate the table 109 in a direction that raises the head of the subject 10 relative to the feet, the control unit 117 rotates the table 109 while maintaining the distance between the end 109a of the table 109 and the floor surface 2, as shown in Figures 3(a) and 3(b). Specifically, the control unit 117 rotates the table 109 in the direction in which the instruction was received using the rotation mechanism 107a, while raising the table 109 using the lifting mechanism 107b in accordance with the rotation angle of the table 109.

When rotating the table 109 in this way, by controlling the height of the end 109c of the table 109 from the floor 2 to a constant level, the doctor's safety can be ensured even when the table is rotating (standing up). Furthermore, the doctor can rotate the table without worrying about interference between himself or herself and the table, improving examination efficiency.

To achieve this, the control unit 117 includes a table operation control unit 117a and a table speed control unit 117b, as shown in Figure 4(a).

The operation of the control unit 117 will be explained using the flow chart in Figure 5.

The control unit 117 is configured by a computer equipped with a processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit) and memory, and the CPU reads and executes programs stored in the memory to perform the following processes. Note that part or all of the control unit 117 can also be configured from hardware. For example, a circuit can be designed to perform each process using a custom IC such as an ASIC (Application Specific Integrated Circuit) or a programmable IC such as an FPGA (Field-Programmable Gate Array).

(Steps S101 and S102)
The control unit 117 determines whether the operator has input a rotation command to the operation unit 118 (step S101), and if so, determines the direction of the rotation command (step S102). If the direction of the rotation command is to raise the head of the subject 10 relative to the feet (hereinafter also referred to as "start"), the process proceeds to step S103. If the direction of the rotation command is to lower the head of the subject 10 relative to the feet (hereinafter referred to as "inversion"), the process proceeds to step S107.

(Steps S103 and S104)
If the instructed direction of rotation is a direction that raises the subject's 10 head relative to their feet, the table operation control unit 117a outputs an operation signal to the rotation mechanism 107a to instruct it to rotate (start) the table 109 in a direction that approaches the state of Figure 3(a) from the state of Figure 3(b).

Next, the table operation control unit 117a outputs an operation signal to the lifting mechanism 107b to instruct it to raise the table 109.

As a result, as shown in Figure 3(b), the table 109 rotates and tilts, but at the same time rises, so that the height A (the distance between the end 109c and the floor surface 2) of the end 109c of the bottom surface at the end 109a of the table 109 can be maintained. This prevents the end 109c from hitting the knees of the seated operator (doctor) 20, as shown in Figure 2, or the knees from being pinched between the end 109c and the floor surface 2, preventing a decrease in examination efficiency.

(Steps S105 and S106)
Next, the table speed control unit 117b acquires the current rotation angle (starting angle) θ of the table 109 from the horizontal plane by the rotation mechanism 107a from the rotation mechanism 107a, and calculates the lifting operation distance hc of the table 109 required to maintain the height A of the end 109c (the distance between the end 109c and the floor surface 2) determined by the following equation (1 ₎ (see Figure 4(b)).

h _c =L*sin(θ+α)-H...(1)
_hc : lifting distance L: distance from the center of the upper surface of the table 109 in the longitudinal direction to the end 109c of the bottom surface H: thickness of the table 109 θ: rotation angle α: angle determined by the length and height of the table

Next, the table speed control unit 117b receives the current height of the table 109 from the lifting mechanism 107b, and calculates the actual lifting distance _hr from the height of the table 109 from the horizontal state before rotation to the current time.

Next, the difference between the lifting distance _hc calculated by equation (1) and the actual lifting distance _hr up to the present time is calculated, and the speed at which the lifting mechanism 107b lifts the table is changed depending on the magnitude of the calculated difference. Specifically, the larger the absolute value of the calculated difference, the faster the lifting speed is increased, so that the absolute value of the difference between the lifting distance _hc and the actual lifting distance _hr becomes smaller.

In this way, the table speed control unit 117b changes the lifting speed of the lifting mechanism 107b and feedback-controls the actual lifting distance h _r , thereby making it possible to bring the actual lifting distance h c closer to the calculated lifting distance h _c . Therefore, the height A of the end 109 c of the bottom surface at the end 109 a of the table 109 (the distance between the end 109 c and the floor 2) can be maintained constant with high precision.

On the other hand, if the instructed direction of rotation in step S102 is a direction that lowers the subject's 10 head relative to their feet (hereinafter referred to as tilting), the process proceeds to step S107. In the case of tilting, the end 109a of the table 109 moves upward as the table rotates, so the end 109c will not hit the knees of the operator (doctor) 20. However, if the table 109 has been activated before the tilting, the center of the table 109 may be in a high position while tilted. If the table 109 is tilted in this state, the table 109 may remain in a high position, which is dangerous for the subject 10. Therefore, in this embodiment, the height of the end 109c from the floor 2 is maintained, as in steps S103 to S106, even in the case of tilting. This allows the examination to be performed safely for the subject 10. Specifically, the rotation and lowering of the table in the opposite direction to steps S103 to S106 are performed in steps S107 to S110 below.

(Steps S107 and S108)
The table operation control unit 117 a instructs the rotation mechanism 107 a to rotate (tilt) the table 109 .

Next, the table operation control unit 117a instructs the lifting mechanism 107b to lower the table 109.

As a result, the table 109 rotates and tilts, but at the same time descends, so the height A (the distance between the end 109c and the floor surface 2) of the end 109c of the bottom surface at the end 109a of the table 109 can be maintained.

(Steps S109, S110)
Next, the table speed control unit 117b inputs the current rotation angle (tilting angle) θ (where θ is a negative angle) of the table 109 from the horizontal plane by the rotation mechanism 107a from the rotation mechanism 107a, and calculates the descending movement distance _hc of the table 109 required to maintain the height A of the end 109c (the distance between the end 109c and the floor surface 2) determined by the above-mentioned equation (1).

The table speed control unit 117b receives the current height of the table 109 from the lifting mechanism 107b, and calculates the actual lowering distance h _r from the height of the table 109 from the horizontal state before rotation to the current time.

Next, the difference between the lowering operation distance _hc calculated by equation (1) and the actual lowering operation distance _hr up to the present time is calculated, and the speed at which the lifting mechanism 107b lowers the table 109 is changed depending on the magnitude of the calculated difference. Specifically, the larger the calculated difference, the faster the lowering speed is increased, thereby reducing the difference between the lowering operation distance _hc and the actual lowering operation distance _hr . This makes it possible to accurately maintain the height A of the end 109c of the bottom surface at the end 109a of the table 109 (the distance between the end 109c and the floor surface 2) constant.

The control unit 117 repeats steps S101 to S110 between steps S100 and S111 at predetermined time intervals. As a result, the table 109 continues to rotate and move up and down while the operation unit 118 is being operated by the operator 20.

As described above, according to embodiment 1, when the table 109 is rotated, the height of the table 109 itself is raised or lowered, and the height of the table's bottom surface from the floor (minimum ground clearance) is controlled to remain constant, thereby ensuring the safety of the doctor when the table is rotated.

In addition, doctors can rotate the table without worrying about interference between themselves and the table, improving examination efficiency.

<<<Embodiment 2>>>
The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the second embodiment will be described with reference to FIGS.

In embodiment 2, when the rotation angle θ of the table 109 relative to the horizontal reaches a predetermined angle β or more, the control unit 117 stops the operation of raising the table 109 by the lifting mechanism 107b in accordance with the rotation angle θ of the table 109, as in embodiment 1 (see FIGS. 6(a) to 6(d)). This allows the table height to be brought closer to the floor, as in FIG. 6(d), when the table 109 is rotated, for example, 90 degrees to perform an examination in a standing position. This prevents a situation in which the end height is maintained at A and the table 109 is maintained at a high position above the floor, even when the patient is in a standing position, as in FIG. 6(e), allowing for a safer examination for the subject 10. Furthermore, the height of the ceiling on which the X-ray fluoroscopy apparatus 1 is placed can be reduced.

Furthermore, when the table 109 is rotated 90 degrees and the examination is performed in a standing position, the operator (doctor) is located away from the table 109, so there is no risk of the operator's knees hitting the edge 109c of the table 109.

In embodiment 2, the control unit 117 is configured to include a table operation control unit 117a, a table speed control unit 117b, and a table position memory unit 117c. The specified angle β is pre-stored in the table position memory unit 117c.

The operation of the control unit 117 will be explained using the flow chart in Figure 8 and Figure 6.

(Steps S201, S102)
The control unit 117 determines whether the operator has input a rotation command to the operation unit 118 (step S201). If a rotation command has been input, the control unit 117 acquires the rotation angle θ relative to the current horizontal plane of the table 109 from the rotation mechanism 107a and determines whether the angle is smaller than the specified angle β (step S202). If the rotation angle θ is smaller than the specified angle β, the process proceeds to step S220. If the rotation angle θ is equal to or larger than the specified angle β, the process proceeds to step S203.

(Step S220)
If the current rotation angle θ is smaller than the specified angle β, the control unit 117 performs S10 (steps S102 to S110) in Fig. 5 of the first embodiment, and while rotating the table 109, maintains the bottom end 109c of the end 109a of the table 109 at a constant height A from the floor surface 2 (Figs. 6(a) and 6(b)). The processing of step S10 (steps S102 to S110) in Fig. 5 of the first embodiment is referred to as the "special raising and lowering processing."

(Steps S203, S204, S205)
If the current rotation angle θ is equal to or greater than the specified angle β, the control unit 117 determines the direction of rotation instructed by the operator 20 via the operation unit 118 (step S203). If the instructed direction of rotation is a direction to raise the head of the subject 10 relative to the feet (activation), the process proceeds to step S204, where the table operation control unit 117a outputs an operation signal to instruct the rotation mechanism 107a to rotate (activate) the table 109. On the other hand, if the instructed direction of rotation is a direction to lower the head of the subject 10 relative to the feet (tilt), the process proceeds to step S205, where the table operation control unit 117a outputs an operation signal to instruct the rotation mechanism 107a to rotate (tilt) the table 109.

(Steps S206 and S207)
Next, the control unit 117 receives the current rotation angle θ of the table 109 from the rotation mechanism 107a and the height of the table 109 from the lifting mechanism 107b, and calculates the current height from the floor 2 of the end 109a (in the case of starting) or the end 109b (in the case of tipping) that is closer to the floor 2 according to a predetermined formula. The control unit 117 compares the calculated height (distance) of the end 109a or the end 109b from the floor 2 with a predetermined value (step S206), and if the calculated height (distance) is less than the predetermined value, there is a risk of interference with the floor 2, so it outputs an operation signal to the lifting mechanism 107b to instruct the lifting mechanism 107b to lift the table 109 (step S207).

(Steps S208 and S209)
In step S206, if the height of end 109a or end 109b from floor 2 is equal to or greater than a predetermined value, the height of end 109b (in the case of startup) or end 109a (in the case of tilting) closest to the ceiling is calculated from the rotation angle θ and height acquired in step S206 according to a predetermined formula. Control unit 117 compares the calculated height (distance) of end 109b or end 109a to the ceiling with a predetermined value (step S208). If the calculated height (distance) is less than the predetermined value, there is a risk of interference with the ceiling, so an operation signal is output to lifting mechanism 107b to instruct table 109 to lower (step S209).

The control unit 117 repeats steps S201 to S209 and S220 between steps S200 and S210 at predetermined time intervals. As a result, the table 109 continues to rotate and, as necessary, move up and down while the operation unit 118 is being operated by the operator 20.

In this way, according to embodiment 2, when the rotation angle θ of the table 109 is less than the specified angle β, a special raising/lowering process can be performed in embodiment 1 to maintain the height A of the end 109c of the table from the floor 2; when the rotation angle θ is equal to or greater than the specified angle β, the special raising/lowering process is not performed, and the table 109 can be raised if it gets too close to the floor, or lowered if it gets too close to the ceiling.

<<<Embodiment 3>>>
The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the third embodiment will be described with reference to FIGS.

In the X-ray fluoroscopy apparatus 1 of embodiment 3, the operation unit 118 includes a first operation unit 118a and a second operation unit 118b. The first operation unit 118a receives instructions from the operator 20 for an operation to rotate the table 109 while maintaining the distance between the end 109a of the table 109 and the floor surface 2 (special raising/lowering). The second operation unit 118b receives instructions from the operator 20 for an operation to rotate the table 109 without maintaining a constant distance between the end 109b of the table 109 and the floor surface (step S20 (steps S203 to S209) in Figure 8 of embodiment 2; hereinafter referred to as normal raising/lowering).

The control unit 117 of embodiment 3 is configured to include an operation memory unit 117d in addition to the table operation control unit 117a, table speed control unit 117b, and table position memory unit 117c of embodiment 2.

Each time the control unit 117 rotates the table 109 from the horizontal position (θ = 0), it stores in the operation memory unit 117d whether the rotation was performed in accordance with the instruction received by the first operation unit 118a (special raising/lowering) or the instruction received by the second operation unit 118b (normal raising/lowering).

When the first operating unit 118a receives a rotation instruction and the current angle of the table 109 is not horizontal (θ ≠ 0), the control unit 117 refers to the operation memory unit 117d. If the operation memory unit 117d stores information that the table 109 was rotated in accordance with an instruction received by the first operating unit 118a when the most recent rotation angle θ = 0 (special raising/lowering), the control unit 117 executes a process to rotate the table 109 while maintaining the distance between the end 109a of the table 109 and the floor surface 2 (special raising/lowering). On the other hand, if the operation memory unit 117d stores information that the table 109 was rotated in accordance with an instruction received by the second operating unit 118b when the most recent rotation angle θ = 0 (normal raising/lowering), the control unit 117 does not rotate the table 109.

In this way, in this embodiment, two types of operating units are provided: one for special raising and one for normal raising and one for normal raising. Furthermore, if the table has been rotated from its most recent horizontal position using the special raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the table can only be rotated using the special ... special raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the table can only be rotated using the special raising and the table can only be rotated using the normal raising and the table can only be rotated using the normal raising and the

The operation of the control unit 117 will be explained in detail below using the flow chart in Figure 10.

(Steps S301, S303)
The control unit 117 determines whether the operator has input a rotation command to the first operation unit 118a (step S301), and if so, retrieves the rotation angle θ relative to the current horizontal plane of the table 109 from the rotation mechanism 107a and determines whether θ = 0 (step S302). If θ = 0, the control unit 117 stores in the operation memory unit 117d that a raising/lowering operation (special raising/lowering) in response to the command from the first operation unit 118a will be performed (step S303).

(Steps S304 to S306)
In step S302, if the current rotation angle θ is not 0 (θ≠0), the process proceeds to step S304, where it is determined whether it is smaller than the specified angle β. If the rotation angle θ is smaller than the specified angle β, the process proceeds to step S305, where it is determined whether a special raising/lowering command is stored in the operation memory unit 117d (step S305). If a special raising/lowering command is stored, the process proceeds to step S306, where the special raising/lowering process of S10 in FIG. 5 is executed.

On the other hand, if the rotation angle θ is equal to or greater than the specified angle β in step S304, and if a normal raising/lowering operation is stored in the operation memory unit 117d in step S305, the special raising/lowering operation is not executed, and the process returns from step S312 to step S301.

(Steps S307 to S309)
If the first operation unit 118a does not issue a rotation command in step S301, the process proceeds to step S307, where it is determined whether the second operation unit 118b has issued a rotation command. If a rotation command has been issued, the rotation angle θ relative to the current horizontal plane of the table 109 is acquired from the rotation mechanism 107a, and it is determined whether θ=0 (step S308). If θ=0, the operation memory unit 117d stores information indicating that a raising or lowering operation (normal raising or lowering) will be performed in response to the command from the second operation unit 118b (step S309).

(Steps S310 to S311)
In step S308, if the current rotation angle θ is not 0 (θ≠0), the process proceeds to step S310, where it is determined whether a special raising/lowering command is stored in the operation memory unit 117d (step S310). If a normal raising/lowering command is stored, the process proceeds to step S311, where the special raising/lowering process of S20 in FIG. 8 is executed.

On the other hand, if there is no rotation instruction in the second operation unit 118b in step S307, and if a special raising/lowering command is stored in the operation memory unit 117d in step S310, the special raising/lowering command is not executed, and the process returns from step S312 to step S301.

<<<Embodiment 4>>>
The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the fourth embodiment will be described with reference to FIG.

In the X-ray fluoroscopy apparatus of embodiment 4, as in the apparatus of embodiment 3, the operation unit 118 includes a first operation unit 118a for special raising and lowering and a second operation unit 118b for normal raising and lowering.

In addition to the configuration of the control unit 117 in embodiment 3, the control unit 117 further includes a second speed control unit 117e.

The control unit 117 sets the speed at which the table 109 is rotated in a special raising/lowering manner in accordance with the rotation instruction received by the first operating unit 118a to be slower than the speed at which the table 109 is rotated in a normal raising/lowering manner in accordance with the rotation instruction received by the second operating unit 118b.

This allows for fine adjustment of the position when rotating the table 109 with special tilting. Also, with normal tilting, the table can be moved to the desired rotation angle more quickly.

Other configurations and operations of embodiment 4 are similar to those of embodiments 1 to 3, so explanations will be omitted.

<<<Embodiment 5>>>
The configuration and operation of the control unit 117 of the X-ray fluoroscopic imaging apparatus 1 of the fifth embodiment will be described with reference to FIG.

In the X-ray fluoroscopy apparatus of embodiment 5, the control unit 117 can switch which of the two ends of the table 109 is the end of the table 109 that maintains the distance from the floor.

Specifically, the control unit 117 includes a setting storage unit 117f in addition to the configuration of embodiment 1. The setting storage unit 117f stores the following settings: when maintaining the distance between the end 109b of the table 109 on the head side of the subject 10 and the floor surface, if the direction in which the rotation mechanism 107a rotates the table 109 is the activation direction, the lifting mechanism 107b is lowered; and when the direction in which the rotation mechanism 107a rotates the table 109 is the tilting direction, the lifting mechanism 107b is raised. The setting storage unit 117f also stores the following settings: when maintaining the distance between the end 109a of the table 109 on the foot side of the subject 10 and the floor surface 2, if the direction in which the rotation mechanism 107a rotates the table 109 is the activation direction, the lifting mechanism 107b is raised; and when the direction in which the rotation mechanism 107a rotates the table 109 is the tilting direction, the lifting mechanism 107b is lowered.

The operation unit 118 accepts settings from the operator regarding which height of end 109a or end 109b of the table 109 should be maintained.

The table operation control unit 117a reads the direction stored in the setting memory unit 117f and switches the direction of lifting operation of the lifting mechanism 107b depending on whether the end that maintains the height accepted by the operation unit 118 is end 109a or 109b.

In this way, in this fifth embodiment, the operator can select the end that will maintain the height during special raising and lowering, allowing the operator to position the affected area of the subject 10 at either end, improving ease of use.

Note that the configuration and operation of the X-ray fluoroscopy apparatus of embodiment 5 other than those described above are the same as those of embodiment 1, and therefore will not be described here. Furthermore, the configuration of embodiment 5 can of course also be applied to the X-ray fluoroscopy apparatuses of embodiments 2 to 4.

REFERENCE SIGNS LIST 1 X-ray fluoroscopy apparatus 2 Floor 10 Subject 20 Operator 100 Stand 101 X-ray generation unit 102 X-ray diaphragm device 103 Support 104 Support movement mechanism 105 Support frame 106 Connection unit 107 Connection unit movement mechanism 107a Rotation mechanism 107b Elevation mechanism 108 Top plate 109 Table 109a End 109b End 109c End 112 High voltage generation unit 113 X-ray detector 114 X-ray image processing unit 115 Display device 116 External memory unit 117 Control unit 117a Table movement control unit 117b Table speed control unit 117c Table position memory unit 117d Operation memory unit 117f Setting memory unit 118 Operation unit

Claims (2)

the apparatus comprises a table on which an object is placed, an X-ray generating unit that irradiates the object with X-rays, a rotation mechanism that rotates the table, a lifting mechanism that raises and lowers the table in a vertical direction, a control unit that controls the operation of the rotation mechanism and the lifting mechanism, and an operation unit that receives an instruction to rotate the table from an operator,
When the operation unit receives an instruction to rotate the table in a state in which the subject is placed in a supine position with the feet on one end side and the head on the other end side in a direction to raise the subject's head relative to the feet, the control unit rotates the table using the rotation mechanism so as to rotate the table while maintaining a distance between the one end of the table and a floor surface, and raises the table using the lifting mechanism in accordance with a rotation angle of the table;
the operation unit includes a first operation unit and a second operation unit, the first operation unit receiving an instruction from an operator to rotate the table while maintaining a distance between the one end of the table and a floor surface, and the second operation unit receiving an instruction from the operator to rotate the table without maintaining a distance between the one end of the table and a floor surface;
the control unit stores in a storage unit, each time the table is rotated from a horizontal position, whether the rotation is performed in accordance with an instruction received by the first operation unit or an instruction received by the second operation unit;
wherein the control unit, when the first operation unit receives a rotation instruction and the table is not horizontal, rotates the table while maintaining the distance between the one end of the table and the floor if the memory unit stores information that the table has been rotated from a horizontal position in accordance with the instruction received by the first operation unit, and does not rotate the table if the memory unit stores information that the table has been rotated from a horizontal position in accordance with the instruction received by the second operation unit. the apparatus comprises a table on which an object is placed, an X-ray generating unit that irradiates the object with X-rays, a rotation mechanism that rotates the table, a lifting mechanism that raises and lowers the table in a vertical direction, a control unit that controls the operation of the rotation mechanism and the lifting mechanism, and an operation unit that receives an instruction to rotate the table from an operator,
When the operation unit receives an instruction to rotate the table in a state in which the subject is placed in a supine position with the feet on one end side and the head on the other end side in a direction to raise the subject's head relative to the feet, the control unit rotates the table using the rotation mechanism so as to rotate the table while maintaining a distance between the one end of the table and a floor surface, and raises the table using the lifting mechanism in accordance with a rotation angle of the table;
the operation unit includes a first operation unit and a second operation unit, the first operation unit receiving an instruction from an operator to rotate the table while maintaining a distance between the one end of the table and a floor surface, and the second operation unit receiving an instruction from the operator to rotate the table without maintaining a distance between the one end of the table and a floor surface;
the control unit sets a speed at which the table is rotated in accordance with the rotation instruction received by the first operation unit to be slower than a speed at which the table is rotated in accordance with the rotation instruction received by the second operation unit.