JPH09238931A - X-ray diagnostic device - Google Patents

Abstract

(57) An object of the present invention is to provide an X-ray diagnostic apparatus capable of omitting a large number of touch sensors that had to be arranged to ensure safety and easily and smoothly adjusting the position of a C arm or the like. To do. An X-ray diagnostic apparatus includes an X-ray irradiation unit (2) for irradiating a subject with X-rays, an X-ray detection unit (3) for detecting X-rays passing through the subject, and the X-ray irradiation unit. Holding means (1) for holding the X-ray irradiating means so as to be movable with respect to the X-ray irradiating means, a rotating shaft (9) pivotally supporting the holding means, and an X-ray irradiating means for holding the X-ray irradiating means. The first driving means (6) for driving the line detecting means, the second driving means (10) for rotationally driving the rotating shaft, and the force acting on the rotating shaft with the movement of the X-ray detecting means or the holding means are detected. It is characterized by comprising a force detection means (20) and a drive control means (30) for controlling the drive of the X-ray detection means or the holding means based on the detection result of this force detection means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an X-ray diagnostic apparatus, and more particularly to an X-ray diagnostic apparatus that irradiates X-rays to make a diagnosis such as an angiographic examination of a lesion.

[0002]

2. Description of the Related Art Angiography is one of the methods for diagnosing cardiovascular diseases. This method is a method in which a thin tube called a catheter is made to reach a desired site of a lesion and a contrast agent is injected to perform X-ray imaging.

As shown in FIG. 5, the X-ray diagnostic apparatus is composed of a large number of devices such as an X-ray irradiation device 17, an image intensifier tube 18, a C arm 19, a bed 21, and a signal processing device (not shown). . The C-arm 19 is moved to the lesion area of the patient (subject) lying on the bed 21 to adjust the position, and X-rays are irradiated by the X-ray irradiation device 17, and the X-rays transmitted through the lesion area are image-intensified. The fire tube 18 detects and diagnoses.

Up to now, the X-ray diagnostic apparatus has been disclosed in JP-A-54-102887 and JP-A-53-135591.
JP-A-61-62848 and JP-A-63-2290.
Many inventions are disclosed in gazettes such as No. 31.
Among them, as a typical invention relating to improvement in operability, the device described in Japanese Patent Application Laid-Open No. 2-84636 shown in FIG. 6 is known.

In the apparatus shown in FIG. 6, a weight having the same weight as that of the image intensifier tube 26 is used as the counterweight 27, so that the C-arm generated when the image intensifier tube 26 is slid vertically. It is designed to completely compensate for the deviation of the weight balance of the entire 24. By adopting such a configuration, the weight balance of the entire C-arm is compensated, so there is no need to provide a mechanical stopper or the like structurally. As a result, the operator manually operates the C arm 24.
Since the position of can be moved and adjusted, the operability is improved compared to the conventional remote control using a joystick.

X developed for the same purpose as the device shown in FIG.
As a line diagnostic device, there is known a device in which a handle that can be operated with one hand is attached to an outer portion of an image intensifier tube to be operated, instead of adopting a mechanism design for balancing the weight of a C arm. This operating handle is called a power handle, and an on / off switch is incorporated inside the operating handle.
Since the power assist method is used in which a drive signal is sent to the actuator for driving the image intensifier tube in the vertical movement direction, the operator can move the power handle in the vertical direction to generate an image with a small force. The position of the intensifier tube can be adjusted.

In the conventional X-ray diagnostic apparatus, C
In order to stop the C-arm when the arm contacts the patient, a large number of touch sensors are arranged in all the places where the C-arm is expected to contact the patient, and based on the signal from the touch sensor, The C-arm was stopped.

[0008]

However, in the apparatus disclosed in Japanese Patent Laid-Open No. 2-84636, the weight of the image intensifier tube attached to the C-arm is, for example, about 67 kg, so the counterweight is the same. The weight of the entire apparatus is increased because the weight of the apparatus is required. Further, a large operation force is required to manually move such a heavy object, and in reality, it is difficult to perform delicate position adjustment.

Further, in the device equipped with the power handle, the power assist can be made only in the vertical movement of the image intensifier tube, and the power assist cannot be made in the movement in the other direction. . Therefore, there is a problem that fine position adjustment cannot be performed.

Further, in order to ensure the safety of the conventional X-ray diagnostic apparatus, it is expected that the C arm will contact the patient in order to stop the C arm when the C arm contacts the patient. There is a problem that a large number of touch sensors must be arranged in all places.

Therefore, an object of the present invention is to eliminate the problems of the above-mentioned prior art and to make it possible to omit a large number of touch sensors that were required to be provided in order to ensure safety, and to position the C arm or the like. An object of the present invention is to provide an X-ray diagnostic apparatus that can be adjusted easily and smoothly.

[0012]

In order to achieve the above object, an X-ray diagnostic apparatus according to the present invention comprises an X-ray irradiating means for irradiating a subject with X-rays and an X-ray detecting means for detecting X-rays passing through the subject. X-ray detecting means, holding means for holding the X-ray irradiating means and movably holding the X-ray detecting means with respect to the X-ray irradiating means, a rotary shaft for pivotally supporting the holding means, and the X-ray First for driving the X-ray detection means with respect to the irradiation means
Drive means, second drive means for rotationally driving the rotating shaft, force detecting means for detecting a force acting on the rotating shaft with movement of the X-ray detecting means or the holding means, and the force detecting means. Drive control means for driving and controlling the X-ray detection means or the holding means based on the detection result;
It is characterized by having.

The drive control means controls the first drive means or the second drive means.

When the drive control means determines that an external force acts on the X-ray detection means or the holding means based on the detection result of the force detection means,
A stop signal for stopping the movement of the X-ray detecting means or the holding means is generated.

Further, the rotating shaft is supported by a main bearing that supports the rotating shaft and a movable bearing that allows the rotating shaft to be displaced in a direction orthogonal to the axial direction. To do.

Further, the movable bearing is elastically supported with respect to the main bearing.

In the present invention, when an operating force is applied to move the X-ray detecting means or the holding means, a rotating moment is generated around the rotation center point on the rotating shaft by the operating force, and the force acts on the rotating shaft. To do. The magnitude or direction of this force is detected by the force detection means, and based on this detection result,
The drive control means controls the movement of the X-ray detection means or the holding means.

The drive control means controls, for example, the first drive means or the second drive means so as to assist the movement of the X-ray detection means or the holding means, and the X-ray detection means or the holding means is smoothly operated with a small operating force. To be able to move to.

Further, the drive control means moves the X-ray detection means or the holding means when it is determined that the X-ray detection means or the holding means has come into contact with a foreign matter such as a diagnostic body based on the detection result by the force detection means. The first drive means or the second drive means is controlled so as to stop the X-ray detection means or the holding means colliding with the diagnostic body without the need for providing a large number of touch sensors or the like in the holding means or the like. Avoid damaging.

[0020]

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

FIG. 1 shows the schematic arrangement of an X-ray diagnostic apparatus according to the first embodiment of the present invention.

In FIG. 1, an X-ray source (X-ray irradiating means) is provided at one tip of a C-shaped C arm 1 as a holding means.
2 is fixed, and X is attached to the other end of the C arm 1.
An image intensifier tube (X-ray detecting means) 3 as X-ray detecting means is attached so as to be linearly movable opposite to the radiation source 2.

The image intensifier tube 3 is moved up and down along the slide support member 5 by a translation drive means (first drive means) 6 arranged in a slide support member 5 fixed to the tip of the C-arm 1. Translational drive. The image intensifier tube 3 is provided with an operating handle 4.

The C-arm 1 is slidably supported by the C-arm support member 7 and is rotatable around the arrow C. The C-arm 1 is driven by the slide drive means 8 arranged in the C-arm support member 7.

The side portion of the C-arm support member 7 is fixed to the end portion of the C-arm rotating shaft 9 of the C-arm 1. The C-arm rotating shaft 9 is driven by a belt to rotate and drive (second drive)
It is connected to 10 and driven to rotate. The rotation driving means 10 is arranged in the support frame 13. C-arm rotating shaft 9
Is driven to rotate, the X-ray source 2 and the image intensifier tube 3 rotate together with the C-arm 1 about the axis of the C-arm rotation shaft 9.

The C-arm rotating shaft 9 is fixedly supported by a main bearing 11 which is a self-aligning bearing so that only the rotation around the shaft center is allowed. Also, the C-arm rotating shaft 9
Are supported by a movable bearing 12 which is, for example, a cross roller bearing and is installed near the main bearing 11. The main bearing 11 and the movable bearing 12 are attached to the support frame 13. The movable bearing 12 is elastically supported by a support spring 14 provided between the movable bearing 12 and the support frame 13. Since the C-arm rotating shaft 9 is elastically supported by the movable bearing 12, the C-arm rotating shaft 9 can slightly rotate about a rotation center point 15 set near the main bearing 11. The center of rotation 1
5 is on the axis of the direction perpendicular to the axis of the C-arm rotating shaft 9.

An appropriate spring constant is given to the support spring 14 so as to balance with the rotation moment about the rotation center point 15 of the C-arm rotation shaft 9.

The support spring 14 acts to keep the C-arm rotating shaft 9 horizontal or in a balanced state at a predetermined set angle. The C-arm rotating shaft 9 is the C-arm rotating shaft 9.
When an external force is applied to the C arm 1, the image intensifier tube 3 and the X-ray source 2 located on the tip side of the
The support spring 14 tries to turn around the rotation center point 15.
Is displaced in proportion to this external force. Such an external force is equal to, for example, an operation force when the image intensifier tube 3 is moved to a desired position by gripping the operation handle 4.

In order to detect this displacement or operating force, a force detecting means 20 is provided between the movable bearing 12 and the support frame 13.

A damper 21 and a spring 22 are provided between the movable bearing 12 and the support frame 13 in parallel with the force detecting means 20. The damper 21 is for absorbing the vibration of the C-arm rotating shaft 9. The spring 22 is the C-arm rotating shaft 9
Is for restoring the C-arm rotating shaft 9 to a predetermined position after the displacement. For the same purpose, the movable bearing 1
A spring and a damper (not shown) are also installed on the left and right sides of 2.

Force detection means 20 for detecting the operating force
Like the support spring 14, are arranged through cross roller bearings at four positions, up, down, left and right. There are various possible configurations of the force detecting means 20, and the force detecting means 20 may be configured as shown in FIG. 2, for example.

FIG. 2 is a diagram showing a structural example of the force detecting means 20. As shown in FIG. 2, strain gauges 25 and 26 are attached to the L-shaped bar 24. The strain gauge 25 detects the strain in the vertical direction indicated by the arrow A.
Reference numeral 6 is for detecting distortion in the left-right direction indicated by arrow B.

As the force detecting means 20, as shown in FIG. 3 (a), four force detecting means 20a, 20b, 20c are provided around the C-arm rotating shaft 9 at intervals of 90 degrees, vertically and horizontally.
20d is provided. These force detecting means 20a,
20b, 20c and 20d are connected to the drive control means 30 (FIG. 1). In the drive control means 30, by combining the signals detected by the respective force detection means 20a, 20b, 20c, 20d, it is calculated from which direction and with what strength the operating force acts. The drive control means 30 determines the translation drive means 6, the slide rotation drive means 8 or the rotation drive means 10 based on the calculation result.
Control.

Next, the force detecting means 20a, 20b, 20
A method of detecting this operating force by c and 20d will be described below.

For example, consider a case where the operator operates the operating handle 4 to apply an operating force to move the C-arm rotating shaft 9 clockwise, as shown by the arrow C in FIG.

When the operating handle 4 is moved clockwise, an operating force that twists clockwise is applied to the C-arm rotating shaft 9, but the C-arm rotating shaft 9 does not show the rotation driving means 10. It cannot be twisted because it is fixed by the decelerator. For this reason, FIG.
As shown in (a), the force detecting means 2 is attached to the C-arm rotating shaft 9.
A vector component that moves in the direction of the force detection unit 20b is generated from 0d, and this is detected as an operating force applied to the C-arm rotating shaft 9.

Force detecting means 20a, 20b, 20c, 20
The results of actually examining the force acting on d by simulation will be described below. Consider a case where an impulse-like operation force as shown in FIG. 3B is applied as the operation force in the direction of arrow C in FIG. In FIG. 3B, the operating force is applied at time 4 seconds. Signal waveforms output from the force detecting means 20a, 20b, 20c, 20d in response to the impulse-like operating force are shown in FIGS.

As shown in FIG. 4, at the time of 4 seconds, of the force detecting means 20a, 20b, 20c, 20d, only the force detecting means 20d and the force detecting means 20b respond to the impulse-like operating force and force detection is performed. It is recognized that the signal is being output. The force detecting means 20a and the force detecting means 20c detect only the background force (steady value) in the simulation.

Therefore, the force detecting means 20 as shown in FIG.
It can be seen that it is possible to detect that the C-arm rotation shaft 9 is about to be rotated clockwise, based on the detection signal information obtained at a, 20b, 20c, and 20d.

In the above description, the case where the operator operates the operating handle 4 to apply an operating force to move the C-arm rotating shaft 9 clockwise is described. However, the operating handle 4 is operated by the operator. Is operated to move the image intensifier tube 3 up and down in the direction of arrow D, or when the C arm 1 is slid and rotated in the direction of arrow E, the force detection means 20a, 20b, 2
The force acting on the C-arm rotating shaft 9 can be detected by 0c and 20d.

As described above, the force detecting means 20a, 20
The detection results of b, 20c, and 20d are sent to the drive control means 30, and it is calculated from which direction and with what strength the operating force acts. The drive control means 30 controls the translation drive means 6, the slide rotation drive means 8 or the rotation drive means 10 based on the calculation result.

An example of the control mode of the drive control means 30 will be described below.

First, the first embodiment will be described.

In this embodiment, the drive control means 30 calculates from which direction and how much strength the operating force acts, and based on the calculation result, the C-arm is the patient or the like (subject). Whether or not it touched (whether or not an external force acted)
If it is determined that the contact has been made, a control signal is generated to the translation drive means 6, the slide rotation drive means 8 or the rotation drive means 10 so as to stop the movement of the C arm 1 or the like.

That is, since the force can be detected regardless of which part of the C-arm 1 acts, an emergency stop is performed using the force detection signal even when the C-arm 1 collides with the patient due to an erroneous operation. It will be possible to take measures.

According to this embodiment, by detecting the force acting on the C-arm rotating shaft 9, it is not necessary to directly detect the force itself acting on the C-arm 1. Therefore, a large number of touch sensors required in the conventional X-ray diagnostic apparatus can be omitted.

Next, the second embodiment will be described.

In this embodiment, the drive control means 30 calculates from which direction and with what strength the operating force acts, and based on the calculation result, the image intensifier tube 3 or the C arm. The translation drive means 6, the slide rotation drive means 8 or the rotation drive means 10 is feedback-controlled so as to assist the movement of 1.

According to the present embodiment, since the operator can detect the work at the initial stage of the work to be performed and assist the work of the operator, the image intensifier tube 3 can be operated with a small operation force.
The position of the C arm 1 can be adjusted easily and smoothly, and the burden on the operator can be reduced. Further, not only the desired moving direction but also the desired moving speed can be feedback-controlled, so that finer position adjustment can be performed.

As described above, according to the embodiment of the present invention, the force acting on the C-arm rotation shaft 9 is detected, and the translation control means 6 and the slide rotation are driven by the drive control means 30 based on the detection result. Since the drive means 8 or the rotation drive means 10 is controlled, it is not necessary to dispose a large number of touch sensors on the C arm 1.

Further, a plurality of force detecting means 20a, 20b,
Since the force acting on the C-arm rotating shaft 9 is detected by 20c and 20d, the force acting on the C-arm rotating shaft 9 can be detected three-dimensionally, which is different from the conventional X-ray diagnostic apparatus. Not only when moving the image intensifier tube 3 up and down in the direction of arrow D, but also when sliding the C arm 1 in the direction of arrow C or rotating the C arm 1 in the direction of arrow E. Even with respect to the above, the image intensifier tube 3 and the C arm 1 can be smoothly moved three-dimensionally with a small operation force.

Further, the force detecting means 20a, 20b, 20
Since c and 20d are arranged in a concentrated manner at the root of the C-arm rotating shaft 9 and arranged in a space near the C-arm rotating shaft 9 having a high degree of freedom of design, the c-arm and the 20d are arranged in the vicinity of the translational driving means 6 and slide driving. The X-ray diagnostic apparatus can be made compact as compared with the case where the X-ray diagnostic apparatus is to be arranged in a space such as the vicinity of the means 8 where the degree of freedom in design is small.

In the above description, the force detecting means 2
The strain gauge 25 attached to the L-shaped bar 24 as 0,
Although the example constituted by 26 has been described, the force detection means 20
Can have various configurations and may be any as long as the operator can detect the operating force acting on the C-arm 1 or the like. For example, there is a laser displacement meter as an alternative method to the strain gauges 25 and 26. The laser displacement meter measures a minute displacement, but may be configured to determine the operation direction from a minute displacement amount generated when the C arm 1 is moved and operated via the operation handle 4.

The C-arm 1 does not have to be slidably supported by the C-arm support member 7, and the C-arm 1 may be directly fixed to the C-arm rotating shaft 9.

[0055]

As described above, according to the configuration of the present invention, it is possible to omit a large number of touch sensors which are required to be provided for ensuring safety, and X
The position of the line detecting means or the holding means can be adjusted easily and smoothly.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of an X-ray diagnostic apparatus according to the present invention.

FIG. 2 is a diagram showing an example of the configuration of force detection means.

3A and 3B are diagrams showing an arrangement position of force detection means arranged in the vicinity of a C-arm rotating shaft, and a diagram showing a simulation result when an impulse-shaped operating force is applied in a direction of an arrow C in FIG.

FIG. 4 is a diagram showing a signal waveform output from the force detection means when an impulse-shaped operating force is applied.

FIG. 5 is a perspective view illustrating the configuration of an X-ray diagnostic apparatus.

FIG. 6 is a cross-sectional view showing a conventional X-ray diagnostic apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 C arm 2 X-ray source (X-ray irradiating means) 3 Image intensifier tube (X-ray irradiating means) 4 Operating handle 6 Translational drive means (first drive means) 8 Slide drive means 9 C-arm rotating shaft 10 Rotation Drive means (second drive means) 11 Self-aligning bearing 12 Movable bearing 13 Support frame 20 Force detection means 25, 26 Strain gauge 30 Drive control means

Claims (5)

[Claims] 1. X-ray irradiation means for irradiating a subject with X-rays,
X-ray detection means for detecting X-rays that have passed through the subject, holding means for holding the X-ray irradiation means and movably holding the X-ray detection means with respect to the X-ray irradiation means, and the holding means. A rotating shaft that supports the shaft, a first driving unit that drives the X-ray detecting unit with respect to the X-ray irradiating unit, a second driving unit that rotationally drives the rotating shaft, the X-ray detecting unit, or the holding unit. A force detecting means for detecting a force acting on the rotating shaft in accordance with the movement of the X axis, and a drive control means for controlling the drive of the X-ray detecting means or the holding means based on the detection result of the force detecting means. Characteristic X-ray diagnostic device. 2. The X-ray diagnostic apparatus according to claim 1, wherein the drive control means controls the first drive means or the second drive means. 3. The X-ray detection means or the holding means when the drive control means determines that an external force acts on the X-ray detection means or the holding means based on the detection result of the force detection means. The X-ray diagnostic apparatus according to claim 1, wherein a stop signal for stopping the movement of the X-ray is generated. 4. The rotating shaft is supported by a main bearing that supports the rotating shaft and a movable bearing that allows the rotating shaft to be displaced in a direction orthogonal to the axial direction. The X-ray diagnostic apparatus according to claim 1. 5. The X-ray diagnostic apparatus according to claim 4, wherein the movable bearing is elastically supported with respect to the main bearing.