JP2001204720A - X-ray inspection equipment - Google Patents

Abstract

(57) [Summary] [PROBLEMS] The moving state of each axis and the mutual movement of each axis are the same as when each axis was actually moved by manual operation without moving each axis by manual operation of an operation lever or the like. An X-ray inspection apparatus capable of monitoring or simulating the positional relationship is obtained. SOLUTION: After switching to a monitoring mode by pushing a push button 54 of an operation panel 40, position information of an axis to be operated by pushing the push buttons 56 and 57 of the operation panel 40 is inputted. The input information is displayed on the display device 61, is taken into the determination circuit 37 via the CPU 31, and is stored in a memory in the circuit. Judgment circuit 3
7 calculates (determines) whether the axis to be operated collides with another axis when operating at the position of the input position information input,
The result of the determination is displayed on the display device. Further, even if the axis to be operated is moved to the input position, it is determined that the axis does not collide with another axis. To move to the position, the push button (execution switch) 58 of the operation panel 40 is pressed. The axis to be controlled is controlled to move to the position of the input position information stored in the memory.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an X-ray inspection apparatus used for medical diagnosis and the like, and more particularly to an X-ray inspection apparatus capable of freely determining the X-ray fluoroscopic / radiographic direction and position.

[0002]

2. Description of the Related Art Conventionally, an X-ray image system (consisting of an X-ray tube, an image intensifier, a television camera, etc.) and a top plate are combined with various mechanisms such as a linear motion mechanism and a rotary motion mechanism. By holding and moving the X-ray imaging system in a plurality of axes to determine the position and direction of the X-ray beam (perspective field) with respect to the subject, the X-ray fluoroscopic direction and position can be freely determined. A known X-ray inspection apparatus is known.

[0003] Each mechanism is axially moved in the respective axial direction by routine fluoroscopy or imaging, and the moving direction and moving position (rotation angle, horizontal and vertical movement amount, etc.) of each mechanism are registered in a memory or registered. Not a special site inspection, or
When the user wants to move each axis from the registered position in relation to the patient's body position or operative procedure (hereinafter referred to as “movement” as appropriate), the movement in each axis is performed by the operation panel. It is performed by manual operation using operation means such as an operation lever and an operation switch corresponding to the shaft. At the time of this manual operation, in an X-ray inspection apparatus in which various mechanisms are axially moved in a plurality of axial directions,
Limit the movement range of each mechanism so that the movement of each mechanism in each axis does not interfere with each other or collide with the subject, or movement in one axis may cause interference In such a case, the evacuation operation is performed by moving on another axis.

For this purpose, this type of X-ray inspection apparatus in which various mechanisms operate on a plurality of axes is provided with a controller having an operation range limiting means and an evacuation control means, and positional information (moving direction, moving amount, etc.) of each axis is provided. ) Is periodically sampled and monitored by the controller, and the axis operated by the manual operation of the operation lever etc. is determined by comparing the current position of each axis with the operation range table by arithmetic processing of sampling data and sampling. When entering the warning area near the interference area with the axis of the controller, the controller emits a warning sound, and as the user approaches the interference area, the operator changes the tempo or volume of the warning sound and manually controls the degree (operator) ) And automatically retracts the axis at risk of collision when entering the interference (collision) area, or restricts the operating range of each axis and stops at the current operating position So, even if the operation lever is more than its stop position so that no work.

As a result, for example, as shown in FIG.
In a C-arm type X-ray fluoroscope in which an X-ray tube 21 and an image intensifier 22 (and a television camera) are held at the tip of a mold arm 24, the C-arm 24 is moved as shown by an arrow in FIG. When rotated, there is a danger of collision with the subject 10, and the retreat control means functions to move the bed top 11 as shown by the arrow in FIG. In the case where the interference is prevented from occurring even when rotating to the state as in c), and when the function of the evacuation control means is not operated by the operator's will, the function of the operation range limiting means is used as the C-shaped arm. 24 is stopped at a position before the collision with the bed top plate 11, and the operating range is limited so that even if the operation lever is operated, it does not rotate from the stop position.

[0006]

However, when the vehicle enters the interference area as described above, it is necessary to retreat the axis at risk of collision (interference) or to limit the operation range of each axis to stop the operation of each axis. This type of device in which measures are taken has the following problems.

That is, in the X-ray inspection, an inspection (fluoroscopy / imaging) in which the relative arrangement relationship of each axis is slightly changed from a fixed position registered in a memory such as routine fluoroscopy or imaging is performed. Is often done. In this case, the axis to be operated by the manual operation using the operation lever or the like is operated, but the registered position is already in the warning area, or enters the warning area by moving the corresponding axis by operating the operation lever. The operator is notified that the vehicle is approaching the interference area by a warning sound or display, but when entering the interference (collision) area, the evacuation control function is activated, and an unexpected axis (in the example of FIG. The plate 11) moves and retreats, and the relative positional relationship between the predetermined axes (the C-arm 24 and the bed top plate 11 in the example of FIG. 6) is broken, and the positioning must be performed again. Repositioning operation takes time,
There is a problem that the inspection efficiency is reduced.

If the evacuation control function is turned off, the evacuation operation is not performed. However, during the manual operation by the operation lever, the operation range (in the example of FIG. 6, C is determined by the relative positional relationship with the bed top plate 11). The limitation of the operation range of the mold arm 24 (the rotation of the C-arm 24 in the example of FIG. 6) is stopped, and the axis operation (the C-arm 2 in the example of FIG.
4), the axis to be operated can be operated in any direction and how much the axis can be operated without interfering with other axes. There is a problem that you can not understand without it. Furthermore, when performing a manual operation, for example, from the current position,
There is a case where it is desired to set the X-ray fluoroscopic direction and position by rotating the C-shaped arm every 1 ° and finely adjusting the relative positional relationship of each axis. In such a case, tilt the operation lever a little and release the hand from the operation lever where the corresponding axis starts up, slightly operate the axis you want to operate, and check the display of the relative positional relationship of each axis An inching operation is performed in which the operation lever is repeatedly tilted little by little.

In the inching operation, due to individual differences in the input sensitivity of the operation lever and the operation skill of the operator, the operator intends to slightly move the operation lever, so that the operation lever is overturned and overruns from the target stop position. In addition, the overrun and entering the interference area, the evacuation control function automatically retracts the axis at risk of interference (collision), and the operation range of each axis is limited by the operation range restriction function, and the axis stops. In many cases, it is difficult to stop each axis at the desired position.

As described above, in this type of X-ray inspection apparatus in which safety measures such as the evacuation control function and the operation range limiting function are taken, in the vicinity of the interference region, the mutual interference between the axes is determined based on the current arrangement of the axes. To determine which axis can be operated and how much, and how much axis can be operated without causing interference, manually operate each axis and perform the evacuation operation. The operator could not judge until the operation of the shaft was stopped in the state where the evacuation control function was turned off or the operation lever was operated, and the operation was stopped. Also, even if you move the axis,
There is a problem that it is difficult to perform the inching operation from the position (current position) because it is not known when the evacuation control function or the operation range restriction function is activated. In particular, if the evacuation control mechanism has been activated, the axes at risk of interference (collision) will retreat and the relative positional relationship of the predetermined axes will be lost, so it is necessary to redo positioning and inspection. In other words, the inspection efficiency decreases.

In view of the above, the present invention has been made in consideration of the fact that each axis is not actually moved by operation of an operation lever or the like during manual operation,
The operation state of each axis and the positional relationship of each axis can be reproduced in the same manner as when each axis was actually operated by manual operation with the operation lever, etc., and each axis can be operated in any direction and without any interference It is an object of the present invention to provide an X-ray inspection apparatus capable of monitoring or performing simulation.

[0012]

In order to achieve the above object, in an X-ray inspection apparatus according to the present invention, an X-ray imaging means and a plurality of X-ray imaging means are provided. Moving means for moving in the direction, movement range limiting means for restricting movement in each axis to prevent mutual interference from their positional relationship, input means for inputting position information of the axis to be operated, It is characterized in that it comprises a judging means for judging whether or not it interferes with another axis from input position information inputted by the input means, and a display means for displaying a judgment result of the judging means.

According to such a configuration, when the position information (rotation direction and rotation amount, horizontal / vertical movement direction and movement amount, etc.) of the axis to be operated is inputted by the input means, the judgment means makes the inputted input. It is determined from the position information whether or not it interferes with another axis, and the result of the determination is displayed on the display screen of the display means.
This allows the operator to reproduce the same state as when the axis to be operated was actually operated without actually operating each axis, and to determine the operation state of each axis and the positional relationship between each axis. Monitoring can be performed, and it is possible to know which axis can be operated to what extent and how much, without interfering with each other, and which axis can be operated and how much can interfere with which axis. As a result, another axis is operated to obtain a desired X.
It is possible to study and consider whether or not inspection can be performed from the fluoroscopic position and direction. Also, even if the position information of the interference area is input at this time, the retreating operation of the interfering axis is not performed, so that the current arrangement relation is not broken, and the rearrangement and inspection of each axis by manual operation or the like are performed. And the efficiency of the X-ray inspection is improved.

According to a second aspect of the present invention, there is provided an X-ray inspection apparatus according to the first aspect, wherein the input means is capable of inputting minute position information of an axis to be operated. The determination means is characterized in that each time the minute position information is input, the determination as to whether or not the input position information interferes with another axis is repeated, and the determination result is output to the display means. I have.

According to such a configuration, minute position information such as the rotation direction and rotation angle of the axis to be operated by the input means, the horizontal / vertical movement direction and the movement amount, for example, the input position information of the minimum display unit is input. Then, each time the minute input position information is input, the determination means repeatedly determines whether or not the axis to be operated at the position of the input position information interferes with another axis when the axis to be moved is moved. It is displayed on the display screen of the display means.

[0016] Thus, the same inching operation as the inching operation of the operating lever can be reproduced, and the movement status of each axis can be simulated to monitor the operating state of the axis to be inching operated and the positional relationship between the axes. ,
If it is determined that which axis can be moved to what extent and how much without interfering with other axes, if it is determined to interfere, another axis can be moved in the desired direction and position without breaking the current positional relationship. It is possible to examine and consider whether or not the inspection can be performed. As a result, unexpected retreating of the axis due to interference during inching operation and stoppage of a defective operation due to the limitation of the operation range can be prevented beforehand as in this type of conventional apparatus. This eliminates the need for reinspection, and improves the efficiency of X-ray inspection.

Furthermore, an X-ray inspection apparatus according to a third aspect of the present invention is the X-ray inspection apparatus according to the first aspect, wherein storage means for storing input position information input by the input means, and storage means And control means for controlling the moving means in accordance with the position information stored in the X-ray imaging apparatus and operating the X-ray imaging system at the position of the input position information.

According to such a configuration, the input position information of the axis to be operated inputted by the input means is stored in the storage means, and the control means controls the moving means of each axis and stored in the storage means. Move each axis to the position of the input position information. Thereby, each axis can be automatically moved to the arrangement relation position confirmed not to be interfered by monitoring or simulation, and the positioning by manual operation of each axis becomes unnecessary, and operability is improved.

[0019]

Next, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram of a control system according to the embodiment of the present invention.
This is applied to an X-ray inspection apparatus as shown in FIG.
This X-ray inspection apparatus is a kind of C-arm type X-ray fluoroscope, and can be used for inspection of a circulatory organ. For convenience of explanation, FIG. 2 will be described. In this figure, an X-ray tube 21 and an X-ray imaging device in which a television camera 23 is coupled to an image intensifier (II) 22 are attached to both ends of a C-arm 24, and between them. Bed top plate 11 for lying down the subject
Is arranged. The C-arm 24 is the arm holding block 2
5 and the arm holding block 25
Is attached to the slide block 26. The slide block 26 is configured to be movable on a slide rail 27, and the slide rail 27 is attached to a semicircular falling frame 28. The raising frame 28 is held by a base 29. The bed top plate 11 is attached to the upside-down frame 28.

Here, the operation (moving direction) of each part will be described. The falling frame 28 is held on the base 29 so as to be able to rotate in the direction of arrow 08 along the semicircle of the frame 28. Therefore, when the frame 28 rotates, the bed top plate 11 also rotates integrally therewith. The bed top plate 11 has arrows 01, 02, 03 while being held by the tilting frame 28.
It can be moved in each direction. In other words, the right and left direction of the bed top plate 11 (the left and right direction of the subject lying thereon) 01, the length direction of the bed top plate 11 (the height direction of the subject) 02, and the plane perpendicular to the surface of the bed top plate 11. It is movable in the direction 03. These directions 01, 02, 03
In the state as shown in the figure, the direction coincides with the X direction, the Y direction, and the Z direction which is the vertical direction in the horizontal plane.

The slide block 26 is mounted on the falling frame 2.
8 can be moved linearly along the slide rail 27 fixed to 8 as shown by an arrow 07. The direction of the arrow 07 rotates with the rotation of the tilting frame 28. The arm holding block 25 is held by the slide block 26 so as to be rotatable in the direction of arrow 06. That is, the arm holding block 25 is
It is rotatable around an axis (horizontal axis) perpendicular to (sliding direction indicated by arrow 07).

The C-shaped arm 24 is held by the arm holding block 25 so as to be rotatable in the direction of arrow 05 along the C-shape. Therefore, the direction of the X-ray beam emitted from the X-ray tube 21 and incident on the image intensifier 22 is rotatable around three axes as indicated by arrows 05, 06, and 08, and the position of the X-ray beam is changed. Can move linearly with respect to the bed top plate 11 (the subject thereon) as indicated by an arrow 07. Further, the image intensifier 22 and the television camera 23 coupled thereto are
At the tip of the mold arm 24, it can move linearly as indicated by an arrow 04 to approach or move away from the X-ray tube 21.

As described above, there are eight moving axes, and the position and direction of the X-ray beam can be arbitrarily determined by freely moving with these eight axes. In order to operate these eight-axis movements, as shown in FIG. 3, operation levers 41, 42, 43,.
, 53, etc. are provided. Operation panel 4
0 is also provided with a display device 61 such as a liquid crystal display device for displaying an auxiliary operation message. The operation lever 41 is a joystick lever. When the operation lever 41 is tilted in the front-rear direction (LAO-RAO direction), the C-arm 24 is rotated in the direction of arrow 05, and when it is tilted in the left-right direction (CRAN-CAUD direction), the C-arm 24 is rotated. Can be done. Thereby, the direction (perspective direction) of the X-ray beam can be set to an arbitrary direction.

The operation lever 42 is a lever for determining the position of the X-ray beam (perspective field of view). When the operation lever 42 is tilted up and down, the slide block 26 moves in the direction of the arrow 07 to move the position of the field of view in the height direction of the subject. When the bed top plate 11 is tilted in the left-right direction, the bed top plate 11 moves in the direction of arrow 01, and the position of the visual field can be moved in the left-right direction of the subject.
When the lever is tilted up and down while pressing the button 49 at the tip of the lever, the bed top plate 11 moves in the direction of arrow 02 without moving the slide block. The vertical movement (the direction of the arrow 03) of the bed top plate 11 is performed by pressing the push buttons 51 and 52. Rotational movement of the tilting frame 28 (tilting in the direction of arrow 08) is performed by operating the lever 43.

Returning to FIG. 1, the input from these operations on the operation panel 40 is sent to the CPU 31, and the CPU 31 basically issues a command for the operation in each axis as input. The operation command for each axis is
Each is sent to a driving device 33 via a D / A converter 32, and a driving motor 34 in each axial direction is driven to perform an operation in each direction. In case that the operations in each direction interfere with each other, the position in each direction is detected, and the position detection signal in each direction is output to the operation range limiting circuit 35.
Has been entered. The operating range limiting circuit 35 calculates an operating range to be limited from the position of each part in each direction,
The limit signal is sent to the CPU
Returned to 31.

When the operation lever 41 is operated to rotate the C-arm 24 as shown in FIG.
It is determined by the operation range limiting circuit 35 that there is a possibility of collision (interference) with the subject 10 (or the bed top 11) when rotating to the position (b), and the subject 10 is temporarily stopped just before the collision position. When the operation of the operation lever 41 is further continued, the evacuation control circuit 3 based on the detection signals of the position of the C-arm 24 and the position of the bed top plate 11.
6 operates to issue an evacuation operation command to the CPU 31,
31 issues an operation command to move the bed top 11 in the left-right direction (the direction of arrow 01) to a position where the image intensifier 22 does not collide, and this is sent to the driving device 33 through the D / A converter 32, Movement motor 34
Rotates, and the bed top plate 11 moves as indicated by the arrow in FIG.

In this case, if it is assumed that the visual field is positioned in the state of FIG. 6A, the bed top plate 11 is moved by the retreating operation as described above, and the positioning needs to be reset, which is complicated. It is. Therefore, in order to avoid such complication, an operator (operator) such as a doctor performs an operation for turning off the evacuation operation. For example, a push button 53 on the operation panel 40 is assigned as an operation switch for that purpose. The push button 53 is located on the lower side of the display device 61, and is displayed on the screen of the display device 61 so that its presence can be easily understood. Further, on this screen, the selection state of ON / OFF of the evacuation operation is displayed. It is displayed.

When the push button 53 is pressed to turn off the evacuation operation, the evacuation control circuit 36
, And the circuit 36 is turned off. As a result, only the operation range limiting circuit 35 operates. In this case, the operation lever 41 is operated to operate as shown in FIG.
When the C-arm 24 is rotated as shown in FIG. 6, the operating range of the C-arm 24 is limited so that there is no danger of the image intensifier 22 colliding with the subject 10 as shown in FIG. Before the collision (interference), the rotation of the C-arm 24 is stopped. If it is desired to advance the rotation of the C-arm 24 by performing the retreat operation instead of the operation stop due to such operation restriction, the push button 53 is pressed again to turn on the retreat operation.

Next, regarding the monitoring function or the inching function which is a main part of the present invention, the operation lever 41 shown in FIG. 3 is operated to move the C-arm 24 in the direction of the arrow (LA).
The case of rotation in the (O direction) will be described as an example. in this case,
It is assumed that the visual field is positioned in the state of the position A in FIG. Note that this position a is a fixed position registered in the memory, such as in the case of routine fluoroscopy or radiography, or C which is set by operating the operation lever 41.
This is the rotational position of the mold arm 24. In normal operation, when the operation lever 41 is operated, the C-arm 24 rotates, for example, in the direction of the arrow (the direction of the LAO..., The direction of the arrow 01 in FIG. 2). Works, the bed top plate 11 moves as shown by the arrow in FIG. 3B and evacuates, or when the evacuation function is OFF, the rotation of the C-shaped arm 24 stops just before the interference. As a result, even if the operation lever 41 is operated, it does not rotate from the stop position.

First, when monitoring the state by reproducing the same state as rotating the C-arm 24 by operating the operation lever 41 without operating the operation lever 41, the mode is switched to the monitoring mode. Perform the operation. For example, an operation panel 40 located below the display device 61 may be used as a mode change switch for this purpose.
The upper push button 54 is assigned. A selection state of ON (monitoring mode) and OFF (moving operation by the operation lever) of the push button 54 is displayed on the screen of the display device 61. When the push button 54 is turned on, in this embodiment, A non-operation command is issued from the CPU 32 to the operation range limiting circuit 35 and the evacuation control circuit 36, so that the two circuits 35 and 36 are turned off (non-operation state) and the determination circuit 37 is turned on (operation state).

The push button 54 is turned on to switch to the monitoring mode, and the operation axis, in this example, the rotation axis 05 of the C-arm 24 in the LAO-RAO direction in FIG. 2 is selected. For example, a push button 55 on the operation panel 40 is assigned as an operation axis switch for that purpose.
Each time the push button 55 is pressed, the axes 01 to 0 in FIG.
8 are sequentially switched, and the operation axis selected by the push button 55 is displayed on the screen of the display device 61.

Subsequently, the rotation direction (LAO direction) of the arrow from the position A (hereinafter referred to as the current position) and the angle to be rotated are input. Push buttons 56 and 57 on the operation panel 40 are assigned as input switches for this purpose, and the input values are displayed on the display device 61. The push button switches 55 to 57 correspond to the position information input means in the claims. The push button 56 functions as an input switch for the movement direction of each axis, and the push button 57 functions as an input switch for the movement amount of each axis according to the operation axis selected by the push button 55.

Push button 57 as position information input means
For example, every time the button is pressed once, the input position information as the movement amount of the minimum display unit (in the embodiment, the rotation angle of the C-arm 24, and the position information of the minimum display unit is set to 1 ° for the sake of explanation) Change sequentially (count up, count down)
It is assumed that the push button switch 57 is pressed once in order to move the current position A by 1 ° in the LAO direction. The input information is displayed on the display device 61, is taken into the determination circuit 37 via the CPU 31, and is stored in a memory in the circuit or a memory of the CPU 31.

The determination circuit 37 calculates (determines) whether the position obtained by adding 1 ° inputted to the current position A is the rotation position of the C-arm and the position collides (interferences) with the bed top plate 11. The determination circuit 37 is monitored by the CPU 31 and returns a determination signal to the CPU 31 based on the collation from the CPU 31. Input position information is bed top 1
If the rotation position is a rotation position that interferes with 1, the CPU 31 turns on the display mark of the bed top plate displayed on the display screen of the display device 61 or displays a message to that effect. Looking at this display, the operator (operator) can move another axis to perform an inspection (perspective / photographing) in a desired direction / position without breaking the current positional relationship (the state of FIG. 6A). It is possible to examine whether it is possible. If the position input to move from the current position is a warning area, a warning or its display is displayed, and the input position is an area in which another axis (in this case, the bed top plate) performs a retreat operation. If so, the display screen of the display device 61 displays an axis that interferes or that the axis is retracted.

If the position input to move from the current position A does not interfere and is not the intended rotational position of the C-arm 24, the push button 57 is pressed. As a result, the push button 57 is pressed twice, and the angle (input information) 2 ° to be rotated from the current position A is input again. The re-input information is displayed on the display device 61 and taken into the determination circuit 37 via the CPU 31.
The determination circuit 37 determines the position information 2 re-input to the current position A.
The position obtained by adding ° is defined as the rotation position of the C-arm 24.
It is calculated (determined) whether the position collides with (interferences with) the bed top 11, and if the rotation position interferes with the bed top 11, the display mark of the bed top displayed on the display screen of the display device 61. Is turned on or displayed to that effect.

It is determined that the C-arm 24 does not interfere with the bed top plate 11 even when rotated to the position of the input position information, and the position of the re-input position information is the target position. Press the run switch to rotate. As a result, the input position information (for example, 2 °) recorded in the memory of the determination circuit 37 or the CPU 31,
That is, the difference (2) between the target rotational position of the C-arm (current position A + reinput position information 2 °) and the current position A
Is sent to the CPU 31, and the CPU 31 issues a command to rotate the C-arm 24 by 2 ° in the LAO direction from the current position A. This operation command is sent to the drive circuit 33 via the corresponding D / A converter 32, and the drive motor 34 in the direction of the operation axis 05 is driven, and the C-arm 24 is moved from the current position A in the LAO direction by two times. ° rotate. A push button 58 on the operation panel 40 is assigned as the effective switch.

By repeating the input of the minimum display unit by the push button switch 57, the same inching operation can be reproduced by repeating the conventional operation of tilting the operation lever little by little, and the state can be simulated. As described above, in the monitoring mode, the movement state of each axis and the positional relationship among the axes are the same as when each axis is actually moved by operating the operation lever without actually operating the C-arm or the like. Since the result can be reproduced and the result is displayed, it is possible to monitor or simulate how much and in which direction each axis can move without interference. At that time, the input position information entered may interfere (collision)
Even in the region, the positional relationship between the axes at the current position does not collapse, so that there is no need to redo the positioning and inspection by rearranging the axes by manual operation or the like, thereby improving the efficiency of X-ray inspection. . FIG. 4 is a flowchart of the operation in the monitoring mode.

The above description relates to one example, and various changes can be made without departing from the spirit of the present invention. For example, a switch other than a push button can be considered as switching of the monitoring mode or the like, or even if a push button is used, its position is not limited to that shown in the figure. Also, the mode display or the like may be performed not by the display device of the operation panel but by a separately provided LED or the like.

The position information input means may be a switch for sequentially changing input position information by a pressing operation in the embodiment, or may be a switch for detecting an inclination angle of an operation lever to change an input value. Position information (angle, horizontal / vertical movement amount, etc.) from the current position to the position to be moved, or the origin position (in the case of rotation of the C-arm, RAO-LA)
O ° 0 °, CRAN-CAUD 0 °) may be directly input. If the target position information from the origin position is directly input as described above, the relative positional relationship of each axis can be set while monitoring, so that operability such as registration of X-ray fluoroscopy and imaging positions is improved.

Further, the determination circuit 37, the operation range limiting circuit 35, and the evacuation control circuit 36 can be configured as hardware separate from the CPU 31, but can also be configured as software in the CPU 31. In this case, the position detection signal is directly input to the CPU 31. It is also possible to provide the operation range limiting circuit with the function of the determination circuit.

Further, in the embodiment, the judgment circuit 37 and the operation range limiting circuit 35 perform the operation range limitation and the judgment processing such as interference (collision) by arithmetic processing. The operation command signal may be generated by comparing the input position information of the axis by the input means such as the operation lever and the numeric keypad with the operation range table, and the motor, the display device and the like may be controlled by using the memory for storing the table. FIG. 5 shows an operation range table of the C-shaped arm and the bed top plate, in the LAO-RAO direction and the CRA.
An interference (collision) area 71 that may collide with the bed top plate 11 and the subject thereon when the operation lever 41 is tilted by a certain angle or more in both the N-CAUD direction, and a warning area 72 in the vicinity thereof. Things. These areas 71,
72 can be determined in advance if the mechanism as shown in FIG. 2 is determined. Since the interference (collision) area 71 and the warning area 72 change depending on the position of the bed top 11, an operation range table as shown in FIG. It is desirable to correct according to the position. Furthermore, although the image intensifier is used as the X-ray image system, the image system may be a flat panel X-ray detector in which a large number of X-ray detection elements are two-dimensionally arranged.

[0042]

As described above, according to the X-ray inspection apparatus of the present invention, each axis is actually operated manually without moving (moving) each axis by a manual operation using an operation lever or the like. Since the operation state and arrangement relationship of each axis can be reproduced in the same way as when it was moved, each axis can be moved how much and how much without interfering with each axis. It can monitor or simulate whether it interferes. Also, after operating each axis and setting it in a predetermined arrangement relationship, when monitoring how much a certain axis can be operated, even if the input position information is the position information of the interference area, other interference may occur. Since the axes do not automatically retreat, the set arrangement relationship of each axis is maintained, so that positioning and inspection are not performed again by rearranging each axis, and the efficiency of X-ray inspection is improved.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control system of an X-ray inspection apparatus according to an embodiment of the present invention.

FIG. 2 is a perspective view schematically showing the entire appearance of the X-ray inspection apparatus.

FIG. 3 is a plan view showing an operation panel of the X-ray inspection apparatus.

FIG. 4 is a flowchart of an operation.

FIG. 5 is a diagram illustrating an example of an operation range table.

FIG. 6 is a schematic diagram for explaining an operation.

[Explanation of symbols]

10: Subject 11: Bed top plate 21: X-ray tube 22: Image intensifier 23: Television camera 24: C-arm 25: Arm holding block 26: Slide block 27: Slide rail 28: Semicircular frame 29: Base 31: CPU 32: D / A converter 33: Driving mechanism 34: Motor 35: Operating range limiting circuit 36: Evacuation control circuit 37: Judgment circuit 40: Operation panel 41-43: Operation lever 51-58: Push Button 61: Display 71: Interference (collision)
Area 72: Warning area

Claims (3)

[Claims] 1. An X-ray imaging means, a moving means for operating the X-ray imaging means in each of a plurality of axes, and a restriction on movement in each axis in order to prevent mutual interference from their positional relationship. An operation range limiting unit to be added, an input unit for inputting position information of an axis to be operated, a determination unit for determining whether or not to interfere with another axis based on the input position information input by the input unit, and the determination unit An X-ray inspection apparatus, comprising: display means for displaying a result of the determination. 2. The X-ray inspection apparatus according to claim 1, wherein said input means is capable of inputting minute position information of an axis to be operated, and said determination means is configured to input minute position information. An X-ray inspection apparatus characterized in that it repeatedly determines from the input position information whether or not it interferes with another axis, and outputs the determination result to the display means. 3. The X-ray inspection apparatus according to claim 1, wherein the storage unit stores input position information input by the input unit, and the position stored in the storage unit. An X-ray inspection apparatus, comprising: a control unit that controls the moving unit according to the information and moves the X-ray image system to the position of the input position information.