JPH03236832A - Fluoroscopic photographing apparatus - Google Patents

Abstract

PURPOSE:To lighten the burden of an operator and to easily accomplish the reproductivity of diagnosis by storing the operation speed data of a bed by manual operation in compliance with respective operating positions in a memory, and reading out the positional data and speed data at the time of program control to operate the bed. CONSTITUTION:A driving circuit drives a raise and fall motor 6-1 for raising and falling down the top plate of a bed and a motor 6-2 for forcing the rotation thereof. At the time of manual operation, a manual operation signal is input to the driving circuit 5 by a manual/program control switching circuit 2, and speed set value signals are input to the circuit 5 through a change-over switch SW from a raise and fall speed variable setting device VR1 and a rotation variable speed setting device VR2. The operation order of the top plate of the bed, the positional data, the speed data and so on processed according to the respective input signals input to CPU 3 are written in RAM 8, and the speed data is input from CPU 3 to the driving circuit 5 through digital-analog converters D/A-1, D/A-2, and the change-over switch SW. Further, at the time of program control, a program step number is displayed on a display device DP1, and the position of the bed is displayed on a display device DP2.

Description

[Detailed description of the invention] [Objective of the invention] (Industrial application field) The present invention determines the desired position of each part of the bed by manual operation, stores the position in memory, and reproduces it during program control. The present invention relates to an X-ray fluoroscopic imaging device that performs X-ray fluoroscopic imaging.

(Prior Art) Conventionally, for example, in an X-ray fluoroscopic imaging device that can perform fluoroscopic imaging from multiple directions, in order to move the bed to a desired position by program control, the desired bed has to be manually operated using a lever/switch on an operating table. The device is moved to a certain position and positioned, and after the positioning is completed, the position data stored in the memory is read out and reproduced by an automatic controller (hereinafter referred to as a program controller).

FIG. 3 is a circuit diagram showing a control system of such a conventional X-ray fluoroscopic imaging apparatus. In FIG. 3, in order to manually operate the bed, the manual/program control switching circuit 11 is switched to the manual control side by operating the operating lever 12a, and the microcomputer (hereinafter simply referred to as CPU) 13 used as a program controller is activated. A program storage signal is applied to the control lever 12b. In the manual/program control switching circuit 11, the operating lever 1
2a, the manual operation signal is sent to the sequence control circuit 1.
4, and via the drive circuit 15 according to the control signal,
The bed drive motor 16 is moved to a desired position, the bed position at that time is detected by the bed position detector 17, and the detection signal is given to the CPU 13 as position data by the A/D converter 18 and stored in the memory (RAM) 19. are doing. To perform program control, operate the operation lever 12 (to give a playback start signal to the CPU 13), and the CPU 3 reads position data from the memory 19 and uses the position data as a program playback signal to switch between manual and program control. Human power is applied to circuit 11.

The manual/program control switching circuit 11 supplies this program playback signal to the sequence control circuit 14, and uses the control signal to move the bed drive motor 16 to a desired position via the drive circuit 15. In this case, the operating order of each part of the bed is determined by the CPU 13, and the operating speed during playback is constant.

(Problems to be Solved by the Invention) As described above, the program control in the conventional X-ray fluoroscopic imaging apparatus is such that when the program is performed manually, the bed is moved to a desired position using manual signals and then positioned.
Since the position data is stored in one memory by operating the operating lever 12b, the operation is complicated and the burden on the operator is heavy.

Furthermore, during program playback, the order of operation of each part of the bed is determined by the program controller, so the operation may be different from that when inputting manual operation.Furthermore, since the bed movement speed is constant during program control, for example, the movement of the stomach When making a diagnosis, fluoroscopic imaging is actually performed while moving the bed at a variable speed and flowing the barium fluid, but with the program control described above, the flow direction of the barium fluid changes, making the reproducibility of the diagnosis (repeat) difficult. It was difficult to obtain medical examinations, etc.

An object of the present invention is to provide an X-ray fluoroscopic imaging apparatus that can reduce the burden on the operator and easily realize reproducibility of diagnosis.

[Structure of the Invention (Means for Solving the Problems)] In order to achieve the above object, the present invention operates the bed by manual operation and stores each position data from the initial position to the final operation position in a memory. , and in an X-ray fluoroscopic imaging apparatus that controls the movement of the bed by reading the position data stored in the memory during program control, when each position data is taken in by the manual operation, the movement speed data of the bed is read. The data is taken in and stored in the memory in correspondence with each operating position of the bed, and during program control, the position data is read out together with the operating speed data of the bed to operate the bed.

(Function) With an X-ray fluoroscopic imaging device having such a configuration, once the initial settings are made, program input can be realized by simply operating the operating lever/switch, etc., reducing the burden on the operator. It can be reduced. Furthermore, during program playback, the bed moves at a variable speed in the same way as when manually operating the system, so reproducibility of diagnosis can be easily achieved.

(Example) An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing an example of the configuration of an X-ray fluoroscopic imaging device capable of imaging from multiple directions to which the present invention is applied. As shown in FIG. 1, a pair of support arms 23 are attached to a raising/lowering support part 22 that is supported by a pedestal 21 so as to be able to rotate in the direction of the arrow A in the figure. is supported so as to enable rotation in the direction of the arrow B in the figure, rolling of the top plate in the direction of the arrow C in the figure, and horizontal movement in the direction of the arrow E in the figure. Further, a support column 26 is attached to the support member 25 attached to the support arm 23, an X-ray tube 27 is attached to the upper part of the support column 26, and an imaging device (for example, 1, I) 28 is attached to the lower part in the direction of the arrow shown in the figure. It is movably supported.

Rotation A of these support parts 22 for raising and lowering.

Rotation B of bed top 24 and top rolling C
and lateral movement E1 and 1. All operations for vertical movement are performed using operating levers, switches, etc. placed on the operating table.

FIG. 2 is a block circuit diagram showing an example of the configuration of a control device implanted in the main body of such an X-ray fluoroscopic imaging apparatus. Second
In the figure, 1 is an operation console, and this operation console 1 includes a variable speed setting device VRI and a variable rotation speed setting device VR2.
, program manual selection switch S1, program playback selection switch S2, program playback start switch S3
, a plurality of operating levers L for manual operation and a display DPI for displaying program step numbers;
It consists of a bed position indicator DP2. Reference numeral 2 denotes a manual/program control switching circuit, and when an on signal is input from the program input selection switch S1 or the program playback selection switch S2, the manual/program control switching circuit 2 switches to the manual control side or the program control side. It is possible to switch. 3 is a microcomputer (C
PU), this CPU 3 receives ON signals from the program input selection switch S1, program playback selection switch S2, and program playback start switch S3, and when the manual/program control switching circuit 2 is switched to the manual control side, A bed operation signal is input by operating the lever L. Further, speed setting value signals from the variable raising/lowering speed setting device VR1 and the variable rotation speed setting device VR2 are input to the speed change detector 4-1.4-2. When a speed change is detected by
1, is input to the CPU 3 via A/D-2.

On the other hand, 5 is a drive circuit that drives a lift motor 6-1 that raises and lowers the bed top and a rotation motor 6-2 that rotates the bed top. At the same time as a manual operation signal is input, a speed setting value signal is input from the variable raising/lowering speed setting device VR1 and the rotation variable speed setting device VR2 via the changeover switch SW. Moreover, 7-1.7-2 is the raising/lowering motor 6-1. This is a position detector consisting of a potentiometer that detects the position of the bed top from the rotation angle of the rotation motor 6-2.The position detection signal of this position detector 7-1.7-2 is sent to an analog-to-digital converter A/D-3. , A/D-4 to the CPU 3. Reference numeral 8 denotes a memory (RAM) in which the operation order, position data, speed data, etc. of the bed top processed based on each human power signal inputted to the CPU 3 are written. Each data written in this RAM 8 is stored in a program. During control, it is read out by the CPU 3 and given to the drive circuit 5 as an operation signal. Among the data written in the RAM 8, the speed data is sent to the digital-to-analog converter D by the CPU 3.
/A-1, D/A-2, and is inputted to the drive circuit 5 via the changeover switch SW. Further, during program control, the CPU 3 displays the program step number on the display DPI, and the bed position is displayed on the display DP2.

Next, the operation of the X-ray fluoroscopy apparatus configured as described above will be described.

Now, in FIG. 1, a case will be considered in which program control of raising/lowering A and rotation B of the bed top 24 is executed. In FIG. 2, when the program manual selection switch S1 on the operation console 1 is turned on in order to perform the program manual operation, the CPU 3 enters the state of acquiring each data, and the rotation motor 6-1 and rotation motor 6-2 rotate. The position detector 7-. 1.7-2, is taken into the CPU 3 via the analog/digital converters A/D-3 and A/D-4, and stored in the initial position data area of the RAM 8. Further, the manual/program switching circuit 2 is in a state where the manual side is selected, and its signal is manually input to the CPU 3 and the drive circuit 5. In this state, when the tilting lever L is turned on, the operation signal is transmitted to the CPU 3 and the drive circuit 5. When the CPU 3 receives the raising/lowering operation signal, it reserves a data area regarding the raising/lowering in the RAM 5, and assigns a sequence number to the area. On the other hand, in the drive circuit 5, the raising/lowering motor 6-1 is rotated by the operation signal. In this case, the rotational speed of the raising/lowering motor 6-1 is determined by the raising/lowering speed variable setter VRI on the operation console 1. When the bed top plate performs the raising/lowering operation by the rotation of the raising/lowering motor 6-1, C
PU3 converts the rotational speed (raising/lowering speed) at that point into RA as speed data using the analog/digital converter A/D-4.
Store it in the area secured before M8. The speed data is stored in the RAM 8 in the same area in the RAMg every time a change occurs in the speed command manually input to the speed change detector 4-1, together with the tilting angle at that time.

When the positioning is completed as described above and the tilting lever L is turned off, the CPU 3 detects the bed tilting angle at that time using the position detector 7-.
1. Input by analog-to-digital converter A/D-4 and store in the same area previously secured in RAM 5. Up to this point, one step in programming is completed.

Next, let's talk about rotation. In the case of rotation, data is imported in the same way as for raising and lowering, but the RAM area for rotation is provided separately from that for raising and lowering, and a sequence number is assigned according to the operation signal, and speed data is acquired when the speed changes. is stored as rotation angle data when the operation signal is turned off.

Next, we will discuss the case where rotation is performed while standing up and down. The tilting angle when the rotation operating lever L is turned on is stored in the rotation RAM area as initial position data, and when the program is reproduced to be described later, the rotation is started when the tilting angle reaches that angle. Also, this function is the same even when raising and lowering is performed during rotation.

Manual operation is required until the series of operations of raising/lowering and rotation are completed, but as mentioned above, when the operating lever L for raising/lowering and rotation is turned off from on, it becomes one step of the program, and when it is turned on again, the RAM is The sequence number of the area is incremented, the next RAM area is secured, and the number of steps in the program is also increased by 1.

Next, program control will be explained.

When playing a program, first turn on the program playback selection switch S2 on the console 1. When this switch S2 is turned on, the manual/program control switching circuit 2 is switched to the program control side, and manual operation is disabled. If this switch S2 is held down at the same time, the bed top moves to the initial position for program playback. This position is
This is obtained by first reproducing the initial position data stored in the RAM 8 at the beginning of the program input.

Also, this operation is a deadman type, and the operation stops when the switch is released. When the bed top has finished moving to the initial position, the CPU 3 reads out the sequence number of the first step of the raising/lowering and rotation input earlier from the RAM 8, displays the program step number on the display DPI, and then displays the program step number on the display DP2. Displays the playback target position (in this case, angle) of the bed top. Next, when the program playback start switch S3 on the console 1 is turned on, the raising/lowering and rotation of the bed top starts. This operation is a deadman method, and the operation stops when the switch is released.

While the bed top is in operation, the CPU 3 always compares the data of the first step read out from the RAM 8 with the data of the position detector 7-1. outputs the speed data at that point and converts it into a digital-to-analog converter D/A-
1, and if rotation is started during raising and lowering at the time of program input, rotation is started when the raising and lowering angle reaches that position.

By continuing to press the switch, the bed top moves to the position where one step ends, and when it reaches the target position, the bed top stops and the step number displayed on the display DPI increments. Further, the target position of the second step is displayed on the display DP2 in preparation for the next display. Further, when the bed top completes positioning, that is, at the next point after it has stopped, the manual/program control switching circuit 2 switches to the manual side, allowing fine adjustment using an operating lever or the like.

Program control (reproduction) operation becomes possible by continuing the above operation until the number of steps manually input during manual operation is completed.

The explanation so far has been about raising, lowering, and rotating the bed top, but other movements of the bed top include the vertical movement D of the bed top rolling C, 1, and I shown in Figure 1, and the bed top There is a left and right movement E, and by using exactly the same control system for inputting and reproducing these programs, program control of all operations is possible. Further, if the present invention is applied to program control of the X-ray exposure timing, completely automatic control becomes possible.

[Effects of the Invention] As described above, according to the present invention, once the initial settings are made, program input can be realized by simply operating the operating lever/switch, etc., thereby reducing the burden on the operator. In addition, during program playback, the bed can be moved at variable speeds in the same manner as when manual operation is performed, so it is possible to provide an X-ray fluoroscopic imaging apparatus that can easily realize reproducibility of diagnosis.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a configuration example of an X-ray fluoroscopic imaging apparatus to which the present invention is applied, FIG. 2 is a block circuit diagram of a control system showing an embodiment of the present invention, and FIG. 3 is a conventional X-ray FIG. 2 is a block circuit diagram showing a control system of the fluoroscopic imaging device. 1...Operation console, vRl...Variable raising/lowering speed setting device, V
H2... Rotation speed variable setter, Sl...
Program manual selection switch, S2...Program playback selection switch, S3...Program playback start switch, L...Various operating levers DPI. DP2...Display unit, 2...Manual/program control switching circuit, 3...Microcomputer (CPU
), 4-1.4-2... speed change detector, 5...
Drive circuit, 6-1.6-2... Lifting and tilting, rotation motor, 7-1.7-2... Position detector, 8... Memory (RAM), A/D-1 to A/ D-4...Analog-digital converter, D/A-1, D/A-2...
・Digital-to-analog converter, sw...changeover switch.

Claims (1)

[Claims] The bed is operated manually and each position data from the initial position to the final operating position is stored in memory.
In an X-ray fluoroscopic imaging apparatus that drives and controls the bed by reading the position data stored in the memory during program control, when each position data is taken in by the manual operation, the movement speed data of the bed is read. X-rays are captured and stored in the memory in correspondence with each operating position of the bed, and during program control, the position data is read out together with the movement speed data of the bed to operate the bed. Fluoroscopic imaging device.