JP6786266B2 - X-ray diagnostic equipment - Google Patents

Description

Embodiments of the present invention relate to an X-ray diagnostic apparatus.

The X-ray diagnostic apparatus has a cage that movably holds the X-ray tube and the X-ray detector. The X-ray diagnostic apparatus executes the auto-positioning mode of the cage according to a predetermined operation sequence by software, and moves the cage to a designated target position.

In cardiovascular X-ray diagnosis and the like, various devices are arranged around the cage. In the auto-positioning mode, the cage is moved along a preset path, so if a device is placed on the path, the device may interfere with the cage. To avoid interference, the healthcare professional must evacuate the device out of the path, or interrupt the auto-positioning mode and allow the healthcare professional to manually move the cage.

Japanese Unexamined Patent Publication No. 09-140689 Japanese Unexamined Patent Publication No. 2012-205681 Japanese Unexamined Patent Publication No. 2008-148866 Japanese Unexamined Patent Publication No. 2014-97131 JP-A-2002-238888 Special Table No. 09-505756 Special Table 2014-534886 Japanese Unexamined Patent Publication No. 2005-245502 Japanese Unexamined Patent Publication No. 08-289858 Japanese Unexamined Patent Publication No. 2009-219552

An object of the embodiment is to provide an X-ray diagnostic apparatus capable of improving the positioning efficiency of a cage that holds an X-ray tube.

The X-ray diagnostic apparatus according to the present embodiment includes a cage that holds an X-ray tube that generates X-rays, a turn signal that indicates the moving direction of the cage, and a predetermined operation sequence of the cage. A movement indicator that instructs the execution of the auto-positioning mode for moving to the target position according to the movement indicator, a control unit that controls the operation of the cage in the auto-positioning mode according to the instruction via the movement indicator, and the above-mentioned When the movement direction is indicated by the direction indicator when the auto-positioning mode is executed, the route determining unit determines the detour route from the current position to the instructed movement direction by the cage. And a display unit for displaying the detour route.

FIG. 1 is a diagram showing a configuration of an X-ray diagnostic apparatus according to the present embodiment. FIG. 2 is a diagram showing the appearance of the X-ray diagnostic apparatus according to the present embodiment. FIG. 3 is a perspective view of the laboratory input device of FIG. FIG. 4 is a side view of the laboratory input device of FIG. FIG. 5 is a diagram schematically showing a state of a laboratory in which an operation using the X-ray diagnostic apparatus according to the present embodiment is performed. FIG. 6 is a diagram schematically showing the movement of the X-ray tube holding device by the X-ray diagnostic device according to the present embodiment. FIG. 7 is a diagram showing a typical flow of a detour operation performed under the control of the system control circuit according to the present embodiment. FIG. 8 is a diagram showing a continuation of a typical flow of the detour operation shown in FIG. 7. FIG. 9 is a diagram for explaining the setting of the target position in the data space in step SA2 of FIG. 7. FIG. 10 is a diagram for explaining the setting of the initial route in the data space in step SA3 of FIG. FIG. 11 is a diagram showing interference between the C arm and the non-communication device when a non-communication device (obstacle) is present in the initial path. FIG. 12 is a diagram showing an instruction in the detour direction in step SB2 of FIG. FIG. 13 is a diagram for explaining a process of determining a candidate for a detour route when a detour direction is designated in the patient's left hand direction as shown in FIG. FIG. 14 is a diagram showing an example of a display screen of a detour route candidate displayed by the display circuit in step SB5 of FIG. FIG. 15 is a diagram for explaining the estimation and registration of the interference region by the arithmetic circuit of FIG. FIG. 16 is a diagram showing an initial path in another auto-positioning operation according to an application example. FIG. 17 is a diagram showing an example of a detour operation in the case of FIG. FIG. 18 is a diagram showing another example of the detour operation in the application example.

Hereinafter, the X-ray diagnostic apparatus according to the present embodiment will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of an X-ray diagnostic apparatus according to the present embodiment. FIG. 2 is a diagram showing the appearance of the X-ray diagnostic apparatus according to the present embodiment.

As shown in FIGS. 1 and 2, the X-ray diagnostic apparatus according to the present embodiment includes an X-ray tube holding device 1, a sleeper device 3, a high voltage generator 5, and a console 7. For example, the X-ray tube holding device 1, the sleeper device 3, and the high voltage generator 5 are installed in the radiography room, and the console 7 is installed in the control room adjacent to the radiography room.

As shown in FIGS. 1 and 2, the X-ray tube holding device 1 is a mechanical device that holds at least the X-ray tube 11. The X-ray tube holding device 1 according to the present embodiment may be either a ceiling-mounted type or a floor-standing type. The floor-standing type includes a cardiovascular imaging type in which the C-arm 15 equipped with the X-ray tube 11 and the X-ray detector 13 is movably held, and the X-ray tube 11 is movable with respect to the sleeper 31. It may be a gastrointestinal radiography type that holds the sleeper in a tiltable manner. Further, the X-ray tube holding device 1 according to the present embodiment may be a single plane type including either a floor-standing type X-ray tube holding device or a ceiling-suspended type X-ray tube holding device. Any biplane method including both a floor-standing type X-ray tube holding device and a ceiling-suspended type X-ray tube holding device is possible. Hereinafter, the X-ray tube holding device according to the present embodiment is assumed to be a single plane type ceiling suspension type as an example.

As shown in FIGS. 1 and 2, the X-ray tube holding device 1 includes, for example, an X-ray tube 11, an X-ray detector 13, a C arm 15, and a C arm holding system 17. The X-ray tube 11 is connected to the high voltage generator 5 via a high voltage cable. The high voltage generator 5 generates a high voltage to be applied to X-rays in response to a control signal from the X-ray control circuit 71 of the console 7. The X-ray tube 11 generates X-rays by receiving a high voltage applied from the high voltage generator 5. The X-ray detector 13 detects the X-rays generated from the X-ray tube 11. Specifically, it is assumed that the X-ray detector 13 is an FPD (flat panel detector) having a plurality of detector pixels arranged in a two-dimensional plane, a reading circuit, and an A / D conversion circuit. Each detector pixel detects X-rays generated from the X-ray tube 11 and generates an electric signal (detection signal) according to the intensity of the detected X-rays. The read circuit reads a detection signal from a plurality of detector pixels at a predetermined timing in frame units. The A / D conversion circuit A / D-converts the detection signals read from the plurality of detector pixels and generates X-ray image data related to the subject in frame units. The generated X-ray image data is transmitted to the image data storage circuit 75 of the console 7.

As shown in FIGS. 1 and 2, the X-ray tube 11 and the X-ray detector 13 are attached to the C arm 15. The C-arm 15 is a support structure equipped with an X-ray tube 11 and an X-ray detector 13. Specifically, an X-ray tube 11 is attached to one end of the C arm 15, and an X-ray detector 13 is attached to the other end of the C arm 15 facing the X-ray tube 11. The C-arm 15 is movably held by the C-arm holding system 17.

The C-arm holding system 17 holds the C-arm 15 three-dimensionally so as to be movable. The C-arm holding system 17 is designed according to the degree of freedom of movement of the C-arm 15, and is composed of a plurality of structures (hereinafter, referred to as holding structures) that are intertwined with each other.

As shown in FIG. 2, the C-arm holding system 17 has holding structures such as a guide rail 171, a first slider 172, a second slider 173, a support support 174, a support 175, and a C-arm support 176. .. The guide rail 171 is a pair of rails mounted on the ceiling. The guide rail 171 slidably supports the first slider 172 with respect to the traveling direction D1 of the guide rail 171. The first slider 172 is a structure that slides the guide rail 171 in the D1 direction. Further, the first slider 172 is equipped with a pair of guide rails (not shown) attached along the D2 direction horizontally orthogonal to the D1 direction. The first slider 172 slidably supports the second slider 173 in the D2 direction, which is the traveling direction of the guide rail. The second slider 173 is a structure that slides the guide rail provided on the first slider 172 in the D2 direction. A strut support 174 is attached to the second slider 173. The strut support 174 is a structure that rotatably supports the strut 175 around the swivel shaft A1 arranged vertically. The support column 175 is a structure having an arc shape. One end of the support column 175 is rotatably supported around the vertical axis A1 by the support column support 174 drive control circuit, and the C-arm support device 176 is attached to the other end. The C-arm support 176 is a structure that rotatably supports the C-arm 15 around a rotation axis A2 parallel to the D1 direction. Further, the C-arm support 176 slidably supports the C-arm 15 around the slide rotation axis A4 orthogonal to the rotation axis A2 and the photographing axis A3 in the isocenter IC. The imaging axis A3 is defined as an axis connecting the focal point of the X-ray tube 11 and the center of the detection surface of the X-ray detector 13.

Here, the axis parallel to the D1 direction is defined as the Z axis, the axis horizontally orthogonal to the Z axis is defined as the X axis, and the Z axis and the axis vertically orthogonal to the X axis are defined as the Y axis. The XYZ coordinate system forms a Cartesian coordinate system.

As shown in FIG. 1, the X-ray tube holding device 1 has a C-arm drive system 19 that generates power for driving the X-ray tube holding device 1. Typically, the C-arm drive system 19 is mounted on the C-arm holding system 17. For example, as the C-arm drive system 19 corresponding to the C-arm holding system 17 illustrated in FIG. 2, a drive device for sliding the first slider 172 in the D1 direction (hereinafter, referred to as a first slider drive device), a first 2 Drive device for sliding the slider 173 in the D2 direction (hereinafter referred to as a second slider drive device), a drive device for turning the support column 175 around the turning axis A1 (hereinafter referred to as a support column rotation drive device), A drive device for rotating the C arm 15 around the rotation axis A2 (hereinafter referred to as an arm rotation drive device), and a drive device for sliding the C arm 15 around the slide rotation axis A4 along the shape of the C arm 15. (Hereinafter referred to as a slide rotation drive device). Each drive device receives, for example, a drive signal from the drive control circuit 73 of the console 7 and drives the drive device. For each drive device, for example, an existing motor such as a servo motor is used. Each drive device is provided with a position detector 21. The position detector 21 is provided for each drive device included in the C-arm drive system 19. For example, the position detector 21 outputs a pulse signal (position detection signal) every time the motor rotation shaft of the drive device rotates by a certain angle. The position detection signal is transmitted to the drive control circuit 73.

As shown in FIGS. 1 and 2, a sleeper 31 is provided below the guide rail 171. The sleeper 31 has a top plate 311 and a base 313. The subject is placed on the top plate 311. The base 313 movably supports the top plate 311. A sleeper drive system 33 is mounted on the base 313. The sleeper drive system 33 has, for example, a drive device for sliding the top plate 311 in the long axis direction parallel to the D1 direction, and a drive device for raising and lowering the top plate 311 in the vertical direction. Each drive device receives, for example, a drive signal from the drive control circuit 73 of the console 7 and drives the drive device. For each drive device, for example, an existing motor such as a servo motor is used. A position detector 35 is provided in each drive device. The position detector 35 is provided for each drive device included in the sleeper drive system 33. For example, the position detector 35 outputs a pulse signal (position detection signal) every time the motor rotation shaft of the drive device rotates by a certain angle. The position detection signal is transmitted to the drive control circuit 73.

As shown in FIG. 2, the base 313 is equipped with an examination room input device 315 for instructing the movement of the X-ray tube holding device 1 and the sleeper device 3. FIG. 3 is a perspective view of the laboratory input device 315, and FIG. 4 is a side view of the laboratory input device 315 of FIG. As shown in FIG. 3, the laboratory input device 315 has a housing 317 provided on the base 313. The housing 317 is provided with a handle 319 for the user to grip so as to extend to the outside of the housing 317.

A normal mode button B1, an auto mode button B2, a control target selection button B3, a direction indicator rod B4, and a trigger switch B5 are provided on the surface of the housing 317. The normal mode button B1 is a button for selecting a normal mode described later. When the normal mode button B1 is pressed, the operation mode is switched to the normal mode by the drive control circuit 73.

The auto mode button B2 is a button for selecting the auto positioning mode mode described later. When the auto mode button B2 is pressed, the operation mode is switched to the auto positioning mode by the drive control circuit 73.

The control target selection button B3 is a button for selecting a control target in the normal mode. The control targets include a first slide drive device for sliding the first slider 172 in the D1 direction, a second slide drive device for sliding the second slider 173 in the D2 direction, and rotation of the support column 175 by the support column support 174. Support swivel drive device for swivel around axis A1, arm rotation drive device for rotation of C arm 15 by C arm support 176, slide rotation shaft of C arm 15 by C arm support 176 A slide rotation drive device for sliding around A4 can be mentioned. When the control target selection button B3 is pressed, the control target is switched by the drive control circuit 73.

The direction indicating rod B4 is an operating rod (joystick) for instructing the moving direction of the C arm 15. The direction indicating rod B4 is supported by the housing 317 so as to be tiltable over the entire circumferential direction. Typically, the turn signal rod B4 is tilted by the thumb of the hand holding the handle 319.

The trigger switch B5 is a button for instructing the drive of the C-arm drive system 19 or the sleeper drive system 33. The trigger switch B5 is typically pressed by the index finger of the hand holding the handle 319. The trigger switch B5 is a deadman switch. For example, when the auto-positioning mode is selected, the C-arm drive system 19 is driven by the drive control circuit 73 and the C-arm 15 is moved while the trigger switch B5 is pressed. When the direction indicator rod B4 is tilted while pressing the trigger switch B5 in the normal mode, the C-arm drive system 19 is driven by the drive control circuit 73 and the C-arm 15 is moved in the tilting direction. When the direction indicating rod B4 is tilted without pressing the trigger switch B5 in the auto-positioning mode, the arithmetic circuit 79 determines a detour route detouring in the tilting direction.

As shown in FIG. 1, the console 7 is a computer device that controls an X-ray diagnostic device. The console 7 has an X-ray control circuit 71, a drive control circuit 73, an image data storage circuit 75, an image processing circuit 77, an arithmetic circuit 79, a display circuit 81, an input circuit 83, and a main storage circuit 85, centered on the system control circuit 87. Has. The X-ray control circuit 71, the drive control circuit 73, the image data storage circuit 75, the image processing circuit 77, the arithmetic circuit 79, the display circuit 81, the input circuit 83, the main storage circuit 85, and the system control circuit 87 bus each other. It is connected so that it can communicate via.

The X-ray control circuit 71 supplies a control signal to the high voltage generator 5 so as to perform X-ray exposure corresponding to preset X-ray conditions. The high voltage generator 5 to which the control signal is supplied applies a high voltage corresponding to the control signal to the X-ray tube 11, and the X-ray tube 11 exposes X-rays to the application of the high voltage.

The drive control circuit 73 controls the C-arm drive system 19 and the sleeper drive system 33 for positioning the X-ray tube holding device 1 and the sleeper device 3. The drive control circuit 73 has a processing device (processor) such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit) and a storage device (memory) such as a ROM (Read Only Memory) and a RAM (Random Access Memory). .. For example, the drive control circuit 73 executes the operation control program according to the present embodiment, and controls the C-arm drive system 19 according to the operation control program. The drive control circuit 73 realizes the position determination function 731, the normal mode function 733, the auto mode function 735, and the mode switching function 737 by executing the operation control program. The drive control circuit 73 includes an application specific integrated circuit (ASIC) as a hardware configuration for realizing the position determination function 731, the normal mode function 733, the auto mode function 735, and the mode switching function 737. It may have a field programmable gate array (Field Programmable Logic Device: FPGA), another complex programmable logic device (CPLD), and a simple programmable logic device (Simple Programmable Logic Device: SPLD).

By executing the position determination function 731, the drive control circuit 73 determines the three-dimensional position of the C arm 15 based on the position detection signal from the position detector 21 attached to the C arm drive system 19, and the sleeper drive system. The three-dimensional position of the top plate 311 is determined based on the position detection signal from the position detector 35 attached to the 33. Specifically, the drive control circuit 73 determines the coordinates of the holding structure with respect to the movable axis of each drive device based on the position detection signals from the drive devices constituting the C-arm drive system 19. Then, the drive control circuit 73 determines the coordinates of the existence region occupied by each holding structure in the XYZ coordinate system as the three-dimensional position of the C arm 15 based on the coordinates and the form of each holding structure. That is, the position according to the present embodiment means not the three-dimensional coordinates of an arbitrary reference point set in the X-ray tube holding device 1, but the spatial area occupied by the X-ray tube holding device 1. Actually, the position according to the present embodiment is defined by the combination of the coordinates of the holding structure with respect to the movable axis of each driving device constituting the C-arm holding system 17. Similarly, the drive control circuit 73 determines the three-dimensional position of the top plate 311 based on the position detection signals from each drive device constituting the bed drive system 33.

By executing the normal mode function 733, the drive control circuit 73 controls the C arm drive system 19 or the sleeper drive system 33 in order to move the C arm 15 or the top plate 311 according to the manual operation of the user. The user instruction is input via the operation of the laboratory input device 315 by the user. Such an operation mode in which the C arm 15 and the top plate 311 are moved manually by the user is referred to as a normal mode.

By executing the auto mode function 735, the drive control circuit 73 controls the C-arm drive system 19 in order to automatically move the X-ray tube holding device 1 to a preset target position. More specifically, the drive control circuit 73 synchronously controls the C-arm drive system 19 according to the operation sequence determined by the sequence determination function 795 by the arithmetic circuit 39. The operation sequence is information that defines the drive order and the drive amount of each drive device included in the C arm drive system 19 so that the C arm passes through a predetermined path. Such an operation mode for automatically moving the X-ray tube holding device 1 is referred to as an auto-positioning mode. The target position according to the present embodiment indicates the three-dimensional position of the X-ray tube holding device 1 after positioning.

By executing the mode switching function 737, the drive control circuit 73 automatically switches between the normal mode and the auto-positioning mode according to an instruction from the user via the laboratory input device 315 or according to a predetermined condition.

The image data storage circuit 75 is a storage device such as an HDD (hard disk drive), an SSD (solid state drive), or an integrated circuit storage device that stores X-ray image data transmitted from the X-ray detector 13.

The image processing circuit 77 has a processor such as a CPU, GPU, and MPU, and a memory such as a ROM and RAM as hardware resources. The image processing circuit 77 performs various image processing such as scattered ray correction on the X-ray image data. The image processing circuit 77 may be realized by an ASIC, FPGA, CPLD, or SPLD that realizes the above image processing.

The arithmetic circuit 79 has a processor such as a CPU, GPU, and MPU and a memory such as a ROM and RAM as hardware resources. The arithmetic circuit 79 executes the processing program according to the present embodiment and realizes various functions according to the processing program. Specifically, the arithmetic circuit 79 realizes the route determination function 791, the interference region registration function 793, and the sequence determination function 795 by executing the processing program.

When the calculation circuit 79 is instructed by the direction indicating rod B4 in the detour direction when the auto-positioning mode is executed by executing the route determination function, the X-ray tube holding device 1 detours from the current position in the detour direction to the target position. Determine the detour route to. The current position refers to the three-dimensional position of the X-ray tube holding device 1 at the time when the detour direction is indicated by the direction indicating rod B4. The detour route is determined in the data space defined by the XYZ orthogonal three-dimensional coordinate system. Hereinafter, the data space for determining the movement route of the X-ray tube holding device 1 used in the auto-positioning mode, such as the detour route, will be simply referred to as a data space. The current position of the X-ray tube holding device 1 and the current position of the sleeper device 3 are recorded in the data space. The arithmetic circuit 79 determines a detour route in the data space. The data in the data space is stored in the memory of the arithmetic circuit 79 or the like.

By executing the interference area registration function 793, the arithmetic circuit 79 registers the interference area in the above data space. For example, the arithmetic circuit 79 determines the interference region based on the moving direction indicated by the directional rod B4 and the current position. By registering the interference region in the data space, the arithmetic circuit 79 can determine a detour route to avoid the interference region.

By executing the sequence determination function 795, the arithmetic circuit 79 determines the operation sequence corresponding to the detour route. The determined operation sequence is supplied to the drive control circuit 73. The drive control circuit 73 controls the C-arm drive system 19 according to the supplied operation sequence. As a result, the drive control circuit 73 can move the X-ray tube holding device 1 from the current position to the target position through the detour route.

The display circuit 81 displays various information. For example, the display circuit 81 displays the X-ray image data transmitted from the X-ray detector 13 and the X-ray image corresponding to the X-ray image data processed by the image processing circuit 77. Further, the display circuit 81 displays the detour route determined by the arithmetic circuit 79. Specifically, the display circuit 81 includes a display interface circuit and a display device. The display interface circuit converts data representing a display target into a video signal. The display signal is supplied to the display device. The display device displays a video signal representing the display target. As the display device, for example, any display such as a CRT display, a liquid crystal display, an organic EL display, an LED display, and a plasma display can be appropriately used. The display device may be provided in the examination room, the control room, or both the examination room and the control room.

Specifically, the input circuit 83 has an input device and an input interface circuit. The input device receives various commands from the user. Specifically, the input device has a laboratory input device 315. As described above, the examination room input device 315 is provided on the sleeper 31, and has, for example, a normal mode button B1, an auto mode button B2, a control target selection button B3, a direction indicator rod B4, and a trigger switch B5. In addition to the inspection room input device 315, the input device may include a control room input device provided in the control room. A keyboard, mouse, various switches, etc. can be used as the control room input device. The input interface circuit supplies the output signal from the input device to the system control circuit 87 via the bus.

The main storage circuit 85 is a storage device such as an HDD, an SSD, or an integrated circuit storage device that stores various information. Further, the main storage circuit 85 may be a drive device or the like that reads and writes various information to and from a portable storage medium such as a CD-ROM drive, a DVD drive, and a flash memory. For example, the main storage circuit 85 stores an operation control program, a processing program, and the like of the X-ray diagnostic apparatus.

The system control circuit 87 functions as the center of the X-ray diagnostic apparatus and controls each part in the X-ray diagnostic apparatus. The system control circuit 87 has a CPU or MPU processor and a memory such as a ROM or RAM as hardware resources.

The configuration of the X-ray diagnostic apparatus according to the present embodiment is an example, and the present invention is not limited to this, and various modifications are possible. For example, the X-ray control circuit 71, the drive control circuit 73, the image data storage circuit 75, the image processing circuit 77, the arithmetic circuit 79, the display circuit 81, the input circuit 83, the main storage circuit 85, and the system control circuit 87 are all single. It is not necessary to be mounted on the computer device of the above, and it may be mounted separately on a plurality of computer devices.

Next, the details of the operation of the X-ray diagnostic apparatus according to the present embodiment will be described.

First, the outline of the operation of the X-ray diagnostic apparatus according to the present embodiment will be described with reference to FIGS. 5 and 6. FIG. 5 is a diagram schematically showing a state of a laboratory in which an operation using the X-ray diagnostic apparatus according to the present embodiment is performed. FIG. 6 is a diagram schematically showing the movement of the X-ray tube holding device 1 by the X-ray diagnostic device according to the present embodiment.

As shown in FIG. 5, an X-ray tube holding device 1 is installed in the examination room, and medical personnel such as doctors and technicians and various devices are located around the bed 31 on which the patient is placed. .. Examples of various devices include anesthesia devices, electrocardiographs, respirators, display devices, chairs, and the like. Since these devices do not communicate position information with the X-ray diagnostic device, the X-ray diagnostic device cannot recognize them. Hereinafter, a device such as the above device that does not communicate position information with the X-ray diagnostic device will be referred to as a non-communication device. If the non-communication device is arranged in the movement path when the X-ray tube holding device 1 is moved by the auto-positioning mode, the non-communication device can be an obstacle to the X-ray tube holding device 1. If the X-ray tube holding device 1 and the non-communication device interfere with each other, the X-ray tube holding device 1 and the non-communication device may be damaged.

Conventionally, in order to avoid interference between the X-ray tube holding device and the non-communication device, a user such as a medical worker interrupts the auto-positioning mode and moves the X-ray tube holding device in the manual mode, or moves the X-ray tube holding device to the movement path. The placed non-communication equipment must be manually retracted. If these measures are taken, the positioning operation time becomes long and the positioning efficiency deteriorates.

As shown in FIG. 6, in the X-ray diagnostic apparatus according to the present embodiment, when an obstacle (non-communication device) 100 is arranged in the movement path of the auto-positioning mode, the input circuit is input by the user during the execution of the auto-positioning mode. When the detour direction is instructed via 83, the detour route that detours in the detour direction and reaches the target position is automatically determined. As a result, the X-ray tube holding device 1 can be moved to the target position by a simple operation without interrupting the auto-positioning mode, so that deterioration of the positioning efficiency of the X-ray tube holding device 1 can be suppressed. ..

Next, a detour operation performed under the control of the system control circuit 87 according to the present embodiment will be described. 7 and 8 are diagrams showing a typical flow of a detour operation performed under the control of the system control circuit 87 according to the present embodiment.

As shown in FIG. 7, first, the auto-positioning mode is selected by the user via the input circuit 83 (step SA1). Specifically, the user presses the auto mode button B2 of the input device 315 mounted on the sleeper 31 in order to select the auto positioning mode. When the auto mode button B2 is pressed, the system control circuit 87 causes the drive control circuit 73 to execute the mode switching function 737. In the mode switching function 737, the drive control circuit 73 switches the operation mode to the auto-positioning mode.

When step SA1 is performed, the system control circuit 87 causes the arithmetic circuit 79 to perform the routing function 791 (step SA2). In step SA2, the arithmetic circuit 79 sets a target position and an initial movement path (hereinafter, referred to as an initial path). The target position and initial route are set in the data space.

FIG. 9 is a diagram for explaining the setting of the target position in the data space in step SA2. FIG. 9 is a view looking down from directly above the examination room where the top plate 311 and the C arm 15 are present. As shown in FIG. 9, a region corresponding to the top plate 311 (hereinafter referred to as a top plate region) 311 and a region corresponding to the C arm 15 (hereinafter referred to as a C arm region) R15 are recorded in the data space. Has been done. The dotted circle drawn in the C-arm area R15 indicates the position of the X-ray tube. As described above, the actual data space is a three-dimensional space defined by the XYZ coordinate system, but it is shown two-dimensionally in FIG. 9 and the like for the sake of simplicity. Further, although the subject placed on the top plate is shown in FIG. 9 and the like, the area corresponding to the subject may or may not be recorded in the data space.

The current position PS is determined by the drive control circuit 73 based on the position detection signal from the position detector 21. The user specifies the target position PE via the laboratory input device 315. For example, the target position setting screen may be displayed by the display circuit 81, and the target position may be specified by operating the examination room input device 315 while looking at the setting screen. The arithmetic circuit 79 sets the target position PE at a position designated by the user via the laboratory input device 315. As the method for designating the target position PE, an existing method may be used.

FIG. 10 is a diagram for explaining the setting of the initial route in the data space in step SA3. As shown in FIG. 10, when the target position PE is set, the arithmetic circuit 79 determines the path from the current position to the target position as the initial path RO0, and sets the determined initial path RO0 in the data space. For example, as shown in FIG. 10, it is assumed that the current position PS is in the horizontal insertion state with respect to the leg of the patient's left hand, and the target position PE is in the horizontal insertion state with respect to the head of the patient's left hand. In this case, the initial path RO0 is set to a linear path connecting the current position PS to the target position PE. As a method for determining the initial route, an existing method may be used.

When step SA2 is performed, the system control circuit 87 causes the arithmetic circuit 79 to perform the sequence determination function 795 (step SA3). In step SA3, the arithmetic circuit 79 determines an operation sequence (hereinafter, referred to as an initial operation sequence) corresponding to the initial path. As a method for determining the initial operation sequence, an existing method may be used.

When step SA3 is performed, the system control circuit 87 waits for the trigger switch B5 of the laboratory input device 315 to be pressed (step SA4). The user presses the trigger switch B5 when the X-ray tube holding device 1 is ready to move in the auto-positioning mode.

When the trigger switch B5 is pressed (step SA4: YES), the system control circuit 87 causes the drive control circuit 73 to perform the auto mode function 735 (step SA5). In step SA5, the drive control circuit 73 controls the C-arm drive system 19 according to the initial operation sequence to operate the C-arm holding system 17 while the trigger switch B5 is pressed, so that the initial path toward the target position is reached. The C arm 15 is moved along.

As shown in FIG. 8, the system control circuit 87 waits for the trigger switch B5 to be released (step SB1). In step SB1, the user presses the trigger switch B5 while confirming the destination of the X-ray tube holding device 1 to move the X-ray tube holding device 1 to the target position. Here, as shown in FIG. 11, the non-communication device 100 may be arranged on the initial path RO0. If the X-ray tube holding device 1 is moved along the initial path RO0 as it is, the X-ray tube holding device 1 interferes with the non-communication device 100. In this case, the user releases the trigger switch B5 to suspend the movement of the X-ray tube holding device 1.

When the trigger switch B5 is released (step SB1: YES), the system control circuit 87 repeatedly detects that the direction indicator rod B4 of the laboratory input device 315 is operated (step SB2). When the operation of the direction indicating rod B4 is not detected (step SB2: NO), the system control circuit 87 waits for a predetermined time to elapse from the time when the trigger switch B5 is released (step SB3). The predetermined time corresponds to a period during which the drive control circuit 73 maintains the auto-positioning mode. That is, in the present embodiment, the auto-positioning mode is not interrupted when the trigger switch B5 is released, but is maintained only for the predetermined time.

When the predetermined time has not elapsed from the time when the trigger switch B5 is released (step SB3: NO), the system control circuit 87 waits for the detection of the operation of the direction indicating rod B4 related to the step SB2. When a predetermined time has elapsed without operating the direction indicator rod B4 from the time when the trigger switch B5 is released (step SB3: YES), the system control circuit 87 causes the drive control circuit 73 to perform the mode switching function 737. In this case, the drive control circuit 73 switches from the auto-positioning mode to the normal mode. As a result, the detour operation according to the present embodiment is completed.

On the other hand, within the predetermined time, the user can instruct the detour direction of the X-ray tube holding device 1 by the direction indicating rod B4 in order to avoid interference between the X-ray tube holding device 1 and the non-communication device 100. For example, as shown in FIG. 11, when the non-communication device 100 is present in the initial path RO0, the user indicates the direction in order to avoid interference between the C arm 15 and the non-communication device 100 as shown in FIG. Tilt the rod B4 toward the patient's left hand, that is, away from the top plate 311. Information about the direction indicated by the direction indicating rod B4 is supplied to the arithmetic circuit 79 or the like as a detour direction. In the normal mode, the user needs to operate the directional rod B4 while pressing the trigger switch B5. Therefore, if the directional rod B4 is tilted while the trigger switch B5 is not pressed, the system control circuit 87 Etc. can recognize that the tilting operation is an operation for instructing the detour direction.

When the direction indicating rod B4 is operated within the predetermined time (step SB2: YES), the system control circuit 87 causes the arithmetic circuit 79 to perform the route determination function 791 (step SB4). In step SB4, the arithmetic circuit 79 determines a plurality of detour route candidates that detour from the current position in the detour direction (instructed direction) to reach the target position. The detour route connects, for example, the current position and the target position, and is a series of three-dimensional coordinates through which the X-ray tube 11, the X-ray detector 13, the C arm 15, and the C arm holding system 17 of the X-ray tube holding device 1 pass. It should be formed by dots. Since the trigger switch B5 is in the released state but the auto-positioning mode is maintained, the target position set in step SA2 is also maintained in step SB4.

FIG. 13 is a diagram for explaining a process of determining a candidate for a detour route when a detour direction is designated in the patient's left hand direction as shown in FIG. As shown in FIG. 13, the arithmetic circuit 79 determines a detour route candidate based on the current position PS, the detour direction, and the target position PE. Candidates for detour routes are determined in the data space. Specifically, the arithmetic circuit 79 determines a plurality of detour routes that connect the current position PS and the target position PE and detour in the detour direction. In the auto-positioning mode, typically, two or more holding structures are not operated at the same time, so it is preferable that the detour route is determined based on the limitation. For example, the arithmetic circuit 79 moves from the current position PS in the detour direction (patient left hand direction) in the D2 direction by an arbitrary distance, moves to the patient head side in the D1 direction, and slides to the target position PE in the D2 direction. Determine the route. At this time, the distance to move in the detour direction from the current position PS (hereinafter referred to as the detour distance) may be determined to be an arbitrary distance. The detour distance cannot be strictly determined only by specifying the detour direction. The arithmetic circuit 79 determines a plurality of detour route candidates in which the detour distance is extended at each preset interval from the current position. For example, when the detour direction is the patient's left-hand direction as shown in FIG. 13, candidate RO1, candidate RO2, and candidate RO3 may be determined in order from the current position PS toward the left-hand direction and the detour distance is the shortest. The number of candidates is not limited to three, and may be any number as long as it is two or more.

The detour distance is not determined for each preset interval, but may be specified by the user. For example, the arithmetic circuit 79 may determine the detour distance according to the amount of operation of the direction indicating rod B4, that is, the amount of inclination. In this case, a LUT (look up table) in which the amount of inclination and the detour distance are associated is generated in advance and stored in the arithmetic circuit 79 or the like. When the direction indicating rod B4 is tilted by the user, the input circuit 83 detects the inclination direction and the inclination amount of the direction instruction rod B4, and supplies the detected inclination direction and the inclination amount to the arithmetic circuit 79. Then, the arithmetic circuit 79 searches the LUT using the detected tilt amount as a keyword, and determines the detour distance associated with the tilt amount. This allows the user to specify the detour distance.

When step SB4 is performed, the system control circuit 87 causes the display circuit 81 to perform display processing (step SB5). In step SB5, the display circuit 81 displays a plurality of detour route candidates determined in step SB4.

FIG. 14 is a diagram showing an example of a display screen I1 of a detour route candidate displayed by the display circuit 81. As shown in FIG. 14, the display circuit 81 displays a schematic image schematically representing the current position and the target position of the C arm 15 in the XYZ space on the display screen I1. On this schematic image, the display circuit 81 displays a plurality of symbols representing a plurality of candidates RO1, RO2, and RO3 of the detour route determined in step SB4 (shown by RO1, RO2, and RO3 in FIG. 14, respectively). .. In this way, by displaying a plurality of symbols representing a plurality of candidates RO1, RO2, and RO3 in a schematic image schematically representing the current position and the target position of the C arm 15 in the XYZ space, the user can actually display the symbols. You can easily imagine a detour route in space. The display circuit 81 may display the message IM1 for prompting the selection of the detour route to be adopted. As the message IM1, for example, as shown in FIG. 14, "Please select a detour route from RO1, RO2, and RO3" and the like.

When step SB5 is performed, the system control circuit 87 causes the arithmetic circuit 79 to perform the routing function 791 (step SB6). In step SB6, the arithmetic circuit 79 determines a detour route from a plurality of candidates according to a user instruction via the laboratory input device 315. For example, the user looks at the display screen I1 shown in FIG. 14 and operates the laboratory input device 315 or the like to select a symbol of a candidate to be adopted from a plurality of candidates. When a symbol is selected, the arithmetic circuit 79 sets the route corresponding to the symbol as a detour route.

When step SB6 is performed, the system control circuit 87 causes the arithmetic circuit 79 to perform the sequence determination function 795 (step SB7). In step SB7, the arithmetic circuit 79 determines an operation sequence (hereinafter, referred to as a correction operation sequence) corresponding to the detour route determined in step SB6. For example, when a detour route is set for RO2 in FIG. 14, for example, the arithmetic circuit 79 slides the second slider 173 from the current position PS toward the patient's left hand in the D2 direction by the corresponding detour distance, and the first slider. The correction motion sequence for sliding 172 in the D1 direction toward the patient's head and sliding the second slider 173 in the patient's right hand direction with respect to the D2 direction to the target position PE is determined. Information about the modified operation sequence is supplied to the drive control circuit 73.

When step SB7 is performed, the system control circuit 87 waits for the trigger switch B5 to be pressed (step SB8). For example, the user will press the trigger switch B5 when the user is ready to move the X-ray tube holding device 1 again.

When the trigger switch B5 is pressed (step SB8: YES), the system control circuit 87 causes the drive control circuit 73 to execute the auto mode function 735 (step SB9). In step SB9, the drive control circuit 73 controls the C-arm drive system 19 according to the correction operation sequence, and moves the X-ray tube holding device 1 so as to go to the target position through the detour route. By moving the detour route to the X-ray tube holding device 1, it is possible to avoid the non-communication equipment existing on the initial route and move it to the target position. When the X-ray tube holding device 1 moves to the target position, the drive control circuit 73 controls the C-arm drive system 19 and stops the X-ray tube holding device 1.

This completes the description of the detour operation according to the present embodiment.

When step SB9 is performed, the system control circuit 87 may return to step SB1 again and wait for the trigger switch B5 to be released. By returning the process to step SB1, even when there are further non-communication devices in the detour route, the arithmetic circuit 79 is further increased by the release operation of the trigger switch B5 and the tilt operation of the direction indicator rod B4 as described above. A detour route can be determined. As described above, according to the present embodiment, the trigger switch B5 is released to temporarily stop the C arm 15, and then the detour direction is instructed by the direction indicating rod B4, so that the detour is performed any number of times at an arbitrary position. The route and operation sequence can be changed in real time.

In the above embodiment, the arithmetic circuit 79 according to the present embodiment may estimate a spatial region (hereinafter, referred to as an interference region) that may interfere with the X-ray tube holding device 1 based on the detour route. For example, the arithmetic circuit 79 executes the interference area registration function 793 when the detour route is determined in step SB6.

FIG. 15 is a diagram for explaining the estimation and registration of the interference region by the arithmetic circuit 79. As shown in FIG. 15, when the detour path RO2 is determined, the arithmetic circuit 79 calculates a space area surrounded by the current position PS, the target position PE, and the detour path RO2 in the data space, and interferes with the space area. It is estimated to be region R200. The coordinates of the interference region R200 are stored in the main storage circuit 85. At this time, the main storage circuit 85 stores the coordinates of the interference region R200 in association with the inspection number of the inspection being performed. That is, the main memory circuit 85 may manage the coordinates of the interference region R200 in units of inspection numbers. When the inspection is completed, the main memory circuit 85 erases the interference region R200 associated with the inspection number of the completed inspection.

When the detour route is redefined during the same inspection by registering the interference region R200, the arithmetic circuit 79 can determine the detour route so as to avoid the interference region R200. More specifically, when the detour direction is indicated by the direction indicating rod B4 in the step SB2 of the same inspection, the coordinates of the interference region R200 are read out from the main memory circuit 85. Then, the arithmetic circuit 79 determines a detour route that reaches the target position from the current position, detours in the detour direction, and does not pass through the read interference region. In this way, since the detour route that avoids the interference region R200 can be determined, the number of times of redefining the detour route can be reduced, and by extension, the user's labor for positioning the C arm 15 can be reduced. ..

Since non-communication devices may be moved within the same inspection, the interference region R200 can be individually erased via the input circuit 83 or the like.

Further, the above embodiment is an example and various changes can be made. For example, when the trigger switch B5 is released in step SB1, counting of a predetermined time, which is a holding period of the auto-positioning mode, is started in step SB3. However, this embodiment is not limited to this. For example, when a non-communication device is detected by a non-contact detector (for example, a touch sensor) provided at an arbitrary part such as the X-ray tube 11 or the X-ray detector 13 of the X-ray tube holding device 1. , The counting of a predetermined time, which is the retention period of the auto-positioning mode, may be started.

Further, if the interference cannot be avoided, the system control circuit 87 may issue a warning. The case where the interference cannot be completely avoided is, for example, the case where the user cannot move in the detour direction instructed by the user due to structural restrictions. As a warning, the system control circuit 87 may emit a warning sound via the speaker, or may display a warning via the display circuit 81. As a warning display, the display circuit 81 may display a message indicating that interference cannot be avoided, a movement route, or an obstacle. Further, the display circuit 81 may display a warning that can be recognized by the user when the detour route includes an unintended reverse operation.

In the above embodiment, as an input device for indicating a direction such as a detour direction, a direction indicating rod B4 capable of tilting in the entire circumferential direction is provided. However, the input device for directional instruction is not limited to the directional rod B4. For example, buttons corresponding to each direction such as an upper button, a lower button, a right button, and a left button may be provided.

As described above, the X-ray diagnostic apparatus according to the present embodiment includes an X-ray tube holding device 1, a direction indicating rod B4, a trigger switch B5, a drive control circuit 73, an arithmetic circuit 79, and a display circuit 81. The X-ray tube 11 holds an X-ray tube 11 that generates X-rays. The direction indicating rod B4 indicates the moving direction of the X-ray tube holding device 1. The trigger switch B5 instructs the execution of the auto-positioning mode for moving the X-ray tube holding device 1 to the target position according to a predetermined operation sequence. The drive control circuit 73 controls the operation of the X-ray tube holding device 1 in the auto-positioning mode according to the instruction via the trigger switch B5. When the detour direction is instructed by the direction indicating rod B4 when the auto-positioning mode is executed, the arithmetic circuit 79 detours from the current position to the instructed detour direction to reach the target position. Determine the route. The display circuit 81 displays the detour route.

With the above configuration, when the X-ray diagnostic apparatus according to the present embodiment releases the trigger switch B5 and the detour direction is indicated by the direction indicating rod B4 during the execution of the auto-positioning mode, the arithmetic circuit 79 starts from the current position. Redefine in real time new travel route candidates that detour in the detour direction to reach the target position. The redefined candidates are displayed on the display circuit 81, and by selecting the route adopted by the user and pressing the trigger switch B5 again, the auto-positioning operation can be restarted according to the correction operation sequence corresponding to the detour route. it can. As a result, according to the present embodiment, the movement path and the operation sequence related to the auto-positioning mode are changed in real time by a simple operation of releasing the trigger switch B5 and tilting the direction indicator rod B4 while maintaining the auto-positioning mode. be able to. That is, according to the present embodiment, the X-ray tube holding device 1 is moved by executing the auto-positioning mode after manually moving the non-communication device (obstacle) on the movement path as in the conventional case. It is possible to eliminate the need to interrupt the auto-positioning and execute the normal mode to move the X-ray tube holding device 1 manually.

Thus, according to the present embodiment, it is possible to improve the positioning efficiency of the X-ray tube holding device 1.

(Application example)
For example, as shown in FIG. 16, the current position PS is the patient's left hand side sideways insertion state, the target position PE is the patient's head side left hand park, and auto-positioning from the current position PS to the target position PE through the initial path RO0 Think about the running of the action. As shown in FIG. 17, when there is a non-communication device (obstacle) 100 far from the current position PS on the left hand side of the patient, the trigger switch B5 while the C arm 15 is moving in the direction away from the left hand of the patient in the D2 direction. After releasing the C-arm 15 to stop the C-arm 15, the directional rod B4 is tilted upward, for example. In this case, the arithmetic circuit 79 recognizes that the non-communication device 100 is in the left-hand direction of the patient from the stop position, and sets a path toward the target position PE so as to avoid the interference region of the X-ray tube holding device 1-3. It can be determined by taking into account the dimensional movement. For example, when the top plate 311 of the sleeper 31 is in the interference region, the interference region cannot be avoided only by two-dimensional movements such as manual ceiling length in the D1 direction, horizontal manual ceiling in the D2 direction, and rotation of columns around the swivel axis A1. In some cases. Therefore, the arithmetic circuit 79 considers not only the manual ceiling length in the D1 direction, the horizontal manual ceiling in the D2 direction, and the rotation of the columns around the swivel axis A1, but also the main rotation of the C arm around the rotation axis A2 and the slide around the slide rotation axis A4. And decide the detour route.

Further, when determining the detour route, it is conceivable that there is a holding structure (movable shaft) that the user wants to operate preferentially. When the arithmetic circuit 79 according to the application example is instructed to preferentially operate the holding structure and the detour direction, the arithmetic circuit 79 detours the holding structure from the current position PS in the detour direction to the target position. Determine the detour route to PE.

For example, as shown in FIGS. 9, 10 and 11, when the C arm 15 moves the linear movement path RO0 from the current position PS to the target position PE in the auto-positioning mode, the movement path RO0 is a non-communication device. When 100 is present, it is also conceivable to avoid the non-communication device 100 by rotating the column around the swivel axis A1 of the C arm 15. Hereinafter, the process of determining the detour route in this case will be described with reference to FIG.

In this case, as shown in FIG. 18, in step SB2, the user first selects the support column support 174 as the holding structure to be preferentially operated by the control target selection button B3. Next, the user instructs the patient's right hand direction as the detour direction by the direction indicating rod B4. When the holding structure to be preferentially operated and the detour direction are instructed, the arithmetic circuit 79 detours the holding structure from the current position PS in the detour direction and determines a detour route to the target position PE. When the strut support 174 is selected as the holding structure to be preferentially operated and the patient's right hand direction is instructed as the detour direction, the arithmetic circuit 79 moves the strut support 174 from the current position PS 180 around the swivel axis A1. The first slider 172 is slid in the D1 direction to the patient's head side, and the support support 174 is rotated 180 degrees around the swivel axis A1 to determine a detour route to the target position PE. After that, the arithmetic circuit 79 determines the correction operation sequence corresponding to the detour route, and the drive control circuit 73 controls the C arm drive system 19 according to the determined correction operation sequence to guide the C arm 15 along the detour route. To move.

By preferentially operating the holding structure selected by the user in this way, the arithmetic circuit 79 can determine the detour route intended by the user. As a result, the time for determining the detour route can be shortened, and the positioning efficiency of the C arm 15 can be improved.

Thus, according to the present embodiment, it is possible to improve the positioning efficiency of the X-ray tube cage.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and the equivalent scope thereof.

1 ... X-ray tube holding device, 3 ... Sleeping device, 5 ... High voltage generator, 7 ... Console, 11 ... X-ray tube, 13 ... X-ray detector, 15 ... C arm, 17 ... C arm holding system, 19 ... C-arm drive system, 21 ... position detector, 31 ... sleeper, 33 ... sleeper drive system, 35 ... position detector, 39 ... arithmetic circuit, 71 ... X-ray control circuit, 73 ... drive control circuit, 75 ... image data Storage circuit, 77 ... image processing circuit, 79 ... arithmetic circuit, 81 ... display circuit, 83 ... input circuit, 85 ... main storage circuit, 87 ... system control circuit, 100 ... obstacle (non-communication device), 171 ... guide rail , 172 ... 1st slider, 173 ... 2nd slider, 174 ... support, 175 ... support, 176 ... C-arm support, 311 ... top plate, 313 ... base, 315 ... laboratory input device, 317 ... Body 319 ... Handle, 731 ... Position determination function, 733 ... Normal mode function, 735 ... Auto mode function, 737 ... Mode switching function, 791 ... Route determination function, 793 ... Interference area registration function, 795 ... Sequence determination function, B1 ... Normal mode button, B2 ... Auto mode button, B3 ... Control target selection button, B4 ... Direction indicator rod, B5 ... Trigger switch.

Claims (12)

A cage that holds an X-ray tube that generates X-rays,
A turn signal that indicates the moving direction of the cage, a movement indicator that instructs the execution of an auto-positioning mode for moving the cage to a target position according to a predetermined operation sequence,
A control unit that controls the operation of the cage in the auto-positioning mode according to an instruction via the movement indicator, and a control unit.
When the movement direction is indicated by the direction indicator during the execution of the auto-positioning mode, the cage determines a route that detours from the current position to the instructed movement direction and determines a detour route to the target position. Department and
A display unit that displays the detour route and
An X-ray diagnostic apparatus comprising. The route determination unit determines a plurality of detour route candidates in which the cage detours from the current position in the instructed movement direction to reach the target position.
The display unit displays the plurality of detour route candidates.
The X-ray diagnostic apparatus according to claim 1. The X-ray diagnostic apparatus according to claim 2, wherein the route determining unit determines a plurality of detour route candidates having different detour distances in the instructed moving direction from the current position to the target position. The X-ray diagnostic apparatus according to claim 2, wherein the route determination unit determines a user-designated detour route candidate among the plurality of detour route candidates as the detour route. A drive unit that generates power to operate the cage, and
An operation sequence determination unit for determining the operation sequence of the drive unit corresponding to the detour route is further provided.
The control unit controls the drive unit according to the operation sequence so that the cage reaches the target position through the detour route from the current position.
The X-ray diagnostic apparatus according to claim 4. The route determining unit determines a detour distance in the instructed movement direction according to the amount of operation related to the instruction in the movement direction by the direction indicator, reaches the target position from the current position, and moves in the instructed manner. The X-ray diagnostic apparatus according to claim 1, wherein the detour route detoured by the detour distance in the direction is determined. A drive unit that generates power to drive the cage,
An operation sequence determination unit for determining the operation sequence of the drive unit corresponding to the detour route is further provided.
The control unit controls the drive unit according to the operation sequence so that the cage reaches the target position through the detour route from the current position.
The X-ray diagnostic apparatus according to claim 1. When the movement indicator instructs the stop of execution of the auto-positioning mode, the control unit maintains the auto-positioning mode only within a predetermined period from the stop instruction, and the control unit maintains the auto-positioning mode within the predetermined period. The X-ray diagnostic apparatus according to claim 1, wherein when the movement direction is indicated by the indicator, the cage detours from the current position to the instructed movement direction to determine a detour route to the target position. The X-ray diagnostic apparatus according to claim 1, further comprising a storage unit that stores the detour route. The route determination unit estimates the position of the interference region in the examination room based on the current position, the detour route, and the target position.
The storage unit stores the interference region.
The X-ray diagnostic apparatus according to claim 9. When the movement direction is again instructed by the direction indicator during the same inspection, the route determination unit detours from the current position to the instructed movement direction to reach the target position and avoids the interference region. The X-ray diagnostic apparatus according to claim 10, wherein a detour route is determined. A control target selector for selecting a control target structure from a plurality of structures included in the cage is further provided.
The route determination unit determines the detour route so as to preferentially operate the selected control target.
The X-ray diagnostic apparatus according to claim 1.