An X-ray diagnostic apparatus includes a display, a holding device, bed device, a gesture detecting device and a processing circuitry. The holding device includes an X-ray irradiator, an X-ray detector, and a supporter that supports the X-ray irradiator and the X-ray detector. The bed device is available to place an object on. The gesture detecting device recognizes a gesture of a person. The processing circuitry identifies a state of the X-ray diagnostic apparatus based on at least one of the display, the X-ray irradiator, the X-ray detector, the holding device and the bed device, determines an operation detail based on a combination of the identified state and the recognized gesture, and operates at least one of the display, the holding device, the bed device, a speaker and a room light according to the determined operation detail.

FIELD

An embodiment as an aspect of the present invention relates to an X-ray diagnostic apparatus for an imaging.

BACKGROUND

Conventionally, in an industrial field including nondestructive inspection, and a medical field including medical examination, an X-ray diagnostic apparatus has been widely used that irradiates a test target or an object with radiation (typically, X-rays), detects the distribution of intensities of radiation having passed through the test target or the object, and obtains an image of the test target or the object.

Furthermore, an image processing apparatus is disclosed that allows application programs running in background to be operated. This apparatus displays an image of a web browser on a display, which is an application program running in foreground, in a normal mode. In background, a music player, which is another application program, is running. When a user manually inputs a gesture, the gesture is taken by a video camera, a gesture command is recognized on the basis of the movement of the gesture, and the operation of the music player is controlled accordingly. The movement of a hand is displayed as a trajectory. The jacket photographs of pieces of music to be played by the music player are moved and displayed by gestures, such as a left flick and a right flick. Input of a hand holding gesture controls reproduction and stop of the piece of music.

During cardiac catheter manipulation, a manipulator, such as a medical doctor, cannot directly touch the X-ray diagnostic apparatus (input device etc.) with the hands in order to keep the hands clean. Consequently, for an operation, the manipulator indirectly operates the device by verbally instructing an operator, such as an assistant or a technician. It is, however, difficult to verbally convey intended operation details correctly. For some operations, the description is required to be made specifically in detail. Consequently, the operation intended by the manipulator cannot be easily achieved.

For example, when the assistant or the like is verbally instructed to stop a holding device (a device for holding a C-arm and the like) currently in operation, a time difference occurs between the timing of a stop instruction at a position intended by the manipulator and the timing of a stop operation actually performed by the assistant or the like according to the instruction. Consequently, time and efforts are required for an operation of matching the position intended by the manipulator with the actual position of the holding device.

Furthermore, there is a possibility that the time and effort required for the operation of the X-ray diagnostic apparatus cause the object to be exposed to unnecessary radiation exposure owing to inefficient treatment.

A motion sensor and the X-ray diagnostic apparatus may be combined to allow a screen operation for the X-ray diagnostic apparatus to be performed by a gesture. Unfortunately, there are problems in that the operation is only for the currently displayed screen, and the types of recognizable gestures are limited, thus allowing only a small number of executable operations.

DETAILED DESCRIPTION

An X-ray diagnostic apparatus according to a present embodiment is described with reference to the accompanying diagrams.

To solve the above-described problems, the present embodiment provides the X-ray diagnostic apparatus, including: a display; a holding device including an X-ray irradiator, an X-ray detector, and a supporter that supports the X-ray irradiator and the X-ray detector; a bed device available to place an object on; a gesture detecting device configured to recognize a gesture of a person; and a processing circuitry configured to identify a state of the X-ray diagnostic apparatus based on at least one of the display, the X-ray irradiator, the X-ray detector, the holding device and the bed device, to determine an operation detail based on a combination of the identified state and the recognized gesture, and to operate at least one of the display, the holding device, the bed device, a speaker and a room light according to the determined operation detail.

The X-ray diagnostic apparatus according to the present embodiment can identify a state of the X-ray diagnostic apparatus, and determine the operation detail on the basis of the combination of a gesture by a manipulator such as a doctor, and the state of the X-ray diagnostic apparatus. Consequently, the treatment efficiency can be improved. Furthermore, unnecessary radiation exposure of an object due to inefficient treatment can be reduced.

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

FIG. 1shows the X-ray diagnostic apparatus1that includes a ceiling-traveling Q-arm, and a floor-traveling C-arm.FIG. 2shows an X-ray diagnostic apparatus1that only includes a ceiling-traveling C-arm (under-tube type). The description is hereinafter made with reference to the X-ray diagnostic apparatus1that only includes the ceiling-traveling C-arm as shown inFIG. 2. The X-ray diagnostic apparatus1mainly includes a holding device2, a bed device3, a controller4, and a DF (digital fluoroscopy) device5. The holding device2, the bed device3, and the controller4are typically installed in a surgical operation room (test and treatment room), while the DF device5is installed in a control room adjoining to the surgical operation room. The X-ray diagnostic apparatus according to the present invention is not limited to the X-ray diagnostic apparatus1that includes the ceiling-traveling Q-arm and the floor-traveling C-arm shown inFIG. 1, and the apparatus that only includes the ceiling-traveling C-arm shown inFIG. 2. Alternatively, an X-ray diagnostic apparatus that only includes a ceiling-traveling Ω-arm or a floor-traveling C-arm may be adopted. The X-ray diagnostic apparatus according to the present invention may be an X-ray diagnostic apparatus that includes an over-tube C-arm.

The holding device2includes a sliding mechanism21, a perpendicular axis turning mechanism22, a suspension arm23, a C-arm turning mechanism24, a C-arm25, an X-ray irradiator26, an X-ray detector27, and a high voltage supply device28.

The sliding mechanism21includes, a Z-axis direction rail211, an X-axis direction rail212, and a vehicle213. The sliding mechanism21is controlled by the controller4to slide the perpendicular axis turning mechanism22, the suspension arm23, the C-arm turning mechanism24, the C-arm25, the X-ray irradiator26, and the X-ray detector27integrally in the horizontal direction.

The Z-axis direction rail211is arranged longitudinally in a Z-axis direction (the longitudinal axis direction of a top table31), and held on the ceiling.

The X-axis direction rail212is arranged in an X-axis direction (the short axis direction of the top table31), and held by the Z-axis direction rail211via rollers (not shown) at the opposite ends. The X-axis direction rail212is controlled by the controller4to move on the Z-axis direction rail211in the Z-axis direction.

The vehicle213is supported on the X-axis direction rail212via rollers (not shown). The vehicle213is controlled by the controller4to move on the X-axis direction rail212in the X-axis direction.

The X-axis direction rail212that supports the vehicle213is movable on the Z-axis direction rail211in the Z-axis direction. The vehicle213is movable on the X-axis direction rail212in the X-axis direction. Consequently, the vehicle213is movable in the horizontal direction (the X-axis direction and the Z-axis direction) in the surgical operation room.

The perpendicular axis turning mechanism22is turnably supported by the vehicle213. The perpendicular axis turning mechanism22is controlled by the controller4to turn the suspension arm23, the C-arm turning mechanism24, the C-arm25, the X-ray irradiator26, and the X-ray detector27integrally in the perpendicular axis turning direction.

The suspension arm23is supported by the perpendicular axis turning mechanism22.

The C-arm turning mechanism24is turnably supported by the suspension arm23. The C-arm turning mechanism24is controlled by the controller4to turn the C-arm25, the X-ray irradiator26, and the X-ray detector27integrally in the turning direction with respect to the suspension arm23.

The C-arm25is supported by the C-arm turning mechanism24, and arranges the X-ray irradiator26and the X-ray detector27at the opposite positions centered at an object S. A rail (not shown) is provided on the back or a side of the C-arm25. Through the rail sandwiched by the C-arm turning mechanism24and the C-arm25, the C-arm25is controlled by the controller4to move the X-ray irradiator26and the X-ray detector27in an arc direction of the C-arm25along an arc locus.

The X-ray irradiator26is provided at one end of the C-arm25. The X-ray irradiator26is provided movable to-and-fro according to control by the controller4. The X-ray irradiator26includes an X-ray tube (X-ray source)261and a movable diaphragm device262.

The X-ray tube261is supplied by the high voltage supply device28with high voltage power, and generates X-rays according to the condition of the high voltage power.

The movable diaphragm device262supports aperture blades made of material for blocking X-rays, in a manner movable at an X-ray irradiation port of the X-ray tube261under control of the controller4. A radiation quality adjusting filter (not shown) that adjusts the quality of X-ray radiation emitted from the X-ray tube261may be provided on the front surface of the X-ray tube261.

The X-ray detector27is provided at the other end of the C-arm25to face the X-ray irradiator26. The X-ray detector27is provided movable to-and-fro under control by the controller4. The X-ray detector27includes an FPD (flat panel detector)271and an A/D (analog to digital) converter272.

The FPD271includes two-dimensionally arranged detection elements. Scanning lines and signal lines are arranged orthogonal to each other between the detection elements of the FPD271. A grid (not shown) may be provided on the front surface of the FPD271. The grid includes grid plates made of lead or the like that absorbs X-rays well, and aluminum wood or the like which is transmittable, in an alternately stacked arrangement, in order to absorb scattered radiation incident on the FPD271and improve the contrast of an X-ray image.

The A/D converter272converts projection data that is a time-series analog signal (video signal) and output from the FPD271, into a digital signal, and outputs the signal to the DF device5.

The X-ray detector27may be an I. I. (image intensifier)-TV system. The I. I.-TV system converts X-rays passing through the object S and directly incident X-rays into visible light, increases the luminance through a process of light-electron-light conversion, forms projection data with high sensitivity, and converts optical projection data into an electric signal using a CCD (charge coupled device) image pickup element.

The high voltage supply device28can supply the X-ray tube261of the X-ray irradiator26with high voltage power according to control by the controller4.

The X-ray diagnostic apparatus1includes an operation room display29a, a speaker29b, a gesture detector (motion sensor)29c, and an operation room input device29d, in the surgical operation room. The operation room display29adisplays an image together with text information with various parameters, calibration markings and the like. The operation room display29amay be a display device, such as a liquid crystal display unit.

The speaker29bis a device that converts an electric signal from a microphone57, which will be described later, into physical vibrations, and produces music or sound.

The motion sensor29cis a 3D motion sensor that recognizes a gesture of a person (a manipulator, such as a medical doctor). The 3D motion sensor may internally include an RGB (red, green and blue) camera, a depth sensor, and a processor for operating dedicated software. Alternatively, the 3D motion sensor may internally include two infrared cameras, and infrared irradiation LED (light emitting diode). Through use of the motion sensor29c, motion and the like of the manipulator in a field of view L can be detected, and the gesture of the manipulator can be recognized. The manipulator in the field of view L uses the body of himself/herself to intuitively perform a screen operation or the like for the operation room display29a, as will be described later.

The X-ray diagnostic apparatus1may adopt a motion capture technique that does not need a suit with special markers and a tracker for detecting the markers, and mainly reads the motion of the person and combines the read results. Alternatively, the X-ray diagnostic apparatus1may adopt another motion capture technique that includes the suit with markers and the tracker.

The operation room input device29dincludes a keyboard and a mouse that can be mainly operated by the operator, such as an assistant. An input signal according to an operation is transmitted to the controller4.

The bed device3is supported on the floor and, in turn, supports the top table (catheter table)31. The bed device3is controlled by the controller4to slide (in the X- and Z-axis directions), vertically move (in the Y-axis direction) and roll the top table31. The object S can be mounted on the top table31. Note that the case of the holding device2of an under-tube type where the X-ray irradiator26is positioned below the top table31is described. Alternatively, an over-tube type where the X-ray irradiator26is positioned above the top table31may be adopted.

The controller4includes a processing circuitry and a memory, which are not shown. Under control by the DF device5, the controller4controls driving of the sliding mechanism21, the perpendicular axis turning mechanism22, the C-arm turning mechanism24, the C-arm25, the X-ray irradiator26and the X-ray detector27of the holding device2, and driving of the bed device3, while controlling the operations of the X-ray irradiator26, the X-ray detector27and the high voltage supply device28for the sake of partial imaging.

The DF device5has a computer-based configuration. This device performs overall control of the X-ray diagnostic apparatus1, and image processing and the like for an X-ray image obtained by the holding device2. The X-ray image includes at least one of a fluoroscopic image (a moving image) based on a fluoroscopic imaging, and a simple image (a still image such as a digital angiography (DA) image) based on a simple (one shot) imaging. The DF device5includes a system controller51, an X-ray image generator52, an X-ray image processor53, an X-ray image storage54, a control room display55, a control room input device56, and the microphone57.

The system controller51includes a processing circuitry and a memory, which are not shown. The system controller51controls the controller4and the components52to55and57.

The processing circuitry of the system controller51may be a dedicated or general-purpose CPU (central processing unit) or MPU (microprocessor unit). Alternatively, this circuit may be any of an application specific integrated circuit (ASIC), a programmable logic device and the like. The programmable logic device may be, for example, any of a simple programmable logic device (SPLD), complex programmable logic device (CPLD), field programmable gate array (FPGA) and the like. The processing circuitry reads a program stored in the memory or directly embedded in the processing circuitry, and executes the program, thereby achieving functions61to66shown inFIG. 3.

The processing circuitry may be made of a single circuit, or made of a combination of independent circuits. In the latter case, the memories for storing programs may be provided separately for the respective processing circuitries. Alternatively, a single memory may store programs corresponding to the functions of the respective circuits.

The X-ray image generator52is controlled by the system controller51to apply a logarithm conversion process (LOG process) to the projection data output from the A/D converter272of the holding device2, and applies an addition process as necessary, thereby generating data on the X-ray image.

The X-ray image processor53is controlled by the system controller51to apply an image processing to the X-ray image generated by the X-ray image generator52. The image processing may include enlarging, gradation and spatial filter processes for the data, minimum value and maximum value tracing processes for data accumulated in a time-series manner, and addition process for removing noise. The data having been subjected to the image processing by the X-ray image processor53is output to the operation room display29aand the control room display55, and stored in a storing device, such as the X-ray image storage54.

The control room display55displays an image together with text information with various parameters, calibration markings and the like. As with the operation room display29a, the control room display55may be a display device, such as a liquid crystal display unit.

The control room input device56includes a keyboard and a mouse that can be operated by the operator. An input signal according to an operation is transmitted to the system controller51.

The microphone57is a device that collects ambient sound, and converts the sound into an electric signal.

FIG. 3is a block diagram showing functions of the X-ray diagnostic apparatus1according to the present embodiment.

The system controller51of the DF device5shown inFIG. 2executes the program, thereby allowing the X-ray diagnostic apparatus1to function as a device triggering61, an imaging controlling62, a reproduction triggering63, an identifying64, an operation detail determining65, and an operation controlling66, as shown inFIG. 3. Some or all of the functions61to66, which are the functions of the DF device5, may be achieved in the controller4. The functions61to66, which are the functions of the X-ray diagnostic apparatus1, may be provided as hardware in the X-ray diagnostic apparatus1.

The device triggering61has the following functions. That is, after the object S is mounted on the top table31of the holding device2, in order to change the X-ray irradiation position and angle, the device triggering61receives, via the controller4, an instruction input from the operation room input device29d(shown inFIG. 2), and triggers the operation of the holding device2and the bed device3shown inFIG. 2via the controller4according to the instruction. For example, in order to adjust the X-ray irradiation position, the device triggering61starts sliding at least one of the sliding mechanism21of the holding device2and the top table31of the bed device3, which are shown inFIG. 2, via the controller4. For example, in order to adjust the X-ray irradiation angle, the device triggering61starts the turning operation of at least one of the perpendicular axis turning mechanism22, the C-arm turning mechanism24and the C-arm25of the holding device2shown inFIG. 2, or starts the arc movement of the C-arm25, via the controller4.

The imaging controlling62has functions that receive, via the controller4, the instruction input from the operation room input device29d(shown inFIG. 2), operate the X-ray detector27and the high voltage supply device28, which are shown inFIG. 2, according to the instruction via the controller4, and perform fluoroscopy or imaging. The imaging controlling62has functions that control the X-ray image generator52and the X-ray image processor53to generate and store the X-ray image, and display the X-ray image on the operation room display29a, the X-ray image including at least one of the fluoroscopic image (the moving image) and the simple image (the still image such as the DA image).

The reproduction triggering63has functions that trigger a reproduction of the X-ray image stored in the X-ray image storage54, and trigger displaying on the operation room display29a, according to the instruction input from the operation room input device29d(shown inFIG. 2).

The identifying64has a function that identifies a state of the X-ray diagnostic apparatus1on the basis of at least one of the holding device2, the bed device3, the X-ray irradiator26of the holding device2, the X-ray detector27of the holding device2, and the operation room display29a, the state being any of steps included in a manipulation such as IVR (interventional radiology).

FIG. 4is a diagram showing an example of time-series variation in the steps included in the manipulation at the X-ray diagnostic apparatus1according to the present embodiment.

As shown inFIG. 4, the X-ray diagnostic apparatus1includes steps roughly classified into a step “during device-operation” after triggering of the operation of the holding device2or the bed device3by the device triggering61, a step “during imaging” indicating during the imaging such as the fluoroscopy imaging and the simple imaging by the imaging controlling62, a step “during reproduction” after triggering the reproduction of the X-ray image by the reproduction triggering63, and a step “during standby” that does not fall into any of the above three steps. At least two of the steps “during device-operation”, “during imaging” and “during reproduction” may be sometimes performed in parallel.

Returning back toFIG. 3, the operation detail determining65has a function of determining the operation detail of at least one of the holding device2, the bed device3, the operation room display29a, and the speaker29b, on the basis of the combination of the step included in the manipulation identified by the identifying64and a gesture of the manipulator recognized by the motion sensor29c.

FIG. 5is a diagram showing an example of the operation details by the combination of the step included in the manipulation and the gesture in the X-ray diagnostic apparatus1according to the present embodiment.

FIG. 5shows the step included in the manipulation shown inFIG. 4. The step “during device-operation”, which is one of the steps included in the manipulation shown inFIG. 5, includes step elements “during holding device-operation” and “during bed device-operation”. The operation of the holding device2is triggered by the device triggering61(shown inFIG. 3) according to the input via the operation room input device29d(shown inFIG. 2). The identifying64(shown inFIG. 3) identifies that the state is the step element “during holding device-operation” included in the step “during device-operation”. In this case, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left, right, upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is stop of the operation of the holding device2(times T1and T2inFIG. 4).

The operation of the bed device3is triggered by the device triggering61(shown inFIG. 3) according to the input through the operation room input device29d(shown inFIG. 2). The identifying64(shown inFIG. 3) identifies that the state is the step element “during bed device-operation” included in the step “during device-operation”. In this case, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of the left, right, upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is stop of operation of the bed device3(the times T1and T2inFIG. 4).

The step “during imaging”, which is one of the steps included in the manipulation shown inFIG. 5, includes step elements “during simple fluoroscopy imaging-operation”, “during LIH (last image hold)-display” and “during RM (road map)-operation” in the fluoroscopic imaging. When the identifying64(shown inFIG. 3) identifies that the state is the step element “during simple fluoroscopy imaging-operation” included in the step “during imaging”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is turning on/off of an RM-operation in the fluoroscopic imaging on the operation room display29a(time T3inFIG. 4). On the other hand, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is change in an imaging program on the operation room display29a(to a Next/Previous program) (the time T3inFIG. 4).

When the identifying64(shown inFIG. 3) identifies that the state is the step element “during LIH-display” included in the step “during imaging”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is change in brightness of the operation room display29a(UP/DOWN) (the time T3inFIG. 4). On the other hand, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is change in contrast of the operation room display29a(UP/DOWN) (the time T3inFIG. 4).

When the identifying64(shown inFIG. 3) identifies that the state is the step element “during RM-operation” in the fluoroscopic imaging included in the step “during imaging”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is change in superposition coefficient of the X-ray image on the operation room display29a(UP/DOWN) (the time T3inFIG. 4). On the other hand, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is change to a fluoroscopic subtraction or the RM-operating in the fluoroscopic imaging on the operation room display29a(the time T3inFIG. 4). In the case of the fluoroscopic subtraction, the superposition coefficient between the mask image and the contrast image is “1 (100%)”. A mask image of 100% is thus subtracted from the contrast image, thereby allowing only a contrast-imaged vascular image to be displayed. On the other hand, in the case of the RM-operation, the superposition coefficient is “less than 1”. Thus, the background with low concentration (bone etc.) and a contrast-imaged vascular image are displayed.

Alternatively, when the identifying64(shown inFIG. 3) identifies that the state is the step “during imaging”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is change in luminance of a room light (not shown) in the operation room (UP/DOWN). In this case, recognition of any of gestures of upward and downward movements of a hand of the manipulator by the motion sensor29c(shown inFIGS. 2 and 3) allows the operation detail determining65(shown inFIG. 3) to determine that the operation detail is power on/off of the room light (not shown). Alternatively, when the identifying64(shown inFIG. 3) identifies that the state is the step “during imaging”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left, right, upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is stop of X-ray irradiation by the X-ray irradiator26.

The step “during reproduction”, which is one of the steps included in the manipulation shown inFIG. 5, includes step elements “during moving image-reproduction”, “during map image-display”, “during still image-display”, and “during DSA (digital subtraction angiography) image-display”. When the identifying64(shown inFIG. 3) identifies that the state is the step element “during moving image-reproduction” included in the step “during reproduction”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is change in a reproduction speed of the moving image on the operation room display29a(UP/DOWN) (time T4inFIG. 4). On the other hand, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is cut feeding forward or backward of a moving image on the operation room display29a(the time T4inFIG. 4).

When the identifying64(shown inFIG. 3) identifies that the state is the step element “during map image-display” included in the step “during reproduction”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is execution of automatic angle function of the holding device2(reproduction of the X-ray irradiation angle) (the time T4inFIG. 4). On the other hand, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is execution of an original image display function for a map image on the operation room display29a(display of the original moving image) (the time T4inFIG. 4).

When the identifying64(shown inFIG. 3) identifies that the state is the step element “during still image-display” included in the step “during reproduction”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is panning of a still image on the operation room display29a(the time T4inFIG. 4). On the other hand, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is cut feeding forward and backward of the still image on the operation room display29a(the time T4inFIG. 4).

When the identifying64(shown inFIG. 3) identifies that the state is the step element “during DSA image-display” included in the step “during reproduction”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left, right, upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is left, right, upward or downward pixel shift of a mask image (or a contrast image) for a DSA image on the operation room display29a(the time T4inFIG. 4).

When the identifying64(shown inFIG. 3) determines that the state is the step “during standby”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is change in volume of the speaker29b(UP/DOWN) (time T5inFIG. 4). On the other hand, when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of upward and downward movements of a hand of the manipulator, the operation detail determining65(shown inFIG. 3) determines that the operation detail is turn on/off of the speaker29b(the time T5inFIG. 4).

In each step (or step element) identified by the identifying64, information that indicates operation details corresponding to respective various gestures may be displayed on the operation room display29a. The manipulator can perform a gesture for operating the holding device2and the like while viewing information displayed on the operation room display29a.

Returning back toFIG. 3, the operation controlling66has a function of operating at least one of the holding device2, the bed device3, the operation room display29aand the speaker29baccording to the operation detail for at least one of the holding device2, the bed device3, the operation room display29aand the speaker29b, which has been determined by the operation detail determining65.

For example, when the identifying64identifies that the state is the step element “during holding device-operation” included in the step “during device-operation”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of left and right movements of a hand, the operation detail determining65determines that an operation of stop operating the holding device in operation is performed as shown inFIG. 5, and the operation controlling66stops the holding device2in operation. For example, when the identifying64identifies that the state is the step element “during simple fluoroscopy imaging-operation”, and when the motion sensor29c(shown inFIGS. 2 and 3) recognizes any of gestures of a left movement of a hand, the operation detail determining65determines that an operation of turning on the RM-operation in the fluoroscopic imaging is performed as shown inFIG. 5, and the operation controlling66turns on the RM-operation on the operation room display29a.

The example of starting determination of the operation detail according to the step (or the step element) at the time of starting the step has been thus described. However, the embodiment is not limited to this case.

For example, when the identifying64identifies the step, the operation detail determining65starts determination of the operation detail according to the step at the time of recognizing a recognition start gesture. Referring toFIG. 4, the operation detail determining65starts determination of the operation detail according to the step “during reproduction”, at the time of recognizing a hand raising gesture after a time t2.

Thus, the determination of the operation detail according to the step is started at the time of recognizing the recognition start gesture. Consequently, operation errors are avoided. The errors include operations of the device such as holding device2by movement of a person other than the manipulator in the field of view L and by movement by the manipulator who does not intend to operate the device.

Priority orders may be preset to the plurality of steps included in the manipulation to be determined. In a time period during which the steps included in the manipulation are overlap with each other, the operation detail determining65determines the operation detail corresponding to the gesture with the highest priority according to the priority order. In this case, determination is switched to that for the operation detail according to the step at the time of starting the step with a high priority order.

For example, when the step determined by the identifying64includes a first step having a high priority order and a second step started before the first step and having a low priority order, the operation detail determining65switches the determination of the operation detail according to the second step to the determination of the operation detail according to the first step at the time of starting the first step. Referring toFIG. 4, at a time t1, the operation detail determining65switches the determination of the operation detail according to the step “during imaging”, which is the second step, to the determination of the operation detail according to the step “during device-operation”, which is the first step.

The example has thus been described where in the case of preliminarily setting the priority orders to the plurality of steps, the determination of the operation detail according to the second step previously started and having the low priority order is switched to the determination of the operation detail according to the first step having the high priority at the time when the first step is started during the second step. However, the embodiment is not limited to this case.

For example, if the step determined by the identifying64includes the first step having the high priority order and the second step started before the start of the first step and having the low priority order, the operation detail determining65switches the determination of the operation detail according to the second step to the determination of the operation detail according to the first step at the time when a prescribed gesture (shown inFIG. 5) continuing before the start of the first step is finished (discontinuance for at least a prescribed time). Referring toFIG. 4, at the time when, after the time t1, continuation of the gesture of left or right movement of a hand before start of the step “during device-operation”, which is the first step, is finished, the operation detail determining65switches the determination of the operation detail according to the step “during imaging”, which is the second step, to the determination of the operation detail according to the step “during device-operation”, which is the first step.

Thus, even if the first step having the high priority order is started during the second step previously started and having the low priority order, determination of the operation detail according to the second step is continued during continuation of the prescribed gesture. Consequently, an operation error can be avoided where if the first step is started during continuation of the prescribed gesture in the second step and the operations of the first step and the second step are in parallel, the device related to the first step is erroneously operated.

For example, if the step determined by the identifying64includes the first step having the high priority order and the second step started before the start of the first step and having the low priority order, the operation detail determining65switches the determination of the operation detail according to the second step to the determination of the operation detail according to the first step at the time of recognizing the recognition start gesture. Referring toFIG. 4, at the time of recognizing the hand raising gesture after the time t1, the operation detail determining65switches the determination of the operation detail according to the step “during imaging”, which is the second step, to the determination of the operation detail according to the step “during device-operation”, which is the first step.

Thus, even if the first step having the high priority is started during the second step previously started and having the low priority order, determination of the operation detail according to the second step is continued until the recognition start gesture is recognized. Consequently, an operation error can be avoided where if the first step is started during continuation of the prescribed gesture (shown inFIG. 5) in the second step and the operations of the first step and the second step are in parallel, the device related to the first step is erroneously operated.

The X-ray diagnostic apparatus1according to the present embodiment can identify the state (step or step element) included in the manipulation) of the X-ray diagnostic apparatus1, and determine the operation detail on the basis of the combination of the gesture of the manipulator, such as a medical doctor, and the state of the X-ray diagnostic apparatus1. Consequently, the treatment efficiency can be improved. Furthermore, unnecessary radiation exposure on the object S due to inefficient treatment can be reduced.