JPH0546417Y2 - - Google Patents

Description

[Detailed description of the invention] A. Industrial application field This invention relates to an X-ray fluoroscopic imaging device, and in particular, speed control of a motor that integrally rotates an X-ray irradiation device and an image receiving device around a subject. Regarding technology.

B. Conventional technology FIG. 7 shows an outline of the X-ray fluoroscopic imaging device.

An X-ray irradiation device 22 and an image receiving device 23 such as an image intensifier, which are attached to both ends of an arm 21 facing each other, are integrated, and an inverter-type motor 2 provided in a rotary drive device 24 is used.
5, the bed is rotated around the subject M lying on the top plate 27 of the bed driving device 26. motor 2
5 is configured to be controlled according to the amount of rotation of the operating handle 28 in the rotary drive device 24.

The X-ray irradiation device 22 and the image receiving device 23 are connected to the top plate 27
And from the relationship of rotation around the subject M,
The rotational range of the ray irradiation device 22 and the image receiving device 23 naturally has a certain limit. That is, this is a range in which the X-ray irradiation device 22 and the image receiving device 23 do not collide with the top plate 27 or the subject M. Furthermore, there is a limit to the rotation range due to mechanical structure constraints of the rotation drive device 24.

By the way, in order to improve the throughput of patient processing, an
It is highly necessary to move the radiation irradiation device 22 as quickly as possible.

However, if you rotate at high speed from the beginning of rotation,
Since an overcurrent flows through the motor 25 and causes burnout, it is necessary to start up the motor 25 smoothly (smoothly). After the start-up is completed, it is preferable to rotate at a speed as fast as possible to shorten the travel time to the target position. Further, when the motor 25 is stopped after reaching the target position, it is preferable to start decelerating a little before the target position and stop the motor 25 smoothly.

C. Problems to be Solved by the Invention However, in the past, speed control of the motor 25 relied on manual operation of the operating handle 28, so the target position was particularly close to the collision area or the mechanical rotation limit (hereinafter referred to as , these are collectively referred to as the limit range), the operator may misjudge the timing to start deceleration and cause the X-ray irradiation device 22 and image receiving device 23 to collide with the top plate 27 and the subject M. There was a risk that the subject M would be injured, the device would be damaged, or the motor 25 would be overloaded.

This idea was made in view of these circumstances, and aims to automatically start deceleration in the limit area at the appropriate timing even if the target position is set in the limit area. purpose.

D. Means for solving the problem In order to achieve the above purpose, this invention has the following configuration.

That is, the X-ray fluoroscopic imaging device of this invention includes a motor that drives a rotation system consisting of an X-axis irradiation device and an image receiving device that rotate integrally, and a means for outputting a manipulated variable voltage corresponding to the manipulated variable of the operating handle. , outputs a speed limit voltage that is output after the rise of the manipulated variable voltage is completed, and when the device enters the limit region, the manipulated variable voltage in the limit region period is set lower than the manipulated variable voltage in the period before the limit region. means for outputting a voltage multiplied by the manipulated variable voltage and the speed limit voltage; means for outputting a minimum speed voltage necessary to drive the motor; The motor includes means for outputting a voltage that is limited in the limit range and is higher than the minimum speed voltage, and a motor drive circuit that controls the motor based on the speed control voltage.

E Effects The effects of the structure of this device are as follows.

When the target position is set near the limit area,
Since the speed of the motor is controlled under the limited voltage from the start period of the limit area, deceleration in the limit area is automatically started at an appropriate timing.

F. Embodiment Hereinafter, embodiments of this invention will be described in detail based on the drawings.

First Embodiment FIG. 1 is a block diagram of an X-ray fluoroscopic imaging apparatus according to a first embodiment.

One end of the variable resistor 2, which outputs a resistance output proportional to the operation amount (rotation amount) of the operation handle 1, is a DC power source.
Connected to Vcc and the other end is grounded. CPU3
is the speed limit data B ₀ stored in ROM4
(t) and minimum speed data C ₀ (t) are read out and output from output ports P ₀ and P ₁ , respectively. The ROM 4 also stores data on the limit area Lm. 5 is RAM.

The first D/A converter 6 connected to the output port P ₀ converts the digital speed limit data B ₀ (t) into an analog speed limit voltage B (t) and outputs it to the multiplier 8. It is composed of This multiplier 8 has a manipulated variable voltage A that has been resistance-divided by a variable resistor 2.
(t) is also input, manipulated variable voltage A(t) and speed limit voltage B
(t) multiplied by voltage D(t) (=A(t)×B(t)) is configured to be output to the inverter-type motor drive circuit 9 via the first switch _S1 . . That is, the speed limit voltage B(t) imposes a limit on the operation amount voltage A(t) which is proportional to the operation amount of the operating handle 1.

The second D/A converter 7 connected to the output port P ₁ converts the digital minimum speed data C ₀ (t) into an analog minimum speed voltage C (t), and switches the second switch S ₂ to the analog minimum speed voltage C (t). The signal is configured to be output to the motor drive circuit 9 via the motor drive circuit 9.

The multiplied voltage D(t) from the multiplier 8 and the lowest speed voltage C(t) from the second D/A converter 7 are configured to be input to a comparator 10. The output terminal of the comparator 10 is connected to the ON control terminal O 1 of the first switch S ₁ via the inverter ₁₁ for inversion, and is connected to the ON control terminal O ₂ of the second switch S ₂ .
is also connected.

That is, when the multiplied voltage D(t) is equal to or higher than the minimum speed voltage C(t) (D(t)≧C(t)), the output terminal of the comparator 10 becomes "L" level, and the second switch _S2 teeth
On the other hand, the ON control terminal O ₁ becomes "H" level via the inverter 11, so the first switch S ₁ turns ON and outputs the larger multiplied voltage D(t) to the motor drive circuit 9. do. Also, when the multiplied voltage D(t) is lower than the minimum speed voltage C(t) (D(t)<C(t)),
The output terminal of the comparator 10 becomes "H" level, and the first switch _S1 is turned OFF via the inverter 11.
On the other hand, the ON control terminal O ₂ becomes "H" level, the second switch S ₂ is turned ON, and the larger minimum speed voltage C(t) is output to the motor drive circuit 9.

The voltage thus output to the motor drive circuit 9, that is, the larger voltage of the multiplication voltage D(t) and the lowest speed voltage C(t) is set as the speed control voltage E(t).

The three-phase AC motor 12 has a motor drive circuit 9
The drive control is performed at a frequency obtained based on the speed control voltage E(t). A rotary system driven by the motor 12 is provided with a potentiometer 13 that detects the current operating amount, and its output is sent to the CPU via an A/D converter 14.
3 input port _P2 .

The rotation system described above includes a rotation drive device 15 and an arm 1.
6. It consists of an X-ray irradiation device 17, an image receiving device 18, etc. attached to both ends of the arm 16. Reference numeral 19 denotes a top plate of a bed driving device (not shown) for causing the subject M to lie down.

An operation start switch _S0 is connected to CPU3,
The sequence operation is started by the ON operation.

When the operation handle 1 is at the starting end, the operation amount voltage A(t) is the minimum, and this is defined as A _MIN . When the operation handle 1 is rotated to the end, the operation amount voltage A(t) is maximum, and this is defined as A _MAX .

The speed limit data B ₀ (t) and minimum speed data C ₀ (t) stored in ROM4 are programmable.
The configuration is such that it can be updated in accordance with the speed control conditions of the motor 12.

The speed limiting voltage B(t) is, as shown in Figure 2b,
It is a rotating system driven by the motor 12, which maintains zero during an initial fixed period _t0 to _t1 , rises from time _t1 , and reaches a fixed maximum voltage _BMAX at time _t2 . This maximum voltage B MAX is maintained until time t ₃ , which is a little before time t ₄ , when the X-ray irradiation device 17 and the image receiving device 18 reach the starting point of their limit region Lm, and the maximum voltage B _MAX is maintained for a period t ₃ .
At ~t ₄ there is a slight deceleration, and during the period t ₄ ~t ₅ during the limit region Lm
At a constant limiting voltage B _N lower than the maximum voltage B _MAX
The motor 12 is kept at t 5 and falls from time t ₅ , which is a little before the time t ₇ at which the motor 12 starts decelerating to stop, and at time t ₆ between that time t ₅ and the deceleration start time t ₇ .
It is set to stabilize from to zero.

The state in which the X-ray irradiation device 17 and the image receiving device 18, which are rotating systems, are in the limit region Lm is configured to be transmitted to the CPU 3 via the A/D converter 14 by a signal from the potentiometer 13. ing.

The lowest speed voltage C(t) is, as shown in Figure 2c,
After rising slowly from zero during an initial fixed period t ₀ to _{t 1} , it stabilizes at a constant voltage C _MAX during the period from time t ₁ to deceleration start time t ₇ , and from deceleration start time t ₇ to stop completion time It is set so that it falls slowly during the period _t8 and reaches zero at the stop completion time _t8 . The constant voltage C _MAX is set according to the relationship C _MAX =A _MIN ×B _MAX , and this is the minimum voltage necessary to drive the motor 12.

Operation [1] The operation when the manipulated variable voltage A(t) is set to the maximum voltage B _MAX will be explained according to the time chart in FIG. 2.

Operation start period ( _t0 to _t1 ) Turn on the operation start switch _S0 and rotate the operation handle 1 from the start point to the end point. CPU3 turns on the operation start switch _S0 at time _t0 .
When ON is detected, sequence operation starts,
According to the program in the ROM 4, speed limit data B ₀ (t) and minimum speed data C ₀ (t) are read from the ROM 4 and output from output ports P ₀ and P ₁ , respectively.

The output speed limit data B ₀ (t) is the first D/
The A converter 6 converts it into an analog speed limit voltage B(t) as shown in FIG. 2b, and outputs it to the multiplier 8. Also, the minimum speed data C ₀ (t) is the second
It is converted by the D/A converter 7 into an analog minimum speed voltage C(t) as shown in FIG.

On the other hand, as the operating handle 1 rotates, the manipulated variable voltage A(t), which is resistance-divided by the variable resistor 2, becomes the second
It gradually rises as shown in Figure a.

During the period _t0 to _t1 , the speed limit voltage B(t) remains zero. Therefore, the voltage D(t) multiplied by the manipulated variable voltage A(t) and the speed limit voltage B(t) by the multiplier 8 becomes zero as shown in FIG. 2d. That is, no matter how the manipulated variable voltage A(t) changes, the manipulated variable voltage A(t) will be neglected due to this multiplication. However, on the other hand, the lowest speed voltage C(t) increases slowly.

In this way, during the period _t0 to _t1 , the lowest speed voltage C(t)
>The multiplied voltage D(t), so the output terminal of the comparator 10 becomes "H" level, the ON control terminal _O1 becomes "L" level and the first switch _S1 becomes OFF,
The ON control terminal _O2 becomes "H" level and the second switch _S2 is turned ON.

As a result, as shown in FIG. 2e, the minimum speed voltage C(t) is output to the motor drive circuit 9 as the speed control voltage E(t), and the motor 12 is driven by this speed control voltage E
The drive is controlled at a frequency based on (t) = C(t).

In other words, during the operation start period _t0 to _t1 , the second
No matter how quickly the operating handle 1 is rotated, as shown by the dashed-dotted line in Figure a, or slowly, as shown by the dashed-double line, or at a normal speed, as shown by the solid line. However, regardless of the operating speed, the speed control voltage E has a gradual increase rate determined by the minimum speed voltage C(t).
The motor 12 is drive-controlled by (t), and the motor 1
2. The start of rotation is always performed smoothly.

Period during which the rotational speed responds to the manipulated variable (t ₁ to t ₃ ) −1 [period t ₁ to t ₂ ] First, from time t ₁ when the minimum speed voltage C(t) reaches the maximum voltage C _MAX , the speed control voltage B(t) is the maximum voltage B _MAX
The operation during the period t ₁ to _{t 2} up to time t ₂ when . During this period, the speed limit voltage B(t) gradually increases.

If the manipulated variable voltage A(t) is a solid line or a dashed-dotted line, the operating handle 1 has reached the end point by time t ₁ , and A(t) = A _MAX has already been achieved at time t ₁ . Therefore, the multiplied voltage D(t) is D(t)=A(t)×B(t)=A _MAX
×B(t), and the multiplied voltage D(t) rises relatively rapidly as shown by the solid line in FIG. 2d.

When the operating speed of the operating handle 1 is relatively slow and the operating amount voltage A(t) is still in the rising process as shown by the two-dot chain line, the multiplied voltage D(t)=A(t)×
Since A(t)<A _MAX , B(t) rises more gently than in the case of the solid line, as shown by the two-dot chain line in FIG. 2d.

However, the multiplied voltage D(t) reaches the maximum voltage D _MAX at time t ₂ both in the case of the solid line and in the case of the two-dot chain line.

The speed control voltage E(t) is the time when D(t)=C(t) is reached.
Until _t11 , the maximum voltage _CMAX of the minimum speed voltage C(t) is reached, and from time _t11 to time _t2 , the multiplied voltage D(t) is reached.

During the period _t11 to _t2 , the multiplied voltage D(t) is limited by the speed limit voltage B(t), and as can be seen from the difference between the solid line and the two-dot chain line, the manipulated variable voltage A(t)
increases in proportion to In this period, since the multiplication voltage D(t)>minimum speed voltage C(t), the output terminal of the comparator 10 becomes "L" level, and the first switch _S1 is turned on via the inverter 11. Therefore, the second switch _S2 is turned off.

As a result, the multiplied voltage D(t) is output to the motor drive circuit 9 as a speed control voltage E(t), and the motor 12 is driven at a frequency based on this speed control voltage E(t)=D(t). controlled.

-2 [Period t ₂ to _{t 3} ] Next, in the period t 2 _to t 3 from time t ₂ when the speed limit voltage B(t) reaches the maximum voltage B _MAX to time _{t 3} when this voltage starts to drop. Explain the operation.

During this period, the speed limit voltage B(t) is the maximum voltage
B is kept at _MAX . Also, since the manipulated variable voltage A(t) is the maximum voltage A _MAX and the minimum speed voltage C(t) is the maximum voltage C _MAX , the multiplied voltage D(t) is D(t) = A(t) ×
B(t)=A _MAX ×B _MAX .

Comparing the multiplication voltage D(t) and the minimum speed voltage C(t), there is a relationship of C _MAX = A _MIN ×B _MAX , so D(t) - C(t) = A _MAX × B _MAX - C _MAX = A _MAX × B _MAX - A _MIN × B _MAX = (A _MAX - A _MIN ) × B _MAX > 0 In other words, D(t) > C(t), and the speed control voltage E
Multiply voltage D(t) is selected as (t).

The multiplied voltage D(t) is D(t) = A _MAX × B _MAX and is constant, but since it is controlled by A _MAX ,
The speed control voltage E(t) is also a multiplied voltage D(t) determined according to the amount of operation of the operating handle 1.

Since the multiplier voltage D(t)>minimum speed voltage C(t), the first switch _S1 is kept ON and the second switch _S2 is OFF, and the multiplier voltage D(t) is It is output to the motor drive circuit 9 as a speed control voltage E(t), and the motor 12 is driven and controlled by the speed control voltage E(t)=multiplying voltage D(t).

Note that during this period t ₂ to _{t 3} , when the return operation and forward operation of the operating handle 1 are repeated, the operation amount voltage A(t) pulsates as shown by the dotted line a, and the multiplied voltage D(t ) also pulsates. However, the relationship of multiplication voltage D(t)>minimum speed voltage C(t) is maintained, and multiplication voltage D(t) is selected as speed control voltage E(t).

As can be seen from this, the speed control voltage E(t) is determined by the operation amount voltage A(t) corresponding to the operation amount of the operating handle 1.

If for some reason the operation handle 1
When returned to the starting point, the manipulated variable voltage A(t) becomes the dotted line b
Although the voltage drops to the minimum voltage A _MIN as shown in , the multiplied voltage D(t) is still D(t)=A(t)×B(t)=
Since A _MIN ×B _MAX and the relationship C _MAX = A _MIN ×B _MAX , D(t) − C(t) = A _MIN × B _MAX − C _MAX = 0, that is, D(t) = C (t), the speed control voltage E(t) is maintained at the lowest voltage C _MAX required to drive the motor 12.

Slight deceleration period ( _t3 to _t4 ) The X-ray irradiation device 17 and the image receiving device 18 are
The speed of the motor 12 is reduced before entering the limit region Lm, which is a region where there is a possibility of collision with the top plate 19 or a region corresponding to the limit of the physical rotation range due to the mechanical structure of the rotary drive device 15. However, since it cannot be reduced all at once, it is decelerated during the period t ₃ to t ₄ .

That is, the current position of the rotation system (X-ray irradiation device 17 and image receiving device 18) is detected by the potentiometer 13, and this is detected by the A/D converter 1.
4 to the input port _P2 of the CPU3. The CPU 3 changes the speed limit data B ₀ (t) according to the signal of the current position of the rotation system, and gradually lowers the speed limit voltage B (t), which was the maximum voltage B _MAX at time t ₃ , until it reaches the time t. ₄ to set the limit voltage B _N. limited voltage
B _N is a voltage slightly lower than the maximum voltage B _MAX .

At time _t4 , the multiplied voltage D(t) is D(t)=A(t)
×B(t)=A _MAX ×B _N , and the voltage is lower than D _MAX
D _N , but still D(t)=D _N > C(t)=C _MAX
The relationship is maintained, and the multiplication voltage D(t)=A _MAX ×B _N is selected as the speed control voltage E(t).

In addition, since the relationship D(t)>C(t) is maintained even at time t ₄ , the relationship D(t)>C(t) is also maintained during the period t ₃ to t ₄ , and speed control This means that the multiplied voltage D(t)=A(t)×B(t) is selected as the voltage E(t).

Period in limit region Lm (t ₄ - _{t 5} ) During this period t ₄ - _{t 5} , the state is the same as at time t ₄ , and the multiplied voltage D(t) is D(t)=A _MAX × B _N
Since the state of >C(t)=C _MAX is maintained, the multiplication voltage D(t)=A _MAX ×B _N is selected as the speed control voltage E(t).

In addition, in the period t ₄ to t ₅ in the limit region Lm,
Similar to the dotted line a in the period t ₂ to _{t 3} , when the return operation and forward operation of the operating handle 1 are repeated, when the manipulated variable voltage A(t) pulsates, the multiplied voltage D(t) also changes accordingly. Although it pulsates, the relationship D(t)>C(t) is maintained, and the multiplied voltage D(t) is selected as the speed control voltage E(t).

Therefore, even in this limit region Lm, the speed control voltage E(t) is determined by the manipulated variable voltage A(t) corresponding to the manipulated variable of the operating handle 1.

Furthermore, even if, for some reason, the operating handle 1 is returned to _the starting point and the manipulated variable voltage A(t) drops to the minimum voltage A _MIN , as in the case of the dotted line b in the period t ₂ to t 3, the above-mentioned As in the case of , the speed control voltage E(t) is maintained at the minimum voltage C _MAX required to drive the motor 12 .

Drop period of speed limit voltage B(t) (t ₅ - _{t 6} ) Multiply voltage D(t) drops to minimum speed voltage C(t) at time t ₅₁ (D(t) = C(t) = C _MAX ). During the period _t5 to _t51 , the multiplication voltage D(t)>minimum speed voltage C(t) is maintained, and the multiplication voltage D(t) is selected as the speed control voltage E(t).

During the period _t51 to _t6 , the multiplication voltage D(t)<minimum speed voltage C(t), and the minimum speed voltage C(t) is selected as the speed control voltage E(t), and at this time C(t) =C _MAX
Therefore, motor 12 is driven at the lowest voltage C _MAX necessary to drive it. This period t ₅₁
~ _t6 , the speed of motor 12 becomes sufficiently low.

Period during which the speed limit voltage B(t) is zero ( _t6 to _t7 ) At time _t6 , the speed limit voltage B(t) becomes zero, and the multiplication voltage D(t) also becomes zero. However, the minimum speed voltage C(t) maintains C _MAX . Therefore,
Since C(t)=C _MAX >D(t)=0, the lowest speed voltage C(t)=C _MAX is selected as the speed control voltage E(t).

Deceleration period (t ₇ - _{t 8} ) From time t ₇ , the minimum speed voltage C(t) becomes its maximum voltage
It gradually descends from C _MAX and reaches zero at time t ₈ . During this period _t7 to _t8 , the speed limit voltage B(t) is zero and the multiplication voltage D(t) is also zero, so the speed control voltage E(t) is dominated by the lowest speed voltage C(t). , as the minimum speed voltage C(t) gradually decreases, the speed control voltage E(t) also gradually decreases.

That is, the motor 12 smoothly decelerates,
Finally, it stops quietly at time _t8 .

Note that when the motor 12 is stopped, the operation handle 1 is not normally returned, and the operation amount voltage A(t) is maintained at its maximum voltage A _MAX .
There is no problem because the motor 12 decelerates and stops under the control of the lowest speed voltage C(t).

As is clear from the above operation explanation, the motor 12
is started up smoothly, and after completion of the start-up, in areas other than the limit area, the rotating system (X-ray irradiation device 17 and image receiving device Move the device 18). That is, the X-ray irradiation device 17 and the image receiving device 18 can be moved as fast as possible to the target position, and the throughput of patient treatment can be increased.

When entering the limit region Lm, a certain limit is imposed on the moving speed of the X-ray irradiation device 17 and the image receiving device 18, and the speed is smoothly decelerated from just before the target position to the target position. Collision of the device 18 with the subject M or the top plate 19 can be reliably avoided.

[2] The operation when the manipulated variable voltage A(t) is made lower than the maximum voltage A _MAX is as shown in the time chart of FIG. 3.

The difference from the case [1] above is that the limit area Lm
During the period t ₄ to t ₆ , the value D _N of the multiplied voltage D(t) limited by the speed limit voltage B(t) becomes lower than C _MAX , but even in this case, during the period t ₆ to t ₇ , as the speed control voltage E(t), the lowest speed voltage C(t)=
C _MAX is selected to maintain the lowest voltage C _MAX necessary to drive motor 12.

Note that, as is clear from the comparison between FIG. 2 and FIG. 3, during the period t ₁ to t ₄ , the speed control voltage E(t)
is adjusted according to the amount of operation of the operating handle 1.

Second Embodiment Next, a second embodiment will be described based on FIG. 4.

In FIG. 4, the same reference numerals as those shown in FIG. 1 according to the first embodiment are also used in this embodiment.
Refers to the same parts, parts, etc. indicated by the symbol. Further, unless otherwise specified, connections, data relationships, etc. are also the same between this embodiment and the first embodiment.

In the second embodiment, the comparator 1 of the first embodiment
0, inverter 11, first and second switches S ₁ ,
S ₂ is missing and instead the multiplied voltage D from multiplier 8
(t) and the lowest speed voltage C from the second D/A converter 7
(t).
0 (C(t)+D(t)) is configured to be output to the motor drive circuit 9 as the speed control voltage E(t).

In the second embodiment, the operation when the manipulated variable voltage A(t) is set to the maximum voltage A _MAX is as shown in _the time chart of FIG. The operation when lowering the value is as shown in the time chart of FIG.

The second embodiment is characterized in that the speed control voltage E(t) in the period t ₁ to _{t 6} is higher than that in the first embodiment, and in the case of FIG.
The speed control voltage E(t) is higher than C _MAX from t ₄ to _{t 6} .

Also, since the speed control voltage E(t) is obtained by adding the multiplier voltage D(t) to the minimum speed voltage C(t), the minimum speed required to drive the motor 12 as in the case of the first embodiment is The condition to ensure the voltage C _MAX of C _MAX = A _MIN × B _MAX becomes unnecessary.

G Effect of invention According to this idea, the following effects are achieved.

In other words, in the limit area, the voltage is calculated based on the product voltage of the operation amount voltage corresponding to the operation amount of the operating handle and the speed limit voltage, which is set to a low voltage during the limit area period, and the minimum speed voltage for driving the motor. Since the motor speed is controlled by a limited voltage and a voltage higher than the minimum speed voltage, even when the target position is set near the limit area, the motor speed is automatically controlled at the appropriate timing. can start deceleration in the limit range, eliminating the
Collisions between the radiation irradiation device, the image receiving device, the subject, and the top plate can always be reliably avoided.

[Brief explanation of the drawing]

1 to 3 relate to a first embodiment of this invention, in which FIG. 1 is a block diagram of an X-ray fluoroscopic photographing apparatus, and FIGS. 2 and 3 are time charts for explaining the operation. 4 to 6 relate to a second embodiment of this invention, in which FIG. 4 is a block diagram of the X-ray fluoroscopic imaging apparatus, and FIGS. 5 and 6 are time charts for explaining the operation. FIG. 7 is a schematic configuration diagram of a conventional X-ray fluoroscopic imaging apparatus. 1... Operation handle, 2... Variable resistor, 3...
...CPU, 4...ROM, 5...RAM, 6,7...
...D/A converter, 8...Multiplier, 9...Motor drive circuit, 10...Comparator, 12...Motor, 16
... Arm, 17 ... X-ray irradiation device, 18 ... Image receiving device, 19 ... Top plate, 20 ... Adder, A(t) ...
...Manipulated variable voltage, B(t)...Speed limit voltage, C(t)...
Minimum speed voltage, D(t)... Multiply voltage, E(t)... Speed control voltage, M... Test object.

Claims (1)

[Scope of utility model registration request] A motor for driving a rotation system consisting of an X-axis irradiation device and an image receiving device that rotate integrally, a means for outputting a manipulated variable voltage according to the manipulated variable of an operating handle, and a means for outputting a manipulated variable voltage after completion of rising of the manipulated variable voltage. means for outputting a speed limit voltage such that when the device enters the limit region, the manipulated variable voltage during the limit region period is set lower than the manipulated variable voltage during the period before the limit region; and the manipulated variable voltage and the speed limit. means for outputting a voltage multiplied by the voltage, means for outputting a minimum speed voltage necessary for driving the motor, and a voltage limited in the limit region based on the multiplication voltage and the minimum speed voltage, An X-ray fluoroscopic imaging apparatus comprising: means for outputting a voltage equal to or higher than a speed voltage; and a motor drive circuit that controls the motor based on the speed control voltage.