JP2004350833A - Mobile x-ray equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide mobile X-ray equipment that can be aligned easily by making a fine movement without being influenced by the state of the location to which the equipment is to be moved nor causing a slight movement control means to make inputting action many times. <P>SOLUTION: This mobile X-ray equipment is provided with a running control means (running switch) 52 and a slight movement control means (slight movement switch) 33, both of which drive the driving wheels 22 of a carriage 2, and causes the carriage 2 to make a slight movement in a slight movement mode through the inputting action of the slight movement control means 33. This equipment is also provided with a control means 6 which repeatedly runs the carriage 2 for a fixed distance by stopping the carriage 2 when the carriage 2 runs the fixed distance and again running the carriage 2 when the carriage is stopped for a fixed period of time by ignoring the inputting action of the running control means 52. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mobile X-ray apparatus, and more particularly to a mobile X-ray apparatus that can perform a normal traveling operation and a fine movement operation.
[0002]
[Prior art]
In general, the mobile X-ray apparatus includes an X-ray irradiation unit, a support unit that supports the X-ray irradiation unit, a carriage to which the support unit is fixed, and an apparatus main body unit mounted on the carriage.
[0003]
The main body of the apparatus includes a high voltage generator, control means for controlling the driving of each device such as X-ray irradiation control, an operation panel for setting imaging conditions, a motor for driving the driving wheel of the carriage, and a motor. A travel switch (travel operation means) for driving is provided.
[0004]
The mobile X-ray apparatus can be moved from a storage location of the mobile X-ray apparatus to a place where a patient is present, such as a hospital room, by driving a motor by an input operation of a travel switch.
[0005]
In addition, since the mobile X-ray apparatus needs to arbitrarily set the relative position between the X-ray irradiation unit and the imaging region of the patient according to the imaging purpose during imaging, the X-ray irradiation unit is generally used as a carriage unit. On the other hand, the structure can move in the horizontal direction and the vertical direction within a certain range.
[0006]
However, since the X-ray irradiation unit is generally supported by the carriage, the movable range of the X-ray irradiation unit is limited with respect to the carriage. Therefore, it is necessary to move the carriage when an appropriate position that can irradiate the imaging region is not obtained within the movable range of the X-ray irradiation unit.
[0007]
In this case, if the device is moved by the input operation of the travel switch, the movement amount per unit time is large, that is, the movement speed is fast, so that the X-ray irradiation unit is placed at the proper imaging position. It is very difficult to align.
[0008]
Furthermore, in the X-ray imaging by the mobile X-ray apparatus, at the stage where the X-ray irradiation unit is aligned with the imaging region, the X-ray apparatus is positioned near the patient, and an infusion device or an electrocardiograph is provided around the X-ray apparatus. Since there are many cases where medical tools such as these are installed, it is desirable to move the X-ray apparatus safely and accurately.
[0009]
Therefore, as shown in Patent Document 1, a device provided with a fine movement switch (fine movement operation means) for performing fine movement separately from the travel switch has been proposed. In the X-ray apparatus of Patent Literature 1, the fine wheel switch input operation moves the driving wheels of the X-ray apparatus little by little to perform alignment. And in the X-ray apparatus of patent document 1, even if the fine movement switch has been input for safety, the driving of the driving wheel is automatically stopped after a certain period of time.
[0010]
[Patent Document 1] Japanese Patent Application Laid-Open No. 2002-45353
[Problems to be solved by the invention]
However, since the X-ray apparatus shown in Patent Document 1 is controlled so as to stop after a certain period of time, it does not stop at a certain distance when the moving speed is not constant due to the state of the floor or other factors. This causes a problem that the alignment takes time.
[0012]
Further, when the motor stops driving after a predetermined time has elapsed from the input operation of the fine movement switch, it is necessary to redo the input operation of the fine movement switch in order to move the apparatus again. Therefore, when the traveling speed is not constant and does not stop at a certain distance, it is necessary to repeat the on / off operation of the fine movement switch many times.
[0013]
Therefore, in view of the above problems, the present invention is not influenced by the state of the location where the mobile X-ray apparatus is moved, and the fine movement operation of the mobile X-ray apparatus is not performed many times without performing the input operation of the fine movement operation means. It is an object of the present invention to provide a mobile X-ray apparatus that can be easily aligned by the above.
[0014]
[Means for Solving the Problems]
The present invention comprises a traveling operation means and a fine movement operating means for driving the drive wheels of the carriage, and the carriage is finely operated in the fine movement mode by an input operation of the fine movement operating means. During the fine movement mode, input by the traveling operation means By ignoring the operation, the above object can be achieved by providing a control means for performing a control for repeating the operation of stopping the vehicle for a fixed time and driving the vehicle again for a fixed distance when the vehicle travels a fixed distance.
[0015]
In addition, the control means does not stop for a certain time when the carriage travels a certain distance during the fine movement mode, but decelerates for a certain time, and again performs an operation to travel a certain distance at a predetermined constant speed. You may control to repeat.
[0016]
In the present invention, the mobile X-ray apparatus includes an X-ray irradiation unit supported by the carriage via a support part, an apparatus main body mounted on the carriage, and a drive wheel attached to the carriage.
[0017]
In the apparatus main body section, there are a control means for performing drive control of each drive device such as control of X-ray irradiation, an operation panel section for setting imaging conditions, and a drive switch for running the mobile X-ray apparatus. A traveling operation means, a motor for driving the driving wheel, and a rotation speed detector for detecting the rotation speed of the motor are provided.
[0018]
Examples of the rotational speed detector include an encoder, a resolver, a tacho generator, and the like. The rotational speed detector is attached to the rotating part of the motor, and the moving distance of the mobile X-ray apparatus is obtained from the rotational speed of the motor detected by the rotational speed detector.
[0019]
The present invention includes travel operation means for traveling the mobile X-ray device (travel mode) and fine motion operation means for finely moving the mobile X-ray device (fine motion mode). The moving X-ray apparatus can be finely adjusted by the operation. The fine movement operating means may be provided in the apparatus main body, but the fine movement operating means is preferably provided in the X-ray irradiation section so that the operator can perform fine movement adjustment while operating the X-ray irradiation section.
[0020]
The control means includes, for example, a microcomputer, and includes a determination unit that determines a traveling mode or a fine movement mode, a motor drive control unit that controls driving of the motor, a calculation unit that calculates a moving distance, a drive command unit, and a timer. Yeah.
[0021]
Based on the input operation of the travel operation means or the fine motion operation means, the travel mode or the fine motion mode is determined in the determination unit.
[0022]
The drive command unit instructs the motor drive control unit to drive the motor in a predetermined mode based on the mode determination result of the determination unit. Further, the drive command unit stops the driving of the motor or decelerates the rotation speed based on the movement distance calculated by the calculating unit, and restarts the driving of the motor after a predetermined time has elapsed from the start of the stop or deceleration. Command the drive controller. Note that, during the fine movement mode, even if the travel mode is input by the travel operation means, the determination unit is controlled not to determine the travel mode.
[0023]
The calculation unit receives the rotation number of the motor detected by the rotation number detector, and also receives a fine movement mode start command from the drive command unit. The calculation unit obtains the motor rotation speed from the start of the fine movement mode in accordance with the fine movement mode start command, calculates the movement distance of the carriage, and outputs the calculation result to the drive command unit.
[0024]
The timer starts measuring time when the power of the mobile X-ray apparatus is input, and the measured time is output to the drive command unit.
[0025]
The mobile X-ray apparatus of the present invention can perform position adjustment in the fine movement mode after the mobile X-ray apparatus has traveled close to the patient in a predetermined hospital room in the travel mode.
[0026]
That is, when performing X-ray imaging, the X-ray irradiation unit is moved to a position where the patient can be imaged. If the X-ray irradiation unit cannot be moved to the image-capable position at this time, the main body of the apparatus is controlled in the fine movement mode. Adjust the position by slightly moving.
[0027]
Drive control when performing the fine movement mode is performed as follows. First, when an input operation is performed by the fine movement operation means, an input operation signal from the fine movement operation means is output to the determination section of the control means, and the determination section outputs a fine movement mode signal to the drive command section. The drive command unit outputs a signal to the motor drive control unit so as to drive the motor in the fine movement mode. A motor drive control part drives a motor by driving a motor with the rotation speed used as a fine movement mode.
[0028]
Here, while the input operation by the fine operation means is performed, even if the input operation by the travel operation means is performed, the determination of the travel mode is not performed by the determination unit, and the fine movement mode is prioritized.
[0029]
Further, during the fine movement mode, the rotation number of the motor is detected by a rotation number detector, and the detection result is output to the calculation unit. A fine movement mode start signal is also input to the calculation unit from the drive command unit. The calculation unit calculates the motor rotation speed from the start of the fine movement mode, calculates the moving distance of the carriage, and outputs the calculation result to the drive command unit.
[0030]
The drive command unit outputs a signal to the motor drive control unit so as to stop driving the motor or decelerate the rotation speed of the motor when the movement distance calculated by the calculation unit reaches a predetermined distance.
[0031]
For example, when the motor is temporarily stopped during the fine movement mode, the drive command unit starts control of the fine movement operation pause when the carriage moves a predetermined distance, and from the drive command unit to the motor drive control unit A fine motion pause command is output. The motor drive control unit stops the drive of the motor by this temporary stop command.
[0032]
When the drive command unit determines that the temporary stop time has reached a predetermined time based on the time measured by the timer, the drive command unit outputs a command to start the fine movement operation to the motor drive control unit.
[0033]
The motor drive control unit rotates the motor at a constant speed according to the fine movement start command and moves the drive wheels of the carriage. The fine movement mode is canceled when the input operation by the fine movement operation means is stopped.
[0034]
When the motor rotation speed is reduced, the drive command unit starts the deceleration control of the fine movement operation when the carriage moves a predetermined distance, and the drive command unit reduces the motor rotation speed. In this manner, a signal is output to the motor drive control unit. The motor drive control unit controls the drive of the motor so as to reduce the rotation speed of the motor.
[0035]
When the elapsed time measured by the timer reaches a predetermined time from the start of motor deceleration, the drive command unit outputs the motor to the motor drive control unit so as to drive the motor at a constant speed. The motor drive control unit rotates the motor at a constant speed according to the output signal from the drive command unit, and moves the drive wheels of the carriage.
[0036]
As described above, during the fine movement mode, even if the fine movement operation means is input, after the predetermined distance is moved, the motor drive is temporarily stopped for a certain time, and then the drive is resumed. Drive control is performed by the means.
[0037]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an example of an embodiment of the present invention will be described with reference to FIGS.
[0038]
FIG. 1 shows a mobile X-ray apparatus according to an embodiment of the present invention. As shown in FIG. 1, the mobile X-ray apparatus 1 of the present invention includes an X-ray irradiation unit 3 that irradiates a subject with X-rays on a carriage 2, and an arm unit 41 that supports the X-ray irradiation unit 3. A support (supporting portion) 42 constituting an elevating mechanism for elevating and lowering the X-ray irradiation unit 3 via the arm unit 41 and the apparatus main body unit 5 are provided.
[0039]
The carriage 2 includes a front wheel 21 and a rear wheel 22, a support column 42 is projected in front of the carriage 2, and the apparatus main body 5 is mounted behind the carriage 2.
[0040]
The support column 42 is supported in front of the carriage 2 so as to be rotatable about a vertical axis. The arm portion 41 is supported on the support column 42 so as to be movable up and down. The X-ray irradiation unit 3 is attached to the tip of the arm unit 41.
[0041]
The X-ray irradiation unit 3 includes an X-ray generation unit 31 and an X-ray movable diaphragm 32. Although not shown, the X-ray generation unit 31 includes an X-ray tube. An X-ray irradiation range is set by the X-ray movable diaphragm 32 and the patient is irradiated with the X-rays irradiated by the X-ray generation unit 31. As shown in FIGS. 2 and 3, the X-ray movable diaphragm 32 is provided with a fine movement switch (fine movement operation means) 33 for finely moving the carriage 2.
[0042]
In addition, the apparatus main body 5 includes an operation panel 51 for setting the X-ray irradiation conditions of the X-ray irradiation unit 3 and performing X-ray irradiation, and the apparatus main body 5 as shown in the functional block diagram of FIG. A control means (microcomputer) 6 and a motor 7 are provided.
[0043]
Further, in the present embodiment, as shown in FIGS. 1 and 3, a travel switch (traveling operation means) 52 for traveling the carriage 2 is provided in the apparatus main body 5. The travel switch 52 is composed of an operation handle attached to the apparatus main body 5.
[0044]
Further, in the present embodiment, as shown in FIG. 3, the motor 7 is provided on each of the two rear wheels 22, and each motor 7 has an encoder (rotation) for detecting the rotation speed and rotation direction of the motor. (Number detector) 8 is attached.
[0045]
The control means 6 provided in the apparatus main body 5 is composed of a microcomputer, and includes a determination unit 61 for determining a traveling mode or a fine movement mode, a motor drive control unit 62 for controlling the driving of the motor 7, and a calculation for calculating the moving distance of the carriage 2. A unit 63, a drive command unit 64, and a timer 65 are provided.
[0046]
The determination unit 61 determines the traveling mode or the fine movement mode based on the input operation of the traveling switch 52 or the fine movement switch 33. The drive command unit 64 instructs the motor drive control unit 62 to drive the motor 7 in a predetermined mode (running mode or fine movement mode) based on the mode determination result of the determination unit 61. Further, the drive command unit 64 stops the driving of the motor 7 based on the movement distance calculated by the calculating unit 63, and restarts the driving of the motor 7 after a predetermined time has elapsed from the start of the stop. Command 62. Note that during the fine movement mode, even if the travel mode is input by the travel switch 52, the determination unit 61 performs control so that the travel mode is not determined.
[0047]
The calculation unit 63 receives the rotational speed of the motor detected by the encoder 8 and the fine movement mode start command from the drive command unit 64. The calculation unit 63 calculates the movement distance of the carriage 2 by obtaining the motor rotation speed from the start of the fine movement mode by the fine movement mode start command, and outputs the calculation result to the drive command unit 64.
[0048]
The timer 65 starts measuring the elapsed time when the power source of the mobile X-ray apparatus 1 is input, and the time measured by the timer 65 is output to the drive command unit 64.
[0049]
The drive command unit 64 starts control of temporary stop of the fine movement operation when the carriage 2 moves a predetermined distance during the fine movement mode. With the start of the pause control, the drive command unit 64 outputs a fine motion operation pause command to the motor drive control unit 62. The motor drive control unit 62 performs control so as to stop the driving of the motor 7 by this temporary stop command.
[0050]
When the drive command unit 64 determines that the temporary stop time has reached a predetermined time based on the elapsed time measured by the timer 65, the drive command unit 64 outputs a command for starting a fine movement operation to the motor drive control unit 62.
[0051]
In the mobile X-ray apparatus 1 of the present embodiment, the control in the traveling mode and the fine movement mode will be described in more detail.
[0052]
First, when the mobile X-ray apparatus 1 is carried to a predetermined hospital room, a travel mode signal is output from the travel switch 52 to the determination unit 61 of the control means 6 by an input operation of the travel switch 52 of the operator. The travel mode signal input to the determination unit 61 is output from the determination unit 61 to the drive command unit 64, and the drive command unit 64 outputs a command signal to cause the motor drive control unit 62 to drive the motor 7 in the travel mode. To do.
[0053]
In response to the travel mode command signal, the motor drive control unit 62 drives the motor 7 at a rotational speed at which the travel mode is set to rotate the rear wheels 22. In this travel mode, the operator can travel the mobile X-ray apparatus 1 close to a patient in a predetermined hospital room.
[0054]
When X-ray imaging is performed, the X-ray irradiation unit 3 is moved to a position where the patient can be imaged. At this time, if the X-ray irradiation unit cannot be moved to the imageable position, the apparatus main body unit 5 is moved. Adjust the position slightly.
[0055]
Drive control when performing the fine movement mode is performed as follows. First, when an input operation by the fine movement switch 33 is performed, an input operation signal by the fine movement switch 33 is output to the determination unit 61, and the determination unit 61 outputs a fine movement mode signal to the drive command unit 64. The drive command unit 64 outputs a signal to the motor drive control unit 62 so as to drive the motor in the fine movement mode. The motor drive control unit 62 drives the motor 7 at the rotational speed at which the fine movement mode is set to drive the rear wheel 22.
[0056]
Here, while the input operation by the fine movement switch 33 is performed, even if the input operation by the traveling switch 52 is performed, the determination unit 61 does not determine the traveling mode, and the fine movement mode has priority.
[0057]
Further, during the fine movement mode, the number of rotations of the motor is detected by the encoder 8, and the detection result is output to the calculation unit 63. The calculation unit 63 also receives a fine movement mode start signal from the drive command unit 64. The calculation unit 63 calculates the motor rotation speed from the start of the fine movement mode, calculates the movement distance of the carriage 2, and outputs the calculation result to the drive command unit 64.
[0058]
The drive command unit 64 outputs a signal to the motor drive control unit 62 so as to stop the drive of the motor 7 when the movement distance calculated by the calculation unit 63 reaches a predetermined distance.
[0059]
When it is determined that the pause time has reached a predetermined time based on the elapsed time measured by the timer 65, the drive command unit 64 outputs the motor 7 to the motor drive control unit 62 so as to drive the motor 7 at a constant speed. . The motor drive control unit 62 rotates the motor 7 at a constant speed by an output signal from the drive command unit 64, and moves the drive wheels of the carriage by a predetermined distance. The fine movement mode is canceled when the input operation by the fine movement switch 33 is stopped.
[0060]
In this way, during the fine movement mode, as shown in FIG. 4, even if the fine movement switch 33 is input, if the movement distance reaches a predetermined distance, the motor drive is stopped for a certain time, and then the motor drive is performed. The drive is controlled by the control means 6 so as to restart the operation. After finely adjusting the apparatus main body 5 in this manner, X-ray irradiation is performed on the patient.
[0061]
In the present embodiment, the control is performed so as to perform the temporary stop after the movement of the predetermined distance during the fine movement mode. However, instead of the temporary stop, the vehicle may be decelerated for a predetermined time.
[0062]
【The invention's effect】
As described above, according to the present invention, even when the fine movement operating means is in the input state, when the carriage moves for a certain distance, it can be temporarily stopped and further moved by a certain distance, so that the fine movement operating means is repeatedly turned on and off. Even if not, the motor can be driven and stopped (or decelerated) repeatedly so that the operation of fine movement becomes easy.
[0063]
In addition, since the rotational speed of the motor is measured by the rotational speed detector, the moving distance is calculated based on the rotational speed and moved by a predetermined distance, the fine movement operation can be performed reliably.
[Brief description of the drawings]
FIG. 1 is a perspective view of a mobile X-ray apparatus according to the present invention.
FIG. 2 is a perspective view of an X-ray movable diaphragm of the mobile X-ray apparatus according to the present invention.
FIG. 3 is a functional block diagram of a mobile X-ray apparatus according to the present invention.
FIG. 4 is an explanatory diagram showing a fine movement mode state of the mobile X-ray apparatus according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Mobile X-ray apparatus 2 Bogie 21 Front wheel 22 Rear wheel 3 X-ray irradiation part 31 X-ray generation part 32 X-ray movable diaphragm 33 Fine movement switch (fine movement operation means)
41 Arm part 42 Post 5 Device body part 51 Operation panel part 52 Travel switch (travel operation means)
6 Control Unit 61 Discrimination Unit 62 Motor Control Unit 63 Calculation Unit 64 Drive Command Unit 65 Timer 7 Motor 8 Encoder (Rotation Number Detector)

Claims (2)

A traveling operation means for driving the driving wheel of the carriage and a fine movement operation means are provided, and the carriage is finely operated in the fine movement mode by an input operation of the fine movement operation means, and the input operation by the traveling operation means is ignored during the fine movement mode. The mobile X-ray apparatus further comprises control means for performing control to repeat the operation of stopping the vehicle for a fixed time and driving the vehicle again for a fixed distance when the vehicle travels a fixed distance. The vehicle is provided with travel operation means and fine movement operation means for driving the drive wheels of the carriage, and the carriage is finely operated in the fine movement mode by the input operation of the fine movement operation means. During the fine movement mode, the input operation by the traveling operation means is ignored. A mobile X-ray apparatus characterized by comprising a control means for performing a control for decelerating for a certain time when the carriage travels a certain distance and repeating the operation for traveling a certain distance again at a predetermined constant speed. .

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