JP2006068123A - Imaging apparatus and subject moving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently execute imaging by driving a cradle part mounted with a subject at a high acceleration and deceleration. <P>SOLUTION: When the cradle part 101 is driven at a first acceleration, a cradle driving part 103a drives the cradle part 101 at a low and fixed first torque value T1 and moves it in the horizontal direction H. When the cradle part 101 is driven at a second acceleration higher than the first acceleration, the cradle driving part 103 drives the cradle part 101 at a fixed second torque value T2 higher than the first torque value T1. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an imaging apparatus and a subject moving apparatus, and more particularly to an imaging apparatus that captures an image of a subject in an imaging space and a subject moving apparatus that moves the subject to the imaging space of the imaging apparatus.

  An imaging apparatus such as an X-ray CT (Computed Tomography) apparatus includes an object moving apparatus that moves an object to an imaging space. Such an imaging apparatus scans the subject moved to the imaging space by the subject moving device, acquires raw data, and generates an image of the subject based on the raw data.

For example, in the case of an X-ray CT apparatus, an X-ray tube and an X-ray detector are arranged on the scanning gantry so as to sandwich the imaging space, and the subject moving device moves the subject supported by the cradle unit to the imaging space. Move (see Patent Document 1). For example, when performing a helical scan, the subject moving apparatus is driven to slide at a constant speed after starting the cradle unit by accelerating at a predetermined acceleration, and then decelerating at a predetermined deceleration. Let me stop. For example, when the cradle part slides at a constant speed in the imaging space, the X-ray tube and the X-ray detector rotate around the subject supported by the cradle part, and the view direction around the subject The X-ray detector acquires raw data for each view direction. Based on the raw data from each view direction, an image of the tomographic plane of the subject at a desired slice position and slice thickness is reconstructed and generated.
JP 2004-173756 A

  As described above, when driving the cradle unit that supports the subject, the subject moving device uses, for example, a stepping motor. In this case, the subject moving apparatus controls the driving of the stepping motor so that the absolute value of the torque becomes constant regardless of the rotational speed.

  By the way, in recent years, the scanning speed, the scanning range, and the like have been increased in order to improve the efficiency of photographing.

  However, in the case of controlling the driving of the stepping motor as described above, the cradle portion on which the subject is placed is moved at a higher acceleration and deceleration in response to an increase in scan speed or an increase in scan range. In some cases, it was difficult to drive. For this reason, conventionally, it has been difficult to efficiently perform photographing. In addition, in order to image various subjects, it is also required to drive the cradle unit in response to the subject having a larger weight. In this case, the above-described problems are particularly apparent.

  Therefore, an object of the present invention is to provide an imaging apparatus and an object moving apparatus that can easily drive an cradle unit on which an object is placed with higher acceleration and deceleration and perform imaging efficiently. It is to provide.

  In order to achieve the above object, an imaging apparatus according to the present invention is an imaging apparatus that captures an image of a subject moved to an imaging space, the cradle unit supporting the subject, and the cradle unit to the imaging space. A cradle driving unit that drives the cradle driving unit, and a cradle driving setting unit that sets a driving condition when the cradle driving unit drives the cradle unit. When the cradle unit is driven at the first acceleration / deceleration by setting the above, the cradle unit is driven at a constant first torque value, and the cradle unit is set by setting the driving condition by the cradle drive setting unit. When driving at a second acceleration / deceleration greater than the first acceleration / deceleration, a second torque value that is greater than the first torque value and constant is used. To drive the serial cradle part.

  In order to achieve the above object, a subject moving apparatus according to the present invention is a subject moving apparatus that moves a subject to the imaging space by an imaging device that captures an image of the subject in the imaging space. A cradle unit that supports a specimen, a cradle driving unit that drives the cradle unit to the imaging space, and a cradle driving setting unit that sets a driving condition when the cradle driving unit drives the cradle unit, The cradle driving unit drives the cradle unit with a constant first torque value when driving the cradle unit at a first acceleration / deceleration according to the setting of the driving condition by the cradle driving setting unit, When driving the cradle unit at a second acceleration / deceleration greater than the first acceleration / deceleration by setting the driving condition by the cradle drive setting unit, Driving the cradle portion with the second torque value that larger constant than the first torque value.

  In order to achieve the above object, an imaging apparatus according to the present invention is an imaging apparatus that captures an image of a subject moved to an imaging space, the cradle unit supporting the subject, and the cradle unit to the imaging space. A cradle driving unit that drives the cradle, a cradle driving setting unit that sets a driving condition when the cradle driving unit drives the cradle unit, and the cradle that is driven by the cradle driving unit based on an instruction from an operator A cradle stop instructing unit for instructing the cradle driving unit to stop the unit, and the cradle driving unit has a constant first torque based on the driving condition set by the cradle driving setting unit. The cradle unit is driven by the value, and the cradle stop instructing unit instructs the cradle unit to stop. Been the case, slow down and stop the cradle portion with the large constant second torque value than the first torque value.

  In order to achieve the above object, a subject moving apparatus according to the present invention is a subject moving apparatus that moves a subject to the imaging space by an imaging device that captures an image of the subject in the imaging space. A cradle unit that supports a specimen, a cradle drive unit that drives the cradle unit to the imaging space, a cradle drive setting unit that sets drive conditions when the cradle drive unit drives the cradle unit, and instructions from an operator A cradle stop instructing unit for instructing the cradle driving unit to stop the cradle driven by the cradle driving unit, and the cradle driving unit is set by the cradle driving setting unit The cradle unit is driven at a constant first torque value based on the driven condition, and the cradle is stopped. When you are instructed to stop the cradle portion by radical 113 stops by decelerating the cradle portion with the large constant second torque value than the first torque value.

  According to the present invention, it is possible to provide an imaging apparatus and an object moving apparatus capable of efficiently performing imaging by easily driving a cradle unit on which an object is placed with higher acceleration and deceleration. be able to.

  An example of an embodiment according to the present invention will be described.

<Embodiment 1>
The first embodiment of the present invention will be described below.

  FIG. 1 is a block diagram showing an overall configuration of an X-ray CT apparatus 1 as an imaging apparatus according to the first embodiment of the present invention, and FIG. 2 shows a main part of the X-ray CT apparatus 1 according to the embodiment of the present invention. FIG.

  As shown in FIG. 1, the X-ray CT apparatus 1 includes a scanning gantry 2, an operation console 3, and a subject moving unit 4a. Each part will be described sequentially.

  The scanning gantry 2 includes an X-ray tube 20, an X-ray tube moving unit 21, a collimator 22, an X-ray detector 23, a data collecting unit 24, an X-ray controller 25, a collimator controller 26, and a rotating unit 27. And a gantry controller 28. The scanning gantry 2 scans the subject moved to the imaging space 29 by the subject moving unit 4a, and obtains raw data of the image of the subject. Here, in the scanning gantry 2, the X-ray tube 20 and the X-ray detector 23 are opposed to each other with an imaging space 29 into which the subject is carried in.

  The X-ray tube 20 is, for example, a rotary anode type and irradiates X-rays. As shown in FIG. 2, the X-ray tube 20 irradiates X-rays having a predetermined intensity to the imaging region of the subject via the collimator 22 based on a control signal CTL 251 from the X-ray controller 25. Further, the X-ray tube 20 is rotated around the column direction z, which is the body axis direction of the subject, by the rotating unit 27 in order to irradiate X-rays from the view direction around the subject.

  As shown in FIG. 2, the X-ray tube moving unit 21 determines the radiation center of the X-ray tube 20 based on the control signal CTL 252 from the X-ray controller 25 and the body of the subject in the imaging space 29 in the scanning gantry 2. It is moved in the column direction z which is the axial direction.

  As shown in FIG. 2, the collimator 22 is disposed between the X-ray tube 20 and the X-ray detector 23. The collimator 22 is composed of, for example, two plates each provided in the channel direction x and the column direction z. Based on the control signal CTL 261 from the collimator controller 26, the collimator 22 moves the two plates provided in each direction independently, and blocks the X-rays emitted from the X-ray tube 20 in each direction. It is molded into a cone and the X-ray irradiation range is adjusted.

  The X-ray detector 23 detects X-rays irradiated from the X-ray tube 20 and passing through the subject through the cradle unit 101 of the subject moving unit 4a, and acquires projection data of the subject as raw data. Here, the X-ray detector 23 rotates around the subject around the column direction z by the rotating unit 27 together with the X-ray tube 20 and transmits through the subject for each of a plurality of view directions around the subject. Projection data is generated by detecting a line. In the X-ray detector 23, the rotation unit 27 rotates the X-ray tube 20 by the rotation unit 27 and the channel direction x along the direction in which the X-ray tube 20 is rotated around the body axis direction of the subject. The detection elements 23a are two-dimensionally arranged in an array in the column direction z, which is a direction substantially perpendicular to the surface formed by the trajectory. As shown in FIG. 2, the X-ray detector 23 includes a plurality of X-ray detection modules 23A arranged along the channel direction x and the column direction z. The X-ray detectors 23 are arranged such that, for example, J X-ray detection modules 23A are arranged in J in the channel direction x and I in the column direction z.

  FIG. 3 is a configuration diagram showing the X-ray detection module 23 </ b> A constituting the X-ray detector 23. As shown in FIG. 3, in the X-ray detection module 23A, detection elements 23a for detecting X-rays are arranged in an array in the channel direction x and the column direction z. The plurality of detection elements 23a arranged two-dimensionally forms an X-ray incident surface curved in a cylindrical concave shape as a whole. In the X-ray detection module 23A, for example, i detection elements 23a are arranged in the channel direction x, and j detection elements 23a are arranged in the column direction z.

  The detection element 23a is, for example, a solid state detector, and includes a scintillator (not shown) that converts X-rays transmitted through a subject into light, and a photodiode (not shown) that converts light converted by the scintillator into electric charge. Have. The photodiode in the detection element 23a is formed on the same substrate corresponding to the X-ray detection module 23A. The detection element 23a is not limited to this. For example, the detection element 23a is a semiconductor detection element using cadmium tellurium (CdTe) or the like, or an ionization chamber type detection element 23a using xenon (Xe) gas. Good.

  The data collection unit 24 is provided for collecting data by X-rays detected by the X-ray detector 23. The data collection unit 24 collects X-ray projection data of the subject detected by each detection element 23 a of the X-ray detector 23 and outputs the collected data to the operation console 3. As shown in FIG. 2, the data collection unit 24 includes a selection / addition switching circuit (MUX, ADD) 241 and an analog-digital converter (ADC) 242. The selection / addition switching circuit 241 selects projection data by the detection element 23a of the X-ray detector 23 in accordance with the control signal CTL303 from the central processing unit 30, or adds a combination thereof, and the result is analog- Output to the digital converter 242. The analog-digital converter 242 converts the projection data selected by the selection / addition switching circuit 241 or added in an arbitrary combination from an analog signal to a digital signal and outputs it to the central processing unit 30.

  As shown in FIG. 2, the X-ray controller 25 outputs a control signal CTL 251 to the X-ray tube 20 in accordance with a control signal CTL 301 from the central processing unit 30 to control X-ray irradiation. The X-ray controller 25 controls, for example, the tube current and irradiation time of the X-ray tube 20. Further, the X-ray controller 25 outputs a control signal CTL 252 to the X-ray tube moving unit 221 in response to the control signal CTL 301 from the central processing unit 30 so as to move the radiation center of the X-ray tube 20 in the column direction z. To control.

  As shown in FIG. 2, the collimator controller 26 outputs a control signal CTL 261 to the collimator 22 in response to the control signal CTL 302 from the central processing unit 30 to shape the X-rays emitted from the X-ray tube 20. 22 is controlled.

  As shown in FIGS. 1 and 2, the rotating unit 27 rotates around the column direction z, which is the body axis direction of the subject, in response to a control signal CTL 28 from the gantry controller 28. An X-ray tube 20, an X-ray tube moving unit 21, a collimator 22, an X-ray detector 23, a data collection unit 24, an X-ray controller 25, and a collimator controller 26 are mounted on the rotating unit 27. The rotating unit 27 changes the position of the subject moved to the imaging space 29 by rotating each unit. As the rotating unit 27 rotates, X-rays are emitted from a plurality of view directions around the subject, and the X-ray detector 23 can detect X-rays transmitted through the subject for each view direction. become. The rotating unit 27 tilts in response to a control signal CTL 28 from the gantry controller 28. The rotating unit 27 is tilted around the isocenter of the imaging space 29 so that the subject moves horizontally between the outside and the inside of the imaging space 29 by the object moving unit 4a.

  As shown in FIGS. 1 and 2, the gantry controller 28 outputs a control signal CTL 28 to the rotating unit 27 based on a control signal CTL 304 from the central processing unit 30 of the operation console 3, and rotates and tilts the rotating unit 27. To move. That is, the gantry controller 28 rotates the rotating unit 27 to irradiate X-rays from a plurality of view directions around the column direction z of the subject and detect X-rays transmitted through the subject. In addition, the gantry controller 28 moves the rotating unit 27 in an inclined manner so that the subject moves along the horizontal direction in which the subject moves horizontally between the outside and the inside of the imaging space 29 by the subject moving unit 4a.

  As illustrated in FIG. 1, the operation console 3 includes a central processing unit 30, an input device 31, a display device 32, and a storage device 33.

  The central processing unit 30 is configured by a computer, for example, and includes a control unit 41 and an image generation unit 51 as shown in FIG.

  The control unit 41 irradiates the subject with X-rays from the X-ray tube 20 based on the scanning conditions for scanning the subject, and detects the X-rays that pass through the subject with the X-ray detector 23. Each part is controlled to perform scanning. Specifically, the control unit 41 outputs a control signal CTL 30a to each unit based on the scan condition, and causes the scan to be executed. For example, the control unit 41 outputs a control signal CTL30b to the subject moving unit 4a, and causes the subject moving unit 4a to move the subject between the inside and the outside of the imaging space 29. Further, the control unit 41 outputs a control signal CTL 304 to the gantry controller 28 to rotate the rotation unit 27 of the scanning gantry 2. Further, the control unit 41 outputs a control signal CTL 301 to the X-ray controller 25 so that X-rays are emitted from the X-ray tube 20. And the control part 41 outputs the control signal CTL302 to the collimator controller 26, controls the collimator 22, and shape | molds X-ray | X_line. In addition, the control unit 42 outputs a control signal CTL 303 to the data collection unit 24 and controls to collect projection data obtained by the detection element 23 a of the X-ray detector 23.

  The image generation unit 51 reconstructs an image of the tomographic plane of the subject based on the raw data acquired by the scanning gantry 2. For example, the image generation unit 51 performs preprocessing such as sensitivity correction and beam hardening correction on projection data from a plurality of view directions by helical scanning, and then performs reconstruction by a filtered back projection method, An image of the tomographic plane of the specimen is reconstructed and generated.

  The input device 31 of the operation console 3 is composed of input devices such as a keyboard and a mouse, for example. The input device 31 inputs various information such as scan conditions and subject information to the central processing unit 30 based on an input operation by the operator.

  The display device 32 displays an image of the tomographic plane of the subject reconstructed by the image generation unit 51 based on a command from the central processing device 30.

  The storage device 33 is configured by a memory, and stores various data such as an image of a tomographic plane of a subject to be reconstructed by the image generation unit 51, a program, and the like. In the storage device 33, the stored data is accessed to the central processing unit 30 as necessary.

  The subject moving unit 4 a is provided for moving the subject between the inside and outside of the imaging space 29.

  FIG. 4 is a side view showing the subject moving unit 4a.

  As shown in FIG. 4, the subject moving unit 4a includes a cradle unit 101, a cradle support unit 102a, a cradle drive unit 103a, a cradle drive setting unit 111a, and a cradle stop instruction unit 112.

  The cradle unit 101 includes a placement surface on which the subject is placed, and supports the subject on the placement surface. The cradle part 101 is supported by a cradle support part 102a as shown in FIG. The cradle unit 101 is moved by a cradle driving unit 103a in a horizontal direction H substantially horizontal to the placement surface and a vertical direction V substantially perpendicular to the placement surface, and the imaging space 29 in the scanning gantry 2 is moved. Move between the inside and outside of the. Specifically, the cradle unit 101 is driven by the cradle driving unit 103a until it reaches a predetermined height along the vertical direction V, and is driven along the horizontal direction H by the cradle driving unit 103a. Move inside.

  The cradle support portion 102 a supports the cradle portion 101 so that the cradle portion 101 slides in the horizontal direction H and moves to the imaging space 29. The cradle support portion 102a includes a carriage portion 121 and a guide rail portion 122, as shown in FIG.

  As shown in FIG. 4, the carriage unit 121 is a carriage that supports the cradle unit 101 and slides the cradle unit 101 in the horizontal direction H to move to the imaging space 29, and is supported by the guide rail unit 122. The carriage unit 121 is fixed to the end of the cradle unit 101 at a position far from the imaging space 29. The carriage unit 121 slides the cradle unit 101 into the imaging space 29 by sliding in the direction in which the guide rail unit 122 extends.

  The guide rail portion 122 is formed so as to extend in the direction in which the cradle portion 101 slides. The guide rail part 122 supports the carriage part 121 and allows the cradle part 101 fixed to the carriage part 121 to slide.

  As shown in FIG. 4, the cradle drive unit 103 a includes a horizontal drive unit 131 a, a vertical drive unit 132, and a cradle drive control unit 133a, and drives the cradle unit 101 to the imaging space 29.

  The horizontal drive unit 131a drives the cradle unit 101 to slide in the horizontal direction H based on a command from the cradle drive control unit 133a. The horizontal drive part 131a is provided with the roller type drive mechanism, for example. The horizontal driving unit 131a has a stepping motor as an actuator, and the stepping motor is driven by rotating the roller, and the driving force of the roller is transmitted to the cradle unit 101 to move the cradle unit 101 in the horizontal direction H. .

  The vertical drive unit 132 supports the cradle support unit 102a, and drives the cradle unit 101 supported by the cradle support unit 102a in the vertical direction V based on a command from the cradle drive control unit 133a. The vertical drive unit 132 includes, for example, an arm-type drive mechanism, and moves the cradle unit 101 in the vertical direction V by changing the angle between two intersecting arms.

  The cradle drive control unit 133a controls the horizontal drive unit 131a and the vertical drive unit 132 based on a command from the cradle drive setting unit 111a to drive the cradle unit 101. The cradle drive control unit 133a is configured by a computer, for example. In the present embodiment, when the cradle drive control unit 133a drives the cradle unit 101 in the horizontal direction H at the first acceleration / deceleration by setting the drive condition by the cradle drive setting unit 111a, the horizontal drive unit 131a Control is performed so that the cradle unit 101 is driven at a constant first torque value T1. When the cradle unit 101 is driven in the horizontal direction H at a second acceleration / deceleration larger than the first acceleration / deceleration by setting the driving condition by the cradle drive setting unit 111a, the horizontal driving unit 131a Control is performed so that the cradle unit 101 is driven at a second torque value T2 that is larger than the first torque value T1 and constant.

  Here, the cradle drive control unit 133a, when driving the cradle unit 101 at the second acceleration / deceleration according to the setting of the drive condition by the cradle drive setting unit 111a, the first torque value at the time of the first acceleration / deceleration The horizontal drive unit 131a is controlled so as to drive the cradle unit 101 with a second torque value T2 that is 1.5 times or more and 2 times or less than T1. That is, when the cradle unit 101 is driven to contact a tangible object in the driving direction, the cradle unit 101 is driven with a second torque value that causes the stepping motor of the horizontal driving unit 131a to step out.

For example, when the acceleration of 200 mm / s ² or less is set by the cradle drive setting unit 111a as the first acceleration / deceleration described above, the cradle drive control unit 133a is, for example, 0.7 N · in the acceleration direction. The stepping motor of the horizontal driving unit 131a is controlled so as to have a constant torque value of m. Further, the stepping motor of the horizontal drive unit 131a is controlled to the rotation speed corresponding to the set acceleration.

Further, when an acceleration exceeding 200 mm / s ² is set by the cradle drive setting unit 111a as the second acceleration / deceleration described above, for example, a constant torque value of 1.2 N · m is set in the acceleration direction. The stepping motor of the horizontal drive part 131a is controlled so that it may become. Further, the stepping motor of the horizontal drive unit 131a is controlled to the rotation speed corresponding to the set acceleration.

Similarly, when the cradle drive setting unit 111a sets a deceleration of 200 mm / s ² or less as the first acceleration / deceleration described above, the cradle drive control unit 133a is, for example, 0. 0 in the deceleration direction. The stepping motor of the horizontal drive unit 131a is controlled so as to have a constant torque value of 7 N · m, and the stepping motor of the horizontal drive unit 131a is controlled to the number of rotations corresponding to the set deceleration.

Further, when the cradle drive setting unit 111a sets a deceleration exceeding 200 mm / s ² as the second acceleration / deceleration described above, for example, a constant torque value of 1.0 N · m in the deceleration direction. Thus, the stepping motor of the horizontal drive unit 131a is controlled, and the stepping motor of the horizontal drive unit 131a is controlled to the rotation speed corresponding to the set acceleration.

That is, the cradle drive unit 103a, for example, as in the case of the cradle unit 101 a acceleration and deceleration of 0 mm / ^{s 2} is driven at a constant speed, the first acceleration of 200 mm / ^{s 2} or less in absolute value or When the condition for driving the cradle unit 101 at the first deceleration is set by the cradle drive setting unit 111a, the cradle unit 101 is driven and moved at a low constant first torque value. The cradle drive unit 103a, for example, as in the case of the cradle unit 101 is driven by the acceleration and deceleration of 200 to 400 mm / ^{s 2,} the second acceleration and the second decrease of the absolute value of greater than 200 mm / ^{s 2} When the condition for driving the cradle unit 101 at the speed is set by the cradle drive setting unit 111a, the first constant is higher than the case of the first acceleration or the first deceleration having an absolute value of 200 mm / s ² or less. The cradle unit 101 is driven and stopped at a torque value of 2.

  Further, when the cradle driving unit 103a is instructed to stop the cradle unit 101 by the cradle stop instructing unit 112, the cradle driving control unit 133a has a constant value larger than the second torque value T2 described above. The horizontal drive part 131a is controlled so that the torque value T3 becomes 3, and the cradle part 101 is decelerated and stopped.

  Specifically, when the cradle stop instructing unit 112 instructs the cradle unit 101 to stop, the cradle drive control unit 133a performs, for example, a fixed third of 2.0 N · m in the deceleration direction. Control is performed so that the torque value becomes T3, and the cradle 101 is decelerated and stopped.

  The cradle drive setting unit 111 a is provided for setting a drive condition when the cradle drive unit 103 a drives the cradle unit 101. The cradle drive setting unit 111a is configured by a computer, for example. The cradle drive setting unit 111 a is connected to the central processing unit 30 of the operation console 3. The cradle drive setting unit 111a acquires the scan condition input to the input device 31 by the operator via the central processing unit 30, and sets the drive condition of the cradle unit 101.

  Here, the cradle driving unit 103a is set to drive the cradle unit 101 at the first acceleration / deceleration, and the cradle driving unit 103a drives the cradle unit 101 at a second acceleration / deceleration greater than the first acceleration / deceleration. Set to

For example, when starting the cradle unit 101, the cradle unit 101 is set to be driven at an acceleration exceeding 200 mm / s ² . Thereafter, the acceleration and deceleration are set to 0 mm / s ² , and the imaging range of the subject is set so that the cradle unit 101 is driven at a constant speed until the cradle unit 101 advances. And it sets so that the cradle part 101 may decelerate and drive at a deceleration exceeding 200 mm / s ² .

  The cradle stop instruction unit 112 is provided to instruct the cradle drive unit 103a to stop the cradle unit 101 driven by the cradle drive unit 103a based on an instruction from the operator. The cradle stop instructing unit 112 includes, for example, an emergency stop button, and when the operator performs an emergency stop, the emergency stop button is pressed so that the cradle unit 101 driven by the cradle driving unit 103a is stopped. The cradle driving unit 103a is instructed.

  Note that the X-ray CT apparatus 1 in the present embodiment corresponds to the imaging apparatus of the present invention. Further, the scanning gantry 2 in the present embodiment corresponds to a scanning unit of the present invention. In addition, the subject moving unit 4a in the present embodiment corresponds to the subject moving device of the present invention. Moreover, the X-ray tube 20 in this embodiment is corresponded to the radiation irradiation part of this invention. Moreover, the X-ray detector 23 in this embodiment is corresponded to the radiation detection part of this invention. Moreover, the cradle part 101 of this embodiment is corresponded to the cradle part of this invention. Further, the cradle driving unit 103a of the present embodiment corresponds to the cradle driving unit of the present invention. Further, the cradle drive setting unit 111a of the present embodiment corresponds to the cradle drive setting unit of the present invention. The cradle stop instruction unit 112 of the present embodiment corresponds to the cradle stop instruction unit of the present invention. In addition, the first torque value T1, the second torque value T2, and the third torque value T3 in the present embodiment are the first torque value, the second torque value of the present invention except for claims 15 and 16, This corresponds to the third torque value. In claims 15 and 16, the first torque value T1 and the second torque value T2 in the present embodiment correspond to the first torque value in claims 15 and 16, and the third torque value in the present embodiment. The torque value T3 corresponds to the second torque value in claims 15 and 16.

  Hereinafter, an operation when the cradle unit 101 on which the subject is placed is driven and the subject is imaged in the X-ray CT apparatus 1 of the present embodiment will be described.

  FIG. 5 and FIG. 6 are diagrams for explaining an operation when driving the cradle unit 101.

  Here, FIG. 5 is a flowchart showing an operation when driving the cradle unit 101.

  On the other hand, FIG. 6 is a diagram showing the relationship between the driving conditions of the cradle unit 101 and the torque value when the horizontal driving unit 131a of the cradle driving unit 103a drives the cradle unit 101 under the driving conditions. In FIG. 6, FIG. 6A shows the driving condition of the cradle unit 101, the horizontal axis indicates time t, and the vertical axis indicates the moving speed v of the cradle unit 101. FIG. 6B shows a torque value T when the horizontal driving unit 131a of the cradle driving unit 103a drives the cradle unit 101 under the driving conditions shown in FIG. The time t and the vertical axis show the torque T as an absolute value.

  Prior to the operation shown in FIG. 5, the subject to be imaged is placed on the cradle unit 101. Here, the subject is placed on the placement surface of the cradle unit 101, and the subject is supported by the cradle unit 101.

  Next, scan conditions are set. When setting the scan conditions, the operator inputs each parameter condition of the scan conditions to the input device 31. For example, scan parameters such as a scan method such as a helical scan method, the number of scans corresponding to the number of captured images, a tube current value and a tube voltage value of the X-ray tube 20, an X-ray irradiation time, a slice position, a slice thickness, etc. Set.

  Based on the input of the scan parameters by the operator, the cradle drive setting unit sets the drive condition of the cradle unit 101 as shown in FIG. 5 (S11).

  Here, the cradle driving unit 103a is set to drive the cradle unit 101 at the first acceleration / deceleration, and the cradle driving unit 103a drives the cradle unit 101 at a second acceleration / deceleration greater than the first acceleration / deceleration. Set to

For example, as shown in FIG. 6A, when the cradle unit 101 is started, the cradle unit 101 is accelerated at an acceleration exceeding 200 mm / s ² from the first time t1 to the second time t2. Set to drive.

Then, between the second time t2 to t3 the third time, the acceleration and deceleration of 0 mm / s ^2, the cradle 101 at a constant speed is set to drive.

Then, in the period from the third time t3 to t4 the fourth time, the cradle unit 101 with deceleration exceeding 200 mm / s ² is set so as to drive and stop decelerating.

  Next, the subject is scanned. When performing a scan, the control unit 41 of the central processing unit 30 receives an instruction to start a scan by an operator via the input device 31, and the control unit 41 is based on the scan conditions set as described above. Outputs control signals CTL30a and CTL30b to the scanning gantry 2 and the subject moving part 4a.

  Thereby, in the subject moving unit 4a, the vertical driving unit 132 moves the cradle unit 101 in the vertical direction H so that the cradle unit 101 corresponds to the height of the imaging space 29 of the scanning gantry 2. Thereafter, as shown in FIG. 5, the horizontal drive unit 131 a slides the cradle unit 101 in the horizontal direction H based on the driving conditions of the cradle unit 101 set as described above, and the imaging space 29 of the scanning gantry 2. (S21).

  Here, based on the driving conditions of the cradle unit 101 set as described above, the cradle drive control unit 133a controls the horizontal drive unit 131a to drive the cradle unit 101.

For example, as shown in FIG. 6A, the absolute value between the first time t1 and the second time t2 is larger than that between the second time t2 and the third time t3, which is 200 mm. Since the acceleration exceeding / s ² is set as the second acceleration, the cradle drive control unit 133a, as shown in FIG. 6B, the first time between the second time t2 and the third time t3. The stepping motor of the horizontal drive unit 131a is controlled so that the absolute value is larger than the torque value T1 and the constant second torque value T2. For example, for example, 1 in the acceleration direction so that the cradle unit 101 is driven at 1.5 times or more and 2 times or less with respect to the first torque value T1 at the acceleration of 200 mm / s ² or less. The stepping motor of the horizontal drive unit 131a is controlled to a constant second torque value T2 of 2 N · m. And the stepping motor of the horizontal drive part 131a is controlled to the rotation speed corresponding to the set acceleration.

From the second time t2 to the third time t3, from the first time t1, the cradle unit 101 is set to be driven at a constant speed of 0 mm / s ^2. Since the absolute value is smaller than that until the second time t2 and an acceleration of 200 mm / s ² or less is set as the first acceleration, the cradle drive control unit 133a performs the second operation from the first time t1. The stepping motor of the horizontal driving unit 131a is controlled so that the first torque value T1 is smaller than the second torque value T2 until the time t2, and becomes a constant first torque value T1. For example, the stepping motor of the horizontal drive unit 131a is controlled so that the first torque value T1 is 0.7 N · m in the acceleration direction and is constant. And the stepping motor of the horizontal drive part 131a is controlled to the rotation speed corresponding to the set acceleration.

The absolute value is larger in the period from the third time t3 to the fourth time t4 than in the period from the second time t2 to the third time t3, and the deceleration exceeding 200 mm / s ² is the second. Since the deceleration is set, the cradle drive control unit 133a has a constant second torque value that is larger in absolute value than the first torque value T1 between the second time t2 and the third time t3. The stepping motor of the horizontal drive part 131a is controlled so that it becomes T2. For example, in the deceleration direction, the cradle unit 101 is driven by 1.5 times or more and 2 times or less with respect to the first torque value T1 at the time of deceleration of 200 mm / s ² or less. The stepping motor of the horizontal drive unit 131a is controlled with a constant second torque value T2 of 2 N · m. And the stepping motor of the horizontal drive part 131a is controlled to the rotation speed corresponding to the set deceleration.

  In this way, the subject moving unit 4 a moves the subject placed on the cradle unit 101 to the imaging space 29.

  Then, the X-ray controller 25 outputs a control signal CTL 252 to the X-ray tube 20 and irradiates X-rays from the X-ray tube 20. Then, the collimator controller 26 outputs a control signal CTL 302 to the collimator 22 to shape the X-rays from the X-ray tube 20. As a result, the gantry controller 28 outputs a control signal CTL 28 to the scanning gantry 2 to rotate the rotating unit 27 of the scanning gantry 2. In addition, the control unit 41 outputs a control signal CTL 303 to the data collection unit 24 and controls the projection data obtained by the detection element 23a of the X-ray detector 23 to be collected as raw data.

  Specifically, in the case where the helical scan is performed, the X-ray tube 20 is moved to the subject from a plurality of view directions while sliding the cradle unit 101 on which the subject is placed in the imaging space 29. The X-ray detector 23 detects X-rays transmitted through the subject for each view direction via the cradle unit 101 to acquire raw data.

  After that, based on the raw data from each view direction, the image generating unit 51 generates an image of the tomographic plane of the subject at a desired slice position and slice thickness. Here, after the image generation unit 51 performs pre-processing such as sensitivity correction and beam hardening correction on projection data from a plurality of view directions, reconstruction is performed by the filtered back projection method, and the tomography of the subject is performed. Reconstruct and generate an image of the surface.

  Hereinafter, in the X-ray CT apparatus 1 of the present embodiment, the operation when the cradle unit 101 is emergency stopped when the cradle unit 101 is driven will be described.

  FIG. 7 and FIG. 8 are diagrams for explaining an operation when the cradle unit 101 that is being driven is emergency-stopped.

  Here, FIG. 7 is a flowchart showing an operation when the driving cradle unit 101 is emergency stopped.

  On the other hand, FIG. 8 is a diagram showing the relationship between the driving conditions of the cradle unit 101 during an emergency stop and the torque value when the horizontal driving unit 131a of the cradle driving unit 103a is driven under the driving conditions. In FIG. 8, FIG. 8A shows the driving conditions of the cradle unit 101 at the time of emergency stop, the horizontal axis shows time t, and the vertical axis shows the moving speed v of the cradle unit 101. FIG. 8B shows the torque value T when the horizontal driving unit 131a of the cradle driving unit 103a drives the cradle unit 101 under the driving conditions shown in FIG. The time t and the vertical axis indicate the torque value T as an absolute value.

  As described above, when the cradle unit 101 that is being driven during an emergency stop is stopped, the cradle stop instructing unit 112 instructs the cradle unit 101 to stop as shown in FIG. 7 (S111). ).

  Here, the emergency stop button constituting the cradle stop instructing unit 112 is pushed by the operator and instructs the cradle driving unit 103a to stop the cradle unit 101 driven by the cradle driving unit 103a.

  Based on the instruction for emergency stop of the cradle unit 101, the cradle unit 101 is emergency stopped (S121).

  Here, based on the instruction to stop the cradle unit 101 by the cradle stop instructing unit 112, the cradle drive control unit 133a of the cradle drive unit 103a has an absolute value greater than the first torque value T1 being driven. The horizontal drive unit 131a is controlled so that the third torque value T3 becomes large and constant, and the cradle unit 101 is decelerated and stopped.

  Specifically, as shown in FIG. 8A, when the cradle stop instructing unit 112 instructs to stop the cradle unit 101 at the fifth time t5, from the fifth time t5 to the sixth. In order to decelerate and stop the cradle unit 101 that is being driven at a constant speed between time t6, for example, a current up to the full rating is supplied to the stepping motor of the horizontal drive unit 131a of the cradle drive unit 103a. The cradle drive control unit 133a controls the cradle drive unit 103a. In this way, as shown in FIG. 8B, the cradle drive control unit 133a has a constant absolute value larger than the first torque value T1 during driving at a constant speed before the fifth time t5. The stepping motor of the horizontal drive unit 131a is controlled so that the third torque value T3 becomes the same. Then, the horizontal drive unit 131a of the cradle drive unit 103a decelerates and stops the cradle unit 101 with a constant torque value of 2.0 N · m in the deceleration direction, for example. Although illustration is omitted, when the cradle unit 101 is driven at a second acceleration / deceleration greater than the first acceleration / deceleration, the cradle stop instructing unit 112 receives a stop support. Is controlled so that the cradle unit 101 stops at a third torque value T3 having a constant absolute value larger than the second torque value T2.

As described above, according to this embodiment, for example, the manner, 200 mm / s ² or less of the absolute value when the cradle unit 101 a acceleration and deceleration of 0 mm / s ² is driven at a constant speed When the condition for driving the cradle unit 101 at the first acceleration or the first deceleration is set by the cradle drive setting unit 111a, the horizontal drive unit 131a of the cradle drive unit 103a has a low constant first torque value. The cradle unit 101 is driven at T1 to move in the horizontal direction H. Then, for example, as in the case of the cradle unit 101 is driven by the acceleration and deceleration of 200 to 400 mm / ^{s 2,} the cradle unit 101 with the second acceleration or second deceleration absolute value exceeding 200 mm / ^{s 2} is When the driving condition is set by the cradle driving setting unit 111a, the horizontal driving unit 131a of the cradle driving unit 103a is more than the case of the first acceleration or the first deceleration having an absolute value of 200 mm / s ² or less. The cradle unit 101 is driven at a constant second torque value T2.

As described above, in the present embodiment, it is difficult to drive the cradle driving unit 103a according to the acceleration / deceleration in the related art by driving with the second torque value higher than the first torque value. The cradle unit 101 can be driven with the second acceleration or the second deceleration having an absolute value exceeding 200 mm / s ² . For this reason, in the present embodiment, it becomes easy to drive the cradle unit 101 on which the subject is placed with higher acceleration and deceleration in response to an improvement in scan speed or an expansion of the scan range. Shooting can be performed efficiently.

  In the present embodiment, when the cradle unit 101 is driven at the second acceleration / deceleration by setting the driving condition by the cradle drive setting unit 111a, the first torque value T1 at the first acceleration / deceleration is set. On the other hand, the cradle drive control unit 133a controls the horizontal drive unit 131a of the cradle drive unit 103a so as to drive the cradle unit 101 with the second torque value T2 which is 1.5 times or more and 2 times or less. That is, when the cradle unit 101 is driven to contact a tangible object in the driving direction, the cradle unit 101 is driven with a second torque value that causes the stepping motor of the horizontal driving unit 131a to step out. For this reason, this embodiment can improve the safety for the subject even when driving the cradle unit 101 on which the subject is placed at higher acceleration and deceleration, and can improve the scanning speed. It is possible to cope with enlargement of the scan range, etc., and it is possible to carry out photographing efficiently.

  In this embodiment, when the cradle stop instructing unit 112 instructs the cradle unit 101 to stop, the cradle drive control unit 133a of the cradle drive unit 103a performs the first acceleration / deceleration. The horizontal drive unit 131a is controlled to decelerate the cradle unit 101 so that the torque value T1 is 1 and the second torque value is larger than the second torque value at the time of the second acceleration / deceleration and becomes a constant third torque value T3. Stop. For this reason, in this embodiment, since it becomes easy to stop the driving of the cradle unit 101 at a short distance, the cradle unit on which the subject is placed is provided in response to an improvement in scan speed or an expansion of the scan range. 101 can be driven with higher acceleration and deceleration, and shooting can be performed efficiently.

<Embodiment 2>
The second embodiment of the present invention will be described below.

  The subject moving unit 4b of the present embodiment has a telescopic structure, and in the subject moving unit 4a of the first embodiment, the cradle support unit 102b, the cradle drive unit 103b, and the cradle drive setting unit 111a are different. . Except for this, the present embodiment is substantially the same as the first embodiment. For this reason, the same code | symbol is attached | subjected to the overlapping part and description is abbreviate | omitted.

  FIG. 9 is a side view showing the subject moving unit 4b of the present embodiment.

  As shown in FIG. 9, the subject moving unit 4b includes a cradle unit 101, a cradle support unit 102b, a cradle drive unit 103b, a cradle drive setting unit 111a, and a cradle stop instruction unit 112. Both the cradle unit 101 and the cradle stop instruction unit 112 have the same functions as those in the first embodiment.

  The cradle support portion 102 b of the present embodiment supports the cradle portion 101 so that the cradle portion 101 slides in the horizontal direction H and moves to the imaging space 29. As shown in FIG. 9, the cradle support portion 102b is configured to extend along the direction in which the cradle portion 101 is driven and slides. The cradle support portion 102 is supported by the cradle drive portion 103b so that the cradle support portion 102b itself slides along the direction in which the cradle portion 101 is driven and slid. Although details will be described later, based on a command from the cradle drive setting section 111b, the cradle support section 102b itself is driven along the direction in which the cradle section 101 is driven and slid by the second horizontal drive section 232 of the cradle drive section 103b. Is driven to slide. As described above, in this embodiment, the cradle unit 101 and the cradle support unit 102b are independently driven to the imaging space 29.

  As illustrated in FIG. 9, the cradle driving unit 103 b includes a horizontal driving unit 131 b, a vertical driving unit 132, and a cradle driving control unit 133 b, and drives the cradle unit 101 to the imaging space 29. The vertical drive unit 132 has the same function as that of the first embodiment.

  As shown in FIG. 9, the horizontal drive unit 131 b includes a first horizontal drive unit 231 and a second horizontal drive unit 232.

  The first horizontal drive unit 231 drives the cradle unit 101 to slide in the horizontal direction H based on a command from the cradle drive control unit 133b. The first horizontal drive unit 231 includes, for example, a roller type drive mechanism. The first horizontal drive unit 231 has a stepping motor as an actuator, the stepping motor is driven so that the roller rotates, and the driving force of the roller is transmitted to the cradle unit 101 so that the cradle unit 101 is moved in the horizontal direction H. Drive to move to the shooting space 29. Then, like the horizontal driving unit 131a in the first embodiment, the first horizontal driving unit 231 is the same as that in the first embodiment when the cradle stop instruction unit 112 is instructed to decelerate and stop the cradle unit 101. The cradle drive control unit 133b controls the cradle unit 101 to decelerate and stop so that the third torque value T3 is larger than the first torque value T1 and is constant.

  The second horizontal drive unit 232 slides the cradle support unit 102b along the horizontal direction H in which the cradle unit 101 is driven by the first horizontal drive unit 231 based on a command from the cradle drive control unit 133b. To drive. The second horizontal drive unit 232 is configured by combining, for example, a ball screw and a stepping motor. As in the case of the first horizontal drive unit 231, the second horizontal drive unit 232 is the same as that in the first embodiment when the cradle stop instruction unit 112 is instructed to decelerate and stop the cradle unit 101. The cradle drive control unit 133b controls the cradle unit 101 to decelerate and stop so that the third torque value T3 is larger than the first torque value T1 and is constant.

  The cradle drive control unit 133b controls the first horizontal drive unit 231 and the second horizontal drive unit 232 and the vertical drive unit 132 in the horizontal drive unit 131b based on a command from the cradle drive setting unit 111b, and the cradle unit 101 is driven. In the present embodiment, the cradle drive control unit 133b, when driving the cradle unit 101 in the horizontal direction H at the first acceleration / deceleration by setting the drive conditions by the cradle drive setting unit 111b, as in the case of the first embodiment. The first horizontal drive unit 231 and the second horizontal drive unit 232 are controlled to drive the cradle unit 101 and the cradle support unit 102b with a constant first torque value T1. When the cradle unit 101 is driven in the horizontal direction H at a second acceleration / deceleration larger than the first acceleration / deceleration by setting the driving condition by the cradle drive setting unit 111b, the first horizontal driving unit 231 and The second horizontal drive unit 232 performs control so as to drive the cradle unit 101 and the cradle support unit 102b with a second torque value T2 that is larger than the first torque value T1 and constant.

  When the cradle stop instructing unit 112 instructs to stop the cradle unit 101, the cradle drive control unit 133b is larger than the second torque value T2 described above and is constant as in the first embodiment. The first horizontal driving unit 231 and the second horizontal driving unit 232 are controlled so as to be the third torque value T3, and the cradle unit 101 is decelerated and stopped.

  The cradle drive setting unit 111b sets a drive condition when the cradle drive unit 103b drives the cradle unit 101, as in the first embodiment. In the present embodiment, the first horizontal driving unit 231 and the second horizontal driving unit 232 of the cradle driving unit 103a are set to drive the cradle unit 101 at the first acceleration / deceleration. Then, the first horizontal driving unit 231 and the second horizontal driving unit 232 of the cradle driving unit 103b are set to drive the cradle unit 101 at a second acceleration / deceleration greater than the first acceleration / deceleration.

  In the present embodiment, the subject moving unit 4b corresponds to the subject moving device of the present invention. Moreover, the cradle part 101 of this embodiment is corresponded to the cradle part of this invention. Moreover, the cradle support part 102b of this embodiment is corresponded to the cradle support part of this invention. The cradle driving unit 103b of the present embodiment corresponds to the cradle driving unit of the present invention. Further, the cradle drive setting unit 111b of the present embodiment corresponds to the cradle drive setting unit of the present invention. The cradle stop instruction unit 112 of the present embodiment corresponds to the cradle stop instruction unit of the present invention. Further, the first horizontal drive unit 231 of the present embodiment corresponds to the first drive unit of the present invention. Further, the second horizontal drive unit 232 of the present embodiment corresponds to the second drive unit of the present invention. In addition, the first torque value T1, the second torque value T2, and the third torque value T3 in the present embodiment are the first torque value, the second torque value of the present invention except for claims 15 and 16, This corresponds to the third torque value. In claims 15 and 16, the first torque value T1 and the second torque value T2 in the present embodiment correspond to the first torque value in claims 15 and 16, and the third torque value in the present embodiment. The torque value T3 corresponds to the second torque value in claims 15 and 16.

  Hereinafter, in the X-ray CT apparatus 1 according to the present embodiment, the operation when the cradle part 101 and the cradle support part 102b are driven and when the cradle part 101 is emergency stopped will be described.

  In this case, the cradle part 101 and the cradle support part 102b are emergency stopped based on an instruction to emergency stop the cradle part 101. Here, as in the first embodiment, the cradle drive control unit 133b of the cradle drive unit 103b is being driven at a constant speed based on an instruction to stop the cradle unit 101 by the cradle stop instruction unit 112. The cradle unit 101 and the cradle support unit are controlled by controlling the first horizontal drive unit 231 and the second horizontal drive unit 232 so that the third torque value T3 is larger than the first torque value T1 and has a constant absolute value. 102b and decelerate to stop. Although not shown in the drawing, as in the first embodiment, the cradle unit 101 or the cradle support unit 102b is driven at a second acceleration / deceleration greater than the first acceleration / deceleration. When the stop instruction is received from the stop instruction unit 112, the cradle unit 101 and the cradle support unit 102b are stopped at the third torque value T3 having a larger absolute value than the second torque value T2 described above. Control to do.

  As described above, according to the present embodiment, the first horizontal driving unit 231 and the second horizontal driving unit 232 of the cradle driving unit 103b connect the cradle unit 101 and the cradle support unit 102b to the first torque value T1 or When the cradle stop instructing unit 112 instructs to decelerate and stop while driving at the second torque value T2, the first torque value T1 or the second torque value is instructed. The cradle part 101 and the cradle support part 102b are decelerated and stopped at a third torque value T3 having a constant absolute value larger than T2. For this reason, in this embodiment, since it becomes easy to stop the driving of the cradle unit 101 at a short distance, the cradle unit on which the subject is placed is provided in response to an improvement in scan speed or an expansion of the scan range. 101 can be driven with higher acceleration and deceleration, and shooting can be performed efficiently.

  In implementing the present invention, the present invention is not limited to the above-described embodiment, and various modifications can be employed.

  For example, in the above-described embodiment, the cradle driving unit drives the cradle unit with the first torque value when driving at the first acceleration / deceleration, and at a second acceleration / deceleration greater than the first acceleration / deceleration. When driving, the cradle unit is driven with a second torque value that is larger than the first torque value and constant. Further, when the cradle drive unit is instructed to stop the cradle unit by the cradle stop instructing unit, the cradle driving unit decelerates and stops the cradle unit by a third torque value that is larger than the second torque value and constant. To do. Thus, the cradle driving unit of the above embodiment performs both the former and the latter. However, it is not limited to this and any one may be sufficient.

  For example, in the above-described embodiment, an example is described in which X-rays are used as the radiation irradiated by the radiation irradiation unit, but the present invention is not limited to this. For example, radiation such as gamma rays may be used.

FIG. 1 is a block diagram showing the overall configuration of the photographing apparatus according to the first embodiment of the present invention. FIG. 2 is a configuration diagram illustrating a main part of the photographing apparatus according to the first embodiment of the present invention. FIG. 3 is a configuration diagram illustrating an X-ray detection module constituting the X-ray detector in the imaging apparatus according to the first embodiment of the present invention. FIG. 4 is a side view showing the subject moving unit in the imaging apparatus according to the first embodiment of the present invention. FIG. 5 is a flowchart showing an operation when driving the cradle part in the first embodiment according to the present invention. FIG. 6 is a diagram illustrating the relationship between the driving conditions of the cradle unit and the torque value when the horizontal driving unit of the cradle driving unit drives the cradle unit under the driving conditions in the first embodiment according to the present invention. . FIG. 7 is a flowchart showing an operation when the driving cradle part is emergency stopped in the first embodiment of the present invention. FIG. 8 is a diagram illustrating the relationship between the driving conditions of the cradle unit during an emergency stop and the torque value when the horizontal driving unit of the cradle driving unit is driven under the driving conditions in the first embodiment according to the present invention. is there. FIG. 9 is a side view showing the subject moving unit in the imaging apparatus according to the second embodiment of the present invention.

Explanation of symbols

1 ... X-ray CT apparatus (imaging apparatus),
2. Scanning gantry (scanning part),
3. Operation console,
4 ... subject moving part (subject moving device),
20 ... X-ray tube (radiation irradiation part),
21 ... X-ray tube moving part,
22 ... Collimator,
23 ... X-ray detector (radiation detector),
23A ... X-ray detection module,
23a ... detecting element,
24 ... Data collection unit,
241 ... Selection / addition switching circuit,
242 ... Analog-to-digital converter,
25 ... X-ray controller,
26 ... Collimator controller,
27 ... rotating part,
28 ... Gantry controller,
29 ... Shooting space,
30 ... Central processing unit,
31 ... Input device,
32 ... display device,
33 ... Storage device,
41. Control unit,
51. Image generation unit,
101 ... Cradle part (cradle part),
102a, 102b ... Cradle support part (cradle support part),
103a, 103b ... Cradle drive part (cradle drive part),
111a, 111b ... Cradle drive setting unit (cradle drive setting unit)
112 ... Cradle stop instruction section (cradle stop instruction section)
121 ... Carriage part,
122 ... guide rail part,
131a, 131b ... horizontal driving unit,
132 ... vertical drive unit,
133a ... Cradle drive control unit 231 ... First horizontal drive unit (first drive unit)
232: Second horizontal driving unit (second driving unit)

Claims (18)

An imaging apparatus for imaging an image of a subject moved to an imaging space,
A cradle part for supporting the subject;
A cradle driving unit that drives the cradle unit to the imaging space;
A cradle drive setting unit that sets a drive condition when the cradle drive unit drives the cradle unit;
The cradle driving unit drives the cradle unit with a constant first torque value when driving the cradle unit at a first acceleration / deceleration according to the setting of the driving condition by the cradle driving setting unit, When the cradle unit is driven at a second acceleration / deceleration greater than the first acceleration / deceleration by setting the drive condition by the cradle drive setting unit, a second constant that is larger than the first torque value and constant. An imaging device that drives the cradle unit with a torque value. When the cradle driving unit drives the cradle unit to the imaging space at the second acceleration / deceleration according to the setting of the driving condition by the cradle driving setting unit, the cradle driving unit sets a value of 1. for the first torque value. The photographing apparatus according to claim 1, wherein the cradle unit is driven with the second torque value that is 5 times or more and 2 times or less. The photographing apparatus according to claim 1, wherein the cradle drive setting unit sets the first acceleration / deceleration so as to be 200 mm / s ² or less. The photographing apparatus according to claim 1, wherein the cradle driving unit includes a stepping motor, and the cradle unit is driven by the stepping motor being driven. A cradle stop instructing unit that instructs the cradle driving unit to stop the cradle driving by the cradle driving unit based on an instruction from an operator,
When the cradle driving unit is instructed to stop the cradle unit by the cradle stop instructing unit, the cradle driving unit decelerates the cradle unit by a third torque value that is larger than the second torque value and constant. The imaging device according to any one of claims 1 to 4. A cradle support part for supporting the cradle part,
The cradle drive unit is
A first drive unit for driving the cradle unit;
A second drive unit that drives the cradle support unit along a direction in which the cradle unit is driven by the first drive unit;
The first drive unit and the second drive unit of the cradle drive unit have the third torque value when the cradle stop instruction unit instructs to decelerate and stop the cradle unit. The imaging device according to claim 5, wherein the cradle part is decelerated and stopped. A scanning unit that obtains raw data by scanning the subject moved to the imaging space by being driven by the cradle driving unit;
The scanning unit
A radiation irradiating unit that irradiates the subject to be moved to the imaging space;
The imaging apparatus according to claim 1, further comprising: a radiation detection unit that detects the radiation irradiated from the radiation irradiation unit and transmitted through the subject to obtain the raw data. The imaging apparatus according to claim 7, wherein the radiation irradiation unit irradiates X-rays as the radiation. A subject moving device that moves the subject to the imaging space by an imaging device that captures an image of the subject in the imaging space;
A cradle part for supporting the subject;
A cradle driving unit that drives the cradle unit to the imaging space;
A cradle drive setting unit that sets a drive condition when the cradle drive unit drives the cradle unit;
The cradle driving unit drives the cradle unit with a constant first torque value when driving the cradle unit at a first acceleration / deceleration according to the setting of the driving condition by the cradle driving setting unit, When the cradle unit is driven at a second acceleration / deceleration greater than the first acceleration / deceleration by setting the drive condition by the cradle drive setting unit, a second constant that is larger than the first torque value and constant. A subject moving device that drives the cradle unit with a torque value. When the cradle driving unit drives the cradle unit to the imaging space at the second acceleration / deceleration according to the setting of the driving condition by the cradle driving setting unit, the cradle driving unit sets a value of 1. for the first torque value. The subject moving apparatus according to claim 9, wherein the cradle unit is driven with the second torque value that is 5 times or more and 2 times or less. The subject movement apparatus according to claim 9 or 10, wherein the cradle drive setting unit sets the first acceleration / deceleration so as to be 200 mm / s ² or less. The subject movement apparatus according to claim 9, wherein the cradle driving unit includes a stepping motor, and the cradle unit is driven by driving the stepping motor. A cradle stop instructing unit that instructs the cradle driving unit to stop the cradle driving by the cradle driving unit based on an instruction from an operator,
When the cradle driving unit is instructed to stop the cradle unit by the cradle stop instructing unit, the cradle driving unit decelerates the cradle unit by a third torque value that is larger than the second torque value and constant. The subject moving apparatus according to any one of claims 9 to 12. A cradle support part for supporting the cradle part,
The cradle drive unit is
A first drive unit for driving the cradle unit;
A second drive unit that drives the cradle support unit along a direction in which the cradle unit is driven by the first drive unit;
The first drive unit and the second drive unit of the cradle drive unit have the third torque value when the cradle stop instruction unit instructs to decelerate and stop the cradle unit. The subject moving apparatus according to claim 13, wherein the cradle part is decelerated and stopped. An imaging apparatus for imaging an image of a subject moved to an imaging space,
A cradle part for supporting the subject;
A cradle driving unit that drives the cradle unit to the imaging space;
The cradle driving unit sets a driving condition for driving the cradle unit, and the cradle is stopped so as to stop the cradle unit driven by the cradle driving unit based on an instruction from an operator. A cradle stop instructing unit that instructs the drive unit,
The cradle driving unit drives the cradle unit with a constant first torque value based on the driving condition set by the cradle driving setting unit, and stops the cradle unit by the cradle stop instructing unit. When instructed to do so, the cradle unit decelerates and stops at a second torque value that is larger than the first torque value and constant. A cradle support part for supporting the cradle part,
The cradle drive unit is
A first drive unit for driving the cradle unit;
A second drive unit that drives the cradle support unit along a direction in which the cradle unit is driven by the first drive unit;
The first drive unit and the second drive unit of the cradle drive unit have the third torque value when the cradle stop instruction unit instructs to decelerate and stop the cradle unit. The imaging device according to claim 15, wherein the cradle part is decelerated and stopped. A subject moving device that moves the subject to the imaging space by an imaging device that captures an image of the subject in the imaging space;
A cradle part for supporting the subject;
A cradle driving unit that drives the cradle unit to the imaging space;
The cradle driving unit sets a driving condition for driving the cradle unit, and the cradle is stopped so as to stop the cradle unit driven by the cradle driving unit based on an instruction from an operator. A cradle stop instructing unit that instructs the drive unit,
The cradle driving unit drives the cradle unit with a constant first torque value based on the driving condition set by the cradle driving setting unit, and stops the cradle unit by the cradle stop instructing unit. When instructed to do so, the subject moving apparatus decelerates and stops the cradle unit with a second torque value that is larger than the first torque value and constant. A cradle support part for supporting the cradle part,
The cradle drive unit is
A first drive unit for driving the cradle unit;
A second drive unit that drives the cradle support unit along a direction in which the cradle unit is driven by the first drive unit;
The first drive unit and the second drive unit of the cradle drive unit have the third torque value when the cradle stop instruction unit instructs to decelerate and stop the cradle unit. The subject moving apparatus according to claim 17, wherein the cradle part is decelerated and stopped.

Images