JP2006087595A - Moving type roentgenography apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving type roentgenography apparatus capable of reducing the burden on a driver with the operation of a truck. <P>SOLUTION: In this moving type roentgenography apparatus, equipment for roentgenography such as an X-ray tube 2 irradiating a subject M with X-ray and equipment for powered moving such as a truck driving handle 3 for operation for poweredly moving the truck 1 are mounted on a movable truck 1, and the apparatus is equipped with a driver riding base 18 for the driver DR operating a truck driving handle 3 to ride. Consequently, the driver DR can operate and move the truck 1 by operating the truck driving handle 3 while riding on the truck 1 on the driver riding base 18. That is, the driver DR can drive the truck 1 while riding on the truck 1 without walking following after the truck 1. Thereby, the burden on the driver DR with the driving of the truck 1 can be reduced by this moving type roentgenography apparatus. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to X-ray imaging equipment including an X-ray tube for irradiating a subject with X-rays on a movable carriage, and power movement equipment including a carriage driving means for driving the carriage. In particular, the present invention relates to a technique for reducing a driver's burden associated with operation of a carriage.

  As shown in FIG. 10, a conventional mobile X-ray imaging apparatus used for hospital room round trips in a medical institution such as a hospital has an X-ray tube that irradiates a subject with X-rays on a movable carriage 51. 52, a high-voltage power supply (not shown), and other X-ray radiography equipment, and a long bar-shaped dolly driving handle (trolley driving means) 53 and a driving electric motor 54 for driving the dolly 51 by electric movement In addition to being equipped with equipment for use, the battery 55 that supplies the energy required for the electric movement of the carriage 51 and X-ray photography is installed as both X-ray photography equipment and power movement equipment. Has been. In addition, a cassette storage box 56 for storing a cassette (not shown) loaded with an X-ray imaging storage medium such as a film is also mounted as one of X-ray imaging equipment on the rear portion of the carriage 51 (for example, (See Patent Document 1).

When the X-ray imaging is executed by the mobile X-ray imaging apparatus of FIG. 10, a driver DR such as an imaging engineer operates the cart driving handle 53 to steer the cart 51 and follows the cart 51 to perform X-ray imaging. Walk to the hospital room where the subject (patient) is located. The driver DR moves on foot together with the carriage 51 that moves in the hospital corridor by rotating the wheels of the carriage 51 with the electric motor 54 for traveling. After the mobile X-ray imaging apparatus arrives at the patient's room, an unexposed cassette is taken out from the cassette storage box 56 and set on the back side of the subject, and then X-rays are emitted from the X-ray tube 52 and irradiated with X-rays. You will be shooting.
Japanese Unexamined Patent Publication No. 2000-60833 (pages 2 and 3, FIGS. 1 to 3)

  However, in the case of the conventional mobile X-ray imaging apparatus, there is a problem that a considerable burden is imposed on the driver DR as the carriage 51 is operated.

  Since the mobile X-ray imaging apparatus is usually used in a large-scale hospital, the number of times X-ray imaging is performed with the momentary mobile X-ray imaging apparatus increases. Therefore, the driver DR has to walk around with the carriage 51 while manipulating the carriage 51 in a large hospital every day, and the burden on the driver DR is not small.

  In addition, since the driver DR who controls the carriage 51 is often a radiographer, if a heavy burden is placed on the radiographer before X-ray imaging, smooth progress of X-ray imaging is hindered. It can be.

  This invention is made in view of such a situation, and it aims at providing the mobile X-ray imaging apparatus which can reduce the burden of the driver | operator accompanying operation of a trolley | bogie.

  In order to achieve such an object, the present invention has the following configuration.

  That is, the mobile X-ray imaging apparatus according to claim 1 is an X-ray imaging equipment including an X-ray tube that irradiates a subject with X-rays on a movable carriage, and an operation for moving the carriage by power. In a mobile X-ray imaging apparatus equipped with power movement equipment including a carriage driving means for performing X-ray imaging, equipment for X-ray imaging including an X-ray tube for irradiating the subject with X-rays, and powering the carriage In a mobile X-ray imaging apparatus equipped with power movement equipment including a carriage driving means for performing a moving operation, the carriage is equipped with a driver boarding means on which a driver who operates the carriage driving means rides. It is characterized by being.

  (Operation / Effect) When the mobile X-ray imaging apparatus of the invention of claim 1 is moved, the X-ray imaging equipment including the X-ray tube for irradiating the subject with X-rays and the carriage are powered. A driver gets on a movable carriage equipped with power movement equipment including a carriage driving means for steering by a driver boarding means provided in the carriage. Then, the driver operates the carriage driving means, which is one of the power transfer equipments, while driving on the carriage, and controls the carriage by driving the carriage. In response to the driver's maneuvering, other power transfer equipment is activated, and the carriage moves in accordance with the driver's maneuvering while the driver is on board.

  That is, in the case of the mobile X-ray imaging apparatus according to the first aspect of the present invention, equipment for X-ray imaging including an X-ray tube for irradiating a subject with X-rays, and cart driving means for performing power movement of the cart A movable carriage equipped with power movement equipment including a vehicle is equipped with a driver boarding means on which a driver who operates the truck driving means gets on, and the truck is operated while the driver is on the carriage. When the trolley is driven by driving the trolley by operating the means, other power transfer equipment is activated according to the driver's operation, and the trolley keeps the driver on board and follows the driver's control. Move to.

  Therefore, the driver can move the carriage while the driver is on the carriage without walking along with the carriage. As a result, the burden on the driver accompanying the operation of the carriage is reduced.

  According to a second aspect of the present invention, in the mobile X-ray imaging apparatus according to the first aspect, the driver boarding means is movable to the retracted position.

  (Function / Effect) In the case of the device of the invention of claim 2, when it is necessary to retract the driver boarding means when using the device (when the driver boarding means prevents the device from being stored, When the means hinders the non-boarding operation of the carriage), the driver boarding means is moved to the retracted position, so that the driver boarding means does not hinder the use of the device.

  According to a third aspect of the present invention, in the mobile X-ray imaging apparatus according to the first or second aspect, the driver boarding means is removable from the carriage.

  (Operation / Effect) In the case of the device of the invention of claim 3, when it is necessary to remove the driver boarding means when using the device (when the driver boarding means prevents the device from being stored, or the driver boarding means Since the driver boarding means can be removed from the carriage, the driver boarding means will not hinder the use of the device.

  According to a fourth aspect of the present invention, in the mobile X-ray imaging apparatus according to any one of the first to third aspects, the object distance measuring means for measuring the separation distance of the object appearing ahead of the driver boarding means is provided. Collision avoidance means that is disposed in the driver boarding means and that avoids collision of an object that appears ahead of the driver boarding means by controlling the moving speed of the carriage based on the distance measurement result of the object distance measuring means. Is included in power transfer equipment.

  (Function / Effect) In the case of the device of the invention of claim 4, the distance of the object appearing ahead of the driver boarding means is measured by the object distance measuring means provided in the driver boarding means, The collision avoidance means included in the power movement equipment controls the moving speed of the carriage based on the distance measurement result of the object distance measurement means, so that the collision with the object appearing ahead of the driver boarding means is prevented. As a result, the carriage can be safely moved without causing the carriage to collide with an object appearing ahead of the driver boarding means.

  According to a fifth aspect of the present invention, in the mobile X-ray imaging apparatus according to the fourth aspect, the object distance measuring means measures the separation distance even for an object appearing obliquely ahead of the driver boarding means. In addition, the collision avoidance means also performs collision avoidance for an object that appears obliquely ahead of the driver boarding means.

  (Operation / Effect) In the case of the apparatus of the invention of claim 5, the distance measurement by the object distance measuring means is also performed on the object appearing obliquely ahead of the driver boarding means, and the collision by the collision avoiding means is performed. Avoidance is also performed for objects that appear diagonally ahead of the driver boarding means, so that the carriage can be moved more safely without colliding with the objects that appear diagonally ahead of the driver boarding means. It is done.

  According to a sixth aspect of the present invention, in the mobile X-ray imaging apparatus according to any one of the first to fifth aspects, the driver boarding means is the leading side when the carriage is moving.

  (Operation / Effect) In the case of the apparatus of the invention of claim 6, when the carriage is moved, the driver boarding means is on the leading side of the carriage, so the driver who is on board with the driver boarding means is also on the leading side. As a result, the driver's field of view is not obstructed by the carriage, so that the driver can drive while constantly checking the course status.

  According to a seventh aspect of the present invention, in the mobile X-ray imaging apparatus according to any one of the first to fifth aspects, when the carriage is moved, the driver boarding means is on the rear side.

  (Operation / Effect) In the case of the apparatus of the invention of claim 7, since the driver boarding means is on the rear side of the carriage when the carriage is moved, the driver who is on board with the driver boarding means is also on the rear side. As a result, since there is always a trolley in the field of view of the driver on board, the driver can drive while constantly checking the condition of the trolley.

  In the case of the mobile X-ray imaging apparatus of the present invention, for power movement including X-ray imaging equipment including an X-ray tube for irradiating a subject with X-rays, and a cart driving means for performing power movement of the cart. A movable carriage equipped with equipment is equipped with a driver boarding means on which the driver who operates the carriage driving means is mounted, and the carriage is operated while the driver is on the carriage with the driver boarding means. When the trolley is driven by driving the trolley by operating the means, other power transfer equipment is activated according to the driver's operation, and the trolley is operated by the driver while the driver is on board. Move on the street. Therefore, the driver can move the carriage while the driver is on the carriage without walking along with the carriage.

  Therefore, according to the mobile X-ray imaging apparatus of the present invention, it is possible to reduce the burden on the driver accompanying the operation of the carriage.

  An embodiment of the mobile X-ray imaging apparatus of the present invention will be described below. FIG. 1 is an elevational view showing a state in which a driver's boarding movement of a medical mobile X-ray imaging apparatus (hereinafter abbreviated as “apparatus” as appropriate) according to the first embodiment is seen from the side, and FIG. FIG. 3 is a partial elevation view showing the state of the apparatus in the state where the driver boarding movement of the apparatus is viewed from above, FIG. FIG. 3 is a block diagram mainly showing the configuration of a control system for cart movement and X-ray imaging of the apparatus of Example 1;

  The mobile X-ray imaging apparatus of the first embodiment is a four-wheel type, rear-wheel-drive movable carriage 1, and X-ray imaging equipment such as an X-ray tube 2 that irradiates the subject M with X-rays. And, electric motors such as a long bar-shaped cart driving handle (cart driving means) 3 for driving to move the cart 1 electrically, right and left driving electric motors 5A and 5B for rotating the right and left rear wheels 4A and 4B, etc. In addition to being equipped with moving equipment, a battery 6 for supplying energy required for bogie travel and X-ray imaging is installed in the form of both X-ray imaging equipment and electric moving equipment. A cassette storage box (not shown) for storing a cassette loaded with an X-ray imaging storage medium such as a film is also mounted on the back of the carriage 1 as one of X-ray imaging equipment.

  The X-ray tube 2 is attached to the tip of a horizontal arm 8 that is disposed on a vertical support 7 that is erected in the center near the front of the carriage 1 so as to be lifted and lowered. When X-ray imaging is performed, the horizontal arm 8 and the X-ray tube 2 are directed to the front side of the carriage 1.

  An imaging operation panel 9 for performing operations necessary for execution of X-ray imaging is disposed and mounted on the rear upper surface of the carriage 1 as one of X-ray imaging equipment. An input operation by the imaging operation panel 9 allows setting of imaging conditions such as tube voltage and tube current of the X-ray tube 2 and an X-ray irradiation command.

  Furthermore, an X-ray irradiation control unit 10 including a high-voltage power supply (not shown) is also mounted on the carriage 1 as one of the X-ray imaging equipment, and the X-ray irradiation control unit 10 is controlled by the imaging operation panel 9. In accordance with the operation, the X-ray tube 2 is controlled to irradiate the subject M with X-rays while receiving necessary energy from the battery 6.

  When performing X-ray imaging with the apparatus of Example 1, after taking out an unimaged cassette from the cassette storage box and setting the cassette CT on the back side of the subject M, as shown by the one-dot chain line in FIG. X-ray irradiation by the X-ray tube 2 is performed. Then, a transmitted X-ray image of the subject M is imprinted on the film. The cassette CT that has undergone X-ray imaging is returned to the cassette storage box.

  Further, when the device of the first embodiment is moved to another location, the driver DR operates the long bar-shaped cart driving handle 3 to drive the cart 1 to the destination. In the case of the apparatus according to the first embodiment, the motor rotation speed control unit 12 controls the rotation direction and the rotation speed of the right and left traveling electric motors 5A and 5B according to the operation of the cart driving handle 3 by the driver DR. . Further, the right and left rear wheels 4A and 4B rotate according to the rotation mode of the right and left traveling electric motors 5A and 5B, whereby the carriage 1 moves as operated by the driver DR. Energy necessary for moving the carriage 1, in other words, energy necessary for driving the right and left rear wheels 4A and 4B is also supplied from the battery 6.

  As shown in FIG. 5, the truck operation handle 3 includes a brake release bar 11A and a truck control bar 11B. The brake release bar 11A is provided with a release operation detection sensor 13 using a pressure sensor or the like. In the cart control bar 11B, the right pressure sensor 14A composed of two pressure detection elements 15a and 15b arranged separately on the inner side and the outer side at the positions near the right end and the left end, and the two arranged separately on the inner side and the outer side. A left pressure sensor 14B including pressure detection elements 16a and 16b is provided.

  In the case of the apparatus of the first embodiment, the drive power supply to the right and left traveling electric motors 5A and 5B is cut off, so that the carriage 1 is braked, and the right and left traveling electric motors 5A and 5B A brake system is employed in which the brake of the carriage 1 is released by supplying drive power to 5B. The brake control unit 17 performs intermittent control of driving power supply to the right and left traveling electric motors 5A and 5B in this brake system in accordance with the operation of the brake release bar 11A.

  When the driver DR drives the carriage 1, the driver DR grips and tightens both the brake release bar 11A and the carriage control bar 11B with both hands. When the brake release bar 11A is gripped with the hand of the driver DR, a brake release signal is output from the release operation detection sensor 13, and the brake control unit 17 applies to the right and left traveling electric motors 5A and 5B. Since the drive power supply is started, the brake of the carriage 1 is released.

  In addition, the driver DR holds the cart operation bar 11B with both hands and pushes or pulls the cart 1 toward the one where the cart 1 is desired to be moved. The pressure detection elements 15a and 15b of the right pressure sensor 14A and the pressure detection elements 16a and 16b of the left pressure sensor 14B send a pressure detection signal corresponding to the direction and strength of pushing the cart control bar 11B to the motor rotation speed control unit 12. Output to.

  The motor rotation speed control unit 12 controls the right and left traveling electric motors 5A and 5B based on the pressure detection signals of the pressure detection elements 15a and 15b of the right pressure sensor 14A and the pressure detection elements 16a and 16b of the left pressure sensor 14B. The right and left rear wheels 4A and 4B are rotationally driven by controlling the rotation direction and the rotation speed, and the carriage 1 is moved as operated by the carriage control bar 11B.

  When stopping the operation of the carriage 1, the driver DR moves his / her left and right hands away from the brake release bar 11A and the carriage operation bar 11B. When the driver DR is released from the brake release bar 11A, the brake release signal output from the release operation detection sensor 13 disappears, and the brake control unit 17 causes the right and left traveling electric motors 5A and 5B to disappear. The drive power supply to is stopped. Since the rotation of the right and left electric motors 5A and 5B immediately stops, the rotation of the right and left rear wheels 4A and 4B stops and the carriage 1 stops, and at the same time, the carriage 1 is braked.

  Furthermore, as shown in FIGS. 1 and 2, the apparatus of the first embodiment is equipped with a driver board (driver boarding means) 18 on which a driver DR who drives the truck driving handle 3 is mounted. This is a prominent feature of the structure. The driver board 18 is pivotally supported with the base side as a fulcrum, and when the driver DR boardes, the driver board 18 is set in a horizontal posture as shown by a solid line, When the vehicle is obstructed, the driver board 18 is moved to the retracted position on the back of the carriage 1 and set in the standing posture as shown by an arrow RA in FIG.

  In addition, the apparatus of the first embodiment is configured so that the object that appears in front of the carriage 1 during movement and the object that appears obliquely in front of the carriage 1 and other objects (such as other patients and moving medical instruments) and the carriage 1 are separated. Ranging sensors (object distance measuring means) 19 </ b> A to 19 </ b> D for measuring the distance are provided on the carriage 1. The distance measuring sensors 19 </ b> A and 19 </ b> B detect the separation distance of the object appearing in front of the carriage 1, and the distance measuring sensors 19 </ b> C and 19 </ b> D detect the separation distance of the object appearing obliquely in front of the carriage 1. Examples of the distance measuring sensors 19A to 19D include an ultrasonic distance sensor and an infrared distance sensor.

  These distance measuring sensors 19A to 19D send distance signals to the motor rotation speed control section 12 and the brake control section 17, and the motor rotation speed control section 12 based on the distance measurement signals from the distance measurement sensors 19A to 19D. The brake control unit 17 is configured to avoid a collision with an object appearing on the front or oblique front of the carriage 1 by controlling the moving speed of the carriage 1.

  Specifically, if the object separation distance measured by the distance measuring sensors 19A to 19D is equal to or less than a certain value, the motor rotation speed control unit 12 determines whether the right and left traveling electric motors 5A, 5A, The carriage 1 is decelerated by reducing the rotation of 5B. If the distance between the objects measured by the distance measuring sensors 19A to 19D is less than or equal to the shorter dangerous distance, the brake control unit 17 stops the supply of driving power to the right and left traveling electric motors 5A and 5B. . The carriage 1 is safely stopped as will be described later. Therefore, collision with an object is avoided and the carriage 1 can be moved safely.

  Further, the apparatus of the first embodiment measures the distance between the object appearing ahead of the driver board 18 and the object appearing diagonally ahead of the driver board 18 and the carriage 1 during movement. Sensors (object distance measuring means) 20 </ b> A to 20 </ b> D are arranged at the leading edge of the driver board 18. The distance measuring sensors 20A and 20B detect the separation distance of the object appearing ahead of the driver board 18, and the distance measuring sensors 20C and 20D determine the distance of the object appearing diagonally ahead of the driver board 18. To detect. Examples of the distance measuring sensors 20A to 20D include an ultrasonic distance sensor and an infrared distance sensor.

  The distance measurement signals of these distance measurement sensors 20A to 20D are also sent to the motor rotation speed control unit 12 and the brake control unit 17, and the motor rotation speed control is also performed based on the distance measurement signals of the distance measurement sensors 20A to 20D. The unit 12 and the brake control unit 17 avoid a collision between an object appearing ahead of the driver board 18 and an object appearing diagonally ahead of the driver board 18 by controlling the moving speed of the carriage 1. It is configured.

  Specifically, if the object separation distance measured by the distance measuring sensors 20A to 20D is equal to or less than a certain value, the motor rotation speed control unit 12 determines whether the right and left traveling electric motors 5A, 5A, The carriage 1 is decelerated by reducing the rotation of 5B. If the distance between the objects measured by the distance measuring sensors 20A to 20D is less than or equal to the shorter danger distance, the brake control unit 17 stops the supply of driving power to the right and left traveling electric motors 5A and 5B. . The distance measuring sensors 20A to 20D predict obstacles in advance so that the carriage 1 does not stop suddenly, and when the apparatus approaches the obstacle, the motor gradually turns down, and the apparatus is safely stopped before the obstacle. . Therefore, collision with an object is avoided and the carriage 1 can be moved safely.

  That is, the motor rotation speed control unit 12 and the brake control unit 17 also serve as collision avoidance means.

  In the case of the distance measurement sensors 20A to 20D, the distance measurement signal is transmitted only when the driver board 18 is set in the horizontal posture, and the distance measurement signal transmission switch 21 is closed, and the motor rotation speed control unit 12 and the brake control unit. 17 is sent out. When the driver board 18 is moving to the retracted position, or when the driver board 18 remains at the retracted position, the distance measurement signal transmission switch 21 is opened and the distance measurement signal is transmitted to the motor rotation speed control unit 12. And is not sent to the brake control unit 17. The distance measurement signal transmission switch 21 is opened and closed in conjunction with the movement operation of the driver board 18.

  Subsequently, a case where the mobile operation is performed by the apparatus of the first embodiment will be described. When the driver boarded and operated the device of the first embodiment (driver boarding operation), as shown in FIG. 1 and FIG. 2, the driver board 18 is set in a horizontal posture, and the driver While the DR is on the driver board 18, the carriage driving handle 3 is squeezed to drive and move the carriage 1.

  In the apparatus according to the first embodiment, when the carriage 1 is moved, the driver board 18 is on the rear side, so that the driver DR on the driver board 18 is also on the rear side. As a result, since the carriage 1 is always in the field of view of the driver DR on board, the driver DR can drive while constantly checking the state of the carriage 1.

  Further, when the driver of the first embodiment operates without boarding the driver (non-driver driving), as shown in FIG. 3, the driver board 18 is moved to the retracted position and set in the standing posture. In this case, the driver DR walks along with the carriage 1 to squeeze the carriage operation handle 3 to drive and move the carriage 1.

  In the case of the apparatus according to the first embodiment having the above-described configuration, the X-ray imaging equipment including the X-ray tube 2 that irradiates the subject M with X-rays, and the dolly driving for performing the power movement of the dolly 1 A movable carriage 1 on which power moving equipment including a handle 3 is mounted is provided with a driver board 18 on which a driver DR who operates the carriage driving handle 3 is mounted. When the driver DR is operated to move the trolley 1 by operating the trolley driving handle 3 while the driver DR is riding on the trolley 18 in 18, the other motives for power transfer are controlled in accordance with the driving of the driver DR. Is activated, and the carriage 1 moves in accordance with the operation of the driver DR while the driver DR is on board. Therefore, the driver DR can move the carriage 1 while the driver DR is on the carriage 1 without walking along with the carriage 1.

  Therefore, according to the mobile X-ray imaging apparatus of the first embodiment, the burden on the driver DR accompanying the operation of the carriage 1 can be reduced.

  In addition, in the case of the device according to the first embodiment, when the driver board 18 needs to be retracted when using the device (when the driver board 18 prevents the device from being stored, or when the driver board 18 is The driver board 18 can be moved to the retracted position on the back of the car 1 when the car 1 is hindered from being operated without boarding, and the driver board 18 hinders the use of the device. There is no.

  Next, the mobile X-ray imaging apparatus of Example 2 will be described. FIG. 6 is an elevational view showing the state of the device of Example 2 during the driver's boarding movement, and FIG. 7 is a vertical view showing the state of the device of the second example during the non-boarding movement of the device. FIG. FIG. 8 is a partial elevational view showing another state of the apparatus of the second embodiment when the driver is not on board, as viewed from the side.

  In the apparatus of the second embodiment, the cart driving handle 3 is arranged in a manner of being spanned between the upper portions of the support columns 23 erected on the front upper side of the driver board 22, and in addition, an arrow RB in FIG. As shown, the driver board 22 is moved to the retreat position below the carriage 1 by pushing the carriage driving handle 3 and the column 23 together with the carriage 23, and is the same as the apparatus of the first embodiment. Therefore, only different points will be described, and description of common points will be omitted.

  In the case of the apparatus according to the second embodiment, the driver board 22 is located between the carriage 1 and the carriage driving handle 3, so that when the driver DR also gets on the driver board 22 and operates, the driver DR Driving is performed between the cart 1 and the cart driving handle 3, and the driver board 22 is on the leading side of the cart 1 when the cart 1 is moved.

  Next, a case where the mobile operation is performed with the apparatus of the second embodiment will be described. When the driver of the second embodiment is on board the driver, as shown in FIG. 6, the driver board 22 is pulled out of the lower position of the carriage 1, and the driver DR moves to the driver board 22. While driving, the cart driving handle 3 is squeezed to drive and move the cart 1.

  In the apparatus according to the second embodiment, as described above, when the carriage 1 is moved, the driver board 22 is the leading side of the carriage 1, so that the driver boarding the driver boarding unit 22 is also the leading side. . As a result, since the field of view of the driver who is on board is not obstructed by the carriage 1, the driver DR can drive while constantly confirming the course condition.

  Further, when the driver of the second embodiment performs the non-boarding operation, usually, the driver board 22 is moved to the retracted position as shown in FIG. While walking, the trolley driving handle 3 is squeezed to drive and move the trolley 1. However, when the driver of the second embodiment performs the non-boarding operation, as shown in FIG. 8, the driver board 22 can be operated while being pulled out without being moved to the retracted position.

  As for the distance measuring sensors 20A to 20D, as in the case of the first embodiment, the distance measuring signal is transmitted only when the driver board 22 is completely pulled out, and the distance measuring signal transmission switch 21 is closed to rotate the motor rotation speed. When the driver board 18 is being moved to the retracted position or when the driver board 22 remains at the retracted position, the distance measurement signal transmission switch 21 is sent to the control unit 12 or the brake control unit 17. The distance measurement signal that is opened is not sent to the motor rotation speed control unit 12 or the brake control unit 17.

  The present invention is not limited to the above embodiment, and can be modified as follows.

(1) In the case of the devices according to the first and second embodiments, the driver board 18 and 22 can be moved to the retracted position, but the driver board 18 and 22 can be removed except that the driver board 18 and 22 can be removed. , 2 is a modified example. Also in the case of the device of this modified example, there is an advantage that it can be removed when the driver board 18 or 22 is obstructed, and the driver board 18 or 22 can avoid obstructing the use of the device. (2) Embodiment As shown in FIG. 9, the apparatus 2 has the same configuration as that of the second embodiment except that a pair of side mirrors 24, 24 that reflect the side and rear of the carriage 1 are attached to both sides of the driving operation handle 3. An apparatus is mentioned as a modification.

  During driver boarding movement, the driver DR can drive while monitoring the side and rear conditions with the side mirror 24, so that the carriage 1 can be steered more safely.

  In the case of this modified example, each side mirror 24 is configured such that the range reflected on the mirror surface can be changed by adjusting the opening angle with a hinge 24A.

  In addition, each side mirror 24 is configured to be pivotally supported so as to be rotatable as a whole with the support shaft 24B as a rotation center. Therefore, for example, when the side mirror 24 hinders driving, the side mirror 24 can be rotated 180 ° and moved to the retracted position, as shown by a one-dot chain line in FIG.

  (3) In the case of the apparatuses of Examples 1 and 2, the carriage 1 is not equipped with a two-dimensional X-ray detector for detecting an X-ray transmission image of the subject M, but an X-ray transmission image of the subject M is provided. An apparatus having the same configuration as in the first and second embodiments is provided, except that a two-dimensional X-ray detector such as a flat panel type X-ray detector for detecting the above is mounted on the carriage 1 in an arrangement facing the X-ray tube 2. , Respectively.

  (4) In the case of the devices of the first and second embodiments, the carriage 1 is a rear wheel drive type, but the carriage 1 may be a front wheel drive type or an all wheel drive type.

  (5) Although the apparatus of Examples 1 and 2 was a medical apparatus, the present invention is not limited to medical use but can be applied to industrial use and nuclear power use.

FIG. 3 is an elevational view showing a state in which the mobile boarding movement of the mobile X-ray imaging apparatus according to Embodiment 1 is viewed from the side. It is a top view which shows the state in driver | operator boarding movement of the apparatus of Example 1 seeing from the top. It is a fragmentary elevation view which shows the state in the driver | operator non-boarding movement of the apparatus of Example 1 seeing from the side. It is a block diagram which mainly shows the structure of the control system of the trolley | bogie movement and X-ray imaging of the apparatus of Example 1. FIG. It is a block diagram which shows the structure of the control system of the trolley | bogie movement of the apparatus of Example 1 in detail. It is an elevation view which shows the state during the driver boarding movement of the apparatus of Example 2 seeing from the side. FIG. 10 is an elevational view showing a state in which the driver of the second embodiment is not on boarding when viewed from the side. It is a fragmentary elevation view which sees another state during driver non-boarding movement of the device of Example 2 from the side. FIG. 10 is a perspective view showing a side mirror of an apparatus according to a modification of Example 2. It is an elevational view showing a conventional mobile X-ray imaging apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Carriage 2 ... X-ray tube 3 ... Carriage driving handle (cart driving means)
12: Motor rotation speed control unit (collision avoidance means)
17 ... Brake control unit (collision avoidance means)
18, 22 ... Driver boarding board (driver boarding means)
20A to 20D: Ranging sensor (object distance measuring means)
M: Subject

Claims (7)

  The movable carriage is equipped with X-ray imaging equipment including an X-ray tube for irradiating the subject with X-rays, and power movement equipment including a carriage driving means for driving the carriage for power movement. In the mobile X-ray imaging apparatus, the cart is provided with driver boarding means on which a driver who operates the cart driving means rides.   The mobile X-ray imaging apparatus according to claim 1, wherein the driver boarding means is movable to a retracted position.   The mobile X-ray imaging apparatus according to claim 1 or 2, wherein the driver boarding means is removable from the carriage.   The mobile X-ray imaging apparatus according to any one of claims 1 to 3, wherein an object distance measuring means for measuring a distance between an object appearing ahead of the driver boarding means and the carriage is provided in the driver boarding means. A collision avoiding means for avoiding a collision with an object appearing ahead of the driver boarding means by controlling the moving speed of the carriage based on the distance measurement result of the object distance measuring means Mobile X-ray equipment included in the category.   5. The mobile X-ray imaging apparatus according to claim 4, wherein the object distance measuring means measures the separation distance even with respect to an object appearing obliquely ahead of the driver boarding means, and the collision avoidance means A mobile X-ray imaging apparatus for avoiding a collision even with an object appearing diagonally ahead of the passenger boarding means.   The mobile X-ray imaging apparatus according to any one of claims 1 to 5, wherein when the carriage is moved, the driver boarding means is on a leading side. The mobile X-ray imaging apparatus according to any one of claims 1 to 5, wherein when the carriage is moved, the driver boarding means is on the rear side.

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