JP2014138673A - Mobile x-ray imaging device, mobile x-ray generating device and method of controlling the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile X-ray imaging device, a mobile X-ray generating device and a method of controlling the same, capable of eliminating the risk of toppling over to enable safe X-ray imaging.SOLUTION: A mobile X-ray imaging device includes, on the upper part of a movable carriage 1, a support arm 5 that supports an X-ray tube device 6 and can be arranged at an arbitrary position, and support parts 3,4 that rotate the support arm 5 and move up and down the support arm 5. The mobile X-ray imaging device also includes means 15,17,19 that detects the direction and amount of movement of the support arm 5, and toppling prevention means 21 arranged at a position under the body of the movable carriage 1 and in the vicinity of the support arm 5, and the toppling prevention means 21 is configured according to the arrangement state of support arm 5.

Description

  The present invention relates to a medical device such as an X-ray imaging apparatus, and more particularly to a mobile X-ray generation apparatus that can be moved on a floor surface and a control method thereof for the purpose of X-ray imaging for round trips in a hospital or the like. It is.

  Conventionally, an X-ray imaging apparatus (or simply referred to as an X-ray imaging apparatus) or an X-ray generation apparatus having this type of moving function has a moving carriage, and power is supplied to the X-ray imaging apparatus in the carriage. Built-in high-voltage power supply. Further, a control device for controlling the arm and the column supporting the X-ray imaging apparatus, a control device for controlling the moving mechanism of the movable carriage, and a battery device for supplying power to the entire mobile X-ray imaging apparatus are also incorporated.

  Below the movable carriage, wheels for transmitting driving force and casters capable of changing direction are attached. Further, a support column is suspended above the movable carriage, and an arm is cantilevered on the support via a fixture, and an X-ray tube and a collimator for generating X-rays are attached. A support member that holds the X-ray tube and the collimator is formed in the mobile X-ray round-the-wheel vehicle. Casters and drive wheels are attached to the movable carriage and can move. The movement is performed by the operator holding the gripping portion.

  Further, in the mobile X-ray imaging apparatus disclosed in Patent Document 1, a moving body including an X-ray generation unit and an X-ray emitted from the X-ray generation unit pass through a subject and an X-ray distribution is detected by a sensor. A planar detector for detection. In this X-ray imaging apparatus, the moving body has means for locking or / and unlocking the moving means of the moving body. The X-ray imaging apparatus has detection means for detecting means for locking or / and unlocking the moving means of the moving body. Japanese Patent Application Laid-Open No. H10-228688 discloses a lock on moving means.

  Moreover, in what is disclosed by patent document 1, the caster which is attached to the trolley | bogie which is attached to the trolley | bogie to which a big unbalanced load is applied and changes a gravity center position according to a use condition, and has a supporting member which supports a wheel is disclosed. With respect to the rotation axis of the wheel, a carriage overturn prevention member is provided on the side of the carriage overturning direction due to a change in the position of the center of gravity of the carriage. And a connecting member to be connected. The connecting member can be bent and deformed, and is formed of an elastic member that compressively deforms as the rod-shaped body moves upward when a force directed upward in the vertical direction acts on the lower end portion of the rod-shaped body. Further, the upward movement of the rod-shaped body is restricted by the support member.

JP 2004-73354 A JP 2005-162113 A

  A mobile X-ray imaging device is used to perform X-ray imaging in a general hospital room, but the conventional mobile X-ray imaging device having an X-ray tube moves the arm length from the center of rotation of the upper and lower columns. It only grows about twice the width of the carriage. For this reason, it has been necessary to bring a mobile X-ray imaging apparatus into the bedside between narrow beds and approach the subject in a hospital room with multiple beds. However, there were many places where there was not enough space on the bedside, and it often took time to set up the shooting. Therefore, using a mobile X-ray imaging apparatus having a long arm, the preparation time and labor can be saved by extending the arm from the side of the path of the hospital room instead of the method of carrying it between beds. However, the longer the arm, the worse the stability of the mobile X-ray imaging apparatus.

It is necessary to comply with the following JIS standards for this type of device.
Standard number: JIS Z 4703: 1995 8.9 Stability test

  When a specific posture is specified in order to increase the stability of the device, the device is placed in a specified posture on a plane tilted by 10 °, and it is checked whether or not it falls. In addition, with respect to such a device, in any posture that may be placed during normal use, the device is also placed on a plane inclined by 5 ° from a horizontal plane to check whether or not to fall.

  Accordingly, the present invention provides a mobile X-ray imaging apparatus, a mobile X-ray generation apparatus, and a control method thereof that can eliminate the risk of falls and perform safe X-ray imaging when X-ray imaging is performed in a general hospital room. Objective.

  In order to achieve the above object, a mobile X-ray imaging apparatus according to the present invention supports a X-ray tube apparatus on an upper part of a moving carriage and can be arranged at an arbitrary position, and swings and lifts the support arm. A mobile X-ray imaging apparatus provided with a support column, the means for detecting the movement direction and the movement amount of the support arm, and the fall prevention means arranged near the support arm at the lower part of the main body of the movable carriage And the fall prevention means is set according to the arrangement state of the support arm.

  In the mobile X-ray apparatus of the present invention, the fall prevention means has one or a plurality of fall prevention legs, and selectively operates the fall prevention legs according to the movement direction and the movement amount of the support arm. It is characterized by making it.

  Further, in the mobile X-ray imaging apparatus of the present invention, the support arm is configured to be capable of turning, raising and lowering, and extending and contracting as its movement operation, and the fall prevention leg is operated manually or automatically in accordance with the amount of displacement thereof. It is characterized by.

  In the mobile X-ray imaging apparatus of the present invention, the fall prevention leg is configured to be extendable, and the extension length is set according to the extension length of the support arm.

  In the mobile X-ray imaging apparatus of the present invention, an obstacle detection means is provided near the outer periphery of the fall prevention leg, and the fall prevention leg is operated according to the detection result.

  Further, the mobile X-ray imaging apparatus of the present invention is characterized by having means for detecting the extension length of the fall prevention leg, and determining whether X-ray imaging is possible or not according to the detection result.

  The mobile X-ray generator of the present invention includes a mobile carriage, an X-ray generator, a support arm that supports the X-ray generator and can be arranged at an arbitrary position, and the support arm is connected to the mobile carriage. It is characterized by having strut portions to be coupled and leg portions that can extend from the side of the movable carriage to the outside and prevent the movable carriage from toppling over.

Also, in the mobile X-ray generator of the present invention, the support arm can dispose the X-ray generator above and to the side of the mobile carriage, and the leg portion can be viewed from the side of the mobile carriage. It is possible to extend outward.
Further, in the mobile X-ray generator of the present invention, when the leg portion is extended from the side to the outside of the mobile carriage, the leg contacts the floor surface at a position outside the mobile carriage. It is characterized by.

  In the mobile X-ray generator of the present invention, the support arm has a telescopic mechanism capable of disposing the focal position of the X-ray generator at a position of 800 mm parallel to the floor surface from the mobile carriage. A plane in which the movable X-ray generator is inclined by 5 ° from a horizontal plane in a state where the support arm is extended so that the focal position of the X-ray generator is arranged at the position of 800 mm by the expansion / contraction mechanism. Also in the above, the leg portion generates a moment with respect to the movable X-ray generator so that the leg portion does not fall over when the leg portion is extended along the support arm.

In the mobile X-ray generator of the present invention, the mobile X-ray generator further includes detection means for detecting the arrangement state of the legs, and restriction means for restricting the operation of the support arm according to the detected arrangement state. It is characterized by.
Further, in the mobile X-ray generator of the present invention, a detecting means for detecting the arrangement state of the legs, and a notifying means for notifying a warning regarding the operation of the support arm according to the detected state are further provided. It is characterized by having.
Further, in the mobile X-ray generation apparatus of the present invention, a detection unit that detects an arrangement state of the legs, and a limitation unit that limits generation of X-rays from the X-ray generation unit according to the detected state. It further has these.
In the mobile X-ray generator of the present invention, the mobile X-ray generator further includes an inclination detection unit that detects an inclination state of the mobile X-ray generator, and issues a warning regarding the arrangement of the legs according to the inclination state. It further has a reporting means.

  In addition, the X-ray imaging system of the present invention detects the X-ray and obtains a digital X-ray image and transmits the digital X-ray image to the mobile X-ray generator. And a portable X-ray imaging apparatus.

  The control method of the mobile X-ray generator of the present invention includes a mobile carriage, an X-ray generator, a support arm that supports the X-ray generator and can be disposed at an arbitrary position, and the support arm A control method for a mobile X-ray generator having a column part coupled to a mobile carriage, and a leg part that can extend from the side of the mobile carriage to the outside and prevent the mobile carriage from overturning. And a step of detecting the arrangement state of the legs, and a step of limiting the operation of the support arm according to the detected arrangement state.

  The control method of the mobile X-ray generator of the present invention includes a mobile carriage, an X-ray generator, a support arm that supports the X-ray generator and can be disposed at an arbitrary position, and the support arm A control method for a mobile X-ray generator having a column part coupled to a mobile carriage, and a leg part that can extend from the side of the mobile carriage to the outside and prevent the mobile carriage from overturning. And a step of detecting an arrangement state of the legs, and a step of notifying a warning regarding the operation of the support arm according to the detected state.

  According to the present invention, a mobile X-ray apparatus is arranged near the passage side of a bed in a general hospital room, a support arm that is longer than usual is extended in the lateral direction, and the fall-preventing leg is protruded manually or automatically. To complete the preparation for shooting. This eliminates the need to insert a mobile X-ray imaging apparatus up to the bedside in a general hospital room, thereby reducing the setup time and the burden on the imaging technician.

  Further, in addition to the reduction of the setup time and the burden on the radiographer, there is an effect that the safety around the fall prevention leg of the mobile X-ray imaging apparatus can be secured. Further, there is an effect that it is possible to automatically determine that the explosion can be performed after confirming the safety of the state in which the mobile X-ray imaging apparatus is prevented from falling.

It is a perspective view which shows the use condition of the mobile X-ray imaging apparatus in the 1st Embodiment of this invention. It is a perspective view which shows the example of the fall prevention leg which concerns on the 1st Embodiment of this invention. It is a top view which shows the example of the fall prevention leg which concerns on the 1st Embodiment of this invention. It is each flowchart which shows the example of a setting operation | movement of the fall prevention leg which concerns on the 1st Embodiment of this invention. It is a perspective view which shows the example of the fall prevention leg which concerns on the 2nd Embodiment of this invention. It is a perspective view which shows the example of the fall prevention leg which concerns on the 3rd Embodiment of this invention.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
(First embodiment)
1 to 3 show a configuration of a first embodiment of an X-ray imaging apparatus to which the present invention is applied, and an X-ray imaging state of a subject by the X-ray imaging apparatus. The mobile X-ray imaging apparatus shown in FIGS. 1 to 3 is generally called an X-ray medical cart or a mobile X-ray generator, and an X-ray high voltage generator or X-ray control is provided on the mobile carriage 1. An X-ray / system control unit 2 including a device and a control panel is mounted. The X-ray / system control unit 2 is provided with a moving handle 9 and a display 10 for inputting X-ray irradiation information display and irradiation commands. The X-ray imaging apparatus includes an X-ray generation apparatus to constitute an X-ray imaging system.

  In addition, the first support column 3 is disposed vertically in front of the upper portion of the movable carriage 1 so as to be capable of turning 14 with respect to the movable carriage 1 in all directions. Here, the photographing engineer holds the handle 9 to move the movable carriage 1, and when viewed from the photographing engineer as shown in FIG. 1, the front is indicated by the arrow Fr, the rear is indicated by the arrow Rr, and the right is indicated by the arrow R. The left side is indicated by an arrow L. Then, the turning amount of the first support column 3 is confirmed by a rotation displacement sensor 15 such as a rotary encoder provided in the vicinity of the base of the first support column 3. When the apparatus is stored, an X-ray tube support arm 5 (to be described later) is moved to the handle 9 side, and this state can be used as a reference for the turning amount of the first support column 3.

  In the support column portion, the first support column 3 includes a second support column 4 capable of moving up and down 16 along the support column. Further, when the room is dedicated to a normal hospital room and does not require a particularly high position, the first support column 3 and the second support column 4 may be a single support column. The raising / lowering amount of the 2nd support | pillar 4 is detected by the raising / lowering displacement sensor 17, and can be confirmed. The column portion couples the X-ray tube support arm 5 to the movable carriage 1.

  An X-ray tube support arm 5 capable of expanding and contracting 18 in a horizontal direction substantially perpendicular to the second support column 4 is provided, and the movement amount thereof is confirmed by an expansion / contraction displacement sensor 19. Note that the X-ray tube support arm 5 can be extended to at least twice as long as the width of the X-ray medical examination vehicle. In this way, the X-ray tube support arm 5 moves in a desired moving direction and moving amount through the first support column 3 and the second support column 4 or by itself, and moves in a desired moving direction and moving amount, and is arranged at an arbitrary position. Is possible. An X-ray tube device 6 is attached and supported at the tip of the X-ray tube support arm 5, and a collimator 7 is attached to the lower part of the X-ray tube device 6. A subject 13 and a flat panel 11 for imaging are disposed between the bed 12 disposed in the hospital room.

  The flat panel 11 is a portable X-ray imaging apparatus including the following, for example. That is, a two-dimensional X-ray sensor for detecting X-rays, an amplifier and an AD converter for amplifying an electric signal obtained by the X-ray sensor and converting it into a digital X-ray image, and the digital X-ray image as the moving X-ray A wireless communication unit and a wired communication unit that transmit to the line generator. The flat panel 11 has a substantially rectangular parallelepiped outer shape having a thickness of several centimeters and several tens of centimeters of height and width, similar to a film cassette or CR cassette.

  In the above case, the turning operation of the first support column 3, the raising / lowering operation of the second support column 4, and the extending / contracting operation of the X-ray tube support arm 5 can be performed using a driving means such as an electric motor. These movements or displacement amounts are detected by the rotational displacement sensor 15, the elevation displacement sensor 17, and the expansion / contraction displacement sensor 19, respectively, and sent to the X-ray / system control unit 2. Moreover, the moving trolley | bogie 1 has the wheel 20 in four corner | angular parts of front and rear, right and left as the moving means, and also has a means to lock and unlock these wheels 20. Such a lock mechanism is, for example, a brake mechanism that suppresses rotation of a wheel or an axle, and a lock release mechanism is, for example, a mechanism that releases the contact between the brake mechanism and the wheel by pulling the brake mechanism away from the wheel.

  Further, a plurality of leg portions that can extend outward from the side end face of the main body of the mobile carriage 1 as shown in FIG. A leg 21, a second fall prevention leg 22 and a third fall prevention leg 23 are provided. For example, the first fall prevention leg 21 can extend to the left L, the second fall prevention leg 22 to the front Fr, and the third fall prevention leg 23 to the right L. The first fall prevention leg 21, the second fall prevention leg 22, and the third fall prevention leg 23 are configured to be extendable and retractable, for example, and can be stored inside the main body of the movable carriage 1 when not in use. Or these fall prevention legs are fixed so that rotation is possible on the back surface of the mobile trolley 1, and can be extended or stored from the side of the mobile trolley 1 by rotating.

  Further, the first fall prevention leg 21, the second fall prevention leg 22, and the third fall prevention leg 23 can be easily pulled out from the main body of the movable carriage 1 or rotated to be deployed. Instead of this, or in addition to this, driving means such as an electric motor can be provided to automatically extend. In addition, when performing manually, for example, each of the fall prevention legs 21 to 23 is provided with an elastic means such as a spring. The first fall prevention leg 21, the second fall prevention leg 22, and the third fall prevention leg 23 can be extended by the elasticity of the spring or the like applied by a one-touch operation such as a push button.

  Such a fall prevention leg comes into contact with the floor surface on which the movable carriage 1 is placed at a position outside the movable carriage 1 when extended outward from the side of the movable carriage 1. Thereby, the fall prevention leg receives a vertical drag from the floor surface, and this generates a moment in a direction in which the mobile X-ray generator suppresses the fall. When the X-ray tube support arm 5 is extended and the X-ray generator (X-ray tube device 6) is arranged above and to the side of the movable carriage 1 as shown in FIG. A large moment is applied to the movable carriage 1 by the tube apparatus 6) and the X-ray tube support arm 5. By canceling at least a part of this moment by the moment generated by the fall prevention legs, the fall of the mobile carriage 1 can be prevented at least in a normal use situation. In one embodiment, the X-ray tube support arm 5 is capable of disposing the focal position of the X-ray generator (X-ray tube device 6) at least 800 mm parallel to the floor surface from the movable carriage 1. Have In this case, the X-ray tube support arm 5 is extended so that the focal position of the X-ray generator is placed at the 800 mm position by the expansion / contraction mechanism, and the mobile X-ray generator is inclined by 5 ° from the horizontal plane. Place on a flat surface. Even when placed in this manner, a moment is generated for the mobile X-ray generator so that the fall prevention leg does not fall in a state where the leg is extended along the X-ray tube support arm 5. In another example, the fall prevention leg does not contact the floor surface in a normal state, but contacts the floor surface when the mobile X-ray generator is inclined at a predetermined angle, for example, 0.5 degrees with respect to the floor surface. Thus, a moment may be generated in a direction to prevent the overturn.

    Moreover, the detection part which detects the arrangement state of the fall prevention leg can be attached to the fall prevention leg. In one embodiment, a length sensor that detects the length of extension of the first fall prevention leg 21, the second fall prevention leg 22, and the third fall prevention leg 23 can be attached. The detection signal is sent to the X-ray / system control unit 2. When the fall prevention leg rotates, the rotation state of the fall prevention leg is detected by a rotation sensor such as a rotary encoder. The detection unit is connected to the X-ray / system control unit 2 so that the detection signal reaches the X-ray / system control unit 2.

  The detection signal of the detection unit is used to appropriately arrange the fall prevention legs according to the position of the X-ray tube support arm 5 so as to prevent the fall of the mobile X-ray generator. For example, the X-ray / system control unit 2 interprets the detection signal and restricts the operation of the X-ray tube support arm 5 according to the detected arrangement state of the fall prevention legs. Specifically, the telescopic mechanism of the X-ray tube support arm 5 is locked so that the X-ray tube support arm cannot be extended in a specific direction. As a locking method, when the expansion / contraction mechanism is a deadman lock system, it is possible to efficiently suppress expansion by using a method of cutting power supplied to the expansion / contraction mechanism. In other examples, X-rays are not generated by the X-ray generation unit (X-ray tube device 6) when the fall prevention legs are not properly arranged in order to prevent a photographed image from being taken in an inappropriate state. To control. For example, even if a signal indicating that an X-ray irradiation switch for instructing X-ray generation is pressed is input to the X-ray / system control unit 2, a dedicated signal for blocking the input of the signal to the subsequent processing circuit This is realized by providing a switching circuit.

  Moreover, it can replace with the above-mentioned example, or can provide the alerting | reporting part which alert | reports the warning regarding the X-ray tube support arm 5 in addition to this. For example, when the X-ray tube support arm 5 extends beyond a predetermined length and the tipping prevention leg is not extended to a predetermined length or position, the notification unit is displayed on the display 10. A warning to that effect is displayed. For example, the notification unit functions as a display control unit of the display 10, and “There is a risk of falling, so please place the fall prevention leg appropriately.” “To move the X-ray tube support arm 5, the fall prevention leg is appropriate. Please place it on the screen in a conspicuous position. Instead of this, or in addition to this, the notification unit may function as a control unit that controls a speaker for sound output of the X-ray / system control unit 2, and may be notified by a buzzer sound or the like. Alternatively, a separate display or speaker may be provided as a notification unit.

  Next, a typical operation example of the X-ray imaging apparatus of this embodiment will be described. In this example, as shown in FIG. 1, the moving carriage 1 is moved to the side of the bed 12 and stopped at a predetermined position so that the bed 12 is positioned substantially on the left side L of the moving carriage 1. In this case, the first support column 3 is turned so that the X-ray tube support arm 5 faces the direction of the subject 13. In setting the fall prevention legs (21 to 23), the first fall prevention leg 21, the second fall prevention leg 22, and the third fall prevention leg 23 are selected based on the direction information detected by the rotation displacement sensor 15. . That is, as shown in FIG. 2, it extends in the operating direction 24 or 25 of the fall prevention leg, which is the direction in which the stability can be maintained.

  When the X-ray tube support arm 5 is extended to the left L of the movable carriage 1 as in this example, the first fall prevention leg 21 that is most effective for ensuring stability is selected. That is, the fall prevention legs (21 to 23) are selectively set according to the arrangement state of the X-ray tube support arm 5. In addition, since the fall prevention leg which was not selected has a small fall prevention effect, it does not extend from the side surface of the movable carriage 1 as shown in FIG. Here, the setting operation | movement of the fall prevention leg (21-23) is demonstrated concretely. When the first fall prevention leg 21 is extended in parallel with the X-ray tube support arm 5 as shown in FIG. 1, the displacement amount of the X-ray tube support arm 5 is expanded or contracted in step S1 as shown in FIG. It is detected by the displacement sensor 19. In step S2, the X-ray / system control unit 2 determines whether or not the X-ray tube support arm 5 has reached a predetermined length. When the X-ray tube support arm 5 becomes longer than a predetermined length, for example, a warning is issued by means such as a buzzer (step S3). In step S4, the radiographer manually prevents the first fall from the main body of the mobile carriage 1. Pull out the leg 21.

  In the above case, the length or length of the X-ray tube support arm 5 to be extended is appropriately set depending on the positional relationship with the subject, and is detected by the expansion / contraction displacement sensor 19 each time. The extension length of the fall prevention legs (21 to 23) is appropriately set according to the extension length of the X-ray tube support arm 5 detected by the expansion / contraction displacement sensor 19. For example, if the extension length of the X-ray tube support arm 5 is long, the extension lengths of the fall prevention legs 21 to 23 are correspondingly increased.

  When extending the 1st fall prevention leg 21, it can also carry out automatically in relation to the length of the X-ray tube support arm 5, as shown in FIG.4 (b). That is, in step S11, the displacement amount of the X-ray tube support arm 5 is detected by the expansion / contraction displacement sensor 19. In step S12, the X-ray / system control unit 2 determines whether the X-ray tube support arm 5 has reached a predetermined length. Determine whether. When the X-ray tube support arm 5 is longer than the predetermined length, in step S13, an electric motor or the like that is a driving means for the first fall prevention leg 21 is operated, whereby the first fall prevention leg 21 is moved. It becomes possible to extend automatically.

  The case where the 1st fall prevention leg 21 and the 2nd fall prevention leg 22 are used as a setting aspect of the fall prevention leg (21-23) is demonstrated. For example, let us consider a case where the X-ray tube support arm 5 is arranged so as to be directed diagonally to the left. The rotation displacement sensor 15 detects that the X-ray tube support arm 5 is disposed between the first fall prevention leg 21 and the second fall prevention leg 22, and at this time, the first fall prevention that is effective for preventing the fall. The leg 21 and the second fall prevention leg 22 are extended. In this case, the third fall prevention leg 23 is not effectively extended to prevent the fall, so that the third fall prevention leg 23 is not extended from the side surface of the movable carriage 1.

  In the above case, based on the information detected by the rotation displacement sensor 15, which fall prevention legs 21 to 23 can be arbitrarily set. A series of preparations for shooting is completed by the operation so far.

  After the preparation for imaging is completed as described above, X-ray imaging is performed in the same manner as a general X-ray imaging apparatus by setting imaging conditions from the display 10 or other input device and pressing an irradiation switch (not shown). X-rays are emitted from the X-ray tube device 6. The X-ray 8 shaped by the lower collimator 7 passes through the body of the subject 13 and an image is picked up on the flat panel 11 for imaging. This captured image is transmitted to the X-ray / system control unit 2 by wireless or wired (not shown), and the image is confirmed on the display 10 and the process is terminated.

  In the present embodiment, a mobile X-ray imaging apparatus is disposed near the passage side of the bed in a general hospital room. Then, the X-ray tube support arm 5 that is longer than usual is extended in the lateral direction, and at that time, the fall prevention legs (21 to 23) are stabilized automatically or manually to complete the preparation for imaging. This eliminates the need to insert a mobile X-ray imaging apparatus up to the bedside in a general hospital room, thereby reducing the setup time and the burden on the imaging technician.

(Second Embodiment)
As for FIG. 5, the fall prevention leg operation | movement procedure in 1st Embodiment is the same. The difference is that in the first embodiment, the operation at the time of setting the fall prevention leg is a straight movement, whereas the fall prevention leg operating direction 26 or 27 of the fall prevention legs 21 to 23 is a predetermined position. To prevent falling.

  In this embodiment, the rotation prevention legs (21 to 23) are rotated, and the first and second fall prevention legs 21 and 22 are confirmed by the rotation displacement sensor 15, so that the turning amount is the same. It is possible to set an arbitrary intermediate position that is most effective for preventing overturning.

(Third embodiment)
As for FIG. 6, the fall prevention leg operation | movement procedure in 1st Embodiment is the same. In this embodiment, when the fall prevention legs 21 to 23 are extended, it is detected whether or not there are obstacles around them, and an operation for confirming safety is performed when extending.
First, for example, a non-contact type object recognition sensor 31 is disposed in the vicinity of the outer periphery in the vicinity of the distal end portion of the first fall prevention leg 21. Subsequently, the object recognition sensor 31 is operated, and when there is an obstacle in the measurement area 32, the object recognition sensor 31 detects it, and the detected information is transmitted to the X-ray / system control unit 2. And the extension of the 1st fall prevention leg 21 is stopped, and it stops immediately.

  In addition, the extension operation of the X-ray tube support arm 5 is changed so as to extend only to a preset length simultaneously with the stop of the extension operation of the first fall prevention leg 21. If it is set in advance that X-ray irradiation cannot be performed in conjunction with this operation, that is, it is detected that the first fall prevention leg 21 has been extended to a predetermined length, and X-rays are detected according to the detection result. Judgment is made on whether or not photographing is possible. As a result, a more secure system can be realized. After this safety check, the display 10 is reset or automatically reset to change the extension position of the first fall prevention leg 21.

As mentioned above, although this invention was demonstrated with various embodiment, this invention is not limited only to these embodiment, A change etc. are possible within the scope of the present invention.
Although the present invention has been described with an example in which three fall prevention legs are provided in the above embodiment, the number thereof can be appropriately increased or decreased as necessary. For example, you may make it extend only from the 1 side surface side of the mobile trolley | bogie 1 according to the possibility that a fall may occur and the direction which the X-ray tube support arm 5 can be extended.

As another example, as a condition for extending the anti-falling leg or a condition for issuing a warning that the leg should be extended, the movable carriage 1 is tilted with respect to the horizontal direction, not the length of the X-ray tube support arm 5. This can be a trigger. For example, it is assumed that it is arranged on a tilted floor surface. In this situation, in response to the display 10 changing to the screen to be displayed when X-rays are irradiated after system login, the warning by the notification unit or the operation limitation of the X-ray tube support arm by the limiting unit or X-rays Irradiation restriction can be performed. The inclination of the mobile carriage 1 is detected by an inclination sensor built in the mobile carriage 1, and such a detection signal is input to the X-ray / system control unit 2 via a signal line. Then, the X-ray / system control unit 2 displays a warning on the display 10, and in addition to or instead of this, restricts the operation of the X-ray tube support arm 5. The tilt sensor may detect the tilt of the movable carriage 1, but instead may detect the tilt of the X-ray tube support arm or the support column, and in a situation where the tilt sensor is more likely to fall than usual. It suffices if it can be detected.
According to the tilt state of the tilt sensor, the fall prevention leg can be automatically extended along the tilt direction to prevent the fall. Of course, the extending operation may be performed manually.

DESCRIPTION OF SYMBOLS 1 Mobile trolley, 2 X-ray | system | system control part, 3 1st support | pillar, 2nd support | pillar, 5 X-ray tube support arm, 6 X-ray tube apparatus, 9 Handle, 12 Bed, 13 Subject, 14 Turning, 15 Rotational displacement sensor, 16 lift / lower, 17 lift / displacement sensor, 18 telescopic, 19 telescopic displacement sensor, 20 wheels, 21 first fall prevention leg, 22 second fall prevention leg, 23 third fall prevention leg.

Claims (17)

A mobile X-ray imaging apparatus including a support arm that supports an X-ray tube device on an upper part of a movable carriage and can be disposed at an arbitrary position, and a support column that turns and lifts the support arm.
Means for detecting a movement direction and a movement amount of the support arm, and a fall prevention means disposed in the vicinity of the support arm at a lower part of the main body of the movable carriage,
A mobile X-ray imaging apparatus characterized in that the fall prevention means is set according to the arrangement state of the support arm.   2. The movement according to claim 1, further comprising one or a plurality of fall prevention legs as the fall prevention means, wherein the fall prevention legs are selectively operated according to a moving direction and a movement amount of the support arm. Type X-ray imaging device.   3. The movable X according to claim 2, wherein the support arm is configured to be capable of turning, raising and lowering and extending and contracting as a moving operation thereof, and the fall prevention leg is operated manually or automatically in accordance with a displacement amount thereof. X-ray equipment.   The mobile X-ray imaging apparatus according to claim 2 or 3, wherein the fall prevention leg is configured to be extendable, and an extension length thereof is set according to an extension length of the support arm. .   The movable X according to any one of claims 2 to 4, wherein an obstacle detection means is provided near the outer periphery of the fall prevention leg, and the fall prevention leg is operated according to the detection result. X-ray equipment.   6. The mobile X-ray imaging apparatus according to claim 5, further comprising means for detecting an extension length of the fall prevention leg, and determining whether or not X-ray imaging is possible according to the detection result. A mobile trolley,
An X-ray generator;
A support arm that supports the X-ray generation unit and can be arranged at an arbitrary position;
A support column connecting the support arm to the movable carriage;
A mobile X-ray generator, characterized in that the mobile X-ray generator can extend outward from the side of the mobile carriage and has legs for preventing the mobile carriage from toppling over. The support arm can arrange the X-ray generation unit above and on the side of the movable carriage,
The mobile X-ray generator according to claim 7, wherein the leg portion can extend outward from a side surface of the mobile carriage.   The movement according to claim 7 or 8, wherein when the leg portion is extended outward from the side of the movable carriage, the leg portion contacts the floor surface at a position outside the movable carriage. Type X-ray generator. The support arm has an expansion / contraction mechanism capable of disposing at least the focal position of the X-ray generation unit at a position of 800 mm parallel to the floor surface from the movable carriage,
In the state where the support arm is extended so that the focal position of the X-ray generation unit is arranged at the position of 800 mm by the expansion / contraction mechanism, the mobile X-ray generation device is temporarily on a plane inclined by 5 ° from the horizontal plane The leg portion generates a moment with respect to the movable X-ray generator so that the leg portion does not fall over when the leg portion is extended along the support arm. The mobile X-ray generator according to claim 1. Detecting means for detecting an arrangement state of the legs;
The mobile X-ray generator according to claim 7, further comprising a limiting unit that limits the operation of the support arm according to the detected arrangement state. Detecting means for detecting an arrangement state of the legs;
The mobile X-ray generation apparatus according to claim 7, further comprising notification means for notifying a warning regarding the operation of the support arm according to the detected arrangement state. Detecting means for detecting an arrangement state of the legs;
8. The mobile X-ray generation apparatus according to claim 7, further comprising a limiting unit that limits X-ray generation from the X-ray generation unit according to the detected arrangement state. An inclination detecting means for detecting an inclination state of the mobile X-ray generator;
The mobile X-ray generator according to any one of claims 7, 11, 12, and 13, further comprising notification means for notifying a warning regarding the arrangement of the legs in accordance with the tilt state. The mobile X-ray generator according to claim 7,
An X-ray imaging system comprising: a portable X-ray imaging apparatus that detects X-rays to obtain a digital X-ray image and transmits the digital X-ray image to the mobile X-ray generation apparatus. A movable carriage, an X-ray generation section, a support arm that supports the X-ray generation section and can be arranged at an arbitrary position, a support section that couples the support arm to the movable carriage, and a side of the movable carriage A control method for a mobile X-ray generator having a leg portion that can extend outward and prevent the mobile carriage from toppling,
Detecting an arrangement state of the legs;
And a step of restricting the operation of the support arm according to the detected arrangement state. A movable carriage, an X-ray generation section, a support arm that supports the X-ray generation section and can be arranged at an arbitrary position, a support section that couples the support arm to the movable carriage, and a side of the movable carriage A control method for a mobile X-ray generator having a leg portion that can extend outward and prevent the mobile carriage from toppling,
Detecting an arrangement state of the legs;
A control method for the mobile X-ray generator, comprising: notifying a warning about the operation of the support arm according to the detected state.

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