JP2017000486A - Mobile x-ray radiographing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile X-ray radiographing apparatus capable of keeping stability without impairing mobility.SOLUTION: A mobile X-ray radiographing apparatus 1 related to the present embodiment comprises: a first wheel holding part 45 holding a first wheel 47; a second wheel holding part 49 holding a second wheel 51 with a wheel shaft 53; a housing 21 mounted on a frame 39 supported with the first wheel holding part 45 and the second wheel holding part 49; a support arm 15 which is connected with a part 19 of a support 17 provided in the housing 21 rotationally around a vertical direction passing through the part 19 as a rotary shaft and which supports an X-ray tube 11 on the leading end of the support arm 15; and a moving part 29 moving at least one of the first wheel holding part 45 and the housing 21 with respect to the frame 39 in accordance with the rotational direction of the support arm 15 with respect to a reference axis perpendicular to the wheel shaft 53 while passing through the part 19.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to a movable mobile X-ray imaging apparatus.

  2. Description of the Related Art Conventionally, in an X-ray round-trip apparatus which is a mobile X-ray imaging apparatus, an X-ray generation unit is mounted on an arm tip having a degree of freedom in order to freely position a subject. However, as shown in FIG. 19, the arm may be pulled after being rotated in an extended state, and the balance of the center of gravity may be lost due to (A in FIG. 19), causing the device to fall (B in FIG. 19). . In existing X-ray round-tables, measures are taken to improve stability by making the device itself heavier or larger. However, there are problems such as restriction of movable parts due to enlarging of the apparatus itself and deterioration in operability (because it is heavy and difficult to move).

Japanese Patent Laying-Open No. 2015-58297

  An object is to provide a mobile X-ray imaging apparatus capable of maintaining stability without impairing mobility.

  The mobile X-ray imaging apparatus according to the present embodiment includes a first wheel holding unit that holds a first wheel, a second wheel holding unit that holds a second wheel on an axle, the first wheel holding unit, and the first wheel holding unit. A housing mounted on a frame supported by a two-wheel holding section, and a portion that is rotatably connected around the vertical direction passing through a portion of a column provided in the housing as a rotation axis, and an X-ray tube And at least one of the first wheel holding portion and the housing with respect to the frame according to a rotation direction of the support arm with respect to a reference axis that passes through the portion and is perpendicular to the axle. And a moving unit for moving.

FIG. 1 is a configuration diagram showing a configuration of a mobile X-ray imaging apparatus 1 according to the first embodiment. FIG. 2 is a diagram illustrating an example of a top view of the movement of the first wheel holding unit according to the rotation of the support arm as viewed from the top surface of the housing according to the first embodiment. FIG. 3 is a diagram illustrating an example of a front view of the movement of the first wheel holding unit according to the rotation of the support arm as viewed from the front of the housing according to the first embodiment. FIG. 4 relates to the first embodiment, and shows a state where the first wheel holding portion is translated in the direction a by the movement amount ma when the support arm is rotated 90 ° in the direction A. It is a figure shown in an example of the top view seen from. FIG. 5 is a diagram illustrating an example of a top view as seen from the top surface of the housing in relation to the movement of the housing accompanying the rotation of the support arm according to the first embodiment. FIG. 6 is a diagram illustrating an example of a front view of the movement of the housing accompanying the rotation of the support arm as viewed from the front of the housing according to the first embodiment. FIG. 7 relates to the first embodiment, when the support arm is rotated by 90 ° in the direction A, and the state in which the case is translated in the direction a by the movement amount Ma is viewed from the upper surface of the case. It is a figure shown in an example of a top view. FIG. 8 is a schematic diagram illustrating an outline of a rack and pinion in the holding unit driving mechanism and the housing driving mechanism according to the first embodiment. FIG. 9 is a flowchart illustrating an example of a processing procedure of a parallel movement process related to the first wheel holding unit according to the first embodiment. FIG. 10 is a flowchart illustrating an example of a processing procedure of a parallel movement process related to the housing according to the first embodiment. FIG. 11 is a diagram illustrating an example of movement of the first wheel holding unit according to the first modification of the first embodiment. FIG. 12 is a diagram illustrating an example of movement of the first wheel holding unit according to the second modification of the first embodiment. FIG. 13 relates to a third modification of the first embodiment. On the reference axis, the movement distance of the X-ray tube due to the protrusion operation of the X-ray tube and the movement of the first wheel holding portion along the reference axis. It is a figure which shows FM. FIG. 14 is a side view showing an example of the projection operation of the X-ray tube and the forward movement of the first wheel holding portion accompanying the projection operation according to the third modification of the first embodiment. FIG. 15 is a diagram illustrating another example of the protrusion operation according to the third modification example of the first embodiment. FIG. 16 is a flowchart according to the third modification of the first embodiment, illustrating an example of the processing procedure of the projecting parallel movement process related to the first wheel holding unit. FIG. 17 is a configuration diagram illustrating a configuration of the mobile X-ray imaging apparatus 1 according to the second embodiment. FIG. 18 is a flowchart illustrating an example of a processing procedure of warning output processing according to the second embodiment. FIG. 19 is a diagram showing a conventional X-ray round-trip apparatus.

  Hereinafter, a mobile X-ray imaging apparatus according to an embodiment will be described with reference to the drawings. In the following description, components having substantially the same function and configuration are denoted by the same reference numerals, and redundant description will be given when necessary.

(First embodiment)
FIG. 1 is a configuration diagram showing a configuration of a mobile X-ray imaging apparatus 1 according to the present embodiment. The mobile X-ray imaging apparatus 1 includes an X-ray tube 11, an X-ray diaphragm 13, a support arm 15, a support column 17, a casing 21, a frame 39, a first wheel holding unit 45, and a second wheel. Holding part 49.

  Based on the tube current supplied from the high voltage generator 23 provided in the casing 21 and the applied tube voltage, the X-ray tube 11 is changed from the X-ray focus (tube focus) to the X-ray tube. Is generated. X-rays generated at the tube focus are emitted toward an irradiation range limited by the X-ray stop 13. The X-ray tube 11 is provided at the tip of the support arm 15, for example. The X-ray tube 11 is connected to a high voltage generator 23 in the housing 21 via a high voltage cable provided on the support arm 15 and the support column 17.

  The X-ray diaphragm 13 limits the X-ray irradiation range according to the operation by the operator. Specifically, the X-ray diaphragm 13 reduces the irradiation range of the maximum aperture of the subject P in order to prevent the X-ray generated at the tube focus from being exposed to an unnecessary exposure other than the imaging region desired by the operator. It limits according to the irradiation area which irradiates a body surface with X-rays. For example, the X-ray diaphragm 13 limits the irradiation range by moving the diaphragm blades under the control of the control unit 35 in accordance with the irradiation range limitation instruction input by the input unit 31.

  The X-ray diaphragm 13 has a plurality of predetermined filters (hereinafter referred to as “radiation quality adjustment filters”) inserted into the X-ray irradiation field for the purpose of reducing the exposure dose to the subject P and improving the image quality. You may do it. The plurality of quality control filters have different thicknesses. Note that the quality control filters may be made of different materials and may have the same thickness. The quality control filter changes the quality of X-rays generated at the tube focus according to the thickness. The quality control filter is made of, for example, aluminum or copper.

  The support arm 15 rotatably supports the X-ray tube 11 at one end (tip) of both ends of the support arm 15. The other end of both ends of the support arm 15 is connected to the portion 19 so as to be rotatable about a vertical direction passing through the portion 19 of the support column 17 provided on the housing 21 as a rotation axis. The rotation axis is not limited to the vertical direction, and can be inclined with respect to the vertical direction according to the inclination of the support arm 15 with respect to the portion 1 of the support column 17 or the inclination of the support column 17. Further, the support arm 15 can be moved up and down with a part 19 of the support column 17 as a fulcrum, or can be rotated about the horizontal direction passing through the part 19 of the support column 17 as a rotation axis under the operation of the operator. It may be supported.

  The support column 17 is supported upright in a vertical direction on a part of the housing 21. Note that the support of the support column 17 by the housing 21 is not limited to the upright but may be inclined. Further, the support column 17 may be mounted on the frame 39. The support column 17 supports the support arm 15 in a part 19 of the support column 17 so as to be movable in a substantially vertical direction. In addition, the support | pillar 17 may be rotatable by making the long axis of the support | pillar 17 into a rotating shaft by operation of an operator. For example, an angle sensor that detects the angle of the support arm 15 is provided in the portion 19 of the support column 17. The angle sensor outputs information about the detected angle (hereinafter referred to as angle information) to the detection unit 25.

The casing 21 includes a high voltage generation unit 23, a detection unit 25, a determination unit 27, a movement unit 29, an input unit 31, a storage unit 33, a control unit 35, and an output unit 37. With no counterweight. The counterweight is a mobile X-ray imaging apparatus 1
Is provided in the housing 21 in order to maintain the weight balance.

  The high voltage generator 23 includes various control circuits for controlling tube current, tube voltage, imaging time, and the like, a high voltage transformer, a high voltage rectifier, a filament transformer, and the like. The high voltage generator 23 generates a tube current supplied to the X-ray tube 11 and a tube voltage applied to the X-ray tube 11. Specifically, the high voltage generation unit 23 supplies a tube current suitable for X-ray imaging to the X-ray tube in accordance with the X-ray irradiation conditions under the control of the control unit 35 and the control circuit. Is applied to the X-ray tube 11. The X-ray irradiation conditions include, for example, tube current, tube voltage, irradiation time, product of tube current (mA) and irradiation time (s) (hereinafter referred to as tube current time product (mAs)), and the like.

  The detection unit 25 detects an angle of the support arm 15 with respect to a predetermined reference axis (hereinafter referred to as a rotation angle) based on the angle information. The predetermined reference axis is, for example, an axle (hereinafter referred to as a rear axle) 53 relating to a pair of second wheels (hereinafter referred to as rear wheels) 51 in the second wheel holding portion 49 through a part 19 of the support column 17. A vertical axis. The predetermined reference axis is related to a pair of first wheels (hereinafter referred to as front wheels) 47 in the first wheel holding portion 45, or an axis along the long axis direction of the casing 21 through the portion 19 of the support column 17. An axis perpendicular to the axle (hereinafter referred to as the front axis) may be used. In addition, the number of 1st wheels and the number of 2nd wheels are not limited to a pair, ie, 2 wheels, Arbitrary numbers may be sufficient.

  Hereinafter, in order to simplify the description, it is assumed that the rotation angle is 0 ° when the support arm 15 is located on a predetermined reference axis. The detection unit 25 may detect the sign of the rotation angle with respect to the reference axis. The state in which the rotation angle is positive is a case where the support arm 15 is located in an angle range from the reference axis to a position of 180 ° counterclockwise when looking down from the top of the housing 21. The state in which the rotation angle is negative is a case where the support arm 15 is positioned in an angle range from the reference axis to a position of 180 ° clockwise when looking down from the top of the housing 21. The detection unit 25 outputs at least one of the detected rotation angle and positive / negative of the rotation angle to the determination unit 27. Note that at least one of the detected angle and the positive or negative rotation angle may be output to the output unit 37 and displayed on the display screen of the output unit 37.

  The determination unit 27 determines a movement amount and a movement direction of at least one of the housing 21 and the first wheel holding unit 45 based on the rotation angle output from the detection unit 25 and the sign of the rotation angle. . The determination unit 27 outputs the determined movement amount and movement direction to the movement unit 29. The determination unit 27 may determine the movement amount and the movement direction of the second wheel holding unit 49 based on the rotation angle output from the detection unit 25 and the sign of the rotation angle. The determination method of the movement amount and the movement direction related to the second wheel holding unit 49 is the same as the determination method described later of the movement amount and the movement direction related to the first wheel holding unit 45.

  Specifically, the determination unit 27 determines the movement amount according to the rotation angle from 0 ° to 90 ° indicating the reference axis. The determination unit 27 determines the amount of movement according to the rotation angle from 90 ° to 180 °. For example, the determination unit 27 determines an amount corresponding to the positional deviation amount of the X-ray tube 11 with respect to the reference axis as the movement amount. In addition, the movement amount in each of the first wheel holding unit 45 and the housing 21 may be different or the same.

  The determination unit 27 may determine the movement amount by a predetermined calculation formula for the rotation angle, or may determine the movement amount by a correspondence table (lookup table) of the movement amount with respect to the rotation angle. At this time, the predetermined calculation formula and the correspondence table are stored in the storage unit 33.

  The determination unit 27 determines the moving direction of at least one of the first wheel holding unit 45 and the casing 21 based on the sign of the rotation angle. Specifically, the determination unit 27 determines the direction corresponding to the sign of the rotation angle as the moving direction of the first wheel holding unit 45. That is, the moving direction of the first wheel holding unit 45 is a direction parallel to the rear axis or perpendicular to the reference axis, and is a direction from the reference axis toward the X-ray tube 11. In addition, the moving direction of the 1st wheel holding | maintenance part 45 is not limited to the said moving direction, Another moving direction may be sufficient. The other movement directions will be described in detail in a later-described modification.

  In addition, the determination unit 27 determines a direction corresponding to the opposite sign of the sign of the rotation angle as the moving direction of the housing 21. That is, the moving direction of the casing 21 is a direction parallel to the rear axis or perpendicular to the reference axis, and opposite to the direction from the reference axis toward the X-ray tube 11.

  The moving unit 29 moves at least one of the first wheel holding unit 45 and the housing 21 with respect to the frame 39 according to the rotation direction of the support arm 15 with respect to the reference axis. The moving unit 29 may move the second wheel holding unit 49 with respect to the frame 39 according to the rotation direction of the support arm 15 with respect to the reference axis.

  That is, the moving unit 29 moves at least one of the first wheel holding unit 45 and the housing 21 according to the moving amount and moving direction output from the determining unit 27. Specifically, the moving unit 29 moves the first wheel holding unit 45 by the determined moving amount in the determined moving direction in accordance with the rotation of the support arm 15, and a holding unit driving mechanism described later. 41 is driven. Further, the moving unit 29 drives a case drive mechanism 43 described later in order to move the case 21 by the determined movement amount in the determined movement direction according to the rotation of the support arm 15.

  The moving unit 29 moves the first wheel holding unit 45 by driving the holding unit driving mechanism 41. FIG. 2 is a diagram illustrating an example of a top view of the movement of the first wheel holding unit 45 accompanying the rotation of the support arm 15 as viewed from the top surface of the housing 21. Rx in FIG. 2 indicates the rotation axis of the support arm 15. BA in FIG. 2 indicates a reference axis. As shown in FIG. 2, the first wheel holding unit 45 moves with respect to the traveling direction of the mobile X-ray imaging apparatus (the direction of the arrow of the reference axis BA in FIG. 2) as the support arm 15 rotates. It is moved in the orthogonal direction.

  As shown in FIG. 2, when the support arm 15 is rotated from the reference axis BA around the rotation axis Rx in the direction A, the first wheel holding portion 45 is translated in the direction a. As shown in FIG. 2, when the support arm 15 is rotated from the reference axis BA around the rotation axis Rx in the direction B, the first wheel holding unit 45 is translated in the direction b. That is, according to the rotation of the support arm 15, the first wheel holding unit 45 translates in substantially the same direction as the support arm 15 (short axis direction of the housing 21) (the rotation angle of the support arm 15 is 90 °). If).

  FIG. 3 is a diagram illustrating an example of a front view of the movement of the first wheel holding unit 45 accompanying the rotation of the support arm 15 as viewed from the front of the housing 21. BA in FIG. 3 indicates a reference axis. C in FIG. 3 indicates the rotation in the direction A in the corresponding top view 2. D in FIG. 3 indicates the rotation in the direction B in the corresponding top view 2.

  FIG. 4 is a top view of the state in which the first wheel holding unit 45 is translated in the direction a by the movement amount ma when the support arm 15 is rotated 90 ° in the direction A, as viewed from the top surface of the housing 21. It is a figure shown in an example. Rx in FIG. 4 indicates the rotation axis of the support arm 15. BA in FIG. 4 indicates a reference axis related to detection of the rotation angle of the support arm 15. A direction A in FIG. 4 indicates the rotation angle of the support arm 15 rotated around the rotation axis Rx from the reference axis BA. A direction a in FIG. 4 indicates a moving direction of the first wheel holding unit 45. An interval ma in FIG. 4 indicates the amount of movement of the first wheel holding unit 45. As shown in FIG. 4, when the rotation angle is 90 °, the first wheel holding unit 45 is parallel to the axle 53 and moves in the direction from the rotation axis Rx toward the X-ray tube 11 over the movement amount ma. Moved.

  The moving unit 29 moves the housing 21 by driving the housing driving mechanism 43. FIG. 5 is a diagram illustrating an example of a top view viewed from the top surface of the housing 21 with respect to the movement of the housing 21 accompanying the rotation of the support arm 15. BA in FIG. 5 indicates a reference axis. Rx in FIG. 5 indicates the rotation axis of the support arm 15.

  As shown in FIG. 5, when the support arm 15 is rotated from the reference axis BA around the rotation axis Rx in the direction A, the casing 21 is translated in the direction a. As shown in FIG. 5, when the support arm 15 is rotated in the direction B around the rotation axis Rx from the reference axis BA, the housing 21 is translated in the direction b. That is, the housing 21 translates in the opposite direction to the support arm 15 in accordance with the rotation of the support arm 15.

  FIG. 6 is a diagram illustrating an example of a front view of the movement of the casing 21 accompanying the rotation of the support arm 15 as viewed from the front of the casing 21 (front side of the casing, traveling direction). BA in FIG. 6 indicates a reference axis. E in FIG. 6 indicates the rotation in the direction A of the support arm 15 in the corresponding top view 5. F in FIG. 6 indicates the rotation in the direction B of the support arm 15 in the corresponding top view 5. In FIG. 6, “a” indicates the movement of the casing 21 accompanying the rotation E of the support arm 15. FIG. 6B shows the movement of the casing 21 accompanying the rotation F of the support arm 15.

  FIG. 7 is an example of a top view of the state in which the housing 21 is translated by the movement amount Ma in the direction a when the support arm 15 is rotated by 90 ° in the direction A, as viewed from the top surface of the housing 21. FIG. BA in FIG. 7 indicates a reference axis. Rx in FIG. 7 indicates the rotation axis of the support arm 15. As shown in FIG. 7, when the support arm 15 is rotated by 90 °, the casing 21 is moved by the movement amount Ma in the direction a opposite to the position of the X-ray tube with respect to the reference axis BA.

  The moving unit 29 switches the mobile X-ray imaging apparatus 1 from the travel disabled mode to the travel enabled mode in response to pressing of the travel switch input via the handle 32 or the input unit 31. The travel impossible mode is a mode that is applied when X-ray imaging is performed on the subject and when the support arm 15 is moved in order to determine the position of X-ray imaging on the subject. And the rear wheel 51 is locked. Note that the lock may be released during the movement of the first wheel holding portion 45 in the parallel movement function. Moreover, after execution of the parallel movement with respect to the 1st wheel holding | maintenance part 45, you may lock again.

  The travelable mode is a mode in which the mobile X-ray imaging apparatus 1 is brought into a travelable state. For example, in the travelable mode, the lock on the first wheel (front wheel) 47 and the second wheel (rear wheel) 51 is released. In the travelable mode, the moving unit 29 drives the rear shaft 53 in order to rotate the pair of rear wheels 51 in the second wheel holding unit 49 in accordance with the operation of the operator.

  Various functions related to the determination unit 27 and the moving unit 29 may be executed by a CPU or a predetermined processor, or may be realized by a program including a combination of a memory and a processing circuit, for example. Various functions related to the determination unit 27 and the moving unit 29 may be executed by the control unit 35.

  The input unit 31 takes various instructions, commands, information, selections, and settings from the operator into the mobile X-ray imaging apparatus 1. Although not shown, the input unit 31 includes a trackball, various switch buttons for performing an input operation by the operator, a mouse, a keyboard, and the like. Note that the trackball, keyboard, and mouse may not be mounted. The input unit 31 detects the coordinates of the cursor displayed on the display screen, and outputs the detected coordinates to the control unit 35. The input unit 31 may be a touch panel provided so as to cover the display screen in the output unit 37. In this case, the input unit 31 detects coordinates instructed by a touch reading principle such as an electromagnetic induction type, an electromagnetic distortion type, and a pressure sensitive type, and outputs the detected coordinates to the control unit 35.

  Specifically, the input unit 31 inputs an X-ray imaging condition desired by the operator, the presence or absence of a grid, and the like according to an instruction from the operator. The imaging conditions include, for example, a plurality of imaging directions with respect to the subject, a plurality of imaging regions, a plurality of physiques related to the imaging target, and the like. Of the various switch buttons, for example, the travel switch is provided on the handle 32 connected to the housing 21. The travel switch may be a switch lever, for example.

  The storage unit 33 includes various control programs of the mobile X-ray imaging apparatus 1, various data groups such as an operator instruction sent from the input unit 31, imaging conditions related to X-ray imaging, and a predetermined unit 27 used by the determination unit 27. The calculation formula or correspondence table, various shooting conditions, etc. are stored. The storage unit 33 includes various memories, a large capacity storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive). In addition, the storage unit 33 may store information on the rotation angle of the support arm 15 and a reference axis serving as a reference for the rotation direction. The storage unit 33 may store various programs related to a parallel movement function (hereinafter referred to as a parallel movement program).

  The control unit 35 includes a CPU (Central Processing Unit) and a memory (not shown). Note that the control unit 35 may include circuits such as various processing circuits. The control unit 35 temporarily stores information such as an operator's instruction and shooting conditions sent from the input unit 31 in a memory (not shown). The control unit 35 controls the high voltage generation unit 23, the X-ray diaphragm 13 and the like in order to execute X-ray imaging in accordance with an operator instruction, imaging conditions, and the like stored in the memory.

  When the support arm 15 is rotated around the rotation axis, the control unit 35 reads the parallel movement program and develops it in the memory. The control unit 35 controls each unit such as the determination unit 27 and the movement unit 29 according to the parallel movement program developed in the memory.

  The output unit 37 outputs various conditions input to the input unit 31. Specifically, the output unit 37 includes a display that displays various conditions and the like, a monitor, and the like. The display, the monitor, etc. are provided in the vicinity of the handle, for example. The output unit 37 may include a speaker that outputs sound. The output unit 37 may display at least one of the detected angle and the positive / negative of the rotation angle on the display screen.

  The frame 39 is supported by the first wheel holding part 45 and the second wheel holding part 49. The frame 39 carries the housing 21. The frame 39 has at least one of the holding unit driving mechanism 41 and the housing driving mechanism 43. The holding unit drive mechanism 41 moves the first wheel holding unit 45 with respect to the frame 39 in the determined movement amount and movement direction under the control of the moving unit 29. That is, the holding part drive mechanism 41 translates the first wheel holding part 45 relative to the housing 21 along the determined movement direction.

  The case drive mechanism 43 moves the case 21 relative to the frame 39 in the determined amount and direction of movement under the control of the moving unit 29. That is, the housing drive mechanism 43 translates the housing 21 relative to the frame 39 along the determined movement direction. The frame 39 may be further supported by other wheel holding units in addition to the first wheel holding unit 45 and the second wheel holding unit 49.

  The holding unit drive mechanism 41 and the housing drive mechanism 43 include, for example, a motor and a rack and pinion. FIG. 8 is a schematic diagram showing an outline of the rack and pinion. In FIG. 8, Ra indicates a rack. Pi in FIG. 8 indicates a pinion. As shown in FIG. 8, when the pinion is rotated in the direction of the arrow PiD, the first wheel holding unit 45 on which the rack is mounted is moved in the direction of the arrow AD. The pinions in the holding unit driving mechanism 41 and the housing driving mechanism 43 rotate in the direction corresponding to the moving direction by the rotation of the motor. The rotation angle of the pinion is proportional to the amount of movement.

  Specifically, the pinion in the holding unit driving mechanism 41 and the housing driving mechanism 43 rotates the pinion according to the moving amount and moving direction output from the moving unit 29. The rack in the holding unit drive mechanism 41 is mounted on the first wheel holding unit 45. The rack in the housing drive mechanism 43 is mounted on the frame 39. In the holding unit drive mechanism 41 and the housing drive mechanism 43, another moving mechanism such as a lead screw or a linear actuator may be used instead of the rack and pinion.

  The first wheel holding unit 45 is located between the housing (the main body of the mobile X-ray imaging apparatus 1) and the front wheel 47. The 1st wheel holding part 45 hold | maintains a pair of front wheel 47 rotatably. In addition, the 1st wheel holding | maintenance part 45 may support a pair of front wheel 47 by a front axis | shaft, and may support each of a pair of front wheel 47 independently. Moreover, the 1st wheel holding | maintenance part 45 hold | maintains a pair of front wheel 47 so that a movement is possible so that it may face a advancing direction according to advancing direction. As the support arm 15 rotates, the first wheel holding unit 45 is translated by the determined movement amount along the determined moving direction under the driving of the holding unit driving mechanism 41.

  The second wheel holding portion 49 holds the pair of rear wheels 51 so as to be rotatable by the rear shaft 53. Note that the second wheel holding portion 49 may support each of the pair of rear wheels 51 independently. At this time, the axis corresponding to the rear axle 53 corresponds to a straight line connecting the rotation axes of the rear wheels. In addition, the 2nd wheel holding | maintenance part 49 may hold | maintain a pair of rear wheel 51 so that a movement is possible so that it may face a advancing direction according to advancing direction. The second wheel holding unit 49 may be translated by the determined amount of movement along the determined moving direction under the driving of the holding unit driving mechanism 41.

(Translation function)
Hereinafter, the parallel movement function according to the present embodiment will be described. The parallel movement function is to determine and determine a movement amount and a movement direction related to at least one of the first wheel holding unit 45 and the casing 21 based on the rotation angle of the support arm 15 with respect to the reference axis in the travel impossible mode. This is a function of translating at least one of the first wheel holding unit 45 and the casing 21 in parallel with the determined movement amount by the determined movement amount. Hereinafter, processing related to the parallel movement function (hereinafter referred to as parallel movement processing) will be described. For convenience of explanation, first, the parallel movement process related to the first wheel holding unit 45 will be described, and then the parallel movement process related to the housing 21 will be described.

(Parallel movement process regarding the first wheel holding portion 45)
FIG. 9 is a flowchart illustrating an example of a processing procedure of a parallel movement process related to the first wheel holding unit 45.
By the operation by the operator, the support arm 15 is rotated with respect to the reference axis (step Sa1). The rotation angle of the support arm 15 with respect to the reference axis is detected (step Sa2). At this time, the sign of the rotation angle indicating the rotation direction may be detected. Based on the detected rotation angle (and the sign of the rotation angle), a movement amount and a movement direction for moving the first wheel holding unit 45 in parallel are determined (step Sa3). By driving the holding unit drive mechanism 41, the first wheel holding unit 45 is translated by the determined amount of movement along the determined moving direction (step Sa4).

(Translation processing related to the casing 21)
FIG. 10 is a flowchart illustrating an example of the processing procedure of the parallel movement processing related to the housing 21.
Similarly to the description in FIG. 9, the support arm 15 is rotated with respect to the reference axis by an operation by the operator. Next, the rotation angle of the support arm 15 with respect to the reference axis is detected. At this time, the sign of the rotation angle indicating the rotation direction may be detected. Based on the detected rotation angle (and the sign of the rotation angle), a movement amount and a movement direction for moving the casing 21 in parallel are determined (step Sb1). The moving direction in this process is the direction opposite to the moving direction determined in step Sa3. By driving the housing driving mechanism 43, the housing 21 is translated in parallel by the determined movement amount along the determined movement direction (step Sb2).

  In addition, the parallel movement process regarding the 1st wheel holding | maintenance part 45 and the parallel movement process regarding the housing | casing 21 may be performed simultaneously. At this time, in response to the rotation operation of the support arm 15, the first wheel holding unit 45 is moved in the determined moving direction, and the casing 21 is moved in the direction opposite to the moving direction of the first wheel holding unit 45. Is done.

(First modification)
The difference from the first embodiment is that the moving direction of the first wheel holding portion 45 is parallel to the direction from the rotation axis toward the X-ray tube 11 (short axis direction of the housing 21). FIG. 11 is a diagram illustrating an example of movement of the first wheel holding unit 45 according to the present modification. MD in FIG. 11 indicates a direction from the rotation axis Rx toward the X-ray tube 11. A in FIG. 11 indicates the rotation angle of the support arm 15 from the reference axis BA. In FIG. 11, “a” indicates the moving direction of the first wheel holding portion 45, which is a direction parallel to the MD.

  The determination unit 27 determines the moving direction of the first wheel holding unit 45, that is, the direction from the rotation axis Rx to the X-ray tube 11 based on the rotation angle output from the detection unit 25 and the sign of the rotation angle. . Further, the determination unit 27 determines the movement amount according to, for example, a lookup table or a predetermined calculation formula according to the magnitude of the rotation angle. The determining unit 27 outputs the determined moving direction and moving amount to the moving unit 29.

  The moving unit 29 drives the holding unit driving mechanism 41 in order to move the first wheel holding unit 45 in the determined moving direction by the determined moving amount according to the rotation of the support arm 15. At this time, the holding unit drive mechanism 41 has various parallel movement mechanisms for translating the first wheel holding unit 45 by the determined movement amount in the determined movement direction.

(Second modification)
The difference between the first embodiment and the first modification is that the first wheel holding portion 45 is rotated at an angle corresponding to the rotation angle, and further rotated in parallel with the direction from the rotation axis toward the X-ray tube 11. It is to move by the amount of movement according to the angle. FIG. 12 is a diagram illustrating an example of movement of the first wheel holding unit 45 according to the present modification. A in FIG. 12 indicates the rotation angle of the support arm 15 from the reference axis. A ′ in FIG. 12 is the rotation angle of the first wheel holding portion 45, and is equal to, for example, the rotation angle A of the support arm 15. MD in FIG. 12 indicates a direction from the rotation axis Rx toward the X-ray tube 11. In FIG. 12, a indicates the moving direction of the first wheel holding portion 45, and is a direction parallel to the MD.

  The determination unit 27 determines the rotation direction and the movement direction of the first wheel holding unit 45 based on the rotation angle output from the detection unit 25 and the sign of the rotation angle. Further, the determination unit 27 determines the movement amount according to, for example, a lookup table or a predetermined calculation formula according to the magnitude of the rotation angle. The determination unit 27 outputs the determined movement direction, rotation direction, and movement amount to the movement unit 29.

  The moving unit 29 drives the holding unit driving mechanism 41 in order to rotate the first wheel holding unit 45 in the determined rotation direction according to the rotation of the support arm 15. In addition, the moving unit 29 drives the holding unit driving mechanism 41 in order to translate the first wheel holding unit 45 in the determined moving direction by the determined moving amount. At this time, the holding unit drive mechanism 41 includes various rotation mechanisms that rotate the first wheel holding unit 45 around, for example, the rotation axis, in addition to the various parallel movement mechanisms related to the parallel movement described in the first modification.

(Third Modification)
The difference from the first embodiment, the first modified example, and the second modified example depends on the distance of the X-ray tube 11 relative to the rotation axis (or part 19) by the protruding operation of the X-ray tube 11 on the reference axis. Thus, the first wheel holding portion is moved 45 along the reference axis. The protruding operation is, for example, an operation in which the X-ray tube 11 moves away (protrudes) from the housing 21.

  FIG. 13 is a diagram showing the movement distance MX of the X-ray tube 11 due to the protruding operation of the X-ray tube 11 and the movement FM of the first wheel holding unit 45 along the reference axis on the reference axis BA. FIG. 14 is a side view showing an example of the protruding operation of the X-ray tube 11 and the forward movement of the first wheel holding portion 45 accompanying the protruding operation. The support arm 15 in FIG. 14 is extended forward by being pulled out by the operator. Thereby, the X-ray tube 11 protrudes over the distance MX. FIG. 15 is a diagram illustrating another example of the protrusion operation. The X-ray tube 11 in FIG. 15 is projected forward by the operator pulling up the support arm 15 with the short axis (lateral direction) of the housing 21 as the rotation axis.

  The detection unit 25 detects the distance between the portion 19 (rotation axis) on the reference axis and the X-ray tube 11 by the protruding operation of the X-ray tube 11 on the reference axis. For example, the detection unit 25 detects a distance (hereinafter referred to as a protrusion distance) that protrudes on the reference axis by the protrusion operation of the X-ray tube 11. The detection unit 25 outputs the detected distance (projection distance) to the determination unit 27.

  The determination unit 27 determines a parallel movement amount that causes the first wheel holding unit 45 to translate along the reference axis according to the detected distance (projection distance). For example, the determination unit 27 reads a distance correspondence table indicating the amount of parallel movement with respect to the protrusion distance from the storage unit 33. The determination unit 27 determines the parallel movement amount based on the distance correspondence table and the protrusion distance. Note that the determination unit 27 may read from the storage unit 33 a distance calculation formula indicating the parallel movement amount with respect to the protrusion distance. At this time, the determination unit 27 calculates the parallel movement amount by substituting it into the detected protrusion distance and the distance calculation formula. The determination unit 27 outputs the determined parallel movement amount to the movement unit 29.

  The moving unit 29 moves the first wheel holding unit 45 in the protruding direction of the X-ray tube 11 along the reference axis over the determined parallel movement amount. That is, the moving unit 29 translates the first wheel holding unit 45 forward according to the protruding operation of the X-ray tube 11 and the protruding distance. The moving unit 29 may move the casing 21 in the direction opposite to the protruding direction (backward) along the reference axis over the determined parallel movement amount.

(Projection parallel movement function)
The protruding parallel movement function is to determine the moving amount of the first wheel holding portion 45 according to the protruding distance according to the protruding operation of the X-ray tube 11 and to move forward along the reference axis by the determined moving amount. This is a function of moving the first wheel holding portion 45 in parallel. Hereinafter, processing related to the protruding parallel movement function (hereinafter referred to as protruding parallel movement processing) will be described.

(Protrusion translation processing)
FIG. 16 is a flowchart illustrating an example of the processing procedure of the projecting parallel movement process related to the first wheel holding unit 45.
By the operation of the support arm 15 by the operator, the X-ray tube 11 is projected on the reference axis (step Sc1). When the protruding operation of the X-ray tube 11 is completed, the protruding distance of the X-ray tube 11 on the reference axis is detected (step Sc2). Based on the detected protrusion distance, a translation amount for translating the first wheel holding unit 45 along the reference axis is determined (step Sc3). The first wheel holding unit 45 is moved forward along the reference axis by the amount of parallel movement (step Sc4).

  The projecting parallel movement process is not limited to the case where the support arm 15 is positioned on the reference axis (rotation angle is 0 °). For example, when the rotation angle of the support arm 15 is within a range of, for example, −15 ° to 15 °, the projecting parallel movement process may be executed in response to the projecting operation of the X-ray tube 11.

According to the configuration described above, the following effects can be obtained.
According to the present embodiment and the mobile X-ray imaging apparatus 1 according to the first and second modifications of the present embodiment, the moving direction and movement of the first wheel holding unit 45 according to the rotation operation of the support arm 15. The amount can be determined, and the first wheel holding unit 45 can be moved by the determined amount of movement in the determined direction of movement. Further, according to the present mobile X-ray imaging apparatus 1, the movement direction and movement amount of the housing 21 are determined according to the rotation operation of the support arm 15, and the housing 21 is moved by the determined movement amount. Can be moved. That is, the mobile X-ray imaging apparatus 1 can automatically move at least one of the first wheel holding unit 45 and the housing 21 in accordance with the rotation operation of the support arm. This improves the stability of the mobile X-ray imaging apparatus 1 without increasing the size of the apparatus itself and increasing the weight of the apparatus itself.

  Further, according to the mobile X-ray imaging apparatus 1 according to the third modification of the present embodiment, the movement amount of the first wheel holding unit 45 is determined in response to the protruding operation of the X-ray tube 11, and the first The one-wheel holding unit 45 can be moved forward along the reference axis (for example, the long axis direction of the housing 21) by the moving amount. Thereby, when the X-ray tube 11 is projected along the reference axis, the first wheel holding portion 45 can be automatically moved forward.

  As described above, according to the present embodiment and the first to third modifications of the present embodiment, the mobility and the ease of handling are not impaired, that is, there is no disadvantage, and it is difficult to fall, that is, the fall can be prevented. Thus, a safe mobile X-ray imaging apparatus 1 can be provided.

(Second Embodiment)
The difference from the first embodiment is that, in response to pressing of the travel switch, it is determined whether or not the support arm 15 is arranged on the reference axis, and the support arm 15 is positioned on the reference axis when the travel switch is pressed. Is not arranged, a predetermined warning is output.

  When the support arm 15 is rotated around the rotation axis by the operation of the operator and the X-ray tube 11 is arranged on the reference axis, the moving unit 29 moves the moved first wheel holding unit 45 to the initial position before moving. Move to. Further, when the support arm 15 is rotated around the rotation axis by the operation of the operator and the X-ray tube 11 is arranged on the reference axis, the moving unit 29 brings the moved casing 21 to the initial position before the movement. Move.

  The initial position of the first wheel holding unit 45 is the position of the first wheel holding unit 45 before movement, for example, the position of the first wheel holding unit 45 when the mobile X-ray imaging apparatus 1 is traveling. is there. The initial position of the first wheel holding part 45 corresponds to the position of the first wheel holding part 45 indicated by a solid line in FIGS. 2 to 7 and 11 to 13.

  The initial position of the casing 21 is the position of the casing 21 before movement, for example, the position of the casing 21 when the mobile X-ray imaging apparatus 1 is traveling. The initial position of the casing 21 corresponds to the position of the casing 21 indicated by a solid line in FIGS. 2 to 7 and FIGS.

  When the X-ray tube 11 is arranged on the reference axis due to the rotation of the support arm 15 by the operator's operation, the moving unit 29 moves the moved first wheel holding unit 45 and the casing 21 to the initial position. Move to. In addition, after the travel switch is pressed, when the support arm 15 is disposed on the reference axis, the moving unit 29 moves the first wheel holding unit 45 and the casing 21 after moving to the initial position.

  The determination unit 55 determines whether or not the support arm 15 is disposed on the reference axis when the travel switch is pressed. That is, the determination unit 55 determines whether or not the support arm 15 is disposed on the reference axis when the travel switch is pressed. Specifically, the determination unit 55 reads the rotation angle of the support arm 15 from the detection unit 25 when the travel switch is pressed. The determination unit 55 determines whether or not the read rotation angle is 0 °. When the read rotation angle is approximately 0 °, the determination unit 55 outputs the determination result to the control unit 35. If the read rotation angle is not approximately 0 °, the determination unit 55 outputs the determination result to the output unit 37.

  The control unit 35 controls each unit in order to shift from the travel disabled mode to the travel enabled mode in response to the input of the determination result from the determination unit 55 and the re-pressing of the travel switch.

  The output unit 37 outputs a predetermined warning triggered by the input of the determination result from the determination unit 55. For example, the output unit 37 displays a warning display on the monitor as a predetermined warning. The warning display is, for example, a warning message “Return the support arm”. The warning message is not limited to the message content. That is, the warning message can be arbitrarily set as long as it informs the operator that the support arm has not returned to the initial position. The output unit 37 may output a warning sound from a speaker as a predetermined warning.

(Warning output function)
The warning output function determines whether or not the support arm 15 is disposed on the reference axis in response to pressing of the travel switch, and the support arm 15 is disposed on the reference axis when the travel switch is pressed. This is a function for outputting a predetermined warning when there is no such warning. Hereinafter, processing related to the warning output function (hereinafter referred to as warning output processing) will be described.

FIG. 18 is a flowchart illustrating an example of a processing procedure of warning output processing.
After the imaging of the subject is completed (step Sd1), the travel switch is pressed by the operator's operation (step Sd2). At this time, if the support arm 15 is not disposed on the reference axis (No in step Sd3), a predetermined warning is output (step Sd4).

  After the travel switch is pressed or after the travel switch is pressed again (step Sd2), if the support arm 15 is arranged on the reference axis (YES in step Sd3), the first wheel holding unit 45 after the movement (and The casing 21) is moved to the initial position (step Sd5). When the travel switch is pressed again (step Sd6), the mode of the mobile X-ray imaging apparatus 1 shifts from the travel disabled mode to the travel enabled mode (step Sd7).

According to the configuration described above, the following effects can be obtained.
According to the mobile X-ray imaging apparatus 1 according to the present embodiment, a predetermined warning can be output when the support arm 15 is not disposed on the reference axis when the travel switch is pressed. Furthermore, when the support arm 15 is disposed on the reference axis when the travel switch is pressed, the moved first wheel holding unit 45 and the casing 21 can be returned to the initial positions. Thus, when the travel switch is pressed, if the support arm 15 is not returned to the reference axis, a predetermined warning is output to notify the operator that the support arm 15 has not returned to the reference axis. Can be notified.

  From the above, according to the present mobile X-ray imaging apparatus 1, even when the travel switch is pressed when the support arm 15 is not returned to the reference axis, the transition to the travelable mode is prevented. be able to. That is, when the support arm 15 is not returned to the reference axis, even if the travel switch is pressed against the operator's intention, the mobile X-ray imaging apparatus 1 can be prevented from erroneous travel. Further, when the travel switch is pressed, if the support arm 15 is disposed on the reference axis, the first wheel holding unit 45 and the housing 21 can be moved to the initial position. The stability of the photographing apparatus 1 can be improved.

  Note that each unit (for example, a determination unit, a moving unit, etc.) according to the present embodiment includes one or more electronic circuits (for example, a CPU (Central Processing Unit), a processor such as an MPU (Micro Processing Unit), a memory, an ASIC. (Application specific integrated circuits) and FPGA (Field Programmable Gate Array).

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

DESCRIPTION OF SYMBOLS 1 ... Mobile X-ray imaging apparatus, 11 ... X-ray tube, 13 ... X-ray aperture, 15 ... Support arm, 17 ... Support | pillar, 19 ... Part, 21 ... Housing, 23 ... High voltage generation part, 25 ... Detection part , 27 ... determination part, 29 ... moving part, 31 ... input part, 32 ... handle, 33 ... storage part, 35 ... control part, 37 ... output part, 39 ... frame, 41 ... holding part drive mechanism 43 ... housing drive Mechanism: 45 ... first wheel holding portion, 47 ... a pair of first wheels (front wheels), 49 ... second wheel holding portion, 51 ... a pair of second wheels (rear wheels), 53 ... axle (rear axle), 55 ... determination unit.

Claims (10)

A first wheel holding unit for holding the first wheel;
A second wheel holding portion for holding the second wheel on the axle;
A housing mounted on a frame supported by the first wheel holding portion and the second wheel holding portion;
A support arm which is connected to the part so as to be rotatable about a vertical direction passing through a part of a column provided in the housing as a rotation axis, and supports an X-ray tube at a tip;
A moving unit that moves at least one of the first wheel holding unit and the housing with respect to the frame according to a rotation direction of the support arm with respect to a reference axis that passes through the portion and is perpendicular to the axle;
A mobile X-ray imaging apparatus comprising: A detection unit for detecting a rotation angle of the support arm with respect to the reference axis;
A determination unit that determines a movement amount and a movement direction of at least one of the first wheel holding unit and the housing based on the rotation angle;
The moving unit is
Moving at least one of the first wheel holding part and the housing in the movement direction by the amount of movement;
The mobile X-ray imaging apparatus according to claim 1. The moving unit is
Parallel movement of the first wheel holding portion by a movement amount corresponding to a positional deviation amount of the X-ray tube with respect to the reference axis in a direction parallel to the axle and toward the X-ray tube from the reference axis. ,
The mobile X-ray imaging apparatus according to claim 1, wherein: The moving unit is
The casing is translated in parallel with the axle and in a direction opposite to the direction from the reference axis toward the X-ray tube by a movement amount corresponding to the positional deviation amount of the X-ray tube with respect to the reference axis. about,
The mobile X-ray imaging apparatus according to claim 1, wherein: The determination unit
Determining a direction from the rotation axis toward the X-ray tube as the determined moving direction;
The mobile X-ray imaging apparatus according to claim 2. The moving unit is
Rotating the first wheel holding portion at an angle corresponding to the rotation angle;
The mobile X-ray imaging apparatus according to claim 2. The detector is
By detecting the projection of the X-ray tube on the reference axis, the distance between the portion on the reference axis and the X-ray tube is detected.
The determination unit
Determining a translation amount for translating the first wheel holding portion along the reference axis according to the distance;
The moving unit is
Moving the first wheel holding portion in parallel by the parallel movement amount;
The mobile X-ray imaging apparatus according to claim 2. The moving unit is
Moving the moved first wheel holding portion and the housing to an initial position before the movement, triggered by the X-ray tube being arranged on the reference axis by the rotation of the support arm;
The mobile X-ray imaging apparatus according to any one of claims 1 to 6, wherein: An input unit having a travel switch for allowing the first wheel and the second wheel to travel;
A determination unit that determines whether or not the support arm is disposed on the reference axis when the travel switch is pressed;
An output unit for outputting a predetermined warning when the support arm is not disposed on the reference axis when the travel switch is pressed;
The mobile X-ray imaging apparatus according to claim 1, further comprising: The first wheel is a front wheel and the second wheel is a rear wheel;
The mobile X-ray imaging apparatus according to any one of claims 1 to 9, wherein: