JP2024070616A - Medical bed equipment and X-ray diagnostic equipment - Google Patents

Abstract

[Problem] To improve the stability and convenience of supporting a subject with a simple configuration. [Solution] A medical bed apparatus according to an embodiment includes a top plate and multiple support parts. The top plate supports a subject. The multiple support parts support a bottom part provided below the top plate at one end, and support the top plate at the other end. The support parts have a first shaft, a second shaft, and an actuator. The first shaft is rotatably connected to the top plate. The second shaft is rotatably connected to the bottom part. The actuator is connected to the first shaft and the second shaft, and moves linearly. [Selected Figure] Figure 1

Description

The embodiments disclosed in this specification and the drawings relate to a medical bed apparatus and an X-ray diagnostic apparatus.

Conventionally, in X-ray diagnostic equipment, when a catheter is used to diagnose or treat a subject's circulatory disease, the subject is placed on a catheter bed. The catheter bed is equipped with many axes of motion to support the subject and allow the operator to change the subject's position to image the desired part of the subject.

However, conventional catheter beds have many axes of motion, making it difficult to improve the stability and convenience of supporting the subject with a simple configuration.

JP 2006-158583 A

One of the problems that the embodiments disclosed in this specification and the drawings attempt to solve is to improve the stability and convenience of supporting a subject with a simple configuration. However, the problems that the embodiments disclosed in this specification and the drawings attempt to solve are not limited to the above problems. Problems that correspond to the effects of each configuration shown in the embodiments described below can also be positioned as other problems.

The medical bed apparatus according to the embodiment includes a top plate and a plurality of support parts. The top plate supports a subject. The plurality of support parts support a bottom part provided below the top plate at one end and support the top plate at the other end. The support parts have a first shaft, a second shaft, and an actuator. The first shaft is rotatably connected to the top plate. The second shaft is rotatably connected to the bottom part. The actuator is connected to the first shaft and the second shaft and moves linearly.

FIG. 1 is a block diagram showing an example of the arrangement of an X-ray diagnostic apparatus according to the first embodiment. FIG. 2 is a side view showing an example of the configuration of the X-ray diagnostic apparatus according to the first embodiment. FIG. 3 is a perspective view showing an example of the configuration of a medical bed apparatus according to the first embodiment. FIG. 4 is a cross-sectional view showing an example of a configuration of an upper shaft and a linear actuator in the medical bed apparatus according to the first embodiment. FIG. 5 is a perspective view showing an example of a configuration of a rotation actuator and a lower shaft driven by the rotation actuator in the medical bed apparatus according to the first embodiment. FIG. 6 is a cross-sectional view showing an example of the configuration of a lower shaft that is not driven by a rotation actuator in the medical bed apparatus according to the first embodiment. FIG. 7 is a flowchart showing an example of the operation of the medical bed apparatus according to the first embodiment. FIG. 8 is a perspective view showing an example of operation in a longitudinal direction movement mode of the medical bed apparatus according to the first embodiment. FIG. 9 is a perspective view showing an operation example in a lateral direction movement mode of the medical bed apparatus according to the first embodiment. FIG. 10 is a perspective view showing an operation example in a subject getting on and off mode of the medical bed apparatus according to the first embodiment. FIG. 11 is a perspective view showing an example of operation in a longitudinal tilt mode of the medical bed apparatus according to the first embodiment. FIG. 12 is a perspective view showing an example of operation in a lateral tilt mode of the medical bed apparatus according to the first embodiment. FIG. 13 is a perspective view showing an example of the configuration of a medical bed apparatus according to the second embodiment. FIG. 14 is a perspective view showing an example of the configuration of a medical bed apparatus according to the third embodiment. FIG. 15 is a perspective view showing an example of the configuration of a medical bed apparatus according to a fourth embodiment. FIG. 16 is a perspective view showing an example of the configuration of a medical bed apparatus according to a modified example of the fourth embodiment.

Below, an embodiment of an X-ray diagnostic device will be described with reference to the drawings. Note that, in the following, a single-plane X-ray diagnostic device having one C-arm will be described as an example of an X-ray diagnostic device for the circulatory system, but the X-ray diagnostic device can be applied to X-ray diagnostic devices having medical bed devices in general. For example, the X-ray diagnostic device may be applied to a biplane X-ray diagnostic device having two C-arms, an X-ray television device, and an X-ray CT device. In the following description, components having substantially the same functions and configurations will be given the same reference numerals, and duplicated descriptions will be given only when necessary.

First Embodiment
Fig. 1 is a block diagram showing an example of the configuration of an X-ray diagnostic apparatus 1 according to the first embodiment. As shown in Fig. 1, the X-ray diagnostic apparatus 1 according to the first embodiment includes an imaging section 2, a medical bed device 3, a driving section 4, an X-ray high voltage device 5, a processing circuit 6, an input interface 7, an output interface 8, and a memory circuit 9. For ease of understanding, in the following description, the longitudinal direction of the medical bed device 3 is defined as the Z-axis direction, the vertical direction as the Y-axis direction, and the direction perpendicular to the Z-axis direction and the Y-axis direction as the X-axis direction.

The imaging unit 2 is a device that uses X-rays to image the subject P. The imaging unit 2 includes an X-ray generator 21, an X-ray detector 22, and a holding device 23.

The X-ray generating device 21 is configured to generate X-rays. Specifically, the X-ray generating device 21 has an X-ray tube 21a that irradiates X-rays onto the subject P, and an X-ray aperture 21b that narrows the X-rays irradiated from the X-ray tube 21a.

The X-ray tube 21a is a vacuum tube that generates X-rays by irradiating thermoelectrons from a cathode (filament) to an anode (target) by applying a high voltage from the X-ray high voltage device 5 and supplying a filament current. In the X-ray tube 21a, X-rays are generated by the impact of thermoelectrons on the target. The X-ray tube 21a is, for example, a rotating anode type X-ray tube that generates X-rays by irradiating a rotating anode with thermoelectrons. The type of X-ray tube 21a is not limited to the rotating anode type, and any type can be applied.

The X-ray aperture 21b is provided in front of the X-ray radiation window in the X-ray tube 21a. The X-ray aperture 21b has four aperture blades made of metal plates such as lead. The aperture blades are driven by a drive device (not shown) according to the region of interest input by the operator via the input interface 7. The X-ray aperture 21b adjusts the region where X-rays are blocked to any size by sliding the aperture blades with the drive device. With the adjusted aperture blades, the X-ray aperture 21b blocks X-rays outside the opening region. In this way, the X-ray aperture 21b narrows down the X-rays generated by the X-ray tube 21a so that they are irradiated onto the region of interest of the subject P.

The X-ray detector 22 detects the X-rays generated by the X-ray generator 21 (X-ray tube 21a). The X-ray detector 22 is, for example, an X-ray flat panel detector (hereinafter referred to as FPD). The FPD has, for example, multiple semiconductor detection elements. There are direct conversion types in which X-rays are directly converted into electrical signals, and indirect conversion types in which X-rays are converted into light by a phosphor and the light is converted into electrical signals. Either type may be used for the FPD. The electrical signals generated by the multiple semiconductor detection elements in response to the incidence of X-rays are output to an analog-to-digital converter (hereinafter referred to as A/D converter) not shown. The A/D converter converts the electrical signals into digital data. The A/D converter outputs the digital data to the processing circuit 6. Note that an image intensifier may be used as the X-ray detector 22.

The holding device 23 includes a C-arm 231. The X-ray generator 21 and the X-ray detector 22 are supported by the C-arm 231. FIG. 2 is a side view showing an example of the configuration of the X-ray diagnostic apparatus 1 according to the first embodiment. More specifically, as shown in FIG. 2, in addition to the C-arm 231, the holding device 23 further includes an arm holder 233, a stand 235, and a stand support base 237.

The C-arm 231 has a semicircular shape, supports the X-ray tube 21a and the X-ray aperture 21b at one end, and supports the X-ray detector 22 at the other end. The X-ray tube 21a and the X-ray detector 22 are attached to the C-arm 231 so as to face each other. The C-arm 231 supports the X-ray detector 22 so that the source image distance (hereinafter referred to as SID) corresponding to the distance between the X-ray tube 21a and the X-ray detector 22 can be changed. That is, the C-arm 231 supports the X-ray detector 22 so that it can slide freely in the direction of arrow b along the Y-axis direction. The X-ray detector 22 is driven by the drive unit 4 to slide along the arrow b. In order to slide the X-ray detector 22, the drive unit 4 has, for example, a drive source such as a motor provided on the C-arm 231 and a drive force transmission member that transmits the drive force of the drive source to the X-ray detector 22. The C-arm 231 supports the X-ray generator 21 and the X-ray detector 22 so that they can rotate about the rotation axis ax1, which is a straight line connecting the focal point C at which X-rays are generated in the X-ray tube 21a and the center of the X-ray detector 22. The X-ray generator 21 and the X-ray detector 22 are driven by the drive unit 4 to rotate about the rotation axis ax1 as indicated by the arrow a. In order to rotate the X-ray generator 21 and the X-ray detector 22 about the rotation axis ax1, the drive unit 4 has, for example, a drive source such as a motor provided on the C-arm 231 and a drive force transmission member provided on the C-arm 231 for transmitting the drive force of the drive source to the X-ray generator 21 and the X-ray detector 22.

The arm holder 233 supports the C-arm 231 so that it can slide freely around a rotation axis ax2, which is a straight line that passes through the isocenter ISC, the part where X-rays are irradiated most intensively and is perpendicular to the rotation axis ax1. In other words, the arm holder 233 supports the C-arm 231 so that it can move in the circumferential direction of the C-arm 231. The C-arm 231 is driven by the drive unit 4 to slide around the rotation axis ax2 as shown by arrow c. In order to slide the C-arm 231 around the rotation axis ax2, the drive unit 4 has, for example, a drive source such as a motor provided in the arm holder 233, and a drive force transmission member that transmits the drive force of the drive source to the C-arm 231.

The stand 235 supports the arm holder 233. More specifically, the stand 235 supports the arm holder 233 so that it can rotate freely around a rotation axis ax3, which is a straight line that passes through the isocenter ISC and is perpendicular to the rotation axes ax1 and ax2. The arm holder 233 is driven by the drive unit 4 to rotate around the rotation axis ax3 as indicated by the arrow d. To rotate the arm holder 233, the drive unit 4 has a drive source such as a motor provided in the stand 235, and a drive force transmission member that transmits the drive force of the drive source to the arm holder 233.

The stand support base 237 supports the stand 235 at the lower end of the stand 235.

The medical bed apparatus 3 is an apparatus for placing a subject P on. As shown in Figs. 2 and 3, the medical bed apparatus 3 includes a tabletop 31, a bottom 32, a support section 33, and a rotary actuator 34. The rotary actuator 34 is an example of a second actuator. Note that in Fig. 2, the support section 33 is illustrated in a simplified form.

The top plate 31 is located at the upper end of the medical bed device 3. The subject P is placed on the top plate 31. That is, the top plate 31 supports the placed subject P. The top plate 31 has a longitudinal direction facing the imaging section 2. That is, the top plate 31 has a longitudinal direction along the Z-axis direction, as shown by the arrow e in FIG. 3. Also, the top plate 31 has a lateral direction along the X-axis direction, as shown by the arrow f in FIG. 3.

The bottom 32 is located at the lower end of the medical bed device 3, i.e., below the top plate 31 (i.e., in the negative Y-axis direction). As shown in FIG. 3, the bottom 32 has a first base 321, a second base 322, and a rotation support 323. The first base 321 is a plate-shaped member that is approximately parallel to the floor surface (XZ plane) and is disposed slightly above the floor surface (positive Y-axis direction). The support 33 and the rotation drive actuator 34 are disposed on the first base 321. The second base 322 is a plate-shaped member placed on the floor surface. The rotation support 323 is disposed between the first base 321 and the second base 322. The rotation support 323 supports the first base 321, the rotation drive actuator 34 on the first base 321, the support 33, and the top plate 31 so as to be rotatable around an axis along the Y-axis direction. Rotation of the medical bed device 3 around the rotation support part 323 can be performed manually, for example.

The support portion 33 movably supports the top plate 31. As shown in FIG. 3, the support portion 33 has a first support portion 331, a second support portion 332, and a third support portion 333. The first support portion 331, the second support portion 332, and the third support portion 333 are examples of multiple support portions. Hereinafter, the first support portion 331, the second support portion 332, and the third support portion 333 may be collectively referred to as the support portions 331 to 333. The support portions 331 to 333 support the bottom portion 32 provided below the top plate 31 at the lower end (one end), and support the top plate 31 at the upper end (other end).

3, the first support portion 331 is disposed at the center position in the horizontal direction of the tabletop 31. The second support portion 332 and the third support portion 333 are disposed at a distance from the first support portion 331 in the longitudinal direction. The second support portion 332 and the third support portion 333 may be disposed at the same position in the longitudinal direction. The second support portion 332 and the third support portion 333 are disposed at a distance from each other in the horizontal direction of the tabletop 31. The midpoint between the second support portion 332 and the third support portion 333 may be at the center position in the horizontal direction of the tabletop 31. In this way, by disposing the three support portions 331 to 333 at a distance in the longitudinal and horizontal directions of the tabletop 31, it is possible to stably support the tabletop 31 at three points.

The support parts 331 to 333 each have an upper shaft 331a, 332a, 333a, a lower shaft 331b, 332b, 333b, and a linear actuator 331c, 332c, 333c. The upper shafts 331a, 332a, 333a are an example of a first shaft. The lower shafts 331b, 332b, 333b are an example of a second shaft. The linear actuators 331c, 332c, 333c are an example of an actuator.

The upper shafts 331a, 332a, 333a are rotatably connected to the top plate 31. The lower shafts 331b, 332b, 333b are rotatably connected to the bottom plate 32. The linear actuators 331c, 332c, 333c are connected to the upper shafts 331a, 332a, 333a and the lower shafts 331b, 332b, 333b, and are actuators that linearly drive the support parts 331 to 333. The linear actuators 331c, 332c, 333c linearly drive the support parts 331 to 333 by linearly moving, i.e., expanding and contracting themselves. The axial direction of the linear actuators 331c, 332c, 333c intersects with the top plate 31. In the example shown in FIG. 3, the linear actuators 331c, 332c, and 333c each have a cylindrical fixed portion 33a and a rod-shaped movable portion 33b at least partially housed within the fixed portion 33a. The linear actuators 331c, 332c, and 333c move linearly as the movable portion 33b moves along the fixed portion 33a. The linear actuators 331c, 332c, and 333c are driven by, for example, a motor. The linear actuators 331c, 332c, and 333c are not limited to being driven by a motor, and may be driven by hydraulic pressure, for example. When the support portions 331 to 333 are driven in the extension direction by the linear actuators 331c, 332c, and 333c, the top plate 31 supported by the upper ends of the support portions 331 to 333 is pushed upward. On the other hand, when the support parts 331 to 333 are driven in the shortening direction by the linear actuators 331c, 332c, and 333c, the top plate 31 supported on the upper ends of the support parts 331 to 333 is pulled downward.

The upper axes 331a, 332a, and 333a have an axial direction along the top plate 31. The lower axes 331b, 332b, and 333b have an axial direction along the axial direction of the upper axes 331a, 332a, and 333a. For example, each of the upper axes 331a, 332a, and 333a and the lower axes 331b, 332b, and 333b has a first axial direction along the top plate 31 and a second axial direction perpendicular to the first axial direction along the top plate 31. In the example shown in FIG. 3, the first axial direction is an axial direction along the longitudinal direction of the top plate 31 (i.e., the Z-axis direction). The second axial direction is an axial direction along the lateral direction of the top plate 31 perpendicular to the longitudinal direction of the top plate 31 (i.e., the X-axis direction).

The rotary actuator 34 is provided in correspondence with the lower shaft 331b included in the first support part 331. The rotary actuator 34 is an actuator that rotates the lower shaft 331b included in the first support part 331. The rotary actuator 34 rotates the lower shaft 331b included in the first support part 331 around the first axial direction and the second axial direction. In the example shown in FIG. 3, the rotary actuator 34 rotates the lower shaft 331b around the axial direction along the longitudinal direction of the top plate 31 and the axial direction along the lateral direction of the top plate 31. The rotary actuator 34 does not rotate the lower shaft 332b included in the second support part 332 and the lower shaft 333b included in the third support part 333. These lower shafts 332b, 333b are rotated in accordance with the rotation of the lower shaft 331b included in the first support part 331.

Figure 4 is a cross-sectional view showing an example of the configuration of the upper shaft 331a and the linear actuator 331c in the medical bed device 3 according to the first embodiment. In the example shown in Figures 3 and 4, the upper shafts 331a, 332a, and 333a are connected (i.e., fixed) to the upper ends of the linear actuators 331c, 332c, and 333c, and are first spherical joints rotatably supported in the first spherical bearing 311a provided on the top plate 31. The first spherical bearing 311a is formed in a bearing forming portion 311 provided on the top plate 31. The bearing forming portion 311 may be the top plate 31 itself. A bearing or a lubricant may be disposed between the upper shafts 331a, 332a, and 333a and the first spherical bearing 311a.

5 is a perspective view showing an example of the configuration of the rotary drive actuator 34 and the lower shaft 331b driven by the rotary drive actuator 34 in the medical bed device 3 according to the first embodiment. In the example shown in FIG. 5, the lower shaft 331b included in the first support part 331 is a spherical gear connected (i.e., fixed) to the lower end of the linear actuator 331c. The spherical gear is an example of a member to be transmitted. The spherical gear has a gear shape obtained by rotating the contour of a spur gear around the first radial axis and the second radial axis of the spur gear, respectively. In the example shown in FIG. 5, the rotary drive actuator 34 has a first actuator part 341 and a second actuator part 342. The first actuator part 341 rotates the lower shaft 331b around the axial direction along the longitudinal direction of the top board 31. The second actuator part 342 rotates the lower shaft 331b around the axial direction along the lateral direction of the top board 31. The first actuator unit 341 has a first motor 3411 and a first gear 3412 that transmits the driving force of the first motor 3411 to the lower shaft 331b. The second actuator unit 342 has a second motor 3421 and a second gear 3422 that transmits the driving force of the second motor 3421 to the lower shaft 331b. The first motor 3411 and the second motor 3421 are examples of a driving source. The first gear 3412 and the second gear 3422 are examples of a transmission member. Each of the first gear 3412 and the second gear 3422 meshes with the lower shaft 331b that is configured as a spherical gear. Note that other gears may be interposed between the first motor 3411 and the first gear 3412 and between the second motor 3421 and the second gear 3422.

In the example shown in FIG. 5, when the first motor 3411 is rotated, the driving force of the first motor 3411 is transmitted to the first gear 3412, and the first gear 3412 is rotated around an axis along the longitudinal direction of the top plate 31 (i.e., around the Z axis). When the first gear 3412 rotates, the rotational force of the first gear 3412 is transmitted to the lower shaft 331b. That is, the driving force of the first motor 3411 is transmitted to the lower shaft 331b via the first gear 3412. By transmitting the driving force of the first motor 3411, the lower shaft 331b is rotated around an axis along the longitudinal direction of the top plate 31. When the lower shaft 331b is rotated around an axis along the longitudinal direction of the top plate 31, the entire first support part 331 including the lower shaft 331b is rotated in the same direction as the lower shaft 331b. The rotational drive of the first support part 331 around an axis along the longitudinal direction of the tabletop 31 is transmitted to the tabletop 31 connected to the first support part 331, the second and third support parts 332, 333 connected to the tabletop 31, and the lower shafts 332b, 333b connected to the second and third support parts 332, 333. As a result, the rotational drive of the first support part 331 around an axis along the longitudinal direction of the tabletop 31 causes the tabletop 31, the second and third support parts 332, 333, and the lower shafts 332b, 333b to rotate in the same direction as the first support part 331.

In addition, when the second motor 3421 is rotated, the driving force of the second motor 3421 is transmitted to the second gear 3422, and the second gear 3422 is rotated around an axis along the horizontal direction of the top plate 31 (i.e., around the X-axis). When the second gear 3422 rotates, the rotational force of the second gear 3422 is transmitted to the lower shaft 331b. That is, the driving force of the second motor 3421 is transmitted to the lower shaft 331b via the second gear 3422. By transmitting the driving force of the second motor 3421, the lower shaft 331b is rotated around an axis along the horizontal direction of the top plate 31. When the lower shaft 331b is rotated around an axis along the horizontal direction of the top plate 31, the entire first support part 331 including the lower shaft 331b is rotated in the same direction as the lower shaft 331b. The rotational drive of the first support part 331 around an axis along the horizontal direction of the tabletop 31 is transmitted to the tabletop 31 connected to the first support part 331, the second and third support parts 332, 333 connected to the tabletop 31, and the lower shafts 332b, 333b connected to the second and third support parts 332, 333. As a result, the rotational drive of the first support part 331 around an axis along the horizontal direction of the tabletop 31 causes the tabletop 31, the second and third support parts 332, 333, and the lower shafts 332b, 333b to rotate in the same direction as the first support part 331.

The first gear 3412 may also be rotatable around an axis along the lateral direction of the tabletop 31 by a motor different from the first motor 3411. The second gear 3422 may also be rotatable around an axis along the longitudinal direction of the tabletop 31 by a motor different from the second motor 3421.

6 is a cross-sectional view showing an example of the configuration of the lower shaft 332b that is not driven by the rotary drive actuator 34 in the medical bed device 3 according to the first embodiment. In the example shown in FIG. 6, the lower shaft 332b of the second support unit 332 is a second spherical joint that is connected (i.e., fixed) to the lower end of the linear actuator 332c and rotatably supported in the second spherical bearing 324a provided on the bottom 32. The second spherical bearing 324a is formed in the bearing forming part 324 provided on the first base part 321 of the bottom 32. The bearing forming part 324 may be the first base part 321 itself. Although not shown, the lower shaft 333b of the third support unit 333 also has a configuration similar to that of the lower shaft 332b of the second support unit 332. The second support part 332 and the third support part 333 rotate in the same direction as the first support part 331 around the lower shafts 332b and 333b in accordance with the rotational drive of the first support part 331.

Returning to FIG. 1, the drive unit 4 drives the imaging unit 2 and the medical bed device 3. Specifically, under the control of the processing circuit 6, the drive unit 4 drives the linear actuators 331c, 332c, and 333c, the rotational actuator 34, the drive sources for each rotation direction of the C-arm 231, the drive source for the X-ray generator 21, and the drive source for the X-ray detector 22.

The X-ray high voltage device 5 has an electric circuit such as a transformer and a rectifier, a high voltage generator, and an X-ray control device. The high voltage generator has a function of generating a high voltage to be applied to the X-ray tube 21a and a filament current to be supplied to the X-ray tube 21a. The X-ray control device controls the output voltage according to the X-rays emitted by the X-ray tube 21a. The high voltage generator may be of a transformer type or an inverter type. The X-ray high voltage device 5 may be provided in the holding device 23.

The input interface 7 accepts various instructions and information input operations from the operator. Specifically, the input interface 7 converts the input operations received from the operator into electrical signals and outputs them to the processing circuit 6. The input interface 7 is an example of an input unit that accepts input operations that specify the operation of the top plate 31. For example, the input interface 7 is realized by a trackball, a switch button, a mouse, a keyboard, a touchpad that performs input operations by touching the operation surface, a touch screen in which the display screen and the touchpad are integrated, a non-contact input circuit using an optical sensor, and a voice input circuit. Note that the input interface 7 is not limited to those that have physical operation parts such as a mouse and a keyboard. For example, an example of the input interface 7 also includes an electrical signal processing circuit that receives an electrical signal corresponding to an input operation from an external input device provided separately from the device and outputs this electrical signal to a control circuit.

The output interface 8 outputs various types of information. For example, the output interface 8 includes a display. The display converts the information and image data sent from the processing circuit 6 into an electrical signal for display and outputs it. The display is realized by a liquid crystal monitor, a CRT (Cathode Ray Tube) monitor, a touch panel, or the like. The output interface 8 may also include a speaker.

The memory circuitry 9 is a non-transient storage device that stores various information, such as a hard disk drive (HDD), an optical disk, a solid state drive (SSD), and an integrated circuit storage device. The memory circuitry 9 stores, for example, a control program that controls the X-ray diagnostic apparatus 1 and various data used to execute the control program. In addition to HDDs and SSDs, the memory circuitry 9 may be a drive device that reads and writes various information to and from portable storage media such as compact discs (CDs), digital versatile discs (DVDs), and flash memories, or semiconductor memory elements such as random access memories (RAMs).

The processing circuit 6 is a circuit that controls the operation of the entire X-ray diagnostic apparatus 1 in response to electrical signals of input operations input from the input interface 7. For example, the processing circuit 6 includes an imaging control function 61, a support unit operation control function 62, an operation content acquisition function 63, a drive actuator determination function 64, and an actuator drive command function 65. The support unit operation control function 62 is an example of a control unit.

Here, for example, the processing functions executed by the imaging control function 61, support unit operation control function 62, operation content acquisition function 63, drive actuator determination function 64, and actuator drive command function 65, which are components of the processing circuit 6 shown in FIG. 1, are recorded in the memory circuit 9 in the form of a program executable by a computer. The processing circuit 6 is, for example, a processor. The processor constituting the processing circuit 6 reads each program from the memory circuit 9 and executes it to realize a function corresponding to each program that has been read. In other words, the processing circuit 6 in a state in which each program has been read will have each function shown in the processing circuit 6 in FIG. 1.

Note that, although FIG. 1 shows a case where each of the processing functions of the imaging control function 61, the support unit operation control function 62, the operation content acquisition function 63, the drive actuator determination function 64, and the actuator drive command function 65 is realized by a single processing circuit 6, the embodiment is not limited to this. For example, the processing circuit 6 may be configured by combining multiple independent processors, and each processor may realize each processing function by executing each program. Furthermore, each processing function possessed by the processing circuit 6 may be realized by being appropriately distributed or integrated into a single or multiple processing circuits.

The imaging control function 61 controls the imaging operation of the subject P by the imaging unit 2 based on, for example, an input operation received from an operator via the input interface 7. The imaging control function 61 controls the imaging operation of the subject P by controlling the driving unit 4, the X-ray high voltage device 5, the X-ray generator 21, the output interface 8, etc. More specifically, the imaging control function 61 reads out a control program stored in the memory circuitry 9, expands it on the memory in the processing circuitry 6, and controls each part of the X-ray diagnostic device 1 according to the expanded control program. The imaging control function 61 also generates image data based on the output from the X-ray detector 22. The image data is medical image data including fluoroscopic images and photographed images related to the subject P. The imaging control function 61 displays the generated image data on the output interface 8.

The support unit operation control function 62 controls the operation of the support units 331 to 333. Specifically, the support unit operation control function 62 controls the operation of the support units 331 to 333 by controlling the rotation of the lower shaft 331b included in the first support unit 331. More specifically, the support unit operation control function 62 controls the rotation of the lower shaft 331b by controlling the rotation drive of the lower shaft 331b by the rotation drive actuator 34. Even more specifically, the support unit operation control function 62 controls the linear motion of the linear actuators 331c, 332c, and 333c and the rotation drive of the lower shaft 331b by the rotation drive actuator 34 so that the support units 331 to 333 operate in accordance with the operation of the tabletop 31 specified by an input operation via the input interface 7.

1, the support unit operation control function 62 controls the rotation of the lower shaft 331b included in the first support unit 331 by controlling the operation content acquisition function 63, the drive actuator determination function 64, and the actuator drive command function 65. Specifically, the operation content acquisition function 63 acquires the operation content of the tabletop 31 specified by an input operation via the input interface 7 under the control of the support unit operation control function 62. The drive actuator determination function 64 determines the actuators 331c, 332c, 333c, 34 to be driven and the drive amount of the actuators 331c, 332c, 333c, 34 to be driven according to the specified operation content under the control of the support unit operation control function 62. The actuator drive command function 65 outputs a drive command for driving the determined actuators 331c, 332c, 333c, 34 to be driven by the determined drive amount under the control of the support unit operation control function 62. The drive unit 4 drives the actuators 331c, 332c, 333c, and 34 to be driven by the specified drive amount according to the drive command output from the actuator drive command function 65.

Next, an example of the operation of the medical bed device 3 according to the first embodiment configured as described above will be described. FIG. 7 is a flowchart showing an example of the operation of the medical bed device 3 according to the first embodiment. First, as shown in FIG. 7, the operation content acquisition function 63, under the control of the support unit operation control function 62, acquires the operation content of the tabletop 31 specified by an input operation via the input interface 7 (step S1).

The operation of the top plate 31 includes, for example, a longitudinal movement mode in which the top plate 31 is moved in the longitudinal direction of the top plate 31 (i.e., the Z-axis direction). The longitudinal movement mode is an example of a first operation. The operation of the top plate 31 also includes, for example, a lateral movement mode in which the top plate 31 is moved in the lateral direction of the top plate 31 (i.e., the X-axis direction). The lateral movement mode is an example of a second operation. The operation of the top plate 31 also includes, for example, a subject boarding and disembarking mode in which the subject P boards and disembarks from the top plate 31. The subject boarding and disembarking mode is an example of a third operation. The operation of the top plate 31 also includes, for example, a longitudinal tilt mode in which the top plate 31 is tilted up and down (i.e., the Y-axis direction) relative to the longitudinal direction of the top plate 31. The longitudinal tilt mode is an example of a fourth operation. The operation of the tabletop 31 also includes, for example, a lateral tilt mode in which the tabletop 31 is tilted in the vertical direction relative to the lateral direction of the tabletop 31. The lateral tilt mode is an example of a fifth operation.

After the operation content of the tabletop 31 is acquired, the drive actuator determination function 64, under the control of the support unit operation control function 62, determines the actuators 331c, 332c, 333c, 34 to be driven and the drive amounts of the actuators 331c, 332c, 333c, 34 to be driven in accordance with the specified operation content (step S2). At this time, the drive actuator determination function 64 may uniquely determine the actuators to be driven and the drive amounts corresponding to the specified operation content based on a correspondence table between the operation content of the tabletop 31 and the actuators to be driven and the drive amounts stored in the memory circuit 9.

Here, when the longitudinal movement mode is specified, the drive actuator determination function 64 determines, for example, the linear actuators 331c, 332c, and 333c and the second actuator part 342 of the rotation drive actuator 34 as the actuators to be driven. In addition, the drive actuator determination function 64 determines, for example, the drive amount in the direction in which the linear actuators 331c, 332c, and 333c extend as the drive amount of the actuators to be driven. Note that, for ease of understanding, the example of the drive amount described here is based on the linear positions of the linear actuators 331c, 332c, and 333c and the rotation position of the rotation drive actuator 34 when the support parts 331 to 333 are perpendicular to the top plate 31 as shown in FIG. 3 (drive amount: zero). This is also true for the other movement modes described below. In addition, the drive actuator determination function 64 determines, for example, the drive amount of the second actuator part 342 to rotate the lower shaft 331b around the axial direction along the lateral direction of the top plate 31 as the drive amount of the actuator to be driven. The drive amount of the second actuator unit 342 is, for example, a drive amount that can move the top plate 31 toward the imaging unit 2 in the longitudinal direction.

When the lateral movement mode is specified, the drive actuator determination function 64 determines, for example, the linear actuators 331c, 332c, and 333c and the first actuator unit 341 of the rotation drive actuator 34 as the actuators to be driven. The drive actuator determination function 64 also determines, for example, the drive amount in the direction in which the linear actuators 331c, 332c, and 333c extend as the drive amount of the actuators to be driven. The drive actuator determination function 64 also determines, for example, the drive amount by which the first actuator unit 341 rotates the lower shaft 331b around the axial direction along the longitudinal direction of the top plate 31 as the drive amount of the actuator to be driven.

When the subject boarding/disembarking mode is specified, the drive actuator determination function 64 determines, for example, the linear actuators 331c, 332c, and 333c and the second actuator unit 342 of the rotational actuator 34 as the actuators to be driven. The drive actuator determination function 64 also determines, for example, the drive amount in the direction in which the linear actuators 331c, 332c, and 333c are shortened as the drive amount of the actuators to be driven. The drive actuator determination function 64 also determines, for example, the drive amount by which the second actuator unit 342 rotates the lower shaft 331b around the axial direction along the lateral direction of the top plate 31 as the drive amount of the actuator to be driven. The drive amount of the second actuator unit 342 is, for example, the drive amount that can move the top plate 31 to the opposite side of the imaging unit 2 in the longitudinal direction.

When the longitudinal tilt mode is specified, the drive actuator determination function 64 determines, for example, linear actuators 331c, 332c, and 333c as the actuators to be driven. The drive actuator determination function 64 also determines, for example, the drive amount in the direction in which linear actuator 331c of the first support portion 331 extends as the drive amount of the actuator to be driven. The drive actuator determination function 64 also determines the drive amount in the direction in which linear actuators 332c and 333c of the second support portion 332 and the third support portion 333, which are spaced apart from the first support portion 331 in the longitudinal direction of the top plate 31, shorten (i.e., do not extend).

When the lateral tilt mode is specified, the drive actuator determination function 64 determines, for example, the linear actuator 332c of the second support 332 and the linear actuator 333c of the third support 333 as the actuators to be driven. The drive actuator determination function 64 also determines, as the drive amount of the actuators to be driven, for example, the drive amount in the direction in which the linear actuator 332c of the second support 332 shortens (i.e., does not extend), and the drive amount in the direction in which the linear actuator 333c of the third support 333, which is disposed at a distance from the second support 332 in the lateral direction of the tabletop 31, extends.

After the actuator to be driven and the drive amount have been determined, as shown in FIG. 7, the actuator drive command function 65 outputs a drive command to the drive unit 4 to drive the actuator to be driven with the determined drive amount under the control of the support unit operation control function 62 (step S3).

After the drive command is output, the drive unit 4 drives the actuators 331c, 332c, 333c, and 34 to be driven by the specified drive amount in accordance with the drive command (step S4).

Figure 8 is a perspective view showing an example of operation in the longitudinal movement mode of the medical bed device 3 according to the first embodiment. For ease of understanding, Figure 8 shows a state in which the top plate 31 has completed its movement in the longitudinal movement mode from the state of Figure 3. For example, in the longitudinal movement mode, the drive unit 4 drives the linear actuators 331c, 332c, and 333c in the extension direction shown by the arrow g1 in Figure 8 from the state of Figure 3. The drive unit 4 also drives the second actuator unit 342 of the rotation drive actuator 34 in the direction shown by the arrow i1 in Figure 8 from the state of Figure 3. By such a combined operation of the extension of the linear actuators 331c, 332c, and 333c and the rotation of the second actuator unit 342, the medical bed device 3 can appropriately move the top plate 31 from the state of Figure 3 to the imaging unit 2 side in the longitudinal direction shown by the arrow e1 in Figure 8, despite its simple configuration. Furthermore, even when the top plate 31 moves to a position in the longitudinal movement mode, the relative positional relationship between the top plate 31 and the upper ends (i.e., upper shafts 331a, 332a, 333a) of the supports 331-333 that support the top plate 31 does not change. Therefore, the medical bed device 3 can stably support the top plate 31 and the subject P on the top plate 31 at the position to which the top plate 31 moves in the longitudinal movement mode. Since the subject P can be stably supported, not only catheter procedures but also emergency cardiopulmonary resuscitation (CPR) can be performed on the subject P at the position to which the top plate 31 moves in the longitudinal movement mode.

Figure 9 is a perspective view showing an example of operation in the lateral movement mode of the medical bed device 3 according to the first embodiment. For ease of understanding, Figure 9 shows a state in which the top plate 31 has completed its movement in the lateral movement mode from the state of Figure 3. For example, in the lateral movement mode, the drive unit 4 drives the linear actuators 331c, 332c, and 333c in the extension direction shown by the arrow g1 in Figure 9 from the state of Figure 3. The drive unit 4 also drives the first actuator unit 341 of the rotation drive actuator 34 in the direction shown by the arrow h1 in Figure 9 from the state of Figure 3. Due to the combined operation of the extension of the linear actuators 331c, 332c, and 333c and the rotation of the first actuator unit 341, the medical bed device 3 can appropriately move the top plate 31 in the lateral direction shown by the arrow f1 in Figure 9 from the state of Figure 3, despite its simple configuration. Furthermore, even when the top plate 31 moves to a position in the lateral movement mode, the relative positional relationship between the top plate 31 and the upper ends of the support parts 331 to 333 that support the top plate 31 does not change. Therefore, the medical bed device 3 can stably support the top plate 31 and the subject P on the top plate 31 at the position to which the top plate 31 moves in the lateral movement mode. Since the subject P can be stably supported, not only catheter procedures but also emergency CPR can be performed on the subject P at the position to which the top plate 31 moves in the lateral movement mode. Furthermore, this can effectively respond to cases where movement of the top plate 31 in the lateral movement mode is required for the convenience of the operator and the subject P (operator, etc.).

Figure 10 is a perspective view showing an example of operation in the subject boarding/disembarking mode of the medical bed apparatus 3 according to the first embodiment. For ease of understanding, Figure 10 shows a state in which the top plate 31 has completed its movement in the subject boarding/disembarking mode from the state shown in Figure 3. For example, in the subject boarding/disembarking mode, the driving unit 4 drives the linear actuators 331c, 332c, and 333c in the contracting direction shown by the arrow g2 in Figure 10 from the state shown in Figure 3. The driving unit 4 also drives the second actuator unit 342 of the rotary actuator 34 in the direction shown by the arrow i2 in Figure 10 from the state shown in Figure 3. By such a combined operation of contracting the linear actuators 331c, 332c, and 333c and rotating the second actuator unit 342, the medical bed apparatus 3 can lower the top plate 31 from the state shown in Figure 3 to a sufficiently low height at which the subject P can easily board and disembark, even though it has a simple configuration. Note that the subject P getting on and off the tabletop 31 includes both cases where the subject P gets on and off by himself and cases where an assistant helps the subject P get on and off.

Figure 11 is a perspective view showing an example of operation in the longitudinal tilt mode of the medical bed device 3 according to the first embodiment. For ease of understanding, Figure 11 shows a state in which the top plate 31 has completed its movement in the longitudinal tilt mode from the state of Figure 3. For example, in the longitudinal tilt mode, the drive unit 4 drives the linear actuator 331c of the first support unit 331 in the extension direction shown by the arrow g1 in Figure 11 from the state of Figure 3. The drive unit 4 also drives the linear actuator 332c of the second support unit 332 and the linear actuator 333c of the third support unit 333 in the contraction direction shown by the arrow g2 in Figure 11 from the state of Figure 3. By such a combined operation of the extension of the linear actuator 331c and the contraction of the linear actuators 332c and 333c, the medical bed device 3 can appropriately tilt the top plate 31 in the vertical direction relative to the longitudinal direction from the state of Figure 3, despite its simple configuration. Since the top plate 31 can be appropriately tilted in the vertical direction relative to the longitudinal direction, for example, when performing a hybrid procedure of a catheter procedure and a surgical operation, the position of the subject P can be easily changed and the field of vision of the operator can be secured. Furthermore, even if the top plate 31 moves to a moving position in the longitudinal tilt mode, the relative positional relationship between the top plate 31 and the upper ends of the support parts 331 to 333 that support the top plate 31 does not change. Therefore, the medical bed device 3 can stably support the top plate 31 and the subject P on the top plate 31 at the moving position of the top plate 31 in the longitudinal tilt mode. The movement of the top plate 31 in the longitudinal tilt mode may be performed after the movement of the top plate 31 in the longitudinal movement mode.

Figure 12 is a perspective view showing an example of the operation of the lateral tilt mode of the medical bed device 3 according to the first embodiment. For ease of understanding, Figure 12 shows a state in which the top plate 31 has completed its movement in the lateral tilt mode from the state shown in Figure 3. For example, in the lateral tilt mode, the drive unit 4 drives the linear actuator 332c of the second support unit 332 in the contraction direction shown by the arrow g2 in Figure 12 from the state shown in Figure 3. The drive unit 4 also drives the linear actuator 333c of the third support unit 333 in the extension direction shown by the arrow g1 in Figure 12 from the state shown in Figure 3. By such a combined operation of the contraction of the linear actuator 332c and the extension of the linear actuator 333c, the medical bed device 3 can appropriately tilt the top plate 31 in the vertical direction relative to the lateral direction from the state shown in Figure 3, despite its simple configuration. Since the top plate 31 can be appropriately tilted in the vertical direction relative to the horizontal direction, for example, when performing a hybrid procedure of a catheter procedure and a surgical operation, the position of the subject P can be easily changed and the field of vision of the operator can be secured. Furthermore, even if the top plate 31 moves to a movement position in the horizontal tilt mode, the relative positional relationship between the top plate 31 and the upper ends of the support parts 331 to 333 that support the top plate 31 does not change. Therefore, the medical bed device 3 can stably support the top plate 31 and the subject P on the top plate 31 at the movement position of the top plate 31 in the horizontal tilt mode. Note that the movement of the top plate 31 in the horizontal tilt mode may be performed after the movement of the top plate 31 in the horizontal movement mode.

As described above, the medical bed device 3 according to the first embodiment includes a plurality of support parts 331-333 that support the bottom part 32 provided below the top plate 31 at their lower ends and support the top plate 31 at their upper ends. The support parts 331-333 include upper shafts 331a, 332a, 333a rotatably connected to the top plate 31, lower shafts 331b, 332b, 333b rotatably connected to the bottom part 32, and linear actuators 331c, 332c, 333c that are connected to the upper shafts 331a, 332a, 333a and the lower shafts 331b, 332b, 333b and move linearly.

Here, the conventional medical bed apparatus is equipped with a vertical drive mechanism having an actuator to move the top plate in the vertical direction. The conventional medical bed apparatus is also equipped with many horizontal movement axes on the vertical drive mechanism to move the top plate horizontally using the actuator. Thus, the conventional medical bed apparatus requires a large and complex configuration to move the top plate. In contrast, in the medical bed apparatus 3 according to the first embodiment, the linear actuators 331c, 332c, and 333c, which are rotatably supported with the lower axis 331b as the drive axis, can serve as both the vertical and horizontal movement axes. As a result, the medical bed apparatus 3 according to the first embodiment can simplify the configuration.

In addition, in the conventional medical bed apparatus, when the top plate is moved toward the imaging unit in the longitudinal direction, the distance between the tip of the top plate in the moving direction and the support part of the top plate becomes large. As a result, in the conventional medical bed apparatus, when the top plate is moved toward the imaging unit in the longitudinal direction, the strength of the tip side of the top plate is weakened and the top plate is easily bent. Because the top plate is easily bent, it is difficult for the conventional medical bed apparatus to improve the stability of the support of the subject P. In addition, since it is difficult to stably support the subject P when moving toward the imaging unit in the longitudinal direction, the conventional medical bed apparatus needs to return the top plate to the support part in the longitudinal direction when performing CPR, which requires the strength of the top plate. For this reason, it is difficult for the conventional medical bed apparatus to improve the convenience of supporting the subject P and the speed of CPR. In contrast, according to the medical bed apparatus 3 of the first embodiment, the top plate 31 can be moved to the movement position in the longitudinal movement mode while maintaining the positional relationship between the top plate 31 and the upper ends (i.e., upper shafts 331a, 332a, 333a) of the support parts 331 to 333 that support the top plate 31. This allows the subject P to be stably supported at the movement position in the longitudinal movement mode without bending the top plate 31. Since the subject P can be stably supported at the movement position in the longitudinal movement mode, CPR can be performed at the movement position in the longitudinal movement mode without returning the top plate 31. As a result, according to the medical bed apparatus 3 of the first embodiment, the convenience of supporting the subject P and the speed of CPR can be improved.

In addition, because conventional medical bed devices have a horizontal movement axis on the vertical drive mechanism, the height of the tabletop depends on the vertical size of the vertical drive mechanism and the horizontal movement axis. For this reason, it is difficult for conventional medical bed devices to lower the tabletop to a low enough position to easily get the subject on and off the tabletop. In contrast, in the medical bed device 3 according to the first embodiment, there are no large components above the linear actuators 331c, 332c, and 333c, and the support units 331 to 333 can be rotated. For this reason, the tabletop 31 supported by the support units 331 to 333 can be lowered to a low enough position to easily get the subject P on and off the tabletop. This further improves the convenience of supporting the subject P.

Therefore, the medical bed device 3 according to the first embodiment can improve the stability and convenience of supporting the subject P with a simple configuration.

In addition, in the first embodiment, the support unit operation control function 62 controls the operation of the support unit 33 by controlling the rotation of the lower shaft 331b.

This allows the movement of the tabletop 31 to be appropriately controlled with a simple configuration.

In addition, in the first embodiment, the support unit operation control function 62 controls the rotation of the lower shaft 331b by controlling the rotational drive of the lower shaft 331b by the rotational drive actuator 34.

This allows the movement of the tabletop 31 to be appropriately controlled with a simpler configuration.

In the first embodiment, the upper shafts 331a, 332a, and 333a have an axial direction along the longitudinal direction of the top plate 31 and an axial direction along the lateral direction of the top plate 31. The lower shafts 331b, 332b, and 333b also have an axial direction along the longitudinal direction of the top plate 31 and an axial direction along the lateral direction of the top plate 31. The rotation drive actuator 34 drives the lower shaft 331b to rotate around the axial direction along the longitudinal direction of the top plate 31 and the axial direction along the lateral direction of the top plate 31.

This allows the tabletop 31 to be moved appropriately along its longitudinal and lateral directions with a simple configuration.

In addition, in the first embodiment, the support unit operation control function 62 controls the linear motion of the linear actuators 331c, 332c, and 333c and the rotational drive of the lower shaft 331b by the rotational drive actuator 34 so that the support units 331 to 333 operate in accordance with the operation of the tabletop specified by the input operation.

This allows the operator to operate the tabletop 31 as desired, further improving convenience.

In the first embodiment, the rotary drive actuator 34 includes a first motor 3411, a second motor 3421, a first gear 3412, and a second gear 3422. The upper shafts 331a, 332a, and 333a are connected to the upper ends of the linear actuators 331c, 332c, and 333c, and are first spherical joints rotatably supported in a first spherical bearing 311a provided on the top plate 31. The lower shaft 331b of the first support portion 331 is connected to the lower end of the linear actuator 331c of the first support portion 331, and is a spherical gear to which the driving forces of the first motor 3411 and the second motor 3421 are transmitted via the first gear 3412 and the second gear 3422. The lower shafts 332b, 333b of the second and third support parts 332, 333 are connected to the lower ends of the linear actuators 332c, 333c of the second and third support parts 332, 333, and are second spherical joints rotatably supported within the second spherical bearing 324a provided in the bottom part 32.

This allows the number of drive shafts in the support sections 331 to 333 to be reduced, further simplifying the configuration.

Second Embodiment
Next, a second embodiment will be described, in which the specific configurations of the upper shafts 331a, 332a, and 333a and the lower shafts 331b, 332b, and 333b are different from those of the first embodiment. Fig. 13 is a perspective view showing an example of the configuration of a medical bed apparatus 3 according to the second embodiment.

13, in the second embodiment, the upper shafts 331a, 332a, 333a and the lower shafts 331b, 332b, 333b have a first shaft portion 3311 and a second shaft portion 3312. The first shaft portion 3311 has an axial direction along the longitudinal direction of the top plate 31. For example, the first shaft portion 3311 is a plate-shaped member having a through hole into which a longitudinal support shaft along the longitudinal direction of the top plate 31 can be inserted. The longitudinal support shaft is provided on the top plate 31 and the bottom portion 32 so that it can be inserted into and removed from the through hole of the first shaft portion 3311 by an actuator such as a motor. The second shaft portion 3312 is adjacent to the first shaft portion 3311 in the vertical direction. The second shaft portion 3312 has an axial direction along the lateral direction of the top plate 31. For example, the second shaft portion 3312 is a plate-like member provided with a through hole into which a lateral support shaft along the lateral direction of the top plate 31 can be inserted. The lateral support shaft is provided on the top plate 31 and the bottom portion 32 so as to be insertable into and detachable from the through hole of the second shaft portion 3312 by an actuator such as a motor. Also, for example, a longitudinal support shaft corresponding to the first shaft portion 3311 of the lower shaft 331b of the first support portion 331 is connected to the first actuator portion 341 and fits into the through hole of the first shaft portion 3311, thereby transmitting the driving force of the first actuator portion 341 to the first shaft portion 3311. Also, for example, a lateral support shaft corresponding to the second shaft portion 3312 of the lower shaft 331b of the first support portion 331 is connected to the second actuator portion 342 and fits into the through hole of the second shaft portion 3312, thereby transmitting the driving force of the second actuator portion 342 to the second shaft portion 3312. In the example shown in FIG. 13, the second shaft portion 3312 is positioned adjacent to and above the first shaft portion 3311.

For example, when moving the tabletop 31 in the longitudinal direction, the longitudinal support shaft is removed from the through hole of the first shaft portion 3311, and the lateral support shaft is inserted into the through hole of the second shaft portion 3312. As a result, the support portions 331 to 333 are rotated about the axial direction of the second shaft portion 3312, thereby moving the tabletop 31 in the longitudinal direction. Also, when moving the tabletop 31 in the lateral direction, for example, the longitudinal support shaft is inserted into the through hole of the first shaft portion 3311, and the lateral support shaft is removed from the through hole of the second shaft portion 3312. As a result, the support portions 331 to 333 are rotated about the axial direction of the first shaft portion 3311, thereby moving the tabletop 31 in the lateral direction.

According to the second embodiment, as in the first embodiment, the top plate 31 can be moved by a combined action of the linear motion of the linear actuators 331c, 332c, and 333c and the rotation of the rotary actuator 34, so that the stability and convenience of supporting the subject P can be improved with a simple configuration.

Third Embodiment
Next, a third embodiment will be described, in which the specific configurations of the first actuator unit 341 and the second actuator unit 342 are different from those of the second embodiment. Fig. 14 is a perspective view showing an example of the configuration of the medical bed device 3 according to the third embodiment. As shown in Fig. 14, in the third embodiment, the first actuator unit 341 is realized by a first linear actuator 3410. Also, in the third embodiment, the second actuator unit 342 is realized by a second linear actuator 3420.

The upper end of the first linear actuator 3410 is supported by the linear actuator 331c of the first support portion 331 so as to be rotatable around the axial direction along the longitudinal direction of the top plate 31. The lower end of the first linear actuator 3410 is supported by the bottom portion 32 so as to be rotatable around the axial direction along the longitudinal direction of the top plate 31. As shown in FIG. 14, the lower end of the first linear actuator 3410 is located on the lateral side of the top plate 31 relative to the upper end of the first linear actuator 3410. The first linear actuator 3410 moves linearly, i.e. expands and contracts, in a direction intersecting the linear actuator 331c of the first support portion 331, as shown by the arrow k in FIG. 14.

The upper end of the second linear actuator 3420 is supported by the linear actuator 331c of the first support portion 331 so as to be rotatable around the axial direction along the horizontal direction of the top plate 31. The lower end of the second linear actuator 3420 is supported by the bottom portion 32 so as to be rotatable around the axial direction along the horizontal direction of the top plate 31. As shown in FIG. 14, the lower end of the second linear actuator 3420 is located on the longitudinal side of the top plate 31 relative to the upper end of the second linear actuator 3420. The second linear actuator 3420 moves linearly in a direction intersecting with the linear actuator 331c of the first support portion 331, as shown by arrow j in FIG. 14.

In the third embodiment, instead of using the first shaft portion 3311 and the second shaft portion 3312, a spherical joint and a spherical bearing similar to those in the first embodiment may be used.

According to the third embodiment, the top plate 31 can be moved by a combined action of the linear motion of the linear actuators 331c, 332c, and 333c, the linear motion of the first linear actuator 3410, and the linear motion of the second linear actuator 3420, so that the stability and convenience of supporting the subject P can be improved with a simple configuration.

(Fourth embodiment)
Next, a fourth embodiment will be described, in which the relative positions of the tabletop 31 and the support portions 331 to 333 are different from those of the first embodiment. Fig. 15 is a perspective view showing an example of the configuration of a medical bed apparatus 3 according to the fourth embodiment.

In the first embodiment, the support parts 331 to 333 were arranged so as to be perpendicular to the top plate 31 and the bottom part 32 in the state shown in FIG. 3 before the top plate 31 was moved in the longitudinal movement mode. In contrast, in the fourth embodiment, the support parts 331 to 333 are arranged so as to be perpendicular to the top plate 31 and the bottom part 32 when the movement of the top plate 31 in the longitudinal movement mode is completed, as shown in FIG. 15. When the movement of the top plate 31 in the longitudinal movement mode is completed, the top plate 31 does not move any further toward the imaging unit 2. Therefore, when the movement of the top plate 31 in the longitudinal movement mode is completed, the support parts 331 to 333 are only allowed to rotate in the direction opposite the imaging unit 2, as shown by the arrow i2 in FIG. 15.

The state in which the top plate 31 is most likely to bend due to a localized load being applied to the top plate 31 is when the movement of the top plate 31 in the longitudinal movement mode is complete. On the other hand, the state in which the top plate 31 can be most stably supported by the supports 331 to 333 is when the supports 331 to 333 are perpendicular to the top plate 31 and the bottom portion 32.

According to the fourth embodiment, the support parts 331 to 333 are arranged so as to be perpendicular to the top plate 31 and the bottom part 32 when the movement of the top plate 31 in the longitudinal movement mode is completed, so that the top plate 31 can be supported most stably in the state in which the top plate 31 is most likely to bend. This can further improve the stability of the support of the subject P.

Figure 16 is a perspective view showing an example of the configuration of a medical bed device 3 according to a modified example of the fourth embodiment. The subject P is often placed on the portion of the tabletop 31 facing the imaging unit 2. Therefore, the portion of the tabletop 31 facing the imaging unit 2 is likely to be subjected to a load by the subject P. In the example shown in Figure 16, the portion of the tabletop 31 facing the imaging unit 2, which is likely to be subjected to a load, is supported by two support parts, the second support part 332 and the third support part 333. Therefore, according to the example shown in Figure 16, the stability of the support of the subject P can be further improved.

In addition, the term "processor" used in the above explanation refers to circuits such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an Application Specific Integrated Circuit (ASIC), a programmable logic device (e.g., a Simple Programmable Logic Device (SPLD), a Complex Programmable Logic Device (CPLD), and a Field Programmable Gate Array (FPGA)). The processor realizes its functions by reading and executing a program stored in a memory circuit. Note that instead of storing a program in a memory circuit, the processor may be configured to directly incorporate the program into its circuit. In this case, the processor realizes its functions by reading and executing the program incorporated in the circuit. Note that the processor is not limited to being configured as a single processor circuit, but may be configured as a single processor by combining multiple independent circuits to realize its functions. Furthermore, the multiple components in FIG. 1 may be integrated into a single processor to realize its functions.

According to at least one of the embodiments described above, it is possible to improve the stability and convenience of supporting the subject with a simple configuration.

Although several embodiments have been described above, these embodiments are presented only as examples and are not intended to limit the scope of the invention. The novel apparatus and method described in this specification can be embodied in various other forms. In addition, various omissions, substitutions, and modifications can be made to the forms of the apparatus and method described in this specification without departing from the spirit of the invention. The appended claims and their equivalents are intended to include such forms and modifications that fall within the scope and spirit of the invention.

REFERENCE SIGNS LIST 1 X-ray diagnostic apparatus 3 Medical bed apparatus 31 Top plate 32 Bottom 331 First support section 332 Second support section 333 Third support section 331a Upper shaft 332a Upper shaft 333a Upper shaft 331b Lower shaft 332b Lower shaft 333b Lower shaft 331c Linear actuator 332c Linear actuator 333c Linear actuator 34 Rotary drive actuator 62 Support section operation control function 7 Input interface 3411 First motor 3421 Second motor 3412 First gear 3422 Second gear 311a First spherical bearing 324a Second spherical bearing 3311 First shaft section 3312 Second shaft section 3410 First linear actuator 3420 Second linear actuator

Claims (16)

A top plate for supporting the subject;
a plurality of support portions that support a bottom portion provided below the top plate at one end and support the top plate at the other end;
A medical bed device, wherein the support portion has a first axis rotatably connected to the top plate, a second axis rotatably connected to the bottom portion, and an actuator connected to the first axis and the second axis and moving linearly. A control unit for controlling the operation of the support unit is further provided.
The medical couch apparatus according to claim 1 , wherein the control unit controls rotation of the second shaft included in at least one of the plurality of support units. A second actuator that rotates the second shaft included in the at least one support portion is further provided,
The medical bed apparatus according to claim 2 , wherein the control unit controls the rotation of the second shaft included in the at least one support unit by controlling the rotational driving of the second shaft by the second actuator. The first axis has an axial direction along the top plate,
The medical couch apparatus according to claim 3 , wherein the second axis has an axial direction aligned with an axial direction of the first axis. Each of the first axis and the second axis has a first axial direction along the top plate and a second axial direction along the top plate that is perpendicular to the first axial direction,
The medical bed apparatus according to claim 4 , wherein the second actuator rotates the second shaft included in the at least one support unit about the first axial direction and the second axial direction. An input unit that receives an input operation that specifies the operation of the tabletop,
The medical bed device according to claim 5, wherein the control unit controls the linear movement of the actuator and the rotational drive of the second axis by the second actuator so that the support unit operates in accordance with the operation of the tabletop specified by the input operation. The first axial direction is an axial direction along a longitudinal direction of the tabletop, and the second axial direction is an axial direction along a lateral direction of the tabletop that is perpendicular to the longitudinal direction of the tabletop,
The input unit receives a designation of a first action of moving the tabletop in the longitudinal direction;
7. The medical bed device according to claim 6, wherein the control unit controls the linear motion of the actuator so that the multiple support parts extend in response to the specification of the first operation, and controls the rotational drive of the second axis by the second actuator so that the multiple support parts rotate around the second axial direction. The medical bed apparatus according to claim 7, wherein the support is arranged so as to be perpendicular to the top plate and the bottom when the first operation is completed. The first axial direction is an axial direction along a longitudinal direction of the tabletop, and the second axial direction is an axial direction along a lateral direction of the tabletop that is perpendicular to the longitudinal direction of the tabletop,
the input unit accepts a designation of a second action of moving the tabletop in the lateral direction;
7. The medical bed device according to claim 6, wherein the control unit controls the linear motion of the actuator so that the multiple support parts extend in response to the specification of the second operation, and controls the rotational drive of the second axis by the second actuator so that the multiple support parts rotate around the first axial direction. The first axial direction is an axial direction along a longitudinal direction of the tabletop, and the second axial direction is an axial direction along a lateral direction of the tabletop that is perpendicular to the longitudinal direction of the tabletop,
the input unit accepts a designation of a third operation for getting the subject on and off the tabletop;
7. The medical bed device according to claim 6, wherein the control unit controls the linear motion of the actuator so that the multiple support parts are shortened in response to the specification of the third operation, and controls the rotational drive of the second axis by the second actuator so that the multiple support parts rotate around the second axial direction. the input unit accepts designation of a fourth operation of tilting the tabletop in an up-down direction with respect to a longitudinal direction of the tabletop;
The medical bed device of claim 6, wherein the control unit controls the linear motion of the actuator so that, in response to the specification of the fourth operation, at least one of the plurality of support parts extends, and other support parts arranged at a distance from the at least one support part of the plurality of support parts in the longitudinal direction of the tabletop do not extend. the input unit accepts designation of a fifth operation of tilting the tabletop in an up-down direction with respect to a lateral direction of the tabletop perpendicular to a longitudinal direction of the tabletop;
The medical bed device of claim 6, wherein the control unit controls the linear motion of the actuator so that, in response to the specification of the fifth operation, at least one of the plurality of support parts extends, and other support parts arranged at a distance from the at least one support part of the plurality of support parts in the lateral direction of the tabletop do not extend. the second actuator has a drive source and a transmission member that transmits a drive force of the drive source;
the first shaft is a first spherical joint connected to an upper end of the actuator and rotatably supported in a first spherical bearing provided on the top plate;
the second shaft included in at least one of the plurality of support parts is connected to a lower end of the corresponding actuator, and is a transmission member to which a driving force of the driving source is transmitted via the transmission member;
The medical bed device according to any one of claims 3 to 12, wherein the second axis included in a support part other than the at least one support part among the plurality of support parts is a second spherical joint connected to a lower end of the corresponding actuator and rotatably supported in a second spherical bearing provided at the bottom. The medical bed device according to any one of claims 5 to 12, wherein each of the first axis and the second axis has a first axis portion having the first axis direction and a second axis portion adjacent to the first axis portion in the vertical direction and having the second axis direction. The medical bed device according to any one of claims 3 to 12, wherein the second actuator moves linearly in a direction intersecting the linear motion direction of the actuator. an imaging unit that images an object using X-rays;
a medical bed apparatus on which the subject is placed,
The medical bed apparatus includes:
A top plate for supporting the subject;
a plurality of support portions that support a bottom portion provided below the top plate at one end and support the top plate at the other end;
The support portion has a first axis rotatably connected to the top plate, a second axis rotatably connected to the bottom portion, and an actuator connected to the first axis and the second axis and moving linearly.