JP4665181B2 - Driving device, dynamic photographing system, and dynamic photographing method - Google Patents

Description

The present invention relates to a driving device, a dynamic imaging system, and a dynamic imaging method. In particular, the present invention relates to a joint and spinal cord drive device, a dynamic imaging system, and a dynamic imaging method.

In recent years, so-called “dynamic imaging” in which radiography is performed using an X-ray fluoroscopy apparatus while moving a joint or the like when diagnosing damage to a movable part such as a knee or elbow joint or spine has been actively studied. . The dynamic imaging technique is a suitable technique for diagnosing a movable part such as a joint, and the development of an excellent dynamic imaging technique is desired for medical staff.

As the dynamic imaging technique, CT (Computed Tomography), MRI (Magnetic Resonance Imaging), X-ray fluoroscopy apparatus and the like are often used.

CT is a tomographic imaging apparatus that uses a combination of X-rays and their light receivers, and irradiates a subject with X-rays that continuously move in a circular motion, so that X-ray transmissivity in many planes and in different directions is obtained. Data can be obtained with a photoreceiver. A two-dimensional tomographic image or a three-dimensional image can be obtained based on the X-ray transmission data.

MRI is a method for obtaining a tomographic image using a nuclear magnetic resonance (NMR) phenomenon. An RF pulse and a gradient magnetic field are applied in a predetermined pulse sequence to a subject placed under a predetermined static magnetic field, The echo signals generated thereby are collected and processed to obtain a two-dimensional or three-dimensional nuclear magnetic resonance tomographic image.

Conventionally, CT, X-ray fluoroscopy equipment and MRI have been widely used for diagnosis of stationary subjects, but with the development of recent computer processing technology, digital processing is applied to tomographic images obtained by CT and MRI. By doing so, it has become possible to take complex dynamics of the joints and spine.

In addition, the appearance of “4-dimensional CT (referring to CT with 256 or more detectors)”, which is an improvement over conventional CT, and the improvement of MRI, two-dimensional images and three-dimensional images of joints and spines are continuously displayed. It has become possible to take dynamic pictures. These dynamic imaging techniques have become diagnostic techniques indispensable for diagnosis of movable parts such as joints.

On the other hand, when diagnosing damage to a movable part such as a joint, it is necessary to perform dynamic imaging while giving a predetermined motion to the joint. Conventionally, as a device for giving a predetermined motion to a joint or the like, for example, it is used for a physical therapy aimed at recovery in a joint after surgery or a degenerative disease as disclosed in Patent Literature 1 and Patent Literature 2 below. Things are known. These apparatuses are generally referred to as CPM (Continuous Passive Motion) apparatuses.

Patent Document 1 discloses a knee joint training device that can flexibly change a set trajectory in accordance with a resistance force from a patient. This device moves the leg holding member 30 connected to the member at the antagonistic point by moving the member 12 at the antagonistic point connected to the secondary characteristic spring by extending and contracting the secondary characteristic spring 11 by the servo motor 14. , Move the leg joint.

Patent Document 2 discloses a device that moves the arms 2 and 3 by the driving means 22 and moves the legs fixed to the arms 2 and 3 to perform the bending and stretching movements of the leg joints.
JP 2004-105609 A JP 2002-263149 A

Here, in order to perform accurate dynamic imaging of a joint or the like, it is necessary to perform imaging while giving a predetermined motion to the joint while keeping the joint center constant. In addition, it has been found that most of the joints and spinal cords appear abnormal when loaded (when a load is applied). Therefore, in order to perform an accurate diagnosis of a joint or the like, it is necessary to perform dynamic imaging such as CT examination while keeping the joint center constant and applying a load. In some cases, it is necessary to perform dynamic imaging while changing the speed and load for moving the joint.

Conventionally, when performing dynamic imaging of joints, it has also been attempted to perform dynamic imaging while moving the joint using a training device used in conventional physical therapy, but in the conventional training device, the joint center moves greatly. Accurate dynamic imaging by CT or MRI could not be performed. Further, in the conventional training apparatus, the load applied to the joint cannot be adjusted, the speed at which the joint is moved cannot be changed, and an accurate diagnosis of the joint disorder cannot be performed.

Therefore, the present invention has been made in view of the above-described problems, and provides a driving device, a dynamic imaging system, and a dynamic imaging method that can accurately diagnose joint disorders.

The drive device of the present invention continuously moves a part such as a joint or spine of a subject by a rotational motion (circumferential motion).

The drive device of the present invention continuously moves the subject's joint, spine, and other parts by a rotational motion (circumferential motion) that keeps the rotation center of the subject's joint and spine constant. In the driving device of the present invention, the joint and the spine are fixed by fixing the end of the subject by the fixing means, and the load cell senses the load while applying a load to the fixing means with a motor or the like via the load cell. Controlling. In addition, a motor and a speed reducer are provided to perform a rotational motion (circular motion) that keeps the rotational center of the joint and spine constant. An arc-shaped rail is provided outside the center of rotation to provide a space around the end of the subject.

In the dynamic imaging system and dynamic imaging method of the present invention, a joint or spine is continuously moved by a rotational motion (circumferential motion) that keeps the rotational center of the joint or spine constant while applying a load to the joint or spine of the subject. It is used to perform dynamic imaging of joints. In the dynamic imaging system and dynamic imaging method of the present invention, the joint and the spine are fixed by fixing the end of the subject by the fixing means, and the load is applied by the load cell while applying a load to the portion connected to the fixing means with a motor or the like. Sense and control. In addition, a motor and a speed reducer are provided in order to perform a rotational motion (circulation motion in which the rotation center of the joint and the spine is kept constant). In the dynamic imaging system of the present invention, the weight pattern applied to the joint and the like and the rotation speed (circumferential speed) of the joint and the like can be freely set, and are synchronized with the radiographic apparatus, CT, and MRI imaging sequences.

Further, the training device of the present invention continuously moves the joint or spine by a rotational motion (circumferential motion) that keeps the rotational center of the joint or spine constant while applying a load to the joint or spine of the subject. It is a training device that performs physical therapy. The training device of the present invention can freely change the load applied to the joint and spine of the subject, and can selectively strengthen muscles after surgery and against degenerative diseases.

According to the present invention, the load device having a fixing means for fixing the subject and a load means for applying a predetermined load to the subject via the load cell, and the load driving device are provided outside the rotation center of the fixing means. And a moving means for moving along the arcuate rail.

Further, according to the present invention, a load device having a fixing means for fixing the subject and a load means for applying a predetermined load to the subject via a load cell, and the load driving device outside the rotation center of the fixing means. And a moving means for moving the rotation center while keeping the center of rotation constant along an arc-shaped rail provided.

The load means includes a reciprocating mechanism, and an elastic member provided between the reciprocating mechanism and the fixing means, and subjecting the subject to forward and backward movement of the reciprocating mechanism via the elastic member and the load cell. You may make it transmit to.

Further, the predetermined load may be applied to the subject by feeding back information from the load cell to the motor.

The load cell and the load means may be fixed to a rotating frame, and may have means for moving the load cell and the loading means on the rotating frame.

Further, according to the present invention, a load device having a fixing means for fixing the subject and a load means for applying a predetermined load to the subject via a load cell, and the load driving device outside the rotation center of the fixing means. There is provided a dynamic imaging system comprising moving means for moving along an arc-shaped rail provided and imaging means for imaging the rotation center.

Further, according to the present invention, a load device having a fixing means for fixing the subject and a load means for applying a predetermined load to the subject via a load cell, and the load driving device outside the rotation center of the fixing means. There is provided a dynamic imaging system comprising: a moving unit that moves the rotation center while keeping the rotation center constant along an arc-shaped rail provided; and an imaging unit that images the rotation center.

The load means includes a reciprocating mechanism, and an elastic member provided between the reciprocating mechanism and the fixing means, and subjecting the subject to forward and backward movement of the reciprocating mechanism via the elastic member and the load cell. You may make it transmit to.

Further, the predetermined load may be applied to the subject by feeding back information from the load cell to the motor.

The load cell and the load means may be fixed to a rotating frame, and may have means for moving the load cell and the loading means on the rotating frame.

Further, the imaging unit may be a CT, MRI, or X-ray fluoroscopic apparatus.

Further, according to the present invention, a predetermined load is applied to the subject via the load cell, and the center of rotation of the predetermined portion of the subject is kept constant, along the arc-shaped rail provided outside the load cell. There is provided a dynamic imaging method for imaging the rotation center by moving the load cell while keeping the rotation center constant.

The load means includes a reciprocating mechanism, and an elastic member provided between the reciprocating mechanism and the fixing means, and subjecting the subject to forward and backward movement of the reciprocating mechanism via the elastic member and the load cell. You may make it transmit to.

The load cell and the load means may be fixed to a rotating frame, and may have means for moving the load cell and the loading means on the rotating frame.

According to the drive device of the present invention, the joint and spine of the subject can be moved continuously. Further, according to the driving device of the present invention, when a CT image, a fluoroscopic image, and an MRI image are taken, the joint and the spine are continuously moved by a rotational motion (circumferential motion) that keeps the rotational center of the joint and the spine constant. It is possible to move smoothly and accurately to perform dynamic imaging of joints and the like. Further, according to the driving device of the present invention, when a CT image, a fluoroscopic image, and an MRI image are taken while continuously moving the joint and spine of the subject, the joint and the spine are loaded while applying a load. In addition, the joint and the spine can be continuously moved by a rotational motion (circumferential motion) that keeps the rotational center of the spine constant, thereby enabling smooth and accurate dynamic imaging of the joint and the like. In addition, the dynamic imaging system of the present invention can be synchronized with a CT or MRI imaging sequence by remote operation, and a series of operations can be driven by remote operation, improving operability and reducing imaging time. Can be planned.

Further, according to the dynamic imaging system and dynamic imaging method of the present invention, when taking a CT image and a fluoroscopic image while continuously moving the joint and spine of the subject, the rotation center of the joint and spine is kept constant. By continually moving the joints and spine by rotational motion (circumferential motion) and performing dynamic imaging of the joints and the like smoothly and accurately, it is possible to accurately diagnose a failure of the joints and the like. Further, according to the dynamic imaging system and dynamic imaging method of the present invention, the joint and spine are rotated by a rotational motion (circumferential motion) that keeps the rotational center of the joint and spine constant while applying a load to the joint and spine of the subject. By continuously moving the lens and performing dynamic imaging of the joint and the like smoothly and accurately, it is possible to accurately diagnose a disorder such as the joint. In addition, the dynamic imaging system and dynamic imaging method of the present invention can be synchronized with CT or MRI imaging sequences by remote operation, and a series of operations can be driven by remote operation, improving operability and imaging time. Can be shortened, and as a result, the diagnosis time can be shortened.

In the present embodiment, an example in which the drive device, dynamic imaging system, and dynamic imaging method of the present invention are used for a knee joint of a subject will be described. The present invention can be used not only for the knee joint of a subject but also for other joints such as elbows, or other movable parts such as the spinal cord, a dynamic imaging system, and a dynamic imaging method.

Please refer to FIG. FIG. 1 shows a driving device 100 used in the driving device, dynamic imaging system, and dynamic imaging method of the present invention. The drive device 100 includes a load control device 101, a pulley 102, a wire 103, a weight 104 and guide rails 105, 106 and 107, a rotating frame 108, a motor 109, a speed reducer 110, a guide rail 111, a lever 112, a guide 113, and a stay 114. In addition, a setting device 115 is included. In FIG. 1, for convenience of explanation, two load control devices 101 are described, and the load control device 101 shows an operation state of moving along the guide rails 105, 106, and 107, but an actual drive device is Only one load control device 101 is provided.

The load control device 101 includes a cover 101-1, a speed reducer 101-4 (not shown), levers 101-5 and 101-6, a motor 101-7, a compression spring cylinder 101-8, a load cell 101-9, and fixed shoes. 101-10. A detailed configuration of the load control device 101 will be described later with reference to FIGS. 2 and 3.

The rotation frame 108 is provided with a guide rail 111, and the load control device 101 is moved (rotated or rotated) along the guide rails 105, 106, and 107 along the arcuate shape along the guide rail 111. be able to. The guide rails 105, 106 and 107 are made with a predetermined curvature. In the present invention, one of the features is that the arc-shaped guide rails 105, 106 and 107 are outside the center of rotation.

The rotary frame 108 is provided with a motor 109 and a speed reducer 110. The speed reducer 110 meshes with a gear carved on the guide rail 106 of the drive device 100, and the rotation of the motor 109 and the speed reducer 110 guides the rotary frame 108 and the load control device 101 fixed to the rotary frame 108. It moves along the rails 105, 106 and 107. A stay 114 provided on the rotating frame 108 serves to assist the moving of the rotating frame 108 along the guide rail 105. Further, the guide 113 provided on the rotating frame 108 plays a role of assisting the rotating frame 108 to move along the guide rail 107. The guide rails 105, 106, and 107, the motor 109, and the speed reducer 110 constitute moving means that rotates (circulates) the load control device 101 with a constant rotation center. In this embodiment, convex rails are used for the guide rails 105 and 106, and concave grooves are used for the guide rail 107. However, the driving device according to the present invention is not limited to this. Yes. The type or number of guide rails can be appropriately changed so that the load control device 101 moves (rotates, rotates) on the side surface of the drive device with a predetermined curvature. The fixed shoe 101-10 is attached with the end of the subject (in this embodiment, a foot), and serves as a fixing means for fixing the subject to the load control apparatus 101.

When a load (maximum load and minimum load or constant load) applied to the load cell 101-9 of the load control device 101 is input using the setting device 115 of the driving device 100 and photographing is performed while changing the load, Set the rate of change. Further, the speed of the load control device 101, that is, the angular velocity for moving the subject's joint is set. The setting device 115 also serves as a display device and can be remotely operated using a code. In the present embodiment, three stages of angular velocities can be set.

A weight 104 is attached to the rotating frame 108 via a wire 103 and a pulley 102. The weight 104 serves to balance the rotating frame 108 and the load control device 101 when moving along the guide rails 105, 106, and 107.

In the load control device 101, by controlling the motor 101-7, the expansion of the compression spring 101-14 (not shown) incorporated in the compression spring cylinder is controlled, and the load applied to the load cell is controlled. Yes.

In the present embodiment, as shown in FIG. 1, the lower extension line of the load control device 101 is set to pass through the center of rotation. The position of the fixed shoe 101-10 is set so that the center of the leg joint of the subject wearing the fixed shoe is the center of rotation. In addition, the angle of the load control device 101 and the position of the fixed shoe 101-10 can be changed, and the position of the rotation center can be changed.

Although FIG. 1 shows the drive device 100 of the present invention including the load control device 101, the drive device of the present invention may not include the function of the load control device 101. That is, no load (load) is applied to the fixed shoe 101-10, and the rotating frame 108 is moved (rotated or rotated) along the guide rail 111 with a predetermined curvature, so that the fixed shoe 101-10 has a predetermined curvature. It is also possible to have only the function of moving (rotating, rotating).

Reference is now made to FIGS. 2 and 3 are views showing the internal structure of the load control device 101 and the components provided on the rotating frame 108 in an embodiment of the drive device of the present invention. 2 shows a side view of the load control device 101 in the present embodiment, and FIG. 3 shows a rear view thereof. 2 and 3 show the load control device 101 with the cover 101-1 removed for convenience of explanation.

2 and 3, the load control device 101 includes a speed reducer 101-4, levers 101-5 and 101-6, a motor 101-7, a compression spring cylinder 101-8, a load cell 101-9, and a fixed shoe 101. -10, pin 101-12, pedestal 101-13, compression spring 101-14, pedestal 101-15, shaft 101-16, bearings 101-17, 101-18 and 101-19, coupling 101-20, shaft 101 -21 and 101-22, pedestals 101-23 and 101-24, stays 101-25 and 101-26, trapezoidal screws 101-27, load cell plates 101-28, bearings 101-29 and 101-30, fixed shoe 1 101-31, fixed shoe base 2 101-32, plate 101-33, bearing 101-34 and screw nut 101-35.

First, referring to FIG. As shown in FIG. 2, in the load control apparatus 101 of this embodiment, the motor 101-7 is connected to the speed reducer. The motor 101-7 is controlled by a computer and is used to control the load applied to the load cell 101-9, that is, the load applied to the fixed shoe 101-10. Information on the load applied to the load cell is monitored in real time and fed back to the motor 101-7 so that the load applied to the load cell maintains a preset value.

The rotation of the motor 101-7 is decelerated by the speed reducer 101-4, and the rotational torque is increased and transmitted to the coupling 101-20. When the rotational torque of the speed reducer is transmitted to the shaft 101-16 by the coupling 101-20, the trapezoidal screw 101-27 provided on the outer periphery of the shaft 101-16 rotates, so that the compression spring cylinder 101-8 side is rotated. The provided screw nut 101-35 moves linearly, thereby converting the rotational torque into a two-dimensional motion (reciprocating motion, converting back and forth motion) and pushing and pulling the shaft 101-16 in the direction of the base 101-15. In place of the motor 101-7, the speed reducer 101-4, and the coupling 101-20, a linear motor or an actuator may be used. In this embodiment, the motor 101-7, the speed reducer 101-4, the coupling 101-20, the trapezoidal screw 101-27, the shaft 101-16, the screw nut 101-35, and the pedestal 101-15 function as a reciprocating mechanism. The expansion of the compression spring 101-14 is controlled.

In addition, when the load of the load means is large and the knee joint escapes in the pressing direction, it is preferable to hold the knee joint so as not to escape from the direction of the rotation center with a string, tape, or the like.

A pedestal 101-13, a compression spring 101-14, and a pedestal 101-15 are incorporated in this order in the compression spring cylinder 101-8, and the load transmitted to the pedestal 101-15 compresses the compression spring 101-8. Is transmitted to the pedestal 101-13. The load transmitted to the pedestal 101-13 is transmitted to the load cell 101-9 via the pin 101-12. The load transmitted to the load cell is transmitted to the fixed shoe 101-10 via the fixed shoe table 2 101-32 and the fixed shoe table 1 101-31, and is transmitted to the subject wearing the fixed shoe. In addition, you may make it provide the compression spring 101-14 between a load cell and the fixed shoe stand 2 101-32.

The shaft 101-22 and the shaft 101-21 are linear motion guides for linearly moving the load cell plate 101-28 and the fixed shoe base 2 101-32.

As shown in FIGS. 2 and 3, stays 101-34 and 101-35 provided on a plate 101-33 serving as a skeleton of the load control device are engaged with a guide rail 111 provided on the rotating frame 108. Yes. By adopting such a configuration, as shown in FIG. 4, the center of the leg joint of the subject wearing the fixed shoe as described above is moved by moving the plate 101-33 along the guide rail 111 of the rotating frame 108. Can be the center of rotation. The plate 101-33 is moved to an appropriate position, and the position of the plate 101-33 is locked by the levers 101-5 and 101-6.

In the driving apparatus of the present invention described in the present embodiment, a spring is used as an elastic member for applying a predetermined load to the subject. However, other elastic members that can be expanded and contracted can be used. By converting the pressing force of the reciprocating mechanism into the deformation restoring force of the spring and transmitting it to the subject, the reaction force by the subject can be more accurately transmitted to the load cell.

Further, the structure of the rotating frame that fixes the load cell and the load means is not limited to the plate, and may be a pipe member or the like.

Reference is now made to FIG. FIG. 5 outlines the dynamic imaging system of the present invention. Although an example in which a CT apparatus is used as an imaging apparatus will be described here, an imaging apparatus such as an MRI apparatus or a fluoroscopic imaging apparatus may be used.

The leg of the subject 200 is inserted into the gantry 301 of the CT apparatus 300. The leg of the subject is firmly fixed by the belt 203. It should be noted that the subject 200 may be in a sitting position with the subject 200 leaning against the back plate 201, or the subject 200 may be placed on its back without using the back plate 201. At this time, the table 202 is adjusted so that the joint of the subject's leg is positioned at the center of the gantry 301. The leg that is not to be photographed should be removed outside or placed in a separate footrest brace.

Next, as shown in FIG. 5, the fixed shoe 101-10 of the load control device 101 is attached to the subject. Thereafter, when the setting device 115 of the driving device 100 is used to input a load (maximum load and minimum load, or constant load) applied to the load cell 101-9 of the load control device 101, and shooting is performed while changing the load, Set the rate of change of load. Further, the speed of the load control device 101, that is, the angular velocity for moving the subject's joint is set. The setting device 115 also serves as a display device and can be remotely operated using a code.

FIG. 6 shows a state in which the CT apparatus 300 is viewed from the front. It can be seen that the fixed shoe 101-10 of the load control device 101 is located beyond the gantry 301.

After setting the load and angular velocity, move to actual shooting. Simultaneously with the start of the operation of the driving apparatus 100, imaging by the CT apparatus is started. In the drive device 100, the rotation frame 108 and the load control device 101 fixed to the rotation frame 108 move along the guide rails 105, 106 and 107 by the rotation of the motor 109 and the speed reducer 110. At this time, the center of the joint of the subject's leg becomes the center of rotation, and the motion of the joint is accurately imaged by the CT apparatus.

In the present invention, as described above, since the drive device 100 operates so that the center of the joint of the subject is the rotation center of the load control device 101, dynamic imaging can be accurately performed by the CT apparatus.

In the case where an MRI apparatus is used for the imaging apparatus, the driving apparatus 100 and the load control apparatus 101 and other parts are made of a non-magnetic material, or between the driving apparatus 100 and the load control apparatus 101 and other parts and the MRI apparatus. It is necessary to install a magnetic field shield so that the magnetic field does not affect the driving device 100, the load control device 101, and the like.

In the present embodiment, an example of shooting while applying a load has been described, but shooting may be performed without applying a load. Further, the angular velocity of the load control device 101 may be constant or may be changed.

When imaging a joint or the like by the dynamic imaging system of the present invention, in order to more clearly perform dynamic imaging of the joint, when using a CT apparatus for the imaging apparatus, an iotrolan-based joint contrast agent or the like is used. Good. Further, by using an ioversol-based angiographic contrast agent, dynamic imaging of the vascular tissue in the joint can be performed, which can contribute to the diagnosis of joint disorders. Further, when MRI is used in the imaging apparatus, angiography may be used using a gadopentetate dimeglumine-based contrast agent.

As described above, according to the driving device, dynamic imaging system, and dynamic imaging method of the present invention, when a CT image or a fluoroscopic image is captured while continuously moving the joint or spine of the subject, the joint or spine is captured. By continually moving the joint and spine by a rotational motion with the center of rotation kept constant, and taking a smooth and accurate dynamic imaging of the joint and the like, an accurate diagnosis of the joint and the like can be made. In addition, according to the drive device, dynamic imaging system, and dynamic imaging method of the present invention, the joint and spine are continuously moved by a rotational motion that keeps the rotation center of the joint and spine constant while applying a load to the joint and spine of the subject. By moving the target automatically and performing smooth and accurate dynamic imaging of the joint and the like, it is possible to accurately diagnose a failure of the joint and the like. In addition, the drive device, dynamic imaging system, and dynamic imaging method of the present invention can be synchronized with CT or MRI imaging sequences by remote operation, and a series of operations can be driven by remote operation, improving operability. Therefore, the imaging time can be shortened, and as a result, the diagnosis time can be shortened.

An excellent training method can be provided by using the drive device of the present invention described in the above-described embodiment for post-surgery or joint training of a degenerative disease in rehabilitation of a subject's knee joint. The training method of the present invention can perform physical therapy by continuously moving the joint and spine by a rotational motion that keeps the rotation center of the joint and spine constant while applying a load to the joint and spine of the subject. Muscles can be selectively strengthened after surgery or for degenerative diseases.

As described above, the drive device, dynamic imaging system, and dynamic imaging method of the present invention are not only very effective for diagnosis of joint disorders, but can also be used for physical therapy such as rehabilitation.

It is a figure which shows one Embodiment of the drive device of this invention. It is a figure which shows the internal structure of the load control apparatus in one Embodiment of the drive device of this invention. It is a figure which shows the internal structure of the load control apparatus in one Embodiment of the drive device of this invention. It is a figure which shows the internal structure of the load control apparatus in one Embodiment of the drive device of this invention, and its motion. It is a figure which shows one Embodiment of the dynamic imaging | photography system of this invention. It is a figure which shows a motion of the load control apparatus 101 in one Embodiment of the dynamic imaging | photography system of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Drive apparatus 102 Pulley 103 Wire 104 Weight 105,106,107 Guide rail 108 Rotating frame 109 Motor 110 Reducer 111 Guide rail 112 Lever 113 Guide 114 Stay 101 Load control apparatus 101-1 Cover 101-2 Empty 101-3 Empty 101 -4 Decelerator 101-5 Lever 101-6 Lever 101-7 Motor 101-8 Compression spring cylinder 101-9 Load cell 101-10 Fixed shoe 101-12 Pin 101-13 Base 101-14 Compression spring 101-15 Base 101- 16 shaft 101-17 bearing 101-18 bearing 101-19 bearing 101-20 coupling 101-21 shaft 101-22 shaft 101-23 pedestal 101-24 pedestal 101-25 stay 101-26 stay 101-27 trapezoidal screw 101- 2 Load cell plate 101-29 bearing 101-30 bearing 101-31 fixed shoe base 1
101-32 fixed footwear 2
101-33 Plate 101-34 Bearing 101-35 Screw nut

Claims (9)

A load device having a fixing means for fixing the subject and a load means for applying a predetermined load to the subject via a load cell;
Moving means for moving the load device in an arc shape,
While applying the predetermined load to the part of the subject fixed to the fixing means, the center of the rotational movement of the part of the subject and the center of the rotational movement of the moving means are made to coincide with each other. A drive device characterized by being moved in an arc shape. The load means includes a reciprocating mechanism and an elastic member provided between the reciprocating mechanism and the fixing means, and transmits the back-and-forth movement of the reciprocating mechanism to the subject via the elastic member and the load cell. The drive device according to claim 1, wherein: By feeding back information from the load cell to the motors, the driving device according to claim 2, characterized in that applying a predetermined load to the subject. 4. The load cell and the load means are fixed to a rotating frame, and have means for moving the load cell and the loading means on the rotating frame. The drive device described. A load device having a fixing means for fixing the subject and a load means for applying a predetermined load to the subject via a load cell;
Moving means for moving the load device in an arc shape;
Imaging means for imaging the center of the rotational movement of the part of the subject,
While applying a predetermined load to the part of the subject fixed to the fixing means, the center of the rotational movement of the part of the subject and the center of the rotational movement of the moving means are made to coincide with each other. A dynamic imaging system characterized in that it moves in an arc shape and images the center of rotational movement of the part of the subject. The load means includes a reciprocating mechanism and an elastic member provided between the reciprocating mechanism and the fixing means, and transmits the back-and-forth movement of the reciprocating mechanism to the subject via the elastic member and the load cell. The dynamic imaging system according to claim 5, wherein: By feeding back information from the load cell to the motors, dynamic imaging system according to claim 6, characterized in applying a predetermined load to the subject. The dynamic imaging according to claim 6 or 7, wherein the load cell and the load means are fixed to a rotary frame, and have means for moving the load cell and the load means on the rotary frame. system. The dynamic imaging system according to claim 5, wherein the imaging unit is a CT, MRI, or X-ray fluoroscopic apparatus.

Images