JP4893199B2 - Round-trip X-ray equipment - Google Patents

Description

The present invention relates to a round-trip X-ray imaging apparatus that performs X-ray imaging in a hospital room, and more particularly to travel control.

Conventional X-ray imaging devices for round trips are independently driven by pressure sensors that are independently provided on the left and right and front and rear to detect the operating force according to the operating force applied to both ends of the operating handle. A pair of driving wheels, a motor provided on the wheel shaft, a driving bridge circuit configured by a switching element with the motor positioned in the center of the bridge, and a torque of the motor in the bridge circuit A pulse width control circuit for ON-OFF duty control, and an encoder for detecting the rotational speed of the driven wheel, and controls the torque of the motor in response to the signal from the pressure sensor and the signal from the encoder; It is comprised so that it may rotate and move (for example, patent document 1).

For the motor torque, the pulse width of the pulse width control circuit is [(maximum value of pulse control width) / (maximum output torque of motor)] × [(maximum rotational speed of motor) / (maximum rotational speed of motor). -Number of rotations of the motor)] x (force to push the operation handle) is controlled to be proportional to the value calculated. Therefore, the above calculation is performed so as to maintain the relationship of the motor output torque T = (amplification factor α) × (pushing force F). Therefore, when the operator presses the operation handle, the operation feels natural. Can be operated.

JP 2001-258872 A

This inventor investigated the use condition of the conventional X-ray imaging apparatus for round trips, and found the following problems.

The size of the corridors and hospital rooms in the hospital, the shape of the doors, and the like vary depending on each hospital. For example, in a university hospital or the like, although the corridor and the size of a hospital room are sufficiently secured, the number of hospital rooms is very large and the distance traveled during rounds is very long. In such a hospital, most of the traveling is straight traveling in the corridor, and traveling performance with good linear stability is desired.

On the other hand, in relatively small hospitals such as municipal hospitals, the size of corridors and hospital rooms are often designed to the minimum necessary, and although the number of hospital rooms is limited, there is a tendency to have relatively large corners. . In such a hospital, since most of the traveling is a curve or a turn, a travel performance with good turning performance is desired.

Furthermore, the driving performance has different preferences depending on the individual operator, and the preference varies depending on the level of proficiency.

However, the conventional X-ray imaging apparatus for round visits can only adjust the turning performance by detecting the operation force applied to the operation handle with the left and right sensors and outputting the torque corresponding to the detected force. There wasn't.

SUMMARY OF THE INVENTION An object of the present invention is to provide an X-ray imaging apparatus for round trips that solves the above-described problems and exhibits comfortable running performance according to the situation.

In order to solve the above-mentioned problem, an X-ray imaging apparatus for round trip according to claim 1 is an X-ray generator, an operation handle, and an operation for detecting the magnitude and direction of an operation force applied to the operation handle. Force detecting means, rotational driving means for independently driving left and right pair of driving wheels, drive control means for controlling output torque or rotational speed of the rotational driving means, and operating force detected by the operating force detecting means Parameter storage means for storing parameters that directly or indirectly represent the relationship between the magnitude and direction of the output and the output torque or rotational speed of the rotation drive means; and changing the parameters stored in the parameter storage means The parameter operation means and the drive control means are configured to control the rotational drive based on the magnitude and direction of the operation force detected by the operation force detection means and the parameter. And controlling the output torque or the rotational speed of the unit.

Based on the above configuration, the invention described in claim 1 operates as follows. That is, the parameter stored in the parameter storage means can be changed by operating the parameter operation means. The drive means controls the relationship between the magnitude and direction of the operation force detected by the operation force detection means and the output torque or rotation speed of the rotation drive means based on the parameters stored in the parameter storage means. Accordingly, when the parameter is changed by operating the parameter operating means, the relationship between the operating force and the driving state of the driving means changes.

Further, the invention described in claim 2 is the X-ray imaging apparatus for round visits described in claim 1, wherein the parameters include a turning parameter expressing turning performance and a gain parameter indicating the weight of operation. It is characterized by.

Based on the above configuration, the second aspect of the invention operates as follows. That is, by independently setting the turning parameter and the gain parameter in the parameter operating means, the magnitude and direction of the operating force detected by the operating force detecting means and the rotation driving means according to the stored parameters. The relationship with output torque or rotational speed changes.

According to the first aspect of the present invention, parameters can be stored, for example, for each operator or for each hospital, so that desirable driving performance can be exhibited. Moreover, even if it is desired to change the running performance by learning, the preferred running performance can be easily obtained by changing the parameters.

Furthermore, according to the invention described in claim 2, for example, when it is desired to change the turning performance, only the turning performance can be changed without changing the operation weight by changing only the turning parameter. . Similarly, when it is desired to change only the weight of the operation, the turning performance does not change, and the desired running performance can be intuitively achieved. Further, since the turning / gain parameters are set indirectly rather than directly, the relationship between the parameters and the operability can be easily understood.

With reference to FIG. 1, an outline of an X-ray imaging apparatus for round trips according to the present invention is shown.
A roundabout X-ray imaging apparatus 1 according to the present embodiment includes a support column 5 held by a carriage 2 so as to be pivotable, an X-ray tube holding arm 7 held by the support column 5 so as to be movable in a height direction, and an X-ray. An X-ray tube 3 held by a tube holding arm 7, a collimator 4 rotatably held by the X-ray tube 3, an operation handle 6 held movably in the front-rear direction with respect to the carriage 2, It comprises a pair of left and right drive wheels 9 disposed on the operation handle 6 side, a pair of left and right casters 10 disposed on the support column 5 side, and parameter operation means 11.

Further, as shown in FIG. 2, parameter storage means 13 and drive control means 12 are arranged inside the carriage 2. Moreover, the drive wheel 9 is comprised from the tire 91 and the motor 92 which is a rotational drive means.

Here, the structure of the operating force detection means 61 will be described with reference to FIG. FIG. 3 is a cross-sectional view of the vicinity of the traveling operation handle 6 as viewed from above the apparatus. The operation force detection means 61 includes a pressure sensor 64 and an elastic body 63 that transmits an operation force in the front-rear direction applied to the traveling operation handle 6 to the pressure sensor 64. In addition, "L" is attached | subjected to the code | symbol of each component arrange | positioned on the left, and "R" is attached | subjected to the code | symbol of each component arrange | positioned on the right, respectively. Further, “f” is attached to the components arranged in front of the traveling operation handle 6, and “b” is attached to the components arranged behind. The pressure sensor 64 has an electric resistance that changes in accordance with the pressure applied to the surface, and signals EfL, EfR, EbL. EbR (hereinafter referred to as operation force signal E) is read into the drive control means 12 through the A / D converter. In the drive control means 12, the operation force signal E is converted into operation force values SfL, SfR, SbL. It changes to SbR (hereinafter referred to as the operating force value S). For example, operating force signals EfL, EfR, EbL., Which are detected when several kinds of pressure are applied to the traveling operation handle 6 in advance using a measuring means capable of applying a predetermined pressure such as a spring alone. The value of EbR is stored as a calibration value, and the operation force signal S actually obtained can be calibrated to obtain the operation force value S.

Based on the operation force value S thus obtained, the operation direction Ds and the magnitude Dg can be obtained.
Ds = (SfL-SfR + SbL-SbR)
Dg = (SfL + SfR-SbL-SbR)

The operation direction Ds here corresponds to the operation force in the twist direction of the traveling operation handle 6. When the round-trip X-ray imaging apparatus 1 is turned with the minimum radius, the center of the left and right drive wheels 9 is the turning center. As a result, the operator feels that it is natural to turn or turn the device by twisting the traveling operation handle 6 substantially at the top.

From the detected operation direction Ds and the operation magnitude Dg, torques Tr and Tl to be output to the left and right drive wheels 9 are calculated.
Tr = Pg · Dg + Pθ · D s
Tl = Pg · Dg−Pθ · D s
Here, Pg is a gain parameter representing the weight of the operation. Further, Pθ is a turning parameter representing turning performance.

Based on the torques Tr and Tl to be output to the drive wheel 9 calculated in this way, the duty ratio of the PWM signal output to the left and right motors 92 is determined.

As described in the prior art, even if the motor has the same PWM signal duty ratio, the generated torque differs depending on the current rotational speed. If the output is simply performed with a duty ratio proportional to Tr and Tl, a large torque is output in the low rotation range, so that a natural operation feeling cannot be obtained. In particular, it has been experimentally known that when the operation is divided into the operation direction and the size as described above and the parameters are multiplied by each, the adverse effect becomes obvious.

Therefore, in order to change only the turning performance while maintaining a natural operation, a means for detecting the rotational speed of the motor and a correction of the duty by the detected rotational speed are required.

In this way, by correctly outputting the voltage of the duty ratio that is configured to the motor 92, it is possible to exhibit traveling performance according to the set parameters Pg and Pθ.

Next, a procedure for setting the turning parameter Pθ and the gain parameter Pg by the parameter operation means 11 will be described.

FIG. 4 is a diagram showing details of the parameter operation means 11. As shown in FIGS. 4A and 4B, the parameter operation means 11 includes a parameter display means 111 for displaying a value, a gain parameter setting mode changeover switch 112, a turning parameter setting mode changeover switch 113, and a parameter increase. The switch 114 and the parameter reduction switch 115 are configured. 4 (a) and 4 (b) have the same configuration, the reference numerals are attached only to FIG. 4 (a).

As shown in FIG. 4A, when the gain parameter setting mode changeover switch 112 is pressed, the LED provided in the gain parameter setting mode changeover switch 112 is turned on, and the gain parameter Pg stored in the parameter storage means 13 is changed. It is read out and displayed on the parameter display means 111.

In this state, when the parameter increase switch 114 or the parameter decrease switch 115 is pressed, the display of the parameter display unit 111 is changed and the displayed value is stored in the parameter storage unit 13.

The operator can set the weight of the desired operation by operating the operation handle 6 while changing the gain parameter Pg.

As shown in FIG. 4B, when the turning parameter setting mode changeover switch 112 is pressed, the LED provided on the turning parameter setting mode changeover switch 112 is turned on, and the turning parameter Pθ stored in the parameter storage means 13 is changed. It is read out and displayed on the parameter display means 111.

In this state, when the parameter increase switch 114 or the parameter decrease switch 115 is pressed, the display of the parameter display unit 111 is changed and the displayed value is stored in the parameter storage unit 13.

The operator can set the desired turning performance by operating the operation handle 6 while changing the turning parameter Pθ.

Note that a general round X-ray imaging apparatus includes a display unit for displaying an X-ray condition, and an increase switch and a decrease switch for changing the X-ray condition. It is preferable to also use a switch. The X-ray condition expresses the tube voltage in kV and the tube current in mA. In that case, it is common to express it with a three-digit numerical value. Therefore, if the turning parameter Pθ and the gain parameter Pg are set in the range of 0 to 100%, it can be expressed by a three-digit numerical value, and the same display means can be easily used. Furthermore, in order to make the parameters intuitively understandable, it is effective to be able to set the turning parameter Pθ and the gain parameter Pg in the range of 0 to 100%.

Although the preferred embodiment of the present invention has been described in detail above, it is needless to say that the present invention is not limited to such an aspect, and only the turning parameter may be changed.

For example, each time the parameter increase switch 114 or the parameter decrease switch 115 is operated, the changed parameter is stored in the parameter storage unit 13, but when a separate storage switch is provided and the storage switch is pressed, The displayed parameters may be stored. In that case, it is possible to prevent the parameters from being changed unexpectedly.

Each parameter is preferably set within a range of 0 to 100%, but may be selected more simply from several steps. Furthermore, although it is desirable to provide parameter display means, the effects of the present invention can be achieved without providing display means.

In addition, the detected operations are divided into directions and sizes, and the torques Tr and Tl to be output to the left and right drive wheels are calculated by taking the turning parameters into consideration. The rotational speed may be controlled instead of controlling the torque.

In addition, as long as the output ratio to the left and right motors during the turning operation changes based on the stored turning parameters, the mode is changed. Various changes are possible.

It is a figure explaining the outline | summary of the X-ray imaging apparatus for round trips concerning this invention. It is a figure explaining the structure of the main invention of the X-ray imaging apparatus for round trips concerning this invention. It is a figure explaining the detail of the operation force detection means concerning this invention. It is a figure which shows the detail of the parameter operation means 11 concerning this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Round-trip X-ray imaging apparatus 2 ... Carriage 3 ... X-ray tube 4 ... Collimator 5 ... Column 6 ... Operation handle 61 ... Operation force detection means 63 ... Elastic body 64 ... Pressure sensor 7 ... X-ray tube holding arm 9 ... Drive Wheel 91 ... Tire 92 ... Motor (rotational drive means)
10 ... Caster 11 ... Parameter operation means 111 ... Parameter display means 111
112 ... Gain parameter setting mode changeover switch 113 ... Turning parameter setting mode changeover switch 114 ... Parameter increase switch 115 ... Parameter decrease switch 12 ... Drive control means 13 ... Parameter storage means

Claims (2)

An X-ray generator;
An operation handle;
Operating force detecting means for detecting the magnitude and direction of the operating force applied to the operating handle;
Rotation drive means for independently driving the left and right pair of drive wheels;
Drive control means for controlling the output torque or rotation speed of the rotation drive means;
Parameter storage means for storing parameters that directly or indirectly represent the relationship between the magnitude or direction of the operation force detected by the operation force detection means and the output torque or rotation speed of the rotation drive means;
Parameter operating means for changing the parameters stored in the parameter storage means ,
The parameter includes a turning parameter expressing turning performance,
The drive control means controls the output torque or rotation speed of the rotation drive means based on the magnitude and direction of the operation force detected by the operation force detection means and the parameter, X-ray equipment. 2. The round X-ray apparatus according to claim 1, wherein the parameter further includes a gain parameter indicating a weight of the operation.

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