JP6971689B2 - Mobile X-ray diagnostic device - Google Patents

Description

Embodiments of the present invention relate to a mobile X-ray diagnostic apparatus.

The X-ray diagnostic apparatus includes a mobile X-ray diagnostic apparatus that is not fixedly installed in the examination room but is configured to be freely movable. Unlike the stationary X-ray diagnostic device, the mobile X-ray diagnostic device can be used in a hospital room, which is very convenient for the user.

However, the mobile X-ray diagnostic device has a predetermined size. Therefore, when the user pushes the mobile X-ray diagnostic device from behind to move it, the mobile X-ray diagnostic device itself causes a blind spot in the field of view in front of the user. Therefore, for example, a user who moves a mobile X-ray diagnostic device in a hospital must pay close attention to obstacles such as a person who may exist in a blind spot, which imposes a heavy burden.

Japanese Unexamined Patent Publication No. 2009-183368

An object to be solved by the present invention is to provide a mobile X-ray diagnostic apparatus capable of supporting safe movement when the mobile X-ray diagnostic apparatus is moving.

In order to solve the above-mentioned problems, the mobile X-ray diagnostic apparatus according to the embodiment of the present invention has a storage shape used when moving by being operated by a user and a deployed shape used when imaging with X-rays. This is a mobile X-ray diagnostic device used in one of the two forms of the above, and an auxiliary driving force that assists the operation by the user is applied to the drive wheel provided in the main body of the device and the drive wheel. It includes a drive unit, a detection unit that detects an obstacle in front of the device main body in the traveling direction, and a drive force control unit that controls the auxiliary driving force based on the detection result by the detection unit. ..

(A) is a schematic external view showing an example of a storage shape of a mobile X-ray diagnostic apparatus according to an embodiment of the present invention, and (b) is a schematic external view showing an example of a developed shape. A schematic block diagram showing an example of the internal configuration of a tablet and an example of a function realized by a processor of a processing circuit. A flowchart showing an example of a procedure for supporting safe movement by automatically controlling the driving force of a motor according to the detection of an obstacle when the mobile X-ray diagnostic apparatus is moving.

An embodiment of the mobile X-ray diagnostic apparatus according to the present invention will be described with reference to the accompanying drawings. The mobile X-ray diagnostic apparatus according to the embodiment of the present invention has one of two shapes, a storage shape used when the user operates and moves, and a deployed shape used when imaging with X-rays. Used in.

FIG. 1A is a schematic external view showing an example of a storage shape of the mobile X-ray diagnostic apparatus 10 according to an embodiment of the present invention, and FIG. 1B is a schematic external view showing an example of a developed shape. It is a figure.

As shown in FIGS. 1A and 1B, the mobile X-ray diagnostic apparatus 10 includes a support column 11, an arm 12, an X-ray tube 13, an X-ray movable diaphragm 14, a front wheel 15, a rear wheel 16, a handle 17, and a handle 17. It has a device body 18.

The support column 11 is formed of, for example, a rod-shaped member, and is erected on the front side (front wheel 15 side) of the apparatus main body 18 in the traveling direction.

The arm 12 is made of resin, metal, or the like, and one end thereof is supported by the support column 11, and the other end supports the X-ray tube 13 and the X-ray movable diaphragm 14. The arm 12 is supported by the support column 11 so that the X-ray tube can be positioned at two positions corresponding to the storage shape shown in FIG. 1 (a) and the deployed shape shown in FIG. 1 (b). The X-ray tube 13 is located on the rear side of the support column 11 in the stored shape, while it is located on the front side of the support column 11 in the expanded shape.

Further, the arm 12 may be freely slidably connected up and down along the support column 11. For example, the support column 11 has a rail, and one end of the arm 12 is connected to the rail and moves on the rail, so that the arm 12 can be slid up and down. Further, the arm 12 may be configured to be expandable and contractible in a direction orthogonal to the long axis of the support column 11. In this case, the arm 12 can be contracted in a direction orthogonal to the long axis of the support column 11 so that the X-ray tube 13 does not protrude to the rear side in the storage shape, and the X-ray image can be taken. Sometimes the X-ray tube 13 can be stretched to form an unfolded shape so that it reaches farther. It is preferable that the sliding operation and the expansion / contraction operation are prohibited in the stored shape.

For example, upon moving to the hospital room, the user swivels the column 11 about the longitudinal direction to direct the X-ray tube 13 and the X-ray movable diaphragm 14 to the front of the device body 18 (see FIG. 1 (b)). When the arm 12 is configured to be expandable and contractible in a direction orthogonal to the long axis of the support column 11, the user extends the arm 12 to a position where the X-ray is irradiated to the imaging site of the subject (patient or the like). By arranging the X-ray tube 13, the mobile X-ray diagnostic apparatus 10 has an expanded shape. Further, the user adjusts the imaging region so as to enter the irradiation field by using a switch, a knob, or the like provided on the X-ray movable diaphragm 14. Then, an image recording medium such as an FPD (Flat Panel Detector) or a cassette is set between the patient's imaging site and the bed, and X-ray imaging is performed.

In this way, the mobile X-ray diagnostic apparatus 10 is moved to a hospital room or an operating room in a stored shape, and the position of the X-ray tube 13 and the irradiation field are adjusted with respect to the imaging site in the expanded shape to obtain an X-ray image. Take an image.

The X-ray tube 13 generates X-rays by applying a voltage by a high voltage generator included in the apparatus main body 18. The X-ray movable diaphragm 14 has a mechanism for adjusting the irradiation field of the X-ray generated by the X-ray tube 13. Specifically, the X-ray movable diaphragm 14 has, for example, two pairs of movable blades, and the X-ray irradiation field is adjusted by opening and closing each pair of movable blades.

The support column 11 is provided with devices such as a radar, sonar, and a camera 21 for detecting an obstacle in front of the device main body 18 in the traveling direction. When the camera 21 is provided as this type of device, the user can confirm the state of the front of the device main body 18 in the traveling direction with an image.

FIG. 1 shows an example in which a camera 21 that captures an image of the front of the main body 18 in the traveling direction is provided on the support column 11. The camera 21 is composed of a CCD (Charge Coupled Device) image sensor and a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and captures an image in front of the mobile X-ray diagnostic apparatus 10 in the traveling direction.

Further, a wide-angle lens or a fisheye lens may be attached to the camera 21 so as to enable wide-angle image pickup. Further, by using a plurality of cameras 21, a wide range of ambient images may be captured. Further, as an obstacle detection method described later, when a method of detecting a distance to a feature point in an image based on a parallax value by a stereo camera is used, a stereo camera may be used as the camera 21.

When the camera 21 is provided, the mobile X-ray diagnostic apparatus 10 may include a display device that displays an image in front of the camera 21. The display device that displays the captured image of the camera 21 is configured to be able to acquire the captured image of the camera 21 by directly communicating with the camera 21 or via the processing circuit 30 of the device main body 18, and displays the acquired image. Any device may be used as long as it is equipped with a display.

As shown in FIG. 1A, the X-ray tube 13 provided at the end of the arm 12 is located on the handle 17 side, that is, on the user side in the storage shape, and is located above the handle 17 in the vertical direction. do. Therefore, by providing a display device for displaying the captured image of the camera 21 on the outer surface of the housing of the X-ray tube 13, the visibility of the captured image of the camera 21 of the user who uses the handle 17 is improved. When the X-ray tube 13 is covered with a cover, the display device may be provided on the outer surface of the cover of the X-ray tube 13.

In the present embodiment, the mobile X-ray diagnostic apparatus 10 includes a camera 21 and a terminal holder 22 mounted on the outer surface of the cover of the X-ray tube 13 on the rear side in the traveling direction in the stored shape, and the terminal holder 22 is provided. An example is shown in which the display of the tablet computer (hereinafter referred to as a tablet) 23 detachably mounted on the camera operates as a display device for displaying an image in front of the image captured by the camera 21.

The handle 17 has a grip portion that is gripped by the user when the user moves the mobile X-ray diagnostic apparatus 10, and the device main body is such that the grip portion is located on the rear side in the storage shape in the traveling direction. 18 is provided. The user moves the mobile X-ray diagnostic apparatus 10 forward in the traveling direction by, for example, holding the grip portion of the handle 17 with both hands and pushing or pulling it.

The front wheels 15 and the rear wheels 16 are wheels provided at the lower part of the apparatus main body 18. The front wheel 15 is a wheel that can be turned freely, and is composed of, for example, a pair of casters. The rear wheel 16 is a drive wheel connected to a drive device such as a motor 19, and is driven according to an operation by the user.

The motor 19 as an example of the drive device is controlled by the processing circuit 30 of the device main body 18 and assists the rear wheel 16 which is the drive wheel so as to assist the user in the movement operation of the mobile X-ray diagnostic device 10. Apply driving force. The motor 19 has, for example, a stator coil and a rotor, and is supported inside the apparatus main body 18. In this case, for example, the rotor is rotationally and integrally provided on the motor shaft, and the motor shafts are provided side by side in the axial direction so as to form a common shaft with the wheel shaft of the rear wheel 16. The rotational driving force of the rotor of the motor 19 is decelerated from the motor shaft by, for example, a planetary gear, transmitted to the wheel shaft, and further transmitted to the wheel hub via the power transmission member to drive the rear wheel 16.

For example, when a predetermined pressure is detected by a pressure sensor provided on the handle 17, or when a drive button arranged near the handle 17 is pressed, the motor is controlled by the processing circuit 30 of the apparatus main body 18. 19 is driven to assist the rotation of the rear wheels 16, and the auxiliary driving force of the motor 19 is applied to the rear wheels 16. Generally, the mobile X-ray diagnostic apparatus 10 is heavy, but since the push-pull operation is assisted by the auxiliary driving force of the motor 19 in this way, the user can move the mobile X-ray diagnostic apparatus 10 with a small force. ..

The apparatus main body 18 has a processing circuit 30 composed of a processor that controls each part of the mobile X-ray diagnostic apparatus 10, a storage circuit 31 that stores various data, and stores electric power supplied from the outside and supplies electric power to each member. It has a battery 32 for the purpose, an input circuit 33 for receiving various operations, a display 34 for displaying various information, a communication circuit 35, and the like. The display 34 may be used as a display device for displaying an image in front of the camera 21.

The storage circuit 31 has a configuration including a recording medium readable by a processor, such as a magnetic or optical recording medium or a semiconductor memory. The battery 32 is composed of a secondary battery, and is charged according to the storage capacity of the battery 32, for example, during standby of the mobile X-ray diagnostic apparatus 10. The input circuit 33 is composed of a general input device such as a keyboard, a touch panel, a trackball, a ten-key, a voice input circuit, and a line-of-sight input circuit, and outputs an input signal according to a user's operation to the processing circuit 30. The display 34 is composed of a general display output device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) display, and displays various information such as an X-ray image under the control of the processing circuit 30. The communication circuit 35 implements various information communication protocols according to the form of the network, and connects the mobile X-ray diagnostic apparatus 10 to the tablet 23 or an external image server according to the various protocols. An electrical connection or the like via an electronic network can be applied to this connection. Here, the electronic network means the entire information communication network using telecommunications technology, and in addition to wireless / wired LAN (Local Area Network) and Internet network, telephone communication line network, optical fiber communication network, cable communication network and satellite. Includes communication networks, etc. For example, the processing circuit 30 may acquire a medical image from an image server or the like via a network and display it on a display 34 or a tablet 23.

The input circuit 33 and the display 34 are unnecessary when the tablet 23 executes the functions.

The processing circuit 30 of the main body 18 is a processor that executes the assist amount control processing of the rear wheel 16 which is the driving wheel of the mobile X-ray diagnostic apparatus 10 and the control of various processes related to the acquisition of the X-ray image. For example, the processing circuit 30 controls image data generation processing, image processing, analysis processing, and the like according to a user's instruction. Further, the processing circuit 30 controls the auxiliary driving force of the motor 19 applied to the rear wheel 16 according to the pressure detected by the pressure sensor provided on the handle 17 and the operation received by the push button. The amount of assisting the rotation of the rear wheel 16 (the amount of assist of the rear wheel 16) is changed.

FIG. 2 is a schematic block diagram showing an example of the internal configuration of the tablet 23 and an example of the function realized by the processor of the processing circuit 30.

As shown in FIG. 2, the tablet 23 has an input circuit 41, a display 42, a storage circuit 43, a communication circuit 44, and a processing circuit 45.

The input circuit 41 of the tablet 23 is composed of, for example, a touch sensor. The touch sensor gives information on the position indicated on the touch sensor by the user to the processing circuit 45 of the tablet 23. For example, when configured by a projection type capacitive panel, the touch sensor has a row of electrodes arranged vertically and horizontally. In this case, the touch sensor can acquire the contact position based on the output change of the electrode row according to the change of the capacitance near the contact position of the contact object. The input circuit 41 accepts the setting of the imaging conditions for X-ray imaging, for example, at the time of X-ray imaging in the developed shape. In this case, the processing circuit 30 controls the X-ray tube 13 so as to perform X-ray imaging based on the setting of the imaging conditions received via the tablet 23.

The display 42 is composed of a general display output device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) display, is controlled by a processing circuit 45, and displays a front image captured by the camera 21 in a stored shape. Further, the display 42 may display an X-ray image based on the X-ray image, a medical image acquired from an external device such as an image server, or the like at the time of X-ray imaging in the developed shape.

The storage circuit 43 has a configuration including a recording medium readable by a processor, such as a magnetic or optical recording medium or a semiconductor memory. The communication circuit 44 implements various information communication protocols according to the form of the network, and according to the various protocols, the tablet 23 and the mobile X-ray diagnostic apparatus 10 or an external image server are connected to each other via the above-mentioned electronic network. Connecting.

The processing circuit 45 has at least a processor and a storage circuit, and causes the display 42 to display an image in front of the camera 21 in a stored shape according to a program stored in the storage circuit.

Further, as shown in FIG. 2, the processor of the processing circuit 30 of the apparatus main body 18 realizes a camera image acquisition function 51, an obstacle detection function 52, a driving force control function 53, and an X-ray image pickup control function 54. Each of these functions 51-54 is stored in a storage circuit in the form of a program.

The camera image acquisition function 51 acquires an image in front of the camera 21 captured by the camera 21 from the camera 21. Further, the camera image acquisition function 51 causes the acquired camera image to be displayed on a display device that displays an image in front of the image captured by the camera 21. In the example shown in FIG. 2, this display device is at least one of the display 34 of the device main body 18 and the display 42 of the tablet 23. If the mobile X-ray diagnostic apparatus 10 is provided with a radar, sonar, or the like as a device for detecting an obstacle in front of the apparatus main body 18 in the traveling direction and is not provided with the camera 21, the camera image acquisition function 51 is omitted. May be done.

The obstacle detection function 52 detects an obstacle in front of the mobile X-ray diagnostic apparatus 10 in the traveling direction. At this time, the obstacle detection function 52 may detect the distance to the obstacle in addition to the presence or absence of the obstacle.

As an object detection method of this type, for example, when the mobile X-ray diagnostic apparatus 10 is provided with a camera 21, feature points are extracted from the image of the camera 21 and the attributes (features) such as the distance from the vehicle are the same. There is a method of grouping the feature points of. As a method of detecting a feature amount, there are a method of detecting a distance with a sensor such as a radar or sonar, and a method of detecting from a pixel value of an image.

In the following description, an example will be shown in which the mobile X-ray diagnostic apparatus 10 includes a camera 21 and the obstacle detection function 52 detects a feature amount from an image acquired by the camera 21. Various methods are conventionally known as methods for detecting a feature amount from an image, and any of these can be used. For example, as a method of detecting a feature amount from an image, a method of detecting a distance to a feature point in an image based on a parallax value by a stereo camera and a method of detecting a motion vector corresponding to the feature point in the image are known. Has been done. Further, as a motion vector detection method, a gradient method or a method by image processing such as block matching is known.

The driving force control function 53 has a function of assisting traveling by controlling the motor 19 according to the operation of the user. For example, a pressure sensor is provided on the handle 17, so that when a user holds and pushes or pulls the handle 17, the device can assist traveling in the direction in which the device is pushed or pulled. Further, the driving force control function 53 is provided with a power assist control function for controlling the auxiliary driving force applied to the rear wheels 16 by the motor 19, that is, changing the assist amount of the rear wheels 16.

Further, the driving force control function 53 controls the auxiliary driving force of the motor 19 applied to the rear wheels 16 based on the detection result by the obstacle detection function 52, and changes the assist amount. Specifically, when the obstacle detection function 52 outputs a signal indicating that an obstacle has been detected, the driving force control function 53 automatically controls the auxiliary driving force of the motor 19.

When the obstacle detection function 52 outputs the distance to the obstacle, the driving force control function 53 obtains the current speed from the current rotation amount of the rear wheels 16 and obtains the current speed and the distance to the obstacle. Based on this, it is preferable to control the auxiliary driving force of the motor 19 so as to prevent the mobile X-ray diagnostic device 10 from colliding with an obstacle. In this case, the driving force control function 53 assists the traveling of the mobile X-ray diagnostic device 10 by turning on the assist function if the distance between the mobile X-ray diagnostic device 10 and the obstacle is far from the threshold value, while assisting the running of the mobile X-ray diagnostic device 10. If the following is the case, the assist function may be turned off to stop the running assistance of the mobile X-ray diagnostic apparatus 10. Further, the driving force control function 53 may change the assist amount according to the distance between the mobile X-ray diagnostic apparatus 10 and an obstacle.

Further, the driving force control function 53 may display a warning image on the display 42 or output a warning sound or a voice notifying the content of the warning from the speaker based on the detection result by the obstacle detection function 52. In this case, the warning content may differ depending on the type of obstacle, such as whether or not the obstacle is a person. Further, for example, there are cases where the distance to the obstacle is equal to or greater than the first predetermined distance, cases where the distance is closer than the first predetermined distance and it is not necessary to perform automatic auxiliary driving force control, and cases where the distance is shorter than the first predetermined distance. Since the distance is closer than the second predetermined distance, the warning content may be different depending on the case where the automatic auxiliary driving force of the motor 19 is controlled, that is, the distance to the obstacle.

Further, the driving force control function 53 may be switched on and off of the automatic auxiliary driving force control of the motor 19 via the input circuit 33 of the apparatus main body 18 or the input circuit 41 of the tablet 23.

The X-ray imaging control function 54 controls the X-ray tube 13 so as to perform X-ray imaging based on the imaging conditions set via at least one of the input circuit 33 of the apparatus main body 18 and the input circuit 41 of the tablet 23. Further, the X-ray image pickup control function 54 may display an X-ray image based on the X-ray image pickup on at least one of the display 34 of the apparatus main body 18 and the display 42 of the tablet 23.

Further, the X-ray imaging control function 54 controls the communication circuit 35 to acquire medical information such as medical images and electronic medical record information from an external device such as an image server via a network, and the medical information is used in the device main body 18. It is displayed on at least one of the display 34 and the display 42 of the tablet 23. At this time, the X-ray imaging control function 54 causes at least one of the display 34 of the apparatus main body 18 and the display 42 of the tablet 23 to display the X-ray image based on the X-ray imaging and the medical image acquired from the external device side by side. You may.

Further, the X-ray imaging control function 54 performs X-ray imaging including whether or not the preparation for X-ray imaging is completed on at least one of the display 34 of the apparatus main body 18 and the display 42 of the tablet 23 at the time of X-ray imaging. You may display the progress. When the progress of X-ray imaging is displayed on the tablet, the user can know the timing of X-ray imaging at a position away from the X-ray tube 13, so that unexpected exposure can be prevented.

When the tablet 23 is used, a part or all of each function 51-54 of the processing circuit 30 may be realized by the processing circuit 45 of the tablet 23.

FIG. 3 is a flowchart showing an example of a procedure for supporting safe movement by automatically controlling the auxiliary driving force of the motor 19 in response to the detection of an obstacle when the mobile X-ray diagnostic apparatus 10 is moving. Is. In FIG. 3, reference numerals with numbers attached to S indicate each step in the flowchart.

The example shown in FIG. 3 is an example in which a camera 21 is provided on the support column 11 of the mobile X-ray diagnostic apparatus 10 as a device for detecting an obstacle in front of the apparatus main body 18 in the traveling direction. .. Hereinafter, an example will be described in which the “display device for displaying the image in front of the camera 21” is the display 42 of the tablet 23.

First, in step S1, the camera image acquisition function 51 determines whether or not the mobile X-ray diagnostic apparatus 10 has a stored shape. If it is a storage shape, the process proceeds to step S2. If it is an unfolded shape instead of a stowed shape, the series of steps is completed.

Next, in step S2, the camera image acquisition function 51 acquires an image in front of the camera 21. Next, in step S3, the camera image acquisition function 51 displays the acquired camera image on the display 42 of the tablet 23. By confirming this camera image, the user can easily grasp the situation in front including the blind spot caused by the mobile X-ray diagnostic apparatus 10 itself.

Next, in step S4, the obstacle detection function 52 detects an obstacle in front based on the image captured by the camera 21. Next, in step S5, the driving force control function 53 controls the auxiliary driving force of the motor 19 applied to the rear wheels 16 which are the driving wheels based on the detection result by the obstacle detection function 52, and changes the assist amount. Let me.

The mobile X-ray diagnostic apparatus 10 may not include the camera 21 as a device for detecting an obstacle, but may include another device. In this case, the obstacle in front is detected by the other device in step S4, and steps S2 and S3 are omitted.

Next, in step S6, the driving force control function 53 causes the display 42 to display a warning image or outputs a warning sound or a voice notifying the content of the warning from the speaker based on the detection result by the obstacle detection function 52. ..

By the above procedure, when the mobile X-ray diagnostic apparatus 10 is moving, the auxiliary driving force of the motor 19 applied to the rear wheels 16 which are the driving wheels is automatically controlled according to the detection of obstacles, and the assist amount is changed. By letting them move, safe movement can be supported.

For example, in the technology of notifying the user of an obstacle when it is detected, it is possible to inform the user that there is an obstacle, but after the user receives this notification, the user operates the brake or the like. A collision cannot be avoided without proper deceleration of the mobile X-ray diagnostic apparatus 10.

On the other hand, the mobile X-ray diagnostic apparatus 10 according to the present embodiment detects a device obstacle such as a camera 21 when moving, and assists the motor 19 applied to the rear wheel 16 according to the detection result of the obstacle. The driving force can be automatically controlled and the assist amount can be changed. For example, when the mobile X-ray diagnostic apparatus 10 includes the camera 21, the mobile X-ray diagnostic apparatus 10 can detect an obstacle based on the front image captured by the camera 21. Therefore, the mobile X-ray diagnostic apparatus 10 can more reliably prevent a collision between the mobile X-ray diagnostic apparatus 10 and an obstacle than when the user manually brakes with a brake.

When the assist amount is automatically controlled, the camera 21 is not an indispensable configuration, and the display device and the terminal holder 22 for displaying the image in front of the camera 21 are also not an indispensable configuration.

On the other hand, even when the mobile X-ray diagnostic apparatus 10 does not automatically control the assist amount of the drive wheels, the mobile X-ray diagnostic apparatus 10 is used on the camera 21 and the outer surface of the cover of the X-ray tube 13. When the display of the tablet 23 provided with the terminal holder 22 attached to the rear side in the traveling direction in the storage shape and is detachably mounted on the terminal holder 22 displays the front image captured by the camera 21. , It is possible to support safe movement when the mobile X-ray diagnostic apparatus 10 is moving.

That is, the X-ray tube 13 provided at the end of the arm 12 is located on the user side in the stored shape and is located above the handle 17 in the vertical direction. Therefore, when the terminal holder 22 is attached to the rear side of the cover outer surface of the X-ray tube 13 in the traveling direction in the storage shape (see FIG. 1A), the user attaches the terminal holder 22 to the terminal holder 22 in the storage shape. By placing the tablet 23, the captured image of the camera 21 can be easily visually recognized through the display 42 of the tablet 23.

According to at least one embodiment described above, it is possible to support safe movement when the mobile X-ray diagnostic apparatus 10 is moving.

The motor 19 in this embodiment is an example of a drive unit within the scope of the claims. Further, the obstacle detection function 52 and the driving force control function 53 of the processing circuit 30 in the present embodiment are examples of the detection unit and the driving force control unit within the scope of the claims, respectively. Further, the display 34 of the device main body 18 and the display 42 of the tablet 23 in the present embodiment are examples of display devices within the scope of the claims. Further, the input circuit 41 and the display 42 of the tablet 23 according to the present embodiment are examples of a display unit and an input unit, respectively, within the scope of the claims.

In the above embodiment, the term "processor" refers to, for example, a dedicated or general-purpose CPU (Central Processing Unit), GPU (Graphics Processing Unit), or application specific integrated circuit (ASIC). It is intended to mean a circuit such as a programmable logic device (for example, a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and an FPGA). The processor realizes various functions by reading and executing a program stored in a storage medium.

Further, in the above embodiment, an example in which a single processor of the processing circuit realizes each function has been shown, but a processing circuit is configured by combining a plurality of independent processors, and each processor realizes each function. May be good. When a plurality of processors are provided, the storage medium for storing the program may be provided individually for each processor, or one storage medium collectively stores the programs corresponding to the functions of all the processors. May be good.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

Further, in the embodiment of the present invention, each step of the flowchart shows an example of processing performed in chronological order according to the described order, but the processing is not necessarily performed in chronological order, but in parallel or individually. It also includes the processing to be executed.

10 ... Mobile X-ray diagnostic device 11 ... Support 12 ... Arm 13 ... X-ray tube 16 ... Rear wheel (driving wheel)
17 ... Handle 18 ... Device body 21 ... Camera 22 ... Terminal holder 23 ... Tablet 30 ... Processing circuit 33 ... Input circuit 34 ... Display 41 ... Input circuit 42 ... Display 45 ... Processing circuit 52 ... Obstacle detection function 53 ... Driving force control function

Claims (12)

It is a mobile X-ray diagnostic device used in one of two shapes, a storage shape used when moving by being operated by a user and a deployed shape used when imaging with X-rays.
The drive wheels provided on the main body of the device and
A drive unit that applies an auxiliary driving force to the drive wheels to assist the operation by the user, and
A detection unit that detects the distance to an obstacle in front of the device body in the traveling direction,
A driving force control unit that changes the auxiliary driving force so as to prevent a collision between the mobile X-ray diagnostic apparatus and the obstacle according to the distance to the obstacle detected by the detection unit.
Mobile X-ray diagnostic device equipped with. The driving force control unit is
The current speed is obtained from the amount of rotation of the drive wheel, and the mobile X-ray diagnostic apparatus and the obstacle are obtained based on the current speed and the distance to the obstacle detected by the detection unit. The shorter the time until the collision, the smaller the auxiliary driving force.
The mobile X-ray diagnostic apparatus according to claim 1. Further equipped with a camera that captures the front in the traveling direction in the stowed shape,
The detection unit detects the distance to the obstacle based on the camera image captured by the camera.
The mobile X-ray diagnostic apparatus according to claim 2. A display device that displays the camera image,
3. The mobile X-ray diagnostic apparatus according to claim 3. An X-ray tube that irradiates the subject with X-rays at the time of imaging,
A column standing on the front side of the apparatus main body in the traveling direction and provided with the camera, and a support
An arm that supports the X-ray tube at the other end while one end is supported by the support column, and an arm that supports the X-ray tube at the other end.
A handle provided so that the grip portion is located on the rear side in the traveling direction, and
Further prepare
The X-ray tube is
In the storage shape, it is located on the handle side of the apparatus main body and above the handle in the vertical direction.
The display device is
Located on the outer surface of the housing of the X-ray tube or the outer surface of the cover of the X-ray tube.
The mobile X-ray diagnostic apparatus according to claim 4. The display device is a tablet computer having a display unit and an input unit.
A terminal holder attached to the outer surface of the housing of the X-ray tube or the outer surface of the cover of the X-ray tube so that the tablet computer can be detachably placed in the storage shape.
5. The mobile X-ray diagnostic apparatus according to claim 5. The terminal holder is
The position of the outer surface of the housing of the X-ray tube on the rear side in the traveling direction or the advance of the outer surface of the cover of the X-ray tube so that the tablet computer can be detachably mounted in the storage shape. Attached to the rear position in the direction,
The mobile X-ray diagnostic apparatus according to claim 6. The tablet computer is
At the time of the imaging, it is removed from the terminal holder and used.
The mobile X-ray diagnostic apparatus according to claim 6 or 7. The input unit of the tablet computer is
At the time of the imaging, the setting of the imaging conditions for X-ray imaging is accepted.
The main body of the device is
The X-ray tube is controlled so as to perform X-ray imaging based on the setting of the imaging conditions.
The mobile X-ray diagnostic apparatus according to claim 8. The display unit of the tablet computer is
At the time of the image pickup, an X-ray image based on the X-ray image pickup is displayed.
The mobile X-ray diagnostic apparatus according to claim 8 or 9. The display unit of the tablet computer is
Display medical images obtained from external devices,
The mobile X-ray diagnostic apparatus according to any one of claims 8 to 10. The display unit of the tablet computer is
At the time of the imaging, the progress of the X-ray imaging including whether or not the preparation for the X-ray imaging is completed is displayed.
The mobile X-ray diagnostic apparatus according to any one of claims 8 to 11.

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