JP7292025B2 - Couch device and medical diagnostic system - Google Patents

Description

Embodiments of the present invention relate to couch devices and medical diagnostic systems.

Medical diagnostic systems such as X-ray CT systems, MRI systems, nuclear medicine diagnostic systems, and X-ray angiography systems, and treatment systems typified by radiotherapy systems are often provided with a bed apparatus. A couch device generally has a top board on which a patient is placed. The table is manipulated by the couch operator (often a doctor or technician) to properly position the patient. The most primitive operation is for the operator to touch the top plate or the handle provided on the top plate and push or pull it horizontally, but a strong force is required to move the top plate on which the patient is placed. must be applied. This can be a burden on the operator.

JP 2017-196022 A

The problem to be solved by the present invention is to improve the operability related to the movement of the table top.

According to one embodiment, the sleeping apparatus comprises:
a top plate on which the subject is placed;
a sensor that detects force applied by an operator to move the top plate;
a control unit that changes the type of movement control of the top plate according to the time when the force is applied;
Prepare.

1 illustrates an example of a medical diagnostic system according to one embodiment; FIG. FIG. 3 illustrates an example sensor implementation according to one embodiment. The figure which shows another example of sensor mounting which concerns on one Embodiment. FIG. 4 is a diagram showing the relationship between the rotation angle and torque of a motor according to one embodiment; The figure which shows another example of sensor mounting which concerns on one Embodiment. The figure which shows another example of sensor mounting which concerns on one Embodiment. The figure which shows another example of sensor mounting which concerns on one Embodiment. The figure which shows another example of sensor mounting which concerns on one Embodiment.

A bed device according to this embodiment will be described below with reference to the drawings. In the following description, components having substantially the same functions and configurations are denoted by the same reference numerals, and redundant description will be given only when necessary.

(First embodiment)
FIG. 1 is a diagram illustrating an example of a medical diagnostic system including a couch device according to one embodiment. The medical diagnostic system 1 includes a gantry device 10 , a bed device 30 and a console device 40 . As an example, the case of being included in an X-ray CT system is shown, but the bed apparatus of this embodiment is typically used in medical diagnostic systems such as MRI systems, nuclear medicine diagnostic systems, and X-ray angiography systems, and radiation therapy systems. It may be included in the treatment system provided, and any form may be used as long as it can be manually controlled (free operation) by the operator (practitioner).

The gantry device 10 is, for example, a device for an X-ray diagnostic system that emits and detects X-rays, and includes an X-ray generator 11, an X-ray detector 12, a rotor 13, and an X-ray high voltage device 14. , a control device 15 , and a data collection circuit 18 . As described above, it is not necessary to be an X-ray diagnostic system, and any device or system that allows the operator to freely move the bed device 30 , particularly the tabletop 33 , may be used.

The X-ray generator 11 includes, for example, an X-ray tube that receives high-voltage power supply from the X-ray high-voltage device 14 and irradiates thermal electrons from a filament toward a target. is.

The X-ray detector 12 has, for example, an X-ray detection element array in which a plurality of X-ray detection elements are arranged in the channel direction along one circular arc around the focal point of the X-ray tube. The irradiated X-rays passing through the subject P are detected, converted into electrical signals, and output to the data acquisition circuit 18 .

Rotating body 13 is rotatably supported with its center as a rotation axis, and is rotationally driven based on the control of control device 15 to move X-ray generator 11 and X-ray detector 12 to gantry device 10 and bed device 30 . rotate with respect to

The X-ray high-voltage device 14 includes an electrical circuit such as a transformer, and includes a high-voltage generator having a function of generating a high voltage to be applied to the X-ray generator 11 and an X-ray emitted by the X-ray generator 11. An X-ray controller is provided for controlling the output voltage accordingly.

The control device 15 includes a processing circuit including a CPU (Central Processing Unit) and the like, and a drive mechanism including a motor and an actuator. The control device 15 receives an input signal from an input interface attached to the console device 40 or the gantry device 10 and controls the operation of the gantry. Furthermore, the control device 15 controls the operation of the bed device 30 and the tabletop 33 . The control device 15 may be provided not in the gantry device 10 but in the console device 40 or, as another example, in the bed device 30 .

A data acquisition system (DAS) 18 includes an amplifier that amplifies electrical signals output from each X-ray detection element of the X-ray detector 12, and an A/D converter that converts the electrical signals into digital signals. and a D converter for generating detection data. The detection data generated by the data collection circuit 18 is transferred to the console device 40 .

Console device 40 includes memory 41 , display 42 , input interface 43 , and processing circuitry 44 .

The memory 41 is implemented by, for example, a RAM (Random Access Memory) or the like, and stores various data and programs for operating the console device 40 .

The display 42 is, for example, a display device realized by a liquid crystal display or the like, and outputs medical images generated by the processing circuit 44, a GUI (Graphical User Interface) for accepting various operations from the operator, and the like. The operator operates the top plate 33 of the bed device 30 to perform various treatments based on the information displayed on the display 42, for example.

The input interface 43 is implemented by, for example, a keyboard, a mouse, etc., receives various input operations from an operator, converts the received input operations into electrical signals, and outputs the electrical signals to the processing circuit 44 . For example, the input interface 43 is used to specify a distance and input a movement method when automatically moving the table top 33 of the bed device 30 by a specified distance during operation. Further, it may be specified from the input interface 43 whether or not to control the tabletop 33 by the control device 15 . In this case, a switch for whether or not to perform control may be prepared in the display 42 so that the switch can be turned on/off by the input interface 43 .

The processing circuit 44 controls the overall operation of the medical diagnostic system 1 according to the electric signal of the input operation output from the input interface 43 . The processing circuit 44 includes a system control function 441, a preprocessing function 442, and a reconstruction processing function 443 in the case of an X-ray CT apparatus, for example. Each processing function is stored in the memory 41 in the form of a computer-executable program. The processing circuit 44 is a processor that reads a program from the memory 41 and executes it to realize a function corresponding to each program. Although FIG. 1 shows that all the processing functions are realized by a single processing circuit 44, a plurality of independent processors may be combined to configure the processing circuit 44, and each processor may execute a program. The function may be realized by

The system control function 441 controls various functions of the processing circuit 44 based on input operations received from the operator via the input interface 43 . The operator controls the operation of the gantry device 10 and the bed device 30 by the control device 15 via the input interface 43 and the system control function 441 . Also, the control of the motors and the like in the following description may be controlled by the system control function 441 via the control device 15 .

The preprocessing function 442 and the reconstruction processing function 443 are functions provided, for example, when the medical diagnostic system 1 is an X-ray CT system or the like. This is a function that performs composition processing and generates a reconstructed image. The reconstructed image may be stored in the memory 41 , and the operator can check the reconstructed image stored in the memory 41 through the display 42 .

The image described above is, for example, an image of the subject P placed on the couch device 30 . For example, a cross-sectional image of the subject P captured by irradiating the subject P with X-rays is captured and reconstructed.

The bed device 30 is a device for placing and moving such a subject P to be scanned, and includes a base 31 , a bed driving device 32 , a top plate 33 and a support frame 34 .

The base 31 is a housing that supports the support frame 34 so as to be vertically movable. The bed drive device 32 is a motor or an actuator that moves the support frame 34 on which the subject P is placed in the long axis (longitudinal) direction. A top plate 33 provided on the upper surface of the support frame 34 is a plate on which the subject P is placed.

The top plate 33 may be moved alone, or may be moved together with the support frame 34 of the bed device 30 . When the present embodiment is applied to stereoscopic CT, a method of moving a patient moving mechanism corresponding to the top plate 33 may be used.

When executing a scan (for example, a positioning scan) that involves a relative change in the positional relationship between the imaging system of the gantry device 10 and the top plate 33 , the relative change in the positional relationship is performed by driving the top plate 33 . It may be carried out by running the gantry device 10, or it may be carried out by combining them. When the movement of the gantry 10 is performed, positioning and the like for fine adjustment may be performed by automatically moving the top plate 33 or manually by the operator.

In this embodiment, the control and operation of the bed apparatus 30 will be described in detail in the case of manually controlling the tabletop 33 .

FIG. 2 shows in more detail the bed device 30, particularly the top board 33, according to this embodiment. The top plate 33 has a handle 331 that assists in moving the top plate 33 manually. The handle 331 may be attached to the top surface of the top plate 33 as shown, or may be attached to the side surface of the top plate 33 as another example.

In this embodiment, the support frame 34 includes a ball screw 341 , a coupling 342 , an encoder pulley 343 , a torque sensor 344 , a servo amplifier 345 , a motor 346 , a belt 347 and a motor pulley 348 . Note that the support frame 34 itself is not shown for the sake of clarity. In addition, when the support frame 34 and the top plate 33 cooperate to move in the Z direction shown in FIG. 1 as well, these functions are provided in the base 31, for example. As another example, it may be provided at another location where the top plate 33 is fixed against movement in the Z direction.

The ball screw 341 is a drive mechanism for moving the top plate 33 in the Z direction, and by changing rotational motion applied to the screw shaft by a motor or the like to linear motion, the ball screw 341 is engaged with the top plate 33 . A force acting to horizontally move the top plate 33 is applied to move the top plate 33 in the Z direction. Further, when the operator applies a force along the Z-axis direction to the top plate 33, the ball screw 341 converts the force along the Z-axis direction into a rotational movement of the screw. Although details are omitted in FIG. 2, the ball screw 341 includes necessary components such as a housing, base guide rails, bearings, etc., like a general ball screw.

The coupling 342 is a coupling that is connected to the ball screw 341, and performs the same operation as a coupling provided for a general ball screw. That is, the coupling 342 allows the encoder pulley 343 and the motor pulley 348, and the shaft of the ball screw 341 to be connected, and to transmit the forces applied to each other to the other. Further, when there is vibration in the mutual shaft or the like, the coupling 342 may perform an operation to absorb this vibration. A torque sensor 344 is connected to the coupling 342 .

The encoder pulley 343 is a pulley equipped with an encoder that detects the position of the ball screw 341 (for example, via the rotation angle) and converts it into an electrical signal, and is connected to the ball screw 341 via the coupling 342 . The encoder may be implemented in any of optical, magnetic, electromagnetic induction, and the like for detection, and may be incremental or absolute in output. The encoder pulley 343 is also connected to the control device 15 and the servo amplifier 345 , converts the motion of the ball screw 341 into a signal, and outputs the signal to the control device 15 and the servo amplifier 345 . It is not always necessary to output to both sides. For example, the signal may be connected to the control device 15 via the servo amplifier 345 and the signal converted by the servo amplifier 345 may be output to the control device 15 . Also, when the function is closed by the servo amplifier 345 , the output may be made only to the servo amplifier 345 , or conversely, may be outputted only to the control device 15 .

Torque sensor 344 detects torque generated in ball screw 341 and outputs the detected signal to servo amplifier 345 . The torque sensor 344 detects the static frictional force of the ball screw 341 against the force applied to the top plate 33 along the Z-axis by the operator. More specifically, torque is detected by sensing the static frictional force of the ball screw 341 against the force applied by the operator and the rotational motion converted by the ball screw 341 . Information on the detected torque is output to the servo amplifier 345 . As with the encoder pulley 343 , it may be output to the control device 15 .

The servo amplifier 345 receives feedback of the force applied to the ball screw 341 during automatic control detected by the encoder pulley 343 and the force applied to the ball screw 341 during manual control detected by the torque sensor 344, These inputs are amplified and motor 346 is controlled in response to this amplified signal. A signal that is simply input may be amplified and output to the motor 346 . Also, the servo amplifier 345 may receive a control-related signal from the control device 15 and transmit the signal to the motor 346 . In this manner, it may operate as a servo driver for controlling the motor 346 in addition to amplifying the input signal.

The motor 346 rotates based on the signal input from the servo amplifier 345 . Rotational motion is transmitted to motor pulley 348 via belt 347 . The rotary motion of the motor pulley 348 is transmitted to the rotary motion of the ball screw 341 , that is, the translational motion of the top plate 33 via the coupling 342 .

When controlling to the position input by the operator via the input interface 43 or scanning the subject P while automatically moving the top plate 33 , the ball screw 341 is fed from the control device 15 to the servo amplifier 345 . The translational motion of the top plate 33 is controlled by transmitting a signal indicating the rotation angle, rotation speed, etc. of the top plate 33 . The moving distance, moving speed, etc. may be transmitted from the control device 15 , and in this case, the servo amplifier 345 may convert them into rotation angle, rotation speed, etc. to drive the motor 346 .

Next, manual control by the operator of the tabletop 33 according to this embodiment will be described. When the top plate 33 is under automatic control or when the top plate 33 is stationary, the top plate 33 performs a free motion when the operator applies force to the top plate 33 in the Z direction. Free operation refers to an operation in which the operator manually positions the top plate 33 by applying force.

Switching from the automatic control state to the free operation is performed by the operator applying force to the top plate 33 in the Z-axis direction. When the operator applies force in the Z-axis direction to the top plate 33 , the applied force imparts torque to the ball screw 341 . A torque sensor 344 detects torque applied to the ball screw 341 . For example, the force applied by the operator tends to move the top plate 33 in the Z-axis direction, and this force is converted into rotational motion by the ball screw 341 . Torque sensor 344 , upon detecting static friction force due to force applied to ball screw 341 via coupling 342 , outputs the magnitude of the force to servo amplifier 345 .

A servo amplifier 345 that receives an output from the torque sensor 344 drives a motor 346 so as to rotate in a direction that cancels out the load due to static friction applied to the ball screw 341 . For example, when the operator applies a rightward force to the top plate 33 along the Z axis, a leftward static frictional force acts on the ball screw 341, and this leftward force is converted into rotational motion. and transmitted to torque sensor 344 via coupling 342 .

The torque sensor outputs to the servo amplifier 345 that a leftward static frictional force is acting. The servo amplifier 345 drives the motor 346 so as to rotate to cancel this leftward static friction force. This rotational motion is transmitted to the ball screw 341 via the motor pulley 348 and the coupling 342, and converted into force in the direction of moving the top plate 33 to the right. In this way, the burden of manual movement of the top plate 33 by the operator is reduced.

The force transmitted to the top plate 33 via the motor 346 is, for example, equivalent to the force borne by the operator, that is, equivalent to the load applied to the ball screw 341 by the operator. In this way, by applying a force to the ball screw 341 that cancels out the force borne by the operator, the operator can move the top plate 33 without feeling the weight of the top plate 33 and the subject P. becomes.

As another example, the force may be greater than the load applied to the ball screw 341 by the operator. In this case, the operator can move the top plate 33 with less force. As yet another example, the force may be less than the load applied to the ball screw 341 by the operator. In this case, it is possible to reduce the burden while making the operator aware that the top plate 33 is being moved, so that the possibility of causing an accident or the like due to the movement of the top plate 33 can be suppressed. . Furthermore, the operator or administrator may be allowed to specify the magnitude of the force related to the above operation of the motor 346 with respect to this load via the control device 15 .

As described above, the torque detected by the torque sensor 344 is output not to the servo amplifier 345 but to the control device 15 , converted by the control device 15 into information such as the rotation speed for driving the motor 346 , and sent to the servo amplifier 345 . can be output as In addition, while the operator is applying force to the top plate 33, the torque sensor 344 detects the dynamic frictional force generated between the top plate 33 and the ball screw 341 and outputs it to the servo amplifier 345. The motor 346 may be driven so that the servo amplifier 345 provides the ball screw 341 with a force that reduces the burden on the operator.

FIG. 3 is a diagram showing the configuration of the top plate 33 and the like according to another example of the present embodiment. The bed device 30 further includes a clutch 349A and a brake 349B. The clutch 349A and the brake 349B are provided between the motor 346 and the motor pulley 348 as shown in the drawing, and are connected to the control device 15 or the servo amplifier 345, for example.

Clutch 349A controls the interlocking state of motor 346 and motor pulley 348 to transmit or not transmit the power of motor 346 to motor pulley 348 . Furthermore, it is also possible to switch how much power of the motor 346 is transmitted to the motor pulley 348 . For example, when the top plate 33 is stationary, the clutch disconnects the path between the motor 346 and the ball screw 341, thereby preventing an accident even if the motor 346 moves out of control. can be prevented. Further, for example, when the top plate 33 is manually controlled by the operator, by gradually engaging the clutch, the assist function of the motor 346 prevents sudden movement of the top plate 33, thereby improving the operational feeling. is also possible. Further, it is also possible to switch the rotational speed of the ball screw 341 to be transmitted with respect to the drive of the motor 346 according to the required torque.

Brake 349B stops transmission of power from motor 346 to motor pulley 348 . For example, when an operator manually controls the top panel 33 without driving the motor 346 in the event of an error or emergency, the manual control can be performed without the assist function. In this case, the clutch 349A may be disengaged at the same timing so that the control of the motor 346 and the movement of the ball screw 341 can be performed completely independently. Conversely, it may function as a brake that stops the ball screw 341 instead of the motor 346 . For example, when an error occurs in driving the motor 346, the ball screw 341 is braked to prevent the top plate 33 from exceeding a predetermined speed or stop the motion of the top plate 33. good too.

These clutch 349A and brake 349B may also be controlled so that the top plate 33 does not exceed a predetermined speed. For example, when the top plate 33 is likely to exceed a predetermined speed due to the assist function, the clutch 349A may be switched to reduce the torque transmitted. As another example, a brake 349B is provided between the coupling 342 and the motor pulley 348, the speed of the top plate 33 is obtained from the position detected by the encoder pulley 343 at each timing, and the control device 15 exceeds a predetermined speed, the brake may be changed to the rotational motion of the ball screw 341 so as not to exceed the predetermined speed.

The clutch 349A and brake 349B may be controlled by the control device 15 as described above, or may be controlled by the servo amplifier 345 based on the speed, position, etc. detected by the encoder pulley 343 .

FIG. 4 is a diagram showing an example of torque applied from the top plate 33 to the operator according to this embodiment. A solid line indicates the torque in this embodiment, and a dashed line indicates the comparative example. The horizontal axis indicates the rotation angle of the ball screw 341 after the operator starts applying force to the top plate 33, and the vertical axis indicates the torque applied to the ball screw 341 at each rotation angle.

The comparative example is an example in which the assist function is enabled by detecting the movement instead of detecting the coefficient of static friction. In the comparative example, since the force applied by the operator to the top plate 33 cannot be detected immediately, the assist function works after the torque has increased to some extent. On the other hand, according to the present embodiment, since the static friction force is detected, when the operator applies force, the assist function via the motor 346 works earlier than in the comparative example. The assist function begins to work while it is small.

Furthermore, since the assist function starts working early, the force after that can be made smaller than in the comparative example. This is because the driving of the motor 346 can offset the feeling of operation by the operator without changing it as compared with the comparative example. In the comparative example, the force is detected and the assist function is prepared after the top plate 33 starts to move. It is not a good idea from a safety point of view because it will change greatly compared to the beginning.

As described above, according to this embodiment, by detecting the static frictional force acting on the ball screw 341 with the torque sensor 344, it is possible to drive the motor 346 before the top plate 33 starts to move. It is possible to reduce the burden on the operator at an early stage after the operator starts applying force, that is, before the top plate 33 starts to move, or at substantially the same timing as when the top plate 33 starts to move. By activating the assist function at an early stage, it is possible to manually control the top plate 33 by applying a smaller force in a state of good operability without greatly changing the operational feeling.

(Second embodiment)
Torque sensor 344 can also be integrated with ball screw 341 instead of between ball screw 341 and motor pulley 348 . In the second embodiment, a torque sensor integrated with a ball screw 341 using magnetostrictive wire will be described.

FIG. 5 shows a torque sensor 344 using a ball screw 341 having a magnetostrictive wire 344A and a coil. FIG. 6 is a diagram showing an installation example of the ball screw 341 including the magnetostrictive wire 344A shown in FIG. 5 and the coil 344B. A torque sensor 344 is formed by magnetostrictive wire 344A and coil 344B.

As shown in FIG. 6, the screw portion of the ball screw 341 may be provided with a magnetostrictive wire 344A. For example, a magnetostrictive wire 344A is provided in a portion of the ball screw 341, and a magnetic field is generated along the ball screw 341 when the portion of the magnetostrictive wire 344A is distorted. The magnitude of the generated magnetic field changes depending on the magnitude of the applied torque. Due to the generation of this magnetic field, a current flows through torque sensor 344 having coil 344B. The current flowing through the coil 344B also changes as the magnetic flux density changes due to the magnitude of the generated magnetic field. By detecting this current, it is possible to detect that torque has been generated in the ball screw 341 and the magnitude of the generated torque. In this case, the coil 344B is connected to, for example, the control device 15, converts the current output from the coil 344B into a signal by the control device 15, and drives the motor 346 via the servo amplifier 345. FIG.

As described above, according to this embodiment as well, the coil 344</b>B detects torque at the timing when torque is generated in the ball screw 341 by the operator starting to apply force to the top plate 33 . As a result, it is possible to reduce the operator's burden of moving the top board 33, as in the above-described embodiment. Furthermore, according to the present embodiment, since the torque sensor 344 can be integrated with the ball screw 341, it is possible to save space, and at the same time, it is possible to function as a non-contact sensor. Therefore, consumption of parts can be suppressed as compared with a tactile sensor or the like.

(Third Embodiment)
In each embodiment described above, a torque sensor is used as a sensor for detecting the force applied to the top plate 33, but the present invention is not limited to this. In the third embodiment, an example using a load sensor instead of a torque sensor will be described.

FIG. 7 is a diagram showing an example of the top plate 33 including sensors according to this embodiment. Unlike each embodiment described above, the handle 331 has a load sensor 332 between it and a handle fixing portion 333 that fixes the handle 331 to the top plate 33 .

The load sensor 332 detects at least one of a Z-axis direction force applied to the handle 331 and a Y-axis direction force applied to the handle 331 . The load sensor 332 is connected to, for example, the servo amplifier 345 or the control device 15 and outputs the magnitude of the detected force to the servo amplifier 345 or the control device 15 .

For example, the load sensor 332 detects the force parallel to the Z-axis direction among the forces applied to the handle 331 . By controlling the motor 346 in the same manner as in the above-described embodiment based on the detected force, it is possible to reduce the burden on the operator when manually controlling the tabletop 33 without losing the operational feeling. Become.

As described above, by using the load sensor 332 instead of the torque sensor, it is possible to detect the force applied to the top plate 33 before the top plate 33 starts to move, as in the above-described embodiment. It is possible to realize an assist function with a higher sense of operation and higher safety for the operator.

FIG. 8 is a schematic cross-sectional view taken along line AA of FIG. 7, and is a schematic view showing the bed device 30 in the same cross-section as in FIG. 2 and the like. As shown in FIG. 8, the connection surface of the handle 331 and the axis of the load sensor 332 may be displaced. In this embodiment, the case where the load sensor 332 detects a force in the Z-axis direction parallel to the longitudinal direction of the top plate 33 is described. force in the Y-axis direction may be detected.

In this case, when the handle 331 is pushed downward, the load sensor 332 causes the operator to move the top plate 33 leftward in FIG. It may be detected that The control device 15 or the servo amplifier 345 changes the rotation direction of the motor 346 according to the detected direction and starts assist.

When the operator wants to move the top plate 33 to the left, the operator first pushes the handle 331 downward to drive the motor 346 to move the top plate 33 to the left. The compression force applied to the Z axis is detected by the load sensor 332 to move the top plate 33 . In this case, the operator can move the top plate 33 along the Z-axis by pushing the handle 331 downward.

When it is desired to move the top plate 33 to the right, the above operation is reversed. That is, the operator can cause the motor 346 to drive the assist function by pulling up the handle 331 .

As described above, by using the load sensor 332 provided to detect the movement of the handle 331, it is possible to exhibit an assist function based on a more natural movement of the operator. Depending on the mounting position of the handle 331, the direction of force in the Y-axis direction and the direction of movement of the top plate 33 may be opposite.

As shown in FIG. 8, both the load sensor 332 and the torque sensor 344 may be mounted. control may be performed. The present invention is not limited to this, and the torque sensor 344 may be eliminated and the control may be performed only by the load sensor 332 . In this case, as another example, by applying a downward force in the Y-axis direction and then manually controlling to the left, it is possible to manually control the top plate 33 with the assist function enabled. good too. Furthermore, a force may be applied to push the handle 331 downward and move the top plate 33 to the left. In such a case, the load sensor 332 may detect not only the force in the Y-axis direction but also the force in the Z-axis direction. In this manner, the force in the Y-axis direction alone may be detected to move the top plate 33, or the force in the Z-axis direction may be taken into consideration.

(Modification)
Various modifications of the control will be described below. As for control, a form in which the control device 15 functions as a control unit will be described, but the servo amplifier 345 or the like may function as the control unit as in the above-described embodiments.

As shown in FIG. 7, handle 331 may include switch 335 . This switch 335 is a switch capable of exhibiting an assist function by being explicitly turned on when manual operation is performed. For example, when the switch 335 is turned off, the table top 33 cannot be manually controlled and is controlled to remain stationary. When the switch 335 is turned on, the servo amplifier 345, the motor 346, etc. function to assist manual control in the same manner as in the above-described embodiment.

As described above, the switch 335 may be provided for the operator to explicitly instruct whether or not to perform the manual operation. By mounting in this way, it is possible to suppress manual control when the top plate 33 is in contact with the top plate 33 but the top plate 33 is not desired to be moved. In addition, although it is provided outside the loop of the handle 331 in FIG. 7 , it may be provided inside the loop of the handle 331 . Further, the switch 335 may not be turned on/off by hand, but may be mounted on the top plate 33, or may be mounted by a foot pedal or the like provided at the bottom of the bed device 30. .

The operator may have a function to explicitly control the movement of the top plate 33 more finely. The control device 15 detects the force applied by the operator via the torque sensor 344 or the load sensor 332, and if the applied force is instantaneous, it controls the movement by the unit control amount. you can go Here, "instantaneously" means, for example, touching the handle 331 or the top plate 33 in a desired direction. The determination may be made based on whether or not the force is applied for a period of time shorter than a predetermined threshold. If the force applied by the operator is continuous, the assist function may be enabled as shown in the previous embodiments.

For example, when the force applied by the operator to tabletop 33 is less than the first threshold, controller 15 rotates motor 346 to move the ball by a unit amount in the direction of the applied force. The first control of moving the top plate 33 may be performed by moving the screw 341 or the like. The first threshold is, for example, a time such as 100 ms. Also, the unit amount is, for example, a distance of 1 mm. These numerical values are shown only as an example, and are not limited to these, and may be changed as appropriate by a user such as a designer, administrator, or operator.

On the other hand, when the force applied to the control device 15 is greater than the first threshold value, the second control that performs the assist control described in each of the above-described embodiments for reducing the burden on the operator may be performed. .

As described above, the first control and the second control may be switched depending on whether the operator applies force momentarily or continuously. By switching the control in this way, for example, after the control device 15 moves the top plate 33 to the automatically specified position, the operator continuously applies force to adjust the position by the second control. In addition, the accuracy of control can be further improved, such as fine adjustment of detailed position by the first control by instantaneously applying force.

Although temporal control has been described above, control may be divided according to the magnitude of the force. For example, the control device 15 may prevent the manual control of the top plate 33 when the force applied to the top plate 33 by the operator is smaller than the second threshold value. By controlling in this way, the above-described first control or second control can be applied to a force that does not move the top plate 33, such as when the operator's body touches the top plate 33. It is possible to perform control without performing control. Thereby, the malfunction of the top plate 33 can be suppressed.

The above-described first control and second control may be performed continuously. For example, if the operator applies a force to the tabletop 33 for a period longer than the first threshold and the applied force is greater than the third threshold, the second control is performed after the first control is performed. control may be exercised. In this way, by moving the unit amount at the start of movement, the operator can sense the start of movement, and it becomes easier to finely adjust the top plate 33 compared to the case where only the second control is performed. .

As another example, the above-described modified examples related to time and force may switch control based on the maximum value of the force applied by the operator to the top plate 33 detected and the impulse or the amount of work. good.

The control device 15 may control the table top 33 so that it does not exceed a predetermined speed during the second control. By doing so, it is possible to suppress the movement of the top plate 33 from becoming too fast, and to perform more stable control. In addition, it is possible to prevent an accident in which the operator and the subject P are injured when the top plate 33 is suddenly stopped when the movement becomes too fast.

Similarly, when the control device 15 detects an error related to control, the control device 15 may cause the top plate 33 to free run so as not to stop suddenly. In this case, friction may gradually increase in the vicinity of the movement limit area of the top plate 33 so that the top plate 33 stops naturally. Furthermore, in order not to stop suddenly, a torque acting in the direction opposite to the moving direction is gradually applied so as to stop the top plate 33 without abruptly changing the speed or acceleration of the top plate 33 . may be controlled. By controlling in this way, it is possible to avoid injuries such as broken bones to the operator due to sudden stop of the tabletop 33 as well as the subject P.

Note that the second threshold and the third threshold may also be appropriately set by the user in the same manner as the first threshold. Also, in the above, it should be understood that the comparative expressions such as “larger” and “smaller” can be read as “greater than” and “less than” as appropriate.

By arranging them as shown in the drawings, by providing these mechanisms below the top plate 33 in the Y direction, the embodiment described above can be performed without extending the bed device 30 in the longitudinal direction of the top plate 33. It becomes possible to mount it, and the installation space of the medical diagnostic system 1 can be reduced. Each mechanism is shown to be large relative to the top plate 33, but this is shown for the sake of clarity of explanation, and the sizes of various motors, pulleys, etc. are supported so as to fit under the top plate 33. It is provided within the frame 34 .

Also, as shown in the drawings referred to in the above description, the encoder pulley 343, motor pulley 348, and ball screw 341 must be on the same shaft, and the motor 346 and servo amplifier 345 must be provided on another shaft via a belt 347 or the like. and the implementation method is not limited to this. For example, these modules may all be on the same axis as the ball screw 341 . Even in such a case, it is possible to eliminate the need to secure a space in the longitudinal direction of the top plate 33 by adjusting the installation position of the ball screw 341 or the like.

Although several embodiments have been described above, these embodiments are presented by way of example only and are not intended to limit the scope of the invention. The novel apparatus and methods described herein can be embodied in many other forms. In addition, various omissions, substitutions, and alterations may be made to the forms of the apparatus and methods described herein without departing from the spirit of the invention. The appended claims and their equivalents are intended to cover such forms and variations that fall within the scope and scope of the invention.

For example, the function of translating the top plate 33 was implemented by the ball screw 341, but it is not limited to this. A linear stage type mounted with a linear servomotor may be used, or a belt type may be used. In these cases, the motor may have its axis in the X direction shown in FIG. In either case, similar effects can be obtained by providing the torque sensor 344 or the load sensor 332 so as to detect the static friction force. Furthermore, although the mounting position of the handle 331 is on the upper surface of the top plate 33, it is not limited to this. It may be a mounting in which the operator directly applies force on the top surface or side surface of the.

1: medical diagnostic system, 10: gantry, 11: X-ray generator, 12: X-ray detector, 13: rotating body, 14: X-ray high voltage device, 15: controller, 18: data acquisition circuit, 30 : bed device, 31: base, 32: bed driving device, 33: top plate, 331: handle, 332: load sensor, 333: handle fixing part, 335: switch, 34: support frame, 341: ball screw, 342 : Coupling 343: Encoder pulley 344: Torque sensor 344A: Magnetostrictive wire 344B: Coil 345: Servo amplifier 346: Motor 347: Belt 348: Motor pulley 349A: Clutch 349B: Brake 40: Console device, 41: memory, 42: display, 43: input interface, 44: processing circuit, 441: system control function, 442: preprocessing function, 443: reconstruction processing function

Claims (17)

a top plate on which the subject is placed;
a sensor that detects force applied to the top plate by an operator to move the top plate;
a control unit that changes the type of movement control of the top plate according to the time when the force is applied;
A sleeping device with a When the force is instantaneous, the control unit performs a first control to move the tabletop by a unit amount, and when the force is continuous, the operator is relieved of the burden caused by the force. 2. The couch apparatus according to claim 1, wherein a second control for reducing is performed. The control unit performs the first control when the time during which the force is applied is smaller than the first threshold, and performs the second control when the time during which the force is applied is greater than the first threshold. 3. A couch apparatus as claimed in claim 2, which performs control. 4. The bed apparatus according to claim 3, wherein when the magnitude of the force is smaller than a second threshold different from the first threshold, the control section performs control to suppress movement of the tabletop. When the time period during which the force is applied is greater than the first threshold value and the magnitude of the force is greater than a third threshold value, the control unit performs the first 4. The couch apparatus according to claim 3, wherein the control of 2 is executed. 6. The bed apparatus according to any one of claims 2 to 5, wherein said control section controls the speed of said tabletop in said second control so as not to exceed a predetermined speed. 6. The bed apparatus according to any one of claims 2 to 5, wherein said controller does not stop the movement of said tabletop when an error relating to control is detected during said second control. A motor driven by the movement control,
The bed apparatus according to any one of claims 1 to 7, wherein said sensor detects, as said force, torque applied to a ball screw interlocking with said motor and said top plate. 9. The bed apparatus according to claim 8, further comprising a clutch that switches a state of interlocking between the motor and the ball screw according to the force detected by the sensor. The bed apparatus according to any one of claims 1 to 9, wherein the sensor detects, as the force, a load applied to a handle provided on the top plate and operated by the operator. 11. The bed apparatus according to any one of claims 1 to 10, further comprising a switch for switching a state of whether or not said control unit operates. a top plate on which the subject is placed;
a sensor that detects a force applied by an operator to the top plate to move the top plate;
a control unit that performs control to reduce the burden on the operator caused by the force in response to the detection of the force;
a motor driven by the control;
a ball screw that interlocks with the motor and the top plate;
with
wherein the sensor detects torque applied to the ball screw;
sleeping device. the ball screw comprises a magnetostrictive wire,
The sensor includes a coil that detects the generation of a magnetic field by the magnetostrictive wire, and detects the torque applied to the ball screw according to the output of the coil.
13. A couch apparatus according to claim 12. a top plate on which the subject is placed;
a sensor for detecting a force applied by an operator to the top plate in order to move the top plate , at least in a direction perpendicular to the upper surface of the top plate ;
a control unit that performs control to reduce the burden on the operator caused by the force in response to the detection of the force;
a handle provided on the top plate and operated by the operator;
with
the sensor detects a load applied to the handle;
sleeping device. 15. The couch apparatus according to claim 14, wherein said sensor detects said force by detecting a moment between said sensor and said handle. a top plate on which the subject is placed;
a sensor that detects force applied by an operator to move the top plate;
a control unit that changes the type of movement control of the top plate according to the time when the force is applied;
with
When the force is instantaneous, the control unit performs a first control to move the tabletop by a unit amount, and when the force is continuous, the operator is relieved of the burden caused by the force. perform a second control to reduce
sleeping device. A medical diagnostic system comprising a couch device according to any one of claims 1 to 16.

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