JPH01305934A - X-ray diagnosing device - Google Patents

Abstract

PURPOSE:To improve the operation performance by easily carrying out the low/high speed operations by installing a means for amplifying the detection signal in nonlinear form, between said detecting means and a control means for a power assisting mechanism. CONSTITUTION:When a force (f) is applied onto a handle by an operator, a spot photographing device 2 tends to shift in the vertical direction A or longitudinal direction B, and then the force (f) applied onto the handle is detected by a detector 11, and amplifier in a straight line form by a linear amplifier 12, and further amplified in nonstraight line form by a nonlinear amplifier 14, and a motor is speed-controlled in nonlinear form, and the shift speed of the spot photographing device 2 varies in acceleration form so as to assist the force (f). Therefore, when the detected force (f) is less than a certain value, the spot photographing device 2 shifts at a low speed, and when the force becomes larger than a certain value, the spot photographing device 2 sharply shifts at a high speed, and the low/high speed operation can be carried out easily, and the operation performance is improved.

Description

Detailed Description of the Invention [Objective of the Invention] (Industrial Application Field) The present invention provides a proximity operation type in which a spotting device is movable in the vertical direction or in the front-back direction and is equipped with a power assist mechanism for at least one of the movements. The present invention relates to an X-ray diagnostic device.

(Prior Art) Recently, with the increase in the size of the imaging system in X81 diagnostic equipment, it has become necessary to manually move the spot imaging device in the front and rear directions, even if it is balanced with weights. It has become. Therefore, in order to lightly manually move the spot photographing device in the front-rear direction or up-down direction, a power assist mechanism is used to assist the manual force.

FIG. 4 is a diagram showing a conventional power assist mechanism of this type. This power assist mechanism includes a force detector 1, such as a load cell, which detects the force f of the operator, and a linear amplifier 12, which linearly amplifies the detection signal of this force detector 11.
It is comprised of a motor control section I3 that controls the speed of a motor (not shown) in response to this amplified signal.

The second figure is a diagram showing the correspondence relationship between the force f and the speed V of the motor, in which the speed V changes linearly with respect to the force f. According to such a power assist mechanism,
When a force f is applied to the handle provided on the spot photographing device, the force f is detected by the force detector 11. Then, the detection signal is linearly amplified by a linear amplifier 12, and the speed of the motor is controlled by a motor control section 13, so that the moving speed V of the spot photographing device changes significantly so as to supplement the force f.

(Problems to be Solved by the Invention) However, the above conventional X-ray diagnostic apparatus has the following problems. That is, since the moving speed V of the spot photographing device changes linearly in proportion to the manual force f of the operator, a fairly fast speed is required, for example, when positioning or retracting the spot photographing device. However, there is a problem in that it is not possible to respond to these issues immediately. Furthermore, if the force f applied to move the object significantly at this time is increased, it becomes difficult for the operator to operate the object. Furthermore, when the operator performs X-ray diagnosis, the moving speed V increases linearly with respect to the applied force f, so the operator may pass through the desired position, making it difficult to perform delicate low-speed operations. was there.

Therefore, an object of the present invention is to enable the operator to easily perform delicate low-speed operations during X-ray diagnosis and high-speed operations during the evacuation operation of the spot imaging device, thereby improving operability and reducing the operational burden on the operator. The object of the present invention is to provide an X-ray diagnostic device that can perform

[Structure of the Invention] (Means for Solving the Problems) In order to solve the above problems and achieve the objects, the present invention takes the following measures. That is, the present invention provides a detection means for detecting the force applied to the handle when an operator grasps a handle provided on the spot photographing device and moves the spot photographing device in the vertical direction or the front and rear directions, and a detection means for detecting the force applied to the handle. An X-ray diagnostic device, comprising: a power assist mechanism provided in at least one of the moving directions; and a control means for receiving a signal and controlling the moving speed of the spot imaging device.
In this invention, nonlinear amplification means for nonlinearly amplifying the detection signal is provided between the detection means and the control means.

(Effects) By taking such measures, the following effects are achieved. According to the present invention, since the power assist mechanism is provided with a nonlinear amplification means, when the force detected from the operator's grip on the handle is below a certain value, the spot imaging device moves at a low speed, and When the value exceeds a certain value, the spot photographing device suddenly moves at a high speed.

Therefore, the operator can easily perform delicate low-speed operations during X-ray diagnosis and high-speed operations when retracting the spot imaging device. The operational burden on the operator can be reduced.

(Embodiment) FIG. 1 is a schematic perspective view showing an embodiment of a proximity operation type X-ray diagnostic apparatus according to the present invention. This X-ray diagnostic apparatus includes a bed main body 1 which has a built-in X-ray source (not shown) and on which a subject is placed;
The apparatus includes a spot photographing device 2 that imprints a fluoroscopic image transmitted through the subject onto a film. The spot photographing device 2 is provided with a handle 3 so that the operator can manually move the spot photographing device 2 in the vertical direction A or the front and back direction B. Further, the device is provided with a power assist mechanism, and when the operator applies force to the handle 3, the spot photographing device 2 amplifies this force and assists the force. It is expected to move significantly.

FIG. 2 is a diagram showing the power assist mechanism. Note that the same parts as those shown in FIG. 4 will be described with the same reference numerals. The feature of this embodiment is that a nonlinear amplifier 14 is inserted between the linear amplifier 12 and the motor control section 13.

The force detector 11 detects the force f applied to the handle 3 when the operator grasps the handle 3 provided on the spot photographing device 2 and moves the spot photographing device 2 in the vertical direction A or the horizontal direction B. It is something. linear amplifier 1
Reference numeral 2 linearly amplifies the detection signal, and nonlinear amplifier 14 nonlinearly amplifies the linearly amplified detection signal.

FIG. 3 is a diagram showing the correspondence between the force f of the nonlinear amplifier 14 and the moving speed V. In the figure, the horizontal axis is the force f, and the vertical axis is the moving speed V of the spot photographing device 2.

This nonlinear amplifier 14 has a characteristic of forming a downwardly convex parabola, and when the force f caused by the operator's grip on the handle 3 is below a certain value, the spot photographing device 2 moves at a low speed V, and the force When f exceeds a certain value, the spot photographing device 2 suddenly moves at a high speed V. The motor control section 13 receives the nonlinear amplified signal and controls the speed of the spot photographing device 2.

Next, the operation of the embodiment configured as described above will be explained. When the operator applies a force f to the handle 4 provided on the spot imaging device 2, the spot imaging device 2 moves in the vertical direction A.
Or it tries to move in the front-back direction B. Then, the force f applied to the handle 4 is detected by the force detector 11, and the detection signal is linearly amplified by the linear amplifier 12. The amplified detection signal is non-linearly amplified by the non-linear amplifier 14, and the motor control section 7 that receives this non-linear signal controls the speed of the motor non-linearly as shown in FIG. is the force f
It changes at an accelerating rate as if to assist.

As described above, according to this embodiment, since the power assist mechanism is provided with the nonlinear amplifier 14, when the force f detected from the operator's grip of the handle is below a certain value, the spot imaging device is operated at a low speed. When the spot photographing device 2 moves and the force f exceeds a certain value, the spot photographing device 2 suddenly moves at a high speed. Therefore, the operator can easily perform delicate low-speed operations during X-ray diagnosis and high-speed operations when retracting the spot imaging device. The operational burden on the operator can be reduced.

Note that the present invention is not limited to the embodiments described above. In the above-described embodiment, the nonlinear amplifier 14 has the characteristics shown in FIG. You can.

It goes without saying that various other modifications can be made without departing from the gist of the present invention.

[Effects of the Invention] According to the present invention, when an operator grips a handle provided on a spot photographing device and moves the spot photographing device in the vertical direction or in the front and back direction, a detection means detects the force applied to the handle; In the X-ray diagnostic apparatus, a power assist mechanism is provided in at least one direction of the movement direction, and includes a control means for receiving a detection signal from the detection means and controlling a moving speed of the spot imaging device. Since a nonlinear amplification means for nonlinearly amplifying the detection signal is provided between the control means, the operator can easily perform delicate low-speed operations during X-ray diagnosis and high-speed operations when retracting the spot imaging device. Therefore, it is possible to provide an X-ray diagnostic apparatus that can improve operability and reduce the operational burden on the operator.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view showing an embodiment of the X-ray diagnostic apparatus according to the present invention, FIG. 2 is a view showing a power assist mechanism, and FIG. 3 is a view showing force and speed. FIG. 4 is a diagram showing a conventional power assist mechanism, and FIG. 5 is a diagram showing force and speed. ■...Bed body, 2...Spot photographing device, 3...
・Handle, 11... Force detector, 12... Linear amplifier, 13... Motor control section, 14... Nonlinear amplifier, f... External force, ■... Speed, A... Up and down Direction, B
···Longitudinal direction. Applicant's Representative Patent Attorney Takehiko Suzue Figure 1 Figure 2 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] When the operator grasps a handle provided on the spot imaging device and moves the spot imaging device in the vertical or longitudinal direction, there is a detection means for detecting the force applied to the handle, and a detection signal from the detection means to detect the force applied to the spot imaging device. In the X-ray diagnostic apparatus, the detection signal is transmitted between the detection means and the control means, in which a power assist mechanism including a control means for controlling the movement speed of the imaging device is provided in at least one direction of the movement direction. An X-ray diagnostic device characterized by being provided with nonlinear amplification means for nonlinear amplification.