JPH0788108A - X-ray fluororadiographic stand - Google Patents

Abstract

PURPOSE:To provide the X-ray fluororadiographic stand controlled so that it can be positioned smoothly and easily without feeling its weight at the time of moving operation of a spot part executed by a manual operation. CONSTITUTION:This stand is provided with an X-ray tube for irradiating an examinee mounted on a top plate of a bed with X rays, a means for detecting the X rays allowed to transmit through the examinee and converting it to an optical image, an X-ray detecting part to which this converting means is attached, and a pressure detecting means for sensing manual pressure for moving this X-ray detecting part to an image pickup part of the examinee. Also, this stand is provided with a motor-driven driving means M for moving the X-ray detecting part in accordance with an output of this pressure detecting means, a means 11 for detecting a speed of the moving X-ray detecting part, and means 18, 19 for feeding back the detected speed data to motor-driven driving control data, and controlling so that a variation of force applied to the pressure detecting means or an output from this pressure detecting means becomes constant.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an X-ray fluoroscopic imaging table,
In particular, it relates to a movement control method for moving the spot portion.

[0002]

2. Description of the Related Art An X-ray fluoroscopic imaging table uses X-rays as an irradiation line and obtains a distribution according to the X-ray absorptivity of each portion of a subject as a fluoroscopic image. Shown in. In FIG. 3, a subject P is lying on the top plate 2 of the bed 1, and the bed 1 is tiltable. The X-ray tube 3 and the image intensifier 4 are arranged to face each other with the subject P sandwiched therebetween. The X-rays emitted from the X-ray tube 3 are partially absorbed by the human body, and the rest reach the image intensifier 4 as transmitted X-rays and are imaged via the optical system 5 and the camera 6. The image intensifier 4, the optical system 5 and the camera 6 are arranged on a spot section 7 which is an X-ray detection section, and the operation panel and the spot section 7 are manually moved to the spot section 7. Assist lever 8 is provided. The operator operates the assist lever 8 to move the spot portion 7 to the imaging site of the subject P and perform positioning.

In such an X-ray fluoroscopic imaging table, when the operator operates the assist lever 8 to move the spot portion 7, a manual operation pressure is applied to both ends of the assist lever 8 to assist (pressure). By detecting with a sensor and transmitting to the electric drive section according to the output from the assist sensor, the manual operation of the spot section 7 which is a heavy object is facilitated. Fig. 4 shows the outline of the drive mechanism.
Is shown in. 4 (a) is a front view thereof, and FIG.
FIG. 6B is a diagram showing the vicinity of the assist lever 8. Figure 4
In FIG. 1, the spot portion 7 is installed on the mounting plate 9 provided on the side portion of the bed 1, and is connected to the motor M provided inside the bed 1 via the chain 10. Further, the motor M has a tacho generator (T
G) 11 is provided. In addition, the assist lever 8
An upward assist sensor 12a and a downward assist sensor 12b are provided at both ends of the. Here, the up-down direction indicates the longitudinal direction of the bed 1 or the top 2. Spot part 7
Can move in the vertical direction and also in a direction perpendicular to the longitudinal direction of the top plate 2.

When the spot portion 7 is moved upward, for example, as shown in FIG. 5, when the operator pushes the assist lever 8, the pressure is detected by the assist sensor 12a, which is amplified as a voltage signal by the amplifier 13 and is then amplified. Command data for speed control pack (SCP) 14
Give to. The SCP 14 transmits a speed signal to the motor M to rotate the motor M and transmits the rotational force of the motor M to the mounting plate 9 via the chain 10 to move the spot portion 7 upward. At this time, the tacho-generator 11 checks the rotation speed of the motor M and feeds it back to the SCP 14 so that the speed matches the command value.

As such a drive control system, a speed control system and a torque control system are known. The former replaces the load signal from the assist sensor 12 with a speed signal and carries out a motor drive by the SCP 14 as described above.
It is an electric assist for a manual operation. In the latter case, the load signal from the assist sensor 12 is replaced with the torque force of the clutch of the motor to drive the motor to electrically assist the manual operation.

[0006]

However, in the conventional drive control method for this type of X-ray fluoroscopic imaging table, for example, in the speed control method, the operability during low acceleration drive and constant speed drive is good and delicate positioning is performed. However, there is a problem that the start-up of the movement is slow or some weight is felt during high acceleration operation. Also, in the torque control method, the torque transmission rate of the clutch is almost 100% at high acceleration and it is like a motor drive type. Next becomes a smooth operation,
Due to the clutch torque, there is a problem in constant speed operation at low speed, and there is a drawback that it is difficult to make fine adjustments.

The present invention has been made in view of the above circumstances, and an object thereof is controlled so that a smooth and easy positioning can be performed without feeling the weight when the spot portion is moved by a manual operation. It is to provide an X-ray fluoroscopic imaging stand.

[0008]

In order to achieve the above object, the present invention has the structure of an X-ray fluoroscopic imaging table as follows. That is, an X-ray tube for irradiating a subject placed on the top of a bed with X-rays, an X-ray detection unit for detecting X-rays transmitted through the subject, and this X-ray detection The pressure detecting means for detecting the manual pressure for moving the portion to the imaging region of the subject, and the electric driving means for moving the X-ray detecting portion according to the output of the pressure detecting means are moving. Means for detecting the speed of the X-ray detection unit and feedback of the detected speed data to control data for electric drive so that the force applied to the pressure detection means or the amount of change in the output from the pressure detection means becomes constant. It is characterized in that means for controlling is provided.

Further, an X-ray tube for irradiating the subject with X-rays mounted on the tabletop of the bed, an X-ray detector for detecting X-rays transmitted through the subject, and Pressure detection means for detecting a manual pressure for moving the X-ray detection section to the imaging region of the subject, electric drive means for moving the X-ray detection section according to the output of the pressure detection means, and movement Doing X
A means for detecting the speed of the X-ray detection unit, a means for calculating acceleration from the detected speed of the X-ray detection unit, and a force applied to the pressure detection unit by feeding back the calculated acceleration data to control data for electric drive or It is characterized in that a means for controlling the amount of change in the output from the pressure detecting means to be constant is provided.

[0010]

According to the above configuration, the speed applied to the assist sensor which detects the speed of the moving X-ray detection unit and detects the speed of the X-ray detection unit and feeds the speed back to the control data for electric drive, or from the assist sensor. Is controlled so that the amount of change in the output of the X-ray is constant, the movement of the X-ray detection unit is smoothly performed when the operator operates the assist lever.

Further, the acceleration is calculated from the detected velocity of the X-ray detection unit, and this is fed back to the control data of the electric drive so that the force applied to the assist sensor for detecting the manual pressure or the change in the output from the assist sensor. Since the amount is controlled so as to be constant, the X-ray detection unit moves smoothly when the operator operates the assist lever.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. The same members as those described in the section of the related art are designated by the same reference numerals. Further, the general description of the X-ray fluoroscopic imaging table in which the present invention is implemented is the same as that in FIG.

FIG. 1 is a diagram showing an outline of a drive mechanism of an X-ray fluoroscopic imaging table according to the present invention. 1A is a front view thereof, and FIG. 1B is a view showing the vicinity of the assist lever 8. In FIG. 1, an image intensifier 4, an optical system 5 and a camera 6 are arranged on the spot portion 7, and these constitute an X-ray detection portion which is a heavy load. The spot portion 7 is provided with an operation panel and an assist lever 8 for manually moving the spot portion 7. The operator operates the assist lever 8 to dispose the spot portion 7 on the imaging site of the subject P. Assist (pressure) sensors 12a and 12b are provided at both ends of the assist lever 8. Further, the spot portion 7 is installed on a mounting plate 9 provided on a side portion of the bed 1, and is connected to a drive motor M provided inside the bed 1 via a chain 10. And
A disc brake 15 for stopping is attached to the motor M. Further, the motor M is provided with a tacho generator (TG) 11 for speed detection.

FIG. 2 is a block diagram for explaining the operation of the drive mechanism of the X-ray fluoroscopic imaging table of the present invention. In FIG. 2, reference numeral 12 is an assist (pressure) sensor provided at both ends of the assist lever 8, and an amplifier 13 for amplifying an output signal detected by the assist sensor 12.
A speed control pack (SCP) 14 for inputting speed command data from the amplifier 13 and rotating the motor M based on the speed command data is provided. The motor M is provided with a tacho generator (TG) 11 that detects the moving speed of the spot portion 7 by observing its rotation speed, and its output is transmitted to an acceleration / deceleration detector 17 and a stop disc brake 15. The output of the tacho generator (TG) 11 is also transmitted to the SCP 14 so that the speed is controlled according to the speed command data from the amplifier 13. Then, the output data from the acceleration / deceleration detector 17 is compared with the data obtained by detecting the change amount of the assist sensor 12 by the change amount detector 16 from the amplifier 13 by the change amount comparator 18. The output data from the change amount comparator 18 is fed back to the speed command data from the amplifier 13 and added or subtracted (or multiplied or divided as necessary) by the comparator 19 and transmitted to the SCP 14. Further, the output data from the change amount comparator 18 is transmitted to the stopping disc brake 15 as needed.

A case where the spot portion 7 is moved upward, for example, will be described with reference to FIGS. 1 and 2. When the operator pushes the assist lever 8, the pressure is detected by the assist sensor 12a, is taken as a voltage signal, is amplified by the amplifier 13, and gives speed command data to the SCP 14. The SCP 14 transmits a speed signal to the motor M to rotate the motor M, and the rotational force of the motor M is transferred to the chain 10
The spot portion 7 is transmitted to the mounting plate 9 via the and moves upward. At this time, the output from the amplifier 13 is detected by the change amount detector 16 as the change amount of the assist sensor 12a,
Further, the acceleration / deceleration detector 17 detects the speed of the spot portion 7 which is actually moving by observing the rotation speed of the motor M by the tachogenerator 11. The output data from the change amount detector 16 and the acceleration / deceleration detector 17 are compared by the change amount comparator 18, and the output data is fed back to the speed command data amplified by the amplifier 13 via the comparator 19. SC so that the amount of change in the output of the assist sensor 12a or the pressure applied to the assist sensor 12a becomes constant.
Control speed command data to P14. Therefore, the weight of the X-ray detection unit including the spot portion 7 which is a heavy object is not felt during the movement. When a pressure is applied to the assist sensor 12b by hand in order to stop the spot portion 7 when approaching the imaging region of the subject P, the assist sensor 12b can be stopped at a desired position by the same action as described above.

In this case, acceleration data is calculated based on the speed detected from the tacho generator 11, and the acceleration data is fed back to compare the change amount of the output of the assist sensor 12a with the output of the assist sensor 12a. The speed command data to the SCP 14 may be controlled so that the amount of change or the pressure applied thereto becomes constant.

In consideration of high-speed operation, when there is a flow due to inertia that cannot be compensated by the deceleration torque of the motor M when decelerating and stopping, the deceleration direction of the assist sensor 12a detected by the change detector 16 is detected. Change amount and acceleration / deceleration detector 17
The deceleration amount detected in step S1 is compared by the change amount comparator 18 and S
Feedback is applied to the speed command data to the CP 14 and the stop disc brake 15 of the drive unit to improve the followability and stop. If there is no flow problem due to inertia, the disc brake 15 need not be provided.

[0018]

As described above, according to the present invention, since the manual operation of the spot portion can be performed without feeling the weight, the spot portion can be smoothly and easily moved to the position to be inspected by the subject. Positioning can be performed accurately and the burden on the operator is reduced. Moreover, even if there is a flow due to inertia when the spot portion moves, it can be stopped smoothly.

[Brief description of drawings]

FIG. 1 is a diagram schematically showing a drive mechanism of an X-ray fluoroscopic imaging table according to the present invention.

FIG. 2 is a block diagram for drive control.

FIG. 3 is a diagram for explaining an outline of a configuration of an X-ray fluoroscopic imaging table.

FIG. 4 is a diagram for explaining an outline of a drive mechanism of a conventional X-ray fluoroscopic imaging table.

FIG. 5 is a block diagram for conventional drive control.

[Explanation of symbols]

 1 bed 2 top plate 3 X-ray tube 4 image intensifier 5 optical system 6 camera 7 spot part 8 assist lever 9 mounting plate 10 chain 11 tacho generator (TG) 12 assist sensor 13 amplifier 14 speed control pack (SCP) 15 Disc brake for stopping

Claims (3)

[Claims] 1. An X-ray tube for irradiating a subject placed on a tabletop of a bed with X-rays, an X-ray detector for detecting X-rays transmitted through the subject, and Pressure detection means for detecting a manual pressure for moving the X-ray detection section to the imaging region of the subject, electric drive means for moving the X-ray detection section according to the output of the pressure detection means, and movement Means for detecting the speed of the X-ray detection unit, and the detected speed data is fed back to the control data for electric drive so that the force applied to the pressure detecting means or the amount of change in the output from the pressure detecting means is constant. An X-ray fluoroscopic imaging stand provided with means for controlling so that 2. An X-ray tube for irradiating a subject placed on a top of a bed with X-rays, an X-ray detector for detecting X-rays transmitted through the subject, and Pressure detection means for detecting a manual pressure for moving the X-ray detection section to the imaging region of the subject, electric drive means for moving the X-ray detection section according to the output of the pressure detection means, and movement Detecting means for detecting the speed of the X-ray detecting portion, means for calculating acceleration from the detected speed of the X-ray detecting portion, and the calculated acceleration data is fed back to the control data for electric drive to the pressure detecting means. An X-ray fluoroscopic imaging table provided with means for controlling the applied force or the amount of change in the output from the pressure detecting means to be constant. 3. The X-ray fluoroscopic imaging according to claim 1 or 2, further comprising means for applying a brake to an X-ray detection unit that is moving by using feedback data obtained from velocity or acceleration. Stand.