JPH11137543A - Bed controller for medical diagnostic equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the operability of a bed in its positioning by arranging an operating force command value - moving speed relationship selection means that can optionally select a relationship between an operating force command value and a bed moving speed in a bed operating force control means. SOLUTION: The movement position and speed of a bed 1 is obtained by detecting the operating force of the bed 1 by an operating force detection means 2 and inputting to a bed controller 4 and inputting the output of an encoder 29 connected to the bed 1 to the bed controller 4. A gain of an amplifier that amplifies a position deviation by inputting an assisting force setting signal that sets a relationship between an optional operating force and a movement speed from an assisting force setting inputting means 30. The bed controller 4 controls the operating force of the bed 1 by amplifying a speed control deviation signal with a motor 25 obtained by calculation and giving it to the motor 25 for an X direction driving of the bed 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an X-ray diagnostic apparatus and an X-ray diagnostic apparatus.
The present invention relates to a control apparatus for a bed on which a subject is placed in a medical diagnostic apparatus such as an X-ray CT apparatus and an MRI apparatus. In particular, the bed on which the subject is placed is moved to position a diseased part of the subject. The present invention relates to a bed control device of a medical diagnostic device to be controlled.

[0002]

2. Description of the Related Art Conventionally, a bed of this type, for example, a patient bed of an X-ray CT apparatus will be described as an example. The X-ray CT apparatus performs an examination with a patient lying on the bed. At the time of this inspection, a motor for controlling the movement of the bed by remote control is driven to convert the bed to an X-ray CT equipped with an X-ray tube, an X-ray detector, and the like.
It was a device that required position control to take images close to the scanner.

[0003] However, as IVR (interventional radiology) has become popular in recent years, the X-ray CT apparatus and a circulatory organ X capable of performing an angiography examination have been developed.
The number of procedures for performing treatment and examination at the same time by combining a line examination apparatus has increased. In this system, the bed on which the subject lies is the same for X-ray CT and for angiography, in order to perform the entire procedure from examination to treatment without moving the subject. It is desirable to do.

[0004] For this reason, there has been an increasing demand for a bed on which a subject is to be laid while having both a function as a bed for X-ray CT and a function as a bed for angio examination. That is, there has been a demand for a bed for X-ray CT which has high speed and good positioning accuracy, and a bed which can freely float in the front-rear direction and the left-right direction as an angio inspection bed.

[0005]

Therefore, during such angio examinations and treatments, the bed can be freely operated manually in the front-rear and left-right directions, but the load is heavy due to the large mechanism of the bed. Requires operating force. Also,
The conventional bed controller has been a position controller that satisfies the high-speed positioning control required for the X-ray CT examination, and therefore cannot perform the delicate operation of lightly moving the hand required for the operation of the IVR. Furthermore, since the subject's weight is applied, the operating force of the operator is large, and the bed is excessively moved by the effect of the inertia force when the operator moves, so that it is not always easy to operate.

Therefore, in order to move the bed manually and lightly and freely with an operating force that also takes into account the weight of the subject, a method is conceivable in which the operating force is detected and the operating force is fed back to be controlled. Although this method is effective in reducing the operating force of the operator and reducing the burden on the operator, the operating force of the operator and the moving speed of the bed caused by this are put in a certain relationship, If this relationship is fixed, the following problems occur.

[0007] (1) It is desirable that the moving speed of the bed can be changed according to the surgical procedure and the diseased part. For example, the operation speed of the couch is slow at the time of positioning the catheter while viewing the image of the tip position of the catheter, and conversely, when the catheter is inserted from the lower limb and brought to the abdomen at a stretch, the movement speed of the couch is faster. Easy to operate.

(2) Even if the operative procedure and the diseased part are the same, the operating speed of the bed that the operator feels comfortable differs depending on the difference in the operation ability and the preference of each doctor. In addition, the operator who operates the bed has a chance to operate not only the doctor but also a technician and a nurse who assist the doctor, and an unspecified number of people often operate the bed. In particular, when the operator is a woman and a man, there is a difference in the magnitude of the operation force that both feel comfortable, and in the case of a woman, the operation force is set so that the bed can be sufficiently moved even with a small operation force compared to a man. It is necessary to change the relationship between speed and speed.

As described above, in the bed control device incorporating the conventional force control, the bed can be moved lightly, but since the relationship between the operating force of the bed and the moving speed at this time is fixed, An operation feeling that satisfies all of the operations, the diseased site, and the operator cannot be obtained.

Accordingly, an object of the present invention is to provide a bed for a medical diagnostic apparatus which can be operated with an operating force corresponding to a surgical procedure, a diseased site or an operator, thereby improving operability when positioning the bed. It is to provide a control device.

[0011]

The object of the present invention is to provide a bed on which a subject is laid, operating force detecting means for detecting operating force of the bed, moving speed detecting means for detecting a moving speed of the bed. And a position detecting means for detecting a position of the bed, and a bed operation for controlling the operating force of the bed so that an operating force command value of an operator operating the bed matches the output of the operating force detecting means. A bed control device of a medical diagnostic apparatus having force control means, wherein the bed operation force control means is capable of arbitrarily selecting a relationship between the operation force command value and a moving speed of the bed. This is achieved by providing

With this configuration, it is possible to arbitrarily set and select the relationship between the operation force command value and the moving speed of the bed, so that the bed can be operated according to the preference of the operator or the purpose of diagnosis.

Further, the bed operating force control means of the present invention converts the operation command value into information on the position of the bed, obtains a positional deviation from the position information and the actual position information on the bed, and obtains a deviation of the position. A value obtained by converting the actual operating force of the bed detected by the operating force detecting means into position information is added to the deviation, and the amplified value is amplified by an amplifier.The deviation between the output of the amplifier and the actual moving speed of the bed is used as the deviation. By controlling the motor that drives the bed, the operating force of the bed is configured to match the operation command value of the operator, and the operation that can arbitrarily select the relationship between the operating force command value and the moving speed of the bed is performed. Force command value-
The moving speed relation selecting means is adapted to select the gain of the amplifier. With this configuration, the relationship between the operation force command value and the moving speed of the bed can be set arbitrarily, and the set gain can be selected from the outside. Can operate the bed.

[0014]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a configuration diagram of a system in which an X-ray CT apparatus and an angio inspection apparatus are combined.

FIG. 1A is a side view of the system, wherein 5 is a scanner section of an X-ray CT apparatus, and 6 and 7 are an X-ray tube and an image intensifier I.I.
I. (These are supported by a support called a C-arm not shown), 1 is a bed common to the X-ray CT apparatus and the angiography examination apparatus, and 2 is an operator operation force detection for detecting an operation force of the operator. Means 3 are rails for mounting the operator operating force detecting means 2, and 4 is a bed control device for controlling the movement of the bed 1. FIG. 1B is a top view of the bed 1 of the above-described system. The bed 1 has a mechanism that can move independently in the front-rear direction (X direction) and the left-right direction (Y direction). (Not shown). The rails 3 are attached to both sides of the bed 1 so that the operator's operation force detecting means 2 shown in FIG. 1A can be attached to a position where the operator can easily work according to the position where the operator stands. .

The motor for moving the couch 1 and the encoder for detecting the speed of this motor and the amount of movement of the couch are shown in FIG.
The arrangement is as shown in (c) (motor 25 and encoder 29 connected to this motor).

As a mechanism for transmitting the driving force of the motor 25 to the bed 1, the mechanism using the pulley 10 and the belt 11 as shown in FIG. 1B is used. In this system, for example, the bed 1 is moved in the front-rear direction (X direction) to align the subject with the scanner 5 of the X-ray CT apparatus, perform an examination, and specify a diseased part of the subject.

Next, the bed 1 is moved in the X and Y directions while the subject is placed on the bed, and the X-ray tube 6 of the angiography inspection apparatus is connected to the I.D. I. 7 and a catheter is inserted into a blood vessel, and treatment is performed while confirming the position of the catheter with the angio-examination apparatus.

At the time of positioning the bed 1 during the angio examination in this case, the bed 1 must be finely controlled. Therefore, an operating force input lever (not shown) provided on the operation unit of the bed 1 is used. Enter the operating force. Then, the operator's operation force is detected by the operator's operation force detecting means 2 (integral with the operation lever), and this is fed back to a control device described later to finely control the operator's operation force. Is what you do.

The bed control device 4 adjusts the X direction and the Y direction of the bed 1 so that the operating force input from the operating lever is obtained.
Is decomposed into control commands for controlling the amount of movement in the
It is input to a control device that controls the operation force in the direction and the Y direction.

FIG. 2 shows a configuration of such a bed control device 4. In FIG. 2, the couch control device 4 mainly includes a couch position control unit 21 for controlling the position of the couch 1 in the X direction used during the X-ray CT examination, and a couch in the X and Y directions mainly for the angiography examination. 1, a bed operating force control unit 22 for controlling the operating force, the couch position control unit 21 and the couch operating force control unit 2
The bed control switching unit 23 for switching the control of the bed 2 in the X direction, the output signal in the X direction of the bed position control unit 21 and the bed operation force control unit 22 are amplified, and the X direction drive motor 25 of the bed 1 is amplified.
, A motor drive unit 54 that amplifies the output signal in the Y direction of the bed operating force control unit 22 and drives a Y direction driving motor 55 of the bed 1, and an operating force input signal 40 (not shown). Operating force input lever), an operating force detection signal 41 (input from the operating force detecting means 2), a position detection signal 42 (detected by the encoder 29 connected to the motor 25), and a moving speed signal 43 (input by the encoder 29). 29) and an assist force setting signal 44 (input from the assist force setting means 30 described later).

The bed operating force control unit 22 comprises two control systems for controlling the operating forces in the X and Y directions as described above. The operation of the couch control device 4 will be described with reference to FIG. 2. Since a couch at the time of a normal X-ray CT examination requires high speed and high positional accuracy, the couch position control unit 21 uses a known position control technique. Position control (the description of the circuit and operation is omitted). In this case, switching is performed by the couch control switching unit 23, an output signal of the couch position control unit 21 is supplied to the motor drive unit 24, and the motor 25 is driven to control the position of the couch 1.

On the other hand, at the time of the angio examination, a switching signal (not shown) to the operating force control provided in the operator operating force detecting means 2 is input to the couch control switching section 23, so that the couch operation is controlled. Is switched to the force control unit 22,
The operator can manually operate the bed 1 in both front and rear, left and right (X, Y) directions. And the operator can see FIG.
The operator's operation force is controlled by applying the operator's force in the direction in which the bed 1 is to be moved, by touching the operator's operation force detection means 2 shown in FIG.

In this way, the bed operating force control unit 22 is activated, and the command value of the operating force is indicated by 40, the detected value of the operating force is indicated by 41, the position signal of the bed 1 is indicated by 42, and the movement of the bed 1 is indicated by 43. A speed signal and an assist force setting signal from 44 are input to the bed operating force control unit 22 to control the operating force of the bed 1 in the X and Y directions. Of course, if necessary, the X- and Y-direction operation forces are controlled using the couch operation force control unit 22 during the X-ray CT examination, and the couch position control unit 2 is used during the angio examination.
The control of the position in the X direction can also be performed using 1.

As described above, when the operator's hand touches the operator's operation force detecting means 2, the couch operation corresponding to the X-ray CT examination and the couch operation corresponding to the angio examination and treatment are automatically switched. With this configuration, the switching operation can be performed without the operator having to be conscious.

Regarding the above-mentioned operation force control, the operation force detection value of the operator obtained by the operator operation force detection means 2 is converted into a state quantity such as a position deviation, a speed or an acceleration, and these are converted. The operating force of the couch can be controlled by calculating the control amount using the conventional method.
The bed operating force control unit 22 was configured using the control system shown in FIG. 3 disclosed in 1015 in the X direction and the Y direction, respectively.

FIG. 3 shows a control system for controlling the operating force of the bed 1 in the X direction. In this control system, an operation force command value 40 of the bed 1 input from an operation unit (not shown) provided on the entire surface such as a holding frame that movably supports the bed 1.
Calculator 3 for calculating the position deviation amount from the value obtained by converting the position information amount by the force-position converter I31 and the actual position signal 42 of the bed 1 from the encoder 29 connected to the motor 25.
2, an arithmetic unit 33 for adding a value obtained by converting the output 41 of the force detector 2 into an information amount of the position by the force-position converter II 36 to the output of the arithmetic unit 32, and an amplifier for amplifying the output of the arithmetic unit 33 34, an output of the amplifier 34 and a bed 1 described later.
Calculator 35 for calculating a speed deviation from the moving speed signal 43
A drive motor 25 (including the motor drive 24 in FIG. 2) of the bed 1 driven by the output of the calculator 35;
The bed 1 as a load that is moved by the rotation of the motor 25, an integrator 32 for integrating the amount of movement of the bed 1, and speed information of the movement of the bed 1 are detected and sent to the arithmetic unit 35. It is composed of a speed detector (encoder 29) that returns.

The position signal 42 of the bed 1 is obtained by integrating the output pulse of the encoder 29 connected to the motor 25 described with reference to FIG. And counting the number of pulses.

Calculation of the portion surrounded by the dotted line in FIG.
The calculation of the position signal 42, the speed signal 43, and the like is performed by a microcomputer, thereby enabling simplification of the circuit, complicated calculations, and signal processing.

In this control system, the operation force signal detected by the force detector 2 is converted into a position amount by a force-position converter II 36 at the next stage, and this is added to the position deviation amount. Feeds back the actual operating force detected by the force detector 2 and sends a target command to the motor 2 so that the operating force becomes zero.
5 to give.

As described above, since the control is performed by converting the amount of force into the amount of position, the position feedback loop is necessary for the feedback loop outside the position control system shown in FIG.
Therefore, the current position of the bed 1 is detected by the encoder 29 shown in FIG. 1, and this position information is converted into a position command value by converting the operation force command value 40 into a position signal by the force-position converter I31 as shown in FIG. Negative feedback to the input section of. At the same time, the moving speed of the bed 1 is detected by the encoder 29 shown in FIG.
The speed information is negatively fed back to the next stage of the amplifier 34 as shown in FIG.

In this manner, the feedback of the force is performed by converting the amount of deviation of the force into the amount of deviation of the position and performing positive feedback, whereby the operation lever (not shown) is provided.
Thus, a force corresponding to the operation force of the operator can be compensated so as to coincide with the operation command value input from.

In this case, if the relationship between the operation force command value 40, which is a characteristic of the force-position converter I31, and the amount of movement of the bed 1 is set to be in a proportional relationship, the moving speed of the bed 1 is also controlled by the operation force command value. It is proportional to 40. In other words, the relationship between the operation force command value 40 and the moving speed of the bed 1 is in a proportional relationship as shown in FIG. 4. The position is converted to a distant target position, and when a small operation force is input, the movement amount is reduced, and the position is converted to a target position close to the current position.

Then, the position of the bed 1 is controlled so as to reach these target positions, and the target position farther from the current position has a larger amount of position control deviation from the current position. The larger the amount, the faster the bed moves. Conversely, since the position control deviation from the current position is smaller as the target position is closer to the current position, the speed control deviation for driving the motor 25 is smaller, and the moving speed of the bed is slower. As described above, when a large operating force is input, the moving speed of the bed 1 is increased, and a moving speed at which a small operating force is input is reduced.

Therefore, it is possible to manually move the bed 1 back and forth and left and right (X and Y directions in FIG. 1) to position the diseased part. Forward and backward movement in the center of
Although only the operation in the direction is performed, the floating operation can be freely performed in the front, rear, left and right directions.

However, in the control method shown in FIG.
Since the relationship between the operating force and the moving speed is fixed as shown in FIG. 4, it is inconvenient in the following cases.
That is, (1) In the control system of FIG. 3, the moving speed of the bed 1 corresponding to the force applied by the operator increases and decreases in proportion to the applied force as shown in FIG. I have. That is, the speed varies according to the applied force. However, the force applied by humans cannot be reduced to the desired speed, especially when trying to move at a reduced speed, and the force when moving objects by humans is different, The relationship between speed and force is as shown in FIG.
In order to move slowly, it is necessary to reduce the applied force, but it is impossible to operate with a force smaller than a certain force f1 (this f1 differs depending on the person). This indicates that the operation feeling is not sufficiently satisfied.

(2) The operating speed of the bed, which the operator feels comfortable, differs depending on the difference in the operation ability and the preference of each doctor. However, as shown in FIG. 4, the relationship between the operating force and the moving speed of the bed remains fixed at a certain standard value, and this relationship cannot be said to be a comfortable relationship for all operators. For example, in order to repeatedly perform radiographic examination of a certain part of the patient,
It is assumed that the moving speed of the bed 1 needs to be Va. It is assumed that when the operator is a man, if the operating force fa is input, the moving speed Va of the bed 1 can be easily obtained. However, when the operator is a woman, the operation force fa equivalent to that of a man may not always be exerted, and the operation of producing the operation force fa is somewhat heavy. In some cases, a smaller operation force fb is easier. In the case described above, the bed 1
Is Vb, and the moving speed of the bed is insufficient for the radiographic examination. Therefore, when a woman operates the couch 1, it is necessary to devise a method for easily moving the couch 1 to Va at the same speed as that of a man even with an operation force smaller than that of a man.

As described above, the person who operates the bed may be not only a doctor but also a technician or a nurse assisting the doctor, and an unspecified number of people often operate the bed. . For this reason, when an unspecified number of people operate the bed, the value of the moving speed at which the operability is optimal for each person varies and is not uniform. Therefore, it is necessary to be able to select a moving speed according to each person's operation ability and preference.

(3) Even if the operator is the same, it may be better to operate the bed at a speed corresponding to the operating procedure or the diseased part when the operating procedure or the diseased part is different.

This is because, for example, a fine operation is performed at the time of positioning the tip of the catheter, so that the operating speed of the bed is slow even with a large operating force. Conversely, when the catheter is moved at a stroke, the catheter is quickly brought to the target position. Therefore, it is easier to operate the bed with a faster moving speed even with a small operating force.

As described above, in the bed control device incorporating the conventional force control, the bed can be moved lightly, but since the relationship between the operating force of the bed and the moving speed at this time is fixed, An operation feeling that satisfies all of the operations, the diseased site, and the operator cannot be obtained.

Therefore, with respect to the above (1), as shown in FIG. 5, the moving speed is low in the region of small operating force,
The gain of the relationship between the operating force and the moving speed may be made different according to the operating force so that the moving speed increases from a certain value f1 or more.

The relationship between the force applied by the operator and the desired speed is expressed by the relational expression of 0 <f <f1 v = αF f1 <fv = βF, as shown in FIG. You can make it change. The operator can move the couch to a desired place, but the moving method is to move the couch at a slow speed for the purpose of fine positioning. At this time, if the relationship is as shown in FIG. 5, even if the force of the operator is large to some extent, since the rate of change of the speed is small, α, the speed does not change suddenly, and even if the operator operates with a large force, the speed is slow. It can be moved at a very small speed. Further, when the operator applies an operating force larger than the inflection point C, the bed can be moved quickly because the speed gradient generated by the applied force is increased.

For (2) and (3), the relationship between the operating force and the moving speed is shown in, for example, (a), (b), and (b) of FIG.
As shown in (c), several types of characteristics may be prepared, and these may be selected according to an operation method, a diseased site, or an operator's preference. This can be achieved by, for example, setting the gain of the amplifier 34 of the control system of FIG. 3 to an appropriate value so that the gain can be selected from the outside. Therefore, means for inputting a signal for selecting these characteristics from outside, that is, from the operation unit is required.

The relationship between the operating force and the moving speed is shown in FIG.
The present invention is not limited to FIG. 6, but may be a combination of these characteristics. If the above-mentioned gain can be variously selected, an arbitrary characteristic can be obtained in accordance with this, and this is merely an example. .

As described above, by setting the gain of the control system element related to the operating force and the moving speed of the control system of FIG. 3 (the gain of the amplifier 34 in the control system of FIG. 3) to an appropriate value, any operation can be performed. The bed can be moved and controlled by force. In order to achieve this, it is necessary to externally input a signal for setting and changing the gain of the control system element.

FIG. 7 shows the configuration of a control system for controlling the operating force of the bed 1 by arbitrarily selecting the relationship between the operating force and the moving speed. 1 is a bed, 2 is an operation force detecting means, 4 is a bed control device, 24 is a motor drive unit for supplying driving power to an X-direction drive motor 25 of the bed 1, and 29 is a position of the bed 1 in the X direction. And an encoder for detecting speed, which are the same as those in FIG.

Reference numeral 30 denotes an assist force setting input means for setting the relationship between the operating force and the moving speed of the bed 1 newly provided this time.

In FIG. 7, the operation force of the bed 1 is detected by the operation force detection means 2, and this signal is input to the bed control device 4. On the other hand, the output pulse of the encoder 29 connected to the couch 1 is input to the couch controller 4, and the output pulse of this encoder is counted to determine the moving position and the moving speed of the couch 1.

Then, an assist force setting signal for setting the relationship between an arbitrary operating force and a moving speed is input from the assist force setting input means 30, and the gain of the amplifier 34 for amplifying the position deviation shown in FIG. 3 is set. Then, the speed control deviation from the motor 25 calculated by the couch control device 4 is amplified by the motor drive unit 24 and given to the X-direction drive motor 25 of the couch 1. The first operation force is controlled.

The solutions to the above-mentioned problems (1), (2) and (3) using the control system having such a configuration will be described with reference to specific examples.

[1] Specific Example of Solution to Problem (1) To obtain the relationship between the operating force and the moving speed as shown in FIG.
For example, as shown in FIG. 8, the magnitude of the operation force is determined, and the gain of the amplifier 34 is switched so that the moving speed becomes the magnitude of the operation force.

In FIG. 8, the operating force is detected by the operating force detecting means 2 and the gain is changed by the operating force.
The gain Kx1 of the amplifier 34 (gain α in FIG. 5), Kx
2 (gain β in FIG. 5).

[2] Specific Example of Solution to the Problems (2) and (3) In the case where the relationship is as shown in FIG. 6, as shown in FIG.
In addition to the means for switching the gain in accordance with the operating force described above, a gain changeover switch 39 for switching the overall gain of this characteristic and a plurality of gain constants Kx3, Kx4, and Kx5 are provided in series with the means for switching these gains. Figure 7 of
Is achieved by the assist force setting signal 44 from the assist force setting input means 30 shown in FIG.

The assist force setting input means 30 includes, for example, the gains Kx3, Kx4, and Kx5 so that the gains Kx3, Kx4, and Kx5 can be selected according to an operator or an operation purpose.
Push button switches corresponding to Kx4 and Kx5 are provided, and an opening / closing signal of this switch is used as the assist force setting signal from the assist force setting input means 30 to the couch control device 4.
, The switch 39 in FIG. 9 is switched so that an optimum gain can be selected.

[3] Setting of the gain and selection of the gain FIGS. 8 and 9 show solutions to the above (1), (2) and (3).
Has been described, in which the amplifier gain Kx1,
Kx2, Kx3, Kx4, and Kx5 set the gain of the amplifier 34 to a value corresponding to Kx1, Kx2, Kx3, Kx4, and Kx5 when the relationship between the operating force and the moving speed is known in advance. What is necessary is just to make it possible to set by the operation force or assist force setting signal 44, or to set these from outside as described below and to be able to select them. Therefore, when the gain is externally set, the variable resistor shown in FIGS. 10A and 10B is adjusted, and a digital value corresponding to the variable resistor is input to the bed control device 4 to set the gain. And select.

FIG. 10 (a) uses a variable resistor that can be slid up and down. The standard value of the gain of the amplifier 34 is set at the center of the slider SD of the variable resistor, indicating the operability. Prepare a scale. On the other hand, FIG.
Uses a rotary variable resistor, and FIG.
As in (a), the center of rotation is set as the standard value of the gain.

If the moving speed of the bed 1 is slow with respect to the input operating force, that is, if the operator feels heavy, the user slides downward in FIG. In FIG. 10 (b), it is rotated counterclockwise,
The gain of the amplifier 34 is set and changed.

The resistance value set by the above method is converted into a voltage value, which is input to the bed control device 4 to set and change the gain of the amplifier 34. In the bed control device 4,
Since this voltage change is always observed and reflected on the gain value of the amplifier 34, the assist force setting input means 30
After the setting with the variable resistor provided in (1) (this is referred to as assist force setting means), the operability of the bed can be quickly changed according to the operator.

FIG. 10C shows a method of selecting the gain value of the amplifier 34 described with reference to FIGS. 8 and 9. In this case, the gains of FIGS. 8 and 9 are set in advance in the control device. Alternatively, it is a selection means which is set by the method shown in FIGS. 10A and 10B and a prepared signal for selecting a gain is inputted from outside and selected.

In FIG. 10 (c), reference numeral 62 denotes a display, which represents the weight of the current operability by a plurality of large and small bar graphs as shown in FIG. The heavier the operation, the more bar graphs are lit in order from the left, and the standard value is located in the middle of the bar graphs.

Reference numerals 63 and 64 denote switches for setting and changing, and reference numeral 63 denotes a switch for adjusting the operation to be lighter and 64 to be heavier. The signal of this switch is used as the assist force setting signal 44 and the bed control device 4
, And the gain K is set by the switch 39 in FIG.
x3, Kx4, or Kx5.

If the bed is heavy with respect to the input operating force, pressing the switch 63 reduces the operation (increases the gain of the amplifier 34), and accordingly the number of lights on the bar graph on the display is reduced. Decrease. If the lightness of the operation is insufficient, pressing the switch once again makes the operation lighter.

On the other hand, when the bed is light, the operation becomes heavy by pressing the switch 64 (the gain of the amplifier 34 is small), and the number of lighted bar graphs on the display increases accordingly. In this way, the feel of each operator operating the couch can be arbitrarily set and changed by the assist force setting input means 30.

Therefore, according to the assist force setting input means 30 of the present invention, when the female doctor uses the bed,
Optimum operability can be obtained by setting an arbitrary gain by the assist force setting input means 30 in advance. In addition, even when the operation force is lighter and more easily operated due to fatigue of long-time work, etc., the operation can be operated with a lighter operation force according to the fatigue only by changing the setting with the assist force setting input means 30. Become like

As described above, when the bed is operated, the set value which allows the user to operate the couch most easily is set by the volume resistance and the switch of the assist force setting input means 30 so that the operation force and the preference of each person can be improved. , The bed can be operated in a state where the operability is most suitable.

As a method of converting the operating force into position information by the force feedback gain device, the proportional relationship is used in the above-described example, but the relationship between the force information and the position amount to be converted is a non-linear curve. It is also possible to use a quadratic function,
It is also an effective means to apply a curve obtained by a trigonometric function, a logarithmic function, an exponential function, or the like. The assist force setting input selecting means 30 is also an effective means as a constant for changing the slope of the curve. It is.

As a means for changing the assist force, the gain of the amplifier 34 is changed. However, if the relationship between the operating force and the moving speed can obtain the characteristics shown in FIGS. It is not limited.

The case where the present invention is applied to an X-ray imaging apparatus or an X-ray CT apparatus has been described above. However, the present invention is not limited to this, and it can be applied to a bed control of a medical diagnostic apparatus requiring operation force control. Needless to say.

[0070]

As described above, the bed operating force control means is provided with means for arbitrarily setting and selecting the gain of the relationship between the operation command value and the moving speed of the bed. The effect of being able to operate with a corresponding operating force is obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a system in which an X-ray CT apparatus and an angio inspection apparatus are combined.

FIG. 2 is a configuration diagram of a bed control device of the system of FIG. 1;

FIG. 3 is a configuration diagram of a control system that controls an operation force of a bed.

FIG. 4 is a relationship diagram between a bed operating force and a bed moving speed used for conventional bed operating force control.

FIG. 5 is a diagram showing an example of a relationship between a bed operating force and a bed moving speed used in the present invention.

FIG. 6 is a diagram showing an example of a relationship between a bed operating force and a bed moving speed used in the present invention.

FIG. 7 is a configuration diagram of a couch control device according to the present invention that can arbitrarily set and select a relationship between a couch operation force and a couch moving speed;

8 is a control block diagram for setting and selecting a relationship between the bed operating force and the bed moving speed shown in FIG. 5 according to the present invention.

9 is a control block diagram for setting and selecting a relationship between the bed operating force and the bed moving speed shown in FIG. 6 according to the present invention.

FIG. 10 is a diagram showing a means for externally setting and selecting a gain relating to a bed operating force and a bed moving speed according to the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 bed 2 operator operation force detection means 4 bed control device 21 bed position control section 22 bed operation force control section 25 bed driving motor 29 encoder for detecting bed moving speed and position 30 assist force setting input means 31 force-position conversion Unit I 32, 33, 35 Arithmetic unit 34 Amplifier 36 Force-position converter II 37 Gain switching operation unit 38, 39 Gain switching switch 40 Operating force command value 41 Operating force detection signal 42 Bed position signal 43 Travel speed signal

Claims (1)

[Claims] 1. A bed on which a subject rests, an operating force detecting means for detecting an operating force of the bed, a moving speed detecting means for detecting a moving speed of the bed, and a position of the bed. Medical diagnostics comprising: a position detecting means; and a bed operating force control means for controlling the operating force of the bed so that an operating force command value of an operator operating the bed matches the output of the operating force detecting means. In the couch control device of the apparatus, the couch operation force control means includes an operation force command value-movement speed relationship selection means capable of arbitrarily selecting a relationship between the operation force command value and the moving speed of the couch. Bed control device for medical diagnostic equipment.