JPS605124A - Method and apparatus for positioning matter - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning method and apparatus for positioning a pair of objects, such as an X-ray irradiation head and an X-ray film in an X-ray imaging device, on a desired straight line. .

That is, to explain the above-mentioned X-ray imaging device using a dental X-ray imaging device as an example, instead of performing panoramic X-ray imaging of the whole jaw, it performs X-ray imaging of two or three specified teeth. In this type of film, a film is placed inside the oral cavity, and the film is exposed to X-rays from the outside to be photographed and used for diagnosis. Because the process relied on visual inspection and intuition, positional deviations easily occur, and not only does the film come off from the X-ray irradiation field, exposing unnecessary areas to X-rays, but the target tooth is not captured on the film, resulting in so-called cone cuts. There are 16 points where the amount of radiation to the human body is further increased due to the need for re-imaging.
Conversely, in order to suppress this cone cut, it is necessary to expand the X-ray irradiation field, causing the problem of unnecessary radiation exposure to the surrounding area of the target area.

In addition, in machine tools, when cutting, etc. is applied to a specific part of a special workpiece, the precise positioning of the specific part and the cutting tool is required. It required equipment.

In view of this point, the present invention is not limited to the above-mentioned X-ray imaging equipment and machine tools, but also provides a device that can accurately position both objects using a simple method and configuration when there are two objects to be positioned. The purpose is to provide.

Detailed explanation of the first aspect of the present invention will be given below based on the drawings. In FIGS. 1 and 2, a magnetic generation source (material) consisting of a magnet or an electromagnet is placed at a point on the coordinates, and this magnetic generation source ( a magnetic field that is rotationally symmetrical around its central axis. Corresponding to this, a movable object (4) is provided, and this movable object (5) has four magnetic detection sensors (S) arranged at equal intervals in the circumferential direction around its central axis (a). together with the central axis (a) of each magnetic detection sensor (S)...
) to match the distance (r) from the sensor (S).
If VC is applied so that the magnetic sensitive axes of ... are mutually symmetrical with respect to the central axis (a), the magnetic detection outputs of these sensors (S) ... exhibit the same direction -\magnetic source ( When moving object (5) two-dimensionally or three-dimensionally, the moving object (5) and the magnetic source q→
The central axes (a) and (e) are positioned by coaxial e. In a twin, coaxial state, the distance from the magnetic source (material) to each magnetic detection sensor (S) is the same, and the magnetic source (material) forms an axially symmetrical (directly rising) As a result of each sensor being placed in a region with the same magnetic field strength, the sensor outputs naturally match.

Therefore, after extracting the peak value of the output of each sensor (S) using the peak hold circuit (1),
These output peak values are passed through the comparison amplification circuit (2), and the comparison value is displayed on the display means (3), and the movable object (6) is manually moved while looking at this displayed value, or the movable object (5) is not yet moved.
) drive means (4)! If the feeding of the movable object is controlled automatically, it is easy to move the center axis (
A match is obtained for a). If you move the movable object prisoner forward and backward with respect to the magnetic source (B) V from this coaxial matching state, the magnetic source (material) will change depending on the increase or decrease in the output value of each magnetic detection sensor (S)... ) and movable objects (5)
You can control the relative distance to the (1 oscillator, (Ill is a driver and is used to drive the sensor.

A power source is not shown.

Although four magnetic detection sensors (S) are used in Figs. 1 and 2, three may be arranged at equal intervals as shown in Fig. 8, or as shown in Fig. 4. When the direction of movement of the movable object (5) is restricted by the guide part (5) so that it only moves in parallel in one direction with respect to φ toward the magnetic source, the movement! You can also use it by placing two pieces in the 611 direction.
1 ability.

- As shown in Figure 5, with respect to the fixed magnetic source (goods), the movable object (
5) It can also be used in a way that it can be moved by applying rotational force to it.

Figure 6 shows that by positioning two movable objects (A) (A') from opposite directions to a single magnetic source (goods), the secondary movable object (AXA') is made to coincide with the same l1111. An application example of how to use this is shown, and this positioning can be done by easily mating and connecting the male and female objects by linear coaxial movement of the secondary movable object (A) by removing the magnetic source shaft later. .

Furthermore, if the object (to which the magnetic source (goods) is attached) is shaped like a saucer for the movable object (5) as shown in Fig. 7, then the object (5) can be fitted inside this object (B). can be done.

In this way, the range of use and application is extremely wide.

As the magnetic detection sensor, a magnetic modulation type sensor, a Hall element, a magnetoresistive element, a SQUID, etc. are used.

FIG. 8 shows an embodiment in which the present invention is applied to a dental X-ray imaging device, in which a film (F) is attached with a magnet by an appropriate means, and this film (F) is attached to the irradiation target tooth (6). located inside. At this time, the center of the magnet (E) is positioned to match the center of the film. On the other hand, there are 8 or 4 magnetic detection sensors (S) on the outer circumference of the tip of the X-ray irradiation tube (7)...
is the central axis (X?fM central axis) of the X-ray irradiation tube (6) (11
) at equal intervals around it.If you do this,
As above, apply the film (I?) to the patient's l1ii elbow ('
From the position located at 11111 of the target teeth (6),
Ray irradiation 1r:) If you move (7) so that the output values of each magnetic detection sensor (S) all match, when this matches, the e-ray (at the center of the film and the center of the magnet) and the X-ray The central axis Qn) of the irradiation tube (7) is found to be coaxial with the pX-ray central axis, so if X-ray imaging is performed,
The film (F) is completely contained within the X-ray irradiation field,
The irradiation target tooth (6
) can be photographed.

Fig. 9 shows a cutting machine to which the present invention is applied, in which a workpiece (9) made of a non-ferromagnetic material is placed on a processing table (8), and a cut portion (9a) of the workpiece (9) is ) A magnet (goods) is attached to the bottom of the Directly above it is a drill (10)
A cutting tool holder (11) is provided with a cutting tool holder (11), and a magnetic detection sensor 6 is attached to this holder (magnetic detection sensor 6 at an equal diameter position centered on the drill bit). Then, the output of each magnetic detection sensor (S) is sent to a comparator (12).
The comparison value is input to the control device (1 barrel, and the direction where the comparison value becomes zero is taken out through the magnetic detection sensor (S).
) ... is fed to the machining table (8) via the servo motor 04) so that the outputs of is lowered to perform the cutting process.

Figure 10 is a circuit diagram for digitally processing the sensor output, where it shows the timing control, (1 and 4 are the waveform shaping circuits, (10-digit analog multiplexer, and 1) are the ~Φ transformers, (c) shows the memory, (2:l) shows the motor driver circuit, (24) Q:J shows the motor, (2h) shows the display driver circuit, and (e) shows the display means.

In addition, t in this building: In Jimei, the -pincer (S) is fixedly installed at ↑summer f, but as shown in Figure 11, a single sensor (St) is attached to the object (5). Rotate around each sensor (S), for example AA 1.
The rotating sensor (S'
) may be extracted and compared. Therefore, in FIG. 11, (2j) indicates a circuit for driving the rotation of S sensors.

As described above, according to the present invention, an object between the two can be positioned conveniently and conveniently by the simple configuration of the sulfur gas source and the magnetic detection sensor.

! 1) Since the present invention directly attaches the 6' and L using a magnetic circuit, there is no need for non-ferromagnetic objects (for example, plastic, aluminum, human bodies, etc.) to be placed between the objects to be positioned. Since positioning can be performed even if the object is recognized, processing after object recognition, transportation, application to industrial robots, diagnosis 1tl
It is suitable for use in radiotherapy equipment, etc.

[Brief explanation of the drawing]

Figures 1 and 21 are operation diagrams for explaining the principle of the method of the present invention, Figures 3 to 7 are operation diagrams for explaining applied usage, respectively, and Figure 18 is a dental Rest i;
A schematic diagram illustrating the construction of Embodiment 41 in which the present invention is applied to a tk shadow system; Figure 9 is a circuit diagram in which the present invention is applied to a machine tool. B) (F) 171 [91(11
)...Object, q→...Magnetic source, (S)(SQ・
...Magnetic detection sensor, (a) 1st control...positioned at the center, (2+02)...specific axis circuit, (3)...display means, (4)...driving means. Agent Patent Attorney (6235) Hidehiko Matsuno Figure 1 Figure 2 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] 1. Of two objects to be positioned relative to each other, one of the objects is provided with a magnetic generation source that forms a rotationally symmetrical magnetic field around the central axis, and the other For the object, the object is positioned by placing magnetic detection sensors at multiple equidistant positions within the same plane perpendicular to the central axis, so that the magnetic sensitive axis of the sensor is approximately 1 m, and 4 = J is in the center. The magnetic detection sensors may be mounted symmetrically to each other, or - magnetic detection sensors may be sequentially moved over the plurality of positions so that the outputs of the magnetic detection sensors sensitive to the magnetic field at each of the positions match. The positioning of the objects is a method of positioning the objects by moving the objects relative to each other in the direction so that their center axes are aligned with each other. 2. A device for positioning two objects so that their central axes are coaxial with each other, and for positioning one of the objects, a magnetic generation source is provided that forms a rotationally symmetrical magnetic field around the central axis, For the other object, magnetic detection sensors are placed at multiple equidistant positions within the same plane perpendicular to the center +Iim, and the magnetic sensing axes of the sensors are positioned symmetrically with respect to the center. At the same time, one or both of the objects are movable objects, a comparison circuit for comparing each output of the magnetic detection sensor, and a display means for displaying this comparison output. A device for positioning objects relative to each other configured to provide input to a driving means of the body. The respective positions of the objects 3 and 21 are made by a device u that aligns their central axes coaxially, and an example of the position of the object is a magnetic generation source that forms a rotationally symmetrical magnetic field around the central axis. The other object is provided with a magnetic detection sensor that moves over a plurality of equidistant positions in the same plane perpendicular to the central axis, and one or both of the objects are A positioning device for objects, which is a movable object, and includes a comparison circuit that compares the output of a magnetic detection sensor at each position, and the comparison output is input to a display means or a drive means for the movable object.