JPS63194642A - Pressure apparatus of x-ray imaging apparatus - 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] [Industrial Application Field] The present invention relates to a compression device for an XM fluoroscopic imaging device, and in particular is capable of transmitting the reaction force that a compression member receives from a subject due to a compression operation to an operator. The present invention relates to a compression device for an X-ray imaging device.

[Conventional technology]

In general, when taking X-rays of digestive system organs such as the stomach and esophagus (hereinafter referred to as the "gastrointestinal tract"), negative contrast media such as barium (hereinafter referred to as , simply referred to as "contrast agent") is administered inside it. In this case, depending on the condition of the contrast agent inside the gastrointestinal tract, the lesion may not be visible due to the contrast agent, so pressure is applied to the target area of the patient to be imaged to diffuse the contrast agent and allow the X-rays to pass through. X-ray photography of the gastrointestinal tract is performed by compressing the gastrointestinal tract to make it easier to remove the gastrointestinal tract, or to spread the folds of the mucous membrane inside the gastrointestinal tract.

A conventional X-ray imaging apparatus that performs imaging using such a contrast agent has a top plate 2 on which a subject 1 is placed, as shown in FIG.
An X-ray tube 3 provided above the top plate 2, a film holder 4 slidably provided below the top plate 2, and an X-ray television camera 5 provided below. The main body 6 has an arrow A above the subject 1.

A compression member 7 that moves up and down in the B direction was provided. In order to press this compression member 7 against the target imaging region of the subject 1, the operator must be located at a remote control console 8 (see Fig. 8) installed in a separate room from the X-ray imaging device. , the gastrointestinal tract (
While checking the accumulation and diffusion of the contrast medium in the patient's 1 (for example, the stomach), operate the operating lever 10 in a predetermined direction to lower the compression member 7 in the direction of the arrow to lower the desired imaging area of the subject 1. It was pressing against the gastrointestinal tract where the contrast medium had been administered.

[Problem that the invention seeks to solve]

However, in such an X-ray imaging apparatus, the control lever 10 of the remote control console 8 merely gives a compression operation command to the compression member 7 of the main body 6, and the target imaging region such as the abdomen of the subject 1 is Subject 1 when the compression member 7 presses
No reaction force could be transmitted, and the operator could not feel any pressure force on the subject 1.

Therefore, a uniform compressive force was applied to any subject 1. However, the pressure force in such cases feels different depending on the physique of the subject 1 (thick or thin body type, etc.), and for some subjects, the above-mentioned pressure force may be too strong. It was too painful and felt painful. In addition, even if the same compression force is applied to the target imaging site, the contrast medium may spread differently depending on the patient, and in order to achieve the optimal diffusion for the patient 1, it is necessary to adjust the compression method through trial and error. I had to perform compressions over and over again. Therefore, the working efficiency of X-ray imaging of the gastrointestinal tract is reduced. Therefore, an object of the present invention is to solve such problems.

(Means for Solving the Problems) The means of the present invention for solving the above-mentioned problems is a compression device of an X-ray imaging apparatus that makes it possible to visualize a region that cannot be visualized with normal X-ray contrast by pressing it with a compression member. , a compression operation part having an operation lever and a driving means for applying a target value of the pressing force to compress the target imaging region of the subject; a compression operation section having a compression member and driving means for compressing the imaging site;
The compression member of the compression operation unit is actuated based on the deviation signal between the target value from the compression operation unit and the follow-up value of the compression operation unit, and the reaction force received by the compression member from the target imaging area of the subject is applied to the compression operation unit. This is achieved by configuring the control circuit with a control circuit that transmits information to the operating lever.

[Effect]

The operating lever and its driving means, which provide a target value of the pressing force to compress the target imaging region of the subject, serve as a means for the operator to apply compressive force to the subject, and the operator does not push up the operating lever. By pressing down, the compression member and the compression operation section including its driving means move up and down, allowing the operator to compress the subject with an appropriate force. Also,
A control circuit that detects the displacement of the compression member in this compression operation part and the compression force applied to the subject and transmits the detected force to the operating lever allows the operator to receive a reaction force from the subject. can be transmitted.

〔Example〕

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a block diagram showing an embodiment of a compression device for an X-ray imaging apparatus according to the present invention.

This compression device, in an X-ray imaging device similar to that shown in No. 7 @, diffuses a contrast agent such as barium administered into the gastrointestinal tract such as the stomach of Subject 1 by compressing the target imaging area. The compression operation section 11 and the compression operation section 12 are
and a control circuit 13.

The compression operation section 11 provides a target value of the pressing force for compressing the target imaging region of the subject 1, and has an operation lever 11a.
, a pressing part 11b and its driving means 15, 16, 17, and is provided in a similar remote control console 8 as shown in FIG. Its specific structure is shown in FIG. An operating lever 11a that moves the compression member 12 toward or away from the subject.

After the compression member 12 comes into contact with the subject, the suppression part 11b to which the operator applies compression force, its cushioning material 11c, and the air cylinder 15 for driving the suppression part. Servo valve for adjusting cylinder air pressure 16. The air pressure source consists of 17 pumps. In addition, a position sensor (
An encoder) 23 is provided, and its output is output to a control device 13, which will be described later.

The compression operation unit 12 compresses the target imaging region of the subject 1 in accordance with the target value from the compression operation unit 11, and includes a compression member 24 and a driving means 25 for the compression member 24. As shown in FIG. 7, it is provided in the main body 6 of the X-ray imaging apparatus. Its concrete structure, as shown in FIG. 3, has two fulcrums 26a.

It has a fulcrum shaft 27 supported by 26b, and this fulcrum shaft 27
A bearing part 28 is slidably fitted into the bearing part 28, and a compression member 24 is provided to protrude laterally and diagonally downward from this bearing part 28. A connecting member 29 protruding from the bearing portion 28 to the opposite side is connected to one side of a belt 31 that is hooked between two pulleys 30a and 30b. Also, one of the two pulleys 30a and 30b is
A servo motor 32 is connected to the rotation shaft of the servo motor 32, and an encoder 33 is provided on the rotation shaft of the servo motor 32 to detect its rotation angle.

The fulcrum shaft 27, the bearing portion 28, and the belt 31
The driving means 25 is formed by the servo motor 32, the servo motors 30a and 30b, and the servo motor 32. Here, the servo motor 32 rotates by inputting a control signal from the control circuit 13, which will be described later, and this rotation is transmitted to the bearing part 28 via the pulley 30a and belt 31, and this bearing part 28 is connected to the fulcrum shaft. 2
By sliding in the directions of arrows A and B using 7 as a guide, the compression member 24 moves up and down in the directions of arrows A and B to compress the target imaging region of the subject 1. Note that the contact portion 34 provided at the tip of the compression member 24
is made of wood, carbon fiber, etc. with good X-ray transparency. Further, a contact detector 47 such as a strain gauge is attached near the base of the compression member 24 to the bearing portion 28 to detect when the contact portion 34 has contacted the subject 1 .

A control circuit 13 is provided between the compression operation section 11 and the compression operation section 12. This control circuit 13 controls the target value of the pressing force from the compression operation section 11 and the compression operation section 12.
actuates the compression member 24 of the compression operation section 12 based on a deviation signal from the follow-up value of The compression operation section 11, compression operation section 12, and control circuit 13 collectively constitute a servo mechanism.

As shown in FIG. 4, the specific configuration of the control circuit 13 includes a first position counter 35, a second position counter 36, a central processing unit (CPU) 37, and a read-only memory (ROM). ) 38, an occasional read/write memory (RAM) 39, a first servo amplifier 40, a second servo amplifier 41, and a first drive circuit 42 and a second drive circuit 43. The above first position counter 3
Reference numeral 5 is for inputting and counting pulse signals output from an encoder 23 that detects the amount of vertical displacement of the pressing section 11b, and outputting the pulse signals as position information of the suppressing section 11b. Similarly, the second position counter 36 inputs and counts the pulse signal output from the encoder 33 that detects the rotation angle of the servo motor 32 of the compression operation unit 12, and outputs it as position information of the servo motor 32. It is something to do. These first and second position counters 35.3
The position information from 6 is taken into the CPU 37 via the input interface 44. This CPU 37 determines the pressure transmission shaft 18 of the compression operation section 11 based on the above-mentioned respective position information.
The positional deviation between the displacement θ1 and the rotation angle displacement θ2 of the servo motor 32 of the compression operation unit 12, (=θl−02),
The speed ML, V2 of each actuator 16, 32, and the servo motor 32. It calculates the control amount for the servo valve 16, etc. The control amount calculated by the CPU 37 is input to the first and second servo amplifiers 40 and 41 via the output interface 45.

The first servo amplifier 40 amplifies the control signal for the servo valve 16 that controls the pressure of the air cylinder 15 of the compression operation section 11, and the second servo amplifier 41 amplifies the control signal for the servo valve 16 that controls the pressure of the air cylinder 15 of the compression operation section 12. This amplifies the control signal for the

The output signal from the first servo amplifier 40 is input to the servo valve 16 via the first drive circuit 42, and the cylinder 15 is driven via the servo valve 16 in accordance with the control signal from the CPU 37. do. Similarly, the output signal from the second servo amplifier 41 is input to the servo motor 32 via the second drive circuit 43, and the servo motor 32 is driven in accordance with the control signal from the CPU 37. Note that the ROM 38 stores such control programs, and the RAM 39 is used as a buffer memory. In addition, in FIG. 4, reference numeral 46
, a compression command and a stop command from the compression operation unit 11 side, and a detection signal from the contact detector 47 that detects that the compression member 24 of the compression operation unit 12 is in contact with the subject 1 are detected by C.
This is an input interface with the outside to be taken into the PU37.

In FIG. 1, reference numerals 48 and 49 are differentials that differentiate the position information from each of the encoders 23 and 33 as compensation elements and provide negative feedback to the control circuit 13 in order to ensure the stability of the servo mechanism. It is a vessel.

Next, the operation of the compression device of the X-ray imaging apparatus configured as described above will be explained. First, in the initial state when the operator starts the compression operation, the compression member 24 of the compression operation unit 12 is raised in the direction of arrow B in FIG. 3, and its base is located at point b. . In this state, when the operator pushes the operating lever 11a shown in FIG. 2 in the +C direction, the compression member 24 is guided by the fulcrum shaft 27 and descends in the direction of arrow A, as shown in FIG. Approaching 1.

When the contact portion 34 at the tip of the compression member 24 comes into contact with the target region to be imaged of the subject 1, the downward movement is stopped. This causes the base of the compression member 24 to deflect, and the contact detector 47 detects this deflection and sends a detection signal to the input interface 46 of the control circuit 13 shown in FIG.

As a result, the compression member 2 is controlled by the CPU 37.
4 stops descending, and its base reaches a as shown in Figure 3.
At the same time, the control system switches to the servo mechanism control system shown in FIG. 1, that is, the control system that transmits the reaction force of the subject against the compression member 24 to the operator.

In this way, from the state where the contact portion 34 of the compression member 24 comes into contact with the subject 1 and stops, a compression force is actually applied to the subject 1. That is, the operator manually presses the pressing portion 11b shown in FIG. 2 in the vertical direction. The air inside the air cylinder is then compressed. At this time, the amount of vertical movement of the pressure transmission shaft 18 is detected by the encoder 23. The encoder 23 outputs a pulse equivalent to this amount of movement to the control circuit 13. If this amount of movement is θl, then
This becomes the target value of the compression operation output from the compression operation section 11. As shown in FIG. 4, the movement amount θ1 of the compression operation section is inputted to the first position counter 35 of the control circuit 13, and then subjected to necessary calculations by the CPU 37, and then transferred to the second servo amplifier 41 and the second position counter 35. The signal is outputted via the second drive circuit 43.

The control signal S1 output from this control circuit 13 is
As shown in the figure, input is made to the servo motor 32 of the compression operation unit 12. Then, the servo motor 32 rotates due to the input of the control signal Sl, and as shown in FIG.
8, and this bearing portion 28 slides in the direction of arrow A using the fulcrum shaft 27 as a guide. Therefore, the bearing section 2
The compression member 24 attached to the body 8 descends in the direction of arrow A and compresses the target region of the subject 1 to be imaged.

At this time, simultaneously with the rotation of the servo motor 32, the rotation angle of the servo motor 32 is detected by an encoder 33 attached to its rotation shaft. If this rotational angular displacement is, for example, θ2, this becomes a follow-up value of the compression operation in the compression operation unit 12. And this rotational angular displacement θ2
is input to the control circuit 13 as shown in FIG.

As shown in FIG.
37, the difference in displacement θ1 as the target value sent from the compression operation section 11, that is, the deviation signal ε (=01-0
2) is calculated and output via the first servo amplifier 40 and the first drive circuit 42.

The control signal S2 output from this control circuit 13 is the first
As shown in the figure, input is made to the servo valve 16 of the compression operation section 11. Then, upon input of the control signal $2, the servo valve 16 operates in a direction to reduce the deviation signal ε, that is, to reduce the initial target value of displacement θl, that is, to feed more air into the air cylinder 15. As such, the servo valve opens, that is, the pressure inside the air cylinder 15 increases, the pressure transmission shaft 18 is pushed upward, and the operator's hand on the compression operation section 11b is pushed up.

That is, this upward force is felt by the operator as a reaction force that the compression member 24 receives from the target imaging region of the subject 1.

Note that the above operations are performed on the compression operation section 11 side and the compression operation section 12 side.
The compression operating unit 12 immediately operates following the target value from the compression operating unit 11, and the control circuit operates based on the deviation signal table between the displacement θ1 as the target value and the displacement θ2 as the follow-up value. 13 sends a control signal S1 to the servo motor 32 of the compression operation section 12, and the compression operation section 11
A control signal S2 is sent to the servo valve 16 of. At this time,
By inputting the control signal Sty Sz, almost the same torque is generated in the compression operation section 11 as the active side and the compression operation section 12 as the driven side. The direction of this generated torque is determined by the displacement θ1.
The deviation signal ε, which is the difference between θ2, is reduced, and the respective displacements θ1. It is set to match θ2. That is, when the displacement θ2 of the compression operation section 12 on the driven side is smaller than the displacement θ1 of the compression operation section 11 on the active side, the compression operation section 12 accelerates to follow up to the displacement θ1, while the compression operation section 11 receives the deviation signal. Decelerate to reduce the value of E. Therefore, in a servo mechanism that attempts to constantly reduce such a deviation signal ε, the compression member 24 of the compression operation section 12 applies a compression force to the patient 1, thereby reducing the reaction from the patient 1. When a force is applied, a torque is generated in the displacement θ2 of the compression operation section 12 and the compression force transmission rod 18 of the compression operation section 11 in the opposite direction to the operation direction. That is, the operator can feel the pressure force exerted by the compression member 24 on the subject 1 from the compression suppression section 11b.

FIG. 5 is a block diagram showing another embodiment of the present invention.

In this embodiment, for example, a strain gauge 50 is attached to the base of the compression member 24 of the compression operation unit 12, and a measurement signal from the strain gauge 50 is inputted so that the compression member 24 receives a reaction force from the subject 1. A torque detector 51 is provided to detect the torque, and the output signal of the torque detector 51 is input to the control circuit 13. In this case, the torque detector 51 can directly detect the torque generated in the compression operating section 12 on the driven side, and the detected torque can be transmitted to the compression operating section 11 on the active side.

Therefore, a torque proportional to the reaction force that the compression member 24 of the compression operation section 12 receives from the subject 1 is generated in the compression suppression section of the compression operation section 11, and a finer compression operation can be performed. . In this embodiment, as shown in FIG. 6, an A/D converter 52 is added inside the control circuit 13 to input an analog signal from the torque detector 51 to the CPU 37.

In addition, in the case of the embodiments shown in FIGS. 1 and 5 above,
The force that the operator receives from the compression pressing part 11b of the compression operation part 11 is made to have a linear proportional relationship by calculating and controlling the output of the air cylinder 15 that drives this suppression part 11b by the CPU 37 in the control circuit 13. or may be changed as appropriate based on a function. Further, from the external input interface 46 shown in FIGS. 4 and 6, when the compression force exerted by the compression member 24 on the subject 1 exceeds a preset limit value, the compression member 24 is driven. A cutoff signal that cuts off the drive signal to the servo motor 32 may be input, thereby allowing safety protection measures to be taken.

In the first embodiment and the second embodiment, the driving air cylinder 15 is used as the driving source for the compression operation section 11.
．． Cylinder air pressure adjustment servo valve 16, air pressure source 17
However, as shown in FIG. 9, this compression operation section is composed of a driving hydraulic cylinder 61. Even if the control system is configured by the servo valve 62 for adjusting the cylinder oil pressure and the oil pressure source 63, it is possible to configure the control system exactly the same as in the first and second embodiments.

In the above embodiment, the operating lever and the suppressing section are constructed as separate mechanical parts, but the operating lever is capable of two-stage movement, linearly moving or rotating, and the first stage It may be configured such that the compression member contacts the subject and then performs the compression operation (including the reaction force detection operation) in the second stage.

〔Effect of the invention〕

As explained above, the present invention provides a compression device with a compression operation section 1.
1, a compression operation unit 12, and a control circuit 13, the target value (Ol) of the pressing force from the compression operation unit 11 is
The compression member 24 of the compression operation unit 12 is actuated based on the deviation signal ε between the following value (θ2) of the compression operation unit 12, and the compression operation unit absorbs the reaction force received by the compression member 24 from the target imaging region of the subject 1. The pressure can be transmitted to the compression pressing section 11b of No. 11. Therefore, while gripping the compression suppressing section 11b and performing a compression operation, the operator receives a reaction force corresponding to the compression force exerted by the compression member 24 on the subject 1 via the compression pressurization section 11b, and the operator receives a reaction force on his/her hand, which corresponds to the compression force exerted by the compression member 24 on the subject 1. It is possible to obtain a feeling of the compressive force on the subject 1.

For this reason, it is possible to freely adjust the compression force on the target imaging area according to the physique of the subject 1, etc., and to avoid causing pain without applying unnecessarily strong pressure to the subject 1. It is possible to avoid giving In addition, since the compression force on the target imaging area can be freely adjusted, the contrast medium administered into the gastrointestinal tract can be diffused optimally and quickly, improving the work efficiency of X-ray imaging of the gastrointestinal tract. be able to.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the compression device of the X-ray imaging apparatus according to the present invention, FIG. 2 is an explanatory diagram showing the specific structure of the compression operation section, and FIG. An explanatory diagram showing the structure, FIG. 4 is a block diagram showing the configuration of the control circuit,
5 and 9 are block diagrams showing other embodiments of the present invention, FIG. 6 is a block diagram showing the configuration of a control circuit in another embodiment, and FIG. 7 is a side view showing an X-ray imaging device. , FIG. 8 is a perspective view showing the remote control console. 1... Subject, 6... Main body of X-ray imaging device, 8...
・Remote control console, 11... Compression operation section, 12... Compression operation section, 13... Control circuit, 15... Control cylinder, 16... Servo valve, 23... Encoder, 24
. . . Compression member, 25 . . . Compression operation unit driving means, 32
...Servo motor, 33...Encoder, 5o...
・Strain gauge. 3 hard, 7 hard

Claims (1)

[Scope of Claims] 1. In a compression device of an X-ray imaging device that enables visualization of a region that cannot be visualized by normal X-ray contrast imaging by pressing it with a compression member, a pressing force that compresses the target region of the subject to be imaged; a compression operation part having an operation lever and a driving means for giving a target value of , and a compression member having a driving means and a compression member that presses the target imaging region of the subject in accordance with the target value of the pressing force from the compression operation part. The operation unit operates the compression member of the compression operation unit based on the deviation signal between the target value from the compression operation unit and the follow-up value of the compression operation unit, and also reduces the reaction force received by the compression member from the target imaging region of the subject. 1. A compression device for an X-ray imaging apparatus, comprising a control circuit that transmits information to an operation lever of a compression operation section. 2. A compression device for an X-ray imaging apparatus according to claim 1, characterized in that the compression operation section is driven by a servo valve, a cylinder, and a pressure source.