US3866048A - Drive system for the image section of an x-ray apparatus - Google Patents

Drive system for the image section of an x-ray apparatus Download PDF

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Publication number
US3866048A
US3866048A US374513A US37451373A US3866048A US 3866048 A US3866048 A US 3866048A US 374513 A US374513 A US 374513A US 37451373 A US37451373 A US 37451373A US 3866048 A US3866048 A US 3866048A
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United States
Prior art keywords
force
mass
proportional
voltage
image section
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Expired - Lifetime
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US374513A
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English (en)
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Kurt Gieschen
Wolfgang Hecker
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US Philips Corp
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US Philips Corp
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4476—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit
    • A61B6/4482—Constructional features of apparatus for radiation diagnosis related to motor-assisted motion of the source unit involving power assist circuits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0487—Motor-assisted positioning
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B42/00—Obtaining records using waves other than optical waves; Visualisation of such records by using optical means
    • G03B42/02—Obtaining records using waves other than optical waves; Visualisation of such records by using optical means using X-rays
    • G03B42/025—Positioning or masking the X-ray film cartridge in the radiographic apparatus

Definitions

  • ABSTRACT A drive system for the displacement of the image section of an X-ray apparatus.
  • the drive system is constructed such that the acceleration of the image section by the motor is proportional to the force produced by the user. To this end, a force which is exerted on a grip is converted into an electrical signal which is integrated, the speed of the motor being proportional to this integral.
  • the invention relates to a drive system for the displacement of the image section of an X-ray apparatus for medical purposes, comprising a converter provided with a generator element for converting a force exerted by a user into an electric voltage which controls a drive motor such that the speed of the motor, and hence the displacement of the image section is, dependent of the force exerted by the user.
  • a drive system of this kind is known, for example, from German Patent Application M 25099.
  • a drawback of this known device is that when a constant force is exerted, the speed of the image section substantially suddenly accelerates from zero to a given value. The acceleration, consequently, is initially very high, and as a result the user at first has the feeling that he brings a very small mass into motion. If the force exerted by the user thereafter remains constant, the speed does not change. The acceleration is then substantially zero, so that the user has the feeling that he brings a very large mass into motion. This movement behaviour is experienced as annoying by the user.
  • control slide The shape of the control slide, the electric parameters of the oscillator and the characteristic of the magnetic coupling must then be such that the desired linear relationship is obtained. It was found in practice that it is difficult to achieve the given values in view of the tolerances of these elements. Variation of the ratio of the force exerted by the user and the force delivered by the motor is particularly difficult at a later stage.
  • the invention has for its object to provide a construction of a drive system of this kind such that, in spite of the manufacturing tolerances present, there is always a linear relationship between the force exerted by the user and the force delivered by the motor, and also such that the ratio of these two forces can be changed at a later stage without the linear relationship between the two forces being affected.
  • the drive system according to the invention is characterized in that the output voltage of the converter is substantially proportional to the force exerted by the user, the output of the converter being connected to the input of an integrator, the output voltage of which is proportional to the time integral of the voltage on its input, the speed of the motor being proportional to the output voltage of the integrator.
  • the converter comprises a piezo-electric crystal as the generator element.
  • DRIVE SYSTEM FOR IMAGE SECTION OF AN In a-drive system of this kind, usually two converters must be provided for converting the force exerted by the user which can act in two opposite directions. How ever, one converter suffices if according to a further embodiment of the invention the generator element of the converter is mechanically biassed and arranged such that a force exerted on the grip by the user causes a decrease or an increase of the bias. Generally suitable means must then be privided to ensure that the output voltage of the converter is zero when only the mechanical bias acts on the generator element. As will be demonstrated hereinafter, this requirement is automatically satisfied when use is made of a piezo-electric generator element.
  • the drive systems required for this purpose are controlled in a further embodiment according to the invention in that at least one converter is associated with each drive system, the said converter being arranged such that the speed of the associated motor is influenced if the force exerted by the user contains a component in the direction in which said motor can displace the image section.
  • the displacements of the imagesection of an X-ray apparatus for medical purposes in the three mutually perpendicular directions usually involves the acceleration of different masses; for example, in the case ofa displacement of the image section in the compression direction, only the mass of the image section itself and that-of a possibly present counterweight must be put into motion, whilst in the case of a movement in the vertical direction the tube carriage and the associated counterweight must also be moved.
  • the integrators for integrating the voltages on the output of the converters are constructed such that the speed which is produced when a given force is exerted on the grip is the same for all motors. 1
  • FIG. 1 shows an image section of an X-ray apparatus for medical purposes, comprising a drive system according to the invention for the displacement in the vertical direction,
  • FIG. 2 shows the arrangement of a converter which is capable of taking up forces in two opposite directions
  • FIG. 3 shows a circuit arrangement to be used for a converter comprising a piezo-electric generator element for generating a voltage which is proportional to the exerted force, and for integrating this voltage.
  • FIG. 1 shows the image section of an X-ray apparatus 101 for medical purposes, the said image section being movable in the desired direction by means of a grip 2, a generator element 8 being loaded to a greater or lesser extent in the case of movement in the vertical direction.
  • a motor 3 is provided which drives a gearwheel 5 and a chain 6 which is coupled thereto; the image section is connected to this chain.
  • the speed of the motor 3 is increased to a desired value by means of a speed control unit 30; for this purpose an electric voltage V is used which is proportional to the desired speed to be obtained and which is dependent of the force, and of the duration thereof, which is exerted on the grip 2. Conversion of this voltage into a porportional speed is known per se (see German Auslegeschrift l,936,9l5, FIG. 2); therefore, this will not be elaborated herein.
  • FIG. 2 shows the arrangement of a piezo-electric generator element 8 (for example, a rod of barium titanate) which is capable of taking up forces in two opposite directions.
  • the piezo-electric generator element has the advantage that the grip 2 on which the force of the user is exerted is not displaced with respect to the image section 100.
  • the piezo-electric crystal is clamped between two rods 10 and 13, the rod 13 being rigidly connected to the image section 100 and the rod 10 being connected, by
  • FIG. 3 shows the block diagram of a circuit arrange- .ment for generating avoltage V for-controlling the speed of the motor 3 on the basis ofthe variations of the charge on the crystal 8.
  • the electrodes of the crystal 8 are connected, via a resistor 14 of 56 kit, to the high-ohmic input, provided with field-effect transistors, of an operational amplifier 16, the output of which is connected to the input via a capacitor 15 of 100 nF.
  • the charge on the crystal 8 decreases-at a rate determined by the time constant given by the resistor 14 and the capacitance of the crystal, the current then flowing charging the capacitor 15, with the result that the voltage across this capacitor or because the voltage on the input of the amplifier l6 amounts to approximately zero as a result of the high amplification the voltage on the output of the amplifier 16 is proportional to the charge previously present on the crystal 8. If the pressure on the crystal and hence the charge changes, the voltage on the output of the amplifier changes accordingly. Because this voltage is proportional to the sum of all charge variations and because the charge variation is proportional to the variation of the force, the voltage on the output of the amplifier 16 is proportional to the force acting on the grip 2.
  • This voltage is applied to an integrator, consisting of an operational amplifier 17, the output of which is connected via a capacitor 18 of 1.5 nF to the input which, moreover, is connected to the output of the amplifier 16 via a variable resistor 19 of approximately 100 R0.
  • the voltage V on the output of the integrator is proportional to the time integral of the voltage on the output of the charge amplifier 16, and hence to the time integral of the force exerted on the grip 2.
  • the speed of the motor 3 is adjusted in known manner (see German Auslegeschrift l,936,9l5) to a value which is proportional to the voltage V on the output of the integrator (l7, 18, 19).
  • variable resistor 19 a potentiometer connected to the output of the integrator could alternatively be used for this purpose, it then being possible to derive the voltage V for controlling the speed of the motor 3 from the slide contact of said potentiometer.
  • the polarity change of the voltage on the output of the integrator can be utilized.
  • the grip Connected parallel to the capacitor 15 is a switch 20 which short-circuits the capacitor as. soon as the user releases the grip 2.
  • the grip could be constructed, for example, as a rotating grip which returns to a rest position after having been released, thus clos ing the switch 20. Because the capacitor 15 is thus each time discharged in the intervals between two displacements of the image section 100, drifting of the zero point of the charge amplifier 16 is prevented, with the result that the voltage on its output is always zero when no force is exerted on the grip 2.
  • the voltage on the output of the charge amplifier 16 becomes zero, but the value of the voltage V on the output of the integrator l7, l8, 19 is maintained, i.e., the motor 3, or the image section 100, continues its movement at constant speed.
  • the movement of the image section 100 is therefore that of an accelerated, frictionlessly guided body.
  • a resistor (not shown) can be connected parallel to the capacitor 18, the said resistor discharging the capacitor with the result that'the voltage V, and hence the speed, decreases to zero. It is even more advantageous to connect a switch parallel to the capacitor 18, the said switch shortcircuiting this capacitor after the grip 2 has been released; this is similar to the short-circuiting of the capacitor 15 by the switch 20.
  • a particular advantage of the drive system according to the invention is that the acceleration of the image section is exclusively dependent of the force exerted on the grip 2 by the user. Consequently, for example, a counterweight for the image section 100 and the tube be dispensed with, without the user having to exert more force for the upward movement of the image section than for the downward movement (in this case the drive would have to be effected via a selfbraking transmission which prevents the image section from moving downwards when the grip is released).
  • This characteristic of the drive system accordingto the invention facilitates the provision of corresponding drive systems for the two other directions (lateral and compression direction). It merely must be ensured that the proportionality factors between the force exerted on the grip and the voltage on the output of the charge amplifier 16 and between the time integral of this voltage and the voltage V on the output of the integrator are the same for all drive systems. The radiologist will then have the feeling that he accelerates the same mass in every direction, even carriage which is connected thereto (not shown) could though as a result of the different weight-compensation systems for the different directions of movement different masses are accelerated.
  • the generator elements required for these drive systems can be arranged in the same way as shown in FIG. 2 for the generator element for driving in the vertical direction, i.e., such that the speed of the associated motor is influenced when the force produced by the user contains a component in the direction in which the associated motor drive is active.
  • variable speed electric motor coupled to said mass to assist in moving said mass in such direction
  • a motor speed control circuit responsive to said generated voltage proportional to the time integral and electrically connected to said motor to drive saidmotor at a speed proportional to said generated voltage, whereby said motor so assists in movingsaid mass in such direction that said mass moves in response to said manually applied force in such direction as if it had a lower than actual mass.
  • a drive system as defined in claim 2 wherein said means for sensing comprises a piezo-electric crystal to receive force manually applied to said mass in such direction, and an integrator sensitive to charge buildup on said crystal resulting from changes in force applied to said crystal, said charge sensitive integrator generating a voltage proportional to the sum of said charge build up, said generated voltage thereby also being proportional to the force manually applied to said mass in such direction.
  • variable speed electric motor coupled to said image section to assist in moving said image section in such direction, the velocity of said image section in such direction being proportional to the speed of said motor;
  • a motor speed control responsive to said second voltage and electrically connected to said motor to drive said motor at a speed proportional to said second voltage, whereby said motor so assists in moving said image section in such direction that said image moves in response to said manually applied force in such direction as if said image section had a lower than actual mass.
  • said means for sensing comprises a piezo-electric crystal positioned to receive force manually applied to said image section in such direction, and an integrator sensitive to charge build up on said crystal resulting from changes in force applied to said crystal, said charge sensitive integrator generating said first voltage proportional to the sum of said charge build up, said generated first voltage thereby also being proportional to the force manually applied to said image section in such direction.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Veterinary Medicine (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • High Energy & Nuclear Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Radiography Using Non-Light Waves (AREA)
US374513A 1972-07-13 1973-06-28 Drive system for the image section of an x-ray apparatus Expired - Lifetime US3866048A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2234398A DE2234398C2 (de) 1972-07-13 1972-07-13 Servomotorantrieb für Röntgenzielgerät

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US (1) US3866048A (enrdf_load_stackoverflow)
JP (1) JPS5735449B2 (enrdf_load_stackoverflow)
CA (1) CA992223A (enrdf_load_stackoverflow)
DE (1) DE2234398C2 (enrdf_load_stackoverflow)
FR (1) FR2192792B1 (enrdf_load_stackoverflow)
GB (1) GB1433340A (enrdf_load_stackoverflow)
IT (1) IT991710B (enrdf_load_stackoverflow)
NL (1) NL7309535A (enrdf_load_stackoverflow)
SE (1) SE415225B (enrdf_load_stackoverflow)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3986090A (en) * 1973-12-13 1976-10-12 U.S. Philips Corporation Motor drive for a part in an X-ray apparatus
US4021715A (en) * 1974-01-16 1977-05-03 U.S. Philips Corporation Motor drive for the displacement of a section of an X-ray examination apparatus
US4050551A (en) * 1974-08-28 1977-09-27 U.S. Philips Corporation Device for braking a counterweight in an x-ray examining apparatus
US4107590A (en) * 1976-10-18 1978-08-15 General Electric Company Power assist device using strain responsive means
US4127775A (en) * 1974-11-25 1978-11-28 Ao:S Metall & Mek. Verkstad Ab X-ray unit stand having field controlled brake release
US4163929A (en) * 1978-07-28 1979-08-07 General Electric Company Handle apparatus for a power-assist device
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
EP0075829A1 (de) * 1981-09-30 1983-04-06 Siemens Aktiengesellschaft Röntgenuntersuchungsgerät
US4587471A (en) * 1982-09-29 1986-05-06 Siemens Aktiengesellschaft Handle assembly for an x-ray examination apparatus
US4658971A (en) * 1983-12-20 1987-04-21 Grumman Aerospace Corporation Self balancing electric hoist
EP0253333A1 (en) * 1986-07-14 1988-01-20 General Electric Company Drive design for mobile x-ray units
US4807767A (en) * 1983-12-20 1989-02-28 Grumman Aerospace Corporation Self balancing electric hoist
US4847543A (en) * 1988-04-08 1989-07-11 Ultimatte Corporation Motion control drive interface
US5848126A (en) * 1993-11-26 1998-12-08 Kabushiki Kaisha Toshiba Radiation computed tomography apparatus
US20100213383A1 (en) * 2009-02-26 2010-08-26 Fujifilm Corporation Radiation imaging apparatus
US20120106701A1 (en) * 2009-05-08 2012-05-03 Koninklijke Philips Electronics N.V. Motor assisted manually controlled movement assembly, x-ray system comprising the same, method and use
US20140109802A1 (en) * 2012-10-22 2014-04-24 Usm Holding Ag Item of furniture with a movable furniture part
CN105241621A (zh) * 2015-11-13 2016-01-13 西北工业大学 扑动翼翼肋刚度测量装置以及刚度测量方法
US20190239835A1 (en) * 2016-08-29 2019-08-08 Shimadzu Corporation Holding Mechanism for X-ray Imaging Apparatus and X-ray Imaging Apparatus

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1084811B (it) * 1977-04-04 1985-05-28 Scaglia Mario Sistema per la manipolazione di carichi ed apparecchiatura attuante tale sistema
DE2831058C2 (de) * 1978-07-14 1984-04-19 Philips Patentverwaltung Gmbh, 2000 Hamburg Röntgenuntersuchungsgerät mit einem um eine horizontale Achse schwenkbaren Patientenlagerungstisch
JPH0323364A (ja) * 1989-06-20 1991-01-31 Texas Instr Japan Ltd 燃料供給装置及び加熱装置
DE4332253C1 (de) * 1993-09-22 1994-12-01 Siemens Ag Verstellvorrichtung für ein Röntgengerät
DE19648297A1 (de) * 1996-11-21 1998-02-12 Siemens Ag Verstellvorrichtung für ein Röntgengerät

Citations (1)

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Publication number Priority date Publication date Assignee Title
US2841714A (en) * 1953-05-11 1958-07-01 Westinghouse Electric Corp X-ray apparatus

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE542615A (enrdf_load_stackoverflow) * 1954-11-06
FR1417819A (fr) * 1964-12-18 1965-11-12 English Electric Co Ltd Systèmes de contrôle de la largeur des impulsions
DE1936915B2 (de) * 1969-07-19 1971-09-02 Roentgen schichtaufnahmegeraet
DE2104509B2 (de) * 1971-02-01 1973-07-12 Roentgenuntersuchungsgeraet mit einem motorisch verstellbaren geraeteteil

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2841714A (en) * 1953-05-11 1958-07-01 Westinghouse Electric Corp X-ray apparatus

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3986090A (en) * 1973-12-13 1976-10-12 U.S. Philips Corporation Motor drive for a part in an X-ray apparatus
US4021715A (en) * 1974-01-16 1977-05-03 U.S. Philips Corporation Motor drive for the displacement of a section of an X-ray examination apparatus
US4050551A (en) * 1974-08-28 1977-09-27 U.S. Philips Corporation Device for braking a counterweight in an x-ray examining apparatus
US4127775A (en) * 1974-11-25 1978-11-28 Ao:S Metall & Mek. Verkstad Ab X-ray unit stand having field controlled brake release
US4107590A (en) * 1976-10-18 1978-08-15 General Electric Company Power assist device using strain responsive means
US4163929A (en) * 1978-07-28 1979-08-07 General Electric Company Handle apparatus for a power-assist device
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
EP0075829A1 (de) * 1981-09-30 1983-04-06 Siemens Aktiengesellschaft Röntgenuntersuchungsgerät
US4464779A (en) * 1981-09-30 1984-08-07 Siemens Aktiengesellschaft X-ray examination device
US4587471A (en) * 1982-09-29 1986-05-06 Siemens Aktiengesellschaft Handle assembly for an x-ray examination apparatus
US4658971A (en) * 1983-12-20 1987-04-21 Grumman Aerospace Corporation Self balancing electric hoist
US4807767A (en) * 1983-12-20 1989-02-28 Grumman Aerospace Corporation Self balancing electric hoist
EP0253333A1 (en) * 1986-07-14 1988-01-20 General Electric Company Drive design for mobile x-ray units
US4847543A (en) * 1988-04-08 1989-07-11 Ultimatte Corporation Motion control drive interface
US5848126A (en) * 1993-11-26 1998-12-08 Kabushiki Kaisha Toshiba Radiation computed tomography apparatus
US20100213383A1 (en) * 2009-02-26 2010-08-26 Fujifilm Corporation Radiation imaging apparatus
US8529128B2 (en) * 2009-02-26 2013-09-10 Fujifilm Corporation Radiation imaging apparatus with assisted movement
US20120106701A1 (en) * 2009-05-08 2012-05-03 Koninklijke Philips Electronics N.V. Motor assisted manually controlled movement assembly, x-ray system comprising the same, method and use
US9492131B2 (en) * 2009-05-08 2016-11-15 Koninklijke Philips N.V. Motor assisted manually controlled movement assembly, X-ray system comprising the same, method and use
US20140109802A1 (en) * 2012-10-22 2014-04-24 Usm Holding Ag Item of furniture with a movable furniture part
US9289057B2 (en) * 2012-10-22 2016-03-22 Usm Holding Ag Item of furniture with a movable furniture part
CN105241621A (zh) * 2015-11-13 2016-01-13 西北工业大学 扑动翼翼肋刚度测量装置以及刚度测量方法
CN105241621B (zh) * 2015-11-13 2016-09-28 西北工业大学 扑动翼翼肋刚度测量装置以及刚度测量方法
US20190239835A1 (en) * 2016-08-29 2019-08-08 Shimadzu Corporation Holding Mechanism for X-ray Imaging Apparatus and X-ray Imaging Apparatus
US10849582B2 (en) * 2016-08-29 2020-12-01 Shimadzu Corporation Holding mechanism for X-ray imaging apparatus and X-ray imaging apparatus

Also Published As

Publication number Publication date
SE415225B (sv) 1980-09-22
IT991710B (it) 1975-08-30
FR2192792A1 (enrdf_load_stackoverflow) 1974-02-15
NL7309535A (enrdf_load_stackoverflow) 1974-01-15
FR2192792B1 (enrdf_load_stackoverflow) 1977-09-09
JPS5735449B2 (enrdf_load_stackoverflow) 1982-07-29
DE2234398C2 (de) 1984-01-26
CA992223A (en) 1976-06-29
JPS4946693A (enrdf_load_stackoverflow) 1974-05-04
DE2234398A1 (de) 1974-01-31
GB1433340A (en) 1976-04-28

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