WO2011162149A1 - Ceiling traveling type x-ray image capturing device and method for controlling same - Google Patents
Ceiling traveling type x-ray image capturing device and method for controlling same Download PDFInfo
- Publication number
- WO2011162149A1 WO2011162149A1 PCT/JP2011/063767 JP2011063767W WO2011162149A1 WO 2011162149 A1 WO2011162149 A1 WO 2011162149A1 JP 2011063767 W JP2011063767 W JP 2011063767W WO 2011162149 A1 WO2011162149 A1 WO 2011162149A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- unit
- displacement
- operation handle
- ray
- moving
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 5
- 238000006073 displacement reaction Methods 0.000 claims abstract description 215
- 238000001514 detection method Methods 0.000 claims abstract description 98
- 238000005259 measurement Methods 0.000 claims description 45
- 238000003384 imaging method Methods 0.000 claims description 44
- 230000033001 locomotion Effects 0.000 abstract description 16
- 230000007246 mechanism Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Images
Classifications
-
- 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
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
-
- 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
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
Definitions
- the present invention relates to an overhead traveling X-ray imaging apparatus capable of moving an X-ray generator suspended from a ceiling to an imaging position of a subject via an operation handle and a control method thereof.
- a ceiling-run X-ray imaging apparatus is provided with a rail on the ceiling, a column that can be extended and contracted from a moving unit suspended on the rail, and an X-ray generation unit attached to the lower end of the column.
- the X-ray generation unit can perform operations such as front and rear, left and right, up and down, and rotation (around the horizontal axis).
- the overhead traveling X-ray imaging device has an operation panel on the front of a block to which an X-ray generator with an X-ray movable diaphragm is attached, and a circular operation handle around it.
- the operation panel is provided with a plurality of lock release switches for releasing the electromagnetic lock of each moving mechanism. Then, when moving the X-ray generation unit to a predetermined position, the operator moves the X-ray generation unit via the operation handle while pressing the lock release switch corresponding to the moving mechanism to be moved (for example, Patent Document 1, 2).
- the positional relationship between the operator and the lock release switch changes. For example, when the X-ray generation unit is moved upward, the lock release switch is moved upward together with the operation handle. Therefore, when the lock release switch is positioned at a position exceeding the height of the operator himself, it becomes difficult for the operator to operate the X-ray generation unit with the operation handle while continuing to press the lock release switch. There is a possibility that the X-ray generator cannot be moved.
- An object of the present invention is to move the X-ray generation unit by operating the operation handle without pressing the lock release switch.
- an X-ray generator that generates X-rays
- an operation handle for moving the X-ray generator and a ceiling-running X that includes a moving unit that moves the X-ray generator
- the line imaging apparatus includes an operation detection unit that detects the displacement of the operation handle based on the operation of the operation handle, and a control unit that controls the moving unit based on the detected displacement. Therefore, the operator can move the X-ray generation unit by operating (moving) the operation handle in the desired movement direction.
- the operation detection unit detects the displacement of the operation handle in the linear and rotational directions.
- the operation detection unit includes an X-direction displacement measurement unit that measures displacement in the X direction of the operation handle, a Y-direction displacement measurement unit that measures displacement in the Y direction orthogonal to the X direction of the operation handle, A Z-direction displacement measurement unit that measures displacement in the Z direction orthogonal to the X direction and the Y direction of the handle, and a rotational displacement detection unit that measures displacement in the rotation direction of the operation handle.
- the control unit releases the brake of the moving unit corresponding to the direction of the operation handle in which the displacement is detected by the operation detection unit.
- the control unit may release the brake of the moving unit corresponding to the direction of the operation handle whose displacement is detected by the operation detecting unit, and may drive a motor that rotates the wheels of the moving unit. Further, the control unit may drive a motor that rotates the wheels of the moving unit based on the operation force of the operation handle.
- the X-ray generation unit can be moved by operating the operation handle.
- FIG. 1 is an external view showing an overhead traveling X-ray imaging apparatus
- FIG. 2 shows an operation example of the overhead traveling X-ray imaging apparatus.
- the rail 10 and the rail 12 are installed on the ceiling 10 in the X direction (lateral direction in FIG. 1).
- the rail 11 is parallel to the rail 12.
- the rail 13 and the rail 14 are installed in the Y direction (depth direction in FIG. 1) orthogonal to the X direction.
- the X direction and the Y direction are each parallel to the floor surface.
- the rail 13 is parallel to the rail 14.
- the overhead traveling X-ray imaging device is installed on the rails 11 to 14 provided on the ceiling 10 in the horizontal and horizontal directions in the X and Y directions, and on the lower end face of the XY moving unit 15
- a support column 16 that moves up and down freely, an X-ray generation unit 17 that generates X-rays installed at the lower end of the support column 16, and an X-ray irradiation range that is installed in the X-ray generation direction of the X-ray generation unit 17
- An X-ray movable diaphragm unit 18 and an operation handle 21 for moving the X-ray generation unit 17 and rotating the X-ray generation unit 17 are provided.
- the overhead traveling X-ray imaging apparatus includes an X-ray detection unit 31 that detects X-rays generated from the X-ray generation unit 17 and transmitted through the subject.
- the X-ray detector 31 has a flat detector (flat panel detector) having a two-dimensionally arranged transistor and a conversion film for converting X-rays into an electric signal, or a phosphor, and an X-ray generator This is an imaging plate that accumulates in a phosphor a two-dimensional X-ray energy pattern generated from 17 and transmitted through a subject as a latent image.
- a display unit 1 for displaying an X-ray image created based on the X-ray image data detected by the X-ray detection unit 31 is provided outside or inside the examination room.
- the X-ray detection unit 31 When imaging the subject in the supine position, the X-ray detection unit 31 is installed horizontally on the bed 30 as shown in the lower part of FIG. Then, the subject is placed on the bed 30 so as to cover the X-ray detection unit 31 placed on the bed 30.
- an X-ray detector 31 When imaging a subject in a standing position, as shown in the left part of FIG. 1, an X-ray detector 31 is installed vertically on a fixed base 32 that is fixed on the floor and arranged in the vertical direction. Is done. Then, the subject is placed so as to cover the X-ray detection unit 31 placed on the fixed base 32.
- the X-ray detection unit 31 installed according to the posture of the subject detects X-rays generated from the X-ray generation unit 17 and transmitted through the subject.
- the X-ray image data detected by the X-ray detection unit 31 is subjected to predetermined image processing and displayed on the display unit 1 as an X-ray image.
- the predetermined image processing is, for example, dynamic range compression processing or frequency enhancement processing.
- the internal mechanism of the XY moving unit 15 is engaged with the rail 11 and the rail 12 installed in the X direction, and can move along the rail 11 and the rail 12, and the X direction moving unit in the Y direction. It comprises a Y-direction moving part that meshes with the installed rails 13 and 14 and can move along the rails 13 and 14.
- the X-direction moving unit includes a wheel fixed to the rail 13 and the rail 14 arranged in the Y direction and rotatably fitted to the rail 11 and the rail 12 arranged in the X direction, and the X-direction moving unit.
- An X-direction brake that brakes the wheels of the X-direction and an X-direction motor that rotates the wheels of the X-direction moving unit.
- Rails 13 and 14 arranged in the Y direction are movable in the X direction along rails 11 and 12 arranged in the X direction.
- the XY moving unit 15 By rotating the wheels of the X direction moving unit using the X direction motor, the XY moving unit 15 itself can be moved in the X direction.
- the X direction brake is described as an example in which the wheel is braked, but the X direction motor itself is braked to stop the rotation of the wheel, or the electromagnetic brake is pressed against the rails 11 and 12 to The rotation may be stationary.
- the Y-direction moving unit includes a wheel fixed inside the housing of the XY-moving unit 15 and rotatably fitted to the rails 13 and 14, a Y-direction brake that brakes the wheels of the Y-direction moving unit, and a Y-direction moving. It has a Y-direction motor that rotates the wheels of the part. By rotating the wheel of the Y direction moving unit using the Y direction motor, the XY moving unit 15 itself can be moved in the Y direction.
- the Y direction brake has been described as an example in which the wheel is braked, but the Y direction motor itself is braked to stop the rotation of the wheel, or the electromagnetic brake is pressed against the rail 13 and the rail 14 to press the wheel.
- the rotation may be stationary.
- the XY moving unit 15 can move the support column 16 together with the X-ray generation unit 17 in the X direction and the Y direction.
- the struts 16 can be fixed so as not to move in the X and Y directions together with the X-ray generator 17 by braking the respective wheels with the X direction brake and the Y direction brake.
- the internal structure of the column 16 is not shown in the figure, a plurality of cylindrical arms, slide rails provided in each arm, a roller that is rotatably fitted to the slide rail, and a rotating brake. And a Z-direction brake to apply The Z direction is a direction orthogonal to the XY plane.
- the struts 16 can be expanded and contracted by rotating the rollers along the slide rails and moving the respective arms.
- the X-ray generation unit 17 installed below the support column 16 can be moved in the Z direction.
- the X-ray generator 17 can be fixed so as not to move in the Z direction by braking the roller with the Z direction brake.
- the support column 16 may have a wire that pulls the lowest point of the plurality of cylindrical arms and a winding mechanism that winds the wire. By the winding mechanism, the column 16 can be contracted by winding the wire, and the column 16 can be expanded by pulling the wire.
- the X-direction brake, the Y-direction brake, and the Z-direction brake are disc brakes that can brake a wheel or a roller by sandwiching a disk that rotates together with the wheel or the roller from both sides, for example.
- the installation positions of the direction motor 87, the Z direction motor 91a, and the rotation direction motor 96a will be described.
- FIGS. 9 (a) and 9 (b) are diagrams of the XY moving unit 15 of FIG. 1 as viewed from the Y direction and from the X direction, respectively.
- the rail 13 is installed on the rail 14, so that the rail 13 and the rail 14 can travel on the rail 11 and the rail 12.
- the wheels 902 are installed on the XY moving unit 15, thereby enabling the XY moving unit 15 to travel on the rails 13 and 14.
- the wheel 901 is driven by an X direction motor 82 installed on the rails 13 and 14, and the wheel 902 is driven by a Y direction motor 87 installed on the XY moving unit 15.
- the wheel 901 is braked by an X-direction brake 81 installed on the rails 13 and 14, and the wheel 902 is braked by a Y-direction brake 86 installed on the XY moving unit 15.
- the Z-direction motor 91a is installed in the XY moving unit 15, and stretches the column 16 by pulling the wire 1001 passing through the column 16 via a rotating disk (not shown) or the like. Further, the rotating disk is braked by a Z-direction brake 91 installed in the XY moving unit 15.
- the rotation direction motor 96a is installed on the support column 16, and rotates the rotation connecting portion 5 described later. Further, the rotation connecting portion 5 is braked by a rotation direction brake 96 installed on the support column 16. The motors and brakes are controlled by a control unit 100 described later.
- the X-ray generation unit 17 is rotatably installed at the lower end portion of the support column 16 (for example, the rotation connecting unit 5).
- the rotary connection unit 5 has a mechanism for holding the X-ray generation unit 17 with respect to the support column 16 and rotating the X-ray generation unit 17.
- the X-ray generator 17 has an X-ray tube that generates X-rays in accordance with preset X-ray imaging conditions (tube voltage, tube current, etc.).
- the X-ray tube has a cathode that emits thermoelectrons from a filament supplied with a predetermined current, and a rotating anode that has a target that collides the thermoelectron beam emitted by the cathode.
- the thermoelectrons emitted from the filament are accelerated until they reach the rotating anode, and the thermoelectrons collide with the rotating anode to generate X-rays from the X-ray tube.
- the X-ray movable diaphragm unit 18 is fixed in the X-ray generation direction of the X-ray generation unit 17. Regarding the internal mechanism of the X-ray movable diaphragm unit 18 (not shown), the first movable restriction blade that adjusts the X-ray irradiation range in the X direction by the X-ray generation unit 17, and the first movable restriction blade, And a second movable restricting blade for adjusting the X-ray irradiation range in the Y direction.
- operation knobs 19 and 20 for controlling the first movable restricting blade and the second movable restricting blade are provided outside the X-ray movable diaphragm unit 18. The operator 2 can open and close the first movable restriction blade and the second movable restriction blade by rotating the operation knobs 19 and 20.
- the operation handle 21 is connected to the X-ray generation unit 17 through the operation detection unit 25, and the operation handle 21 is integrated with the X-ray generation unit 17 and the X-ray movable diaphragm unit 18. Therefore, when the operator 2 moves the operation handle 21 in the X direction, Y direction, and Z direction, the X-ray generation unit 17 can move in the X direction, Y direction, and Z direction together with the X-ray movable diaphragm unit 18. it can. Further, when the operator 2 rotates the operation handle 21, the X-ray generation unit 17 can rotate together with the X-ray movable diaphragm unit 18.
- the rotation direction in which the operation handle 21 rotates is a direction in which the operation handle 21 rotates around the central axis in the Y direction, as shown in FIGS.
- an operation panel 22 is installed on the operation handle 21.
- the operation panel 22 has an input unit for inputting X-ray imaging conditions of an X-ray tube that generates X-rays, and X-ray imaging conditions can be set.
- the operation panel 22 includes a display panel that displays X-ray image data detected by the X-ray detection unit 31 as an X-ray image, and can display an X-ray image.
- FIG. 3 shows the internal configuration of the operation detection unit 25.
- FIG. 3 (a) shows an XZ cross section of the operation detection unit 25, and
- FIG. 3 (b) shows a YZ cross section of the operation detection unit 25.
- 4 and 5 show examples of operation of the operation handle 21.
- FIG. 3 (a) shows an XZ cross section of the operation detection unit 25.
- FIG. 3 (b) shows a YZ cross section of the operation detection unit 25.
- 4 and 5 show examples of operation of the operation handle 21.
- the operation detection unit 25 that connects the operation handle 21 and the X-ray generation unit 17 has a function of detecting the displacement of the operation handle 21.
- the displacement of the operation handle 21 is a displacement of the operation handle 21 in the linear direction and the rotational direction.
- the operation detection unit 25 measures the displacement of the operated operation handle 21 with respect to the X direction, the Y direction, the Z direction linear direction, and the rotation direction, and detects how much the operation handle 21 is operated in which direction. be able to.
- the operation detection unit 25 includes an X-direction displacement measurement unit 40 that measures the displacement of the operation handle 21 in the X direction, a Y-direction displacement measurement unit 50 that measures the displacement of the operation handle 21 in the Y direction, A Z-direction displacement measurement unit 60 that measures the displacement of the handle 21 in the Z-direction, a rotation-direction displacement measurement unit 70 that measures the displacement of the operation handle 21 in the rotation direction, an X-direction displacement measurement unit 40, and a Y-direction displacement measurement unit 50 And a displacement detection unit 27 for detecting how much and in what direction the operation handle 21 is operated from the displacements output from the Z-direction displacement measurement unit 60 and the rotation-direction displacement measurement unit 70.
- One end of the operation detection unit 25 is connected to the operation handle 21.
- the other end of the operation detection unit 25 is connected to the X-ray generation unit 17 as shown in FIG.
- the operation detection unit 25 integrally connects the operation handle 21 and the X-ray generation unit 17, and transmits the operation of the operation handle 21 to the X-ray generation unit 17 side.
- the operation detection unit 25 has one end fixed to the operation handle 21 and a columnar rod portion 26 arranged in the Y direction, and the rod portion 26 is provided so as to be movable in the Y direction.
- the transmission part 28 that transmits the movement of the part 26 in the X direction and the Z direction and the rotation of the rod part 26 to the support part 29 and the rotation of the transmission part 28 fixed to the inner wall of the operation detection part 25 are transmitted to the operation detection part 25. And a support portion 29.
- the operation detection unit 25 is provided with a circular hole 23 on the operation handle 21 side.
- the bar portion 26 fixed to the operation handle 21 is installed in a state of penetrating the hole portion 23 of the operation detection unit 25. Since the bar portion 26 is fixed to the operation handle 21, when the operation handle 21 is moved, the bar portion 26 moves in the direction in which the operation handle 21 has moved. For example, when the operation handle 21 is rotated about the Y direction as the central axis, the rod portion 26 rotates in the rotation direction in which the operation handle 21 is rotated.
- the transmitting portion 28 that transmits the movement of the rod portion 26 in the X direction and the Z direction and the rotation of the rod portion 26 to the support portion 29 is a cylindrical hollow member arranged in the Y direction.
- a rod portion 26 is inserted through the transmission portion 28 in the Y direction.
- the rod portion 26 can reciprocate in the Y direction with respect to the transmission portion 28 and the Y direction displacement detection portion 50, and the rod portion 26 is movable in the Y direction.
- the support part 29 fixed to the end face of the transmission part 28 is made of a substantially hemispherical member, and is fixed inside the operation detection part 25.
- the support unit 29 is integrated with the operation detection unit 25 at the apex of a substantially hemispherical member.
- the rotating shaft portion including the rod portion 26, the transmission portion 28, and the support portion 29 is formed in the Y direction of the operation handle 21.
- the rotation shaft portion of the operation handle 21 is perpendicular to the plane of the operation handle 21.
- the distal end of the rotation shaft portion of the operation handle 21 is fixed to the inner wall of the operation detection unit 25. Therefore, the operation handle 21 can be swung in a circle with the tip of the rotation shaft portion (support portion 29) as a fulcrum, and can perform a swing motion (precession motion).
- the rotation shaft portion composed of the rod portion 26, the transmission portion 28, and the support portion 29 has the support portion 29 as a fulcrum in the Z direction. Lean on.
- the rotation shaft portion of the operation handle 21 is tilted, the rod portion 26 comes into contact with the peripheral edge portion of the hole portion 23. Since the rotation shaft portion of the operation handle 21 is supported by the peripheral portion of the hole 23 of the operation detection unit 25 and the support unit 29, the operation handle 21 can be moved in the Z direction together with the operation detection unit 25.
- the columnar bar portion 26 arranged in the Y direction moves in the Y direction together with the operation handle 21, as shown in FIG.
- the operation handle 21 and the operation detection unit 25 come into contact with each other. Therefore, since the operation handle 21 and the operation detection unit 25 are integrated, the operation handle 21 can be moved together with the operation detection unit 25 in the Y direction.
- the rotation shaft portion composed of the rod portion 26, the transmission portion 28, and the support portion 29 rotates together with the operation detection portion 25. That is, when the operator 2 rotates the operation handle 21, the X-ray generation unit 17 can be rotated.
- An X-direction displacement measuring unit 40 that measures the displacement of the operation handle 21 in the X direction is provided in the operation detecting unit 25.
- the X-direction displacement measuring unit 40 is installed in the X direction, and a spring 41 and a spring 43 that hold the rod 26 integrated with the operation handle 21 in the center of the X-direction displacement measuring unit 40, and X
- the slider 42 is installed in the direction and serves as a guide for the spring 41 and the spring 43 along the X direction.
- the spring 41 and the spring 43 are installed so as to face each other with the rod portion 26 interposed therebetween.
- the spring 41 or the spring 43 on the side where the rod portion 26 is moved bends along the slider 42 in the X direction.
- a spring 41 or spring 43 different from the bent spring 41 or spring 43 extends along the slider 42 in the X direction.
- the X-direction displacement measuring unit 40 has a linear potentiometer that detects the displacement of the rod portion 26 in the X direction, that is, the displacement of the operation handle 21 in the X direction.
- the linear potentiometer has a variable resistor inside and measures the displacement of the rod portion 26 by a resistance value that changes in accordance with the displacement of the rod portion 26.
- the displacement of the rod portion 26 was measured using a linear potentiometer.
- the displacement of 26, that is, the displacement of the operation handle 21 may be measured.
- the Y-direction displacement measurement unit 50 that measures the displacement of the operation handle 21 in the Y direction is provided in the transmission unit 28 provided in the operation detection unit 25.
- the Y-direction displacement measuring unit 50 is installed in the Y direction, and is installed in the Y direction and the spring 51 that holds the rod unit 26 integrated with the operation handle 21 in a predetermined position.
- a slider 52 that serves as a guide for the spring 51 is provided.
- the Y-direction displacement measuring unit 50 includes a linear potentiometer or a pressure sensor that detects the displacement of the rod portion 26 in the Y direction, that is, the displacement of the operation handle 21 in the Y direction.
- the function of the linear potentiometer or pressure sensor is as described above.
- the Z-direction displacement measurement unit 60 that measures the displacement of the operation handle 21 in the Z direction is provided in the operation detection unit 25.
- the Z-direction displacement measuring unit 60 is installed in the Z-direction, and a spring 61 and a spring 63 that hold the rod unit 26 integrated with the operation handle 21 in the center of the Z-direction displacement measuring unit 60, and Z
- the slider 62 is installed in the direction and serves as a guide for the spring 61 and the spring 63 along the Z direction.
- the spring 61 and the spring 63 are disposed so as to face each other with the rod portion 26 interposed therebetween.
- the spring 61 or the spring 63 on the side where the rod portion 26 is moved bends along the slider 62 in the Z direction.
- a spring 61 or a spring 63 different from the bent spring 61 or the spring 63 extends in the Z direction along the slider 62.
- the Z-direction displacement measuring unit 60 has a linear potentiometer or a pressure sensor that detects the displacement of the rod portion 26 in the Z direction, that is, the displacement of the operation handle 21 in the Z direction.
- the function of the linear potentiometer or pressure sensor is as described above.
- Rotation direction displacement measuring unit 70 that measures the displacement of operation handle 21 in the rotation direction is provided in operation detection unit 25.
- the rotational direction displacement measuring unit 70 is provided on the outer side of the bar portion 26 integrated with the operation handle 21.
- the rotational direction displacement measuring unit 70 is, for example, a rotary encoder, which converts the rotation of the rod portion 26 rotated with the rotation of the operation handle 21 into an electric signal, and detects the rotation displacement based on the converted electric signal. To do.
- the rotational direction displacement measuring unit 70 may be provided in the rotary connecting unit 5 that connects the support column 16 and the X-ray generating unit 17. When the operation handle 21 is rotated, the X-ray generation unit 17 is also rotated in the same direction, so that the rotation direction displacement measuring unit 70 in the rotation connecting unit 5 can measure the displacement of the operation handle 21 in the rotation direction.
- the displacement detector 27 detects the displacement of the operation handle 21 in accordance with the displacement detected as described above, and is provided in the operation detector 25.
- An X-direction displacement measurement unit 40, a Y-direction displacement measurement unit 50, a Z-direction displacement measurement unit 60, and a rotational direction displacement measurement unit 70 are connected to the displacement detection unit 27.
- the displacement ( ⁇ Z) of the operating handle 21 output from the unit 60 and the rotational displacement ( ⁇ ) of the operating handle 21 output from the rotational direction displacement measuring unit 70 are output to the displacement detecting unit 27. .
- the moving units in the present embodiment are the X direction moving unit 80 and the Y direction moving unit 85, which are the XY moving unit 15, the Z direction moving unit 90 in the support column 16, and the rotational direction moving unit 95 in the operation detecting unit 25. .
- the XY moving unit 15 includes an X direction moving unit 80 having an X direction brake 81 for braking the wheels of the X direction moving unit 80 and an X direction motor 82 for rotating the wheels of the X direction moving unit 80. And a Y-direction moving section 85 having a Y-direction brake 86 for braking the wheels of the Y-direction moving section 85 and a Y-direction motor 87 for rotating the wheels of the Y-direction moving section 85.
- the support column 16 includes a Z-direction moving unit 90 having a Z-direction brake 91 that brakes the wheels of the Z-direction moving unit 90.
- the operation detection unit 25 includes a rotation direction moving unit 95 having a rotation direction brake 96 that applies a brake to the rod portion 26 (rotation shaft portion) of the operation handle 21.
- the rotation direction brake 96 is, for example, a clutch brake that brakes the rod portion 26 (rotating shaft portion) of the operation handle 21 with an electromagnetic force generated by energizing a coil so as not to move.
- the XY moving unit 15 is based on the displacement of the operation handle 21 detected by the displacement detecting unit 27, based on the moving unit (X direction moving unit 80, Y direction moving unit 85, Z direction moving unit 90, rotational direction moving unit). 95).
- the displacement detection unit 27 in the operation detection unit 25 is connected to the control unit 100 via a cable arranged in the column 16 or along the outside of the column 16.
- the control unit 100 is connected to the X direction moving unit 80 and the Y direction moving unit 85 in the XY moving unit 15. Further, the control unit 100 is connected to the Z direction moving unit 90 and the rotation direction moving unit 95 via a cable disposed in the column 16 or along the outside of the column 16.
- the operation detection unit 25 detects the direction of the operation handle 21 in which the displacement is detected, and the control unit 100 releases the brake of the moving unit corresponding to the direction in which the displacement is detected by the operation detection unit 25.
- the displacement detection unit 27 in the operation detection unit 25 includes an X direction displacement measurement unit 40, a Y direction displacement measurement unit 50, a Z direction displacement measurement unit 60, and a rotation direction displacement measurement unit 70. If at least one of the displacement in the X direction ( ⁇ X), the displacement in the Y direction ( ⁇ Y), the displacement in the Z direction ( ⁇ Z), or the displacement in the rotational direction ( ⁇ ) is detected, the direction of the operation handle 21 in which the displacement was detected (X direction, Y direction, Z direction, rotation direction) is output to the control unit 100. Then, the control unit 100 releases the brake of the moving unit (X direction moving unit 80, Y direction moving unit 85, Z direction moving unit 90, rotation direction moving unit 95) corresponding to the direction output from the displacement detection unit 27. To do.
- the operator 2 can move the operation handle 21 together with the X-ray generation unit 17 in the direction in which the displacement of the operation handle 21 is detected.
- the Z direction displacement detection unit 60 detects the displacement ( ⁇ Z) of the operation handle 21 in the Z direction, and the displacement detection unit 27 Output.
- the brake is applied by the Z-direction brake 91 of the Z-direction moving unit 90, but until the rotation shaft portion (rod portion 26) of the operation handle 21 contacts the peripheral portion of the hole portion 23, The rotating shaft can be tilted in the Z direction.
- the displacement detection unit 27 outputs the Z direction in which the displacement is detected by the Z direction displacement detection unit 60 to the control unit 100.
- the control unit 100 releases the Z-direction brake 91 of the Z-direction moving unit 90 corresponding to the Z direction output from the displacement detection unit 27. Therefore, since the brake is released by the Z-direction brake 91, the operator 2 can move the operation handle 21 together with the X-ray generator 17 in the Z direction.
- the Y direction displacement detection unit 50 detects the displacement ( ⁇ Y) of the operation handle 21 in the Y direction, and the displacement detection unit 27 Output to.
- the brake is applied by the Y-direction brake 86 of the Y-direction moving unit 85
- the rotating shaft portion (rod portion 26) of the operation handle 21 reciprocates in the Y direction with respect to the Y-direction displacement detection unit 50. be able to.
- the displacement detection unit 27 outputs the Y direction in which the displacement is detected by the Y direction displacement detection unit 50 to the control unit 100.
- the control unit 100 releases the Y-direction brake 86 of the Y-direction moving unit 85 corresponding to the Y direction output from the displacement detection unit 27. Therefore, since the brake is released by the Y-direction brake 86, the operator 2 can move the operation handle 21 together with the X-ray generation unit 17 in the Y direction.
- the displacement detector 27 When the operator 2 releases his / her hand from the operation handle 21, the displacement detector 27 does not detect the displacement of the operation handle 21. It outputs to the control unit 100 that the operation handle 21 is not operated. Then, the control unit 100 brakes the moving units (X direction moving unit 80, Y direction moving unit 85, Z direction moving unit 90, and rotation direction moving unit 95). The brakes are applied by the X direction brake 81 of the X direction moving unit 80, the Y direction brake 86 of the Y direction moving unit 85, the Z direction brake 91 of the Z direction moving unit 90, and the rotational direction brake 96 of the rotational direction moving unit 95, respectively.
- the operation handle 21 is fixed. That is, the operator 2 can fix the operation handle 21 together with the X-ray generation unit 17 at a position where the hand is released.
- the X-ray generation unit 17 that generates X-rays
- the operation handle 21 that moves the X-ray generation unit 17
- the moving unit that moves the X-ray generation unit 17 (the X-direction moving unit 80).
- operation detecting unit 25 displacement detecting unit 27 for detecting the displacement of the operating handle 21 based on the operation of the operating handle 21, and the detection
- a control unit 100 that controls the moving unit based on the displacement is provided. Therefore, the X-ray generator 17 can be moved by operating the operation handle 21 without pressing the lock release switch.
- the control unit 100 switches the displacement directions of the respective X-direction displacement measurement unit 40 and Z-direction displacement measurement unit 60. Recognize and release the brake of the X direction moving unit 80 or the Z direction moving unit 90.
- the control unit 100 detects the operation detected by the X-direction displacement measurement unit 40.
- the displacement ( ⁇ X) in the X direction of the handle 21 is recognized as the displacement ( ⁇ Z) in the Z direction.
- the control unit 100 releases the brake of the Z direction moving unit 90 corresponding to the Z direction.
- the control unit 100 recognizes the displacement ( ⁇ Z) in the Z direction of the operation handle 21 detected by the Z direction displacement measurement unit 60 as the displacement ( ⁇ X) in the X direction. Then, the control unit 100 releases the brake of the X direction moving unit 80 corresponding to the X direction.
- Example 2 of the present invention will be described.
- the difference from the first embodiment is that the brakes of the moving units (X direction moving unit 80, Y direction moving unit 85) corresponding to the direction of the operation handle 21 where the displacement is detected by the operation detecting unit 25 (displacement detecting unit 27) are applied. It is a point which drives the motor which rotates the wheel of a moving part (X direction moving part 80, Y direction moving part 85) while cancelling
- the X-direction moving unit 80 and the Y-direction moving unit 85 have motors that rotate the wheels of the moving unit.
- the displacement detector 27 detects at least one of the displacement in the X direction ( ⁇ X) or the displacement in the Y direction ( ⁇ Y) of the operation handle 21 by the X direction displacement measurement unit 40 and the Y direction displacement measurement unit 50
- the displacement detection unit 27 The direction (X direction, Y direction) of the operation handle 21 in which is detected is output to the control unit 100.
- the control unit 100 releases the X-direction brake 81 or the Y-direction brake 86 corresponding to the direction output from the displacement detection unit 27.
- the control unit 100 drives the X direction motor 82 or the Y direction motor 87 corresponding to the direction output from the displacement detection unit 27 to rotate the wheels of the X direction moving unit 80 or the Y direction moving unit 85.
- the Y-direction displacement detection unit 50 detects the displacement ( ⁇ Y) of the operation handle 21 in the Y direction, and the displacement detection unit 27 Output. Then, the displacement detection unit 27 outputs the Y direction in which the displacement is detected by the Y direction displacement detection unit 50 to the control unit 100.
- the control unit 100 releases the Y-direction brake 86 of the Y-direction moving unit 85 corresponding to the Y direction output from the displacement detection unit 27, drives the Y-direction motor 87, and detects Y in the Y-direction displacement detection direction.
- the direction moving part 85 wheels are rotated.
- the operator 2 can move the XY moving unit 15 together with the X-ray generating unit 17 in the ⁇ Y direction.
- the X-ray generation unit 17 can be easily moved by receiving the support of each motor based on the operation of the operation handle 21 without pressing the lock release switch.
- Each direction displacement measuring unit measures the displacement in each direction.
- the X-direction displacement measurement unit 40 measures the displacement ( ⁇ X) of the operation handle 21 in the X direction
- the Y-direction displacement measurement unit 50 measures the displacement ( ⁇ Y) of the operation handle 21 in the Y direction
- the Z-direction displacement measurement unit 60 Measures the displacement ( ⁇ Z) of the operating handle 21 in the Z direction.
- the rotation direction displacement measuring unit 70 measures the displacement ( ⁇ ) of the operation handle 21 in the rotation direction.
- the displacement detection unit 27 includes the X-direction displacement measurement unit 40, the Y-direction displacement measurement unit 50, the Z-direction displacement measurement unit 60, and the rotational-direction displacement measurement unit 70 to detect the displacement ( ⁇ X) of the operation handle 21 in the X direction or When detecting at least one of the displacement in the Y direction ( ⁇ Y), the displacement in the Z direction ( ⁇ Z), or the displacement in the rotation direction ( ⁇ ), the control unit 100 moves corresponding to the direction output from the displacement detection unit 27. The brakes of the units (X direction moving unit 80, Y direction moving unit 85, Z direction moving unit 90, and rotation direction moving unit 95) are released.
- control unit 100 may drive the X direction motor 82 or the Y direction motor 87 corresponding to the direction output from the displacement detection unit 27 and rotate the wheels of the X direction moving unit 80 or the Y direction moving unit 85. Good.
- the operator 2 can move the operation handle 21 together with the X-ray generation unit 17 in the direction in which the displacement of the operation handle 21 is detected.
- the operator 2 By rotating the operation knobs 19 and 20, the operator 2 opens and closes the first movable restriction blade and the second movable restriction blade, and adjusts the X-ray irradiation range of the X-ray generation unit 17. Further, the X-ray imaging conditions of the X-ray generator 17 (X-ray tube) that generates X-rays are input by the operation panel 22 of the operation handle 21, and the X-ray imaging conditions are set. The X-ray generation unit 17 generates X-rays on the subject according to preset X-ray imaging conditions. The X-ray detection unit 31 detects X-rays generated from the X-ray generation unit 17 and transmitted through the subject. The display unit 1 displays an X-ray image created based on the X-ray image data detected by the X-ray detection unit 31.
- S10 to S14 are repeated.
- X-ray imaging is performed again, for example, when imaging another imaging region of the subject, or when imaging a subject in a standing position after imaging a subject in a prone position is there. If X-ray imaging is not performed again, the operation ends.
- the present invention is not limited to this, and the Z-direction motor 90 and the rotational-direction movement unit 95 are similar to the X-direction movement unit 80 and the Y-direction movement unit 85 in the Z-direction motor corresponding to each movement direction.
- Example 3 of the present invention will be described.
- the difference from the first and second embodiments is that the operation handle 21 can be moved in a plurality of directions together with the X-ray generation unit 17.
- the control unit 100 releases brakes in a plurality of directions of the moving unit corresponding to the plurality of directions of the operation handle whose displacement is detected by the operation detection unit 25.
- the displacement detection unit 27 is configured such that the X-direction displacement ( ⁇ X) or the Y-direction displacement of the operation handle 21 is determined by the X-direction displacement measurement unit 40, the Y-direction displacement measurement unit 50, the Z-direction displacement measurement unit 60, and the rotation-direction displacement measurement unit 70.
- ⁇ X X-direction displacement
- ⁇ Z displacements in the Z direction
- ⁇ rotational direction
- multiple directions X direction, Y direction, Z direction and rotation of the operation handle 21 where the displacement is detected 2 or more of the directions
- the control unit 100 includes a moving unit (X direction moving unit 80, Y direction moving unit 85, Z direction moving unit 90, and rotation direction moving unit 95 corresponding to a plurality of directions output from the displacement detection unit 27, 2 Release more than one brake at the same time. Therefore, the operator 2 can move the operation handle 21 along with the X-ray generation unit 17 in a plurality of directions even if the operation handle 21 is moved obliquely or moved linearly while rotating the operation handle 21. .
- a moving unit X direction moving unit 80, Y direction moving unit 85, Z direction moving unit 90, and rotation direction moving unit 95 corresponding to a plurality of directions output from the displacement detection unit 27, 2 Release more than one brake at the same time. Therefore, the operator 2 can move the operation handle 21 along with the X-ray generation unit 17 in a plurality of directions even if the operation handle 21 is moved obliquely or moved linearly while rotating the operation handle 21. .
- control unit 100 drives the X direction motor 82 or the Y direction motor 87 corresponding to a plurality of directions output from the displacement detection unit 27, and rotates the wheels of the X direction moving unit 80 or the Y direction moving unit 85. Also good.
- Embodiment 4 of the present invention will be described mainly with reference to FIG.
- the difference from the first to third embodiments is that the control unit 100 rotates the wheels of the moving unit (X direction moving unit 80, Y direction moving unit 85, Z direction moving unit 90) based on the operating force of the operating handle 21. Is the point to drive.
- the operating force of the operating handle 21 is detected using a pressure sensor installed on the spring in each moving unit described above.
- the pressure sensor outputs the pressure detected by the bending of the spring to the control unit 100, and the control unit 100 recognizes the detected pressure as the operation force of the operation handle 21.
- FIG. 8 shows the relationship between the operating force N of the operating handle 21 and the time T.
- the operation force of the operation handle 21 is detected at time t1.
- the control unit 100 brakes the moving unit (X direction moving unit 80, Y direction moving unit 85, Z direction moving unit 90) corresponding to the direction in which the operating force is detected. To release.
- the control unit 100 drives the X-direction motor 82 or the Y-directional motor 87 corresponding to the direction in which the operating force of the operating handle 21 is detected to move in the X direction.
- the wheel of the part 80 or the Y-direction moving part 85 is rotated.
- the rotational speed and torque of the X direction motor 82 or the Y direction motor 87 increase.
- the control unit 100 causes the X-direction motor 82 or the Y-directional motor 87 corresponding to the direction in which the operating force of the operating handle 21 is detected from the time t2. Also drive with a high voltage.
- a high voltage is applied to the X direction motor 82 or the Y direction motor 87, the rotational speed of the X direction motor 82 or the Y direction motor 87 can be increased and the torque can be increased. Note that when the rotational speed exceeds a predetermined rotational speed, the torque of the X-direction motor 82 or the Y-direction motor 87 decreases.
- the wheels of the X direction moving unit 80 or the Y direction moving unit 85 can be further accelerated and rotated at a higher speed than the time t2. Therefore, since the rotational speed of the motor can be controlled according to the operating force N of the operating handle 21, the operator 2 can quickly move the operating handle 21 to a desired position.
- the control unit 100 applies the same voltage as that at time t2 to the X direction motor 82 or the Y direction motor 87 corresponding to the direction in which the operating force of the operating handle 21 is detected. To drive.
- the control unit 100 stops driving the X direction motor 82 or the Y direction motor 87.
- the X direction brake 81 of the X direction moving unit 80, the Y direction brake 86 of the Y direction moving unit 85, and the Z direction brake 91 of the Z direction moving unit 90 rotate.
- the brakes are applied by the rotation direction brakes 96 of the direction moving unit 95, and the operation handle 21 is fixed.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Radiology & Medical Imaging (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- High Energy & Nuclear Physics (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
ここで、図9(a)(b)、図10を用いて、X方向ブレーキ81、Y方向ブレーキ86、Z方向ブレーキ91及び、後述する回転方向ブレーキ96及び、後述するX方向モータ82、Y方向モータ87、Z方向モータ91a、回転方向モータ96aの設置位置につき説明をする。図9(a)(b)は、図1のXY移動部15を、それぞれY方向から見た場合とX方向からみた場合の図である。図9(a)(b)に示す車輪901は、レール13はレール14に設置され、これにより、レール13、レール14がレール11、レール12の上を走行可能にしている。また、車輪902は、XY移動部15に設置され、これにより、XY移動部15がレール13、レール14の上を走行可能にしている。また、車輪901は、レール13、レール14に設置されたX方向モータ82により駆動され、車輪902は、XY移動部15に設置されたY方向モータ87により駆動される。また、車輪901は、レール13、レール14に設置されたX方向ブレーキ81によりブレーキがかけられ、また、車輪902は、XY移動部15に設置されたY方向ブレーキ86によりブレーキがかけられる。Z方向モータ91aは、XY移動部15に設置され、回転円盤(特に図示しない)等を介して支柱16内部を通るワイヤ1001の牽引を行なうことで、支柱16を伸張させる。また、XY移動部15に設置されたZ方向ブレーキ91によって、前記回転円盤にブレーキをかける。回転方向モータ96aは、支柱16に設置され、後述する回転連結部5を回転駆動させる。また、回転連結部5は、支柱16に設置された回転方向ブレーキ96によりブレーキがかけられる。前記各モータ及び各ブレーキは後述する制御部100にて制御される。 The X-direction brake, the Y-direction brake, and the Z-direction brake are disc brakes that can brake a wheel or a roller by sandwiching a disk that rotates together with the wheel or the roller from both sides, for example.
Here, using FIGS. 9 (a), (b), and FIG. 10, an
ここで、本発明の実施例2について説明する。実施例1と異なる点は、操作検出部25(変位検出部27)によって変位が検出された操作ハンドル21の方向に対応する移動部(X方向移動部80、Y方向移動部85)のブレーキを解除するとともに、移動部(X方向移動部80、Y方向移動部85)の車輪を回転させるモータを駆動する点である。 (motor)
Here, Example 2 of the present invention will be described. The difference from the first embodiment is that the brakes of the moving units (X
(S12)変位検出部27は、X方向変位計測部40とY方向変位計測部50とZ方向変位計測部60と回転方向変位計測部70によって、操作ハンドル21のX方向の変位(ΔX)又はY方向の変位(ΔY)又はZ方向の変位(ΔZ)又は回転方向の変位(Δγ)の少なくとも1つを検出した場合、制御部100は、変位検出部27から出力された方向に対応する移動部(X方向移動部80、Y方向移動部85、Z方向移動部90、回転方向移動部95)のブレーキを解除する。 (S11) Each direction displacement measuring unit measures the displacement in each direction. The X-direction
(S12) The
本発明はこれに限定されることなく、Z方向移動部90、及び回転方向移動部95にはX方向移動部80、及びY方向移動部85と同様に、各移動方向に対応するZ方向モータ91a、及び回転方向モータ96aを備え、Z方向ブレーキ91、及び回転方向ブレーキ96の解除後に、変位検出部27から出力された方向に対応するZ方向モータ91a若しくは回転方向モータ96aを駆動させさせてもよい。 (S15) When X-ray imaging is performed again, S10 to S14 are repeated. When X-ray imaging is performed again, for example, when imaging another imaging region of the subject, or when imaging a subject in a standing position after imaging a subject in a prone position is there. If X-ray imaging is not performed again, the operation ends.
The present invention is not limited to this, and the Z-
ここで、本発明の実施例3について説明する。実施例1、2と異なる点は、操作ハンドル21をX線発生部17とともに複数方向に移動させることができる点である。制御部100は、操作検出部25によって変位が検出された操作ハンドルの複数方向に対応する移動部の複数方向のブレーキを解除させる。 (Multiple directions)
Here, Example 3 of the present invention will be described. The difference from the first and second embodiments is that the operation handle 21 can be moved in a plurality of directions together with the
ここで、本発明の実施例4について主に図8を用いて説明する。実施例1~3と異なる点は、制御部100が操作ハンドル21の操作力に基づいて移動部(X方向移動部80、Y方向移動部85、Z方向移動部90)の車輪を回転させるモータを駆動する点である。 (Operating force)
Here, Embodiment 4 of the present invention will be described mainly with reference to FIG. The difference from the first to third embodiments is that the
Claims (10)
- X線を発生させるX線発生部と、前記X線発生部を移動させるための操作ハンドルと、前記X線発生部を移動させる移動部を備えた天井走行式のX線撮像装置であって、前記操作ハンドルの操作に基づく前記操作ハンドルの変位を検出する操作検出部と、該検出された変位に基づいて前記移動部を制御する制御部を備えることを特徴とする天井走行式のX線撮像装置。 An X-ray generator that generates an X-ray, an operation handle for moving the X-ray generator, and an overhead traveling X-ray imaging apparatus including a moving unit that moves the X-ray generator, An overhead traveling X-ray imaging comprising: an operation detection unit that detects a displacement of the operation handle based on an operation of the operation handle; and a control unit that controls the moving unit based on the detected displacement. apparatus.
- 前記操作検出部は、前記操作ハンドルの直線方向と回転方向の変位を検出することを特徴とする請求項1記載の天井走行式のX線撮像装置。 2. The overhead traveling X-ray imaging apparatus according to claim 1, wherein the operation detection unit detects a displacement in a linear direction and a rotation direction of the operation handle.
- 前記操作検出部は、前記操作ハンドルのX方向の変位を計測するX方向変位計測部と、前記操作ハンドルの前記X方向に直交するY方向の変位を計測するY方向変位計測部と、前記操作ハンドルの前記X方向及び前記Y方向に直交するZ方向の変位を計測するZ方向変位計測部と、前記操作ハンドルの回転方向の変位を計測する回転変位検出部とを有していることを特徴とする請求項1記載の天井走行式のX線撮像装置。 The operation detection unit includes an X-direction displacement measurement unit that measures a displacement of the operation handle in the X direction, a Y-direction displacement measurement unit that measures a displacement in the Y direction orthogonal to the X direction of the operation handle, and the operation A Z-direction displacement measuring unit that measures a displacement in a Z direction orthogonal to the X direction and the Y direction of the handle, and a rotational displacement detecting unit that measures a displacement in the rotational direction of the operation handle. 2. The overhead traveling X-ray imaging apparatus according to claim 1.
- 前記操作検出部の一端は前記操作ハンドルに連結され、前記操作検出部の他端は前記X線発生部に連結されていることを特徴とする請求項1記載の天井走行式のX線撮像装置。 2. The overhead traveling X-ray imaging apparatus according to claim 1, wherein one end of the operation detection unit is connected to the operation handle, and the other end of the operation detection unit is connected to the X-ray generation unit. .
- 前記操作ハンドルの回転軸部の先端は、前記操作検出部の内壁に固設されていることを特徴とする請求項1記載の天井走行式のX線撮像装置。 2. The overhead traveling X-ray imaging apparatus according to claim 1, wherein a tip end of the rotation shaft portion of the operation handle is fixed to an inner wall of the operation detection unit.
- 前記制御部は、前記操作検出部によって変位が検出された前記操作ハンドルの方向に対応する前記移動部のブレーキを解除させることをとする請求項1記載の天井走行式のX線撮像装置。 2. The overhead traveling X-ray imaging apparatus according to claim 1, wherein the control unit releases a brake of the moving unit corresponding to a direction of the operation handle in which a displacement is detected by the operation detection unit.
- 前記制御部は、前記操作検出部によって変位が検出された前記操作ハンドルの方向に対応する前記移動部のブレーキを解除させるとともに、前記移動部の車輪を回転させるモータを駆動させることを特徴とする請求項1記載の天井走行式のX線撮像装置。 The control unit releases a brake of the moving unit corresponding to a direction of the operation handle whose displacement is detected by the operation detecting unit, and drives a motor that rotates a wheel of the moving unit. 2. The overhead traveling X-ray imaging apparatus according to claim 1.
- 前記制御部は、前記操作検出部によって変位が検出された前記操作ハンドルの複数方向に対応する前記移動部の複数方向のブレーキを解除させることを特徴とする請求項1記載の天井走行式のX線撮像装置。 2. The overhead traveling type X according to claim 1, wherein the control unit releases brakes in a plurality of directions of the moving unit corresponding to a plurality of directions of the operation handle whose displacement is detected by the operation detection unit. Line imaging device.
- 前記制御部は、前記操作ハンドルの操作力に基づいて、前記移動部の車輪を回転させるモータを駆動させることを特徴とする請求項1記載の天井走行式のX線撮像装置。 2. The overhead traveling X-ray imaging apparatus according to claim 1, wherein the control unit drives a motor that rotates a wheel of the moving unit based on an operation force of the operation handle.
- X線を発生させるX線発生部を移動させるための操作ハンドルの変位を検出するステップと、前記検出された変位に基づいて、前記X線発生部を移動させる移動部を制御するステップと、を含むことを特徴とする天井走行式のX線撮像装置の制御方法。 Detecting a displacement of an operation handle for moving an X-ray generation unit for generating X-rays, and controlling a moving unit for moving the X-ray generation unit based on the detected displacement. A control method for an overhead traveling X-ray imaging apparatus.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012521436A JPWO2011162149A1 (en) | 2010-06-21 | 2011-06-16 | Ceiling-running X-ray imaging apparatus and control method thereof |
CN2011800309772A CN102946806A (en) | 2010-06-21 | 2011-06-16 | Ceiling traveling type X-ray image capturing device and method for controlling same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010140060 | 2010-06-21 | ||
JP2010-140060 | 2010-06-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011162149A1 true WO2011162149A1 (en) | 2011-12-29 |
Family
ID=45371340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2011/063767 WO2011162149A1 (en) | 2010-06-21 | 2011-06-16 | Ceiling traveling type x-ray image capturing device and method for controlling same |
Country Status (3)
Country | Link |
---|---|
JP (1) | JPWO2011162149A1 (en) |
CN (1) | CN102946806A (en) |
WO (1) | WO2011162149A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014033877A (en) * | 2012-08-09 | 2014-02-24 | Hitachi Medical Corp | X-ray imaging apparatus |
JP2015173951A (en) * | 2014-03-18 | 2015-10-05 | 株式会社東芝 | X-ray diagnosis apparatus |
WO2018042483A1 (en) * | 2016-08-29 | 2018-03-08 | 株式会社島津製作所 | Holding mechanism for x-ray image pickup device and x-ray image pickup device |
JP2021083957A (en) * | 2019-11-29 | 2021-06-03 | 株式会社島津製作所 | X-ray imaging apparatus |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011122149A1 (en) * | 2010-03-29 | 2011-10-06 | 株式会社日立メディコ | Ceiling suspended x-ray imaging apparatus |
EP3127482B1 (en) * | 2015-08-07 | 2018-01-10 | Agfa HealthCare N.V. | X-ray system and method for operating an x-ray system |
CN105999551A (en) * | 2016-07-05 | 2016-10-12 | 张开建 | Electric stimulator suspension apparatus |
CN105999552B (en) * | 2016-07-07 | 2018-04-17 | 吴海燕 | A kind of electric stimulator and its electrode wires suspension, support device |
CN114098783A (en) * | 2022-01-28 | 2022-03-01 | 深圳市创谷科技发展有限公司 | Beam limiter, X-ray machine and control method |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59154210U (en) * | 1983-04-01 | 1984-10-16 | 株式会社日立メデイコ | medical x-ray equipment |
JPH11324A (en) * | 1997-06-12 | 1999-01-06 | Hitachi Medical Corp | Medical x-ray device |
JP2010227291A (en) * | 2009-03-27 | 2010-10-14 | Fujifilm Corp | Radiation imaging apparatus |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4501011A (en) * | 1982-09-22 | 1985-02-19 | General Electric Company | Angulating lateral fluoroscopic suspension |
US5636259A (en) * | 1995-05-18 | 1997-06-03 | Continental X-Ray Corporation | Universal radiographic/fluoroscopic digital room |
DE10142441C1 (en) * | 2001-08-31 | 2003-03-13 | Siemens Ag | Ceiling-mounted diagnostic X-ray device has X-ray source and radiation detector each moved along perpendicular guide rail between opposite sides of patient table |
US7090396B2 (en) * | 2004-10-15 | 2006-08-15 | General Electric Company | Systems, methods and apparatus of a radiographic positioner |
JP2007244569A (en) * | 2006-03-15 | 2007-09-27 | Shimadzu Corp | Ceiling travelling and suspending-type x-ray photographing apparatus |
WO2011122149A1 (en) * | 2010-03-29 | 2011-10-06 | 株式会社日立メディコ | Ceiling suspended x-ray imaging apparatus |
-
2011
- 2011-06-16 JP JP2012521436A patent/JPWO2011162149A1/en not_active Withdrawn
- 2011-06-16 WO PCT/JP2011/063767 patent/WO2011162149A1/en active Application Filing
- 2011-06-16 CN CN2011800309772A patent/CN102946806A/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59154210U (en) * | 1983-04-01 | 1984-10-16 | 株式会社日立メデイコ | medical x-ray equipment |
JPH11324A (en) * | 1997-06-12 | 1999-01-06 | Hitachi Medical Corp | Medical x-ray device |
JP2010227291A (en) * | 2009-03-27 | 2010-10-14 | Fujifilm Corp | Radiation imaging apparatus |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014033877A (en) * | 2012-08-09 | 2014-02-24 | Hitachi Medical Corp | X-ray imaging apparatus |
JP2015173951A (en) * | 2014-03-18 | 2015-10-05 | 株式会社東芝 | X-ray diagnosis apparatus |
US10111630B2 (en) | 2014-03-18 | 2018-10-30 | Toshiba Medical Systems Corporation | X-ray diagnosis apparatus |
WO2018042483A1 (en) * | 2016-08-29 | 2018-03-08 | 株式会社島津製作所 | Holding mechanism for x-ray image pickup device and x-ray image pickup device |
JPWO2018042483A1 (en) * | 2016-08-29 | 2019-06-24 | 株式会社島津製作所 | 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 |
JP2021083957A (en) * | 2019-11-29 | 2021-06-03 | 株式会社島津製作所 | X-ray imaging apparatus |
JP7327125B2 (en) | 2019-11-29 | 2023-08-16 | 株式会社島津製作所 | X-ray equipment |
Also Published As
Publication number | Publication date |
---|---|
CN102946806A (en) | 2013-02-27 |
JPWO2011162149A1 (en) | 2013-08-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2011162149A1 (en) | Ceiling traveling type x-ray image capturing device and method for controlling same | |
US7441952B2 (en) | Method and system for X-ray diagnosis of an examination object | |
US20090082661A1 (en) | System and method to automatically assist mobile image acquisition | |
JP5566303B2 (en) | Mobile X-ray apparatus and rotating anode control method | |
JP6251725B2 (en) | Mobile X-ray device | |
JP2013220359A (en) | Pivot joint braking device for x-ray positioning system | |
US20110096910A1 (en) | X-ray imaging system | |
JP6000787B2 (en) | Radiographic imaging apparatus and method for controlling radiographic imaging apparatus | |
WO2019064670A1 (en) | Radiation photographing apparatus | |
JP2008520325A (en) | Drive unit for X-ray system | |
US10765388B2 (en) | Radiation-irradiation device comprising a first arm, a second arm, and main body surface regulating a rotational movement of the second arm | |
JPWO2017056533A1 (en) | Mammography apparatus, radiographic image capturing method, and radiographic image capturing program | |
JP5280265B2 (en) | Radiography equipment | |
JP2016154736A (en) | Transport vehicle with brake and mobile x-ray imaging device | |
JP2021524316A (en) | Compression arm device and method | |
US20230277140A1 (en) | Mobile medical image apparatus for including slidable arm along colum and operation method thereof | |
US20230277145A1 (en) | Operating method of mobile medical image device for providing digital tomosynthesis | |
JP2020110228A (en) | X-ray imaging apparatus | |
JP2016116749A (en) | X-ray imaging apparatus | |
KR101996638B1 (en) | X-ray imaging device including lifting paddle for compression paddle | |
JP5677058B2 (en) | Bed apparatus and diagnostic imaging apparatus | |
JP4702036B2 (en) | X-ray diagnostic equipment | |
WO2014184843A1 (en) | X-ray imaging device for round of visits | |
JP6881672B2 (en) | Mobile radiography device | |
KR101389939B1 (en) | X-ray image apparatus |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201180030977.2 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11798034 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012521436 Country of ref document: JP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 11798034 Country of ref document: EP Kind code of ref document: A1 |