WO2015037179A1 - 放射線発生用装置及び放射線撮影システム - Google Patents

放射線発生用装置及び放射線撮影システム Download PDF

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Publication number
WO2015037179A1
WO2015037179A1 PCT/JP2014/004061 JP2014004061W WO2015037179A1 WO 2015037179 A1 WO2015037179 A1 WO 2015037179A1 JP 2014004061 W JP2014004061 W JP 2014004061W WO 2015037179 A1 WO2015037179 A1 WO 2015037179A1
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WO
WIPO (PCT)
Prior art keywords
arm
radiation
movable joint
rotation
joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2014/004061
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English (en)
French (fr)
Japanese (ja)
Inventor
七平 櫻木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
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Canon Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Publication of WO2015037179A1 publication Critical patent/WO2015037179A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4458—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 attached to robotic arms
    • 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
    • A61B6/42—Arrangements for detecting radiation specially adapted for radiation diagnosis
    • A61B6/4283—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by a detector unit being housed in a cassette
    • 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 a radiation generating apparatus and a radiation imaging system.
  • the support for supporting the radiation generating unit and the radiation generating unit is integral or separate, and it is desired to be lightweight in order to improve portability.
  • the support has a simple arm shape. Since the arm does not have an adjustment mechanism or joint for adjusting the position of the radiation generator, a radiation detector installed on the back of the support or subject or the subject depending on the position of the subject and the imaging region Adjustment work to move and align the position of the radiation generator also occurs.
  • Patent Document 1 discloses a structure in which a radiation generating unit can be moved by providing a rail on a four-legged support that is assembled in consideration of portability.
  • Patent Document 2 discloses a structure that facilitates the weight reduction of the apparatus and the movement of the radiation generating unit by attaching an extendable arm that holds the radiation generating unit to a support column rising from the radiation detector.
  • Patent Document 3 proposes an arm that is not a portable radiography apparatus, but that can freely adjust the position of a radiation generation unit in a radiography round-trip car.
  • Patent Document 1 it is easy to move the radiation generating unit in the direction along the rail, but the radiation generating unit cannot be moved in the direction perpendicular to the rail.
  • the position of the radiation generating unit in a direction perpendicular to the rail it becomes a factor that places a burden on the operator.
  • Patent Document 2 as in Patent Document 1, the movement of the radiation generating unit is limited to the direction along the arm. Furthermore, since the radiographic round-trip wheel as described in Patent Document 3 is too heavy, it is difficult to take it out to a disaster or home medical care site.
  • an object of the present invention is to provide a radiation generating apparatus and a radiation imaging system that improve the operability of an operator.
  • a radiation generating apparatus comprising a radiation generating unit that irradiates a subject with radiation, an arm unit that supports the radiation generating unit, and a support column that supports the arm unit,
  • the arm portion has a first arm and a second arm
  • the support column and the first arm are rotatably connected to each other via a first movable joint
  • the first arm and the second arm are rotatably connected to each other via a second movable joint
  • a limiting mechanism is provided for limiting the rotation of the second arm in the second movable joint in accordance with the rotation of the first arm in the first movable joint.
  • FIG. 1 is a configuration diagram of a portable radiation generating apparatus according to a first embodiment.
  • Explanatory drawing of the limiting mechanism inside the arm which concerns on 1st Embodiment.
  • Explanatory drawing of the movement range of the radiation generation part which concerns on 1st Embodiment.
  • Explanatory drawing of the apparatus for portable radiation generation which concerns on 2nd Embodiment.
  • FIG. 1 shows a configuration example of a portable radiation generating apparatus that images a subject lying on a bedding.
  • 2A and 2B show an example of a limiting mechanism that limits the rotation of the joint inside the arm.
  • 2A is a top view inside the arm of the portable radiation generating apparatus in FIG. 1
  • FIG. 2B is a side view inside the arm.
  • 3A and 3B show the movable range in the position adjustment of the radiation generating unit before imaging.
  • reference numeral 1 denotes a radiation generating unit that generates radiation.
  • Reference numeral 2 denotes a holding mechanism unit that holds the radiation generating unit during transportation or imaging, and has a folding mechanism unit to ensure portability. Although the holding mechanism unit 2 is connected to the radiation generating unit 1, it may have a removable structure in consideration of assembly maintenance.
  • Reference numeral 3 denotes a support column as a constituent element of the holding mechanism unit 2, which supports a load in the vertical direction when the holding mechanism unit 2 is self-supporting.
  • the arm portion 4 is one of the components of the holding mechanism section 2, one end of which is connected to the radiation generation section 1, and the other side in the longitudinal direction is an arm section connected to the upper end of the support column 3.
  • the arm portion 4 can be folded toward the support column 3 in order to reduce the size of the entire apparatus and improve portability during transportation and storage.
  • Numeral 5 is a support leg connected to the lower end of the column 3, and 6 indicates a subject to be imaged.
  • a radiation detector 7 that detects the radiation that has passed through the subject when the radiation generator 1 irradiates the subject 6 with radiation and converts it into an image. Since the distance between the radiation generator 1 and the radiation detector 7 is constant when the arm 4 is deployed, the subject 6 is placed immediately below the radiation generator 1 with the arm 4 deployed. Does not require distance adjustment.
  • a radiation imaging system may be configured including the radiation generating apparatus and the radiation detector 7.
  • the arm unit 4 includes at least two arms, a split arm 41 (first arm) and a split arm 42 (second arm).
  • the split arm 41 is connected to the support column 3 via a movable joint 8 (first movable joint), and the split arm 42 is connected to the split arm 41 via a movable joint 9 (second movable joint).
  • the arm unit 4 Since the arm unit 4 has two or more joints, the radiation generating unit 1 can be freely moved within the imaging range.
  • the radiation generating unit 1 may be moved out of the imaging range, and the radiation generating unit is moved to a position where the balance of the center of gravity is lost. 1 moves.
  • a limiting mechanism for limiting the movable range of the radiation generating unit 1 is provided.
  • the restriction mechanism restricts the rotation of the split arm 42 (second arm) in the movable joint 9 (second movable joint) so that the center of gravity balance of the radiation generating apparatus is maintained.
  • the movable joint 8 includes a joint shaft 81 installed on the upper portion of the support column 3 and a bearing 82 in the split arm 41, and when the bearing 82 is fitted to the joint shaft 81 and rotated, the split arm 41 is moved to the support column 3. It rotates around the center of the axis.
  • a fixed gear 83 is connected on the same axis as the joint shaft 81, and the split arm 41 rotates about the center of the support column 3, so that the rotating gear 84 meshed with the fixed gear 83 becomes a circle of the fixed gear 83. Rotate along the circumference.
  • a rotating gear 85 is installed on the split arm 41 so as to mesh with the rotating gear 84, and a timing pulley 86 is coaxially connected to the rotating gear 85.
  • a timing belt 10 as a transmission mechanism is wound around the timing pulley 86, and the timing belt 10 is also wound around a timing pulley 92 connected to the joint shaft 91 of the movable joint 9.
  • the joint shaft 91 rotates in conjunction with it.
  • the timing belt 10 is not limited to the timing belt, and a transmission mechanism using a gear, a chain, a wire, or the like may be used. That is, the radiation generating apparatus includes a transmission mechanism that transmits the rotation of the movable joint 8 (first movable joint) to the rotation of the movable joint 9 (second movable joint).
  • the split arm 42 is connected to the joint shaft 91 and is rotatable about the joint shaft 91.
  • the joint shaft 91 has joint rotation stopping members 93A and 93B (first member and second member), and the split arm 42 has an arm rotation stopping member 94 (third member). is doing.
  • the split arm 42 rotates about the joint shaft 91 and the arm rotation stop member 94 comes into contact with the joint rotation stop member 93, the rotation of the arm stops. Therefore, the split arm 42 has a structure that can rotate only within a range defined by the two joint rotation stopping members 93A and 93B.
  • a limiting mechanism that limits the split arm 42 to be rotatable with respect to the split arm 41 is configured between the stop member 93B (second member) and a position in contact with the stop member 93B (second member).
  • the radiation generating apparatus includes joint rotation stopping members 93A and 93B (first member and second member) provided on the movable joint 9 (second movable joint), and the split arm 42 (second member).
  • the restriction mechanism includes joint rotation stopping members 93A and 93B (the first member and the second member) according to the rotation of the split arm 41 (first arm) at the movable joint 8 (first movable joint).
  • joint rotation stopping members 93A and 93B the first member and the second member according to the rotation of the split arm 41 (first arm) at the movable joint 8 (first movable joint).
  • the movable range of the split arm 42 changes according to the rotation of the split arm 41. To do.
  • the movable range of another arm changes so that the balance of the center of gravity does not collapse according to the rotation angle of one arm. For this reason, the operator does not need to consider the balance of the center of gravity, and it is possible to quickly position the radiation generating unit 1 without impairing the operability.
  • the radiation including the radiation generating unit 1 that generates radiation to the subject, the arm unit 4 that supports the radiation generating unit 1, and the support column 3 that supports the arm unit 4.
  • the arm section 4 includes a split arm 41 (first arm) and a split arm 42 (second arm), and the support column 3 and the split arm 41 (first arm) are movable.
  • the split arm 41 (first arm) and the split arm 42 (second arm) rotate via the movable joint 9 (second movable joint) via the joint 8 (first movable joint), respectively.
  • a restricting mechanism is provided that is connected so as to limit the rotation of the split arm 42 (second arm) in accordance with the rotation of the split arm 41 (first arm).
  • the radiation generating unit can be freely moved within a range in which the balance of the center of gravity is not lost by the limiting mechanism that limits the movable range of the arm, and operability that can be easily positioned can be ensured. Therefore, it becomes possible to improve the operability of the operator.
  • FIG. 4A and FIG. 4B show an example of the structure of the column moving mechanism inside the column 3 and the support leg 5.
  • 4A is a cross-sectional view including the inside of the split arm 41
  • FIG. 4B is a cross-sectional view when FIG. 4A is observed from the right side of the drawing.
  • FIG. 5A and FIG. 5B are explanatory diagrams showing how the support column 3 moves with respect to the support leg 5.
  • a cylindrical transmission shaft 11 is provided coaxially with the joint shaft 81, and rotates in conjunction with the bearing 82 of the split arm 41.
  • a lower portion of the transmission shaft 11 is connected to a support leg 5 having a nested structure by a bevel gear mechanism 111 and a rack gear 112.
  • the rack gear 112 pushes and pulls the support leg 5 having the nested structure in conjunction with the rotation of the split arm 41, so that the position of the column 3 moves with respect to the support leg 5.
  • the structure that links the rotation of the split arm 41 with the expansion and contraction motion of the support leg 5 is not limited to the bevel gear and the rack gear, and a transmission mechanism using a timing belt, a chain, a wire, or the like may be used. .
  • FIG. 6 is a view particularly showing the structure of the joint inside the arm.
  • a brake mechanism that generates a drag force against the movable joint 8 and the movable joint 9 of the portable radiation generating device so as not to rotate with a force less than a predetermined external force by a frictional force such as a torque hinge. 12A and a brake mechanism 12B are provided. Since the split arm 41 and the split arm 42 cannot be moved by the brake mechanism 12A and the brake mechanism 12B unless an external force exceeding a certain level is applied, the split arm 41 and the split arm 42 are rotated by an external force not intended by the operator. Can be prevented.
  • Portable radiation generators are often used on uneven terrain such as disaster sites and home medical sites for patients with uncertain consciousness. For this reason, the arm of the portable radiation generating device may rotate to an angle not intended by the operator due to the inclination of the rough terrain or the operation not intended by the patient.
  • the brake mechanisms 12A and 12B it is possible to prevent such a malfunction.
  • the radiation generating apparatus generates a drag so that the movable joint 8 (first movable joint) or the movable joint 9 (second movable joint) does not rotate with a force less than a predetermined external force.
  • a mechanism is further provided. Thereby, it can prevent that the division
  • FIG. 7A and 7B are views showing the structure of the position adjusting mechanism of the radiation stop portion inside the arm.
  • FIG. 7A is a top view of the apparatus, and
  • FIG. 7B is a side view.
  • a radiation diaphragm 13 is attached to the radiation generating unit 1 that generates radiation in order to generate radiation appropriate only for the imaging range of the subject 6.
  • the radiation field of the radiation irradiated from the radiation generating unit 1 can be controlled by the radiation restricting unit 13.
  • a timing belt 132 is wound around the joint shaft 91, and the timing belt 132 is also wound around the radiation aperture rotation shaft 131. For this reason, by rotating the split arm 41, the joint shaft 91 rotates in conjunction with the rotation of the timing pulley 86, and further, the radiation diaphragm 13 rotates in conjunction with the joint shaft 91. That is, according to the rotation of the split arm 42 (second arm) at the movable joint 9 (second movable joint), the radiation diaphragm 13 rotates so as to maintain a certain direction with respect to the subject 6. To do.
  • the imaging axis of the radiation diaphragm 13 can indicate the same direction as the axial direction of the subject 6 to be imaged regardless of the angle at which the arm unit 4 rotates.
  • the timing belt 132 is not limited to the timing belt, and a transmission mechanism using gears, chains, wires, or the like may be used.
  • the radiation generating apparatus further includes the radiation restricting unit 13 that controls the radiation field irradiated from the radiation generating unit 1, and the movable joint 9 (second movable joint).
  • the radiation diaphragm 13 rotates according to the rotation of the split arm 42 (second arm). As a result, the radiation diaphragm 13 can maintain a fixed orientation with respect to the subject 6, and the labor of adjustment by the operator can be reduced.
  • the split arm 42 is connected to the joint shaft 91 installed on the split arm 41, and can be rotated about the joint shaft 91. is there.
  • the joint shaft 91 has joint rotation stopping members 93A and 93B (first member and second member), and the split arm 42 has an arm rotation stopping member 94 (third member). is doing.
  • the split arm 42 rotates about the joint shaft 91 and the arm rotation stop member 94 comes into contact with the joint rotation stop member 93, the rotation of the arm stops. Therefore, the split arm 42 has a structure that can rotate only within a range defined by the two joint rotation stopping members 93A and 93B.
  • the arm rotation stop member 94 (third member) is in a position between two positions of the joint rotation stop member 93A (first member) and the joint rotation stop member 93B (second member).
  • the limiting mechanism is configured to limit the split arm 42 so that the split arm 42 can rotate with respect to the split arm 41.
  • the radiation generating apparatus includes joint rotation stopping members 93A and 93B (first member and second member) provided on the movable joint 9 (second movable joint), and the split arm 42 (second member).
  • Arm rotation stop member 94 (third member) provided on the arm).
  • the restriction mechanism includes a position where the arm rotation stopping member 94 (third member) contacts the joint rotation stopping member 93A (first member), and the arm rotation stopping member 94 (third member). It moves only between the rotation stop member 93B (second member) and a position in contact with it. Accordingly, the split arm 42 (second arm) is restricted so as to be rotatable with respect to the split arm 41 (first arm).
  • the movable joint 8 includes a joint shaft 81 installed in the upper part of the support column 3 and a bearing 82 in the split arm 41, and the split arm 41 is rotated by fitting the bearing 82 to the joint shaft 81. Rotates around the center of the column 3.
  • a fixed gear 83 is connected on the same axis as the joint shaft 81, and the split arm 41 rotates about the center of the support column 3, so that the rotating gear 84 meshed with the fixed gear 83 becomes a circle of the fixed gear 83. Rotate along the circumference.
  • a rotating gear 85 is installed on the split arm 41 so as to mesh with the rotating gear 84, and a timing pulley 86 is coaxially connected to the rotating gear 85.
  • a timing belt 10 as a transmission mechanism is wound around the timing pulley 86, and the timing belt 10 is also wound around a timing pulley 92 connected to the joint shaft 91 of the movable joint 9. The joint shaft 91 rotates in conjunction with it.
  • the joint rotation stop member 93A or 93B contacts the arm rotation stop member 94.
  • the rotation of the joint shaft 91 stops when the joint rotation stop member 93A or 93B comes into contact with the arm rotation stop member 94. Since the rotation of the joint shaft 91 and the rotation of the split arm 41 are linked by the timing belt 10, the rotation of the split arm 41 also stops as the rotation of the joint shaft 91 stops. Therefore, the rotation range of the split arm 41 is also limited by the rotation of the split arm 42.
  • FIG. 8A shows the movable joint 9 (second movable joint) of the divided arm 42 by the rotation of the movable arm 8 (first movable joint) of the divided arm 41 as described in the first embodiment.
  • FIG. 8B shows the fifth embodiment in which the movable arm 8 (first movable joint) of the divided arm 41 is rotated by the rotation of the movable arm 9 (second movable joint) of the divided arm 42. The case where the rotation range is limited is shown.
  • the total of the rotation angle of the split arm 41 in the movable joint 8 (first movable joint) and the rotation angle of the split arm 42 in the movable joint 9 (second movable joint) is configured within a predetermined range. Also good.
  • the total of the rotation angle of the first movable joint and the rotation angle of the second movable joint may be 90 degrees, for example. In that case, when the first movable joint is rotated by 60 degrees, the second movable joint can be rotated by 30 degrees. Further, when the first movable joint is rotated by 45 degrees, the second movable joint can be rotated by 45 degrees.
  • the movable range of each divided arm changes so that the radiation generator 1 can move freely within a predetermined range (for example, within the center of gravity balance range).
  • a predetermined range for example, within the center of gravity balance range. The operator is not required to consider the balance of the center of gravity when operating the position of the radiation generating unit 1, and can quickly position the radiation generating unit 1 without impairing operability.
  • the radiation generating unit 1 that generates radiation on the subject, the arm unit 4 that supports the radiation generating unit 1, and the arm unit 4 are supported.
  • the arm unit 4 includes a split arm 41 (first arm) and a split arm 42 (second arm).
  • the support 3 and the split arm 41 (first arm) are movable via the movable joint 8 (first movable joint), and the split arm 41 (first arm) and the split arm 42 (second arm) are movable.
  • Each is connected via a joint 9 (second movable joint) so as to be rotatable.
  • the limiting mechanism which restrict
  • the other arm According to the rotation of one arm of the split arm 42 (second arm) and the split arm 41 (first arm), the other arm The rotation of the arm is limited. That is, a limiting mechanism is provided that limits the rotation of the split arm 41 (first arm) and the split arm 42 (second arm) so that the radiation generating unit is disposed within a predetermined range.
  • the radiation mechanism can be moved freely within the range where the balance of the center of gravity is not lost by the limiting mechanism that limits the movable range of the arm, and the operability for easy positioning can be ensured. Therefore, it becomes possible to improve the operability of the operator.
  • the present invention can also be realized by executing the following processing. That is, software (program) that realizes the functions of the above-described embodiments is supplied to a system or apparatus via a network or various storage media, and a computer (or CPU, MPU, or the like) of the system or apparatus reads the program. It is a process to be executed.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Automation & Control Theory (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (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)
  • X-Ray Techniques (AREA)
PCT/JP2014/004061 2013-09-13 2014-08-04 放射線発生用装置及び放射線撮影システム Ceased WO2015037179A1 (ja)

Applications Claiming Priority (4)

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JP2013-191032 2013-09-13
JP2013191032 2013-09-13
JP2014073729A JP6363860B2 (ja) 2013-09-13 2014-03-31 放射線発生用装置及び放射線撮影システム
JP2014-073729 2014-03-31

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WO2016208154A1 (ja) * 2015-06-22 2016-12-29 富士フイルム株式会社 放射線画像撮影装置

Citations (6)

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Publication number Priority date Publication date Assignee Title
US4223230A (en) * 1977-10-12 1980-09-16 Siemens Aktiengesellschaft X-Ray examination apparatus
JPH03251230A (ja) * 1990-02-28 1991-11-08 Shimadzu Corp 移動式医用放射線装置
JPH04329932A (ja) * 1991-04-30 1992-11-18 Shimadzu Corp 回診用ｘ線診断装置
JPH0553610U (ja) * 1991-12-20 1993-07-20 株式会社日立メディコ 移動形ｘ線装置
JPH08126989A (ja) * 1994-10-31 1996-05-21 Ricoh Co Ltd 多関節ロボットの回転軸の回転規制機構
JPH1099312A (ja) * 1996-09-30 1998-04-21 Shimadzu Corp 移動型ｘ線装置

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Publication number Priority date Publication date Assignee Title
JP2549393Y2 (ja) * 1992-06-03 1997-09-30 株式会社小松製作所 マニプレータ付高所作業車のマニプレータ動作規制装置
JP2006150567A (ja) * 2004-12-01 2006-06-15 Toyota Motor Corp ロボットの安定化制御装置
JP2011115364A (ja) * 2009-12-03 2011-06-16 Hitachi Medical Corp Ｘ線診断装置
JP5506481B2 (ja) * 2010-03-19 2014-05-28 株式会社日立メディコ 移動型ｘ線装置
JP2013111718A (ja) * 2011-11-30 2013-06-10 Seiko Epson Corp ロボット
JP2013158532A (ja) * 2012-02-07 2013-08-19 Shimadzu Corp 放射線撮影装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4223230A (en) * 1977-10-12 1980-09-16 Siemens Aktiengesellschaft X-Ray examination apparatus
JPH03251230A (ja) * 1990-02-28 1991-11-08 Shimadzu Corp 移動式医用放射線装置
JPH04329932A (ja) * 1991-04-30 1992-11-18 Shimadzu Corp 回診用ｘ線診断装置
JPH0553610U (ja) * 1991-12-20 1993-07-20 株式会社日立メディコ 移動形ｘ線装置
JPH08126989A (ja) * 1994-10-31 1996-05-21 Ricoh Co Ltd 多関節ロボットの回転軸の回転規制機構
JPH1099312A (ja) * 1996-09-30 1998-04-21 Shimadzu Corp 移動型ｘ線装置

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