WO2015136627A1 - 移動型x線撮影装置 - Google Patents
移動型x線撮影装置 Download PDFInfo
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- WO2015136627A1 WO2015136627A1 PCT/JP2014/056367 JP2014056367W WO2015136627A1 WO 2015136627 A1 WO2015136627 A1 WO 2015136627A1 JP 2014056367 W JP2014056367 W JP 2014056367W WO 2015136627 A1 WO2015136627 A1 WO 2015136627A1
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- Prior art keywords
- carriage
- turning angle
- auxiliary wheel
- mode
- ray imaging
- Prior art date
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- 238000003384 imaging method Methods 0.000 title claims abstract description 98
- 230000033001 locomotion Effects 0.000 claims abstract description 203
- 238000001514 detection method Methods 0.000 claims description 27
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000005286 illumination Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
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Classifications
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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
- A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
-
- 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
-
- 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
- A61B6/58—Testing, adjusting or calibrating thereof
- A61B6/587—Alignment of source unit to detector unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
-
- 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
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2202/00—Indexing codes relating to type or characteristics of transported articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
- B62B2301/04—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors
- B62B2301/044—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors arranged remote from the longitudinal centreline of the hand propelled vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/001—Steering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/0043—One motor drives one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
- B62B5/0073—Measuring a force
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
Definitions
- the present invention relates to a mobile X-ray imaging apparatus that performs X-ray imaging on a subject, and more particularly to a mobile X-ray imaging apparatus that enables an operation by normal traveling and an operation by a fine movement operation.
- X-ray imaging by rounds may be performed for patients who are difficult to move to the imaging room.
- X-ray imaging may be performed urgently in an operating room or the like.
- a mobile X-ray imaging apparatus that enables movement in a hospital is used as an apparatus for performing X-ray imaging on a patient (for example, Patent Document 1).
- a mobile X-ray imaging apparatus 101 includes a carriage 103, a drive wheel 105, a front wheel 107, a column 109, a horizontal arm 111, an X-ray tube 113, and a traveling handle 115.
- a pair of drive wheels 105 are provided on the left and right of the rear lower part of the carriage 103.
- the carriage 103 moves forward and backward according to the rotation of the drive wheel 105 and turns left and right due to the difference in rotational speed between the left and right drive wheels 105.
- the drive wheel 105 has a configuration that cannot turn, and is configured to rotate by an electric motor provided inside the carriage 103.
- One front wheel 107 is provided on each of the left and right front lower portions of the carriage 103 and freely turns according to the turning direction of the carriage 103.
- the support column 109 is erected on the front portion of the carriage 103 and can rotate around the vertical axis.
- One end of a horizontal arm 111 is connected to the column 109.
- the horizontal arm 111 is movable in the horizontal direction, and the traveling handle 115 provided with the X-ray tube 113 at the other end is provided with a plurality of pressure sensors.
- the pressure sensor detects the pressure applied to the traveling handle 115 by the operator, and the rotation of the drive wheel 105 is controlled based on the detected pressure.
- the operator moves along with the mobile X-ray imaging apparatus 101 to the patient room where the patient who is the target of X-ray imaging while operating the traveling handle 115.
- the support 109 and the horizontal arm 111 are appropriately moved to move the X-ray tube 113 to a position optimal for X-ray imaging.
- the subject M is irradiated with X-rays from the X-ray tube 113 to acquire an X-ray image.
- the movable range of the X-ray tube 113 is limited with respect to the carriage 103. Therefore, when the appropriate imaging position for the subject is not within the movable range of the X-ray tube 113, it is necessary to finely adjust the position of the mobile X-ray imaging apparatus 101 by moving the carriage 103 by a minute distance. In this case, if the carriage 103 is moved using the traveling handle 115, the movement speed of the carriage 103 is fast, so that it is difficult to finely adjust the position of the mobile X-ray imaging apparatus 101. For this reason, it is difficult to move the X-ray tube 113 to an appropriate imaging position.
- FIG. 10 a configuration further including a fine movement switch 117 for performing the fine movement operation of the carriage 103 has been proposed (for example, Patent Documents 2 and 3).
- the operator operates fine movement switch 117 so that driving wheel 105 rotates at a lower speed than when traveling handle 115 is operated. Since the carriage 103 finely moves forward or backward at a low speed according to the rotation of the driving wheel 105, the position of the mobile X-ray imaging apparatus 101 can be finely adjusted.
- a case where the driving wheel 105 is controlled by operating the traveling handle 115 is referred to as a “traveling mode”
- a case where the driving wheel 105 is controlled by operating the fine movement switch 117 is referred to as a “fine movement mode”.
- the conventional example having such a configuration has the following problems. That is, in the conventional mobile X-ray imaging apparatus, in the fine movement mode, the front wheels may turn leftward or rightward with respect to the carriage instead of going straight. In this case, when the fine movement operation is started by operating the fine movement switch, the carriage starts to turn left and right according to the turning direction of the front wheels, and the direction in which the carriage moves does not coincide with the straight traveling direction of the carriage. Therefore, it is difficult to adjust the position of the mobile X-ray imaging apparatus as intended by slightly moving the carriage in the straight direction.
- the problem of the conventional example will be described in detail, taking as an example the case where the front wheel 107 is turning leftward with respect to the straight traveling direction of the carriage 103 indicated by the reference symbol A.
- the driving wheel 105 is rotated forward by operating the fine movement switch 117 to advance the carriage 103 in the A direction in the fine movement mode, the direction in which the carriage 103 actually slightly moves is not the A direction.
- the carriage 103 moves so as to turn leftward according to the turning direction of the front wheel 107 for a certain period after the start of the fine movement operation. That is, when the pair of drive wheels 105 are rotated at a constant speed, the carriage 103 moves from the position indicated by the solid line to the left front position indicated by the broken line.
- the front wheel 107 gradually turns in the straight direction of the carriage 103 by the drive wheel 105 rotating at a constant speed while the carriage 103 turns leftward for a certain time and moves from the solid line position to the broken line position.
- the carriage 103 proceeds in the straight traveling direction from the position indicated by the broken line and moves to the position indicated by the two-dot chain line.
- the carriage 103 moves from the position of the solid line to the position of the two-dot chain line on the left front along the gentle S-curve-shaped orbit as indicated by the symbol B. That is, when the front wheel 107 is turning leftward, even if the carriage 103 is advanced in the fine movement mode, the direction in which the carriage 103 is finely moved is not the direction intended by the operator, that is, the direction indicated by reference sign A. The direction is indicated by B. As a result, the carriage 103 slightly moves to the left position compared to the position intended by the operator.
- the fine movement mode requires higher controllability than the traveling mode.
- the carriage 103 turns according to the turning direction of the front wheel 107 for a certain time. Therefore, fine adjustment of the position of the carriage 103 in the fine movement mode cannot be performed with high accuracy.
- the present invention has been made in view of such circumstances, and an object thereof is to provide a mobile X-ray imaging apparatus capable of moving a carriage to a more accurate position in a fine movement mode.
- a mobile X-ray imaging apparatus includes a carriage on which an X-ray tube is mounted, and a pair of drives that are provided on the carriage and are driven independently to move the carriage straight and turn.
- a wheel, an auxiliary wheel that is provided on the carriage and turns following the turning movement of the carriage, and an operation handle, and the pair of drive wheels are independently rotated based on an operation force applied to the operation handle.
- the fine movement operation instruction means for instructing the movement of the carriage in the mode
- the turning angle detection means for detecting the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage
- Drive wheel control means for independently controlling the rotational speeds of the pair of drive wheels so that the auxiliary wheel turns in the straight traveling direction of the carriage based on the turning angle of the auxiliary wheel detected by the turning angle detecting means.
- the mobile X-ray imaging apparatus includes the turning angle detection means and the drive wheel control means.
- the drive wheel control means controls the rotation speeds of the pair of drive wheels independently based on the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage.
- the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage is detected by the turning angle detecting means, and the rotational speed of the pair of driving wheels is independently controlled by the driving wheel control means so that the auxiliary wheel turns in the straight traveling direction of the carriage. Is done.
- the auxiliary wheels are quickly turned in the straight direction of the carriage by the drive wheel control means in the fine movement mode. Since the turning direction of the auxiliary wheel is corrected to the straight traveling direction of the carriage, it is possible to avoid the carriage turning left and right according to the auxiliary wheel that has turned left and right. Accordingly, it is possible to accurately move the carriage forward or backward in the fine movement mode and adjust the position of the carriage as intended.
- the turning angle detection means is an angle sensor that detects a turning angle of the auxiliary wheel with respect to a straight traveling direction of the carriage.
- the turning angle detection means is an angle sensor that detects the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage. Since the angle sensor directly detects the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage, the turning angle of the auxiliary wheel can be accurately detected. Therefore, the drive wheel control means can more accurately control the rotation of the drive wheel so that the turning direction of the auxiliary wheel is quickly displaced in the straight traveling direction of the carriage.
- the turning angle detection means includes a turning angle calculation means for calculating the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage as needed, and the turning angle calculation means as required.
- Turning angle storage means for storing the calculated turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage, and the drive wheel control means turns the auxiliary wheel with respect to the straight traveling direction of the carriage stored in the turning angle storage means. It is preferable that the rotation speeds of the pair of drive wheels are independently controlled so that the auxiliary wheel turns in the straight traveling direction of the carriage based on the angle.
- the turning angle detection means includes turning angle calculation means and turning angle storage means.
- the turning angle calculating means calculates the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage as needed, and the calculated turning angle is stored in the turning angle storage means as needed.
- the drive wheel control means independently controls the rotation speeds of the pair of drive wheels so that the auxiliary wheels turn in the straight direction of the carriage based on the turning angle of the auxiliary wheels in the straight direction of the carriage stored in the turning angle storage means. And control. Accordingly, it is possible to accurately move the carriage forward or backward in the fine movement mode and adjust the position of the carriage as intended.
- the turning angle calculation means and the turning angle storage means are configured by software. That is, it is not necessary to newly add hardware such as an angle sensor in order for the turning angle detection means to detect the turning direction of the auxiliary wheel. Therefore, it is not necessary to make a significant change in the manufacturing process and design of the mobile X-ray imaging apparatus. Therefore, it is possible to independently control the rotational speeds of the pair of drive wheels so that the carriage moves slightly in the straight movement direction in the fine movement mode while suppressing the manufacturing cost of the mobile X-ray imaging apparatus.
- the mobile X-ray imaging apparatus further includes a rotation detection unit that detects a rotation speed and a rotation direction of the driving wheel as needed, and the turning angle calculation unit detects the rotation detection unit as needed. It is preferable that the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage is calculated at any time based on the rotation speed and the rotation direction of the drive wheel.
- the mobile X-ray imaging apparatus includes rotation detection means for detecting the rotation speed and rotation direction of the drive wheel as needed. Then, based on the rotational speed and direction of the drive wheel detected by the rotation detection means as needed, the turning angle calculation means calculates the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage as needed.
- the auxiliary wheel turns at any time according to the turning direction of the carriage, and the turning direction of the carriage is determined by the rotational speed and direction of the drive wheel. Therefore, the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage can be calculated at any time based on the rotation speed and the rotation direction of the drive wheel. Therefore, by detecting the rotational speed and direction of the drive wheel, the carriage can be advanced or retracted accurately in the fine movement mode, and the position of the carriage can be adjusted as intended.
- the turning angle calculation means calculates the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage based on the pressure detected by the pressure sensor provided on the operation handle. It is preferable to calculate from time to time.
- the turning angle calculation means calculates the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage as needed based on the pressure detected by the pressure sensor provided on the operation handle.
- the auxiliary wheel turns at any time according to the turning direction of the carriage.
- the rotational speed and rotational direction of the drive wheel are controlled based on the pressure detected by the pressure sensor provided on the operation handle, and the turning direction of the carriage is determined by the rotational speed and rotational direction of the drive wheel. That is, based on the pressure detected by the pressure sensor, the turning direction of the auxiliary wheel with respect to the straight traveling direction of the carriage can be calculated at any time. Therefore, by detecting the pressure detected by the pressure sensor at any time, it is possible to accurately move the carriage forward or backward in the fine movement mode and adjust the position of the carriage as intended.
- the mobile X-ray imaging apparatus discriminates the traveling mode and the fine movement mode, and based on the determined result, turns on / off the control of the rotational speed of the pair of driving wheels by the driving wheel control means. It is preferable to provide a mode discriminating means for switching.
- the mode discriminating unit discriminates the traveling mode and the fine movement mode, and based on the discriminated result, the on / off control of the rotational speed of the pair of driving wheels by the driving wheel control unit is performed. Switch off. That is, by determining that the mode determining means is in the fine movement mode, the driving wheel control means independently controls the rotational speeds of the pair of driving wheels so that the auxiliary wheels turn in the straight traveling direction of the carriage.
- the mode discriminating unit discriminates that it is the traveling mode
- the control of the rotational speed of the pair of driving wheels by the driving wheel control unit is turned on / off so that the driving wheel control unit does not control the rotational speed of the driving wheel. It is switched off. Therefore, it can be suitably avoided that the control by the drive wheel control means for turning the turning direction of the auxiliary wheel in the straight traveling direction of the carriage is erroneously performed in the traveling mode. Accordingly, it is possible to accurately move the carriage forward or backward in the fine movement mode and adjust the position of the carriage more reliably as intended.
- the mobile X-ray imaging apparatus includes the turning angle detection means and the drive wheel control means.
- the drive wheel control means controls the rotation speeds of the pair of drive wheels independently based on the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage.
- the turning angle of the auxiliary wheel with respect to the straight traveling direction of the carriage is detected by the turning angle detecting means, and the rotational speed of the pair of driving wheels is independently controlled by the driving wheel control means so that the auxiliary wheel turns in the straight traveling direction of the carriage. Is done.
- the auxiliary wheels are quickly turned in the straight direction of the carriage by the drive wheel control means in the fine movement mode. Since the turning direction of the auxiliary wheel is corrected to the straight traveling direction of the carriage, it is possible to avoid the carriage turning left and right according to the auxiliary wheel that has turned left and right. Accordingly, it is possible to accurately move the carriage forward or backward in the fine movement mode and adjust the position of the carriage as intended.
- FIG. 1 is a left side view illustrating a configuration of a mobile X-ray imaging apparatus according to Embodiment 1.
- FIG. 1 is a functional block diagram of a mobile X-ray imaging apparatus according to Embodiment 1.
- FIG. It is a figure explaining the structure of the pressure sensor which concerns on Example 1.
- FIG. (A) is a top view which shows the structure of a pressure sensor
- (b) is a table
- 3 is a flowchart for explaining the operation of the mobile X-ray imaging apparatus according to the first embodiment. It is the schematic explaining the process of step S2 in the mobile X-ray imaging apparatus which concerns on Example 1.
- FIG. (A) is the control of the turning direction of the auxiliary wheel
- (b) is during the control of the turning direction of the auxiliary wheel
- (c) is the configuration of the mobile X-ray imaging apparatus after the control of the turning direction of the auxiliary wheel. Yes.
- 6 is a functional block diagram of a mobile X-ray imaging apparatus according to Embodiment 2.
- FIG. 6 is a functional block diagram of a mobile X-ray imaging apparatus according to Embodiment 3.
- FIG. 1 is a left side view illustrating the configuration of the mobile X-ray imaging apparatus according to the first embodiment.
- the mobile X-ray imaging apparatus 1 includes a carriage 3, a drive wheel 5, an auxiliary wheel 7, a support 9, a support portion 11, a horizontal arm 13, and an X-ray.
- a tube 15, a collimator 17, an input unit 19, a travel handle 21, and a fine movement switch 23 are provided.
- a pair of drive wheels 5 that are rotated by a motor, which will be described later, are provided on the left and right of the rear lower portion of the carriage 3.
- the carriage 3 moves forward and backward according to the rotation of the drive wheel 5 and turns left and right due to the difference in rotational speed between the left and right drive wheels 5.
- Auxiliary wheels 7 are provided on the left and right of the front lower portion of the carriage 3.
- the auxiliary wheels 7 are a pair of casters as an example, and turn left and right following the turning movement of the carriage 3.
- the support column 9 is erected on the front part of the carriage 3 and is configured to be rotatable around the vertical axis.
- the support 9 is provided with a support portion 11 that can move in the vertical direction along the support 9.
- one end of a horizontal arm 13 is connected to the support portion 11.
- the horizontal arm 13 is configured to be movable in the horizontal direction along the support portion 11.
- the X-ray tube 15 is provided at the other end of the horizontal arm 13 and irradiates the subject with X-rays.
- the collimator 17 is provided below the X-ray tube 15 and limits the X-rays emitted from the X-ray tube 15 to a cone shape that is a pyramid.
- the collimator 17 is provided with an illumination lamp (not shown). Then, by turning on the illumination lamp, the X-ray irradiation field restricted by the collimator 17 is illuminated with visible light.
- the input unit 19 is provided at the rear of the carriage 3 and includes a touch input type keyboard or a keyboard input type panel. The operator operates the input unit 19 to set conditions for performing X-ray imaging.
- the traveling handle 21 is provided at the rear part of the carriage 3.
- the operator controls the rotation of the drive wheel 5 by operating the traveling handle 21.
- the fine movement switch 23 is a button type, joystick type or the like switch, and is configured to instruct forward / reverse movement of the carriage 3.
- the operator operates the fine movement switch 23 to rotate the drive wheel 5 at a low speed, thereby finely moving the carriage 3 forward or backward.
- the fine movement switch 23 is preferably provided on the X-ray tube 15 or the collimator 17 so that the operator can perform a fine movement operation while adjusting the position of the X-ray tube 15. In the first embodiment, the fine movement switch 23 is provided in the collimator 17.
- the travel handle 21 corresponds to travel operation means in the present invention
- the fine movement switch 23 corresponds to fine movement operation instruction means in the present invention.
- the mobile X-ray imaging apparatus 1 has a motor 25 connected to each of the drive wheels 5.
- Each of the drive wheels 5 is configured to rotate or stop independently by the motor 25.
- the rotational speed of each motor 25 is controlled by the motor drive control unit 27.
- the movement calculation circuit 29 is provided in the preceding stage of the motor drive control unit 27 and calculates the rotation speed and the rotation direction for each of the drive wheels 5.
- Information calculated by the movement calculation circuit 29 regarding the rotation speed and rotation direction of the drive wheel 5 is transmitted to the motor drive control unit 27.
- the motor drive control unit 27 controls each drive of the motor 25 according to the information calculated by the movement calculation circuit 29.
- the motor drive control unit 27 and the movement calculation circuit 29 correspond to drive wheel control means in the present invention.
- the mode discriminating unit 31 discriminates when the operator is operating the travel handle 21 (travel mode) and when the fine switch 23 is operated (fine motion mode). Then, based on the determined result, the mode determining unit 31 alternatively transmits a control signal to the pressure sensor 33 or the angle sensor 35. That is, the mode discriminating unit 31 transmits a control signal to the pressure sensor 33 in the traveling mode, and transmits a control signal to the angle sensor 35 in the fine movement mode.
- the mode discriminating unit 31 corresponds to the mode discriminating means in the present invention.
- a plurality of pressure sensors 33 are provided on the traveling handle 21. Each of the pressure sensors 33 detects the pressure applied by the operator to the traveling handle 21 in the traveling mode. Each of the pressure sensors 33 transmits information on the detected pressure to the movement calculation circuit 29 in accordance with a control signal from the mode determination unit 31.
- the angle sensor 35 is provided for each auxiliary wheel 7 and detects the turning angle of each auxiliary wheel 7 with respect to the carriage 3 as needed. In the fine movement mode, the angle sensor 35 transmits information related to the detected turning angle of the auxiliary wheel 7 to the movement calculation circuit 29 in accordance with a control signal from the mode determination unit 31. Examples of the angle sensor 35 include a rotary encoder and a potentiometer.
- the pressure sensor 33 includes four pressure sensors 33a to 33d.
- a pressure sensor 33a is provided in front of the left side of the traveling handle 21, and a pressure sensor 33b is provided in front of the right side.
- a pressure sensor 33c is provided on the left rear side of the traveling handle 21, and a pressure sensor 33d is provided on the right rear side.
- the pressure applied to the traveling handle 21 is detected by the pressure sensor 33a and the pressure sensor 33b.
- Information on the detected pressure is transmitted from the pressure sensor 33 to the movement calculation circuit 29 based on a control signal transmitted by the mode determination unit 31.
- the movement calculation circuit 29 outputs a control signal to the motor drive control unit 27 based on the transmitted combination of control signals.
- the motor drive control unit 27 drives each of the motors 25 based on the control signal so that each of the pair of drive wheels 5 rotates forward at a constant speed.
- the driving wheel 5 rotates forward at a constant speed
- the carriage 3 moves forward (the uppermost stage in FIG. 3B).
- the carriage 3 moves backward, the left and right sides of the traveling handle 21 are pulled forward.
- the pressure applied to the traveling handle 21 is detected by the pressure sensor 33c and the pressure sensor 33d.
- the pair of drive wheels 5 are both controlled to rotate backward at a constant speed, and the carriage 3 moves backward (second stage in FIG. 3B).
- the operator when the operator turns the carriage 3 leftward in the traveling mode, the operator pushes the right side of the traveling handle 21 forward while pulling the left side of the traveling handle 21 forward.
- the pressure applied to the traveling handle 21 is detected by the pressure sensor 33b and the pressure sensor 33c. Information on the detected pressure is transmitted from the pressure sensor 33 to the movement calculation circuit 29.
- the movement calculation circuit 29 outputs a control signal to the motor drive control unit 27 based on the control signal.
- the motor drive control unit 27 drives each of the motors 25 based on the control signal so that the rotation speed of the right drive wheel 5 is faster than the rotation speed of the left drive wheel 5. As a result, the cart 3 turns to the left (third stage in FIG. 3B). In this case, the turning direction of each auxiliary wheel 7 is displaced to the left following the moving direction of the carriage 3.
- FIG. 4 is a flowchart for explaining the operation according to the first embodiment.
- Step S1 movement by driving mode
- the operator moves the mobile X-ray imaging apparatus 1 toward the patient room where the subject is present in the traveling mode.
- a contact sensor (not shown) provided on the traveling handle 21 detects the contact of the operator.
- a signal is transmitted to the mode determination unit 31 by the detection of the contact sensor.
- the mode discriminating unit 31 discriminates the traveling mode based on the transmitted signal.
- the mode determination unit 31 transmits a control signal to the pressure sensor 33.
- the pressure applied by the operator to the traveling handle 21 is detected by each of the pressure sensors 33.
- Information on the detected pressure is transmitted from each of the pressure sensors 33 to the movement calculation circuit 29.
- the movement calculation circuit 29 calculates an appropriate rotation speed and rotation direction for each of the drive wheels 5 based on the transmitted control signal, and outputs a control signal to the motor drive control unit 27.
- the motor drive control unit 27 drives each of the motors 25 based on the control signal and rotates each of the drive wheels 5.
- the carriage 3 moves in the direction intended by the operator as the drive wheel 5 rotates. In this way, the operator operates the traveling handle 21 with both hands, and moves the mobile X-ray imaging apparatus 1 to the hospital room where the subject is located in the traveling mode.
- Step S2 movement of X-ray tube
- the operator takes out the X-ray detector 37 from a storage unit (not shown), and between the imaging region of the subject M and the bed.
- An X-ray detector 37 is installed in Then, after installing the X-ray detector 37, the X-ray tube 15 is moved. That is, the support column 9 is rotated around the vertical axis, and the support portion 11 is moved in the vertical direction and the horizontal arm 11 is moved in the horizontal direction as appropriate.
- the X-ray tube 15 moves above the subject M as the support 9, the support unit 11, and the horizontal arm 13 move.
- Step S3 confirmation of X-ray irradiation field
- the X-ray irradiation field is confirmed. That is, the operator turns on the illumination lamp and displays the X-ray irradiation field from the collimator 17 to the subject M with visible light. Then, the X-ray tube 15 is aligned so that a suitable X-ray image can be taken with respect to the subject M with reference to the displayed X-ray irradiation field.
- the movable range of the X-ray tube 15 is limited with respect to the carriage 3. For this reason, the position where the X-ray imaging can be optimally performed on the subject M may not be within the movable range of the X-ray tube 15. In that case, the position adjustment of the carriage 3 in the fine movement mode according to step S4 is performed.
- Step S4 Part adjustment by fine movement mode
- the operator operates the fine movement switch 23.
- a signal is transmitted from fine movement switch 23 to mode determination unit 31.
- the mode discriminating unit 31 discriminates the fine movement mode based on the transmitted signal and transmits a control signal to the angle sensor 35.
- the angle sensor 35 detects the turning angle of the auxiliary wheel 7 with respect to the carriage 3 as needed, and transmits information on the detected turning angle to the movement calculation circuit 29 as needed based on the control signal transmitted from the mode determination unit 31. . Based on the information transmitted from the angle sensor 35, the movement calculation circuit 29 calculates the rotation speed and rotation direction of the drive wheel 5 so that the carriage 3 slightly moves in the straight traveling direction. In the fine movement mode, the movement calculation circuit 29 controls the rotational speed of the drive wheel 5 to be lower than the rotational speed of the drive wheel 5 in the traveling mode.
- the drive control mechanism of the carriage 3 in the fine movement mode will be specifically described with reference to FIG. 6 as an example in which the auxiliary wheel 7 is turning leftward with respect to the straight traveling direction of the carriage 3.
- the straight traveling direction of the cart 3 at this time is indicated by a symbol P.
- the straight direction of the carriage 3 has already changed to the left with respect to the P direction. Accordingly, the carriage 3 travels in the straight direction after turning in the left direction with respect to the P direction for a certain time. That is, the direction in which the carriage 3 actually moves slightly at a low speed is not the P direction intended by the operator, but a direction in which a gentle S-curve is drawn to the left front indicated by the symbol Q (FIG. 6A).
- the movement calculation circuit 29 calculates the rotation speed and the rotation direction of the drive wheel 5 in order to promptly correct the turning direction of the auxiliary wheel 7 to the straight traveling direction of the carriage 3 and transmits a control signal to the motor drive control unit 27.
- the movement calculation circuit 29 calculates the rotational speed of each of the drive wheels 5 lower than the travel mode. Then, the movement calculation circuit 29 calculates the rotation speed of the left drive wheel 5 so as to be faster than the rotation speed of the right drive wheel 5.
- the motor drive control unit 27 controls the drive of each motor 25 so that the rotation speed of the left drive wheel 5 is faster than the rotation speed of the right drive wheel 5 (FIG. 7, reference T1- 1). Then, according to the difference in rotational speed between the left and right drive wheels 5, the turning direction of the auxiliary wheel 7 quickly changes to the right. As a result, the turning direction of the auxiliary wheel 7 which is the left direction with respect to the straight traveling direction of the carriage 3 quickly changes to the straight traveling direction of the carriage 3 (FIG. 6B).
- the angle sensor 35 detects the changed turning angle of the auxiliary wheel 7 and transmits information of the turning angle to the movement calculation circuit 29. Based on the transmitted information, the movement calculation circuit 29 calculates the rotation speed and the rotation direction of the drive wheel 5 again and transmits a control signal to the motor drive control unit 27. At this time, the rotational speeds of the drive wheels 5 calculated again by the movement calculation circuit 29 are all equal.
- the motor drive control unit 27 controls the drive of each motor 25 based on the control signal so as to rotate the left and right drive wheels 5 at a constant speed (FIG. 7, symbol T2).
- the carriage 3 finely moves at a low speed in the P direction which is the straight traveling direction (FIG. 6C).
- the movement calculation circuit 29 calculates the rotation speed and the rotation direction of the drive wheel 5 based on the information transmitted from the angle sensor 35. Then, the calculated information is transmitted to the motor drive control unit 27. Based on the transmitted information, the motor drive control unit 27 controls the drive of the motor 25 so that the rotational speed of the right drive wheel 5 is higher than the rotational speed of the left drive wheel 5 (FIG. 7, reference T1- 2). The turning direction of the auxiliary wheel 7 quickly changes to the left according to the difference in rotational speed between the left and right drive wheels 5. As a result, the turning direction of the auxiliary wheel 7, which is the right direction with respect to the straight traveling direction of the carriage 3, quickly changes to the straight traveling direction of the carriage 3. With such a control mechanism, the position of the carriage 3 can be adjusted to an optimum position for X-ray imaging by moving the carriage 3 straight in the intended direction in the fine movement mode.
- step S5 After adjusting the position of the carriage 3, the operator again moves the X-ray tube 15 according to step S2 and confirms the X-ray irradiation field according to step S3. Then, the position of the X-ray tube 15 is moved to an optimal position for X-ray imaging, and after confirming that the position and range of the X-ray irradiation field are appropriate, the process proceeds to step S5.
- Step S5 X-ray image formation
- the operator turns off the illumination lamp and cancels the display of the X-ray irradiation field by visible light.
- the operation panel 19 is operated to set predetermined X-ray imaging conditions.
- the operator operates the operation panel 19 to emit X-rays from the X-ray tube 15.
- X-rays irradiated from the X-ray tube 15 and transmitted through the imaging region of the subject M are detected by the X-ray detector 37 and output as an X-ray detection signal.
- An X-ray image is formed based on the output X-ray detection signal, and the formed X-ray image is displayed on the operation panel 19.
- the operator confirms the displayed X-ray image and operates the operation panel 19 to end the X-ray image capturing.
- the operator collects the X-ray detector 37, operates the traveling handle 21, leaves the patient room together with the mobile X-ray imaging apparatus 1, and moves to the next place.
- the mobile X-ray imaging apparatus 1 includes an angle sensor 35 and can detect the turning angle of the auxiliary wheel 7 with respect to the carriage 3 at any time. Further, when the fine movement switch 23 is operated in the fine movement mode, a signal is transmitted from the fine movement switch 23 to the mode determination unit 31.
- the mode discriminating unit 31 discriminates the fine movement mode based on the signal of the fine movement switch 23 and transmits a control signal to the angle sensor 35.
- the angle sensor 35 transmits information on the detected turning angle of the auxiliary wheel 7 to the movement calculation circuit 29 based on the control signal transmitted by the mode determination unit 31.
- the movement calculation circuit 29 calculates the rotation direction and the rotation speed for each of the drive wheels 5 so as to quickly change the turning direction of the auxiliary wheel 7 to the straight traveling direction of the carriage 3. To do.
- the turning direction of the auxiliary wheel 7 quickly changes to the straight traveling direction of the carriage 3, so that the turning direction of the auxiliary wheel 7 becomes the straight traveling direction of the carriage 3 immediately after the fine movement of the carriage 3 starts.
- the mobile X-ray imaging apparatus 1 can perform the fine adjustment of the position of the carriage 3 with high accuracy required in the fine movement mode.
- the mode discriminating unit 31 discriminates the fine movement mode and transmits the control signal
- the movement calculation circuit 29 calculates the rotational speed of each of the driving wheels 5 lower than the traveling mode. Therefore, the movement speed of the carriage 3 is lower than that in the traveling mode in the fine movement mode. Accordingly, since the carriage 3 can be prevented from moving past the position intended by the operator in the fine movement mode, the position of the carriage 3 can be finely adjusted more easily.
- the angle sensor 35 is configured to directly detect the turning angle of the auxiliary wheel 7, so that more accurate information on the turning angle of the auxiliary wheel 7 is transmitted from the angle sensor 35 to the movement calculation circuit 29. Sent. Therefore, in the fine movement mode, the movement calculation circuit 29 can calculate the rotation direction and the rotation speed of the drive wheel 5 so that the turning angle of the auxiliary wheel 7 is more accurately displaced in the straight traveling direction of the carriage 3. Therefore, even when the auxiliary wheel 7 is turning left and right with respect to the straight traveling direction of the carriage 3, the carriage 3 is finely moved in the direction intended by the operator, so that the mobile X-ray imaging apparatus in the fine movement mode is used. 1 can be improved.
- the fine movement switch 23 is provided on the collimator 17. Therefore, when it is necessary to finely move the carriage 3 when moving the X-ray tube 15 or the collimator 17 to confirm the X-ray irradiation field, the carriage 3 can be finely moved by operating the fine movement switch 23 on the spot. it can. Accordingly, there is no need to bother moving to the place where the traveling handle 21 is located, so that the X-ray image can be taken more efficiently by the mobile X-ray imaging apparatus 1.
- the mode discriminating unit 31 has a configuration for discriminating between the traveling mode and the fine movement mode, and switching the objects to which the control signal is transmitted based on the discriminated result. That is, when the mode discriminating unit 31 discriminates that it is in the traveling mode, a control signal is transmitted from the mode discriminating unit 31 to the pressure sensor 33. As a result, the rotation speed and rotation direction of each drive wheel 5 calculated by the movement calculation circuit 29 are determined according to the pressure detected by each pressure sensor 33.
- the mode discriminating unit 31 discriminates that it is the fine movement mode
- the mode discriminating unit 31 switches the object to which the control signal is transmitted to the angle sensor 35.
- the rotational speed and rotational direction of each drive wheel 5 calculated by the movement calculation circuit 29 are determined according to the turning angle of the auxiliary wheel 7 detected by the angle sensor 35.
- the object to which the mode determination unit 31 transmits the control signal is alternatively switched, so that the information on the pressure sensor 33 and the angle sensor 35 is not transmitted to the movement calculation circuit 29 at the same time. Therefore, it can be avoided that the control for turning the auxiliary wheel 7 in the straight traveling direction of the carriage 3 is erroneously performed in the traveling mode.
- the control mechanism related to the traveling mode can be prevented from malfunctioning in the fine movement mode, the position of the carriage can be more reliably adjusted as intended in the fine movement mode.
- Embodiment 2 of the present invention will be described with reference to the drawings.
- the same components as those of the mobile X-ray imaging apparatus according to the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
- the mobile X-ray imaging apparatus 1 ⁇ / b> A is provided with a rotation detection unit 39 on each of the drive wheels 5.
- the rotation detection unit 39 detects the rotation speed and rotation direction of the drive wheel 5 as needed, and transmits the detected information to the turning angle calculation unit 41.
- the turning angle calculation unit 41 calculates the turning angle of the auxiliary wheel 7 with respect to the carriage 3 based on the information related to the rotation speed and the rotation direction of the drive wheel 5 transmitted from the rotation detection unit 39.
- the rotation detector 39 corresponds to the rotation detector in the present invention.
- the moving direction of the carriage 3 is determined by the rotation speed and the rotation direction of the left and right drive wheels 5.
- the turning direction of the auxiliary wheel 7 is displaced according to the moving direction of the carriage 3 and the time during which the moving direction is maintained. For example, when the rotational speed of the left drive wheel 5 becomes faster than the rotational speed of the right drive wheel 5, the carriage 3 turns to the right and the turning direction of the auxiliary wheel 7 is also displaced to the right. If the time for the carriage 3 to turn right becomes longer, the angle at which the auxiliary wheel 7 turns to the right becomes larger according to the time.
- the turning angle calculation unit 41 determines the rotation of the auxiliary wheel 7 relative to the carriage 3. The turning direction and turning angle can be calculated.
- the turning angle calculation unit 41 transmits the calculated turning angle of the auxiliary wheel 7 to the turning angle storage unit 43, and the turning angle storage unit 43 stores information on the turning angle of the auxiliary wheel 7 as needed.
- the turning angle calculation unit 43 transmits the stored information on the turning angle to the movement calculation circuit 29 based on the control signal transmitted by the mode determination unit 31 in the fine movement mode.
- the movement calculation circuit 29 calculates the rotation speed and the rotation direction for each of the drive wheels, and inputs the calculated data to the motor drive control unit 27.
- the motor drive control unit 27 controls the drive of the motor 25 based on the input data, and rotates each of the drive wheels 5.
- the turning angle calculation unit 41 corresponds to the turning angle calculation unit in the present invention
- the turning angle storage unit 43 corresponds to the turning angle storage unit in the present invention.
- the operator when adjusting the position of the carriage 3 in the fine movement mode, the operator operates the fine movement switch 23.
- a signal is transmitted from fine movement switch 23 to mode determination unit 31.
- the mode discriminating unit 31 discriminates the fine movement mode based on the transmitted signal, and transmits a control signal to the turning angle storage unit 43.
- the turning angle storage unit 43 stores information transmitted from the turning angle calculation unit 41 as needed.
- the turning angle calculation unit 41 calculates the turning angle of the auxiliary wheel 7 with respect to the carriage 3 as needed based on the information about the rotational speed and direction of each of the drive wheels 5 detected by the rotation detection unit 39 as needed.
- the turning angle of the auxiliary wheel 7 with respect to the carriage 3 changes according to the direction in which the carriage 3 moves.
- the moving direction of the carriage 3 is determined by the rotational speed and rotational direction of each drive wheel 5. Therefore, in the second embodiment, the turning angle calculation unit 41 is configured to be able to calculate the turning angle of the auxiliary wheel 7 with respect to the carriage 3 as needed based on information detected by the rotation detection unit 39 as needed.
- the turning angle storage unit 43 stores the turning angle of the auxiliary wheel 7 with respect to the carriage 3 calculated by the turning angle calculation unit 41 last time.
- the turning angle storage unit 43 transmits the stored information related to the turning angle of the auxiliary wheel 7 to the movement calculation circuit 29 based on the control signal transmitted from the mode determination unit 31 that has determined that the mode is the fine movement mode. .
- the movement calculation circuit 29 determines the speed, direction, and time for rotating each of the drive wheels 5 based on the transmitted information on the turning angle of the auxiliary wheel 7 in order to quickly turn the auxiliary wheel 7 in the straight traveling direction of the carriage 3. calculate.
- the turning angle of the auxiliary wheel 7 with respect to the carriage 3 changes depending on the difference in rotational speed between the left and right drive wheels 5, and the amount of change is determined by the difference in rotational speed between the drive wheels 5 and the time during which the difference is maintained. Therefore, according to the turning angle of the auxiliary wheel 7 with respect to the carriage 3, the movement calculation circuit 29 rotates each of the drive wheels 5 necessary to correct the turning direction of the auxiliary wheel 7 to the straight traveling direction of the carriage 3. Each direction and time can be calculated.
- the information calculated by the movement calculation circuit 29 is transmitted to the motor drive control unit 27, and the motor drive control unit 27 controls the rotation speed of each motor 25 based on the transmitted information.
- Each of the driving wheels 5 rotates according to the driving of the motor 25. Then, according to the difference in rotational speed between the left and right drive wheels 5, the auxiliary wheel 7 gradually turns in the straight direction of the carriage 3. Then, each of the drive wheels 5 rotates for a certain time calculated by the movement calculation circuit 29, so that the auxiliary wheel 7 turns accurately in the straight traveling direction of the carriage 3. In this way, in the fine movement mode, the carriage can be slightly moved in the straight direction at a low speed, and the position of the carriage 3 can be adjusted in the intended direction.
- the mobile X-ray imaging apparatus 1 ⁇ / b> A includes a rotation detection unit 39, a turning angle calculation unit 41, and a turning angle storage unit 43.
- the turning angle calculation unit 41 has a configuration for calculating the turning angle of the auxiliary wheel 7 at the present time based on the rotation speed and the rotation direction of the drive wheel 5 detected by the rotation detection unit 39. In the fine movement mode, information on the calculated turning angle of the auxiliary wheel 7 is transmitted from the turning angle storage unit 43 to the movement calculation circuit 29.
- the movement calculation circuit 29 Based on the turning angle of the auxiliary wheel 7, the movement calculation circuit 29 quickly corrects the turning direction of the auxiliary wheel 7 in the fine movement mode and rotates each of the drive wheels 5 so that the carriage 3 accurately finely moves in the straight traveling direction. Calculate the speed, direction and time. Then, the drive of the motor 25 is controlled based on the information calculated by the movement calculation circuit 29, and each drive wheel 5 rotates so that the carriage 3 finely moves in the straight traveling direction.
- the mobile X-ray apparatus 1A calculates the turning angle of the auxiliary wheel 7 from the rotational speed of the driving wheel 5 without directly detecting the turning angle of the auxiliary wheel 7 as in the first embodiment. Can do.
- the turning angle of the auxiliary wheel 7 is calculated by a rotation detecting unit 39 configured by an encoder, a turning angle calculating unit 41 and a turning angle storage unit 43 which are software. Therefore, it is not necessary to attach an angle sensor to the auxiliary wheel 7 as in the first embodiment.
- a conventional mobile X-ray imaging apparatus may have a configuration in which an encoder is provided on the drive wheel 5 as in Patent Document 2 and the like.
- the configuration according to the second embodiment is obtained by adding the turning angle calculation unit 41 and the turning angle storage unit 43, which are software, to the conventional apparatus.
- the turning angle of the auxiliary wheel 7 is calculated in the fine movement mode, it is not necessary to newly add hardware such as an angle sensor. Therefore, the mobile type can be used without making a significant change in the manufacturing process or design.
- the X-ray imaging apparatus 1A can be manufactured. Therefore, in the mobile X-ray imaging apparatus 1A according to the second embodiment, it is possible to control the carriage so as to slightly move in the straight movement direction in the fine movement mode while suppressing the manufacturing cost.
- Embodiment 3 of the present invention will be described with reference to the drawings.
- the same components as those of the mobile X-ray imaging apparatus according to the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
- the mobile X-ray imaging apparatus 1 ⁇ / b> B according to the third embodiment is provided with a turning angle calculation unit 41 ⁇ / b> A at the subsequent stage of the pressure sensor 33.
- the turning angle calculation unit 43A calculates the turning angle of the auxiliary wheel 7 with respect to the carriage 3 based on information related to the pressure detected by each of the pressure sensors 33.
- the moving direction of the carriage 3 is determined depending on which of the pressure sensors 33a to 33d detects the pressure in the traveling mode.
- the turning direction of the auxiliary wheel 7 changes according to the moving direction of the carriage 3 and the time during which the moving direction is maintained. For example, when the pressure sensor 33 a and the pressure sensor 33 d detect pressure, the carriage 3 turns to the right with respect to the straight traveling direction, and the turning direction of the auxiliary wheel 7 also changes to the right with respect to the straight traveling direction of the carriage 3. When the time for detecting the pressure becomes longer, the turning angle of the auxiliary wheel 7 with respect to the right direction becomes larger according to the time.
- the turning angle calculation unit 41A can calculate the turning direction and turning angle of the auxiliary wheel 7 with respect to the carriage 3 based on the combination of the pressure sensors 33a to 33d for detecting the pressure and the time for detecting the pressure.
- the turning angle calculation unit 41A transmits the calculated turning angle of the auxiliary wheel 7 to the turning angle storage unit 43A, and the turning angle storage unit 43A stores information on the turning angle of the auxiliary wheel 7 with respect to the carriage 3 as needed.
- the turning angle calculation unit 43A transmits the stored turning angle information to the movement calculation circuit 29 based on the control signal transmitted by the mode determination unit 31 in the fine movement mode.
- the movement calculation circuit 29 calculates the rotation speed and the rotation direction for each of the drive wheels, and inputs the calculated data to the motor drive control unit 27.
- the motor drive control unit 27 controls the drive of the motor 25 based on the input data, and rotates each of the drive wheels 5.
- the operator when adjusting the position of the carriage 3 in the fine movement mode, the operator operates the fine movement switch 23.
- a signal is transmitted from fine movement switch 23 to mode determination unit 31.
- the mode discriminating unit 31 discriminates the fine movement mode based on the transmitted signal, and transmits a control signal to the turning angle storage unit 43A.
- the turning angle storage unit 43A stores information transmitted from the turning angle calculation unit 41A as needed.
- the turning angle calculation unit 41A calculates the turning direction of the auxiliary wheel 7 with respect to the carriage 3 as needed based on the pressure information detected by each of the pressure sensors 33 in the traveling mode.
- the turning direction of the auxiliary wheel 7 with respect to the carriage 3 is displaced according to the direction in which the carriage 3 moves.
- bogie 3 is determined based on the information of the pressure which each of the pressure sensor 33 detected, as shown in FIG.3 (b). Therefore, in the second embodiment, the turning angle calculation unit 41A can calculate the turning direction of the auxiliary wheel 7 with respect to the carriage 3 at any time based on the information on the pressure detected by each of the pressure sensors 33 as needed.
- the turning angle storage unit 43A stores the turning direction of the auxiliary wheel 7 with respect to the carriage 3 as needed, which is finally calculated by the turning angle calculation unit 41A.
- the turning angle storage unit 43 ⁇ / b> A transmits the stored information related to the turning direction of the auxiliary wheel 7 to the movement calculation circuit 29 based on the control signal transmitted from the mode determination unit 31 that has determined that the mode is the fine movement mode. .
- the speed calculation circuit 29 rotates the driving wheel 5 based on the transmitted information on the turning direction of the auxiliary wheel 7 in the same manner as in the second embodiment in order to quickly correct the turning direction of the auxiliary wheel 7 to the straight traveling direction. Calculate the direction and time.
- the calculated information is transmitted to the motor drive control unit 27, and the motor drive control unit 27 controls the driving of each motor 25 based on the information calculated by the movement calculation circuit 29.
- Each drive wheel 5 rotates according to the drive of the motor 25.
- the turning direction of the auxiliary wheel 7 is changed to the straight traveling direction with respect to the carriage 3 by maintaining the difference in rotational speed between the left and right drive wheels 5 for a certain period of time. In this way, in the fine movement mode, the carriage can be slightly moved in the straight direction at a low speed, and the position of the carriage 3 can be adjusted in the intended direction.
- the mobile X-ray imaging apparatus includes a turning angle calculation unit 41A and a turning angle storage unit 43A.
- the turning angle calculation unit 41 ⁇ / b> A has a configuration for calculating the turning angle of the auxiliary wheel 7 at the present time based on information detected by each of the pressure sensors 33.
- information on the calculated turning angle of the auxiliary wheel 7 is transmitted from the turning angle storage unit 41A to the movement calculation circuit 43A.
- the movement calculation circuit 29 Based on the turning angle of the auxiliary wheel 7 relative to the carriage 3, the movement calculation circuit 29 quickly corrects the turning direction of the auxiliary wheel 7 in the fine movement mode so that the carriage 3 finely moves in the straight direction. And calculate the direction of rotation.
- the motor 25 is driven, and the rotation of each of the drive wheels 5 is controlled so that the carriage 3 moves slightly in the straight direction.
- the turning angle of the auxiliary wheel 7 with respect to the carriage 3 maintains the turning angle when the movement to the hospital room in the traveling mode is completed.
- the turning angle of the auxiliary wheel 7 with respect to the carriage 3 is displaced depending on the turning direction of the carriage 3.
- the turning direction of the carriage 3 is determined based on information on the pressure detected by each of the pressure sensors 33. Therefore, based on the information detected by each of the pressure sensors 33, the turning angle calculation unit 41A can accurately calculate the turning angle of the auxiliary wheel 7 when the fine movement switch 23 is operated.
- the mobile X-ray imaging apparatus does not directly detect the turning angle of the auxiliary wheel 7 as in the first embodiment, but turns the auxiliary wheel 7 based on the pressure information detected by each of the pressure sensors 33. Calculate the angle.
- the turning angle of the auxiliary wheel 7 is calculated by a turning angle calculation unit 41A and a turning angle storage unit 43A which are software. Therefore, in order to obtain a configuration for calculating the turning direction of the auxiliary wheel 7 in the fine movement mode, it is not necessary to add hardware such as an angle sensor to the mobile X-ray imaging apparatus as in the first embodiment. Accordingly, the mobile X-ray imaging apparatus 1B according to the third embodiment does not require a significant change in the manufacturing process or design, and thus finely moves the carriage 3 in the straight movement direction while avoiding an increase in manufacturing cost. It becomes possible to control to do.
- the present invention is not limited to the above embodiment, and can be modified as follows.
- the pair of driving wheels 5 are provided in the lower rear part of the carriage 3 and the pair of auxiliary wheels 7 are provided in the lower front part of the carriage 3.
- the present invention is not limited thereto. That is, the positions and number of the drive wheels 5 and the auxiliary wheels 7 may be changed as appropriate.
- the mode discriminating unit 31 that discriminates the fine movement mode is configured to control the transmission of information from the angle sensor 35 to the movement calculation circuit 29, but the operation of the angle sensor 35 itself. It is good also as a structure which controls. That is, the angle sensor 35 may be configured to detect the turning direction of the auxiliary wheel 7 based on the control signal transmitted by the mode determination unit 31.
- the mode determination unit 31 that has determined that the mode is the fine movement mode is configured to control the transmission of information from the turning angle storage unit 43 to the movement calculation circuit 29.
- the rotation detection unit 39 may be configured to detect the rotation speed of the drive wheel 5 or the like based on the control signal transmitted by the mode determination unit 31.
- the turning angle calculation unit 41 may calculate the turning angle of the auxiliary wheel 7 with respect to the carriage 3 based on the control signal transmitted by the mode determination unit 31.
- the mode discriminating unit 31 that discriminates the fine movement mode is configured to control the transmission of information from the turning angle storage unit 43A to the movement calculation circuit 29. I can't.
- the turning angle calculation unit 41 ⁇ / b> A may calculate the turning angle of the auxiliary wheel 7 with respect to the carriage 3 based on the control signal transmitted by the mode determination unit 31.
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Abstract
Description
すなわち、従来の移動型X線撮影装置では微動モードにおいて、前輪が台車に対して直進方向ではなく、左方向または右方向に旋回している場合がある。この場合に微動スイッチを操作して微動動作を開始すると、台車は前輪の旋回方向に従って左右に旋回し始め、台車が移動する方向は台車の直進方向と一致しなくなる。そのため台車を直進方向に微動させて、意図する通りに移動型X線撮影装置の位置を調整することが困難になる。
すなわち、本発明に係る移動型X線撮影装置は、X線管を搭載する台車と、前記台車に設けられ、各々独立して駆動されることにより、前記台車を直進・旋回移動させる一対の駆動車輪と、前記台車に設けられ、前記台車の旋回移動に追従して旋回する補助輪と、操作ハンドルを有し、前記操作ハンドルに加わる操作力に基づいて前記一対の駆動車輪を各々独立に回転させて前記台車を直進・旋回移動させる、走行モードによる台車の操作を行う走行操作手段と、前記走行モードおける回転速度より低い回転速度で前記駆動車輪を回転させて前記台車を直進移動させる、微動モードによる台車の移動を指示する微動動作指示手段と、前記台車の直進方向に対する前記補助輪の旋回角度を検知する旋回角度検知手段と、微動モードにおいて、前記旋回角度検知手段が検知した前記補助輪の旋回角度に基づいて、前記補助輪が前記台車の直進方向へ旋回するように前記一対の駆動車輪の回転速度を各々独立して制御する駆動車輪制御手段とを備えることを特徴とするものである。
実施例1に係る移動型X線撮影装置1は図1に示すように、台車3と、駆動車輪5と、補助輪7と、支柱9と、支持部11と、水平アーム13と、X線管15と、コリメータ17と、入力部19と、走行ハンドル21と、微動スイッチ23とを備えている。
上述のように構成された移動型X線撮影装置の操作の一例について、図に基づいて説明する。図4は実施例1に係る動作を説明するフローチャートである。
まず、操作者は走行モードで移動型X線撮影装置1を被検体のいる病室へ向けて移動させる。操作者が台車3を走行モードで移動させるべく走行ハンドル21に接触すると、走行ハンドル21に設けられた図示しない接触センサが操作者の接触を検知する。接触センサの検知により、モード判別部31へ信号が送信される。モード判別部31は送信された信号に基づいて、走行モードであることを判別する。走行モードであると判別した場合、モード判別部31は圧力センサ33へ制御信号を送信する。
移動型X線撮影装置1を伴って病室へ移動した後、図5に示すように、操作者は図示しない収納部からX線検出器37を取り出し、被検体Mの撮影部位とベッドとの間にX線検出器37を設置する。そしてX線検出器37を設置した後、X線管15を移動させる。すなわち支柱9を鉛直軸回りに回転させ、支持部11を鉛直方向に、水平アーム11を水平方向に適宜移動させる。X線管15は支柱9、支持部11および水平アーム13の移動に伴い、被検体Mの上方へ移動する。
X線管15を移動させた後、X線照射野の確認を行う。すなわち、操作者は照光ランプを点灯させ、コリメータ17から被検体Mに対して、X線照射野を可視光によって表示させる。そして表示されたX線照射野を基準として、被検体Mに対して好適なX線画像を撮影できるように、X線管15の位置合わせを行う。
微動モードによって台車3の位置を調整する場合、操作者は微動スイッチ23を操作する。微動スイッチ23を操作することにより、微動スイッチ23からモード判別部31へ信号が送信される。モード判別部31は送信された信号に基づいて微動モードであることを判別し、角度センサ35へ制御信号を送信する。
操作者は照光ランプを消灯させ、可視光によるX線照射野の表示を解除する。そして操作パネル19を操作して所定のX線撮影条件を設定する。適切なX線撮影条件の設定が完了した後、操作者は操作パネル19を操作し、X線管15からX線を照射させる。
実施例1に係る移動型X線撮影装置1は角度センサ35を備えており、台車3に対する補助輪7の旋回角度を随時検知することができる。また、微動モードにおいて微動スイッチ23を操作にすると、微動スイッチ23からモード判別部31へ信号が送信される。モード判別部31は微動スイッチ23の信号に基づいて微動モードであることを判別し、制御信号を角度センサ35へ送信する。角度センサ35はモード判別部31の送信する制御信号に基づいて、検知した補助輪7の旋回角度の情報を移動演算回路29へ送信する。
実施例2に係る移動型X線撮影装置1Aは図8に示すように、駆動車輪5の各々には回転検知部39が設けられている。回転検知部39は駆動車輪5の回転速度および回転方向を随時検知し、検出した情報を旋回角度算出部41へ送信する。旋回角度算出部41は回転検知部39から送信された、駆動車輪5の回転速度および回転方向に係る情報に基づいて、台車3に対する補助輪7の旋回角度を算出する。回転検知部39は本発明における回転検知手段に相当する。
上述のように構成された実施例2に係る移動型X線撮影装置の操作について説明する。実施例2に係る動作の工程はステップS4を除いて実施例1と同様であるので、ステップS4に係る微動モードについて説明する。
実施例2に係る移動型X線撮影装置1Aは回転検知部39と、旋回角度算出部41と、旋回角度記憶部43とを備えている。旋回角度算出部41は、回転検知部39が検知した駆動車輪5の回転速度および回転方向に基づいて、現時点における補助輪7の旋回角度を算出する構成を有している。そして微動モードにおいて、算出された補助輪7の旋回角度の情報は旋回角度記憶部43から移動演算回路29へ送信される。
実施例3に係る移動型X線撮影装置1Bは図9に示すように、圧力センサ33の後段に旋回角度算出部41Aが設けられている。旋回角度算出部43Aは圧力センサ33の各々が検知する圧力に係る情報に基づいて、台車3に対する補助輪7の旋回角度を算出する。
上述のように構成された実施例3に係る移動型X線撮影装置の操作について説明する。実施例3に係る動作の工程はステップS4を除いて実施例1および実施例2と同様であるので、ステップS4に係る微動モードについて説明する。
実施例3に係る移動型X線撮影装置は旋回角度算出部41Aと、旋回角度記憶部43Aとを備えている。旋回角度算出部41Aは圧力センサ33の各々が検知した情報に基づいて、現時点における補助輪7の旋回角度を算出する構成を有している。そして微動モードにおいて、算出された補助輪7の旋回角度の情報は旋回角度記憶部41Aから移動演算回路43Aへ送信される。移動演算回路29は台車3に対する補助輪7の旋回角度に基づいて、微動モードにおいて補助輪7の旋回方向を速やかに修正して台車3が直進方向へ微動するように、駆動車輪5の回転速度および回転方向を算出する。そして算出された情報に基づいてモータ25は駆動され、台車3が直進方向へ微動するように駆動車輪5の各々の回転が制御される。
3 …台車
5 …駆動車輪
7 …補助輪
15 …X線管
17 …コリメータ
21 …走行ハンドル(走行操作手段)
23 …微動スイッチ(微動動作指示手段)
25 …モータ
27 …モータ駆動制御部
29 …移動演算回路
31 …モード判別部(モード判別手段)
35 …角度センサ
39 …回転検出部(回転検出手段)
41 …旋回角度算出部(旋回角度算出手段)
43 …旋回角度記憶部(旋回角度記憶手段)
Claims (6)
- X線管を搭載する台車と、
前記台車に設けられ、各々独立して駆動されることにより、前記台車を直進・旋回移動させる一対の駆動車輪と、
前記台車に設けられ、前記台車の旋回移動に追従して旋回する補助輪と、
操作ハンドルを有し、前記操作ハンドルに加わる操作力に基づいて前記一対の駆動車輪を各々独立に回転させて前記台車を直進・旋回移動させる、走行モードによる台車の操作を行う走行操作手段と、
前記走行モードおける回転速度より低い回転速度で前記駆動車輪を回転させて前記台車を直進移動させる、微動モードによる台車の移動を指示する微動動作指示手段と、
前記台車の直進方向に対する前記補助輪の旋回角度を検知する旋回角度検知手段と、
微動モードにおいて、前記旋回角度検知手段が検知した前記補助輪の旋回角度に基づいて、前記補助輪が前記台車の直進方向へ旋回するように前記一対の駆動車輪の回転速度を各々独立して制御する駆動車輪制御手段とを備えることを特徴とする移動型X線撮影装置。 - 請求項1に記載の移動型X線撮影装置において、
前記旋回角度検知手段は、前記台車の直進方向に対する前記補助輪の旋回角度を検知する角度センサであることを特徴とする移動型X線撮影装置。 - 請求項1に記載の移動型X線撮影装置において、
前記旋回角度検知手段は、前記台車の直進方向に対する前記補助輪の旋回角度を随時算出する旋回角度算出手段と、前記旋回角度算出手段が随時算出した前記台車の直進方向に対する前記補助輪の旋回角度を記憶する旋回角度記憶手段とを備え、
前記駆動車輪制御手段は前記旋回角度記憶手段が記憶した前記台車の直進方向に対する前記補助輪の旋回角度に基づいて、前記補助輪が前記台車の直進方向へ旋回するように前記一対の駆動車輪の回転速度を各々独立して制御することを特徴とする移動型X線撮影装置。 - 請求項3に記載の移動型X線撮影装置において、
前記駆動車輪の回転速度および回転方向を随時検出する回転検出手段をさらに備え、
前記旋回角度算出手段は、前記回転検出手段が随時検出する前記駆動車輪の回転速度および回転方向に基づいて、前記台車の直進方向に対する前記補助輪の旋回角度を随時算出することを特徴とする移動型X線撮影装置。 - 請求項3に記載の移動型X線撮影装置において、
前記旋回角度算出手段は、前記操作ハンドルに設けた圧力センサが検知した圧力に基づいて、前記台車の直進方向に対する前記補助輪の旋回角度を随時算出することを特徴とする移動型X線撮影装置。 - 請求項1ないし請求項5のいずれかに記載の移動型X線撮影装置において、
走行モードと微動モードを判別し、判別した結果に基づいて前記駆動車輪制御手段による前記一対の駆動車輪の回転速度の制御のオン・オフを切り替えるモード判別手段を備えることを特徴とする移動型X線撮影装置。
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US10448910B2 (en) * | 2016-02-03 | 2019-10-22 | Globus Medical, Inc. | Portable medical imaging system |
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