WO2016035146A1 - Mobile x-ray imaging apparatus - Google Patents

Mobile x-ray imaging apparatus Download PDF

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Publication number
WO2016035146A1
WO2016035146A1 PCT/JP2014/073094 JP2014073094W WO2016035146A1 WO 2016035146 A1 WO2016035146 A1 WO 2016035146A1 JP 2014073094 W JP2014073094 W JP 2014073094W WO 2016035146 A1 WO2016035146 A1 WO 2016035146A1
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WO
WIPO (PCT)
Prior art keywords
arm
ray
imaging apparatus
mobile
ray imaging
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Application number
PCT/JP2014/073094
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French (fr)
Japanese (ja)
Inventor
忠彦 中原
Original Assignee
株式会社島津製作所
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Application filed by 株式会社島津製作所 filed Critical 株式会社島津製作所
Priority to PCT/JP2014/073094 priority Critical patent/WO2016035146A1/en
Publication of WO2016035146A1 publication Critical patent/WO2016035146A1/en

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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

Definitions

  • the present invention relates to a movable mobile X-ray imaging apparatus that performs X-ray imaging on a subject.
  • 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 capable of moving in a hospital is used as an apparatus for performing X-ray imaging on a patient.
  • the mobile X-ray imaging apparatus mainly includes a main body provided with driving wheels on the left and right sides, an X-ray tube that irradiates a subject with X-rays, an arm that movably supports the X-ray tube on the main body, and an operation handle. And.
  • the driving wheel is rotated by an electric motor provided inside the main body.
  • the main body moves forward and backward according to the rotation of the drive wheel, and turns left and right due to the difference in rotational speed between the left and right drive wheels.
  • the operator moves along the front or rear of the mobile X-ray imaging apparatus while operating the operation handle with both hands and moves to the patient room where the patient who is the X-ray imaging target is located.
  • the arm is appropriately moved to move the X-ray tube to an optimal position for X-ray imaging. Then, X-ray imaging is performed on the subject to acquire an X-ray image.
  • a telescopic type in which the arm has a multistage expansion function for example, Patent Document 1
  • a pantograph type in which the arm has a folding function for example, Patent Documents 2 and 3
  • FIG. 6A a mobile X-ray imaging apparatus 101 having a telescopic arm is shown in FIG. 6A
  • a mobile X-ray imaging apparatus 101A having a pantograph type arm is shown. This will be described with reference to FIG.
  • Conventional mobile X-ray imaging apparatuses 101 and 101A each include a carriage 103, an operation handle 105, and a support column 107.
  • the carriage 103 is provided with a pair of drive wheels 109 and a pair of auxiliary wheels 111, and the carriage 103 moves forward and backward as the drive wheels 109 rotate.
  • a plurality of pressure sensors are provided inside the operation handle 105. The pressure sensor detects the pressure applied by the operator to the operation handle 105, and the movement of the carriage 103 is controlled based on the detected pressure.
  • the support column 107 is erected on the front part of the carriage 103 and can rotate around the vertical axis.
  • a base end portion of the support mechanism 113 is connected to the support column 107.
  • the support mechanism 113 is held by the support column 107 via a bearing 114a and a bearing 114b.
  • the support mechanism 113 can be slid in the vertical direction along the support column 107, and an X-ray tube 115 is connected to the tip thereof.
  • the support mechanism 113 is a telescopic arm in the mobile X-ray imaging apparatus 101, and a pantograph arm in the mobile X-ray imaging apparatus 101A.
  • the structure of the support mechanism 113 in each arm system will be described.
  • the support mechanism 113 is configured by a plurality of arms 117 each having a different thickness being combined in a nested manner. Each of the arms 117 can move in the horizontal direction (x direction). As shown in FIG. 6B, the support mechanism 113 expands and contracts in the x direction by moving each arm 117 in and out in the horizontal direction. In conjunction with the expansion and contraction of the support mechanism 113, the X-ray tube 115 provided at the tip of the support mechanism 113 moves in the x direction. Further, the X-ray tube 115 moves in the y direction according to the support mechanism 113 by sliding the support mechanism 113 in the vertical direction (y direction) along the support column 107. As described above, the X-ray tube 115 is moved to a position suitable for X-ray imaging by the support mechanism 113 which is a telescopic arm.
  • the support mechanism 113 has a joint structure. That is, the rotation shaft 119 a is provided at the base end portion of the support mechanism 113, and the rotation shaft 119 b is provided at the distal end portion of the support mechanism 113. Both of the rotation shafts 119a and 119b can rotate around the axis in the horizontal direction orthogonal to the x direction, that is, the z direction.
  • the support mechanism 113 rotates around the axis in the z direction with the base end as an axis as shown in FIG. 7B.
  • the X-ray tube 115 connected to the distal end portion of the support mechanism 113 moves up and down from the position indicated by the broken line to the position indicated by the solid line as the support mechanism 113 rotates.
  • the rotation shaft 119b rotates in the direction opposite to the rotation shaft 119a in linkage with the rotation of the rotation shaft 119a.
  • the X-ray tube 115 can always maintain a horizontal state while changing its position in the x direction and the y direction.
  • the X-ray tube 115 moves in the y direction according to the support mechanism 113 by sliding the support mechanism 113 in the y direction along the support column 107. In this manner, the X-ray tube 115 moves to a position suitable for X-ray imaging by the rotational movement and slide movement of the support mechanism 113 that is a pantograph arm.
  • the conventional example having such a configuration has the following problems. That is, in the mobile X-ray imaging apparatus according to the conventional example, there is a concern that the movable range of the X-ray tube 115 is largely limited in any of the arm systems.
  • the bearing 114 a is provided at the upper end portion of the support mechanism 113, and the bearing 114 b is provided at the lower end portion of the support mechanism 113. Therefore, as shown in FIG. 8A, the support mechanism 113 cannot slide to a position higher than the support column 107. Since the mobile X-ray imaging apparatus 101 generally moves in a hospital, the height of the support column 107 is limited to the height of the door in the hospital. As a result, the upper limit of the movable range of the X-ray tube 115 indicated by the symbol R becomes lower, and the X-ray focal height required in X-ray imaging may not be ensured (FIG. 9A, left diagram). .
  • the X-ray imaging apparatus 101B having a support mechanism 113A as shown in FIG.
  • the support mechanism 113A is configured such that the position where the X-ray tube 115 is held is raised by a distance G as compared to the support mechanism 113. Therefore, in the mobile X-ray imaging apparatus 101B, the X-ray tube 115 is always held at a position higher than the bearing 114a by the support mechanism 113A. Therefore, as shown in FIG. 8B, the X-ray tube 115 can be moved to a position higher than the support column 107. As a result, the upper limit of the movable range R of the X-ray tube 115 is higher by the distance G than in the case of the mobile X-ray imaging apparatus 101.
  • the rotation shaft 119a is rotated in a state where the support mechanism 113 is lifted along the support column 107, whereby the position of the X-ray tube 115 is changed to the support column 107. Get higher. Further, by lowering the support mechanism 113 along the support column 107 without rotating the rotating shaft 119a, the position of the X-ray tube 115 is substantially the same height as the lower end of the support column 107, as shown in FIG. Become. Therefore, in the mobile X-ray imaging apparatus 101A, the upper limit of the movable range R can be increased while keeping the lower limit of the movable range R of the X-ray tube 115 low.
  • the support mechanism 113 rotates by the rotation of the rotating shaft 119a, and as a result, the X-ray tube 115 moves in a curve. Therefore, when the position of the X-ray tube 115 is made higher than the column 107, the coordinate position in the x direction of the X-ray tube 115 is closer to the column 107. Accordingly, the position of the X-ray tube 115 cannot be made higher than that of the column 107 at a position away from the column 107 in the x direction.
  • the rotational axis 119a when the rotational axis 119a is not rotated and the height of the X-ray tube 115 is lowered, the coordinate position of the X-ray tube 115 in the x direction is far from the column 107. Therefore, the position of the X-ray tube 115 cannot be made lower than a predetermined height at a position close to the x direction from the support column 107. That is, as shown in FIG. 9B, the movable range R of the X-ray tube 115 in the movable X-ray imaging apparatus 101A is close to a parallelogram.
  • the restriction on the movable range R of the X-ray tube 115 is large regardless of the type of the arm. For this reason, it may be difficult to move the X-ray tube 115 to an optimal position for X-ray imaging.
  • the support mechanism 113 when the support mechanism 113 is a pantograph type, as shown in FIG. 11, the support mechanism 113 that rotates may interfere with an obstacle P such as a bed fence. In this case, the support mechanism 113 cannot be slid to a lower position or the support mechanism 113 cannot be rotated to a position far from the support column 107 in the x direction. As a result, the operation handle 105 needs to be operated again to move the carriage 103, which makes the operation complicated. In addition, the time required for X-ray imaging becomes longer.
  • the present invention has been made in view of such circumstances, and an object of the present invention is to provide a mobile X-ray imaging apparatus having a wider movable range of the X-ray tube while suppressing the height of the support column to a predetermined level or less.
  • the present invention has the following configuration. That is, the mobile X-ray imaging apparatus according to the present invention is provided with an X-ray source that generates X-rays, a movable carriage, a support erected on the carriage, and movable up and down along the support.
  • a telescopic arm that expands and contracts in the first horizontal direction
  • an X-ray source holding arm that is provided on a distal end side of the telescopic arm and holds the X-ray source
  • X-ray source moving means for moving the radiation source up and down is provided.
  • the X-ray source moving means provided in the X-ray source holding arm moves the X-ray source up and down.
  • An X-ray source holding arm that holds the X-ray source is provided at a distal end portion of a telescopic arm that moves up and down along the support column. Therefore, the X-ray source can be moved to a position higher than the column by the X-ray source moving means moving the X-ray source upward with the telescopic arm raised along the column.
  • the telescopic arm expands and contracts in the first horizontal direction. Therefore, by operating the X-ray source moving means while adjusting the expansion / contraction state of the expansion / contraction arm, it is possible to move the X to a position higher than the height of the column, both when it is close to the column and when it is far from the column in the first horizontal direction. You can move the source. Therefore, a higher X-ray focal point height can be ensured in a wide range centering on the column.
  • the telescopic arm is moved downward along the column without operating the X-ray source moving means.
  • the position of the X-ray source can be lowered both in the case of being close to the column and in the case of being far from the column in the first horizontal direction.
  • the movable range of the X-ray source becomes wider, so that the operability in positioning the X-ray source can be improved.
  • the X-ray source moving means is a rotating shaft that rotates around a second horizontal axis orthogonal to the first horizontal direction.
  • the holding arm is preferably a pantograph arm that rotates around the second horizontal axis about the rotation axis.
  • the X-ray source holding arm is a pantograph-type arm that rotates around the second horizontal axis about the rotation axis.
  • the X-ray source moving means is a rotating shaft that rotates around a second horizontal axis. Therefore, the X-ray source holding arm rotates about the second horizontal axis about the rotation axis as the rotation axis rotates. As a result, the X-ray source held by the X-ray source holding arm moves up and down.
  • the X-ray source can be moved to a position higher than the column by rotating the rotating shaft with the extendable arm raised along the column.
  • the telescopic arm is lowered along the column without rotating the rotating shaft.
  • the height of the X-ray source can be adjusted in a wide range centering on the support column. As a result, the movable range of the X-ray source becomes wider, so that the operability in positioning the X-ray source can be improved.
  • the X-ray source moving means is a lifting mechanism that moves the X-ray source holding arm up and down.
  • the X-ray source moving means is an elevating mechanism that moves the X-ray source holding arm up and down.
  • the X-ray source moves up and down in conjunction with the X-ray source holding arm. Therefore, the X-ray source can be moved to a higher position than the support by raising the X-ray source holding arm in a state where the extendable arm is raised along the support.
  • the height of the X-ray source can be adjusted in a wide range centering on the support column. As a result, the movable range of the X-ray source becomes wider, so that the operability in positioning the X-ray source can be improved.
  • the telescopic arm has a telescopic structure.
  • the telescopic arm has a telescopic structure.
  • the telescopic structure is a structure in which a plurality of arms are combined in a nested manner, and expands and contracts by inserting and removing each arm. Therefore, it is possible to increase the extension distance in the first horizontal direction while making the configuration of the extension arm compact. Therefore, it is possible to avoid an increase in the size of the mobile X-ray imaging apparatus and to further increase the movable range of the X-ray source.
  • the X-ray source moving means may allow the X-ray source to move up and down in a state where the telescopic arm extends in the first horizontal direction. preferable.
  • the X-ray source moving means enables the X-ray source to move up and down in a state where the telescopic arm is extended in the first horizontal direction.
  • the X-ray source moves in the first horizontal direction by extension of the extension arm. Therefore, the X-ray tube moves away from the column in the first horizontal direction and moves to a position higher than the column. Therefore, since the X-ray source can be moved to a position that has been difficult to move in the past, the operability in positioning the X-ray source can be further improved.
  • the X-ray source moving means provided in the X-ray source holding arm moves the X-ray source up and down.
  • the X-ray source holding arm is provided at the distal end of an extendable arm that moves up and down along the support column. Therefore, the X-ray source can be moved to a position higher than the column by moving the X-ray source upward by the X-ray source moving means with the telescopic arm moved upward along the column.
  • the telescopic arm expands and contracts in the first horizontal direction. Therefore, by operating the X-ray source moving means while adjusting the expansion / contraction state of the expansion / contraction arm, it is possible to move the X to a position higher than the height of the column, both when it is close to the column and when it is far from the column in the first horizontal direction. You can move the source. Therefore, a higher X-ray focal point height can be ensured in a wide range centering on the column.
  • the telescopic arm is moved downward along the column without operating the X-ray source moving means.
  • the position of the X-ray source can be lowered both in the case of being close to the column and in the case of being far from the column in the first horizontal direction.
  • the movable range of the X-ray source becomes wider, so that the operability in positioning the X-ray source can be improved.
  • (A) is a figure which shows the upper limit of the movable range of the X-ray tube in the expansion
  • (b) is a figure which shows the upper limit of the movable range of the X-ray tube in the contraction state of an expansion-contraction arm
  • (c (A) is a figure which shows the minimum of the movable range of the X-ray tube in the expansion
  • (d) is a figure which shows the minimum of the movable range of the X-ray tube in the contraction state of an expansion / contraction arm.
  • (A) is a figure which shows the movable range of an X-ray tube in a mobile X-ray imaging apparatus provided with a telescopic arm according to a conventional example
  • (b) is a mobile X-ray imaging apparatus according to an embodiment. It is a figure which shows the movable range of an X-ray tube. It is the schematic explaining the structure of the mobile X-ray imaging apparatus which concerns on a modification.
  • (A) is the schematic explaining the state before raising an raising / lowering arm
  • (b) is the schematic explaining the state after raising an raising / lowering arm.
  • (A) is a side view explaining the schematic structure of a mobile X-ray imaging apparatus
  • (b) is a side view explaining the structure of a telescopic arm. It is the schematic explaining the structure of the movement type X-ray imaging apparatus provided with a pantograph-type arm based on a prior art example.
  • (A) is a side view explaining the schematic structure of a mobile X-ray imaging apparatus
  • (b) is a side view explaining the structure of a pantograph-type arm. It is the schematic explaining the problem of the mobile X-ray imaging apparatus which concerns on a prior art example.
  • (A) is a figure which shows the upper limit of the movable range of an X-ray tube in a telescopic type apparatus
  • (b) is a figure which shows the upper limit of the movable range of an X-ray tube in the conventional telescopic type apparatus which concerns on a comparative example
  • (C) is a figure which shows the minimum of the movable range of an X-ray tube in the conventional telescopic type apparatus which concerns on a comparative example.
  • the mobile X-ray imaging apparatus which concerns on a prior art example, it is a figure which shows the movable range of an X-ray tube.
  • (A) is a telescopic type
  • (b) is a conventional telescopic type according to a comparative example
  • (c) is a mobile X-ray imaging apparatus provided with a pantograph type arm. It is the schematic explaining the problem of the mobile X-ray imaging apparatus which concerns on a prior art example.
  • (A) is a figure which shows the upper limit of the movable range of an X-ray tube in a pantograph-type apparatus
  • (b) is a figure which shows the minimum of the movable range of an X-ray tube in a pantograph-type apparatus. It is a figure explaining the condition where the pantograph type mobile X-ray imaging apparatus according to the conventional example interferes with an obstacle.
  • the mobile X-ray imaging apparatus 1 includes a carriage 3, a drive wheel 5, an auxiliary wheel 7, an operation handle 9, an operation panel 11, a column 13, and a telescopic arm 15. And an X-ray tube 17 and a collimator 19.
  • One drive wheel 5 is provided on each of the left and right sides of the rear lower part 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.
  • the drive wheel 5 is configured to rotate by an electric motor provided inside the carriage 3.
  • One auxiliary wheel 7 is provided on each of the left and right front lower portions of the carriage 3 and turns left and right according to the turning direction of the carriage 3.
  • the operation handle 9 is provided with a plurality of pressure sensors.
  • the pressure sensor detects the pressure applied to the operation handle 9 when the operator operates the carriage 3 while holding the operation handle 9, and controls the rotation direction and the rotation speed of the drive wheel 5.
  • the operation panel 11 is provided behind the carriage 3 and includes an operation device for setting X-ray imaging conditions such as tube voltage and tube current, a switch for X-ray imaging, and the like. Examples of the configuration of the operation panel 11 include a touch input type keyboard and a keyboard input type panel.
  • the support column 13 is erected on the front part of the carriage 3 and is configured to be rotatable around the vertical axis.
  • a telescopic arm 15 is provided on the column 13. Specifically, the base end portion of the telescopic arm 15 is held by the support column 13 via the bearing 21.
  • the telescopic arm 15 is configured to be slidable in the y direction, that is, the vertical direction along the support column 13.
  • the extendable arm 15 is configured to be extendable and contractable in the horizontal direction (x direction) by a mechanism described later.
  • the x direction corresponds to the first horizontal direction in the present invention.
  • the X-ray tube 17 is connected and held at the tip of the telescopic arm 15.
  • the X-ray tube 17 is configured to be rotatable around the axis of the telescopic arm 15.
  • the X-ray tube 17 irradiates X-rays according to the X-ray imaging conditions set on the operation panel 11.
  • the collimator 19 is provided below the X-ray tube 17.
  • the collimator 19 includes two pairs of movable restriction blades, and adjusts the X-ray irradiation field emitted from the X-ray tube 17 by opening and closing each movable restriction blade.
  • the X-ray tube 17 corresponds to the X-ray source in the present invention.
  • the telescopic arm 15 is a so-called telescopic arm, and includes an outer shell arm 23, a built-in arm 25, and a rotating arm 27.
  • the number of the built-in arms 25 provided in the telescopic arm 15 is one.
  • a built-in arm 25 is provided inside the outer shell arm 23, and a rotating arm 27 is provided further inside the built-in arm 25.
  • the support column 13 is connected to the proximal end portion of the outer shell arm 23, and the X-ray tube 17 is connected and held at the distal end portion of the rotary arm 27.
  • the rotary arm 27 corresponds to the X-ray source holding arm in the present invention.
  • Rollers 29 are provided between the outer shell arm 23 and the built-in arm 25 and between the built-in arm 25 and the rotating arm 27, respectively.
  • Each of the built-in arm 25 and the rotary arm 27 is configured to be able to be taken in and out in the horizontal direction (x direction) by the operation of the roller 29.
  • the positions of the X-ray tube 17 and the collimator 19 are moved in the x direction.
  • the telescopic arm 15 moves up and down along the support column 13
  • each of the X-ray tube 17 and the collimator 19 moves in the y direction in conjunction with the telescopic arm 15.
  • the rotary arm 27 is provided on the innermost side of the telescopic arm 15.
  • the rotary arm 27 is configured to be the tip of the telescopic arm 15 as shown in FIG. That is, in the multistage telescopic arm 15, the rotary arm 27 corresponds to the final stage arm.
  • the rotary arm 27 is a so-called pantograph type arm and has a joint structure. Specifically, a rotating shaft 27 a is provided at the base end portion of the rotating arm 27, and a rotating shaft 27 b is provided at the distal end portion of the rotating arm 27. By pulling out the rotating arm 27 in the x direction, each of the rotating shaft 27 a and the rotating shaft 27 b is exposed from the outer shell arm 23. Both of the rotation shafts 27a and 27b can rotate around a horizontal direction orthogonal to the x direction, that is, an axis in the z direction. The z direction corresponds to the second horizontal direction in the present invention.
  • the rotating arm 27 rotates around the axis in the z direction with the rotating shaft 27a as an axis point.
  • Each of the X-ray tube 17 and the collimator 19 connected to the tip of the rotating arm 27 moves in a curved manner from the position indicated by the broken line to the position indicated by the solid line in accordance with the rotation of the rotating arm 27.
  • the rotating shaft 27a corresponds to the X-ray source moving means in the present invention.
  • the rotating shaft 27b rotates in the opposite direction to the rotating shaft 27a. Therefore, the rotary arm 27 performs a hinge motion in opposite directions with the rotary shaft 27a and the rotary shaft 27b as fulcrums. As a result, the rotary arm 27 as a whole is bent into a substantially S shape with the rotary shaft 27a and the rotary shaft 27b as fulcrums, and moves the X-ray tube 17 up and down.
  • the rotary arm 27 is provided with a repulsion mechanism (not shown) that supports the weight of the X-ray tube 17 and the collimator 19.
  • a repulsion mechanism (not shown) that supports the weight of the X-ray tube 17 and the collimator 19.
  • An example of the repulsion mechanism is a gas spring, for example, and the weight balance can be achieved by the repulsion mechanism.
  • the X-ray tube 17 moves from a position having the same height as the rotary shaft 27a (a position indicated by a broken line) to a position higher than the rotary shaft 27a (a position indicated by a solid line). And move. That is, the X-ray tube 17 moves to a position higher than the height of the column 13 by raising the telescopic arm 15 along the column 13 and further rotating the rotary shaft 27a around the axis in the z direction. With such a configuration, the X-ray tube 17 can be moved to a position higher than the upper end of the support column 13 when performing X-ray imaging while suppressing the height of the support column 13 to a predetermined height or less.
  • FIG. 2B shows a state in which each of the built-in arm 25 and the rotating arm 27 is pulled out from the outer shell arm 23 and the rotating shaft 27a is rotated.
  • the rotary shaft 27a is configured to be rotatable by pulling the rotary arm 27 in the x direction to expose the rotary shaft 27a to the outside. That is, as shown in FIG. 2 (c), with the built-in arm 25 housed in the outer shell arm 23, only the rotating arm 27 can be pulled out in the x direction and the rotating shaft 27a can be rotated.
  • the rotary arm 27 which is a pantograph arm is provided at the final stage of the extension arm 15 and constitutes the tip of the extension arm 15. That is, the rotation diameter of the pantograph arm is shorter in the embodiment than the conventional pantograph arm. Therefore, when the position of the X-ray tube 17 is raised, the distance that the X-ray tube 17 approaches the support column 13 is shortened. Therefore, the X-ray tube 17 can be moved to a position higher than the column 13 in a state where the distance S from the column 13 to the X-ray tube 17 is longer. Thus, in the embodiment, the X-ray tube 17 can be moved to a region outside the movable range of the X-ray tube in the conventional pantograph arm.
  • the telescopic arm 15 is lowered along the support column 13, and each of the built-in arm 25 and the rotating arm 27 is pulled out from the outer shell arm 23.
  • the distance S from the support column 13 to the X-ray tube 17 is increased, and the height of the X-ray tube 17 is decreased (FIG. 3C).
  • the telescopic arm 15 is lowered along the support column 13, and each of the built-in arm 25 and the rotating arm 27 is stored in the outer shell arm 23.
  • the distance S from the support column 13 to the X-ray tube 17 is shortened, and the height of the X-ray tube 17 is decreased (FIG. 3D). Therefore, the X-ray tube 17 can be moved to a lower position regardless of whether the column 13 is near or far from the x direction.
  • the rotary arm 27 that moves the X-ray tube 17 in the vertical direction is further provided in the telescopic arm 15 that can be expanded and contracted in the horizontal direction.
  • the height of the X-ray tube 17 is increased from a low position near the lower end portion of the support column 13 to a position higher than the support column 13 in both cases of being close to the x direction and distant from the support column 13. Can change.
  • the movable range R of the X-ray tube 115 In the conventional mobile X-ray imaging apparatus 101 having a telescopic arm, a position higher than the support column 107 is not included in the movable range R of the X-ray tube 115 (FIG. 4A). Further, in the conventional mobile X-ray imaging apparatus 101A provided with a pantograph arm, there is a blind spot where the X-ray tube 115 cannot be moved, such as a position close to the support column 107 and low (FIG. 9B). On the other hand, in the mobile X-ray imaging apparatus 1 according to the embodiment, as shown in FIG. 4B, the movable range R of the X-ray tube 17 is wider than in each conventional example. Therefore, the operability in positioning the X-ray tube 17 can be improved.
  • the telescopic arm 15 connected to the support column 13 has a telescopic configuration. Then, by retracting the built-in arm 25 and the rotary arm 27 in and out of the outer shell arm 23 in the x direction, the extendable arm 15 extends in the x direction. Therefore, the movable range of the X-ray tube 17 can be widened while making the size of the telescopic arm 15 more compact.
  • the rotary arm 27 having a pantograph configuration is configured to be housed inside the outer shell arm 23. Therefore, in the embodiment, it is possible to avoid a situation in which the pantograph-type arm interferes with the obstacle P as shown in FIG. As a result, in the mobile X-ray imaging apparatus 1 according to the embodiment, it is possible to suitably avoid a situation in which the carriage 3 is operated again after reaching the bed of the patient M, thereby preventing an increase in the time required for X-ray imaging. it can. Therefore, the X-ray imaging workflow can be improved and the burden on the operator and patient can be reduced.
  • the present invention is not limited to the above embodiment, and can be modified as follows.
  • the number of built-in arms 25 provided in the extendable arm 15 is one, but the number of built-in arms 25 may be changed as appropriate. That is, the extendable arm 15 may have a multistage extendable configuration having two or more built-in arms 25.
  • the internal arm 25 may be omitted from the extendable arm 15 and the rotary arm 27 may be provided inside the outer shell arm 23.
  • the telescopic arm 15 can further move the X-ray tube 17 up and down by incorporating the rotary arm 27 having a pantograph type configuration.
  • the extendable arm 15 may be configured to include a jack-up type lifting arm 31 instead of the rotary arm 27.
  • the elevating arm 31 corresponds to the X-ray source holding arm in the modified example of the present invention.
  • a folded jack 33 is provided inside the elevating arm 31.
  • the upper part 31 a and the lower part 31 b of the lifting arm 31 are configured to be separable, and the X-ray tube 17 is connected and held to the upper part 31 a of the lifting arm 31.
  • the lifting arm 31 is provided inside the outer shell arm 23 and is configured to be able to be pulled out in the x direction.
  • the elevating arm 31 constitutes the tip of the telescopic arm 15.
  • One end of the jack 33 is fixed to the inner wall of the upper portion 31a, and the other end of the jack 33 is fixed to the inner wall of the lower portion 31b. That is, when the jack 33 rises, the upper portion 31a of the lifting arm 31 is separated from the lower portion 31b and lifted.
  • the X-ray tube 17 moves straight in the y direction in conjunction with the upper portion 31a.
  • the X-ray tube 17 can be moved to a position higher than the column 13 by raising the jack 33 after sliding the telescopic arm 15 to the upper end of the column 13.
  • the jack 33 corresponds to the lifting mechanism in the present invention.
  • the movable range R of the X-ray tube 17 can be made wider as in the apparatus according to the embodiment. it can. Further, in the embodiment, the X-ray tube 17 moves up and down in a curved manner by the rotation of the rotating shaft 27a. On the other hand, in the modified example, the operation of the jack 33 causes the X-ray tube 17 to move up and down in a straight line. Therefore, the operability when the X-ray tube 17 is moved in the y direction is further improved.
  • the X-ray tube 17 can be moved straight in the y direction with each of the built-in arm 25 and the lifting arm 31 being pulled out. Therefore, the X-ray tube 17 can move to a position farther from the support column 13 and higher. As a result, the movable range R of the X-ray tube becomes wider, so that the operability in positioning the X-ray tube 17 can be further improved.
  • the telescopic arm 15 is configured to expand and contract in the x direction by the telescopic structure.
  • the configuration for expanding and contracting the telescopic arm 15 in the x direction is not limited to the telescopic structure, such as a bellows structure. You may use the structure of.

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Abstract

In a mobile x-ray imaging apparatus according to the present invention, a rotating arm (27) is provided at the tip section of an extendable arm (15) which is movable upward and downward along a support post (13), and the rotating arm (27) moves an X-ray tube (17) upward and downward when a rotating shaft (27a) rotates. The extendable arm (15) can extend or retract in the x direction, and the rotating shaft (27a) can be made to rotate while the extension/retraction state of the extendable arm is being adjusted. In this case, the height of the X-ray tube (17) can be varied in a wider range centered at the support post (13), from a low position near the lower end of the support post (13) to a position higher than the support post (13). Thus, the mobile x-ray imaging apparatus according to the present invention allows the X-ray source to move in a wider range, thereby improving handleability in positioning the X-ray source.

Description

移動型Ｘ線撮影装置Mobile X-ray equipment
　本発明は、被検体に対してＸ線撮影を行う移動可能な移動型Ｘ線撮影装置に関するものである。 The present invention relates to a movable mobile X-ray imaging apparatus that performs X-ray imaging on a subject.
　医療現場では、撮影室まで移動させることが困難な患者に対して、回診によるＸ線撮影を行うことがある。また、手術室などにおいて緊急にＸ線撮影を行うこともある。これらの場合、患者にＸ線撮影を行う装置として、病院内の移動を可能とする移動型Ｘ線撮影装置が用いられている。 In medical practice, X-ray imaging by rounds may be performed for patients who are difficult to move to the imaging room. In addition, X-ray imaging may be performed urgently in an operating room or the like. In these cases, a mobile X-ray imaging apparatus capable of moving in a hospital is used as an apparatus for performing X-ray imaging on a patient.
　移動型Ｘ線撮影装置は主に、左右に駆動車輪が設けられた本体と、Ｘ線を被検体に照射するＸ線管と、Ｘ線管を本体に可動自在に支持するアームと、操作ハンドルとを備えている。駆動車輪は本体の内部に設けられた電動モータによって回転する。本体は駆動車輪の回転に従って前進・後退し、左右の駆動車輪の回転速度差によって左右に旋回する。 The mobile X-ray imaging apparatus mainly includes a main body provided with driving wheels on the left and right sides, an X-ray tube that irradiates a subject with X-rays, an arm that movably supports the X-ray tube on the main body, and an operation handle. And. The driving wheel is rotated by an electric motor provided inside the main body. The main body moves forward and backward according to the rotation of the drive wheel, and turns left and right due to the difference in rotational speed between the left and right drive wheels.
　移動型Ｘ線撮影装置を使用する場合、操作者は操作ハンドルを両手で操作させながら移動型Ｘ線撮影装置の前方または後方に付き添って、Ｘ線撮影対象である患者のいる病室へ移動する。病室へ移動すると、アームを適宜動かしてＸ線管をＸ線撮影に最適な位置へ移動させる。そして被検体に対してＸ線撮影を行ってＸ線画像を取得する。 When using the mobile X-ray imaging apparatus, the operator moves along the front or rear of the mobile X-ray imaging apparatus while operating the operation handle with both hands and moves to the patient room where the patient who is the X-ray imaging target is located. When moving to the hospital room, the arm is appropriately moved to move the X-ray tube to an optimal position for X-ray imaging. Then, X-ray imaging is performed on the subject to acquire an X-ray image.
　ここで、Ｘ線管を支持するアームの方式の主な例としては、アームが多段伸縮機能を有するテレスコピック式（例えば特許文献１）と、アームが折り畳み機能を有するパンタグラフ式とが挙げられる（例えば特許文献２，３）。以下、従来の移動型Ｘ線撮影装置の構成について、テレスコピック式のアームを備える移動型Ｘ線撮影装置１０１を図６（ａ）に示し、パンタグラフ式のアームを備える移動式Ｘ線撮影装置１０１Ａを図７（ａ）に示して説明する。 Here, as main examples of the arm system that supports the X-ray tube, there are a telescopic type in which the arm has a multistage expansion function (for example, Patent Document 1) and a pantograph type in which the arm has a folding function (for example, Patent Documents 2 and 3). Hereinafter, with respect to the configuration of a conventional mobile X-ray imaging apparatus, a mobile X-ray imaging apparatus 101 having a telescopic arm is shown in FIG. 6A, and a mobile X-ray imaging apparatus 101A having a pantograph type arm is shown. This will be described with reference to FIG.
　従来の移動型Ｘ線撮影装置１０１および１０１Ａはいずれも、台車１０３と、操作ハンドル１０５と、支柱１０７とを備えている。台車１０３には一対の駆動車輪１０９と、一対の補助輪１１１とが設けられており、台車１０３は駆動車輪１０９の回転に従って前進・後退する。操作ハンドル１０５の内部には複数の圧力センサが設けられている。圧力センサは操作者が操作ハンドル１０５に加える圧力を検出し、検出された圧力に基づいて台車１０３の移動が制御される。 Conventional mobile X-ray imaging apparatuses 101 and 101A each include a carriage 103, an operation handle 105, and a support column 107. The carriage 103 is provided with a pair of drive wheels 109 and a pair of auxiliary wheels 111, and the carriage 103 moves forward and backward as the drive wheels 109 rotate. A plurality of pressure sensors are provided inside the operation handle 105. The pressure sensor detects the pressure applied by the operator to the operation handle 105, and the movement of the carriage 103 is controlled based on the detected pressure.
　支柱１０７は台車１０３の前方部に立設されており、鉛直軸周りに回転可能である。支柱１０７には、支持機構１１３の基端部が接続されている。支持機構１１３はベアリング１１４ａおよびベアリング１１４ｂを介して支柱１０７に保持されている。そして支持機構１１３は支柱１０７に沿って鉛直方向にスライド移動が可能であり、その先端部にはＸ線管１１５が接続されている。支持機構１１３は移動型Ｘ線撮影装置１０１においてはテレスコピック式のアームであり、移動型Ｘ線撮影装置１０１Ａにおいてはパンタグラフ式のアームである。以下、それぞれのアーム方式における、支持機構１１３の構成について説明する。 The support column 107 is erected on the front part of the carriage 103 and can rotate around the vertical axis. A base end portion of the support mechanism 113 is connected to the support column 107. The support mechanism 113 is held by the support column 107 via a bearing 114a and a bearing 114b. The support mechanism 113 can be slid in the vertical direction along the support column 107, and an X-ray tube 115 is connected to the tip thereof. The support mechanism 113 is a telescopic arm in the mobile X-ray imaging apparatus 101, and a pantograph arm in the mobile X-ray imaging apparatus 101A. Hereinafter, the structure of the support mechanism 113 in each arm system will be described.
　まず、テレスコピック式のアームを備える移動型Ｘ線撮影装置１０１において、支持機構１１３には、それぞれ太さの異なる複数のアーム１１７が入れ子式に組み合わせて構成されている。アーム１１７の各々は水平方向（ｘ方向）に移動可能であり、図６（ｂ）に示すように、アーム１１７の各々を水平方向に出し入れすることによって、支持機構１１３はｘ方向に伸縮する。支持機構１１３の伸縮に連動して、支持機構１１３の先端部に設けられているＸ線管１１５はｘ方向に移動する。また、支持機構１１３を支柱１０７に沿って鉛直方向（ｙ方向）にスライド移動させることにより、Ｘ線管１１５は支持機構１１３に従ってｙ方向へ移動する。このように、テレスコピック式のアームである支持機構１１３によって、Ｘ線管１１５はＸ線撮影に適した位置へ移動する。 First, in the mobile X-ray imaging apparatus 101 including a telescopic arm, the support mechanism 113 is configured by a plurality of arms 117 each having a different thickness being combined in a nested manner. Each of the arms 117 can move in the horizontal direction (x direction). As shown in FIG. 6B, the support mechanism 113 expands and contracts in the x direction by moving each arm 117 in and out in the horizontal direction. In conjunction with the expansion and contraction of the support mechanism 113, the X-ray tube 115 provided at the tip of the support mechanism 113 moves in the x direction. Further, the X-ray tube 115 moves in the y direction according to the support mechanism 113 by sliding the support mechanism 113 in the vertical direction (y direction) along the support column 107. As described above, the X-ray tube 115 is moved to a position suitable for X-ray imaging by the support mechanism 113 which is a telescopic arm.
　次に、パンタグラフ式のアームを備える従来の移動型Ｘ線撮影装置１０１Ａについて説明する。移動型Ｘ線撮影装置１０１Ａにおいて、支持機構１１３は関節構造を備えている。すなわち支持機構１１３の基端部には回転軸１１９ａが設けられており、支持機構１１３の先端部には回転軸１１９ｂが設けられている。回転軸１１９ａおよび１１９ｂはいずれも、ｘ方向に直交する水平方向、すなわちｚ方向の軸周りに回転可能となっている。 Next, a conventional mobile X-ray imaging apparatus 101A having a pantograph arm will be described. In the mobile X-ray imaging apparatus 101A, the support mechanism 113 has a joint structure. That is, the rotation shaft 119 a is provided at the base end portion of the support mechanism 113, and the rotation shaft 119 b is provided at the distal end portion of the support mechanism 113. Both of the rotation shafts 119a and 119b can rotate around the axis in the horizontal direction orthogonal to the x direction, that is, the z direction.
　回転軸１１９ａが回転することにより、支持機構１１３は図７（ｂ）に示すように、基端部を軸点としてｚ方向の軸周りに回転する。支持機構１１３の先端部に接続されているＸ線管１１５は、支持機構１１３の回転に従って、破線で示す位置から実線で示す位置へ昇降移動する。そして回転軸１１９ａの回転にリンクして、回転軸１１９ｂが回転軸１１９ａと逆方向に回転する。回転軸１１９ａおよび回転軸１１９ｂがリンクして回転することにより、Ｘ線管１１５はｘ方向およびｙ方向に位置を変更しつつ、常に水平状態を維持できる。 As the rotation shaft 119a rotates, the support mechanism 113 rotates around the axis in the z direction with the base end as an axis as shown in FIG. 7B. The X-ray tube 115 connected to the distal end portion of the support mechanism 113 moves up and down from the position indicated by the broken line to the position indicated by the solid line as the support mechanism 113 rotates. Then, the rotation shaft 119b rotates in the direction opposite to the rotation shaft 119a in linkage with the rotation of the rotation shaft 119a. When the rotary shaft 119a and the rotary shaft 119b are linked and rotated, the X-ray tube 115 can always maintain a horizontal state while changing its position in the x direction and the y direction.
　また、支持機構１１３を支柱１０７に沿ってｙ方向にスライド移動させることにより、Ｘ線管１１５は支持機構１１３に従ってｙ方向へ移動する。このように、パンタグラフ式のアームである支持機構１１３の回転移動およびスライド移動によって、Ｘ線管１１５はＸ線撮影に適した位置へ移動する。 Further, the X-ray tube 115 moves in the y direction according to the support mechanism 113 by sliding the support mechanism 113 in the y direction along the support column 107. In this manner, the X-ray tube 115 moves to a position suitable for X-ray imaging by the rotational movement and slide movement of the support mechanism 113 that is a pantograph arm.
特開２０１０－９４１６２号公報JP 2010-94162 A 特開２０１１－１９３９９６号公報JP 2011-193996 A 実開平０５－０７６４０６号公報Japanese Utility Model Publication No. 05-076406
　しかしながら、このような構成を有する従来例の場合には、次のような問題がある。
　すなわち、従来例に係る移動型Ｘ線撮影装置では、いずれのアームの方式においても、Ｘ線管１１５の可動範囲の制約が大きいという問題が懸念される。 However, the conventional example having such a configuration has the following problems.
That is, in the mobile X-ray imaging apparatus according to the conventional example, there is a concern that the movable range of the X-ray tube 115 is largely limited in any of the arm systems.
　まず、テレスコピック式のアームを備える移動型Ｘ線撮影装置１０１の問題点を説明する。移動型Ｘ線撮影装置１０１において、ベアリング１１４ａは支持機構１１３の上端部に設けられ、ベアリング１１４ｂは支持機構１１３の下端部に設けられている。そのため図８（ａ）に示すように、支持機構１１３は支柱１０７より高い位置にスライド移動することができない。移動型Ｘ線撮影装置１０１は一般的に病院内を移動するので、支柱１０７の高さは病院内のドアの高さ以下に制限される。その結果、符号Ｒで示されるＸ線管１１５の可動範囲について上限が低くなるので、Ｘ線撮影において要求されるＸ線焦点高さを確保できない場合がある（図９（ａ）、左図）。 First, the problems of the mobile X-ray imaging apparatus 101 having a telescopic arm will be described. In the mobile X-ray imaging apparatus 101, the bearing 114 a is provided at the upper end portion of the support mechanism 113, and the bearing 114 b is provided at the lower end portion of the support mechanism 113. Therefore, as shown in FIG. 8A, the support mechanism 113 cannot slide to a position higher than the support column 107. Since the mobile X-ray imaging apparatus 101 generally moves in a hospital, the height of the support column 107 is limited to the height of the door in the hospital. As a result, the upper limit of the movable range of the X-ray tube 115 indicated by the symbol R becomes lower, and the X-ray focal height required in X-ray imaging may not be ensured (FIG. 9A, left diagram). .
　Ｘ線管１１５の可動範囲Ｒの上限を高くするため、テレスコピック式アームの比較例として、図８（ｂ）に示すような支持機構１１３Ａを備える移動型Ｘ線撮影装置１０１Ｂが挙げられる。支持機構１１３Ａは支持機構１１３と比べて、Ｘ線管１１５を保持する位置が距離Ｇだけ嵩上げされるように構成される。そのため移動型Ｘ線撮影装置１０１Ｂでは、Ｘ線管１１５は支持機構１１３Ａによって、常にベアリング１１４ａより高い位置に保持される。そのため、図８（ｂ）に示すように、Ｘ線管１１５を支柱１０７より高い位置へ移動できる。その結果、Ｘ線管１１５の可動範囲Ｒの上限は、移動型Ｘ線撮影装置１０１の場合より距離Ｇだけ高くなる。 In order to increase the upper limit of the movable range R of the X-ray tube 115, as a comparative example of the telescopic arm, there is a mobile X-ray imaging apparatus 101B having a support mechanism 113A as shown in FIG. The support mechanism 113A is configured such that the position where the X-ray tube 115 is held is raised by a distance G as compared to the support mechanism 113. Therefore, in the mobile X-ray imaging apparatus 101B, the X-ray tube 115 is always held at a position higher than the bearing 114a by the support mechanism 113A. Therefore, as shown in FIG. 8B, the X-ray tube 115 can be moved to a position higher than the support column 107. As a result, the upper limit of the movable range R of the X-ray tube 115 is higher by the distance G than in the case of the mobile X-ray imaging apparatus 101.
　しかしながらこの場合、図８（ｃ）に示すように、支持機構１１３Ａを支柱１０７の下端に移動させた場合であっても、Ｘ線管１１５の位置は支柱１０７の下端より高さＧだけ高くなる。そのため、比較例に係る従来の移動型Ｘ線撮影装置１０１Ｂでは、Ｘ線管１１５の可動範囲Ｒの下限も高さＧだけ高くなるというトレードオフが発生する（図９（ａ）、右図）。 However, in this case, as shown in FIG. 8C, even when the support mechanism 113 </ b> A is moved to the lower end of the support column 107, the position of the X-ray tube 115 is higher than the lower end of the support column 107 by the height G. . Therefore, in the conventional mobile X-ray imaging apparatus 101B according to the comparative example, a trade-off occurs that the lower limit of the movable range R of the X-ray tube 115 is also increased by the height G (FIG. 9A, right diagram). .
　次に、パンダグラフ式のアームを備える移動型Ｘ線撮影装置１０１Ａの問題点を説明する。移動型Ｘ線撮影装置１０１Ａでは図１０（ａ）に示すように、支持機構１１３を支柱１０７に沿って上昇させた状態で回転軸１１９ａを回転させることにより、Ｘ線管１１５の位置は支柱１０７より高くなる。また、回転軸１１９ａを回転させずに支持機構１１３を支柱１０７に沿って下降させることにより、図１０（ｂ）に示すように、Ｘ線管１１５の位置は支柱１０７の下端と略同じ高さとなる。従って、移動型Ｘ線撮影装置１０１ＡではＸ線管１１５の可動範囲Ｒの下限を低く維持しつつ、可動範囲Ｒの上限を高くすることができる。 Next, problems of the mobile X-ray imaging apparatus 101A having a pandagraph type arm will be described. In the mobile X-ray imaging apparatus 101A, as shown in FIG. 10A, the rotation shaft 119a is rotated in a state where the support mechanism 113 is lifted along the support column 107, whereby the position of the X-ray tube 115 is changed to the support column 107. Get higher. Further, by lowering the support mechanism 113 along the support column 107 without rotating the rotating shaft 119a, the position of the X-ray tube 115 is substantially the same height as the lower end of the support column 107, as shown in FIG. Become. Therefore, in the mobile X-ray imaging apparatus 101A, the upper limit of the movable range R can be increased while keeping the lower limit of the movable range R of the X-ray tube 115 low.
　しかし、移動型Ｘ線撮影装置１０１Ａでは、回転軸１１９ａの回転によって支持機構１１３は回転移動する結果、Ｘ線管１１５は曲線的に移動する。そのため、Ｘ線管１１５の位置を支柱１０７より高くする場合、Ｘ線管１１５のｘ方向の座標位置は支柱１０７により近くなる。従って、支柱１０７からｘ方向に離れた位置では、Ｘ線管１１５の位置を支柱１０７より高くすることはできない。 However, in the mobile X-ray imaging apparatus 101A, the support mechanism 113 rotates by the rotation of the rotating shaft 119a, and as a result, the X-ray tube 115 moves in a curve. Therefore, when the position of the X-ray tube 115 is made higher than the column 107, the coordinate position in the x direction of the X-ray tube 115 is closer to the column 107. Accordingly, the position of the X-ray tube 115 cannot be made higher than that of the column 107 at a position away from the column 107 in the x direction.
　一方、回転軸１１９ａを回転させず、Ｘ線管１１５の高さを低くする場合、Ｘ線管１１５のｘ方向の座標位置は支柱１０７から遠くなる。従って、支柱１０７からｘ方向に近い位置において、Ｘ線管１１５位置を所定の高さより低くすることができない。すなわち図９（ｂ）に示すように、移動型Ｘ線撮影装置１０１ＡにおけるＸ線管１１５の可動範囲Ｒは平行四辺形に近くなる。このように、従来例に係る移動型Ｘ線撮影装置ではアームの形式に関わらず、Ｘ線管１１５の可動範囲Ｒの制約が大きい。そのため、Ｘ線管１１５をＸ線撮影に最適な位置へ移動させることが困難となる場合がある。 On the other hand, when the rotational axis 119a is not rotated and the height of the X-ray tube 115 is lowered, the coordinate position of the X-ray tube 115 in the x direction is far from the column 107. Therefore, the position of the X-ray tube 115 cannot be made lower than a predetermined height at a position close to the x direction from the support column 107. That is, as shown in FIG. 9B, the movable range R of the X-ray tube 115 in the movable X-ray imaging apparatus 101A is close to a parallelogram. Thus, in the mobile X-ray imaging apparatus according to the conventional example, the restriction on the movable range R of the X-ray tube 115 is large regardless of the type of the arm. For this reason, it may be difficult to move the X-ray tube 115 to an optimal position for X-ray imaging.
　さらに支持機構１１３がパンタグラフ式である場合、図１１に示すように、回転移動する支持機構１１３が、ベッドの柵を例とする障害物Ｐと干渉することがある。この場合、支持機構１１３をこれ以上低い位置へスライド移動させることや、支柱１０７からｘ方向に遠い位置へ支持機構１１３を回転移動させることができない。その結果、再度操作ハンドル１０５を操作して台車１０３を移動させる必要があるので、操作が煩雑となる。また、Ｘ線撮影の所要時間が長くなる。 Furthermore, when the support mechanism 113 is a pantograph type, as shown in FIG. 11, the support mechanism 113 that rotates may interfere with an obstacle P such as a bed fence. In this case, the support mechanism 113 cannot be slid to a lower position or the support mechanism 113 cannot be rotated to a position far from the support column 107 in the x direction. As a result, the operation handle 105 needs to be operated again to move the carriage 103, which makes the operation complicated. In addition, the time required for X-ray imaging becomes longer.
　本発明は、このような事情に鑑みてなされたものであって、支柱の高さを所定以下に抑えつつ、Ｘ線管の可動範囲がより広い移動型Ｘ線撮影装置を提供することを目的とする。 The present invention has been made in view of such circumstances, and an object of the present invention is to provide a mobile X-ray imaging apparatus having a wider movable range of the X-ray tube while suppressing the height of the support column to a predetermined level or less. And
　本発明は、このような目的を達成するために、次のような構成をとる。
　すなわち、本発明に係る移動型Ｘ線撮影装置は、Ｘ線を発生させるＸ線源と、移動可能な台車と、前記台車に立設された支柱と、前記支柱に沿って昇降移動可能に設けられ、第１の水平方向に伸縮する伸縮アームと、前記伸縮アームの先端側に設けられ、前記Ｘ線源を保持するＸ線源保持アームとを備え、前記Ｘ線源保持アームは、前記Ｘ線源を昇降移動させるＸ線源移動手段を備えることを特徴とするものである。 In order to achieve such an object, the present invention has the following configuration.
That is, the mobile X-ray imaging apparatus according to the present invention is provided with an X-ray source that generates X-rays, a movable carriage, a support erected on the carriage, and movable up and down along the support. A telescopic arm that expands and contracts in the first horizontal direction, and an X-ray source holding arm that is provided on a distal end side of the telescopic arm and holds the X-ray source, X-ray source moving means for moving the radiation source up and down is provided.
　本発明に係る移動型Ｘ線撮影装置によれば、Ｘ線源保持アームに備えられるＸ線源移動手段は、Ｘ線源を昇降移動させる。Ｘ線源を保持するＸ線源保持アームは、支柱に沿って昇降移動する伸縮アームの先端部に設けられる。そのため、伸縮アームを支柱に沿って上昇させた状態で、Ｘ線源移動手段がＸ線源を上方へ移動させることにより、Ｘ線源を支柱より高い位置へ移動させることができる。 According to the mobile X-ray imaging apparatus according to the present invention, the X-ray source moving means provided in the X-ray source holding arm moves the X-ray source up and down. An X-ray source holding arm that holds the X-ray source is provided at a distal end portion of a telescopic arm that moves up and down along the support column. Therefore, the X-ray source can be moved to a position higher than the column by the X-ray source moving means moving the X-ray source upward with the telescopic arm raised along the column.
　また、伸縮アームは第１の水平方向へ伸縮する。そのため伸縮アームの伸縮状態を調節しつつ、Ｘ線源移動手段を作動させることにより、支柱に近い場合および支柱から第１の水平方向に遠い場合のいずれにおいても、支柱の高さより高い位置へＸ線源を移動できる。従って、支柱を中心とする広い範囲において、より高いＸ線焦点の高さを確保できる。 Also, the telescopic arm expands and contracts in the first horizontal direction. Therefore, by operating the X-ray source moving means while adjusting the expansion / contraction state of the expansion / contraction arm, it is possible to move the X to a position higher than the height of the column, both when it is close to the column and when it is far from the column in the first horizontal direction. You can move the source. Therefore, a higher X-ray focal point height can be ensured in a wide range centering on the column.
　一方、Ｘ線焦点の高さを低くする場合は、Ｘ線源移動手段を作動させずに伸縮アームを支柱に沿って下方へ移動させる。この場合に伸縮アームの伸縮状態を調節することにより、支柱に近い場合および支柱から第１の水平方向に遠い場合のいずれにおいても、Ｘ線源の位置を低くすることができる。本発明に係る移動型Ｘ線撮影装置ではこのように、Ｘ線源の可動範囲がより広くなるので、Ｘ線源の位置決めにおける操作性を向上させることができる。 On the other hand, when the height of the X-ray focal point is lowered, the telescopic arm is moved downward along the column without operating the X-ray source moving means. In this case, by adjusting the expansion / contraction state of the telescopic arm, the position of the X-ray source can be lowered both in the case of being close to the column and in the case of being far from the column in the first horizontal direction. Thus, in the mobile X-ray imaging apparatus according to the present invention, the movable range of the X-ray source becomes wider, so that the operability in positioning the X-ray source can be improved.
　また、本発明に係る移動型Ｘ線撮影装置において、前記Ｘ線源移動手段は前記第１の水平方向に直交する第２の水平方向の軸周りに回転する回転軸であり、前記Ｘ線源保持アームは前記回転軸を軸点として前記第２の水平方向の軸周りに回転するパンタグラフ式のアームであることが好ましい。 In the mobile X-ray imaging apparatus according to the present invention, the X-ray source moving means is a rotating shaft that rotates around a second horizontal axis orthogonal to the first horizontal direction. The holding arm is preferably a pantograph arm that rotates around the second horizontal axis about the rotation axis.
　本発明に係る移動型Ｘ線撮影装置によれば、Ｘ線源保持アームは、回転軸を軸点として第２の水平方向の軸周りに回転するパンタグラフ式のアームである。Ｘ線源移動手段は第２の水平方向の軸周りに回転する回転軸である。そのため回転軸の回転により、Ｘ線源保持アームは回転軸を軸点として第２の水平方向の軸周りに回転する。その結果、Ｘ線源保持アームに保持されるＸ線源は昇降移動する。 According to the mobile X-ray imaging apparatus according to the present invention, the X-ray source holding arm is a pantograph-type arm that rotates around the second horizontal axis about the rotation axis. The X-ray source moving means is a rotating shaft that rotates around a second horizontal axis. Therefore, the X-ray source holding arm rotates about the second horizontal axis about the rotation axis as the rotation axis rotates. As a result, the X-ray source held by the X-ray source holding arm moves up and down.
　すなわち、伸縮アームを支柱に沿って上昇させた状態で回転軸を回転させることにより、Ｘ線源を支柱より高い位置へ移動させることができる。一方、Ｘ線焦点の高さを低くする場合は、回転軸を回転させずに伸縮アームを支柱に沿って下降させる。また、伸縮アームの伸縮状態を調節することにより、支柱を中心とする広い範囲においてＸ線源の高さを調整できる。その結果、Ｘ線源の可動範囲がより広くなるので、Ｘ線源の位置決めにおける操作性を向上させることができる。 That is, the X-ray source can be moved to a position higher than the column by rotating the rotating shaft with the extendable arm raised along the column. On the other hand, when reducing the height of the X-ray focal point, the telescopic arm is lowered along the column without rotating the rotating shaft. Further, by adjusting the expansion / contraction state of the expansion / contraction arm, the height of the X-ray source can be adjusted in a wide range centering on the support column. As a result, the movable range of the X-ray source becomes wider, so that the operability in positioning the X-ray source can be improved.
　また、本発明に係る移動型Ｘ線撮影装置において、前記Ｘ線源移動手段は、前記Ｘ線源保持アームを昇降移動させる昇降機構であることが好ましい。 In the mobile X-ray imaging apparatus according to the present invention, it is preferable that the X-ray source moving means is a lifting mechanism that moves the X-ray source holding arm up and down.
　本発明に係る移動型Ｘ線撮影装置によれば、Ｘ線源移動手段はＸ線源保持アームを昇降移動させる昇降機構である。Ｘ線源保持アームを昇降移動させることにより、Ｘ線源はＸ線源保持アームに連動して昇降移動する。そのため、伸縮アームを支柱に沿って上昇させた状態でＸ線源保持アームを上昇させることにより、Ｘ線源を支柱より高い位置へ移動させることができる。また、伸縮アームの伸縮状態を調節することにより、支柱を中心とする広い範囲においてＸ線源の高さを調整できる。その結果、Ｘ線源の可動範囲がより広くなるので、Ｘ線源の位置決めにおける操作性を向上させることができる。 According to the mobile X-ray imaging apparatus according to the present invention, the X-ray source moving means is an elevating mechanism that moves the X-ray source holding arm up and down. By moving the X-ray source holding arm up and down, the X-ray source moves up and down in conjunction with the X-ray source holding arm. Therefore, the X-ray source can be moved to a higher position than the support by raising the X-ray source holding arm in a state where the extendable arm is raised along the support. Further, by adjusting the expansion / contraction state of the expansion / contraction arm, the height of the X-ray source can be adjusted in a wide range centering on the support column. As a result, the movable range of the X-ray source becomes wider, so that the operability in positioning the X-ray source can be improved.
　また、本発明に係る移動型Ｘ線撮影装置において、前記伸縮アームはテレスコピック構造を有することが好ましい。 In the mobile X-ray imaging apparatus according to the present invention, it is preferable that the telescopic arm has a telescopic structure.
　本発明に係る移動型Ｘ線撮影装置によれば、伸縮アームはテレスコピック構造を有する。テレスコピック構造は複数のアームが入れ子状に組み合わされた構造であり、各々のアームを出し入れすることにより伸縮する。そのため伸縮アームの構成をコンパクトにしつつ、第１の水平方向への伸縮距離を大きくとることができる。そのため、移動型Ｘ線撮影装置の大型化を回避できるとともに、Ｘ線源の可動範囲をより広くすることができる。 According to the mobile X-ray imaging apparatus according to the present invention, the telescopic arm has a telescopic structure. The telescopic structure is a structure in which a plurality of arms are combined in a nested manner, and expands and contracts by inserting and removing each arm. Therefore, it is possible to increase the extension distance in the first horizontal direction while making the configuration of the extension arm compact. Therefore, it is possible to avoid an increase in the size of the mobile X-ray imaging apparatus and to further increase the movable range of the X-ray source.
　また、本発明に係る移動型Ｘ線撮影装置において、前記Ｘ線源移動手段は、前記伸縮アームが前記第１の水平方向に伸長した状態において前記Ｘ線源の昇降移動を可能とすることが好ましい。 In the mobile X-ray imaging apparatus according to the present invention, the X-ray source moving means may allow the X-ray source to move up and down in a state where the telescopic arm extends in the first horizontal direction. preferable.
　本発明に係る移動型Ｘ線撮影装置によれば、Ｘ線源移動手段は、伸縮アームが第１の水平方向に伸長した状態においてＸ線源の昇降移動を可能とする。この場合、伸長アームの伸長によりＸ線源は第１の水平方向へ移動する。そのため、Ｘ線管は支柱から第１の水平方向により離れ、かつ支柱より高い位置へ移動する。従って、従来では移動が困難であった位置へＸ線源を移動させることが可能となるので、Ｘ線源の位置決めにおける操作性をより向上させることができる。 According to the mobile X-ray imaging apparatus according to the present invention, the X-ray source moving means enables the X-ray source to move up and down in a state where the telescopic arm is extended in the first horizontal direction. In this case, the X-ray source moves in the first horizontal direction by extension of the extension arm. Therefore, the X-ray tube moves away from the column in the first horizontal direction and moves to a position higher than the column. Therefore, since the X-ray source can be moved to a position that has been difficult to move in the past, the operability in positioning the X-ray source can be further improved.
　本発明に係る移動型Ｘ線撮影装置によれば、Ｘ線源保持アームに備えられるＸ線源移動手段は、Ｘ線源を昇降移動させる。Ｘ線源保持アームは、支柱に沿って昇降移動する伸縮アームの先端部に設けられる。そのため、伸縮アームを支柱に沿って上方へ移動させた状態でＸ線源移動手段によってＸ線源を上方へ移動させることにより、Ｘ線源を支柱より高い位置へ移動させることができる。 According to the mobile X-ray imaging apparatus according to the present invention, the X-ray source moving means provided in the X-ray source holding arm moves the X-ray source up and down. The X-ray source holding arm is provided at the distal end of an extendable arm that moves up and down along the support column. Therefore, the X-ray source can be moved to a position higher than the column by moving the X-ray source upward by the X-ray source moving means with the telescopic arm moved upward along the column.
　また、伸縮アームは第１の水平方向へ伸縮する。そのため伸縮アームの伸縮状態を調節しつつ、Ｘ線源移動手段を作動させることにより、支柱に近い場合および支柱から第１の水平方向に遠い場合のいずれにおいても、支柱の高さより高い位置へＸ線源を移動できる。従って、支柱を中心とする広い範囲において、より高いＸ線焦点の高さを確保できる。 Also, the telescopic arm expands and contracts in the first horizontal direction. Therefore, by operating the X-ray source moving means while adjusting the expansion / contraction state of the expansion / contraction arm, it is possible to move the X to a position higher than the height of the column, both when it is close to the column and when it is far from the column in the first horizontal direction. You can move the source. Therefore, a higher X-ray focal point height can be ensured in a wide range centering on the column.
　一方、Ｘ線焦点の高さを低くする場合は、Ｘ線源移動手段を作動させずに伸縮アームを支柱に沿って下方へ移動させる。この場合に伸縮アームの伸縮状態を調節することにより、支柱に近い場合および支柱から第１の水平方向に遠い場合のいずれにおいても、Ｘ線源の位置を低くすることができる。本発明に係る移動型Ｘ線撮影装置ではこのように、Ｘ線源の可動範囲がより広くなるので、Ｘ線源の位置決めにおける操作性を向上させることができる。 On the other hand, when the height of the X-ray focal point is lowered, the telescopic arm is moved downward along the column without operating the X-ray source moving means. In this case, by adjusting the expansion / contraction state of the telescopic arm, the position of the X-ray source can be lowered both in the case of being close to the column and in the case of being far from the column in the first horizontal direction. Thus, in the mobile X-ray imaging apparatus according to the present invention, the movable range of the X-ray source becomes wider, so that the operability in positioning the X-ray source can be improved.
実施例に係る移動型Ｘ線撮影装置の構成を説明する概略図である。It is the schematic explaining the structure of the mobile X-ray imaging apparatus which concerns on an Example. 実施例に係る伸縮アームの構成を説明する図である。（ａ）は内蔵アームおよび回転アームを水平方向に引き出した状態を示す図であり、（ｂ）は水平方向に引き出した回転アームを、さらに屈曲させた状態を示す図であり、（ｃ）は内蔵アームを外殻アームに収納した状態で回転アームを屈曲させた図である。It is a figure explaining the structure of the expansion-contraction arm which concerns on an Example. (A) is a figure which shows the state which pulled out the built-in arm and the rotation arm in the horizontal direction, (b) is a figure which shows the state which further bent the rotation arm pulled out in the horizontal direction, (c) It is the figure which bent the rotation arm in the state which accommodated the built-in arm in the outer shell arm. 実施例に係る伸縮アームの構成を説明する図である。（ａ）は伸縮アームの伸長状態におけるＸ線管の可動範囲の上限を示す図であり、（ｂ）は伸縮アームの収縮状態におけるＸ線管の可動範囲の上限を示す図であり、（ｃ）は伸縮アームの伸長状態におけるＸ線管の可動範囲の下限を示す図であり、（ｄ）は伸縮アームの収縮状態におけるＸ線管の可動範囲の下限を示す図である。It is a figure explaining the structure of the expansion-contraction arm which concerns on an Example. (A) is a figure which shows the upper limit of the movable range of the X-ray tube in the expansion | extension state of an expansion-contraction arm, (b) is a figure which shows the upper limit of the movable range of the X-ray tube in the contraction state of an expansion-contraction arm, (c (A) is a figure which shows the minimum of the movable range of the X-ray tube in the expansion | extension state of an expansion-contraction arm, (d) is a figure which shows the minimum of the movable range of the X-ray tube in the contraction state of an expansion / contraction arm. （ａ）は従来例に係る、テレスコピック式のアームを備える移動型Ｘ線撮影装置において、Ｘ線管の可動範囲を示す図であり、（ｂ）は実施例に係る移動型Ｘ線撮影装置において、Ｘ線管の可動範囲を示す図である。(A) is a figure which shows the movable range of an X-ray tube in a mobile X-ray imaging apparatus provided with a telescopic arm according to a conventional example, and (b) is a mobile X-ray imaging apparatus according to an embodiment. It is a figure which shows the movable range of an X-ray tube. 変形例に係る移動型Ｘ線撮影装置の構成を説明する概略図である。（ａ）は昇降アームを上昇させる前の状態を説明する概略図であり、（ｂ）は昇降アームを上昇させた後の状態を説明する概略図である。It is the schematic explaining the structure of the mobile X-ray imaging apparatus which concerns on a modification. (A) is the schematic explaining the state before raising an raising / lowering arm, (b) is the schematic explaining the state after raising an raising / lowering arm. 、従来例に係る、テレスコピック式のアームを備える移動型Ｘ線撮影装置の構成を説明する概略図である。（ａ）は移動型Ｘ線撮影装置の概略構成を説明する側面図であり、（ｂ）はテレスコピック式のアームの構成を説明する側面図である。It is the schematic explaining the structure of the movement type X-ray imaging apparatus provided with a telescopic arm based on a prior art example. (A) is a side view explaining the schematic structure of a mobile X-ray imaging apparatus, (b) is a side view explaining the structure of a telescopic arm. 従来例に係る、パンタグラフ式のアームを備える移動型Ｘ線撮影装置の構成を説明する概略図である。（ａ）は移動型Ｘ線撮影装置の概略構成を説明する側面図であり、（ｂ）はパンタグラフ式のアームの構成を説明する側面図である。It is the schematic explaining the structure of the movement type X-ray imaging apparatus provided with a pantograph-type arm based on a prior art example. (A) is a side view explaining the schematic structure of a mobile X-ray imaging apparatus, (b) is a side view explaining the structure of a pantograph-type arm. 従来例に係る移動型Ｘ線撮影装置の問題点を説明する概略図である。（ａ）はテレスコピック式の装置においてＸ線管の可動範囲の上限を示す図であり、（ｂ）は比較例に係る従来のテレスコピック式の装置においてＸ線管の可動範囲の上限を示す図であり、（ｃ）は比較例に係る従来のテレスコピック式の装置においてＸ線管の可動範囲の下限を示す図である。It is the schematic explaining the problem of the mobile X-ray imaging apparatus which concerns on a prior art example. (A) is a figure which shows the upper limit of the movable range of an X-ray tube in a telescopic type apparatus, (b) is a figure which shows the upper limit of the movable range of an X-ray tube in the conventional telescopic type apparatus which concerns on a comparative example. (C) is a figure which shows the minimum of the movable range of an X-ray tube in the conventional telescopic type apparatus which concerns on a comparative example. 従来例に係る移動型Ｘ線撮影装置において、Ｘ線管の可動範囲を示す図である。（ａ）はテレスコピック式、（ｂ）は比較例に係る従来のテレスコピック式、（ｃ）はパンタグラフ式のアームを備える移動型Ｘ線撮影装置である。In the mobile X-ray imaging apparatus which concerns on a prior art example, it is a figure which shows the movable range of an X-ray tube. (A) is a telescopic type, (b) is a conventional telescopic type according to a comparative example, and (c) is a mobile X-ray imaging apparatus provided with a pantograph type arm. 従来例に係る移動型Ｘ線撮影装置の問題点を説明する概略図である。（ａ）はパンタグラフ式の装置においてＸ線管の可動範囲の上限を示す図であり、（ｂ）はパンタグラフ式の装置においてＸ線管の可動範囲の下限を示す図である。It is the schematic explaining the problem of the mobile X-ray imaging apparatus which concerns on a prior art example. (A) is a figure which shows the upper limit of the movable range of an X-ray tube in a pantograph-type apparatus, (b) is a figure which shows the minimum of the movable range of an X-ray tube in a pantograph-type apparatus. 従来例に係るパンタグラフ式の移動型Ｘ線撮影装置が障害物と干渉する状況を説明する図である。It is a figure explaining the condition where the pantograph type mobile X-ray imaging apparatus according to the conventional example interferes with an obstacle.
　以下、図面を参照して本発明の実施例を説明する。 Embodiments of the present invention will be described below with reference to the drawings.
＜全体構成の説明＞
　実施例に係る移動型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、操作ハンドル９と、操作パネル１１と、支柱１３と、伸縮アーム１５と、Ｘ線管１７と、コリメータ１９とを備えている。 <Description of overall configuration>
As shown in FIG. 1, the mobile X-ray imaging apparatus 1 according to the embodiment includes a carriage 3, a drive wheel 5, an auxiliary wheel 7, an operation handle 9, an operation panel 11, a column 13, and a telescopic arm 15. And an X-ray tube 17 and a collimator 19.
　台車３の後方下部の左右には駆動車輪５が１つずつ設けられている。台車３は駆動車輪５の回転に従って前進・後退し、左右の駆動車輪５の回転速度差によって左右に旋回する。駆動車輪５は、台車３の内部に設けられた電動モータによって回転するように構成されている。補助輪７は台車３の前方下部の左右に１つずつ設けられており、台車３の旋回方向に従って左右に旋回する。 One drive wheel 5 is provided on each of the left and right sides of the rear lower part 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. The drive wheel 5 is configured to rotate by an electric motor provided inside the carriage 3. One auxiliary wheel 7 is provided on each of the left and right front lower portions of the carriage 3 and turns left and right according to the turning direction of the carriage 3.
　操作ハンドル９には複数の圧力センサが設けられている。圧力センサは操作者が操作ハンドル９を握って台車３を操作する場合に、操作ハンドル９に加える圧力を検出し、駆動車輪５の回転方向および回転速度を制御させる。操作パネル１１は台車３の後方に設けられており、管電圧・管電流を例とするＸ線撮影条件を設定する操作器や、Ｘ線撮影用のスイッチなどを備えている。操作パネル１１の構成としては、例えばタッチ入力式やキーボード入力式のパネルなどが挙げられる。 The operation handle 9 is provided with a plurality of pressure sensors. The pressure sensor detects the pressure applied to the operation handle 9 when the operator operates the carriage 3 while holding the operation handle 9, and controls the rotation direction and the rotation speed of the drive wheel 5. The operation panel 11 is provided behind the carriage 3 and includes an operation device for setting X-ray imaging conditions such as tube voltage and tube current, a switch for X-ray imaging, and the like. Examples of the configuration of the operation panel 11 include a touch input type keyboard and a keyboard input type panel.
　支柱１３は台車３の前方部に立設されており、鉛直軸周りに回転可能となるように構成されている。支柱１３には伸縮アーム１５が設けられている。具体的には、ベアリング２１を介して伸縮アーム１５の基端部が支柱１３に保持されている。伸縮アーム１５は支柱１３に沿って、ｙ方向すなわち鉛直方向へスライド移動が可能となるように構成されている。また、伸縮アーム１５は後述する機構により、水平方向（ｘ方向）へ伸縮可能に構成される。ｘ方向は、本発明における第１の水平方向に相当する。 The support column 13 is erected on the front part of the carriage 3 and is configured to be rotatable around the vertical axis. A telescopic arm 15 is provided on the column 13. Specifically, the base end portion of the telescopic arm 15 is held by the support column 13 via the bearing 21. The telescopic arm 15 is configured to be slidable in the y direction, that is, the vertical direction along the support column 13. The extendable arm 15 is configured to be extendable and contractable in the horizontal direction (x direction) by a mechanism described later. The x direction corresponds to the first horizontal direction in the present invention.
　伸縮アーム１５の先端部には、Ｘ線管１７が接続保持されている。Ｘ線管１７は、伸縮アーム１５の軸周りに回転可能となるように構成されている。そしてＸ線管１７は、操作パネル１１において設定されたＸ線撮影条件に従ってＸ線を照射させる。コリメータ１９はＸ線管１７の下部に設けられている。コリメータ１９は２対の可動制限羽根を備えており、各々の可動制限羽根を開閉させることにより、Ｘ線管１７から照射されるＸ線の照射野を調整する。Ｘ線管１７は本発明におけるＸ線源に相当する。 The X-ray tube 17 is connected and held at the tip of the telescopic arm 15. The X-ray tube 17 is configured to be rotatable around the axis of the telescopic arm 15. The X-ray tube 17 irradiates X-rays according to the X-ray imaging conditions set on the operation panel 11. The collimator 19 is provided below the X-ray tube 17. The collimator 19 includes two pairs of movable restriction blades, and adjusts the X-ray irradiation field emitted from the X-ray tube 17 by opening and closing each movable restriction blade. The X-ray tube 17 corresponds to the X-ray source in the present invention.
＜伸縮アームの構成＞
　ここで、伸縮アーム１５の構成について詳細に説明する。図２（ａ）に示すように、伸縮アーム１５はいわゆるテレスコピック方式のアームであり、外殻アーム２３、内蔵アーム２５、および回転アーム２７によって構成される。なお、実施例において、伸縮アーム１５に設けられる内蔵アーム２５の数は１つであるものとして説明する。具体的には外殻アーム２３の内側に内蔵アーム２５が設けられ、内蔵アーム２５のさらに内側に回転アーム２７が設けられている。支柱１３は外殻アーム２３の基端部に接続されており、Ｘ線管１７は回転アーム２７の先端部に接続保持されている。回転アーム２７は本発明におけるＸ線源保持アームに相当する。 <Configuration of telescopic arm>
Here, the configuration of the telescopic arm 15 will be described in detail. As shown in FIG. 2A, the telescopic arm 15 is a so-called telescopic arm, and includes an outer shell arm 23, a built-in arm 25, and a rotating arm 27. In the embodiment, description will be made assuming that the number of the built-in arms 25 provided in the telescopic arm 15 is one. Specifically, a built-in arm 25 is provided inside the outer shell arm 23, and a rotating arm 27 is provided further inside the built-in arm 25. The support column 13 is connected to the proximal end portion of the outer shell arm 23, and the X-ray tube 17 is connected and held at the distal end portion of the rotary arm 27. The rotary arm 27 corresponds to the X-ray source holding arm in the present invention.
　外殻アーム２３と内蔵アーム２５の間、および内蔵アーム２５と回転アーム２７の間のそれぞれにはコロ２９が設けられている。内蔵アーム２５および回転アーム２７の各々は、コロ２９の動作によって水平方向（ｘ方向）に出し入れ可能に構成されている。内蔵アーム２５および回転アーム２７のそれぞれをｘ方向に引き出すことによって、Ｘ線管１７およびコリメータ１９の各々の位置はｘ方向に移動する。また、伸縮アーム１５が支柱１３に沿って昇降移動することにより、Ｘ線管１７およびコリメータ１９の各々は伸縮アーム１５に連動してｙ方向に移動する。 Rollers 29 are provided between the outer shell arm 23 and the built-in arm 25 and between the built-in arm 25 and the rotating arm 27, respectively. Each of the built-in arm 25 and the rotary arm 27 is configured to be able to be taken in and out in the horizontal direction (x direction) by the operation of the roller 29. By pulling out each of the built-in arm 25 and the rotating arm 27 in the x direction, the positions of the X-ray tube 17 and the collimator 19 are moved in the x direction. Further, when the telescopic arm 15 moves up and down along the support column 13, each of the X-ray tube 17 and the collimator 19 moves in the y direction in conjunction with the telescopic arm 15.
　回転アーム２７は伸縮アーム１５の最も内側に設けられている。そして、内蔵アーム２５および回転アーム２７をｘ方向に引き出した場合、図２（ａ）に示すように、回転アーム２７が伸縮アーム１５の先端部となるように構成される。すなわち、多段伸縮式の伸縮アーム１５において、回転アーム２７は最終段のアームに相当する。 The rotary arm 27 is provided on the innermost side of the telescopic arm 15. When the built-in arm 25 and the rotary arm 27 are pulled out in the x direction, the rotary arm 27 is configured to be the tip of the telescopic arm 15 as shown in FIG. That is, in the multistage telescopic arm 15, the rotary arm 27 corresponds to the final stage arm.
　回転アーム２７はいわゆるパンタグラフ式のアームであり、関節構造を備えている。具体的には、回転アーム２７の基端部に回転軸２７ａが設けられており、回転アーム２７の先端部に回転軸２７ｂが設けられている。回転アーム２７をｘ方向に引き出すことにより、回転軸２７ａおよび回転軸２７ｂの各々は外殻アーム２３から露出する。回転軸２７ａおよび２７ｂはいずれも、ｘ方向に直交する水平方向、すなわちｚ方向の軸周りに回転可能となっている。ｚ方向は、本発明における第２の水平方向に相当する。 The rotary arm 27 is a so-called pantograph type arm and has a joint structure. Specifically, a rotating shaft 27 a is provided at the base end portion of the rotating arm 27, and a rotating shaft 27 b is provided at the distal end portion of the rotating arm 27. By pulling out the rotating arm 27 in the x direction, each of the rotating shaft 27 a and the rotating shaft 27 b is exposed from the outer shell arm 23. Both of the rotation shafts 27a and 27b can rotate around a horizontal direction orthogonal to the x direction, that is, an axis in the z direction. The z direction corresponds to the second horizontal direction in the present invention.
　図２（ｂ）に示すように、外殻アーム２３から露出した回転軸２７ａが回転することにより、回転アーム２７は回転軸２７ａを軸点としてｚ方向の軸周りに回転する。回転アーム２７の先端部に接続されているＸ線管１７およびコリメータ１９の各々は、回転アーム２７の回転に従って、破線で示す位置から実線で示す位置へ曲線的に移動する。回転軸２７ａは、本発明におけるＸ線源移動手段に相当する。 As shown in FIG. 2B, when the rotating shaft 27a exposed from the outer shell arm 23 rotates, the rotating arm 27 rotates around the axis in the z direction with the rotating shaft 27a as an axis point. Each of the X-ray tube 17 and the collimator 19 connected to the tip of the rotating arm 27 moves in a curved manner from the position indicated by the broken line to the position indicated by the solid line in accordance with the rotation of the rotating arm 27. The rotating shaft 27a corresponds to the X-ray source moving means in the present invention.
　そして回転軸２７ａの回転にリンクして、回転軸２７ｂは回転軸２７ａと逆の方向に回転する。そのため、回転アーム２７は回転軸２７ａおよび回転軸２７ｂを支点として、互いに逆方向に蝶番運動を行う。その結果、回転アーム２７は全体として、回転軸２７ａおよび回転軸２７ｂを支点として略Ｓ字型に屈曲し、Ｘ線管１７を昇降移動させる。 Then, linked to the rotation of the rotating shaft 27a, the rotating shaft 27b rotates in the opposite direction to the rotating shaft 27a. Therefore, the rotary arm 27 performs a hinge motion in opposite directions with the rotary shaft 27a and the rotary shaft 27b as fulcrums. As a result, the rotary arm 27 as a whole is bent into a substantially S shape with the rotary shaft 27a and the rotary shaft 27b as fulcrums, and moves the X-ray tube 17 up and down.
　また、回転アーム２７はＸ線管１７およびコリメータ１９の重量を支える図示しない反発機構を備えている。反発機構の例としては、例えばガススプリングであり、反発機構によって重量バランスをとることができる。回転軸２７ｂが回転軸２７ａとリンクして回転することにより、Ｘ線管１７は水平状態を維持しつつ、安定な体勢で昇降移動を行うことができる。 The rotary arm 27 is provided with a repulsion mechanism (not shown) that supports the weight of the X-ray tube 17 and the collimator 19. An example of the repulsion mechanism is a gas spring, for example, and the weight balance can be achieved by the repulsion mechanism. When the rotary shaft 27b is linked to the rotary shaft 27a and rotates, the X-ray tube 17 can move up and down with a stable posture while maintaining a horizontal state.
　回転軸２７ａがｚ方向の軸周りに回転することにより、Ｘ線管１７は回転軸２７ａと同じ高さの位置（破線で示す位置）から、回転軸２７ａより高い位置（実線で示す位置）へと移動する。すなわち、伸縮アーム１５を支柱１３に沿って上昇させ、さらに回転軸２７ａをｚ方向の軸周りに回転させることにより、Ｘ線管１７は支柱１３の高さより高い位置に移動する。このような構成により、支柱１３の高さを所定の高さ以下に抑えつつ、Ｘ線撮影を行う際において、Ｘ線管１７を支柱１３の上端より高い位置へ移動させることができる。 As the rotary shaft 27a rotates around the axis in the z direction, the X-ray tube 17 moves from a position having the same height as the rotary shaft 27a (a position indicated by a broken line) to a position higher than the rotary shaft 27a (a position indicated by a solid line). And move. That is, the X-ray tube 17 moves to a position higher than the height of the column 13 by raising the telescopic arm 15 along the column 13 and further rotating the rotary shaft 27a around the axis in the z direction. With such a configuration, the X-ray tube 17 can be moved to a position higher than the upper end of the support column 13 when performing X-ray imaging while suppressing the height of the support column 13 to a predetermined height or less.
　なお、図２（ｂ）では内蔵アーム２５および回転アーム２７の各々を外殻アーム２３から引き出して回転軸２７ａを回転させた状態を示している。しかし、回転アーム２７をｘ方向に引き出して回転軸２７ａを外部に露出させることにより、回転軸２７ａは回転可能となる構成を有している。すなわち図２（ｃ）に示すように、内蔵アーム２５を外殻アーム２３に収納させた状態で回転アーム２７のみをｘ方向に引き出し、回転軸２７ａを回転させることもできる。 FIG. 2B shows a state in which each of the built-in arm 25 and the rotating arm 27 is pulled out from the outer shell arm 23 and the rotating shaft 27a is rotated. However, the rotary shaft 27a is configured to be rotatable by pulling the rotary arm 27 in the x direction to expose the rotary shaft 27a to the outside. That is, as shown in FIG. 2 (c), with the built-in arm 25 housed in the outer shell arm 23, only the rotating arm 27 can be pulled out in the x direction and the rotating shaft 27a can be rotated.
＜Ｘ線管の可動範囲＞
　次に、実施例に係る移動型Ｘ線撮影装置１におけるＸ線管１７の可動範囲について説明する。内蔵アーム２５および回転アーム２７の各々をｘ方向に引き出すことにより、Ｘ線管１７はｘ方向に移動する。そのため、内蔵アーム２５および回転アーム２７をｘ方向に引き出してから回転軸２７ａを回転させる場合、支柱１３からＸ線管１７までの距離Ｓが長い状態で、Ｘ線管１７は昇降移動を行う（図３（ａ））。 <Moveable range of X-ray tube>
Next, the movable range of the X-ray tube 17 in the mobile X-ray imaging apparatus 1 according to the embodiment will be described. By pulling out each of the built-in arm 25 and the rotating arm 27 in the x direction, the X-ray tube 17 moves in the x direction. Therefore, when the rotary shaft 27a is rotated after the built-in arm 25 and the rotary arm 27 are pulled out in the x direction, the X-ray tube 17 moves up and down while the distance S from the column 13 to the X-ray tube 17 is long ( FIG. 3 (a)).
　このとき、パンタグラフ式アームである回転アーム２７は伸長アーム１５の最終段に設けられており、伸長アーム１５の先端部を構成する。すなわち、従来のパンタグラフ式アームと比べて、実施例ではパンタグラフ式アームの回転径が短い。そのため、Ｘ線管１７の位置を上昇させた場合において、Ｘ線管１７が支柱１３へ近づく距離は短くなる。従って、支柱１３からＸ線管１７までの距離Ｓがより長い状態で、Ｘ線管１７を支柱１３より高い位置へ移動させることができる。このように、従来のパンタグラフ式アームではＸ線管の可動範囲外であった領域へ、実施例ではＸ線管１７を移動させることができる。 At this time, the rotary arm 27 which is a pantograph arm is provided at the final stage of the extension arm 15 and constitutes the tip of the extension arm 15. That is, the rotation diameter of the pantograph arm is shorter in the embodiment than the conventional pantograph arm. Therefore, when the position of the X-ray tube 17 is raised, the distance that the X-ray tube 17 approaches the support column 13 is shortened. Therefore, the X-ray tube 17 can be moved to a position higher than the column 13 in a state where the distance S from the column 13 to the X-ray tube 17 is longer. Thus, in the embodiment, the X-ray tube 17 can be moved to a region outside the movable range of the X-ray tube in the conventional pantograph arm.
　一方、内蔵アーム２５を外殻アーム２３に収納させた状態で回転アーム２７のみをｘ方向に引き出し、さらに回転軸２７ａを回転させることもできる。この場合、支柱１３からＸ線管１７までの距離Ｓが短い状態で、Ｘ線管１７は昇降移動を行う（図３（ｂ））。従って、支柱１３からｘ方向に近い場合と遠い場合のいずれにおいても、Ｘ線管１７を支柱１３の高さより高い位置へ移動させることができる。 On the other hand, with the built-in arm 25 housed in the outer shell arm 23, only the rotary arm 27 can be pulled out in the x direction, and the rotary shaft 27a can be further rotated. In this case, the X-ray tube 17 moves up and down while the distance S from the support column 13 to the X-ray tube 17 is short (FIG. 3B). Therefore, the X-ray tube 17 can be moved to a position higher than the height of the column 13 in both cases where the column 13 is near and far from the x direction.
　また、伸縮アーム１５を支柱１３に沿って下降させ、内蔵アーム２５および回転アーム２７の各々を外殻アーム２３から引き出す。この場合、支柱１３からＸ線管１７までの距離Ｓが長くなり、かつＸ線管１７の高さは低くなる（図３（ｃ））。そして伸縮アーム１５を支柱１３に沿って下降させ、内蔵アーム２５および回転アーム２７の各々を外殻アーム２３へ収納させる。この場合、支柱１３からＸ線管１７までの距離Ｓが短くなり、かつＸ線管１７の高さは低くなる（図３（ｄ））。従って、支柱１３からｘ方向に近い場合と遠い場合のいずれにおいても、Ｘ線管１７をより低い位置へ移動させることができる。 Further, the telescopic arm 15 is lowered along the support column 13, and each of the built-in arm 25 and the rotating arm 27 is pulled out from the outer shell arm 23. In this case, the distance S from the support column 13 to the X-ray tube 17 is increased, and the height of the X-ray tube 17 is decreased (FIG. 3C). Then, the telescopic arm 15 is lowered along the support column 13, and each of the built-in arm 25 and the rotating arm 27 is stored in the outer shell arm 23. In this case, the distance S from the support column 13 to the X-ray tube 17 is shortened, and the height of the X-ray tube 17 is decreased (FIG. 3D). Therefore, the X-ray tube 17 can be moved to a lower position regardless of whether the column 13 is near or far from the x direction.
　このように、実施例に係る移動型Ｘ線撮影装置１では、水平方向に伸縮可能な伸縮アーム１５において、さらにＸ線管１７を鉛直方向に移動させる回転アーム２７が設けられている。このような構成を有することにより、支柱１３からｘ方向に近い場合と遠い場合のいずれにおいても、支柱１３の下端部付近の低い位置から、支柱１３より高い位置までＸ線管１７の高さを変更できる。 As described above, in the movable X-ray imaging apparatus 1 according to the embodiment, the rotary arm 27 that moves the X-ray tube 17 in the vertical direction is further provided in the telescopic arm 15 that can be expanded and contracted in the horizontal direction. By having such a configuration, the height of the X-ray tube 17 is increased from a low position near the lower end portion of the support column 13 to a position higher than the support column 13 in both cases of being close to the x direction and distant from the support column 13. Can change.
　テレスコピック式のアームを備える従来の移動型Ｘ線撮影装置１０１では、支柱１０７より高い位置はＸ線管１１５の可動範囲Ｒに含まれない（図４（ａ））。また、パンタグラフ式のアームを備える従来の移動型Ｘ線撮影装置１０１Ａでは、支柱１０７に近く、かつ低い位置など、Ｘ線管１１５を移動できない死角が存在する（図９（ｂ））。一方、実施例に係る移動型Ｘ線撮影装置１では、図４（ｂ）に示すように、各々の従来例と比べて、Ｘ線管１７の可動範囲Ｒがより広くなる。そのため、Ｘ線管１７の位置決めにおける操作性を向上させることができる。 In the conventional mobile X-ray imaging apparatus 101 having a telescopic arm, a position higher than the support column 107 is not included in the movable range R of the X-ray tube 115 (FIG. 4A). Further, in the conventional mobile X-ray imaging apparatus 101A provided with a pantograph arm, there is a blind spot where the X-ray tube 115 cannot be moved, such as a position close to the support column 107 and low (FIG. 9B). On the other hand, in the mobile X-ray imaging apparatus 1 according to the embodiment, as shown in FIG. 4B, the movable range R of the X-ray tube 17 is wider than in each conventional example. Therefore, the operability in positioning the X-ray tube 17 can be improved.
　さらに、実施例に係る移動型Ｘ線撮影装置１において、支柱１３に接続される伸縮アーム１５はテレスコピック方式の構成を有している。そして内蔵アーム２５および回転アーム２７の各々を外殻アーム２３からｘ方向に出し入れすることにより、伸縮アーム１５はｘ方向に伸長する。そのため、伸縮アーム１５のサイズをよりコンパクトにしつつ、Ｘ線管１７の可動範囲をより広くできる。 Furthermore, in the mobile X-ray imaging apparatus 1 according to the embodiment, the telescopic arm 15 connected to the support column 13 has a telescopic configuration. Then, by retracting the built-in arm 25 and the rotary arm 27 in and out of the outer shell arm 23 in the x direction, the extendable arm 15 extends in the x direction. Therefore, the movable range of the X-ray tube 17 can be widened while making the size of the telescopic arm 15 more compact.
　そして、パンタグラフ方式の構成を有する回転アーム２７は、外殻アーム２３の内部に収納可能となるように構成される。従って、実施例では図１１に示すような、パンタグラフ方式のアームが障害物Ｐと干渉し、再度台車の操作を必要とする事態を回避できる。その結果、実施例に係る移動型Ｘ線撮影装置１では、患者Ｍのベッドに到達した後に再度台車３を操作するといった事態を好適に回避できるので、Ｘ線撮影の所要時間の長期化を防止できる。従って、Ｘ線撮影のワークフローを向上し、操作者や患者が受ける負担を軽減することが可能となる。 The rotary arm 27 having a pantograph configuration is configured to be housed inside the outer shell arm 23. Therefore, in the embodiment, it is possible to avoid a situation in which the pantograph-type arm interferes with the obstacle P as shown in FIG. As a result, in the mobile X-ray imaging apparatus 1 according to the embodiment, it is possible to suitably avoid a situation in which the carriage 3 is operated again after reaching the bed of the patient M, thereby preventing an increase in the time required for X-ray imaging. it can. Therefore, the X-ray imaging workflow can be improved and the burden on the operator and patient can be reduced.
　本発明は、上記実施形態に限られることはなく、下記のように変形実施することができる。 The present invention is not limited to the above embodiment, and can be modified as follows.
　（１）上述した各実施例では、伸縮アーム１５に設けられる内蔵アーム２５の数は１つであるが、内蔵アーム２５の数は適宜変更してもよい。すなわち、伸縮アーム１５は内蔵アーム２５を２以上有する多段伸縮式の構成であってもよい。また伸縮アーム１５において内蔵アーム２５を省略し、外殻アーム２３の内部に回転アーム２７を設ける構成であってもよい。 (1) In each embodiment described above, the number of built-in arms 25 provided in the extendable arm 15 is one, but the number of built-in arms 25 may be changed as appropriate. That is, the extendable arm 15 may have a multistage extendable configuration having two or more built-in arms 25. In addition, the internal arm 25 may be omitted from the extendable arm 15 and the rotary arm 27 may be provided inside the outer shell arm 23.
　（２）上述した各実施例では、伸縮アーム１５はパンタグラフ方式の構成を有する回転アーム２７を内蔵することにより、Ｘ線管１７をさらに昇降移動させることができるが、伸縮アーム１５の構成はこれに限られない。すなわち、伸縮アーム１５は回転アーム２７の代わりに、ジャッキアップ方式の昇降アーム３１を備える構成であってもよい。昇降アーム３１は、本発明の変形例におけるＸ線源保持アームに相当する。 (2) In each of the above-described embodiments, the telescopic arm 15 can further move the X-ray tube 17 up and down by incorporating the rotary arm 27 having a pantograph type configuration. Not limited to. That is, the extendable arm 15 may be configured to include a jack-up type lifting arm 31 instead of the rotary arm 27. The elevating arm 31 corresponds to the X-ray source holding arm in the modified example of the present invention.
　このような変形例に係る移動型Ｘ線撮影装置１Ａにおいて、図５（ａ）に示すように、昇降アーム３１の内部には折り畳まれた状態のジャッキ３３が設けられている。昇降アーム３１の上部３１ａおよび下部３１ｂはそれぞれ分離可能に構成されており、Ｘ線管１７は昇降アーム３１の上部３１ａに接続保持されている。また、昇降アーム３１は内蔵アーム２５および回転アーム２７と同様に、外殻アーム２３の内部に設けられており、ｘ方向に引き出し可能に構成される。そして昇降アーム３１は伸縮アーム１５の先端部を構成する。 In the mobile X-ray imaging apparatus 1A according to such a modified example, as shown in FIG. 5A, a folded jack 33 is provided inside the elevating arm 31. The upper part 31 a and the lower part 31 b of the lifting arm 31 are configured to be separable, and the X-ray tube 17 is connected and held to the upper part 31 a of the lifting arm 31. Similarly to the built-in arm 25 and the rotating arm 27, the lifting arm 31 is provided inside the outer shell arm 23 and is configured to be able to be pulled out in the x direction. The elevating arm 31 constitutes the tip of the telescopic arm 15.
　ジャッキ３３の一端は上部３１ａの内壁に固定されており、ジャッキ３３の他端は下部３１ｂの内壁に固定されている。すなわちジャッキ３３が立ち上がることにより、昇降アーム３１の上部３１ａは下部３１ｂから分離されて持ち上げられる。そしてＸ線管１７は上部３１ａと連動してｙ方向に直進移動する。このように伸縮アーム１５を支柱１３の上端部にスライド移動させた後、ジャッキ３３を立ち上げることにより、Ｘ線管１７を支柱１３よりさらに高い位置へ移動させることができる。ジャッキ３３は本発明における昇降機構に相当する。 One end of the jack 33 is fixed to the inner wall of the upper portion 31a, and the other end of the jack 33 is fixed to the inner wall of the lower portion 31b. That is, when the jack 33 rises, the upper portion 31a of the lifting arm 31 is separated from the lower portion 31b and lifted. The X-ray tube 17 moves straight in the y direction in conjunction with the upper portion 31a. Thus, the X-ray tube 17 can be moved to a position higher than the column 13 by raising the jack 33 after sliding the telescopic arm 15 to the upper end of the column 13. The jack 33 corresponds to the lifting mechanism in the present invention.
　内蔵アーム２５および昇降アーム３１の各々はｘ方向に引き出し可能であるので、変形例に係る装置では、実施例に係る装置と同様に、Ｘ線管１７の可動範囲Ｒをより広範囲とすることができる。さらに、実施例では回転軸２７ａの回転により、Ｘ線管１７は曲線的に昇降移動する。一方、変形例ではジャッキ３３の動作により、Ｘ線管１７は直進的に昇降移動する。従って、Ｘ線管１７のｙ方向へ移動させる場合の操作性がより向上する。 Since each of the built-in arm 25 and the raising / lowering arm 31 can be pulled out in the x direction, in the apparatus according to the modified example, the movable range R of the X-ray tube 17 can be made wider as in the apparatus according to the embodiment. it can. Further, in the embodiment, the X-ray tube 17 moves up and down in a curved manner by the rotation of the rotating shaft 27a. On the other hand, in the modified example, the operation of the jack 33 causes the X-ray tube 17 to move up and down in a straight line. Therefore, the operability when the X-ray tube 17 is moved in the y direction is further improved.
　また、変形例では内蔵アーム２５および昇降アーム３１の各々を引き出した状態でＸ線管１７をｙ方向へ直進移動させることができる。そのため、Ｘ線管１７は支柱１３からより遠く、かつ高い位置へ移動できる。その結果、Ｘ線管の可動範囲Ｒはより広くなるので、Ｘ線管１７の位置決めにおける操作性を、より向上させることが可能となる。 In the modified example, the X-ray tube 17 can be moved straight in the y direction with each of the built-in arm 25 and the lifting arm 31 being pulled out. Therefore, the X-ray tube 17 can move to a position farther from the support column 13 and higher. As a result, the movable range R of the X-ray tube becomes wider, so that the operability in positioning the X-ray tube 17 can be further improved.
　（３）上述した各実施例では、伸縮アーム１５はテレスコピック構造によりｘ方向へ伸縮する構成としたが、伸縮アーム１５をｘ方向へ伸縮させる構成はテレスコピック構造に限られることはなく、蛇腹構造などの構成を用いてもよい。 (3) In each of the above-described embodiments, the telescopic arm 15 is configured to expand and contract in the x direction by the telescopic structure. However, the configuration for expanding and contracting the telescopic arm 15 in the x direction is not limited to the telescopic structure, such as a bellows structure. You may use the structure of.
　１　　　　…移動型Ｘ線撮影装置　
　３　　　　…台車　
　５　　　　…駆動車輪　
　９　　　　…操作ハンドル
　１３　　　…支柱
　１５　　　…伸縮アーム
　１７　　　…Ｘ線管（Ｘ線源）
　１９　　　…コリメータ
　２３　　　…外殻アーム
　２５　　　…内蔵アーム
　２７　　　…回転アーム（Ｘ線源保持アーム）
　２７ａ，２７ｂ　…回転軸
　３３　　　…ジャッキ（昇降機構） 1 ... Mobile X-ray imaging device
3 ... Dolly
5 ... Drive wheel
9 ... Operation handle 13 ... Stand 15 ... Extensible arm 17 ... X-ray tube (X-ray source)
DESCRIPTION OF SYMBOLS 19 ... Collimator 23 ... Outer shell arm 25 ... Built-in arm 27 ... Rotation arm (X-ray source holding arm)
27a, 27b ... rotating shaft 33 ... jack (elevating mechanism)

Claims (5)

  1. 　Ｘ線を発生させるＸ線源と、
    　移動可能な台車と、
    　前記台車に立設された支柱と、
    　前記支柱に沿って昇降移動可能に設けられ、第１の水平方向に伸縮する伸縮アームと、
    　前記伸縮アームの先端側に設けられ、前記Ｘ線源を保持するＸ線源保持アームとを備え、
    　前記Ｘ線源保持アームは、前記Ｘ線源を昇降移動させるＸ線源移動手段を備えることを特徴とする移動型Ｘ線撮影装置。     An X-ray source for generating X-rays;
    A movable carriage,
    A support column erected on the carriage;
    A telescopic arm provided so as to be movable up and down along the column and extending and contracting in a first horizontal direction;
    An X-ray source holding arm that is provided on the distal end side of the telescopic arm and holds the X-ray source;
    The X-ray source holding arm includes an X-ray source moving means for moving the X-ray source up and down.
  2. 　請求項１に記載の移動型Ｘ線撮影装置において、
    　前記Ｘ線源移動手段は前記第１の水平方向に直交する第２の水平方向の軸周りに回転する回転軸であり、
    　前記Ｘ線源保持アームは前記回転軸を軸点として前記第２の水平方向の軸周りに回転するパンタグラフ式のアームである移動型Ｘ線撮影装置。     The mobile X-ray imaging apparatus according to claim 1,
    The X-ray source moving means is a rotating shaft that rotates around a second horizontal axis orthogonal to the first horizontal direction;
    The X-ray source holding arm is a movable X-ray imaging apparatus that is a pantograph-type arm that rotates around the second horizontal axis about the rotation axis.
  3. 　請求項１に記載の移動型Ｘ線撮影装置において、
    　前記Ｘ線源移動手段は、前記Ｘ線源保持アームを昇降移動させる昇降機構である移動型Ｘ線撮影装置。     The mobile X-ray imaging apparatus according to claim 1,
    The mobile X-ray imaging apparatus, wherein the X-ray source moving means is an elevating mechanism that moves the X-ray source holding arm up and down.
  4. 　請求項１ないし請求項３のいずれかに記載の移動型Ｘ線撮影装置において、
    　前記伸縮アームはテレスコピック構造を有する移動型Ｘ線撮影装置。　     The mobile X-ray imaging apparatus according to any one of claims 1 to 3,
    The telescopic arm is a mobile X-ray imaging apparatus having a telescopic structure.
  5. 　請求項１ないし請求項４のいずれかに記載の移動型Ｘ線撮影装置において、
    　前記Ｘ線源移動手段は、前記伸縮アームが前記第１の水平方向に伸長した状態において前記Ｘ線源の昇降移動を可能とする移動型Ｘ線撮影装置。     The mobile X-ray imaging apparatus according to any one of claims 1 to 4,
    The X-ray source moving means is a mobile X-ray imaging apparatus that allows the X-ray source to move up and down in a state where the telescopic arm extends in the first horizontal direction.
PCT/JP2014/073094 2014-09-02 2014-09-02 Mobile x-ray imaging apparatus WO2016035146A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007267788A (en) * 2006-03-30 2007-10-18 Shimadzu Corp Surgical x-ray diagnostic apparatus
JP2014068891A (en) * 2012-09-28 2014-04-21 Canon Inc Mobile x-ray diagnostic apparatus
JP2014073321A (en) * 2012-10-05 2014-04-24 Canon Inc Mobile x-ray imaging apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007267788A (en) * 2006-03-30 2007-10-18 Shimadzu Corp Surgical x-ray diagnostic apparatus
JP2014068891A (en) * 2012-09-28 2014-04-21 Canon Inc Mobile x-ray diagnostic apparatus
JP2014073321A (en) * 2012-10-05 2014-04-24 Canon Inc Mobile x-ray imaging apparatus

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