WO2017056348A1 - Appareil d'émission de rayonnement - Google Patents

Appareil d'émission de rayonnement Download PDF

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Publication number
WO2017056348A1
WO2017056348A1 PCT/JP2016/002484 JP2016002484W WO2017056348A1 WO 2017056348 A1 WO2017056348 A1 WO 2017056348A1 JP 2016002484 W JP2016002484 W JP 2016002484W WO 2017056348 A1 WO2017056348 A1 WO 2017056348A1
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WO
WIPO (PCT)
Prior art keywords
rear wheel
wheel
radiation irradiation
irradiation apparatus
pedal
Prior art date
Application number
PCT/JP2016/002484
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English (en)
Japanese (ja)
Inventor
三上　勇志
則之 尾登
Original Assignee
富士フイルム株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015228537A external-priority patent/JP2017064360A/ja
Application filed by 富士フイルム株式会社 filed Critical 富士フイルム株式会社
Priority to CN201680054418.8A priority Critical patent/CN108135550B/zh
Priority to EP16850535.2A priority patent/EP3357426B1/fr
Publication of WO2017056348A1 publication Critical patent/WO2017056348A1/fr
Priority to US15/923,147 priority patent/US10667772B2/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 radiation irradiation apparatus that irradiates a subject with radiation when acquiring a radiation image of the subject.
  • Patent Document 1 Conventionally, for example, as disclosed in Patent Document 1 and Non-Patent Document 1, only the minimum components for radiation irradiation, such as a radiation source and an electric circuit, are mounted and can be operated by an operator by hand.
  • a portable radiation irradiation apparatus has been proposed. This type of portable radiation irradiation apparatus is light enough to be held and operated by an operator, and is advantageous for imaging a subject from various directions.
  • a radiation detector that normally records a radiographic image representing the subject by irradiation with radiation that has passed through the subject.
  • a radiation detector a cassette type radiation detector in which a control device such as an image detection unit, a driving battery, and an electric circuit related to driving is housed in a housing is well known. Then, if such a radiation detector is disposed at a position facing the radiation irradiation apparatus with the subject interposed therebetween, and the radiation irradiation apparatus is driven in this state, the radiation transmitted through the subject is detected by the radiation detector. A radiographic image represented by radiation that has been irradiated to the subject and transmitted through the subject is acquired.
  • the portable radiation irradiation apparatus can be operated by being held by the operator's hand. However, in order to prevent camera shake and further exposure to the operator's hand, etc., a line having a radiation source is used.
  • a radiation irradiation apparatus including a holding device that holds a source unit has been proposed.
  • the non-patent document 1 also shows an example of such a holding device, and in particular, a holding device that can travel by providing a wheel portion under the holding leg.
  • the radiation irradiation apparatus provided with such a holding apparatus basically accommodates a control unit including a leg portion that can be driven by wheels, a battery for driving the radiation source, an electric circuit for driving the radiation source, and the like. And a main body part held on the leg part, and an arm part or the like as a holding device connected to the main body part, and the radiation source part is attached to the tip of the holding device such as the arm part. Yes.
  • the radiation irradiation apparatus When the radiation irradiation apparatus that can be traveled as described above is used for radiographic image capturing, the radiation irradiation apparatus is transported to the imaging site by the operator's (user's) transport force and power. In this case, it is naturally necessary to avoid that the radiation irradiating device collides with or interferes with the obstacle in the transport path or in the vicinity thereof. Further, after reaching the place where the radiation irradiation apparatus captures a radiographic image, it is required to finely adjust the direction of the radiation irradiation apparatus so that the direction is appropriate to the (subject) direction of the subject. In some cases.
  • the radiation irradiation device is rotated on the device mounting surface as a whole, for example, around one of the four wheels provided, and the direction is changed obliquely. Is considered.
  • Patent Document 2 discloses a roundabout X-ray imaging apparatus in which an X-ray imaging means for generating X-rays and irradiating a subject is mounted on a cart that can be driven by wheels. 1 is provided with means for moving the X-ray imaging apparatus so as to change the direction.
  • the means for moving the X-ray imaging apparatus includes a motor that drives a plurality of wheels in opposite directions.
  • an arm is mounted on a cart that can be driven by a caster having wheels, an X-ray generator is held on the arm, and the subject is irradiated with X-rays from the X-ray generator.
  • a brake pedal that locks the traveling rotation of wheels of a caster is provided.
  • the traveling rotation of the wheel is locked by stepping on the brake pedal when an X-ray image is captured, thereby preventing the position of the X-ray imaging apparatus from fluctuating.
  • the X-ray imaging apparatus described in Patent Document 2 requires a motor that drives a plurality of wheels in opposite directions, a control device for those motors, and the like. The cost for moving the imaging device is high.
  • the mobile X-ray imaging apparatus described in Patent Document 3 can only turn a plurality of casters attached to a carriage so that it can rotate or cannot rotate, and changes its direction obliquely. Thus, there is no particular consideration in moving the X-ray imaging apparatus.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a radiation irradiation apparatus capable of easily changing the direction obliquely with a simple configuration.
  • the radiation irradiation apparatus comprises: A pedestal, An arm that is attached to the pedestal and can be extended and contracted in plan view; A radiation source attached to the arm, A wheel part attached to the pedestal and enabling the pedestal to travel on the device placement surface;
  • a radiation irradiation apparatus comprising: The front wheel part and at least two rear wheel parts that are positioned rearward of the front wheel part and separated from each other in a direction intersecting with the extending direction of the arm part, when the front wheel part and the extending direction in plan view of the arm part are the front Consisting of
  • Each of the rear wheels has a wheel that rotates for traveling and a traveling direction changing unit that changes the traveling direction,
  • the first locking means for suppressing the traveling rotation of the wheel and the second locking means operable to be independent of each other and the second locking means for suppressing the operation of the traveling direction changing unit. It is what.
  • expansion / contraction means not only a linear expansion / contraction, but also means taking a folded state and a state expanded from the folded state.
  • the above-mentioned “extensible / contractible in a plan view” means that it can be extended / contracted in a direction to be extended / contracted on a projection surface viewed in a plan view.
  • “attached” in the above three locations includes not only the case of being directly attached but also the case of being indirectly attached through something.
  • extending direction means a direction extending in the center of the range of rotation when the arm portion is rotatable in plan view.
  • the rear wheel part is constituted by a turning caster and the traveling direction changing part is a turning part of the turning caster.
  • the rear wheel part may be an omni wheel (registered trademark), and the traveling direction changing part may be a roller mounted on the wheel body of the omni wheel.
  • An operating portion that has an operating piece that receives an operating force from the outside and that operates the first locking means and the second locking means is provided,
  • a plurality of operation pieces are provided for one of the operation units, It is desirable that at least one of the plurality of operation pieces is disposed on the rear side and the front side of the intermediate position of the pedestal in the front and rear directions.
  • front means a direction in which the arm portion extends in a plan view
  • rear means a direction opposite to the “front”.
  • the operation piece is arranged behind the rear end of the pedestal and the operation piece is arranged ahead of the front end of the pedestal.
  • the first state in which the first locking means is operated and the second state in which the second locking means are operated are excluded from each of the rear wheel portions. It is desirable to provide a single-wheel lock operating portion that can be taken as an option.
  • the radiation irradiating apparatus of the present invention at least a first state in which the first locking means and the second locking means are operated and a second locking means in which the second locking means are operated for each of the rear wheel portions.
  • a one-wheel locking operation section that can take the state of 2 exclusively.
  • the one-wheel lock operating section as described above has a seesaw-like operating piece that swings around one fulcrum, and is in the first state when the operating piece is swung in one direction around the fulcrum. If the operation piece is swung in the other direction around the fulcrum, the second state is taken. If the operation piece is not swung in one direction or in the other direction, It is desirable to take the third state in which the first locking means and the second locking means are not operated.
  • the radiation irradiation apparatus of the present invention has a multi-wheel locking operation section that operates the second locking means of the rear wheel section in parallel. Note that “in parallel” means that there is even a period in which the time during which each locking unit is operating overlaps each other.
  • the radiation irradiation apparatus of the present invention it is desirable that two front wheel portions are provided and two rear wheel portions are provided.
  • one front wheel part may be provided and two rear wheel parts may be provided.
  • the radiation irradiating device of the present invention can operate independently of the first locking means and the first locking means for inhibiting the traveling rotation of the wheels of the rear wheel part, and inhibits the operation of the traveling direction changing part. Since the second locking means is provided, the direction of the radiation irradiation device can be easily changed.
  • the radiation irradiation apparatus of the present invention does not require a complicated mechanism such as a motor for driving a plurality of wheels in opposite directions, a control device for these motors, and the like, and thus can have a simple configuration.
  • the center of gravity of the radiation irradiation device is biased to the front in the expansion and contraction direction of the arm portion, so when trying to adjust the position of the radiation irradiation device, The device is easily shaken.
  • the radiation irradiating device is rotated around one rear wheel portion as described above, the device can be prevented from being shaken, and the radiation irradiating device can be kept stable and adjusted in position. .
  • the perspective view which shows the whole shape of the radiation irradiation apparatus by the 1st Embodiment of this invention Side view showing a state of using the radiation irradiation device A direction arrow view of FIG.
  • the perspective view which shows an example of the state at the time of use of the said radiation irradiation apparatus External perspective view of the radiation detector as seen from the front on the radiation side
  • the perspective view which shows the peripheral part of the rear wheel of the said radiation irradiation apparatus The partially broken side view which shows the rear wheel shown in FIG.
  • the perspective view which shows the peripheral part of the rear wheel of the radiation irradiation apparatus by the 4th Embodiment of this invention The figure explaining the operation state of the rear wheel in the radiation irradiation apparatus by the said 4th Embodiment.
  • the figure explaining the operation state of the rear wheel in the radiation irradiation apparatus by the 5th Embodiment of this invention The figure explaining the operation state of the rear wheel in the radiation irradiation apparatus by the 6th Embodiment of this invention
  • the perspective view which shows the rear wheel used for the radiation irradiation apparatus by the 7th Embodiment of this invention The perspective view which shows the peripheral part of the rear wheel of the radiation irradiation apparatus by the 8th Embodiment of this invention
  • the perspective view which shows the peripheral part of the rear wheel of the radiation irradiation apparatus by the 9th Embodiment of this invention The perspective view which shows the peripheral part of the rear wheel of the radiation irradiation apparatus by the 10th Embodiment of this invention
  • FIG. 1 is a perspective view showing an overall shape when the radiation irradiation apparatus 1 according to the first embodiment of the present invention is not used
  • FIG. 2 is a side view showing a state when the radiation irradiation apparatus 1 is in use.
  • the upper and lower sides in the vertical direction are referred to as “upper” and “lower”, respectively.
  • the direction perpendicular to the vertical direction in the same state is referred to as the “horizontal” direction.
  • the vertical direction is defined as the z direction
  • the horizontal direction in FIG. 2 is defined as the y direction
  • the direction perpendicular to the paper surface in FIG. 2 is defined as the x direction.
  • the radiation irradiation apparatus 1 of this example includes a leg portion 10, a main body portion 20, an arm portion 30 as a radiation source holding portion, and a radiation source portion (radiation source) 40.
  • the leg portion 10 can travel on the device mounting surface 2 and has a plate-like pedestal 11 and four wheel portions attached to portions near the four corners of the pedestal 11. These wheel parts are two front wheel parts 12F and two rear wheel parts 12R. Each front wheel portion 12F and each rear wheel portion 12R are composed of a wheel such as a rubber tire and a turning portion that holds the wheel so as to be able to rotate. The swivel portion is attached to the pedestal 11 so as to be turnable in a horizontal plane around an axis extending in the vertical direction. Thereby, the leg part 10 can be run on the apparatus mounting surface 2 in an arbitrary direction.
  • the structures of the front wheel portion 12F and the rear wheel portion 12R will be described in detail later.
  • the main body 20 is installed on the leg 10 and includes a housing 21.
  • a control device 22 that controls driving of the radiation irradiation device 1 and a battery (not shown) are housed.
  • the control device 22 is a device for controlling various operations of the radiation irradiating apparatus 1 including the radiation dose and irradiation time emitted from the radiation source unit 40, for example, a computer in which a control program is installed. , Dedicated hardware, or a combination of both.
  • a monitor 23 with a built-in speaker 18 is attached to the upper surface of the housing 21.
  • a handle 26 for pushing and pulling the radiation irradiating apparatus 1 is attached to the upper portion of the housing 21 via an adapter 27.
  • Cameras 28A, 28B, 28C, and 28D for taking images of the entire periphery of the apparatus 1 are attached to the right side, the rear side, the left side, and the front side of the main body unit 20, respectively.
  • these cameras 28A to 28D for example, digital video cameras that output digital signals indicating captured moving images are used.
  • the present invention is not limited to this, and a digital still camera may be applied.
  • the monitor 23 as a display means is composed of a liquid crystal panel or the like, and displays a radiographic image acquired by imaging the subject H and various information necessary for controlling the apparatus 1.
  • the monitor 23 includes a touch panel type input unit 24 and receives input of various instructions necessary for the operation of the apparatus 1.
  • the monitor 23 is attached to the upper surface of the main body 20 so that the tilt and rotation position can be changed.
  • the moving images or still images captured by the cameras 28A to 28D are displayed on the monitor 23. Therefore, the operator can grasp the situation around the radiation irradiation apparatus 1 with reference to the image displayed on the monitor 23.
  • the arm part 30 is held by the main body part 20.
  • the arm part 30 is hold
  • the arm unit 30 can be moved up and down with respect to the main body unit 20 by an elevating mechanism 50 including, for example, a pantograph mechanism.
  • the arm unit 30 includes a first arm 31, a second arm 32, a first rotating unit 33, a second rotating unit 34, and a radiation source holding unit 35.
  • a source unit 40 is held at the tip of the first arm 31 via a source holding unit 35.
  • the end on the radiation source 40 side of the first arm 31 is the upper end
  • the end on the second arm 32 is the lower end.
  • an end portion on the first arm 31 side of the second arm 32 is an upper end portion and an end portion on the main body portion 20 side is a lower end portion.
  • the first arm 31 and the second arm 32 are connected to each other around a rotation axis AX1 by an articulated first rotation portion 33.
  • the rotation axis AX1 is an axis extending in the x direction.
  • the first arm 31 rotates about the rotation axis AX1 so that the angle formed with the second arm 32 is changed.
  • the 1st rotation part 33 is holding both so that the 1st arm 31 may rotate with respect to the 2nd arm 32 via a friction mechanism. Therefore, the first arm 31 can be rotated by applying a strong external force to some extent, and does not rotate unless an external force is applied, and maintains the relative angle with respect to the second arm 32.
  • the second arm 32 is connected to the adapter 51 attached to the upper end portion of the lifting mechanism 50 via a joint-like second rotating portion 34 so as to be rotatable around the rotation axis AX2.
  • the rotation axis AX2 is an axis extending in the x direction.
  • the second arm 32 rotates about the rotation axis AX2 in the yz plane so that the angle formed with the surface of the main body unit 20 that holds the arm unit 30 changes.
  • the second rotating unit 34 holds both the arm 32 so that the second arm 32 rotates with respect to the adapter 51 via a friction mechanism. For this reason, the 2nd rotation part 34 can be rotated by applying a strong external force to some extent, does not rotate unless an external force is applied, and maintains the relative angle with respect to the main body part 20.
  • FIG. 3 shows a state in which a part of the radiation irradiation apparatus 1 is viewed from the direction of arrow A in FIG.
  • a groove 29 through which the adapter 51 can pass when the lifting mechanism 50 moves up and down is formed on the right side surface of the main body 20 in FIG. 2.
  • the monitor 23 and the arm unit 30 are omitted for convenience of explanation.
  • the radiation source holding part 35 is generally U-shaped and is attached to the tip of the first arm 31.
  • the radiation source unit 40 is connected to the distal end of the first arm 31 via the radiation source holding unit 35 so as to be rotatable around the rotation axis AX3.
  • the rotation axis AX3 is an axis extending in the x direction.
  • the radiation source section 40 rotates about the rotation axis AX3 so that the angle formed with the first arm 31 is changed.
  • the radiation source holding part 35 holds both the radiation source part 40 so that the radiation source part 40 rotates with respect to the first arm 31 via a friction mechanism. For this reason, the radiation source unit 40 can be rotated by applying a strong external force to some extent, and does not rotate unless an external force is applied, and maintains a relative angle with respect to the first arm 31.
  • the adapter 51 is connected to the lifting mechanism 50 so as to be rotatable around a rotation axis AX4.
  • the rotation axis AX4 is an axis extending in the z direction.
  • the adapter 51 rotates in the xy plane around the rotation axis AX4.
  • the entire arm unit 30 rotates in the xy plane.
  • the adapter 51 holds both of them so as to rotate with respect to the lifting mechanism 50 via a friction mechanism. For this reason, the arm portion 30 connected to the adapter 51 can be rotated by applying a strong external force to some extent, and does not rotate unless an external force is applied, and maintains the rotation position in the xy plane. .
  • the first arm 31 rotates with respect to the second arm 32
  • the second arm 32 rotates in the yz plane with respect to the main body portion 20
  • the radiation source portion 40 rotates with respect to the first arm 31, and the arm.
  • the rotation position may be fixed by a known lock mechanism.
  • the first arm 31, the second arm 32, the radiation source unit 40, and the entire arm unit 30 can be rotated by releasing the lock mechanism. Then, the rotation position can be fixed by locking the lock mechanism at a desired rotation position.
  • FIG. 1 shows a state when the radiation irradiating apparatus 1 is not used, and the arm unit 30 is in an initial position when this is not used.
  • the initial position of the arm unit 30 means that the first arm 31 and the second arm 32 are folded, the entire arm unit 30 is separated from the lifting mechanism 50 in the y direction, and the arm unit 30 moves up and down. This is the lowest position in the vertical movement position by the mechanism 50.
  • the initial position is the position of the arm portion 30 in a state where the first arm 31 and the second arm 32 are folded to the limit where they no longer rotate.
  • the second arm 32 is in a state in which the first rotating portion 33 is positioned above the second rotating portion 34.
  • the position where the entire arm unit 30 is located away from the lifting mechanism 50 in the + y direction is referred to as the initial rotation position of the arm unit 30.
  • the + y direction is the right direction in FIG.
  • the arm unit 30 can rotate in the xy plane about the rotation axis AX4 as described above. For example, the rotation is performed in a range of 45 ° clockwise and 45 ° counterclockwise about the rotation axis AX4.
  • the first arm 31 and the second arm 32 are fastened by the fastening belt 36.
  • the fastening belt 36 has, for example, one end attached to the second arm 32, and a hook-and-loop fastener attached to the other end.
  • a surface fastener corresponding to the surface fastener of the fastening belt 36 is attached to the surface of the first arm 31 opposite to the display surface in FIG.
  • the fastening belt 36 is turned from the right side surface of the first arm 31 in FIG. 1 to the opposite side surface, and the surface fastener of the fastening belt 36 is connected to the surface fastener attached to the first arm 31.
  • the first arm 31 does not rotate with respect to the second arm 32.
  • FIG. 4 shows the radiation irradiation apparatus 1 in which the arm unit 30 is set at a position that is one of the use positions.
  • the radiation source unit 40 is configured by housing a radiation source, a collimator for narrowing the radiation irradiation range, and the like in a housing 41.
  • the radiation source includes, for example, an X-ray tube, a booster circuit, a cooling unit that cools the X-ray tube, and the like.
  • the emission of radiation from the radiation source of the radiation source unit 40 is performed by an instruction input by the operator from the input unit 24 of the monitor 23.
  • the input unit 24 inputs information for executing various operations of the radiation irradiating apparatus 1 and, together with the control device 22 and the monitor 23, performs management of imaging orders, image processing of captured images, display of captured images, and the like. Configures the console to be performed.
  • the radiation detector 80 is disposed under the subject H lying on the bed 3 and emitted from the radiation source of the radiation source unit 40. Imaging is performed by, for example, irradiating the radiation detector 80 with radiation such as X-rays through the subject H.
  • the radiation detector 80 will be briefly described with reference to FIG.
  • FIG. 5 is an external perspective view of the radiation detector as seen from the front surface on the radiation irradiation side.
  • the radiation detector 80 of this example is a cassette type radiation detector including an image detection unit 81 that is a radiation image recording medium and a casing 82 that houses the image detection unit 81.
  • the image detection unit 81 includes a scintillator (phosphor) that converts incident radiation into visible light, and a TFT (Thin Transistor) active matrix substrate. On the TFT active matrix substrate, a rectangular imaging region in which a plurality of pixels for accumulating charges corresponding to visible light from the scintillator is arranged is formed.
  • the image detection unit 81 is the radiation image recording medium itself.
  • the entire radiation detector 80 is also referred to as a radiation image recording medium.
  • the housing 82 has a gate driver that applies a gate pulse to the gate of the TFT to switch the TFT, and converts the electric charge accumulated in the pixel into an analog electric signal representing an X-ray image.
  • An imaging control unit or the like having a signal processing circuit and the like for output is incorporated.
  • the casing 82 has a size conforming to an international standard ISO (International Organization for Standardization) 4090: 2001, which is almost the same as, for example, a film cassette, an IP (Imaging Plate) cassette, or a CR (Computed Radiography) cassette. .
  • Markers 84A to 84D representing identification information for identifying the radiation detector 80 are attached to the four corners of the front surface 82A of the housing 82.
  • each of the markers 84A to 84D is composed of two orthogonal barcodes.
  • the markers 84A to 84D may emit identification information wirelessly.
  • the radiation irradiation apparatus 1 is in a non-use state shown in FIG. 1, that is, in a state where the arm part 30 is housed, and is moved to the use position while traveling on the apparatus mounting surface 2 by the front wheel part 12F and the rear wheel part 12R that rotate. Be transported.
  • the radiation irradiation apparatus 1 is conveyed by an operator (apparatus user) holding and holding the handle 26 to push or pull the radiation irradiation apparatus 1.
  • the “state in which the arm portion 30 is stored” is a state in which the arm portion 30 is in the initial position described above.
  • the radiation irradiating apparatus 1 may be carried to the use position in the same manner as described above with the arm unit 30 being deployed. Since each of the front wheel portion 12F and the rear wheel portion 12R is mounted on the base 11 so that it can turn as described above, the radiation irradiating device 1 can move in the front-rear and left-right directions, and also moves so as to be largely curved. It is also possible to turn around a vertical axis passing through the pedestal 11. Therefore, the radiation irradiation apparatus 1 can be quickly transported to the use position in a state where a small turn is effective.
  • the radiographic image is taken, for example, on the subject H lying on the bed 3.
  • the radiation irradiation apparatus 1 When the radiation irradiation apparatus 1 is set near the subject H, the radiation irradiation apparatus 1 can be moved in the height direction of the subject H by the wheel portion 12. Thereby, the radiation irradiation apparatus 1 can be easily set in the optimal position.
  • FIG. 6 is a perspective view showing the appearance of two rear wheel portions 12R and the periphery thereof
  • FIG. 7 is a partially broken side view showing the internal structure of one rear wheel portion 12R.
  • the rear wheel portion 12 ⁇ / b> R includes a rear end side portion of the base 11, for example, a holding portion 100 fixed to the rear end surface 11 a, and a traveling direction change held by the holding portion 100.
  • two wheels 102 held by the casing 101 so as to be able to run and rotate about the rotation axis AX5.
  • a disk 103 connected to two wheels 102 and rotating together with the wheels 102, a rod 104 arranged in a vertically extending state in the cylindrical portion 101a of the casing 101, and one end portion Is positioned below the rod 104 and the other end is positioned near the disk 103, and a lever 105 that swings about the swing axis AX6 is housed.
  • the cylindrical portion 101a of the casing 101 is held by the holding portion 100 so as to be turnable around a turning axis AX7 extending in the cylinder axis direction at a position not intersecting with the rotation axis AX5.
  • the rod 104 is arranged in a state where the long axis coincides with the turning axis AX7.
  • the lever 105 is biased by a biasing means (not shown) so as to swing clockwise about the swing axis AX6 in FIG.
  • the rod 104 is urged upward in FIG. 7 by urging means (not shown). If no external force is applied to the rod 104 and the lever 105, the other end of the lever 105 is kept slightly away from the disk 103.
  • a cam 106 and a gear 107 are housed in the holding unit 100.
  • the cam 106 has a gear-shaped portion formed on a part of its outer peripheral surface, and is positioned above the rod 104 and can be rotated around a rotation axis AX8.
  • the gear 107 is disposed so as to mesh with the gear-shaped portion of the cam 106.
  • the gear 107 is connected to a shaft 108 that rotates about a rotation axis AX9.
  • One end portion of the shaft 108 extends to the outside of the holding portion 100, and a brake pedal (operation piece) 109 is connected to the one end portion.
  • the brake pedal 109 swings in a seesaw shape with the rotation axis AX9 as a fulcrum. That is, when the front side operation portion 109F of the brake pedal 109 is pushed downward by, for example, an operator's foot, the brake pedal 109 swings so that the left end is lowered with the rotation axis AX9 as a fulcrum in FIG. When the rear operation portion 109R of 109 is pushed downward, the brake pedal 109 swings so that the right end is lowered with the rotation axis AX9 as a fulcrum in FIG.
  • the brake pedal 109 may be configured to maintain the swinging state as described above only while the front operation unit 109F or the rear operation unit 109R is pressed, or once the front operation unit 109F (or the rear operation unit 109F).
  • the side operation unit 109R When the side operation unit 109R) is pressed, the swinging state is maintained as described above, and when another operation unit, that is, the rear operation unit 109R (or the front operation unit 109F) is pressed next, the swinging state is released. Then, it may be configured to return to the horizontal state.
  • the latter configuration is more preferable.
  • the rotated cam 106 pushes down the rod 104 against the aforementioned urging force.
  • one end of the lever 105 is pushed by the rod 104, and the lever 105 swings counterclockwise around the swing axis AX6 in FIG. Therefore, the other end of the lever 105 presses the disk 103, and the rotation of the disk 103, that is, traveling rotation around the rotation axis AX5 of the wheel 102 (hereinafter referred to as "traveling rotation of the rear wheel portion 12R").
  • the state of the brake pedal 109 in this case is one of the first states in the present invention.
  • FIG. 10 shows whether or not the traveling rotation and turning of the rear wheel portion 12R are possible.
  • the traveling rotation of the rear wheel portion 12R is indicated by a small elliptical arrow
  • the turning of the rear wheel portion 12R is indicated by a large circular arrow.
  • a solid line indicates that each operation is possible
  • a broken line indicates that each operation is inhibited.
  • the operation state of the brake pedal 109 is also shown, and a white arrow is also shown near the upper end of the brake pedal 109 in the figure because the front operation portion 109F of the brake pedal 109 is pressed.
  • a white arrow indicates that the brake pedal 109 is being operated, and the rear operation portion 109R of the brake pedal 109 is being pushed. .
  • only one brake pedal 109 is shown in an operating state on the assumption that the brake pedal 109 is operated in the same manner in the two rear wheel portions 12R.
  • the front wheel portion 12F since the front wheel portion 12F is always capable of running and turning, the operation of the front wheel portion 12F is not particularly shown and will not be described.
  • the radiation irradiation apparatus 1 of the present invention is not limited thereto, and a lock unit that suppresses at least one of traveling rotation and turning of the front wheel portion 12F may be appropriately provided.
  • the arm unit 30 is viewed in a plan view (viewed so as to be projected onto the apparatus mounting surface 2), and is parallel to the left and right long sides of the substantially rectangular pedestal 11 (see FIG. 10). 1 ( ⁇ x direction in 1), and the center line CL passing through the center is the center of the rotation range, and is rotatable within an angle ⁇ . As described above, this rotation is performed by rotating the adapter 51 of FIG. 2 around the rotation axis AX4 with respect to the lifting mechanism 50.
  • the arm 30 can be expanded and contracted in a plan view, that is, it can be changed between the initial position described above (folded and stored) and the deployed position as shown in FIG. When projected onto the surface 2, it can be expanded and contracted in the direction of expansion and contraction on the projection surface.
  • the two rear wheel portions 12R are located on the rear side of the two front wheel portions 12F with respect to the extending direction in the plan view (+ y direction in FIG. 1) when the arm portion 30 is in the center of the rotation range.
  • the "rear wheel” is what.
  • the wheel part on the front side with respect to the extending direction in the plan view of the arm part 30 in the expansion and contraction is the front wheel, and the wheel part on the rear side is the rear wheel.
  • the two rear wheel portions 12R are arranged away from each other in a direction intersecting with the direction in which the arm portion 30 extends as described above.
  • extension / contraction of the arm part in the present invention does not only indicate that the arm part 30 changes between the folded state and the unfolded state as in the arm part 30 of the present embodiment.
  • a rod-shaped arm tip is housed in the arm, and the arm tip is configured so that the arm tip moves forward and backward in the cylinder axis direction within the arm base end.
  • Such a change is also called “stretching”.
  • the length of the entire arm portion may be changed linearly to change the length of the entire arm portion. This is called “stretching”.
  • (1) in FIG. 10 shows whether the rear wheel 12R can run and turn when the rear wheel 12R is in the state shown in FIG. That is, in this case, neither the front side operation unit 109F nor the rear side operation unit 109R of the brake pedal 109 is pushed, so that the rear wheel unit 12R can be rotated and turned. Therefore, under this situation, the radiation irradiating apparatus 1 is allowed to travel normally, and the rear wheel portion 12R is appropriately turned to allow the vehicle to travel with a small turn.
  • the state of the brake pedal 109 in this case is one of the third states in the present invention.
  • FIG. 10 shows whether or not the rear wheel 12R can be rotated and turned when the rear wheel 12R is in the state shown in FIG. That is, in this case, when the front operation portion 109F of the brake pedal 109 is pushed (first state of the brake pedal 109), the rear wheel portion 12R cannot rotate and can turn. . Therefore, for example, when it is desired to finely adjust the position of the radiation irradiating apparatus 1 when taking a radiographic image, only one of the two rear wheel portions 12R cannot be rotated (that is, the other rear wheel portion 12R is configured as shown in FIG. 10).
  • the state of (1) is set), and the radiation irradiation apparatus 1 is rotated on the apparatus mounting surface 2 as a whole to adjust the position around the turning axis AX7 (see FIG. 7 and the like) of the rear wheel portion 12R. Is possible. Further, when this position adjustment is performed, the traveling rotation of one rear wheel portion 12R serving as a rotation axis is impossible, so that the rear wheel portion 12R is rotated and the rotation shaft is rotated. It is possible to prevent blurring.
  • the traveling rotation of the rear wheel portion 12R is impossible, so that the radiation irradiation apparatus 1 moves during radiographic image capturing. This prevents unauthorized shooting.
  • FIG. 10 shows whether or not the rear wheel 12R can run and turn when the rear wheel 12R is in the state shown in FIG. That is, in this case, when the rear operation portion 109R of the brake pedal 109 is pushed (the second state of the brake pedal 109), the rear wheel portion 12R can rotate and cannot turn. Yes. Therefore, for example, when the radiation irradiation apparatus 1 is to be traveled straight, by making this state during straight travel, fluctuation of the travel direction due to turning of the rear wheel portion 12R is prevented, and the radiation irradiation apparatus 1 is traveled straight. Can be maintained.
  • the front operation portion 109F of the brake pedal 109, the shaft 108, the gear 107, the cam 106, the rod 104, the lever 105, and the disk 103 suppress the traveling rotation of the rear wheel portion 12R.
  • the first locking means constitutes the rear operation portion 109R of the brake pedal 109, the shaft 108, the gear 107 and the cam 106 constitutes second locking means for suppressing the turning of the rear wheel portion 12R.
  • the second embodiment is different from the first embodiment described above in the second locking means for suppressing the turning of the rear wheel portion 12R, and the other points are basically the same.
  • the configuration is the same as in the first embodiment. That is, in this embodiment, the seesaw-like brake pedal 200 is attached to the base 11 at a portion close to the rear end portion (lower end portion in the drawing). Although the brake pedal 200 as the second locking means is provided for each of the two rear wheel portions 12R, only one brake pedal 200 is shown in FIG.
  • the brake pedal 200 has a swing position where one end thereof is pressed against the cylindrical portion 101a (see FIGS. 7 to 9) of the casing 101 of the rear wheel portion 12R, and a swing position separated from the cylindrical portion 101a. It works like a seesaw so that it can take.
  • (1) in FIG. 11 shows the rear wheel portion 12R when the rear wheel portion 12R is in the state shown in FIG. 7 and the brake pedal 200 is in a swinging position away from the cylindrical portion 101a of the casing 101.
  • FIG. 11 shows the rear wheel portion when the rear wheel portion 12R is in the state shown in FIG. 8 and the brake pedal 200 is in a swinging position away from the cylindrical portion 101a of the casing 101.
  • 12R shows whether or not the traveling rotation and turning of 12R are possible. That is, in this case, the front operation portion 109F of the brake pedal 109 is pushed, and the brake pedal 200 does not press the cylindrical portion 101a of the casing 101, so that the rear wheel portion 12R cannot rotate and can turn. It has become.
  • the position of the radiation irradiation apparatus 1 can be adjusted by rotating the radiation irradiation apparatus 1 entirely on the apparatus mounting surface 2. Further, when this position adjustment is performed, the traveling rotation of one rear wheel portion 12R serving as a rotation axis is impossible, so that the rear wheel portion 12R is rotated and the rotation shaft is rotated. It is possible to prevent blurring. Furthermore, regardless of whether or not the position adjustment of the radiation irradiation apparatus 1 is performed, the traveling rotation of the rear wheel portion 12R is impossible, so that the radiation irradiation apparatus 1 moves during radiographic image capturing. This prevents unauthorized shooting.
  • FIG. 11 shows the rear wheel portion when the rear wheel portion 12R is in the state shown in FIG. 8 and the brake pedal 200 is in a swinging position for pressing the cylindrical portion 101a of the casing 101.
  • 12R shows whether or not the traveling rotation and turning of 12R are possible. That is, in this case, the front operation portion 109F of the brake pedal 109 is pushed, and the brake pedal 200 presses the cylindrical portion 101a of the casing 101, so that the rear wheel portion 12R cannot be rotated or turned. Become.
  • the brake pedal 200 is pushed and operated during the straight travel, thereby preventing the fluctuation of the traveling direction due to the turning of the rear wheel portion 12R. It becomes possible to maintain straight running. If the radiation irradiating apparatus 1 reaches an appropriate position for taking a radiographic image, for example, the front side operation unit 109F of the brake pedal 109 is pushed to suppress the traveling rotation of the rear wheel part 12R. It is possible to prevent the device 1 from moving and photographing illegally.
  • the front operation portion 109F of the brake pedal 109, the shaft 108, the gear 107, the cam 106, the rod 104, the lever 105, and the disc 103 (see FIGS. 6 and 7)
  • the first locking means for suppressing the running rotation of the portion 12R is configured, and the brake pedal 200 configures the second locking means for suppressing the turning of the rear wheel portion 12R.
  • FIG. 12 is a partially broken side view showing the internal structure of the rear wheel portion 12R in the present embodiment.
  • the rear wheel portion 12R shown in FIG. 12 has an internal structure in which a cam 206 having a shape different from that of the cam 106 is applied in place of the structure in the first embodiment shown in FIG. Is different.
  • the other end of the lever 105 presses the disk 103, and the rotation of the disk 103, that is, the traveling rotation of the wheel 102 is suppressed.
  • the cam 206 rotated as described above presses the upper end surface of the cylindrical portion 101 a of the casing 101.
  • turning of the casing 101 is suppressed, that is, turning of the wheel 102 of the rear wheel portion 12R is suppressed.
  • the state of the brake pedal 109 that suppresses the traveling rotation and turning of the rear wheel portion 12R is one of the first states in the present invention.
  • FIG. 15 shows whether or not the traveling rotation and turning of the rear wheel portion 12R are possible, and the notation regarding the availability is the same as that in FIG.
  • (1) in FIG. 15 shows whether the rear wheel 12R can run and turn when the rear wheel 12R is in the state shown in FIG. That is, in this case, neither the front side operation unit 109F nor the rear side operation unit 109R of the brake pedal 109 is pushed, so that the rear wheel unit 12R can be rotated and turned.
  • the state of the brake pedal 109 in this case is one of the third states in the present invention. Therefore, under this situation, the radiation irradiating apparatus 1 is allowed to travel normally, and the rear wheel portion 12R is appropriately turned to allow the vehicle to travel with a small turn.
  • FIG. 15 shows whether the rear wheel 12R can run and turn when the rear wheel 12R is in the state shown in FIG. That is, in this case, since the front side operation portion 109F of the brake pedal 109 is pushed (the first state of the brake pedal 109), the rear wheel portion 12R cannot run and turn.
  • FIG. 15 shows whether or not the rear wheel 12R can be rotated and turned when the rear wheel 12R is in the state shown in FIG. That is, in this case, since the rear operation portion 109R of the brake pedal 109 is pushed (second state of the brake pedal 109), the rear wheel portion 12R can travel and rotate, and cannot turn.
  • the rear wheel portion 12R is prevented from turning by pushing the rear operation portion 109R of the brake pedal 109 during straight travel ((3) in FIG. ) State. Therefore, it is possible to prevent the running direction from being fluctuated due to the turning of the rear wheel portion 12R, and to keep the radiation irradiation apparatus 1 running straight.
  • the front side operation unit 109F of the brake pedal 109 is pressed to suppress the traveling rotation and turning of the rear wheel unit 12R. (2) state. In this state, it is possible to prevent the radiation irradiating apparatus 1 from moving and improperly photographing.
  • the front operation portion 109F of the brake pedal 109, the shaft 108, the gear 107, the cam 206, the rod 104, the lever 105, and the disk 103 suppress the traveling rotation of the rear wheel portion 12R.
  • the first locking means constitutes the rear operating portion 109R of the brake pedal 109, the shaft 108, the gear 107 and the cam 206 constitutes the second locking means for suppressing the turning of the rear wheel portion 12R.
  • FIG. 16 is a partially broken side view showing the internal structure of the rear wheel portion 12R in the present embodiment.
  • the inner structure of the rear wheel portion 12R shown in FIG. 16 is compared with the structure in the first embodiment shown in FIG. The difference is that a holding member 401 that holds the brake pedal 400 on, for example, the rear end surface 11 a of the base 11 and a brake shaft 402 are provided.
  • One end and the other end of the brake shaft 402 are respectively connected to the shafts 108 of the two rear wheel portions 12R.
  • the two-wheel brake pedal 400 is fixed to the central portion of the brake shaft 402.
  • the rear operation unit 109R (see, for example, FIG. 7) of the brake pedal 109 is pushed as the rear wheel unit 12R, traveling rotation is suppressed, and the front operation unit 109F (for example, the brake pedal 109) (for example, FIG. 7).
  • the front operation unit 109F for example, the brake pedal 109 (for example, FIG. 7).
  • the thing of the structure where turning is suppressed when pushing operation of FIG. 7) is applied is applied.
  • Such a structure can be realized, for example, by interposing another additional gear between the cam 106 and the gear 107 in the structure of FIG.
  • the two-wheel brake pedal 400 is configured to be able to be pressed downward, and when the operation is performed, the operation force is transmitted to the shafts 108 of the two rear wheel portions 12R via the brake shaft 402. That is, when the two-wheel brake pedal 400 is pushed downward, the state is the same as when the two rear wheel portions 12R are operated to be pushed simultaneously.
  • FIG. 17 a description will be given of whether or not the traveling rotation and turning of the rear wheel portion 12R in this embodiment are possible.
  • the notation regarding whether or not the traveling rotation and turning of the rear wheel portion 12R in FIG. 17 are the same as those in FIG.
  • the operating state of the two-wheel brake pedal 400 is also shown, and a white arrow is shown below the two-wheel brake pedal 400 in the figure. This shows that the pedal 400 is being pushed.
  • (1) in FIG. 17 shows whether or not the rear wheel portion 12R can be rotated and turned when both the rear operation portion 109R of the brake pedal 109 and the two-wheel brake pedal 400 are not pushed. .
  • the rear wheel portion 12R can both run and turn. Therefore, under this situation, the radiation irradiating apparatus 1 is allowed to travel normally, and the rear wheel portion 12R is appropriately turned to allow the vehicle to travel with a small turn.
  • FIG. 17 shows whether or not the rear wheel portion 12R can be rotated and turned when the rear operation portion 109R of the brake pedal 109 is pushed.
  • the rear wheel portion 12R cannot rotate and can turn.
  • the pushing operation of the rear operation unit 109R can be performed on the two rear wheel units 12R, or can be performed only on one of the rear wheel units 12R. Therefore, for example, when it is desired to finely adjust the position of the radiation irradiating apparatus 1 when taking a radiographic image, only one of the two rear wheel portions 12R is disabled to rotate, and the turning axis AX7 of the rear wheel portion 12R is set as the center.
  • the position of the radiation irradiation apparatus 1 can be adjusted by rotating the radiation irradiation apparatus 1 entirely on the apparatus mounting surface 2.
  • the rear wheel portion 12R can rotate and cannot turn.
  • the two rear wheel portions 12R are brought into this state while the radiation irradiation apparatus 1 is traveling straight. Thereby, it is possible to prevent the radiation irradiation apparatus 1 from running in a straight line by preventing the fluctuation of the running direction due to the turning of the rear wheel portion 12R.
  • the rear operation portion 109R of the brake pedal 109, the shaft 108, the gear 107, the cam 106, the rod 104, the lever 105, and the disc 103 are described above.
  • the additional gear is applied, the configuration in which the additional gear is added, and the configuration in which the rear operation portion 109R of the brake pedal 109 is replaced with the two-wheel brake pedal 400 and the brake shaft 402 in the above configuration, respectively.
  • a first locking means for suppressing the traveling rotation of the wheel portion 12R is configured.
  • the configuration in which the additional gear is added is the rear wheel portion.
  • the second locking means for suppressing the turning of 12R is configured.
  • FIG. 18 shows whether or not the traveling rotation and turning of the rear wheel portion 12R in this embodiment are possible, and the manner of notation regarding the availability is the same as that in FIG.
  • the same two-wheel brake pedal 400, holding member 401 and brake shaft 402 as those shown in FIG. 16 are provided.
  • FIG. 18 the operating state of the two-wheel brake pedal 400 is shown in the same notation as in FIG.
  • the rear wheel portions 12R similar to those shown in FIGS. 7 to 9 are applied as the two rear wheel portions 12R.
  • each rear wheel portion 12R is in the same state as when the rear operation portion 109R of the brake pedal 109 is pushed as shown in FIG. become.
  • (1) in FIG. 18 shows whether the rear wheel 12R can run and turn when the rear wheel 12R is in the state shown in FIG. That is, in this case, neither the front operation unit 109F nor the rear operation unit 109R of the brake pedal 109 is pushed (third state of the brake pedal 109), and the two-wheel brake pedal 400 is not pushed, so the rear wheel The part 12R is capable of both traveling rotation and turning. Therefore, under this situation, the radiation irradiating apparatus 1 is allowed to travel normally, and the rear wheel portion 12R is appropriately turned to allow the vehicle to travel with a small turn.
  • FIG. 18 shows whether or not the rear wheel 12R can be rotated and turned when the rear wheel 12R is in the state shown in FIG. That is, in this case, when the front operation portion 109F of the brake pedal 109 is pushed (first state of the brake pedal 109), the rear wheel portion 12R cannot rotate and can turn. . Therefore, for example, when it is desired to finely adjust the position of the radiation irradiating apparatus 1 when taking a radiographic image, only one of the two rear wheel portions 12R is disabled to rotate, and the turning axis AX7 of the rear wheel portion 12R is set as the center. Thus, the position of the radiation irradiation apparatus 1 can be adjusted by rotating the radiation irradiation apparatus 1 entirely on the apparatus mounting surface 2. Regardless of whether or not the position adjustment of the radiation irradiation apparatus 1 is performed, if the traveling rotation of the rear wheel portion 12R is disabled, the radiation irradiation apparatus 1 is moved during radiographic image capturing. This prevents unauthorized shooting.
  • FIG. 18 shows whether or not the rear wheel 12R can run and turn when the rear wheel 12R is in the state shown in FIG.
  • the rear operation portion 109R of each brake pedal 109 of the two rear wheel portions 12R is pushed (second state of the brake pedal 109), or the two-wheel brake pedal 400 is pushed.
  • the rear wheel portion 12R can travel and rotate but cannot turn. Therefore, for example, when the radiation irradiation apparatus 1 is desired to travel straight, this situation during straight travel prevents the wobbling of the traveling direction due to the turning of the rear wheel portion 12R, and the radiation irradiation apparatus 1 travels straight. Can be maintained.
  • the two-wheel brake pedal 400 is pushed to achieve the state of (3) in FIG. 18, only one brake operation is required. That is, in this case, the brake operation is simpler than the case where the rear side operation portion 109R of each brake pedal 109 of the two rear wheel portions 12R is pushed. Further, the pushing operation of the two-wheel brake pedal 400 can be performed while the radiation irradiation device 1 is traveling and being transported. In that case, each of the two rear wheel portions 12R is This is particularly preferable because the brake operation is performed more quickly than when the rear operation portion 109R of the brake pedal 109 is pressed.
  • the front operation portion 109F of the brake pedal 109, the shaft 108, the gear 107, the cam 106, the rod 104, the lever 105, and the disk 103 are the rear wheel portion.
  • the first locking means for suppressing the running rotation of 12R is configured.
  • the rear operation portion 109R of the brake pedal 109, the shaft 108, the gear 107 and the cam 106 constitute second locking means for suppressing the turning of the rear wheel portion 12R.
  • the wheel brake pedal 400, the brake shaft 402 shaft 108, the gear 107, and the cam 106 also constitute second locking means for preventing the rear wheel portion 12R from turning.
  • FIG. 19 shows whether or not the traveling rotation and turning of the rear wheel portion 12R in this embodiment are possible, and the notation for the availability is the same as that in FIG.
  • the same two-wheel brake pedal 400, holding member 401 and brake shaft 402 as those shown in FIG. 16 are provided.
  • FIG. 19 the operating state of the two-wheel brake pedal 400 is shown in the same notation as in FIG.
  • the rear wheel portions 12R similar to those shown in FIGS. 12 to 14 are applied as the two rear wheel portions 12R.
  • the respective rear wheel portions 12R are in the same state as when the rear operation portion 109R of the brake pedal 109 is pushed as shown in FIG. become.
  • (1) in FIG. 19 shows whether or not the rear wheel 12R can run and turn when the rear wheel 12R is in the state shown in FIG. That is, in this case, neither the front operation unit 109F nor the rear operation unit 109R of the brake pedal 109 is pushed (third state of the brake pedal 109), and the two-wheel brake pedal 400 is not pushed, so the rear wheel The part 12R is capable of both traveling rotation and turning. Therefore, under this situation, the radiation irradiating apparatus 1 is allowed to travel normally, and the rear wheel portion 12R is appropriately turned to allow the vehicle to travel with a small turn.
  • FIG. 19 shows whether or not the rear wheel 12R can be rotated and turned when the rear wheel 12R is in the state shown in FIG. That is, in this case, when the front side operation portion 109F of the brake pedal 109 is pushed (first state of the brake pedal 109), the rear wheel portion 12R cannot perform both traveling rotation and turning.
  • the brake pedal 109 can be brought into the first state in both of the two rear wheel portions 12R or only in one of them. Therefore, for example, when it is desired to finely adjust the position of the radiation irradiating apparatus 1 when taking a radiographic image, only one of the two rear wheel portions 12R is disabled to rotate, and the turning axis AX7 of the rear wheel portion 12R is set as the center. Thus, the position of the radiation irradiation apparatus 1 can be adjusted by rotating the radiation irradiation apparatus 1 entirely on the apparatus mounting surface 2. In addition, regardless of whether or not the position adjustment of the radiation irradiation apparatus 1 is performed, if the traveling rotation of the two rear wheels 12R is disabled, the radiation irradiation apparatus 1 moves during radiographic image capturing. This prevents unauthorized shooting.
  • (3) in FIG. 19 shows whether or not the rear wheel 12R can run and turn when the rear wheel 12R is in the state shown in FIG. That is, in this case, the rear operation portion 109R of the brake pedal 109 is pushed (second state of the brake pedal 109) or the two-wheel brake pedal 400 is pushed, whereby the rear wheel portion 12R. Can rotate and cannot turn.
  • the rear operation unit 109R of the brake pedal 109 is pushed during straight running, or the two-wheel brake pedal 400 is pushed and operated.
  • the state shown in (3) of FIG. 19 in which the turning of the ring portion 12R is suppressed. Therefore, it is possible to prevent the running direction from being fluctuated due to the turning of the rear wheel portion 12R, and to keep the radiation irradiation apparatus 1 running straight.
  • the front side operation unit 109F of the brake pedal 109 is pressed to suppress the traveling rotation and turning of the rear wheel unit 12R.
  • (2) state In this state, it is possible to prevent the radiation irradiating apparatus 1 from moving and improperly photographing.
  • the two-wheel brake pedal 400 is pushed to achieve the state of (3) in FIG. 19, only one braking operation is required. That is, in this case, the brake operation is simpler than the case where the rear side operation portion 109R of each brake pedal 109 of the two rear wheel portions 12R is pushed. Further, the pushing operation of the two-wheel brake pedal 400 can be performed while the radiation irradiation device 1 is traveling and being transported. In that case, each of the two rear wheel portions 12R is This is particularly preferable because the brake operation is performed more quickly than when the rear operation portion 109R of the brake pedal 109 is pressed.
  • the front operation portion 109F of the brake pedal 109, the shaft 108, the gear 107, the cam 206, the rod 104, the lever 105, and the disk 103 are the rear wheel portion.
  • the first locking means for suppressing the running rotation of 12R is configured.
  • the rear operation portion 109R of the brake pedal 109, the shaft 108, the gear 107 and the cam 206 constitute second locking means for suppressing the turning of the rear wheel portion 12R.
  • the wheel brake pedal 400, the brake shaft 402 shaft 108, the gear 107, and the cam 206 also constitute second locking means for preventing the rear wheel portion 12R from turning.
  • FIG. 20 shows, as an example, a state in which the omni wheel 700 constituting the rear wheel is attached to the base 11 of the radiation irradiation apparatus 1 shown in FIG.
  • the omni wheel 700 is one of omnidirectional wheels, and is attached to the axle 701 and can rotate forward and backward around the rotation axis AX11, and a plurality of attached to the outer periphery of the rotation body 702. And a roller 703.
  • a roller 703 for example, a barrel-type roller is applied.
  • seven rollers 703, that is, a total of 14 rollers 703 are attached to the left and right.
  • Each of the seven rollers 703 on the left and right sides is attached to the rotating body 702 so as to be able to rotate forward and backward about a rotation axis AX12 extending in the tangential direction of one circle coaxial with the rotation axis AX11.
  • the seven rollers 703 on one side of the left and right are respectively disposed at positions facing the gaps between the seven rollers 703 on the other side of the left and right.
  • the omni wheel 700 having the above configuration is attached to the leg holding portion 712 via a bearing portion 704 that receives the axle 701.
  • a rotating body 702 as a wheel body and 14 rollers 703 as a traveling direction changing unit constitute one rotating wheel. That is, when a force acting in the direction of the arrow P in the figure is applied to the radiation irradiation apparatus having the leg holding portion 712, the wheel composed of the rotating body 702 and the roller 703 rotates with the fourteen rollers 703 as the outer peripheral surface of the wheel. It rotates around AX11, and the leg 12, that is, the radiation irradiation apparatus, travels in the arrow P direction.
  • the grounded roller 703 rotates around the rotation axis AX12, and the leg holding unit 712, that is, Facilitates movement of the radiation irradiation device in the direction of arrow Q.
  • the first locking means for suppressing the rotation of the rotating body 702, that is, the traveling rotation, and the second locking means for suppressing the rotation of the roller 703 may be provided. It can. And the radiation irradiation apparatus of this invention can be obtained by controlling operation
  • a Mecanum wheel disclosed in Japanese Patent Laid-Open No. 2013-081659 is also applicable.
  • FIG. 21 is a perspective view showing a peripheral portion of the rear wheel of the radiation irradiation apparatus according to the eighth embodiment of the present invention.
  • FIG. 22 is a side view showing a pedal interlocking mechanism applied to the radiation irradiation apparatus of the eighth embodiment.
  • the pedal interlocking mechanism shown in FIG. 22 constitutes a part of an operation unit that operates the first and second locking means, and includes a rear wheel side pedal 500 as a rear wheel side lock operating piece, and a front wheel side lock. It has a front wheel side pedal 501 as an operation piece, and a connecting rod 502 that connects the rear wheel side pedal 500 and the front wheel side pedal 501. In FIG. 21, only the rear wheel side pedal 500 of the two pedals 500 and 501 is shown.
  • the rear wheel side pedal 500 has a rotation base portion 500a formed in a circular shape at an upper end portion (a front end portion in the + z direction).
  • the rotation base portion 500a is, for example, fitted or the like. Is fixed to the brake shaft 402. Thereby, the rear wheel side pedal 500 can rotate integrally with the brake shaft 402.
  • a footboard 503 is fixed to a portion near the lower end of the rear wheel side pedal 500.
  • a rod connecting portion 500b that protrudes toward the front wheel side pedal 501 is formed at a position close to the center of the rear wheel side pedal 500 in the vertical direction.
  • One end portion of the connecting rod 502 is connected to the rod connecting portion 500b so as to be rotatable about the rotation axis AX13.
  • a holding member 504 is fixed to the rear end surface 11a of the base 11.
  • the holding member 504 has a through hole (not shown) that allows the brake shaft 402 to pass therethrough, and allows the brake shaft 402 to rotate.
  • the rotation base 500a of the rear wheel side pedal 500 is disposed in close contact with the holding member 504.
  • the rear wheel side pedal 500 is disposed on the rear side ( ⁇ y direction side) with respect to the rear end surface 11 a of the base 11.
  • the rear wheel side pedal 500 that rotates integrally with the brake shaft 402 can stop at three rotational positions and be held at each rotational position, as will be described later. This holding is performed, for example, by engaging a plurality of hemispherical protrusions 500 c formed on the rotation base 500 a with recesses (not shown) formed on the holding member 504. In this way, when the rear wheel side pedal 500 held in any one of the three rotation positions is applied with a certain amount of external force that rotates the rear wheel side pedal 500, the engagement between the convex portion 500c and the concave portion is performed. Detach and move to another rotational position.
  • the front wheel side pedal 501 has a rotation base 501a at a position close to the center in the vertical direction.
  • the rotation base 501a is held by a holding member 505 fixed to the lower surface 11c of the base 11 so as to be rotatable about the rotation axis AX14.
  • the front wheel side pedal 501 is disposed on the front side (+ y direction side) of the front end surface 11 b of the base 11.
  • a rod connecting portion 501b that is formed in a part of a circle and protrudes toward the rear wheel side pedal 500 is formed at the upper end portion (front end portion in the + z direction) of the front wheel side pedal 501.
  • the other end portion of the connecting rod 502 is connected to the rod connecting portion 501b so as to be rotatable about the rotation axis AX15.
  • a footboard 506 is fixed to a portion near the lower end of the front wheel side pedal 501.
  • the brake shaft 402 is basically coupled to the first locking means and the second locking means similar to those shown in FIG. That is, the shaft 108 shown in FIG. 12 is connected and fixed to the one end and the other end of the brake shaft 402 in a coaxial state.
  • the brake pedal 109 shown in FIG. 12 is generally omitted, but may be provided. However, if the brake pedal 109 protrudes outward from the left and right end surfaces of the pedestal 11, the brake pedal 109 easily interferes with an obstacle when the radiation irradiation device is transported along a narrow path. Considering this point, it can be said that it is desirable to omit the brake pedal 109 protruding outward from the left and right end surfaces of the base 11.
  • the rear wheel side pedal 500 rotates clockwise around the brake shaft 402 in FIG. 22 when the operator steps on the foot plate 503 with his / her foot, for example, and the operator lifts the foot plate 503 from below with his toes, for example. Thereby, it can rotate counterclockwise around the brake shaft 402 in FIG.
  • the rear-wheel pedal 500 can be held in the rotation path as described above at a rotation position indicated by a solid line, a rotation position indicated by a one-dot chain line, and a rotation position indicated by a broken line.
  • these three rotation positions will be referred to as a lower position, a center position, and an upper position in the order described above.
  • the connecting rod 502 having one end connected to the rod connecting portion 500b of the rear wheel side pedal 500 moves substantially rightward in FIG. To do.
  • the rod connecting portion 501b to which the other end of the connecting rod 502 is connected is pulled in the substantially right direction in FIG. 22, so that the front wheel side pedal 501 rotates clockwise about the rotation axis AX14.
  • the front wheel side pedal 501 has a rotational position indicated by a solid line, a rotational position indicated by a one-dot chain line, and a broken line in FIG.
  • the rotation position shown is set.
  • the three rotational positions of the front wheel side pedal 501 are also referred to as a lower position, a center position, and an upper position in the order of description.
  • the front wheel side pedal 501 as another lock operation piece is also connected to the rear wheel side pedal 500. In conjunction with each other, they are similarly set to the lower position, the center position, or the upper position.
  • the front wheel side pedal 501 can also be set to the lower position, the center position, or the upper position by rotating about the rotation axis AX14 by operating the foot board 506 in the same manner as the foot board 503.
  • the movement of the front wheel side pedal 501 is transmitted to the rear wheel side pedal 500 via the connecting rod 502, whereby the rear wheel side pedal 500 rotates around the brake shaft 402, and the lower position and the center position respectively. Or set to the upper position.
  • the rear wheel side pedal 500 and the front wheel side pedal 501 are used. Is set to the lower position, the locking means is in the state shown in FIG. That is, at this time, the rear wheel portion 12R (see FIG. 14) can rotate and cannot turn.
  • the state of the rear wheel side pedal 500 and the front wheel side pedal 501 in which the turning of the rear wheel portion 12R is suppressed is one of the second states in the present invention.
  • the locking means is in the state shown in FIG. That is, at this time, the rear wheel portion 12R (see FIG. 12) can both run and turn.
  • the locking means is in the state shown in FIG. That is, at this time, the rear wheel portion 12R (see FIG. 13) cannot be rotated or turned.
  • the state of the rear wheel pedal 500 and the front wheel pedal 501 in which the traveling rotation and turning of the rear wheel portion 12R are suppressed is one of the first states in the present invention.
  • the rear wheel side pedal 500 and the front wheel side pedal 501 are set at the lower position by changing the shape and arrangement position of the cam 206 shown in FIG.
  • the rear wheel 12R can be prevented from rotating and turning, and when the rear wheel side pedal 500 and the front wheel side pedal 501 are set at the upper position, the rear wheel portion 12R can be prevented from turning. It is.
  • first locking means and the second locking means basically similar to those shown in FIG. 7 may be connected to the brake shaft 402.
  • the rear wheel side pedal 500 and the front wheel side pedal 501 are set at the lower position, turning of the rear wheel portion 12R is suppressed, and the rear wheel side pedal 500 and the front wheel side pedal 501 are at the upper position.
  • the rear wheel portion pedal 12R is set, the rear wheel portion 12R is prevented from rotating and the rear wheel portion pedal 500R and the front wheel side pedal 501 are set to the center position, and the rear wheel portion 12R can turn and rotate. .
  • the rear wheel side pedal 500 and the front wheel side pedal 501 are disposed on the rear side and the front side, respectively, with respect to the intermediate position of the base 11 in the forward and backward directions ( ⁇ y directions) described above.
  • the rear wheel side pedal 500 is disposed behind the rear end surface 11a of the pedestal 11, and the front wheel side pedal 501 is disposed further forward than the front end surface 11b of the pedestal 11.
  • This configuration can provide the following effects. That is, when the operator carries the radiation irradiation device from the rear side of the base 11 with the handle 26 (see FIG. 1), the brake is applied by the rear wheel side pedal 500 as in the other embodiments. Operation is possible. Further, when the radiation irradiation apparatus is transported to the vicinity of the bed 3 (see FIG. 2) where the subject H is sleeping, and the operator wishes to finely adjust the position of the radiation irradiation apparatus for imaging, the operator can use the base 11. The base 11 may be moved by moving further forward. When the pedestal 11 is moved under such circumstances, the brake operation can be performed using the front wheel side pedal 501.
  • the rear wheel side pedal 500 and the front wheel side pedal 501 are configured to interlock with each other, when the operator moves from the rear side to the front side of the pedestal 11 as described above, By confirming the position of the side pedal 501, it is possible to easily grasp the current state of the first lock means and the second lock means. This is the same when the operator moves from the front side of the base 11 to the rear side.
  • the rear wheel side pedal 500 may be disposed on the rear side of the rear end surface 11a of the pedestal 11, or may be disposed on the left and / or right side end surface of the pedestal 11 near the rear end surface 11a.
  • the front wheel side pedal 501 may be disposed on the front side of the front end surface 11b of the base 11, or may be disposed on the left and / or right side end surface of the base 11 near the front end surface 11b.
  • FIG. 23 is a perspective view showing a peripheral portion of the rear wheel of the radiation irradiation apparatus according to the ninth embodiment of the present invention.
  • an actuator 540 that drives the shaft 108 (see FIG. 12) to rotate forward and backward in order to operate the first and second locking means as shown in FIG. Is provided.
  • a control box 550 that houses an actuator control circuit that controls the operation of the actuator 540 and a pressure sensor (both not shown) is fixed to the rear end surface 11 a of the base 11.
  • a pedal 551 as an operation piece for operating the first and second locking means is attached to the lower portion of the control box 550.
  • a control box containing a pressure sensor similar to the above is also fixed to the front end surface 11b (see FIG. 22) of the pedestal 11, and a pedal similar to the pedal 551 is disposed below the control box. Is attached.
  • the pressure sensor is electrically connected to an actuator control circuit in the control box 550.
  • the pedal 551 has a base connected to a pressure sensor in the control box 550.
  • the pedaling force applied to the pedal 551 is larger than the first pedaling force range that is smaller than a certain threshold value P1, the second pedaling force range that is not less than the threshold value P1 and not more than the threshold value P2 (P1 ⁇ P2), and the threshold value P2. It is detected which of the third treading force range is included.
  • the actuator control circuit causes the actuator 540 to suppress the turning of the rear wheel portion 12R, and the rear wheel portion 12R.
  • the pedal 551 provided on the rear end surface 11a side of the pedestal 11 and the pedal provided on the front end surface 11b side of the pedestal 11 do not interlock.
  • the pedal is moved so as to selectively set the pedal to any one of the three positions, and the first and When controlling the state of the second locking means, it is possible to interlock the two pedals.
  • the state of the first and second locking means is switched by driving the actuator 540, so that the correspondence between the state of the locking means and the pedal effort is changed only by changing the electrical configuration. It can be changed as appropriate.
  • the actuator 540 suppresses the turning and running rotation of the rear wheel portion 12R, respectively, It is also possible to drive to a state in which the turning of 12R is suppressed, or a state in which the turning and traveling rotation of the rear wheel portion 12R are enabled.
  • FIG. 24 is a perspective view showing a peripheral portion of the rear wheel of the radiation irradiation apparatus according to the tenth embodiment of the present invention.
  • an actuator 540 and a control box 550 similar to those in the ninth embodiment shown in FIG. 23 are provided.
  • a first pedal 561 and a second pedal 562 are provided as operation pieces instead of the single pedal 551 shown in FIG.
  • Each of the first pedal 561 and the second pedal 562 swings around a swing shaft (not shown) extending in the x direction in the control box 550 by being stepped on with, for example, a foot.
  • the first pedal 561 can selectively take either the home position shown in FIG. 24 or the stepped position where the first pedal 561 swings by being depressed and the front portion in FIG. 24 is lowered. .
  • the second pedal 562 swings from the home position shown in FIG. 24, the first step position where the front portion in FIG. 24 is lowered, and the further stepping from the first step position.
  • the first pedal 561 returns to the home position.
  • the second pedal 561 is in the first or second depression position and the first pedal 561 is depressed, the second pedal 562 returns to the home position.
  • the actuator control circuit controls the driving of the actuator 540 according to the positions of the first pedal 561 and the second pedal 562 detected by the position sensor. That is, when the first pedal 561 is in the depressed position (in this case, the second pedal 562 has returned to the home position), the actuator control circuit drives the actuator 540 to a state in which the turning of the rear wheel portion 12R is suppressed. . Further, when the second pedal 562 is in the first depression position (in this case, the first pedal 561 has returned to the home position), the actuator control circuit controls the actuator 540 from turning and traveling rotation of the rear wheel portion 12R. Drive to the state to do. Then, when the second pedal 562 is in the second depression position (in this case, the first pedal 561 has returned to the home position), the actuator control circuit causes the rear wheel portion 12R to turn and travel. Drive to a state that allows it.
  • two pedals similar to the first pedal 561 and the second pedal 562 and a control box similar to the control box 550 are provided on the front end surface 11b (see FIG. 22) side of the base 11,
  • the actuator 540 can be driven in the same manner as described above by operating these pedals.
  • the first pedal 561 and the similar pedal on the front end surface 11b side of the base 11 are interlocked, and the second pedal 562 and the similar pedal on the front end surface 11b side of the base 11 are interlocked.
  • the linkage between these pedals can be realized by using a known mechanism.
  • FIG. 25 is a perspective view showing an example of a radiation irradiation apparatus having a configuration capable of meeting such a demand.
  • two front wheel holding members 600 extending from the base 11 and holding the front wheel portions 12F are provided, and a non-slip 601 is formed on the upper surface of each front wheel holding member 600.
  • Each anti-slip 601 is formed by arranging a plurality of thin prismatic members, for example.
  • the front wheel holding member 600 and the anti-slip 601 can be formed from, for example, a synthetic resin. Therefore, the operator can easily suppress the movement of the base 11 by placing the bottom surface of one shoe on the anti-slip 601 and pressing the front wheel holding member 600, for example.
  • front wheel parts 12F and two rear wheel parts 12R are provided, but the number of front wheel parts 12F and rear wheel parts 12R is not limited thereto.
  • one front wheel portion 12F and two rear wheel portions 12R may be provided.
  • the radiation irradiation apparatus of embodiment described above shall be drive
  • the radiation irradiation apparatus of this invention is comprised so that it may drive
  • the vehicle may be configured to travel by the operator's force with assistance from the driving force from the power source.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un appareil d'émission de rayonnement ayant une structure simple qui permet à l'appareil d'émission de rayonnement d'être orienté facilement vers un certain angle. la solution selon l'invention porte sur des parties de roue arrière (12R) de l'appareil d'émission de rayonnement, qui comprennent un premier moyen de verrouillage pour empêcher une roue (102) de fonctionner et de tourner, le premier moyen de verrouillage étant configuré à partir d'une partie de fonctionnement avant (109F) d'une pédale de frein (109), d'un arbre (108), d'un engrenage (107), d'une came (106), d'une tige (104), d'un levier (105) et d'un disque (103). Les parties de roue arrière (12R) comprennent également un second mécanisme de verrouillage pour empêcher un boîtier (101) de tourner, le second mécanisme de verrouillage étant configuré à partir d'une partie de fonctionnement arrière (109R) de la pédale de frein (109), de l'arbre (108), de l'engrenage (107) et de la came (106).
PCT/JP2016/002484 2015-09-29 2016-05-23 Appareil d'émission de rayonnement WO2017056348A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680054418.8A CN108135550B (zh) 2015-09-29 2016-05-23 放射线照射装置
EP16850535.2A EP3357426B1 (fr) 2015-09-29 2016-05-23 Appareil d'émission de rayonnement
US15/923,147 US10667772B2 (en) 2015-09-29 2018-03-16 Radiation-irradiation device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2015192067 2015-09-29
JP2015-192067 2015-09-29
JP2015-228537 2015-11-24
JP2015228537A JP2017064360A (ja) 2015-09-29 2015-11-24 放射線照射装置

Related Child Applications (1)

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US15/923,147 Continuation US10667772B2 (en) 2015-09-29 2018-03-16 Radiation-irradiation device

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Publication Number Publication Date
WO2017056348A1 true WO2017056348A1 (fr) 2017-04-06

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6079423U (ja) * 1983-11-08 1985-06-03 株式会社島津製作所 搬送車
JPH027068U (fr) * 1988-06-27 1990-01-17
WO2001010300A1 (fr) * 1999-08-06 2001-02-15 Hitachi Medical Corporation Appareil de radiographie mobile
JP2003104182A (ja) * 2001-07-31 2003-04-09 Ge Medical Systems Global Technology Co Llc レバー作動式キャスタ車輪においてブレーキと方向性ロックを作動させるためのペダル機構
JP2005131157A (ja) * 2003-10-31 2005-05-26 Shimadzu Corp Ｃアーム形ｘ線装置
JP2005306190A (ja) * 2004-04-21 2005-11-04 Catis Products Co Ltd 超音波診断装置
JP2013503778A (ja) * 2009-09-08 2013-02-04 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 双方向運動装置
JP2014533217A (ja) * 2011-11-14 2014-12-11 リナック エー／エス キャスタ制御システム

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6079423U (ja) * 1983-11-08 1985-06-03 株式会社島津製作所 搬送車
JPH027068U (fr) * 1988-06-27 1990-01-17
WO2001010300A1 (fr) * 1999-08-06 2001-02-15 Hitachi Medical Corporation Appareil de radiographie mobile
JP2003104182A (ja) * 2001-07-31 2003-04-09 Ge Medical Systems Global Technology Co Llc レバー作動式キャスタ車輪においてブレーキと方向性ロックを作動させるためのペダル機構
JP2005131157A (ja) * 2003-10-31 2005-05-26 Shimadzu Corp Ｃアーム形ｘ線装置
JP2005306190A (ja) * 2004-04-21 2005-11-04 Catis Products Co Ltd 超音波診断装置
JP2013503778A (ja) * 2009-09-08 2013-02-04 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 双方向運動装置
JP2014533217A (ja) * 2011-11-14 2014-12-11 リナック エー／エス キャスタ制御システム

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