JPH0271730A - Robot-manipulating type multifunction medical imaging diagnostic device - Google Patents
Robot-manipulating type multifunction medical imaging diagnostic deviceInfo
- Publication number
- JPH0271730A JPH0271730A JP63223102A JP22310288A JPH0271730A JP H0271730 A JPH0271730 A JP H0271730A JP 63223102 A JP63223102 A JP 63223102A JP 22310288 A JP22310288 A JP 22310288A JP H0271730 A JPH0271730 A JP H0271730A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- radiation source
- bed
- section
- several kinds
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000002059 diagnostic imaging Methods 0.000 title description 4
- 230000005855 radiation Effects 0.000 claims abstract description 34
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 20
- 238000003384 imaging method Methods 0.000 abstract description 27
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002594 fluoroscopy Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000270666 Testudines Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 229910000077 silane Inorganic materials 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- 238000010626 work up procedure Methods 0.000 description 1
- 229910052724 xenon Inorganic materials 0.000 description 1
- FHNFHKCVQCLJFQ-UHFFFAOYSA-N xenon atom Chemical compound [Xe] FHNFHKCVQCLJFQ-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明はＸ線、放射化核種等を線源とする医用画像診
断装置、ことにｐポット操作により複数種類の医用画像
診断装置として使い分は可能な多機能化された装置に関
する。[Detailed Description of the Invention] [Industrial Application Field] This invention is a medical image diagnostic device that uses X-rays, activated nuclides, etc. as a radiation source, and in particular can be used as a medical image diagnostic device of multiple types by operating a p-pot. relates to possible multifunctional devices.
医用−像診断装置としては、Ｘ線フィルムを用いてアナ
ログ画像を得るＸ線透視装置が最も一般的であるが、半
導体検出器プレイを検出器としてディジタル化したＸ線
テレビ透視撮像装置、イメージインテンシファイアと組
み合わせ７１ｊＸ線カメ２、さらにはＸ１ｉＣＴなどの
種類も多様化している。また、放射化核種としてのｒ線
を用いたｒａカメ２．シンチレーシ冒ン画像装置なども
実用化されている。The most common type of medical imaging diagnostic equipment is an X-ray fluoroscope that uses X-ray film to obtain analog images, but there are Types such as 71j X-ray camera 2 combined with tensifier, and even X1iCT are diversifying. In addition, RA turtles using R-rays as radionuclide 2. Scintillation imaging devices have also been put into practical use.
ところで、この種の医用画像診断装置（以下画像装置と
略称する）は、いずれも放射線源を使用するため、一つ
の医療機関で多種類の画像装置を使用する場合において
も、それぞれ放射線速へいされた設置室に個別に設置し
て不要な放射線被爆を受けるなどの医療事故の発生を防
ぐ対策がとられる。また、被検者の透視部位を変えるた
めに、姿勢制御装置付きの被検者台を用い、かつＸ線管
装置等の放射線源部やその検出部等にも位置制御装置を
設け、透視部位の位置、方向、角度等の自由度を高める
よう構成される。By the way, this type of medical imaging diagnostic equipment (hereinafter abbreviated as imaging equipment) all use a radiation source, so even when a single medical institution uses many types of imaging equipment, the radiation speed of each equipment is affected. Measures are taken to prevent medical accidents such as unnecessary radiation exposure by installing individual devices in separate installation rooms. In addition, in order to change the part of the patient to be examined through fluoroscopy, a patient table with a posture control device is used, and a position control device is also installed in the radiation source section of the X-ray tube device and its detection part. It is configured to increase the degree of freedom in terms of position, direction, angle, etc.
画像装置それぞれに設置室を設けた場合、これに付随し
て装置の操作室や被検者の待合室などを必要とするので
、多種類の画像装置を設ける場合、全体として大きな床
面積を必要とし、これが有効な画像装置の新、増設を阻
害する大きな要因になるという問題がある。また、それ
ぞれの画像装置が透視部位の選択や位置決めのための制
御装置を持つことは、各装置それぞれの使用頻度が極め
て高い場合を除き、医療設仰費の高騰を招く要因となる
にすぎない。If an installation room is provided for each imaging device, a separate operation room for the device and a waiting room for patients will also be required, so if multiple types of imaging devices are installed, a large floor space will be required as a whole. There is a problem in that this becomes a major factor that hinders the installation and expansion of effective imaging devices. Furthermore, the fact that each imaging device has a control device for selecting and positioning the fluoroscopy site only causes an increase in medical setup costs, unless each device is used extremely frequently. .
この発明の目的は、多種類の画像装置の位置決め機構部
等の補機部分を共用化することにより、医療設備費およ
び設置スペースを低減することにある。An object of the present invention is to reduce medical equipment costs and installation space by sharing auxiliary parts such as positioning mechanisms of many types of imaging devices.
上記課題を解決するために、この発明によれば、被検者
を挾んで配された放射線源部および検出部を有し被検者
の透視像を画像化するものにおいて、定置された放射線
源部および検出器を選択して把持する一対のロボットア
ームを有する多関節ロボットと、片持ちベッドに静置さ
れた被検者をＴＶ画像化し、被検者およびベッドの要所
に印された標的マークを認識してベッド側標的マークを
衝に被検者側標的マークの位置情報を出力する視覚セン
サシステムと、この位置情報を受けて被検者側標的マー
クに対する前記放射線源部および検出部の配設位置を算
出し前記多関節ロボットを駆動して位置決めを行うロボ
ットコントロールシステムとを備え、前記放射線源部お
よび検出部の組み合わせにより異なる種類の画像が得ら
れるよう形成されてなるものとする。In order to solve the above problems, according to the present invention, in an apparatus that has a radiation source section and a detection section arranged to sandwich a subject and images a fluoroscopic image of the subject, a fixed radiation source is provided. An articulated robot with a pair of robot arms that selects and grasps the patient and detector, and a TV image of the patient placed on a cantilevered bed, and targets marked at important points on the patient and the bed. a visual sensor system that recognizes the mark and outputs positional information of the target mark on the patient side relative to the target mark on the bed side; The robot control system calculates the arrangement position and drives the multi-joint robot to perform positioning, and is configured so that different types of images can be obtained depending on the combination of the radiation source section and the detection section.
上記手段において、室内の所定位置に定置された複数種
類の放射線源部および検出部を多関節ロボットの一対の
ロボットアームが選択把持することによシ、指令された
画像装置の種類が自動化されたハンドリンクによシ決定
される０次にベッドおよび被検者の要所に印された標的
マークを視覚センサシステムが検知し、位置情報を受け
たロボットコントロールシステムが把持した放射線源部
および検出部の配設位置情報金求め、多関節ロボットを
駆動することＫよシ、位置決めが°自動化されるととも
に、複数種類の放射線源部および検出部に対して上記各
位置決め機構部の共用化が可能とな）、かつ複数種類の
画像装置を一つの設置室に設置することができる。In the above means, a pair of robot arms of an articulated robot selectively grasps a plurality of types of radiation source units and detection units that are placed at predetermined positions in a room, thereby automating the type of imaging device that is ordered. A visual sensor system detects target marks marked on the 0-order bed and the patient's key points determined by the hand link, and the radiation source section and detection section are grasped by a robot control system that receives position information. In addition to determining the placement position information and driving the articulated robot, positioning is automated, and each of the above positioning mechanisms can be used in common for multiple types of radiation sources and detection units. ), and multiple types of imaging devices can be installed in one installation room.
以下この発明を実施例に基づいて説明する。 The present invention will be explained below based on examples.
第１図はこの発明の実施例装置を示す概略構成図である
６図において、１は多関節ロボットであシ、二つのロボ
ットアーム２Ａ、２Ｂを有する。FIG. 1 is a schematic configuration diagram showing a device according to an embodiment of the present invention. In FIG. 6, 1 is an articulated robot having two robot arms 2A and 2B.
６は画像装置の放射線源部、４はその検出部であシ、ロ
ボットアーム２Ａ、２Ｂに把持され、片持ちベッド５に
静置された被検者６の周囲の空間内で自在に位置制御さ
れる。また、片持ベッド５の要所には位置制御の基準点
となる例えば十字形など線分や曲線の組み合わせから々
る特定パターンの標的マーク８ Ａ ＊ ８ Ｂ等が刻
印され、被検者６の例えば透視すべき部位の体表にも標
的マーク７がベッド側の標的マークとは別の特定パター
ンで直接誉かれるか、あるいは標的マーク７が印刷され
た紙片等が特定位置、方向性、および水平面に対する角
度等を保持して貼着される。Reference numeral 6 indicates a radiation source section of the imaging device, and 4 indicates a detection section thereof, which is held by robot arms 2A and 2B and whose position can be freely controlled in the space around the subject 6 who is placed stationary on a cantilevered bed 5. be done. Further, target marks 8 A * 8 B, etc. of a specific pattern made of a combination of line segments or curves, such as a cross, are engraved at key points of the cantilevered bed 5 to serve as reference points for position control. For example, the target mark 7 may be directly placed on the body surface of the area to be viewed using a specific pattern different from the target mark on the bed side, or a piece of paper or the like on which the target mark 7 is printed may be placed in a specific position, direction, and direction. It is pasted while maintaining the angle with respect to the horizontal plane.
１１はＴＶ左カメラあ夛、標的マーク７およびＱＡ 、
８Ｂｔ含む所定エリアｉＴＶ画像信号として視覚センサ
システムに向けて送シ出す、視覚セン量システム１２は
標的マーク７および８Ａ、８Ｂ等それぞれ特有のパター
ンを操作部１０からの入力によシ記憶してお、！１１、
ＴＶ面画像ら標的マークをそのパターンによシ認識して
、ベッド側標的マークｓＡ 、 ８Ｂ 、あるいは両種
的を結ぶ線上の特定位置を基準点として標的マーク７の
中心位置。11 is the TV left camera, target mark 7 and QA,
The visual sensor quantity system 12 sends a predetermined area iTV image signal containing 8 Bt to the visual sensor system, and stores unique patterns such as the target mark 7 and 8A, 8B, etc. by input from the operation unit 10. ,! 11,
The target mark is recognized from the TV screen image based on its pattern, and the center position of the target mark 7 is determined using the bed side target marks sA, 8B, or a specific position on the line connecting the two types as a reference point.
線分の方向、水平面に対する標的マーク７の傾斜角亘心
座標などの位置情報を算出し、ロボットコントロールシ
ステム１３に向けて出カスる。ロボットコントロールシ
ステム１３は位置情報と操作部１０の指令信号に基づい
てロボットアームに把持された放射線源部３および検出
部４が標的マーク７に対して位置すべき目標位置姿勢な
どを算出し、この目標位置に向けてロボットアーム２Ａ
。Positional information such as the direction of the line segment, the inclination angle of the target mark 7 with respect to the horizontal plane, and the center coordinates are calculated and sent to the robot control system 13. The robot control system 13 calculates the target position and orientation in which the radiation source section 3 and the detection section 4 held by the robot arm should be positioned with respect to the target mark 7 based on the position information and the command signal from the operation section 10. Robot arm 2A towards target position
.
２Ｂを駆動するとともに、放射線源部３および検出部４
の重量や姿勢によるロボットアームのたわみ量なども算
出し、補正された目標位置に放射線源部３および検出部
４が位置決めされたことを確認してその報知信号を画像
装置の操作部２０に向けて出力するｄ
操作部２０．制御装置２１は放射線源部３および検出部
４の種類ごとに設けられる画像装置の制御部、医用画像
システム２２．デイスプレィ２３はその信号処理および
可視化部であり、これらの装置によって標的マーク７で
指定された部位の例えば透視像が可視化される。2B, as well as the radiation source section 3 and the detection section 4.
The amount of deflection of the robot arm due to the weight and posture of the robot is also calculated, and after confirming that the radiation source section 3 and the detection section 4 are positioned at the corrected target position, the notification signal is directed to the operation section 20 of the imaging device. d Operation unit 20. The control device 21 is a control section of an imaging device provided for each type of radiation source section 3 and detection section 4, and a medical imaging system 22. The display 23 is its signal processing and visualization unit, and these devices visualize, for example, a perspective image of the region designated by the target mark 7.
なお、多関節ロボット１およびベッド装置５が設置され
た室のロボットアーム２Ａ、２Ｂがとどく範囲には、複
数種類の画像装置の放射線源部および検出部が図示しな
い収納棚等にそれぞれの位置および姿勢を保持して定置
されておシ、この位置情報を記憶したロボットコントロ
ールシステム１３が、その操作部１００指令信号に基づ
いて放射線源部３および検出部４のハンドリングを行う
よう構成される。In addition, within the reach of the robot arms 2A and 2B of the room where the articulated robot 1 and the bed device 5 are installed, the radiation source units and detection units of multiple types of imaging devices are located at respective locations on storage shelves (not shown), etc. The robot control system 13, which is kept in a fixed position while maintaining its posture, is configured to handle the radiation source section 3 and the detection section 4 based on the command signal from the operating section 100.
したがって、実施例装置においては、多関節ロボッ）１
．視覚センサシステム１２．ロボットコントロールシス
テム１３．および片持ベッド５からなる位置決め装置を
種々の画像装置に共通に使用することが可能になる。す
なわち、放射線源部３をＸ線源とした場合、これに組み
合わせる検出部４として、写真フィルム装ｆＩＬを用い
ることにより一般的なＸ線透視装置が、半導体検出器ア
レイを用いることによシディジタルＸ線装置１手術用デ
ィジタルＸｗＡ装置、ま九はディジタルサブトラクシｌ
ンＸ線装置が、キセノンガス検出器および半導体検出器
アレイを用いることにょシＸ線ＣＴが、テレビカメラを
用いることによ〕Ｘ線テレビジ冒ンが、イメージインテ
ンシファイア（Ｉ、Ｉ）を用いることによｐＸ 、ＩＸ
線カメラなどが構成され、これに伴なってＸ線源の制御
装置２１およびその操作部２０をも共用化することがで
きる。Therefore, in the embodiment device, the articulated robot) 1
．． Visual sensor system 12. Robot control system 13. It becomes possible to use the positioning device consisting of the cantilevered bed 5 in common with various imaging devices. In other words, when the radiation source section 3 is an X-ray source, a general X-ray fluoroscope can be converted into a conventional X-ray fluoroscope by using a photographic film device fIL as the detection section 4 combined therewith, and a digital one by using a semiconductor detector array. X-ray device 1 Surgical digital XwA device, digital subtractor
An X-ray CT system uses a xenon gas detector and a semiconductor detector array; an X-ray CT system uses a television camera; By using pX, IX
A ray camera or the like is configured, and accordingly, the control device 21 of the X-ray source and its operation section 20 can also be shared.
また、放射化核種を放射線源部４とし、ｒ線検出器と組
み合わせることによｐｒ線カメラが、シンｆ Ｌ／−シ
ランカメラと組み合わせることによシシンチレーシ冒ン
画像装置を構成できる。さらに、ポジトロン核種とポジ
トロン検出器２台の組み合わせでポジトロンＣＴが、エ
ミッシ曹ン核種とエミッシ冒ン検出器の組み合わせでエ
ミッタｌｌ：／ＣＴが構成される。In addition, by using the radiation source section 4 as the activation nuclide and combining it with an R-ray detector, a PR-ray camera can be constructed, and by combining it with a thin-f L/-silane camera, a cylindrical radiation imaging device can be constructed. Further, a positron CT is configured by a combination of a positron nuclide and two positron detectors, and an emitter ll:/CT is configured by a combination of an emissive carbon nuclide and an emissive radiation detector.
このようにこの発明の実施例装置においては、異なる種
類の画像装置の放射線源部および検出部のハンドリング
から撮像指定位置への位置決め。As described above, in the apparatus according to the embodiment of the present invention, the radiation source section and the detection section of different types of imaging apparatuses are handled and positioned at the designated imaging position.
姿勢制御までの撮像準備作業を、共用化された装置およ
びその設置室でほとんど自動的に行うことができ、かつ
放射線源部の制御装置等の一部をも共用化することが可
能になる。Imaging preparation work up to posture control can be performed almost automatically using a shared device and its installation room, and it is also possible to share a part of the radiation source control device, etc.
この発明は前述のように、多関節ロボットの一対のロボ
ットアームに放射線源部およびその検出部を選択して把
持させるとともに、被検者の撮像位置および片持ちベッ
ドに印された標的マークを視覚センサシステムで検知し
、得られた被検者側標的マークの位置情報に基づいてロ
ボットコントロールシステムが放射線源部および検出部
の位置および姿勢を算出して一対のロボットアームを制
御して位置決めを行うよう構成した。その結果、異なる
種類の医用画像診断装置の放射線源部、検出部のハンド
リングから撮像部分への位置決め。As described above, this invention allows a pair of robot arms of an articulated robot to select and grasp a radiation source section and its detection section, and visually determines the imaging position of the subject and the target mark marked on the cantilevered bed. The robot control system calculates the position and orientation of the radiation source section and detection section based on the position information of the target mark on the subject's side detected by the sensor system, and controls the pair of robot arms for positioning. It was configured as follows. As a result, the handling and positioning of the radiation source section and detection section of different types of medical image diagnostic equipment to the imaging section.
姿勢制御までの撮像準備を共用化された装、置を用いそ
共用化された設置室内でほとんど自動的に行うことが可
能となシ、かつ医用画像診断装置の一部をも共用化でき
るので、一つの医療機関に設置される画像装置の多様化
に伴う設備費の高騰やその設置スペースの拡大など従来
技術の問題点が排除され、少い設備費と少い設置スペー
スで画像装置の多様化に対応できるロボット操作形多機
能医用画像診断装置を提供することができる。Imaging preparations up to posture control can be performed almost automatically in a shared installation room using shared equipment and equipment, and a portion of the medical image diagnostic equipment can also be shared. , the problems of conventional technology such as rising equipment costs and expansion of installation space due to the diversification of imaging equipment installed in a single medical institution are eliminated, and a variety of imaging equipment can be used with less equipment cost and less installation space. It is possible to provide a robot-operated multifunctional medical image diagnostic device that can respond to
第１図はこの発明の実施例装置を示す概略構成図である
。FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention.
Claims (1)
有し被検者の透視像を画像化するものにおいて、定置さ
れた放射線源部および検出器を選択して把持する一対の
ロボットアームを有する多関節ロボットと、片持ちベッ
ドに静置された被検者をＴＶ画像化し、被検者およびベ
ッドの要所に印された標的マークを認識してベッド側標
的マークを衝に被検者側標的マークの位置情報を出力す
る視覚センサシステムと、この位置情報を受けて被検者
側標的マークに対する前記放射線源部および検出部の配
設位置を算出し前記多関節ロボットを駆動して位置決め
を行うロボットコントロールシステムとを備え、前記放
射線源部および検出部の組み合わせにより異なる種類の
画像が得られるよう形成されてなることを特徴とするロ
ボット操作形多機能医用画像診断装置。1) In a device that has a radiation source section and a detection section placed on both sides of the subject and converts a fluoroscopic image of the subject, a pair of radiation source sections and a detector that select and grasp the fixed radiation source section and detector are used. An articulated robot with a robot arm and a patient placed on a cantilevered bed are imaged on a TV, and target marks marked on the patient and the bed are recognized, and the target mark on the bed is positioned at the opposite end. a visual sensor system that outputs positional information of a target mark on the subject's side; and a visual sensor system that receives this positional information to calculate the placement positions of the radiation source section and the detection section with respect to the target mark on the subject's side, and drives the articulated robot. What is claimed is: 1. A robot-operated multifunctional medical image diagnostic apparatus, comprising: a robot control system that performs positioning;
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63223102A JPH0271730A (en) | 1988-09-06 | 1988-09-06 | Robot-manipulating type multifunction medical imaging diagnostic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63223102A JPH0271730A (en) | 1988-09-06 | 1988-09-06 | Robot-manipulating type multifunction medical imaging diagnostic device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0271730A true JPH0271730A (en) | 1990-03-12 |
Family
ID=16792858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63223102A Pending JPH0271730A (en) | 1988-09-06 | 1988-09-06 | Robot-manipulating type multifunction medical imaging diagnostic device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0271730A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001340322A (en) * | 2000-06-01 | 2001-12-11 | Hitachi Medical Corp | Photofluorographic bearer |
| JP2006167172A (en) * | 2004-12-16 | 2006-06-29 | Hitachi Medical Corp | X-ray diagnostic apparatus |
| JP2007021201A (en) * | 2005-07-11 | 2007-02-01 | Siemens Ag | X-ray photographing device |
| EP3797700A1 (en) * | 2019-09-27 | 2021-03-31 | Siemens Healthcare GmbH | Manipulator device for automatically adjusting a radiology workstation |
-
1988
- 1988-09-06 JP JP63223102A patent/JPH0271730A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001340322A (en) * | 2000-06-01 | 2001-12-11 | Hitachi Medical Corp | Photofluorographic bearer |
| JP2006167172A (en) * | 2004-12-16 | 2006-06-29 | Hitachi Medical Corp | X-ray diagnostic apparatus |
| JP2007021201A (en) * | 2005-07-11 | 2007-02-01 | Siemens Ag | X-ray photographing device |
| EP3797700A1 (en) * | 2019-09-27 | 2021-03-31 | Siemens Healthcare GmbH | Manipulator device for automatically adjusting a radiology workstation |
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