WO2014184843A1 - X-ray imaging device for round of visits - Google Patents

X-ray imaging device for round of visits Download PDF

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Publication number
WO2014184843A1
WO2014184843A1 PCT/JP2013/063276 JP2013063276W WO2014184843A1 WO 2014184843 A1 WO2014184843 A1 WO 2014184843A1 JP 2013063276 W JP2013063276 W JP 2013063276W WO 2014184843 A1 WO2014184843 A1 WO 2014184843A1
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WO
WIPO (PCT)
Prior art keywords
arm
operation handle
ray tube
round
ray imaging
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PCT/JP2013/063276
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French (fr)
Japanese (ja)
Inventor
忠彦 中原
智晴 奥野
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株式会社 島津製作所
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Priority to JP2015516768A priority Critical patent/JP6079873B2/en
Priority to PCT/JP2013/063276 priority patent/WO2014184843A1/en
Publication of WO2014184843A1 publication Critical patent/WO2014184843A1/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
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley

Definitions

  • the present invention relates to a round-trip X-ray imaging apparatus for performing round-trips in hospital rooms and performing X-ray imaging.
  • the conventional round-trip X-ray imaging apparatus 100 is based on a carriage 110, an operation handle 120 provided on the rear upper portion of the carriage 110, and an operation detected by the operation handle 120. And a travel control unit that freely travels the carriage 110.
  • the travel control unit includes a pair of drive wheels 131 provided on the lower rear side of the carriage 110, a pair of casters 132 provided on the lower front side of the carriage 110, and a motor connected to the shaft of the drive wheels 131. And a motor drive control circuit for receiving a signal from the operation handle 120 and controlling the motor.
  • the cart 110 is provided with an X-ray tube holding section.
  • the X-ray tube holding unit includes a support post 141 that is rotatably held in front of the carriage 110, an extendable and retractable arm 142 having one end movably supported by the support post 141, and the arm 142.
  • An X-ray tube 143 that is rotatably held around an axis orthogonal to the axis of the arm 142 and a collimator 144 that is held at the X-ray exit of the X-ray tube 143 are provided at the ends.
  • the operation handle 120 is attached to the carriage 110 via the handle position adjusting means 122, and the handle position adjusting means 122 is the carriage.
  • the height of the operation handle 120 can be changed by being configured to be slid with respect to 110 and fixed in position. With this configuration, the height of the operation handle 120 can be freely adjusted and used according to the height of the operator (for example, Patent Document 1).
  • a second operation handle is provided on the support post 141, and the second handle is moved in the vertical direction.
  • An invention which can be configured is known (for example, Patent Document 2).
  • a complicated mechanism is required, and the width of the carriage 110 at the portion holding the handle position adjusting means 122 is increased.
  • round-trip X-ray imaging apparatuses are required to be miniaturized because of the need to travel through narrow hospital rooms.
  • a display and an input means for displaying a photographed image and X-ray conditions are provided together with a holding mechanism for the operation handle 120. In order to secure an occupied area of the display and the like, an operation is performed. It is desired to minimize the area occupied by the handle 120 and its holding portion.
  • the present invention aims to solve the above-mentioned problems and to provide a round-trip X-ray imaging apparatus capable of adjusting the operation handle to a height corresponding to the height of the operator without increasing the size of the apparatus.
  • an X-ray imaging apparatus for round trip includes a carriage, a travel control section provided on the carriage, an X-ray tube holding section provided on the carriage, and the travel control section.
  • the X-ray tube holding part is a support column rotatably held in front of the carriage, and an arm held by the support column so as to be movable in the vertical direction.
  • an X-ray tube held by the arm, and the operation handle is held directly or indirectly with respect to the arm and is disposed in the vicinity of the X-ray tube.
  • directly or indirectly held with respect to the arm means not only the case where the arm is mechanically fixed to the arm but also a structure attached to the arm (for example, an X-ray tube, a collimator, and the like). It also includes being mechanically fixed to a holding frame or the like. In addition, as long as the structure moves with the arm in the vertical direction, it is included in the state of being “held directly or indirectly with respect to the arm”.
  • “arranged in the vicinity of the X-ray tube” means that it is disposed on the other end side of the arm on the assumption that one end of the arm is held by the support column and an X-ray tube or the like is attached to the other end. It means that
  • the height can be easily changed by moving the operating handle up and down with the arm. Since the mechanism for raising and lowering is originally a mechanism provided to change the height of the X-ray tube, the operation handle can be adjusted to an optimum height for the operator without adding a new mechanism. This is possible, and the apparatus does not increase in size. Moreover, since it can be operated from the X-ray tube side, when it arrives at the patient's room, the X-ray tube can be immediately moved onto the bed on which the patient lies to prepare for X-ray imaging.
  • the X-ray tube holding section has an X-ray tube moving handle used when the X-ray tube is moved by rotating the support column and moving the arm up and down and extending and contracting.
  • the tube moving handle may also serve as the operation handle.
  • the X-ray tube moving handle also serves as the operation handle, when the X-ray tube moving handle arrives at the bedside of the hospital room, the X-ray tube moving operation can be performed as it is.
  • the X-ray tube holding part has an X-ray tube moving handle used when the X-ray tube is moved by the rotation of the support column and the vertical movement of the arm.
  • the work handle may be provided separately from the operation handle.
  • the operation handle includes a sensor for detecting the operation as a component, if an operation that applies pressure in a direction different from the operation for traveling is frequently performed, it may not be preferable from the viewpoint of durability. . If an X-ray tube moving handle is separately provided, it is advantageous from the viewpoint of durability.
  • An electromagnetic lock that controls the rotation of the support and the vertical movement of the arm and whether the arm can be expanded and contracted; and a lock release switch for changing a state of the electromagnetic lock, and the lock release switch includes the operation handle. It is desirable that it is arranged at a position where it can be pressed even if it is held. In this case, the lock release switch may release only the electromagnetic lock of the vertical movement of the arm while operating the operation handle.
  • the lock release switch is disposed at a position where the lock release switch can be pressed while holding the operation handle because the height can be easily changed. At that time, if the lock release switch functions to release only the electromagnetic lock of the vertical movement of the arm during traveling, the arm can be prevented from rotating or expanding / contracting during traveling. This is preferable from the viewpoint of safety.
  • the operation handle may be configured to function only when the arm is most contracted or when the arm is facing backward.
  • the operation handle is configured to function only when the arm is facing backwards or only when the arm is in the most contracted state, the inconvenience that the device will inadvertently operate can be suppressed. From the viewpoint of, it is further preferable.
  • the round X-ray imaging apparatus according to any one of claims 1 to 7, characterized in that, apart from the operation handle, a second operation handle having a similar function is provided at the rear of the carriage.
  • the operation handle that has been conventionally provided is not provided at the rear of the carriage because the space on the upper face of the carriage is increased and the degree of layout is increased.
  • a conventional operation handle may be separately provided as the second operation handle.
  • the height can be easily changed by moving the operation handle up and down with the arm. Since the mechanism for raising and lowering is originally a mechanism provided to change the height of the X-ray tube, the operation handle can be adjusted to an optimum height for the operator without adding a new mechanism. This is possible, and the apparatus does not increase in size. Moreover, since it can be operated from the X-ray tube side, when it arrives at the patient's room, the X-ray tube can be immediately moved onto the bed on which the patient lies to prepare for X-ray imaging.
  • the X-ray imaging apparatus 1 includes a carriage 10, a battery 11 built in the carriage, a traveling control unit 30 that controls traveling of the carriage, and an X-ray tube holder that holds an X-ray tube. Part 40.
  • the front and back of the X-ray imaging apparatus for round trips are referred to as the front, and the reverse is the direction where the support column 41 is disposed with reference to the carriage 10. Therefore, normally, as shown in FIG. 1, the caster 32 is disposed forward and the drive wheel 31 is disposed rearward.
  • the cart 10 is provided with an X-ray tube holding unit 40.
  • the X-ray tube holding unit 40 includes a support column 41 that is rotatably held in front of the carriage 10, an extendable arm 42 that is held at one end of the support column 41 so as to be movable in the vertical direction, and the arm 42.
  • An X-ray tube 43 rotatably held around the axis of the arm 42 and the axis orthogonal to the axis at the other end, a collimator 44 held at the X-ray exit of the X-ray tube 43, and the X-ray tube 43
  • An X-ray tube moving handle 45 provided on the lower side of the collimator 44 and an arm for determining whether the arm 42 faces rearward by detecting whether the arm 42 exists immediately above Detection means 60.
  • the round-trip X-ray imaging apparatus 1 further includes an operation handle holding member 22 attached to both sides of the X-ray tube 43 and an operation handle 20 held at both ends by the operation handle holding member 22. .
  • a support column turning electromagnetic lock 47 is provided between the support column 41 and the carriage 10. Normally, the support column turning electromagnetic lock 47 is operated to prevent the support column 41 from rotating with respect to the carriage 10. When the turning electromagnetic lock is energized, the lock is released and the column 41 can be freely rotated with respect to the carriage 10.
  • the arm 42 has a cylindrical first arm 421 that is held up and down with respect to the support column 41, a rail 421 i provided inside the first arm 421, and an outer diameter that is thinner than the inner diameter of the cylinder of the first arm 421.
  • a cylindrical second arm 422 that slides along the rail 421i, a rail 422i provided inside the second arm 422, and an outer diameter smaller than the inner diameter of the second arm 422 cylinder.
  • And a third arm 423 that slides along the rail 422i.
  • An arm telescopic electromagnetic lock 48 is built in a sliding surface of the second arm 422 and the third arm 423 with respect to the rail 421i and the rail 422i.
  • the arm telescopic electromagnetic lock 48 is operated to operate the rail 421i and the rail 421i.
  • the arm 42 is configured not to expand and contract by being attracted to 422i, when the arm telescopic electromagnetic lock 48 is energized, the attracting is released and the arm 42 can expand and contract.
  • lock release controls are performed by a lock control circuit 50 as shown in FIG.
  • the lock control circuit 50 is connected to the arm up-and-down electromagnetic lock 46, the support column turning electromagnetic lock 47, and the arm telescopic electromagnetic lock 48, and can control the lock by controlling the energization of the electromagnets included therein.
  • FIG. 3A is a view of the vicinity of the X-ray tube 43 in the roundabout X-ray imaging apparatus 1 described in FIG. 1 as viewed from the rear side of the roundabout X-ray imaging apparatus 1.
  • FIG. 3B is a view of the operation handle holding member 22 and the operation handle 20 as seen in a horizontal section.
  • both ends of the operation handle 20 are held by the operation handle holding member 22 via the pressure sensor 21.
  • the pressure sensor 21 is composed of an elastic member and a film whose resistance value changes when pressed through the elastic member, and the operation force that pushes the operation handle 20 back and forth is the pressure at four positions in the front and rear, right and left. It is detected as an electrical signal by the sensor 21. The detected electrical signal is transmitted to the motor drive control circuit 34, and the direction and magnitude of the operation force operation are calculated.
  • the motor drive control circuit 34 controls the current flowing from the battery 11 to the motor 33 so that a torque corresponding to the direction and magnitude of the operation is output.
  • the X-ray tube 43 is provided with a lock release switch 49.
  • the signal detected by the lock release switch 49 is input to the lock control circuit 50 (see FIG. 2B).
  • the lock control circuit 50 see FIG. 2B.
  • the lock release switch 49 is disposed at a position where it can be pressed with, for example, the thumb even when the X-ray tube moving handle 45 is gripped. Further, even when the operation handle 20 is gripped, it is arranged at a position where it can be pressed with an index finger or the like. By being arranged in such a position, the lock can be released without releasing the hand from the handle, regardless of which operation is being performed.
  • 3A when the lock release switch 49 is disposed at a distance of about 30 to 50 mm obliquely above the upper end of the X-ray tube moving handle 45, the X-ray tube moving handle 45 is grasped. But you can press it with your thumb. Further, if the distance between the operation handle 20 and the lock release switch 49 is about 30 to 100 mm, it can be pressed with an index finger or the like.
  • the height of the arm 42 can be changed.
  • the arm 42 is locked in the vertical direction at that position.
  • the operation handle 20 is fixed at the height. In this way, the operator can easily set the height of the operation handle 20 to a desired position.
  • FIG. 4 is a flowchart showing the control when the lock release switch 49 in the lock control circuit 50 is operated.
  • the lock control circuit 50 is also connected to the operation handle 20 and the travel control unit 30, and when it is determined that the operation handle 20 is operated, or when it is determined that the carriage 10 is traveling.
  • the lock release switch 49 is pressed, only the arm up / down electromagnetic lock 46 out of the arm up / down electromagnetic lock 46, the column turning electromagnetic lock 47, and the arm telescopic electromagnetic lock 48 is released, and the height of the operation handle 20 is increased. Although it can be changed, the lock state of the support column turning electromagnetic lock 47 and the arm telescopic electromagnetic lock 48 is maintained.
  • the lock control circuit 50 performs control so that all of the arm up / down electromagnetic lock 46, the support column turning electromagnetic lock 47, and the arm telescopic electromagnetic lock 48 are released.
  • FIG. 5A is a diagram illustrating a configuration for detecting the state of the arm 42.
  • arm detection means 60 In the vicinity of the center of the upper surface of the carriage 10, arm detection means 60 is provided.
  • the arm detection means 60 has a function of emitting an ultrasonic wave or the like upward and detecting a reflected wave. With such a configuration, it is possible to detect whether or not the arm 42 exists immediately above the arm detection means 60, that is, whether or not the arm 42 faces rearward.
  • FIG. 5 (b-1) and 5 (b-2) are diagrams for explaining a configuration for detecting expansion and contraction of the arm 42.
  • FIG. 5B-1 the arm 42 is provided with a contact sensor 48 a inside the first arm 421.
  • a contact sensor 48b is provided inside the second arm 422. If the arm 42 is in the most contracted state in this state, the state shown in FIG. 5B-2 is obtained. In this state, the tip of the second arm 422 contacts the sensor contact 48a, and the tip of the third arm 423 contacts the contact sensor 48b. Thereby, it is detected whether or not the arm 42 is in the most contracted state.
  • the travel control circuit 34 operates as shown in the flowchart of FIG. That is, the traveling control circuit 34 controls the motor 33 based on a signal from the operation handle 20 when the arm 42 is in the most contracted state and is facing backward, but in other states, the operation handle 20 is controlled. Regardless of the signal from the motor 33, the motor 33 is not driven.
  • the motor drive control circuit 34 may limit the traveling speed. This makes it possible to move the apparatus slowly even when the arm 42 is turning during preparation for photographing.
  • FIG. 7 is a top view of the round-trip X-ray imaging apparatus according to this embodiment.
  • an arm detection means 60 a monitor M for displaying images taken by an image detector F (not shown), patient information, etc., an X-ray condition setting panel for displaying and setting X-ray conditions X and a power operation panel P are arranged.
  • the operation handle 20 is not provided at the upper rear part of the cart 10, the space above the cart 10 can be used effectively.
  • the conventional operation handle is not provided at the upper rear portion of the carriage 10, but although the advantage of space cannot be obtained, an operation handle may be provided as usual.
  • the operation handle 20 and the X-ray tube moving handle 45 are provided separately. However, one of these may be eliminated and the remaining handle may have both functions. Further, both of them may have the function of the operation handle 20.

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Abstract

[Problem] The objective of the present invention is to provide an x-ray imaging device that is for a round of visits and that is such that the device can be operated by means of the height thereof with respect to the height of an operator, while suppressing the occupancy of the device upper surface by an operating lever holding mechanism. [Solution] The x-ray imaging device (1) for a round of visits has: a support column (41) held rotatably at the anterior of a wagon (1); an arm (42) that can extend and retract and of which one end is held at the support column (41) in a manner able to be moved in the vertical direction; an X-ray tube (43) that is held rotatably around an axis intersecting the axis of the arm (42) at the other end of the arm (42); a collimator (44) held at the x-ray exit opening of the x-ray tube (43); and an x-ray tube movement lever (45) provided in the lateral direction with respect to the collimator (44) and below the x-ray tube (43). The x-ray imaging device (1) for a round of visits further has: an operation lever holding member (22) attached to both sides of the x-ray tube (43); and an operation lever (20) held at both ends by the operation lever holding member (22).

Description

回診用Ｘ線撮影装置Round-trip X-ray equipment
　本発明は、病室を回診してＸ線撮影を行う回診用Ｘ線撮影装置に関する。 [Technical Field] The present invention relates to a round-trip X-ray imaging apparatus for performing round-trips in hospital rooms and performing X-ray imaging.
　従来の回診用Ｘ線撮影装置１００は、図８に示すように、台車１１０と、前記台車１１０の後方上部に設けられた操作ハンドル１２０と、当該操作ハンドル１２０で検出された操作に基づいて、台車１１０を自在に走行させる走行制御部とを有している。 As shown in FIG. 8, the conventional round-trip X-ray imaging apparatus 100 is based on a carriage 110, an operation handle 120 provided on the rear upper portion of the carriage 110, and an operation detected by the operation handle 120. And a travel control unit that freely travels the carriage 110.
　当該走行制御部は、台車１１０の後方下側に設けられた一対の駆動車輪１３１と、台車１１０の前方下側に設けられた一対のキャスター１３２と、当該駆動車輪１３１の軸に連結されたモータと、前記操作ハンドル１２０からの信号を受けて当該モータを制御するモータ駆動制御回路とを有している。 The travel control unit includes a pair of drive wheels 131 provided on the lower rear side of the carriage 110, a pair of casters 132 provided on the lower front side of the carriage 110, and a motor connected to the shaft of the drive wheels 131. And a motor drive control circuit for receiving a signal from the operation handle 120 and controlling the motor.
　また、台車１１０には、Ｘ線管保持部が設けられている。当該Ｘ線管保持部は、台車１１０の前方に回転可能に保持された支柱１４１と、一端を当該支柱１４１に上下方向に移動可能に保持された伸縮可能なアーム１４２と、当該アーム１４２の他端にアーム１４２の軸と直交する軸周りに回転可能に保持されたＸ線管１４３と、当該Ｘ線管１４３のＸ線出射口に保持されたコリメータ１４４とを有している。 In addition, the cart 110 is provided with an X-ray tube holding section. The X-ray tube holding unit includes a support post 141 that is rotatably held in front of the carriage 110, an extendable and retractable arm 142 having one end movably supported by the support post 141, and the arm 142. An X-ray tube 143 that is rotatably held around an axis orthogonal to the axis of the arm 142 and a collimator 144 that is held at the X-ray exit of the X-ray tube 143 are provided at the ends.
　このように構成された従来の回診用Ｘ線撮影装置１００は、台車１１０に対して、操作ハンドル１２０が、ハンドル位置調整手段１２２を介して取り付けられており、当該ハンドル位置調整手段１２２は、台車１１０に対してスライドさせて位置を固定できるように構成されることで、操作ハンドル１２０の高さを変更できるようになっている。この構成により、操作者の身長に応じて、操作ハンドル１２０の高さを自由に調整して使用することができるようになっている（例えば特許文献１）。 In the conventional round X-ray imaging apparatus 100 configured as described above, the operation handle 120 is attached to the carriage 110 via the handle position adjusting means 122, and the handle position adjusting means 122 is the carriage. The height of the operation handle 120 can be changed by being configured to be slid with respect to 110 and fixed in position. With this configuration, the height of the operation handle 120 can be freely adjusted and used according to the height of the operator (for example, Patent Document 1).
　また、台車１１０の前後から操作できるように、台車１１０の後方に配置された操作ハンドル１２０とは別に、支柱１４１に第２の操作ハンドルを設け、かつ、当該第２のハンドルを上下方向に移動可能に構成した発明が知られている（例えば特許文献２）。 In addition to the operation handle 120 arranged behind the carriage 110 so that the operation can be performed from the front and rear of the carriage 110, a second operation handle is provided on the support post 141, and the second handle is moved in the vertical direction. An invention which can be configured is known (for example, Patent Document 2).
特開２０１１－２１２４９７号公報JP 2011-212497 A 特開２００８－０６１９４４号公報JP 2008-061944 A
　しかしながら、操作ハンドル１２０を、台車１１０に対して高さ調整可能とするためには、複雑な機構が必要となり、ハンドル位置調整手段１２２を保持する部分の台車１１０の幅が大きくなる。特に、回診用Ｘ線撮影装置は、狭い病室を往来する必要性から、装置の小型化が求められている。更に、台車１１０の上面には、操作ハンドル１２０の保持機構とともに、撮影した画像やＸ線条件などを表示するディスプレイや入力手段が設けられており、ディスプレイ等の占有面積を確保するために、操作ハンドル１２０及びその保持部分の占有領域を極力小さくすることが望まれている。
　また、特許文献２のように、支柱１４１に第２の操作ハンドルを設けた場合、支柱１４１に近い位置で操作することになるため、支柱１４１により視界が遮られる。また、一般に、回診用Ｘ線撮影装置では、キャスター１３２は、前方に配置されるのが通常であるところ、キャスター１３２側は左右方向への移動量が大きくなる結果、カーブを曲がる際に大幅に横方向に移動する必要があり、操作性に問題があった。 However, in order to make it possible to adjust the height of the operation handle 120 with respect to the carriage 110, a complicated mechanism is required, and the width of the carriage 110 at the portion holding the handle position adjusting means 122 is increased. In particular, round-trip X-ray imaging apparatuses are required to be miniaturized because of the need to travel through narrow hospital rooms. Further, on the upper surface of the carriage 110, a display and an input means for displaying a photographed image and X-ray conditions are provided together with a holding mechanism for the operation handle 120. In order to secure an occupied area of the display and the like, an operation is performed. It is desired to minimize the area occupied by the handle 120 and its holding portion.
Further, as in Patent Document 2, when the second operation handle is provided on the support post 141, since the operation is performed at a position close to the support post 141, the view is blocked by the support post 141. Further, in general, in a roundabout X-ray imaging apparatus, the caster 132 is usually arranged in the front, but the caster 132 side has a large amount of movement in the left-right direction. There was a problem in operability because it was necessary to move in the horizontal direction.
　本件発明は、上記課題を解決し、装置を大型化させることなく、操作ハンドルを操作者の身長に応じた高さに調節できる回診用Ｘ線撮影装置を提供することを目的とする。 The present invention aims to solve the above-mentioned problems and to provide a round-trip X-ray imaging apparatus capable of adjusting the operation handle to a height corresponding to the height of the operator without increasing the size of the apparatus.
上記課題を解決するため、本願発明にかかる回診用Ｘ線撮影装置は、台車と、当該台車に設けられた走行制御部と、前記台車に設けられたＸ線管保持部と、前記走行制御部に操作に対応した信号を出力する操作ハンドルとを有し、当該Ｘ線管保持部は、台車の前方に回転可能に保持された支柱と、当該支柱に上下方向に移動可能に保持されたアームと、当該アームに保持されたＸ線管とを有しており、前記操作ハンドルは、前記アームに対して直接または間接的に保持され、かつ、前記Ｘ線管近傍に配置されていることを特徴とする。 In order to solve the above-mentioned problems, an X-ray imaging apparatus for round trip according to the present invention includes a carriage, a travel control section provided on the carriage, an X-ray tube holding section provided on the carriage, and the travel control section. The X-ray tube holding part is a support column rotatably held in front of the carriage, and an arm held by the support column so as to be movable in the vertical direction. And an X-ray tube held by the arm, and the operation handle is held directly or indirectly with respect to the arm and is disposed in the vicinity of the X-ray tube. Features.
　なお、「アームに対して直接または間接的に保持」とは、アームに機械的に固定されている場合の他、アームに対して取り付けられている構造物（例えばＸ線管やコリメータ、これらの保持枠など）に機械的に固定されていることをも包含する。その他、アームと共に上下方向に連れ動く構造である限り、「アームに対して直接または間接的に保持」されている状態に含まれる。 The term “directly or indirectly held with respect to the arm” means not only the case where the arm is mechanically fixed to the arm but also a structure attached to the arm (for example, an X-ray tube, a collimator, and the like). It also includes being mechanically fixed to a holding frame or the like. In addition, as long as the structure moves with the arm in the vertical direction, it is included in the state of being “held directly or indirectly with respect to the arm”.
　また、「Ｘ線管近傍に配置されている」とは、アームの一端が支柱に保持され、他端にＸ線管などが取り付けられていることを前提として、アームの他端側に配置されていることを意味するものである。 In addition, “arranged in the vicinity of the X-ray tube” means that it is disposed on the other end side of the arm on the assumption that one end of the arm is held by the support column and an X-ray tube or the like is attached to the other end. It means that
［作用効果］
　本件発明は、操作ハンドルをアームに連れて上下させることにより、その高さを容易に変更することができる。この上下させる機構は、本来Ｘ線管の高さを変更するために設けられた機構であるため、新たな機構を追加することなく、操作ハンドルを操作者に最適な高さに調整することが可能となり、かつ、装置が大型化することがない。また、Ｘ線管側から操作できるので、病室に到着したときに、すぐさまＸ線管を患者が横たわるベッドの上へ移動させて、Ｘ線撮影の準備をすることができる。 [Function and effect]
In the present invention, the height can be easily changed by moving the operating handle up and down with the arm. Since the mechanism for raising and lowering is originally a mechanism provided to change the height of the X-ray tube, the operation handle can be adjusted to an optimum height for the operator without adding a new mechanism. This is possible, and the apparatus does not increase in size. Moreover, since it can be operated from the X-ray tube side, when it arrives at the patient's room, the X-ray tube can be immediately moved onto the bed on which the patient lies to prepare for X-ray imaging.
　また、前記Ｘ線管保持部は、前記支柱の回転及び前記アームの上下方向の移動並びに伸縮により、前記Ｘ線管を移動させる際に使用するＸ線管移動用ハンドルを有し、当該Ｘ線管移動用ハンドルは、前記操作ハンドルを兼ねることとしてもよい。 The X-ray tube holding section has an X-ray tube moving handle used when the X-ray tube is moved by rotating the support column and moving the arm up and down and extending and contracting. The tube moving handle may also serve as the operation handle.
［作用効果］
　Ｘ線管移動用ハンドルが前記操作ハンドルを兼ねることにより、病室のベッドサイドに到着したら、そのままＸ線管の移動動作に移ることができる点で好適である。 [Function and effect]
Since the X-ray tube moving handle also serves as the operation handle, when the X-ray tube moving handle arrives at the bedside of the hospital room, the X-ray tube moving operation can be performed as it is.
　また、前記Ｘ線管保持部は、前記支柱の回転及び前記アームの上下方向の移動により、前記Ｘ線管を移動させる際に使用するＸ線管移動用ハンドルを有し、当該Ｘ線管移動用ハンドルは、前記操作ハンドルとは別に設けられていることとしてもよい。 Further, the X-ray tube holding part has an X-ray tube moving handle used when the X-ray tube is moved by the rotation of the support column and the vertical movement of the arm. The work handle may be provided separately from the operation handle.
［作用効果］
　操作ハンドルは、操作を検知するためのセンサ等を構成部品に含むため、走行のための操作とは異なる方向への圧力をかける操作を頻繁に行うと、耐久性の面から好ましくない場合もある。Ｘ線管移動用ハンドルを別途設けることとすれば、耐久性の面から有利である。 [Function and effect]
Since the operation handle includes a sensor for detecting the operation as a component, if an operation that applies pressure in a direction different from the operation for traveling is frequently performed, it may not be preferable from the viewpoint of durability. . If an X-ray tube moving handle is separately provided, it is advantageous from the viewpoint of durability.
　前記支柱の回転及び前記アームの上下方向の移動並びに伸縮の可否を制御する電磁ロックと、当該電磁ロックの状態を変更するためのロック解除スイッチとを有し、当該ロック解除スイッチは、前記操作ハンドルを握ったままでも、押下可能な位置に配置されていることが望ましい。
　その場合、前記ロック解除スイッチは、前記操作ハンドルを操作中には、アームの上下方向の移動の電磁ロックのみを解除することとしてもよい。 An electromagnetic lock that controls the rotation of the support and the vertical movement of the arm and whether the arm can be expanded and contracted; and a lock release switch for changing a state of the electromagnetic lock, and the lock release switch includes the operation handle. It is desirable that it is arranged at a position where it can be pressed even if it is held.
In this case, the lock release switch may release only the electromagnetic lock of the vertical movement of the arm while operating the operation handle.
［作用効果］
　ロック解除スイッチが操作ハンドルを握ったままでも押下可能な位置に配置されていれば、高さを容易に変更できるため好ましい。
　その際、ロック解除スイッチが、走行中には、アームの上下方向の移動の電磁ロックのみを解除するように機能すれば、走行中にアームが回転したり、伸縮したりすることを防止することができ、安全性の面から好ましい。 [Function and effect]
It is preferable that the lock release switch is disposed at a position where the lock release switch can be pressed while holding the operation handle because the height can be easily changed.
At that time, if the lock release switch functions to release only the electromagnetic lock of the vertical movement of the arm during traveling, the arm can be prevented from rotating or expanding / contracting during traveling. This is preferable from the viewpoint of safety.
　前記アームが最も縮んだ状態や、アームが後方に向いているときのみ、前記操作ハンドルが機能するように構成することとしてもよい。 The operation handle may be configured to function only when the arm is most contracted or when the arm is facing backward.
［作用効果］
　更に、アームが後方に向いているときや、アームが最も縮んだ状態でのみ操作ハンドルが機能するように構成されていれば、不用意に装置が動作してしまう不都合を抑制できるため、安全性の面から更に好ましい。 [Function and effect]
Furthermore, if the operation handle is configured to function only when the arm is facing backwards or only when the arm is in the most contracted state, the inconvenience that the device will inadvertently operate can be suppressed. From the viewpoint of, it is further preferable.
　前記操作ハンドルとは別に、同様の機能を有する第２の操作ハンドルを前記台車の後方に設けたことを特徴とする、請求項１～７のいずれかに記載の回診用Ｘ線撮影装置。 The round X-ray imaging apparatus according to any one of claims 1 to 7, characterized in that, apart from the operation handle, a second operation handle having a similar function is provided at the rear of the carriage.
［作用効果］
　なお、台車後方に従来から設けていた操作ハンドルを設けないこととすれば、台車上面のスペースが広がり、レイアウトの自由度が高まるので好適である。ただし、スペースの問題を考慮しない場合は、従来の操作ハンドルを、第２の操作ハンドルとして別途備えることとしても良い。 [Function and effect]
Note that it is preferable that the operation handle that has been conventionally provided is not provided at the rear of the carriage because the space on the upper face of the carriage is increased and the degree of layout is increased. However, when the problem of space is not considered, a conventional operation handle may be separately provided as the second operation handle.
　本件発明は、操作ハンドルをアームに連れて上下させることにより、高さを容易に変更することができる。この上下させる機構は、本来Ｘ線管の高さを変更するために設けられた機構であるため、新たな機構を追加することなく、操作ハンドルを操作者に最適な高さに調整することが可能となり、かつ、装置が大型化することがない。
　また、Ｘ線管側から操作できるので、病室に到着したときに、すぐさまＸ線管を患者が横たわるベッドの上へ移動させて、Ｘ線撮影の準備をすることができる。 In the present invention, the height can be easily changed by moving the operation handle up and down with the arm. Since the mechanism for raising and lowering is originally a mechanism provided to change the height of the X-ray tube, the operation handle can be adjusted to an optimum height for the operator without adding a new mechanism. This is possible, and the apparatus does not increase in size.
Moreover, since it can be operated from the X-ray tube side, when it arrives at the patient's room, the X-ray tube can be immediately moved onto the bed on which the patient lies to prepare for X-ray imaging.
実施例にかかる回診用Ｘ線撮影装置を説明するための図である。It is a figure for demonstrating the X-ray imaging apparatus for round trips concerning an Example. 実施例のアーム上下動を説明するための図である。It is a figure for demonstrating the arm up-and-down movement of an Example. 実施例の操作ハンドル２０の詳細を説明するための図である。It is a figure for demonstrating the detail of the operation handle 20 of an Example. 実施例のロック制御回路５０における制御を示すフローチャートである。It is a flowchart which shows the control in the lock control circuit 50 of an Example. 実施例のアーム４２の回転方向及び伸縮の状態検出を説明するための図である。It is a figure for demonstrating the rotation direction of the arm 42 of an Example, and the expansion-contraction state detection. 実施例の走行制御回路３４における制御を示すフローチャートである。It is a flowchart which shows the control in the traveling control circuit 34 of an Example. 実施例の装置上面の配置を説明するための図である。It is a figure for demonstrating arrangement | positioning of the apparatus upper surface of an Example. 従来の回診用Ｘ線撮影装置を説明するための図である。It is a figure for demonstrating the conventional X-ray imaging apparatus for roundabouts.
　本発明にかかる回診用Ｘ線撮影装置の一実施例について以下説明する。
　当該Ｘ線撮影装置１は、図１に示すように、台車１０と、台車に内蔵されたバッテリ１１と、台車の走行を制御する走行制御部３０と、Ｘ線管を保持するＸ線管保持部４０とを有している。 An embodiment of an X-ray imaging apparatus for round trip according to the present invention will be described below.
As shown in FIG. 1, the X-ray imaging apparatus 1 includes a carriage 10, a battery 11 built in the carriage, a traveling control unit 30 that controls traveling of the carriage, and an X-ray tube holder that holds an X-ray tube. Part 40.
　台車１０の後方下側に設けられた一対の駆動車輪３１と、台車１０の前方下側に設けられた一対のキャスター３２と、当該駆動車輪３１の軸に連結されたモータ３３と、前記操作ハンドル２０からの信号を受けて当該モータ３３を制御するモータ駆動制御回路３４とを有している。なお、回診用Ｘ線撮影装置の前方・後方は、台車１０を基準として、支柱４１が配置されている方を前方、その逆を後方という。したがって、通常は、図１のように、キャスター３２が前方に配置され、駆動車輪３１が後方に配置されている。 A pair of drive wheels 31 provided on the lower rear side of the carriage 10, a pair of casters 32 provided on the lower front side of the carriage 10, a motor 33 coupled to the shaft of the drive wheel 31, and the operation handle And a motor drive control circuit 34 that controls the motor 33 in response to a signal from the motor 20. In addition, the front and back of the X-ray imaging apparatus for round trips are referred to as the front, and the reverse is the direction where the support column 41 is disposed with reference to the carriage 10. Therefore, normally, as shown in FIG. 1, the caster 32 is disposed forward and the drive wheel 31 is disposed rearward.
　また、台車１０には、Ｘ線管保持部４０が設けられている。当該Ｘ線管保持部４０は、台車１０の前方に回転可能に保持された支柱４１と、一端を当該支柱４１に上下方向に移動可能に保持された伸縮可能なアーム４２と、当該アーム４２の他端にアーム４２の軸及び当該軸と直交する軸周りに回転可能に保持されたＸ線管４３と、当該Ｘ線管４３のＸ線出射口に保持されたコリメータ４４と、Ｘ線管４３の下側かつコリメータ４４の側方に設けられたＸ線管移動用ハンドル４５と、前記アーム４２が直上に存在するかどうか検出することにより、アーム４２が後方を向いているかどうかを判定するアーム検出手段６０と、を有している。 In addition, the cart 10 is provided with an X-ray tube holding unit 40. The X-ray tube holding unit 40 includes a support column 41 that is rotatably held in front of the carriage 10, an extendable arm 42 that is held at one end of the support column 41 so as to be movable in the vertical direction, and the arm 42. An X-ray tube 43 rotatably held around the axis of the arm 42 and the axis orthogonal to the axis at the other end, a collimator 44 held at the X-ray exit of the X-ray tube 43, and the X-ray tube 43 An X-ray tube moving handle 45 provided on the lower side of the collimator 44 and an arm for determining whether the arm 42 faces rearward by detecting whether the arm 42 exists immediately above Detection means 60.
　回診用Ｘ線撮影装置１は、更に、Ｘ線管４３の両側方に取り付けられた操作ハンドル保持部材２２と、当該操作ハンドル保持部材２２に両端を保持された操作ハンドル２０とを有している。 The round-trip X-ray imaging apparatus 1 further includes an operation handle holding member 22 attached to both sides of the X-ray tube 43 and an operation handle 20 held at both ends by the operation handle holding member 22. .
　次に、図２（ａ）を参照して、支柱４１に対してアーム４２を上下方向に移動させるための機構について説明する。
　支柱４１内部には、滑車５６と、当該滑車５６に掛けられたワイヤ５３と、当該ワイヤ５３の一端にワイヤ止め５４を介して接続されたカウンターウエイト５７と、当該ワイヤ５３の他端にワイヤ止め５５を介して接続されたアーム４２とが配置されている。また、カウンターウエイト５７及びアーム４２は、ガイドレール５８に沿って上下方向に移動可能に構成されているが、アーム４２にはアーム上下電磁ロック４６が設けられている。通常はアーム上下電磁ロック４７がガイドレール５８に吸着して、アーム４２が支柱４１に対して上下方向に移動できないように構成されており、アーム上下電磁ロック４６に通電されるとアーム上下電磁ロック４６がガイドレール５８から離れることによりロックが解除されて、アーム４２を支柱４１に対して上下方向に自在に移動させることができるようになる。 Next, a mechanism for moving the arm 42 in the vertical direction with respect to the support column 41 will be described with reference to FIG.
Inside the column 41, there are a pulley 56, a wire 53 hung on the pulley 56, a counterweight 57 connected to one end of the wire 53 via a wire stopper 54, and a wire stopper at the other end of the wire 53. An arm 42 connected via 55 is arranged. Further, the counterweight 57 and the arm 42 are configured to be movable in the vertical direction along the guide rail 58, but the arm 42 is provided with an arm vertical electromagnetic lock 46. Normally, the arm up / down electromagnetic lock 47 is attracted to the guide rail 58 so that the arm 42 cannot move in the up / down direction relative to the support column 41. When the arm up / down electromagnetic lock 46 is energized, the arm up / down electromagnetic lock When 46 is separated from the guide rail 58, the lock is released, and the arm 42 can be freely moved in the vertical direction with respect to the column 41.
　次に、図２（ｂ）を参照して、支柱４１の回転機構について説明する。支柱４１と台車１０との間には、支柱旋回電磁ロック４７が設けられており、通常は支柱旋回電磁ロック４７が作動して、支柱４１が台車１０に対して回転しないように構成され、支柱旋回電磁ロックに通電されるとロックが解除されて、支柱４１を台車１０に対して自在に回転させることができるようになる。 Next, the rotation mechanism of the support column 41 will be described with reference to FIG. A support column turning electromagnetic lock 47 is provided between the support column 41 and the carriage 10. Normally, the support column turning electromagnetic lock 47 is operated to prevent the support column 41 from rotating with respect to the carriage 10. When the turning electromagnetic lock is energized, the lock is released and the column 41 can be freely rotated with respect to the carriage 10.
　次に、図２（ｃ）を参照して、アーム４２の伸縮機構について説明する。アーム４２は、支柱４１に対して上下に保持されている筒状の第１アーム４２１と、第１アーム４２１の内部に設けられたレール４２１ｉと、第１アーム４２１の筒の内径より細い外径を有し、レール４２１ｉに沿って摺動する筒状の第２アーム４２２と、第２アーム４２２の内部に設けられたレール４２２ｉと、第２アーム４２２の筒の内径より細い外径を有し、レール４２２ｉに沿って摺動する第３アーム４２３とを有している。
第２アーム４２２及び第３アーム４２３におけるレール４２１ｉ及びレール４２２ｉとの摺動面には、アーム伸縮電磁ロック４８が内蔵されており、通常はアーム伸縮電磁ロック４８が作動して、レール４２１ｉ及びレール４２２ｉに吸着することにより、アーム４２が伸縮できないように構成されているが、アーム伸縮電磁ロック４８に通電されると、当該吸着が解除され、アーム４２が伸縮できるようになる。 Next, the extension / contraction mechanism of the arm 42 will be described with reference to FIG. The arm 42 has a cylindrical first arm 421 that is held up and down with respect to the support column 41, a rail 421 i provided inside the first arm 421, and an outer diameter that is thinner than the inner diameter of the cylinder of the first arm 421. A cylindrical second arm 422 that slides along the rail 421i, a rail 422i provided inside the second arm 422, and an outer diameter smaller than the inner diameter of the second arm 422 cylinder. , And a third arm 423 that slides along the rail 422i.
An arm telescopic electromagnetic lock 48 is built in a sliding surface of the second arm 422 and the third arm 423 with respect to the rail 421i and the rail 422i. Normally, the arm telescopic electromagnetic lock 48 is operated to operate the rail 421i and the rail 421i. Although the arm 42 is configured not to expand and contract by being attracted to 422i, when the arm telescopic electromagnetic lock 48 is energized, the attracting is released and the arm 42 can expand and contract.
　なお、これらのロック解除の制御は、図２（ｂ）に図示したように、ロック制御回路５０により行われる。ロック制御回路５０は、アーム上下電磁ロック４６、支柱旋回電磁ロック４７、アーム伸縮電磁ロック４８に接続され、これらが有する電磁石への通電を制御することで、ロックの制御を行うことができる。 Note that these lock release controls are performed by a lock control circuit 50 as shown in FIG. The lock control circuit 50 is connected to the arm up-and-down electromagnetic lock 46, the support column turning electromagnetic lock 47, and the arm telescopic electromagnetic lock 48, and can control the lock by controlling the energization of the electromagnets included therein.
　次に、操作ハンドル２０の詳細について図３を参照して説明する。図３（ａ）は、図１で説明した回診用Ｘ線撮影装置１におけるＸ線管４３近傍を回診用Ｘ線撮影装置１の後方側から見た図である。また、図３（ｂ）は、操作ハンドル保持部材２２と、操作ハンドル２０とを水平断面で見た図である。 Next, details of the operation handle 20 will be described with reference to FIG. FIG. 3A is a view of the vicinity of the X-ray tube 43 in the roundabout X-ray imaging apparatus 1 described in FIG. 1 as viewed from the rear side of the roundabout X-ray imaging apparatus 1. FIG. 3B is a view of the operation handle holding member 22 and the operation handle 20 as seen in a horizontal section.
　図３（ｂ）のように、操作ハンドル２０は、その両端が操作ハンドル保持部材２２に対して圧力センサ２１を介して保持されている。圧力センサ２１は、弾性部材と当該弾性部材を介して押圧されたときに抵抗値が変化するフィルムとから構成されており、操作ハンドル２０を前後に押した操作力が、前後左右４箇所の圧力センサ２１により電気信号として検出される。当該検出された電気信号は、モータ駆動制御回路３４へと伝達され、操作力操作の方向と大きさが算出される。モータ駆動制御回路３４は、当該操作の方向と大きさに応じたトルクが出力されるように、バッテリ１１から、モータ３３に流れる電流を制御する。 As shown in FIG. 3B, both ends of the operation handle 20 are held by the operation handle holding member 22 via the pressure sensor 21. The pressure sensor 21 is composed of an elastic member and a film whose resistance value changes when pressed through the elastic member, and the operation force that pushes the operation handle 20 back and forth is the pressure at four positions in the front and rear, right and left. It is detected as an electrical signal by the sensor 21. The detected electrical signal is transmitted to the motor drive control circuit 34, and the direction and magnitude of the operation force operation are calculated. The motor drive control circuit 34 controls the current flowing from the battery 11 to the motor 33 so that a torque corresponding to the direction and magnitude of the operation is output.
　また、図３（ａ）に示すように、Ｘ線管４３には、ロック解除スイッチ４９が設けられている。当該ロック解除スイッチ４９で検出された信号は、ロック制御回路５０(図2(b)参照)に入力される。これにより、押下されている間、上述のアーム上下電磁ロック４６、支柱旋回電磁ロック４７、及びアーム伸縮電磁ロック４８の全てに通電されることにより、支柱４１の回転、アーム４２の上下及び伸縮を自在に行うことができるようになる。 Also, as shown in FIG. 3A, the X-ray tube 43 is provided with a lock release switch 49. The signal detected by the lock release switch 49 is input to the lock control circuit 50 (see FIG. 2B). Thus, while being pressed, all of the arm up / down electromagnetic lock 46, the column turning electromagnetic lock 47, and the arm telescopic electromagnetic lock 48 are energized to rotate the column 41 and to move the arm 42 up / down and expand / contract. It can be done freely.
　このロック解除スイッチ４９は、Ｘ線管移動用ハンドル４５を握った状態でも、例えば親指で押下できる位置に配置されている。また、操作ハンドル２０を握った状態でも、人差し指などで押下できる位置に配置されている。このような位置に配置されていることで、どちらの操作を行っているときでも、ハンドルから手を離すことなくロックを解除することができる。
　なお、図３（ａ）において、Ｘ線管移動用ハンドル４５の上端部から斜め上に３０～５０ｍｍ程度の距離にロック解除スイッチ４９を配置すれば、Ｘ線管移動用ハンドル４５を握った状態でも、親指で押下できる。また、操作ハンドル２０と当該ロック解除スイッチ４９との距離が３０～１００ｍｍ程度であれば、人差し指などで押下できる。 The lock release switch 49 is disposed at a position where it can be pressed with, for example, the thumb even when the X-ray tube moving handle 45 is gripped. Further, even when the operation handle 20 is gripped, it is arranged at a position where it can be pressed with an index finger or the like. By being arranged in such a position, the lock can be released without releasing the hand from the handle, regardless of which operation is being performed.
3A, when the lock release switch 49 is disposed at a distance of about 30 to 50 mm obliquely above the upper end of the X-ray tube moving handle 45, the X-ray tube moving handle 45 is grasped. But you can press it with your thumb. Further, if the distance between the operation handle 20 and the lock release switch 49 is about 30 to 100 mm, it can be pressed with an index finger or the like.
　操作者は、操作ハンドル２０を握った状態でロック解除スイッチ４９を押下すると、アーム４２の高さを変更することが可能となる。好みの高さになったところでロック解除スイッチ４９の入力を解除すると、その位置でアーム４２が上下方向にロックされる。これにより、操作ハンドル２０がその高さで固定されることになる。
　このように、操作者は、操作ハンドル２０の高さを好みの位置に容易に設定することが可能となる。 When the operator depresses the lock release switch 49 while holding the operation handle 20, the height of the arm 42 can be changed. When the input of the lock release switch 49 is released at the desired height, the arm 42 is locked in the vertical direction at that position. Thereby, the operation handle 20 is fixed at the height.
In this way, the operator can easily set the height of the operation handle 20 to a desired position.
 当該操作ハンドル２０の高さを変更する際の好ましい制御について、図４を参照して説明する。
図４は、ロック制御回路５０におけるロック解除スイッチ４９を操作した際の制御を示すフローチャートである。ロック制御回路５０は、操作ハンドル２０及び走行制御部３０にも接続されており、操作ハンドル２０を操作していると判断した場合、あるいは、台車１０が走行していると判断された場合には、ロック解除スイッチ４９を押下したときに、アーム上下電磁ロック４６、支柱旋回電磁ロック４７、及びアーム伸縮電磁ロック４８のうち、アーム上下電磁ロック４６のみが解除されて、操作ハンドル２０の高さを変更することができるが、支柱旋回電磁ロック４７及びアーム伸縮電磁ロック４８のロック状態は維持される。一方、それ以外の状態でロック解除スイッチ４９を操作すると、ロック制御回路５０は、アーム上下電磁ロック４６、支柱旋回電磁ロック４７、及びアーム伸縮電磁ロック４８の全てが解除されるように制御する。 A preferable control when changing the height of the operation handle 20 will be described with reference to FIG.
FIG. 4 is a flowchart showing the control when the lock release switch 49 in the lock control circuit 50 is operated. The lock control circuit 50 is also connected to the operation handle 20 and the travel control unit 30, and when it is determined that the operation handle 20 is operated, or when it is determined that the carriage 10 is traveling. When the lock release switch 49 is pressed, only the arm up / down electromagnetic lock 46 out of the arm up / down electromagnetic lock 46, the column turning electromagnetic lock 47, and the arm telescopic electromagnetic lock 48 is released, and the height of the operation handle 20 is increased. Although it can be changed, the lock state of the support column turning electromagnetic lock 47 and the arm telescopic electromagnetic lock 48 is maintained. On the other hand, when the lock release switch 49 is operated in any other state, the lock control circuit 50 performs control so that all of the arm up / down electromagnetic lock 46, the support column turning electromagnetic lock 47, and the arm telescopic electromagnetic lock 48 are released.
このように制御することにより、走行中等に不用意に支柱４１が旋回したり、アーム４２が伸びたりして、走行操作に支障をきたす恐れをなくすることが可能となり、かつ、操作ハンドル２０の高さを容易に変更することが可能となる。 By controlling in this way, it is possible to eliminate the possibility that the support column 41 may turn carelessly or the arm 42 may be extended unintentionally during travel, and the travel operation may be hindered. It becomes possible to easily change the height.
　次に、アーム４２の状態によって、台車１０の走行制御を変更する構成について図５及び図６を用いて説明する。図５（ａ）は、アーム４２の状態を検出するための構成を説明する図である。台車１０の上面中央付近には、アーム検出手段６０が設けられている。当該アーム検出手段６０は、超音波等を上方へ放出し、反射波を検出する機能を有している。このような構成によって、アーム４２がアーム検出手段６０の直上に存在するか否か、すなわち、アーム４２が後方を向いているかどうかを検出することができる。 Next, a configuration for changing the traveling control of the carriage 10 depending on the state of the arm 42 will be described with reference to FIGS. FIG. 5A is a diagram illustrating a configuration for detecting the state of the arm 42. In the vicinity of the center of the upper surface of the carriage 10, arm detection means 60 is provided. The arm detection means 60 has a function of emitting an ultrasonic wave or the like upward and detecting a reflected wave. With such a configuration, it is possible to detect whether or not the arm 42 exists immediately above the arm detection means 60, that is, whether or not the arm 42 faces rearward.
　また、図５（ｂ－１）、図５（ｂ－２）は、アーム４２の伸縮を検出するための構成を説明する図である。図５（ｂ－１）に示すように、アーム４２は、第１アーム４２１の内部に接触センサ４８ａが設けられている。また、第２アーム４２２の内部に接触センサ４８ｂが設けられている。この状態で、アーム４２を最も縮んだ状態とすると、図５（ｂ－２）の状態となる。この状態では、第２アーム４２２の先端がセンサ接触４８ａに接触し、第３アーム４２３の先端が接触センサ４８ｂに接触する。これにより、アーム４２が最も縮んだ状態になっているか否かが検出される。 5 (b-1) and 5 (b-2) are diagrams for explaining a configuration for detecting expansion and contraction of the arm 42. FIG. As shown in FIG. 5B-1, the arm 42 is provided with a contact sensor 48 a inside the first arm 421. A contact sensor 48b is provided inside the second arm 422. If the arm 42 is in the most contracted state in this state, the state shown in FIG. 5B-2 is obtained. In this state, the tip of the second arm 422 contacts the sensor contact 48a, and the tip of the third arm 423 contacts the contact sensor 48b. Thereby, it is detected whether or not the arm 42 is in the most contracted state.
　このようにしてアーム４２の回転方向及び伸縮の状態が検出された結果、走行制御回路３４は、図６のフローチャートに示すように動作する。
　すなわち、走行制御回路３４は、アーム４２が最も縮んだ状態でかつ後方を向いているときには、操作ハンドル２０からの信号に基づいて、モータ３３を制御するが、それ以外の状態では、操作ハンドル２０からの信号に関わらず、モータ３３の駆動を行わない。 As a result of detecting the rotation direction and expansion / contraction state of the arm 42 in this way, the travel control circuit 34 operates as shown in the flowchart of FIG.
That is, the traveling control circuit 34 controls the motor 33 based on a signal from the operation handle 20 when the arm 42 is in the most contracted state and is facing backward, but in other states, the operation handle 20 is controlled. Regardless of the signal from the motor 33, the motor 33 is not driven.
このように構成することで、支柱４１が旋回した状態で不用意に台車１０が走行することを防止することが可能となる。 By configuring in this way, it is possible to prevent the carriage 10 from inadvertently traveling in a state where the support column 41 is turned.
　また、操作ハンドル２０の機能を停止させることに代えて、モータ駆動制御回路３４によって、走行速度を制限するようにしてもよい。これにより、撮影準備中などにアーム４２が旋回している状態でも、装置をゆっくり移動させることが可能となる。 Further, instead of stopping the function of the operation handle 20, the motor drive control circuit 34 may limit the traveling speed. This makes it possible to move the apparatus slowly even when the arm 42 is turning during preparation for photographing.
　なお、「操作ハンドル２０を操作している場合」には、操作ハンドル２０に圧力が加わっている場合の他、操作ハンドル２０に別途ブレーキ解除スイッチを設けて、ブレーキ解除スイッチが押されている状態をも含む。 In addition, in the case of “operating the operation handle 20”, in addition to the case where pressure is applied to the operation handle 20, a state where a brake release switch is separately provided on the operation handle 20 and the brake release switch is pressed. Is also included.
次に、図７を参照して、台車１０上部の構成について説明する。図７は、本実施例にかかる回診用Ｘ線撮影装置を上から見た図である。台車１０の上部には、アーム検出手段６０と、図示しない画像検出器Ｆにより撮影された画像や、患者情報などを表示するモニタＭと、Ｘ線条件を表示及び設定するＸ線条件設定用パネルＸと、電源操作パネルＰとが配置されている。 Next, the configuration of the upper portion of the carriage 10 will be described with reference to FIG. FIG. 7 is a top view of the round-trip X-ray imaging apparatus according to this embodiment. In the upper part of the carriage 10, an arm detection means 60, a monitor M for displaying images taken by an image detector F (not shown), patient information, etc., an X-ray condition setting panel for displaying and setting X-ray conditions X and a power operation panel P are arranged.
　従来と異なり、台車１０の後方上部に操作ハンドル２０が備えられていないため、台車１０の上部のスペースを有効に活用することが可能となる。 Unlike the prior art, since the operation handle 20 is not provided at the upper rear part of the cart 10, the space above the cart 10 can be used effectively.
　なお、本実施例では、台車１０の後方上部に従来の操作ハンドルを設けない構成としたが、スペースの利点を得られないものの、従来どおり操作ハンドルをも併設してもよい。 In the present embodiment, the conventional operation handle is not provided at the upper rear portion of the carriage 10, but although the advantage of space cannot be obtained, an operation handle may be provided as usual.
　本実施例では、操作ハンドル２０とＸ線管移動用ハンドル４５とを個別に設けることとしたが、これらの一方を廃止し、残るハンドルに、双方の機能を持たせるようにしてもよい。また、双方共に操作ハンドル２０の機能を持たせることとしても良い。 In this embodiment, the operation handle 20 and the X-ray tube moving handle 45 are provided separately. However, one of these may be eliminated and the remaining handle may have both functions. Further, both of them may have the function of the operation handle 20.
１           回診用Ｘ線撮影装置
１０       台車
１１       バッテリ
２０       操作ハンドル
２１       圧力センサ
２２       操作ハンドル保持部材
３０       走行制御部
３１       駆動車輪
３２       キャスター
３３       モータ
３４       モータ駆動制御回路
４０       Ｘ線管保持部
４１       支柱
４２       アーム
４３       Ｘ線管
４４       コリメータ
４５       Ｘ線管移動用ハンドル
４６       アーム上下電磁ロック
４７       支柱旋回電磁ロック
４８       アーム伸縮電磁ロック
４９       ロック解除スイッチ
５０       ロック制御回路
５３       ワイヤ
５４       ワイヤ止め
５５       ワイヤ止め
５６       滑車
５７       カウンターウエイト
５８       ガイドレール
６０       アーム検出手段
Ｆ           ＦＰＤ
Ｍ           モニタ
Ｘ           Ｘ線条件設定用パネル
Ｐ           電源操作パネル 1-time X-ray imaging apparatus 10 Cart 11 Battery 20 Operation handle 21 Pressure sensor 22 Operation handle holding member 30 Travel controller 31 Drive wheel 32 Caster 33 Motor 34 Motor drive control circuit 40 X-ray tube holder 41 Strut 42 Arm 43 X Wire tube 44 Collimator 45 X-ray tube moving handle 46 Arm up / down electromagnetic lock 47 Strut turning electromagnetic lock 48 Arm telescopic electromagnetic lock 49 Lock release switch 50 Lock control circuit 53 Wire 54 Wire stop 55 Wire stop 56 Pulley 57 Counterweight 58 Guide rail 60 Arm detection means F FPD
M Monitor X X-ray condition setting panel P Power control panel

Claims (8)

  1. 台車と、当該台車に設けられた走行制御部と、前記走行制御部に操作に対応した信号を出力する操作ハンドルと、台車の前方に回転可能に保持された支柱と、当該支柱に上下方向に移動可能に保持されたアームと、当該アームに保持されたＸ線管とを有し前記操作ハンドルは、前記アームに対して直接または間接的に保持され、かつ、前記Ｘ線管近傍に配置されていることを特徴とする回診用Ｘ線撮影装置。 A cart, a travel control unit provided on the cart, an operation handle for outputting a signal corresponding to the operation to the travel control unit, a support column rotatably held in front of the cart, and the support column in the vertical direction The operation handle has an arm held movably and an X-ray tube held by the arm, and the operation handle is held directly or indirectly with respect to the arm and arranged in the vicinity of the X-ray tube. X-ray imaging apparatus for round visits,
  2. 　前記支柱の回転及び前記アームの上下方向の移動により、前記Ｘ線管を移動させる際に使用するＸ線管移動用ハンドルを有し、当該Ｘ線管移動用ハンドルは、前記操作ハンドルを兼ねることを特徴とする、請求項１記載の回診用Ｘ線撮影装置。 It has an X-ray tube moving handle used when moving the X-ray tube by rotating the support column and moving the arm in the vertical direction, and the X-ray tube moving handle also serves as the operation handle. The round X-ray imaging apparatus according to claim 1, wherein:
  3. 　前記支柱の回転及び前記アームの上下方向の移動により、前記Ｘ線管を移動させる際に使用するＸ線管移動用ハンドルを有し、当該Ｘ線管移動用ハンドルは、前記操作ハンドルとは別に設けられていることを特徴とする、請求項１記載の回診用Ｘ線撮影装置。 An X-ray tube moving handle is used for moving the X-ray tube by rotating the support column and moving the arm in the vertical direction. The X-ray tube moving handle is separate from the operation handle. The round-trip X-ray imaging apparatus according to claim 1, wherein the round-trip X-ray imaging apparatus is provided.
  4. 　前記支柱の回転及び前記アームの上下方向の移動並びに伸縮の可否を制御する電磁ロックと、当該電磁ロックの状態を変更するためのロック解除スイッチとを有し、当該ロック解除スイッチは、前記操作ハンドルを握ったままでも、押下可能な位置に配置されていることを特徴とする、請求項２又は３記載の回診用Ｘ線撮影装置 An electromagnetic lock for controlling rotation of the column, vertical movement of the arm, and whether or not to expand and contract; and a lock release switch for changing a state of the electromagnetic lock, and the lock release switch includes the operation handle. 4. An X-ray imaging apparatus for round visits according to claim 2 or 3, wherein the X-ray imaging apparatus is arranged at a position where it can be pressed even if the hand is held.
  5. 　前記ロック解除スイッチは、走行中には、アームの上下方向の移動の電磁ロックのみを解除することを特徴とする、請求項４記載の回診用Ｘ線撮影装置。 The X-ray imaging apparatus for round trips according to claim 4, wherein the lock release switch releases only the electromagnetic lock of the vertical movement of the arm during traveling.
  6. 　前記アームは伸縮可能に構成されており、当該アームが最も縮んだ状態でのみ、前記操作ハンドルが機能することを特徴とする、請求項１～５のいずれかに記載の回診用Ｘ線撮影装置。 The round X-ray imaging apparatus according to any one of claims 1 to 5, wherein the arm is configured to be extendable and the operation handle functions only when the arm is contracted most. .
  7. 　当該アームが前記台車の後方を向いているときのみ、前記操作ハンドルが機能することを特徴とする、請求項１～５のいずれかに記載の回診用Ｘ線撮影装置。 6. The round X-ray imaging apparatus according to claim 1, wherein the operation handle functions only when the arm faces the back of the carriage.
  8. 　前記操作ハンドルとは別に、同様の機能を有する第２の操作ハンドルを前記台車の後方に設けたことを特徴とする、請求項１～７のいずれかに記載の回診用Ｘ線撮影装置。 The round X-ray imaging apparatus according to any one of claims 1 to 7, characterized in that, apart from the operation handle, a second operation handle having a similar function is provided at the rear of the carriage.
PCT/JP2013/063276 2013-05-13 2013-05-13 X-ray imaging device for round of visits WO2014184843A1 (en)

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JP2017000486A (en) * 2015-06-11 2017-01-05 東芝メディカルシステムズ株式会社 Mobile x-ray radiographing apparatus
CN110772269A (en) * 2018-07-25 2020-02-11 通用电气公司 System and method for moving an imaging unit
JP2020022741A (en) * 2018-07-25 2020-02-13 ゼネラル・エレクトリック・カンパニイ Systems and methods for mobile imaging unit
JP7196031B2 (en) 2018-07-25 2022-12-26 ゼネラル・エレクトリック・カンパニイ Mobile imaging unit system and method
CN110772269B (en) * 2018-07-25 2024-04-09 通用电气公司 System and method for moving an imaging unit

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