JP2020068879A - Bed device and medical diagnostic system - Google Patents

Abstract

An object of the present invention is to improve operability related to movement of a top plate. A bed device includes a top plate, a sensor, and a control unit. A subject is placed on the top plate. A sensor detects a force applied by an operator to move the top plate. The control unit changes the type of movement control of the tabletop according to the time during which the force is applied. [Selection drawing] Fig. 2

Description

  Embodiments of the present invention relate to a bed apparatus and a medical diagnostic system.

  A bed apparatus is often provided in a medical diagnostic system such as an X-ray CT system, an MRI system, a nuclear medicine diagnostic system, an X-ray angiography system, or a treatment system typified by a radiation treatment system. The bed device generally has a top plate on which a patient is placed. The tabletop is operated by an operator (often a doctor or technician) of the bed apparatus to properly position the patient. The most primitive operation is that the operator touches the top plate or a handle provided on the top plate and pushes or pulls it horizontally.However, a strong force is required to move the top plate when the patient is on it. Need to call. This can be a burden on the operator.

JP, 2017-196022, A

  The problem to be solved by the present invention is to improve the operability related to the movement of the top plate.

According to one embodiment, the couch device comprises:
A top plate on which the subject is placed,
A sensor that detects the force applied by the operator to move the top plate,
A control unit that changes the type of movement control of the top plate according to the time when the force is applied,
Equipped with.

The figure showing an example of the medical diagnostic system concerning one embodiment. The figure which shows an example of the sensor mounting which concerns on one Embodiment. The figure which shows another example of the sensor mounting which concerns on one Embodiment. The figure which shows the relationship of the rotation angle and torque of the motor which concerns on one Embodiment. The figure which shows another example of sensor mounting which concerns on one Embodiment. The figure which shows another example of the sensor mounting which concerns on one Embodiment. The figure which shows another example of the sensor mounting which concerns on one Embodiment. The figure which shows another example of the sensor mounting which concerns on one Embodiment.

  Hereinafter, the bed apparatus according to the present embodiment will be described with reference to the drawings. In the following description, components having almost the same functions and configurations are designated by the same reference numerals, and duplicate description will be given only when necessary.

(First embodiment)
FIG. 1 is a diagram showing an example of a medical diagnostic system including a bed apparatus according to an embodiment. The medical diagnostic system 1 includes a gantry device 10, a bed device 30, and a console device 40. As an example, the case of being included in the X-ray CT system is shown, but the bed apparatus of this embodiment is represented by a medical diagnostic system such as an MRI system, a nuclear medicine diagnostic system, an X-ray angiography system, or a radiotherapy system. It may be included in the treatment system described above, and may be in any form as long as it can be manually controlled (free movement) by the operator (practitioner).

  The gantry device 10 is, for example, a device for an X-ray diagnostic system that emits and detects X-rays, and includes an X-ray generator 11, an X-ray detector 12, a rotating body 13, and an X-ray high-voltage device 14. And a control device 15 and a data collection circuit 18. As described above, the X-ray diagnostic system does not have to be used, and any device or system in which the operator freely operates the couch device 30, particularly the top plate 33, may be used.

  The X-ray generator 11 includes, for example, an X-ray tube that receives high-voltage power from the X-ray high-voltage device 14 and radiates thermoelectrons from the filament toward the target, and an X-ray irradiation unit that performs X-ray irradiation. Is.

  The X-ray detector 12 includes, for example, an X-ray detection element array in which a plurality of X-ray detection elements are arranged in the channel direction along one arc centering on the focal point of the X-ray tube. The X-rays that have been irradiated and have passed through the subject P are detected, converted into electrical signals, and output to the data acquisition circuit 18.

  The rotator 13 is rotatably supported about its center as a rotation axis, and is rotatably driven under the control of the controller 15, and the X-ray generator 11, the X-ray detector 12 are mounted on the gantry device 10 and the bed device 30. Rotate against.

  The X-ray high-voltage device 14 includes an electric circuit such as a transformer, and has a function of generating a high voltage applied to the X-ray generator 11 and an X-ray emitted by the X-ray generator 11. An X-ray controller for controlling the output voltage according to the above is provided.

  The control device 15 includes a processing circuit including a CPU (Central Processing Unit) and the like, and a drive mechanism including a motor and an actuator. The control device 15 receives an input signal from an input interface attached to the console device 40 or the gantry device 10, and controls the operation of the gantry. Further, the control device 15 controls the bed device 30 and the top plate 33 to operate. The control device 15 may be provided in the console device 40 instead of being provided in the gantry device 10, and may be provided in the bed device 30 as another example.

  The data acquisition circuit (DAS: Data Acquisition System) 18 is an amplifier that amplifies an electric signal output from each X-ray detection element of the X-ray detector 12, and an A / A that converts the electric signal into a digital signal. And a D converter to generate detection data. The detection data generated by the data collection circuit 18 is transferred to the console device 40.

  The console device 40 includes a memory 41, a display 42, an input interface 43, and a processing circuit 44.

  The memory 41 is realized by, for example, a RAM (Random Access Memory), and stores various data and programs for operating the console device 40.

  The display 42 is a display device realized by, for example, a liquid crystal display, and outputs a medical image generated by the processing circuit 44 and a GUI (Graphical User Interface) for receiving various operations from an operator. The operator, for example, operates the top plate 33 of the bed apparatus 30 based on the information displayed on the display 42 to perform various operations.

  The input interface 43 is realized by, for example, a keyboard, a mouse, or the like, receives various input operations from the operator, converts the received input operations into electric signals, and outputs the electric signals to the processing circuit 44. For example, when the top board 33 of the bed apparatus 30 is automatically moved by a designated distance during operation, the input interface 43 inputs a distance designation, a movement method, and the like. Further, whether or not the control device 15 controls the top plate 33 may be designated from the input interface 43. In this case, a switch for controlling the display 42 may be prepared in advance on the display 42, and the switch may be turned on / off by the input interface 43.

  The processing circuit 44 controls the overall operation of the medical diagnostic system 1 according to the electric signal of the input operation output from the input interface 43. If the processing circuit 44 is, for example, an X-ray CT apparatus, it has a system control function 441, a preprocessing function 442, and a reconstruction processing function 443. Each processing function is stored in the memory 41 in the form of a program executable by a computer. The processing circuit 44 is a processor that realizes a function corresponding to each program by reading the program from the memory 41 and executing the program. Although FIG. 1 shows that a single processing circuit 44 realizes all the processing functions, a combination of a plurality of independent processors constitutes the processing circuit 44, and each processor executes a program. The function may be realized by.

  The system control function 441 controls various functions of the processing circuit 44 based on the input operation received from the operator via the input interface 43. The operator controls the operations of the gantry device 10 and the bed device 30 by the control device 15 via the input interface 43 and the system control function 441. The system control function 441 may control the motor and the like in the following description via the control device 15.

  The preprocessing function 442 and the reconstruction processing function 443 are functions that are provided, for example, when the medical diagnostic system 1 is an X-ray CT system or the like, and preprocess and reconstruct the projection data acquired by the acquired gantry device 10. This is a function of performing a structuring process and generating a reconstructed image. The reconstructed image may be stored in the memory 41, and the operator can confirm the reconstructed image stored in the memory 41 via the display 42.

  The image described above is, for example, an image of the subject P placed on the bed apparatus 30. For example, an image of a cross section of the subject P, which is captured by irradiating the subject P with X-rays, is captured and reconstructed.

  The bed apparatus 30 is an apparatus for placing and moving the subject P to be scanned, and includes a base 31, a bed driving device 32, a top plate 33, and a support frame 34.

  The base 31 is a housing that supports the support frame 34 so as to be vertically movable. The bed driving device 32 is a motor or an actuator that moves the support frame 34 on which the subject P is placed in the long axis (longitudinal) direction thereof. The top plate 33 provided on the upper surface of the support frame 34 is a plate on which the subject P is placed.

  As for the top plate 33, only the top plate 33 may be moved, or a method of moving the support frame 34 of the bed apparatus 30 may be used. When the present embodiment is applied to the three-dimensional CT, the patient moving mechanism corresponding to the top plate 33 may be moved.

  When performing a scan (for example, a positioning scan) involving a relative change in the positional relationship between the imaging system of the gantry device 10 and the top plate 33, the relative change in the relative position is performed by driving the top plate 33. It may be carried out, or may be carried out by traveling of the gantry device 10, or may be carried out by a combination thereof. When the gantry device 10 is moved, positioning or the like for fine adjustment may be performed automatically by the top plate 33 or manually by an operator.

  In the present embodiment, in the case of manually controlling the couchtop 33 in the bed apparatus 30, its control and operation will be described in detail.

  FIG. 2 shows the bed apparatus 30 according to the present embodiment, particularly the top plate 33 in more detail. The top plate 33 includes a handle 331 that assists in manually moving the top plate 33. The handle 331 may be attached to the upper surface of the top plate 33 as illustrated, or may be attached to the side surface of the top plate 33 as another example.

  In the present embodiment, the support frame 34 includes a ball screw 341, a coupling 342, an encoder pulley 343, a torque sensor 344, a servo amplifier 345, a motor 346, a belt 347, and a motor pulley 348. The support frame 34 itself is not shown for the sake of clarity. Further, when the support frame 34 and the top plate 33 cooperate to move in the Z direction shown in FIG. 1, these functions are provided in the base 31, for example. As another example, it may be provided at another position fixed to the movement of the top plate 33 in the Z direction.

  The ball screw 341 is a drive mechanism for moving the top plate 33 in the Z direction, and the rotary motion applied to the screw shaft by a motor or the like is changed into a linear motion so that the ball screw 341 engages with the ball screw 341 on the top plate 33. A force for horizontally moving the above portion acts to move the top plate 33 in the Z direction. Further, when the operator applies a force to the top plate 33 along the Z-axis direction, the ball screw 341 converts the force along the Z-axis direction into a rotational movement of the screw. Although not shown in detail in FIG. 2, the ball screw 341 includes a housing, a base guide rail, a bearing, and the like, which are required, like a general ball screw.

  The coupling 342 is a coupling connected to the ball screw 341, and performs the same operation as a coupling provided in a general ball screw. That is, the coupling 342 makes it possible to couple the encoder pulley 343 and the motor pulley 348 with the shaft of the ball screw 341, and transmit the forces applied to each other to the other. Further, the coupling 342 may perform an operation of absorbing the vibrations when the mutual axes or the like have vibrations. A torque sensor 344 is connected to the coupling 342.

  The encoder pulley 343 is a pulley that includes an encoder that detects the position of the ball screw 341 (eg, via a rotation angle) and converts the position into an electric signal, and is connected to the ball screw 341 via a coupling 342. The encoder may be implemented by any of an optical type, a magnetic type, and an electromagnetic induction type for detection, and may be an incremental type or an absolute type implementation for output. The encoder pulley 343 is also connected to the control device 15 and the servo amplifier 345, converts the operation of the ball screw 341 into a signal, and outputs the signal to the control device 15 and the servo amplifier 345. It is not necessary to output to both sides, for example, it may be connected to the control device 15 via the servo amplifier 345, and the signal converted by the servo amplifier 345 may be output to the control device 15. When the function is closed by the servo amplifier 345, it may be output only to the servo amplifier 345, or conversely, may be output only to the control device 15.

  The torque sensor 344 detects the torque generated in the ball screw 341 and outputs the detected signal to the servo amplifier 345. When the operator applies a force to the top plate 33 along the Z axis, the torque sensor 344 detects the static frictional force of the ball screw 341 with respect to the force. More specifically, the torque is detected by detecting the static frictional force of the ball screw 341 with respect to the force given by the operator and the rotational movement converted by the ball screw 341. Information on the detected torque is output to the servo amplifier 345. Like the encoder pulley 343, it may be output to the control device 15.

  The servo amplifier 345 feeds back the force applied to the ball screw 341 during automatic control detected by the encoder pulley 343 and the force applied to the ball screw 341 during manual control detected by the torque sensor 344. These inputs are amplified and the motor 346 is controlled according to this amplified signal. Alternatively, the input signal may be simply amplified and output to the motor 346. Further, the servo amplifier 345 may be one that receives a control-related signal from the control device 15 and transmits the signal to the motor 346. In this way, not only the input signal may be amplified, but it may operate as a servo driver that controls the motor 346.

  The motor 346 performs a rotational movement based on the signal input from the servo amplifier 345. The rotational movement is transmitted to the motor pulley 348 via the belt 347. Then, the rotational movement of the motor pulley 348 is transmitted via the coupling 342 to the rotational movement of the ball screw 341, that is, the translational movement of the top plate 33.

  When the operator controls the position input via the input interface 43 or scans the subject P while automatically moving the top plate 33, the controller 15 transfers the ball screw 341 to the servo amplifier 345. The translational movement of the top plate 33 is controlled by transmitting signals such as the rotation angle and rotation speed of the table. The control device 15 may transmit the moving distance, the moving speed, and the like. In this case, the servo amplifier 345 may convert the rotational angle, the rotational speed, and the like to drive the motor 346.

  Next, manual control by the operator of the top plate 33 according to the present embodiment will be described. When the top plate 33 is being automatically controlled or when the top plate 33 is stationary, the operator applies a force in the Z direction of the top plate 33, whereby the top plate 33 performs a free operation. The free operation refers to an operation in which the operator manually positions the top plate 33 when the operator applies a force.

  Switching from the automatic control state to the free operation is performed by the operator applying a force in the Z-axis direction to the top plate 33. When the operator applies a force in the Z-axis direction to the top plate 33, the applied force gives a torque to the ball screw 341. The torque sensor 344 detects the torque applied to the ball screw 341. For example, the force applied by the operator tends to move the top plate 33 in the Z-axis direction, and this force is converted into rotational movement by the ball screw 341. When the torque sensor 344 detects the static friction force due to the force applied to the ball screw 341 via the coupling 342, the torque sensor 344 outputs the magnitude of the force to the servo amplifier 345.

  The servo amplifier 345 that receives the output from the torque sensor 344 drives the motor 346 so that the load due to the static frictional force applied to the ball screw 341 makes a rotational motion in a direction to cancel the load. For example, when the operator applies a force to the table 33 in the right direction along the Z-axis, a static frictional force to the left acts on the ball screw 341, and this leftward force is converted into a rotational movement. The torque is transmitted to the torque sensor 344 via the coupling 342.

  The torque sensor outputs to the servo amplifier 345 that the left-side static friction force is working. The servo amplifier 345 drives the motor 346 so as to make a rotational motion to cancel the leftward static friction force. This rotational movement is transmitted to the ball screw 341 via the motor pulley 348 and the coupling 342, and is converted into a force in the direction in which the top plate 33 moves to the right. In this way, the burden of manual movement of the top plate 33 by the operator is reduced.

  The force transmitted to the top plate 33 via the motor 346 is, for example, equal to the force borne by the operator, that is, the force applied to the ball screw 341 by the operator. In this way, by giving the ball screw 341 a force that cancels the force that the operator bears, the operator can move the table 33 without feeling the weight of the table 33 and the subject P. Becomes

  As another example, the force applied may be larger than the load applied to the ball screw 341 by the operator. In this case, the operator can move the top plate 33 with a lighter force. As yet another example, a force smaller than the load applied to the ball screw 341 by the operator may be used. In this case, since it is possible to reduce the burden while making the operator aware that the top plate 33 is moving, the possibility of causing an accident or the like due to the movement of the top plate 33 can be suppressed. .. Further, the magnitude of the force related to the above-described operation of the motor 346 with respect to this load may be specified by the operator or the administrator via the control device 15.

  As described above, the torque detected by the torque sensor 344 is output not to the servo amplifier 345, but to the control device 15, is converted into information such as the rotation speed for driving the motor 346 by the control device 15, and is supplied to the servo amplifier 345. May be output. Further, while the operator is applying a force to the top plate 33, the torque sensor 344 detects the dynamic friction force generated between the top plate 33 and the ball screw 341 and outputs the dynamic friction force to the servo amplifier 345. At the timing, the servo amplifier 345 may drive the motor 346 so as to give the ball screw 341 a force that reduces the burden on the operator.

  FIG. 3 is a diagram showing a configuration of a top plate 33 and the like according to another example of the present embodiment. The bed apparatus 30 further includes a clutch 349A and a brake 349B. As shown in the figure, the clutch 349A and the brake 349B are provided between the motor 346 and the motor pulley 348, and are connected to, for example, the control device 15 or the servo amplifier 345.

  The clutch 349A controls the interlocking state of the motor 346 and the motor pulley 348, and transmits or does not transmit the power of the motor 346 to the motor pulley 348. Furthermore, it is possible to switch how much the power of the motor 346 is transmitted to the motor pulley 348. For example, when the top plate 33 is stationary, the path is cut by the clutch to disconnect between the motor 346 and the ball screw 341, and even if the motor 346 moves out of control, an accident occurs. Can be prevented. Further, for example, when the top plate 33 is manually controlled by the operator, by gradually engaging the clutch, it is possible to prevent the assist function of the motor 346 from suddenly moving the top plate 33 to improve the operation feeling. It is also possible. It is also possible to switch the rotational speed of the ball screw 341, which is transmitted to the drive of the motor 346, according to the required torque.

  The brake 349B stops transmitting the power of the motor 346 to the motor pulley 348. For example, when the operator manually controls the top plate 33 without the drive of the motor 346 when an error occurs or in an emergency, it is possible to manually control the top plate 33 without the assist function. In this case, the clutch 349A may be disconnected at the same timing so that the control of the motor 346 and the movement of the ball screw 341 can be performed completely independently. Conversely, instead of the motor 346, the ball screw 341 may function as a brake that is stopped. For example, when an error occurs in driving the motor 346, the ball screw 341 is braked so that the top plate 33 does not exceed a predetermined speed or the movement of the top plate 33 is stopped. Good.

  The clutch 349A and the brake 349B may also be controlled so that the top plate 33 does not exceed a predetermined speed. For example, when the top plate 33 is likely to exceed the predetermined speed due to the assist function, the torque transmitted through the clutch 349A may be switched to be smaller. As another example, a brake 349B is provided between the coupling 342 and the motor pulley 348, the speed of the top plate 33 is obtained from the position detected by the encoder pulley 343 at each timing, and the speed is calculated by the control device 15. When exceeds a predetermined speed, the brake may be changed to the rotational movement of the ball screw 341 so as not to exceed the predetermined speed.

  The clutch 349A and the brake 349B may be controlled by the control device 15 as described above, or may be controlled by the servo amplifier 345 based on the speed, position, etc. detected by the encoder pulley 343.

  FIG. 4 is a diagram showing an example of torque applied by the operator from the top plate 33 according to the present embodiment. The solid line shows the torque in this embodiment, and the broken line shows the comparative example. The horizontal axis represents the rotation angle of the ball screw 341 after the operator starts to apply a force to the top plate 33, and the vertical axis represents the torque applied to the ball screw 341 at each rotation angle.

  The comparative example is an example in which the assist function is enabled by detecting the movement instead of detecting the static friction coefficient. In the comparative example, the force applied by the operator to the top plate 33 cannot be immediately detected, so the assist function works after the torque has increased to some extent. On the other hand, according to the present embodiment, since the static friction force is detected, when the operator applies a force, the assist function via the motor 346 operates earlier than in the comparative example, so that the torque applied to the ball screw 341 is reduced. The assist function starts working while it is small.

  Furthermore, since the assist function starts to work early, the force after that can be made smaller than in the comparative example. This is because it is possible to cancel the driving feeling of the operator by driving the motor 346 without changing the operation feeling as compared with the comparative example. In the comparative example, since the force is detected and the assist function is prepared after the top plate 33 starts to move, if the torque is reduced as shown in the present embodiment, the operation feeling and the movement of the top plate 33 start. It is not a good idea in terms of safety, as it will change significantly compared to the beginning.

  As described above, according to the present embodiment, by detecting the static frictional force applied to the ball screw 341 with the torque sensor 344, it becomes possible to drive the motor 346 before the top plate 33 starts moving, and the operation is performed. It is possible to reduce the burden on the operator at an early stage after the person starts to apply force, that is, before the top plate 33 starts to move, or at almost the same timing as when the top plate 33 starts to move. By operating the assist function at an early stage, the top plate 33 can be manually controlled by applying a smaller force in a state with good operability without greatly changing the operation feeling.

(Second embodiment)
The torque sensor 344 can be integrated with the ball screw 341 instead of between the ball screw 341 and the motor pulley 348. In the second embodiment, a torque sensor integrated with a ball screw 341 using a magnetostrictive wire will be described.

  FIG. 5 is a diagram showing a torque sensor 344 using a ball screw 341 having a magnetostrictive wire 344A and a coil. FIG. 6 is a diagram showing an installation example of the ball screw 341 having the magnetostrictive wire 344A shown in FIG. 5 and the coil 344B. A torque sensor 344 is formed by the magnetostrictive wire 344A and the coil 344B.

  As shown in FIG. 6, the screw portion of the ball screw 341 may be provided with a magnetostrictive wire 344A. For example, the magnetostrictive line 344A is provided in a part of the ball screw 341, and when the magnetostrictive line 344A is distorted, a magnetic field is generated along the ball screw 341. The magnitude of the generated magnetic field changes depending on the magnitude of the applied torque. Due to the generation of this magnetic field, a current flows through the torque sensor 344 including the coil 344B. The current flowing through the coil 344B also changes as the magnetic flux density changes due to the magnitude of the generated magnetic field. By detecting this current, it is possible to detect that torque is generated in the ball screw 341 and the magnitude of the generated torque. In this case, the coil 344B is connected to, for example, the control device 15, converts the current output by the control device 15 from the coil 344B into a signal, and drives the motor 346 via the servo amplifier 345.

  As described above, according to the present embodiment as well, the coil 344B detects the torque at the timing when the operator starts to apply a force to the top plate 33 to generate the torque on the ball screw 341. As a result, similarly to the above-described embodiment, it is possible to reduce the burden on the operator to move the top plate 33. Further, according to the present embodiment, the torque sensor 344 can be integrated with the ball screw 341, so that it is possible to save space and also function as a sensor in a non-contact manner. Therefore, it is possible to suppress the consumption of parts as compared with the tactile sensor and the like.

(Third Embodiment)
In each of the above-described embodiments, the torque sensor is used as the sensor that detects the force applied to the top plate 33, but the present invention is not limited to this. In the third embodiment, an example in which a load sensor (load sensor) is used instead of the torque sensor will be described.

  FIG. 7 is a diagram showing an example of the top plate 33 including the sensor according to the present embodiment. Unlike the above-described embodiments, the handle 331 includes the load sensor 332 between the handle 331 and the handle fixing portion 333 that fixes the handle 331 to the top plate 33.

  The load sensor 332 detects at least one of the Z-axis force applied to the handle 331 and the Y-axis force applied to the handle 331. The load sensor 332 is connected to, for example, the servo amplifier 345 or the control device 15, and outputs the magnitude of the detected force to the servo amplifier 345 or the control device 15.

  For example, the load sensor 332 detects a force parallel to the Z-axis direction among the forces applied to the handle 331. By controlling the motor 346 similar to the above-described embodiment based on the detected force, it is possible to reduce the burden on the operator when manually controlling the top plate 33 without losing the feeling of operation. Become.

  As described above, by using the load sensor 332 instead of the torque sensor, it is possible to detect the force applied to the top plate 33 before the top plate 33 starts moving, as in the above-described embodiment. It is possible to realize an assist function with higher operational feeling and safety for the user.

  8 is a schematic cross-sectional view taken along the line AA of FIG. 7, and is a schematic view showing the bed apparatus 30 in the same cross section as FIG. As shown in FIG. 8, in the load sensor 332, the connection surface of the handle 331 and the axis thereof may be offset. Although the load sensor 332 detects a force in the Z-axis direction parallel to the longitudinal direction of the top plate 33 in the present embodiment, a force in a direction other than the Z-axis direction, for example, perpendicular to the top plate 33, is described. The force in the Y-axis direction may be detected.

  In this case, when the handle 331 is pushed down, the load sensor 332 tries to move the top plate 33 to the left in FIG. 8, and the handle 331 is pulled up to move to the right. It may be detected that. The controller 15 or the servo amplifier 345 changes the rotation direction of the motor 346 according to the detected direction and starts the assist.

  When the operator wants to move the top plate 33 to the left, the operator pushes the handle 331 downward to drive the motor 346 to move the top plate 33 to the left. The load sensor 332 detects the compressive force applied to the Z axis and moves the top plate 33. In this case, the operator can move the top plate 33 along the Z axis by pushing the handle 331 downward.

  When it is desired to move the top plate 33 to the right, the movement opposite to the above is performed. That is, the operator can cause the motor 346 to drive the assist function by pulling up the handle 331.

  As described above, by using the load sensor 332 provided to detect the movement of the handle 331, it is possible to exert the assist function based on the more natural movement of the operator. Depending on the mounting position of the handle 331, the direction of force in the Y-axis direction and the direction of movement of the top plate 33 may be opposite.

  Note that, as shown in FIG. 8, both the load sensor 332 and the torque sensor 344 may be mounted. In this case, the assistance of the load sensor 332 and the torque sensor 344 is based on the respective signals output from the load sensor 332 and the torque sensor 344. Control may be performed. The present invention is not limited to this, and the torque sensor 344 may be omitted and the load sensor 332 alone may be used for control. In this case, as another example, a force is applied downward in the Y-axis direction, and then manually controlled to the left so that the top plate 33 can be manually controlled in a state where the assist function is enabled. Good. Further, a force may be applied so that the handle 331 is pushed downward and the top plate 33 is moved to the left. In such a case, the load sensor 332 may detect not only the force in the Y-axis direction but also the force in the Z-axis direction. In this way, the top plate 33 may be moved by detecting the force only in the Y-axis direction, or the force in the Z-axis direction may be considered.

(Modification)
Hereinafter, various modified examples of the control will be described. In the control, the mode in which the control device 15 functions as the control unit will be described, but the servo amplifier 345 and the like may function as the control unit as in the above-described embodiments.

  As shown in FIG. 7, the handle 331 may include a switch 335. The switch 335 is a switch that can exert an assist function by being explicitly turned on when performing a manual operation. For example, when the switch 335 is turned off, the top plate 33 is controlled so that it cannot be manually controlled and is in a stationary state. With the switch 335 turned on, the servo amplifier 345, the motor 346, etc. function to assist the manual control, as in the above-described embodiment.

  As described above, the switch 335 for instructing whether or not the operator explicitly performs the manual operation may be provided. By mounting in this manner, it is possible to suppress manual control when the top plate 33 is contacted but the top plate 33 is not moved. In addition, in FIG. 7, although it is provided outside the loop of the handle 331, it may be provided inside the loop of the handle 331. Further, instead of manually turning on / off the switch 335, for example, the switch may be mounted on the top plate 33, or the switch may be mounted by a foot pedal or the like provided under the bed apparatus 30. ..

  The operator may have a function of explicitly controlling the movement of the top plate 33 more finely. The control device 15 detects the force applied by the operator via the torque sensor 344 or the load sensor 332, but when the applied force is instantaneous, it is controlled to move by a unit control amount. You can go. Here, "instantaneous" means, for example, that the handle 331 or the top plate 33 is contacted by tapping in a desired direction. The determination may be made based on whether or not the force is applied for a time shorter than a predetermined threshold value. When the force applied by the operator is continuous, the assist function may be enabled as shown in each of the above embodiments.

  For example, when the force applied by the operator to the top plate 33 is smaller than the first threshold value, the control device 15 rotates the motor 346 so as to move the motor 346 by a unit amount in the direction of the applied force, and the ball You may perform the 1st control which moves the top plate 33 by moving the screw 341 grade | etc.,. The first threshold is, for example, 100 ms. The unit amount is a distance of 1 mm, for example. These numerical values are shown only as an example, and the present invention is not limited to these values, and may be appropriately changed by a user such as a designer, an administrator, or an operator.

  On the other hand, when the force applied to the control device 15 is larger than the first threshold value, the second control for performing the assist control described in each of the above embodiments for reducing the burden on the operator may be performed. ..

  As described above, the first control and the second control may be switched depending on whether the operator applies force instantaneously or continuously. By switching the control in this manner, for example, after the top plate 33 is automatically moved to the designated position by the control device 15, the operator continuously applies a force to adjust the position by the second control. Further, it is possible to further improve the accuracy of the control, such as performing fine adjustment of the detailed position by the first control by instantaneously applying the force.

  Although the temporal control has been described above, the control may be divided according to the magnitude of force. For example, the control device 15 may not perform the manual control of the top plate 33 when the force applied to the top plate 33 by the operator is smaller than the second threshold value. By controlling in this way, with respect to the force that is not for moving the top plate 33, such as when the operator's body touches the top plate 33, the above-mentioned first control or second force is applied. It is possible to perform control without performing control. Thereby, malfunction of the top plate 33 can be suppressed.

  The above-mentioned first control and second control may be continuously performed. For example, when the operator applies a force to the top plate 33 for a longer time than the first threshold value and the applied force is larger than the third threshold value, the second control is performed after the first control is executed. Control may be performed. In this way, by moving a unit amount at the beginning of movement, the operator can sense the beginning of movement, and it becomes easier to finely adjust the top plate 33 as compared with the case where only the second control is performed. ..

  As a further example, the above-described modified example relating to time and force may be one in which control is switched based on the maximum value of the force applied to the detected top plate 33 by the operator and the impulse or work amount. Good.

  The controller 15 may control the top plate 33 so as not to exceed a predetermined speed during the second control. By doing so, it is possible to prevent the top plate 33 from moving too fast and perform more stable control. Further, it is possible to prevent an accident such that the operator and the subject P are injured when the top plate 33 is suddenly stopped when the movement becomes too fast.

  Similarly, when the control device 15 detects an error related to control, the control device 15 may free-run the top plate 33 so as not to stop suddenly. In this case, the friction may be gradually increased in the vicinity of the movement limit area of the top plate 33, and the top plate 33 may be naturally stopped. Further, in order not to stop suddenly, a torque acting in a direction opposite to the moving direction is gradually applied to stop the top plate 33 without abruptly changing the speed or acceleration of the top plate 33. You may control. By controlling in this way, it is possible to avoid injury of the operator P as well as the fracture of the operator due to the sudden stop of the top plate 33.

  Note that the second threshold value and the third threshold value may be appropriately set by the user as in the first threshold value. Further, in the above description, it should be understood that the expressions for comparison such as “greater than” and “less than” can be appropriately read as “greater than or equal to” and “less than or equal to”.

  By arranging them as shown in the respective drawings, by providing these mechanisms below the top plate 33 in the Y direction, the above-described embodiment can be realized without extending the bed apparatus 30 in the longitudinal direction of the top plate 33. It becomes possible to mount the medical diagnostic system 1, and the installation space of the medical diagnostic system 1 can be reduced. Although each mechanism is illustrated in a large size with respect to the top plate 33, this is shown for the sake of easy understanding of the description. It is provided in the frame 34.

  Further, as shown in the drawings referred to in the above description, the encoder pulley 343, the motor pulley 348, and the ball screw 341 are on the same shaft, and the motor 346 and the servo amplifier 345 need to be provided on another shaft via the belt 347 or the like. No, and the mounting method is not limited to this. For example, these modules may all be on the same axis as ball screw 341. Even in such a case, it is possible to eliminate the need to secure a space in the longitudinal direction of the top plate 33 depending on the installation position of the ball screw 341 or the like.

  Although some embodiments have been described above, these embodiments are presented only as examples and are not intended to limit the scope of the invention. The novel apparatus and method described herein may be implemented in various other forms. Further, various omissions, substitutions, and changes can be made to the modes of the apparatus and method described in the present specification without departing from the scope of the invention. The appended claims and their equivalents are intended to cover such forms and modifications as are included in the scope of the invention and adopted.

  For example, the function of translating the top plate 33 is mounted by the ball screw 341, but the function is not limited to this. A linear stage type equipped with a linear servo motor or a belt type may be used. In these cases, the motor may have an axis in the X direction shown in FIG. Further, in any case, the same effect can be obtained by providing the torque sensor 344 or the load sensor 332 so as to detect the static friction force. Further, the mounting position of the handle 331 is the upper surface of the top plate 33, but the mounting position is not limited to this, and may be on the side surface of the top plate 33, or the handle 331 does not exist and the top plate 33 is not present. It may be an implementation in which the operator directly applies force on the upper surface or the side surface of the.

1: Medical diagnostic system, 10: Stand device, 11: X-ray generator, 12: X-ray detector, 13: Rotating body, 14: X-ray high voltage device, 15: Control device, 18: Data acquisition circuit, 30 : Bed device, 31: Base, 32: Bed driving device, 33: Top plate, 331: Handle, 332: Load sensor, 333: Handle fixing part, 335: Switch, 34: Support frame, 341: Ball screw, 342 : Coupling: 343: encoder pulley, 344: torque sensor, 344A: magnetostrictive wire, 344B: coil, 345: servo amplifier, 346: motor, 347: belt, 348: motor pulley, 349A: clutch, 349B: brake, 40: Console device, 41: memory, 42: display, 43: input interface, 44: processing circuit, 441: system Beam control function, 442: pre-processing function, 443: reconstruction processing function

Claims (16)

A top plate on which the subject is placed,
A sensor that detects the force applied by the operator to move the top plate,
A control unit that changes the type of movement control of the top plate according to the time when the force is applied,
Sleeper device.   When the force is instantaneous, the control unit performs a first control for moving the tabletop by a unit amount, and when the force is continuous, a burden on the operator caused by the force is exerted. The bed apparatus according to claim 1, which performs a second control for reducing the number.   The control unit performs the first control when the time when the force is applied is smaller than a first threshold value, and the second control when the time when the force is applied is larger than the first threshold value. The bed apparatus according to claim 2, which controls.   The bed apparatus according to claim 3, wherein the control unit performs control for suppressing movement of the tabletop when the magnitude of the force is smaller than a second threshold different from the first threshold.   When the time when the force is applied is larger than the first threshold value and the magnitude of the force is larger than a third threshold value, the control unit executes the first control and then executes the first control. The bed apparatus according to claim 3, which executes the control of 2.   The bed apparatus according to any one of claims 2 to 5, wherein the control unit controls the speed of the tabletop in the second control so as not to exceed a predetermined speed.   The bed apparatus according to any one of claims 2 to 5, wherein the control unit does not stop the movement of the tabletop when an error related to control is detected during the second control. A motor driven by the movement control,
The bed apparatus according to claim 1, wherein the sensor detects, as the force, a torque applied to a ball screw interlocked with the motor and the top plate.   The bed apparatus according to claim 8, further comprising a clutch that switches an interlocking state between the motor and the ball screw according to the force detected by the sensor.   The bed apparatus according to any one of claims 1 to 9, wherein the sensor detects, as the force, a load applied to a handle provided on the top plate and operated by the operator.   The bed apparatus according to claim 1, further comprising a switch that switches a state of whether or not to operate the control unit. A top plate on which the subject is placed,
A sensor that detects a force applied by an operator to move the top plate,
A control unit that controls the load on the operator caused by the force according to the detection of the force;
A motor driven by the control,
A ball screw interlocking with the motor and the top plate;
Equipped with
The sensor detects a torque applied to the ball screw,
Sleeper device. The ball screw includes a magnetostrictive wire,
The sensor includes a coil that detects a magnetic field generated by the magnetostrictive wire, and detects a torque applied to the ball screw according to an output of the coil,
The bed device according to claim 12. A top plate on which the subject is placed,
A sensor that detects a force applied by an operator to move the top plate,
A control unit that controls the load on the operator caused by the force according to the detection of the force;
A handle provided on the top plate and operated by the operator,
Equipped with
The sensor detects a load applied to the handle,
Sleeper device.   The bed apparatus according to claim 14, wherein the sensor detects a moment between the handle and the sensor to detect the force.   A medical diagnostic system comprising the bed apparatus according to any one of claims 1 to 15.

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