CN102946806A - Ceiling traveling type X-ray image capturing device and method for controlling same - Google Patents
Ceiling traveling type X-ray image capturing device and method for controlling same Download PDFInfo
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- CN102946806A CN102946806A CN2011800309772A CN201180030977A CN102946806A CN 102946806 A CN102946806 A CN 102946806A CN 2011800309772 A CN2011800309772 A CN 2011800309772A CN 201180030977 A CN201180030977 A CN 201180030977A CN 102946806 A CN102946806 A CN 102946806A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
Abstract
A ceiling traveling type X-ray image capturing device configured so that an X-ray generation unit can be moved by the operation of an operation handle. A ceiling traveling type X-ray image capturing device is provided with an X-ray generation unit (17) which generates X-rays, an operation handle (21) which moves the X-ray generation unit (17), and movement units (80, 85, 90, 95) which move the X-ray generation unit (17). The device is also provided with an operation detection unit (25)(displacement detection unit (27)) which detects the displacement of the operation handle (21) caused by the operation thereof, and with a control unit (100) which controls the movement units (80, 85, 90, 95) on the basis of the detected displacement.
Description
Technical field
The present invention relates to a kind of can making from ceiling by operating grip and hang X-ray image-pickup device and the control method thereof that the X ray generating unit that arranges moves to the ceiling movable type of scooping up the shadow position of subject.
Background technology
In the X-ray image-pickup device of ceiling movable type, at ceiling track is set, hang the pillar that can stretch from the moving part that hangs in orbit is set, the X ray generating unit has been installed in the lower end of pillar.The X ray generating unit can be carried out all around, up and down and the action of rotation (around trunnion axis) etc.
In the X-ray image-pickup device of ceiling movable type, be provided with guidance panel in the module front of having installed with the X ray generating unit of the movable aperture of X ray, around it, be provided with the operating grip of toroidal.In guidance panel, be provided with a plurality of lock cancel switches of the electromagnetic lock of removing each travel mechanism.Then, in that the X ray generating unit is moved in the situation of position of regulation, while pressing the lock cancel switch corresponding with the travel mechanism that will move, operator make the X ray generating unit move (for example, patent documentation 1,2) by operating grip.
Patent documentation 1: TOHKEMY 2007-117584 communique
Patent documentation 2: TOHKEMY 2005-65942 communique
Summary of the invention
The problem that invention will solve
Yet, the X ray generating unit is moved in the situation of position of regulation, operator need to continue all the time the pressing lock cancel switch.Therefore, while operator must continue the pressing lock cancel switch X ray generating unit is moved.
When make the X ray generating unit forwards, backwards, about, move up and down or when rotating, operator change with the position relationship of lock cancel switch.For example, in the situation that X ray generating unit upward direction is moved, lock the cancel switch upward direction with operating grip and move.So, when the lock cancel switch is positioned at position above operator's self height, operate the X ray generating unit while operator are difficult to continue the pressing lock cancel switch by operating grip.The X ray generating unit is moved.
The object of the invention is to, pressing lock cancel switch not, the operation by operating grip is moved the X ray generating unit.
For the scheme of dealing with problems
In order to reach purpose of the present invention, the X-ray image-pickup device of ceiling movable type possesses: the X ray generating unit, and it produces X ray; Operating grip, it is used for the X ray generating unit is moved; And moving part, it moves the X ray generating unit, and the X-ray image-pickup device of this ceiling movable type possesses: operation detection part, it detects the displacement based on the operating grip of the operation of operating grip; And control part, it controls moving part according to this detected displacement.So, if operator operate (movement) to the direction that operating grip is moved, the X ray generating unit is moved.
Operation detection part detects the rectilinear direction of operating grip and the displacement of direction of rotation.Specifically, operation detection part has: directions X displacement measurement section, the displacement of the directions X of its measuring operation handle; Y-direction displacement measurement section, the displacement of the Y-direction that its measuring operation handle is vertical with directions X; Z direction displacement measurement section, the displacement of the Z direction that its measuring operation handle and directions X are vertical with Y-direction; And the swing offset test section, the displacement of the direction of rotation of its measuring operation handle.
Control part is removed the braking of the moving part corresponding with the direction of the aforesaid operations handle that is detected displacement by operation detection part.In addition, control part also can be removed the braking of the moving part corresponding with the direction of the operating grip that is detected displacement by operation detection part, and drives the motor of the rotating of wheel that makes moving part.And control part also can according to the operating physical force of operating grip, drive the motor of the rotating of wheel that makes moving part.
The effect of invention
According to the present invention, the X ray generating unit is moved.
Description of drawings
Fig. 1 is the outside drawing of the X-ray image-pickup device of expression ceiling movable type of the present invention.
Fig. 2 is the figure of operational example of the X-ray image-pickup device of expression ceiling movable type of the present invention.
Fig. 3 is the figure of the internal structure of expression operation detection part 25 of the present invention.
Fig. 4 is the figure of the operational example of expression operating grip 21 of the present invention.
Fig. 5 is the figure of the operational example of expression operating grip 21 of the present invention.
Fig. 6 is the figure of expression mode that moving part of the present invention is controlled.
Fig. 7 is the flow chart of the course of action in the expression embodiments of the invention 1,2.
Fig. 8 is the figure of expression embodiments of the invention 4.
Fig. 9 is the figure of an example of expression internal structure of the present invention.
Figure 10 is the figure of an example of expression internal structure of the present invention.
The specific embodiment
Use accompanying drawing to specify the X-ray image-pickup device of ceiling movable type involved in the present invention.
[embodiment 1]
The Sketch of the X-ray image-pickup device of the ceiling movable type that embodiment 1 is related is described.Fig. 1 is the outside drawing of the X-ray image-pickup device of expression ceiling movable type, and Fig. 2 is the figure of operational example of the X-ray image-pickup device of expression ceiling movable type.
On ceiling 10, be provided with track 11 and track 12 at directions X (transverse direction of Fig. 1).Track 11 is parallel with track 12.In addition, on the track 11 and track 12 that are arranged on the directions X, be provided with track 13 and track 14 in the Y-direction vertical with directions X (depth direction of Fig. 1).Directions X is parallel with floor respectively with Y-direction.Track 13 is parallel with track 14.
The X-ray image-pickup device of ceiling movable type has: XY moving part 15, and it moves to directions X and Y-direction in horizontal plane on the track 11 ~ 14 that is arranged on the ceiling 10; Pillar 16, it is arranged at the below end face of XY moving part 15, stretches freely to move up and down; X ray generating unit 17, it is arranged at the lower end of pillar 16, produces X ray; The movable aperture of X ray section 18, its X ray that is arranged at X ray generating unit 17 produces direction, adjusts the x-ray bombardment scope; And operating grip 21, it is used for that X ray generating unit 17 is moved or makes 17 rotations of X ray generating unit.
The X-ray image-pickup device of ceiling movable type possesses X ray test section 31, and this X ray test section 31 detects the X ray that has seen through subject that produces from X ray generating unit 17.X ray test section 31 is to have the transistor of two-dimensional arrangements and X ray is converted to the area detector (flat-panel detector) of the conversion film of the signal of telecommunication or fluorophor and will stores from the two-dimensional x-ray energy pattern that has seen through subject that X ray generating unit 17 produces the imaging plate of fluorophor as sub-image.In addition, be provided with display part 1 in inspection chamber or outside the inspection chamber, this display part 1 shows the radioscopic image of making according to by X ray test section 31 detected radioscopic image data.
In the situation that the subject that becomes clinostatism is taken, shown in the bottom of Fig. 1, X ray test section 31 flatly is arranged on the operation bed 30.Then, subject is arranged on the operation bed 30, so that cover the X ray test section 31 that is arranged on the operation bed 30.In addition, in the situation that the subject that becomes vertical position is taken, shown in the left part of Fig. 1, vertical ground disposes X ray test section 31 on the fixed station 32 that vertical disposes being fixed in floor.Then, subject is set so that cover the X ray test section 31 that is arranged on the fixed station 32.
The 31 pairs of X ray that seen through subject that produce from X ray generating unit 17 of X ray test section that arrange respectively according to the position of subject detect.The image of being implemented regulation by X ray test section 31 detected radioscopic image data is processed, be presented in the display part 1 as radioscopic image.It for example is that dynamic range compression is processed, frequency is emphasized to process that the image of regulation is processed.
Internal mechanism about XY moving part 15, diagram not, but can consist of along the Y-direction moving part that track 13 and track 14 move by the directions X moving part that can move along track 11 and track 12 with being arranged at track 11 on the directions X and track 12 engagements and with being arranged at track 13 on the Y-direction and track 14 engagements.
Specifically, the directions X moving part has: wheel, and it is fixed in the track 13 that is arranged on the Y-direction and track 14 and can be embedded in rotary manner track 11 and the track 12 that disposes at directions X; The directions X brake, the wheel of its braking directions X moving part; And the directions X motor, it makes the rotating of wheel of directions X moving part.Can be mobile at directions X along the track 11 that disposes at directions X and track 12 at track 13 and track 14 that Y-direction disposes.Make the rotating of wheel of directions X moving part with the directions X motor, can make thus 15 of XY moving parts mobile on directions X.In addition, as mentioned above, the example of directions X brake braking wheel has been described, but also can have braked directions X motor itself and the rotation of wheel is stopped or in track 11 and track 12, step on electromagnetic brake and the rotation of wheel is stopped.
The Y-direction moving part has: wheel, and it is fixed in the enclosure interior of XY moving part 15 and can be embedded in rotary manner track 13 and track 14; The Y-direction brake, the wheel of its braking Y-direction moving part; And the Y-direction motor, it makes the rotating of wheel of Y-direction moving part.Use the Y-direction motor to make the rotating of wheel of Y-direction moving part, can make thus 15 of XY moving parts mobile on Y-direction.In addition, as mentioned above, the example of Y-direction brake braking wheel has been described, but also can have braked Y-direction motor itself and the rotation of wheel is stopped or at track 13 with track 14 is stepped on electromagnetic brake and the rotation of wheel is stopped.
Like this, suitably drive directions X moving part and Y-direction moving part, XY moving part 15 can be mobile at directions X and Y-direction with X ray generating unit 17 with pillar 16 thus.Then, brake respectively wheel by directions X brake and Y-direction brake, come and X ray generating unit 17 to fix together with pillar 16 so that mobile at directions X and Y-direction.
About the internal mechanism of pillar 16, diagram not, but be provided with a plurality of tubulars arm, be arranged at slide rail in each arm, can be embedded into slide rail in rotary manner and be rotated the rotor of action and the Z traversing stop of brake rotors.The Z direction is the direction vertical with the XY plane.Rotor is rotated along slide rail, each arm is moved, can make thus pillar 16 flexible.Like this, by making pillar 16 flexible, can make the X ray generating unit 17 of the below that is arranged at pillar 16 mobile in the Z direction.Then, come brake rotors by the Z traversing stop, thus fixedly X ray generating unit 17 so that mobile in the Z direction.In addition, can also have the Z direction motor that makes rotor.
In addition, pillar 16 can also have the lead-in wire that descends point most of the arm that draws a plurality of tubulars and the spooler that batches lead-in wire.Batch lead-in wire by spooler, pillar 16 is shunk, by drawing lead-in wire, and can make pillar 16 elongations.
Directions X brake, Y-direction brake and Z traversing stop for example are the plectanes that rotates together from its sandwich wheel or rotor and can brake the disc-brake of wheel or rotor.
At this, (a), (b), Figure 10 of use Fig. 9 illustrate the setting position of directions X brake 81, Y-direction brake 86, Z traversing stop 91, direction of rotation brake 96 described later and directions X motor 82 described later, Y-direction motor 87, Z direction motor 91a, direction of rotation motor 96a.(a) of Fig. 9, (b) observe the situation of XY moving part 15 of Fig. 1 and the figure of situation that observes the XY moving part 15 of Fig. 1 from directions X from Y-direction respectively.About (a) of Fig. 9, the wheel 901 that (b) illustrates, track 13 is arranged at track 14, and thus, track 13, track 14 can move at track 11, track 12.In addition, wheel 902 is arranged at XY moving part 15, and thus, XY moving part 15 can move at track 13, track 14.In addition, wheel 901 is driven by the directions X motor 82 that is arranged on track 13, the track 14, and wheel 902 is driven by the Y-direction motor 87 that is arranged on the XY moving part 15.In addition, wheel 901 is braked by the directions X brake 81 that is arranged on track 13, the track 14, and in addition, wheel 902 is braked by the Y-direction brake 86 that is arranged on the XY moving part 15.Z direction motor 91a is arranged at XY moving part 15, draws by next lead-in wires 1001 to process pillar 16 inside such as rotating circular disks (not having special diagram), makes thus pillar 16 elongations.In addition, by being arranged at the Z traversing stop 91 of XY moving part 15, brake above-mentioned rotating circular disk.Direction of rotation motor 96a is arranged at pillar 16, makes rotation linking part 5 described later be rotated driving.In addition, rotation linking part 5 is braked by the direction of rotation brake 96 that is arranged on the pillar 16.Above-mentioned each motor and each brake are controlled by control part 100 described later.
In addition, the internal mechanism of XY moving part 15 and pillar 16 can also use patent documentation 1,2 disclosed mechanisms.
X ray generating unit 17 is configured in the lower end of pillar 16 (for example, rotation linking part 5) rotation.Rotation linking part 5 has with respect to pillar 16 maintenance X ray generating units 17, and makes the mechanism of X ray generating unit 17 rotations.The inside of X ray generating unit 17 has according to predefined X ray scoops up the X-ray tube that shadow stripe spare (tube voltage, tube current etc.) produces X ray.X-ray tube has from the thermionic negative electrode of filament emission of the electric current that has been provided regulation and has the rotating anode that makes the target that collides by the thermionic electron beam of this emission of cathode.Accelerate to the arrival rotating anode from the thermoelectron of filament emission, collide by thermoelectron and rotating anode, produce X ray from X-ray tube.
The X ray that the movable aperture of X ray section 18 is fixedly set in X ray generating unit 17 produces on the direction.Diagram ground, the internal mechanism of the movable aperture of X ray section 18 have the first movable limit blade that the x-ray bombardment scope of the directions X of X ray generating unit 17 is adjusted and and second movable limit blade that the x-ray bombardment scope of Y-direction adjusted vertical with the first movable limit blade.In addition, in the outer setting of the movable aperture of X ray section 18 action button 19,20 that the first movable limit blade and the second movable limit blade are controlled is arranged.Operator 2 are by making action button 19,20 rotations can open and close the first movable limit blade and the second movable limit blade.
Operating grip 21 links by operation detection part 25 and X ray generating unit 17, and operating grip 21 forms as one with X ray generating unit 17 and the movable aperture of X ray section 18.Therefore, when operator 2 make operating grip 21 to directions X, Y-direction, when the Z direction moves, X ray generating unit 17 can move to directions X, Y-direction, Z direction with the movable aperture of X ray section 18.In addition, when operator 2 made operating grip 21 rotation, X ray generating unit 17 can be with 18 rotations of the movable aperture of X ray section.As shown in Figure 1, 2, operating grip 21 direction of rotation of rotating is the direction of rotating centered by the central shaft of Y-direction.
In addition, in operating grip 21, be provided with guidance panel 22.In guidance panel 22, the X ray with X-ray tube of input generation X ray is scooped up the input part of shadow stripe spare, can set X ray and scoop up shadow stripe spare.In addition, the display floater that it is radioscopic image that guidance panel 22 has by X ray test section 31 detected radioscopic image data show can show radioscopic image.
At this, use Fig. 3 ~ Fig. 5 specifically describe operation by operating grip 21 function that X ray generating unit 17 is moved, function that detects the displacement of operating grip 21.
Fig. 3 is the figure of the internal structure of expression operation detection part 25.(a) of Fig. 3 is the figure in the X-Z cross section of expression operation detection part 25, and (b) of Fig. 3 is the figure in the Y-Z cross section of expression operation detection part 25.Fig. 4 and Fig. 5 are the figure of the operational example of expression operating grip 21.
The operation detection part 25 that operating grip 21 and X ray generating unit 17 are coupled together has the function that the displacement to operating grip 21 detects.The displacement of operating grip 21 refers to the displacement of rectilinear direction and the direction of rotation of operating grip 21.Operation detection part 25 is measured respectively operated operating grip 21 on the rectilinear direction of directions X, Y-direction, Z direction and direction of rotation displacement can detect operating grip 21 what kind of degree which side upwards has been operated at.
Specifically, operation detection part 25 has: directions X displacement measurement section 40, and its displacement to the directions X of operating grip 21 is measured; Y-direction displacement measurement section 50, its displacement to the Y-direction of operating grip 21 is measured; Z direction displacement measurement section 60, its displacement to the Z direction of operating grip 21 is measured; Direction of rotation displacement measurement section 70, its displacement to the direction of rotation of operating grip 21 is measured; And displacement detecting section 27, it detects operating grip 21 what kind of degree which side upwards has been operated at according to the displacement of exporting respectively from directions X displacement measurement section 40, Y-direction displacement measurement section 50, Z direction displacement measurement section 60 and direction of rotation displacement measurement section 70.
At this, the internal mechanism of description operation test section 25.One end of operation detection part 25 and operating grip 21 link.In addition, in Fig. 3,4, do not illustrate, but as shown in Figure 2, the other end of operation detection part 25 and X ray generating unit 17 link.Like this, operation detection part 25 connects as one operating grip 21 and X ray generating unit 17, and the operation of operating grip 21 is delivered to X ray generating unit 17 sides.
Specifically, operation detection part 25 is made of following part: columned excellent section 26, and the one end is fixedly set on the operating grip 21, is configured on the Y-direction; Transfer part 28, its can the mobile mode of Y-direction be arranged at excellent section 26 around, make the directions X of excellent section 26, the movement of Z direction and the rotation of excellent section 26 be delivered to support 29; And support 29, it makes the rotation of the transfer part 28 on the inwall that is fixedly installed on operation detection part 25 be delivered to operation detection part 25.
In operation detection part 25, be provided with the hole section 23 of round shape in operating grip 21 sides.The excellent section 26 on the operating grip 21 of being fixedly set in is configured to connect the state of the hole section 23 of operation detection part 25.Rod section 26 is fixedly set in operating grip 21, and therefore when operating grip 21 was moved, excellent section 26 was mobile in the direction that operating grip 21 moves.For example, when axle centered by Y-direction made operating grip 21 rotation, excellent section 26 rotated in the direction of rotation that operating grip 21 rotates.
The transfer part 28 that the rotation of the movement of the directions X of excellent section 26, Z direction and excellent section 26 is delivered to support 29 is the hollow parts that are configured in the tubular on the Y-direction.In transfer part 28, insert excellent section 26 in Y-direction.Rod section 26 can be on Y-direction with respect to transfer part 28 and Y-direction displacement detecting section 50 back and forth movement, excellent section 26 can be mobile in Y-direction.
The support 29 that is fixedly set in the end face of transfer part 28 roughly is made of hemispheric parts, is fixedly set in the inside of operation detection part 25.Support 29 forms as one on the summit that roughly is hemispheric parts and operation detection part 25.
Like this, the rotary shaft that is made of excellent section 26, transfer part 28, support 29 is formed on the Y-direction of operating grip 21.The rotary shaft of operating grip 21 is vertical with the plane of operating grip 21.The front end of the rotary shaft of operating grip 21 is fixedly set in the inwall of operation detection part 25.So operating grip 21 can swing as propping up the round mode of strokes and dots take the front end (support 29) of rotary shaft, can wave head movement (forward movement).
For example shown in Figure 4, as operator 2 during to Z direction bulldozing operation handle 21, the rotary shaft that is made of excellent section 26, transfer part 28 and support 29 tilts to the Z direction take support 29 as fulcrum.When the rotary shaft of operating grip 21 carried out banking motion, excellent section 26 contacted with the circumference of hole section 23.By the circumference of the hole section 23 of operation detection part 25 and the rotary shaft of support 29 supporting operating grips 21, therefore can make operating grip 21 mobile in the Z direction with operation detection part 25.
In addition, as operator 2 during to Y-direction pressing operation handle 21, as shown in Figure 5, mobile in Y-direction with operating grip 21 in the columned excellent section 26 that Y-direction disposes.When operating grip 21 was moved to Y-direction, operating grip 21 contacted with operation detection part 25.So operating grip 21 becomes one with operation detection part 25, therefore can make operating grip 21 mobile in Y-direction with operation detection part 25.
In addition, when operator 2 made operating grip 21 rotation, the rotary shaft that is made of excellent section 26, transfer part 28 and support 29 rotated with operation detection part 25.That is to say, when operator 2 make operating grip 21 rotation, can make 17 rotations of X ray generating unit.
At this, the displacement detection function of description operation test section 25.The directions X displacement measurement section 40 that the displacement of the directions X of operating grip 21 is measured is arranged at the inside of operation detection part 25.Directions X displacement measurement section 40 has: spring 41 and spring 43, and it is arranged on the directions X, and the mode of keeping with operating grip 21 shape all-in-one-piece rod sections 26 with the central authorities in directions X displacement measurement section 40 keeps; And sliding part 42, it is arranged on the directions X, becomes the guiding piece of spring 41 and spring 43 along directions X.Spring 41 and spring 43 are configured to across excellent section 26 difference opposite.
When excellent section 26 along with the movement of the directions X of operating grip 21 when directions X moves, the spring 41 of excellent section 26 side that moves or spring 43 are crooked along sliding part 42 to directions X.Spring 41 or the springs 43 different from the spring 41 of bending or spring 43 extend along sliding part 42 to directions X.
Diagram ground, it is the linear potentiometer that the displacement of the directions X of operating grip 21 detects that directions X displacement measurement section 40 has displacement to the directions X of excellent section 26.Linear potentiometer refers to that inside has rheostat and comes the potentiometer of the displacement of measuring stick section 26 according to the resistance value that the displacement with excellent section 26 correspondingly changes.
In addition, in the present invention, use linear potentiometer to measure the displacement of excellent section 26, but can also pressure transducer be set to spring 41 and spring 43, according to the crooked of spring 41 and spring 43 or stretch the pressure that obtains to change the displacement that comes excellent section 26 be that the displacement of operating grip 21 is measured.
The Y-direction displacement measurement section 50 that the displacement of the Y-direction of operating grip 21 is measured is arranged at the inside of transfer part 28, and this transfer part 28 is arranged at the inside of operation detection part 25.Y-direction displacement measurement section 50 has: spring 51, and it is arranged on the Y-direction, and the mode of keeping with operating grip 21 shape all-in-one-piece rod sections 26 with assigned position keeps; And sliding part 52, it is arranged on the Y-direction, becomes the guiding piece of spring 51 along Y-direction.
When excellent section 26 along with the movement of the Y-direction of operating grip 21 when Y-direction moves, the spring 51 of excellent section 26 side that moves is crooked along sliding part 52 to Y-direction.Diagram ground, it is linear potentiometer or the pressure transducer that the displacement of the Y-direction of operating grip 21 detects that Y-direction displacement measurement section 50 has displacement to the Y-direction of excellent section 26.In addition, the function of linear potentiometer or pressure transducer is identical with above-mentioned functions.
The Z direction displacement measurement section 60 that the displacement of the Z direction of operating grip 21 is measured is arranged at the inside of operation detection part 25.Z direction displacement measurement section 60 has: spring 61 and spring 63, and it is arranged on the Z direction, and the mode of keeping with operating grip 21 shape all-in-one-piece rod sections 26 with the central authorities in Z direction displacement measurement section 60 keeps; And sliding part 62, it is arranged on the Z direction, becomes the guiding piece of spring 61 and spring 63 along the Z direction.Spring 61 and spring 63 are configured to across excellent section 26 difference opposite.
When excellent section 26 along with the movement of the Z direction of operating grip 21 when the Z direction moves, the spring 61 of excellent section 26 side that moves or spring 63 are crooked on the Z direction along sliding part 62.Spring 61 or the springs 63 different from the spring 61 of bending or spring 63 extend in the Z direction along sliding part 62.
Diagram ground, it is linear potentiometer or the pressure transducer that the displacement of the Z direction of operating grip 21 detects that Z direction displacement measurement section 60 has displacement to the Z direction of excellent section 26.In addition, the function of linear potentiometer or pressure transducer is identical with above-mentioned functions.
The direction of rotation displacement measurement section 70 that the displacement of the direction of rotation of operating grip 21 is measured is arranged at the inside of operation detection part 25.Direction of rotation displacement measurement section 70 is arranged at the outer periphery with operating grip 21 shape all-in-one-piece rod sections 26.Direction of rotation displacement measurement section 70 for example is rotary encoder, and the rotation of the excellent section 26 that will rotate along with the rotation of operating grip 21 is converted to the signal of telecommunication, detects the displacement of rotation according to the signal of telecommunication that is converted to.In addition, do not illustrate ground, direction of rotation displacement measurement section 70 also can be arranged in the rotation linking part 5 that pillar 16 and X ray generating unit 17 are linked.When making operating grip 21 rotation, X ray generating unit 17 is also to same direction rotation, and the displacement of direction of rotation that therefore can be by the 70 pairs of operating grips 21 of direction of rotation displacement measurement section in the rotation linking part 5 is measured.
At this, specify according to the mode of being controlled moving part by the displacement of displacement detecting section 27 detected operating grips 21 with Fig. 6.Moving part in the present embodiment refers to the Z direction moving part 90 in the directions X moving part 80, Y-direction moving part 85, pillar 16 as XY moving part 15, the direction of rotation moving part 95 in the operation detection part 25.
As mentioned above, XY moving part 15 possesses: directions X moving part 80, and it has the directions X motor 82 of the directions X brake 81 that the wheel that makes directions X moving part 80 brakes and the rotating of wheel that makes directions X moving part 80; And Y-direction moving part 85, it has the Y-direction motor 87 of the Y-direction brake 86 that the wheel that makes Y-direction moving part 85 brakes and the rotating of wheel that makes Y-direction moving part 85.
In addition, pillar 16 possesses Z direction moving part 90, and this Z direction moving part 90 has the Z traversing stop 91 that the wheel that makes Z direction moving part 90 is braked.Operation detection part 25 possesses direction of rotation moving part 95, and this direction of rotation moving part 95 has the direction of rotation brake 96 that the excellent section 26 (rotary shaft) that makes operating grip 21 brakes.Direction of rotation brake 96 is for example to brake by the electromagnetic force that coil electricity is produced so that the clutch brake that the excellent section 26 (rotary shaft) of operating grip 21 stops the rotation.
And, XY moving part 15 possesses control part 100, and this control part 100 is according to by the displacement of displacement detecting section 27 detected operating grips 21 moving part (directions X moving part 80, Y-direction moving part 85, Z direction moving part 90, direction of rotation moving part 95) being controlled.
The direction that 25 pairs of operation detection part detect the operating grip 21 of displacement detects, and control part 100 is removed the brake of the moving part corresponding with the direction that detects displacement by operation detection part 25.Specifically, in the situation of at least one in the displacement (△ γ) of the displacement (△ Z) of the displacement (△ Y) of the displacement (△ X) that detects the directions X of operating grip 21 by directions X displacement measurement section 40, Y-direction displacement measurement section 50, Z direction displacement measurement section 60 and direction of rotation displacement measurement section 70 or Y-direction or Z direction or direction of rotation of the displacement detecting section 27 in the operation detection part 25, the direction (directions X, Y-direction, Z direction, direction of rotation) that detects the operating grip 21 of displacement is outputed to control part 100.Then, control part 100 is removed the brake of the moving part (directions X moving part 80, Y-direction moving part 85, Z direction moving part 90, direction of rotation moving part 95) corresponding with the direction of exporting from displacement detecting section 27.
So operator 2 can make operating grip 21 mobile in the direction of the displacement that detects operating grip 21 with X ray generating unit 17.
For example shown in Figure 4, as operator 2 during to Z direction bulldozing operation handle 21, the displacement (△ Z) of the Z direction of 60 pairs of operating grips 21 of Z direction displacement detecting section detects, and outputs to displacement detecting section 27.At this moment, braked by the Z traversing stop 91 of Z direction moving part 90, but until the rotary shaft of operating grip 21 (excellent section 26) contacts with the circumference of hole section 23, the rotary shaft of operating grip 21 is fascinated to the Z direction.Then, displacement detecting section 27 will output to control part 100 by the Z direction that Z direction displacement detecting section 60 detects displacement.Control part 100 is removed the Z traversing stop 91 of the Z direction moving part 90 corresponding with the Z direction of exporting from displacement detecting section 27.So by Z traversing stop 91 brake off devices, so operator 2 can make operating grip 21 move to the Z direction with X ray generating unit 17.
In addition, as shown in Figure 5, when operator 2 made operating grip 21 move to Y-direction, the displacement (△ Y) of the Y-direction of 50 pairs of operating grips 21 of Y-direction displacement detecting section detected, and outputs to displacement detecting section 27.At this moment, brake by the Y-direction brake 86 of Y-direction moving part 85, but the rotary shaft of operating grip 21 (excellent section 26) can be on Y-direction with respect to Y-direction displacement detecting section 50 back and forth movement.Then, displacement detecting section 27 will output to control part 100 by the Y-direction that Y-direction displacement detecting section 50 detects displacement.Control part 100 is removed the Y-direction brake 86 of the Y-direction moving part 85 corresponding with the Y-direction of exporting from displacement detecting section 27.So by Y-direction brake 86 brake off devices, so operator 2 can make operating grip 21 move to Y-direction with X ray generating unit 17.
Then, when operator's 2 unclamp operation handle 21, displacement detecting section 27 is not detected the displacement of operating grip 21.To not operate this situation to operating grip 21 and output to control part 100.Then, control part 100 applies the braking of moving part (directions X moving part 80, Y-direction moving part 85, Z direction moving part 90, direction of rotation moving part 95).Brake fixing operation handle 21 by the directions X brake 81 of directions X moving part 80, the Y-direction brake 86 of Y-direction moving part 85, the Z traversing stop 91 of Z direction moving part 90 and the direction of rotation brake 96 of direction of rotation moving part 95 respectively.That is to say that operator 2 can make operating grip 21 fixing with X ray generating unit 17 in the position of loosing one's grip.
More than, in the present embodiment, possess: X ray generating unit 17, it produces X ray; Operating grip 21, it is used for X ray generating unit 17 is moved; Moving part (directions X moving part 80, Y-direction moving part 85, Z direction moving part 90, direction of rotation moving part 95), it moves X ray generating unit 17; Operation detection part 25 (displacement detecting section 27), it detects the displacement based on the operating grip 21 of the operation of operating grip 21; And control part 100, it controls moving part according to detected this displacement.So, pressing lock cancel switch not, the operation by operating grip 21 just can make X ray generating unit 17 move.
In addition, surpass in the displacement (△ γ) of the direction of rotation of being measured by direction of rotation displacement measurement section 70 in the situation of predetermined angular (for example 90 degree), the directions X shown in Fig. 1 and Z direction, dissimilate by directions X displacement measurement section 40 detected directions Xs and by Z direction displacement measurement section 60 detected Z directions.Therefore, displacement (△ γ) according to the direction of rotation of being measured by direction of rotation displacement measurement section 70, control part 100 is replaced each directions X displacement measurement section 40 and is identified with the direction of the displacement of Z direction displacement measurement section 60, removes the braking of directions X moving part 80 or Z direction moving part 90.
Specifically, surpass in the displacement (△ γ) of the direction of rotation of being measured by direction of rotation displacement measurement section 70 in the situation of predetermined angular (for example 90 degree), control part 100 will be identified as by the displacement (△ X) of the directions X of directions X displacement measurement section 40 detected operating grips 21 displacement (△ Z) of Z direction.Then, control part 100 is removed the braking of the Z direction moving part 90 corresponding with the Z direction.In addition, control part 100 will be identified as by the displacement (△ Z) of the Z direction of Z direction displacement measurement section 60 detected operating grips 21 displacement (△ X) of directions X.Then, control part 100 is removed the braking of the directions X moving part 80 corresponding with directions X.
[embodiment 2]
(motor)
At this, embodiments of the invention 2 are described.Remove the braking of the moving part (directions X moving part 80, Y-direction moving part 85) corresponding with the direction of the operating grip 21 that is detected displacement by operation detection part 25 (displacement detecting section 27) and the motor this point that driving makes the rotating of wheel of moving part (directions X moving part 80, Y-direction moving part 85), different from embodiment 1.
In the present embodiment, illustrate that directions X moving part 80 and Y-direction moving part 85 have the motor of the rotating of wheel that makes moving part.In the situation of at least one in the displacement (△ Y) of the displacement (△ X) that detects the directions X of operating grip 21 by directions X displacement measurement section 40 and Y-direction displacement measurement section 50 or Y-direction of displacement detecting section 27, the direction (directions X, Y-direction) that detects the operating grip 21 of displacement is outputed to control part 100.Control part 100 is removed directions X brake 81 or the Y-direction brake 86 corresponding with the direction of exporting from displacement detecting section 27.Then, control part 100 drives directions X motor 82 or the Y-direction motor 87 corresponding with the direction of exporting from displacement detecting section 27, makes the rotating of wheel of directions X moving part 80 or Y-direction moving part 85.
For example shown in Figure 5, as operator 2 during to Y-direction pressing operation handle 21, the displacement (△ Y) of the Y-direction of 50 pairs of operating grips 21 of Y-direction displacement detecting section detects, and outputs to displacement detecting section 27.Then, displacement detecting section 27 will output to control part 100 by the Y-direction that Y-direction displacement detecting section 50 detects displacement.Control part 100 is removed the Y-direction brake 86 of the Y-direction moving part 85 corresponding with the Y-direction of exporting from displacement detecting section 27, and drives Y-direction motor 87, and Y-direction moving part 85 wheels are rotated up the detection side of the displacement of Y-direction.
More than, according to present embodiment, pressing lock cancel switch is not accepted the support based on each motor of the operation of operating grip 21, and X ray generating unit 17 is moved.
Then, use Fig. 7 illustrates the course of action in the embodiments of the invention 1,2.
(S10) need to make in the situation that X ray generating unit 17 moves in pinch shadow position according to subject, operator 2 operating grip 21 of holding with a firm grip makes operating grip 21 press or to pull or to make rotation to mobile direction.Need to make because X ray is scooped up the relation of shadow stripe spare X ray generating unit 17 be arranged to from subject away from or situation about approaching under, operator 2Z direction bulldozing operation handle 21.In Fig. 1, in the situation that the subject that becomes vertical position is taken, operator 2 make operating grip 21 rotations, make 17 rotations of X ray generating unit.
(S11) then, the displacement of all directions is measured by all directions displacement measurement section.The displacement (△ X) of the directions X of 40 pairs of operating grips 21 of directions X displacement measurement section is measured, the displacement (△ Y) of the Y-direction of 50 pairs of operating grips 21 of Y-direction displacement measurement section is measured, and the displacement (△ Z) of the Z direction of 60 pairs of operating grips 21 of Z direction displacement measurement section is measured.Then, the displacement of the direction of rotation of 70 pairs of operating grips 21 of direction of rotation displacement measurement section (△ γ) is measured.
(S12) pass through directions X displacement measurement section 40 at displacement test section 27, Y-direction displacement measurement section 50, Z direction displacement measurement section 60 and direction of rotation displacement measurement section 70 detect at least one the situation in the displacement (△ γ) of the displacement (△ Z) of the displacement (△ Y) of the displacement (△ X) of the directions X of operating grip 21 or Y-direction or Z direction or direction of rotation, and control part 100 is removed moving part (the directions X moving part 80 corresponding with the direction of exporting from displacement detecting section 27, Y-direction moving part 85, Z direction moving part 90, direction of rotation moving part 95) braking.
In addition, control part 100 also can drive directions X motor 82 or the Y-direction motor 87 corresponding with the direction of exporting from displacement detecting section 27, makes the rotating of wheel of directions X moving part 80 or Y-direction moving part 85.
So operator 2 can make operating grip 21 mobile in the direction of the displacement that detects operating grip 21 with X ray generating unit 17.
(S13) operator 2 make operating grip 21 suitably press, pull or rotate to the direction that will move, and thus shown in S11 ~ S12, according to pinch shadow position of subject X ray generating unit 17 are moved.Then, brake respectively by the directions X brake 81 of directions X moving part 80, the Y-direction brake 86 of Y-direction moving part 85, the Z traversing stop 91 of Z direction moving part 90 and the direction of rotation brake 96 of direction of rotation moving part 95, make operating grip 21 fixing.
(S14) operator 2 adjust the x-ray bombardment scope of X ray generating unit 17 by making action button 19,20 rotations open and close the first movable limit blade and the second movable limit blade.In addition, by the guidance panel 22 in the operating grip 21, input produces the X ray of the X ray generating unit 17 (X-ray tube) of X ray and scoops up shadow stripe spare, sets X ray and scoops up shadow stripe spare.X ray generating unit 17 is scooped up shadow stripe spare according to predefined X ray subject is produced X ray.31 pairs of X ray that seen through subject that produce from X ray generating unit 17 of X ray test section detect.Then, display part 1 shows according to the radioscopic image by X ray test section 31 detected radioscopic image data creatings.
(S15) scoop up in the situation of shadow again carrying out X ray, repeatedly carry out S10 ~ S14.Again carry out X ray and scoop up the situation that the situation of shadow for example refers to other pinch shadow position of subject is taken, the situation of after the subject that becomes clinostatism is taken, the subject that becomes vertical position being taken.In addition, scoop up in the situation of shadow tenth skill again carrying out X ray.
The present invention is not limited thereto, with directions X moving part 80 and Y-direction moving part 85 similarly, in Z direction moving part 90 and direction of rotation moving part 95, possess the Z direction motor 91a corresponding with each moving direction and direction of rotation motor 96a, also can after removing Z traversing stop 91 and direction of rotation brake 96, drive Z direction motor 91a or the direction of rotation motor 96a corresponding with the direction of exporting from displacement detecting section 27.
[embodiment 3]
(a plurality of direction)
At this, embodiments of the invention 3 are described.Can make operating grip 21 move this point with X ray generating unit 17 to a plurality of directions, from embodiment 1,2 different.Control part 100 is removed the braking of a plurality of directions of the moving part corresponding with a plurality of directions of the operating grip that is detected displacement by operation detection part 25.
Detect simultaneously by directions X displacement measurement section 40, Y-direction displacement measurement section 50, Z direction displacement measurement section 60, direction of rotation displacement measurement section 70 at displacement test section 27 in the situation of displacement (△ γ) of the displacement (△ Z) of the displacement (△ Y) of the displacement (△ X) of the directions X of a plurality of operating grips 21 or Y-direction or Z direction or direction of rotation, a plurality of directions (in directions X, Y-direction, Z direction, the direction of rotation more than two) that detect the operating grip 21 of displacement are outputed to control part 100.Then, control part 100 is removed and braking from moving part corresponding to a plurality of directions of displacement detecting section 27 output (directions X moving part 80, Y-direction moving part 85, Z direction moving part 90, the direction of rotation moving part 95 more than two) simultaneously.So, even operator 2 make operating grip 21 mobile or make traveling priority when making operating grip 21 rotation obliquely, also can make operating grip 21 mobile in a plurality of directions with X ray generating unit 17.
In addition, control part 100 also can drive directions X motor 82 or the Y-direction motor 87 corresponding with a plurality of directions of exporting from displacement detecting section 27, makes the rotating of wheel of directions X moving part 80 or Y-direction moving part 85.
[embodiment 4]
(operating physical force)
At this, with Fig. 8 embodiments of the invention 4 are described mainly.Control part 100 drives the motor this point of the rotating of wheel that makes moving part (directions X moving part 80, Y-direction moving part 85, Z direction moving part 90) according to the operating physical force of operating grip 21, and is different from embodiment 1 ~ 3.
Detect the operating physical force of operating grip 21 with the pressure transducer on the spring that is arranged in above-mentioned each moving part.Pressure transducer will come detected Output pressure to control part 100 according to the bending of spring, control part 100 is identified as detected pressure the operating physical force of operating grip 21.
Fig. 8 is the operating physical force N and the figure that puts into practice the relation of T of expression operating grip 21.Make in the situation that operating grip 21 presses or pull to the direction that will move operator 2, when moment t1, detect the operating physical force of operating grip 21.In the situation of the operating physical force that detects operating grip 21, control part 100 is removed the braking of the moving part (directions X moving part 80, Y-direction moving part 85, Z direction moving part 90) corresponding with the direction that detects operating physical force.
The moment t2 that surpasses threshold value n1 at the operating physical force of operating grip 21, control part 100 drives directions X motor 82 or the Y-direction motor 87 corresponding with the direction of the operating physical force that detects operating grip 21, makes the rotating of wheel of directions X moving part 80 or Y-direction moving part 85.At moment t1, the rotary speed of directions X motor 82 or Y-direction motor 87 and moment of torsion rise.
Then, surpass the moment t3 of threshold value n2 at the operating physical force of operating grip 21,100 pairs of directions X motors 82 corresponding with the direction of the operating physical force that detects operating grip 21 of control part or Y-direction motor 87 apply than the high voltage of moment t2 and make driving.When directions X motor 82 or Y-direction motor 87 are applied high voltage, can accelerate the rotating speed of directions X motor 82 or Y-direction motor 87, and increase moment of torsion.In addition, when surpassing the rotary speed of regulation, the moment of torsion of directions X motor 82 or Y-direction motor 87 descends.
So, surpass in the situation of threshold value n2 at the operating physical force of operating grip 21, can make the wheel of directions X moving part 80 or Y-direction moving part 85 make at high speed rotation than the constantly further acceleration of t2.Thereby, can control according to the operating physical force N of operating grip 21 rotary speed of motor, so operator 2 can make operating grip 21 promptly move to the position of expectation.
Become moment t4 below the threshold value n2 at the operating physical force of operating grip 21, corresponding directions X motor 82 or the Y-direction motor 87 of 100 pairs of control parts and the direction of the operating physical force that detects operating grip 21 applies the voltage identical with moment t2 and makes driving.In the operating physical force of operating grip 21 became moment t5 below the threshold value n1, control part 100 stopped the driving of directions X motor 82 or Y-direction motor 87.
Then, operating physical force at operating grip 21 becomes 0 moment t6, brake respectively fixing operation handle 21 by the directions X brake 81 of directions X moving part 80, the Y-direction brake 86 of Y-direction moving part 85, the Z traversing stop 91 of Z direction moving part 90 and the direction of rotation brake 96 of direction of rotation moving part 95.
Description of reference numerals
1: display part; 2: operator; 10: ceiling; 11:X direction track; 12:X direction track; 13:Y direction track; 14:Y direction track; The 15:XY moving part; 16: pillar; 17:X ray generating unit; The movable aperture of 18:X ray section; 19: action button; 20: action button; 21: operating grip; 22: guidance panel; 25: operation detection part; 30: the operation bed; 31:X ray detection section; 32: fixed station.
Claims (10)
1. the X-ray image-pickup device of a ceiling movable type possesses: the X ray generating unit, and it produces X ray; Operating grip, it is used for above-mentioned X ray generating unit is moved; And moving part, it moves above-mentioned X ray generating unit, and the X-ray image-pickup device of this ceiling movable type is characterised in that to possess: operation detection part, it detects the displacement of the aforesaid operations handle that produces based on the operation of aforesaid operations handle; And control part, it controls above-mentioned moving part according to this detected displacement.
2. the X-ray image-pickup device of ceiling movable type according to claim 1 is characterized in that,
The aforesaid operations test section detects the rectilinear direction of aforesaid operations handle and the displacement of direction of rotation.
3. the X-ray image-pickup device of ceiling movable type according to claim 1 is characterized in that,
The aforesaid operations test section has: directions X displacement measurement section, and it measures the displacement of aforesaid operations handle on directions X; Y-direction displacement measurement section, it measures the displacement of aforesaid operations handle on the Y-direction vertical with above-mentioned directions X; Z direction displacement measurement section, its measure aforesaid operations handle with the above-mentioned directions X Z direction vertical with above-mentioned Y-direction on displacement; And the swing offset test section, it measures the displacement of aforesaid operations handle on direction of rotation.
4. the X-ray image-pickup device of ceiling movable type according to claim 1 is characterized in that,
One end of aforesaid operations test section and aforesaid operations handle link, and the other end of aforesaid operations test section and above-mentioned X ray generating unit link.
5. the X-ray image-pickup device of ceiling movable type according to claim 1 is characterized in that,
The front end of the rotary shaft of aforesaid operations handle is fixedly set in the inwall of aforesaid operations test section.
6. the X-ray image-pickup device of ceiling movable type according to claim 1 is characterized in that,
Above-mentioned control part is removed the braking of the above-mentioned moving part corresponding with the direction of the aforesaid operations handle that is detected displacement by the aforesaid operations test section.
7. the X-ray image-pickup device of ceiling movable type according to claim 1 is characterized in that,
Above-mentioned control part is removed the braking of the above-mentioned moving part corresponding with the direction of the aforesaid operations handle that is detected displacement by the aforesaid operations test section, and drives the motor of the rotating of wheel that makes above-mentioned moving part.
8. the X-ray image-pickup device of ceiling movable type according to claim 1 is characterized in that,
Above-mentioned control part is removed the braking of a plurality of directions of the above-mentioned moving part corresponding with a plurality of directions of the aforesaid operations handle that is detected displacement by the aforesaid operations test section.
9. the X-ray image-pickup device of ceiling movable type according to claim 1 is characterized in that,
Above-mentioned control part drives the motor of the rotating of wheel that makes above-mentioned moving part according to the operating physical force of aforesaid operations handle.
10. the control method of the X-ray image-pickup device of a ceiling movable type is characterized in that, may further comprise the steps: detect the displacement of the operating grip that moves for the X ray generating unit that makes the generation X ray; Control the moving part that above-mentioned X ray generating unit is moved according to above-mentioned detected displacement.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-140060 | 2010-06-21 | ||
| JP2010140060 | 2010-06-21 | ||
| PCT/JP2011/063767 WO2011162149A1 (en) | 2010-06-21 | 2011-06-16 | Ceiling traveling type x-ray image capturing device and method for controlling same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102946806A true CN102946806A (en) | 2013-02-27 |
Family
ID=45371340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011800309772A Pending CN102946806A (en) | 2010-06-21 | 2011-06-16 | Ceiling traveling type X-ray image capturing device and method for controlling same |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPWO2011162149A1 (en) |
| CN (1) | CN102946806A (en) |
| WO (1) | WO2011162149A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102753098A (en) * | 2010-03-29 | 2012-10-24 | 株式会社日立医疗器械 | Ceiling suspended x-ray imaging apparatus |
| CN105999551A (en) * | 2016-07-05 | 2016-10-12 | 张开建 | Electric stimulator suspension apparatus |
| CN105999552A (en) * | 2016-07-07 | 2016-10-12 | 张景悦 | Electric needle machine and its electrode line suspending and supporting device |
| CN107847206A (en) * | 2015-08-07 | 2018-03-27 | 爱克发医疗保健公司 | X-ray system and the method for operating X-ray system |
| CN109890290A (en) * | 2016-08-29 | 2019-06-14 | 株式会社岛津制作所 | X-ray imaging device holding mechanism and X-ray imaging device |
| CN114098783A (en) * | 2022-01-28 | 2022-03-01 | 深圳市创谷科技发展有限公司 | Beam limiter, X-ray machine and control method |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5978060B2 (en) * | 2012-08-09 | 2016-08-24 | 株式会社日立製作所 | X-ray equipment |
| JP6320807B2 (en) * | 2014-03-18 | 2018-05-09 | キヤノンメディカルシステムズ株式会社 | X-ray diagnostic equipment |
| JP7327125B2 (en) * | 2019-11-29 | 2023-08-16 | 株式会社島津製作所 | X-ray equipment |
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| CN109890290A (en) * | 2016-08-29 | 2019-06-14 | 株式会社岛津制作所 | X-ray imaging device holding mechanism and X-ray imaging device |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2011162149A1 (en) | 2011-12-29 |
| JPWO2011162149A1 (en) | 2013-08-19 |
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