阅读说明：本技术 X射线摄影装置 (X-ray imaging apparatus ) 是由 桐山雄一朗 青木拓也 三轮贵俊 奥村皓史 于 2020-11-18 设计创作，主要内容包括：本发明提供一种X射线摄影装置。该X射线摄影装置具备：正面侧操作部,其设置在悬吊支承部的正面侧,用于从正面侧操作通过驱动部使悬吊支承部进行的移动；以及背面侧操作部,其相对于正面侧操作部设置在悬吊支承部的背面侧,用于从背面侧操作通过驱动部使悬吊支承部进行的移动。(The invention provides an X-ray imaging apparatus. The X-ray imaging apparatus includes: a front side operation unit provided on the front side of the suspension support unit and configured to operate the suspension support unit from the front side to move the suspension support unit by the driving unit; and a back side operation portion provided on a back side of the suspension support portion with respect to the front side operation portion, for operating the movement of the suspension support portion by the driving portion from the back side.)

1. An X-ray imaging apparatus includes:

an X-ray irradiation unit that irradiates an object with X-rays;

an X-ray detector that detects the X-rays irradiated from the X-ray irradiator;

a suspension support portion that supports the X-ray irradiation portion or the X-ray detection portion;

a driving unit that drives the suspension support unit to move the suspension support unit;

a front side operation unit provided on a front side of the suspension support unit, for operating the suspension support unit to move by the drive unit from the front side; and

and a rear-side operation portion provided on a rear side of the suspension support portion with respect to the front-side operation portion, the rear-side operation portion being configured to operate the driving portion to move the suspension support portion from the rear side.

2. The radiography apparatus according to claim 1,

the front side operation part and the back side operation part are operation parts of different modes.

3. The radiography apparatus according to claim 2,

the front side operation part is a handle operation part including a handle,

the back side operation portion is a switch operation portion including a switch.

4. The radiography apparatus according to claim 2,

the number of movement directions of the suspension support portion operable by the rear side operation portion is smaller than the number of movement directions of the suspension support portion operable by the front side operation portion.

5. The radiography apparatus according to claim 4,

the moving direction of the suspension support portion operable by the front side operation portion includes a horizontal direction, a vertical direction, and a rotational direction,

the movement direction of the suspension support portion operable by the rear side operation portion includes a horizontal direction.

6. The radiography apparatus according to claim 1,

the front side operation part includes a main handle,

the X-ray imaging apparatus further includes an assist handle provided on the back side of the main handle independently of the back side operation unit, the assist handle being configured to be operated from the back side to move the suspension support unit by the driving unit.

7. The radiography apparatus according to claim 6,

the auxiliary handle is smaller than the main handle.

8. The radiography apparatus according to claim 6,

the power tool further includes a force detection unit that detects operation forces input to the main handle and the assist handle in combination.

9. The radiography apparatus according to claim 1,

the suspension support device further includes a control unit that controls the common driving unit based on an operation of the front-side operation unit and an operation of the rear-side operation unit so that the suspension support unit is driven to move.

Technical Field

The present invention relates to an X-ray imaging apparatus.

Background

Conventionally, an X-ray imaging apparatus including a suspended support portion is known. Such a device is disclosed in, for example, japanese patent application laid-open No. 2010-194152.

The above-mentioned japanese patent application laid-open No. 2010-194152 discloses a radiographic apparatus (X-ray imaging apparatus) provided with a ceiling travel unit (suspension support portion). The ceiling travel unit includes an operation block provided with an X-ray tube. The operation block includes a handle (front side operation portion) for performing an operation of moving the operation block. In the radiographic apparatus described in the above-mentioned japanese patent application laid-open No. 2010-194152, the operator grips the handle to move the operation block and stops the operation block at a desired position. In the radiographic apparatus described in the above-mentioned japanese patent application laid-open No. 2010-194152, the handle is provided only on the front surface side.

However, in the radiographic apparatus described in the above-mentioned japanese patent application laid-open No. 2010-194152, since the handle is provided only on the front surface side, when the operator performs work on the back surface side, the operator needs to go around to the front surface side to operate the handle to move the operation block. Further, when an obstacle such as a patient before photographing is disposed on the front side of the handle, it is difficult to operate the handle itself. Therefore, the radiographic apparatus described in the above-mentioned japanese patent application laid-open No. 2010-194152 has a problem that the ease of moving the ceiling travel unit is low.

Disclosure of Invention

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an X-ray imaging apparatus capable of improving the convenience of the movement operation of a suspension support.

In order to achieve the above object, an X-ray imaging apparatus according to an aspect of the present invention includes: an X-ray irradiation unit that irradiates an object with X-rays; an X-ray detection unit for detecting the X-rays irradiated from the X-ray irradiation unit; a suspension support portion that supports the X-ray irradiation portion or the X-ray detection portion; a driving unit that drives the suspension support unit to move the suspension support unit; a front side operation unit provided on the front side of the suspension support unit and configured to operate the suspension support unit from the front side to move the suspension support unit by the driving unit; and a back side operation portion provided on a back side of the suspension support portion with respect to the front side operation portion, for operating the movement of the suspension support portion by the driving portion from the back side. Here, in the present specification, "movement" is a broad concept including not only linear movement but also rotational movement.

According to the present invention, as described above, the front side operation portion provided on the front side of the suspension support portion for operating the drive portion to move the suspension support portion from the front side and the back side operation portion provided on the back side of the suspension support portion with respect to the front side operation portion for operating the drive portion to move the suspension support portion from the back side are provided. Thus, the operator can move the suspension support unit not only from the front side but also from the rear side by the front side operation unit. As a result, even if the operator who works on the rear side does not go around to the front side to operate the front side operation portion, the operator can operate the rear side operation portion while being positioned on the rear side to move the suspension support portion. Further, even when an obstacle such as a patient before imaging is disposed on the front side of the front side operation unit, the rear side operation unit can be operated to move the suspension support unit. As a result, the convenience of the movement operation of the suspension support portion can be improved.

Drawings

Fig. 1 is a front view showing the structure of an X-ray imaging apparatus.

Fig. 2 is a block diagram showing a control structure of the X-ray imaging apparatus.

Fig. 3 is a schematic diagram for explaining the structure of the suspension support portion.

Fig. 4 is a schematic diagram for explaining the structure of the rear side operation portion.

Detailed Description

(Structure of X-ray photographing apparatus)

An overall configuration of an X-ray imaging apparatus 100 according to an embodiment of the present invention will be described with reference to fig. 1 to 4.

In the following description, the vertical direction (vertical direction) is the Z direction, the upper direction is the Z1 direction, and the lower direction is the Z2 direction. The front-rear direction (horizontal direction) is the Y direction, the front side facing the front side is the Y1 direction, and the rear side facing the rear side is the Y2 direction. The left-right direction (horizontal direction) perpendicular to the front-rear direction is defined as the X direction, the left direction when viewed from the front side is defined as the X1 direction, and the right direction when viewed from the front side is defined as the X2 direction.

As shown in fig. 1 and 2, an X-ray imaging apparatus 100 according to the present embodiment is a medical X-ray imaging apparatus and is configured to perform X-ray imaging on a subject 200 (human body) to be imaged. The X-ray imaging apparatus 100 is a general X-ray imaging apparatus including a ceiling-traveling X-ray tube pendant. The X-ray imaging apparatus 100 includes an X-ray irradiation unit 1, an X-ray detection unit 2, a suspension support unit 3 (pendant), a drive unit 4, a force detection unit 5, a control unit 6, a front side operation unit 7, a back side operation unit 8, and an assist grip 9.

In the X-ray imaging apparatus 100, the X-ray irradiation unit 1 is supported by the suspension support unit 3 so as to be suspended from the ceiling 300. The X-ray irradiation unit 1 is supported by a suspension support 3 so as to be movable in the imaging room. The X-ray irradiation unit 1 includes an X-ray source 11 that irradiates the subject 200 with X-rays and a collimator 12 that adjusts an irradiation region of the X-rays.

The X-ray imaging apparatus 100 further includes an X-ray detection unit 2 that detects X-rays emitted from the X-ray irradiation unit 1. As shown in fig. 1, the X-ray detector 2 includes: a lying position imaging table 21 for imaging in a posture (lying position) in which the subject 200 lies; and an upright imaging table 22 for imaging in a posture (upright position) in which the subject 200 stands. A horizontal position detector 21a and a vertical position detector 22a are held on the horizontal position imaging table 21 and the vertical position imaging table 22, respectively, and the horizontal position detector 21a and the vertical position detector 22a are movable in accordance with an imaging portion of the subject 200. The recumbent Detector 21a and the upright Detector 22a are, for example, FPDs (Flat Panel detectors) for detecting X-rays transmitted through the subject 200.

The suspension support portion 3 movably supports the X-ray irradiation portion 1. The suspension support portion 3 is configured to be able to move the X-ray irradiation portion 1 from a position where X-ray imaging is performed using the horizontal imaging table 21 to a position where X-ray imaging is performed using the vertical imaging table 22. The suspension support 3 can move the X-ray irradiation unit 1 to a position facing the horizontal position detector 21a when performing X-ray imaging using the horizontal position imaging table 21. Further, the suspension support portion 3 can move the X-ray irradiation portion 1 to a position facing the upright position detector 22a when performing X-ray imaging using the upright position imaging table 22.

As shown in fig. 1 to 3, the suspension support portion 3 includes: a rotation support part 31 for supporting the X-ray irradiation part 1 in the theta directionThe bearing is supported in a mode of rotating in two directions; a column portion 32 that supports the rotation support portion 31 so as to be movable along one axis (Z axis) in the vertical direction; and a carriage portion 33 that supports the column portion 32 so as to be movable along two axes (X-axis and Y-axis) in the horizontal direction. That is, the suspension support portion 3 is configured to be able to move the X-ray radiation unit 1 in the θ directionAnd is supported so as to move in two rotational directions and three linear directions, i.e., the Z direction, the X direction, and the Y direction.

The rotation support portion 31 is attached to a lower portion of the column portion 32. Further, the rotation support portion 31 is configured to: the X-ray irradiation unit 1 is supported so as to be rotatable in the θ direction (the rotational direction around the first rotation axis C1) with respect to the column part 32 about the first rotation axis C1 extending in the Y direction. Further, the rotation support portion 31 is configured to: the X-ray irradiation unit 1 is positioned along the column part 32 with respect to the column part 32 about a second rotation axis C2 which can extend in the Z directionAnd is supported to be rotatable in a direction (a rotation direction around the second rotation axis C2).

The column portion 32 is configured to be expandable and contractible in the vertical direction (Z direction). The column portion 32 extends and contracts, thereby moving the rotation support portion 31 in the vertical direction. Thereby, the X-ray irradiation unit 1 is moved in the vertical direction.

The carriage part 33 is configured to support the pillar part 32 so that the pillar part 32 can move in the X direction and the Y direction with respect to the ceiling 300. Specifically, the carriage section 33 includes a support body 33a, a moving rail 33b, and a fixed rail 33 c. The support body 33a is configured to support an upper portion of the column portion 32. The support body 33a is attached to a moving rail 33b extending in the Y direction so as to be movable in the Y direction. The moving rail 33b is attached to a fixed rail 33c extending in the X direction so as to be movable in the X direction. The fixed rail 33c is fixed to the ceiling 300. The moving rail 33b moves on the fixed rail 33c, and thereby the X-ray irradiation unit 1, the rotation support unit 31, and the column unit 32 move in the X direction. Further, when the support body 33a moves on the moving rail 33b, the X-ray irradiation unit 1, the rotation support unit 31, and the column unit 32 move in the Y direction.

As shown in fig. 2, the driving unit 4 is configured to drive the suspension support unit 3 to move the suspension support unit 3. Specifically, the drive unit 4 includes a plurality of (five) motors 41a to 41 e. The motor 41a rotates the rotation support portion 31 in the θ direction with respect to the column portion 32 about the first rotation axis C1 as a rotation axis. The motor 41b causes the pivot support portion 31 to extend along the column portion 32 about the second rotation axis C2 as a rotation axisThe direction is rotated. The motor 41c moves (extends and contracts) the column part 32 in the Z direction. The motor 41d moves the moving rail 33b in the X direction. The motor 41e moves the support body 33a in the Y direction. The drive unit 4 includes a plurality of (five) electromagnetic brakes 42a to 42e corresponding to the plurality of (five) motors 41a to 41 e.

As shown in fig. 2 and 3, the force detection unit 5 is, for example, a strain gauge. The force detection unit 5 is configured to detect an operation force applied by an operator to move the suspension support unit 3. Specifically, the force detection unit 5 is configured to detect the operation forces of the main handle 71 and the assist handle 9, which are input (applied) to the front side operation unit 7, in common. That is, the force detection unit 5 is connected to both the main handle 71 and the assist handle 9 of the front side operation unit 7.

The force detection unit 5 is configured to detect the magnitude and direction of the input operation force. The force detection unit 5 is configured to output a detection signal according to the magnitude and direction of the input operation force. Thus, the operator grips the main handle 71 or the assist handle 9 of the front side operation unit 7 and operates them,can be oriented to X, Y, Z, theta andthe suspension support portion 3 is driven in these five directions to move the suspension support portion 3.

As shown in fig. 1 and 2, the control Unit 6 is a control circuit including a processor such as a CPU (Central Processing Unit) and a memory, for example. The control unit 6 is configured to control operations of the respective units of the X-ray imaging apparatus 100, such as the X-ray irradiation unit 1, the X-ray detection unit 2, and the drive unit 4. Further, the control unit 6 is configured to: the common driving unit 4 is controlled based on the operation of the front side operation unit 7, the operation of the rear side operation unit 8, and the operation of the assist handle 9, and drives the suspension support unit 3 to move the suspension support unit 3.

As shown in fig. 1 to 3, the front side operation unit 7 is provided on the front side (Y1 direction side) of the suspension support unit 3 for operating the movement of the suspension support unit 3 by the drive unit 4 from the front side. The front side operation portion 7 is a handle operation portion including a main handle 71. The main handle 71 is configured to be gripped by an operator when moving the suspension support portion 3 from the front side. Specifically, the main handle 71 is configured to be gripped by an operator when the operator manually moves the suspension support portion 3 from the front side. The main handle 71 has a wheel shape, and the operator can grip the main handle 71 with both hands. The main handle 71 of the front side operation unit 7 is disposed on the front side (Y1 direction side) of the force detection unit 5, and is connected to the force detection unit 5 from the front side. The main handle 71 is an example of the "handle" in the claims.

Here, in the present embodiment, as shown in fig. 2 to 4, the rear side operation portion 8 is provided on the rear side (Y2 direction side) of the suspension support portion 3 with respect to the front side operation portion 7, and is configured to operate the movement of the suspension support portion 3 by the driving portion 4 from the rear side. Specifically, the rear side operation portion 8 is provided on the rear side of the center in the Y direction of the suspension support portion 3. The back side operation portion 8 is a switch operation portion including a plurality of switches 81a, 81b, and 82. Specifically, the back side operation portion 8 is a switch operation portion of a seat type (japanese: シートタイプ). Therefore, the front-side operation unit 7 and the rear-side operation unit 8 are operation units of different types from each other. The rear side operation portion 8 is provided on a side surface (surface on the X2 direction side) of the rotation support portion 31 of the suspension support portion 3.

The switches 81a and 81b are configured to receive an instruction of the movement direction of the suspension support portion 3. Specifically, the switches 81a and 81b are configured to receive an instruction of movement of the suspension support portion 3 in the X direction. More specifically, the switch 81a is configured to receive an instruction of movement of the suspension support portion 3 in the X1 direction. The switch 81b is configured to receive an instruction to move the suspension support portion 3 in the X2 direction. The switch 82 is configured to receive an instruction to release the braking of the motors 41a to 41e by the electromagnetic brakes 42a to 42 e. The switches 81a, 81b, and 82 are push-button switches. The back-side operation unit 8 is configured to output an operation signal in accordance with a pressing operation of the switch 81a, 81b, or 82.

The rear side operation portion 8 is configured to receive the suspension support portion 3 in a plurality of movement directions (X, Y, Z, θ, andfive directions) in the direction of movement (X direction). Therefore, the number of movement directions (one) of the suspension support portions 3 that can be operated by the back side operation portion 8 is smaller than the number of movement directions (five) of the suspension support portions 3 that can be operated by the front side operation portion 7. The movement directions of the suspension support portion 3 that can be operated by the front side operation portion 7 include the vertical direction (Z direction), the horizontal direction (X and Y directions), and the rotation direction (θ and Y directions)Direction). The movement direction of the suspension support portion 3 that can be operated by the rear side operation portion 8 includes the horizontal direction (X direction).

In the present embodiment, as shown in fig. 2 and 3, the auxiliary handle 9 is provided on the back side (Y2 direction side) separately from the back side operating portion 8 with respect to the main handle 71 of the front side operating portion 7 so as to move the suspension support portion 3 by the driving portion 4 in the operation from the back side. Specifically, the assist grip 9 is provided on the back side with respect to the main grip 71 of the front-side operation unit 7, and is provided on the side surface side (the X2 direction side) with respect to the force detection unit 5. The assist grip 9 is disposed on the side surface side with respect to the force detection unit 5, and is connected to the force detection unit 5 from the side surface side. The assist grip 9 is provided on the side surface of the suspension support portion 3 in the X2 direction. The auxiliary handle 9 is not provided on the side surface of the suspension support portion 3 on the X1 direction side. The assist handle 9 is provided in the vicinity of the front-side operation portion 7.

The assist grip 9 is configured to be gripped by an operator when moving the suspension support portion 3 from the back side. Specifically, the assist grip 9 is configured to be gripped by an operator when the operator manually moves the suspension support portion 3 from the back side. The assist grip 9 has a pinch shape protruding in the X2 direction, and the operator can hold the assist grip 9 with one hand. The auxiliary handle 9 is smaller than the main handle 71 of the front side operation portion 7. The assist grip 9 is smaller than the main grip 71 of the front side operation portion 7 at least in the Z direction. The assist grip 9 may be smaller than the main grip 71 of the front side operation portion 7 in the X and Y directions. The assist grip 9 is formed smaller than the main grip 71 so as not to interfere with the main grip 71 of the front side operation portion 7.

(operation of movement of suspension support)

Next, the movement of the suspension support unit 3 using the front side operation unit 7, the rear side operation unit 8, and the assist grip 9 will be described in order.

For example, when the operator performs a work on the front side, the operator grips the main handle 71 of the front side operation unit 7 and moves the main handle 71, thereby moving the suspension support unit 3. In this case, the force detection unit 5 detects the magnitude and direction of the operation force input by the operator to the main handle 71 of the front side operation unit 7. The control unit 6 controls the driving unit 4 to drive the suspension support unit 3 and move the suspension support unit 3 according to the magnitude and direction of the operation force detected by the force detecting unit 5. As a result, the driving unit 4 drives the suspension support unit 3 at a speed corresponding to the magnitude of the operation force input to the main handle 71 of the front side operation unit 7 in a direction corresponding to the direction of the operation force input to the main handle 71 of the front side operation unit 7, thereby moving the suspension support unit 3. That is, the power assist operation is performed in accordance with the operation force of the operator. Thus, the operator can move the suspension support portion 3 to a desired position using the main handle 71 of the front side operation portion 7.

For example, when the operator performs work on the back side, the operator performs an operation of moving the suspension support unit 3 using the back side operation unit 8 or the assist handle 9.

For example, when the operator wants to move the suspension support portion 3 in the X direction, the operator uses the rear side operation portion 8. When the operator uses the rear side operation portion 8, the operator presses the switch 81a or 81b of the rear side operation portion 8 to move the suspension support portion 3. In this case, the control unit 6 controls the driving unit 4 to drive the suspension support unit 3 and move the suspension support unit 3 in response to the pressing operation of the switch 81a or 81b of the rear side operation unit 8. For example, when the switch 81a of the rear side operation unit 8 is pressed, the control unit 6 controls the driving unit 4 to drive the suspension support unit 3 in the X1 direction to move the suspension support unit 3. For example, when the switch 81b of the rear side operation unit 8 is pressed, the control unit 6 controls the driving unit 4 to drive the suspension support unit 3 in the X2 direction to move the suspension support unit 3. The driving unit 4 drives the suspension support unit 3 at a constant speed in a direction corresponding to the switch 81a or 81b of the rear side operation unit 8 to move the suspension support unit 3. That is, the power assist operation is not performed, but the normal moving operation is performed at a predetermined speed. Thereby, the operator can move the suspension support portion 3 to a desired position in the X direction using the switches 81a and 81b of the rear side operation portion 8.

While the switch 81a or 81b of the rear side operation portion 8 is pressed, the control portion 6 controls the driving portion 4 to drive the suspension support portion 3 and move the suspension support portion 3. That is, only while the switch 81a or 81b of the rear side operation unit 8 is pressed, the driving unit 4 drives the suspension support unit 3 to move the suspension support unit 3.

For example, when the operator wants to move the suspension support portion 3 in a direction other than the X direction, the assist handle 9 is used. When the operator uses the assist grip 9, the operator grips and moves the assist grip 9 to move the suspension support unit 3 in a state where the switch 82 of the rear side operation unit 8 is pressed. That is, the operator grips and moves the assist grip 9 to move the suspension support portion 3 in a state where the braking of the motors 41a to 41e by the electromagnetic brakes 42a to 42e is released. Further, in the present embodiment, the assist grip 9 and the switch 82 are provided so as to be operable from the same side (the X2 direction side), and therefore it is easy to simultaneously operate the assist grip 9 and the switch 82.

The movement of the suspension support portion 3 in this case is the same as that of the main handle 71 of the front side operation portion 7. That is, the force detection section 5 detects the magnitude and direction of the operation force input to the assist handle 9 by the operator. The control unit 6 controls the driving unit 4 to drive the suspension support unit 3 and move the suspension support unit 3 according to the magnitude and direction of the operation force detected by the force detecting unit 5. As a result, the driving unit 4 drives the suspension support unit 3 in a direction corresponding to the direction of the operation force input to the assist handle 9 at a speed corresponding to the magnitude of the operation force input to the assist handle 9, thereby moving the suspension support unit 3. That is, even when the assist grip 9 is used, the power assist operation is performed in accordance with the operation force of the operator. Thereby, the operator can move the suspension support portion 3 to a desired position using the assist handle 9.

(effects of the embodiment)

In the present embodiment, the following effects can be obtained.

In the present embodiment, as described above, the X-ray imaging apparatus 100 is provided with the front side operation portion 7 and the back side operation portion 8, the front side operation portion 7 being provided on the front side of the suspension support portion 3 for operating the drive portion 4 to move the suspension support portion 3 from the front side, and the back side operation portion 8 being provided on the back side of the suspension support portion 3 with respect to the front side operation portion 7 for operating the drive portion 4 to move the suspension support portion 3 from the back side. Thus, the operator can move the suspension support unit 3 not only from the front side by the front side operation unit 7 but also from the rear side by the rear side operation unit 8. As a result, even if the operator who works on the rear side does not go around to the front side to operate the front side operation portion 7, the operator can operate the rear side operation portion 8 to move the suspension support portion 3 while being positioned on the rear side. In addition, even when an obstacle such as a patient before imaging is disposed on the front side of the front side operation unit 7, the rear side operation unit 8 can be operated to move the suspension support unit 3. As a result, the convenience of the movement operation of the suspension support portion 3 can be improved.

In the present embodiment, as described above, the front-side operation unit 7 and the rear-side operation unit 8 are configured as operation units of different types from each other. Thus, unlike the case where the front-side operation unit 7 and the rear-side operation unit 8 are configured as operation units of the same type, the rear-side operation unit 8 of the front-side operation unit 7 and the rear-side operation unit 8 can be configured to have a simple structure with respect to the front-side operation unit 7. As a result, even when both the front-side operation unit 7 and the back-side operation unit 8 are provided, the structure of the X-ray imaging apparatus 100 can be prevented from being complicated.

In the present embodiment, as described above, the front side operation unit 7 is configured as a handle operation unit including the main handle 71 (handle). The rear side operation unit 8 is configured as a switch operation unit including switches 81a, 81b, and 82. Accordingly, unlike the case where the rear-side operation portion 8 is configured as a handle operation portion in the same manner as the front-side operation portion 7, it is not necessary to provide a sensor such as the force detection portion 5 on the rear-side operation portion 8, and therefore the rear-side operation portion 8 of the front-side operation portion 7 and the rear-side operation portion 8 can be configured to be simpler than the front-side operation portion 7. As a result, even when both the front-side operation unit 7 and the back-side operation unit 8 are provided, the structure of the X-ray imaging apparatus 100 can be further suppressed from being complicated.

In the present embodiment, as described above, the X-ray imaging apparatus 100 is configured such that: the number of movement directions of the suspension support portions 3 that can be operated by the rear side operation portion 8 is smaller than the number of movement directions of the suspension support portions 3 that can be operated by the front side operation portion 7. Accordingly, as compared with the case where the X-ray imaging apparatus 100 is configured such that the number of movement directions of the suspension support portions 3 operable by the back side operation portion 8 is equal to the number of movement directions of the suspension support portions 3 operable by the front side operation portion 7, the number of movement directions can be reduced and the back side operation portion 8 can be more reliably configured to be simple with respect to the front side operation portion 7.

In the present embodiment, as described above, the X-ray imaging apparatus 100 is configured such that the moving direction of the suspension support portion 3 which can be operated by the front side operation portion 7 includes the horizontal direction, the vertical direction, and the rotational direction. The X-ray imaging apparatus 100 is configured such that the movement direction of the suspension support portion 3 operable by the back side operation portion 8 includes the horizontal direction. Thus, the suspension support portion 3 can be moved by driving the suspension support portion 3 in the horizontal direction, the vertical direction, and the rotational direction by the front side operation portion 7, and therefore, when the movement of the suspension support portion 3 is operated from the front side, the suspension support portion 3 can be sufficiently driven in a desired direction to move the suspension support portion 3. Further, in the case where the movement of the suspension support portion 3 is operated from the back side by the back side operation portion 8, it is desirable that the suspension support portion 3 is moved by driving the suspension support portion 3 in a substantially horizontal direction so as to move the suspension support portion 3, and therefore, even in the case where the movement of the suspension support portion 3 is operated from the back side, the suspension support portion 3 can be sufficiently driven in a desired direction so as to move the suspension support portion 3.

In the present embodiment, as described above, the front side operation unit 7 is configured to include the main handle 71. The X-ray imaging apparatus 100 is configured to include an assist handle 9, and the assist handle 9 is provided on the back side of the main handle 71 independently of the back side operation unit 8, and is used for operating the movement of the suspension support unit 3 by the driving unit 4 from the back side. Thus, even when the operator's hand cannot reach the main handle 71 from the rear side when the operator wants to perform the handle operation from the rear side, the movement of the suspension support portion 3 can be operated from the rear side using the auxiliary handle 9 located on the rear side with respect to the main handle 71. As a result, the convenience of the movement operation of the suspension support portion 3 can be further improved.

In the present embodiment, as described above, the assist grip 9 is configured to be smaller than the main grip 71. Thus, even when the assist grip 9 is provided, the structure of the X-ray imaging apparatus 100 can be easily prevented from being enlarged.

In the present embodiment, as described above, the X-ray imaging apparatus 100 is configured to include the force detection unit 5, and the force detection unit 5 detects the operation force input to the main handle 71 and the assist handle 9 in common. Thus, the force detection unit 5 can be shared by the main handle 71 and the assist handle 9, and therefore, the number of components can be reduced and the structure can be simplified as compared with a case where the force detection unit 5 is provided independently for each of the main handle 71 and the assist handle 9.

In the present embodiment, as described above, the X-ray imaging apparatus 100 is configured to include the control unit 6, and the control unit 6 controls the common driving unit 4 based on the operation of the front-side operation unit 7 and the operation of the back-side operation unit 8 so as to drive the suspension support unit 3 and move the suspension support unit 3. Accordingly, the drive unit 4 and the control unit 6 can be shared by the front side operation unit 7 and the rear side operation unit 8, and therefore, the number of components can be reduced and the structure can be simplified as compared with a case where the drive unit 4 and the control unit 6 are provided independently for each of the front side operation unit 7 and the rear side operation unit 8.

(modification example)

Furthermore, the embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is shown by the claims, not by the description of the above embodiments, and includes all modifications (variations) within the meaning and scope equivalent to the claims.

For example, in the above-described embodiment, the example in which the back side operation portion is the switch operation portion is shown, but the present invention is not limited thereto. In the present invention, the rear side operation portion may be a handle operation portion. That is, the front-side operation portion and the rear-side operation portion may be operation portions in the same manner as each other. In the case where the rear side operation portion is a handle operation portion, a separate force detection portion may be provided for the rear side operation portion independently from the front side operation portion, or a common force detection portion may be provided for the front side operation portion and the rear side operation portion. The rear side operation portion may be a lever operation portion including a lever that receives an instruction of a movement direction of the suspension support portion.

In the above-described embodiment, the number of movement directions of the suspension support portions operable by the rear side operation portion is smaller than the number of movement directions of the suspension support portions operable by the front side operation portion. In the present invention, the number of movement directions of the suspension support portions operable by the rear side operation portion may be the same as the number of movement directions of the suspension support portions operable by the front side operation portion. That is, the rear side operation portion may be configured to receive an instruction of the movement direction of the same number of suspension support portions as the front side operation portion.

In the above-described embodiment, the rear surface side operation unit is configured to receive an instruction for driving in the X direction, but the present invention is not limited to this. In the present invention, the back side operation portion may receive a plurality of moving directions (X, Y, Z, θ, and in the above embodiment) of the suspension support portionFive directions) may be received, and the instructions for driving in all the movement directions may be configured to receive instructions for driving in a specific plurality of movement directions (X, Y, Z direction, and the like).

In the above-described embodiment, the X-ray imaging apparatus is provided with the separate auxiliary handle independent from the back-side operation unit, but the present invention is not limited to this. In the present invention, the X-ray imaging apparatus does not necessarily have to be provided with an auxiliary handle.

In the above-described embodiment, the example in which the auxiliary handle has the shape of a knob protruding in the X2 direction is shown, but the present invention is not limited to this. In the present invention, the auxiliary handle may have a shape other than the knob shape, such as a lever shape or a wheel shape.

In the above-described embodiment, the example in which the X-ray imaging apparatus includes the force detection unit that detects the operation force input to the main handle and the assist handle in common has been shown, but the present invention is not limited to this. In the present invention, the X-ray imaging apparatus may be provided with a force detection unit for detecting the operation force input to the main handle and a force detection unit for detecting the operation force input to the assist handle, independently of each other.

In the above-described embodiment, the suspension support portion is configured to support the X-ray irradiation portion, but the present invention is not limited thereto. In the present invention, the suspension support portion may be configured to support the X-ray detection portion.

[ means ]

It will be appreciated by those skilled in the art that the above exemplary embodiments are specific in the following manner.

(item 1)

An X-ray imaging apparatus includes:

an X-ray irradiation unit that irradiates an object with X-rays;

an X-ray detector that detects the X-rays irradiated from the X-ray irradiator;

a suspension support portion that supports the X-ray irradiation portion or the X-ray detection portion;

a driving unit that drives the suspension support unit to move the suspension support unit;

a front side operation unit provided on a front side of the suspension support unit, for operating the suspension support unit to move by the drive unit from the front side; and

and a rear-side operation portion provided on a rear side of the suspension support portion with respect to the front-side operation portion, the rear-side operation portion being configured to operate the driving portion to move the suspension support portion from the rear side.

(item 2)

The X-ray photographing apparatus according to item 1, wherein,

the front side operation part and the back side operation part are operation parts of different modes.

(item 3)

The X-ray photographing apparatus according to item 2, wherein,

the front side operation part is a handle operation part including a handle,

the back side operation portion is a switch operation portion including a switch.

(item 4)

The X-ray photographing apparatus according to item 2 or 3, wherein,

the number of movement directions of the suspension support portion operable by the rear side operation portion is smaller than the number of movement directions of the suspension support portion operable by the front side operation portion.

(item 5)

The X-ray photographing apparatus according to item 4, wherein,

the moving direction of the suspension support portion operable by the front side operation portion includes a horizontal direction, a vertical direction, and a rotational direction,

the movement direction of the suspension support portion operable by the rear side operation portion includes a horizontal direction.

(item 6)

The X-ray imaging apparatus according to any one of items 1 to 5,

the front side operation part includes a main handle,

the X-ray imaging apparatus further includes an assist handle provided on the back side of the main handle independently of the back side operation unit, the assist handle being configured to be operated from the back side to move the suspension support unit by the driving unit.

(item 7)

The X-ray photographing apparatus according to item 6, wherein,

the auxiliary handle is smaller than the main handle.

(item 8)

The X-ray photographing apparatus according to item 6 or 7, wherein,

the power tool further includes a force detection unit that detects operation forces input to the main handle and the assist handle in combination.

(item 9)

The X-ray imaging apparatus according to any one of items 1 to 8,

the suspension support device further includes a control unit that controls the common driving unit based on an operation of the front-side operation unit and an operation of the rear-side operation unit so that the suspension support unit is driven to move.