JP2001292987A - Medical apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a medical apparatus capable of preventing collision with a subject, or a stretcher or a wheelchair, etc., put in the periphery without restricting the range of motion and without mounting a touch sensor such as a touch panel or a photoelectric sensor. SOLUTION: Distortion sensors A-D, and distortion sensors E-H are disposed on a front gantry cover 1 and a rear gantry cover 2 of the CT apparatus respectively. The gantry part can be tilted, and when the gantry part collides with a subject or other objects, the front gantry cover 1 or the rear gantry cover 2 is deformed and the output from the distortion sensors A-D or the distortion sensors E-H shows different values from ordinary values. By judging the values, collision with the subject or other objects can be securely detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical device having a movable portion, for example, an X-ray CT device or an X-ray device having a C-arm.
The present invention relates to a fluoroscopic apparatus.

[0002]

2. Description of the Related Art In medical devices such as an X-ray CT apparatus and an X-ray fluoroscopic apparatus equipped with a C-arm, an object such as a gantry or an X-ray tube and an X-ray detector provided in the C-arm is used. It has a movable part that moves near a certain patient. For this reason, in order to prevent each movable part from colliding with a patient or a device in the vicinity thereof, each movable part is provided with a limit of an operation range in advance to avoid collision, or a collision detection device provided in the movable part is provided. The presence or absence of a collision is detected by a touch panel or a photoelectric sensor, and when a collision occurs, the movable portion is stopped.

[0003] For example, in an X-ray CT apparatus, as shown in FIG.
The subject B placed on the table 11 when the gantry 10 is tilted by disposing 10b, 10c, and 10d
It is configured to be able to detect a collision with the device.

[0004]

However, in a medical apparatus having a configuration in which the operation range is limited in advance, the limit range greatly changes depending on the direction and the body type of the subject.
For this reason, if the limitation range is set in advance by assuming a large-sized patient, the operation of the movable unit is unnecessarily limited for a small-sized patient. When the range is set, there is a danger that the movable part collides with a patient having a large body.

[0005] In addition, devices for fixing a patient have various sizes and shapes, and it is impossible to limit the operation range by assuming each device. Further, it is completely impossible to predict a collision with a stretcher, a wheelchair, or the like placed in the vicinity.

On the other hand, when a touch panel or a photoelectric sensor for collision detection is provided on the movable part, it is impossible to accurately predict the collision position between the movable part and the patient. In order to detect a collision with a wheelchair or the like, these sensors must be provided on the entire movable portion.

Accordingly, the present invention has been made in order to solve the above-mentioned problem, and is intended to be applied to an object or a periphery without restricting an operation range or arranging a contact sensor such as a touch panel or a photoelectric sensor. An object of the present invention is to provide a medical device capable of avoiding collision with a placed stretcher, wheelchair, or the like.

[0008]

According to a first aspect of the present invention, there is provided a medical apparatus having a movable portion, wherein a strain sensor disposed on the movable portion and an output of the strain sensor when the movable portion operates. And a judging means for judging that the movable portion has collided with an object based on the above.

According to the first aspect of the present invention, when the movable portion of the medical device collides with the subject or the object, the movable portion is deformed, so that the output of the strain sensor provided in the movable portion significantly changes, The judging means judges a collision of the movable part based on the fluctuation.

According to a second aspect of the present invention, there is provided a medical apparatus having a movable portion, wherein the strain sensor provided on the movable portion is provided with a movable portion which does not collide with a subject or an object when the movable portion moves. A storage unit that stores in advance the output value of the strain sensor at each position, and compares the output of the strain sensor with the output value stored in the storage unit for each position during the operation of the movable unit. A determination unit configured to determine that the movable unit has collided with a subject or an object when a difference between the output value and the output value stored in the storage unit exceeds a predetermined range.

According to the second aspect of the present invention, the output of the strain sensor changes every moment due to the weight of the movable portion as the movable portion moves, but the determination means compares the output of the strain sensor with the output of the strain sensor previously stored in the storage means. By doing so, it is determined whether it is due to its own weight or due to a collision. This makes it possible to reliably detect a collision with a subject or an object irrespective of deformation of the movable portion itself due to its own weight.

The invention according to claim 3 is characterized in that the medical device is an X-ray CT device and the movable part is a gantry. According to the third aspect of the invention, when the gantry of the X-ray CT apparatus is tilted, the collision can be reliably detected regardless of the collision position with the subject.

[0013]

FIG. 1 is a view showing a gantry section when an X-ray CT apparatus is used as an embodiment of the present invention. FIG. 1 (a) is a front view thereof, and FIG. ) Is a side view thereof, and FIG. 1 (c) is a rear view thereof. The gantry section includes a gantry body 3 shown in FIG. 2, a front gantry cover 1 and a rear gantry cover 2 that cover the gantry body. Front gantry cover 1 and rear gantry cover 2
Are formed with openings 1a, 2a for inserting a subject.

In FIG. 1, four strain sensors A to D are provided on the front gantry cover 1 side, and four strain sensors E to D are provided on the rear gantry cover 2 side.
H are respectively provided.

FIG. 2 is a view for explaining a configuration in which the front gantry cover 1 and the rear gantry cover 2 are attached to the gantry main body 3. The front gantry cover 1
With respect to the gantry body 3, the end of the slide mounting bolt 1c fixed to the front gantry cover 1 is
And can be opened and closed. Then, with the front gantry cover 1 closed, the mounting bolt 1b is attached to the gantry body 3 with the front gantry cover 1 closed.
It is fixed by screwing to the screw receiving portion 3b formed in the above.

The rear gantry cover 2 is fixed to the gantry main body 3 by screwing mounting bolts 2c and 2b to screw receiving portions 3a and 3d formed on the gantry main body 3, respectively.

The slide mounting bolt 1c, mounting bolt 1b, screw receiving portion 3b, mounting bolt 2c, screw receiving portion 3
The d, the mounting bolt 2b, and the screw receiving portion 3a are each provided in a pair opposite to each other in a direction perpendicular to the paper surface.

FIG. 1 shows the strain sensors A to H. The strain sensors A and B are provided on the slide mounting bolt 1c, the strain sensors C and D are provided on the mounting bolt 1b, and the strain sensors E and F are provided.
Is provided on the mounting bolt 2b, and the strain sensors G and H are provided on the mounting bolt 2c.

FIG. 3 is an example of a circuit diagram of the strain sensors A to H. The output voltage e0 has a value proportional to the strain of the gauge resistor Rg as shown by the following equation. e0 = (E / 4) * Ks · ε0 Ks: Gauge factor E: Bridge voltage R: Fixed resistance

When the strain sensors A to H are mounted on the gantry, the gauge resistance Rg is adjusted by sliding the bolt 1
c, the mounting bolt 1b, the mounting bolt 2c, and the mounting bolt 2b.

FIG. 4 is a block diagram of a main part of the present embodiment. Signals input from the distortion sensors A to H are amplified by the sensor amplifier 4, and the collision determination unit 5 determines whether or not there is a collision. On the other hand, as shown in FIG. 5, for example, as shown in FIG. 5, the normal data table 6 contains the distortion sensors A to H measured at each tilt angle when the gantry section is tilted without colliding with the subject or the object in advance. The signal output value is stored.

Although not shown in FIGS. 1 to 3, the gantry section is provided with a sensor for detecting the tilt angle of the gantry section, and the sensor output is transmitted to the collision determination section 5 and the normal data table 6. Has been entered.

The normal data table 6 outputs the stored signal output values of the strain sensors A to H corresponding to the inputted tilt angles to the collision judging unit 5, and the collision judging unit 5 outputs the signals from the strain sensors A to H. The value of the input distortion signal is compared with the signal value input from the normal data table 6, and if they substantially match, it is determined that there is no collision. On the other hand, if the values are different, the tilt motor 7 for tilting the gantry via the motor controller 8 controlled by the host controller 9 is stopped.

When the values of the distortion signals input from the distortion sensors A to H are compared with the signal values input from the normal data table 6, if the difference between the two is within a predetermined range, the object It is preferable to determine that there is no collision with the object or the object, and when the difference between the two is not within a predetermined range, it is determined that a collision has occurred. The predetermined range is
After measuring how much the gantry section is tilted before colliding with a subject or another object and tilting the gantry section without colliding, the error range of each distortion sensor obtained when the gantry section is tilted without collision is measured. It may be determined by the relationship.

In the embodiment described above, in the X-ray CT apparatus, the configuration is shown in which the strain sensors are provided on the mounting brackets of the front gantry cover 1 and the rear gantry cover 2, but the present invention is not limited to this. Since the cover itself is deformed when the gantry cover collides with a subject or another object, a configuration in which a strain sensor is directly provided on the gantry cover may be employed. The strain sensor may be provided on the front or back surface of the gantry cover.

In the above-described embodiment, the strain sensor A-
The signal output value of H is stored in the normal data table 6, and the signal output value of the strain sensor A-H is compared with the stored value of the normal data table 6 for each tilt when the gantry is tilted. Only the signal output values of the generated strain sensors A-H are stored in advance, and the respective values are compared with the signal output values of the strain sensors A-H obtained when the gantry is tilted to determine whether there is a collision. May be determined.

Further, in the above-described embodiment, an example of an X-ray CT apparatus has been described as a medical apparatus. However, a movable unit such as an X-ray diagnostic apparatus in which an X-ray tube and an X-ray detector are disposed on a C-arm is used. The same collision detection configuration can be used in all medical devices having In this case, the movable portion X
A strain sensor is installed on the cover of the X-ray tube or X-ray detector.
The configuration of the data processing shown in FIG.

[0028]

According to the first aspect of the present invention, when the movable portion of the medical device collides with the subject or the object, the presence or absence of the collision is determined by detecting the deformation of the movable portion. Thus, it is possible to reliably detect a collision between the movable part and the subject or another object without providing a contact sensor or the like.

According to the second aspect of the present invention, the output of the strain sensor is compared with the output of the strain sensor measured in advance in the case of no collision at each moving position of the movable portion, so that the movable portion itself due to its own weight is compared. Irrespective of the influence of the deformation of the moving object, it is possible to reliably detect the collision between the movable portion and the subject or another object.

According to the third aspect of the present invention, when the gantry of the X-ray CT apparatus is tilted, it is possible to reliably detect a collision with a subject or the like.

[Brief description of the drawings]

FIG. 1 is a view showing a gantry cover of an X-ray CT apparatus according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining a configuration in which a gantry body and a gantry cover are mounted in the X-ray CT apparatus according to one embodiment of the present invention.

FIG. 3 is a diagram showing an embodiment of a strain sensor.

FIG. 4 is a block diagram of a main part of one embodiment of the present invention.

FIG. 5 is a diagram showing a table in which sensor outputs for each tilt angle when no collision occurs are stored in advance.

FIG. 6 is a diagram showing a conventional X-ray CT apparatus.

[Explanation of symbols]

 Reference Signs List 1 front gantry cover 1a opening 1b mounting bolt 1c sliding mounting bolt 2 rear gantry cover 2a opening 2b mounting bolt 2c mounting bolt 3 gantry body 3a screw receiving part 3b screw receiving part 3c ... Slide receiving part 3d ... Screw receiving part 4 ... Sensor amplifier 5 ... Collision judging part 6 ... Normal data table 7 ... Tilt motor 8 ... Motor controller 9 ... Host controller A to H ... Strain sensor

Claims (3)

[Claims] 1. A medical device having a movable unit, wherein the movable unit collides with a subject or an object based on an output of the distortion sensor when the movable unit operates. And a determining means for determining that the medical device has performed the medical operation. 2. A medical device having a movable part, wherein a distortion sensor disposed on the movable part and the distortion at each position of the movable part when the movable part does not collide with a subject or an object when the movable part moves. Storage means for storing the output value of the sensor in advance, and comparing the output value of the strain sensor and the output value stored in the storage means for each of the positions during the operation of the movable section. A determination unit configured to determine that the movable unit has collided with a subject or an object when a difference from an output value stored in a storage unit exceeds a predetermined range. 3. The medical device according to claim 1, wherein the medical device is an X-ray CT device, and the movable unit is a gantry.