JP4779894B2 - X-ray equipment - Google Patents

Description

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

  A flat panel X-ray detector (hereinafter referred to as FPD) is provided on one side of an arm that is supported by a vertically erected column so as to be movable up and down, and is rotatable about a point supported by the column. However, an X-ray imaging apparatus in which an X-ray tube is attached on the other side so that at least one of them is movable in the longitudinal direction of the arm is not momentarily balanced with respect to the center of rotation of the arm. Therefore, the rotation and vertical movement of the arm are performed electrically. Therefore, these operations cannot be performed as fast as manual operation, and the inspection efficiency is deteriorated.

  In order to solve this problem, an X-ray imaging apparatus as shown in FIGS. 11 and 12 has been devised. Here, FIG. 12 is a front view of the apparatus, and FIG. 11 is a top view thereof. In this apparatus, an FPD 1 is fixedly attached to one end of an arm 6 rotatably supported by a vertically moving carriage 8 supported by a column 5 so as to be vertically movable, and an X-ray tube 2 is attached to the other side of the arm 6. For example, it is movably attached from a position indicated by a solid line in FIG. 12 to a position indicated by a broken line through a horizontal movement carriage 3 supported so as to be movable in the longitudinal direction. When the X-ray tube 2 is at the position closest to the FPD 1 within the movement range, that is, at the position indicated by the solid line in FIG. 12, the rotational moments on both sides with respect to the rotation center 14 of the arm 6 are configured to be equal. And the arm 6 can be rotated only when the X-ray tube 2 is in this position.

  Further, the vertical movement is also configured to balance the weight of the FPD 1, the X-ray tube 2 and the arm 6 by counter balance (not shown). It can be performed manually and can be moved at a higher speed than the electric system. Reference numeral 9 denotes a rotating disk which is a part of a rotating mechanism (not shown) for rotatably supporting the arm 6 on the vertically moving carriage 8. The arm 6 is directly attached to the rotating disk 9. Yes.

However, even in this case, the weight of the FPD 1, the X-ray tube 2 and the arm 6 that holds them is so large that a considerable amount of force is required to manually move the arm 6 up and down, which is necessary for the operator (not shown). It will be a considerable burden. In order to solve this problem, a motor 7 and a vertical movement drive mechanism (not shown) are attached to the column 5, and the operation handle 4 attached to the X-ray tube 2 is pushed upward or downward to move the arm 6 up and down. A system is used in which the motor 7 and the vertical movement drive mechanism are operated so as to assist the power with a constant force. The power assist method is a generally used method as seen in Patent Document 1 and the like.
JP 2006-55533 A

  In the X-ray imaging apparatus that includes the FPD 1 and the X-ray tube 2 on both sides of the arm 6 as described above, and that powers the arm 6 up and down with a constant force, or is electrically operated, the apparatus is operated by the operator. Generally, the direction of the force applied to the operation handle 4 attached to the tube 2 is discriminated, and the rotation direction of the motor 7 that drives the vertical movement of the arm 6, that is, the direction of vertical movement of the arm 6 is determined. Although the arm 6 can rotate around the rotation center 14 at the position where the X-ray tube 2 is closest to the FPD 1, the arm 6 is only perpendicular to the column 5 as shown in FIG. Instead, as shown in FIG. 6A, FIG. 6C, and FIG.

  Therefore, for example, when the arm 6 is parallel to the column 5, the vertical direction is the longitudinal direction of the arm 6, but when the arm 6 is orthogonal to the column 5, the vertical direction is the direction orthogonal to the longitudinal direction of the arm 6. Even if a force is applied to the arm 6 in a certain direction by the operation handle 4 disposed in the position, the direction based on the horizontal plane changes depending on the angle formed by the arm 6 with respect to the support column 5. In such an apparatus, no matter what angle the arm 6 is supported with respect to the support column 5, when the operation handle 4 is pushed above the horizontal axis, the arm 6 is moved upward and below the horizontal axis. It is important from the viewpoint of operability to drive the arm 6 so as to move downward when pressed, and the present invention is for realizing this.

  In order to achieve the above object, a flat panel X-ray detector and an X-ray tube are respectively attached to both sides of an arm that is vertically movable and rotatably supported by a support column. In the X-ray imaging apparatus, an up / down movement operating means provided on the arm for an operator to move the arm up and down, and an up / down operating force provided by the operator to detect the up / down movement force From an operation force detection means for outputting a signal instructing execution of movement, a rotation angle detection means for detecting an angle between the arm and the support, an output of the operation force detection means, and an output of the rotation angle detection means, A control means for determining whether the vertical movement operating means instructs to raise or lower the arm; a power assist means for power assisting the raising or lowering of the arm according to a judgment output of the control means; To provide an X-ray imaging apparatus having an electric means for raising or lowering the arms in electric.

  In order to achieve the above object, a flat panel type X-ray detector and an X-ray tube are respectively attached to both sides of an arm that is supported by a column so as to be movable up and down and rotatable. In the X-ray imaging apparatus, an up / down movement operating means provided on the arm for an operator to move the arm up and down, and an up / down operating force provided by the operator to detect the up / down movement force From an operation force detection means for outputting a signal instructing execution of movement, a rotation angle detection means for detecting an angle between the arm and the support, an output of the operation force detection means, and an output of the rotation angle detection means, Control for determining whether the vertical movement operating means indicates raising or lowering of the arm and calculating the magnitude of the force applied by the operator to the vertical movement operating means from the output of the operating force detection means Means and said control A power assist means for power assisting the raising or lowering of the arm according to the judgment of the control means with a driving force corresponding to the magnitude of the force calculated by the stage, or an electric means for electrically raising or lowering the arm A radiographic apparatus is provided.

  In order to achieve the above object, the invention according to claim 3 is configured to be supported by the column so as to be movable up and down and rotatable, and is allowed to rotate only when the rotational moments on both sides of the center of rotation are equal. An X-ray imaging apparatus in which a flat panel X-ray detector and an X-ray tube are attached to both sides of an arm so that at least one of the arms is movable in the longitudinal direction of the arm. A vertical movement operation means for performing the vertical movement operation, and an operation force detection means that is disposed in the vertical movement operation means and detects a vertical operation force by the operator and outputs a signal instructing execution of the vertical movement; From the rotation angle detection means for detecting the angle formed by the arm with the support, the output of the operation force detection means, and the output of the rotation angle detection means, the vertical movement operation means indicates whether the arm is raised or lowered. do it An X-ray imaging apparatus comprising: control means for determining whether or not; power assist means for power-assisting raising or lowering of the arm according to a judgment output of the control means; or electric means for electrically raising or lowering the arm provide.

  In order to achieve the above object, the invention according to claim 4 is configured to be supported by the support so as to be movable up and down and rotatable, and is allowed to rotate only when the rotational moments on both sides of the center of rotation are equal. An X-ray imaging apparatus in which a flat panel X-ray detector and an X-ray tube are attached to both sides of an arm so that at least one of the arms is movable in the longitudinal direction of the arm. A vertical movement operation means for performing the vertical movement operation, and an operation force detection means that is disposed in the vertical movement operation means and detects a vertical operation force by the operator and outputs a signal instructing execution of the vertical movement; From the rotation angle detection means for detecting the angle formed by the arm with the support, the output of the operation force detection means, and the output of the rotation angle detection means, the vertical movement operation means indicates whether the arm is raised or lowered. do it Control means for calculating the magnitude of the force applied by the operator to the vertical movement operating means from the output of the operating force detecting means, and driving according to the magnitude of the force calculated by the control means There is provided an X-ray imaging apparatus provided with power assist means for power-assisting raising or lowering of the arm by force according to judgment of the control means, or electric means for electrically raising or lowering the arm.

  In order to achieve the above object, the vertical movement operation means is normally kept horizontal and can be tilted in any direction when the operator moves the arm up and down. And a plurality of pressure detectors configured to detect the pressure applied from the operation rod by inclining the operation rod. An X-ray imaging apparatus according to any one of claims 1 to 4 is provided.

  According to the present invention, the X-ray imaging apparatus can determine whether the operation handle is pushed above or below the horizontal axis regardless of the angle at which the arm is supported with respect to the support column. Can move the arm up or down in the intended direction by simply pushing the operating handle up or down without worrying about the angle of the arm with respect to the column. As a result, the operator can always move the arm up and down by intuitive operation.

  Embodiments of the present invention will be described below with reference to FIGS. In these drawings, the parts and the like denoted by the same reference numerals as those in FIGS. 11 and 12 are the same as those in FIGS. 2 and 3 are views showing the appearance of the X-ray imaging apparatus according to the present invention, FIG. 3 is a front view thereof, and FIG. 2 is a top view thereof. The configuration and operation of the apparatus are almost the same as those of the X-ray imaging apparatus shown in FIGS. 11 and 12, and are arranged at one end of an arm 6 rotatably supported by a vertically moving carriage 8 supported by a support column 5 so as to be vertically movable. From the position indicated by the solid line to the position indicated by the broken line in FIG. 3, for example, through the horizontal moving carriage 3 on which the FPD 1 is fixedly attached and the X-ray tube 2 is supported to be movable in the longitudinal direction of the arm 6 on the other side. It is mounted movably.

  The X-ray tube 2 is configured such that the rotational moments on both sides of the arm 6 are equal to the rotation center 14 of the arm 6 at the position closest to the FPD 1 within the movement range, that is, the position indicated by the solid line in FIG. And the arm 6 can be rotated only when the X-ray tube 2 is in this position. Further, the vertical movement is also configured to balance the weight of the FPD 1, the X-ray tube 2 and the arm 6 by counter balance (not shown). When a motor 7 and a vertical movement drive mechanism (not shown) are attached to the column 5 and an operator (not shown) pushes the operation handle 4 attached to the X-ray tube 2 up or down, the motor 7 and vertical movement drive are performed. The mechanism is operated so that the arm 6 is vertically assisted by a certain force.

  In the X-ray imaging apparatus according to the present invention, a gear 10 having teeth formed on the outer periphery of the rotating disk 9 is attached instead of the rotating disk 9 of the X-ray imaging apparatus shown in FIGS. A rotation angle detector 13 composed of a gear 12 coaxially fixed to the rotary shaft of the rotary encoder 11 is attached to the vertical movement carriage 8, and the gear 12 is engaged with the gear 10 to rotate the arm 6 with respect to the column 5. A mechanism for detecting the angle φ is provided. As shown in FIG. 6 (a), the arm 6 and the support column 5 are parallel, the FPD 1 is disposed on the lower side, and the X-ray tube 2 is disposed on the upper side. The arm 6 and the support column 5 are orthogonal, the FPD 1 is placed on the left, and the X-ray tube 2 is placed on the right.

  4 and 5 are diagrams showing a configuration example of the operation handle 4. FIG. 4 is a top view and FIG. 5 is a side view. As shown in FIG. 5, the operation handle 4 is mainly attached to the operation handle case 23, the operation rod 21 protruding outside through the hole 24 provided on the upper surface of the operation handle case 23, and the upper end portion of the operation rod 21. When the operator (not shown) is not touching the handle 20, the operation rod 21 is formed in the center of the hole 24 by the operation rod holding portion 22 in the operation handle case 23. The handle 20 is held so as to be perpendicular to the surface, but is configured so that it can be tilted 360 degrees in any direction within the hole 24 when the handle 20 is pushed by the operator.

  As shown in FIG. 4, four pressure detectors 26 to 29 are arranged in the operation handle case 23 so as to surround the operation rod 21 and draw a square, and the pressure detectors 26 and 28 are provided on the arm 6. The pressure detectors 27 and 29 are arranged perpendicular to the longitudinal direction and parallel to the longitudinal direction of the arm 6. As a result, when the operator pushes the handle 20 in an arbitrary direction, the operating rod 21 falls in that direction and applies pressure to any one or two of the pressure detectors 26 to 29. The operation handle 4 is attached to the X-ray tube 2 so that the operation bar 21 is horizontal when the operator is not touching the handle 20.

  Regarding the pressure detection by the pressure detectors 26 to 29, when φ = 0 degrees shown in FIG. 6A, when the operating rod 21 is tilted upward, for example, on the vertical axis, the pressure is detected only by the pressure detector 26. However, when φ = 90 degrees shown in FIG. 6B, the pressure is detected only by the pressure detector 29 when the operating rod 21 is similarly tilted upward on the vertical axis. Further, when 0 ° <φ <90 ° shown in FIG. 6C, when the operating rod 21 is tilted upward on the vertical axis, the pressure is detected by both the pressure detectors 26 and 29, and FIG. When 90 ° <φ <180 ° shown in FIG. 6A, when the operating rod 21 is tilted upward on the vertical axis, the pressure is detected by both the pressure detectors 29 and 28.

  The magnitude and direction of the force applied to the operating rod 21 by the operator can be obtained from any one or two outputs of the pressure detectors 26 to 29 arranged as described above. In FIG. 7 showing a state in which the rotation angle of the arm 6 with respect to the column 5 is φ, for example, when the pressure received by the pressure detector 26 is P26 and the pressure received by the pressure detector 29 is P29, The magnitude and direction of the force applied to the operating rod 21 are obtained as the vector sum of both, the magnitude is obtained as the square root of the sum of the square of P26 and the square of P29, and the direction of the force is the longitudinal direction of the arm 6. Is obtained from the relationship of tanA = P29 / P26.

  FIG. 1 shows the direction of the force applied to the operating rod 21 by performing the above-described calculation, and the rotational direction of the motor 7 that performs the power assist of the vertical movement in consideration of the rotational angle φ of the arm 6 with respect to the support column 5. It is a block diagram which shows the structural example for determining and driving. In FIG. 1, for example, a calculation unit 15 constituted by a microcomputer or the like is built in the column 5 shown in FIGS. 2 and 3, and the pressure detected and output by any one or two of the pressure detectors 26 to 29. The magnitude and direction of the force applied to the operating rod 21 are calculated from the magnitude.

  Since the calculation unit 15 can know the rotation angle φ of the arm 6 with respect to the support column 5 from the rotation angle detector 13, for example, when 0 <φ <90, as shown in FIG. When P26 is obtained and the pressure level P29 is obtained from the pressure detector 29, the calculation unit 15 can roughly know that the operation rod 21 has been tilted upward from the horizontal axis, and is further tilted. Can be obtained from the relationship of tanA = P29 / P26. In this case, the calculation unit 15 calculates φ-A and obtains an angle formed by the direction of the force applied to the operation rod 21 and the upward vertical axis.

  Next, as shown in FIG. 8, the rotation angle φ of the arm 6 with respect to the column 5 is 0 <φ <90, the pressure magnitude P26 is obtained from the pressure detector 26, and the pressure magnitude P27 is obtained from the pressure detector 27. Is obtained, the calculation unit 15 can obtain the angle A formed by the direction of the force applied to the operation rod 21 and the direction perpendicular to the longitudinal direction of the arm 6 from the relationship of tanA = P26 / P27. φ + 90−A is calculated to obtain an angle formed by the direction of the force applied to the operating rod 21 and the upward vertical axis. When the angle is smaller than 90 degrees or larger than 270 degrees, it is determined that the operating rod 21 is tilted above the horizontal axis, and when it is 90 degrees or more and 270 degrees or less, it is determined that the operation bar 21 is tilted down.

  As shown in FIG. 9, the rotation angle φ of the arm 6 with respect to the column 5 is 0 <φ <90, the pressure magnitude P27 is obtained from the pressure detector 27, and the pressure magnitude P28 is obtained from the pressure detector 28. When it is obtained, the calculation unit 15 can obtain the angle A formed by the direction of the force applied to the operating rod 21 and the longitudinal direction of the arm 6 from the relationship of tanA = P27 / P28, and further calculates φ + 180−A. Thus, an angle formed by the direction of the force applied to the operating rod 21 and the upward vertical axis is obtained. When the angle is smaller than 90 degrees or larger than 270 degrees, it is determined that the operating rod 21 is tilted above the horizontal axis, and when it is 90 degrees or more and 270 degrees or less, it is determined that the operation bar 21 is tilted down.

  Further, as shown in FIG. 10, the rotation angle φ of the arm 6 with respect to the support column 5 is 0 <φ <90, the pressure magnitude P28 is obtained from the pressure detector 28, and the pressure magnitude P29 is obtained from the pressure detector 29. When obtained, the calculation unit 15 can obtain the angle A formed by the direction of the force applied to the operating rod 21 and the direction perpendicular to the longitudinal direction of the arm 6 from the relationship of tanA = P28 / P29, and φ + 270. -A is calculated to obtain the angle formed by the direction of the force applied to the operating rod 21 and the upward vertical axis. When the angle is smaller than 90 degrees or larger than 270 degrees, it is determined that the operating rod 21 is tilted above the horizontal axis, and when it is 90 degrees or more and 270 degrees or less, it is determined that the operation bar 21 is tilted down.

  In the above, when the rotation angle φ of the arm 6 with respect to the support column 5 is 0 <φ <90, the operating rod is detected from the magnitude of the pressure detected by any two of the pressure detectors 26 to 29 and the rotation angle φ. Although the method for calculating the direction of the force applied to 21 has been described, this method is not limited to 0 <φ <90, and can be applied to any rotation angle φ. Regardless of the direction in which the bar 21 is tilted, and whatever the rotation angle φ of the arm 6 is, the angle between the direction of the force applied to the operating bar 21 and the vertical axis can be calculated. It can be determined whether 21 has fallen above or below the horizontal axis. In accordance with this determination, the calculation unit 15 determines the rotation direction of the motor 7 that performs power assist for vertical movement, and controls the motor drive unit 16 to raise or lower the arm 6 with a constant force.

  With such a configuration, regardless of the angle at which the arm 6 is supported with respect to the column 5, the operator always intuitively moves the handle 20 up or down without worrying about the angle of the arm 6 with respect to the column 5. It is possible to obtain power assist in the intended direction with respect to ascending or descending of the arm 6 simply by pressing the button.

  In the above embodiment, only the direction in which the operating rod 21 is tilted is calculated to determine only the rotation direction of the motor 7, and the driving force of the motor 7 is constant. However, the configuration shown in FIG. In addition, since the magnitude of the force applied to the operating rod 21 can also be calculated, the driving force for driving the motor 7 can be changed according to the calculated magnitude of the force. In this case, either the magnitude of the vector sum of the output of the pressure detector or the magnitude of the component in the vertical direction may be calculated and used.

  In the above embodiment, the configuration in which the four pressure detectors 26 to 29 are disposed surrounding the operation rod 21 has been described. However, the number of pressure detectors surrounding the operation rod 21 is not limited to four.

  In the above embodiment, the X-ray imaging apparatus in which the FPD 1 is fixedly attached to one end of the arm 6 and the X-ray tube 2 is supported so as to be movable in the longitudinal direction of the arm 6 has been described. The X-ray tube 2 is fixedly attached to one end of the X-ray tube 6 and the FPD 1 is supported on the other side so as to be movable in the longitudinal direction of the arm 6, or the FPD 1 and the X-ray tube on both sides of the arm 6, respectively. The present invention is also effective for an X-ray imaging apparatus in which both 2 are supported so as to be movable in the longitudinal direction of the arm 6.

  In the above embodiment, the handle 20 is attached to the upper end portion of the operation rod 21 in order to facilitate the operation. However, the handle 20 is not particularly necessary in the configuration of the present invention and can be omitted.

  In the above-described embodiment, when the operation handle 4 is pushed up or down, the motor 7 and the vertical movement driving mechanism are operated, and the configuration in which the vertical movement of the arm 6 is power-assisted with a constant force has been described. The present invention is similarly effective for a configuration in which the motor 7 and the vertical movement drive mechanism operate when pushed up or down and the arm 6 moves up and down electrically.

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

It is a block diagram which shows the structure of the Example of this invention. 1 is a top view showing an embodiment of an apparatus according to the present invention. 1 is a front view showing an embodiment of an apparatus according to the present invention. It is a top view which shows the Example of the operation handle by this invention. It is a side view which shows the Example of the operation handle by this invention. It is a figure which shows the example of the stationary state of the arm of the apparatus by this invention. It is a figure which shows the example of the direction of the force detected by the rotation angle of an arm and a pressure detector. It is a figure which shows the example of the direction of the force detected by the rotation angle of an arm and a pressure detector. It is a figure which shows the example of the direction of the force detected by the rotation angle of an arm and a pressure detector. It is a figure which shows the example of the direction of the force detected by the rotation angle of an arm and a pressure detector. It is a top view which shows the example of the X-ray imaging apparatus used as the object of this invention. It is a front view which shows the example of the X-ray imaging apparatus used as the object of this invention.

Explanation of symbols

1: FPD
2: X-ray tube 3: Horizontal movement carriage 4: Operation handle 5: Support column 6: Arm 7: Motor 8: Vertical movement carriage 9: Rotating disk 10: Gear 11: Rotary encoder 12: Gear 13: Rotation angle detector 14 : Rotation center 15: calculation unit 16: motor drive unit 20: handle 21: operation rod 22: operation rod holding unit 23: operation handle case 24: hole 25: hole 26: pressure detector 27: pressure detector 28: pressure detection 29: Pressure detector

Claims (5)

In an X-ray imaging apparatus in which a flat panel X-ray detector and an X-ray tube are respectively attached to both sides of an arm that can be moved up and down on a support column and rotated, an operator provided on the arm can move the arm. A vertical movement operation means for performing the vertical movement operation, and an operation force detection means that is disposed in the vertical movement operation means and detects a vertical operation force by the operator and outputs a signal instructing execution of the vertical movement; From the rotation angle detection means for detecting the angle formed by the arm with the support, the output of the operation force detection means, and the output of the rotation angle detection means, the vertical movement operation means indicates whether the arm is raised or lowered. Control means for determining whether the arm is moving, power assist means for power assisting the raising or lowering of the arm according to the determination output of the control means, or electric means for electrically raising or lowering the arm. X-ray imaging apparatus characterized by a. In an X-ray imaging apparatus in which a flat panel X-ray detector and an X-ray tube are respectively attached to both sides of an arm that can be moved up and down on a support column and rotated, an operator provided on the arm can move the arm. A vertical movement operation means for performing the vertical movement operation, and an operation force detection means that is disposed in the vertical movement operation means and detects a vertical operation force by the operator and outputs a signal instructing execution of the vertical movement; From the rotation angle detection means for detecting the angle formed by the arm with the support, the output of the operation force detection means, and the output of the rotation angle detection means, the vertical movement operation means indicates whether the arm is raised or lowered. Control means for calculating the magnitude of the force applied by the operator to the vertical movement operation means from the output of the operation force detection means, and according to the magnitude of the force calculated by the control means The driving force X-ray imaging apparatus characterized by having an electric means for raising or lowering the raising or lowering of the arm power assist means for power assist or the arm in the electric, according to the judgment means. Flat panel X-ray detectors and X-rays on both sides of the arm, which are supported by the column so that they can move up and down and rotate, and are allowed to rotate only when the rotational moments on both sides of the center of rotation are equal. In an X-ray imaging apparatus in which at least one of the tubes is attached so as to be movable in the longitudinal direction of the arm, a vertical movement operation means provided on the arm for an operator to move the arm up and down, and the vertical movement operation An operation force detecting means for detecting an up and down operation force by the operator and outputting a signal for instructing execution of an up and down movement; a rotation angle detecting means for detecting an angle formed by the arm with the support; A control means for determining whether the vertical movement operating means indicates raising or lowering of the arm from the output of the operating force detecting means and the output of the rotation angle detecting means; X-ray imaging apparatus characterized by having an electric means for raising or lowering the raising or lowering of the arm power assist means for power assist or the arm in the electric accordance. Flat panel X-ray detectors and X-rays on both sides of the arm, which are supported by the column so that they can move up and down and rotate, and are allowed to rotate only when the rotational moments on both sides of the center of rotation are equal. In an X-ray imaging apparatus in which at least one of the tubes is attached so as to be movable in the longitudinal direction of the arm, a vertical movement operation means provided on the arm for an operator to move the arm up and down, and the vertical movement operation An operation force detecting means for detecting an up and down operation force by the operator and outputting a signal for instructing execution of an up and down movement; a rotation angle detecting means for detecting an angle formed by the arm with the support; From the output of the operation force detection means and the output of the rotation angle detection means, it is determined whether the vertical movement operation means instructs to raise or lower the arm, and the output of the operation force detection means. From the control means for calculating the magnitude of the force applied by the operator to the vertical movement operating means, and the driving force according to the magnitude of the force calculated by the control means, the arm is raised or lowered according to the judgment of the control means An X-ray imaging apparatus comprising power assist means for power assisting, or electric means for electrically raising or lowering the arm. The vertical movement operating means is normally constituted by an operating bar that is kept horizontal and can be tilted in any direction when the operator moves the arm up and down, and the operating force detecting means is arranged around the operating bar. 5. The X-ray imaging according to claim 1, wherein the X-ray imaging includes a plurality of pressure detectors arranged so as to surround and detecting pressure applied from the operation rod by tilting the operation rod. apparatus.

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