Radiographic system and imaging unit

Abstract

To provide a radiographic system in which an imaging unit including a travel mechanism can be stably stored without a dedicated storage location provided, and an imaging unit.SOLUTION: A radiographic system includes: an imaging unit that is to be used in radiography and includes a travel mechanism that travels on a floor, the imaging unit including a radiation source or a radiation detector; and a subject supporter supporting a subject of the radiography and including an engagement part that detachably engages with the imaging unit.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a radiography system and an imaging unit. [Background technology]

[0002] Patent Document 1 describes a mobile medical equipment system that includes a mobile X-ray device in which an X-ray source is mounted on a traveling mechanism such as an electric cart, and a charging station for charging the battery of the mobile X-ray device. The mobile X-ray device can charge its battery by docking with the charging station. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-176505 Summary of the Invention [Problem to be solved by the invention]

[0004] An imaging unit such as the mobile X-ray device described in Patent Document 1 has a traveling mechanism and is therefore less stable than a fixed imaging unit, so it is required to be stored in a stable state when not in use for imaging.

[0005] However, since the radiography room in which the radiography unit is installed contains various types of equipment such as a supine radiography table and an upright radiography table, it is often difficult to secure a dedicated storage location in which the radiography unit can be stored in a stable state.

[0006] The technique disclosed herein provides a radiation imaging system and an imaging unit that can store an imaging unit having a traveling mechanism in a stable state without providing a dedicated storage location. [Means for solving the problem]

[0007] The radiography system according to the disclosed technique includes an imaging unit used for radiography and having a traveling mechanism that travels on a floor, the imaging unit having a radiation source or a radiation detector, and a subject support that supports a subject for radiography, the subject support having an engaging portion that can be detachably engaged with the imaging unit.

[0008] In the above aspect, the imaging unit may include two imaging units: a radiation source unit having a radiation source and a panel unit having a radiation detector.

[0009] In the above aspect, the engagement portion may be disposed at a position higher than the center of gravity of the photographing unit in the vertical direction.

[0010] In the above aspect, the subject support may be at least one of an imaging table and a holder that can be held by the subject when radiography is performed.

[0011] In the above aspect, the subject support may be fixed to a room in which the imaging unit is installed.

[0012] In the above aspect, the camera may have a connector that can be electrically connected to the photographing unit when the engagement portion and the photographing unit are engaged with each other.

[0013] In the above aspect, the connector may be integral with the engaging portion.

[0014] In the above aspect, the connector may function as a charging connector for a battery mounted in the photographing unit.

[0015] In the above aspect, the traveling mechanism may be an electric traveling mechanism that electrically travels on a floor.

[0016] In the above aspect, the electric travel mechanism may have an automatic travel function that automatically moves toward a specified position.

[0017] In the above aspect, the electric traveling mechanism may move toward a connection position where it connects with the connector when a preset condition is satisfied.

[0018] In the above aspect, the electric driving mechanism may perform calibration related to driving control when the electric driving mechanism moves to a preset reference position.

[0019] In the above embodiment, the connector may be movable.

[0020] In the above aspect, the subject support may have a function of notifying the photographing unit of the current position of the connector.

[0021] In the above embodiment, the connector may be connectable at a plurality of positions within a certain range.

[0022] In the above aspect, the connector may be connected to wiring extending from under the floor.

[0023] In the above aspect, when the connector is connected to the bottom of the traveling mechanism, the connector may be disposed at a position higher than the floor surface.

[0024] In the above aspect, when the subject support has a movable part whose movable range includes a position that would hinder connection with the photographing unit, the subject support may have a collision prevention mechanism that prevents collision between the movable part and the photographing unit.

[0025] The imaging unit according to the technology of the present disclosure is an imaging unit having a traveling mechanism that travels on the floor and a radiation source or a radiation detector used for radiography, and is detachably engaged with an engaging portion of a subject support that supports a subject for radiography. [Effects of the Invention]

[0026] According to the technology of the present disclosure, the technology of the present disclosure makes it possible to store a photographing unit having a traveling mechanism in a stable state without providing a dedicated storage location. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of a radiation imaging system. [Figure 2] FIG. 10 is a diagram showing an example of a connection state between the imaging unit and the supine position imaging stand. [Figure 3] FIG. 10 is a diagram showing an example of a connection state between the photographing unit and the gripper. [Figure 4] 10A and 10B are diagrams illustrating an example of a connection state between the supine position imaging platform and the imaging unit when the engagement portion moves. [Figure 5] FIG. 10 is a diagram showing an example of a movable connector. [Figure 6] FIG. 10 is a diagram showing an example of a line-shaped connector. [Figure 7] FIG. 2 is a block diagram showing an outline of the functional configuration of the photographing unit. [Figure 8] FIG. 2 is a diagram illustrating an example of a controller of an electric traveling mechanism. [Figure 9] FIG. 1 is a diagram illustrating an example of automatic driving. [Figure 10] 10 is a flowchart illustrating an example of control of the photographing unit. [Figure 11] 10 is a flowchart showing another example of control of the photographing unit. [Figure 12] FIG. 10 is a diagram illustrating an example of control of a supine position imaging platform. [Figure 13] 10A and 10B are diagrams illustrating a modified example of a connector. [Figure 14] 10A and 10B are diagrams illustrating an example of a process for suppressing a collision of a gripper. [Figure 15] 10A to 10C are diagrams illustrating variations of the collision prevention process. [Figure 16] 10A and 10B are diagrams illustrating an example of a collision prevention process for a supine position imaging table. DETAILED DESCRIPTION OF THE INVENTION

[0028] [First embodiment] FIG. 1 is a schematic diagram showing an example of the configuration of a radiography system 10 that performs radiography on a subject H. The radiography system 10 includes a radiation source unit 11S and a panel unit 11D. These are arranged, for example, in a radiography room and operated by an operator OP such as a diagnostic radiologist. The radiation source unit 11S includes an irradiation unit 12. The irradiation unit 12 is an example of a "radiation source" according to the technology of the present disclosure. The irradiation unit 12 includes an X-ray tube that generates X-rays, which are an example of radiation, and an irradiation field limiter that limits the irradiation range of the X-rays. The radiation source unit 11S also includes a high-voltage generator that generates a high voltage to be supplied to the X-ray tube.

[0029] The panel unit 11D has a detection panel 13, which is an example of a radiation detection panel. The detection panel 13 is, for example, a flat panel detector having a detection surface on which pixels are arranged two-dimensionally, which detect X-rays and output electrical signals according to the amount of incident X-rays. The detection panel 13 is an example of a "radiation detector" according to the technology of the present disclosure.

[0030] The radiography system 10 captures an X-ray image of the subject H by irradiating X-rays from the irradiation unit 12 and detecting the X-rays that have passed through the subject H with the detection panel 13. The radiation source unit 11S and the panel unit 11D each have a cart unit 16 with wheels 16A. The cart unit 16, for example, has a base unit 16B, which is a main body unit having a rectangular planar shape. Wheels 16A are provided at the four corners of the base unit 16B, making the cart unit 16 a four-wheel type. For example, each wheel 16A is a swivel type that rotates around a rotation axis extending in the height direction (also referred to as the vertical direction) perpendicular to the rotation axis when traveling and rotating. The cart unit 16 can be manually moved on a floor FL (see FIG. 2, etc.). Therefore, an operator OP can manually move the cart unit 16 to move the installation locations of the radiation source unit 11S and the panel unit 11D. The carriage unit 16 is an example of a "traveling mechanism" that travels on the floor FL.

[0031] The radiation source unit 11S has a main body 17 and a movable mechanism that changes the height of the irradiation unit 12. The movable mechanism is composed of a movable unit 18 whose height changes relative to the main body 17, and an arm 19 whose height changes relative to the movable unit 18. The irradiation unit 12 is provided at the tip of the arm 19. The irradiation unit 12 is provided at the free end of the arm 19. In addition, although not shown, the arm 19 is provided with a swing mechanism that changes the irradiation direction by tilting the irradiation unit 12. The main body 17 has various built-in electrical components, and an operation panel 43 is provided on the top surface.

[0032] Like the radiation source unit 11S, the panel unit 11D also has a main body 17 and a movable mechanism that changes the height of the detection panel 13. The movable mechanism of the panel unit 11D is also composed of a movable part 18 whose height changes relative to the main body 17 and an arm (not shown) whose height changes relative to the movable part 18, similar to the movable mechanism of the radiation source unit 11S. The detection panel 13 is provided at the free end of the arm. Like the main body 17 of the radiation source unit 11S, the main body 17 also has various built-in electrical components and further has an operation panel 43 on its top surface.

[0033] The radiation source unit 11S and the panel unit 11D have different main bodies 17, movable parts 18, and arms 19, of course, in terms of the components and shapes they contain, but these differences are not essential to the technology of the present disclosure, and so both are denoted by the same reference numerals. Both the radiation source unit 11S and the panel unit 11D are examples of "photography units" according to the technology of the present disclosure. Hereinafter, when there is no need to distinguish between the radiation source unit 11S and the panel unit 11D, they will both be referred to as the photography unit 11.

[0034] 1, for example, when imaging subject H in an upright position, radiation source unit 11S and panel unit 11D are arranged opposite each other with subject H in between. When imaging is performed using a supine position imaging table 22 on which subject H can be placed in a supine position, for example, a portable detection panel (not shown) called an electronic cassette or the like is used in combination with radiation source unit 11S. Of course, a detection panel may be built into the supine position imaging table 22, in which case the built-in detection panel may be used.

[0035] As shown in FIG. 2 , in the radiography system 10, the supine position radiography table 22 has an engaging portion 32 that detachably engages with the radiation source unit 11S. The radiation source unit 11S has an engaging portion 31 on the main body 17 that engages with the engaging portion 32. The engaging portions 32 and 31 are, for example, mating portions such as a convex portion and a concave portion, and can be coupled together by mating. For example, when storing the radiation source unit 11S when not in use, the engaging portions 32 and 31 are engaged with each other. This allows the radiation source unit 11S to be supported by the supine position radiography table 22. Because the supine position radiography table 22 is a device that supports the subject, it has a sturdy structure and is fixed to the floor FL of the radiography room using bolts or the like to prevent inadvertent movement. The supine position radiography table 22 is an example of a "subject support" that supports the subject H according to the technology disclosed herein.

[0036] In addition, in the radiation source unit 11S, the engaging portion 31 is disposed at a position higher than the center of gravity WP of the radiation source unit 11S in the vertical direction. The engaging portion 32 of the supine position imaging table 22 is also provided at a position corresponding to the engaging portion 31.

[0037] The engaging portions 31 and 32 not only mechanically support the radiation source unit 11S, but also function as connectors electrically connecting the radiation source unit 11S and the supine position radiography table 22. That is, the engaging portions 31 and 32 are each integrated with an electrical connector. Specifically, the engaging portions 31 and 32 have conductive connection terminals in addition to mechanical fittings. As shown in FIG. 2 as an example, the engaging portion 31 of the radiation source unit 11S is connected to a battery 44 mounted on the radiation source unit 11S and functions as a charging connector. The engaging portion 32 of the supine position radiography table 22 is connected via a cable 33 to a power outlet 34 provided in the radiography room. By engaging the engaging portions 31 and 32, the battery 44 can be charged from the outlet 34 via the engaging portions 32 and 31.

[0038] The outlet 34 is, for example, located under the floor FL so as not to get in the way, and can be accessed by removing a part of the floor FL. The cable 33 extends from under the floor FL and is pulled out to the upper surface of the floor FL through an outlet provided in a part of the floor FL.

[0039] As shown in FIG. 3, such engaging portions 31 and 32 are also provided on the panel unit 11D side. As shown in FIGS. 1 and 3, a gripper 30 is provided on the wall W of the radiography room. The gripper 30 is a device that is held by the subject H during radiography in an upright position to maintain his or her posture. The gripper 30 has two gripping rods 30A that the subject H can hold with his or her hands during radiography. The gripper 30 is fixed to the wall W using bolts or the like. The main body 17 of the panel unit 11D is also provided with an engaging portion 31 similar to that of the radiation source unit 11S. The gripper 30 is also provided with an engaging portion 32 similar to that of the supine radiography table 22. Since the gripper 30 is also a device that supports the subject H like the supine radiography table 22, it has a robust configuration and is fixed to the wall W of the radiography room to prevent inadvertent movement. The holder 30 is an example of a "subject support device" that supports the subject H according to the technology of the present disclosure.

[0040] Furthermore, the engaging portion 31 of the panel unit 11D and the engaging portion 32 of the gripper 30 function as a connector for electrical connection in addition to the mechanical support function for the panel unit 11D, as in the case of the radiation source unit 11S shown in Fig. 2. They also function as a charging connector, as in the case of the radiation source unit 11S.

[0041] As described above, the radiography system 10 according to the technology of the present disclosure is used for radiography and comprises an imaging unit 11 having a traveling mechanism (for example, a trolley unit 16) that travels on a floor FL, the imaging unit 11 having a radiation source (for example, an irradiation unit 12) or a radiation detector (for example, a detection panel 13), and a subject support (for example, a supine imaging table 22 and a gripper 30) that supports a subject for radiography and has an engagement unit 32 that can be detachably engaged with the imaging unit 11.

[0042] This allows the imaging unit 11, which has a traveling mechanism such as the dolly unit 16, to be stored in a stable state without a dedicated storage space. That is, compared to a fixed imaging device that is fixed to a predetermined location in the imaging room, the imaging unit 11, which has a traveling mechanism such as the dolly unit 16, may move unintentionally or may have stability concerns even when standing on its own. While it is preferable to secure a dedicated storage space to store such an imaging unit 11 in a stable state, it may be difficult to secure such space. Meanwhile, the imaging room is equipped with a supine imaging table 22 and a subject support device, such as a gripper 30, that supports the subject H. The subject support device has a function of supporting the subject H, and therefore is highly stable as described above. In the radiation imaging system 10 according to the technology of the present disclosure, the subject support device is provided with an engagement portion 32 that engages with the imaging unit 11. Since the imaging unit 11 can be stored in a state engaged with the engagement portion 32, the imaging unit 11 can be stored in a stable state without a dedicated storage space.

[0043] Furthermore, in the above embodiment, the radiography system 10 includes two radiography units 11: a radiation source unit 11S and a panel unit 11D. That is, both radiography units 11 are provided with an engagement portion 31, and the radiography system 10 includes a supine position radiography table 22 and a gripper 30, each of which has an engagement portion 32 that engages with the engagement portion 31. Therefore, both of the two radiography units 11 can be stored in a stable state. Of course, the engagement portion 31 may be provided on only one of the two radiography units 11.

[0044] In the above embodiment, the engaging portion 32 that engages with the engaging portion 31 of the photographing unit 11 is disposed at a position higher in the vertical direction than the center of gravity WP of the photographing unit 11. Therefore, the photographing unit 11 is supported at a position higher than the center of gravity WP, and therefore can be in a more stable state than when the photographing unit 11 is supported at a position lower than the center of gravity WP.

[0045] In the above embodiment, the subject support is at least one of an imaging table (for example, the supine imaging table 22) and a gripping device 30 that can be held by the subject when performing radiography. Devices such as the supine imaging table 22 and the gripping device 30 are often provided in the imaging room. Therefore, by using these devices, it is highly likely that the need for an additional subject support device will be eliminated. Note that, in addition to the supine imaging table 22, a standing imaging table is also available as an imaging table, and the engagement portion 32 may be provided on the standing imaging table. The subject support may also be a handrail provided on the wall W of the imaging room.

[0046] In the above embodiment, the subject support devices, such as the supine position imaging table 22 and the gripper 30, are fixed to a room, such as an imaging room, in which the imaging unit 11 is installed. Therefore, the stability is very high, and the imaging unit 11 can be stored in a more stable state than if it were not fixed.

[0047] In the above embodiment, the engaging portion 32 has a connector that can be electrically connected to the photographing unit 11 when the engaging portion 32 and the photographing unit 11 are engaged with each other. Therefore, charging and the like are possible through the connector. In the above embodiment, the engaging portion 32 and the connector are integrated, and the engaging portion 32 functions as the connector. Therefore, the configuration can be simplified compared to when the engaging portion 32 and the connector are separate. Note that the engaging portion 32 and the connector may be separate.

[0048] Furthermore, if the subject support apparatus, such as the gripper 30 and the supine imaging table 22, has a movable mechanism, the subject support apparatus itself requires a power supply, and therefore, an outlet 34 and wiring for power supply and other purposes are provided near the subject support apparatus. Alternatively, as shown in FIGS. 2 and 3, if the outlet 34 and wiring are arranged in the space under the floor, an outlet for the wiring extending from under the floor is provided near the subject support apparatus. Therefore, by providing the engaging portion 32 on the subject support apparatus, the existing wiring already provided for the subject support apparatus can be used as the wiring for the electrical connector. When providing an electrical connector in this way, providing the engaging portion 32 on the subject support apparatus has the advantage of enabling the effective use of existing wiring and eliminating the need to lay new wiring.

[0049] In the above embodiment, the engaging portion 32 as a connector functions as a charging connector for the battery 44 mounted in the photographing unit 11. Therefore, the photographing unit 11 can be charged while it is stored.

[0050] In the above embodiment, the engaging portion 32 as a connector is connected to a cable 33, which is an example of a wire extending from under the floor FL. Therefore, the wire is hidden under the floor, and the amount of wire routed around the subject support with which the photographing unit 11 engages is reduced. As a result, the wire is less likely to hinder the travel of the photographing unit 11.

[0051] (Modified Connector) As shown in FIG. 4, the supine position imaging platform 22 may have a top plate 22A that moves up and down between the position shown in FIG. 4(A) and the position shown in FIG. 4(B). If the top plate 22A is provided with an engagement portion 32, the engagement portion 32, which functions as a connector, also moves up and down in accordance with the movement of the top plate 22A. Also, as shown in FIG. 5, in the supine position imaging platform 22, the engagement portion 32, which functions as a connector, may move horizontally on the top plate 22A. By making the connector movable in this way, the connection position with the photographing unit 11 can be changed. In this case, the engagement portion 31 of the photographing unit 11 is also movable, and the position of the engagement portion 31 is adjusted in accordance with the movement of the engagement portion 32.

[0052] 6, the engaging portion 320 as a connector can be connected at multiple positions within a certain range. The engaging portion 320 shown in FIG. 6 has, for example, a metal piece that serves as an electrical terminal extending in a line, and can be connected to the engaging portion 31 at any position within this range. This allows the connecting position of the photographing unit 11 to be changed, making it easy to use.

[0053] [Second embodiment] In the above embodiment, the cart unit 16 is an example of a manual traveling mechanism, but it may be an electric traveling mechanism that electrically travels on the floor FL, like the cart unit 160 of the second embodiment shown in Fig. 7. The cart unit 160 is an example of an "electric traveling mechanism" according to the technology of the present disclosure. The imaging unit 11 shown in Fig. 7 is a radiation source unit 11S, and an example in which an electric traveling mechanism is provided in the radiation source unit 11S will be described.

[0054] The radiation source unit 11S includes a battery 44, a processor 40, a storage 41, a communication I / F (Interface) 42, and an operation panel 43. The processor 40 is composed of, for example, a CPU (Central Processing Unit) and memory such as RAM (Random Access Memory), and functions as various control units by executing programs loaded into the memory. The processor 40 not only performs overall control of the radiation source unit 11S, but also controls the emission of X-rays from the irradiation unit 12 and the travel of the cart unit 160.

[0055] The storage 41 is composed of a hard disk drive, a solid state drive, a nonvolatile memory, etc., and is a data storage that stores programs as well as various setting information data.

[0056] The communication I / F 42 is, for example, a wireless communication unit, and performs wireless communication with other photographing units 11 such as the panel unit 11D.

[0057] The operation panel 43 is an operation unit for inputting operation instructions, and is configured, for example, with a touch panel display.

[0058] The bogie unit 160 has built-in electric components such as an electric circuit for electrically propelling the vehicle and an actuator 53. The bogie unit 160 is similar to the bogie unit 16 in that it is a four-wheel type having four wheels 16A, and each wheel 16A is swivelable. Also, as an example, all of the wheels 16A are drive wheels that rotate electrically. Of course, two of the four wheels 16A may be steered wheels and the remaining two may be drive wheels.

[0059] The actuator 53 has a motor M that drives the wheel 16A. The motor M includes a motor for rotating the wheel 16A to travel and a motor for turning. The measurement sensor MS measures the direction and amount of movement of the bogie unit 160, such as the amount of rotation, direction of rotation, direction of turning, and angle of turning of the wheel 16A. The measurement values ​​measured by the measurement sensor MS are input to the processor 40. The measurement sensor MS is composed of, for example, a rotary encoder and an acceleration sensor. The processor 40 performs travel control, such as estimating the self-position of the bogie unit 16, based on the received measurement values.

[0060] In self-position estimation, the processor 40 acquires measurement values ​​from the measurement sensor MS and ascertains, for example, the amount of movement of the cart unit 160 from the home position HP (see FIG. 9, etc.). The home position HP is, for example, a position registered as the reference position of the radiation source unit 11S in the imaging room. As described above, the measurement sensor MS measures measurement values ​​such as the amount of rotation, direction of rotation, amount of swing, and angle of swing of the 16A. The processor 40 accumulates these measurement values ​​to perform self-position estimation, which estimates the self-position of the cart unit 160 relative to the home position HP. This self-position estimation is based on the so-called odometry method. By performing such self-position estimation, the cart unit 160 can automatically return to the home position HP.

[0061] In addition to the home position HP, it is also possible to automatically control the carriage unit 160 to a preset registered position. For example, it is possible to register a frequently used shooting position in advance and automatically move the shooting unit to that shooting position.

[0062] 8 is an example of a screen of the controller 56 for operating the cart unit 160, which is displayed on the operation panel 43. Operation instructions, including instructions to move the cart unit 160, are input via the controller 56, for example.

[0063] The controller 56 is provided with an auto button 56A, a return button 56C, and direction keys 56D. The auto button 56A is an operation button for inputting a movement instruction to the processor 40 to automatically move to a pre-registered position. The return button 56C is an operation button for inputting a return instruction to return the cart unit 160 to a home position HP that is pre-set as the initial position of the cart unit 160. The direction keys 56D are operation buttons for inputting a movement instruction to move the cart unit 160 in one of four directions.

[0064] The auto button 56A and the reset button 56C are operation buttons for causing the carriage unit 160 to autonomously execute preset travel control. In contrast, the direction keys 56D are operation buttons for executing simple travel control, in which only a direction is specified and the carriage moves in the specified direction according to the amount of operation. The direction keys 56D are so-called deadman type keys that continue to output operation signals while being operated and stop outputting operation signals when operation is stopped. This makes them safer than keys that continue to output operation signals even when the direction keys 56D are released.

[0065] The travel control of the cart 160 executed by the processor 40 will be described with reference to Figure 9. For example, as shown in Figure 9, the initial position of the radiation source unit 11S is the home position HP, and the radiation source unit 11S is located at the home position HP. The home position HP is, for example, a connection position where the radiation source unit 11S is connected to the supine position radiography table 22 via the engagement portion 32. In this state, for example, the operator OP operates the direction key 56D to travel the cart 160 and move the radiation source unit 11S to a position opposite the panel unit 11D. When moving from the home position HP, the processor 40 measures the amount of movement relative to the home position HP using the measurement sensor MS.

[0066] When the radiography is completed and the operator OP operates the return button 56C, the processor 40 controls the carriage 160 to automatically move toward the home position HP. This causes the radiation source unit 11S to return to the home position HP. In addition to the home position HP, the carriage 160 can also be automatically moved to a preset registered position by operating the auto button 56A.

[0067] In the second embodiment, the radiation source unit 11S is described as an example of the imaging unit 11, but the panel unit 11D may also be provided with a cart section 160 to provide an electric travel mechanism.

[0068] In the second embodiment, the traveling mechanism is an electric traveling mechanism, as shown as an example of the dolly section 160. Since electric traveling is possible, the photographing unit 11 can be moved more easily than if it were moved manually.

[0069] In the second embodiment, the electric travel mechanism shown as the dolly unit 160 as an example has an automatic travel function that automatically moves the photographing unit 11 to a specified position such as the home position HP. This makes it easy to automatically travel the photographing unit 11 to a specified position, which is convenient to use.

[0070] In addition to the travel control, the processor 40 may also use the carriage 160 to perform the control shown in FIGS. 10 and 11 . FIG. 10 illustrates control in which the carriage 160 moves toward a connection position where it connects with the engaging portion 32 (which functions as a connector) when a preset condition is satisfied. An example of the preset condition is when the remaining charge of the battery 44 of the radiation source unit 11S falls below a preset capacity. In this case, the carriage 160 moves to a home position HP, which is a connection position with the engaging portion 32, under the control of the processor 40. The radiation source unit 11S is charged by electrically connecting to the engaging portion 32 (which functions as a charging connector). This control prevents the battery 44 from running out of power at a position other than a chargeable position. Note that the preset condition may be other than a decrease in the remaining charge of the battery 44. For example, the preset condition may be a preset time outside of operating hours, such as at night. In this case, the carriage 160 moves to the home position HP under the control of the processor 40 when the preset time is reached.

[0071] FIG. 11 also shows an example of performing calibration related to driving control for self-location estimation when the bogie unit 160 moves to the home position HP. As described above, the processor 40 performs self-location estimation of the bogie unit 160 based on the accumulated movement amount with the home position HP as the reference position. In self-location estimation, the accuracy decreases when measurement errors of the measurement sensor MS accumulate. Therefore, it is preferable to perform calibration related to driving control, such as updating the reference position of the measurement sensor MS. Therefore, when the bogie unit 160 moves to the home position HP, which is a preset reference position, under the control of the processor 40, the bogie unit 160 performs calibration related to driving control by, for example, resetting the measurement value of the measurement sensor MS. This allows for control to temporarily cancel measurement errors at the reference position, thereby improving the accuracy of self-location estimation.

[0072] (Other variations) Furthermore, the radiography system 10 can be modified in various ways other than those described above. While FIG. 5 shows an example in which the engaging portion 32 serving as a connector is movable, in this case, it is preferable that the subject support has a function of notifying the imaging unit 11 of the current position of the engaging portion 32, as shown in FIG. 12. As shown as an example in FIG. 12, the supine position imaging table 22 is provided with a processor 60, a communication I / F 62, and a position detection mechanism 64. Like the processor 40, the processor 60 is composed of a CPU, memory, and the like, and like the communication I / F 42, the communication I / F 62 is a wireless communication unit. The position detection mechanism 64 detects the current position of the engaging portion 32 serving as a connector. The position detection mechanism 64 is composed of a potentiometer that outputs a signal corresponding to the position of the engaging portion 32, an encoder that optically detects the position of the engaging portion 32 using a photosensor, and the like.

[0073] The processor 60 notifies the photography unit 11, which is shown as the radiation source unit 11S as an example, of the current position of the engagement part 32. The photography unit 11 receives the current position of the engagement part 32, grasps the connection position with the engagement part 32, and corrects the movement position. This makes it possible to appropriately correct the movement destination according to the current position of the movable engagement part 32, even when the photography unit 11 is automatically driven to a specified position by an electric driving mechanism such as the cart part 160.

[0074] 13, the shape of the connector 66 for electrical connection can also be modified in various ways. As shown in FIG. 13, when connecting with the connector 66 at the bottom of the cart section 160, which is the traveling mechanism of the photographing unit 11, the connector 66 is preferably arranged at a position higher than the floor surface. In the example shown in FIG. 13, the gripper 30 as the subject support device is provided with a connector 66 for electrical connection separate from the engagement section 32 that supports the photographing unit 11. The connector 66 is provided on the floor FL. Meanwhile, the photographing unit 11 also has a connector 65 for electrical connection separate from the engagement section 31, and the connector 65 is provided at the bottom of the cart section 160.

[0075] The cart unit 160 has a clearance between its bottom and the floor so that it can run on a slightly uneven floor surface. Therefore, when the connector 65 is provided on the bottom of the cart unit 160, it is preferable that the connector 66 on the gripper 30 side be positioned higher than the floor, as shown in Fig. 13 as an example of a state in which the connector 65 protrudes from the floor.

[0076] The connection method between connector 65 and connector 66 may be a contact type or a non-contact type using an electric field. Even when a non-contact type is used, the distance between connector 65 and connector 66 is important in terms of power supply efficiency, so such a configuration is effective.

[0077] Furthermore, as shown in Figure 14, the holder 30 as a subject support has a collision prevention mechanism that prevents collision between the movable part and the photographing unit 11 when it has a movable part (for example, a gripping rod 30A) whose movable range includes a position that would hinder connection with the photographing unit 11.

[0078] As an example, the movable range of the grip rod 30A is between the position indicated by the solid line and the position indicated by the dotted line. When the photographing unit 11 and the gripper 30 are connected by the engagement between the engagement portion 31 and the engagement portion 32, the position indicated by the dotted line obstructs the connection with the photographing unit 11. If an attempt is made to connect the photographing unit 11 in this state, the grip rod 30A, which is a movable part, will collide with the photographing unit 11. Therefore, the gripper 30 has a processor 60, which functions as a collision prevention mechanism by executing a collision prevention process. A position detection mechanism 68 of the grip rod 30A outputs the current position of the grip rod 30A to the processor 60. The position detection mechanism 68 is similar to the position detection mechanism 64 shown in FIG. 12 and is composed of a potentiometer and the like that outputs a signal corresponding to the position of the grip rod 30A.

[0079] For example, when the processor 60 receives a notification from the photographing unit 11 via the communication I / F 62 that it will connect, if there is a concern that the gripping rod 30A and the photographing unit 11 may collide, it warns the photographing unit 11 of this via the communication I / F 62. When this warning is received, the photographing unit 11 stops moving toward the connection position with the gripper 30. This prevents the photographing unit 11 from colliding with the gripping rod 30A.

[0080] It should be noted that instead of detecting the approach of the photographing unit 11 by a notification from the photographing unit 11, the processor 60 of the gripper 30 may detect the approach of the photographing unit 11 using an approach detection mechanism such as a photosensor and a camera.

[0081] 15, various other processes besides issuing a warning are also possible as collision prevention processing. For example, if the processor 60 detects that the photographing unit 11 is approaching the gripper 30 and there is a risk of a collision, the processor 60 outputs a stop instruction to the photographing unit 11 in addition to or instead of issuing a warning. When the processor 60 of the gripper 30 issues a stop instruction to the photographing unit 11, the effectiveness of collision prevention is improved compared to when a warning is issued.

[0082] In addition, as a collision prevention process, when the processor 60 detects the approach of the photographing unit 11, if the gripping rod 30A is in the position shown by the dotted line in Figure 14, it may retract the gripping rod 30A to the retracted position shown by the solid line.

[0083] Furthermore, as a collision prevention process, when the processor 60 detects that the photographing unit 11 has been separated from the gripper 30, the processor 60 may unconditionally retract the gripping rod 30A to the retracted position shown by the solid line in Fig. 14. This makes it possible to ensure that the gripping rod 30A is always in the retracted position when the photographing unit 11 is connected.

[0084] 14 has been described using the gripper 30 as an example, but there are cases where the collision prevention process is also necessary for the supine position imaging table 22 shown in Fig. 16. For example, when the top plate 22A of the supine position imaging table 22 moves up and down, there is a concern that the top plate 22A may collide with the imaging unit 11 depending on the position of the top plate 22A. In this case as well, it is preferable that the processor 60 of the supine position imaging table 22 executes the collision prevention process shown in Figs. 14 and 15.

[0085] In the above embodiment, the engaging portions 32 and 31 are mechanically coupled, but they may be magnetically coupled using a magnet, etc. Furthermore, the engaging portions 32 and 31 can be coupled in various ways, such as by hooks, regardless of whether they are coupled by fitting.

[0086] Furthermore, for the autonomous travel control of the electric travel mechanism shown as an example of the cart unit 160, SLAM (Simultaneous Localization and Mapping) technology may be used, which allows autonomous travel while simultaneously estimating the self-position and creating a map.

[0087] In the traveling mechanism shown in the above embodiment, the shape of the wheels is an example, and various modifications are possible. For example, the number of front wheels and / or rear wheels may be changed independently. For example, a combination of one front wheel and two rear wheels, or a combination of two front wheels and three rear wheels may be used. Furthermore, for example, the size and shape of the front wheels and rear wheels may be changed.

[0088] Furthermore, in the above-described embodiment, various types of hardware listed below can be used as hardware such as the processor 40 and the processor 60. The various types of hardware include a CPU, which is a general-purpose processor that executes software (programs) and functions as various processing units, as well as a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electrical circuit such as an ASIC (Application Specific Integrated Circuit), which is hardware having a circuit configuration specifically designed to execute specific processing.

[0089] The various processes described above may be executed by one of these various hardware components, or may be executed by a combination of two or more hardware components of the same or different types (for example, a plurality of FPGAs, or a combination of a CPU and an FPGA). Furthermore, a plurality of processing units may be configured as a single piece of hardware. An example of configuring a plurality of processing units as a single piece of hardware is a form of using hardware that realizes the functions of an entire system including a plurality of processing units on a single IC (Integrated Circuit) chip, such as a System on Chip (SOC).

[0090] In this way, the various processing units are configured using one or more of the various hardware components described above.

[0091] Furthermore, as these various hardware structures, more specifically, electric circuits (Circuitry) combining circuit elements such as semiconductor elements can be used. do.

[0092] Furthermore, the technology of the present disclosure extends to a computer-readable storage medium (such as a USB (Universal Serial Bus) memory or a DVD (Digital Versatile Disc)-ROM (Read Only Memory)) that non-temporarily stores a program, in addition to a program that operates a photographing unit. The technology of the present disclosure can also be applied to a program and a program product.

[0093] The above-described description and illustrations are a detailed explanation of the parts related to the technology of the present disclosure and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, functions, actions, and effects is an explanation of an example of the configuration, functions, actions, and effects of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above-described description and illustrations within the scope of the gist of the technology of the present disclosure. Furthermore, to avoid confusion and facilitate understanding of the parts related to the technology of the present disclosure, the above-described description and illustrations omit explanations of common technical knowledge that do not require particular explanation to enable the implementation of the technology of the present disclosure.

[0094] From the above description, the technology described in the following supplementary paragraphs can be understood.

[0095] [Additional note 1] an imaging unit having a traveling mechanism that travels on a floor and a radiation source or a radiation detector used for radiography; a subject support device for supporting a subject for radiography, the subject support device having an engaging portion for engaging with the imaging unit; A radiography system comprising: [Additional note 2] The imaging unit includes two imaging units: a radiation source unit having a radiation source and a panel unit having a radiation detector. Item 1. A radiation imaging system according to claim 1. [Additional note 3] The engaging portion is disposed at a position higher than the center of gravity of the photographing unit in the vertical direction. Item 1 or 2. A radiation imaging system according to claim 1. [Additional note 4] The subject support is at least one of an imaging table and a holder that can be held by the subject when taking radiographs. The radiation imaging system according to any one of supplementary items 1 to 3. [Additional note 5] The subject support is fixed in the room where the imaging unit is located. The radiation imaging system according to any one of supplementary items 1 to 4. [Additional note 6] The connector is capable of electrically connecting with the photographing unit when the engagement portion is engaged with the photographing unit. Item 5. A radiation imaging system according to any one of items 1 to 5. [Additional note 7] The connector is integrated with the engagement part Item 7. A radiation imaging system according to claim 6. [Additional note 8] The connector functions as a charging connector for the battery installed in the shooting unit. 8. The radiation imaging system according to claim 6 or 7. [Additional note 9] The running mechanism is an electric running mechanism that runs on the floor electrically. The radiation imaging system according to any one of supplementary items 1 to 8. [Additional Note 10] The electric driving mechanism has an automatic driving function that automatically moves to a specified position. Item 10. A radiation imaging system according to claim 9. [Additional Note 11] The electric travel mechanism moves toward the connection position where it connects with the connector when a preset condition is satisfied. Item 11. A radiation imaging system according to claim 10. [Additional Note 12] When the electric driving mechanism moves to a preset reference position, it performs calibration related to driving control. 12. The radiography system according to claim 10 or 11. [Additional Note 13] The connector is movable The radiation imaging system according to any one of supplementary items 6 to 12. [Additional Note 14] The subject support has a function of notifying the imaging unit of the current position of the connector. Item 14. A radiation imaging system according to claim 13. [Additional Note 15] The connector can be connected at multiple positions within a certain range. The radiation imaging system according to any one of supplementary items 6 to 14. [Additional Note 16] The connector is connected to wiring that runs from under the floor. The radiation imaging system according to any one of supplementary items 6 to 15. [Additional Note 17] When connecting to the connector at the bottom of the traveling mechanism The connector is located above the floor The radiation imaging system according to any one of supplementary items 6 to 16. [Additional Note 18] The subject support is In the case where the camera has a movable part whose movable range includes a position that may obstruct connection with the photographing unit, It has a collision prevention mechanism that prevents collisions between the moving part and the photographing unit. 18. A radiography system according to any one of claims 1 to 17. [Additional Note 19] An imaging unit having a traveling mechanism that travels on a floor and a radiation source or a radiation detector used for radiography, The imaging unit is detachably engaged with an engaging portion of a subject support that supports a subject for radiography.

[0096] In this specification, "A and / or B" is synonymous with "at least one of A and B." In other words, "A and / or B" means that it may be only A, only B, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" is also applied when three or more things are expressed connected by "and / or."

[0097] All publications, patent applications, and technical standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or technical standard was specifically and individually indicated to be incorporated by reference. [Explanation of symbols]

[0098] 10 Radiography System 11 Filming Unit 11D Panel Unit 11S radiation source unit 12 Irradiation unit 13 Detection Panel 16, 160 Bogie section 16A wheels 16B base part 17 Main body 18 Moving parts 19 Arm 22 Recumbent photography stand 22A Top plate 30 Grip 30A gripping rod 31, 32, 320 Engagement part 33 Cable 34 power outlets 40, 60 processors 42 Communication I / F 41 Storage 43 Operation Panel 44 Battery 53 Actuator 54 images 56 Controller 56A Auto button 56C Return button 56D Directional keys 64, 68 Position detection mechanism 65, 66 Connectors FL floor H. Subject HP Home Position Medium motor MS Measurement Sensor OP Operator W wall WP center of gravity

Claims

1. an imaging unit used for radiography and having a traveling mechanism that travels on a floor, the imaging unit having a radiation source or a radiation detector; a subject support device for supporting a subject for radiography, the subject support device having an engaging portion that is detachably engaged with the imaging unit; A radiography system comprising:

2. The imaging unit includes two imaging units, a radiation source unit having the radiation source and a panel unit having the radiation detector. The radiography system according to claim 1 .

3. The engagement portion is disposed at a position higher than the center of gravity of the photographing unit in the vertical direction. The radiography system according to claim 1 .

4. The subject support is at least one of an imaging table and a holder that can be held by the subject when performing the radiography. The radiography system according to claim 1 .

5. The subject support is fixed in a room where the imaging unit is installed. The radiography system according to claim 1 .

6. The connector is electrically connectable to the photographing unit when the engagement portion is engaged with the photographing unit. The radiography system according to claim 1 .

7. The connector is integral with the engaging portion. The radiography system according to claim 6 .

8. The connector functions as a charging connector for a battery mounted in the photographing unit. The radiography system according to claim 6 .

9. The traveling mechanism is an electric traveling mechanism that electrically travels on the floor. The radiography system according to claim 8 .

10. The electric travel mechanism has an automatic travel function that automatically moves toward a designated position. The radiography system according to claim 9 .

11. The electric traveling mechanism moves toward a connecting position where it connects with the connector when a preset condition is satisfied. The radiography system according to claim 10.

12. The electric driving mechanism performs calibration related to driving control when the electric driving mechanism moves to a preset reference position. The radiography system according to claim 10.

13. The connector is movable. The radiography system according to claim 6 .

14. The subject support has a function of notifying the photographing unit of the current position of the connector. The radiography system according to claim 13 .

15. The connector is connectable at a plurality of positions within a certain range. The radiography system according to claim 6 .

16. The connector is connected to wiring extending from under the floor. The radiography system according to claim 6 .

17. When connecting with the connector at the bottom of the traveling mechanism, The connector is located above the floor. The radiography system according to claim 6 .

18. The subject support includes: In the case where the camera has a movable part whose movable range includes a position that obstructs connection with the photographing unit, A collision prevention mechanism is provided to prevent collision between the movable part and the photographing unit. The radiography system according to claim 1 .

19. An imaging unit having a traveling mechanism that travels on a floor and a radiation source or a radiation detector used for radiography, The imaging unit is detachably engaged with an engaging portion of a subject support that supports a subject for radiography.

Images