Vibration control system

Abstract

This vibration control system (10) comprises a haptic device (30), a monitoring device (40), and a control device (50). The haptic device (30) can be used during MRI or MEG examinations and can change a vibration-related parameter. The monitoring device (40) is capable of detecting subject posture information (PI) regarding the posture of a subject (100) who is using the haptic device (30) and device posture information (DI) regarding the posture of the haptic device (30). The control device (50) performs a data acquisition process for acquiring the subject posture information (PI) and the device posture information (DI) from the monitoring device (40), and a control process for controlling the direction of vibration of the haptic device (30) on the basis of at least one of the subject posture information (PI) and the device posture information (DI).

Description

Vibration Control System

[0001] The present disclosure relates to vibration control systems.

[0002] The vibration generator described in Patent Document 1 includes a housing, a vibrating member, and a weight. The housing houses the vibrating member and a weight. The housing is made of a non-magnetic material. The vibrating member includes a piezoelectric element. The vibrating member generates vibrations by using the piezoelectric element. The piezoelectric element is made of a non-magnetic material. The weight is located inside the housing. The weight is made of a non-magnetic metal. The weight is fixed to the vibrating member. In this configuration, when the vibrating member is vibrated, the weight experiences the same amount of displacement as the vibrating member. The inertial force generated by this displacement of the weight is transmitted to the housing through the vibrating member. As a result, vibrations are provided to the outside via the housing. For example, the vibration generator can present a predetermined tactile sensation to the hand of a person holding the housing.

[0003] Japanese Patent Application Laid-Open No. 2023-123357

[0004] In Patent Document 1, the components constituting the vibration generator are made of non-magnetic materials, so the vibration generator can be used in a strong magnetic field environment, such as that of an MRI device used in medical examinations.

[0005] On the other hand, when a subject enters an MRI device while holding the vibration generator in his / her hand, the way in which the subject holds the vibration generator and the posture of the subject may differ from the expected. If the way in which the vibration generator is held differs from the expected, the direction of the vibrations that the vibration generator gives to the subject may also differ from the expected.

[0006] In order to solve the above problems, the present disclosure provides a vibration control system comprising a vibration generating device that can be used under an MRI examination or an MEG examination and that can change vibration-related parameters, a monitoring device that can detect subject posture information related to the posture of a subject using the vibration generating device and apparatus posture information related to the posture of the vibration generating device, and a control device that can control the vibration of the vibration generating device, wherein the control device performs a data acquisition process that acquires the subject posture information and the apparatus posture information from the monitoring device, and a control process that controls the vibration of the vibration generating device based on one or more selected from the subject posture information and the apparatus posture information.

[0007] According to the above configuration, even if a subject undergoing an MRI or MEG examination uses the vibration generator in a manner different from that expected, it is possible to apply vibrations to the subject as expected.

[0008] FIG. 1 is a diagram schematically showing the overall configuration of a vibration control system in a first embodiment. FIG. 2 is a diagram schematically showing the entire haptic device in the first embodiment. FIG. 3 is a diagram schematically showing a state in which a subject holds a haptic device in the first embodiment. FIG. 4 is a diagram schematically showing a state in which a subject holds a haptic device in the second embodiment. FIG. 5 is a diagram schematically showing a state in which a subject holds a haptic device in the second embodiment. FIG. 6 is a diagram schematically showing the overall configuration of a vibration control system in a third embodiment.

[0009] Hereinafter, first, second, and third embodiments of a vibration control system will be described with reference to the drawings. Note that the drawings may show components enlarged to facilitate understanding. The dimensional ratios of the components may differ from those in the actual drawings or from those in other drawings.

[0010] (Regarding the First Embodiment) <Regarding the Overall Configuration of the Vibration Control System> As shown in Fig. 1 , a vibration control system 10 is used under examination using an MRI (Magnetic Resonance Imaging) device 20. The MRI device 20 is a device that acquires electromagnetic signals generated from a subject 100 by nuclear magnetic resonance and creates images of the internal structure of the subject. In this embodiment, the MRI device 20 is used for magnetic resonance functional imaging, which detects brain activity.

[0011] The MRI apparatus 20 has a gantry 21 and a bed 22. The gantry 21 is a substantially annular member for generating a strong magnetic field. The bed 22 is a platform on which the subject 100 rests. The bed 22 is movable along the central axis of the gantry 21 by a power source such as a motor (not shown). By positioning the bed 22 so that the head of the subject 100 is positioned within the gantry 21, it becomes possible to detect brain activity of the subject 100. Note that the gantry 21 is shown by a two-dot chain line in FIG. 1 .

[0012] The vibration control system 10 includes a haptic device 30 as a vibration generating device. The haptic device 30 can present an illusion of force acting in a specific direction to a part of the subject 100 that is in contact with the haptic device 30. In this embodiment, the haptic device 30 is held by the subject 100 under examination using the MRI device 20. Details of the haptic device 30 will be described later.

[0013] The vibration control system 10 includes a monitoring device 40 and a control device 50. The monitoring device 40 is, for example, a video camera. The monitoring device 40 is attached in a position where it can capture an image of the subject 100 lying on the bed 22 and the haptic device 30 held by the subject 100. The monitoring device 40 can detect, in the form of image data, subject posture information PI relating to the posture of the subject 100 using the haptic device 30, and device posture information DI relating to the posture of the haptic device 30. Note that the "posture of the haptic device 30" includes, for example, the position, direction, and angle at which the haptic device 30 is held by the subject 100.

[0014] The control device 50 can control the vibration of the haptic device 30. The control device 50 includes circuitry including one or more processors. The control device 50 may be a circuit including one or more dedicated hardware circuits such as an application specific integrated circuit (ASIC), or a combination thereof. Although not shown, the control device 50 also includes peripheral circuits such as a power supply circuit and a clock circuit.

[0015] <Haptic Device> As shown in FIG. 2, the haptic device 30 has a housing 31, a first mark 32, a second mark 33, and a vibrating body .

[0016] The housing 31 is a rectangular tube with one elongated end. The housing 31 is made of a non-magnetic material. Here, an axis along the longitudinal direction of the housing 31 is defined as the first axis X. A specific axis perpendicular to the first axis X is defined as the second axis Y. One of the directions along the first axis X is defined as the first positive direction X1. The direction along the first axis X that is opposite to the first positive direction X1 is defined as the first negative direction X2. One of the directions along the second axis Y is defined as the second positive direction Y1. The direction along the second axis Y that is opposite to the second positive direction Y1 is defined as the second negative direction Y2.

[0017] The first mark 32 is a sticker attached to the outer surface of the housing 31. The first mark 32 is made of a non-magnetic material. The first mark 32 is attached to a specific outer surface S, which is one of the four side surfaces of the housing 31. In this embodiment, specifically, the first mark 32 is located on the first positive direction X1 side with respect to the center C of the specific outer surface S. When viewed in a direction perpendicular to the specific outer surface S, the first mark 32 has a circular shape.

[0018] The second mark 33 is a sticker attached to the specific outer surface S of the housing 31. The second mark 33 is made of a non-magnetic material. When viewed in a direction perpendicular to the specific outer surface S, the second mark 33 is positioned symmetrically to the first mark 32 with respect to a virtual axis that passes through the center C of the specific outer surface S and is parallel to the second axis Y. That is, the second mark 33 is located on the first negative direction X2 side of the center C of the specific outer surface S. When viewed in a direction perpendicular to the specific outer surface S, the second mark 33 is circular. The hue of the second mark 33 is different from the hue of the first mark 32. Therefore, the appearance of the specific outer surface S of the haptic device 30 is asymmetric with respect to the virtual axis that passes through the center C of the specific outer surface S of the haptic device 30 and is parallel to the second axis Y.

[0019] The vibrating body 34 is made of a non-magnetic material and is located inside the housing 31. The vibrating body 34 is fixed inside the housing 31. The vibrating body 34 has a first vibrator 34A and a second vibrator 34B.

[0020] The first oscillator 34A and the second oscillator 34B are located on the same imaginary plane. When viewed in a direction perpendicular to the specific outer surface S, the first oscillator 34A is located at a fixed distance in the first positive direction X1 from the center C of the specific outer surface S. When viewed in a direction perpendicular to the specific outer surface S, the second oscillator 34B is located at a fixed distance in the first negative direction X2 from the center C of the specific outer surface S. When viewed in a direction perpendicular to the specific outer surface S, the distance from the center C to the first oscillator 34A and the distance from the center C to the second oscillator 34B are equal in the direction along the first axis X.

[0021] Both the first vibrator 34A and the second vibrator 34B can vibrate in both a direction along the first axis X and a direction along the second axis Y. The haptic device 30 can change parameters related to the vibration. In this embodiment, the haptic device 30 can change the direction of vibration as a parameter related to the vibration.

[0022] Furthermore, the first oscillator 34A and the second oscillator 34B can present an illusion of force to the subject 100 by vibrating in a specific vibration pattern. For example, the first oscillator 34A can present an illusion of force in a first positive direction X1 and an illusion of force in a first negative direction X2 by vibrating in a specific vibration pattern along the first axis X. The first oscillator 34A can present an illusion of force in a second positive direction Y1 and an illusion of force in a second negative direction Y2 by vibrating in a specific vibration pattern along the second axis Y. Furthermore, the first oscillator 34A can present an illusion of force in a direction tilted relative to the first axis X and the second axis Y by combining vibrations along the first axis X and vibrations along the second axis Y. The same applies to the second oscillator 34B. More specifically, each oscillator has a configuration as described in, for example, JP 2005-190465 A.

[0023] By controlling the direction of the illusion of force presented by these two oscillators, the haptic device 30 can present an illusion of force moving straight in any direction parallel to the imaginary plane that each oscillator is located in. For example, when the first oscillator 34A and the second oscillator 34B both present an illusion of force in the first positive direction X1, the haptic device 30 as a whole also presents an illusion of force in the first positive direction X1.

[0024] Furthermore, by controlling the direction of the illusionary force presented by these two oscillators, the haptic device 30 can present an illusionary force that appears to rotate on a virtual plane on which each oscillator is located. Specifically, it is assumed that the first oscillator 34A presents an illusionary force in the second positive direction Y1, and the second oscillator 34B presents an illusionary force in the second negative direction Y2. In this case, when the user looks at the specific outer surface S in a direction perpendicular to the specific outer surface S, the haptic device 30 presents an illusionary force that appears to rotate clockwise.

[0025] As described above, each component of the haptic device 30 is made of a non-magnetic material. Therefore, the haptic device 30 can be used during MRI examinations. The haptic device 30 can also be used during MEG (Magnetoencephalography) examinations.

[0026] <Processing Executed by the Control Device of the First Embodiment> The control device 50 executes a data acquisition process and a control process. The data acquisition process is a process of acquiring image data from the monitoring device 40. The image data includes the subject 100 and the haptic device 30. The posture of the subject 100 can be determined based on the shape of the subject 100 in the image data. The shape of the subject 100 includes the body shape of the subject 100 and the shape recognized in image processing. The posture of the haptic device 30 can also be determined based on the positional relationship between the first mark 32 and the second mark 33 of the haptic device 30 in the image data. That is, the image data is used in a process of acquiring subject posture information PI and device posture information DI. The control device 50 acquires information such as the position and orientation of the subject 100 as the subject posture information PI. The control device 50 also acquires information such as the position and orientation of the haptic device 30 as the device posture information DI. In this embodiment, the control device 50 executes the data acquisition process at predetermined intervals while the monitoring device 40 is in operation, thereby acquiring the subject posture information PI and the apparatus posture information DI in almost real time.

[0027] The control process is a process for controlling the direction of vibration of the haptic device 30 based on one or more selected from the subject posture information PI and the device posture information DI. In the control process, the control device 50 first sets a reference axis N based on a specific part of the body of the subject 100 based on the subject posture information PI. In this embodiment, as shown in FIG. 3 as an example, the reference axis N is set as an axis along the middle finger of the subject 100. Note that in the example shown in FIG. 3, the first mark 32 and the second mark 33 of the haptic device 30 are not shown.

[0028] The haptic device 30 is then controlled so that the direction of vibration of the haptic device 30 is at a predetermined angle with respect to the reference axis N. As a result, the haptic device 30 presents an illusion of force in a direction at a predetermined angle with respect to the reference axis N.

[0029] For example, assume that the MRI device 20 detects a brain image of the subject 100 while the subject 100 is given an illusion of force in a direction perpendicular to the reference axis N. In this case, as shown by the dashed line in Fig. 3 , the subject 100 holds the haptic device 30 so that the longitudinal direction of the housing 31 is perpendicular to the reference axis N. In this case, the control device 50 controls the haptic device 30 in the control process so that the direction of vibration of the haptic device 30 is perpendicular to the longitudinal direction of the housing 31, i.e., the reference axis N.

[0030] 3 , the subject 100 holds the haptic device 30 so that the longitudinal direction of the housing 31 is inclined with respect to the reference axis N. In this case, too, the control device 50 controls the haptic device 30 in the control process so that the vibration direction of the haptic device 30 is perpendicular to the reference axis N. In this example, the control device 50 controls the vibrator 34 so that the vibration direction of the haptic device 30 is inclined with respect to the longitudinal direction of the housing 31. In this way, the control device 50 controls the vibration direction of each vibrator according to the inclination angle of the longitudinal direction of the housing 31 with respect to the reference axis N. As a result, the vibration direction of the haptic device 30 becomes a direction at a predetermined angle with respect to the reference axis N.

[0031] <Effects of the First Embodiment> (1-1) In the first embodiment, assume that the subject 100 during an MRI examination holds the haptic device 30 in a manner different from that expected. Even in this case, it is possible to apply the expected vibrations to the subject 100 by using information from the monitoring device 40. In particular, during an MRI examination, the subject 100 is in a situation where it is difficult to hear instructions from the supervisor monitoring the examination due to noise from the MRI apparatus 20, etc. According to the above configuration, the vibrations of the haptic device 30 are controlled based on one or more selected from the subject posture information PI and the apparatus posture information DI acquired from the monitoring device 40. In other words, the above-described control process is suitable for an MRI examination in which it is difficult for the supervisor to give instructions.

[0032] (1-2) In the first embodiment, the control device 50 sets a reference axis N based on a specific part of the body of the subject 100 in the control process based on the subject posture information PI. Furthermore, in the control process, the control device 50 controls the direction of vibration of the haptic device 30 so that the direction of vibration of the haptic device 30 is at a predetermined angle with respect to the reference axis N. With this configuration, even if the subject 100 holds the haptic device 30 in an orientation different from the expected orientation, vibration can be generated in the expected direction by controlling the vibration direction of the haptic device 30.

[0033] (1-3) In the first embodiment, the appearance of the haptic device 30 is asymmetric with respect to a virtual axis that passes through the center C of the specific outer surface S of the haptic device 30 and is parallel to the second axis Y due to the presence of the first mark 32 and the second mark 33. This configuration makes it easy to detect the orientation of the haptic device 30 by observing the appearance of the housing 31. In other words, it is possible to prevent the monitoring device 40 from erroneously detecting the device orientation information DI.

[0034] (Second Embodiment) A second embodiment of the vibration control system 10 will be described below. Note that the configurations of the MRI apparatus 20, the haptic device 30 in the vibration control system 10, the monitoring device 40, and the control device 50 in the second embodiment are the same as those in the first embodiment. The following describes the processing executed by the control device 50, which has a different configuration from the first embodiment.

[0035] <Processing Executed by the Control Device of the Second Embodiment> The control device 50 executes a data acquisition process and a control process. In the data acquisition process, the control device 50 acquires the position and orientation of the hand of the subject 100 as subject posture information PI. In addition, in the data acquisition process, the control device 50 acquires the position and orientation of the haptic device 30 as device posture information DI. As in the first embodiment, the control device 50 executes the data acquisition process at predetermined intervals.

[0036] In the control process, the control device 50 can control the vibration of the haptic device 30 so as to present an illusion of force in a direction in which the positional relationship of the haptic device 30 with respect to the position of the hand of the subject 100 approaches a predetermined specified positional relationship. Note that controlling the vibration is not limited to starting the vibration of the haptic device 30, but also includes changing one or more parameters of the vibrating haptic device 30, such as the vibration direction, vibration magnitude, vibration interval, frequency, and vibration waveform.

[0037] For example, as shown by the dashed line in Fig. 4, the specified positional relationship is defined as a state in which the center C of the specific outer surface S of the haptic device 30 is located approximately in the center of the palm of the subject 100, and the longitudinal direction of the housing 31 is approximately aligned with the width direction of the palm. Note that in the example shown in Fig. 4, the first mark 32 and the second mark 33 of the haptic device 30 are not shown.

[0038] On the other hand, for example, as shown by the solid line in Figure 4, suppose that the subject 100 is holding the end of the haptic device 30 on the first negative direction X2 side, and the center C of the specific outer surface S of the haptic device 30 is located at a position away from the specified positional relationship on the first positive direction X1 side.

[0039] In this case, the control device 50 controls the vibration of the haptic device 30 in the control process so as to present an illusionary force in the direction opposite to the direction in which the haptic device 30 is displaced, i.e., the first negative direction X2, thereby allowing the subject 100 to perceive the illusionary force presented by the haptic device 30.

[0040] In addition, in the second embodiment, the control device 50 can control the vibration of the haptic device 30 during the control process so as to present an illusion of rotation of the orientation of the haptic device 30 relative to the orientation of the subject's 100 hand in a direction approaching a predetermined specified orientation.

[0041] For example, as shown by the dashed line in Fig. 5, the specified positional relationship is defined as a state in which the center C of the specific outer surface S of the haptic device 30 is located approximately in the center of the palm of the subject 100 and the longitudinal direction of the housing 31 is approximately aligned with the width direction of the palm. Note that in the example shown in Fig. 5, the first mark 32 and the second mark 33 of the haptic device 30 are not shown.

[0042] 5, for example, the subject 100 holds the haptic device 30 so that the longitudinal direction of the housing 31 of the haptic device 30 intersects with the longitudinal direction of the housing 31 in the specified positional relationship. Specifically, when viewed in a direction perpendicular to the specific outer surface S, the haptic device 30 is positioned rotated counterclockwise with respect to the specified positional relationship.

[0043] In this case, in the control process, the control device 50 controls the vibration of the haptic device 30 so that the haptic device 30 presents an illusion of clockwise rotation when viewed in a direction perpendicular to the specific outer surface S. This allows the subject 100 to perceive the illusion of rotation presented by the haptic device 30.

[0044] Effects of the Second Embodiment (2-1) According to the second embodiment, the control device 50 controls the vibration of the haptic device 30 in the control process so as to present an illusion of force in a direction in which the positional relationship of the haptic device 30 with respect to the position of the body part of the subject 100 to which the haptic device 30 is attached approaches a predetermined specified positional relationship. With this configuration, the subject 100 can detect a positional deviation of the haptic device 30 by perceiving the vibration in the control process. For example, in a case where the haptic device 30 protrudes more than expected from the hand of the subject 100, the subject 100 can return the position of the haptic device 30 to the appropriate position by perceiving the vibration from the haptic device 30.

[0045] (2-2) According to the second embodiment, the control device 50 controls the vibration of the haptic device 30 in the control process so as to present an illusion of rotation of the orientation of the haptic device 30 relative to the orientation of the body part of the subject 100 to which the haptic device 30 is attached in a direction approaching a predetermined specified orientation. With this configuration, the subject 100 can detect the tilt of the haptic device 30 by perceiving the vibration in the control process. For example, if the subject 100 is holding the haptic device 30 at an angle different from the expected angle, the subject 100 can appropriately return the angle of the haptic device 30 by perceiving the vibration from the haptic device 30.

[0046] (Regarding the Third Embodiment) A third embodiment of the vibration control system 10 will be described below. Note that the configurations of the MRI apparatus 20, the haptic device 30 in the vibration control system 10, the monitoring device 40, and the control device 50 in the third embodiment are the same as those in the first embodiment. The following describes the processing executed by the control device 50, which has a different configuration from the first embodiment.

[0047] <Processing Executed by the Control Device of the Third Embodiment> The control device 50 executes a data acquisition process and a control process. In the data acquisition process, the control device 50 acquires the position and orientation of the haptic device 30 as device posture information DI. In addition, in the data acquisition process, the control device 50 acquires the position of the body part of the subject 100 to which the haptic device 30 is attached and the position of a specific body part of the subject 100 as subject posture information PI. Specifically, the control device 50 acquires the position of the hand of the subject 100 as the position of the body part of the subject 100 to which the haptic device 30 is attached. In addition, the control device 50 acquires the position of the torso of the subject 100 as the position of the specific body part. Note that the "subject 100 to which the haptic device 30 is attached" includes not only cases where the haptic device 30 is attached to the subject 100 via a fixture or the like, but also cases where the subject 100 holds the haptic device 30 in his or her hand.

[0048] In the control process, the control device 50 controls the vibration of the haptic device 30 so as to present an illusion of force in a direction in which the positional relationship of the body part of the subject 100 to which the haptic device 30 is attached approaches a predetermined specified positional relationship relative to a specific part of the subject 100. Note that controlling the vibration is not limited to starting the vibration of the haptic device 30, but also includes changing any one or more parameters of the vibrating haptic device 30, such as the vibration direction, vibration magnitude, vibration interval, frequency, and vibration waveform.

[0049] 6, the specified positional relationship is defined as a state in which the position of the hand holding the haptic device 30 is within a predetermined distance from the side of the trunk of the subject 100. When the specified position is defined in this way, for example, as shown in FIG. 6, the position of the hand of the subject 100 holding the haptic device 30 is positioned at a distance greater than the predetermined distance from the side of the trunk of the subject 100.

[0050] In this case, in the control process, the control device 50 controls the vibration of the haptic device 30 so as to present an illusionary force in a direction in which the position of the hand of the subject 100 holding the haptic device 30 approaches a specified positional relationship with respect to the side of the torso of the subject 100. This allows the subject 100 to perceive the illusionary force presented by the haptic device 30.

[0051] Effects of the Third Embodiment (3-1) According to the third embodiment, the control device 50 controls the vibration of the haptic device 30 in a control process so as to present an illusion of force in a direction in which the positional relationship of the body part of the subject 100 to which the haptic device 30 is attached with respect to a specific part of the subject 100 approaches a specified positional relationship. With this configuration, by perceiving the vibration in the control process, the subject 100 can detect that the part of the subject 100 to which the haptic device 30 is attached is located away from the specific part of the subject 100. For example, if the position of the hand holding the haptic device 30 with respect to the side of the torso of the subject 100 is located away from the specified positional relationship, the subject 100 can return the position of the hand to the appropriate position by perceiving it from the haptic device 30.

[0052] <Modifications> The above embodiment and the following modifications can be implemented in combination with each other within the scope of technical compatibility.

[0053] In each embodiment, the vibration control system 10 may include an MEG device instead of the MRI device 20. In each embodiment, the monitoring device 40 is not limited to a video camera. The monitoring device 40 only needs to be able to detect subject posture information PI related to the posture of the subject 100 using the vibration generator and device posture information DI related to the posture of the vibration generator. For example, instead of a video camera, the monitoring device 40 can employ a radar system that transmits and receives ultrasound waves, etc. In other words, the data processed by the control device 50 is not limited to image data.

[0054] In each embodiment, the control device 50 may be configured to execute the data acquisition process and the control process. The specific form of the control process is not important as long as it controls the direction of the vibration generator based on one or more of the subject posture information PI and the device posture information DI acquired in the data acquisition process.

[0055] In each embodiment, the positions of the first mark 32 and the second mark 33 are not limited to those in the above-described embodiments. In each embodiment, the haptic device 30 may not include either the first mark 32 or the second mark 33, or both the first mark 32 and the second mark 33. That is, instead of each mark, the haptic device 30 may have a configuration that enables the monitoring device 40 to detect the posture of the haptic device 30. For example, the haptic device 30 may have an asymmetric structure due to the shape of the housing 31 itself, not limited to the marks. In this case, the color tones of the first mark 32 and the second mark 33 may be the same. Note that, instead of the color tones of the first mark 32 and the second mark 33, the appearance of the haptic device 30 may be asymmetric due to differences in the brightness, saturation, shape, material, etc. of the marks. Furthermore, the haptic device 30 may be capable of outputting light, sound, radio signals, etc. within the MRI apparatus 20, thereby allowing the posture of the haptic device 30 to be detected by the monitoring device 40. The configuration for outputting light, sound, radio signals, etc. is limited to those that can be used in MRI examinations.

[0056] In each embodiment, the specific configuration of the haptic device 30 is not limited to the embodiment. For example, the housing 31 of the haptic device 30 may be spherical or cylindrical.

[0057] In each embodiment, the haptic device 30 may have at least one vibrator. Furthermore, in each embodiment, the haptic device 30 is not limited to two vibrators, the first vibrator 34A and the second vibrator 34B, and may have additional vibrators.

[0058] In each embodiment, the positions of the first vibrator 34A and the second vibrator 34B are not limited to the examples of the above embodiments. In each embodiment, the haptic device 30 may be capable of presenting to the subject 100 an illusion of twisting the wrist and an illusion of approaching a predetermined vertical positional relationship with the bed 22. That is, the haptic device 30 may be capable of presenting an illusion of force other than an illusion of force acting in a direction along a plane parallel to the first axis X and the second axis Y. Furthermore, the first vibrator 34A and the second vibrator 34B are not limited to being configured to vibrate only along the first axis X and the second axis Y, but may also be capable of vibrating along an axial direction perpendicular to both the first axis X and the second axis Y.

[0059] In the first embodiment, a vibration generating device other than the haptic device 30 may be employed. The vibration generating device may be any device that can be used during an MRI examination or an MEG examination and that allows for change of vibration-related parameters.

[0060] In the first embodiment, the haptic device 30 may be attached to any location on the body of the subject 100 and is not limited to being held by the subject 100. For example, the haptic device 30 may be attached to the leg of the subject 100 via a fastener such as a band. In this state, for example, if the reference axis N is set to an axis along the leg of the subject 100, the control device 50 may control the direction of vibration of the haptic device 30 in the control process so that the direction is at a predetermined angle with respect to the reference axis N.

[0061] In the second embodiment, the direction and orientation in which the control device 50 vibrates the haptic device 30 are not limited to those illustrated in Fig. 4. For example, in the example illustrated in Fig. 4, it may be easier for the subject 100 to detect the displacement of the haptic device 30 if the vibration is controlled to present an illusionary force in the direction in which the haptic device 30 is displaced, i.e., in the first positive direction X1. In this way, it is sufficient that the control device 50 can control the vibration of the haptic device 30 so as to present an illusionary force in a direction in which the positional relationship of the haptic device 30 with respect to the position of the hand of the subject 100 approaches a predetermined specified positional relationship.

[0062] In the second embodiment, the control device 50 only needs to be able to control the vibration of the haptic device 30 in the control process so as to present an illusion of force in a direction in which the positional relationship of the haptic device 30 with respect to the position of the hand of the subject 100 approaches a specified positional relationship. In other words, the control device 50 does not necessarily need to be able to control the vibration of the haptic device 30 in the control process so as to present an illusion of force in which the orientation of the haptic device 30 rotates in a direction in which it approaches a specified orientation. In this case, the control device 50 only needs to acquire at least the position of the hand of the subject 100 as the subject posture information PI and acquire at least the position and orientation of the haptic device 30 as the device posture information DI in the data acquisition process.

[0063] In the second embodiment, the control device 50 only needs to be able to control the vibration of the haptic device 30 in the control process so as to present an illusionary force in a direction in which the positional relationship of the haptic device 30 with respect to the position of the hand of the subject 100 approaches a specified positional relationship. In other words, the control device 50 does not necessarily need to be able to control the vibration of the haptic device 30 in the control process so as to present an illusionary force in a direction in which the positional relationship of the haptic device 30 approaches a specified positional relationship. In this case, the control device 50 only needs to acquire at least the orientation of the hand of the subject 100 as the subject posture information PI and at least the orientation of the haptic device 30 as the device posture information DI in the data acquisition process.

[0064] In the second embodiment, the haptic device 30 may be attached to any location on the body of the subject 100 and is not limited to being held by the subject 100. For example, the haptic device 30 may be attached to the leg of the subject 100 via a fastener such as a band. In this state, the control device 50 may control the vibration of the haptic device 30 in the control process so as to present an illusionary force in a direction in which the positional relationship of the haptic device 30 with respect to the position of the leg of the subject 100 approaches a predetermined specified positional relationship. In this state, the control device 50 may control the vibration of the haptic device 30 in the control process so as to present an illusionary force in a direction in which the orientation of the haptic device 30 with respect to the orientation of the leg of the subject 100 approaches a predetermined specified orientation.

[0065] In the third embodiment, the haptic device 30 may be attached to any location on the body of the subject 100 and is not limited to being held by the subject 100. For example, the haptic device 30 may be attached to one leg of the subject 100 via a fastener such as a band. For example, when the haptic device 30 is attached to the right leg of the subject 100, the specific part of the body of the subject 100 is the left leg of the subject 100. In this case, the control device 50 may control the vibration of the haptic device 30 in the control process so as to present an illusionary force in a direction in which the positional relationship of the right leg of the subject 100, to which the haptic device 30 is attached, with respect to the left leg of the subject 100 approaches a predetermined specified positional relationship.

[0066] <Supplementary Notes> The technical ideas that can be understood from the above-described embodiments and modified examples will be described below. [1] A vibration control system comprising: a vibration generator that can be used under an MRI examination or an MEG examination and that can change parameters related to vibration; a monitoring device that can detect subject posture information related to the posture of a subject using the vibration generator and apparatus posture information related to the posture of the vibration generator; and a control device that can control vibration of the vibration generator, wherein the control device executes a data acquisition process that acquires the subject posture information and the apparatus posture information from the monitoring device, and a control process that controls vibration of the vibration generator based on one or more selected from the subject posture information and the apparatus posture information.

[0067] [2] In the control process, the control device sets a reference axis based on a specific part of the subject's body based on the subject posture information, and controls the direction of vibration of the vibration generating device so that the direction of vibration of the vibration generating device is at a predetermined angle with respect to the reference axis. [1] The vibration control system described in [1]

[0068] [3] The vibration generating device is a haptic device capable of presenting an illusion of force as if a force is acting in a specific direction on a part of the body that is touching the vibration generating device, and the control device, in the data acquisition process, acquires the position of the part of the body of the subject to which the vibration generating device is attached as the subject posture information, and acquires the position and orientation of the vibration generating device as the device posture information, and in the control process, controls the vibration of the vibration generating device so as to present an illusion of force in a direction in which the positional relationship of the vibration generating device relative to the position of the part of the body of the subject to which the vibration generating device is attached approaches a predetermined specified positional relationship. [1] or [2] A vibration control system.

[0069] [4] The vibration generating device is a haptic device capable of presenting an illusion of force as if a force is acting in a specific direction on a part of the body that is touching the vibration generating device, and the control device, in the data acquisition process, acquires the orientation of the part of the body of the subject to which the vibration generating device is attached as the subject posture information, and acquires the orientation of the vibration generating device as the device posture information, and in the control process, controls the vibration of the vibration generating device so as to present an illusion of force in which the orientation of the vibration generating device relative to the orientation of the part of the body of the subject to which the vibration generating device is attached rotates in a direction approaching a predetermined specified orientation.A vibration control system described in any one of [1] to [3].

[0070] [5] The vibration generating device is a haptic device capable of presenting an illusion of force as if a force is acting in a specific direction on a part that is touching the vibration generating device, and the control device, in the data acquisition process, acquires the position and orientation of the vibration generating device as the device posture information, and acquires the position of the part of the subject's body to which the vibration generating device is attached and the position of the specific part of the subject's body as the subject posture information, and in the control process, controls the vibration of the vibration generating device so as to present an illusion of force in a direction in which the positional relationship of the part of the subject's body to which the vibration generating device is attached relative to the specific part of the subject approaches a predetermined specified positional relationship.A vibration control system described in any one of [1] to [4].

[0071] DI: Device posture information PI: Subject posture information 10: Vibration control system 20: MRI device 30: Haptic device 40: Monitoring device 50: Control device

Claims

1. A vibration control system comprising: a vibration generating device that can be used under an MRI examination or an MEG examination and that can change vibration-related parameters; a monitoring device that can detect subject posture information related to the posture of a subject using the vibration generating device and apparatus posture information related to the posture of the vibration generating device; and a control device that can control the vibration of the vibration generating device, wherein the control device executes a data acquisition process that acquires the subject posture information and the apparatus posture information from the monitoring device, and a control process that controls the vibration of the vibration generating device based on one or more selected from the subject posture information and the apparatus posture information.

2. The vibration control system of claim 1, wherein the control device, in the control process, sets a reference axis based on a specific part of the subject's body based on the subject posture information, and controls the direction of vibration of the vibration generating device so that the direction of vibration of the vibration generating device is at a predetermined angle with respect to the reference axis.

3. The vibration generating device is a haptic device capable of presenting an illusion of force as if a force is acting in a specific direction on a part of the body that is in contact with the vibration generating device, and the control device, in the data acquisition process, acquires the position of the part of the body of the subject to which the vibration generating device is attached as the subject posture information, and acquires the position and orientation of the vibration generating device as the device posture information, and in the control process, controls the vibration of the vibration generating device so as to present an illusion of force in a direction in which the positional relationship of the vibration generating device relative to the position of the part of the body of the subject to which the vibration generating device is attached approaches a predetermined specified positional relationship. A vibration control system as described in claim 1 or claim 2.

4. The vibration generating device is a haptic device capable of presenting an illusion of force as if a force is acting in a specific direction on a part of the body that is in contact with the vibration generating device, and the control device, in the data acquisition process, acquires the orientation of the part of the body of the subject to which the vibration generating device is attached as the subject posture information, and acquires the orientation of the vibration generating device as the device posture information, and in the control process, controls the vibration of the vibration generating device so as to present an illusion of force in which the orientation of the vibration generating device relative to the orientation of the part of the body of the subject to which the vibration generating device is attached rotates in a direction that approaches a predetermined specified orientation. A vibration control system as described in any one of claims 1 to 3.

5. The vibration generating device is a haptic device capable of presenting an illusion of force as if a force is acting in a specific direction on a part of the body that is in contact with the vibration generating device, and the control device, in the data acquisition process, acquires the position and orientation of the vibration generating device as the device posture information, and acquires the position of the part of the body of the subject to which the vibration generating device is attached and the position of the specific part of the body of the subject as the subject posture information, and in the control process, controls the vibration of the vibration generating device so as to present an illusion of force in a direction in which the positional relationship of the part of the body of the subject to which the vibration generating device is attached relative to the specific part of the subject approaches a predetermined specified positional relationship. A vibration control system as described in any one of claims 1 to 4.

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