Patent Application
20180192979
The present disclosure relates to a method and device for assisting the transport of a radiation-irradiation device that irradiates a subject with radiation in a case in which the radiation image of the subject is to be acquired.
Further, the present disclosure relates to a radiographic imaging apparatus using the radiation-irradiation device.
In the past, a portable radiation-irradiation device, on which only a minimum number of components for radiation irradiation, such as a radiation source and an electrical circuit, are mounted and which can be operated while being held with hands manually by an operator, has been proposed as disclosed in, for example, “Toshiba Medical Supply Co., Ltd., X-ray equipment IPF-21, [online], [Search on Jul. 30, 1999], Internet URL:http://www.toshiba-iryouyouhin.co.jp/tmeds/xrays/ipf21.html”. Since this kind of portable radiation-irradiation device is reduced in weight so that an operator can hold and operate the radiation-irradiation device manually with hands, the radiation-irradiation device is advantageous for the imaging of a subject in various directions.
A radiation detector (so-called “Flat Panel Detector”), which records a radiation image representing a subject by being irradiated with radiation transmitted through the subject, is generally used in a case in which the radiation image of the subject is to be taken by this kind of radiographic imaging apparatus. A cassette-type radiation detector having a structure in which an image detection unit and a control unit, such as a battery for drive and an electrical circuit relating to drive, are received in a housing is well known as the radiation detector. Further, in a case in which such a radiation detector is disposed at a position facing the radiation-irradiation device with a subject interposed therebetween and the radiation-irradiation device is driven in this state, the radiation detector is irradiated with radiation transmitted through the subject. Accordingly, a radiation image represented by the radiation transmitted through the subject is acquired.
The portable radiation-irradiation device can be held and operated with hands by an operator. However, a radiation-irradiation device, which includes a holding unit holding a radiation source unit including a radiation source, is proposed to prevent shaking and to prevent operator's hands or the like from being exposed to radiation. “Toshiba Medical Supply Co., Ltd., X-ray equipment IPF-21, [online], [Search on Jul. 30, 1999], Internet URL:http://www.toshiba-iryouyouhin.co.jp/tmeds/xrays/ipf21.html” also discloses an example of such a holding unit, and particularly, a holding unit that includes wheel parts provided at lower portions of holding legs and can travel.
The radiation-irradiation device including the holding unit basically includes: a leg unit that is adapted to be capable of traveling using wheels; a body unit that receives a control unit including a battery for the drive of a radiation source, an electrical circuit relating to the drive of the radiation source, and the like and is held on the leg unit; and an arm unit that is connected to the body unit. The radiation source unit is mounted on the distal end of the arm unit.
In a case in which the radiation-irradiation device, which is adapted to be capable of traveling as described above, is used to take a radiation image, the radiation-irradiation device is transported to an imaging site by a transport force of an operator (user). However, the collision or interference between the radiation-irradiation device and a transport path or obstacles which are present near the transport path, should be naturally avoided during the transport of the radiation-irradiation device. JP2015-006333A discloses a device that specifies the positions of obstacles present in an examination room on the basis of a plurality of images relating to the inside of the examination room and prevents the collision by limiting the moving range of a radiation source holding unit on the basis of the positions of the obstacles and the like.
Further, JP2014-168690A discloses a device that acquires information about a relative positional relationship between a radiation source and a radiation detector and guides and controls the movement position of a radiation-irradiation device capable of traveling on the basis of the information about the positional relationship.
However, in a case in which the appropriate position of the radiation-irradiation device holding the radiation source, which is obtained at the time of imaging, is determined on the basis of only the relative positional relationship between the radiation source and the radiation detector as disclosed in JP2014-168690A, an obstacle is present close to the radiation-irradiation device disposed at the appropriate position. For this reason, there is a problem that it is not possible to perform work for taking a radiation image or it is difficult to perform work for taking a radiation image. The device disclosed in JP2015-006333A is the same in terms of being incapable of preventing the generation of the above-mentioned problem.
The present disclosure has been made in consideration of the above-mentioned circumstances, and is to provide a transport assisting method for a radiation-irradiation device that can assist the setting of the position of a radiation-irradiation device holding a radiation source, which is obtained at the time of imaging, to an appropriate position at which work relating to imaging can be performed.
Further, the present disclosure is to provide a transport assisting device that can perform the above-mentioned transport assisting method for a radiation-irradiation device.
Furthermore, the present disclosure is to provide a radiographic imaging apparatus that can perform the above-mentioned transport assisting method for a radiation-irradiation device.
A transport assisting method for a radiation-irradiation device according to the disclosure assists a user to transport a radiation-irradiation device, on which a radiation source irradiating a radiation image recording medium with radiation and a movable radiation source holding unit holding the radiation source so as to allow the position of the radiation source to be changeable are mounted and which is capable of being transported by the user, to a target position where the radiation image recording medium is irradiated with radiation. The transport assisting method includes: setting a target position of the radiation-irradiation device where the radiation source is capable of being disposed at a radiation-irradiation position where a radiation image is capable of being taken with respect to the radiation image recording medium in a movable range where the position of the radiation source is capable of being changed by the radiation source holding unit and a work space is capable of being secured around the radiation-irradiation device; detecting a current position of the radiation-irradiation device; detecting a position of an obstacle that obstructs the transport of the radiation-irradiation device; and notifying the user of the transport assistance of the radiation-irradiation device to the target position on the basis of the target position, the current position, and the position of the obstacle.
Here, “is capable of being transported by the user” includes not only a case in which the user can transport the radiation-irradiation device by only one's own transport force but also a case in which the radiation-irradiation device includes a power unit, such as a motor, and can be transported by only power while a user operates the power unit or can be transported while the user uses power as an assisting force.
Further, the setting of the target position, the detection of the current position, and the detection of the position of the obstacle are not limited to a case in which the setting of the target position, the detection of the current position, and the detection of the position of the obstacle are performed in this order, and may be performed in any other arbitrary order.
Furthermore, the setting of the target position does not necessarily need to be performed in preference to all other processing. For example, a distance between the radiation-irradiation device and the radiation image recording medium may be detected by the radiation-irradiation device on the basis of, for example, the strength of a radio signal transmitted from the radiation image recording medium before the setting of the target position, the setting of the target position may be started in a case in which this distance is shortened to a distance determined in advance, and the notifying may be performed subsequent to the start of the setting of the target position. Alternatively, in a case in which an emergency treatment room includes a plurality of rooms, for example, a room A, a room B, a room C, . . . , and the radiation-irradiation device is currently used in the room A and is to be used in the room B next, the setting of the target position may be started under conditions where the radiation-irradiation device enters the room B and/or leaves the room A and the notifying may be performed subsequent to the start of the setting of the target position.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the notifying is started in a case in which the radiation-irradiation device approaches the target position by a predetermined distance, which is shorter than a distance to the target position at the time of setting the target position, after the setting of the target position. Here, the “predetermined distance” is a distance determined in advance, and does not mean a distance having a specific value.
Alternatively, the notifying may be started in a case in which the radiation-irradiation device approaches the obstacle by a predetermined distance after the setting of the target position. The “predetermined distance” is also a distance determined in advance, and does not mean a distance having a specific value.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, when the radiation-irradiation device is positioned at the target position, the work space is secured on at least a right side of the radiation-irradiation device in a case in which the radiation-irradiation position of the radiation source is present on the right side of the radiation-irradiation device and the work space is secured on at least a left side of the radiation-irradiation device in a case in which the radiation-irradiation position of the radiation source is present on the left side of the radiation-irradiation device.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, a position of the radiation image recording medium, which is used to set the target position, is detected on the basis of an image reconstructed from images taken by a plurality of cameras mounted on the radiation-irradiation device and/or an image taken by one camera.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, a position of the radiation image recording medium, which is used to set the target position, is detected on the basis of a radio signal transmitted from the radiation image recording medium.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, a position of the radiation image recording medium, which is used to set the target position, is acquired from an order for taking a radiation image.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the current position of the radiation-irradiation device is detected on the basis of an image reconstructed from images taken by a plurality of cameras mounted on the radiation-irradiation device and/or an image taken by one camera.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the position of the obstacle is detected on the basis of an image reconstructed from images taken by a plurality of cameras mounted on the radiation-irradiation device and/or an image taken by one camera.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the setting of the target position is performed under conditions where the radiation source is capable of being disposed at the radiation-irradiation position where a radiation image is capable of being taken with respect to the radiation image recording medium in a movable range where the position of the radiation source is capable of being changed by the radiation source holding unit, the work space is capable of being secured around the radiation-irradiation device, and the obstacle is not present in a movable range of the radiation source holding unit.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the setting of the target position is performed under conditions where the radiation source is capable of being disposed at the radiation-irradiation position where a radiation image is capable of being taken with respect to the radiation image recording medium in a movable range where the position of the radiation source is capable of being changed by the radiation source holding unit, the work space is capable of being secured around the radiation-irradiation device, and whether or not a radiation image is not capable of being taken due to the presence of the obstacle in a case in which the obstacle is present in a movable range of the radiation source holding unit.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the notifying is performed using an image displayed on display means, such as a liquid crystal panel, for displaying an image. A dedicated element may be used as this display means, or other display means for performing input/output for the control of the radiation-irradiation device or for displaying an image used to confirm a radiation-irradiation field may be used as this display means.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the image, which is displayed on the display means as the notifying, includes a display showing a path to the target position from the current position of the radiation-irradiation device.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the image, which is displayed on the display means as the notifying, includes an image showing a field of view on a front side of the radiation-irradiation device in a transport direction.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the image, which is displayed on the display means as the notifying, includes an image obtained by viewing the radiation-irradiation device from above.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the notifying is performed using a voice.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, the notifying using the voice is to notify the user of a transport direction with respect to the transport direction of the radiation-irradiation device at a point of time when the notifying is performed. “Notifying the transport direction of the radiation irradiating device with respect to the transport direction at a point of time when the notification is performed” is to notify the user of how to change the transport direction with respect to the transport direction of the radiation-irradiation device at a point of time when the notifying is performed or to notify the user of whether or not to change the transport direction, and more specifically means “go straight”, “turn right”, or “turn left”.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, in a case in which the radiation-irradiation device deviates from an appropriate movement path based on the notifying during the transport of the radiation-irradiation device, the notifying of a warning indicating a fact of the deviation of the radiation-irradiation device is generated.
In the transport assisting method for a radiation-irradiation device according to the present disclosure, in a case in which the radiation-irradiation device arrives at the target position, notifying the user of the arrival of the radiation-irradiation device is generated.
A transport assisting device for a radiation-irradiation device according to the present disclosure assists a user to transport a radiation-irradiation device, on which a radiation source irradiating a radiation image recording medium with radiation and a movable radiation source holding unit holding the radiation source so as to allow the position of the radiation source to be changeable are mounted and which is capable of being transported by the user, to a target position where the radiation image recording medium is irradiated with radiation. The transport assisting device includes: target position setting means for setting a target position of the radiation-irradiation device where the radiation source is capable of being disposed at a radiation-irradiation position where a radiation image is capable of being taken with respect to the radiation image recording medium in a movable range where the position of the radiation source is capable of being changed by the radiation source holding unit and a work space is capable of being secured around the radiation-irradiation device; current position detecting means for detecting a current position of the radiation-irradiation device; obstacle position detecting means for detecting a position of an obstacle that obstructs the transport of the radiation-irradiation device; and notification means for notifying the user of the transport assistance of the radiation-irradiation device to the target position on the basis of the target position, the current position, and the position of the obstacle.
Further, a radiographic imaging apparatus according to the present disclosure includes: a radiation-irradiation device on which a radiation source irradiating a radiation image recording medium with radiation and a movable radiation source holding unit holding the radiation source so as to allow the position of the radiation source to be changeable are mounted and which is capable of being transported by a user; target position setting means for setting a target position of the radiation-irradiation device where the radiation source is capable of being disposed at a radiation-irradiation position where a radiation image is capable of being taken with respect to the radiation image recording medium in a movable range where the position of the radiation source is capable of being changed by the radiation source holding unit and a work space is capable of being secured around the radiation-irradiation device; current position detecting means for detecting a current position of the radiation-irradiation device; obstacle position detecting means for detecting a position of an obstacle that obstructs the transport of the radiation-irradiation device; and notification means for notifying the user of the transport assistance of the radiation-irradiation device to the target position on the basis of the target position, the current position, and the position of the obstacle.
The transport assisting method for a radiation-irradiation device of the present disclosure includes: setting a target position of the radiation-irradiation device where the radiation source is capable of being disposed at a radiation-irradiation position where a radiation image is capable of being taken with respect to the radiation image recording medium in a movable range where the position of the radiation source is capable of being changed by the radiation source holding unit and a work space is capable of being secured around the radiation-irradiation device; detecting a current position of the radiation-irradiation device; detecting a position of an obstacle that obstructs the transport of the radiation-irradiation device; and notifying the user of the transport assistance of the radiation-irradiation device to the target position on the basis of the target position, the current position, and the position of the obstacle. Accordingly, it is possible to assist the setting of the position of a radiation-irradiation device holding a radiation source, which is obtained at the time of imaging to an appropriate position around which work can also be performed.
Embodiments of the present disclosure will be described below with reference to the drawings.
As shown in
The leg unit 10 can travel on a device-placement surface 2, and includes a plate-like base 11 and four wheel parts 12 that are mounted on four corners of the lower surface of the base 11. As in the case of a general caster, each of the wheel parts 12 is composed of a wheel, such as a rubber tire, a revolving portion that holds the wheel so as to allow the wheel to be rotatable, and the like. The revolving portion is mounted on the base 11 so as to be revolvable about an axis, which extends in the vertical direction, in a horizontal plane. Accordingly, the leg unit 10 is adapted to be capable of traveling on the device-placement surface 2 in an arbitrary direction.
The body unit 20 is installed on the leg unit 10, and includes a housing 21. A control unit 22, which controls the drive of the radiation-irradiation device 1, and a battery (not shown) are received in the housing 21. The control unit 22 is a unit that is used to control not only the dose, the quality, the irradiation time, and the like of radiation generated from the radiation source unit 40 but also various operations of the radiation-irradiation device 1. The control unit 22 is composed of, for example, a computer in which a program for control is installed, dedicated hardware, or a combination of both the computer and the dedicated hardware. Further, a monitor 23 in which a speaker 18 is built is mounted on the upper surface of the housing 21. A handle 26, which is used to push or pull the radiation-irradiation device 1, is mounted on the upper portion of the housing 21 through an adapter 27. Furthermore, cameras 28A, 28B, 28C, and 28D, which are used to take an omnidirectional image of the device 1, are mounted on the right side surface, the rear surface, the left side surface, and the front surface of the body unit 20, respectively. For example, a digital video camera, which outputs digital signals representing a taken video, is used as each of these cameras 28A to 28D.
The monitor 23 serving as display means is formed of a liquid crystal panel or the like, and displays a radiation image that is acquired from the imaging of a subject H and various kinds of information that is required for the control of the device 1. Further, the monitor 23 includes a touch panel type input unit 24, and receives the input of various commands required for the operation of the device 1. The control unit 22 functions as a console (operator console), which is used to command various operations of the radiation-irradiation device 1, together with the input unit 24. The control unit 22 is formed separately from the input unit 24 in this embodiment, but the control unit 22 and the input unit 24 may be integrated with each other. The monitor 23 is mounted on the upper surface of the body unit 20 so that the inclination and the rotational position of the monitor 23 are changeable. Further, the monitor 23 may be detachably mounted on the body unit 20. In a case in which the monitor 23 is separate from the body unit 20, the monitor 23 and the control unit 22 are adapted to communicate with each other by radio.
The arm unit 30 is held on the body unit 20. In detail, the arm unit 30 is held on the surface of the body unit 20 opposite to the handle 26, that is, a right surface of the body unit 20 in
The first and second arms 31 and 32 are connected to each other by the first rotational moving portion 33 so as to be rotationally movable about a rotational movement axis AX1. The rotational movement axis AX1 is an axis extending in the x direction. The first arm 31 is rotationally moved about the rotational movement axis AX1 so that an angle between the first and second arms 31 and 32 is changed. The first rotational moving portion 33 holds both the first and second arms 31 and 32 so that the first arm 31 is rotationally moved relative to the second arm 32 through a friction mechanism. For this reason, the first arm 31 is rotationally movable in a case in which an external force, which is strong to some extent, is applied to the first arm 31, and maintains an angle relative to the second arm 32 without being rotationally moved as long as an external force is not applied to the first arm 31.
The second arm 32 is connected to an adapter 51, which is mounted on the upper end portion of the raising/lowering mechanism 50, through the second rotational moving portion 34 so as to be rotationally movable about a rotational movement axis AX2. The rotational movement axis AX2 is an axis extending in the x direction. The second arm 32 is rotationally moved in a YZ plane about the rotational movement axis AX2 so that an angle between the second arm 32 and the surface of the body unit 20 on which the arm unit 30 is held is changed. The second rotational moving portion 34 holds both the second arm 32 and the adapter 51 so that the second arm 32 is rotationally moved relative to the adapter 51 through a friction mechanism. For this reason, the second rotational moving portion 34 is rotationally movable in a case in which an external force, which is strong to some extent, is applied to the second rotational moving portion 34, and maintains an angle relative to the body unit 20 without being rotationally moved as long as an external force is not applied to the second rotational moving portion 34.
The radiation source holding part 35 is formed in a substantially U shape, and is mounted on the distal end of the first arm 31. The radiation source unit 40 is connected to the distal end of the first arm 31 through the radiation source holding part 35 so as to be rotationally movable about a rotational movement axis AX3. The rotational movement axis AX3 is an axis extending in the x direction. The radiation source unit 40 is rotationally moved about the rotational movement axis AX3 so that an angle between the radiation source unit 40 and the first arm 31 is changed. The radiation source holding part 35 holds both the radiation source unit 40 and the first arm 31 so that the radiation source unit 40 is rotationally moved relative to the first arm 31 through a friction mechanism. For this reason, the radiation source unit 40 is rotationally movable in a case in which an external force, which is strong to some extent, is applied to the radiation source unit 40, and maintains an angle relative to the first arm 31 without being rotationally moved as long as an external force is not applied to the radiation source unit 40.
Furthermore, the adapter 51 is connected to the raising/lowering mechanism 50 so as to be rotationally movable about a rotational movement axis AX4. The rotational movement axis AX4 is an axis extending in the z direction. The adapter 51 is rotationally moved in an xy plane about the rotational movement axis AX4. In a case in which the adapter 51 is rotationally moved in this way, the entire arm unit 30 is rotationally moved in the xy plane. The adapter 51 holds both the second arm 32 and the raising/lowering mechanism 50 so that the second arm 32 is rotationally moved relative to the raising/lowering mechanism 50 through a friction mechanism. For this reason, the arm unit 30 connected to the adapter 51 is rotationally movable in a case in which an external force, which is strong to some extent, is applied to the arm unit 30, and maintains a rotational movement position thereof in the xy plane without being rotationally moved as long as an external force is not applied to the arm unit 30.
As described above, in this embodiment, each of the rotational movement of the first arm 31 relative to the second arm 32, the rotational movement of the second arm 32 relative to the body unit 20 in the yz plane, the rotational movement of the radiation source unit 40 relative to the first arm 31, and the rotational movement of the entire arm unit 30 relative to the raising/lowering mechanism 50 in the xy plane is achieved through the friction mechanism. However, rotational movement positions may be fixed by publicly known lock mechanisms. In this case, it is possible to rotationally move the first arm 31, the second arm 32, the radiation source unit 40, and the entire arm unit 30 by releasing the lock mechanisms. Further, it is possible to fix the rotational movement positions by locking the lock mechanisms at desired rotational movement positions.
Here, in a case in which the radiation-irradiation device 1 shown in
Here, a position where the entire arm unit 30 is present so as to be away from the raising/lowering mechanism 50 in the +y direction is referred to as the initial rotational movement position of the arm unit 30. The +y direction is a right direction in
The first and second arms 31 and 32 can be fastened to each other by a fastening belt 36 at the initial position. For example, one end portion of the fastening belt 36 is mounted on the second arm 32 and a hook-and-loop fastener is mounted on the other end portion of the fastening belt 36. A hook-and-loop fastener corresponding to the hook-and-loop fastener of the fastening belt 36 is mounted on the surface of the first arm 31 opposite to the surface of the first arm 31 shown in
The radiation source unit 40 has a structure where a radiation source, a collimator for narrowing the irradiation range of radiation, and the like are received in a housing 41. The radiation source is composed of, for example, an X-ray tube, a booster circuit, cooling means for cooling the X-ray tube, and the like. The emission of radiation from the radiation source of the radiation source unit 40 is performed by a command that is input from the input unit 24 of the monitor 23 by an operator. The input unit 24 is used to input information that is required to perform various operations of the radiation-irradiation device 1, and forms a console (operator console), which is used to perform the management of imaging orders, the image processing of a taken image, the display of the taken image, and the like, together with the control unit 22 and the monitor 23.
In this embodiment, in a case in which the radiation image of a subject H is to be taken, a radiation detector 80 is disposed under a subject H supine on a bed 3 as shown in
The radiation detector 80 will be briefly described here with reference to
An imaging control unit, which includes a gate driver, a signal processing circuit, and the like, and the like are built in the housing 82 in addition to the image detection unit 81. The gate driver applies gate drive signals to a gate of a TFT to switch the TFT. The signal processing circuit converts electric charges, which are accumulated in the pixels, into analog voltage signals by an amplifier, obtains digital image signals representing an X-ray image through the AD conversion of the analog voltage signals, and stores the digital image signals serving as radiation image information in a memory. The digital image signals may be stored in a memory that is built in the radiation detector 80, or may be transmitted to an external console by wire communication or radio communication. Further, the housing 82 has substantially the same size as, for example, a film cassette using a silver salt photograph film as a recording medium or a computed radiography (CR) cassette using an imaging plate (IP) as a recording medium that is based on International Organization for Standardization (ISO) 4090:2001.
Markers 84A to 84D, which represent identification information for identifying the radiation detector 80, are given to four corners of the front surface of the housing 82. In this embodiment, each of the markers 84A to 84D is formed of two bar codes orthogonal to each other. The above-mentioned four markers do not necessarily need to be provided, and, for example, one marker, two markers, or the like may be provided. Further, the installation positions of the markers are not limited to the corners of the housing 82, and the markers may be installed at side portions of the housing 82. Furthermore, the markers 84A to 84D may be adapted to transmit identification information by radio.
Next, an operation in a case in which a radiation image is not yet taken by the radiation-irradiation device 1 of this embodiment will be described. In the state which is shown in
Here, “a state in which the arm unit 30 is stored” is a state in which the arm unit 30 is positioned at the above-mentioned initial position. In a case corresponding to emergency care or the like, the radiation-irradiation device 1 may be carried to the use position in the same manner as described above in a state in which the arm unit 30 is unfold. Since each of the wheel parts 12 is revolvably mounted on the base 11 as described above, the radiation-irradiation device 1 can be moved in a front-back direction and the lateral direction and can also be moved along a large curve. In addition, the radiation-irradiation device 1 can also revolve at that position. Accordingly, the radiation-irradiation device 1 can be quickly transported to a use position in a state in which the radiation-irradiation device 1 revolves in a small radius.
The taking of a radiation image is performed on the subject H who is supine on, for example, the bed 3 as shown in the above-mentioned
Next, a transport assisting method for a radiation-irradiation device according to an embodiment of the present disclosure will be described. The transport assisting method is to perform notification, that is, to display a movement path, which allows the radiation-irradiation device 1 not to collide with an obstacle, on the monitor 23 or to notify an operator of the movement path with a voice by a speaker 18 in a case in which the radiation-irradiation device 1 is to be transported to a position (target position) where irradiation using radiation is performed by a transport force of the operator as described above.
In this embodiment, target position setting means, current position detecting means, and obstacle position detecting means of the transport assisting device of the present disclosure are formed by the cameras 28A to 28D and the control unit 22. A plurality of cameras, which take stereo images corresponding to the four directions of the radiation-irradiation device 1, and the like can also be used as the obstacle position detecting means. The plurality of cameras may be mounted on the body unit 20 and may also be mounted on the radiation source unit 40. Further, the cameras 28A to 28D, the control unit 22, the monitor 23, and the speaker 18 form notification means of the transport assisting device of the present disclosure.
Next, the transport of the radiation-irradiation device 1 in a case in which the transport assisting method is performed will be described with reference to
As shown in
In a case in which the radiation-irradiation device 1 comes close to the imaging place in Step S2, the information recorded in the IC tag of the radiation-irradiation device 1 is read by the reader. Which mode of the two modes takes priority is registered in the radiation-irradiation device 1 and the reader as a default condition. Generally, the “obstacle approach mode” is set as a prescribed condition in a radiation-irradiation device 1 of which the field of view on the front side is not good, and the “obstacle approach mode” is set as a default mode in a case in which, for example, an emergency room or the like serving as an imaging site is in disorder even in a radiation-irradiation device 1 of which the field of view on the front side is good. Generally, the setting of the two modes is not registered in the reader, and the default mode of the radiation-irradiation device 1 is basically employed in the reader. However, in a case in which a mode is set in the reader, the default mode of the radiation-irradiation device 1 is ignored and the mode set in the reader is employed.
In a case in which the power source of the radiation-irradiation device 1 is turned on, an image showing the entire circumference of the radiation-irradiation device 1, that is, an omnidirectional image is displayed on the monitor 23 (Step S3). In a case in which the transport assisting method of the present disclosure is to be performed, an operator transports the radiation-irradiation device 1 while viewing the image displayed on the monitor 23. Accordingly, the transport direction of the radiation-irradiation device 1 in this case is the +y direction in
Here, the omnidirectional image will be described. The control unit 22 shown in
In a case in which an omnidirectional image is to be displayed on the monitor 23, the control unit 22 detects the markers 84A to 84D, which are to be given to the housing 82 of the radiation detector 80 as described above, by, for example, image processing and makes the monitor 23 display an omnidirectional image corresponding to a direction in which these markers 84A to 84D are included, that is, a direction in which the radiation detector 80 is included. Accordingly, if the radiation-irradiation device 1 reaches a position where the radiation-irradiation device 1 can detect the radiation detector 80, the subject H and the bed 3 present on and under the radiation detector 80 are also displayed on the monitor 23 together with the radiation detector 80 as shown in
A motion sensor is built in the housing 82. In this case, the position of the radiation detector 80 can be traced on the basis of the initial positions of the markers 84A to 84D and motion signals output from the motion sensor in a case in which the markers 84A to 84D are hidden from the subject H and cannot be detected. In addition, means for transmitting the individual information of the radiation detector 80 by radio may be provided in the housing 82, and the position of the radiation detector 80 may be detected from the radio signal of the means.
In this case, the base 11 of the radiation-irradiation device 1 and the housing 41 of the radiation source unit are further also displayed on the monitor 23. The display of the base 11 and the housing 41 corresponds to the display of the current position of the radiation-irradiation device 1. Further, if an obstacle B, such as a bed, is present, the obstacle B is also displayed on the monitor 23. The display of the obstacle B corresponds to the display of the position of the obstacle. Furthermore, after the transport assistance to be described later is started, for example, a path shown by arrows Ar and the like, which indicates an appropriate movement path for the transport of the radiation-irradiation device 1, that is, a movement path that allows the radiation-irradiation device 1 not to collide or interfere with the obstacle B, is displayed on the monitor 23. This movement path is a movement path that is set even in consideration of the traveling performance of the radiation-irradiation device 1, and does not necessarily means a straight line path from the current position of the radiation-irradiation device 1 to a target position.
Returning to
In the next step S7, the control unit 22 determines whether or not the markers 84A to 84D, that is, the radiation detector 80 is detected in the above-mentioned manner. In
If the radiation detector 80 is not detected in Step S7, the control unit 22 makes the monitor 23 display “Don't you set the cassette?” and makes the monitor 23 display “YES” and “NO” in Step S9. The operator views the display of these and presses the display of “NO” to input the fact of “NO” to the control unit 22 from the input unit 24 if the operator forgets to set the radiation detector 80. Further, the operator performs the setting of the radiation detector 80 that has been forgotten. In a case in which the radiation detector 80 is set in this way, the radiation detector 80 is detected in Step S7.
In a case in which the operator is to postpone the setting of the radiation detector 80 due to certain circumstances, the operator presses the display of “YES” to input the fact of “YES” to the control unit 22 from the input unit 24. In this case, in Step S10, the control unit 22 predicts the position of the radiation detector 80 on the basis of the position of the detected subject H from an imaging order for the subject H and makes the monitor 23 display the predicted position. That is, since, for example, information about portions to be imaged, such as a “frontal chest in standing position” and “frontal abdomen in supine position”, an imaging posture, and an imaging direction is generally included in the imaging order, it is possible to predict the position of the radiation detector 80 to be set relative to the position of the subject H in a case in which the information is used. Further, in a case in which the predicted position of the radiation detector 80 is to be displayed on the monitor 23, the fact that the position of the radiation detector 80 is a predicted position and the setting of the radiation detector 80 is facilitated is displayed on the monitor 23 together with the predicted position. If the radiation detector 80 is not in the movable range of the arm unit 30 to be described later in a case in which the setting of the radiation detector 80 is performed, warning sound may be generated from the speaker 18 or a warning may be displayed on the monitor 23. In a case in which a display is made on the monitor 23, the control unit 22 then starts the calculation of a target position in Step S8 like in a case in which the radiation detector 80 is detected in Step S7.
In a case in which the control unit 22 starts the processing of Step S8, the control unit 22 determines whether or not a target position where the radiation detector 80 can be detected in the movable range of the arm unit 30 and work spaces can be secured around the radiation-irradiation device 1 can be set in Step S11 shown in
Further, three regions RA, RB, and RC shown in
If the determination of Step S11 corresponds to YES, the control unit 22 calculates and sets a target position and determines the target position as a target position in Step S12. A detailed timing where the target position is set will be described in detail later. Further, in a case in which the target position is determined, an overhead omnidirectional image shown in, for example,
An appropriate movement path shown in
If the determination of Step S11 corresponds to NO, the control unit 22 in Step S13 determines whether or not work spaces can be secured in a direction where the first and second arms 31 and 32 extend. The reason for this is that the radiation detector 80 can be detected in the movable range of the arm unit 30 and predetermined work spaces can be secured around the radiation-irradiation device 1 if the first and second arms 31 and 32 extend even in a case in which the determination of Step S11 corresponds to NO in a state in which the first and second arms 31 and 32 are stored.
If the determination of Step S13 corresponds to YES, the control unit 22 determines a target position in Step S12. If the determination of Step S13 corresponds to NO, the operator makes the radiation-irradiation device 1 come close to a target position in a direction separate from a direction scheduled at the beginning (Step S6 shown in
In a case in which a target position is determined in Step S12 of
In
Next, in Step S16, the control unit 22 determines whether or not the other mode is selected. If the control unit 22 determines that the other mode is selected, the control unit 22 makes the monitor 23 display, for example, “RADIATION-IRRADIATION DEVICE: TARGET POSITION APPROACH MODE, No.8 BED: OBSTACLE APPROACH MODE, AN OBSTACLE APPROACH MODE WAS EMPLOYED ACCORDINGLY”. While the operator views the screen of the monitor 23 and confirms that a mode is the obstacle approach mode, the operator transports the radiation-irradiation device 1 so that the radiation-irradiation device 1 comes closer to a target position (Step S17). In a case in which the transport of the radiation-irradiation device 1 is continued, the radiation-irradiation device 1 approaches an obstacle. In this state, the control unit 22 makes the monitor 23 display an omnidirectional image shown in
The transport of the radiation-irradiation device 1 ends in a case in which the radiation-irradiation device 1 reaches a target position (Step S18).
An operation for selecting the other mode instead of the default mode may not be performed in Step S15 as long as the operation for selecting the other mode instead of the default mode is not particularly needed. In this case, it is naturally determined in Step S16 that the other mode is not selected. In a case in which it is determined that the other mode is not selected, the control unit 22 makes the monitor 23 display notification, such as “the obstacle approach mode is not selected”, or notifies the operator of the fact of “the obstacle approach mode is not selected” with a voice by a speaker 18 after the control unit 22 detects the movement of the radiation-irradiation device 1 in Step S19. After the operator confirms the notification of the fact, the worker continues to transport the radiation-irradiation device 1 so that the radiation-irradiation device 1 comes closer to a target position. That is, in a case in which the other mode is not selected, that is, in a case in which a prescribed mode is set, the processing of Steps S16 and the processing of Step S19 are repeated but the operator can continue to transport the radiation-irradiation device 1 regardless of the repetition of the processing.
The transport assistance of the radiation-irradiation device 1 to be performed in the “obstacle approach mode” or the “target position approach mode” will be described in detail with reference to
The “obstacle approach mode” is a mode in which the transport assistance of the radiation-irradiation device 1 is started in a case in which the radiation-irradiation device 1 comes close to an obstacle and is a mode suitable for a case in which the forward visibility of the radiation-irradiation device 1 is poor.
For illustration, three positions of the radiation-irradiation device 1, which are changed with time, are shown in
Returning to
Since obstacles are present around the radiation-irradiation device 1 in a case in which the radiation-irradiation device 1 reaches a position shown in the middle in the vertical direction, the transport assistance in the “obstacle approach mode” having been set is started. Accordingly, first, information required for the transport assistance is displayed in the omnidirectional image shown in
In a case in which the radiation-irradiation device 1 is transported with reference to the notification of the appropriate movement path using the display or the voice, the radiation-irradiation device 1 finally reaches a target position shown at the uppermost portion in
As long as the way of display of
Next, the transport assistance in a case in which the presence circumstances of obstacles are different from those of the above-mentioned case will be described with reference to
If the operator receives the notification in a case in which the operator transports the radiation-irradiation device 1 as shown by an arrow T of
In a case in which the radiation-irradiation device 1 reaches a target position, an obstacle is present in a part of the region RC among the regions RA, RB, and RC of the work spaces even in an example shown in
If the operator receives the notification in a case in which the operator transports the radiation-irradiation device 1, the operator determines whether work for taking a radiation image cannot be performed completely due to the presence of the obstacle in the notified region RC or a radiation image can be taken even though the work is affected by the obstacle. In this case, the operator performs the above-mentioned determination in consideration of a direction in which the arm unit 30 extends.
In this case, if the operator determines that the former is satisfied, the operator does not input a command for performing the transport assistance. Accordingly, in this case, the operator transports the radiation-irradiation device 1 on the basis of only one's own determination, and makes the radiation-irradiation device 1 come close to the radiation detector 80 and the subject H along a movement path, which is shown in
In a case in which the radiation-irradiation device 1 reaches a target position, an obstacle is present in a part of the region RC among the regions RA, RB, and RC of the work spaces in the example shown in
Determining whether work for taking a radiation image cannot be performed completely due to the presence of the obstacle or a radiation image can be taken even though the work is affected by the obstacle and making the radiation-irradiation device 1 come close to the radiation detector 80 and the subject H in a direction separate from a direction scheduled at the beginning, which have been described above, may be performed on the transport assistance in the “target position approach mode” to be described below.
Further, in a case in which the transport assistance is not performed since an obstacle is not detected during the setting of the transport assistance in the above-mentioned “obstacle approach mode”, the transport assistance in the “target position approach mode” may be performed when the current position of the radiation-irradiation device 1 comes close to a target position by a predetermined distance.
The flow of processing in this case will be described with reference to a flow chart of
If the determination of “YES” is made in Step S53, a mode is switched to the target position approach mode from the obstacle approach mode and the transport assistance is performed in Step S54. The radiation-irradiation device 1 comes close to a target position as it is (Step S55), and the processing ends in Step S56. Accordingly, since the radiation-irradiation device 1 does not come close to an obstacle, the transport assistance is not performed. For this reason, a situation in which the radiation-irradiation device 1 collides with the bed and the like can be prevented.
Next, the transport assistance of the radiation-irradiation device 1 performed in the “target position approach mode” will be described with reference to
Returning to
In a case in which the radiation-irradiation device 1 reaches a position shown in the middle in the vertical direction, that is, a position that is away from the target position of the radiation-irradiation device 1 by an appropriate distance determined in advance, the transport assistance in the “target position approach mode” having been set is started. Accordingly, first, information required for the transport assistance is displayed in the omnidirectional image shown in
In a case in which the radiation-irradiation device 1 is transported with reference to the notification of the appropriate movement path using the display or the voice, the radiation-irradiation device 1 finally reaches a target position shown at the uppermost portion in
In a case in which the radiation-irradiation device 1 reaches a target position after the transport assistance of the radiation-irradiation device 1 is performed in the “obstacle approach mode” or the “target position approach mode” having been described above, a radiation image is taken by the radiation-irradiation device 1 present at the position. The taking of the radiation image is generally performed by the following procedure.
First, the rotation of the wheels of the wheel parts 12 is locked so that the radiation-irradiation device 1 is fixed at the target position. Next, an image display mode of the monitor 23 is automatically or manually switched from a mode that displays a reconstruct omnidirectional image to a mode that displays the radiation detector 80 and a radiation-irradiation field around the subject H. An image, which is displayed in the latter display mode, is generally taken by a camera (not shown) that is mounted on the radiation source unit 40.
An operator operates the arm unit 30 while observing the image, and shifts the radiation detector 80 to a state in which the power source is turned on from a previous sleeve state in a case in which the radiation detector 80 is seen in the image displayed on the monitor 23. The operator continues to observe the image. Finally, the operator visually confirms the subject H and the circumstances around the subject H, and operates the arm unit 30 so that, for example, the center of the radiation detector 80 and the center of the collimator 41C correspond to each other. Then, the operator shifts the radiation detector 80 to an imaging-ready state from a previous standby state.
Next, a series of operations, such as radiation exposure, electric charges accumulation of the radiation detector 80, the reading of a radiation image corresponding to the accumulated electric charges, and the transmission of image data, are performed, and the taking of the radiation image ends.
Further, in a case in which the taking of a radiation image ends, the display mode of the monitor 23 is switched to an omnidirectional image display mode by an automatic or manual operation and the radiation-irradiation device 1 is in a state in which the radiation-irradiation device 1 can be transported to another place.
Next, the timing of the setting of the above-mentioned target position will be described in detail with reference to
As shown in
In a case in which a target position is set in the emergency room A as described above, the radiation-irradiation device 1 is sequentially transported into the emergency room B and the emergency room C and a target position is set in each room as in the emergency room A.
The setting of a reading distance of the IC tag 100 (generally about 10 m) is important. That is, in a case in which an omnidirectional image is acquired at the read position by a camera mounted on the radiation-irradiation device 1, the bed is included in the omnidirectional image. That is, in a case in which the bed is not included in the omnidirectional image, a target position cannot be set. Further, combinations of the readers A, B, and C and the IC tag 100 are registered in the radiation-irradiation device 1 in advance. Furthermore, the readers A, B, and C do not necessarily need to be disposed close to the beds, and may be disposed other appropriate places (for example, walls and the like) in the rooms. A method in which an AP (access point) is built in the bed and the radiation-irradiation device 1 receives beacon signals regularly transmitted from the AP can also be applied as other communication between the radiation-irradiation device 1 and the room. Considering that peripheral devices are placed in an emergency room or drip poles and the like that often serve as obstacles, it can be said that this communication method is suitable.
In this case, an IC tag readable distance is appropriately set in each of the readers A, B, and C. If the beds A, B, and C are very close to each other, there is a case where a plurality of readers may perform reading. To prepare for such a case, the monitor 23 of the radiation-irradiation device 1 may display that readings have been performed by the plurality of readers, and may allow an operator to select a bed for which a target position is to be set.
In regard to a wheel part that is applied to the radiation-irradiation device 1, an example of the wheel part other than the above-mentioned caster-shaped wheel part 12 will be described here. A wheel part shown in
The OMNI WHEEL 700 is one of omni directionally moving wheels, and includes a rotating body 702 that is mounted on an axle 701 and is rotatable about a rotation axis AX11 in a normal direction and a reverse direction, and a plurality of rollers 703 that are mounted on the outer peripheral portion of the rotating body 702. For example, a barrel-shaped roller is applied as the roller 703.
In this example, seven rollers 703 are mounted on each of left and right sides of the rotating body 702, that is, a total of fourteen rollers 703 are mounted on the rotating body 702. Each of the seven rollers 703, which are mounted on one side of the left and right sides of the rotating body, is mounted on the rotating body 702 so as to be rotatable about a rotation axis AX12, which extends in a tangential direction of one circle coaxial with the rotation axis AX11, in a normal direction and a reverse direction. The same applies to the seven rollers 703 that are mounted on the other side of the left and right sides of the rotating body. Further, the seven rollers 703, which are mounted on one side of the left and right sides of the rotating body, are disposed at positions that face gaps between the seven rollers 703 that are mounted on the other side of the left and right sides of the rotating body. The OMNI WHEEL 700 having the above-mentioned structure is mounted on each leg holding portion 712 through a bearing part 704 receiving the axle 701.
In the case of the OMNI WHEEL 700, the rotating body 702 and the fourteen rollers 703 form one rotating wheel. That is, in a case in which a force acting in the direction of an arrow P of
For example, a Mecanum wheel disclosed in JP2013-081659A can also be applied as the omni directionally moving wheel other than the above-mentioned OMNI WHEEL 700.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2015-176637 | Sep 2015 | JP | national |
This application is a continuation application of International Application No. PCT/JP2016/003917, filed on Aug. 29, 2016, which is incorporated herein by reference in its entirety. Further, this application claims priority from Japanese Patent Application No. 2015-176637, filed on Sep. 8, 2015, the disclosure of which is incorporated by reference herein in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2016/003917 | Aug 2016 | US |
| Child | 15913353 | US |
