WO2019097982A1

WO2019097982A1 - Method for measuring hardness distribution in test subject and device for measuring hardness distribution in test subject

Info

Publication number: WO2019097982A1
Application number: PCT/JP2018/039785
Authority: WO
Inventors: 宇佐美　由久
Original assignee: 富士フイルム株式会社
Priority date: 2017-11-15
Filing date: 2018-10-25
Publication date: 2019-05-23

Abstract

This method for measuring a hardness distribution in a test subject comprises: a step for pressing, at a plurality of measuring positions in a measurement target area of the test subject, a reaction force measurement means, which is for measuring a reaction force to a pushing force, against the measurement target area by varying the angle with respect to a measurement reference direction; a step for storing, in a storage means, information about the amount of pushing by the reaction force means, the amount being acquired at the plurality of measuring positions as variation points at which the reaction force change rate varies, information about the measurement positions where the pushing amounts have been acquired, and information about the angles at which said pushing amounts were obtained; and a step for acquiring information about the hardness of the test subject in the measurement reference direction using the pushing amount information, the measurement position information, and the angle information.

Description

Method of measuring hardness distribution of subject and hardness distribution measuring device of subject

The present disclosure relates to a method for measuring the hardness distribution of a subject and an apparatus for measuring the hardness distribution of a subject.

In the indentation test method disclosed in JP-A-2014-105998, a movable step of causing the indenter and the sample to approach each other by the first actuator, and indentation which measures the indentation amount and the indentation load while pushing the indenter into the sample by the second actuator. And step.

The abdominal force measuring device disclosed in JP 2005-261546 A performs an abdominal operation by arithmetically processing a pressing portion that presses the abdominal surface, a sensor that detects the abdominal force and outputs it as a measurement voltage, and a measurement voltage obtained from the sensor. It has an operation unit for obtaining a force value, a storage unit for storing an abdominal force value, and a display unit for displaying the abdominal force value.

The abdominal examination device of JP 2010-274011 A comprises a bed apparatus and a palpation apparatus, the palpation apparatus is provided at the lower part of the bed apparatus, and the palpation unit can be moved three-dimensionally in the space of the bed apparatus There is.

A method is known in which the reaction force measurement means is pressed into the subject to measure the reaction force, and the hardness of the subject at the position where the reaction force measurement means is pressed is known. Here, in the methods and devices described in JP-A-2014-105998 to JP-A-2010-274011, the indentation is performed only in one direction perpendicular to the surface of the subject.

However, when the reaction force measurement means is pushed in one direction perpendicular to the surface of the subject, the hardness of the soft part existing between the reaction force measurement means and the hard part is not constant. When the reaction force is measured in different subjects, even if the obtained reaction force is the same value, the amount of indentation may be different, and it is difficult to accurately measure the position of the portion where the hardness changes. In other words, there is room for improvement in accurately measuring the distribution state of the portion where hardness in the measurement reference direction of the subject changes, as compared to the method of measuring the reaction force only in the measurement reference direction.

In view of the above fact, the present disclosure can accurately measure the distribution state of a portion where the rigidity changes in the measurement reference direction of the subject, as compared to the method of measuring the reaction force only in the measurement reference direction. It is an object of the present invention to provide a method for measuring the hardness distribution of a body and an apparatus for measuring the hardness distribution of a subject.

In the method of measuring the hardness distribution of a subject according to the first aspect of the present disclosure, a reaction force measurement unit for measuring a reaction force against a pressing force is used to measure angles relative to the measurement reference direction at a plurality of measurement positions of the measurement target portion of the subject And pressing information onto the measurement target part, information on the amount of depression of the reaction force measuring means as a mutation point at which the rate of change of reaction force changes obtained at a plurality of measurement positions, and measurement for which the amount of depression is obtained Using the process of storing the information of the position and the information of the angle at which the amount of indentation is obtained, the information of the amount of indentation, the information of the measuring position, and the information of the angle, the measurement reference direction of the subject Obtaining the hardness information of the

In addition, the term "step" in the present specification is included in the term if the intended purpose of the step is achieved even if it can not be clearly distinguished from other steps, not only an independent step. .

The measurement position of the method of measuring the hardness distribution of a subject according to the second aspect of the present disclosure may be detected by detection means for detecting the position of the reaction force measurement means using radio waves or electromagnetic induction.

In the method of measuring hardness distribution of a subject according to the third aspect of the present disclosure, position information of the subject output from the subject position detection means for detecting the position of the subject is stored in the storage means, and the position of the subject When there is a shift, the positional shift information as the difference between the position information of the subject stored in the storage means and the position information of the subject output from the subject position detection means is stored in the storage means, and the measurement position May be corrected using positional deviation information.

The reaction force measurement means of the method of measuring the hardness distribution of a subject according to the fourth aspect of the present disclosure may be attached to a finger of a human body.

The reaction force measurement means of the method of measuring the hardness distribution of a subject according to the fifth aspect of the present disclosure is attached to the movement means moved so as to change the measurement position and the angle of the reaction force measurement means with respect to the measurement reference direction. It may be

In the method of measuring the hardness distribution of a subject according to the sixth aspect of the present disclosure, the angle of the reaction force measurement means with respect to the measurement reference direction is θ, and a variation point obtained in the measurement reference direction at the first measurement position of the subject The first indentation amount of d is d1, the second indentation amount as a mutation point obtained in the direction of angle θ at the second measurement position of the subject is d2, and the distance between the first measurement position and the second measurement position is If L and d2 × cos θ = d1, the depth in the measurement reference direction from the surface of the measurement target portion to the solid portion inside the measurement target portion is D, and the depth D = L / tan θ May be stored as position information of a rigid portion of the measurement target portion.

The apparatus for measuring the hardness distribution of a subject according to the seventh aspect of the present disclosure is a reaction force measurement unit that measures a reaction force by being pressed against a measurement target portion of the subject, and a measurement position as a position of the reaction force measurement unit And the detecting means for detecting the angle of the reaction force measuring means with respect to the measurement reference direction, the information of the reaction force, the information of the measurement position, and the information of the angle, as a mutation point at which the rate of change of the reaction force changes Storage means for storing information on the pressing amount of the reaction force measuring means, information on the pressing amount obtained at a plurality of measuring positions, and information on the measuring position at which the information on the pressing amount was obtained and information on the angle And acquisition means for acquiring hardness information of the measurement reference direction of the subject.

The detection means of the hardness distribution measuring apparatus for a subject according to the eighth aspect of the present disclosure may detect the position of the reaction force measurement means using radio waves or electromagnetic induction.

The apparatus for measuring the hardness distribution of a subject according to the ninth aspect of the present disclosure is provided with subject position detection means for detecting the position of the subject, and stores the position information of the subject output from the subject position detection means Positional shift information as a difference between the position information of the subject stored in the storage means and stored in the storage means and the position information of the subject output from the subject position detection means when stored in the means and when the position of the subject shifts May be stored in the storage unit, and the correction unit may be provided to correct the information on the measurement position using the positional deviation information.

The apparatus for measuring the hardness distribution of a subject according to the tenth aspect of the present disclosure may be provided with attachment means for attaching a reaction force measurement means to a finger of a human body.

The apparatus for measuring the hardness distribution of a subject according to an eleventh aspect of the present disclosure is a moving means to which a reaction force measurement means is attached and which is moved so as to change the measurement position and the angle of the reaction force measurement means with respect to the measurement reference direction. May be provided.

According to the present disclosure, the hardness distribution of the subject that can accurately measure the distribution state of the portion where the stiffness changes in the measurement reference direction of the subject compared to the method of measuring the reaction force only in the measurement reference direction. It is possible to provide a measurement method and an apparatus for measuring the hardness distribution of a subject.

It is a block diagram of the measuring device concerning a 1st embodiment. It is a block diagram of a measuring device concerning a 1st embodiment. It is a top view of the measuring device concerning a 1st embodiment. It is a side view of a measuring device concerning a 1st embodiment. It is an explanatory view showing the tip position of the probe concerning a 1st embodiment. It is explanatory drawing which shows the state which presses in the measurement reference direction, changing the measurement position concerning the 1st Embodiment. It is explanatory drawing which shows the state which pushes in the cross direction which cross | intersects a measurement reference direction, changing the measurement position based on 1st Embodiment. It is a graph which shows the relationship of the amount of indentations and reaction force in the measurement reference direction obtained by the probe concerning a 1st embodiment. It is a graph which shows the relationship of the amount of indentations and reaction force in the cross direction which are obtained by the probe concerning the 1st embodiment. It is explanatory drawing which shows the principle in which the position of the hard site | part in a human body is detected by the measuring apparatus which concerns on 1st Embodiment. It is an explanatory view showing the state where distribution of a hard part in a human body is measured by a measuring device concerning a 1st embodiment. It is an explanatory view showing a part of hard part in a human body obtained by a measuring device concerning a 1st embodiment. It is an explanatory view showing the state before pushing the probe concerning a 1st embodiment into a human body. It is explanatory drawing which shows the state which the probe which concerns on 1st Embodiment receives the reaction force from the soft site | part of a human body. It is explanatory drawing which shows the state which the probe which concerns on 1st Embodiment receives the reaction force from the hard site | part of a human body. It is an explanatory view showing the state where the probe concerning a 1st embodiment was pushed into other human bodies. It is a graph which shows the relationship of the amount of indentations and reaction force in the measurement reference direction obtained by the probe concerning a 1st embodiment. It is a graph which shows that the relationship between the amount of indentations and reaction force in the measurement reference direction obtained by the probe concerning a 1st embodiment changes with subjects. It is a flow chart which shows a flow of processing of hardness distribution measurement performed in a measuring device concerning a 1st embodiment. It is a block diagram of a measuring device concerning a 2nd embodiment. It is an explanatory view showing the state where the reaction force sensor and coil sensor concerning a 2nd embodiment were equipped with the finger of the right hand. It is an explanatory view showing the state where a measurer touches the abdomen of a human body in a measuring device concerning a 2nd embodiment. It is explanatory drawing which shows the state in which reaction force is measured by two different places of a human body by the measuring device which concerns on 2nd Embodiment. It is a flow chart which shows a flow of processing of hardness distribution measurement performed in a measuring device concerning a 2nd embodiment. It is a block diagram of a measuring device concerning the 1st modification. It is a block diagram of a measuring device concerning the 2nd modification. It is a block diagram of a measuring device concerning the 3rd modification.

Hereinafter, an example of the method of measuring the hardness distribution of a subject and the apparatus for measuring the hardness distribution of a subject according to the present disclosure will be described.

First Embodiment
FIG. 1 shows a measuring device 10 in which the hardness distribution of a human body P as an example of a subject is measured as a first embodiment of the present disclosure. Measuring device 10 is an example of a hardness distribution measuring device of a subject. Moreover, the measuring apparatus 10 is comprised including the bed 12 in which the human body P sleeps, and the measurement part 20 in which hardness distribution of the human body P is measured. In addition, the site | part measured by the measuring apparatus 10 among the human bodies P is called measurement object part PA. In the present embodiment, the measurement target portion PA is, for example, an abdomen.

〔bed〕
The bed 12 shown in FIGS. 3A and 3B has a support surface 14 that supports the entire human body P in a lying state. The support surface 14 is, for example, a surface along the horizontal direction. Further, the support surface 14 is formed in a rectangular shape as viewed from the normal direction of the support surface 14 as an example. In the following description, the lateral direction of the support surface 14 is referred to as the X direction, and the longitudinal direction of the support surface 14 is referred to as the Y direction. Furthermore, a direction normal to the support surface 14 and perpendicular to the X direction and the Y direction (vertical direction) is referred to as the Z direction.

In the measuring apparatus 10, when it is necessary to distinguish one side and the other side with respect to the center in the X direction, the Y direction, and the Z direction, one side is referred to as the X side, the Y side, the Z side, and the other side is -X. It is called the side, -Y side, -Z side. In the present embodiment, the Z side is the upper side, and the -Z side is the lower side. In the first embodiment, as an example, the Z direction is set to the measurement reference direction. The measurement reference direction is set in the Z direction which is the vertical direction in the first embodiment, but may be set in the horizontal direction or in the normal direction of the surface at the measurement start position of the measurement target portion PA.

[Measurement unit]
As an example, the measurement unit 20 illustrated in FIG. 2 includes an input / output interface (I / O) unit 22, a monitor 24, a control unit 30, a probe 40, a moving unit 50, a detection unit 60, and a subject detection. And a unit 70. In the input / output interface unit 22, the monitor 24, the control unit 30, the probe 40, the moving unit 50, the detection unit 60, and the subject detection unit 70 (including the reception unit 74 described later) are electrically connected. It is connected.

The monitor 24 is an example of an output means for outputting a measurement result of the hardness distribution described later of the human body P (see FIG. 1) as character information and image information. The monitor 24 is configured to include a touch panel (not shown) as an example, and by operating the touch panel, input and setting of various setting parameters of the measurement unit 20 are enabled.

<Control unit>
The control unit 30 is an example of an acquisition unit and a correction unit. Further, the control unit 30 is configured to include a central processing unit (CPU) 32, a read only memory (ROM) 34, and a random access memory (RAM) 36. Furthermore, the control unit 30 is configured to correct the information of the measurement position of the probe 40 using positional deviation information described later.

The CPU 32 supervises and controls the entire measuring device 10. The ROM 34 stores in advance a control program of the measuring device 10 and other processing programs. The RAM 36 is used as a work area when executing a control program or another processing program. The RAM 36 is an example of a storage unit, and stores information on the amount of indentation of the probe 40 described later.

<Probe>
The probe 40 illustrated in FIG. 1 is an example of a reaction force measurement unit that measures a reaction force to a pressing force. Further, as one example, the probe 40 is formed in a cylindrical shape and extends in the axial direction, and a contact portion 44 formed at one end in the axial direction of the shaft 42 and in contact with the measurement object portion PA of the human body P. And a reaction force measuring unit 46 provided on the shaft unit 42. Hereinafter, the axial direction of the shaft portion 42 is referred to as a V direction. The outer diameter of the contact portion 44 is smaller than the outer diameter of the shaft portion 42. The contact portion 44 is formed in a hemispherical shape, and can be pressed against the measurement target portion PA within a range from -90 ° to + 90 ° with respect to the normal to the surface Pm of the measurement target portion PA. ing.

With the pressing state of the probe 40 against the measurement target part PA, the contact part 44 contacts the measurement target part PA and exerts pressure on a part of the measurement target part PA, so that the contact part 44 of the measurement target part PA It means a state in which it is pushed inward and a part of the measurement object part PA is not broken.

The reaction force measurement unit 46 is configured by a strain gauge type load cell as an example. In addition, the reaction force measurement unit 46 applies a reaction force applied to the contact portion 44 in the V direction when the contact portion 44 is pressed by the measurement target portion PA and pushed inward to the measurement target portion PA. It is configured to be converted into an electrical signal and output to the outside. Specifically, when the contact portion 44 is pressed into the measurement target portion PA, strain corresponding to the pressing force (pushing load) is generated inside the reaction force measuring unit 46, and electricity according to the generated strain is generated. A signal is output as reaction force information.

The probe 40 measures the reaction force by being pressed against the measurement target portion PA of the human body P. Further, information on the reaction force obtained by the probe 40 is output to the control unit 30 (see FIG. 2). The hardness information of the human body P in the V direction in the present embodiment means, as an example, positional information of an interface between a soft part and a hard part. The hardness of the measurement target portion PA can be evaluated by comparing the reaction force measured by the probe 40 with the reaction force of a preset reference substance.

<Moving part>
The moving unit 50 illustrated in FIG. 2 is an example of a moving unit. The probe 40 is attached to the moving unit 50. The moving unit 50 is configured to be moved so as to change the measurement position of the probe 40 and the angle of the probe 40 with respect to the V direction (see FIG. 1). Specifically, the moving unit 50 includes a slider unit 52 and an angle changing unit 53 as an example.

(Slider section)
As an example, the slider unit 52 shown in FIG. 1 is configured to be movable in the Z direction, an X axis slider 54 configured to be movable in the X direction, and a Y axis slider 56 configured to be movable in the Y direction. And a Z-axis slider 58. The Y-axis slider 56 is provided with Y-axis rails 56A disposed on both sides in the X direction with respect to the bed 12 and extending in the Y direction, a movable body 56B provided movable in the Y direction on each Y axis rail 56A, and a movable body 56B. And an actuator (not shown) for moving in the Y direction.

The X-axis slider 54 is constructed on the −Z side of the two moving bodies 56B and extends in the X direction, an X-axis rail 54A, a moving body 54B provided movably in the X direction on the X-axis rail 54A, and a moving body 54B. And an actuator (not shown) for moving in the X direction. The Z-axis slider 58 is fixed to the -Z side of the movable body 54B and extends to the -Z side along the Z direction, and a movable body 58B provided movably in the Z direction on the Z axis rail 58A. And an actuator (not shown) for moving the moving body 58B in the Z direction.

The actuator of the X-axis slider 54, the actuator of the Y-axis slider 56, and the actuator of the Z-axis slider 58 have the same configuration, and as one example, is configured to convert rotational motion of a motor (not shown) into linear motion. ing.

(Angle change part)
The angle changing unit 53 shown in FIG. 1 is configured by a biaxial gonio stage. Specifically, the angle changing unit 53 includes a probe attachment portion 53A, a first gonio stage 53B capable of changing an angle of the probe attachment portion 53A in the XZ plane, and a Y- of the first gonio stage 53B. And a second gonio stage 53C capable of changing the angle in the Z plane. The end of the probe 40 opposite to the contact portion 44 side is fixed to the probe attachment portion 53A. And probe 40 is arranged in the state where V direction followed Z direction in the state before angle change.

The first gonio stage 53B and the second gonio stage 53C are rotated independently of each other by a motor (not shown). The first gonio stage 53B and the second gonio stage 53C are respectively rotated by a motor to change the angle θ and the angle φ (see FIG. 4) that the V direction of the probe 40 forms with respect to the XY plane It is done. The coordinates (X1, Y1, Z1) of the tip position A of the probe 40 with respect to the coordinates (0, 0, 0) of the origin O, and the angle θ and the angle φ of the probe 40 are shown in FIG.

<Detection unit>
The detection unit 60 illustrated in FIG. 2 is an example of a detection unit. Further, the detection unit 60 is electrically connected to the slider unit 52 and the angle changing unit 53, and the measurement position as the tip position of the contact unit 44 (see FIG. 1) of the probe 40 and the probe 40 in the Z direction. The angle is detected.

Specifically, the detection unit 60 has a plurality of rotary encoders (not shown). The plurality of rotary encoders move the motor for rotating the first gonio stage 53B and the second gonio stage 53C (see FIG. 1), and move the X-axis slider 54, the Y-axis slider 56 and the Z-axis slider 58 (see FIG. 1) It is provided to the motor to be driven. Then, the detection unit 60 detects the rotation amount of the motor with a rotary encoder and converts it into a movement amount in the linear direction or an angle in the rotation direction, thereby the tip position of the probe 40 (XYZ coordinate system) and the probe in the Z direction It is configured to detect 40 angles (a spherical coordinate system).

<Subject detection unit>
The subject detection unit 70 illustrated in FIG. 2 is an example of a subject position detection unit. Further, the subject detection unit 70 detects the position of the human body P on the bed 12 (see FIG. 1). Specifically, the subject detection unit 70 includes, for example, a tag 72 and a reception unit 74 that detects the position of the tag 72 using a radio wave.

The tag 72 is an RFID (Radio Frequency Identification) tag as an example, and is configured to be capable of transmitting radio waves. Also, the tag 72 is attached to a part of the human body P (for example, a chest).

The receiving unit 74 is configured to include an antenna capable of receiving the radio wave emitted by the tag 72. Moreover, the receiving part 74 is provided in the bed 12 (refer FIG. 1). Then, in the receiving unit 74, the coordinates of the tag 72 are calculated based on the radio wave received from the tag 72, using an XYZ coordinate system whose origin is the position where the receiving unit 74 is provided. The coordinate information of the tag 72 obtained by the receiving unit 74 is stored in the RAM 36 of the control unit 30.

<Storage of information of indentation amount>
In the measuring apparatus 10 shown in FIG. 2, information on a reaction force with respect to a human body P (see FIG. 1) is obtained from the probe 40, and information on a measurement position of the probe 40 and information on an angle are obtained from the detecting unit 60. From the information on the measurement position of the probe 40 and the information on the angle between the time before pressing the probe 40 against the human body P and the time after pressing (depression) against the human body P, the probe 40 to the human body P is The pressing amount described later can be obtained.

FIG. 9A shows a state before the measurement of the reaction force by the probe 40 in which the V direction, which is the axial direction, is along the Z direction. In addition, the measurement position of the reaction force by the probe 40 means the point A set in the surface Pm of measurement object part PA as an example. In other words, the measurement position is a position on the surface Pm to which the probe 40 is to be pressed, and means a position in a state before the probe 40 is pushed. In the present embodiment, the tip end position of the probe 40 in a state in which the probe 40 receives a reaction force is referred to as a pressing position to be distinguished from the measurement position.

In the measurement target portion PA shown in FIG. 9A, it is assumed that the measurement position where the hard portion Ph exists in the soft portion Ps is found by measuring the reaction force by changing the measurement position in the X direction in advance. In the measurement position shown in FIG. 9B, when the probe 40 is pushed into the measurement target portion PA with a small force F1, only the outer soft portion Ps is deformed. When only the soft portion Ps is deformed, a change amount of the reaction force N1 according to the increase of the pressing amount of the probe 40 is obtained.

Subsequently, when the probe 40 shown in FIG. 9C is pushed into the measurement target portion PA with a large force F2, the back hard portion Ph also starts deformation. When the hard portion Ph starts to be deformed, the amount of change of the reaction force N2 according to the increase in the amount of pressing becomes larger than when only the soft portion Ps is deformed.

FIG. 10A shows a graph GA representing the relationship between the amount of indentation and the reaction force. The graph GA is a curve in which the change rate of the reaction force in the section where the pressing amount is large is larger than the change rate of the reaction force in the section where the pressing amount is small. Let A be a straight line obtained by first approximation of the rate of change of the reaction force in a section where the amount of indentation of the graph GA is small. Further, in a section where the amount of indentation of the graph GA is large, let B be a straight line obtained by first approximation of the rate of change of the reaction force. The intersection of the straight line A and the straight line B is referred to as a mutation point CA. The amount of indentation at the mutation point CA is Sa, and the imaginary reaction force corresponding to the amount of indentation Sa is Na [N].

The pressing amount of the probe 40 (see FIG. 9C) as a mutation point CA at which the rate of change of the reaction force changes is information on the reaction force and information on the pressing amount obtained from the information on the measurement position of the probe 40 and the information on the angle. From this, it means the indentation amount Sa obtained by obtaining the graph GA and the mutation point CA. The obtained pressing amount Sa is stored in the RAM 36 (see FIG. 2).

In the measurement target portion PA shown in FIG. 9A, the depth D from the surface Pm to the interface M between the soft portion Ps and the hard portion Ph may be determined using the value of the indentation amount Sa (see FIG. 10A) However, in practice, the exact depth D can not be determined. For example, in the case of the measurement target portion PH in a relatively hard state of the soft site Ps (see FIG. 9D), the mutation point CB is pressed compared to the mutation point CA as shown by the graph GB shown in FIG. 10B. Shift to the less side.

The indentation amount at the mutation point CB is Sb, and the reaction force is Nb [N]. The reaction force Nb is larger than the reaction force Na, but the pressing amount Sb is smaller than the pressing amount Sa. That is, in the method (hereinafter referred to as a comparative example) in which the probe 40 shown in FIGS. 9A to 9C is pushed in only one direction (the comparative example), the hardness of the soft portion Ps changes and thus the mutation point CA changes. It is difficult to find D accurately.

On the other hand, in the present embodiment, as a method for accurately obtaining the depth D, a method has been found in which the pressing amount and the reaction force are measured by changing the pressing direction of the probe 40 to a plurality of directions. Hereafter, it demonstrates concretely.

In the measurement target portion PA shown in FIG. 7, as one example, when the probe 40 is pushed in the Z direction at the first measurement position A, it is assumed that a reaction force mutation point is obtained. Further, the indentation amount of the mutation point in the measurement of the first measurement position A is taken as a first indentation amount S1 [mm]. On the other hand, when the probe 40 is pushed in the direction in which the angle of the axial direction of the probe 40 with respect to the Z direction is θ (°) at the second measurement position B shifted in the X direction from the first measurement position A, Suppose that the displacement point of is obtained. Further, the pressing amount of the mutation point in the measurement of the second measurement position B is set as a second pressing amount S2 [mm]. The distance between the first measurement position A and the second measurement position B in the X direction is L [mm]. Further, the point Aa and the point Ba correspond to the pressing position. The measurement position C is set between the measurement position A and the measurement position B.

Assuming that the depth in one direction from the surface Pm to the solid portion Ph in the measurement target portion PA is D [mm] (not shown), D is a function f (D) by the viscoelastic coefficient k inside the measurement target portion PA. It can be considered that it can be expressed by k) and the amount of indentation S [mm] at the mutation point. That is, D = S × f (k). Hereinafter, the equation for obtaining the depth D in one direction at the measurement target portion PA is simply referred to as “relational equation”.

Assuming that the viscoelastic coefficient at the first measurement position A is k1, the relational expression at the depth D1 [mm] in the Z direction is D1 = S1 × f (k1). On the other hand, the characteristics of the soft part Ps of the measurement target part PA are considered to be the same even if the measurement position is changed within a limited range. That is, since the viscoelastic coefficient at the second measurement position B can be considered equal to the viscoelastic coefficient k1 at the first measurement position A, the depth D2 in the direction (cross direction) forming an angle θ (°) with the Z direction The relational expression in [mm] is D2 = S2 × f (k1). If f (k1) is eliminated from the relational expression of depth D1 and the relational expression of depth D2, S1 / S2 = D1 / D2 is obtained.

Here, when the relationship of cos θ = D1 / D2 = S1 / S2 holds, the intersection point of the straight line E in the Z direction at the first measurement position A and the straight line F in the angle θ direction at the second measurement position B In Q, it means that there is an interface M between the soft part Ps and the hard part Ph. In other words, when the relationship of S2 × cos θ = S1 is satisfied, the depth D1 is determined by setting the correct depth in the Z direction from the surface Pm to the internal hard portion Ph in the measurement target portion PA as D1 [mm]. , D1 = L / tan θ. The obtained information of the depth D1 is stored in the RAM 36 (see FIG. 2) as the positional information of the hard portion Ph of the measurement target portion PA. The positional information on the hard part Ph of the measurement target part PA means positional information on the interface M between the soft part Ps and the hard part Ph as described above.

<Acquisition of hardness information>
The hardness information of the human body P in the Z direction in the present embodiment means position information of the interface M, as described above. Further, as shown in FIGS. 5A and 5B, the hardness information of the human body P in the Z direction is indentations obtained at a plurality of measurement positions (for example, point A1, point A2 and point A3, or point A4, point A5) The information of the amount, the information of the measurement position at which the information of the amount of indentation is obtained, and the information of the angle of the probe 40 can be obtained by the method described above. The obtained hardness information (hardness information of the human body P in the Z direction) is acquired by the control unit 30 (see FIG. 2). In FIGS. 5A and 5B, the point Aa, the point Ab, the point Ac, the point Ad, and the point Ae correspond to the pressing position.

<Correction of measurement position>
In the measuring apparatus 10 shown in FIG. 2, correction of the measurement position by the probe 40 is performed based on the coordinate information of the tag 72 obtained by the subject detection unit 70. Specifically, the information on the measurement position (start time position) of the human body P output from the subject detection unit 70 is stored in the RAM 36 before the start of the measurement of the reaction force. Subsequently, at the measurement time of the reaction force, the information of the measurement position (the position at the time of measurement) of the human body P is output from the subject detection unit 70.

If the difference between the start position stored in the RAM 36 and the measurement position output from the subject detection unit 70 is within the range of the measurement error, the correction is not performed. On the other hand, when the difference between the start position and the measurement position exceeds the measurement error range (when the position of the human body P is shifted), the positional shift information as the difference between the start position and the measurement position is It is stored in the RAM 36. Then, in the CPU 32, the measurement position of the probe 40 is corrected using positional deviation information. In the measuring apparatus 10, the control unit 30 operates the moving unit 50 to automatically move the probe 40 until the positional deviation amount falls within the measurement error range.

[Function]
Next, the operation of the method of measuring the hardness distribution of the human body P and the measuring device 10 according to the first embodiment will be described according to the flowchart of FIG. In addition, about each part and each member of the measuring apparatus 10, FIG.1 and FIG.2 is referred.

In step S10 shown in FIG. 11, the probe 40 is disposed at the reference position. Then, the process proceeds to step S12. The reference position is a preset initial position before the start of measurement.

In step S12, the coordinate information of the tag 72 obtained by the subject detection unit 70 is stored in the RAM 36 of the control unit 30. The coordinate information of the tag 72 stored in the RAM 36 is acquired by the CPU 32 as position information of the human body P. Then, the process proceeds to step S14.

In step S14, the moving unit 50 is operated to move the probe 40 to the measurement position. Then, the process proceeds to step S16.

In step S16, the coordinate information of the tag 72 obtained by the subject detection unit 70 is acquired by the CPU 32 as position information of the human body P. Then, the process proceeds to step S18.

In step S18, the CPU 32 compares the obtained position information of the human body P with the position information stored in the RAM 36, and determines the necessity or necessity of correction of the measurement position based on the measurement error range. Ru. If it is not necessary, the process proceeds to step S22. If it is necessary, the process proceeds to step S20.

In step S20, information on the measurement position of the probe 40 is corrected using positional deviation information. Then, the probe 40 is moved by the moving unit 50 to the correct measurement position according to the positional deviation amount. Then, the process proceeds to step S22.

In step S22, the probe 40 is pressed (pushed) against the measurement target portion PA at the measurement position, whereby the reaction force is measured. Then, the process proceeds to step S24.

In step S24, the coordinate information of the measurement position and the information of the angle of the probe 40 with respect to the Z direction are stored in the RAM 36. Further, the amount of depression is gradually increased, and information on the reaction force corresponding to the amount of depression is stored in the RAM 36. Then, the process proceeds to step S26.

In step S26, the indentation amount as a mutation point is determined by the method described above. For example, measurement of the reaction force along the Z direction yields the graph G1 shown in FIG. 6A. In the graph G1, the mutation point C1 is obtained by two straight lines which are linearly approximated, and the indentation amount S1 [mm] and the reaction force N1 [N] at the mutation point C1 are obtained. Further, the graph G2 shown in FIG. 6B is obtained by measuring the reaction force along the direction intersecting with the Z direction at the angle θ (°). In the graph G2, a mutation point C2 is obtained by two straight lines obtained by linear approximation, and a pressing amount S2 [mm] and a reaction force N2 [N] at the mutation point C2 are obtained.

Information on the obtained pressing amount S1 or pressing amount S2 is stored in the RAM 36. And it transfers to step S28 shown in FIG. If no mutation point is found, the information that only the soft site Ps is present in the measurement target portion PA is stored in the RAM 36.

In step S28, it is determined whether or not the measurement position has been changed. The determination of the presence or absence of the measurement position change is performed, for example, by selecting the measurement position change button displayed on the touch panel of the monitor 24. If not, the process proceeds to step S32. If there is, the process proceeds to step S30.

In step S30, the probe 40 is moved, for example, in the X direction toward the next measurement position (see FIG. 5A). Then, the process proceeds to step S16.

In step S32, it is determined whether there is no change in the angle of the probe 40 or not. The determination of the presence or absence of the angle change is performed, for example, by selecting an angle change button displayed on the touch panel of the monitor 24. If not, the process proceeds to step S36. If yes, the process proceeds to step S34.

In step S34, the angle of the probe 40 is changed. For example, the arrangement of the probes 40 shown in FIG. 5A along the Z direction is changed to the arrangement of the probes 40 shown in FIG. 5B intersecting the Z direction at an angle θ. Then, the process proceeds to step S10.

In step S36, it is determined whether acquisition of hardness information of the human body P (measurement target portion PA) is to be performed. The determination as to the presence / absence of hardness information acquisition is performed, for example, by selecting the information acquisition presence / absence button displayed on the touch panel of the monitor 24. If the hardness information is not obtained, the program is terminated. When acquiring hardness information, it transfers to step S38.

In step S38, the hardness information of the human body P (the measurement target portion PA) is acquired by the method described above. Specifically, information (see FIG. 8A) representing the interface M between the soft part Ps and the hard part Ph of the human body P is acquired for one direction (for example, the X direction). Then, the process proceeds to step S40. Although illustration is omitted, when information satisfying the above-mentioned relational expression S2 × cos θ = S1 is not found, it may be determined that acquisition of hardness information could not be performed, and the program may be ended.

In step S40, it is determined whether or not there is a change in the scanning direction (moving direction) of the probe 40. Changing the scanning direction means, for example, changing the X direction into the Y direction. The determination of the presence or absence of the change in the scanning direction is performed, for example, by selecting the button indicating the presence or absence of the change in the direction displayed on the touch panel of the monitor 24. If there is no change in the scanning direction, the process proceeds to step S44. If there is a change in the scanning direction, the process proceeds to step S42.

In step S42, the scanning direction of the probe 40 is changed. In the present embodiment, as an example, the scanning direction is changed from the X direction to the Y direction. Then, the process proceeds to step S10.

In step S44, the hardness distribution information of the human body P (measurement target portion PA) is acquired based on the hardness information in a plurality of scanning directions. Specifically, information representing the interface M of the human body P is acquired for the X direction and the Y direction. That is, information that allows the interface M to be viewed as a surface is acquired (see FIG. 8B). The program is then terminated.

In the present embodiment, as an example, acquisition of hardness distribution information of the human body P is performed by a program, but a step of displaying information on the interface M on the monitor 24 (see FIG. 2) may be included.

As described above, in the method and device for measuring the hardness distribution of the human body P, after the measurement of the reaction force in the Z direction is performed at a plurality of measurement positions of the measurement target portion PA of the human body P, The probe 40 is pressed against the measurement target portion PA by changing the angle of the probe 40. Subsequently, information on the pressing amount of the probe 40 as a mutation point, information on the measuring position at which the pressing amount is obtained, and information on the angle at which the pressing amount is obtained, which are obtained at a plurality of measurement positions Is stored in Subsequently, the information on the interface M is obtained using the information on the amount of indentation, the information on the measurement position, and the information on the angle. In other words, hardness information of the human body P in the Z direction is acquired.

Specifically, in addition to the reaction force measurement in the Z direction, the reaction force measurement in the direction crossing the Z direction and the angle θ is performed, and a combination satisfying the above-described relational expression S2 × cos θ = S1 is found, The depth D1 from the surface Pm of the measurement target portion PA to the hard portion Ph can be determined with high accuracy. That is, compared with the comparative example described above, it is possible to measure the distribution state of the portion where the hardness of the human body P changes in the Z direction with high accuracy.

Further, in the hardness distribution measuring method and measuring apparatus 10 of the human body P, the measurement position by the probe 40 is corrected based on the positional deviation information obtained from the subject detection unit 70. That is, even if the human body P moves during measurement of the hardness distribution of the human body P, the probe 40 is disposed at the correct measurement position, and therefore, the distribution state of the portion where the rigidity of the human body P changes in the Z direction is accurately measured. Can.

Furthermore, in the hardness distribution measuring method and measuring apparatus 10 of the human body P, since the probe 40 is pressed against the human body P as an example of the subject, the discomfort caused by the measurer touching the human body P can be eliminated. .

In addition, in the hardness distribution measuring method of the human body P, the depth D1 is determined by performing the reaction force measurement in the Z direction and the reaction force measurement in the direction intersecting at an angle θ with the Z direction. That is, by measuring the reaction force in the Z direction at one of the two measurement positions, the triangle connecting the two measurement positions and one point of the interface M is formed into a right triangle. Since the triangle connecting two points of the measurement position and one point of the interface M is in the shape of a right triangle, the calculation using the trigonometric function becomes easy to perform, so the distribution state of the portion where the hardness of the human body P changes in the Z direction. Can be measured accurately.

Second Embodiment
Next, an example of the method of measuring the hardness distribution of a subject and the apparatus for measuring the hardness distribution of a subject according to the second embodiment will be described. About the same composition as a 1st embodiment, the same numerals as a 1st embodiment are attached, and explanation is omitted. The description of the same method as that of the first embodiment is omitted.

The configuration of a measurement apparatus 80 according to a second embodiment of the present disclosure is shown as a block diagram in FIG. The measuring device 80 includes a reaction force measurement unit 82 as an example of a reaction force measurement unit, a detection unit 90 as an example of a detection unit, a control unit 30, a monitor 24, and a mounting unit 84 as an example of a mounting unit. Have. The measurement device 80 does not include the bed 12 (see FIG. 1).

<Reaction force measurement unit>
The reaction force measurement unit 82 illustrated in FIG. 13A includes five reaction force sensors 83 as an example. The five reaction force sensors 83 include, as an example, piezoelectric elements. Further, the reaction force measurement unit 82 outputs information (signal) corresponding to the reaction force received from the human body P (see FIG. 13B) to the control unit 30 (see FIG. 12). A strain gauge type reaction force sensor may be used.

<Detection unit>
The detection unit 90 illustrated in FIG. 12 includes, for example, a detection unit 92, a magnetic field generation unit 94, and a sensor unit 96. The magnetic field generator 94 generates a magnetic field in the space where the measurement of the reaction force is performed. The sensor unit 96 functions as a receiver that detects the magnetic field generated by the magnetic field generation unit 94. Specifically, the sensor unit 96 includes, for example, five coil sensors 97 (see FIG. 13A). Each of the five coil sensors 97 is configured to include three orthogonal coils. The detection unit 92 controls the operation of the magnetic field generation unit 94 and measures the electromotive force due to the electromagnetic induction generated by the five coil sensors 97, respectively, to obtain information on relative positions and angles of the five coil sensors 97. And output to the control unit 30.

<Mounting part>
The mounting unit 84 shown in FIG. 13A mounts the reaction force measurement unit 82 on the finger FG of the right hand of the measurer PD (see FIG. 13B) as a human body. Specifically, the mounting unit 84 includes, for example, a finger cap 85A, a finger cap 85B, a finger cap 85C, a finger cap 85D, and a finger cap 85E. The finger cap 85A is attached to the thumb, the finger cap 85B to the index finger, the finger cap 85C to the middle finger, the finger cap 85D to the ring finger, and the finger cap 85E to the little finger. The finger cap 85A, the finger cap 85B, the finger cap 85C, the finger cap 85D, and the finger cap 85E may be collectively configured as one glove.

The finger cap 85A, the finger cap 85B, the finger cap 85C, the finger cap 85D, and the finger cap 85E are provided with one reaction force sensor 83 and one coil sensor 97, respectively. The reaction force sensor 83 is provided at the tip of the finger. The coil sensor 97 is provided at a position separated from the reaction force sensor 83 by a predetermined distance. That is, the information of the measurement position at which the reaction force sensor 83 measures the reaction force is obtained by the output from the coil sensor 97. In addition, although the coil sensor 97 is a wired sensor to which wiring was connected, wiring is abbreviate | omitted in FIG. 13A.

As shown in FIG. 13B, in the second embodiment, the hardness distribution measurement of the measurement target portion PA of the human body P in the state of sitting on the chair 99A is provided on the right hand of the measurer PD (doctor) in the state of sitting on the chair 99B. This is performed by the reaction force measurement unit 82 and the detection unit 90 (see FIG. 12). In the second embodiment, the direction (one horizontal direction) in which the human body P and the measurer PD face each other is set as the measurement reference direction and as the Z direction. The vertical direction is set to the Y direction, and the width direction of the human body P orthogonal to the Y direction and the Z direction is set to the X direction.

<Measurement principle>
FIG. 14 shows, as an example, a state in which the measurer PD pinches the measurement target portion PA with the thumb and forefinger. In the measuring device 80, information on the reaction force on the human body P is obtained from the reaction force measurement unit 82 (see FIG. 12), and information on the measurement position and information on the angle are obtained from the detection unit 90 (see FIG. 12). Information on the measurement position of the reaction force sensor 83 and information on the angle at the time before pressing the reaction force sensor 83 (see FIG. 13A) against the human body P and the time after pressing (depression) on the human body P Thus, the amount of depression of the reaction force sensor 83 on the human body P can be obtained.

The measurement position of the reaction force by the reaction force sensor 83 (see FIG. 13A) means, as an example, the point A and the point B set on the surface Pm of the measurement target portion PA. In other words, the measurement position is a position on the surface Pm to which the reaction force sensor 83 is to be pressed, and means a position on the surface Pm in a state before the reaction force sensor 83 is pushed. In the present embodiment, the tip end position of the reaction force sensor 83 in a state in which the reaction force sensor 83 receives a reaction force is referred to as a pressing position to distinguish it from the measurement position. The point A is referred to as a first measurement position A, and the point B is referred to as a second measurement position B. Further, the point Aa and the point Ba correspond to the pressing position.

The pressing amount of the reaction force sensor 83 as a mutation point at which the rate of change of the reaction force changes is from the information on the reaction force and the information on the measurement position of the reaction force sensor 83 and the information on the pressing amount obtained from the information on the angle. It means the amount of indentation obtained by finding the mutation point. The obtained pressing amount is stored in the RAM 36 (see FIG. 12).

In the measurement target portion PA, as an example, a variation point (first pressing amount S1 [mm]) of the reaction force is in a direction at an angle α [°] to the Z direction which is a measurement reference direction at the first measurement position A Suppose you get it. In addition, at the second measurement position B shifted from the first measurement position A in the Y direction, the reaction force mutation point (second pressing amount S2 [mm]) is in the direction of the angle β (°) with respect to the Z direction. Suppose you get it. Furthermore, the distance between the first measurement position A and the second measurement position B in the Y direction is L [mm].

At the first measurement position A, the depth to the hard portion Ph in the direction of the angle α is D1 [mm]. Further, at the second measurement position B, the depth to the hard portion Ph in the direction of the angle β is D2 [mm]. As in the first embodiment, D1 / D2 = S1 / S2 = cos β / cos α can be obtained in consideration of a relational expression based on the viscoelastic coefficient.

Here, when the relationship of S1 × cos α = S2 × cos β is satisfied, the intersection point Q of the straight line E in the direction of the angle α at the first measurement position A and the straight line F in the direction of the angle β at the second measurement position B In addition, it means that there is an interface M between the soft site Ps and the hard site Ph. Then, assuming that the depth in the Z direction from the surface Pm to the point Q is Dv [mm], the depth Dv is obtained by Dv = L / (tan α + tan β). The obtained information of the depth Dv is stored in the RAM 36 (see FIG. 2) as the positional information of the hard portion Ph of the measurement target portion PA. The positional information on the hard part Ph of the measurement target part PA means positional information on the interface M between the soft part Ps and the hard part Ph as described above. In FIG. 14, a point C indicates an intersection point of the surface H with the perpendicular H, which is lowered from the point Q to the surface Pm.

The distance L between the first measurement position A and the second measurement position B is known, and the angle α at the first measurement position A and the angle β at the second measurement position B are known. The triangle QAB is determined by the two sides if the upper relational expression is satisfied. And, that the triangle QAB is determined means that the depth Dv corresponding to the height with respect to the base AB of the triangle QAB is also determined.

[Function]
Next, the method of measuring the hardness distribution of the human body P according to the second embodiment and the operation of the measuring device 80 will be described according to the flowchart of FIG. In addition, about each part and each member of the measuring apparatus 80, FIG.12 and 13A is referred.

In step S100 shown in FIG. 15, the reaction force sensor 83 is disposed at the measurement position. Then, the process proceeds to step S102.

In step S102, the reaction force sensor 83 is pressed (pushed) against the measurement target portion PA at the measurement position to measure the reaction force. Then, the process proceeds to step S104.

In step S104, coordinate information of the measurement position and information of the angle of the reaction force sensor 83 with respect to the Z direction are stored in the RAM. The information on the angle can be obtained from the coordinate information at the time before the information on the reaction force is output from the reaction force sensor 83 and the coordinate information on the time when the information on the reaction force is output. Furthermore, the information on the reaction force corresponding to the amount of pressing is stored in the RAM 36 by the amount of pressing being increased. The measurement may be performed simultaneously at a plurality of points of the measurement target part PA. Then, the process proceeds to step S106.

In step S106, the amount of indentation as a mutation point at each measurement position is determined by the method described above. The information of the obtained pressing amount is stored in the RAM 36. Then, the process proceeds to step S108. If no mutation point is found, the information that only the soft site Ps is present in the measurement target portion PA is stored in the RAM 36.

In step S108, it is determined whether the measurement position has been changed or not. The determination of the presence or absence of the measurement position change is performed, for example, by selecting the measurement position change button displayed on the touch panel of the monitor 24. If not, the process proceeds to step S112. If there is, the process proceeds to step S110.

In step S110, the reaction force sensor 83 is moved toward the next measurement position. Then, the process proceeds to step S102.

In step S112, it is determined whether the angle of the reaction force sensor 83 has not been changed or not. The determination of the presence or absence of the angle change is performed, for example, by selecting an angle change button displayed on the touch panel of the monitor 24. If not, the process proceeds to step S116. If yes, the process proceeds to step S114.

In step S114, the measurer PD changes the angle of the finger to change the angle of the reaction force sensor 83. Then, the process proceeds to step S102.

In step S116, it is determined whether acquisition of hardness information of the human body P (measurement target portion PA) is to be performed. The determination as to the presence / absence of hardness information acquisition is performed, for example, by selecting the information acquisition presence / absence button displayed on the touch panel of the monitor 24. If the hardness information is not obtained, the program is terminated. When acquiring hardness information, it transfers to step S118.

In step S118, the hardness information of the human body P (the measurement target portion PA) is acquired by the method described above. Then, the process proceeds to step S120. Although illustration is omitted, if information satisfying the above-mentioned relational expression S1 × cos α = S2 × cos β is not found, it is determined that acquisition of hardness information is not possible, and the program is ended. Good.

In step S120, it is determined whether or not there is a change in the scanning direction (moving direction) of the reaction force sensor 83. The determination of the presence or absence of the change in the scanning direction is performed, for example, by selecting the button indicating the presence or absence of the change in the direction displayed on the touch panel of the monitor 24. If there is no change in the scanning direction, the process proceeds to step S124. If there is a change in the scanning direction, the process proceeds to step S122.

In step S122, the scan direction of the reaction force sensor 83 is changed by the measurer PD. For example, the scanning direction is changed from the Y direction to the X direction. Then, the process proceeds to step S100.

In step S124, the hardness distribution information of the human body P (the measurement target portion PA) is acquired based on the hardness information in a plurality of scanning directions. Specifically, information representing the interface M of the human body P is acquired for the X direction and the Y direction. That is, information that allows the interface M to be viewed as a surface is acquired (see FIG. 8B). The program is then terminated.

In the present embodiment, as an example, acquisition of hardness distribution information of the human body P is performed by a program, but a step of displaying information of the interface M on the monitor 24 may be included.

As described above, in the method of measuring the hardness distribution of the human body P and the measuring device 80, the reaction force sensor 83 is pressed against the measurement target portion PA at different angles at a plurality of measurement positions of the measurement target portion PA of the human body P. Subsequently, the information of the pressing amount as a mutation point, the information of the measuring position at which the pressing amount is obtained, and the information of the angle at which the pressing amount is obtained, which are obtained at a plurality of measurement positions, are stored in the RAM 36 Ru. Subsequently, the information on the interface M is obtained using the information on the amount of indentation, the information on the measurement position, and the information on the angle. In other words, hardness information of the human body P in the Z direction is acquired.

Specifically, as one example, the reaction force measurement in the direction intersecting with the Z direction at the angle α or the angle β is performed, and the pressing amount S1 and the pressing amount S2 at the mutation point are obtained. Then, the depth Dv from the surface Pm of the measurement target portion PA to the interface M can be accurately determined by finding a combination that satisfies the relational expression S1 × cos α = S2 × cos β described above. That is, compared with the comparative example described above, it is possible to measure the distribution state of the portion where the hardness of the human body P changes in the Z direction with high accuracy.

Further, in the hardness distribution measurement method and measurement apparatus 80 of the human body P, the measurement position is detected by the detection unit 90 that detects the position of the reaction force sensor 83 using electromagnetic induction. That is, when the measurement position by the reaction force sensor 83 is detected, the measurement position can be detected even in a state where the light is blocked by the human body P.

Furthermore, in the hardness distribution measuring method and measuring device 80 of the human body P, the reaction force sensor 83 is attached to the finger FG of the human body P. Since the reaction force sensor 83 is attached to the finger FG, the reaction force sensor 83 is moved by human power, so that a means for changing the measurement position and angle of the reaction force sensor 83 is not necessary.

Note that the present disclosure is not limited to the above embodiment.

First Modified Example
A block diagram of the measuring apparatus 100 is shown in FIG. 16 as a first modification. The measuring apparatus 100 has a configuration in which a subject detection unit 70 is provided instead of the detection unit 90 (see FIG. 12) in the measurement apparatus 80 (see FIG. 12) of the second embodiment. The tag 72 is attached to the finger FG (see FIG. 13A) of the measurer PD. That is, in the measuring device 100, the position of the reaction force sensor 83 is detected using a radio wave. The direction (angle) of pressing can be obtained from the information of the position which changes when pressing the reaction force sensor 83.

In the measuring apparatus 100, at a plurality of measurement positions of the measurement target portion PA (see FIG. 14) of the human body P, the reaction force sensor 83 is pressed against the measurement target portion PA at different angles. Subsequently, the information of the pressing amount as a mutation point, the information of the measuring position at which the pressing amount is obtained, and the information of the angle at which the pressing amount is obtained, which are obtained at a plurality of measurement positions, are stored in the RAM 36 Ru. Subsequently, the information on the interface M is obtained using the information on the amount of indentation, the information on the measurement position, and the information on the angle. In other words, hardness information of the human body P in the Z direction is acquired.

Second Modified Example
A block diagram of the measuring device 110 is shown in FIG. 17 as a second modification. The measuring device 110 has a configuration in which a subject detection unit 70 is added to the measuring device 80 (see FIG. 12) of the second embodiment. The tag 72 is attached to the measurement target portion PA (see FIG. 14) of the human body P. That is, the measuring device 110 is configured to use the subject detection unit 70 to correct the measurement position when the human body P moves during measurement by the method described above.

In the measuring device 110, at a plurality of measurement positions of the measurement target portion PA of the human body P, the reaction force sensor 83 is pressed against the measurement target portion PA at different angles. The information on the measurement position is corrected based on the positional deviation information obtained from the subject detection unit 70. Subsequently, the information of the pressing amount as a mutation point, the information of the measuring position at which the pressing amount is obtained, and the information of the angle at which the pressing amount is obtained, which are obtained at a plurality of measurement positions, are stored in the RAM 36 Ru. Subsequently, the information on the interface M is obtained using the information on the amount of indentation, the information on the measurement position, and the information on the angle. In other words, hardness information of the human body P in the Z direction is acquired.

Third Modified Example
A block diagram of the measuring apparatus 120 is shown in FIG. 18 as a third modification. The measuring apparatus 120 has a configuration in which a detecting unit 130 as an example of detecting means is provided in place of the detecting unit 60 (see FIG. 2) in the measuring apparatus 10 (see FIG. 2) of the first embodiment. . The detection unit 130 has a tag 132 and a reception unit 134. The tag 132 is configured the same as the tag 72 (see FIG. 2). The receiving unit 134 has the same configuration as the receiving unit 74 (see FIG. 2). The detection unit 130 is configured to detect the measurement position by the probe 40 and the angle of the probe 40 with respect to the Z direction.

In the measuring device 120, at a plurality of measurement positions of the measurement target portion PA of the human body P, the probe 40 is pressed against the measurement target portion PA at different angles. The information on the measurement position is corrected based on the positional deviation information obtained from the subject detection unit 70. Subsequently, the information of the pressing amount as a mutation point, the information of the measuring position at which the pressing amount is obtained, and the information of the angle at which the pressing amount is obtained, which are obtained at a plurality of measurement positions, are stored in the RAM 36 Ru. Subsequently, the information on the interface M is obtained using the information on the amount of indentation, the information on the measurement position, and the information on the angle. In other words, hardness information of the human body P in the Z direction is acquired.

<Other Modifications>
Position detection may be calculated from an acceleration sensor. The reaction force sensor is not limited to a piezoelectric sensor, and may be an electrostatic sensor.

The correction value for the angle of measurement and the reaction force may be stored in advance as a table in the ROM, and the depth D obtained by the measurement may be corrected. The depth D may be corrected by detecting the movement of the pressed surface Pm in the measurement target portion PA.

In the first embodiment and the second embodiment, although the case of changing the measurement angle θ in one plane has been described, information (data of a plurality of directions (data) is changed while changing not only the angle θ but also the angle φ at one measurement position. ) May be acquired. For example, the probe 40 or the reaction force sensor 83 may be scanned at the next measurement position after the probe 40 or the reaction force sensor 83 is moved and measured in a lump shape around one measurement position. Alternatively, the probe 40 or the reaction force sensor 83 may be scanned in a pendulum shape. From the viewpoint of reducing the chance of contacting the probe 40 or the reaction force sensor 83 with the measurement target portion PA as much as possible, the scanning order is measured while changing the angle θ and the angle φ, and then the X direction and the Y direction. The order of changing the position of is preferred.

Another medium may be interposed between the probe 40 and the human body P as long as the thickness can be substantially ignored. For example, by applying gel on the surface Pm of the measurement target portion PA and pressing the probe 40, the scannability of the probe 40 is increased.

For any one of the measuring device 10, the measuring device 80, the measuring device 100, the measuring device 110, and the measuring device 120, changes in the obtained positional information and information on the reaction force are provided to human hands at different places. It may be regenerated by an actuator. It is possible to experience the state of measurement by reproducing with the actuator and a person in another place receiving acceleration. Furthermore, based on the internal structure of the three-dimensional object obtained by the measurement, it is also possible to calculate the feel when the hand is pressed, and perform tactile simulation. It also becomes possible to obtain objective palpation data from the information obtained by measurement.

The actuator used at a place other than the measurement place preferably has the same mechanism as that used for the measurement. It is possible to reproduce the same operation as that detected in the measurement. It is also possible to enlarge or reduce the reproduction (reproduction) operation, for example, 10 times or 1/10 times. By operating the actuator that detects and reproduces the movement at high speed, it is possible to reproduce the feel close to the measurement state. The velocity of the actuator is 1 ns or more and 100 ms or less, preferably 0.1 μs or more and 50 ms or less, and most preferably 10 μs or more and 10 ms or less.

The measurement may be performed using a robot hand instead of the hand of the measurer PD. By using a robot hand, it is possible to perform measurement even when it is not preferable to touch, such as a female affected area.

As a mechanism for applying a force to the measurement target portion PA to obtain a reaction force, an actuator of an electric system or a pressure gauge can be used. For example, any of a solenoid, a voice coil, a motor, a linear motor, and a rubber actuator can be used as the electrical system. As a pressure system, for example, a hydraulic cylinder or a pneumatic cylinder can be used.

As a sensor for measuring a position, an optical mutation sensor, a linear proximity sensor, an ultrasonic sensor, an electromagnetic sensor can be used, for example.

As a reaction force (stress) sensor, a piezoelectric type, a strain gauge type, or an electromagnetic type can be used. Alternatively, the acceleration may be obtained from the time change of displacement, and the reaction force may be calculated from the obtained acceleration.

The actuator as a mechanism for changing the angle changes the angle directly or through gears if it is rotary. In the case of linear motion, for example, a worm gear that converts linear motion into rotational motion is used.

You may measure the temperature of the human body P (measurement object part PA) using a thermocouple or a resistor. Furthermore, the reaction force and the correction value of the depth D according to the temperature are stored in the ROM 34 as a table in advance, and the measured value of the reaction force and the depth D obtained is corrected according to the measured temperature. May be

When performing hardness distribution measurement of the human body P using any of the measuring apparatus 10, the measuring apparatus 80, the measuring apparatus 100, the measuring apparatus 110, and the measuring apparatus 120, detection that detects the hard part Ph using ultrasonic waves You may use an apparatus together.

The subject is not limited to the human body, and may have a configuration in which a hard site exists in a soft site. For example, the metal core material may be an object covered with resin. By using the method and apparatus of the present embodiment, it is possible to know how deep the interface between the resin and the core material is.

The disclosure of Japanese Patent Application 2017-220320, filed November 15, 2017, is incorporated herein by reference in its entirety. All documents, patent applications, and technical standards described herein are as specific and distinct as when individual documents, patent applications, and technical standards are incorporated by reference. Incorporated herein by reference.

DESCRIPTION OF SYMBOLS 10 measuring apparatus (an example of hardness distribution measuring apparatus of a subject), 12 beds, 14 support surfaces, 20 measuring parts, 22 input / output interface parts, 24 monitors, 30 control parts (an example of acquisition means and correction means), 36 RAM (an example of storage means), 40 probes (an example of reaction force measurement means), 42 shaft parts, 44 contact parts, 46 reaction force measurement parts, 50 movement parts (an example of movement means), 52 slider parts, 53 angle change , 53A probe mounting part, 53B gonio stage, 53C gonio stage, 54 X axis slider, 54A X axis rail, 54B moving body, 56 Y axis slider, 56A Y axis rail, 56B moving body, 58 Z axis slider, 58A Z Axis rail, 58B moving body, 60 detection unit (an example of detection means), 70 subject detection unit (subject position detection Examples of means), 72 tags, 74 receivers, 80 measuring devices (an example of an apparatus for measuring the hardness distribution of a subject), 82 reaction force measuring units (an example of reaction force measuring means), 83 reaction force sensors, 84 mounting units (Example of mounting means), 85A finger cap, 85B finger cap, 85C finger cap, 85D finger cap, 85E finger cap, 90 detection unit (an example of detection unit), 92 detection unit, 94 magnetic field generation unit, 96 sensor unit, 97 coil sensor, 99 A chair, 99 B chair, 100 measuring device (an example of a hardness distribution measuring device of a subject), 110 measuring device (an example of a hardness distribution measuring device of a subject), 120 measuring device (solid body of a subject 130 detection unit (an example of detection means) 132 tag, 134 reception unit, FG finger, M interface, P human body An example of the body), PA target portion, PD measurer, PH target portion, Ph stiff portion, Pm surface, Ps soft site

Claims

Repelling the reaction force measuring means for measuring the reaction force against the pressing force against the measurement target portion by changing the angle with respect to the measurement reference direction at a plurality of measurement positions of the measurement target portion of the test subject;
Information of the pressing amount of the reaction force measuring means as a mutation point at which the rate of change of the reaction force changes, obtained at a plurality of the measurement positions, information of the measuring position at which the pressing amount is obtained, and the pressing Storing in the storage means the information of the angle for which a quantity has been obtained;
Acquiring hardness information of the measurement reference direction of the subject using the information of the amount of indentation, the information of the measurement position, and the information of the angle;
A method of measuring the hardness distribution of a subject having:
The method according to claim 1, wherein the measurement position is detected by a detection unit that detects the position of the reaction force measurement unit using radio waves or electromagnetic induction.
The position information of the subject output from the subject position detection means for detecting the position of the subject is stored in the storage means,
Positional shift information as a difference between the position information of the subject stored in the storage means and the position information of the subject output from the subject position detection means when the position of the subject is displaced Are stored in the storage means,
The method according to claim 1 or 2, wherein the information on the measurement position is corrected using the positional deviation information.
The method for measuring the hardness distribution of a subject according to any one of claims 1 to 3, wherein the reaction force measurement means is attached to a finger of a human body.
The said reaction force measurement means is attached to the movement means moved so that change of the said measurement position and the angle of the said reaction force measurement means with respect to the said measurement reference direction is possible. A method for measuring the hardness distribution of a subject according to item 5.
The angle of the reaction force measuring means with respect to the measurement reference direction is θ,
The first indentation amount as the mutation point obtained in the measurement reference direction at the first measurement position of the subject is d1.
The second indentation amount as the mutation point obtained in the direction of the angle θ at the second measurement position of the subject is d2;
Let L be the distance between the first measurement position and the second measurement position,
When the relationship of d2 × cos θ = d1 holds, the depth in the measurement reference direction from the surface of the measurement target portion to the hard portion inside the measurement target portion is D,
The method for measuring the hardness distribution of a subject according to any one of claims 1 to 5, wherein the depth D = L / tan θ is stored as position information of a hard portion of the measurement target portion.
Reaction force measurement means for measuring a reaction force by being pressed against a measurement target portion of a subject;
A detection means for detecting a measurement position as a position of the reaction force measurement means and an angle of the reaction force measurement means with respect to a measurement reference direction;
A storage means for storing information on the amount of depression of the reaction force measuring means as a mutation point at which the rate of change of the reaction force changes based on the information on the reaction force, the information on the measurement position, and the information on the angle When,
Using the information on the amount of depression obtained at a plurality of measurement positions, the information on the measurement position at which the information on the amount of depression was obtained, and the information on the angle, the solid state in the measurement reference direction of the subject Acquiring means for acquiring information;
The apparatus for measuring the hardness distribution of a subject having:
The apparatus according to claim 7, wherein the detection means detects the position of the reaction force measurement means using radio waves or electromagnetic induction.
A subject position detection means is provided for detecting the position of the subject,
Position information of the subject output from the subject position detection means is stored in the storage means;
Positional shift information as a difference between the position information of the subject stored in the storage means and the position information of the subject output from the subject position detection means when the position of the subject is displaced Are stored in the storage means,
The hardness distribution measuring apparatus of a subject according to claim 7, further comprising a correction unit configured to correct the information of the measurement position using the positional deviation information.
The apparatus for measuring the hardness distribution of a subject according to any one of claims 7 to 9, further comprising mounting means for mounting the reaction force measuring means on a finger of a human body.
10. The moving means according to claim 7, further comprising a moving means to which the reaction force measuring means is attached, and in which the measurement position and the angle of the reaction force measuring means with respect to the measurement reference direction can be changed. An apparatus for measuring the hardness distribution of a subject according to item 1.