Abstract: A particle beam treatment apparatus includes: a gantry configured to axially rotate in a state where an irradiation port for a beam is fixed to a body of the rotating gantry; a moving floor that is provided inside the gantry, is configured by annually connecting a plurality of plates with each other in a freely bendable manner, accommodates at least a part of a bed fixed from a stationary system, and rotates together with the gantry in a state of causing the irradiation port to penetrate the moving floor; a cable configured to be connected to a device fixed to the moving floor and be wired to outside of the gantry in a state of passing through the gantry; and an adjuster configured to adjust length of the cable wired inside the gantry when the gantry axially rotates.

Abstract: A particle beam treatment apparatus includes: a gantry configured to axially rotate in a state where an irradiation port for a beam is fixed to a body of the rotating gantry; a moving floor that is provided inside the gantry, is configured by annually connecting a plurality of plates with each other in a freely bendable manner, accommodates at least a part of a bed fixed from a stationary system, and rotates together with the gantry in a state of causing the irradiation port to penetrate the moving floor; a cable configured to be connected to a device fixed to the moving floor and be wired to outside of the gantry in a state of passing through the gantry; and an adjuster configured to adjust length of the cable wired inside the gantry when the gantry axially rotates.

Abstract: A particle beam treatment apparatus including a rotating gantry that revolves and displaces an irradiation port for irradiating a radiation treatment room provided inside of the rotating gantry with a charged particle beam comprises: a gantry body portion forming the rotating gantry; a mounted magnet; a displacement meter or an acceleration meter; and a control mechanism. The mounted magnet is connected to the gantry body portion with an intermediation of a magnet support, and guides the charged particle beam to the irradiation port. The displacement meter or the acceleration meter is provided to the mounted magnet, and measures a displacement or an acceleration of the mounted magnet. The control mechanism controls a position of the mounted magnet in a direction so as to reduce the displacement or the acceleration with at least a single degree of freedom measured by the displacement meter or the acceleration meter.

Abstract: A particle beam treatment apparatus including a rotating gantry that revolves and displaces an irradiation port for irradiating a radiation treatment room provided inside of the rotating gantry with a charged particle beam comprises: a gantry body portion forming the rotating gantry; a mounted magnet; a displacement meter or an acceleration meter; and a control mechanism. The mounted magnet is connected to the gantry body portion with an intermediation of a magnet support, and guides the charged particle beam to the irradiation port. The displacement meter or the acceleration meter is provided to the mounted magnet, and measures a displacement or an acceleration of the mounted magnet. The control mechanism controls a position of the mounted magnet in a direction so as to reduce the displacement or the acceleration with at least a single degree of freedom measured by the displacement meter or the acceleration meter.

Abstract: An in-pipe work device comprising at least two movement mechanisms connected with each other in a longitudinal direction of a pipe by a flexible tube, and a control device for controlling the movement mechanisms, the movement mechanisms including a body connected to the flexible tube, a guide member installed on the body such that the guide member is slidable in an axial direction, a support leg drive mechanism provided on the guide member and having a support leg movable in a radial direction of the pipe, for pressing the support leg against an inner wall of the pipe, thereby to hold the guide member kept unmovable in an axis direction of the pipe, a slide mechanism for relatively sliding the guide member and the body, with the support leg pressed against the inner wall of the pipe, thereby to slide the body in the axis direction of the pipe, wherein the control device controls the in-pipe movement device so as to move in a pipe by itself, by sequentially operating the plurality of movement mechanism in a pr

Abstract: A control apparatus for controlling a plane working robot comprise a running unit for running on a plane surface, a steering unit for steering the running unit in a predetermined direction, a working unit for performing predetermined plane working such as cleaning, and a detecting unit for detecting information about running direction and distance of the robot and an obstacle on the plane surface, thus permitting the working robot to take an optimum running path while avoiding an obstacle on the basis of sensor outputs from the detecting unit.