Medical device having dual arm sliding structure

Abstract

The present invention provides a medical device comprising: a first measuring module including a first arm and a first medical device attached to the first arm; a second measuring module including a second arm spaced apart from the first arm and a second medical device attached to the second arm; a main body including a first housing configured to allow the first arm of the first measuring module to be inserted therein, a second housing configured to allow the second arm of the second measuring module to be inserted therein, and a center housing located between the first housing and the second housing; a first driving motor and a second driving motor located inside the main body; a first power transmission unit located inside the main body and configured to transmit the driving force of the first driving motor to the first arm; and a second power transmission unit located inside the main body and configured to transmit the driving force of the second driving motor to the second arm; wherein the extension direction of the rotation axis of the rotation shaft of the first driving motor and the extension direction of the rotation axis of the rotation shaft of the second driving motor intersect each other.

Description

Technology Field

[0001] The present invention relates to a medical imaging device, and more specifically, to a medical device in which a first arm and a second arm, each supporting an X-ray detector and an X-ray imaging tube respectively, are configured to slide independently in both directions around a main body, and an independent driving motor is disposed on each arm, with the rotation axes of the driving motors arranged compactly so as to intersect each other, thereby minimizing installation space and overcoming ceiling height limitations. Background Technology

[0002] Generally, a medical X-ray imaging device is a device that generates an image by detecting X-rays emitted from an X-ray tube as they pass through a patient's body using an X-ray detector, and it is widely used in departments of radiology in hospitals.

[0003] These X-ray imaging devices are classified into ceiling-mounted types, which use guide rails installed on the ceiling, and floor-mounted types, which use stands installed on the floor. While ceiling-mounted devices are complex to install and inconvenient to move, floor-mounted devices offer the advantages of being less restricted by installation locations and easy to transport; consequently, the demand for floor-mounted X-ray imaging devices has been increasing recently.

[0004] Conventional stand-type X-ray imaging devices inevitably required a large overall length of the main arm to ensure sufficient distance between the X-ray imaging tube and the X-ray detector. This resulted in an increased overall size of the device and presented a problem, particularly regarding the requirement to ensure sufficient ceiling height to avoid interference with the ceiling when rotating the main arm.

[0005] In addition, due to the structural limitations of hospital buildings, elevator sizes are restricted, making it difficult to bring in large equipment. Furthermore, when installing in existing buildings, ceiling heights are restricted to a certain level, which creates a problem where devices exceeding a certain capacity cannot be installed.

[0006] Furthermore, the arm drive motor and the rotary drive unit must be placed together inside the main arm, but it was difficult to efficiently arrange them within a limited space, which limited the compactness of the device.

[0007] Accordingly, there is a demand for the development of technology for a medical imaging device that can overcome ceiling height limitations and be installed and transported even in narrow spaces by configuring both arms to be extendable while realizing a compact structure. The following patent documents 1, 2, and 3 disclose conventional medical devices. Prior art literature

[65535] Published Patent Application No. 10-2022-0049739 (April 22, 2022) Registered Patent Application No. 10-0946999 (March 10, 2010) Published Patent Application No. 10-2012-0103143 (September 19, 2012) The problem to be solved

[0008] The problem that the present invention aims to solve is to provide a medical device in which the first arm and the second arm are configured to slide independently in both directions around the main body, thereby minimizing the overall length of the device while ensuring a sufficient shooting distance.

[0009] In particular, the problem that the present invention aims to solve is to provide a medical device that efficiently utilizes the internal space of the main body and realizes a compact structure by arranging the rotation axes of the first drive motor and the second drive motor to intersect each other.

[0010] The problem that the present invention aims to solve is to provide a medical device that offers convenience in shooting settings, utilization of narrow spaces, and reproducibility of shooting positions by stably sliding with only one arm.

[0011] In addition, the problem that the present invention aims to solve is to provide a medical device that maximizes space utilization and enables independent control of the sliding of each arm by having the first power transmission unit and the second power transmission unit have different numbers of rotating wheels and arrangement structures.

[0012] The problems to be solved through the various embodiments of the present invention are not limited to those mentioned above, and other unmentioned problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0013] To solve the above problem, the technical concept of the present invention provides a medical device comprising: a first measuring module including a first arm and a first medical device attached to the first arm; a second measuring module including a second arm spaced apart from the first arm and a second medical device attached to the second arm; a main body including a first housing configured to allow the first arm of the first measuring module to be inserted therein, a second housing configured to allow the second arm of the second measuring module to be inserted therein, and a center housing located between the first housing and the second housing; a first driving motor and a second driving motor located inside the main body; a first power transmission unit located inside the main body and configured to transmit the driving force of the first driving motor to the first arm; and a second power transmission unit located inside the main body and configured to transmit the driving force of the second driving motor to the second arm; wherein the extension direction of the rotation axis of the rotation shaft of the first driving motor and the extension direction of the rotation axis of the rotation shaft of the second driving motor intersect each other.

[0014] Specific details of other embodiments are included in the detailed description and drawings. Effects of the invention

[0015] According to embodiments of the present invention, the first arm and the second arm are configured to slide in both directions around the main body, so that the overall size of the device can be kept compact while sufficiently securing the distance required for shooting.

[0016] According to another embodiment of the present invention, the rotation axes of the first drive motor and the second drive motor are arranged to intersect each other, thereby allowing efficient utilization of the internal space of the main body. This enables installation even in spaces with low ceiling heights and facilitates easy transport via a small elevator.

[0017] According to another embodiment of the present invention, the first power transmission unit is configured with a simple two-rotating wheel structure, and the second power transmission unit is configured with a structure in which a plurality of rotating wheels are arranged across a center housing and a second housing, thereby enabling optimized power transmission tailored to the characteristics of each arm and maximizing space utilization.

[0018] According to another embodiment of the present invention, an independent drive motor is provided for each arm, allowing for individual control of the sliding of both arms. This improves the convenience of setting up the imaging, increases usability in confined spaces, and ensures the reproducibility of the imaging position. In particular, by adjusting only one arm, imaging conditions can be set without the need to reposition the patient, thereby shortening preparation time and enabling rapid and safe imaging even for patients with limited mobility or emergency patients.

[0019] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description in the claims. Brief explanation of the drawing

[0020] FIG. 1 is a schematic perspective view of a medical device according to one embodiment of the present invention. FIG. 2 is a front view showing the first measurement module and the second measurement module of a medical device according to one embodiment of the present invention in an extended / contracted state. FIG. 3 is a plan view showing the first measurement module and the second measurement module of a medical device according to one embodiment of the present invention in an extended / contracted state. FIG. 4 is an exploded perspective view schematically showing the main body and rotary drive unit of a medical device according to one embodiment of the present invention. FIG. 5 is a cross-sectional view schematically showing the interior of a main body according to one embodiment of the present invention. FIG. 6 is an enlarged view showing the driving mechanism of the first power transmission unit according to one embodiment of the present invention. FIG. 7 is a cross-sectional view schematically showing a second power transmission unit according to one embodiment of the present invention. Specific details for implementing the invention

[0021] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0022] The embodiments described herein will be explained with reference to cross-sectional and / or plan views, which are exemplary illustrations of the invention. In the drawings, the thicknesses of the films and regions are exaggerated for effective explanation of the technical content. Accordingly, the regions illustrated in the drawings are schematic in nature, and the shapes of the regions illustrated in the drawings are intended to illustrate specific forms of regions of the device and are not intended to limit the scope of the invention.

[0023] In the various embodiments of this specification, terms such as first, second, third, etc., have been used to describe various components, but these components should not be limited by such terms. These terms are used merely to distinguish one component from another. The embodiments described and illustrated herein also include their complementary embodiments.

[0024] The terms used herein are for describing the embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. As used herein, "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components, steps, actions, and / or elements to the mentioned components, steps, actions, and / or elements.

[0025] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) may be used in a meaning that is commonly understood by those skilled in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise. Hereinafter, the concept of the present invention and embodiments thereof will be described in detail with reference to the drawings.

[0026] FIG. 1 is a schematic perspective view of a medical device (10) according to one embodiment of the present invention. FIG. 2 is a front view showing the double-arm sliding state of the medical device (10) according to one embodiment of the present invention. FIG. 3 is a plan view showing the double-arm sliding state of the medical device (10) according to one embodiment of the present invention. FIG. 4 is an exploded perspective view showing a part of the medical device (10) according to one embodiment of the present invention.

[0027] Referring to FIGS. 1 to 4, the medical device (10) may include a stand (100), a measuring device (200), and a rotary drive unit (300).

[0028] The medical device (10) may be an X-ray imaging device used to diagnose internal diseases of a patient in medical institutions such as hospitals, clinics, and radiology departments. The medical device (10) can take X-rays of various parts of the patient's body, such as the chest, abdomen, spine, and limbs, and allows medical staff to diagnose fractures, lung diseases, abdominal diseases, etc. through the captured digital images.

[0029] Since the medical device (10) has a stand-type structure installed on the floor, it may have the advantage of not requiring ceiling construction, being easy to install, and being easy to move. In particular, since the medical device (10) of the present invention can adjust its overall length by sliding both arms, it can be installed in existing buildings with limited ceiling heights and can be easily brought in via a small elevator.

[0030] The stand (100) is a column-shaped support structure that supports all components of the medical device (10) and can be installed by standing it upright on the floor. The stand (100) has a sturdy structure and can stably support the weight of the measuring equipment (200), and can provide stable support without shaking even during rotational movement of the measuring equipment (200).

[0031] The stand (100) may be made of aluminum alloy, steel, stainless steel, or composite material, and may have an anti-corrosion coating or medical coating applied to its surface. A base portion that contacts the floor surface is formed at the bottom of the stand (100), and the base portion has a large contact area to lower the center of gravity of the medical device (10) and prevent tipping. In some embodiments, height-adjustable leveling feet are installed in the base portion so that the stand (100) can be installed horizontally even if the floor surface is uneven.

[0032] The height of the stand (100) can be designed considering the ceiling height of the installation environment. Since the ceiling height of a typical hospital is 2400mm to 3000mm, the height of the stand (100) can be designed in the range of 2000mm to 2500mm so as not to interfere with the ceiling when the measuring equipment (200) rotates. Electrical wiring, signal cables, and control devices can be accommodated inside the stand (100), and it can have a structure that is protected from the outside.

[0033] In some embodiments, the stand (100) may adjust the height of the measuring equipment (200) by including a body connection and a lifting drive.

[0034] The body connection part is installed on one side of the stand (100) and can be connected to the main body of the measuring equipment (200). The body connection part can be coupled to the main body through a rotary drive part (300) and can be installed on the stand (100) so as to be able to move up and down in a vertical direction along the guide rail of the stand (100). The body connection part can be formed in a flat plate shape or a frame shape and can have sufficient rigidity to stably support the weight of the measuring equipment (200).

[0035] A guide wheel or a sliding block may be installed in the body connection part and coupled with a guide rail inside the stand (100). The guide rail is installed extending vertically along the side wall of the stand (100) and can guide the smooth vertical movement of the body connection part. In some embodiments, the guide rails are symmetrically arranged on both sides of the stand (100) so that the body connection part can maintain a horizontal position.

[0036] The lifting range of the body connection can be determined based on the patient's height and the imaging area. In some embodiments, the lifting range of the body connection may be from a minimum height of approximately 1200 mm to a maximum height of approximately 2000 mm from the floor surface. Limit switches may be installed at the upper and lower limits of the lifting range to restrict the body connection from moving beyond the set range.

[0037] The lifting drive unit can provide a driving force to raise the body connection unit in a vertical direction. The lifting drive unit may be installed inside the stand (100). The lifting drive unit may include a motor, a reduction gear, a chain, a belt, a sprocket, or a ball screw, and can convert the rotational motion of the motor into the linear motion of the body connection unit.

[0038] In some embodiments, the lifting drive unit may include a lifting motor. The lifting motor may be an AC motor, a DC motor, or a servo motor, and may be fixedly installed at the bottom or middle of the stand (100). A reduction gear may be connected to the lifting motor to convert high-speed rotation into low-speed, high-torque rotation, and a sprocket or pulley may be attached to the output shaft of the reduction gear.

[0039] In some embodiments, the lifting drive unit may include a chain or a belt. The chain or belt may be installed in a stepless loop form between a drive sprocket located at the bottom of the stand (100) and a driven sprocket located at the top, and a portion of the chain or belt may be fixed to a body connection. When the lifting motor rotates the drive sprocket, the chain or belt may circulate to raise or lower the body connection.

[0040] In another embodiment, the lifting drive unit may include a ball screw mechanism. The ball screw is installed vertically inside the stand (100), and when the lifting motor rotates the ball screw, a nut coupled to the ball screw can move vertically. The body connecting unit is connected to this nut and can move up and down together.

[0041] In another embodiment, the lifting drive unit may include a hydraulic cylinder or a pneumatic cylinder. In the hydraulic cylinder, the piston extends and retracts by hydraulic pressure supplied from a hydraulic pump, and the piston rod is connected to a body connection to provide a lifting motion.

[0042] In some embodiments, the lifting drive unit may include a safety device. The safety device may include an overload protection device that stops the lifting operation when an overload is detected, a limit switch that prevents the body connection from moving beyond a set lifting range, and a magnetic locking device that prevents the body connection from falling even when the power is cut off.

[0043] The height of the measuring equipment (200) can be adjusted according to the patient's height or the area being photographed. For example, when photographing the chest of a pediatric patient, the lifting drive unit can be operated to move the measuring equipment (200) to a lower position together with the body connection unit, and when photographing the chest of an adult patient, it can be moved to a higher position. In addition, even when the patient needs to be photographed while using a wheelchair or lying down, the height of the measuring equipment (200) can be appropriately adjusted through the lifting drive unit to perform the photograph.

[0045] The measuring equipment (200) may be an equipment unit attached to the upper part of the stand (100) to perform actual X-ray imaging. The measuring equipment (200) may have an X-ray imaging tube that generates X-rays and an X-ray detector that detects X-rays placed on both sides, and may generate an image by transmitting X-rays through the patient's body.

[0046] The first arm and the second arm positioned on both sides of the measuring device (200) slide independently, thereby allowing the distance between the first medical device and the second medical device attached to both arms to be adjusted. In the measuring device (200) of the present invention, both arms are slidable, so that the total length is minimized in the contracted state and a sufficient distance required for imaging is secured in the extended state.

[0047] The left drawing of FIG. 2 shows a state in which both arms are contracted (10A), in which the total length of the medical device (10) is minimized so that it can rotate 360 ​​degrees even in a space with a low ceiling height. The right drawing of FIG. 2 shows a state in which both arms are extended (10B), in which the distance between the first medical device (2120) and the second medical device (2220) can be sufficiently secured.

[0048] FIG. 3 is a top view of the sliding motion of the measuring device (200). The left drawing shows the contracted state (10A) and the right drawing shows the extended state (10B). The sliding of both arms is performed in a horizontal direction, and the height of the measuring device (200) does not change. This horizontal sliding structure allows the shooting distance to be adjusted without changing the patient's position, thereby increasing shooting efficiency.

[0049] The sliding arm structure on both sides of the measuring equipment (200) provides the following practical effects.

[0050] First, ceiling height limitations can be overcome. The ceiling height of most existing buildings is limited to 2400mm to 2700mm, and the ceiling height may be lower, especially in basements or older buildings. In conventional fixed-length arm structures, the total length is 1500mm or more, so when rotated, the diagonal length reaches about 2120mm, posing a risk of interference with the ceiling. The measuring device (200) of the present invention can reduce the total length to 900mm or less in a contracted state, so when rotated, the diagonal length is only about 1270mm, allowing it to rotate safely even in a space with a ceiling height of 2400mm.

[0051] Second, it is easy to bring into an elevator. Hospital elevators are generally limited in width to 1200mm to 1500mm, and it is often difficult to bring in large medical equipment. Conventional X-ray machines have long overall lengths, so if they cannot enter an elevator, they have to be transported up the stairs or brought in by a crane through a window, which is inconvenient. The measuring equipment (200) of the present invention has an overall length of 900mm or less when both arms are fully retracted, so it can be easily brought in through most elevators.

[0052] Third, various shooting distances (SID, Source to Image Distance) can be set. In X-ray imaging, there are cases where the distance between the X-ray tube and the X-ray detector must be adjusted depending on the imaging area or the purpose of imaging. For general chest imaging, a distance of 1500mm to 1800mm is suitable, but the distance must be adjusted for special imaging or magnification imaging. Since the measuring device (200) of the present invention can independently control both arms, the optimal distance can be quickly set according to the imaging conditions.

[0053] In particular, since the first arm (2110) and the second arm (2210) can slide independently, the measuring device (200) can operate stably even if only one arm is extended or retracted. For example, with the patient's position fixed, the X-ray detector can be moved closer to the patient by extending only the first arm (2110), or the position of the X-ray imaging tube can be adjusted by retracting only the second arm (2210). This asymmetrical operation can greatly improve the convenience of the imaging setting and allows for the rapid adjustment of the imaging distance without the need to reposition the patient.

[0054] Such independent arm control can provide the following advantages in terms of practical use.

[0055] First, the convenience of imaging setup can be significantly improved. Since the imaging distance can be quickly changed by adjusting only one arm without the need to reposition the patient, preparation time is shortened and the workload of medical staff can be reduced. In particular, for patients with limited mobility or emergency patients, imaging conditions can be adjusted on the equipment side with minimal adjustment of the patient's position, thereby enhancing patient convenience and safety.

[0056] Second, usability in confined spaces can be increased. Hospital imaging rooms often have limited space, and in particular, imaging must be performed in a location close to a wall or other equipment. The measuring device (200) of the present invention can overcome spatial constraints and secure various imaging positions by contracting the arm facing the wall and extending only the opposite arm. Through this, X-ray imaging can be performed effectively even in environments where the spatial layout of the imaging room is limited.

[0057] Third, the reproducibility of the shooting position can be excellent. The first drive motor (2410) and the second drive motor (2420) may have an encoder built-in or externally attached to precisely detect the position of each arm, and the control unit can remember and reproduce the position of the arm based on this. If the position of the arm optimized under specific shooting conditions is stored, it can be automatically moved to the stored position when the same shooting is performed later, thereby maintaining consistency in shooting quality and obtaining stable shooting results regardless of the skill level of the medical staff.

[0058] The measuring device (200) of the present invention can stably maintain the center of the device even in an asymmetrical state where only one arm is extended. The measuring device (200) is firmly connected to the stand (100) through a rotary drive unit (300), and the stand (100) has a wide base to lower the overall center of gravity and prevent tipping. Therefore, even if only one of the first arm (2110) or the second arm (2210) is greatly extended and the weight distribution changes asymmetrically, the entire medical device (10) can maintain a stable posture without tipping over or tilting.

[0059] In some embodiments, the base portion of the stand (100) may be designed to be of sufficient size so that the center of gravity of the entire medical device (10) is located within the support area of ​​the base portion. The support area of ​​the base portion may be defined as the area where the stand (100) contacts the floor surface, and may be designed so that the center of gravity is contained within the support area even when the arm of the measuring device (200) is fully extended. Through this, the medical device (10) can operate stably without tipping over even in extreme situations where the weight is eccentrically distributed by fully extending only one arm.

[0060] Additionally, in some embodiments, a leveling foot or an adjustable support is installed in the base of the stand (100) so that the medical device (10) can be installed horizontally even when the floor surface is uneven. The leveling foot is height-adjustable, and medical personnel can use a spirit level to adjust the medical device (10) so that it is perfectly level when installing the stand (100). When level is maintained, the medical device (10) can maintain a stable center without tilting even when only one arm is extended.

[0061] Additionally, the rotary reduction gear of the rotary drive unit (300) may have a high reduction ratio (e.g., 50:1 or higher), and in particular, when using a worm gear type reduction gear, it may provide a self-locking function to prevent reverse driving, thereby preventing the measuring equipment (200) from rotating due to its own weight even when power is not supplied to the rotary motor. This self-locking function is particularly useful in an asymmetrical state where only one arm is extended, and can ensure the safe maintenance of the measuring equipment (200) even in the event of a power outage or emergency stop.

[0062] Fourth, the installation space can be minimized. The medical device (10) can increase the space utilization within the imaging room by minimizing the overall size by retracting both arms when not performing imaging. In particular, space efficiency is important in radiology departments where multiple medical devices are used together, and since the medical device (10) of the present invention occupies less space in the retracted state, interference with other equipment can be minimized.

[0063] Specific details regarding the measuring equipment (200) will be described later with reference to FIGS. 5 to 7.

[0064] The rotary drive unit (300) can connect the measuring equipment (200) so that it can rotate with respect to the stand (100). The rotary drive unit (300) rotates the measuring equipment (200) using the normal of the side of the stand (100) as the rotation axis, thereby allowing the shooting angle of the measuring equipment (200) to be freely adjusted.

[0065] Referring to FIG. 4, the rotary drive unit (300) can connect the body connection part of the stand (100) to the main body (2300) of the measuring equipment (200). The rotary drive unit (300) rotates integrally with the main body (2300) through a center gear and can be rotatably supported on the body connection part of the stand (100) through a bearing.

[0066] In some embodiments, the rotary drive unit (300) may include a center gear, a rotary reducer, and a rotary motor.

[0067] The center gear is a gear installed in the center housing (2330) of the main body (2300) and may be positioned on the rotation axis of the measuring equipment (200). The center gear rotates together with the main body (2300) and may be rotatably coupled to the body connection of the stand (100). For example, the center gear may be formed in the shape of a ring gear and may be formed integrally at the bottom or center of the center housing (2330) or attached separately.

[0068] In some embodiments, the center gear may have an internal gear structure. The internal gear is a structure in which teeth are formed on the inner circumferential surface of the gear, so that the output gear of the rotary reduction gear can mesh inside the center gear to transmit rotational force. The internal gear structure enables a compact arrangement and allows the rotary drive unit (300) to be efficiently positioned in the center of the main body (2300).

[0069] In another embodiment, the center gear may have an external gear structure. An external gear is a structure in which teeth are formed on the outer circumferential surface of the gear, allowing the output gear of the rotary reducer to mesh with the outside of the center gear to transmit rotational force. The diameter and number of teeth of the center gear can be designed according to the required rotational torque and rotational speed.

[0070] In some embodiments, a bearing structure may be incorporated into the center gear. The bearing is positioned between the center gear and the body connection of the stand (100) to provide smooth rotation while supporting the weight of the measuring equipment (200). The bearing may be a ball bearing, a roller bearing, or a slewing bearing and may be positioned around the axis of rotation of the center gear. The bearing requires periodic lubrication, and a grease injection port is provided so that lubricant can be replenished during use.

[0071] The rotary reduction gear is connected to the center gear and can convert the high-speed rotation of the rotary motor into low-speed, high-torque. The rotary reduction gear can be installed inside the center housing (2330), and the output gear connected to the output shaft can mesh with the center gear to transmit rotational force.

[0072] The rotary reducer can be a worm gear reducer, a planetary gear reducer, a harmonic drive, or a cycloid reducer. A worm gear reducer provides a high reduction ratio and has a reverse drive prevention function, which prevents the measuring equipment (200) from rotating due to its own weight even when the power is cut off. A planetary gear reducer has a compact structure and can provide high torque transmission efficiency. A harmonic drive enables precise rotational control and has almost no backlash, making it suitable for cases where precise position control is required.

[0073] The reduction ratio of the rotary reduction gear can be set in the range of 10:1 to 100:1 and can be determined according to the weight of the measuring equipment (200) and the required rotational speed. Using a high reduction ratio allows for the generation of large rotational torque even with a small capacity rotary motor and enables precise angle control. The output gear of the rotary reduction gear is continuously engaged with the center gear, so that when the rotary motor is driven, the reduced rotational force can rotate the entire main body (2300) through the center gear.

[0074] The rotary motor can be connected to a rotary reduction gear to provide driving force for rotating the measuring equipment (200). The rotary motor can be installed inside the center housing (2330) and can be an AC motor, a DC motor, or a servo motor. When using a servo motor, precise angle control and speed control are possible, and the measuring equipment (200) can be accurately positioned at a desired angle according to commands received from the control unit.

[0075] The rotary motor may be directly connected to the input shaft of the rotary reduction gear or connected via a coupling. The rotation axis of the rotary motor may be positioned to be perpendicular to both the rotation axis of the first drive motor (2410) and the rotation axis of the second drive motor (2420).

[0076] Specifically, with reference to FIG. 5, the rotation axis of the first drive motor (2410) can be extended in a vertical direction (e.g., Z-axis direction) in which the first arm (2110) and the second arm (2210) are spaced apart, the rotation axis of the second drive motor (2420) can be extended in a horizontal direction (e.g., Y-axis direction) parallel to the sliding direction of the second arm (2210), and the rotation axis of the rotation motor can be extended in a horizontal direction (e.g., X-axis direction) perpendicular to them. Through this three-axis orthogonal arrangement structure, three motors (first drive motor, second drive motor, rotation motor) can be compactly arranged inside the center housing (2330) without interfering with each other.

[0077] Since the rotation axis of the rotary motor is perpendicular to the rotation axis of the first drive motor (2410) and the second drive motor (2420), the three-dimensional space inside the center housing (2330) can be utilized efficiently, and the placement and maintenance of each motor can be easily performed. In addition, since the rotation axis of each motor faces a different direction, the vibration or noise of each motor does not interfere with each other, thereby improving overall operational stability.

[0078] An encoder may be built into the rotary motor or attached externally to detect the rotation angle and speed of the rotary motor in real time. Based on feedback information received from the encoder, the control unit can precisely control the rotary motor to position the measuring equipment (200) at a desired angle.

[0079] The capacity of the rotary motor can be determined according to the weight and moment of inertia of the measuring equipment (200). In some embodiments, the output of the rotary motor may be 100W to 500W and may be used with a rotary reduction gear to provide sufficient rotational torque. An overload protection circuit may be connected to the rotary motor to protect the motor by cutting off the current to the motor when an excessive load is detected.

[0080] The rotary drive unit (300) is compactly positioned inside the center housing (2330), so that it can be efficiently accommodated within a limited space along with the arm sliding drive motors. The center gear is located on the rotation axis of the center housing (2330), and the rotary reduction gear and rotary motor are positioned on the side or bottom inside the center housing (2330) to minimize space interference.

[0081] In some embodiments, the rotary drive unit (300) may selectively use a manual rotary mode and an electric rotary mode. In the manual rotary mode, a medical professional may rotate the measuring equipment (200) by pushing it by hand, and the rotary reduction gear may allow reverse driving or be separated from the rotary motor via a clutch mechanism. In the electric rotary mode, the rotary motor may operate to automatically rotate the measuring equipment (200).

[0082] A sensor for detecting the rotation angle may be installed in the rotation drive unit (300). The rotation angle sensor may be attached separately to the center gear or center housing (2330) in addition to the encoder built into the rotation motor, and may be an absolute encoder, an incremental encoder, a resolver, or a Hall sensor. The rotation angle sensor can transmit the current rotation angle of the measuring equipment (200) to the control unit in real time. Based on the rotation angle information, the control unit can precisely position the measuring equipment (200) at a desired angle and display the current angle on the user interface.

[0083] A rotation limiting device may be provided in the rotation drive unit (300). The rotation limiting device may physically or electrically limit the measuring equipment (200) from rotating beyond a specific angle. For example, rotation may be automatically stopped at an angle where there is a risk of the measuring equipment (200) colliding with a surrounding wall or other equipment. The rotation limiting device may be implemented by a limit switch, a proximity sensor, or a control program. Based on information received from the rotation angle sensor, the control unit may stop the operation of the rotation motor when a preset rotation limit angle is reached.

[0084] The rotary drive unit (300) may include a brake mechanism. The brake mechanism may be an electronic brake or a mechanical brake and may serve to fix the rotation after the measuring equipment (200) is positioned at a desired angle. An electronic brake may stop the rotation by applying a braking current to the rotary motor, and a mechanical brake may physically block the rotation of the center gear through a friction plate or a clamp. The brake mechanism may maintain the quality of the shot by preventing the measuring equipment (200) from rotating unintentionally during shooting.

[0085] FIG. 5 is a schematic cross-sectional view showing the interior of a main body (2300) according to one embodiment of the present invention. FIG. 6 is an enlarged view showing the driving mechanism of a first power transmission unit (2510) according to one embodiment of the present invention. FIG. 7 is a schematic cross-sectional view showing a second power transmission unit (2520) according to one embodiment of the present invention.

[0086] Referring to FIGS. 5 to 7, the measuring equipment (200) may include a first measuring module (2100), a second measuring module (2200), a main body (2300), a first driving motor (2410), a first power transmission unit (2510), a second driving motor (2420), and a second power transmission unit (2520).

[0087] The first measurement module (2100) is positioned on one side of the measurement equipment (200) and may include a first arm (2110) and a first medical device (2120).

[0088] The first arm (2110) is a support member extending in one direction from the main body (2300) and can support the first medical device (2120). The first arm (2110) has a structure that is slidably inserted into the first housing (2310) of the main body (2300) and can be extended and retracted relative to the main body (2300) by the first power transmission unit (2510) to be described later.

[0089] The first arm (2110) may be formed in a hollow rectangular shape or a square tube shape and may be made of aluminum alloy, steel, or carbon fiber composite material. A cable for transmitting power and signals to the first medical device (2120) may be disposed inside the first arm (2110), and the cable may have an extra length so as to move together with the sliding motion of the first arm (2110) or may be accommodated in a cable carrier structure.

[0090] A sliding guide may be formed on the outer surface of the first arm (2110) to be coupled with a guide structure inside the first housing (2310). The sliding guide may include a guide rail, a guide groove, or a guide wheel disposed on the upper and lower surfaces or both sides of the first arm (2110), and may guide the first arm (2110) to slide only in a straight direction inside the first housing (2310) and not to wobble left or right. In some embodiments, a bearing may be built into the guide wheel to minimize friction and provide a smooth sliding motion.

[0091] A first mounting portion may be formed on one end of the first arm (2110) to protrude outside the first housing (2310) and to which the first medical device (2120) is attached. The first mounting portion may be provided with a bracket, a bolt connection structure, or a quick release mechanism for fixing the first medical device (2120).

[0092] The other end of the first arm (2110) is located inside the first housing (2310) and is combined with the first connecting structure (2514) to be described later, so that it can receive driving force from the first power transmission unit (2510).

[0093] The sliding distance of the first arm (2110) can be determined by the length of the first housing (2310) and the minimum insertion depth of the first arm (2110). In some embodiments, the maximum extension distance of the first arm (2110) may be 300 mm to 600 mm, and in the retracted state, most of the first arm (2110) may be accommodated inside the first housing (2310) and may protrude only minimally to the outside.

[0094] The first medical device (2120) is a medical device attached to the end of the first arm (2110) and may be an X-ray detector. The X-ray detector may be a device that detects X-rays that have passed through the patient's body, converts them into electrical signals, and processes them into digital image information. The X-ray detector may have a flat panel detector structure and may include a sensor panel based on amorphous silicon (a-Si) or amorphous selenium (a-Se).

[0095] However, the first medical device (2120) is not limited to an X-ray detector and may be various medical equipment capable of performing medical diagnosis or treatment in pair with the second medical device (2220). For example, the first medical device (2120) may be a detector of a CT scanner, a coil of an MRI, an ultrasound probe, or a dosimeter of a radiation therapy device. Since the medical device (10) of the present invention can adjust the placement distance of various medical equipment through the sliding structure of the two arms, it can be utilized for various medical diagnosis and treatment purposes in addition to X-ray imaging.

[0096] The first medical device (2120) is firmly attached to the first arm (2110) and positioned opposite the second medical device (2220) to perform X-ray imaging with the patient in between. The size of the first medical device (2120) may be determined according to the imaging area, and in some embodiments, it may have a sensor panel of size 14 inches × 17 inches or 17 inches × 17 inches.

[0097] In some embodiments, a grid may be attached to the first medical device (2120). The grid may serve to improve image clarity by blocking X-rays scattered from the patient's body. The grid has a structure in which thin lead strips are arranged at regular intervals and may be detachably mounted on the front of the first medical device (2120).

[0098] The first medical device (2120) can be attached to the first arm (2110) in a way that allows for angle adjustment. A rotary joint or tilt mechanism is provided between the first medical device (2120) and the first arm (2110) to allow for fine adjustment of the light receiving angle of the first medical device (2120). This allows the X-ray receiving angle to be optimized according to the patient's imaging area.

[0099] In some embodiments, the first medical device (2120) may be attached to the first arm (2110) in a way that allows for angle adjustment. A rotary joint or tilt mechanism is provided between the first medical device (2120) and the first arm (2110) to allow for fine adjustment of the irradiation angle of the first medical device (2120). This allows the irradiation angle of the X-ray to be optimized according to the patient's imaging area.

[0100] The second measurement module (2200) is a component positioned on the other side of the measurement equipment (200) and may include a second arm (2210) and a second medical device (2220). The second measurement module (2200) may be positioned opposite the first measurement module (2100) and the main body (2300).

[0101] The second arm (2210) is a support member extending from the main body (2300) in the opposite direction to the first arm (2110) and can support the second medical device (2220). The second arm (2210) is positioned at a predetermined distance from the first arm (2110) and can slide in the opposite direction along the same straight line as the sliding direction of the first arm (2110).

[0102] The spacing between the second arm (2210) and the first arm (2110) can be determined by the thickness of the center housing (2330) of the main body (2300). The first arm (2110) extends through the first housing (2310), and the second arm (2210) extends through the second housing (2320), with the center housing (2330) positioned between them to form a parallel arrangement in which both arms are spaced apart from each other.

[0103] The second arm (2210) has a structure similar to the first arm (2110) and can be slidably inserted into the second housing (2320) of the main body (2300). The second arm (2210) can be independently extended and retracted relative to the main body (2300) by means of the second power transmission unit (2520).

[0104] The second arm (2210) can be formed in the shape of a rectangular body with a hollow structure and can be made of the same or similar material as the first arm (2110).

[0105] A cable for transmitting power and signals to a second medical device (2220) may be placed inside the second arm (2210). A sliding guide may also be formed on the outer surface of the second arm (2210) in a manner similar to the first arm (2110) to enable linear sliding motion inside the second housing (2320).

[0106] A mounting portion may be formed at one end of the second arm (2210) to protrude outside the second housing (2320) and to which the second medical device (2220) is attached. The other end of the second arm (2210) is located inside the second housing (2320) and is coupled with the second connecting structure (2524) to be described later to receive driving force from the second power transmission portion (2520).

[0107] The sliding distance of the second arm (2210) may be the same as or different from that of the first arm (2110). In some embodiments, the maximum extension distance of the second arm (2210) may be 300 mm to 600 mm, the same as that of the first arm (2110). In other embodiments, if the size or weight of the second medical device (2220) is different from that of the first medical device (2120), the sliding distance of the second arm (2210) may be set differently.

[0108] The second medical device (2220) is a medical device attached to the end of the second arm (2210) and may be an X-ray imaging tube. The X-ray imaging tube is a device that generates X-rays by applying high voltage, and can emit X-rays as electrons emitted from the cathode collide with a tungsten target at the anode. The second medical device (2220) can be firmly attached to the second arm (2210) through a fixed bracket or a coupling structure, and the distance from the main body (2300) can be adjusted according to the extension and contraction of the second arm (2210).

[0109] However, the second medical device (2220) is not limited to an X-ray imaging tube and may be various medical equipment capable of performing medical diagnosis or treatment in pair with the first medical device (2120). For example, the second medical device (2220) may be an X-ray generator of a CT scanner, a magnetic unit of an MRI, an ultrasound generator, or a linear accelerator for radiation therapy. The first medical device (2120) and the second medical device (2220) are positioned facing each other, and by adjusting the distance between them, settings optimized for various medical procedures can be provided.

[0110] An X-ray imaging tube may include a tube body, a cooling system, and a shielding housing. The tube body has a structure in which a cathode and an anode are placed inside a vacuum glass or ceramic tube, and when a high voltage (e.g., 40 kV to 150 kV) is applied, electrons emitted from the cathode collide with a tungsten target on the anode to generate X-rays. The cooling system is intended to dissipate the heat generated during X-ray generation and may use an oil cooling method or an air cooling method. The shielding housing has its inner walls coated with lead (Pb) to ensure that X-rays are irradiated only in the desired direction and to block leakage to the sides and rear.

[0111] A collimator may be attached to the second medical device (2220). The collimator is a device that controls the size and shape of the X-ray beam, and can minimize unnecessary radiation exposure to the patient by limiting the X-ray irradiation range according to the imaging area. The collimator is positioned in front of the output window of the X-ray imaging tube and can adjust the size of the opening by moving a lead shield plate.

[0112] In some embodiments, the second medical device (2220) may be attached to the second arm (2210) in a way that allows for angle adjustment. A rotary joint or tilt mechanism is provided between the second medical device (2220) and the second arm (2210) to allow for fine adjustment of the irradiation angle of the second medical device (2220). This allows the irradiation angle of the X-ray to be optimized according to the patient's imaging area.

[0113] The main body (2300) is a central structure located between the first measuring module (2100) and the second measuring module (2200), and may accommodate and support a portion of the first arm (2110) and the second arm (2210), and may contain a driving mechanism for sliding both arms. The main body (2300) may include a first housing (2310), a second housing (2320), and a center housing (2330).

[0114] The first housing (2310) is located on one side of the main body (2300) and can be configured so that the first arm (2110) is inserted into it. The first housing (2310) can be formed in a hollow box shape or a rectangular tube shape and can provide a space for the first arm (2110) to slide. A guide rail or guide groove for guiding the sliding of the first arm (2110) can be formed inside the first housing (2310).

[0115] The first housing (2310) may be made of aluminum alloy, steel, or composite material and may have sufficient rigidity to support the weight of the first arm (2110) and the first power transmission unit (2510). One end of the first housing (2310) may be connected to the center housing (2330), and the other end may be open to form an opening through which the first arm (2110) can protrude outward.

[0116] Some components of the first power transmission unit (2510), which will be described later, may be disposed inside the first housing (2310). For example, a first rotating wheel (2512) may be rotatably installed at both ends of the first housing (2310), and a first circulation member (2513) may circulate inside the first housing (2310) along the first rotating wheel (2512).

[0117] The second housing (2320) is located on the other side of the main body (2300) and can be configured so that the second arm (2210) is inserted into it. The second housing (2320) may have a structure similar to the first housing (2310) and may provide a space for the second arm (2210) to slide. A guide rail or guide groove may be formed inside the second housing (2320) to guide the sliding of the second arm (2210).

[0118] Some components of the second power transmission unit (2520), which will be described later, may be disposed inside the second housing (2320). Some of the second rotating wheels (2522) may be rotatably installed in the second housing (2320), and the second circulation member (2523) may circulate inside the second housing (2320) along the second rotating wheels (2522).

[0119] The first housing (2310) and the second housing (2320) may be spaced apart with the center housing (2330) in between. The direction in which the first housing (2310) and the second housing (2320) are spaced apart may correspond to the direction in which the first arm (2110) and the second arm (2210) are spaced apart.

[0120] Based on FIG. 5, the first housing (2310) and the second housing (2320) can be spaced apart in the vertical direction. Through this vertically spaced arrangement, the first arm (2110) and the second arm (2210) can slide independently without interfering with each other, and the power transmission mechanism placed inside each housing can operate efficiently.

[0121] The center housing (2330) is a central housing located between the first housing (2310) and the second housing (2320), and can serve to accommodate and protect a portion of the first drive motor (2410), the second drive motor (2420), and the rotary drive unit (300) to be described later. The center housing (2330) is located at the center of the main body (2300) and can be connected to the body connection part of the stand (100) through the rotary drive unit (300).

[0122] The center housing (2330) can be formed in a box shape or a cylindrical shape and can accommodate the first drive motor (2410), the second drive motor (2420), the rotary reducer, and the rotary motor by securing sufficient space inside. The size of the center housing (2330) can be determined by the size and arrangement method of the components placed inside, and can be designed to be as compact as possible to minimize the overall size of the measuring equipment (200).

[0123] A center gear may be installed on the upper or lower part of the center housing (2330), and the center gear may rotate the measuring equipment (200) by engaging with the rotational reduction gear of the rotational drive unit (300). The center housing (2330) may be provided with a cooling fan or a heat dissipation structure to release heat generated as the internal motors operate to the outside.

[0124] One of the key features of the present invention is that both the first drive motor (2410) and the second drive motor (2420) are concentrated within the center housing (2330). In conventional structures, the drive motors are distributed within each arm or attached to the outside of the main body with brackets, which resulted in problems such as limited sliding distance of the arm or increased overall size.

[0125] In the present invention, by concentrating the drive motors of both arms in the center housing (2330), the internal space of the first housing (2310) and the second housing (2320) can be maximized and the sliding distance of the arms can be increased.

[0126] The first drive motor (2410) is a motor that provides driving force to slide the first arm (2110) and can be installed inside the center housing (2330). The first drive motor (2410) may be an AC motor, a DC motor, or a servo motor, and can rotate in a forward or reverse direction according to a command received from the control unit to slide the first arm (2110) relative to the first housing (2310).

[0127] The first drive motor (2410) can be attached to the inner wall of the center housing (2330) via a fixed bracket. The rotation axis of the first drive motor (2410) can be extended in a direction separated by the first arm (2110) and the second arm (2210). Based on FIG. 5, the first housing (2310) and the second housing (2320) are separated in a vertical direction (Z-axis direction) with the center housing (2330) in between, so the rotation axis of the first drive motor (2410) can be extended in this vertical direction (Z-axis direction).

[0128] Since the rotation axis of the first drive motor (2410) is positioned perpendicular to the sliding direction (Y-axis direction) of the first arm (2110), in order to transmit the rotational force of the first drive motor (2410) to the sliding direction of the first arm (2110), the rotational direction may need to be changed through the first power transmission gear (2511). The first power transmission gear (2511) may have a worm gear or bevel gear structure and can convert the rotation of the first drive motor (2410) in the Z-axis direction into the rotation of the first drive wheel.

[0129] In some embodiments, a reduction gear may be interposed between the first drive motor (2410) and the first power transmission gear (2511). The reduction gear may be a worm gear reduction gear, a planetary gear reduction gear, or a harmonic drive, and can convert the high-speed rotation of the first drive motor (2410) into low-speed high-torque. By using a reduction gear, the weight of the first arm (2110) and the first medical device (2120) can be reliably driven even with a first drive motor (2410) of small capacity.

[0130] The first power transmission unit (2510) can transmit the driving force of the first drive motor (2410) to the first arm (2110). The first power transmission unit (2510) may include a first power transmission gear (2511), a plurality of first rotating wheels (2512), a first circulation member (2513), and a first connecting structure (2514).

[0131] Referring to FIG. 6, the first power transmission gear (2511) is a gear that receives rotational force from the first drive motor (2410) and changes the direction of rotation, and can be placed inside the center housing (2330).

[0132] In some embodiments, the first power transmission gear (2511) may include a reduction function and may have a worm gear, bevel gear, or planetary gear structure. The first power transmission gear (2511) can convert the high-speed rotation of the first drive motor (2410) into low-speed high-torque and simultaneously change the direction of the rotation axis.

[0133] In some embodiments, the first drive motor (2410) and the first power transmission gear (2511) may be collectively referred to as a gear motor. That is, the first drive motor (2410) functions as the motor body, and the first power transmission gear (2511) functions as a reduction gear, so that the combined form of the two constitutes a gear motor. The first drive motor (2410) and the first power transmission gear (2511) may be manufactured and supplied as an integrated unit, or they may be manufactured as separate components and combined on-site.

[0134] When the first power transmission gear (2511) is configured as a worm gear set, the worm gear set may include a worm connected to the output shaft of the first drive motor (2410) and a worm wheel that rotates by meshing with the worm. The rotation axis of the worm may be in the Z-axis direction, which is the same as the rotation axis of the first drive motor (2410), and the rotation axis of the worm wheel may be in the X-axis direction, which is perpendicular to the rotation axis of the worm. The worm wheel may be connected coaxially with or integrally formed with the first drive rotation wheel described later. The worm gear provides a high reduction ratio and has a reverse drive prevention function, which prevents the first arm (2110) from moving due to its own weight even when the power is cut off.

[0135] When the first power transmission gear (2511) is composed of a bevel gear set, the bevel gear set may include a driving bevel gear connected to the output shaft of the first driving motor (2410) and a driven bevel gear that rotates by meshing with the driving bevel gear. The bevel gear can transmit power between two rotation axes that are angled to each other, and in some embodiments, the direction of rotation can be changed at a 90-degree angle. The rotation axis of the driving bevel gear may be in the Z-axis direction, and the rotation axis of the driven bevel gear may be in the X-axis direction.

[0136] The first power transmission gear (2511) can convert the rotation of the first drive motor (2410) in the Z-axis direction into rotation in the X-axis direction while decelerating it. The output shaft of the first power transmission gear (2511) can be extended in a direction perpendicular to the rotation axis (Z-axis direction) of the first drive motor (2410), and can be extended in the X-axis direction based on FIG. 5. The direction of the output shaft (X-axis) of the first power transmission gear (2511) can coincide with the direction of the rotation axis of the first rotating wheel (2512) to be described later.

[0137] The reduction ratio of the first power transmission gear (2511) can be set in the range of 10:1 to 50:1 and can be determined according to the total weight of the first arm (2110) and the first medical device (2120) and the required sliding speed. By using a high reduction ratio, the weight of the first arm (2110) and the first medical device (2120) can be stably driven even with a small capacity first drive motor (2410), and precise position control can be achieved.

[0138] The first power transmission gear (2511) may be connected coaxially with or directly coupled to the first driving wheel among the first rotating wheels (2512) to be described later. Specifically, the first driving wheel may be directly attached to the output shaft of the first power transmission gear (2511) (e.g., the rotational shaft of a worm wheel or a driven bevel gear), or the output shaft and the first driving wheel may be connected through a coupling. Through this, the rotational force of the first driving motor (2410) may be transmitted to the first driving wheel after its direction is changed through the first power transmission gear (2511).

[0139] A plurality of first rotating wheels (2512) are wheels that guide the path of the first circulation member (2513) and transmit rotational force, and may be rotatably installed inside the first housing (2310). In some embodiments, the first rotating wheels (2512) may be sprockets or pulleys, and may be sprockets if the first circulation member (2513) is a chain, and pulleys if it is a belt.

[0140] In some embodiments, a plurality of first rotating wheels (2512) may be composed of two and may be disposed at each end of the first housing (2310). One of the two first rotating wheels (2512) may be a driving first rotating wheel that is coaxially connected to or directly coupled to the first power transmission gear (2511) to receive rotational force from the first driving motor (2410). The other may be a driven first rotating wheel (idler wheel) that is rotatably installed in the first housing (2310) to guide the path of the first circulation member (2513) and maintain tension.

[0141] The driving first rotating wheel may be located at one end of the first housing (2310) adjacent to the center housing (2330), and the driven first rotating wheel may be located at the other end of the first housing (2310). The rotation axes of the driving first rotating wheel and the driven first rotating wheel may extend in a normal direction to the side of the first housing (2310) and may be horizontal with respect to FIG. 5. The driving first rotating wheel and the driven first rotating wheel may have the same diameter.

[0142] The first rotating wheel (2512) may be rotatably installed on a bracket or support structure fixed to the inner wall of the first housing (2310). A bearing may be installed on the rotation axis of the first rotating wheel (2512) to minimize friction and provide smooth rotation. The bearing may be a ball bearing, a roller bearing, or a bushing, and may improve power transmission efficiency by lowering the rotational resistance of the first rotating wheel (2512).

[0143] A groove or teeth may be formed on the outer surface of the first rotating wheel (2512) to accommodate the first circulation member (2513). If the first circulation member (2513) is a chain, teeth that engage with the links of the chain may be formed at regular intervals on the outer surface of the first rotating wheel (2512). If the first circulation member (2513) is a timing belt, a groove that engages with the inner teeth of the belt may be formed on the outer surface of the first rotating wheel (2512). Through this engagement structure, the first circulation member (2513) can reliably receive power without slipping on the first rotating wheel (2512).

[0144] The first circulation member (2513) is a chain or belt that forms a closed loop across a plurality of first rotation wheels (2512) and can transmit the rotational force of the first drive motor (2410) to the first arm (2110). The first circulation member (2513) can be made of a metal chain, a timing belt, or a reinforced rubber belt and can have high tensile strength and durability.

[0145] The metal chain may have a structure in which multiple links are connected by pins, and may be a standard roller chain, a silent chain, or a leaf chain. The metal chain has high tensile strength, can transmit large loads, and can operate stably even in high-temperature environments. The timing belt is a belt made of rubber or urethane material with reinforcing fibers (e.g., glass fiber, Kevlar) or steel wires embedded inside, and teeth are formed on its inner surface to engage with the pulley of the first rotating wheel (2512). The timing belt may have the advantages of low noise, easy maintenance, and no need for lubrication.

[0146] The first circulation member (2513) is configured in a closed-loop form connecting the first driving rotation wheel and the first driven rotation wheel, so that when the first driving rotation wheel rotates clockwise or counterclockwise, the entire first circulation member (2513) can perform a circulation motion. The first circulation member (2513) can be divided into an upper section (upper span) and a lower section (lower span), and depending on the rotation direction of the first driving rotation wheel, the upper section or the lower section can move in a forward direction.

[0147] A first connecting structure (2514), to be described later, is attached to a part of the first circulation member (2513) so that the circulation movement of the first circulation member (2513) can be converted into a linear sliding movement of the first arm (2110). The first connecting structure (2514) may be attached to either the upper or lower section of the first circulation member (2513) and may be fixed in an appropriate position according to the sliding direction of the first arm (2110).

[0148] The tension of the first circulation member (2513) can be appropriately maintained by a tension adjustment device. The tension adjustment device can finely adjust the position of the driven first rotation wheel or adjust the tension of the first circulation member (2513) by adding a separate tension pulley.

[0149] In some embodiments, the driven first rotating wheel may be installed in a slot or slot structure of the first housing (2310) to allow for position adjustment, and the tension of the first circulation member (2513) can be adjusted by moving the position of the driven first rotating wheel by tightening or loosening a bolt. Appropriate tension can prevent sagging or detachment of the first circulation member (2513), increase power transmission efficiency, and minimize noise and vibration.

[0150] In some embodiments, a guide rail or slider supporting the first circulation member (2513) may be installed inside the first housing (2310). The guide rail supports the upper and lower sections of the first circulation member (2513) so as not to sag, and can suppress vibration of the first circulation member (2513), particularly in long span sections. The slider may be made of a low-friction material (e.g., polyacetal, nylon, PTFE) to minimize frictional resistance while in contact with the first circulation member (2513).

[0151] The first connecting structure (2514) is a component connecting the first circulation member (2513) and the first arm (2110) and can be fixedly attached to a part of the first circulation member (2513). The first connecting structure (2514) can be formed in the form of a bracket, clamp, connecting block, or adapter, and can be fixed to the first circulation member (2513) by bolting, welding, riveting, or clamping.

[0152] The first connecting structure (2514) may be made of metal (e.g., aluminum alloy, steel) or high-strength plastic and may have sufficient strength to stably support the total weight of the first arm (2110) and the first medical device (2120). The shape of the first connecting structure (2514) may be designed to fit the shape of the first circulation member (2513), and in the case of a chain, it may have a structure that penetrates or wraps around the chain links, and in the case of a belt, it may have a structure that attaches to the surface of the belt or clamps the belt.

[0153] One side of the first connecting structure (2514) is fixed to the first circulation member (2513), and the other side can be connected to the other end of the first arm (2110). The connection between the first connecting structure (2514) and the first arm (2110) can be made by bolt connection, pin connection, welding, or screw fastening, and through a rigid connection, it can be prevented from separating even during sliding motion.

[0154] In some embodiments, a cushioning member may be interposed between the first connecting structure (2514) and the first arm (2110). The cushioning member may have a rubber, urethane, or spring structure and can absorb shocks that occur during the sudden starting or stopping of the first drive motor (2410) to prevent damage to the first arm (2110) and the first medical device (2120). Additionally, the cushioning member may dampen vibrations that occur during sliding motion to provide smoother operation.

[0155] When the first drive motor (2410) rotates the first drive wheel, the first circulation member (2513) performs a circulation motion, and the first connecting structure (2514) moves linearly by the first circulation member (2513) to slide the first arm (2110). For example, when the first drive wheel rotates counterclockwise, the upper portion of the first circulation member (2513) moves outward from the first housing (2310), and the first connecting structure (2514) pushes the first arm (2110) outward, so that the first arm (2110) can be extended. Conversely, when the first driving wheel rotates clockwise, the upper portion of the first circulation member (2513) moves inside the first housing (2310), and the first connecting structure (2514) pulls the first arm (2110) inwardly into the first housing (2310), so that the first arm (2110) can be retracted.

[0156] The control unit can control the extension and contraction speed of the first arm (2110) by controlling the rotation angle and speed of the first drive motor (2410). Based on feedback received from an encoder built into the first drive motor (2410) or from a position sensor attached externally, the control unit can precisely move the first arm (2110) to a desired position. In some embodiments, a limit switch is installed at the end of the first arm (2110) or the first housing (2310) to automatically stop the operation of the first drive motor (2410) when the first arm (2110) reaches the maximum extension or maximum contraction position.

[0157] The second drive motor (2420) is a motor that provides driving force to slide the second arm (2210) and can be installed inside the center housing (2330). The second drive motor (2420) may have a structure similar to the first drive motor (2410) and may be an AC motor, a DC motor, or a servo motor.

[0158] The rotation axis of the second drive motor (2420) may be arranged to intersect the rotation axis of the first drive motor (2410). For example, the rotation axis of the first drive motor (2410) may extend in a vertical direction (e.g., Z-axis direction) which is the direction of separation between the first arm (2110) and the second arm (2210), whereas the rotation axis of the second drive motor (2420) may extend in a horizontal direction (e.g., Y-axis direction) which is parallel to the sliding direction of the second arm (2210).

[0159] Based on FIG. 5, the rotation axis of the first drive motor (2410) extends in the vertical direction (Z-axis direction), the rotation axis of the second drive motor (2420) extends in the horizontal direction (Y-axis direction), and the rotation axis of the rotation motor extends in the X-axis direction, thereby forming a three-axis arrangement structure in which the three motors are orthogonal to each other.

[0160] Through this cross-arrangement structure, the first drive motor (2410) and the second drive motor (2420) can be placed independently inside the center housing (2330) without interfering with each other, and the size of the center housing (2330) can be minimized. If the rotation axes of the two motors are arranged in the same direction, the motors are arranged in series, which may increase the length of the center housing (2330), or the motors may interfere with each other, resulting in insufficient placement space.

[0161] The second drive motor (2420) can be attached to the inner wall of the center housing (2330) via a fixed bracket and can be positioned spatially separated from the first drive motor (2410). In some embodiments, as shown in FIG. 5, the first drive motor (2410) can be positioned on the side of the center housing (2330), and the second drive motor (2420) can be positioned in the center of the center housing (2330).

[0162] Since the second drive motor (2420) is positioned so that its rotation axis is parallel to the sliding direction of the second arm (2210), the direction of power transmission may need to be changed in order to transmit the rotational force of the second drive motor (2420) to the sliding direction of the second arm (2210). To this end, the second power transmission unit (2520) may have a more complex structure than the first power transmission unit (2510) and may include a larger number of rotating wheels.

[0163] The second power transmission unit (2520) is a mechanism for transmitting the driving force of the second drive motor (2420) to the second arm (2210), and may include a second power transmission gear (2521), a plurality of second rotating wheels (2522), a second circulation member (2523), and a second connecting structure (2524).

[0164] Referring to FIG. 7, the second power transmission gear (2521) is a gear that receives the rotational force of the second drive motor (2420) and changes the direction of rotation or reduces it, and can be placed inside the center housing (2330). The second power transmission gear (2521) may include a reduction function and may have a worm gear, a bevel gear, or a planetary gear structure. The second power transmission gear (2521) can convert the high-speed rotation of the second drive motor (2420) into low-speed high-torque, and can change the direction of the rotation axis as needed.

[0165] In some embodiments, the second drive motor (2420) and the second power transmission gear (2521) may be collectively referred to as a gear motor. That is, the second drive motor (2420) functions as the motor body, and the second power transmission gear (2521) functions as a reduction gear, so that the combined form of the two constitutes a gear motor. The second drive motor (2420) and the second power transmission gear (2521) may be manufactured and supplied as a single unit, or they may be manufactured as separate components and combined on-site.

[0166] In some embodiments, the second power transmission gear (2521) can change the rotation axis direction of the second drive motor (2420). For example, if the rotation axis of the second drive motor (2420) is in the Y-axis direction and the rotation axis of the second drive wheel is in the X-axis direction, the second power transmission gear (2521) may be composed of a worm gear or a bevel gear to convert rotation in the Y-axis direction to rotation in the X-axis direction.

[0167] The reduction ratio of the second power transmission gear (2521) can be set in the range of 10:1 to 50:1 and can be determined according to the total weight of the second arm (2210) and the second medical device (2220) and the required sliding speed. By using a high reduction ratio, the weight of the second arm (2210) and the second medical device (2220) can be stably driven even with a small capacity second drive motor (2420), and precise position control can be achieved.

[0168] The second power transmission gear (2521) may be connected coaxially with or directly coupled to the second driving wheel, which will be described later. Specifically, the second driving wheel may be directly attached to the output shaft of the second power transmission gear (2521), or the output shaft and the second driving wheel may be connected through a coupling.

[0169] A plurality of second rotating wheels (2522) are wheels that guide the path of the second circulation member (2523) and transmit rotational force, and may be rotatably installed inside the center housing (2330) and the second housing (2320). The second rotating wheels (2522) may be sprockets or pulleys, and may be sprockets if the second circulation member (2523) is a chain, and pulleys if it is a belt.

[0170] In some embodiments, the plurality of second rotating wheels (2522) may be composed of four, and may have a greater number than the first rotating wheel (2512) of the first power transmission unit (2510). The four second rotating wheels (2522) may be divided into one driving second rotating wheel and three driven second rotating wheels. The three driven second rotating wheels may be referred to as a front driven second rotating wheel, a central driven second rotating wheel, and a rear driven second rotating wheel depending on their placement position.

[0171] The second driving wheel is located inside the center housing (2330) and is connected coaxially to or directly coupled to the second power transmission gear (2521) to receive the rotational force of the second driving motor (2420). The second driving wheel may be attached to or integrally formed with the output shaft of the second power transmission gear (2521), and when the second driving motor (2420) rotates, the second driving wheel also rotates together to transmit the driving force to the second circulation member (2523).

[0172] Three driven second rotation wheels are located inside the second housing (2320) and can perform the role of guiding the path of the second circulation member (2523) and maintaining tension. The front driven second rotation wheel may be located at one end of the second housing (2320) adjacent to the center housing (2330), the central driven second rotation wheel may be located in the center of the second housing (2320), and the rear driven second rotation wheel may be located at the other end of the second housing (2320).

[0173] By additionally placing a central driven second rotating wheel in the center of the second housing (2320), the path of the second circulation member (2523) can be configured more complexly, and the rotational direction of the second drive motor (2420) can be effectively converted to the sliding direction of the second arm (2210). In addition, the central driven second rotating wheel can perform the function of evenly distributing the tension of the second circulation member (2523) and preventing sagging of the second circulation member (2523).

[0174] Each driven second rotating wheel may be rotatably installed on a bracket or support structure fixed to the inner wall of the second housing (2320). A bearing may be installed on the rotation axis of the driven second rotating wheel to minimize friction and provide smooth rotation. In some embodiments, at least one of the driven second rotating wheels may be positionally adjustable to adjust the tension of the second circulation member (2523).

[0175] The second circulation member (2523) is a chain or belt that forms a closed loop across a plurality of second rotation wheels (2522) and can circulate within the center housing (2330) and the second housing (2320). The second circulation member (2523) may be made of a material similar to that of the first circulation member (2513) and may be a metal chain, a timing belt, or a reinforced rubber belt.

[0176] The path of the second circulation member (2523) may be as follows. The second circulation member (2523), starting from the driving second rotation wheel inside the center housing (2330), can change direction by passing through the front driven second rotation wheel located at one end of the second housing (2320), can change direction again by passing through the rear driven second rotation wheel located at the other end of the second housing (2320), and can return to the driving second rotation wheel by passing through the central driven second rotation wheel located in the center of the second housing (2320).

[0177] Specifically, the second circulation member (2523) may be divided into an upper section and a lower section. The lower section may be a path extending from the driving second rotation wheel through the front driven second rotation wheel to the rear driven second rotation wheel, and may extend along the sliding direction of the second arm (2210). The upper section may be a path returning from the rear driven second rotation wheel through the central driven second rotation wheel to the driving second rotation wheel.

[0178] In some embodiments, the upper section of the second circulation member (2523) may be configured to pass through the lower part of the central driven second rotation wheel. That is, the upper section of the second circulation member (2523), starting from the rear driven second rotation wheel, may wrap around the lower outer surface of the central driven second rotation wheel, change direction, and then return to the driving second rotation wheel. Through this path configuration, the upper and lower sections of the second circulation member (2523) are separated by the central driven second rotation wheel, thereby preventing sagging and ensuring that tension is evenly distributed.

[0179] The central driven second rotating wheel can be positioned close to the lower inner wall of the second housing (2320), and by the upper section of the second circulation member (2523) passing under the lower section of the central driven second rotating wheel, the entire path of the second circulation member (2523) can efficiently utilize the internal space of the second housing (2320). Additionally, by the central driven second rotating wheel supporting the lower section of the second circulation member (2523), sagging or vibration of the second circulation member (2523) that may occur over a long span can be suppressed.

[0180] Through this complex path configuration, even though the rotation axis of the second drive motor (2420) is positioned perpendicular to the sliding direction of the second arm (2210), the second circulation member (2523) can effectively transmit power in the sliding direction of the second arm (2210). When the drive second rotation wheel rotates, the second circulation member (2523) circulates along a closed loop, and the second connecting structure (2524) attached to the second circulation member (2523) can push or pull the second arm (2210) in a straight direction.

[0181] The tension of the second circulation member (2523) can be appropriately maintained by position adjustment of the driven second rotation wheel or by a separate tension adjustment device. In some embodiments, the central driven second rotation wheel or the rear driven second rotation wheel is installed to be position-adjustable so as to adjust the tension of the second circulation member (2523). Appropriate tension can prevent sagging or detachment of the second circulation member (2523), increase power transmission efficiency, and minimize noise and vibration.

[0182] The second connecting structure (2524) is a component connecting the second circulation member (2523) and the second arm (2210), and may have a structure similar to the first connecting structure (2514). The second connecting structure (2524) may be formed in the form of a bracket, clamp, connecting block, or adapter, and may be fixedly attached to a part of the second circulation member (2523) by bolting, welding, riveting, or clamping.

[0183] One side of the second connecting structure (2524) can be fixed to the second circulation member (2523), and the other side can be connected to the other end of the second arm (2210). The connection between the second connecting structure (2524) and the second arm (2210) can be made by bolt connection, pin connection, welding, or screw fastening, and can have sufficient strength to stably support the total weight of the second arm (2210) and the second medical device (2220).

[0184] When the second drive motor (2420) rotates, the second drive rotating wheel can rotate through the second power transmission gear (2521), the second circulation member (2523) can perform a circulating motion along the plurality of second rotating wheels (2522), and the second connecting structure (2524) can extend or retract the second arm (2210). When the second drive rotating wheel rotates in one direction, the second circulation member (2523) circulates, and the second connecting structure (2524) can push the second arm (2210) outward to extend it, and when it rotates in the opposite direction, the second connecting structure (2524) can pull the second arm (2210) inward to retract it.

[0185] The first power transmission unit (2510) and the second power transmission unit (2520) can operate independently of each other. The control unit can individually control the first drive motor (2410) and the second drive motor (2420) to extend or retract the first arm (2110) and the second arm (2210) simultaneously or individually. For example, both arms can be extended simultaneously to maintain a symmetrical structure, or only one arm can be extended to set an asymmetrical shooting distance.

[0186] The control unit receives feedback from an encoder embedded in the first drive motor (2410) and the second drive motor (2420) or from a position sensor attached externally, and can monitor the positions of the first arm (2110) and the second arm (2210) in real time and control them precisely. In some embodiments, a limit switch is installed at the end of the first arm (2110) and the second arm (2210) or at each housing so that the driving of the corresponding drive motor can be automatically stopped when each arm reaches a maximum extension or maximum contraction position.

[0187] As described above, the measuring device (200) of the present invention may have a structure in which both arms can slide independently, and the internal space of the center housing (2330) can be efficiently utilized and a compact structure can be realized through a three-axis arrangement structure in which the rotation axes of the first drive motor (2410), the second drive motor (2420), and the rotation motor are orthogonal to each other. In particular, since the three motors are arranged in different axial directions, each motor can be installed and replaced independently, and maintenance can be easy.

[0188] The medical device (10) may include a control unit to integrally control arm sliding, rotation, and shooting movements of the measuring equipment (200). The control unit may be an electronic control unit including a microprocessor, memory, an input / output interface, and a driving circuit, and may be installed inside the stand (100) or inside the measuring equipment (200).

[0189] The control unit can receive commands from the user through a user interface. The user interface may be a touchscreen, a button panel, a joystick, or a wireless remote control, and may allow medical personnel to easily operate the medical device (10). Information such as the current status of the measuring equipment (200), the position of the first arm (2110) and the second arm (2210), and the rotation angle may be displayed on the user interface, and medical personnel can set shooting conditions while checking this information.

[0190] The control unit can control the first drive motor (2410), the second drive motor (2420), and the rotation motor independently or in conjunction. The control unit receives feedback from an encoder or position sensor embedded in or externally attached to each motor, and can monitor and precisely control the rotation angles of the first arm (2110), the second arm (2210), and the measuring equipment (200) in real time.

[0191] In some embodiments, the control unit may include a rotation-linked retraction mode that automatically retracts the first arm (2110) and the second arm (2210) when the measuring equipment (200) rotates. The rotation-linked retraction mode may be a function to prevent the first medical device (2120) or the second medical device (2220) from interfering with the ceiling when the measuring equipment (200) rotates in an installation environment where the ceiling height is limited.

[0192] Referring to FIGS. 2 and 3, when both the first arm (2110) and the second arm (2210) of the measuring equipment (200) are extended (10B), the total length of the measuring equipment (200) is at its maximum, and if the measuring equipment (200) is rotated in this state, the radius of rotation increases, which may cause a risk of interference with the ceiling. On the other hand, when both the first arm (2110) and the second arm (2210) are retracted (10A), the total length of the measuring equipment (200) is minimized, and the radius of rotation decreases, so it can be safely rotated 360 degrees even in a space with a low ceiling height.

[0193] When the control unit receives a rotation command through the user interface, it can check the current position of the first arm (2110) and the second arm (2210) before starting the rotation operation. If the first arm (2110) or the second arm (2210) is extended beyond a preset safe position, the control unit may not immediately start the rotation operation, but first drive the first drive motor (2410) and the second drive motor (2420) to retract the first arm (2110) and the second arm (2210) to the safe position.

[0194] The safety position is a retracted position of the arm that ensures the measuring equipment (200) does not interfere with the ceiling when rotating, and can be pre-set by taking into account the ceiling height of the installation environment, the height of the stand (100), and the size of the measuring equipment (200). In some embodiments, the safety position may be a position where the first arm (2110) and the second arm (2210) are fully retracted. In other embodiments, the safety position may be an intermediate position between the fully retracted position and the fully extended position, and the arm may be partially retracted rather than fully retracted if the ceiling height is sufficient.

[0195] After confirming that the first arm (2110) and the second arm (2210) have reached a safe position, the control unit can drive a rotation motor to rotate the measuring equipment (200). Once the rotation is complete, the control unit can extend the first arm (2110) and the second arm (2210) back to their original positions or to positions specified by the user.

[0196] In some embodiments, the control unit can adjust the positions of the first arm (2110) and the second arm (2210) in real time even during rotational operation. For example, when the measuring equipment (200) rotates from a horizontal state (0 degrees) to a vertical state (90 degrees), the arm can be retracted as much as possible near 90 degrees because there is a high risk of ceiling interference, and partially extended near 0 degrees because there is a low risk of ceiling interference. Through this dynamic adjustment of the arm length according to the rotation angle, the arm can be extended when necessary to prevent ceiling interference, thereby shortening the preparation time for shooting.

[0197] A lookup table or function representing the relationship between the rotation angle and the safe arm length may be stored in the memory of the control unit. The control unit can determine the maximum allowable arm length by referring to the lookup table based on the current rotation angle and control the lengths of the first arm (2110) and the second arm (2210) so that they do not exceed this.

[0198] In some embodiments, the rotation-linked retraction mode can be enabled or disabled by the user. In installation environments where the ceiling height is sufficiently high, there is no need to retract the arm even during rotation; therefore, the user may disable the rotation-linked retraction mode to omit the arm retraction and extension movements before and after rotation. On the other hand, in environments where the ceiling height is limited, the rotation-linked retraction mode can be enabled to ensure safe rotational movement.

[0199] In some embodiments, the control unit may adjust the lengths of the first arm (2110) and the second arm (2210) by taking into account the center of gravity of the measuring equipment (200) during rotational operation. The first medical device (2120) and the second medical device (2220) may have different weights, and as a result, the center of gravity of the measuring equipment (200) may be eccentric from the axis of rotation of the rotational drive unit (300). If the measuring equipment (200) is rotated with the center of gravity eccentric, an unbalanced load is applied to the rotational motor, the rotational operation may become unstable, vibration and noise may occur, or uneven wear of the bearing may occur.

[0200] For example, if the first medical device (2120) is an X-ray detector and the second medical device (2220) is an X-ray imaging tube, the X-ray detector may be relatively heavy with a flat structure (e.g., 5 kg to 10 kg), and the X-ray imaging tube may be relatively light with a compact structure (e.g., 3 kg to 5 kg). Due to this weight difference, when the first arm (2110) and the second arm (2210) are extended to the same length, the center of gravity of the measuring device (200) may be eccentric toward the first arm (2110).

[0201] The control unit can store weight information of the first medical device (2120) and the second medical device (2220) in memory, and can calculate the overall center of gravity position of the measuring equipment (200) based on the current lengths of the first arm (2110) and the second arm (2210). The center of gravity position can be expressed as a distance and direction from the axis of rotation of the rotary drive unit (300).

[0202] If the calculated center of gravity position deviates from a preset allowable range from the axis of rotation, the control unit can adjust the lengths of the first arm (2110) and the second arm (2210) to move the center of gravity closer to the axis of rotation. Specifically, the center of gravity can be moved in the direction of the axis of rotation by contracting the arm on the heavier side or extending the arm on the lighter side.

[0203] For example, if the first medical device (2120) is heavier and the first arm (2110) is longer than the second arm (2210), the control unit may reduce the eccentricity of the center of gravity by contracting the first arm (2110) or extending the second arm (2210). In some embodiments, the control unit may adjust the lengths of both arms to optimize the center of gravity so that it aligns as closely as possible with the axis of rotation.

[0204] Center of gravity-based arm length adjustment can be performed before rotation and can be performed continuously during rotation. Since the weight distribution in the direction of gravity changes according to the rotation angle during rotation, the control unit can fine-tune the arm length in real time by considering the current rotation angle.

[0205] In some embodiments, the control unit can indirectly detect the degree of eccentricity of the center of gravity by monitoring the driving current of the rotary motor. If the center of gravity is eccentric, an unbalanced load is applied to the rotary motor, causing the driving current to fluctuate periodically or the average value to increase. The control unit can analyze the pattern of the driving current to estimate the direction and degree of eccentricity of the center of gravity and adjust the length of the arm based on this.

[0206] By adjusting the arm length based on the center of gravity, the measuring equipment (200) can maintain stable operation even while rotating, minimize the load on the rotating motor, extend the life of the bearing, and reduce vibration and noise.

[0207] Although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above. Various modifications are possible by those skilled in the art without departing from the essence of the invention as claimed in the patent claims, and such modifications should not be understood individually from the technical spirit or perspective of the present invention. Explanation of the symbols

[0208] 10: Medical device 100: Stand 200: Measuring equipment 300: Rotary drive unit 2100: 1st measurement module 2110: 1st arm 2120: First medical device 2200: Second measurement module 2210: Second Cancer 2220: Second Medical Device 2300: Main body 2310: 1st housing 2320: 2nd Housing 2330: Center Housing 2410: 1st drive motor 2420: 2nd drive motor 2510: First power transmission unit 2511: First power transmission gear 2512: First rotating wheel 2513: First circulation member 2514: First connection structure 2520: Second power transmission unit 2521: Second power transmission gear 2522: Second rotating wheel 2523: Second circulation member 2524: Second connection structure

Claims

Claim 1 A first measuring module comprising a first arm and a first medical device attached to the first arm; a second measuring module comprising a second arm spaced apart from the first arm and a second medical device attached to the second arm; a main body comprising a first housing configured to allow the first arm of the first measuring module to be inserted therein, a second housing configured to allow the second arm of the second measuring module to be inserted therein, and a center housing located between the first housing and the second housing; a first driving motor and a second driving motor located inside the main body; and a first power transmission unit located inside the main body and configured to transmit the driving force of the first driving motor to the first arm. A medical device comprising: a second power transmission unit located inside the main body and configured to transmit the driving force of the second drive motor to the second arm; wherein the extension direction of the rotation axis of the first drive motor’s rotation shaft and the extension direction of the rotation axis of the second drive motor’s rotation shaft intersect each other, the extension direction of the rotation axis of the first drive motor is a first direction in which the first arm and the second arm are separated, and the extension direction of the rotation axis of the second drive motor is a sliding direction of the second arm perpendicular to the first direction. Claim 2 delete Claim 3 In claim 1, the first power transmission unit comprises a first power transmission gear connected to the first drive motor, a plurality of first rotating wheels, a first circulation member connected to the plurality of first rotating wheels, and a first connection structure attached to the first circulation member, and the second power transmission unit comprises a second power transmission gear connected to the second drive motor, a plurality of second rotating wheels, a second circulation member connected to the plurality of second rotating wheels, and a second connection structure attached to the second circulation member, wherein the number of the plurality of second rotating wheels is greater than the number of the plurality of first rotating wheels, a medical device. Claim 4 A medical device according to paragraph 3, wherein the first power transmission unit comprises two first rotating wheels, the first rotating wheels are disposed at both ends of the first housing, the first circulation member is configured to circulate inside the first housing along the first rotating wheels, and the first connecting structure is configured to connect the first circulation member and the first arm. Claim 5 A medical device according to paragraph 3, wherein one of the plurality of second rotating wheels is attached to the second power transmission gear and disposed in the center housing, and the remainder of the plurality of second rotating wheels are disposed in the second housing, and the second circulating member is configured to circulate within the center housing and the second housing along the plurality of second rotating wheels, and the second connecting structure is configured to connect the second circulating member and the second arm. Claim 6 In paragraph 3, the medical device wherein the second rotating wheel among the plurality of second rotating wheels disposed in the second housing is located at both ends and the center of the second housing, respectively. Claim 7 A medical device according to claim 1, further comprising a stand configured to raise and lower the main body and a rotary drive unit configured to rotate the main body, wherein the stand comprises a body connection unit to which the main body is connected and a lifting drive unit for raising and lowering the body connection unit, and wherein the rotary drive unit comprises a center gear installed on the rotation axis of the center housing; a rotary reduction gear connected to the center gear; and a rotary motor connected to the rotary reduction gear. Claim 8 A medical device according to claim 1, wherein the first medical device is an X-ray detector and the second medical device is an X-ray imaging tube.

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