Mobile medical imaging device with folding arm and operation method of medical imaging device

Abstract

The medical image device of the present disclosure comprises: a movable body; a first arm coupled to the body via a first joint; a second arm coupled to the first arm via a second joint portion including a smart actuator; and a control part for controlling a joint part including at least one of the first joint part and the second joint part.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a mobile medical imaging apparatus having a folding arm and a method of operating the mobile medical imaging apparatus. More particularly, the medical imaging apparatus of the present disclosure can position a source assembly comfortably at a shooting position by a folding arm having a high degree of freedom. BACKGROUND

[0002] Arranging a medical imaging apparatus and a detector is an important step to obtain a high-quality image and to minimize exposure of a patient and a medical staff to radiation. In order to arrange the medical imaging apparatus and the detector, the following steps can be performed.

[0003] First, a position of a source assembly can be determined. The source assembly for generating radiation should be located at a fixed distance in a region of interest of a patient. Although the distance can vary depending on a type of the medical imaging apparatus and a region to be shot, it is generally about 1-2 meters. Then, arrangement of a radiation beam can be implemented. The radiation beam should be arranged in a manner to be perpendicular to the detector and to pass through the region of interest of the patient. This can be performed by adjusting the position of the source assembly or using a collimator in a manner to form the radiation beam.

[0004] Then, a position of the detector can be designated. The detector is located at an opposite side of the patient with respect to the source assembly and is arranged with the radiation beam. Also, in order to minimize scattered radiation and to improve image quality, the detector is configured as close to the patient as possible. Finally, an arrangement confirmation step can be performed. If the source assembly and the detector are located at accurate positions, a test image can be shot to arrange. It can be confirmed whether the region of interest is located at a center of the image and whether image quality is sufficient for diagnosis.

[0005] Since the source assembly is heavy, it is generally difficult for a user to configure the source assembly close to the patient or to arrange with the detector in a manual manner. Especially, in the case of a mobile medical imaging apparatus, not only the source assembly but also the body should be placed near the patient, so it is further required to increase efforts of the user or the patient compared to a stationary type. Accordingly, in order to move the source assembly, research into a mobile medical imaging apparatus using an arm having a high degree of freedom is continuously ongoing.

[0006] PRIOR ART DOCUMENT

[0007] PATENT DOCUMENT

[0008] Patent Document 1: Korean Registered Patent Gazette No. 10-1616670 (April 28, 2016) SUMMARY

[0009] PROBLEMS TO BE SOLVED BY THE INVENTION

[0010] The present disclosure describes a mobile medical imaging apparatus having an arm (ARM) that can achieve a high degree of freedom of movement.

[0011] Means for solving the problem

[0012] The medical imaging apparatus of the present disclosure includes a body that can move, a first arm coupled to the body by a first joint portion, a second arm coupled to the first arm by a second joint portion including a smart actuator, and a control portion for controlling the second joint portion.

[0013] The control portion of the medical imaging apparatus of the present disclosure controls the second joint portion based on at least one of a torque applied to the second joint portion and a user input, so that the second arm rotates relative to the first arm.

[0014] The control portion of the medical imaging apparatus of the present disclosure determines a first torque applied to the second joint portion, and determines whether the first torque is greater than or equal to a predetermined critical sensitivity torque of the second joint portion, and in the case where the first torque is greater than or equal to the critical sensitivity torque of the second joint portion, controls the second joint portion so that the second arm rotates relative to the first arm, and the critical sensitivity torque of the second joint portion can be changed.

[0015] The control portion of the medical imaging apparatus of the present disclosure controls the second joint portion based on a user input to a button related to joint movement, so that the first arm and the second arm have a pre-specified angle therebetween.

[0016] The medical imaging apparatus of the present disclosure further includes a source assembly coupled to the other end of the second arm and including a second transceiver portion, and a detector that receives radiation emitted from the source assembly to generate a medical image and includes a first transceiver portion that transceives signals with the second transceiver portion, and the control portion controls the second joint portion based on the first transceiver portion and the second transceiver portion, so that a radiation emission direction of the source assembly is perpendicular to a radiation receiving surface of the detector.

[0017] The control portion of the medical imaging apparatus of the present disclosure obtains a second torque based on an external force during movement of the second arm relative to the first arm by driving of the second joint portion, and determines whether the second torque is greater than or equal to a pre-specified critical impact torque, and in the case where the second torque is greater than or equal to the pre-specified critical impact torque, stops driving of the second joint portion.

[0018] The second arm of the medical imaging apparatus of the present disclosure includes a second-1 arm having one end coupled to the second joint portion, a second-2 arm having at least a portion inserted into a space formed inside the second-1 arm and movable along the second-1 arm, and a telescopic arm driving portion coupled to the inside of the second-1 arm and providing a driving force for moving the second-2 arm relative to the second-1 arm.

[0019] The second joint part of the medical image apparatus of the present disclosure includes a first smart actuator combined with one side of at least one of the first arm and the second arm, and a second smart actuator combined with the other side of at least one of the first arm and the second arm, the first smart actuator and the second smart actuator providing a driving force to a rotation axis of the second arm with respect to the first arm.

[0020] The medical image apparatus of the present disclosure includes a body that can be moved, a first arm combined with the body by a first joint part, a second arm combined with the first arm by a second joint part and can be implemented to be extended and contracted by an extension arm driving part, and a control part for controlling the second joint part.

[0021] The second arm of the medical image apparatus of the present disclosure includes a second-1 arm having one end combined with the second joint part, a second-2 arm inserted into a space formed in the inside of the second-1 arm at least in part and can be moved along the second-1 arm, and an extension arm driving part combined with the inside of the second-1 arm and controlling a driving force for moving the second-2 arm with respect to the second-1 arm.

[0022] The control part of the medical image apparatus of the present disclosure controls the second-2 arm to be moved with respect to the second-1 arm based on one of an input of a user to a button related to extension or a force applied by the user to the second-2 arm.

[0023] The control part of the medical image apparatus of the present disclosure obtains an external force based on an external force by the extension arm driving part during the movement of the second-2 arm with respect to the second-1 arm, and determines whether the external force is above a pre-designated critical impact force, and in the case where the external force is above the pre-designated critical impact force, the driving of the extension arm driving part is stopped.

[0024] Also, a program for implementing the operation method of the medical image apparatus as described above can be recorded in a computer-readable recording medium.

[0025] Effects of the Invention

[0026] The mobile medical image apparatus of the present disclosure can allow a user to configure a source assembly to be directed toward the user using an arm having a high degree of freedom. Also, the weight of the source assembly can be supported by the arm so that the user can move the source assembly without exerting too much force.

[0027] Also, a mechanism that can quickly arrange a source assembly and a detector of the mobile medical image apparatus of the present disclosure is provided, so that the convenience of a user can be improved and the quality of a medical image can be improved.

[0028] Effects obtainable from the present disclosure are not limited to the above-mentioned effects of the above described aspects of the present disclosure, and additional effects apparent to those having ordinary skill in the art to which the present disclosure pertains can be derived from the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A diagram for illustrating a mobile medical image apparatus of an embodiment of the present disclosure.

[0030] Figure 2 A diagram for illustrating a use process of a medical image apparatus of an embodiment of the present disclosure.

[0031] Figure 3 A diagram for illustrating a block diagram of various structures that a medical image apparatus of an embodiment of the present disclosure can include.

[0032] Figure 4 A source arm of a medical image apparatus of an embodiment of the present disclosure.

[0033] Figure 5 A diagram for illustrating a second joint portion of an embodiment of the present disclosure.

[0034] Figure 6 A flowchart for illustrating an action of a medical image apparatus of an embodiment of the present disclosure.

[0035] Figure 7 A flowchart for illustrating an action of a medical image apparatus of an embodiment of the present disclosure.

[0036] Figure 8 A diagram for illustrating angular acceleration of a second arm of the present disclosure.

[0037] Figure 9 A diagram for illustrating degrees of freedom of an arm of a medical image apparatus of an embodiment of the present disclosure.

[0038] Figure 10 A diagram for illustrating a structure for moving an arm of a medical image apparatus of an embodiment of the present disclosure.

[0039] Figure 11 A top view of a medical image apparatus of an embodiment of the present disclosure.

[0040] Figure 12 A diagram for illustrating a second joint portion of an embodiment of the present disclosure.

[0041] Figure 13 A diagram for illustrating a moving brake of a body of an embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] The following detailed description will be made with reference to the accompanying drawings, which are provided for the purpose of explanation and are not intended to limit the present disclosure. Figure 1The advantages, features and methods of achieving the advantages and features of the present application will become more apparent from the detailed description of the disclosed embodiments. However, the present disclosure is not limited to the disclosed embodiments, and can be implemented in various ways different from each other, but the disclosed embodiments make the present disclosure complete, and are provided in order for those skilled in the art to which the present disclosure pertains to completely understand the scope of the present application.

[0043] The terms used in the present specification are simply explained, and the disclosed embodiments are specifically explained.

[0044] The terms used in the present specification are selected as much as possible to consider the function in the present disclosure, and the general terms widely used. However, the terms can be changed according to the intention of those skilled in the art, a precedent, or the appearance of new technology, etc. Also, in a certain case, the terms can be arbitrarily selected by the applicant, and in this case, the meaning thereof is explained in detail in the corresponding description part of the invention. Therefore, the terms used in the present disclosure are not names of simple terms, but should be defined based on the meaning possessed by the terms and the entire content of the present disclosure.

[0045] In the present specification, the singular expression includes the plural expression as long as the context is not clearly specified as the singular. Also, the plural expression includes the singular expression as long as the context is not clearly specified as the plural.

[0046] In the present specification, when a part is said to "include" a certain structural element, it means that other structural elements are included unless it is specifically stated otherwise, and does not exclude other structural elements.

[0047] Also, the term "unit" used in the specification means a software or hardware structural element, and the "unit" performs a certain role. However, the "unit" is not limited to the meaning of software or hardware. The "unit" can be configured to be located on an addressable storage medium, or can be configured to play one or more processors. Therefore, as an example, the "unit" includes a structural element such as a software structural element, an object-oriented software structural element, a hierarchical structural element, and a task structural element, and a program, a function, an attribute, a process, a subroutine, a segment of a program code, a driver, firmware, a microcode, a circuit, data, a database, a data structure, a table, an array, and a variable. The functions provided in the structural element and the "unit" can be combined into smaller structural elements and "units", or can be further separated into additional structural elements and "units".

[0048] According to an embodiment of the present disclosure, a "unit" can be embodied by a processor and a memory. The term "processor" should be broadly interpreted to include general processor, central processing unit (CPU), microprocessor, digital signal processor (DSP), controller, microcontroller, state machine, etc. In several environments, the "processor" can refer to application specific integrated circuit (ASIC), programmable logic device (PLD), field programmable gate array (FPGA), etc. The term "processor" can refer to a combination of processing devices such as a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors with a DSP core, or a combination of any other such structures.

[0049] The term "memory" should be broadly interpreted to include any electronic component that stores electronic information. The term memory can refer to various types of processor-readable media such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic or optical data storage, register, etc. The memory is considered to be in electronic communication with the processor if the processor can read information from and / or record information to the memory. The memory is in electronic communication with the processor if the memory is integrated in the processor.

[0050] Hereinafter, embodiments are described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present disclosure pertains can easily implement the same. Also, in order to clearly explain the present disclosure, parts irrelevant to the explanation are omitted in the accompanying drawings.

[0051] Figure 1 A diagram illustrating a mobile medical imaging apparatus of an embodiment of the present disclosure. Also, Figure 2 A diagram illustrating a use process of a medical imaging apparatus of an embodiment of the present disclosure. Also, Figure 3 A diagram illustrating a block diagram of various structures that a medical imaging apparatus of an embodiment of the present disclosure can include.

[0052] Referring to Figure 1 The mobile medical imaging apparatus 100 of the present disclosure can include wheels to move. The medical imaging apparatus of an embodiment can be an apparatus that photographs and / or examines the internal structure of an object (or a subject) based on rays including X-rays. For example, the medical imaging apparatus irradiates X-rays in such a way that the X-rays pass through a human body, and scans the passed X-rays to obtain an internal image of the human body.

[0053] Referring to Figures 1 to 3The medical image apparatus 100 can include a source assembly 110, a detector 120, and a body 130. Also, the body 130 of the medical image apparatus 100 can include a high voltage generation part (not shown), a sensor part 310, a communication part 320, a storage 330, an output part 340, an input part 350, and / or a control part 300.

[0054] Referring to Figure 2 The body 130 can move. The body 130 can include wheels. The wheels can include at least one of a caster, an electric wheel, and an omni wheel. The body 130 can move by a user's power or automatically move by a wheeled actuator.

[0055] The user can move the medical image apparatus 100 near the patient bed 220. The user can position the detector 120 behind the subject 210. Accordingly, the rays irradiated from the source assembly 110 can pass through the subject 210 to reach the detector 120. The detector 120 can sense the rays passing through the subject 210 to convert the rays into an electrical signal. Also, the detector 120 can obtain a ray image based on the electrical signal.

[0056] The medical image apparatus 100 can include a source arm 140. The source assembly 110 can be connected to the body 130 by the source arm 140. The source assembly 110 can include an X-ray source and a collimator. The X-ray source can be a structure that irradiates rays. The X-ray source can be rotatable about an axis parallel to a length direction of the source arm 140.

[0057] Also, an irradiation range of the rays can be determined by the collimator. The collimator can be rotatable about an axis parallel to an irradiation direction of the rays with respect to the X-ray source.

[0058] Referring to Figures 1 to 3 The high voltage generation part of an embodiment can generate a high voltage for generating X-rays and apply the high voltage to an X-ray source included in the source assembly 110. The high voltage generation part can be included in the body 130, but is not limited thereto and can be included in the source assembly 110.

[0059] The source assembly 110 of an embodiment can include an X-ray source that receives a high voltage generated from the high voltage generation part and generates X-rays. The X-ray source can include an X-ray tube, which can be embodied as a diode vacuum tube formed of a positive electrode and a negative electrode. Also, the source assembly can include a collimator that guides a path of X-rays irradiated from the X-ray source to adjust an irradiation area of the X-rays.

[0060] The detector of one embodiment detects X-rays emitted from the source assembly and transmitted through the object body. The detector can be a digital detector. The detector can be embodied using at least one of a thin film transistor (TFT), a charge coupled device (CCD), a complementary metal-oxide semiconductor (CMOS), computed radiography (CR), and a film. The detector can be included in the medical image apparatus 100 or can be a separate apparatus which can be connected to and detached from the medical image apparatus 100.

[0061] The medical image apparatus 100 can include a control portion 300. In the present disclosure, the control portion 300 can mean at least one of a main control portion included in the body 130 and a detector control portion included in the detector. In the present disclosure, the control portion included in the body is referred to as a main control portion, and it is explicitly indicated which apparatus the control portion included in another apparatus is. For example, the detector control portion, which is a control portion included in a mobile detector, can be a control portion different from the main control portion 300. The main control portion 300 and the detector control portion, which are included in different apparatuses, can include at least one of a processor and a memory, and are similar in this point. Among actions performed by the main control portion 300, at least a part thereof can be performed by the detector control portion. Also, among actions performed by the detector control portion, at least a part thereof can be performed by the main control portion. Accordingly, in the present disclosure, among actions described as actions of the main control portion, at least one can be understood as an action performed by the detector control portion, and among actions described as actions performed by the detector control portion, at least one can be understood as an action performed by the main control portion.

[0062] The main control portion (or control portion) 300 can control actions of the medical image apparatus 100. For example, the medical image apparatus 100 can include a wheel-type mover which can move the body 130 or the main control portion 300 for controlling actions of the source assembly 110 or the like. The main control portion 300 can include one processor or a plurality of processors. The main control portion 300 can be included in the body 130. In the case where the main control portion 300 includes a plurality of processors, at least a part of the plurality of processors can be disposed at a position physically separated from the body 130. Also, the medical image apparatus 100 is not limited thereto and can be embodied in various ways.

[0063] According to an embodiment of the present disclosure, the main control portion 300 can control the operation of the medical image device 100. For example, the medical image device 100 can include a plurality of actuators, and the medical image device 100 controls the operation of the plurality of actuators, thereby controlling the operation of the medical image device 100. For example, the main control portion 300 can control a source assembly driving portion for moving the source assembly 110. Also, the main control portion 300 can control the source assembly 110 to emit X-rays, and the detector 120 to receive the X-rays transmitted through the object, thereby obtaining an X-ray image.

[0064] According to an embodiment of the present disclosure, the main control portion 300 can generate a medical image. For example, the main control portion 300 can scan the detector irradiated with X-rays, thereby generating a medical image.

[0065] The medical image device 100 can include a sensor portion 310. The sensor portion 310 can obtain various information using at least one sensor. The sensor portion 310 can be provided with a sensor using a pressure, a potential, and an optical, etc. For example, the sensor portion 310 can include at least one of a distance measuring sensor or an encoder. Also, the sensor can include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, etc. But is not limited thereto. The sensor portion can also be included in at least one of the body, the source assembly, the detector, the source assembly arm, and the detector arm.

[0066] Also, the medical image apparatus 100 can include a communication unit 320. The communication unit 320 can be a structure for the medical image apparatus 100 to communicate with internal modules or external devices in a wired or wireless manner. The external devices can include an external server, a user terminal. The user terminal can include a PC, a smartphone, a tablet, or a wearable device. The communication unit 320 can include a wired / wireless communication module for implementing network connection. As a wireless communication technology, for example, a wireless local area network (WLAN) (Wi-Fi), a wireless broadband (Wibro), a world interoperability for microwave access (Wimax), a high speed downlink packet access (HSDPA), or the like can be used. As a wired communication technology, for example, a digital subscriber line (XDSL), a fiber to the home (FTTH), a power line communication (PLC), or the like can be used. Also, the network connection unit can include a short range communication module to transceive data with any device / terminal located in a short distance. For example, as a short range communication technology, a Bluetooth, a radio frequency identification (RFID), an infrared data association (IrDA), an ultra-wideband (UWB), a ZigBee, or the like can be used, but is not limited thereto.

[0067] The medical image apparatus 100 can include a memory 330. The main control unit 300 can execute instructions stored in the memory. The memory 330 can be included in the main control unit 300 or located outside the main control unit 300. The memory 330 can store various information related to the medical image apparatus 100. For example, the memory 330 can include information related to the operation method of the source assembly 110, and can include photographed images and user authentication information, but is not limited thereto.

[0068] The memory 330 can be embodied by a non-volatile storage medium that stores arbitrary data continuously. For example, the memory 330 can include not only a magnetic disk, an optical disk, and a magneto-optical storage device, but also a storage device based on a flash memory and / or a battery backup memory, but is not limited thereto. The memory 330 as a main storage device directly accessed by the processor such as a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM) can mean a volatile storage device in which stored information can be deleted instantaneously as long as power is turned off, but is not limited thereto. Such a memory 330 can be operated by the main control 300. Also, the main control 300 can execute an instruction included in the memory 330.

[0069] Also, the medical image apparatus 100 can further include an operation part that provides an interface for operating the medical image apparatus 100. The operation part can include an output part 340 and an input part 350.

[0070] The output part 340 can output a sound and an image that can display photographing-related information such as irradiation of X-rays or can confirm a state of the body under the control of the main control 300. The output part 340 can include a speaker or a display. The output part 340 can include at least one of the main display 150 included in the body 130 and the sub-display included in the source assembly 110. The output part 340 can output a medical image generated by the main control 300. The output part 340 can output information required by a user for operating the medical image apparatus 100 such as a user interface (UI), user information, or object body information. As an example of the output part 340, a speaker, a printer, a CRT display, an LCD display, a PDP display, an OLED display, an FED display, an LED display, a VFD display, a DLP display, an FPD display, a 3D display, a transparent display, or the like can be included, and various output devices can be included within a range obvious to one of ordinary skill in the art.

[0071] The medical image apparatus 100 can be connected to a workstation in a wired or wireless manner. The workstation can also exist in a space physically separated from the medical image apparatus 100.

[0072] The workstation can include a storage server. The storage server can store information on medical images, information on an object body, information on a user (medical staff), etc. The workstation can include a review device. The review device can receive medical images from the storage server based on an instruction of the user, and diagnose the medical images. The workstation and the medical image device 100 can transmit, store, process, and output data according to a Digital Imaging and Communications in Medicine (DICOM) standard. Also, the workstation can include a Picture Archiving and Communication System (PACS).

[0073] The workstation can include an output unit, an input unit, and a control unit. The output unit and the input unit provide an interface for operating the workstation and the medical image device 100 to the user. The control unit of the workstation can control the workstation and the medical image device 100.

[0074] The medical image device 100 can be controlled by the workstation, and also can be controlled by a main control unit 300 included in the medical image device 100. Accordingly, the user can control the medical image device 100 through the workstation, or can control the medical image device 100 through the operation unit and the main control unit 300 included in the medical image device 100. In other words, the user can control the medical image device 100 in a remote manner through the workstation, or can directly control the medical image device 100.

[0075] The control unit of the workstation and the main control unit 300 of the medical image device 100 can be separate, but are not limited thereto. The control unit of the workstation and the main control unit 300 of the medical image device 100 can be embodied as one unified control unit, and the unified control unit can be included only in one of the workstation and the medical image device 100. Hereinafter, the main control unit 300 can mean the control unit of the workstation and / or the control unit of the medical image device 100.

[0076] The output unit and the input unit of the workstation and the output unit 340 and the input unit 350 of the medical image device 100 can respectively provide an interface for operating the medical image device 100 to the user. The workstation and the medical image device 100 can respectively include the output unit and the input unit, but are not limited thereto. The output unit or the input unit can be embodied only in one of the workstation and the medical image device 100.

[0077] Hereinafter, the input unit 350 means the input unit of the workstation and / or the input unit of the medical image device 100, and the output unit 340 means the output unit of the workstation and / or the output unit of the medical image device 100.

[0078] The input unit 350 can receive instructions for operating the medical image device 100 and various information related to X-ray photographing from a user. The main control unit 300 can control or operate the medical image device 100 based on the information input to the input unit 350. The input unit 350 can include a joystick, a keyboard, a mouse, a touch screen, a photographing button, an unlock button, a voice recognizer, a fingerprint recognizer, an iris recognizer, a human motion recognizer, etc., and can include input devices obvious to other ordinary skilled persons.

[0079] The human motion recognizer included in the input unit 350 can be embodied using at least one camera. For example, the human motion recognizer can also be embodied using the 3D camera or the depth sensor included in the source assembly 110. Based on the human motion recognizer, the main control unit 300 can control the motion of the medical image device 100.

[0080] Since the medical image device 100 is controlled based on a gesture, the convenience of the user can be improved. For example, since the user can control the medical image device 100 at an arbitrary position without returning to the main body 130, the activity track of the user in photographing a medical image can be reduced. Also, the user does not approach the medical image device 100 for inputting a gesture, so the amount of radiation can be reduced and the safety of the user can be ensured.

[0081] The user can input an instruction for performing X-ray irradiation through the input unit 350, and a switch for inputting such an instruction can be provided in the input unit 350. The switch can be configured to be pressed at least once to input an irradiation instruction for performing X-ray irradiation.

[0082] For example, there can be a structure in which, if the user presses the switch, the switch inputs a preparation instruction for instructing the preparation of preheating for X-ray irradiation, and in this state, if the switch is further pressed, an irradiation instruction for performing substantial X-ray irradiation is input. Like this, if the user operates the switch, the main control unit 300 generates a signal corresponding to the instruction input through the switch operation, i.e., a preparation signal, and delivers it to a high voltage generating unit that generates a high voltage for generating X-rays.

[0083] The high voltage generating unit starts preheating upon receiving the preparation signal delivered from the main control unit 300, and if the preheating is completed, a preparation completion signal is delivered to the main control unit 300. Also, for X-ray detection, the detector also needs to perform X-ray detection preparation, and the main control unit 300 delivers a preparation signal to the detector so that the detector can perform preparation for detecting X-rays that have passed through an object together with the preheating of the high voltage generating unit. Upon receiving the preparation signal, the detector performs preparation for detecting X-rays, and if the detection preparation is completed, the detector delivers a detection preparation completion signal to the main control unit 300.

[0084] If the preheating of the high-voltage generating part is ended and the X-ray detection preparation of the detector is ended, the main control part 300 transmits an irradiation signal to the high-voltage generating part, the high-voltage generating part generates a high voltage, and applies the high voltage to the X-ray source, and the X-ray source irradiates X-rays.

[0085] When the irradiation signal is transmitted, the control part 300 can transmit a sound or light output signal to the output part 340, and output a predetermined sound or light in the output part 340 so that the subject can know the X-ray irradiation. Also, the output part 340 can output a sound or light indicating other photographing-related information in addition to the X-ray irradiation. The output part 340 can be included in the operation part, but is not limited thereto, and the output part 340 or a part of the output part 340 can be located at a place different from a place where the operation part is located. For example, it can be located at a wall of a photographing room where X-ray photographing is performed on the subject.

[0086] The control part 300 controls the positions of the X-ray irradiation part and the detector, the photographing timing, and the photographing conditions, etc. according to the photographing conditions set by the user.

[0087] Specifically, the main control part 300 controls the high-voltage generating part and the detector according to the instructions input through the input part 350 to control the irradiation timing of the X-rays, the intensity of the X-rays, and the irradiation area of the X-rays, etc. Also, the main control part 300 adjusts the position of the detector according to the predetermined photographing conditions, and controls the action timing of the detector.

[0088] Also, the main control part 300 generates a medical image for the subject using the image data received through the detector. Specifically, the main control part 300 can receive the image data from the detector to remove noise of the image data, and adjust the dynamic range and the interleaving to generate a medical image of the subject.

[0089] The workstation can further include a communication part (not shown) that can be connected to a server, a medical device, a portable terminal, etc. through a network. The workstation can be one of external devices.

[0090] Hereinafter, the source assembly 110 and the detector 120 will be described in detail together with Figure 4 and Figure 5 The source assembly 110 and the detector 120 will be described in detail together with

[0091] Figure 4 A source arm of a medical image device according to an embodiment of the disclosure.

[0092] The source arm 140 can include a first arm 410, a second arm 420, a first joint part 430, and a second joint part 440.

[0093] The first arm 410 can be coupled with the body 130 by means of the first joint portion 430. The medical image device 100 of the present disclosure can include a joint portion 450. The joint portion 450 can include at least one of the first joint portion 430 and the second joint portion 440. Also, the first joint portion 430 can include a first-one joint portion 431 and a first-two joint portion 432.

[0094] The first-one joint portion 431 can rotate the first arm 410 about an axis parallel to the upward direction. That is, the first-one joint portion 431 can rotate the first arm 410 about an axis parallel to the ground. The first-one joint portion 431 can include a friction brake. The friction brake can be always operated, and thus, the first arm 410 can not be rotated about an axis parallel to the upward direction. For example, a first friction plate fixed to the body 130 and a second friction plate fixed to the first arm 410 can be in contact with each other, so that the first arm 410 is not rotated about an axis parallel to the upward direction. However, in the case where an input for a brake release button related to the first-one joint portion 431 is received from the user, the main control portion 300 can release the friction brake, so that the first arm 410 is rotated about an axis parallel to the upward direction. More specifically, the first friction plate and the second friction plate receiving the input for the brake release button from the user can be spaced apart from each other, so that the first arm 410 is rotated about an axis parallel to the upward direction. The force for spacing apart the first friction plate and the second friction plate from each other can be provided by a magnetic force or a driving force of a motor.

[0095] A maximum rotation angle about an axis parallel to the upward direction of the first arm 410 can be 20 degrees or less to the right and 20 degrees or less to the left. More specifically, the maximum rotation angle about an axis parallel to the upward direction of the first arm 410 can be 15 degrees or less to the right and 15 degrees or less to the left. As such, by limiting the rotation angle about an axis parallel to the upward direction of the first arm 410, the balance of the body 130 can be maintained at all times. In the case where the source arm 140 is coupled with the heavy source assembly 110, and the first arm 410 is excessively rotated about an axis parallel to the upward direction, the body 130 can lose the balance and fall to the side. However, the medical image device 100 of the present disclosure can limit the rotation angle of the source arm 140 to prevent the body 130 from losing the center and falling.

[0096] Although the structure in which the first-one joint portion 431 rotates with respect to the body 130 about an axis perpendicular to the floor is described above, the present application is not limited to this. The first-one joint portion 431 can not rotate with respect to the body 130 about an axis perpendicular to the floor. That is, the first-one joint portion 431 can be fixed so as not to move with respect to the body 130. In the case where rotation about an axis perpendicular to the floor of the source arm 140 is required, the user can rotate the body 130 itself.

[0097] The first-two joint portion 432 can be a structure for coupling the body 130 and the first arm 410. The first-two joint portion 432 can be a structure for coupling the first-one joint portion 431 and the first arm 410. The first-two joint portion can have a structure that is fixed. That is, the first-two joint portion can not rotate. The first-two joint portion can not rotate about an axis parallel to the floor. The first-two joint portion can include a plurality of fixing screws. The plurality of fixing screws can be a structure for coupling the first-one joint portion 431 and the first arm 410. The first-two joint portion 432 needs to receive a large torque caused by the weight of the source arm 140 and the source assembly 110. The first-two joint portion 432 can include a plurality of fixing screws to receive the large torque applied to the first joint portion 430.

[0098] With the first-two joint portion 432, the first arm 410 can be fixedly inclined at a predetermined fixed angle with respect to the floor. With the first-two joint portion 432, the first arm 410 can be fixedly inclined at a predetermined fixed angle 460 with respect to a line perpendicular to the floor. The predetermined fixed angle 460 can be 10 degrees or more and 60 degrees or less.

[0099] The predetermined fixed angle 460 can be determined according to the site situation. For example, in a site where the ceiling is low, the predetermined fixed angle 460 can be large. Also, the predetermined fixed angle 460 can differ based on the size of a bed disposed in the site. For example, in the case where the size of a bed disposed in the site has a size of length x width x height, and the width is greater than the length, the range of the angle can be determined by the following equation.

[0100] The width of the bed = length / 2 - predetermined allowable length <= length of the first arm * sin (predetermined fixed angle) + length of the second arm <= length / 2 + predetermined allowable length.

[0101] The predetermined allowable length can have a value of 10 cm or more and 40 cm or less.

[0102] Although the case where the first-second joint part 432 is fixed is described above, it is not limited thereto. The first-second joint part 432 can rotate with an axis parallel to the ground surface as a reference.

[0103] More specifically, the first-second joint part 432 can rotate the first arm 410 with an axis parallel to the left and right as a reference. The first-second joint part 432 can include a smart actuator. The first-second joint part 432 can be a structure for supporting the first arm 410. That is, the first-second joint part 432 can generate a torque in the opposite direction of a torque caused by the weight of the source arm 140 to prevent the first arm 410 from moving. In the case where the first-second joint part 432 is stopped, in order to generate a torque in the opposite direction of a torque caused by the weight of the source arm 140, the smart actuator can include a magnetic brake. Also, in the case where the first-second joint part 432 is moved, in order to generate a torque in the opposite direction of a torque caused by the weight of the source arm 140, the smart actuator can include a joint motor.

[0104] The first-second joint part 432 can be a structure that rotates the first arm 410 with an axis parallel to the left and right as a reference. The first-second joint part 432 can be a structure that rotates the first arm 410 with an axis parallel to the ground surface as a reference. The first-second joint part 432 can rotate the first arm 410 with an axis parallel to the left and right or an axis parallel to the ground surface as a reference by a user's input or a control of the control part 300.

[0105] The second arm 420 can be coupled to the first arm 410 by means of a second joint part 440. The second arm 420 can be extended and contracted by means of the extension arm driving part 1030. However, it is not limited thereto, and the second arm 420 can not be extended and contracted. The second arm 420 can rotate with respect to the first arm 410 in the left and right directions or with an axis parallel to the ground surface as a reference by means of the second joint part 440. The second arm 420 can be a structure for placing the source assembly 110 in the vicinity of the patient.

[0106] The second joint part 440 can include a smart actuator. The second joint part 440 can be a structure that moves the second arm 420 with respect to the first arm 410. The smart actuator can be a structure including at least one of a joint motor 540, a harmonic driver 550, a torque sensor, and a joint encoder 520. The smart actuator will be described later. The second joint part 440 can move the second arm 420 with respect to the first arm 410 based on a user's input or a signal of the control part 300. The second arm 420 can move with respect to the first arm 410 with an axis parallel to the ground surface as a reference. For example, the second arm 420 can rotate with respect to the first arm 410 with an axis extending in the left and right directions as a reference. The operation of the second joint part 440 will be described later.

[0107] Also, the second joint part 440 can be a structure that fixes the second arm 420 with respect to the first arm 410. The second joint part 440 can receive a torque by means of the weight of the second arm 420 and the source assembly 110. For example, the direction of the torque received by the second joint part 440 through the weight of the second arm 420 and the source assembly 110 can be a clockwise direction. The intelligent actuator included in the second joint part 440 can provide a torque for canceling the torque caused by the weight of the second arm 420 and the source assembly 110. For example, when the second arm 420 is stopped with respect to the first arm 410, the magnetic brake 530 can provide a torque for canceling the torque received by the second joint part 440 due to the weight of the second arm 420 and the source assembly 110. Through the intelligent actuator included in the second joint part 440, the second arm 420 can be fixed with respect to the first arm 410. Also, when the second arm 420 is moved with respect to the first arm 410, the joint motor 540 can provide a torque for canceling the torque received by the second joint part 440 due to the weight of the second arm 420 and the source assembly 110.

[0108] According to various embodiments of the present disclosure, the second joint part 440 can further include an air spring 441. The air spring 441 can provide a torque for canceling the torque received by the second joint part 440 due to the weight of the second arm 420 and the source assembly 110. That is, the air spring 441 and the intelligent actuator included in the second joint part 440 can provide a torque to prevent the second arm 420 from being moved with respect to the first arm 410. Also, the air spring 441 can be a structure for reducing the burden of the intelligent actuator. This is because, if there is no air spring 441, the intelligent actuator can only receive the torque caused by the weight of the source assembly 110 by itself.

[0109] Figure 5 A diagram for explaining the second joint part according to an embodiment of the present disclosure.

[0110] The second joint part 440 can include an intelligent actuator 500. Figure 5 The structure of the intelligent actuator 500 will be explained. The intelligent actuator 500 can include at least one of a motor driver 510, a joint encoder 520, a magnetic brake 530, a joint motor 540, and a harmonic driver 550. The motor driver 510, the joint encoder 520, the magnetic brake 530, the joint motor 540, and the harmonic driver 550 can be arranged along a driving shaft 560 of the intelligent actuator 500. Although not described, the intelligent actuator 500 can further include a torque sensor. Figure 5 Although not described, the intelligent actuator 500 can further include a torque sensor.

[0111] The motor driver 510 can include a control board for driving the joint motor 540. The motor driver 510 can generate a signal for driving the joint motor 540 based on a signal of the control part 300 of the body 130. The motor driver 510 can transmit a signal of the joint encoder caused by rotation of the joint motor to the control part 300 of the body 130. Also, the motor driver 510 can control the magnetic brake 530. The magnetic brake 530 can be a state in which the brake is always operated. When the joint motor 540 rotates based on the signal of the motor driver 510, the magnetic brake 530 can release the brake. For example, if the user presses the brake release button, the magnetic brake 530 can be released so that the smart actuator becomes a movable state.

[0112] The joint encoder 520 is a structure for measuring at least one of a rotation angle, a rotation speed, and a rotation acceleration of a driving shaft of the smart actuator 500. The joint encoder 520 can be a multi-turn absolute encoder. The rotation angle of the joint motor can mean a rotation position of the second arm 420 with respect to the first arm 410. That is, the joint encoder 520 can measure a position of the second arm 420 with respect to the first arm 410. Also, the joint encoder 520 can measure a rotation speed of the second arm 420 with respect to the first arm 410. The rotation speed can be information including a rotation direction and a rotational speed. The joint encoder 520 can measure a rotation acceleration of the second arm 420 with respect to the first arm 410. The joint encoder 520 can function as a torque sensor. However, it is not limited thereto, and the smart actuator 500 can have an additional torque sensor. The control part 300 can perform a required control based on the rotation angle, the rotation speed, and the rotation acceleration measured by the joint encoder 520.

[0113] The magnetic brake 530 can be a structure that fixes a driving shaft of the intelligent actuator 500 to prevent rotation. As described above, the intelligent actuator 500 included in the second joint part 440 can be a structure for rotating or fixing the second arm 420 with respect to the first arm 410. The magnetic brake 530 can be a structure for fixing the second arm 420 with respect to the first arm 410. As described above, the second joint part 440 can receive a torque by the weight of the second arm and the weight of the source assembly 110. When the second arm 420 is fixed with respect to the first arm 410, the magnetic brake 530 can provide a force that can offset the torque received by the second joint part 440 by the weight of the second arm and the weight of the source assembly 110. Also, based on a control signal of the control part 300, the magnetic brake 530 can be released, and the joint motor 540 can start to rotate. More specifically, in the case where the magnetic brake 530 is released, the joint motor 540 can be controlled to offset the torque offset by the magnetic brake 530. The control part can measure the torque offset by the magnetic brake 530 by means of a torque sensor. The offset torque can be a torque caused by the weight of at least one of the second arm 420 and the source assembly 110. The control part can release the magnetic brake 530 and cause the joint motor 540 to generate a torque, and thus, the second arm 420 can be maintained in a fixed state. At this time, the gas spring 441 can prevent the second arm 420 from being suddenly moved. Also, the gas spring 441 can provide a support for at least one of the source assembly 110 and the second arm 420 to prevent a force (torque) from being moved in the direction of gravity. Thus, at least one of the magnetic brake 530 or the joint motor 540 can offset the torque caused by the weight of at least one of the source assembly 110 and the second arm 420 with a small force. In this state, the control part 300 can change the torque generated in the joint motor 540, and the second arm 420 can be moved with respect to the first arm 410.

[0114] The joint motor 540 can be a structure that provides a driving force based on electric energy. In the second joint part 440 in which the intelligent actuator 500 is installed, the joint motor 540 can provide a driving force for rotating the second arm 420 with respect to the first arm 410.

[0115] The harmonic driver 550 can be a kind of reducer. The harmonic driver 550 can be a reducer that uses the bending of a rigid body as a principle of engagement of epicyclic gears. Basically, the harmonic driver 550 has a large reduction ratio and almost no backlash, and thus, is advantageous in miniaturization of a high-rigidity, high-power, etc. mechanical device. The harmonic driver can rotate the driving shaft of the intelligent actuator 500 based on the driving force provided by the joint motor 540.

[0116] Also, althoughFigure 5 A torque sensor is not illustrated, but the smart actuator 500 can include the torque sensor. The torque sensor can be a structure that measures a torque applied to the driving shaft of the joint part 450 from the outside. For example, the smart actuator 500 can be a state in which the magnetic brake 530 does not operate. At this time, the torque sensor can measure at least one of a torque applied to the joint part 450 by the user, a torque applied to the joint part 450 by the gravity. Also, the smart actuator 500 can be a state in which the joint motor 540 operates. At this time, the torque sensor can measure at least one of a torque applied to the joint part 450 by the gravity, a torque applied to the joint part 450 by the joint motor 540, and a torque applied to the joint part 450 by the external force.

[0117] As described above, the medical image apparatus 100 can include the control part 300. The control part 300 can be a structure for controlling the joint part 450 including at least one of the first joint part 430 and the second joint part 440.

[0118] The control part 300 can control the second joint part 440 so that the second arm 420 rotates with respect to the first arm 410, based on at least one of a torque applied to the joint part and a user's input. Hereinafter, a process of controlling the second joint part 440 based on the torque applied to the joint part will be described.

[0119] Figure 6 A flowchart for explaining an action of the medical image apparatus according to an embodiment of the disclosure.

[0120] In a case in which the second arm 420 is stopped with respect to the first arm 410, the process of Figure 6 is performed. More specifically, the second arm 420 can be stopped with respect to the first arm 410 by the magnetic brake 530 included in the second joint part 440.

[0121] The control part 300 can perform the step 610 of measuring a first torque applied to the second joint part 440. More specifically, the second joint part 440 can include the smart actuator 500, and the control part 300 can perform the step 610 of measuring the first torque, based on at least one of the torque sensor and the joint encoder 520 included in the smart actuator 500.

[0122] The first torque can be a force applied to the second joint portion 440 by an external force in a state in which the second arm 420 is stopped with respect to the first arm 410. The second arm 420 being stopped with respect to the first arm 410 can mean a state in which a torque caused by the second arm 420 and the source assembly 110 is canceled by at least one of the magnetic force brake 530 or the gas spring 441. At this time, an external force, such as a user's force, is applied to the second arm 420, and thus the first torque can be generated in the second joint portion 440.

[0123] The control portion 300 can perform a step 620 of determining whether the first torque is greater than a predetermined critical sensitivity torque of the second joint portion. The predetermined critical sensitivity torque of the second joint portion can be set by a user or automatically determined based on a predetermined algorithm. The critical sensitivity torque of the second joint portion can be related to a force required by the user to move the source arm 140. The critical sensitivity torque of the second joint portion can be changed. The smaller the critical sensitivity torque of the second joint portion, the smaller the force with which the user can initially move the second arm 420 with respect to the first arm 410. Also, the greater the critical sensitivity torque of the second joint portion, the greater the force with which the user can initially move the second arm 420 with respect to the first arm 410.

[0124] The critical sensitivity torque of the second joint portion can select one of a plurality of candidate critical sensitivity torques designated in advance. The plurality of candidate critical sensitivity torques can include five different from each other. For example, the plurality of candidate critical sensitivity torques can correspond to one of very sensitive, sensitive, average, sluggish, and very sluggish. The closer to very sluggish from very sensitive, the greater the size of the candidate critical sensitivity torque can become. Among the plurality of candidate critical sensitivity torques designated in advance, one can be selected based on a selection input of the user. The smaller the critical sensitivity torque, the smaller the force required to move the second arm 420, but there can be a possibility of erroneously moving the second arm 420. The greater the critical sensitivity torque, the greater the force required to move the second arm 420, but there can be no possibility of erroneously moving the second arm 420.

[0125] According to various embodiments of the present disclosure, the medical image apparatus 100 can select one of the candidate critical sensitivity torques based on identification information of the user. More specifically, the user can register the identification information in the medical image apparatus 100. The medical image apparatus 100 can use only the user whose identification information is registered. The medical image apparatus 100 can store the critical sensitivity torque of the second joint portion corresponding to the identification information of the user. Accordingly, in a case in which the user inputs the identification information of the user in the medical image apparatus 100 in order to use the medical image apparatus 100, the medical image apparatus 100 can automatically select one of the plurality of candidate critical sensitivity torques.

[0126] To store the critical sensitivity torque of the second joint part corresponding to the identification information of the user, the medical image apparatus 100 can perform the following steps. When receiving the identification information of the user, the medical image apparatus 100 can receive the critical sensitivity torque together. Also, the medical image apparatus 100 can automatically determine the critical sensitivity torque based on at least one of the gender, age, and weight of the user. Also, to perform the test, the medical image apparatus 100 can output a message for the user to apply a force comfortably, so that the second arm 420 is rotated with respect to the first arm 410. For example, the medical image apparatus 100 can output a message for applying a force in a manner of comfortably "lifting" the second arm 420. The user can apply a force to the second arm 420. The medical image apparatus 100 can measure a torque applied to the second joint part 440 by the user based on the force applied to the second arm 420. The torque applied to the second joint part 440 can be a net torque applied to the second joint part 440. However, it is not limited thereto, and the torque applied to the second joint part 440 can be a torque applied to the second joint part 440 by the user.

[0127] The medical image apparatus 100 can select a candidate critical sensitivity torque closest to the measured torque as the critical sensitivity torque of the second joint part. Alternatively, the medical image apparatus 100 can select a candidate critical sensitivity torque greater than the measured torque and closest to the measured torque as the critical sensitivity torque of the second joint part. Also, the medical image apparatus 100 can select a candidate critical sensitivity torque less than the measured torque and closest to the measured torque as the critical sensitivity torque of the second joint part. Also, the medical image apparatus 100 can determine the measured torque as the critical sensitivity torque of the second joint part.

[0128] Above, although the critical sensitivity torque of the second joint part is described, the critical sensitivity torque can be set at the first joint part 430. Since the same description can be applied to the critical sensitivity torque of the first joint part, the repeated description is omitted.

[0129] The control part 300 can perform a step 630 of controlling the second joint part so that the second arm is rotated with respect to the first arm 410 when the first torque is equal to or greater than the critical sensitivity torque of the second joint part 440. The direction in which the second arm 420 is rotated with respect to the first arm 410 can be the same as the direction of the force applied to the second arm 420 by the user. For example, in the case of the second arm 420 being rotated with respect to the first arm 410, if the user applies a force to the second arm 420 in an upward direction, the second arm 420 can be rotated in a counterclockwise direction. Also, if the user applies a force to the second arm 420 in a downward direction, the second arm 420 can be rotated in a clockwise direction. Figure 4

[0130] ​In a case where the user applies a force to the second arm 420, a torque is applied not only to the second joint portion 440 but also to the first joint portion 430. The control portion 300 can control only one of the first joint portion 430 and the second joint portion 440 to be active. However, the control portion 300 can control both the first joint portion 430 and the second joint portion 440 to be active. The control portion 300 can determine a mode in which only one of the first joint portion 430 and the second joint portion 440 is active and a mode in which both the first joint portion 430 and the second joint portion 440 are active, based on the input of the user.

[0131] In a case where only one of the first joint portion 430 and the second joint portion 440 is active, the control portion 300 can cause only the first joint portion 430 to be active or only the second joint portion 440 to be active, based on whether the user applies a force to the second arm 420 or applies a force to the first arm 410. For example, in a case where the user applies a force to the second arm 420, the first joint portion 430 and the second joint portion 440 of the medical image device 100 can each receive a torque. Thus, if the second joint portion torque measured in the second joint portion 440 is equal to or greater than a predetermined critical start torque, the medical image device 100 can determine that the second joint portion 440 rotates regardless of the first joint portion torque measured in the first joint portion 430. That is, the first arm 410 can be fixed with respect to the body 130, and the second arm 420 can be active with respect to the first arm 410. In a case where it is determined that the second arm 420 is active, the process of Figure 6 can be performed.

[0132] Also, in a case where the second joint portion torque measured in the second joint portion 440 is less than the predetermined critical start torque, and the first joint portion torque measured in the first joint portion 430 is greater than the critical start torque, the medical image device 100 can determine that the first joint portion 430 rotates. That is, the first arm 410 can be active with respect to the body 130, and the second arm 420 can be fixed with respect to the first arm 410. As such, one of the first joint portion 430 and the second joint portion 440 can be caused to be active to cause the first arm 410 or the second arm 420 to be active according to the user's intention, which is intuitive and can make the user more convenient. However, the present application is not limited thereto.

[0133] Step 630 can include the following steps. To prevent the second arm 420 from accelerating too quickly, the control portion 300 can control the second arm 420 to accelerate below a maximum angular acceleration designated in advance in a state of being stopped. Also, to prevent the second arm 420 from moving too quickly, the control portion 300 can control the second arm 420 to accelerate in a state of being stopped and then to move below a maximum angular velocity designated in advance. Also, when the user applies force to the second arm 420, the control portion 300 can enable the second arm 420 to move, and in the case where force is not applied to the second arm 420, the control portion 300 can disable the second arm 420 from moving again. When the second arm 420 moves, the torque that the user needs to apply to the second arm 420 can be less than or equal to a critical sensitivity torque. To prevent the second arm 420 from decelerating too quickly, in the case where the second arm 420 moves and is stopped, the control portion 300 can control the second arm 420 to decelerate below a maximum angular acceleration designated in advance. Thus, the user can not be startled by sudden movement or uncontrollable angular velocity of the second arm 420.

[0134] Since the second arm 420 and the source assembly 110 are combined at the second joint portion 440, a torque caused by the weight of the second arm 420 and the source assembly 110 can be applied to the second joint portion 440. During movement of the second arm 420, a torque caused by the weight of the second arm 420 and the source assembly 110 can be applied to the second joint portion 440. The torque applied to the second joint portion 440 by the second arm 420 and the source assembly 110 can be determined by a function designated in advance. The function designated in advance can output an output torque applied to the second joint portion 440, using at least one of the weight of the second arm 420, the weight of the source assembly 110, the angle of the first arm 410 with respect to the ground, the angle of the second arm 420 with respect to the first arm 410, the length of the second arm 420, the gas spring length, or the force provided by the gas spring, as a variable. The output torque can be a torque caused by the weight of the second arm 420 and the source assembly 110. The control portion 300 can control the smart actuator included in the second joint portion 440 to generate a torque in the opposite direction of the output torque determined by the function designated in advance, so that the second arm 420 can move at a constant angular velocity with respect to the first arm 410. For example, in the case where the second arm moves at a constant angular velocity, the torque generated by the smart actuator can be as follows.

[0135] 1) TOUT = -T1-T2 (in the case where the torque applied by the user to the second arm and the torque caused by the weight of the second arm 420 and the source assembly 110 are in the same direction).

[0136] 2) TOUT = -T1+T2 (in the case where the torque applied by the user to the second arm and the torque caused by the weight of the second arm 420 and the source assembly 110 are in different directions).

[0137] TOUT = T1 + T2 + T3

[0138] In this way, the second joint portion is controlled based on the input of the user, so that the second arm 420 is rotated with respect to the first arm 410. Here, the input of the user can mean that the user's intention is input to the input portion 350 such as a button or a touch screen, rather than the user directly applying force to the second arm 420.

[0139] Hereinafter, a process of controlling the second joint portion 440 based on the input of the user so that the second arm 420 is rotated with respect to the first arm 410 will be described. Here, the input of the user can mean that the user's intention is input to the input portion 350 such as a button or a touch screen, rather than the user directly applying force to the second arm 420.

[0140] The control portion 300 can perform a step of controlling the second joint portion based on the input of the user to the button related to the joint movement, so that the first arm 410 and the second arm 420 have a pre-designated angle. For example, the pre-designated angle can be 90 degrees or more and 180 degrees or less. Also, the pre-designated angle can mean an angle between the first arm 410 and the second arm 420 when the second arm 420 is in a state of being almost parallel to the ground.

[0141] Referring to Figure 4 The button related to the joint movement can be a physical button. The button related to the joint movement can be included in at least two of the second joint portion 440, the second arm 420, and the source assembly 110. For example, the button related to the joint movement can be located on the left side or the right side of the second joint portion 440. Also, the button related to the joint movement can be located on at least one of the upper side, the left side, the right side, and the lower side of the second arm 420. Also, the button related to the joint movement can be located on at least one of the front, the upper side, the left side, the right side, and the lower side of the source assembly 110.

[0142] Also, the button related to the joint movement can be a button displayed on a graphical user interface (GUI) such as a touch screen. The button related to the joint movement can be located on at least one of the auxiliary display provided in the source assembly 110 and the main display 150 provided in the body 130. The auxiliary display provided in the source assembly 110 can be located on the front of the source assembly 110. But it is not limited thereto.

[0143] To prevent the first arm 410 and the second arm 420 from colliding with surrounding objects during the movement of the medical imaging device 100, the first arm 410 and the second arm 420 can be in a folded state. For example, the medical imaging device 100 can be folded as follows: Figure 1 The movement is performed in the posture shown. The second arm 420 can be in a state that is almost perpendicular to the ground. Therefore, the torque applied to the second joint 440 can be minimized by means of the source component 110 and the second arm 420, thereby preventing the second joint 440 from being damaged by impact during movement. Furthermore, the collision between the source component 110 and surrounding objects can be minimized.

[0144] After the medical imaging device 100 is positioned near the patient, and upon receiving input from the user for a button press, the medical imaging device 100 can position the second arm 420 at a pre-defined angle relative to the first arm 410. That is, the second arm 420 can... Figure 1 In this posture, the arm rotates counterclockwise around the second joint 440, causing the angle formed by the first arm 410 and the second arm 420 to have a predetermined angle. Through this process, the second arm 420 can have an extended posture relative to the first arm 410. For example, the extended posture of the second arm 420 can be as follows: Figure 4 As shown. The extended posture of the second arm 420 can mean that the second arm 420 is parallel to the ground. However, it is not limited to this. The angular velocity of the second arm 420's movement can be preset. Furthermore, the angular velocity of the second arm 420's movement can be changed by the user's settings. Since the user does not need to lift the second arm 420, user convenience can be increased.

[0145] Furthermore, after the recording ends and input to the button is received from the user, the medical imaging device 100 can rotate the second arm clockwise, causing the second arm 420 to have the following characteristics: Figure 1 The posture shown indicates that the second arm 420 can return to a movable posture. The movable posture can be a state where the second arm 420 is folded relative to the first arm 410. Since the user does not need to move the second arm back to a movable posture, user convenience is increased.

[0146] The medical imaging device 100 may have multiple buttons related to joint movement, thereby allowing the user to move the second arm 420 relative to the first arm 410 with minimal movement.

[0147] The medical image apparatus 100 can include a source assembly 110. One end of a second arm 420 can be combined with a second joint part 440. Also, the source assembly 110 can be combined at the other end of the second arm 420. The source assembly 110 can include a second transceiver. The second transceiver can include a second transmitter and a second receiver. In the source assembly 110, the second transceiver can be provided at a surface in a direction of an outgoing ray. In the source assembly 110, the second transceiver can be provided at a surface perpendicular to the direction of the outgoing ray. The second transceiver can communicate with the first transceiver. The first transceiver and the second transceiver can communicate with each other using Ultra WideBand (UWB).

[0148] The medical image apparatus 100 can include a detector 120. The detector 120 can receive a ray irradiated from the source assembly 110 to generate a medical image. The detector 120 can include a first transceiver that transceives a signal with the second transceiver. The first transceiver can be configured to communicate with the second transceiver included in the source assembly 110 in a wireless manner. The first transceiver can include a first transmitter and a first receiver. The detector 120 can include a plurality of first transceivers. The first transceiver can be located at a surface of the detector 120 for receiving a ray. The first transceiver can also be arranged along a corner of the detector 120. The first transceiver can be located at a left side surface and a right side surface of the detector 120. For example, the first transceiver can be arranged at 2 on the left side surface and 2 on the right side surface of the detector 120. As such, in a case where a plurality of first transceivers are arranged in the detector 120, the medical image apparatus 100 can accurately arrange the detector 120 and the source assembly 110. However, it is not limited thereto, and the first transceiver can be located near a vertex of a quadrangular detector 120.

[0149] The control part 300 can perform a step of controlling the joint part based on the first transceiver and the second transceiver such that a ray irradiation direction of the source assembly 110 is perpendicular to a ray receiving surface of the detector 120.

[0150] More specifically, the main control part 300 can perform a step of outputting a message for guiding alignment of a ray irradiation area of the source assembly 110 and an area of the detector based on arrangement information. To arrange the detector 120 and the source assembly 110 based on at least one of the 3D camera, the first transceiver, and the second transceiver, the main control part 300 can determine arrangement information related to at least one of a direction, a distance, and an angle in which the source assembly 110 needs to move. The main control part 300 can obtain the arrangement information in order to perform the step of outputting the message. The arrangement information can be information for arranging the source assembly 110 and the detector 120. Herein, the arrangement of the detector 120 and the source assembly 110 can mean that the ray irradiation area and the area of the detector are identical or a line connecting a center of the detector and a center of the source assembly 110 is parallel to the ray irradiation direction.

[0151] The main control unit 300 can obtain at least one of the posture information of the detector 120 and the posture information of the source assembly 110 based on the first transceiver and the second transceiver. The main control unit 300 can also obtain at least one of the posture information of the detector 120 and the posture information of the source assembly 110 using a 3D camera. Alternatively, the main control unit 300 can also correct at least one of the posture information of the detector 120 and the posture information of the source assembly 110 using a 3D camera.

[0152] The main control unit 300 can perform a step of obtaining arrangement information for adjusting the angle of the source assembly 110 based on at least one of the posture information of the detector 120 and the posture information of the source assembly 110 such that the ray irradiation direction of the source assembly 110 is perpendicular to the ray receiving surface of the detector 120. The posture information of the detector 120 can be obtained based on at least one of a gyro sensor included in the detector 120 or the first transceiver. The detector 120 can also be indirectly measured by triangulation based on the first transceiver and the second transceiver. The posture information of the detector 120 can include at least one of the degree of tilt (tilt degree) and the distance of the detector 120 with respect to the source assembly 110 or the ground. The posture information of the detector 120 can include the degree of rotation of the detector 120 with respect to at least one of a first axis parallel to the ground, a second axis parallel to the ground and perpendicular to the first axis, and a third axis perpendicular to the ground. The posture information of the detector 120 can include the distance from a point of the source assembly 110 to a point of the detector 120. The posture information of the detector 120 can include the coordinates from one of a point of the source assembly 110 or a point of the body 130 to a point of the detector 120. The point of the source assembly 110 can be one of the center of the source assembly 110 or the center of the front surface of the source assembly 110. Also, the point of the detector 120 can be the center of the ray irradiation surface of the detector 120. However, the point of the body 130, the point of the source assembly 110, and the point of the detector 120 can be points included in the body 130, the source assembly 110, and the detector 120, respectively, and are not limited to the above-described description. The posture information of the detector 120 can include the tilt degree of the ray irradiation surface of the detector 120 with respect to the front surface of the source assembly 110.

[0153] The main control unit 300 included in the medical image apparatus 100 can obtain posture information of the source assembly 110 based on at least one of the gyro sensor or the second transceiver. The posture information of the source assembly 110 can include at least one of a degree of tilt (tilt degree) and a distance of the source assembly 110 with respect to the detector 120 or the floor. The main control unit 300 can directly measure the posture information of the source assembly 110 based on the gyro sensor, and can indirectly measure by triangulation based on the first transceiver and the second transceiver. The posture information of the source assembly 110 can include information on rotation of the source assembly 110 by at least one of a first axis, a second axis, and a third axis. The first axis, the second axis, and the third axis can be axes perpendicular to each other. The posture information of the source assembly 110 can include a distance from one point of the detector 120 or one point of the body 130 to one point of the source assembly 110. The posture information of the source assembly 110 can include coordinates from one point of the source assembly 110 to one point of the detector 120. The posture information of the source assembly 110 can include a tilt degree of a front surface of the source assembly 110 with respect to a radiation surface of the detector 120.

[0154] The medical image apparatus 100 can determine arrangement information based on at least one of the posture information of the detector 120 and the posture information of the source assembly 110. Also, the medical image apparatus 100 can perform control of the joint unit to move at least one of the first arm 410 and the second arm 420 such that the radiation direction of the source assembly 110 is perpendicular to the radiation receiving surface of the detector 120 based on the arrangement information. As such, since the medical image apparatus 100 automatically moves at least one of the first arm 410 or the second arm 420 such that the radiation direction of the source assembly 110 is perpendicular to the radiation receiving surface of the detector 120, the user hardly needs to manipulate the source assembly 110. Also, there is no need to adjust the position of the source assembly 110 by checking the sensor value displayed on the display in order to arrange the source assembly 110 at an accurate position. Accordingly, the medical image apparatus 100 can maximize the convenience of the user.

[0155] Figure 7 A flowchart for representing an action of a medical image apparatus according to an embodiment of the disclosure.

[0156] The control unit 300 can execute step 710, which involves obtaining a second torque by means of an external force during the movement of the second arm 420 relative to the first arm 410 via the drive of the second joint 440. Under the control of the control unit 300, the second joint 440 can cause the second arm 420 to move relative to the first arm 410 at a constant angular velocity. Torque can be applied to the second joint 440 by the weight of the second arm 420 and the weight of the source component 110, but the intelligent actuator included in the second joint 440 can counteract the torque caused by the weight of the second arm 420 and the weight of the source component 110, thus causing the second arm 420 to move at a constant angular velocity.

[0157] Alternatively, under the control of the control unit 300, the second joint 440 can move the second arm 420 relative to the first arm 410 with an angular acceleration proportional to the torque applied by the user to the second arm 420 (or the second joint 440). To explain the movement of the second arm 420, refer to... Figure 8 .

[0158] Figure 8 A diagram illustrating the angular acceleration of the second arm of this disclosure.

[0159] Figure 8 The x-axis can represent the torque applied by the user to the second arm, and the y-axis can represent the angular acceleration of the second arm. Figure 8 The graph is presented when the angular acceleration of the second arm is almost zero.

[0160] Reference Figure 8 In part (a), the torque t applied by the user to the second arm 420 can be proportional to the angular acceleration a of the movement of the second arm 420. When the second arm 420 is stationary, by means of... Figure 6 As shown in the process, the second arm 420 can begin to move relative to the first arm 410. Afterward, the control unit 300 can only maintain the movement of the second arm 420 if the user continues to apply force to it. For example, the relationship between the torque t applied by the user to the second arm 420 and the angular acceleration a can be as follows.

[0161] a=K*(tF)

[0162] Where t can be the torque applied by the user to the second arm 420, and a can be the angular acceleration of the movement of the second arm 420. K can be a predetermined proportionality constant. Furthermore, F can be a predetermined constant. F can be the critical movement torque applied by the user to the second arm 420 when the second arm 420 moves with a constant angular velocity or positive angular acceleration. The critical movement torque F can be the same as or less than the critical sensitivity torque. F can act as a virtual friction force. Generally, when an object is moved, the user can intuitively perceive the presence of friction; therefore, the medical imaging device 100 of this disclosure can utilize the virtual F as a control variable so that the user can intuitively move the second arm 420.

[0163] Reference Figure 8 In part (b), the relationship between the torque t applied by the user to the second arm 420 and the angular acceleration a can be expressed as follows.

[0164] a = K*(tF), where t is less than F.

[0165] The case where a = 0, t is greater than or equal to F and less than or equal to MF.

[0166] a = K*(t-MF), where t is greater than MF.

[0167] Unlike Figure 8 Part (a), in Figure 8 In part (b), when the torque applied by the user to the second arm 420 is greater than or equal to F and less than or equal to MF, the second arm 420 can move at a constant angular velocity. Here, F and MF can be pre-specified constants. If the angular acceleration of the second arm 420 continues to change, the user may find it difficult to control the movement of the second arm 420. Therefore, as... Figure 8 As shown in part (b), the medical imaging device 100 of this disclosure can control the movement of the second arm 420.

[0168] However, the movement of the second arm 420 is not limited to Figure 8 The second arm 420 can also move at a constant angular velocity. Furthermore, the angular acceleration of the second arm 420 can be limited to below a predetermined maximum angular acceleration, or above a predetermined minimum angular acceleration.

[0169] Re-reference Figure 7In step 710, the second torque can mean a torque different from the torque applied to the second arm 420 by the user in order to move the second arm 420. The second torque can be a torque generated when an external object comes into contact with the second arm 420 or the first arm 410, which is not expected by the user. That is, the second torque can be a torque generated when the second arm 420 or the first arm 410 collides with an external object.

[0170] The control unit 300 can measure an absolute value of the amount of change in the torque applied to the second arm per hour. In a case where the absolute value of the amount of change per hour is a critical change torque or more at a pre-designated impact sensing time, the control unit 300 can determine that an impact has occurred in the second arm 420. The control unit 300 can determine the second torque by subtracting the torque t applied to the second arm by the user before the impact occurs from the torque at applied to the second arm 420 by the external object and the user before and after the impact occurs. That is, the second torque can mean a torque applied to the second arm by the external object. The control unit 300 can also measure the second torque by means of a sensor.

[0171] The control unit 300 can perform step 720 of determining whether the second torque is a pre-designated critical impact torque or more. The critical impact torque, as a pre-designated value, can be a value for determining whether an impact has actually occurred. The critical impact torque can be changed. For example, the critical impact torque can have a proportional relationship with the critical sensitivity torque. Therefore, since the critical impact torque and the critical sensitivity torque have a proportional relationship, the likelihood that the control unit 300 will falsely determine that an impact has occurred in the second arm 420 is very low.

[0172] The control unit 300 can perform step 730 of suspending the driving of the second joint portion 440 in a case where the second torque is a pre-designated critical impact torque or more. Therefore, in a case where the second arm 420 comes into contact with an external object, the medical image apparatus 100 of the disclosure can immediately stop to prevent additional damage from occurring due to the external object. Also, damage can be prevented from occurring in the structure of the medical image apparatus 100 such as the second arm 420 and the source assembly 110.

[0173] According to various embodiments of the present disclosure, the medical image apparatus 100 can include a distance sensor. The distance sensor can be a structure for determining whether an object is approached from the outside. The distance sensor can be located at at least one of the upper side and the lower side of the source assembly 110. Also, the distance sensor can also be included in at least one of the first arm 410 and the second arm 420. For example, at least one of the upper side and the lower side of at least one of the first arm 410 and the second arm 420. The control portion 300 can measure the distance of the object from the outside and the medical image apparatus 100 using the distance sensor. In the case where the measured distance is below a critical distance, the control portion 300 can suspend the driving of the second joint portion 440. Thereby, the medical image apparatus 100 can prevent the occurrence of a situation of contacting the object from the outside.

[0174] After stopping at least one of the first arm 410 and the second arm 420 by the impact from the external object, the medical image apparatus 100 can continue the action performed in a manual or automatic manner. For example, in the case where the impact is sensed during the action of unfolding or folding the second arm 420 with respect to the first arm 410, the medical image apparatus 100 can stop the action of moving the second arm 420. Thereafter, in the case where the user presses the conflict resolution button, the medical image apparatus 100 can continue the action of unfolding or folding the second arm 420 with respect to the first arm 410. Also, the medical image apparatus 100 can obtain a signal indicating that there is no external object based on the distance sensor and the torque sensor. The medical image apparatus 100 can continue the unfolding or folding action based on the signal indicating that there is no external object.

[0175] Figure 9 A diagram for explaining the degree of freedom of the arm of the medical image apparatus according to an embodiment of the present disclosure. Figure 10 A diagram for explaining a structure for moving the arm of the medical image apparatus according to an embodiment of the present disclosure.

[0176] Figure 9 And Figure 10 indicates a side view of the medical image apparatus 100. In Figure 9 and Figure 10 the above-described parts are omitted.

[0177] The second arm 420 can include a second-1 arm 910 and a second-2 arm 920. One end of the second-1 arm 910 can be coupled with the second joint portion 440. The second-1 arm 910 can have a tube shape. A cross section of the second-1 arm 910 cut along a plane perpendicular to the length direction of the second-1 arm 910 can be one of a circular shape, a quadrangular shape, a hexagonal shape, and an octagonal shape. A space can be formed in the inside of the second-1 arm 910.

[0178] At least a portion of the second-2nd arm 920 can be inserted into a space formed inside the second-1st arm 910. Also, the second-2nd arm 920 can move along the second-1st arm 910. With the second-1st arm 910 and the second-2nd arm 920, the second arm 420 can be extended or reduced. For example, in a case where the second-2nd arm 920 is maximally inserted into the second-1st arm 910, the second arm 420 can have a minimum length. For example, the minimum length can be 890 mm. Also, in a case where the second-2nd arm 920 is minimally inserted into the second-1st arm 910, the second arm 420 can have a maximum length. For example, the maximum length can be 1070 mm. The second-2nd arm 920 can be movable by 180 mm with respect to the second-1st arm 910. As such, since the second arm 420 is extended or reduced, even if a space around a patient is not sufficient, the second arm 420 can be extended so that the source assembly 110 can be located near the patient. In particular, in a general ward, a space to the left and right of a patient bed is very narrow so that the medical image device 100 cannot enter. Thus, the medical image device 100 needs to be located in front of or behind the patient bed to take a medical image. Since a front-to-back length of the patient bed is greater than a left-to-right width, there is a case where it is difficult to place the source assembly 110 near the patient, but since the medical image device 100 of the disclosure extends the second arm 420, there is an advantage that the source assembly 110 can be placed near the patient.

[0179] The second arm 420 can include a telescopic arm driving part 1030. The telescopic arm driving part 1030 can be combined with the inside of the second-1st arm 910. The telescopic arm driving part 1030 can be a structure for providing a driving force for moving the second-2nd arm 920 with respect to the second-1st arm 910.

[0180] The telescopic arm driving part 1030 can include a telescopic arm motor 1010 and a telescopic arm shaft 1020. The telescopic arm motor 1010 can rotate the telescopic arm shaft 1020 based on a signal of the control part 300. Referring to Figure 10 , the telescopic arm shaft 1020 can be rotatable about an axis parallel to the front-to-back direction. The telescopic arm shaft 1020 can be rotatable about an axis parallel to the extension direction of the second arm 420. A helical line can be formed on the outer circumferential surface of the telescopic arm shaft 1020. The helical line formed on the outer circumferential surface of the telescopic arm shaft 1020 can be combined with the threaded hole formed in one end of the second-2nd arm 920. Thus, by the rotation of the telescopic arm shaft 1020, the second-2nd arm 920 can move in the front direction or the upward direction with respect to the second-1st arm 910.

[0181] The control part can control the second-2nd arm to move with respect to the second-1st arm based on one of an input of a user to a button related to the extension or a force applied by the user to the second-2nd arm.

[0182] More specifically, the user can extend or reduce the second arm 420 using a button related to the extension. For example, the user can press an extension button to extend the second arm 420, or can press a reduction button to reduce the second arm 420. However, the extension button and the reduction button are not limited to this, and can be one button. For example, if the button is pressed once, the second arm 420 can be extended, and if the same button is pressed again, the second arm 420 can be reduced.

[0183] As such, as the second-two arm 920 is automatically moved, the user can not need to exert force to extend or reduce the second arm 420. Also, the medical image apparatus 100 can control the joint portion so that the irradiation direction of the rays of the source assembly 110 is automatically perpendicular to the ray receiving surface of the detector 120. Accordingly, the convenience of the user can be improved.

[0184] As described above, the medical image apparatus 100 of the disclosure can determine at least one of the critical sensitivity torque, the critical start torque, the critical movement torque F, and the critical impact torque, based on the length of the second arm 420.

[0185] For example, the longer the length of the second arm 420, the greater at least one of the critical sensitivity torque, the critical start torque, the critical movement torque F, and the critical impact torque can become. As the second arm 420 becomes longer, the torque applied by the weight of the source assembly 110 to the second joint portion 440 can become greater. Also, in order to make the ray irradiation direction of the source assembly 110 face the patient, the user can grasp the vicinity of the source assembly 110 to move the second arm 420. At this time, in the case where the second arm 420 is long, the torque applied by the user to the second joint portion 440 can become greater. Accordingly, the longer the length of the second arm 420, the greater at least one of the critical sensitivity torque, the critical start torque, the critical movement torque F, and the critical impact torque can be set by the control portion 300. Accordingly, the user experience can be maintained consistently regardless of the length of the second arm 420.

[0186] However, this is not limited, and at least one of the critical sensitivity torque, the critical start torque, the critical movement torque F, and the critical impact torque can be independent of the length of the second arm 420.

[0187] The extension arm driving portion 1030 can also function as a brake. That is, by means of the extension arm driving portion 1030, there can be no activity of the second-two arm 920 with respect to the second-one arm 910 caused by an external object. This is because the activity of the second-two arm 920 with respect to the second-one arm 910 requires a very large external force due to the extension arm driving portion 1030. That is, in most cases, the activity of the second-two arm 920 with respect to the second-one arm 910 can be achieved by the extension arm driving portion 1030.

[0188] As such, since the telescopic arm driving portion 1030 functions as a brake, it is possible to prevent the second-second arm 920 from suddenly moving relative to the second-first arm 910. Thus, it is possible to improve the safety of the medical image device 100.

[0189] The control portion 300 can control the second-second arm to move relative to the second-first arm based on the force applied by the user to the second-second arm. More specifically, the second arm 420 can also be contracted or extended based on the measured force of the user. For example, the control portion 300 can perform a step of measuring the linear force applied to the second arm 420. The telescopic arm driving portion 1030 can include a force sensor. The telescopic force sensor can enable the user to measure the linear force applied by the second-second arm 920 relative to the second-first arm 910. More specifically, in the case where the user grasps the second-second arm 920 and applies a force in the forward or rearward direction, the telescopic force sensor can sense the linear force applied by the user. The direction of the linear force can be one of the forward or rearward directions. The control portion 300 can receive the force measured by the telescopic force sensor.

[0190] The control portion 300 can perform a step of determining whether the linear force is above a predetermined critical sensitivity force. The predetermined critical sensitivity force can be set by the user or automatically determined based on a predetermined algorithm. The critical sensitivity force can be related to the force required by the user to move the second-second arm 920 relative to the second-first arm 910. The critical sensitivity force can be changed. The smaller the critical sensitivity force, the smaller the force with which the user can initially move the second-second arm 920 relative to the second-first arm 910. Also, the greater the critical sensitivity force, the greater the force with which the user must initially apply to move the second-second arm 920 relative to the second-first arm 910.

[0191] The critical sensitivity force can select one of a plurality of candidate critical sensitivity forces specified in advance. The plurality of candidate critical sensitivity forces can include five different from each other. For example, the plurality of candidate critical sensitivity forces can correspond to one of very sensitive, sensitive, average, sluggish, and very sluggish. The closer to very sluggish from very sensitive, the greater the size of the candidate critical sensitivity force can become. Among the plurality of candidate critical sensitivity forces specified in advance, one can be selected based on a selection input of the user. The smaller the critical sensitivity force, the smaller the force required to move the second-second arm 920, but there can be a possibility of erroneously moving the second-second arm 920. The greater the critical sensitivity force, the greater the force required to move the second-second arm 920, but there can be no possibility of erroneously moving the second-second arm 920.

[0192] According to various embodiments of the present disclosure, the medical image apparatus 100 can select one of the candidate critical sensitivity forces based on the identification information of the user. More specifically, the user can register the identification information in the medical image apparatus 100. The medical image apparatus 100 can use only the user whose identification information is registered. The medical image apparatus 100 can store the critical sensitivity force corresponding to the identification information of the user. Accordingly, in the case where the user inputs the identification information of the user in the medical image apparatus 100 in order to use the medical image apparatus 100, the medical image apparatus 100 can automatically select one of the plurality of candidate critical sensitivity forces.

[0193] In order to store the critical sensitivity force corresponding to the identification information of the user, the medical image apparatus 100 can perform the following steps. When the identification information of the user is received, the medical image apparatus 100 can receive the critical sensitivity force together. Also, the medical image apparatus 100 can automatically determine the critical sensitivity force based on at least one of the gender, age, and weight of the user. Also, in order to perform the test, the medical image apparatus 100 can output a message to the user to apply a force to the second-two arm 920 with respect to the second-one arm 910. For example, the medical image apparatus 100 can output a message to comfortably "pull" or "press" the second-two arm 920 with respect to the second-one arm 910. The user can apply a force to the second-two arm 920. The medical image apparatus 100 can measure the force applied to the second-two arm 920 by the user.

[0194] The medical image apparatus 100 can select the candidate critical sensitivity force closest to the measured force as the critical sensitivity force. Alternatively, the medical image apparatus 100 can select the candidate critical sensitivity force greater than the measured force and closest to the measured force as the critical sensitivity force. Also, the medical image apparatus 100 can select the candidate critical sensitivity force less than the measured force and closest to the measured force as the critical sensitivity force. Also, the medical image apparatus 100 can determine the measured force as the critical sensitivity force.

[0195] The control unit 300 can perform a step of controlling the telescopic arm driving unit 1030 such that the second-two arm 920 moves with respect to the second-one arm 910 in the case where the linear force is equal to or greater than the critical sensitivity force. The moving direction of the second-two arm 920 can be the same as the moving direction of the linear force applied by the user. For example, in the case where the user applies a force to the second-two arm 920 in the forward direction, the second-two arm 920 can move in the forward direction. Also, in the case where the user applies a force to the second-two arm 920 in the rearward direction, the second-two arm 920 can move in the rearward direction. Figure 9

[0196] ​In a case where the user applies force to the second-two arm 920, force is applied not only to the second-two arm 920 but also to the first joint part 430 and the second joint part 440. The control part 300 can control only one of the second-two arm 920, the first joint part 430, and the second joint part 440 to be active. However, the control part 300 can control the second-two arm 920, the first joint part 430, and the second joint part 440 to be simultaneously active. The control part 300 can determine a mode in which only one of the second-two arm 920, the first joint part 430, and the second joint part 440 is active and a mode in which all of the second-two arm 920, the first joint part 430, and the second joint part 440 are active based on the user's input.

[0197] In the mode in which only one of the second-two arm 920, the first joint part 430, and the second joint part 440 is active, the control part 300 can make only the first joint part 430 active or only the second joint part 440 active based on whether the user applies force to the second-two arm 920 or the second arm 420 or whether the user applies force to the first arm 410. For example, in a case where the user applies force to the second-two arm 920, not only the second-two arm 920 but also the first joint part 430 and the second joint part 440 can be subjected to force. Thus, if the linear force applied to the second-two arm 920 is greater than a pre-designated critical initiation force, the medical image device 100 can determine that the second-two arm 920 moves regardless of the torque measured by the first joint part 430 and the second joint part 440. That is, the first arm 410 can be fixed with respect to the body 130, the second arm 420 can be fixed with respect to the first arm 410, and the second-two arm 920 can move with respect to the second-one arm 910.

[0198] Also, in a case where the linear force measured by the second-two arm 920 is less than the pre-designated critical initiation force and the torque measured by the second joint part 440 is greater than the critical initiation torque, the medical image device 100 can determine that the second joint part 440 rotates regardless of the torque measured by the first joint part 430. That is, the first arm 410 can be fixed with respect to the body 130, and the second arm 420 can rotate with respect to the first arm 410. As such, one of the second-two arm 920, the first joint part 430, and the second joint part 440 can be made active to make the second-two arm 920, the first arm 410, or the second arm 420 active according to the user's intention, which is intuitive and can make the user more convenient. However, the present application is not limited thereto.

[0199] The control unit 300 can perform a step of obtaining an external force caused by an external force in a process of moving the second-second arm 920 with respect to the second-first arm 910 by the telescopic arm driving unit 1030. The external force can be obtained by a force sensor included in the telescopic arm driving unit 1030. The second-second arm 920 can be moved with respect to the second-first arm 910 at an equal angular velocity by the control of the control unit 300. The external force can mean a force other than a force applied to the second-second arm 920 by a user in order to move the second-second arm 920 or a force other than a force applied to the second-second arm 920 by the telescopic arm driving unit 1030. The external force can be a force generated when an external object contacts the second arm 420 without being expected by the user. That is, the external force can be a force generated when the second arm 420 collides with the external object.

[0200] The control unit 300 can determine an absolute value of a change amount per hour of the external force applied to the second-second arm 920. In a case where the absolute value of the change amount per hour is equal to or greater than a critical change force determined at a pre-designated impact sensing time, the control unit 300 can determine that an impact has occurred in the second-second arm 920. The control unit 300 can determine the external force by subtracting a force applied to the second-second arm 920 by the user before the impact occurs from a force applied to the second-second arm 920 by the external object and the user before and after the impact occurs. The external force can mean a force applied by the external object. The control unit 300 can also determine the external force by means of a sensor.

[0201] The control unit 300 can perform a step of determining whether the external force is equal to or greater than a pre-designated critical impact force. The critical impact force, as a pre-designated value, can be a value for determining whether an impact actually occurs. The critical impact force can be changed. For example, the critical impact force can have a proportional relationship with the critical sensitivity force. Therefore, since the critical impact force and the critical sensitivity force have a proportional relationship, the control unit 300 is very unlikely to misjudge that an impact occurs in the second-second arm 920.

[0202] The control unit 300 can perform a step of suspending the driving of the telescopic arm driving unit 1030 in a case where the external force is equal to or greater than the pre-designated critical impact force. Therefore, in a case where the second-second arm 920 contacts the external object, the medical image apparatus 100 of the disclosure can immediately stop to prevent additional damage from the external object. Also, damage can be prevented from occurring in the structure of the medical image apparatus 100 such as the second-second arm 920 and the source assembly 110.

[0203] There is Figure 9The other end of the second arm 420 can be coupled to the source assembly 110. The second arm 420 can be coupled to the source assembly 110 via a source assembly coupling. The source assembly 110 can rotate about an axis parallel to the length direction of the second arm 420. Furthermore, the source assembly 110 can also rotate about an axis extending to the left and right. Because of the high degree of freedom of movement of the source assembly 110, the user can move the source assembly 110 to adjust the direction of the radiation emitted by the source assembly 110 to be perpendicular to the surface of the detector 120.

[0204] Figure 11 This is a top view showing a medical imaging apparatus according to an embodiment of the present disclosure.

[0205] One end of the source component 110 can be coupled to one end of the source component bracket 1101. Furthermore, the other end of the source component 110 can be coupled to the other end of the source component bracket 1101. Here, one end can refer to the left or right side, and the other end can refer to the right or left side.

[0206] The source component support 1101 may be U-shaped. The source component support 1101 may include a support base 1211 extending laterally. Furthermore, the source component support 1101 may include a first support extension 1212 extending forward from the left end of the support base 1211 and a second support extension 1213 extending forward from the right end of the support base 1211. A source component 110 including an X-ray source and a collimator may be disposed between the first support extension 1212 and the second support extension 1213.

[0207] The second joint 440 may include a first smart actuator 1231 that combines with one side of at least one of the first arm 410 and the second arm 420. One side may mean the left side. The first smart actuator 1231 may be included in... Figure 5 The structure described in [the document].

[0208] The second joint 440 may include a second smart actuator 1232 that engages with the other side of at least one of the first arm 410 and the second arm 420. The other side may mean the right side. The second smart actuator 1232 may include the same structure as the first smart actuator 1231.

[0209] The first smart actuator 1231 and the second smart actuator 1232 can provide a driving force to the rotation shaft of the second arm 420 with respect to the first arm 410. As such, the first smart actuator 1231 and the second smart actuator 1232 can be provided at the second joint portion, so that the driving force of one smart actuator can be complemented. Also, in a case in which the smart actuator is provided at one of the right side or the left side of the second joint portion 440, the balance of the source arm can be inclined to one side due to the weight of the smart actuator, so that a problem can occur in terms of durability, or shaking can occur when the medical image device 100 is moved, so that a problem can occur. Here, the problem in terms of durability can mean that wear occurs only on one side. However, since the first smart actuator 1231 and the second smart actuator 1232 are provided at the left side and the right side of the second joint portion 440, the left and right sides of the source arm can be kept balanced, so that the durability of the source arm can be increased, and the medical image device 100 can be stably moved in balance.

[0210] Figure 12 FIG. 4 is a view for explaining a second joint portion according to an embodiment of the disclosure.

[0211] Referring to Figure 12 part (a), the second joint portion 440 can include the first smart actuator 1231 and a rotation bearing 1310. The first smart actuator 1231 can include the same structure as that of Figure 5 . The rotation bearing 1310 can be a structure for making the rotation of the second joint portion 440 more smooth. As needed, the rotation bearing 1310 can be installed in the medical image device 100 instead of the second smart actuator 1232. The first smart actuator 1231 is provided at one side (the left side), and the rotation bearing 1310 is provided at the other side (the right side), so that a phenomenon in which wear occurs only on one side in the structure of the second joint portion 440 can be complemented.

[0212] Figure 12 part (b) of FIG. 4 shows a structure included in the rotation bearing. Since the rotation bearing has many structures, there is a problem in that it is difficult to assemble. Also, in a case in which an error occurs in the assembly, the rotation bearing cannot function, so that a problem can occur.

[0213] Figure 12 part (c) of FIG. 4 shows a case in which the second smart actuator 1232 is provided instead of the rotation bearing. That is, the second joint portion 440 can include the first smart actuator 1231 and the second smart actuator 1232. Since the second smart actuator 1232 is modularized, the assembly can be facilitated. Also, the first smart actuator 1231 and the second smart actuator 1232 can be provided at the second joint portion, so that the driving force of one smart actuator can be complemented.

[0214] Figure 13 This can be a diagram illustrating the movement brake of the body in an embodiment of this disclosure.

[0215] Reference Figure 13 In part (a), a brake pedal 1420 may be provided at the lower end of the main body 130. When the user presses the brake pedal 1420, causing it to be in a downward position, the medical imaging device 100 can be rendered immobile. Only when the medical imaging device 100 is fixed can medical images be captured without shaking, and the user can direct the radiation only towards the desired area.

[0216] Conversely, when the user lifts the brake pedal 1420 with their foot, causing the brake pedal 1420 to be in an upward-raised state, the medical imaging device 100 can become movable. Since the movable medical imaging device 100 moves towards the patient's location to capture X-ray images, there is no need to move the unwell patient, thus improving user convenience. The user can move the medical imaging device 100 by holding the handle 1410 formed at the rear of the main body 130.

[0217] The medical image apparatus 100 of various embodiments of the present disclosure can include a brake driving motor 1440. The brake pedal 1420 of the medical image apparatus 100 can also be moved by the brake driving motor 1440. For example, the brake driving motor 1440 can rotate a brake driving shaft 1450 fixed to the brake pedal 1420. In the case where the brake driving motor 1440 rotates the brake driving shaft 1450 such that the brake pedal 1420 is in a state of being lowered downward, the medical image apparatus 100 can become a state in which movement is not possible. For example, the brake driving shaft 1450 can make the brake pads 1431 and 1432 come into contact with a portion of the wheels 1460 to prevent the wheels 1460 from rotating. In the case where the brake driving motor 1440 rotates the brake driving shaft 1450 in the opposite direction such that the brake pedal 1420 is in a state of being raised upward, the medical image apparatus 100 can become a state in which movement is possible. For example, the brake driving shaft 1450 can make the brake pads 1431 and 1432 move away from the wheels 1460, so that the wheels 1460 can rotate without being hindered. In the case where the medical image apparatus 100 does not receive any input for a predetermined time and does not move, the control unit 300 can automatically operate the brake driving motor 1440 to operate the brake. Also, in the case where a user pushes or pulls the medical image apparatus 100 in order to move the medical image apparatus 100, such force can be sensed to automatically release the brake. The brake pedal 1420 can be manually moved by a user or automatically moved by the brake driving motor 1440. As such, since the brake pedal 1420 is automatically controlled by the brake driving motor 1440, the convenience of the medical image apparatus 100 can be improved.

[0218] The above has been described centering on various embodiments. As long as it is a person of ordinary skill in the art to which the present disclosure pertains, it can be understood that it can be embodied in a modified form without departing from the essential characteristics of the present disclosure. Therefore, the disclosed various embodiments should not be considered in a limited sense only from a restrictive point of view, but should be considered in an illustrative sense. The scope of the present disclosure is presented in the scope of claims, not in the above-described description, and all differences within the same scope as it are to be interpreted as included in the present disclosure.

[0219] On the other hand, the above-described embodiments of the present disclosure can be written as a program that can be executed on a computer, and can be implemented in a general-use digital computer using a computer-readable recording medium. The computer-readable recording medium includes storage media such as a magnetic storage medium (e.g., a read only memory, a floppy disk, a hard disk, etc.), an optical reading medium (e.g., an optical disk, a digital video disc, etc.), and the like.

Claims

1. A medical imaging apparatus characterized by comprising: a body capable of moving; a first arm coupled to the body by a first joint portion; a second arm coupled to the first arm by a second joint portion including a smart actuator; a control portion configured to control the first joint portion and the second joint portion, the control portion controls the first arm to be inclined at a predetermined fixed angle with respect to the ground and to be fixed, the second joint portion is controlled based on at least one of a torque applied to the second joint portion and a user's input, so that the second arm is rotated with respect to the first arm, and the second joint portion is controlled based on the user's input related to joint movement, so that the first arm and the second arm have a predetermined angle therebetween.

2. The medical imaging apparatus according to claim 1, characterized in that: the control portion determines a first torque applied to the second joint portion, and determines whether the first torque is equal to or greater than a predetermined critical sensitivity torque of the second joint portion, in a case where the first torque is equal to or greater than the critical sensitivity torque of the second joint portion, the second joint portion is controlled so that the second arm is rotated with respect to the first arm, the critical sensitivity torque of the second joint portion is changed.

3. The medical imaging apparatus of claim 1, wherein, further comprising: a source assembly coupled to the other end of the second arm and including a second transceiver portion; and a detector receiving a ray irradiated from the source assembly to generate a medical image and including a first transceiver portion that transmits and receives a signal with the second transceiver portion, the control portion controls the second joint portion based on the first transceiver portion and the second transceiver portion, so that a ray irradiation direction of the source assembly is perpendicular to a ray receiving surface of the detector.

4. The medical imaging apparatus according to claim 1, characterized in that: the control portion obtains a second torque based on an external force during a process in which the second arm is moved with respect to the first arm by driving of the second joint portion, and determines whether the second torque is equal to or greater than a predetermined critical impact torque, in a case where the second torque is equal to or greater than the predetermined critical impact torque, the driving of the second joint portion is suspended.

5. The medical imaging apparatus according to claim 1, characterized in that: the second arm includes: a second-one arm having one end coupled to the second joint portion; a second-two arm inserted at least a part thereof into a space formed in an inside of the second-one arm and moved along the second-one arm; and a telescopic arm driving portion coupled to the inside of the second-one arm and providing a driving force for moving the second-two arm with respect to the second-one arm.

6. The medical imaging apparatus according to claim 1, characterized in that: the second joint portion includes: a first smart actuator coupled to one side of at least one of the first arm and the second arm; and a second smart actuator coupled to the other side of at least one of the first arm and the second arm, the first smart actuator and the second smart actuator provide a driving force to a rotation axis of the second arm with respect to the first arm.

7. A medical imaging apparatus, characterized by including: a body capable of movement; a first arm coupled to the body by a first joint portion; a second arm coupled to the first arm by a second joint portion and capable of extension and retraction by a telescopic arm drive portion; a control portion for controlling the first joint portion and the second joint portion, the control portion controls the first arm to tilt at a predetermined fixed angle with respect to the ground and to be fixed, the second joint portion is controlled based on at least one of a torque applied to the second joint portion and an input from a user, so that the second arm rotates with respect to the first arm, and the second joint portion is controlled based on an input from the user related to joint movement, so that the first arm and the second arm have a predetermined angle therebetween.

8. The medical imaging apparatus according to claim 7, wherein the second arm includes: a second-one arm coupled to the second joint portion at one end; a second-two arm inserted at least partially into a space formed inside the second-one arm and movable along the second-one arm; and the telescopic arm drive portion is coupled to the inside of the second-one arm and controls a driving force for moving the second-two arm with respect to the second-one arm.

9. The medical imaging apparatus according to claim 8, wherein the control portion controls the second-two arm to move with respect to the second-one arm based on one of an input from a user to a button related to extension or a force applied by the user to the second-two arm.

10. The medical imaging apparatus according to claim 8, wherein the control portion obtains an external force based on an external force by the telescopic arm drive portion during movement of the second-two arm with respect to the second-one arm, determines whether the external force is a predetermined critical impact force or more, and in a case where the external force is the predetermined critical impact force or more, the driving of the telescopic arm drive portion is suspended.

Images