Mobile medical imaging device with a foldable arm and method of operating the medical imaging device

Abstract

The medical imaging device of this disclosure includes a mobile body, a first arm connected to the body by a first joint, a second arm connected to the first arm by a second joint including a smart actuator, the first joint, and a control unit for controlling a joint including at least one of the second joints.

Description

Technical Field

[0001] The present disclosure relates to a mobile medical imaging device having a folding arm and an operation method of the mobile medical imaging device. More specifically, the medical imaging device of the present disclosure can easily position the source assembly at the imaging position by a highly flexible folding arm.

Background Art

[0002] Aligning the medical imaging device with the detector is an important step in obtaining high-quality images and minimizing radiation exposure to both the patient and the medical service provider. The following steps can be performed to align the medical imaging device with the detector.

[0003] First, the position of the source assembly can be determined. The source assembly for generating radiation must be positioned at a fixed distance from the region of interest with respect to the patient. The distance varies depending on the type of medical imaging device and the region to be imaged, but is generally about 1-2 meters. Next, the radiation beam can be aligned. The radiation beam must be aligned so as to be perpendicular to the detector and pass through the region of interest of the patient. This can be accomplished by adjusting the position of the source assembly or by forming the radiation beam using a collimator.

[0004] Next, the position of the detector can be specified. The detector must be positioned on the opposite side of the patient from the source assembly and must be aligned with the radiation beam. Also, the detector can be placed as close as possible to the patient in order to minimize scattered radiation and improve the quality of the image. Finally, an alignment confirmation step can be performed. If the source assembly and the detector are in the predetermined positions, a test image can be taken to check the alignment. It can be confirmed whether the region of interest is at the center of the image and the image quality is sufficient for diagnosis.

[0005] Because source assemblies are relatively heavy, it can be difficult for users to manually position them close to the patient or align them with the detector. This is especially true for mobile medical imaging systems, where not only must the source assembly be moved, but the entire system must also be positioned close to the patient, potentially increasing the effort required from both the user and the patient compared to fixed systems. Consequently, research continues on mobile medical imaging systems that utilize highly flexible arms to move the source assembly. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Registered Patent Publication No. 10-1616670 (2016.04.28.) [Overview of the project] [Problems that the invention aims to solve]

[0007] This disclosure describes a mobile medical imaging device equipped with an arm (ARM) having a high degree of freedom of movement. [Means for solving the problem]

[0008] The medical imaging device relating to this disclosure includes a mobile body, a first arm connected to the body by a first joint, a second arm connected to the first arm by a second joint including a smart actuator, and a control unit for controlling the second joint.

[0009] The control unit of the medical imaging device according to this disclosure controls the second joint to rotate the second arm relative to the first arm based on at least one of the torque applied to the second joint and the user's input.

[0010] The control unit of the medical imaging device according to this disclosure measures a first torque applied to the second joint, determines whether the first torque is greater than or equal to a predetermined critical sensitivity torque of the second joint, and if the first torque is greater than or equal to the critical sensitivity torque of the second joint, controls the second joint to rotate the second arm relative to the first arm, and the critical sensitivity torque of the second joint is changeable.

[0011] The control unit of the medical imaging device relating to this disclosure controls the second joint so that the angle between the first arm and the second arm is predetermined, based on user input to buttons related to joint movement.

[0012] The medical imaging device according to this disclosure further includes a source assembly coupled to the other end of a second arm, a detector including a second transmitting / receiving unit, and a first transmitting / receiving unit that receives radiation emitted from the source assembly to generate a medical image and transmits and receives signals with the second transmitting / receiving unit, and a control unit controls the second joint based on the first transmitting / receiving unit and the second transmitting / receiving unit so that the radiation irradiation direction of the source assembly is perpendicular to the radiation receiving surface of the detector.

[0013] The control unit of the medical imaging device according to this disclosure acquires a second torque due to an external force while the second arm moves relative to the first arm by driving the second joint, determines whether the second torque is equal to or greater than a predetermined critical impact torque, and if the second torque is equal to or greater than a predetermined critical impact torque, stops driving the second joint.

[0014] The second arm of the medical imaging device according to this disclosure includes a second-first arm, one end of which is coupled to a second joint; a second-second arm, at least a portion of which is inserted into a space formed inside the second-first arm and which can move along the second-first arm; and a telescopic arm drive unit coupled inside the second-first arm and which provides a driving force for the second-second arm to move relative to the second-first arm.

[0015] The second joint of the medical imaging device according to this disclosure 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, wherein the first smart actuator and the second smart actuator provide driving force to the rotation axis of the second arm relative to the first arm.

[0016] The medical imaging device according to this disclosure includes a mobile main body, a first arm connected to the main body by a first joint, a second arm connected to the first arm by a second joint and extendable by a telescopic arm drive unit, and a control unit for controlling the second joint.

[0017] The second arm of the medical imaging device according to this disclosure includes a second-first arm, one end of which is connected to a second joint; a second-second arm, at least a portion of which is inserted into a space formed inside the second-first arm and which can move along the second-first arm; and a telescopic arm drive unit, which is connected inside the second-first arm and controls the driving force for the second-second arm to move relative to the second-first arm.

[0018] The control unit of the medical imaging device relating to this disclosure controls the movement of the 2-2 arm relative to the 2-1 arm based on either user input to a button related to telescoping or force applied by the user to the 2-2 arm.

[0019] The control unit of the medical imaging device according to this disclosure acquires an external force due to an external force while the 2-2 arm is moving relative to the 2-1 arm by the telescopic arm drive unit, determines whether the external force is greater than or equal to a predetermined critical impact force, and if the external force is greater than or equal to the predetermined critical impact force, stops the drive of the telescopic arm drive unit.

[0020] Furthermore, the program for implementing the aforementioned medical imaging device operation method can be recorded on a computer-readable recording medium. [Effects of the Invention]

[0021] The mobile medical imaging device of the present disclosure can be easily arranged by a user to face the source assembly toward the user by using an arm with a high degree of freedom. Further, since the arm supports the weight of the source assembly, the user can move the source assembly without applying a large force.

[0022] In addition, by providing means for quickly aligning the source assembly and the detector of the mobile medical imaging device of the present disclosure, the convenience of the user can be enhanced and the quality of medical images can be improved.

[0023] The effects obtainable in the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those having ordinary knowledge in the technical field to which the present disclosure pertains from the following description.

Brief Description of the Drawings

[0024] [Figure 1] A drawing showing a mobile medical imaging device according to an embodiment of the present disclosure. [Figure 2] A drawing showing the use process of a medical imaging device according to an embodiment of the present disclosure. [Figure 3] A drawing showing a block diagram of various configurations that may be included in a medical imaging device according to an embodiment of the present disclosure. [Figure 4] Shows the source arm of a medical imaging device according to an embodiment of the present disclosure. [Figure 5] A drawing for explaining a second joint portion according to an embodiment of the present disclosure. [Figure 6] A flowchart for explaining the operation of another medical imaging device according to an embodiment of the present disclosure. [Figure 7] A flowchart showing the operation of a medical imaging device according to an embodiment of the present disclosure. [Figure 8] A drawing for explaining the angular acceleration of the second arm of the present disclosure. [Figure 9]This is a drawing illustrating the degrees of freedom of the arm of a medical imaging device according to one embodiment of the present disclosure. [Figure 10] This is a drawing illustrating a configuration for moving the arm of a medical imaging device according to one embodiment of the present disclosure. [Figure 11] This shows a plan view of a medical imaging device according to one embodiment of the present disclosure. [Figure 12] This is a drawing illustrating a second joint according to one embodiment of the present disclosure. [Figure 13] This may be a drawing illustrating the moving brake of the main body according to one embodiment of the present disclosure. [Modes for carrying out the invention]

[0025] The advantages and features of the disclosed embodiments, and how they are achieved, will become clearer with reference to the embodiments described below, along with the accompanying drawings. However, this disclosure is not limited to the embodiments disclosed below and may be embodied in a variety of different forms; however, these embodiments are provided only to complete the disclosure and to fully inform those who are ordinary skill in the art to which this disclosure pertains.

[0026] This specification will briefly explain the terms used herein and then describe the disclosed examples in detail.

[0027] The terminology used herein has been selected to the greatest extent possible to be widely used and general terms, taking into account the function of this disclosure; however, this may change depending on the intent of engineers in the relevant field, case law, the emergence of new technologies, etc. In addition, in certain cases, the applicant has arbitrarily selected some terms, in which case their meaning will be described in detail in the description of the relevant invention. Therefore, the terminology used herein should not be merely nominal terms, but should be defined based on the meaning of the term and the overall content of this disclosure.

[0028] In this specification, singular expressions include plural expressions unless they are clearly identified as singular in context. Conversely, plural expressions include singular expressions unless they are clearly identified as plural in context.

[0029] When a part of the specification "includes" a certain component, this means that, unless otherwise stated, it does not exclude other components, but rather may include other components.

[0030] Furthermore, the term “part” as used in the specification means a software or hardware component that performs some role. However, the meaning of “part” is not limited to software or hardware. A “part” may be configured to reside on an addressable storage medium, or to be configured to regenerate one or more processors. Thus, as an example, a “part” may include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, processors, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. Components and the functions provided within a “part” may be combined with a smaller number of components and “parts,” or further separated into additional components and “parts.”

[0031] According to one embodiment of the present disclosure, “Part” may be embodied in a processor and memory. The term “processor” should be interpreted broadly to include general-purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, etc. In some environments, “processor” may also refer to application-specific semiconductors (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), etc. The term “processor” may also refer to combinations of processing devices such as, for example, a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors coupled with a DSP core, or any other combination of such configurations.

[0032] The term "memory" should be broadly interpreted to include any electronic component capable of storing electronic information. The term "memory" can also refer to various types of processor-readable media, such as arbitrary-access memory (RAM), read-only memory (ROM), non-volatile arbitrary-access memory (NVRAM), programmable read-only memory (PROM), erase-programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, magnetic or optical data storage devices, and registers. Memory is said to be in electronic communication with the processor if the processor can read / read information from it or record information into it. Memory integrated into a processor is in electronic communication with the processor.

[0033] The embodiments are described below in detail with reference to the attached drawings, so that they can be easily implemented by a person with ordinary skill in the art to which this disclosure pertains. Parts not relevant to the description are omitted in order to clearly illustrate this disclosure with the drawings.

[0034] Figure 1 is a diagram showing a mobile medical imaging device according to one embodiment of the present disclosure. Figure 2 is a diagram showing the process of using the medical imaging device according to one embodiment of the present disclosure. Figure 3 is a diagram showing block diagrams of various configurations that may be included in the medical imaging device according to one embodiment of the present disclosure.

[0035] Referring to Figure 1, the mobile medical imaging device 100 of this disclosure may be movable as it includes wheels. A medical imaging device according to one embodiment may be a device capable of photographing and / or inspecting the internal structures of a subject (or object) based on radiation, including X-rays. For example, the medical imaging device irradiates the human body with X-rays so that they pass through it, and scans the transmitted X-rays to obtain an internal image of the human body.

[0036] Referring to Figures 1 to 3, the medical imaging device 100 may include a source assembly (110), a detector 120, and a main body 130. The main body 130 of the medical imaging device 100 may also include a high-voltage generating unit (not shown), a sensor unit 310, a communication unit 320, a memory 330, an output unit 340, an input unit 350, and / or a control unit 300.

[0037] Referring to Figure 2, the main body 130 may be mobile. The main body 130 may include wheels. The wheels may include at least one of caster wheels, electric wheels, and omni-wheels. The main body 130 can be moved by the user's power or automatically by wheel actuators.

[0038] The user can move the medical imaging device 100 to the vicinity of the patient bed 220. The user can place the detector 120 behind the subject 210. Therefore, radiation emitted from the source assembly 110 can pass through the subject 210 and reach the detector 120. The detector 120 can sense the radiation that has passed through the subject 210 and convert it into an electrical signal. The detector 120 can also acquire a radiation image based on the electrical signal.

[0039] The medical imaging device 100 may include a source arm 140. A source assembly 110 may be connected to the main body 130 through the source arm 140. The source assembly 110 may include an X-ray source and a collimator. The X-ray source may be configured to emit radiation. The X-ray source may be rotatable about an axis parallel to the longitudinal direction of the source arm 140.

[0040] Furthermore, the radiation irradiation range can be determined by a collimator. The collimator can be rotated relative to the X-ray source around an axis parallel to the direction of radiation irradiation.

[0041] Referring to Figures 1 to 3, the high-voltage generation unit according to one embodiment can generate a high voltage for X-ray generation and apply it to the X-ray source included in the source assembly. The high-voltage generation unit may be included in the main body 130, but is not limited thereto, and may also be included in the source assembly 110.

[0042] A source assembly 110 according to one embodiment may include an X-ray source to which a high voltage generated in a high-voltage generation unit is applied to generate X-rays. The X-ray source includes an X-ray tube, which may be represented by a two-electrode vacuum tube consisting of a positive electrode and a negative electrode. The source assembly may also include a collimator to guide the path of the X-rays irradiated by the X-ray source and adjust the irradiation area of ​​the X-rays.

[0043] A detector according to one embodiment detects X-rays irradiated from a source assembly and transmitted through an object. The detector may be a digital detector. The detector may be embodied using at least one of the following: TFT (Thin Film Transistor), CCD (Charge Coupled Device), CMOS (Complementary Metal-Oxide Semiconductor), CR (Computed Radiography), and film. The detector may be included in the medical imaging device 100, or it may be a separate device that can be connected to and separated from the medical imaging device 100.

[0044] The medical imaging device 100 may include a control unit 300. In this disclosure, the control unit 300 may mean at least one of the main control unit included in the main unit 130 and the detector control unit included in the detector. In this disclosure, the control unit included in the main unit is referred to as the main control unit, and for control units included in other devices, it is clearly indicated which device the control unit is included in. For example, the detector control unit is a control unit included in a mobile detector and may be a different control unit from the main control unit 300. The main control unit 300 and the detector control unit are only included in different devices, but they may be similar in that they both include at least one of a processor and memory. At least some of the operations performed by the main control unit may be performed by the detector control unit. Also, at least some of the operations performed by the detector control unit may be performed by the main control unit. Therefore, at least one of the operations described in this disclosure as being performed by the main control unit may be understood as being performed by the detector control unit, and at least one of the operations described as being performed by the detector control unit may be understood as being performed by the main control unit.

[0045] The main control unit (300, or control unit) can control the operation of the medical imaging device 100. For example, the medical imaging device 100 may include a main control unit 300 for controlling the operation of a wheel actuator or source assembly 110 that can move the main body 130. The main control unit 300 may include one processor or may include multiple processors. The main control unit 300 may be included in the main body 130. If the main control unit 300 includes multiple processors, at least some of the multiple processors may be located at a location physically separated from the main body 130. Furthermore, the medical imaging device 100 is not limited to this and can be implemented in a variety of ways.

[0046] According to one embodiment of the present disclosure, the main control unit 300 can control the operation of the medical imaging device 100. For example, the medical imaging device 100 may include a plurality of actuators, and the operation of the medical imaging device 100 can be controlled by controlling the operation of the plurality of actuators. For example, the main control unit 300 can control a source assembly drive unit for moving the source assembly 110. The main control unit 300 may also control the source assembly 110 to emit X-rays and the detector 120 to receive the X-rays that have passed through the object in order to acquire an X-ray image.

[0047] According to one embodiment of the present disclosure, the main control unit 300 can generate medical images. For example, the main control unit 300 can generate medical images by scanning a detector that has been irradiated with X-rays.

[0048] The medical imaging device 100 may include a sensor unit 310. The sensor unit 310 can acquire diverse information using at least one sensor. The sensor unit 310 may be equipped with sensors that utilize measuring means such as pressure, potential, and optics. For example, the sensor unit 310 may include at least one of a distance measuring sensor or an encoder. The sensor may also include, but is not limited to, a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, etc. The sensor unit may include a main body, a source assembly, a detector, and at least one of a source assembly arm or a detector arm.

[0049] Furthermore, the medical imaging device 100 may include a communication unit 320. The communication unit 320 may be configured for the medical imaging device 100 to communicate with internal modules or external devices via wired / wireless connections. External devices may include external servers or user terminals. User terminals may include PCs, smartphones, tablets, or wearable devices. The communication unit 320 may include wired / wireless communication modules for network connectivity. Examples of wireless communication technologies include WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), WiMAX (World Interoperability for Microwave Access), and HSDPA (High Speed ​​Downlink Packet Access). Examples of wired communication technologies include XDSL (Digital Subscriber Line), FTTH (Fibers to the home), and PLC (Power Line Communication). The network connection unit may also include a short-range communication module, enabling it to send and receive data with any device / terminal located at a short distance. For example, short-range communication technologies such as Bluetooth®, RFID (Radio Frequency Identification), IrDA (Infrared Data Association), UWB (Ultra-Wideband), and ZigBee® may be used, but are not limited to these.

[0050] The medical imaging device 100 may include a memory 330. The main control unit 300 can execute instructions stored in the memory. The memory 330 may be located within or outside the main control unit 300. The memory 330 can store a variety of information related to the medical imaging device 100. For example, the memory 330 may include, but is not limited to, the operation method and related information of the source assembly 110, captured images, and user authentication information.

[0051] Memory 330 can be embodied through a non-volatile storage medium capable of persistently storing arbitrary data. For example, memory 330 may include, but is not limited to, disks, optical disks, and magneto-optical storage devices, as well as storage devices based on flash memory and / or battery-backup memory. Memory 330 may mean, but is not limited to, a primary storage device directly accessible to the processor, such as random access memory (RAM) including dynamic random access memory (DRAM) and static random access memory (SRAM), which is a volatile storage device in which stored information is instantaneously erased when the power is turned off. Such memory 330 may be operated by the main control unit 300. The main control unit 300 may also execute instructions contained in memory 330.

[0052] Furthermore, the medical imaging device 100 may further include an operating unit that provides an interface for operating the medical imaging device 100. The operating unit may include an output unit 340 and an input unit 350.

[0053] The output unit 340 can output sound and video that indicate imaging-related information such as X-ray irradiation and allows confirmation of the main unit's status, under the control of the main control unit 300. The output unit 340 may include a speaker or a display. The output unit 340 may include at least one of the main display 150 included in the main unit 130 and the sub-display included in the source assembly 110. The output unit 340 can output medical images generated by the main control unit 300. The output unit 340 can output information necessary for the user to operate the medical imaging device 100, such as a UI (user interface), user information, or subject information. Examples of the output unit 340 include speakers, printers, CRT displays, LCD displays, PDP displays, OLED displays, FED displays, LED displays, VFD displays, DLP displays, FPD displays, 3D displays, transparent displays, and various other output devices that are obvious to those skilled in the art.

[0054] The medical imaging device 100 may be connected to the workstation by wired or wireless connection. The workstation may be located in a space physically separate from the medical imaging device 100.

[0055] The workstation may include a storage server. The storage server may store medical images, information about the subject, information about the user (healthcare professional), etc. The workstation may also include a review device. The review device can receive medical images from the storage server based on the user's command and diagnose the medical images. The workstation and medical imaging device 100 can transmit, store, process, and output data in accordance with the DICOM (Digital Imaging and Communications in Medicine) standard. The workstation may also include a PACS (Picture Archiving and Communication System).

[0056] The workstation may include an output unit, an input unit, and a control unit. The output unit and input unit provide the user with an interface for operating the workstation and the medical imaging device 100. The control unit of the workstation can control the workstation and the medical imaging device 100.

[0057] The medical imaging device 100 can be controlled via a workstation, or it can also be controlled by the main control unit 300 included in the medical imaging device 100. Therefore, the user may control the medical imaging device 100 via a workstation, or via the operation unit and main control unit 300 included in the medical imaging device 100. In other words, the user may control the medical imaging device 100 remotely via a workstation, or they may control the medical imaging device 100 directly.

[0058] The control unit of the workstation and the main control unit 300 of the medical imaging device 100 may be separate, but are not limited to this. The control unit of the workstation and the main control unit 300 of the medical imaging device 100 may be embodied in a single integrated control unit, and this integrated control unit may be included in only one of the workstation or the medical imaging device 100. Hereinafter, the main control unit 300 may mean the control unit of the workstation and / or the control unit of the medical imaging device 100.

[0059] The output and input units of the workstation and the output unit 340 and input unit 350 of the medical imaging device 100 can each provide the user with an interface for operating the medical imaging device 100. The workstation and the medical imaging device 100 may each include, but are not limited to, output and input units. The output unit or input unit may be embodied in only one of the workstation and the medical imaging device 100.

[0060] Hereinafter, input unit 350 means the input unit of the workstation and / or the input unit of the medical imaging device 100, and output unit 340 means the output unit of the workstation and / or the output unit of the medical imaging device 100.

[0061] The input unit 350 can receive commands from the user for operating the medical imaging device 100 and various information related to X-ray imaging. The main control unit 300 can control and operate the medical imaging device 100 based on the information input to the input unit 350. The input unit 350 may include a joystick, keyboard, mouse, touchscreen, shooting button, unlock button, voice recognition device, fingerprint recognition device, iris recognition device, and human motion recognition device, and may also include other input devices obvious to those skilled in the art.

[0062] The human motion recognition device included in the input unit 350 can be implemented using at least one camera. For example, the human motion recognition device may be implemented using a 3D camera or depth sensor included in the source assembly 110. Based on the human motion recognition device, the main control unit 300 can control the operation of the medical imaging device 100.

[0063] Since the medical imaging device 100 is controlled based on gestures, user convenience can be enhanced. For example, the user can control the medical imaging device 100 from any position without having to return to the main unit 130, thus reducing the user's movement when capturing medical images. In addition, since it is not necessary to be close to the medical imaging device 100 to input gestures, radiation exposure can be reduced, thus ensuring user safety.

[0064] The user can input commands for X-ray irradiation through the input unit 350, and the input unit 350 may be provided with a switch for inputting such commands. The switch may be designed so that an irradiation command for X-ray irradiation is input only when it is pressed at least once.

[0065] For example, when a user presses a switch, the switch receives a preparation command instructing preheating for X-ray irradiation, and if the user presses the switch further, it receives an irradiation command for actual X-ray irradiation. When a user operates the switch in this way, the main control unit 300 generates a signal corresponding to the command input through the switch operation, i.e., a preparation signal, and transmits it to the high-voltage generation unit which generates a high voltage for X-ray generation.

[0066] The high-voltage generator receives a preparation signal from the main control unit 300 and begins preheating. Once preheating is complete, it transmits a ready signal to the main control unit 300. The detector also needs to be prepared for X-ray detection. The main control unit 300 transmits a preparation signal to the detector along with the preheating of the high-voltage generator, allowing the detector to prepare to detect X-rays that have passed through the target object. Upon receiving the preparation signal, the detector prepares to detect X-rays, and once the detection preparation is complete, it transmits a detection readiness complete signal to the main control unit 300.

[0067] Once the preheating of the high-voltage generation unit is complete and the detector is ready for X-ray detection, the main control unit 300 transmits an irradiation signal to the high-voltage generation unit, which generates a high voltage and applies it to the X-ray source, causing the X-ray source to irradiate with X-rays.

[0068] When the control unit 300 transmits an irradiation signal, it can transmit an audible or optical output signal to the output unit 340 so that the target object can identify that it is being irradiated with X-rays, causing the output unit 340 to output a predetermined sound or light. In addition, the output unit 340 can output sounds or lights indicating other imaging-related information besides X-ray irradiation. The output unit 340 may be included in the operation unit, but is not limited to that, and the output unit 340 or a part of the output unit 340 can be located at a different location from the operation unit. For example, it may be located on the wall of the imaging room where X-ray imaging of the target object is performed.

[0069] The control unit 300 controls the position of the X-ray irradiation unit and detector, the shooting timing, and the shooting conditions according to the shooting conditions set by the user.

[0070] Specifically, the main control unit 300 controls the high-voltage generator and detector in response to commands input through the input unit 350 to control the X-ray irradiation timing, X-ray intensity, and X-ray irradiation area. The main control unit 300 also adjusts the position of the detector and controls the operation timing of the detector according to predetermined imaging conditions.

[0071] Furthermore, the main control unit 300 generates medical images of the target body using the image data received through the detector. Specifically, the main control unit 300 receives image data from the detector, removes noise from the image data, and adjusts the dynamic range and interleaving to generate medical images of the target body.

[0072] The workstation may further include a communications unit (not shown) that can be connected via a network to servers, medical devices, and portable terminals. The workstation may be one of the external devices.

[0073] The source assembly 110 and the detector 120 will be described in detail below, along with Figures 4 and 5.

[0074] Figure 4 shows the source arm of a medical imaging device according to one embodiment of the present disclosure.

[0075] The source arm 140 may include a first arm 410, a second arm 420, a first joint 430, and a second joint 440.

[0076] The first arm 410 may be connected to the main body 130 by a first joint 430. The medical imaging device 100 of this disclosure may include a joint 450. The joint 450 may include at least one of the first joint 430 and the second joint 440. The first joint 430 may also include a 1-1 joint 431 and a 1-2 joint 432.

[0077] The first-first joint 431 can rotate the first arm 410 with respect to an axis parallel to the upper side. That is, the first-first joint 431 can rotate the first arm 410 with respect to an axis perpendicular to the ground. The first-first joint 431 may include a friction brake. Since the friction brake may be constantly engaged, the first arm 410 may not rotate with respect to an axis parallel to the upper side. For example, since the first friction plate fixed to the main body 130 and the second friction plate fixed to the first arm 410 are in contact with each other, the first arm 410 may not rotate with respect to an axis parallel to the upper side. However, when the main control unit 300 receives input from the user to a brake release button associated with the first-first joint 431, it can release the friction brake so that the first arm 410 rotates with respect to an axis parallel to the upper side. More specifically, the first and second friction plates, which receive input from the user to the brake release button, can be moved away from each other so that the first arm 410 rotates with respect to an axis parallel to the upper side. The force causing the first and second friction plates to move away from each other can be provided by magnetic force or the driving force of a motor.

[0078] The maximum rotation angle of the first arm 410 with respect to an axis parallel to the upper side may be 20 degrees or less to the right and 20 degrees or less to the left. More specifically, the maximum rotation angle of the first arm 410 with respect to an axis parallel to the upper side may be 15 degrees or less to the right and 15 degrees or less to the left. By limiting the rotation angle with respect to the axis parallel to the upper side of the first arm 410 in this way, the balance of the main body 130 can always be maintained. Since the heavy source assembly 110 is attached to the source arm 140, if the first arm 410 rotates excessively with respect to the axis parallel to the upper side, the main body 130 may lose its balance and tip over. However, the medical imaging device 100 of this disclosure can prevent the main body 130 from losing its center and tipping over by limiting the rotation angle of the source arm 140.

[0079] The above describes a configuration in which the 1-1 joint 431 rotates relative to the main body 130 with respect to an axis perpendicular to the ground, but the configuration is not limited to this. The 1-1 joint 431 does not need to be rotatable relative to the main body 130 with respect to an axis perpendicular to the ground. In other words, the 1-1 joint 431 may be fixed so that it cannot move relative to the main body 130. If the user needs to rotate the source arm 140 with respect to an axis perpendicular to the ground, the user can rotate the main body 130 itself.

[0080] The first-to-second joint 432 may be configured to connect the main body 130 and the first arm 410. The first-to-second joint 432 may be configured to connect the first-to-first joint 431 and the first arm 410. The first-to-second joint may have a fixed structure; that is, the first-to-second joint may not be rotatable. The first-to-second joint may not be rotatable with respect to an axis parallel to the ground. The first-to-second joint may include a plurality of fixing screws; the plurality of fixing screws may be configured to connect the first-to-first joint 431 and the first arm 410. The first-to-second joint 432 may need to withstand a large torque due to the weight of the source arm 140 and source assembly 110. The first-to-second joint 432 can withstand a large torque applied to the first joint 430 by including a plurality of fixing screws.

[0081] The first arm 410 can be fixed at a predetermined fixed angle relative to the ground by the first-to-second joint 432. The first arm 410 can be fixed at a predetermined fixed angle 460 with respect to a line perpendicular to the ground by the first-to-second joint 432. The predetermined fixed angle 460 may be between 10 degrees and 60 degrees.

[0082] The predetermined fixed angle of 460 can be determined according to the site conditions. For example, in a site with a low ceiling, the predetermined fixed angle of 460 may be larger. Also, the predetermined fixed angle of 460 may change based on the size of the bed placed at the site. For example, if the size of the bed placed at the site has width × length × height, and the length is longer than the width, the range of the angle may be determined by the following equation.

[0083] Bed length / 2 - predetermined allowable length <= length of first arm * sin(predetermined fixed angle) + length of second arm <= bed length / 2 + predetermined allowable length

[0084] The predetermined allowable length here can be between 10 cm and 40 cm.

[0085] The above describes the case where the first and second joints 432 are fixed, but the invention is not limited to this. The first and second joints 432 may be rotatable with respect to an axis parallel to the ground.

[0086] More specifically, the first-to-second joint 432 can rotate the first arm 410 with respect to an axis parallel to the left and right. The first-to-second joint 432 may include a smart actuator. The smart actuator may be configured to support the first arm 410. That is, the first-to-second joint 432 can generate torque in the opposite direction to the torque due to the weight of the source arm 140, thereby preventing the first arm 410 from moving. When the first-to-second joint 432 is stationary, the smart actuator may include a magnetic brake to generate torque in the opposite direction to the torque due to the weight of the source arm 140. Also, when the first-to-second joint 432 is moving, the smart actuator may include an articulation motor to generate torque in the opposite direction to the torque due to the weight of the source arm 140.

[0087] The first and second joints 432 may be configured to rotate the first arm 410 with respect to an axis parallel to the left and right. The first and second joints 432 may be configured to rotate the first arm 410 with respect to an axis parallel to the ground. The first and second joints 432 can rotate the first arm 410 with respect to an axis parallel to the left and right or to the ground by user input or control by the control unit 300.

[0088] The second arm 420 can be connected to the first arm 410 by a second joint 440. The second arm 420 may be extendable and retractable by a telescopic arm drive unit 1030. However, it is not limited to this, and the second arm 420 does not have to be extendable and retractable. The second arm 420 can rotate relative to the first arm 410 in the left-right direction or on an axis parallel to the ground by the second joint 440. The second arm 420 may be configured to position the source assembly 110 close to the patient.

[0089] The second joint 440 may include a smart actuator. The second joint 440 may be configured to move the second arm 420 relative to the first arm 410. The smart actuator may include at least one of the following: a joint motor 540, a harmonic drive 550, a torque sensor, and a joint encoder 520. The smart actuator will be described later. The second joint 440 can move the second arm 420 relative to the first arm 410 based on user input or a signal from the control unit 300. The second arm 420 can move relative to the first arm 410 with respect to an axis parallel to the ground. For example, the second arm 420 can rotate relative to the first arm 410 with respect to an axis extending to the left and right. The operation of the second joint 440 will be described later.

[0090] Furthermore, the second joint 440 may be configured to fix the second arm 420 to the first arm 410. The second joint 440 can receive torque from the weight of the second arm 420 and the source assembly 110. For example, the direction of the torque received by the second joint 440 from the weight of the second arm 420 and the source assembly 110 may be clockwise. The smart actuator included in the second joint 440 can provide torque to counteract the torque received from the weight of the second arm 420 and the source assembly 110. For example, when the second arm 420 is stopped relative to the first arm 410, the magnetic brake 530 can provide torque to counteract the torque received by the second joint 440 from the weight of the second arm 420 and the source assembly 110. The smart actuator included in the second joint 440 can be used to fix the second arm 420 to the first arm 410. Furthermore, when the second arm 420 is moving relative to the first arm 410, the joint motor 540 can provide torque to counteract the torque that the second joint 440 receives due to the weight of the second arm 420 and the source assembly 110.

[0091] According to various embodiments of this disclosure, the second joint 440 may further include a gas spring 441. The gas spring 441 can provide torque to counteract the torque that the second joint 440 receives due to the weight of the second arm 420 and the source assembly 110. That is, the gas spring 441 and the smart actuator included in the second joint 440 can provide torque to prevent the second arm 420 from moving relative to the first arm 410. The gas spring 441 may also be configured to reduce the load on the smart actuator, because without the gas spring 441, the smart actuator would have to withstand the torque due to the weight of the source assembly 110 on its own.

[0092] Figure 5 is a drawing illustrating a second joint according to one embodiment of the present disclosure.

[0093] The second joint 440 may include a smart actuator 500. Figure 5 illustrates the structure of the smart actuator 500. The smart actuator 500 may include at least one of a motor drive 510, a joint encoder 520, a magnetic brake 530, a joint motor 540, and a harmonic drive 550. The motor drive 510, joint encoder 520, magnetic brake 530, joint motor 540, and harmonic drive 550 may be arranged along the drive shaft 560 of the smart actuator 500. Although not shown in Figure 5, the smart actuator 500 may further include a torque sensor.

[0094] The motor drive 510 may include a control board for driving the articulated motor 540. The motor drive 510 can generate signals for driving the articulated motor 540 based on signals from the control unit 300 of the main unit 130. The motor drive 510 may also transmit signals from the articulated encoder due to the rotation of the articulated motor to the control unit 300 of the main unit 130. The motor drive 510 can also control the magnetic brake 530. The magnetic brake 530 may be in a state where the brake is always engaged. The magnetic brake 530 can be configured to release the brake when the articulated motor 540 rotates based on signals from the motor drive 510. For example, when a user presses a brake release button, the magnetic brake 530 may be released and the smart actuator may be able to move.

[0095] The joint encoder 520 may be configured to measure at least one of the rotation angle, rotation speed, and rotational acceleration of the drive shaft of the smart actuator 500. The joint encoder 520 may be a multi-turn absolute encoder. The rotation angle of the joint motor may mean the rotational position of the second arm 420 relative to the first arm 410. That is, the joint encoder 520 can measure the position of the second arm 420 relative to the first arm 410. The joint encoder 520 can also measure the rotation speed of the second arm 420 relative to the first arm 410. The rotation speed may include information including the direction of rotation and rotational force. The joint encoder 520 can measure the rotational acceleration of the second arm 420 relative to the first arm 410. The joint encoder 520 may also function as a torque sensor. However, it is not limited to this, and the smart actuator 500 may be equipped with a separate torque sensor. The control unit 300 can perform the necessary control based on the rotation angle, rotation speed, and rotational acceleration measured by the joint encoder 520.

[0096] The magnetic brake 530 may be configured to fix the drive shaft of the smart actuator 500 so that it does not rotate. As mentioned above, the smart actuator 500 included in the second joint 440 may be configured to rotate or fix the second arm 420 relative to the first arm 410. The magnetic brake 530 may be configured to fix the second arm 420 relative to the first arm 410. As mentioned above, the second joint 440 can receive torque due to the weight of the second arm and the weight of the source assembly 110. When the second arm 420 is fixed relative to the first arm 410, the magnetic brake 530 can provide a force that can offset the torque received by the second joint 440 due to the weight of the second arm and the weight of the source assembly 110. In addition, the magnetic brake 530 can be released based on the control signal from the control unit 300, and the joint motor 540 can start to rotate. More specifically, when the magnetic brake 530 is released, the joint motor 540 may be controlled to offset the torque that the magnetic brake 530 was offsetting. The control unit can measure the torque that the magnetic brake 530 was counteracting using a torque sensor. The counteracting torque may be the torque due to the weight of at least one of the second arm 420 and the source assembly 110. The control unit can maintain the second arm 420 in a fixed state by releasing the magnetic brake 530 and causing the articulation motor 540 to generate torque. At this time, the gas spring 441 can prevent sudden movement of the second arm 420. The gas spring 441 can also provide a force (torque) that supports at least one of the source assembly 110 and the second arm 420 so that it does not move in the direction of gravity. Therefore, at least one of the magnetic brake 530 or the articulation motor 540 can counteract the torque due to the weight of at least one of the source assembly 110 and the second arm 420 with less force. In this state, the second arm 420 can move relative to the first arm 410 while the control unit 300 modifies the torque generated by the articulation motor 540.

[0097] The joint motor 540 may be configured to provide driving force based on electrical energy. In the second joint 440, to which the smart actuator 500 is attached, the joint motor 540 can provide driving force to rotate the second arm 420 relative to the first arm 410.

[0098] The Harmonic Drive 550 can be a type of gearbox. The Harmonic Drive 550 is a gearbox that utilizes the curvature of a rigid body to operate on the principle of planetary gear meshing. Because the Harmonic Drive 550 has a large basic reduction ratio and virtually no backlash, it is advantageous for miniaturizing mechanical devices due to its high rigidity and high output. The Harmonic Drive can rotate the drive shaft of the Smart Actuator 500 based on the driving force provided by the articulated motor 540.

[0099] Furthermore, although not shown in Figure 5, the smart actuator 500 may include a torque sensor. The torque sensor may be configured to measure the torque applied externally to the drive shaft of the joint 450. For example, the smart actuator 500 may be immobilized by the magnetic brake 530. In this case, the torque sensor can measure at least one of the torque applied to the joint 450 by the user and the torque applied to the joint 450 by gravity. Alternatively, the smart actuator 500 may be moved by the joint motor 540. In this case, the torque sensor can measure at least one of the torque applied to the joint 450 by gravity, the torque applied to the joint 450 by the joint motor 540, and the torque applied to the joint 450 by an external force.

[0100] As mentioned above, the medical imaging device 100 may include a control unit 300. The control unit 300 may be configured to control a joint 450 which includes at least one of the first joint 430 and the second joint 440.

[0101] The control unit 300 can control the second joint 440 to rotate the second arm 420 relative to the first arm 410 based on at least one of the torque applied to the joint and the user's input. The process of controlling the second joint 440 based on the torque applied to the joint will be described below.

[0102] Figure 6 is a flowchart illustrating the operation of another medical imaging device in one embodiment of the present disclosure.

[0103] Figure 6 shows an action that can be performed when the second arm 420 is stopped relative to the first arm 410. More specifically, the second arm 420 can be stopped relative to the first arm 410 by a magnetic brake 530 included in the second joint 440.

[0104] The control unit 300 can perform the step (610) of measuring a first torque applied to the second joint 440. More specifically, the second joint 440 may include a smart actuator 500, and the control unit 300 can perform the step (610) of measuring a first torque based on at least one of a torque sensor and a joint encoder 520 included in the smart actuator 500.

[0105] The first torque may be the force applied to the second joint 440 by an external force while the second arm 420 is stationary relative to the first arm 410. The fact that the second arm 420 is stationary relative to the first arm 410 may mean that the torque from the second arm 420 and the source assembly 110 is offset by at least one of the magnetic brake 530 or the gas spring 441. At this time, an additional external force, such as the force of the user, may be applied to the second arm 420 to generate the first torque at the second joint 440.

[0106] The control unit 300 can perform the step (620) of determining whether the first torque is greater than or equal to a predetermined critical sensitivity torque of the second joint. The predetermined critical sensitivity torque of the second joint can be set by the user or automatically determined based on a predetermined algorithm. The critical sensitivity torque of the second joint may be related to the force required by the user to move the source arm 140. The critical sensitivity torque of the second joint may be changeable. The smaller the critical sensitivity torque of the second joint, the less force the user can initially use to move the second arm 420 relative to the first arm 410. Conversely, the larger the critical sensitivity torque of the second joint, the more force the user must initially apply to move the second arm 420 relative to the first arm 410.

[0107] The critical sensitivity torque of the second joint can be selected from a predetermined set of candidate critical sensitivity torques. These candidate critical sensitivity torques can include up to five distinct values. For example, the candidate critical sensitivity torques may correspond to one of the following: very sensitive, sensitive, normal, insensitive, or very insensitive. The magnitude of the candidate critical sensitivity torque can increase from very sensitive to very insensitive. One of the predetermined candidate critical sensitivity torques can be selected based on the user's input. A smaller critical sensitivity torque requires less force to move the second arm 420, but there is a possibility of the second arm 420 moving unintentionally. A larger critical sensitivity torque requires more force to move the second arm 420, but there is no possibility of the second arm 420 moving unintentionally.

[0108] According to various embodiments of this disclosure, the medical imaging device 100 can select one of several candidate critical sensitivity torques based on the user's identification information. More specifically, the user can register their identification information with the medical imaging device 100. The medical imaging device 100 can be made available only to users whose identification information has been registered. The medical imaging device 100 can store the critical sensitivity torque of the second joint in accordance with the user's identification information. Therefore, when a user inputs their identification information into the medical imaging device 100 in order to use it, the medical imaging device 100 can automatically select one of several candidate critical sensitivity torques.

[0109] The medical imaging device 100 can perform the following steps to store the critical sensitivity torque of the second joint in accordance with the user's identification information. When the medical imaging device 100 receives the user's identification information as input, it can also receive the critical sensitivity torque as input. The medical imaging device 100 can also automatically determine the critical sensitivity torque based on at least one of the user's gender, age, and weight. The medical imaging device 100 can also output a message to the user instructing them to casually apply force to rotate the second arm 420 relative to the first arm 410 for testing purposes. For example, the medical imaging device 100 can output a message instructing the user to casually apply force to the second arm 420 as if "lifting" it. The user can then apply force to the second arm 420. The medical imaging device 100 can measure the torque applied to the second joint 440 based on the force applied by the user to the second arm 420. The torque applied to the second joint 440 may be the net torque applied to the second joint 440. However, this is not limited to the above; the torque applied to the second joint 440 may be the torque applied to the second joint 440 by the user.

[0110] The medical imaging device 100 can select the candidate critical sensitivity torque closest to the measured torque as the critical sensitivity torque of the second joint. Alternatively, the medical imaging device 100 can select a candidate critical sensitivity torque that is greater than the measured torque and closest to the measured torque as the critical sensitivity torque of the second joint. Furthermore, the medical imaging device 100 can select a candidate critical sensitivity torque that is less than the measured torque and closest to the measured torque as the critical sensitivity torque of the second joint. In addition, the medical imaging device 100 may determine the measured torque as the critical sensitivity torque of the second joint.

[0111] The above explanation has only described the critical sensitivity torque of the second joint, but a critical sensitivity torque may also be set for the first joint 430. The same explanation can be applied to the critical sensitivity torque of the first joint, so redundant explanations will be omitted.

[0112] If the first torque is greater than or equal to the critical sensitivity torque of the second joint 440, the control unit 300 can perform the step (630) of controlling the second joint so that the second arm rotates relative to the first arm 410. The direction of rotation of the second arm 420 relative to the first arm 410 may be the same as the direction of the force applied to the second arm 420 by the user. For example, in Figure 4, if the user applies an upward force to the second arm 420, the second arm 420 can rotate counterclockwise. Also, if the user applies a downward force to the second arm 420, the second arm 420 can rotate clockwise.

[0113] When a user applies force to the second arm 420, torque may be applied not only to the second joint 440 but also to the first joint 430. The control unit 300 can control the movement of only one of the first joint 430 and the second joint 440. However, it is not limited to this, and the control unit 300 can control the movement of both the first joint 430 and the second joint 440 simultaneously. Based on the user's input, the control unit 300 can determine a mode in which only one of the first joint 430 and the second joint 440 moves, and a mode in which both the first joint 430 and the second joint 440 move.

[0114] In a mode where only one of the first joint 430 and the second joint 440 moves, the control unit 300 can move either only the first joint 430 or only the second joint 440, depending on whether the user applied force to the second arm 420 or the first arm 410. For example, if the user applies force to the second arm 420, both the first joint 430 and the second joint 440 of the medical imaging device 100 can receive torque. Therefore, if the second joint torque measured at the second joint 440 is greater than or equal to a predetermined critical starting torque, the medical imaging device 100 can decide to rotate the second joint 440 regardless of the first joint torque measured at the first joint 430. That is, the first arm 410 is fixed to the main body 130, and the second arm 420 can move relative to the first arm 410. If it is decided that the second arm 420 will move, the process shown in Figure 6 can be carried out.

[0115] Furthermore, the medical imaging device 100 can determine that the first joint 430 rotates if the torque measured at the second joint 440 is less than or equal to a predetermined critical starting torque, and the torque measured at the first joint 430 is greater than or equal to the critical starting torque. In other words, the first arm 410 can move relative to the main body 130, and the second arm 420 can be fixed relative to the first arm 410. In this way, by making one of the first joint 430 and the second joint 440 movable, the first arm 410 or the second arm 420 can move as intended by the user, which is intuitive and therefore convenient for the user. However, it is not limited to this.

[0116] The stage (630) may include the following stages: The control unit 300 can control the second arm 420 to accelerate at a predetermined maximum angular acceleration or less while it is stationary, in order to prevent the second arm 420 from accelerating excessively quickly. The control unit 300 can also control the second arm 420 to move at a predetermined maximum constant angular velocity or less after it has been accelerated while it is stationary, in order to prevent the second arm 420 from moving excessively quickly. The control unit 300 can also make the second arm 420 move when the user applies force to it, and prevent it from moving again when no force is applied to it. When the second arm 420 is moving, the torque that the user must apply to the second arm 420 may be less than or equal to the critical sensitivity torque. The control unit 300 can control the second arm 420 to decelerate at a predetermined maximum angular acceleration or less when it is moving and then stops, in order to prevent the second arm 420 from decelerating excessively quickly. Therefore, the user can avoid being surprised by the sudden movement or uncontrollable angular velocity of the second arm 420.

[0117] Since the second arm 420 and the source assembly 110 are connected to the second joint 440, torque due to the weight of the second arm 420 and the source assembly 110 can be applied to the second joint 440. Torque due to the weight of the second arm 420 and the source assembly 110 can be applied to the second joint 440 even while the second arm 420 is moving. The torque applied to the second joint 440 by the second arm 420 and the source assembly 110 can be determined by a predetermined function. The predetermined function can output an output torque applied to the second joint 440, with at least one of the following variables: the weight of the second arm 420, the weight of the source assembly 110, the angle of the first arm 410 relative to the ground, the angle of the second arm 420 relative to the first arm 410, the length of the second arm 420, the length of the gas spring, or the force provided by the gas spring. The output torque may be the torque due to the weight of the second arm 420 and the source assembly 110. The control unit 300 can control the second arm 420 to move at a constant angular velocity relative to the first arm 410 by causing the smart actuator included in the second joint 440 to generate a torque in the opposite direction to the output torque determined by a predetermined function. For example, when the second arm moves at a constant angular velocity, the torque generated by the smart actuator may be as follows:

[0118] TOUT = -T1 - T2 (when the torque applied by the user to the second arm is in the same direction as the torque due to the weight of the second arm 420 and the source assembly 110)

[0119] TOUT = -T1 + T2 (when the torque applied by the user to the second arm is in a different direction from the torque due to the weight of the second arm 420 and the source assembly 110)

[0120] Here, TOUT may be the magnitude of the torque generated by the smart actuator. T1 may be the torque due to the weight of the second arm 420 and the source assembly 110. T2 may be the torque applied by the user to the second arm (or second joint 440).

[0121] In this way, by utilizing the variable critical sensitivity torque of the second joint, the user can easily move the second arm 420 relative to the first arm 410, regardless of the user's muscle strength. In other words, since the critical sensitivity torque is determined by the user, the user can freely control the arms of the medical imaging device 100 regardless of the user's muscle strength.

[0122] The following describes the process of controlling the second joint 440 to rotate the second arm 420 relative to the first arm 410 based on user input. Here, user input may not mean the user directly applying force to the second arm 420, but rather inputting the user's intention into an input unit 350 such as a button or touchscreen.

[0123] The control unit 300 can perform the step of controlling the second joint so that the angle between the first arm 410 and the second arm 420 is predetermined, based on the user's input to buttons related to joint movement. For example, the predetermined angle may be between 90 degrees and 180 degrees. Alternatively, the predetermined angle may refer to the angle between the first arm 410 and the second arm 420 when the second arm 420 is approximately parallel to the ground.

[0124] Referring to Figure 4, the buttons associated with joint movement may be physical buttons. The buttons associated with joint movement may be located in at least two of the second joint portion 440, the second arm 420, and the source assembly 110. For example, the buttons associated with joint movement may be located on the left or right side of the second joint portion 440. Also, the buttons associated with joint movement may be located on at least one of the upper, left, right, or lower sides of the second arm 420. Furthermore, the buttons associated with joint movement may be located on at least one of the front, upper, left, right, or lower sides of the source assembly 110.

[0125] Furthermore, buttons related to joint movement may be buttons displayed on a graphic user interface (GUI), such as a touchscreen. Buttons related to joint movement can be located on at least one of the auxiliary display located on the source assembly 110 and the main display 150 located on the main unit 130. The auxiliary display located on the source assembly 110 may be located on the front of the source assembly 110, but is not limited to this.

[0126] To prevent the first arm 410 and the second arm 420 from colliding with surrounding objects while the medical imaging device 100 is moving, the first arm 410 and the second arm 420 may be in a folded state. For example, the medical imaging device 100 can be moved to the position shown in Figure 1. The second arm 420 may be in a state approximately perpendicular to the ground. Therefore, the torque applied to the second joint 440 by the source assembly 110 and the second arm 420 can be minimized, preventing damage to the second joint 440 from impacts during movement. In addition, collisions between the source assembly 110 and surrounding objects can be minimized.

[0127] After the medical imaging device 100 is positioned near the patient, if it receives input from the user via a button, the medical imaging device 100 can be configured so that the second arm 420 is at a predetermined angle relative to the first arm 410. That is, the second arm 420 rotates counterclockwise from the position shown in Figure 1 with respect to the second joint 440, so that the angle between the first arm 410 and the second arm 420 is a predetermined angle. Through this process, the second arm 420 can be in an extended position relative to the first arm 410. For example, the extended position of the second arm 420 may be the same as in Figure 4. The extended position of the second arm 420 may mean that the second arm 420 is parallel to the ground, but is not limited to this. The angular velocity of the movement of the second arm 420 can be predetermined. Furthermore, the angular velocity of the movement of the second arm 420 can be changed according to the user's settings. Since the user does not need to lift the second arm 420, user convenience can be increased.

[0128] Furthermore, if the medical imaging device 100 receives input from the user via a button after the imaging is complete, it can rotate the second arm 420 clockwise so that it returns to the same position as in Figure 1. In other words, the second arm 420 can return to a movable position. The movable position may be a state in which 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 position, user convenience can be increased.

[0129] The medical imaging device 100 is equipped with multiple buttons related to joint movement, allowing the user to move the second arm 420 relative to the first arm 410 with minimal movement.

[0130] The medical imaging device 100 may include a source assembly 110. One end of the second arm 420 may be coupled to a second joint 440. The other end of the second arm 420 may be coupled to the source assembly 110. The source assembly 110 may include a second transceiver. The second transceiver may include a second transmitter and a second receiver. The second transceiver may be positioned on a plane located in the direction from which radiation is emitted from the source assembly 110. The second transceiver may be positioned on a plane perpendicular to the direction from which radiation is emitted from the source assembly 110. The second transceiver can communicate with the first transceiver. The first and second transceivers can communicate using Ultra Wide Band (UWB).

[0131] The medical imaging device 100 may include a detector 120. The detector 120 can receive radiation emitted from the source assembly 110 and generate a medical image. The detector 120 may include a first transceiver that transmits and receives signals with a second transceiver. The first transceiver may be configured to communicate wirelessly with the second transceiver included in the source assembly 110. The first transceiver may include a first transmitter and a first receiver. The detector 120 may include a plurality of first transceivers. The first transceivers may be located on the surface of the detector 120 that receives radiation. The first transceivers may be arranged along the corners of the detector 120. The first transceivers may be located on the left and right sides of the detector 120. For example, two first transceivers may be arranged on the left side and two on the right side of the detector 120. When multiple first transceivers are arranged on the detector 120 in this way, the medical imaging device 100 can accurately align the detector 120 and the source assembly 110. However, it is not limited to this, and the first transmitting / receiving unit can be located near the vertices of the rectangular detector 120.

[0132] The control unit 300 can perform the step of controlling the joints based on the first and second transmitting / receiving units so that the radiation irradiation direction of the source assembly 110 becomes perpendicular to the radiation receiving surface of the detector 120.

[0133] More specifically, the main control unit 300 can perform the step of outputting a message that guides the source assembly 110 to align the radiation irradiation area and the area of ​​the detector based on the alignment information. Based on at least one of the 3D camera, the first transceiver, and the second transceiver, the main control unit 300 can determine alignment information related to at least one of the direction, distance, and angle that the source assembly 110 must move in order to align the detector 120 and the source assembly 110. The main control unit 300 can acquire the alignment information in order to perform the step of outputting a message. The alignment information may be information for aligning the source assembly 110 and the detector 120. Here, the alignment of the detector 120 and the source assembly 110 may mean that the irradiation area and the area of ​​the detector coincide, or that the line connecting the center of the detector and the center of the source assembly 110 is parallel to the direction of radiation irradiation.

[0134] The main control unit 300 can acquire at least one of the attitude information of the detector 120 and the attitude information of the source assembly 110 based on the first and second transmitting / receiving units. The main control unit 300 can further use the 3D camera to acquire at least one of the attitude information of the detector 120 and the attitude information of the source assembly 110. Alternatively, the main control unit 300 can further use the 3D camera to correct at least one of the attitude information of the detector 120 and the attitude information of the source assembly 110.

[0135] The main control unit 300 can perform the step of acquiring alignment information for adjusting the angle of the source assembly 110 so that the radiation irradiation direction of the source assembly 110 is perpendicular to the radiation receiving surface of the detector 120, based on at least one of the attitude information of the detector 120 and the attitude information of the source assembly 110. The attitude information of the detector 120 can be acquired based on at least one of the gyro sensor or first transceiver unit included in the detector 120. The detector 120 may also be measured indirectly by triangulation by the first transceiver unit and the second transceiver unit. The attitude information of the detector 120 can include at least one of the degree of inclination (tilt) of the detector 120 relative to the source assembly 110 or the ground, and distance. The attitude information of the detector 120 can include the degree to which the detector 120 has rotated with respect to at least one of the first axis parallel to the ground, the second axis parallel to the ground and perpendicular to the first axis, and the third axis perpendicular to the ground. The attitude information of the detector 120 may include the distance from a point on the source assembly 110 to a point on the detector 120. The attitude information of the detector 120 may include the coordinates from one of the points on the source assembly 110 or the main body 130 to a point on the detector 120. The point on the source assembly 110 may be the center of the source assembly 110 or the center of the front surface of the source assembly 110. The point on the detector 120 may be the center of the radiation irradiation surface of the detector 120. However, the point on the main body 130, the point on the source assembly 110, and the point on the detector 120 may be any point included in the main body 130, the source assembly 110, and the detector 120, respectively, and is not limited to the above description. The attitude information of the detector 120 may include the inclination of the radiation irradiation surface of the detector 120 relative to the front surface of the source assembly 110.

[0136] The main control unit 300 included in the medical imaging device 100 can acquire attitude information of the source assembly 110 based on at least one of the gyro sensor or the second transceiver. The attitude information of the source assembly 110 may include at least one of the degree of inclination (tilt) of the source assembly 110 relative to the detector 120 or the ground, and distance. The main control unit 300 can directly measure the attitude information of the source assembly 110 based on the gyro sensor, or it may be measured indirectly by triangulation by the first transceiver and the second transceiver. The attitude information of the source assembly 110 may include information on the rotation of the source assembly 110 with respect to at least one of the first axis, second axis, and third axis. The first axis, second axis, and third axis may be axes perpendicular to each other. The attitude information of the source assembly 110 may include the distance from one point on the detector 120 or one point on the main body 130 to one point on the source assembly 110. The attitude information of the source assembly 110 may include the coordinates from one point on the source assembly 110 to one point on the detector 120. The orientation information of the source assembly 110 can include the inclination of the front surface of the source assembly 110 relative to the radiation irradiation surface of the detector 120.

[0137] The medical imaging device 100 can determine alignment information based on at least one of the posture information of the detector 120 and the posture information of the source assembly 110. Furthermore, the medical imaging device 100 can perform a step of controlling the joints by moving at least one of the first arm 410 and the second arm 420 based on the alignment information so that the radiation irradiation direction of the source assembly 110 becomes perpendicular to the radiation receiving surface of the detector 120. Because the medical imaging device 100 automatically moves at least one of the first arm 410 or the second arm 420 so that the radiation irradiation direction of the source assembly 110 becomes perpendicular to the radiation receiving surface of the detector 120, the user hardly needs to operate the source assembly 110. Also, there is no need to adjust the position of the source assembly 110 by looking at sensor values ​​displayed on the display to position it accurately. Therefore, the medical imaging device 100 can maximize user convenience.

[0138] Figure 7 is a flowchart showing the operation of a medical imaging device according to one embodiment of the present disclosure.

[0139] The control unit 300 can perform the step (710) of acquiring a second torque due to an external force while the second arm 420 is moving relative to the first arm 410 by driving the second joint 440. The control unit 300 can control the second joint 440 to move the second arm 420 at a constant angular velocity relative to the first arm 410. Although torque may act on the second joint 440 due to the weight of the second arm 420 and the weight of the source assembly 110, the smart actuator included in the second joint 440 can counteract the torque due to the weight of the second arm 420 and the weight of the source assembly 110 so that the second arm 420 moves at a constant angular velocity.

[0140] Alternatively, the control unit 300 can control the second joint 440 to 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). Refer to Figure 8 to illustrate the movement of the second arm 420.

[0141] Figure 8 is a diagram illustrating the angular acceleration of the second arm of this disclosure.

[0142] In Figure 8, the x-axis represents 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 is a graph showing the case where the angular acceleration of the second arm is approximately zero.

[0143] Referring to Figure 8(a), the torque t applied by the user to the second arm 420 may be proportional to the angular acceleration a of the movement of the second arm 420. With the second arm 420 stationary, it can begin to move relative to the first arm 410 through the process shown in Figure 6. Subsequently, the control unit 300 cannot maintain the movement of the second arm 420 unless the user continues to concentrate force on it. For example, the relationship between the torque t applied by the user to the second arm 420 and the angular acceleration a may be as follows.

[0144] a = K * (tF)

[0145] Here, t is the torque t applied by the user to the second arm 420, and a may be the angular acceleration with respect to the movement of the second arm 420. K may be a predetermined proportionality constant. Also, F may be a predetermined constant. F may be the critical moving torque that the user must apply to the second arm 420 in order to move the second arm 420 at a constant angular velocity or with positive angular acceleration. The critical moving torque F may be the same as the critical sensitivity torque, or it may be smaller than the critical sensitivity torque. F can act as a kind of virtual friction force. Generally, users intuitively know that there is a friction force when moving an object, so the medical imaging device 100 of this disclosure can use a virtual F as a control variable so that the user can intuitively move the second arm 420.

[0146] Referring to Figure 8(b), the relationship between the torque t applied by the user to the second arm 420 and the angular acceleration a may be as follows:

[0147] a = K * (tF), where t is less than F.

[0148] When a=0, t is greater than or equal to F, and less than or equal to MF.

[0149] a = K*(t-MF), where t is greater than MF.

[0150] Unlike in Figure 8(a), in Figure 8(b), if 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 may be predetermined constants. If the angular acceleration of the second arm 420 changes continuously, the user may have difficulty controlling the movement of the second arm 420. Therefore, the medical imaging device 100 of this disclosure can control the movement of the second arm 420 as shown in Figure 8(b).

[0151] However, the movement of the second arm 420 is not limited to that shown in Figure 8. The second arm 420 may always move at a constant angular velocity. Furthermore, the angular acceleration of the second arm 420 may be limited to a predetermined maximum angular acceleration or less. Furthermore, the angular acceleration of the second arm 420 may be limited to a predetermined minimum angular acceleration or more.

[0152] Referring again to Figure 7, in step (710), the second torque may represent a torque different from the torque applied by the user to the second arm 420 in order to move the second arm 420. The second torque may be the torque generated when the second arm 420 or the first arm 410 comes into contact with an external object that the user did not intend. In other words, the second torque may be the torque generated when the second arm 420 or the first arm 410 collides with an external object.

[0153] The control unit 300 can measure the absolute value of the rate of change per unit time of the torque applied to the second arm. The control unit 300 can determine that an impact has occurred to the second arm 420 if the absolute value of the rate of change per unit time is greater than or equal to a predetermined critical change torque for determining the impact detection time. The control unit 300 can determine the second torque by subtracting the torque t applied by the user to the second arm immediately before the impact occurred from the torque at applied to the second arm 420 by an external object and the user immediately after the impact occurred. That is, the second torque may represent the torque applied to the second arm by an external object. The control unit 300 may measure the second torque by a sensor.

[0154] The control unit 300 can perform the step (720) of determining whether the second torque is greater than or equal to a predetermined critical impact torque. The critical impact torque is a predetermined value and may be a value used to determine whether an impact has actually occurred. The critical impact torque may be changeable. For example, the critical impact torque may be directly proportional to the critical sensitivity torque. Therefore, the possibility of the control unit 300 mistakenly concluding that an impact has occurred in the second arm 420 because the critical impact torque and the critical sensitivity torque are directly proportional is very low.

[0155] The control unit 300 can perform step (730) of stopping the drive of the second joint 440 if the second torque is greater than or equal to a predetermined critical impact torque. Therefore, if the second arm 420 of the medical imaging device 100 of this disclosure comes into contact with an external object, it can stop immediately to prevent additional damage to the external object. In addition, this may prevent damage to components of the medical imaging device 100, such as the second arm 420 and the source assembly 110.

[0156] According to various embodiments of this disclosure, the medical imaging device 100 may include a distance sensor. The distance sensor may be configured to determine whether an object is approaching from the outside. The distance sensor may be located on at least one of the upper and lower sides of the source assembly 110. The distance sensor may also be included in at least one of the first arm 410 and the second arm 420. For example, it may be located on at least one of the upper and lower sides of at least one of the first arm 410 and the second arm 420. The control unit 300 can use the distance sensor to measure the distance between the medical imaging device 100 and an external object. If the measured distance is less than or equal to a critical distance, the control unit 300 can stop driving the second joint 440. Accordingly, the medical imaging device 100 can be prevented from coming into contact with an external object.

[0157] The medical imaging device 100 can continue its operation, whether manually or automatically, after stopping at least one of the first arm 410 and the second arm 420 due to an impact from an external object. For example, if an impact is detected while the second arm 420 is being extended or retracted relative to the first arm 410, the medical imaging device 100 can stop the movement of the second arm 420. After this, if the user presses the collision release button, the medical imaging device 100 can continue the extension or retraction of the second arm 420 relative to the first arm 410. The medical imaging device 100 can also acquire a signal indicating the absence of an external object based on the distance sensor and torque sensor. Based on the signal indicating the absence of an external object, the medical imaging device 100 can continue the extension or retraction operation.

[0158] Figure 9 is a diagram illustrating the degrees of freedom of the arm of a medical imaging device according to one embodiment of the present disclosure. Figure 10 is a diagram illustrating a configuration for moving the arm of a medical imaging device according to one embodiment of the present disclosure.

[0159] Figures 9 and 10 show side views of the medical imaging device 100. The parts mentioned above are omitted in Figures 9 and 10.

[0160] The second arm 420 may include a second-first arm 910 and a second-second arm 920. One end of the second-first arm 910 may be connected to the second joint 440. The second-first arm 910 may have a tubular shape. The cross-section of the second-first arm 910, obtained by cutting it with a plane perpendicular to its longitudinal direction, may be one of a circle, square, hexagon, or octagon. A space may be formed inside the second-first arm 910.

[0161] The second-second arm 920 can be inserted, at least partially, into the space formed inside the second-first arm 910. The second-second arm 920 can also move along the second-first arm 910. The second arm 420 can be extended or retracted by the second-first arm 910 and the second-second arm 920. For example, when the second-second arm 920 is fully inserted into the second-first arm 910, the second arm 420 can have a minimum length, which may be, for example, 890 mm. Also, when the second-second arm 920 is fully inserted relative to the second-first arm 910, the second arm 420 can have a maximum length, which may be, for example, 1070 mm. The second-second arm 920 can move 180 mm relative to the second-first arm 910. Thus, because the second arm 420 can be extended or retracted, the second arm 420 can extend even if there is insufficient space around the patient, allowing the source assembly 110 to be positioned near the patient. In particular, in typical hospital rooms, the space on either side of the patient table is very narrow, preventing the medical imaging device 100 from entering. Therefore, the medical imaging device 100 must be positioned in front of or behind the patient table to capture medical images. In some cases, it was difficult to place the source assembly 110 close to the patient because the front-to-back length of the patient table was longer than the left-to-right width, but the medical imaging device 100 of this disclosure has the advantage that the source assembly 110 can be placed close to the patient because the second arm 420 can extend.

[0162] The second arm 420 may include a telescopic arm drive unit 1030. The telescopic arm drive unit 1030 may be coupled inside the second-first arm 910. The telescopic arm drive unit 1030 may be configured to provide a driving force for the second-second arm 920 to move relative to the second-first arm 910.

[0163] The telescopic arm drive unit 1030 may 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 from the control unit 300. Referring to Figure 10, the telescopic arm shaft 1020 can rotate with respect to an axis parallel to the front-rear direction. The telescopic arm shaft 1020 can rotate with respect to an axis parallel to the extension direction of the second arm 420. A thread may be formed on the outer circumferential surface of the telescopic arm shaft 1020. The thread formed on the outer circumferential surface of the telescopic arm shaft 1020 can be coupled to a threaded hole formed at one end of the second-second arm 920. Thus, rotation of the telescopic arm shaft 1020 can move the second-second arm 920 forward or upward relative to the second-first arm 910.

[0164] The control unit can control the movement of the 2-2 arm relative to the 2-1 arm based on either user input to a button associated with the telescopic movement or a force applied by the user to the 2-2 arm.

[0165] More specifically, the user can extend or retract the second arm 420 using buttons associated with the telescoping mechanism. For example, the user can extend the second arm 420 by pressing the extend button and retract the second arm 420 by pressing the retract button. However, this is not limited to this, and the extend and retract buttons may be a single button. For example, pressing the button once may extend the second arm 420, and pressing the same button again may retract the second arm 420.

[0166] Because the second-second arm 920 moves automatically in this way, the user does not need to use muscle strength to extend or retract the second arm 420. In addition, the medical imaging device 100 can automatically control the joints so that the direction of radiation irradiation from the source assembly 110 is perpendicular to the radiation receiving surface of the detector 120. Therefore, user convenience can be increased.

[0167] As described above, in the medical imaging device 100 of this disclosure, at least one of the critical sensitivity torque, critical start torque, critical movement torque F, and critical impact torque can be determined based on the length of the second arm 420.

[0168] For example, at least one of the critical sensitivity torque, critical start torque, critical movement torque F, and critical impact torque can increase as the length of the second arm 420 increases. As the length of the second arm 420 increases, the torque that the weight of the source assembly 110 applies to the second joint 440 can increase. Also, in order to direct the radiation irradiation direction of the source assembly 110 toward the patient, the user can grasp the vicinity of the source assembly 110 and move the second arm 420. In this case, if the second arm 420 is long, the torque that the user applies to the second joint 440 can increase. Therefore, the control unit 300 can set at least one of the critical sensitivity torque, critical start torque, critical movement torque F, and critical impact torque to increase as the length of the second arm 420 increases. Thus, the same user experience can always be maintained regardless of the length of the second arm 420.

[0169] However, this is not limited to the above, and at least one of the critical sensitivity torque, critical start torque, critical movement torque F, and critical impact torque may be independent of the length of the second arm 420.

[0170] The telescopic arm drive unit 1030 may also act as a brake. That is, the telescopic arm drive unit 1030 may prevent movement of the second-second arm 920 relative to the second-first arm 910 by an external object. This is because the movement of the second-second arm 920 relative to the second-first arm 910 requires a very large external force from the telescopic arm drive unit 1030. In other words, in most situations, the movement of the second-second arm 920 relative to the second-first arm 910 can be made possible by the telescopic arm drive unit 1030.

[0171] Thus, the telescopic arm drive unit 1030 acts as a brake, preventing the 2-2 arm 920 from moving unexpectedly relative to the 2-1 arm 910. Therefore, the safety of the medical imaging device 100 can be enhanced.

[0172] The control unit 300 can control the movement of the second-second arm 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 may be retracted or extended based on the measured force applied by the user. For example, the control unit 300 can perform the step of measuring the linear force applied to the second arm 420. The telescopic arm drive unit 1030 may include a force sensor. The telescopic force sensor can measure the linear force applied by the second-second arm 920 to the second-first arm 910 by the user. More specifically, when the user grips the second-second arm 920 and applies force forward or backward, the telescopic force sensor can sense the linear force applied by the user. The direction of the linear force can be either forward or backward. The control unit 300 can receive the force measured by the telescopic force sensor.

[0173] The control unit 300 can perform the step of determining whether the linear force is greater than or equal to 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 may 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 may be changeable. The smaller the critical sensitivity force, the smaller the force the user can initially use to move the second-second arm 920 relative to the second-first arm 910. Conversely, the larger the critical sensitivity force, the larger the force the user must initially apply to move the second-second arm 920 relative to the second-first arm 910.

[0174] The critical sensitivity force can be selected from a predetermined set of candidate critical sensitivity forces. These candidate critical sensitivity forces can include up to five distinct forces. For example, these candidate critical sensitivity forces may correspond to one of the following: very sensitive, sensitive, normal, insensitive, or very insensitive. The magnitude of the candidate critical sensitivity force can increase from very sensitive to very insensitive. One of the predetermined candidate critical sensitivity forces can be selected based on the user's input. A smaller critical sensitivity force requires less force to move the second-second arm 920, but there is a possibility that the second-second arm 920 may move incorrectly. A larger critical sensitivity force requires more force to move the second-second arm 920, but there is no possibility of the second-second arm 920 moving incorrectly.

[0175] According to various embodiments of this disclosure, the medical imaging device 100 can select one of several candidate critical sensitivity forces based on the user's identification information. More specifically, the user can register their identification information with the medical imaging device 100. The medical imaging device 100 can be made available only to users whose identification information has been registered. The medical imaging device 100 can store critical sensitivity forces corresponding to the user's identification information. Therefore, when a user inputs their identification information into the medical imaging device 100 in order to use it, the medical imaging device 100 can automatically select one of several candidate critical sensitivity forces.

[0176] The medical imaging device 100 can perform the following steps to store critical sensitivity force in accordance with the user's identification information. When the medical imaging device 100 receives user identification information as input, it can also receive critical sensitivity force as input. Furthermore, the medical imaging device 100 can automatically determine the critical sensitivity force based on at least one of the user's gender, age, and weight. In addition, the medical imaging device 100 can output a message to the user instructing them to apply force to the second-second arm 920 against the second-first arm 910 for testing purposes. For example, the medical imaging device 100 can output a message such as "Pull" or "Push" the second-second arm 920 against the second-first arm 910. The user can then apply force to the second-second arm 920. The medical imaging device 100 can measure the force applied by the user to the second-second arm 920.

[0177] The medical imaging device 100 can select a candidate critical sensitivity force that is closest to the measured force as the critical sensitivity force. Alternatively, the medical imaging device 100 can select a candidate critical sensitivity force that is greater than the measured force and closest to the measured force as the critical sensitivity force. Furthermore, the medical imaging device 100 can select a candidate critical sensitivity force that is less than the measured force and closest to the measured force as the critical sensitivity force. In addition, the medical imaging device 100 may determine the measured force as the critical sensitivity force.

[0178] The control unit 300 can perform the step of controlling the telescopic arm drive unit 1030 so that the second-second arm 920 moves relative to the second-first arm 910 if the linear force is greater than or equal to the critical sensitivity force. The direction of movement of the second-second arm 920 may be the same as the direction of movement of the linear force applied by the user. For example, if the user applies a forward force to the second-second arm 920 in Figure 9, the second-second arm 920 can move forward. Also, if the user applies a backward force to the second-second arm 920, the second-second arm 920 can move backward.

[0179] When a user applies force to the second-second arm 920, force may be applied not only to the second-second arm 920 but also to the first joint 430 and the second joint 440. The control unit 300 can control the movement of only one of the second-second arm 920, the first joint 430, and the second joint 440. However, it is not limited to this, and the control unit 300 can control the movement of the second-second arm 920, the first joint 430, and the second joint 440 simultaneously. Based on the user's input, the control unit 300 can determine a mode in which only one of the second-second arm 920, the first joint 430, and the second joint 440 moves, and a mode in which all of the second-second arm 920, the first joint 430, and the second joint 440 move.

[0180] In a mode where only one of the second-second arm 920, the first joint 430, and the second joint 440 is moving, the control unit 300 can move only the first joint 430 or only the second joint 440 based on whether the user has applied force to the second-second arm 920, the second arm 420, or the first arm 410. For example, if the user applies force to the second-second arm 920, not only the second-second arm 920 but also the first joint 430 and the second joint 440 can all receive the force. Therefore, the medical imaging device 100 can determine that the second-second arm 920 will move regardless of the torque measured at the first joint 430 and the second joint 440, as long as the linear force applied to the second-second arm 920 is greater than or equal to a predetermined critical starting force. In other words, the first arm 410 is fixed to the main body 130, the second arm 420 is fixed to the first arm 410, and the 2-2 arm 920 can move relative to the 2-1 arm 910.

[0181] Furthermore, the medical imaging device 100 can determine that the second joint 440 rotates regardless of the torque measured at the first joint 430, provided that the linear force measured at the second-second arm 920 is less than or equal to a predetermined critical starting force, and the torque measured at the second joint 440 is greater than or equal to the critical starting torque. That is, the first arm 410 is fixed to the main body 130, and the second arm 420 can rotate relative to the first arm 410. In this way, by making one of the second-second arm 920, the first joint 430, and the second joint 440 movable, the second-second arm 920, the first arm 410, or the second arm 420 can move as intended by the user, which may be convenient for the user because it is intuitive. However, it is not limited to this.

[0182] The control unit 300 can perform the step of acquiring an external force due to an external force while the 2-2 arm 920 is moving relative to the 2-1 arm 910 by the telescopic arm drive unit 1030. The external force can be acquired by a force sensor included in the telescopic arm drive unit 1030. The control unit 300 can control the 2-2 arm 920 to move at a constant angular velocity relative to the 2-1 arm 910. The external force may mean a force different from the force that the user applies to the 2-2 arm 920 to move it, or a force that the telescopic arm drive unit 1030 applies to the 2-2 arm 920. The external force may be a force that occurs when the 2 arm 420 comes into contact with an external object that the user did not intend. That is, the external force may be a force that occurs when the 2 arm 420 collides with an external object.

[0183] The control unit 300 can measure the absolute value of the rate of change per unit time of the external force applied to the second-second arm 920. If the absolute value of the rate of change per unit time is greater than or equal to a predetermined critical force for determining the impact detection time, the control unit 300 can determine that an impact has occurred to the second-second arm 920. Immediately after the time the impact occurred, the control unit 300 can determine the external force by subtracting the force applied to the second-second arm 920 by an external object and the user immediately before the time the impact occurred from the force applied to the second-second arm 920 by the user. The external force may mean the force applied by an external object. The external force may also be measured by a sensor in the control unit 300.

[0184] The control unit 300 can perform the step of determining whether the external force is greater than or equal to a predetermined critical impact force. The critical impact force is a predetermined value and may be a value used to determine whether an impact has actually occurred. The critical impact force may be changeable. For example, the critical impact force may be directly proportional to the critical sensitivity force. Therefore, the possibility of the control unit 300 mistakenly concluding that an impact has occurred in the second-2 arm 920 is very low, as the critical impact force and critical sensitivity force are directly proportional.

[0185] The control unit 300 can perform the step of stopping the drive of the telescopic arm drive unit 1030 if the external force exceeds a predetermined critical impact force. Therefore, if the second-second arm 920 of the medical imaging device 100 of this disclosure comes into contact with an external object, it can stop immediately to prevent additional damage to the external object. This may also prevent damage to components of the medical imaging device 100, such as the second-second arm 920 and the source assembly 110.

[0186] Referring to Figure 9, the other end of the second arm 420 can be connected to the source assembly 110. The second arm 420 can be connected to the source assembly 110 by a source assembly connection. The source assembly 110 may be rotatable with respect to an axis parallel to the longitudinal direction of the second arm 420. The source assembly 110 may also be rotatable with respect to axes extending to the left and right. Because the source assembly 110 has a high degree of freedom of movement, the user can move the source assembly 110 to adjust the direction of radiation irradiation from the source assembly 110 so that it is perpendicular to the plane of the detector 120.

[0187] Figure 11 shows a plan view of a medical imaging device according to one embodiment of the present disclosure.

[0188] One end of the source assembly 110 may be connected to one end of the source assembly bracket 1101. The other end of the source assembly 110 may be connected to the other end of the source assembly bracket 1101. Here, one end can mean the left or right side, and the other end can mean the right or left side.

[0189] The source assembly bracket 1101 may have a "⊂" shape. The source assembly bracket 1101 may include a bracket base 1211 extending to the left and right. The source assembly bracket 1101 may also include a first bracket extension 1212 extending forward from the left end of the bracket base 1211 and a second bracket extension 1213 extending forward from the right end of the bracket base 1211. The source assembly 110, including the X-ray source and collimator, can be positioned between the first bracket extension 1212 and the second bracket extension 1213.

[0190] The second joint 440 may include a first smart actuator 1231 coupled to one side of at least one of the first arm 410 and the second arm 420. Here, one side may mean the left side. The first smart actuator 1231 may include the configuration described in Figure 5.

[0191] The second joint 440 may include a second smart actuator 1232 coupled to the other side of at least one of the first arm 410 and the second arm 420. Here, the other side may mean the right side. The second smart actuator 1232 may include the same configuration as the first smart actuator 1231.

[0192] The first smart actuator 1231 and the second smart actuator 1232 can provide driving force to the rotation axis of the second arm 420 relative to the first arm 410. In this way, by equipping the second joint with the first smart actuator 1231 and the second smart actuator 1232, the insufficient driving force of a single smart actuator can be compensated for. Furthermore, if the smart actuator is provided on either the right or left side of the second joint 440, the weight of the smart actuator may cause the balance of the source arm to tilt to one side, leading to durability problems, or it may cause tilting when the medical imaging device 100 is moved, which can be problematic. Here, durability problems may mean that wear occurs only on one side. However, since the first smart actuator 1231 and the second smart actuator 1232 are provided on the left and right sides of the second joint 440, the balance of the left and right sides of the source arm is achieved, increasing the durability of the source arm, and the medical imaging device 100 can move stably and with good balance.

[0193] Figure 12 is a drawing illustrating a second joint according to one embodiment of the present disclosure.

[0194] Referring to Figure 12(a), the second joint 440 may include a first smart actuator 1231 and a rotary bearing 1310. The first smart actuator 1231 may have the same configuration as in Figure 5. The rotary bearing 1310 may be configured to smooth the rotation of the second joint 440. If necessary, the rotary bearing 1310 may be mounted on the medical imaging device 100 instead of the second smart actuator 1232. The first smart actuator 1231 may be located on one side (left side) and the rotary bearing 1310 on the other side (right side) to mitigate the phenomenon of wear occurring on only one side of the second joint 440.

[0195] Figure 12(b) shows the components included in a rotary bearing. Rotary bearings have many components, which makes assembly difficult. Furthermore, if assembled incorrectly, the rotary bearing may not be able to perform its function, leading to problems.

[0196] Figure 12(c) shows a case where a second smart actuator 1232 is provided instead of a rotary bearing. That is, the second joint 440 can include both the first smart actuator 1231 and the second smart actuator 1232. Since the second smart actuator 1232 is modular, assembly may be easier. Furthermore, by providing both the first smart actuator 1231 and the second smart actuator 1232 in the second joint, the insufficient driving force of a single smart actuator can be compensated for.

[0197] Figure 13 may be a diagram illustrating the movement brake of the main body according to one embodiment of the present disclosure.

[0198] Referring to Figure 13(a), a brake paddle 1420 can be positioned at the lower end of the main body 130. When the user is pressing the brake paddle 1420 and the brake paddle 1420 is in a lowered state, the medical imaging device 100 may be immobile. If the medical imaging device 100 is not fixed, it is not possible to capture stable medical images, and radiation can be irradiated only where the user desires.

[0199] Conversely, if the user lifts the brake paddle 1420 with their foot and the brake paddle 1420 is in the upward position, the medical imaging device 100 may be movable. Since the mobile medical imaging device 100 moves to where the patient is and takes radiographic images, there is no need to move patients with disabilities, thus potentially increasing convenience for the user. The user can move the medical imaging device 100 by grasping the handle 1410 formed on the rear of the main body 130.

[0200] The medical imaging device 100 according to various embodiments of this disclosure may include a brake drive motor 1440. The brake paddle 1420 of the medical imaging device 100 can also be moved by the brake drive motor 1440. For example, the brake drive motor 1440 can rotate a brake drive shaft 1450 fixed to the brake paddle 1420. When the brake drive motor 1440 rotates the brake drive shaft 1450 and the brake paddle 1420 is in a downward position, the medical imaging device 100 may be immobile. For example, the brake drive shaft 1450 can prevent the wheel 1460 from rotating by bringing the brake pads 1431 and 1432 into contact with a part of the wheel 1460. When the brake drive motor 1440 rotates the brake drive shaft 1450 in the opposite direction and the brake paddle 1420 is in an upward position, the medical imaging device 100 may be mobile. For example, the brake drive shaft 1450 can move the brake pads 1431 and 1432 away from the wheel 1460 so as not to interfere with the rotation of the wheel 1460. The control unit 300 can automatically activate the brake drive motor 1440 to apply the brakes if the medical imaging device 100 has not received any input and has not moved for a predetermined period of time. In addition, if the user pushes or pulls the medical imaging device 100 to move it, the control unit 300 may sense such force and automatically release the brakes. The brake paddles 1420 may be moved manually by the user or automatically by the brake drive motor 1440. In this way, the brake paddles 1420 are automatically controlled by the brake drive motor 1440, which can increase the convenience of the medical imaging device 100.

[0201] We have described in detail various embodiments. Those with ordinary skill in the art to which the present invention pertains will understand that the present invention can be embodied in modified forms that do not depart from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in an explanatory rather than restrictive view. The scope of the present invention is shown in the claims, not in the foregoing description, and all differences within an equivalent scope should be interpreted as being included in the present invention.

[0202] On the other hand, the embodiments of the present invention described above can be created as programs that can be executed on a computer, and can be embodied in a general-purpose digital computer that runs the program using a computer-readable recording medium. Computer-readable recording media include magnetic storage media (e.g., ROMs, floppy disks, hard disks, etc.) and optical reading media (e.g., CD-ROMs, VIDs, etc.).

Claims

1. A mobile body, The main body and the first arm connected by the first joint, A second arm connected to the first arm by a second joint including a smart actuator, Includes a control unit for controlling the first joint and the second joint, The control unit, The first arm is controlled to be tilted and fixed at a predetermined fixed angle relative to the ground, The second joint is controlled to rotate the second arm relative to the first arm based on at least one of the torque applied to the second joint and the user's input, A medical imaging device that controls the second joint portion such that the distance between the first arm and the second arm is a predetermined angle based on user input related to joint movement.

2. The control unit, The first torque applied to the second joint is measured, Determine whether the first torque is greater than or equal to the predetermined critical sensitivity torque of the second joint. If the first torque is greater than or equal to the critical sensitivity torque of the second joint, the second joint is controlled to rotate the second arm relative to the first arm. The medical imaging device according to claim 1, wherein the critical sensitivity torque of the second joint is changeable.

3. The other end of the second arm is coupled to a source assembly including a second transmitting / receiving unit, The detector includes a first transmitting / receiving unit that receives radiation emitted from the source assembly to generate a medical image and transmits and receives signals with a second transmitting / receiving unit, The control unit, The medical imaging apparatus according to claim 1, wherein the second joint is controlled based on the first transmitting / receiving unit and the second transmitting / receiving unit so that the radiation irradiation direction of the source assembly is perpendicular to the radiation receiving surface of the detector.

4. The control unit, As the second arm moves relative to the first arm by the drive of the second joint, it acquires a second torque due to an external force, Determine whether the second torque is greater than or equal to a predetermined critical impact torque. The medical imaging device according to claim 1, wherein if the second torque is greater than or equal to the predetermined critical impact torque, the driving of the second joint is stopped.

5. The second arm is, A second-first arm, one end of which is connected to the second joint, A second-second arm, at least a portion of which is inserted into a space formed inside the second-first arm and which can move along the second-first arm, The medical imaging apparatus according to claim 1, further comprising: a telescopic arm drive unit coupled inside the second-first arm, which provides a driving force for the second-second arm to move relative to the second-first arm.

6. The second joint portion is, A first smart actuator coupled to at least one side of the first arm and the second arm, The system includes a second smart actuator coupled to the other side of at least one of the first arm and the second arm, The medical imaging apparatus according to claim 1, wherein the first smart actuator and the second smart actuator provide a driving force to the rotation axis of the second arm relative to the first arm.

7. A mobile body, The main body and the first arm connected by the first joint, A second arm is connected to the first arm by a second joint and is extendable and retractable by a telescopic arm drive unit, Includes a control unit for controlling the first joint and the second joint, The control unit, The first arm is controlled to be tilted and fixed at a predetermined fixed angle relative to the ground, The second joint is controlled to rotate the second arm relative to the first arm based on at least one of the torque applied to the second joint and the user's input, A medical imaging device that controls the second joint portion such that the distance between the first arm and the second arm is a predetermined angle based on user input related to joint movement.

8. The second arm is, A second-first arm, one end of which is connected to the second joint, A second-second arm, at least a portion of which is inserted into a space formed inside the second-first arm and which can move along the second-first arm, The medical imaging apparatus according to claim 7, further comprising: a telescopic arm drive unit coupled inside the second-first arm, which controls the driving force for the second-second arm to move relative to the second-first arm.

9. The control unit, The medical imaging apparatus according to claim 8, which controls the movement of the 2-2 arm relative to the 2-1 arm based on either a user input to a button related to telescoping or a force applied by the user to the 2-2 arm.

10. The control unit, The telescopic arm drive unit causes the 2-2 arm to acquire an external force due to an external force while moving relative to the 2-1 arm, Determine whether the aforementioned external force is greater than or equal to a predetermined critical impact force. The medical imaging apparatus according to claim 8, wherein the operation of the telescopic arm drive unit is stopped if the external force exceeds the predetermined critical impact force.

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