Mobile medical imaging device and operating method of medical imaging device

Abstract

A medical imaging device of the present disclosure comprises: a detector including a detector control unit for controlling an operation of the detector and a first transmission / reception unit at a predetermined position; a source assembly including a second transmission / reception unit and a 3D camera on the front surface thereof; and a main control unit for controlling an operation of the medical imaging device. The main control unit: activates the medical imaging device when the intensity of a signal from the first transmission / reception unit received by the second transmission / reception unit is greater than a predetermined threshold signal intensity; acquires a 3D camera image of at least one of a subject and the detector on the basis of the 3D camera; displays a radiation irradiation region on the 3D camera image on the basis of state information of the source assembly; displays a region of the detector on the 3D camera image; outputs a message for providing a guide for the alignment between the irradiation region and the region of the detector; and transmits a radiation irradiation preparation signal to the first transmission / reception unit by using the second transmission / reception unit when the region of the detector and the irradiation region match.

Description

Mobile medical imaging device and method of operating the medical imaging device

[0001] The present disclosure relates to a medical imaging device and a method of operating the same. More specifically, the present disclosure includes a method for aligning a source assembly of a medical imaging device with a detector to obtain a clear radiographic image.

[0002]

[0003] Aligning medical imaging devices and detectors is a critical step in achieving high-quality images and minimizing radiation exposure for both patients and healthcare providers. The following steps can be taken to align medical imaging devices and detectors.

[0004] First, the location of the source assembly can be determined. The source assembly, which generates the radiation, must be positioned at a fixed distance from the patient's region of interest. This distance varies depending on the type of medical imaging device and the area being imaged, but is typically approximately 1-2 meters. Next, the alignment of the radiation beam can be determined. The radiation beam must be aligned so that it is perpendicular to the detector and passes through the patient's region of interest. This can be accomplished by adjusting the position of the source assembly or by using a collimator to shape the radiation beam.

[0005] Next, the detector position can be specified. The detector should be positioned on the opposite side of the patient from the source assembly and aligned with the radiation beam. Additionally, the detector can be positioned as close to the patient as possible to minimize scattered radiation and improve image quality. Finally, an alignment check step can be performed. Once the source assembly and detector are in place, a test image can be taken to confirm alignment. This will ensure that the region of interest is centered in the image and that the image quality is sufficient for diagnosis.

[0006] In summary, proper alignment of mobile medical imaging devices and detectors is crucial for obtaining accurate, high-quality images. Therefore, various devices are being developed to accurately guide this alignment.

[0007]

[0008] The present disclosure discloses a medical imaging device that precisely aligns a source assembly and a detector of a mobile medical imaging device. However, the technical challenges are not limited to the technical challenges described above, and other technical challenges may exist.

[0009]

[0010] A medical imaging device according to the present disclosure includes a detector control unit for controlling the operation of the detector, a detector including a first transceiver at a predetermined position, a source assembly including a second transceiver at the front, and a main control unit for controlling the operation of the medical imaging device, wherein the main control unit obtains alignment information for aligning the detector and the source assembly.

[0011] The alignment information of the medical imaging device according to the present disclosure includes information related to at least one of the direction, distance, and angle by which the source assembly must move, based on at least one of the position information of the detector and the position information of the source assembly.

[0012] The medical imaging device according to the present disclosure outputs a signal indicating that the detector area and the irradiation area match when the detector area and the irradiation area match based on alignment information.

[0013] A detector of a medical imaging device according to the present disclosure includes a plurality of first transceivers, a source assembly includes a plurality of second transceivers, and a main control unit obtains a SID (Source to Image Distance) from the source assembly to the detector based on a plurality of distances between the plurality of first transceivers and the plurality of second transceivers corresponding to each other on a one-to-one basis.

[0014] The source assembly of the medical imaging device according to the present disclosure further includes a 3D camera for acquiring a 3D camera image, and the main control unit acquires at least one of the source assembly and detector position information based on the 3D camera image.

[0015] The main control unit of the medical imaging device according to the present disclosure obtains line alignment information using the first transceiver and the second transceiver, obtains post-alignment information based on a 3D camera image, and determines final alignment information based on the line alignment information and the post-alignment information.

[0016] A medical imaging device according to the present disclosure obtains first distance information between a first transceiver and a second transceiver based on a signal between the first transceiver and the second transceiver, and displays an area of ​​a detector in a 3D camera image based on the first distance information.

[0017] The main control unit of the medical imaging device according to the present disclosure displays the area of ​​the detector on a 3D camera image, obtains second distance information from the 3D camera to at least one object photographed, and obtains a Source to Image Distance (SID) from a source assembly to the detector based on the area of ​​the detector and the second distance information.

[0018] The main control unit of the medical imaging device according to the present disclosure obtains second distance information from a 3D camera to at least one object photographed, and obtains a Source to Object Distance (SOD) from a source assembly to the subject based on the second distance information.

[0019] The main control unit of the medical imaging device according to the present disclosure obtains first distance information between the first transceiver and the second transceiver based on a signal between the first transceiver and the second transceiver, obtains a Source to Image Distance (SID) from a source assembly to a detector based on the first distance, and determines the thickness of the subject based on the SOD and the SID.

[0020] The main control unit of the medical imaging device according to the present disclosure obtains body part identification information of a subject, models the subject in three dimensions or two dimensions based on the body part identification information and SOD to obtain a body part model, positions the center of the detector area at the center of the body part model shown in the 3D camera image, and displays the detector area based on the SID.

[0021] The 3D camera of the medical imaging device according to the present disclosure includes at least one of a depth measurement camera, an RGBD (Red, Green, Blue, Depth) camera, or a TOF (Time of Flight) camera.

[0022] Additionally, a program for implementing the medical imaging device operating method as described above can be recorded on a computer-readable recording medium.

[0023]

[0024] By providing a means for quickly aligning the source assembly and detector of the medical imaging device of the present disclosure, user convenience can be improved and the quality of medical images can be improved.

[0025] The effects that can be obtained from the present disclosure are not limited to the effects mentioned above, and other effects that are not mentioned will be clearly understood by a person having ordinary skill in the art to which the present disclosure pertains from the description below.

[0026]

[0027] FIG. 1 is a drawing showing a mobile medical imaging device according to one embodiment of the present disclosure.

[0028] FIG. 2 is a drawing showing a process of using a medical imaging device according to one embodiment of the present disclosure.

[0029] FIG. 3 is a block diagram showing various configurations that may be included in a medical imaging device according to one embodiment of the present disclosure.

[0030] FIG. 4 illustrates a detector according to one embodiment of the present disclosure.

[0031] FIG. 5 is a drawing for explaining a source assembly according to one embodiment of the present disclosure.

[0032] FIG. 6 is a flowchart for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0033] FIG. 7 is a drawing for explaining a medical imaging device according to one embodiment of the present disclosure.

[0034] FIG. 8 is a flowchart illustrating a method for obtaining a detector area in a 3D camera image according to one embodiment of the present disclosure.

[0035] FIG. 9 is a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0036] FIG. 10 is a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0037] FIG. 11 may be a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0038] FIG. 12 is a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0039] FIG. 13 is a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0040] FIG. 14 is a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0041]

[0042] The advantages and features of the disclosed embodiments, and the methods for achieving them, will become clearer with reference to the embodiments described below, along with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure the completeness of the disclosure and to fully inform those skilled in the art of the present disclosure of the scope of the invention.

[0043] The terms used in this specification will be briefly explained, and the disclosed embodiments will be described in detail.

[0044] The terms used in this specification have been selected from widely used, current terms, taking into account the functions of the present disclosure. However, these terms may vary depending on the intentions of engineers working in the relevant fields, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this disclosure should not be defined simply as names, but rather based on the meanings of the terms and the overall content of the present disclosure.

[0045] In this specification, singular expressions include plural expressions unless the context clearly indicates that they are singular. In addition, plural expressions include singular expressions unless the context clearly indicates that they are plural.

[0046] When a part of a specification is said to "include" a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise stated.

[0047] Also, the term "part" used in the specification means a software or hardware component, and the "part" performs certain functions. However, the "part" is not limited to software or hardware. The "part" may be configured to reside on an addressable storage medium and may be configured to execute one or more processors. Thus, by way of example, the "part" includes components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within the components and "parts" may be combined into a smaller number of components and "parts" or further separated into additional components and "parts."

[0048] According to one embodiment of the present disclosure, a "unit" may be implemented as a processor and a memory. The term "processor" should be broadly interpreted to include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, and the like. In some circumstances, a "processor" may also refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), and the like. The term "processor" may also refer to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors in conjunction with a DSP core, or any other such combination of configurations.

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

[0050] Below, with reference to the attached drawings, a detailed description of the embodiments is provided so that those skilled in the art can easily implement the present disclosure. Furthermore, in order to clearly illustrate the present disclosure, portions irrelevant to the description are omitted from the drawings.

[0051] FIG. 1 is a diagram illustrating a mobile medical imaging device according to one embodiment of the present disclosure. FIG. 2 is a diagram illustrating a process of using a medical imaging device according to one embodiment of the present disclosure. FIG. 3 is a block diagram illustrating various components that may be included in a medical imaging device according to one embodiment of the present disclosure.

[0052] Referring to FIG. 1, the mobile medical imaging device (100) of the present disclosure may be capable of movement by including wheels. The medical imaging device according to one embodiment may be a device capable of photographing and / or examining the internal structure 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 penetrate the human body and scans the penetrated X-rays to obtain an image of the inside of the human body.

[0053] Referring to FIGS. 1 to 3, a medical imaging device (100) may include a source assembly (110), a detector (120), and a main body (130). In addition, the main body (130) of the medical imaging device (100) may include a high voltage generation unit (not shown in the drawing), 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).

[0054] Referring to FIG. 2, a user can move the medical imaging device (100) to a position near the patient bed (220). The user can place the detector (120) behind the subject. Accordingly, radiation emitted from the source assembly (110) can pass through the subject and reach the detector (120). The detector (120) can detect the radiation passing through the subject and convert it into an electrical signal. In addition, the detector (120) can acquire a radiological image based on the electrical signal.

[0055] Referring to FIGS. 1 to 3, a high voltage generator according to one embodiment can generate a high voltage for generating X-rays and apply the high voltage to an X-ray source included in a source assembly. The high voltage generator can be included in the main body (130), but is not limited thereto, and can also be included in the source assembly (110).

[0056] A source assembly (110) according to one embodiment may include an X-ray source that generates X-rays by receiving a high voltage generated from a high voltage generator. The X-ray source includes an X-ray tube, and the X-ray tube may be implemented as a two-pole vacuum tube having an anode and a cathode. In addition, the source assembly may include a collimator that guides the path of X-rays irradiated from the X-ray source to control the irradiation area of ​​the X-rays.

[0057] According to one embodiment, a detector detects X-rays transmitted through a target object by being irradiated from a source assembly. The detector may be a digital detector. The detector may be implemented using at least one of a Thin Film Transistor (TFT), a Charge Coupled Device (CCD), a Complementary Metal-Oxide Semiconductor (CMOS), a Computed Radiography (CR), and a film. The detector may be included in the medical imaging device (100) or may be a separate device connectable and detachable from the medical imaging device (100).

[0058] The medical imaging device (100) may include a control unit (300). In the present disclosure, the control unit (300) may refer to at least one of a main control unit included in the main body (130) and a detector control unit included in the detector. In the present disclosure, the control unit included in the main body 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 may be 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 may be similar in that they may include at least one of a processor and a memory, although they may be included in different devices. At least some of the operations performed by the main control unit may be performed by the detector control unit. Additionally, at least some of the operations performed by the detector control unit may also be performed by the main control unit. Therefore, at least one of the operations described as being performed by the main control unit in the present disclosure 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.

[0059] 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 a source assembly (110) that can drive 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). When the main control unit (300) includes multiple processors, at least some of the multiple processors may be provided at a location physically separated from the main body (130). In addition, the medical imaging device (100) is not limited thereto and may be implemented in various ways.

[0060] 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) can include a plurality of actuators, and the medical imaging device (100) can control the operation of the medical imaging device (100) by controlling the operation of the plurality of actuators. For example, the main control unit (300) can control a source assembly driving unit for moving the source assembly (110). In addition, the main control unit (300) can control the source assembly (110) to emit X-rays and the detector (120) to receive X-rays transmitted through a target object to obtain an X-ray image.

[0061] According to one embodiment of the present disclosure, the main control unit (300) can generate a medical image. For example, the main control unit (300) can generate a medical image by scanning a detector irradiated with X-rays.

[0062] The medical imaging device (100) may include a sensor unit (310). The sensor unit (310) may obtain various information using at least one sensor. The sensor unit (310) may be provided as a sensor using a measuring means such as pressure, electric potential, and optical. For example, the sensor unit (310) may include at least one of a distance measuring sensor or an encoder. In addition, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, and the like. However, the present invention is not limited thereto. The sensor unit may be included in at least one of a main body, a source assembly, a detector, a source assembly arm, and a detector arm.

[0063] In addition, the medical imaging device (100) may include a communication unit (320). The communication unit (320) may be a configuration for the medical imaging device (100) to communicate with an internal module or an external device via wired or wireless communication. The external device may include an external server or a user terminal. The user terminal may include a PC, a smartphone, a tablet, or a wearable device. The communication unit (320) may include a wired / wireless communication module for network access. As wireless communication technologies, for example, WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink PacketAccess), etc. may be used. As wired communication technologies, for example, XDSL (Digital Subscriber Line), FTTH (Fibers to the home), PLC (Power Line Communication), etc. may be used. Additionally, the network connection unit may include a short-range communication module, enabling data transmission and reception with any device / terminal located within 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 thereto.

[0064] The medical imaging device (100) may include a memory (330). The main control unit (300) may execute commands stored in the memory. The memory (330) may be included in the main control unit (300) or may be external to the main control unit (300). The memory (330) may store various information related to the medical imaging device (100). For example, the memory (330) may include information related to the operation method of the source assembly (110), and may include captured images and user authentication information, but is not limited thereto.

[0065] The memory (330) may be implemented through a non-volatile storage medium capable of persistently storing arbitrary data. For example, the memory (330) may include, but is not limited to, storage devices based on disks, optical disks, and magneto-optical storage devices, as well as flash memory and / or battery-backed memory. The memory (330) may mean, but is not limited to, a volatile storage device, such as a random access memory (RAM) such as a dynamic random access memory (DRAM) and a static random access memory (SRAM), which are the primary storage devices directly accessed by the processor, and in which stored information is instantly erased when the power is turned off. The memory (330) may be operated by the main control unit (300). In addition, the main control unit (300) may also execute instructions contained in the memory (330).

[0066] In addition, 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).

[0067] The output unit (340) can output sound and image that can display information related to shooting such as X-ray irradiation or check the status of the main body under the control of the main control unit (300). The output unit (340) can include a speaker or a display. The output unit (340) can output medical images generated by the main control unit (300). The output unit (340) can output information necessary for a user to operate the medical imaging device (100), such as a UI (user interface), user information, or object information. Examples of the output unit (340) can include a speaker, a printer, a CRT display, an LCD display, a PDP display, an OLED display, an FED display, an LED display, a VFD display, a DLP display, an FPD display, a 3D display, a transparent display, etc., and can include various output devices within a range obvious to those skilled in the art.

[0068] The medical imaging device (100) may be connected to the workstation wirelessly or with a wire. The workstation may be located in a physically separate space from the medical imaging device (100).

[0069] The workstation may include a storage server. The storage server may store medical images, information about a subject, information about a user (a medical professional), etc. The workstation may include a review device. The review device may receive medical images from the storage server based on a user's command and diagnose the medical images. The workstation and the medical imaging device (100) may transmit, store, process, and output data according to the DICOM (Digital Imaging and Communications in Medicine) standard. In addition, the workstation may include a PACS (Picture Archiving and Communication System).

[0070] The workstation may include an output unit, an input unit, and a control unit. The output unit and the input unit provide the user with an interface for operating the workstation and the medical imaging device (100). The control unit of the workstation may control the workstation and the medical imaging device (100).

[0071] The medical imaging device (100) can be controlled through a workstation, and can also be controlled by a main control unit (300) included in the medical imaging device (100). Accordingly, a user can control the medical imaging device (100) through a workstation, or can control the medical imaging device (100) through an operation unit and a main control unit (300) included in the medical imaging device (100). In other words, the user can remotely control the medical imaging device (100) through a workstation, or can directly control the medical imaging device (100).

[0072] 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 thereto. The control unit of the workstation and the main control unit (300) of the medical imaging device (100) may be implemented as a single integrated control unit, or the integrated control unit may be included in only one of the workstation and the medical imaging device (100). Hereinafter, the main control unit (300) may refer to the control unit of the workstation and / or the control unit of the medical imaging device (100).

[0073] The output unit and input unit of the workstation and the output unit (340) and input unit (350) of the medical imaging device (100) may each provide a user with an interface for operating the medical imaging device (100). The workstation and the medical imaging device (100) may each include an output unit and an input unit, but are not limited thereto. The output unit or the input unit may be implemented in only one of the workstation and the medical imaging device (100).

[0074] Hereinafter, the input unit (350) means the input unit of the workstation and / or the input unit of the medical imaging device (100), and the output unit (340) means the output unit of the workstation and / or the output unit of the medical imaging device (100).

[0075] The input unit (350) can receive commands for operating the medical imaging device (100) from the user and various types of information regarding X-ray photography. The main control unit (300) can control or operate the medical imaging device (100) based on the information input to the input unit (350). The input unit (350) can include a joystick, a keyboard, a mouse, a touch screen, a shooting button, an unlocking button, a voice recognizer, a fingerprint recognizer, an iris recognizer, a human motion recognizer, and the like, and can include other input devices obvious to those skilled in the art.

[0076] The human motion recognition unit included in the input unit (350) may be implemented using at least one camera. For example, the human motion recognition unit may be implemented using a 3D camera or depth sensor included in the source assembly (110). Based on the human motion recognition unit, the main control unit (300) may control the operation of the medical imaging device (100). To explain the human motion recognition unit, reference is made to FIG. 14.

[0077] FIG. 14 is a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0078] Referring to FIG. 14, the first gesture (1410) represents a motion in which the user waves his or her hand left and right. For example, the user may make the first gesture (1410) of shaking his or her hand left and right in a space where the human motion recognizer recognizes the gesture. The main control unit (300) may perform realignment of the source assembly (110) and the detector (120) based on a signal recognizing the first gesture (1410) from the human motion recognizer. For example, the main control unit (300) may perform the process for aligning the source assembly (110) and the detector (120) again from the beginning. The process may be, for example, the same as some of the processes illustrated in FIG. 6.

[0079] The second gesture (1420) represents a motion in which the user raises one finger and moves his / her hand to at least one of the left, right, forward, or backward directions. For example, the user may make the second gesture (1420) in which the user raises one of his / her fingers and moves his / her hand to at least one of the left, right, forward, or backward directions in a space where the human motion recognizer recognizes the gesture. The main control unit (300) may control the source assembly (110) to move based on a signal recognizing the second gesture (1420) from the human motion recognizer. In addition, the main control unit (300) may change the position of at least one of the radiation irradiation area (720) and the center (721) of the radiation irradiation area (720) shown in the 3D camera image (710) based on the movement of the source assembly (110). For example, if the user raises one finger and moves his / her hand to the left, the source assembly may move to the left with respect to the fixed detector (120). Additionally, the source assembly (110) may move to the left, so that the center (721) of the radiation irradiation area (720) in the 3D camera image (710) of FIG. 7 may move to the left.

[0080] The third gesture (1430) represents a motion in which the user holds two fingers still while raising them. For example, the user may make the third gesture (1430) in which two of the user's fingers are held still while raising them in a space where the human motion recognition device recognizes the gesture. The main control unit (300) may determine that the alignment is complete based on a signal recognizing the third gesture (1430) from the human motion recognition device. In addition, the main control unit (300) may fix the source assembly (110) so that it does not move or prepare to irradiate radiation based on the completion of the alignment. The main control unit (300) may transmit a signal to the detector control unit based on the completion of the alignment to prepare the detector (120) to receive radiation.

[0081] The fourth gesture (1440) represents a motion in which the user rotates his / her hand clockwise while raising one finger. For example, the user may make the fourth gesture (1440) of rotating his / her hand clockwise while raising one finger in a space where the human motion recognizer can recognize the gesture. The main control unit (300) may increase the output of the source assembly (110) based on a signal recognizing the fourth gesture (1440) from the human motion recognizer. However, the present invention is not limited thereto, and the main control unit (300) may decrease the output of the source assembly (110) based on a signal recognizing the fourth gesture (1440) from the human motion recognizer.

[0082] The fifth gesture (1450) represents a motion in which the user rotates his / her hand counterclockwise while raising one finger. For example, the user may make the fifth gesture (1450) by raising one finger and rotating his / her hand counterclockwise in a space where the human motion recognizer can recognize the gesture. The main control unit (300) may lower the output of the source assembly (110) based on a signal recognizing the fifth gesture (1450) from the human motion recognizer. However, the present invention is not limited thereto, and the main control unit (300) may increase the output of the source assembly (110) based on a signal recognizing the fifth gesture (1450) from the human motion recognizer.

[0083] The sixth gesture (1460) represents a motion in which the user makes a circle with his or her fingers and moves his or her hand to the right. For example, the user may make the sixth gesture (1460) by making a circle with his or her thumb and index finger and moving his or her hand to the right in a space where the human motion recognition device can recognize the gesture. The main control unit (300) may change the shooting position based on a signal recognizing the sixth gesture (1460) from the human motion recognition device. For example, the main control unit (300) may select the next item from a list of predetermined shooting positions based on the sixth gesture (1460). However, the present invention is not limited thereto, and the main control unit (300) may select a predetermined shooting position corresponding to the sixth gesture (1460) based on the sixth gesture (1460). The predetermined shooting position may be, for example, the chest. The main control unit (300) may obtain and apply predetermined radiation exposure setting information corresponding to the selected shooting position from the memory.

[0084] The seventh gesture (1470) represents a motion in which the user makes a circle with his or her fingers and moves his or her hand to the left. For example, the user may make the seventh gesture (1470) by making a circle with his or her thumb and index finger and moving his or her hand to the left in a space where the human motion recognition device can recognize the gesture. The main control unit (300) may change the shooting position based on a signal recognizing the seventh gesture (1470) from the human motion recognition device. For example, the main control unit (300) may select a previous item from a list of predetermined shooting positions based on the seventh gesture (1470). However, the present invention is not limited thereto, and the main control unit (300) may select a predetermined shooting position corresponding to the seventh gesture (1470) based on the seventh gesture (1470). The predetermined shooting position may be, for example, the abdomen. The main control unit (300) may obtain and apply predetermined radiation exposure setting information corresponding to the selected shooting position from the memory.

[0085] In the above, the gestures (1410 to 1470) shown in Fig. 14 and the corresponding operations of the medical imaging device (100) have been described, but are not limited thereto, and one of the gestures (1410 to 1470) may correspond to one of various operations of the medical imaging device (100). In addition, the gestures that the human motion recognition device can recognize are not limited to Fig. 14.

[0086] As described above, the medical imaging device (100) is controlled based on gestures, thereby enhancing user convenience. For example, the user can control the medical imaging device (100) from any location without returning to the main body (130), thereby reducing the user's movement when capturing medical images. Furthermore, since there is no need to approach the medical imaging device (100) to input gestures, radiation exposure can be reduced and user safety can be ensured.

[0087] Referring again to FIG. 3, a user can input a command for X-ray irradiation through an input unit (350), and a switch for inputting such a command may be provided in the input unit (350). The switch may be provided so that an irradiation command for X-ray irradiation is input only when pressed at least once.

[0088] For example, when a user presses a switch, the switch may have a structure in which a preparation command for preheating for X-ray irradiation is input, and when the switch is pressed further in that state, an irradiation command for actual X-ray irradiation is input. In this way, when a user operates the switch, the main control unit (300) generates a signal corresponding to the command input through the switch operation, that is, a preparation signal, and transmits it to a high voltage generation unit that generates a high voltage for X-ray generation.

[0089] The high voltage generator starts preheating upon receiving a ready signal transmitted from the main control unit (300), and when preheating is completed, transmits a ready signal to the main control unit (300). In addition, in order to detect X-rays, the detector also needs to be prepared for X-ray detection, and the main control unit (300) transmits a ready signal to the detector so that the detector can prepare to detect X-rays that have passed through the object along with the preheating of the high voltage generator. When the detector receives the ready signal, it prepares to detect X-rays, and when the detection preparation is completed, it transmits a detection ready signal to the main control unit (300).

[0090] When the preheating of the high voltage generator is completed and the detector is ready to detect X-rays, the main control unit (300) transmits an irradiation signal to the high voltage generator, the high voltage generator generates a high voltage and applies it to the X-ray source, and the X-ray source irradiates X-rays.

[0091] When transmitting an irradiation signal, the control unit (300) may transmit a sound or light output signal to the output unit (340) so that a predetermined sound or light is output from the output unit (340) so that the subject can be informed of the X-ray irradiation. In addition, the output unit (340) may output a sound or light indicating other photographing-related information in addition to the X-ray irradiation. The output unit (340) may be included in the operation unit, but is not limited thereto, and the output unit (340) or a part of the output unit (340) may be located at a different location from the location of the operation unit. For example, it may be located on the wall of the photographing room where X-ray photography of the subject is performed.

[0092] The control unit (300) controls the position of the X-ray irradiation unit and detector, shooting timing, shooting conditions, etc. according to the shooting conditions set by the user.

[0093] Specifically, the main control unit (300) controls the high voltage generator and the detector according to commands input through the input unit (350), thereby controlling the timing of X-ray irradiation, the intensity of X-rays, and the irradiation area of ​​X-rays, etc. In addition, the main control unit (300) adjusts the position of the detector according to predetermined shooting conditions and controls the operation timing of the detector.

[0094] Additionally, the main control unit (300) generates a medical image of the subject using 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 a medical image of the subject.

[0095] The workstation may further include a communication unit (not shown) that can be connected to a server, medical device, or portable terminal via a network. The workstation may be one of the external devices.

[0096] Below, the source assembly (110) and detector (120) are described in detail with reference to FIGS. 4 and 5.

[0097] FIG. 4 illustrates a detector according to one embodiment of the present disclosure.

[0098] The medical imaging device (100) may include a detector (120). FIG. 4 illustrates the rear side of the detector (120). The rear side of the detector (120) may refer to the rear side of the surface that receives radiation. The detector (120) may be detachable from the medical imaging device (100). That is, the detector (120) may move independently from the medical imaging device (100). However, the present invention is not limited thereto, and the detector (120) may be coupled to the medical imaging device (100).

[0099] The detector (120) may include a detector control unit for controlling the operation of the detector. The detector control unit may control the operation of the detector (120). The detector control unit may determine the time for receiving radiation. The time for receiving radiation may include a start time and an end time for receiving radiation. The detector control unit may generate a medical image based on the received signal.

[0100] The detector (120) may include a first transceiver (410) at a predetermined position. FIG. 4 illustrates an embodiment of the first transceiver (410). However, the position of the first transceiver (410) is not limited to FIG. 4. The first transceiver (410) may be configured to wirelessly communicate with a second transceiver included in the source assembly (110). The first transceiver (410) may include a first transmitter and a first receiver. The detector (120) may include a plurality of first transceivers (410). The first transceivers (410) may be positioned on a surface of the detector (120) that receives radiation. The first transceivers (410) may also be arranged along an edge of the detector (120). The first transceiver (410) may be positioned on the left and right sides of the detector (120). For example, two first transceivers (410) may be positioned on the left side of the detector (120) and two on the right side. In this way, when a plurality of first transceivers (410) are arranged on the detector (120), the medical imaging device (100) can accurately align the detector (120) and the source assembly (110). However, the present invention is not limited thereto, and the first transceiver (410) may be positioned near the corners of the rectangular detector (120).

[0101] FIG. 5 is a drawing for explaining a source assembly according to one embodiment of the present disclosure.

[0102] FIG. 5 may be a drawing looking at the radiation irradiation surface of the source assembly (110). The source assembly (110) may be connected to the main body (130) via the source arm (140). As previously described, the source assembly (110) may include an X-ray source (501) and a collimator (502). The collimator (502) may be rotatable about an axis parallel to the longitudinal direction of the source arm (140) with respect to the X-ray source (501). The radiation irradiation range may be determined by the collimator (502). Therefore, the radiation irradiation range may also rotate about an axis parallel to the longitudinal direction of the source arm (140) by rotation of the collimator (502).

[0103] The source assembly (110) may include a second transceiver (510) on the front side. The second transceiver (510) may include a second transmitter and a second receiver. The front side of the source assembly (110) may refer to a surface located in a direction in which radiation is emitted from the source assembly (110). The front side of the source assembly (110) may be a surface perpendicular to the direction in which radiation is emitted. The second transceiver (510) may communicate with the first transceiver (410). The first transceiver (410) and the second transceiver (510) may communicate with each other using Ultra Wide Band (UWB).

[0104] The source assembly (110) may include a plurality of second transceivers (510). The second transceivers (510) may be arranged at a corner of the front surface of the source assembly (110). In this way, when a plurality of second transceivers (510) are arranged in the source assembly (110), the medical imaging device (100) can accurately align the detector (120) and the source assembly (110).

[0105] The source assembly (110) may include a 3D camera (520). The 3D camera (520) may be configured to acquire at least one of the attitude information of the detector (120) and the attitude information of the source assembly (110). The 3D camera (520) may include at least one of a depth measurement camera, an RGBD (Red, Green, Blue, Depth) camera, or a TOF (Time of Flight) camera. The 3D camera (520) is a type of imaging device that measures the distance to an object appearing in an image by measuring the time it takes for light to reflect from the object to reach the camera. The 3D camera (520) may generally be used in applications such as robotics, virtual / augmented reality, autonomous vehicles, and indoor navigation.

[0106] The 3D camera (520) may use a special type of image sensor that is sensitive to both intensity and time. The 3D camera (520) may emit a modulated optical signal (visible light or infrared) and measure the time it takes for the light to reflect off an object and return to the camera. Additionally, the 3D camera (520) may measure the phase shift of the modulated signal to calculate the distance to the object. The 3D camera (520) may repeat this process several times per second to generate a 3D map of the image. The 3D camera (520) may also acquire an infrared image of the object by emitting infrared light and detecting the light that is reflected off the object. However, the present disclosure is not limited thereto. The 3D camera (520) may also acquire a visible light image of the object by emitting visible light and detecting the light that is reflected off the object. Although the drawings of the present disclosure may focus on the medical imaging device (100) acquiring an infrared image, the present disclosure is not limited thereto. Anything described as an infrared image below can be changed to a 3D camera image. In addition, a 3D camera image is a term that includes at least one of an infrared image and a visible light image, and is an image that can be displayed on a medical imaging device (100), and may be an image that captures the surface of a subject to be captured by the medical imaging device (100) and objects around it.

[0107] The 3D camera (520) can operate under a wide range of lighting conditions and is less affected by ambient lighting and reflections. Furthermore, the 3D camera (520) has a high frame rate and can capture fast-moving objects in real time.

[0108] The source assembly (110) may additionally include a gyro sensor (530). The gyro sensor (530) may measure the attitude of the source assembly (110) in three-dimensional space. For example, the gyro sensor (530) may measure the degree of rotation about at least one of a first axis parallel to the ground, a second axis parallel to the ground and perpendicular to the first axis, and a third axis perpendicular to the ground. The detector (120) may also include a gyro sensor, and the medical imaging device (100) may guide the radiation irradiation direction of the source assembly (110) to be aligned perpendicular to the surface of the detector (120) based on the gyro sensor of the detector (120) and the gyro sensor (530) of the source assembly (110).

[0109] Below, the operation of the main control unit (300) included in the main body (130) is described.

[0110] FIG. 6 is a flowchart for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0111] The main control unit (300) may perform a step (610) of activating the medical imaging device when the intensity of the signal from the first transceiver (410) received by the second transceiver (510) is greater than a predetermined threshold signal intensity. The intensity of the signal from the first transceiver (410) received by the second transceiver (510) may be determined based on the distance between the second transceiver (510) and the first transceiver (410). That is, the closer the second transceiver (510) and the first transceiver (410) are, the greater the intensity of the signal from the first transceiver (410) received by the second transceiver (510). Additionally, the distance between the first transceiver (410) and the second transceiver (510) may refer to the distance between the source assembly (110) and the detector (120). That is, when the distance between the source assembly (110) and the detector (120) is within the activation threshold distance, the medical imaging device can be activated.

[0112] In order for the first transceiver (410) and the second transceiver (510) to communicate, the first transceiver (410) and the second transceiver (510) may need to be activated. More specifically, when the user presses the button of the mobile detector (120) to activate it, the detector control unit may transmit a signal to the second transceiver (510) using the first transceiver (410). When the main control unit (300) confirms that the second transceiver (510) has received a signal from the detector (120), the medical imaging device (100) may be activated. Here, activating the medical imaging device (100) may mean, for example, entering a partial sleep mode or a radiation exposure mode from a deep sleep mode. The deep sleep mode means a state in which almost all functions included in the detector are deactivated. For example, deep sleep mode may be a state in which all functions except for at least one of the main control unit (300) and the second transceiver unit (510) are disabled. Partial sleep mode may refer to a state in which only some functions are disabled. Radiation irradiation mode may refer to a state immediately before radiation irradiation or a state in which radiation is being prepared. In addition, the medical imaging device (100) may refer to a screen displaying a screen for preparing for radiation irradiation.

[0113] The main control unit (300) may perform the following process to activate the medical imaging device (100). The main control unit (300) may perform a step of receiving identification information of the detector using the second transceiver unit (510). In addition, the main control unit (300) may obtain characteristic information of the detector based on the identification information of the detector. The main control unit (300) may reflect the specific information of the detector in the radiation irradiation setting information. The radiation irradiation setting information may include at least one of the intensity of radiation, the timing of radiation irradiation, the time of radiation irradiation, and the range of radiation irradiation. In this way, the medical imaging device (100) can obtain high-quality medical images by optimally irradiating radiation according to the detector.

[0114] Although the above has been described from the perspective of a medical imaging device (100), a similar process can also be performed in a detector (120).

[0115] The detector control unit included in the detector (120) can activate the detector when the intensity of the signal from the second transceiver (510) received by the first transceiver (410) is greater than a predetermined threshold signal intensity. More specifically, when the user presses a button on the mobile medical imaging device (100) to activate it, the main control unit (300) can transmit a signal to the first transceiver (410) using the second transceiver (510). When the detector control unit confirms that the first transceiver (410) has received a signal from the medical imaging device (100), it can activate the detector (120). Here, activating the detector (120) may mean, for example, entering a partial sleep mode or a radiation reception mode from a deep sleep mode. Deep sleep mode refers to a state in which almost all functions included in the detector are disabled, and partial sleep mode may refer to a state in which only some functions are disabled. More functions may be activated in partial sleep mode than in deep sleep mode. For example, in partial sleep mode, only the components for generating radiological images may be disabled, while other functions may be activated. In this case, the activated state may be at least one of a communication function and an input / output function. Radiation reception mode may refer to a state in which radiation can be received to acquire a radiological image. That is, when the first transceiver (410) receives an irradiation preparation signal indicating that the area of ​​the detector and the irradiation area match from the second transceiver (510), the detector control unit enters the radiation reception mode, and the radiation receiving element included in the detector can detect radiation and generate an electrical signal. The detector control unit can detect radiation for a predetermined period of time, terminate radiation reception, and generate a medical image based on the radiation signal received up to that time.

[0116] After activating the detector, the detector control unit can transmit at least one of the detector identification information and the detector characteristic information to the second transceiver unit (510) using the first transceiver unit (410). The main control unit of the source assembly (110) can determine radiation exposure setting information based on at least one of the detector identification information and the detector characteristic information. The medical imaging device (100) can acquire medical images by reflecting the individual characteristics of the detector, and thus can acquire high-quality medical images.

[0117] The main control unit (300) can perform a step (620) of acquiring a 3D camera image of at least one of a subject and a detector based on the 3D camera (520). As previously described, the 3D camera (520) can be implemented to measure the distance from the 3D camera (520) to at least one object photographed by the 3D camera (520) using at least one of infrared rays or visible light. Therefore, the 3D camera (520) can not only measure the distance of the photographed object, but also acquire a 3D camera image. The 3D camera image can be an image based on at least one of infrared rays and visible light radiated from the 3D camera (520) and reflected from the subject and objects around it and then received by the 3D camera (520). That is, the subject and objects around it can appear in the 3D camera image. The 3D camera image can show the surface of the subject and objects around it. A radiographic image may differ from a 3D camera image in that it may show the interior of a subject and objects around it. In addition, since the detector (120) will be placed behind the subject, the 3D camera image may include the detector (120). However, this is not limited to the detector (120), and the detector (120) may be obscured by the subject and not appear in the 3D camera image. Radiation emitted from the source assembly (110) may pass through the subject and reach the detector (120). The main control unit (300) may detect the detector appearing in the 3D camera image using a machine learning model. In addition, the main control unit (300) may detect the position of the detector (120) with respect to the source assembly (110) based on signals from the first transceiver (410) and the second transceiver (510) even if the detector does not appear in the 3D camera image.

[0118] Refer briefly to FIG. 7 to explain steps (630) and (640).

[0119] FIG. 7 is a drawing for explaining a medical imaging device according to one embodiment of the present disclosure.

[0120] Referring to FIGS. 6 and 7, a step (630) of displaying a radiation irradiation area in a 3D camera image may be performed based on the status information of the source assembly (110). The status information of the source assembly (110) may mean at least one of the mode of the source assembly and the position information of the blades included in the collimator. For example, when the mode of the source assembly (110) is a shooting mode, the medical imaging device (100) may display a radiation irradiation area (720) in the 3D camera image (710). The 3D camera (520) may be positioned at a fixed position with respect to the source assembly (110). Therefore, the center (721) of the radiation irradiation area (720) to be irradiated by the source assembly (110) in the 3D camera image by the 3D camera (520) may be located at a fixed position. The main control unit (300) can display the center (721) of the radiation irradiation area (720) at a predetermined location in the 3D camera image. However, it is not limited thereto, and the main control unit (300) can display the center (721) of the radiation irradiation area (720) based on the position information of the blades included in the collimator. In Fig. 7, the radiation irradiation area (720) and the center (721) of the radiation irradiation area (720) are simultaneously drawn in the 3D camera image (710), but it is not limited thereto. The main control unit (300) can display at least one of the radiation irradiation area (720) and the center (721) of the radiation irradiation area (720).

[0121] In addition, the status information of the source assembly (110) may include position information of the blades included in the collimator. The blades included in the collimator may include a material that does not transmit radiation. The blades of the collimator may block some of the radiation generated from the X-ray source to determine the radiation irradiation area. The main control unit (300) may determine at least one of the size and position of the radiation irradiation area (720) displayed in the 3D camera image (710) based on the status information of the source assembly (110) including the position information of the blades included in the collimator. In addition, the main control unit (300) may display the center (721) of the radiation irradiation area (720) based on the position of the radiation irradiation area (720). The main control unit (300) may display the radiation irradiation area (720) in the 3D camera image (710) based on at least one of the size and position of the radiation irradiation area (720).

[0122] In addition, the main control unit (300) can perform a step (640) of displaying the area (730) of the detector in the 3D camera image (710). The main control unit (300) can perform a process for finding the area (730) of the detector, and the process for finding the area (730) of the detector will be described later. The main control unit (300) can display at least one of the area (730) of the detector and the center (731) of the area (730) of the detector in the 3D camera image (710).

[0123] The medical imaging device (100) may include an output unit (340). The output unit (340) may include a display (760). The display (760) may be included in at least one of the main body (130) or the source arm (140). The medical imaging device (100) may display at least one of a 3D camera image, a radiation irradiation area, and a detector area on the display (760).

[0124] Referring back to FIG. 6, the main control unit (300) may perform a step (650) of outputting a message guiding alignment of the investigation area and the detector area (730) based on alignment information. The main control unit (300) may determine alignment information related to at least one of a direction, a distance, and an angle at which the source assembly (110) must move in order to align the detector (120) and the source assembly (110) based on at least one of the 3D camera, the first transceiver (410), and the second transceiver (510). The main control unit (300) may obtain alignment information in order to perform the step (650) of outputting a message. The alignment information may be information for aligning the source assembly (110) and the detector (120). Here, 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 irradiation direction of the radiation. The alignment information may include at least one of the first alignment information, the second alignment information, and the third alignment information.

[0125] The main control unit (300) can obtain at least one of the attitude information of the detector (120) and the attitude information of the source assembly (110) based on the first transceiver (410) and the second transceiver (510). The main control unit (300) can further use a 3D camera to obtain 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 a 3D camera to correct at least one of the attitude information of the detector (120) and the attitude information of the source assembly (110).

[0126] The main control unit (300) may perform a step of acquiring information for adjusting the angle of the source assembly (110) so that the radiation irradiation direction of the source assembly (110) becomes 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) may be acquired based on at least one of the gyro sensor included in the detector (120) and the first transceiver (410). The detector (120) may directly measure the attitude information based on the gyro sensor, and may also indirectly measure it by triangulation using the first transceiver (410) and the second transceiver (510). The attitude information of the detector (120) may include at least one of the degree of inclination (tilt) of the detector (120) with respect to the source assembly (110) or the ground, and the distance. The attitude information of the detector (120) may include the degree of rotation of the detector (120) with respect to at least one of a first axis parallel to the ground, a second axis parallel to the ground and perpendicular to the first axis, and a third axis perpendicular to the ground. The attitude information of the detector (120) may include a distance from a point of the source assembly (110) to a point of the detector (120). The attitude information of the detector (120) may include coordinates from one of a point of the source assembly (110) or a point of the main body (130) to a point of the detector (120). A point of the source assembly (110) may be either the center of the source assembly (110) or the center of the front of the source assembly (110). In addition, a point of the detector (120) may be the center of the radiation irradiation surface of the detector (120). However, a point of the main body (130), a point of the source assembly (110), and a point of the detector (120) may be points included in the main body (130), the source assembly (110), and the detector (120), respectively, and are not limited to the above description.The detailed information of the detector (120) may include the inclination of the radiation irradiation surface of the detector (120) with respect to the front of the source assembly (110).

[0127] The main control unit (300) included in the medical imaging device (100) can obtain the attitude information of the source assembly (110) based on at least one of the gyro sensor and the second transceiver (510). The attitude information of the source assembly (110) can include at least one of the degree of inclination (tilt) of the source assembly (110) with respect to the detector (120) or the ground, and the distance. The main control unit (300) can directly measure the attitude information of the source assembly (110) based on the gyro sensor, and can also indirectly measure it by triangulation by the first transceiver (410) and the second transceiver (510). The attitude information of the source assembly (110) can include information on rotation of the source assembly (110) based on at least one of the first axis, the second axis, and the third axis. The detailed information of the source assembly (110) may include a distance from one of a point of the detector (120) or a point of the main body (130) to a point of the source assembly (110). The detailed information of the source assembly (110) may include a coordinate from a point of the source assembly (110) to a point of the detector (120). The detailed information of the source assembly (110) may include an inclination of the front surface of the source assembly (110) with respect to the radiation irradiation surface of the detector (120).

[0128] In the above, the process of acquiring attitude information based on the first transceiver and the second transceiver has been described, but it is not limited thereto. The main control unit (300) may acquire at least one of attitude information of the source assembly (110) and attitude information of the detector (120) based on the 3D camera (520). That is, the main control unit (300) may acquire at least one of attitude information of the source assembly (110) and attitude information of the detector (120) based on the 3D camera image by the 3D camera (520). The 3D camera (520) included in the source assembly (110) may capture an image of the detector (120). The main control unit (300) may measure the depth (distance) from the front of the source assembly (110) to each point included in the radiation irradiation surface of the detector based on the 3D camera image by the 3D camera. The main control unit (300) can output at least one of the detailed information of the source assembly (110) and the detailed information of the detector (120). That is, the main control unit (300) can control the output unit (340) to output at least one of the detailed information of the source assembly (110) and the detailed information of the detector (120).

[0129] According to one embodiment of the present disclosure, when performing step (650), the main control unit (300) may determine alignment information related to at least one of a direction, a distance, and an angle in which the source assembly should move based on at least one of the attitude information of the detector (120) and the attitude information of the source assembly (110) in order to align the detector and the source assembly. In the present disclosure, the alignment information in which the source assembly should move is described as reference, but is not limited thereto, and the alignment information in which the source assembly should move may be replaced with the alignment information in which the detector should move and may be described in the same manner. The alignment information may include first alignment information to third alignment information. Here, the alignment of the detector (120) and the source assembly (110) may mean that the irradiation area and the area of ​​the detector match, or may mean that a line connecting the center of the detector and the center of the source assembly (110) is parallel to the irradiation direction of the radiation.

[0130] According to the present disclosure, the main control unit (300) can obtain at least one of the first attitude information and the first alignment information using the first transceiver (410) and the second transceiver (510). In addition, the main control unit (300) can determine at least one of the second attitude information and the second alignment information based on the 3D camera image of the 3D camera (520). The first attitude information may include at least one of the attitude information of the first detector and the attitude information of the first source assembly. The second attitude information may include at least one of the attitude information of the second detector and the attitude information of the second source assembly. The first alignment information may include at least one of the first alignment information, the second alignment information, and the third alignment information. The second alignment information may include at least one of the first alignment information, the second alignment information, and the third alignment information. In the above, it has been described that the post-position information and post-alignment information are acquired based on the 3D camera (520), but this is not limited thereto, and the line-position information and line-alignment information may also be acquired based on the 3D camera (520). This process will be described in more detail below.

[0131] According to one embodiment of the present disclosure, the main control unit (300) can independently determine attitude information using the 3D camera (520). Here, the attitude information may include at least one of attitude information of the source assembly (110) and attitude information of the detector (120). In addition, the attitude information may be determined first using the first transceiver (410) and the second transceiver (510) and then the attitude information may be corrected auxiliary using the 3D camera (520). However, the present invention is not limited thereto, and the attitude information may be determined first using the 3D camera (520) and then the attitude information may be corrected auxiliary using the first transceiver (410) and the second transceiver.

[0132] For example, the main control unit (300) can determine the pre-position information using the first transceiver unit (410) and the second transceiver unit. Next, the main control unit (300) can determine the post-position information based on the 3D camera image of the 3D camera (520). The pre-position information can include the pre-position information of the pre-detector and the pre-position information of the pre-source assembly. The post-position information can include the pre-position information of the post-detector and the pre-position information of the post-source assembly.

[0133] The main control unit (300) can determine the final attitude information based on the pre-attitude information and the post-attitude information. More specifically, the main control unit (300) can determine that the pre-attitude information needs to be corrected if the difference in size between the pre-attitude information and the post-attitude information is greater than a predetermined threshold alignment information. Here, the size of the attitude information can be one of the distance size and the angle size. If the main control unit (300) determines that correction is necessary, the final attitude information can be determined by calculating a weighted average of the pre-attitude information and the post-attitude information.

[0134] Final posture information = W1 * pre-posture information + W2 * post-posture information

[0135] Here, W1 and W2 are predetermined constants, and W1 + W2 may be 1. In addition, W1 may be greater than or equal to W2. The main control unit (300) may determine alignment information based on the final detail information.

[0136] According to various embodiments of the present disclosure, the main control unit (300) can determine alignment information using the 3D camera (520). In addition, the alignment information can be determined first using the first transceiver (410) and the second transceiver (510) and then the alignment information can be corrected auxiliary using the 3D camera (520). However, this is not limited to the above, and the alignment information can be determined first using the 3D camera (520) and then the alignment information can be corrected auxiliary using the first transceiver (410) and the second transceiver.

[0137] For example, the main control unit (300) can obtain line alignment information using the first transceiver unit (410) and the second transceiver unit (510). The line alignment information may be information obtained without the help of the 3D camera (520). The line alignment information may be uncorrected alignment information. Next, the main control unit (300) can obtain post-alignment information based on the 3D camera image of the 3D camera (520).

[0138] The main control unit (300) can determine final alignment information based on the pre-alignment information and the post-alignment information. The final alignment information is corrected alignment information and can include final first alignment information, final second alignment information, and final second alignment information. More specifically, the main control unit (300) can determine that the pre-alignment information needs to be corrected if the difference in size between the pre-alignment information and the post-alignment information is greater than a predetermined threshold alignment information. Here, the size of the alignment information can be one of the distance size and the angle size. If the main control unit (300) determines that correction is necessary, the final alignment information can be determined by weighting the pre-alignment information and the post-alignment information.

[0139] Final alignment information = W3 * line alignment information + W4 * post alignment information

[0140] Here, W3 and W4 are predetermined constants, and W3 + W4 can be 1. Also, W3 can be greater than or equal to W4.

[0141] The main control unit (300) may determine not to correct the line alignment information if the difference in size between the line alignment information and the post-alignment information is smaller than or equal to a predetermined threshold alignment information. In other words, the main control unit (300) may determine the line alignment information as the final alignment information. The main control unit (300) may guide the source assembly (110) to move or the detector (120) to move based on the final alignment information.

[0142] According to one embodiment of the present disclosure, the main control unit (300) can obtain information for adjusting the angle of the source assembly (110) so that the radiation irradiation direction of the source assembly (110) becomes perpendicular to the radiation receiving surface of the detector (120) based on the difference between the attitude information of the detector (120) and the attitude information of the source assembly (110). Although the description above is based on the first axis, the second axis, and the third axis, another coordinate system may be used. For example, an axis that is parallel or perpendicular to a predetermined surface of at least one of the source assembly (110) and the detector (120) and is centered on a predetermined point of at least one of the source assembly (110) and the detector (120) may be used. In addition, the center of the coordinate system may be included in either the source assembly (110) or the detector (120). That is, the center of the coordinate system may be movable based on either the source assembly (110) or the detector (120). According to various embodiments of the present disclosure, in order to make the radiation irradiation direction of the source assembly (110) perpendicular to the radiation receiving surface of the detector (120), an angle that must be rotated based on a roll axis parallel to the longitudinal direction of the source arm (140), a pitch axis perpendicular to the roll axis, and a yaw axis perpendicular to the roll axis and the pitch axis may be displayed on the output unit. In this way, the rotational direction and rotation angle of the source assembly (110) so that the radiation irradiation direction of the source assembly (110) becomes perpendicular to the radiation receiving surface of the detector (120) may be referred to as third alignment information.

[0143] The main control unit (300) may perform a step of acquiring first alignment information of the source assembly (110) to adjust the center (721) of the radiation irradiation area (720) of the source assembly (110) to match the center (731) of the detector area (730) based on the position information of the detector (120). According to various embodiments of the present disclosure, the main control unit (300) may also perform a step of acquiring first alignment information of the source assembly (110) to adjust the radiation irradiation area (720) of the source assembly (110) to match the detector area (730) based on the position information of the detector (120). Additionally, according to various embodiments of the present disclosure, the main control unit (300) may perform a step of acquiring first alignment information of the source assembly (110) to adjust the radiation irradiation area (720) of the source assembly (110) to include the detector area (730) based on the detailed information of the detector (120). Although the present disclosure uses the expression "so that the center (721) of the radiation irradiation area (720) coincides with the center (731) of the detector area (730)", all such expressions may be replaced with "so that the radiation irradiation area (720) includes the detector area (730)".

[0144] The first alignment information is information including the direction and distance that at least one of the detector (120) or the source assembly (110) must move in order for the detector (120) and the source assembly (110) to be aligned. When moving according to the first alignment information, a line connecting the center of the detector (120) and the center of the radiation irradiation surface of the source assembly (110) may be parallel to the radiation irradiation direction. That is, the detector (120) and the source assembly (110) may be aligned. The first alignment information may include information about moving in a direction parallel to the radiation receiving surface of the detector (120). Alternatively, the first alignment information may include information about moving in a direction parallel to a plane perpendicular to the radiation irradiation direction of the source assembly (110).

[0145] The position information of the detector (120) may refer to the position of the detector (120) with respect to the source assembly (110). The position information of the detector (120) may refer to a three-dimensional position from a predetermined point included in the source assembly (110) to a predetermined point included in the detector (120). The position information of the detector (120) may include a Source to Image Distance (SID). The main control unit (300) may obtain first alignment information on a plane parallel to the front surface of the source assembly (110) along which the source assembly (110) should move. The front surface of the source assembly (110) may refer to a plane located in the direction in which radiation is emitted from the source assembly (110). The front surface of the source assembly (110) may be a plane perpendicular to the direction in which radiation is emitted. The front of the source assembly (110) can be controlled to be parallel to the face of the detector.

[0146] Referring to FIG. 7, the main control unit (300) may display an arrow (741) on the display to indicate that the source assembly (110) should move upward or downward on a plane parallel to the front surface. The arrow (741) may be displayed longer or thicker as the distance that the source assembly (110) must move increases. In addition, the distance that the source assembly (110) must move may be displayed around the arrow (741). However, the present invention is not limited thereto. In addition, the main control unit (300) may display an arrow (742) to indicate that the source assembly (110) should move right or left on a plane parallel to the front surface of the source assembly (110). The arrow (742) may be displayed longer or thicker as the distance that the source assembly (110) must move increases. In addition, the distance that the source assembly (110) must move may be displayed around the arrow (742). However, the present invention is not limited thereto. The distance that the source assembly (110) must move can be obtained based on the first alignment information.

[0147] According to various embodiments of the present disclosure, the main control unit (300) can display the center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730) on the display. The center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730) can be displayed in various colors. The center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730) can be displayed in different colors. However, this is not limited to this, and they can be displayed in the same color. The center (721) of the radiation irradiation area (720) can be, for example, white.

[0148] The center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730) may have various shapes. The center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730) may have the same shape, but are not limited thereto and may have different shapes. For example, the center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730) may be circular.

[0149] The main control unit (300) can obtain at least one of the direction and distance for the center (721) of the radiation irradiation area (720) to go to the center (731) of the detector area (730) as the first alignment information. The main control unit (300) can display on the display at least one of the direction and distance for the center (721) of the radiation irradiation area (720) to go to the center (731) of the detector area (730) based on the first alignment information. The user can move the source assembly (110) so that the center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730) match while looking at the center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730). The medical imaging device (100) of the present disclosure can display the center (721) of the radiation irradiation area (720) and the center (731) of the detector area (730) to enable the user to quickly align the source assembly (110) and the detector (120).

[0150] The main control unit (300) can display third alignment information on the display so that the radiation receiving surface of the detector (120) and the radiation irradiation direction of the source assembly (110) become perpendicular. The third alignment information can include at least one of a rotational direction and a rotational angle by which the source assembly (110) must rotate so that the radiation receiving surface of the detector (120) and the radiation irradiation direction of the source assembly (110) become perpendicular. The third alignment information can include at least one of a rotational direction and a rotational angle about at least one of a roll axis, a pitch axis, and a yaw axis. The medical imaging device (100) of the present disclosure displays the third alignment information so that a user can quickly align the radiation receiving surface of the detector (120) and the radiation irradiation direction to become perpendicular.

[0151] The main control unit (300) may perform a step of acquiring second alignment information of the source assembly (110) for adjusting the distance between the source assembly (110) and the detector (120) based on at least one of the attitude information of the detector (120) and the SOD (Source to Object Distance). The direction of the second alignment information may be perpendicular to the direction of the first alignment information. The direction of the second alignment information may be a direction perpendicular to the front of the source assembly (110). The direction of the second alignment information may be a direction parallel to the direction of radiation irradiation. The main control unit (300) may perform a step of acquiring second alignment information based on the SID (Source to Image Distance) included in the attitude information of the detector (120). The main control unit (300) may also perform a step of acquiring second alignment information based on the SOD (Source to Object Distance).

[0152] For example, if the measured SID is different from a predetermined reference SID, the main control unit (300) can obtain second alignment information for making the measured SID the same as the reference SID. The second alignment information can include at least one of a direction and a distance that the source assembly (110) must move so that the measured SID is the same as the reference SID. In addition, for example, if the measured SOD is different from a predetermined reference SOD, the main control unit (300) can obtain second alignment information for making the measured SOD the same as the reference SOD. The second alignment information can include at least one of a direction and a distance that the source assembly (110) must move so that the measured SOD is the same as the reference SOD.

[0153] Above, the step of acquiring the second alignment information has been described after the step of acquiring the first alignment information. However, this is not limited thereto, and the step of acquiring the first alignment information and the step of acquiring the second alignment information may be performed simultaneously. Furthermore, according to various embodiments of the present disclosure, the step of acquiring the second alignment information may be performed after the step of acquiring the first alignment information, or the step of acquiring the second alignment information may be performed before the step of acquiring the first alignment information.

[0154] The control unit (300) can output a signal indicating that the detector area (730) and the irradiation area (720) match when the detector area (730) and the irradiation area (720) match. The control unit (300) can use alignment information to align the detector area (730) and the irradiation area (720). The control unit (300) can control the output unit (340) to output a signal indicating that they match. The control unit (300) can output the signal indicating that they match before or simultaneously with performing step (660). Outputting the signal indicating that they match can be performed before, after, or simultaneously with step (650). Matching the detector area (730) and the irradiation area (720) can mean that the detector and the source assembly are aligned. The control unit (300) can output that the detector area (730) and the irradiation area (720) match through at least one of a display or a speaker. That the detector area (730) and the irradiation area (720) match may indicate that the edges of the detector area (730) and the irradiation area (720) match each other. However, the present invention is not limited thereto, and that the detector area (730) and the irradiation area (720) match may indicate that the center (731) of the detector area (730) and the center (731) of the irradiation area (720) match each other. In the present disclosure, the center (731) of the detector area (730) and the center (721) of the irradiation area (720) match may be replaced with the edge of the detector area (730) and the irradiation area (720) match. According to the medical imaging device of the present disclosure, the user can easily determine that the detector area (730) and the irradiation area (720) match, and can easily determine the optimal time for shooting.

[0155] The control unit (300) may perform a step of displaying the radiation irradiation area (720) and the detector area (730) at the current position of the source assembly (110) in different colors on the 3D camera image (710) when the center (721) of the radiation irradiation area (720) at the current position of the source assembly (110) does not coincide with the center (731) of the detector area (730). In addition, when the center of the detector area (730) and the center of the radiation irradiation area (720) coincide, the control unit (300) may perform a step of displaying the radiation irradiation area (720) and the detector area (730) in the same color on the 3D camera image (710). Therefore, a user can easily recognize that the center of the radiation irradiation area (720) and the center of the detector area (730) coincide.

[0156] Referring to FIG. 6, when the center (731) of the detector area (730) and the center (721) of the radiation irradiation area (720) are coincident, the main control unit (300) may perform a step (660) of transmitting a radiation irradiation preparation signal to the first transceiver (410) of the detector (120) using the second transceiver (510). The detector (120) may enter a radiation reception mode based on the radiation irradiation preparation signal. The detector (120) may also start receiving radiation based on the radiation irradiation preparation signal. After the detector (120) enters the radiation reception mode, when the first transceiver (410) receives a signal indicating the end of radiation irradiation from the second transceiver (510), the readout circuit included in the detector may process an electrical signal generated by a radiation receiving element to obtain radiation image information. In this way, the detector (120) communicates with the source assembly (110) to start and end the reception of radiation, so that a high-quality medical image with low noise can be obtained. In addition, since the detector (120) communicates with the source assembly (110) to end the reception of radiation, the medical imaging device (100) can shorten the time during which the subject is unnecessarily exposed to radiation and reduce the radiation exposure amount of the subject. In addition, the medical imaging device (100) can obtain a medical image of sufficient quality while reducing the radiation exposure amount of the subject. However, the present invention is not limited thereto, and the detector control unit may receive radiation using a radiation receiving element for a predetermined period of time without receiving a signal indicating the end of radiation exposure.

[0157] FIG. 8 is a flowchart illustrating a method for obtaining a detector area in a 3D camera image according to one embodiment of the present disclosure.

[0158] The main control unit (300) can perform the following operations to display the detector area (730) in the 3D camera image (710).

[0159] The main control unit (300) may perform a step (810) of obtaining first distance information between the second transceiver unit (510) and the first transceiver unit (410) based on a signal between the second transceiver unit (510) and the first transceiver unit (410). The first distance information may be the distance between the first transceiver unit (410) and the second transceiver unit (510), but may also include an SID, which is a distance between the source assembly (110) and the detector (120). According to various embodiments of the present disclosure, the main control unit (300) may obtain the first distance information between the second transceiver unit (510) and the first transceiver unit (410), and then determine the SID based on the first distance information. More specifically, the main control unit (300) can use triangulation to determine the location of the first transceiver (410) relative to a plurality of second transceivers (510) in three-dimensional space. The main control unit (300) can determine the location of the detector in three-dimensional space by determining the locations of each of the plurality of first transceivers (410) included in the detector (120).

[0160] The main control unit (300) may perform a step (820) of determining a size of a detector on a 3D camera image based on at least one of the position of the detector, the first distance information, and the SID in the 3D space. Here, the size of the detector may refer to the size of the detector shown in the 3D camera image. The main control unit (300) may store in advance the size of the detector according to at least one of the position of the detector, the first distance information, and the SID in the 3D space as a detector size table or a detector size function. The main control unit (300) may determine the size of the detector according to at least one of the position of the detector, the first distance information, and the SID in the 3D space based on at least one of the detector size table and the detector size function. The size of the detector may become smaller as the distance between the detector (120) and the source assembly (110) increases.

[0161] The main control unit (300) can determine the shape of the detector (120) on the 3D camera image (710) based on at least one of the position of the detector in the 3D space, the first distance information, and the SID. The shape of the detector (120) may not be rectangular if the radiation receiving surface of the detector is inclined with respect to the radiation irradiation surface of the source assembly (110).

[0162] The main control unit (300) may perform a step (830) of displaying an area (730) of a detector in a 3D camera image based on at least one of the first distance information, the SID, and the size of the detector. The 3D camera image of the main control unit (300) may be acquired by the 3D camera (520). The main control unit (300) may acquire not only the 3D camera image but also the distance to each point shown in the image by using the 3D camera (520). The main control unit (300) may determine a set of points, in which the distance to each point acquired by using the 3D camera (520) corresponds to one of the first distance information and the SID, as the area (730) of the detector. In addition, the main control unit (300) may determine only an area corresponding to at least one of the size and shape of the detector among the set of points corresponding to one of the first distance information and the SID, as the area (730) of the detector.

[0163] However, it is not limited thereto, and the main control unit (300) may determine the detector area (730) based on an image processing algorithm. For example, the main control unit (300) may perform a step of acquiring the detector area from a 3D camera image acquired by the 3D camera (520). That is, the main control unit (300) may determine the detector area (730) from the 3D camera image based on an object recognition algorithm. The object recognition algorithm may be a machine learning model for determining the detector area (730). The machine learning model may determine the detector area (730) even if the detector area (730) is partially covered by the subject (210) in the 3D camera image. In addition, the main control unit (300) may acquire second distance information from the 3D camera (520) to at least one object captured by the 3D camera included in the 3D camera image. The second distance information may refer to the distance from the 3D camera (520) or the source assembly (110) to each point shown in the 3D camera image. The main control unit (300) may obtain the SID (Source to Image Distance) from the source assembly to the detector based on the detector area (730) and the second distance information.

[0164] The main control unit (300) may use different algorithms to identify the detector area (730) based on the 3D camera image. According to various embodiments of the present disclosure, when the appearance of at least a portion of the detector (120) is identified in the 3D camera image (710), the main control unit (300) may determine the detector area (730) using at least one of the 3D camera, the gyro sensor of the source assembly (110), and the gyro sensor of the detector (120). For example, the main control unit (300) may determine the detector area (730) through image processing of the 3D camera image based on the 3D camera (520). Even if a detector appears in the 3D camera image (710), the entire detector may not appear. Therefore, in order to obtain the attitude of the detector according to the attitude of the source assembly, the main control unit (300) may obtain the attitude of the detector with respect to the 3D camera image (710) using at least one of the gyro sensor of the source assembly (110) and the gyro sensor of the detector (120). As previously described, the attitude of the detector may mean the degree to which the detector is tilted. The main control unit (300) may display an area (730) of the tilted detector on the 3D camera image (710) based on the attitude of the detector.

[0165] According to various embodiments of the present disclosure, when the appearance of the detector (120) is not confirmed in the 3D camera image (710), the main control unit (300) may use at least one of the 3D camera, the gyro sensor of the source assembly (110), the gyro sensor of the detector (120), the first transceiver (410), and the second transceiver (510). Since the process of using the 3D camera, the gyro sensor of the source assembly (110), and the gyro sensor of the detector (120) has already been described, only the process of using the first transceiver (410) and the second transceiver (510) will be described. The main control unit (300) may obtain the position of the first transceiver (410) with respect to a plurality of second transceivers (510) using triangulation. The main control unit (300) can determine the position of the detector in three-dimensional space by acquiring the positions of the plurality of first transceivers (410) included in the detector (120). Based on the position of the detector in three-dimensional space, the main control unit (300) can acquire at least one of the distance from the source assembly (110) to the detector and the attitude of the detector with respect to the source assembly (110). Based on the position of the detector in three-dimensional space, the main control unit (300) can determine the area (730) of the detector in the 3D camera image (710).

[0166] FIG. 9 is a diagram for explaining the operation of a medical imaging device according to one embodiment of the present disclosure. FIG. 10 is a diagram for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0167] Referring to FIG. 9, the detector (120) may include a plurality of first transceivers (921, 922, 923, 924). In addition, the source assembly (110) may include a plurality of second transceivers (911, 912, 913, 914). More specifically, the plurality of first transceivers may include a 1-1 transceiver (921), a 1-2 transceiver (922), a 1-3 transceiver (923), and a 1-4 transceiver (924). In addition, the plurality of second transceivers may include a 2-1 transceiver (911), a 2-2 transceiver (912), a 2-3 transceiver (913), and a 2-4 transceiver (914).

[0168] The main control unit (300) can obtain the position of at least one of the plurality of first transceivers (921, 922, 923, 924) by triangulation using at least three of the plurality of second transceivers (911, 912, 913, 914). In addition, the detector control unit can obtain the position of at least one of the plurality of second transceivers (911, 912, 913, 914) by triangulation using at least three of the plurality of first transceivers (921, 922, 923, 924). The detector control unit can obtain the attitude (tilt) of the detector (120) with respect to the source assembly (110) based on the position of at least one of the plurality of second transceivers (911, 912, 913, 914).

[0169] According to various embodiments of the present disclosure, the detector control unit can adjust a sensor at a point far from the source assembly (110) among the radiation receiving surfaces of the detector to be sensitive. Alternatively, the detector control unit can adjust a sensor at a point near the source assembly (110) among the radiation receiving surfaces of the detector to be insensitive. In addition, the detector control unit or the main control unit (300) can perform image processing to increase the clarity of the medical image based on the distance between each point of the radiation receiving surface of the detector and the source assembly (110). Accordingly, even if the surface of the detector (120) is not perpendicular to the radiation irradiation direction of the source assembly (110), the medical image can be clear.

[0170] The main control unit (300) can obtain the distance from one of the plurality of second transceivers to the plurality of first transceivers. For example, the main control unit (300) can obtain the distance from the 2-1 transceiver (911) included in the second transceiver to the 1-1 transceiver (921), the 1-2 transceiver (922), the 1-3 transceiver (923), and the 1-4 transceiver (924), respectively. The times of the plurality of second transceivers and the plurality of first transceivers may be synchronized. When the 1-1 transceiver (921), the 1-2 transceiver (922), the 1-3 transceiver (923), and the 1-4 transceiver (924) transmit signals to the 2-1 transceiver (911), they can also transmit the transmission time. The main control unit (300) can obtain the distances from the 2-1 transceiver unit (911) to the 1-1 transceiver unit (921), the 1-2 transceiver unit (922), the 1-3 transceiver unit (923), and the 1-4 transceiver unit (924) based on the time at which the signal is transmitted from the 1-1 transceiver unit (921), the 1-2 transceiver unit (922), the 1-3 transceiver unit (923), and the 1-4 transceiver unit (924) and the time at which the signal is received from the 2-1 transceiver unit (911). In addition, the 2-2 transceiver unit (912), the 2-3 transceiver unit (913), and the 2-4 transceiver unit (914) can also perform the same process.

[0171] The control unit (300) can correspond the plurality of first transceivers and the plurality of second transceivers one-to-one by corresponding one of the plurality of second transceivers among the plurality of first transceivers with the closest first transceiver. The main control unit (300) can correspond the 1-1 transceiver (921) closest to the 2-1 transceiver (911) to the 2-1 transceiver (911). Similarly, the main control unit (300) can correspond the 1-2 transceiver (922) closest to the 2-2 transceiver (912) to the 2-2 transceiver (912). The main control unit (300) can correspond the 1-3 transceiver (923) closest to the 2-3 transceiver (913) to the 2-3 transceiver (913). The main control unit (300) can correspond the 1-4 transceiver (924) closest to the 2-4 transceiver (914) to the 2-4 transceiver (914).

[0172] In cases where the positions of the source assembly (110) and the detector (120) are completely misaligned, it may be difficult to match the plurality of first transceivers and the plurality of second transceivers one-to-one using the closest distance. In this case, the medical imaging device (100) may output a message to direct the source assembly (110) toward the detector (120) or adjust it parallel to it.

[0173] However, it is not limited thereto and the following process can be performed. The main control unit (300) can obtain 16 pieces of distance information according to 16 combinations of four first transceivers (410) and four second transceivers (510). If the plurality of first transceivers and the plurality of second transceivers are not matched one-to-one, the main control unit (300) can remove the combination corresponding to the shortest distance information among the 16 pieces of distance information from the 16 combinations. The main control unit (300) can match the plurality of second transceivers (510) and the plurality of first transceivers (410) one-to-one by matching the plurality of first transceivers (410) that are closest to each of the plurality of second transceivers (510) among the remaining 15 combinations. If the plurality of first transceivers and the plurality of second transceivers are still not matched one-to-one, the combination corresponding to the shortest distance information among the 15 distance information can be removed from the 15 combinations, and the above process can be repeated using the remaining 14 combinations.

[0174] In the above, the process of measuring the distance based on the second transceiver (510) included in the source assembly (110) has been described, but is not limited thereto. The detector control unit can obtain the distance between one of the plurality of first transceivers and the plurality of second transceivers. The detector control unit can obtain first distance information between the second transceiver and the first transceiver based on a signal between the second transceiver and the first transceiver. The first distance information may be the distance between the second transceiver and the first transceiver, and may include an SID. However, the process is not limited thereto, and the detector control unit may obtain the SID based on the first distance information.

[0175] The detector control unit can obtain the distances from the 1-1 transceiver (921) included in the 1st transceiver to the 2-1st transceiver (911), the 2-2nd transceiver (912), the 2-3rd transceiver (913), and the 2-4th transceiver (914), respectively. In addition, the detector control unit can correspond one-to-one between the plurality of first transceivers and the plurality of second transceivers by corresponding one of the plurality of first transceivers to the closest second transceiver among the plurality of second transceivers. For example, when the 2-1 transceiver (911), the 2-2 transceiver (912), the 2-3 transceiver (913), and the 2-4 transceiver (914) transmit signals to the 1-1 transceiver (921), they can transmit the transmission time together. The main control unit (300) can obtain the distances from the 1-1 transceiver unit (921) to the 2-1 transceiver unit (911), the 2-2 transceiver unit (912), the 2-3 transceiver unit (913), and the 2-4 transceiver unit (914) based on the time at which the signal is transmitted from the 2-1 transceiver unit (911), the 2-2 transceiver unit (912), the 2-3 transceiver unit (913), and the 2-4 transceiver unit (914) and the time at which the signal is received from the 1-1 transceiver unit (921). The detector control unit can correspond the 2-1 transceiver unit (911) closest to the 1-1 transceiver unit (921) to the 1-1 transceiver unit (921). Likewise, the detector control unit can correspond the 2-2 transceiver (912) closest to the 1-2 transceiver (922) to the 1-2 transceiver (922). The detector control unit can correspond the 2-3 transceiver (913) closest to the 1-3 transceiver (923) to the 1-3 transceiver (923). The detector control unit can correspond the 2-4 transceiver (914) closest to the 1-4 transceiver (924) to the 1-4 transceiver (924).

[0176] As described above, at least one of the main control unit (300) and the detector control unit can obtain a Source to Image Distance (SID) from the source assembly to the detector based on a plurality of distances between a plurality of first transceivers and a plurality of second transceivers corresponding to each other one-to-one. More specifically, at least one of the main control unit (300) and the detector control unit can obtain first distance information using one of an average, a minimum value, a maximum value, and a median value of the plurality of distances. The main control unit (300) can obtain an SID (940) from the first distance modified based on at least one of an SID generation table or an SID generation function.

[0177] The subject (210) of FIG. 9 may be smaller than the detector. Therefore, the subject may not obscure the signal between the first transceiver (410) and the second transceiver (510). However, if the subject (210) is larger than the detector as in FIG. 10, the subject may obscure the signal between the first transceiver (410) and the second transceiver (510). Even if the subject (210) obscures the signal, there may be no problem in matching the plurality of first transceivers (410) and the plurality of second transceivers (510) one-to-one. However, if the subject (210) obscures the signal, the main control unit (300) may have a problem in measuring the SID (940). This is because the signal between the first transceiver (410) and the second transceiver (510) is blocked by the subject (210), so it is difficult for the main control unit (300) to measure the straight-line distance between the first transceiver (410) and the second transceiver (510). To solve this, the main control unit (300) can measure the first distance information between the second transceiver and the first transceiver. The first distance information may be the distance between the corresponding first transceiver and the second transceiver. Here, the first distance information may be a distance with an error caused by being blocked by the subject.

[0178] The main control unit (300) can guide the movement of the source assembly (110) so that the space between the source assembly (110) and the detector (120) is not obscured by a subject. The user can temporarily move the source assembly (110) based on the guide. The medical imaging device (100) can obtain the location of the detector from a third transceiver located at a fixed location within a hospital room. A separate beacon including the third transceiver can be located at the fixed location within the hospital room. However, the present invention is not limited thereto, and the third transceiver can be included in the main body (130) of the medical imaging device (100). This is because the main body (130) can remain fixed within the hospital room even if the source assembly (110) moves. The main control unit (300) can guide the source assembly (110) to move back to the shooting position. The main control unit (300) can determine the position of the third transceiver of the source assembly (110) at the shooting position. The main control unit (300) can display the area (730) of the detector on the 3D camera image (710) based on the position of the detector (120) from the third transceiver and the position of the source assembly (110). In addition, the main control unit (300) can determine the SID based on the position of the detector (120) from the third transceiver and the position of the source assembly (110). However, it is not limited thereto, and the medical imaging device (100) can also perform the following process.

[0179] If the difference between the plurality of first distance information measured by the plurality of first transceivers and the plurality of second transceivers is greater than or equal to a threshold distance, the main control unit (300) can output a message guiding the source assembly (110) to move. Here, the first distance information can include at least one of the 1-1 distance information, the 1-2 distance information, the 1-3 distance information, and the 1-4 distance information. If the difference between the measured plurality of first distance information is less than or equal to the threshold distance, the main control unit (300) can measure the SOD (930), which is the distance from the source assembly (110) to the subject (210), based on the 3D camera (520). The SOD (930) can be included in the second distance information, but is not limited thereto.

[0180] The main control unit (300) can determine the distance from the 3D camera (520) to the closest object as the SOD (930). In addition, the main control unit (300) can determine the distance from the 3D camera (520) to the closest object in at least one of the radiation irradiation area (720) and the detector area (730) as the SOD (930). The main control unit (300) can modify the first distance based on the SOD (930). The main control unit (300) can obtain the modified first distance according to the SOD (930) based on at least one of the first distance modification table and the first distance modification function. For example, the first distance modification table and the first distance modification function can generate the modified first distance by reducing the first distance as the SOD (930) becomes shorter. This is because a short SOD (930) means that the subject (210) is thick. In addition, the main control unit (300) can determine the SID (940) based on the modified first distance. The main control unit (300) can obtain the SID (940) from the modified first distance based on at least one of the SID generation table and the SID generation function.

[0181] FIG. 11 may be a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0182] As described above, the main control unit (300) can measure the distance between the front of the source assembly (110) and an object appearing in the 3D camera image (710) using the 3D camera (520). The user can position the source assembly (110) to face the subject (210) in order to obtain a medical image. The main control unit (300) can perform a step of obtaining second distance information from the 3D camera (520) to at least one object included in the 3D camera image. The main control unit (300) can perform a step of obtaining second distance information from the 3D camera (520) to at least one object included in at least one of the radiation irradiation area (720) and the detector area (730) of the 3D camera image (710). The main control unit (300) can obtain the SOD (Source to Object Distance) from the source assembly to the subject based on the second distance information. For example, the main control unit (300) may determine the shortest distance among the second distance information as SOD (930). This is because the user will place the subject closest to the source assembly (110). SOD may mean the distance from the source to the subject.

[0183] In addition, the medical imaging device (100) can obtain the width (1110) of the subject (210). For example, if the distance (1121, 1122) between the source assembly (110) and the object appearing on the 3D camera image (710) is greater than a predetermined subject threshold distance, the main control unit (300) can remove the object to determine the area of ​​the subject. In addition, the main control unit (300) can determine the width of the area of ​​the subject as the width (1110) of the subject (210). For example, in FIG. 11, the width (1110) can represent the width of the subject. In addition, the main control unit (300) can determine the center (1130) of the area of ​​the subject as the center (731) of the detector area (730). Therefore, the medical imaging device (100) can determine the center (731) of the detector area (730) even if the detector (120) is covered by the subject (210).

[0184] According to various embodiments of the present disclosure, the main control unit (300) can determine the thickness of the subject. For example, the main control unit (300) can obtain first distance information between the second transceiver unit (510) and the first transceiver unit (410) based on a signal between the second transceiver unit (510) and the first transceiver unit (410). In addition, the main control unit (300) can obtain a Source to Image Distance (SID) from the source assembly to the detector based on the first distance. The main control unit (300) can determine the thickness of the subject based on the SOD and the SID. For example, the main control unit (300) can determine the thickness of the subject by subtracting the SOD from the SID. The main control unit (300) can determine radiation exposure setting information based on the thickness of the subject. The main control unit (300) may store a radiation irradiation table that corresponds to radiation irradiation setting information for the thickness of the subject. The main control unit (300) may obtain radiation irradiation setting information corresponding to the thickness of the subject from the radiation irradiation table. For example, as the thickness of the subject increases, the radiation intensity may be increased or the radiation irradiation time may be increased. The medical imaging device (100) of the present disclosure automatically determines the thickness of the subject and determines radiation irradiation setting information corresponding thereto, thereby obtaining a high-quality medical imaging device and enhancing user convenience.

[0185] According to various embodiments of the present disclosure, the following embodiments may also be possible. The 3D camera image may include a subject and a patient bed (220). In addition, the distance from the source assembly (110) to the patient bed (220) may be similar to the distance from the source assembly (110) to the detector (120). Therefore, the main control unit (300) may obtain both the SOD and the SID based on the second distance information, which is the distance between at least one object appearing in the 3D camera image (710) and the source assembly (110). The main control unit (300) may determine the SOD and the SID based on the second distance information, based on a user input or a machine learning model. The machine learning model may be a model for determining that only the subject and the patient bed (220) are present in the 3D camera image. The main control unit (300) may determine the smallest value among the second distance information as the SOD. Additionally, the main control unit (300) can determine the largest value among the second distance information as the SID.

[0186] Below, the process for obtaining the first alignment copy to the third alignment information is described together with FIGS. 12 and 13. The operation of the medical imaging device according to FIGS. 12 and 13 can be performed before step (650) or together with step (650).

[0187] As described above, when performing step (650), the main control unit (300) can determine alignment information related to at least one of a direction, a distance, and an angle by which the source assembly must move in order to align the detector and the source assembly based on at least one of the 3D camera, the first transceiver (410), and the second transceiver (510). Here, the alignment of the detector (120) and the source assembly (110) may mean that the irradiation area and the area of ​​the detector are identical, or may mean that a line connecting the center of the detector and the center of the source assembly (110) is parallel to the irradiation direction of the radiation. The alignment information may include first alignment information to third alignment information. The plurality of first transceivers may include a first-first transceiver (921), a first-second transceiver (922), a first-third transceiver (923), and a first-fourth transceiver (924). In addition, the plurality of second transceivers may include a second-first transceiver (911), a second-second transceiver (912), a second-third transceiver (913), and a second-fourth transceiver (914). The main control unit (300) may measure a distance of one of the plurality of second transceivers to at least three of the plurality of first transceivers. In addition, the main control unit (300) may measure a distance of one of the plurality of second transceivers to at least three of the plurality of second transceivers. The distance can be measured based on the time it takes for a signal to travel between one of the plurality of first transceivers and one of the plurality of second transceivers. The main control unit (300) can determine the position (coordinates) of the first transceiver (410) included in the detector (120) with respect to the second transceiver (510) included in the source assembly (110) using triangulation. In addition, the main control unit (300) can determine the position (coordinates) of the second transceiver (510) included in the source assembly (110) with respect to the first transceiver (410) included in the detector (120) using triangulation.Alternatively, the main control unit (300) can obtain the position (coordinates) of the source assembly (110) with respect to the detector (120). The main control unit (300) can determine alignment information to which the source assembly must move so that the detector (120) and the source assembly (110) are aligned based on the position of the source assembly (110) with respect to the detector (120). That is, the main control unit (300) can obtain at least one of the first alignment information, the second alignment information, and the third alignment information based on the first transceiver (410) and the second transceiver (510). The process of obtaining at least one of the first alignment information, the second alignment information, and the third alignment information will be described with reference to FIGS. 12 and 13.

[0188] In the above, the process of obtaining alignment information using the first transceiver (410) and the second transceiver (510) has been described, but it is not limited thereto. When determining alignment information, the main control unit (300) can obtain a set of coordinates of a plurality of first transceivers and a set of coordinates of a plurality of second transceivers from a 3D camera image based on the 3D camera (520). For example, since the 3D camera (520) is included in the source assembly (110), the main control unit (300) can determine a predetermined position of the 3D camera image as a set of coordinates of a plurality of second transceivers. In addition, after finding the area of ​​the detector, the main control unit (300) can determine a predetermined position of the area of ​​the detector as a set of coordinates of a plurality of first transceivers. Additionally, the main control unit (300) can obtain at least one of the first alignment information, the second alignment information, and the third alignment information by the method described in FIGS. 12 and 13.

[0189] FIG. 12 is a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0190] When determining alignment information, the main control unit (300) may measure the angle formed between the front surface of the source assembly and the surface of the detector based on at least one of the first transceiver (410), the second transceiver (510), the 3D camera (520), and the gyro sensor. The main control unit (300) may output an angle (rotation angle of the source assembly) by which the source assembly must be rotated so that the front surface of the source assembly and the surface of the detector have a predetermined angle based on the angle formed between the front surface of the source assembly and the surface of the detector. The predetermined angle may mean an angle that the front surface of the source assembly and the surface of the detector must form in order to capture a medical image. The predetermined angle may include the front surface of the source assembly and the surface of the detector being parallel, and the predetermined angle in this case may be, for example, 0 degrees. The predetermined angle may be greater than or equal to 0 degrees and less than 90 degrees. Additionally, the preset angle can be determined based on user input. This process is described in more detail below.

[0191] According to one embodiment of the present disclosure, the main control unit (300) can measure an angle formed between the front surface of the source assembly and the face of the detector based on a plurality of first transceivers and a plurality of second transceivers. At least one of the detector's attitude information and the source assembly's attitude information can include the angle formed between the front surface of the source assembly and the face of the detector. The process of obtaining the angle formed between the front surface of the source assembly and the face of the detector will be described below.

[0192] The detector (120) may include a plurality of first transceivers (410). The plurality of first transceivers may include a first-first transceiver (921), a first-second transceiver (922), a first-third transceiver (923), and a first-fourth transceiver (924). A set of coordinates of the plurality of first transceivers may be expressed as follows.

[0193] The set of coordinates of multiple first transmitters and receivers is = { (x(a'), y(a')), (x(b'), y(b')), (x(c'), y(c')), (x(d'), y(d'))}

[0194] The coordinates may be coordinates at each point on the display of a medical imaging device, or may be coordinates relative to a predetermined origin in real space. The predetermined origin may be located at the source assembly or detector.

[0195] When the center of the coordinates is in the source assembly (110), the main control unit (300) can determine a set of coordinates of a plurality of first transceivers by triangulation using a plurality of first transceivers and a plurality of second transceivers. When the center of the coordinates is in the detector (120), the main control unit (300) can obtain a set of coordinates of a plurality of predetermined first transceivers from the memory.

[0196] Likewise, the source assembly (110) may include a plurality of second transceivers (510). The plurality of second transceivers may include a 2-1 transceiver (911), a 2-2 transceiver (912), a 2-3 transceiver (913), and a 2-4 transceiver (914). A set of coordinates of the plurality of second transceivers may be expressed as follows.

[0197] The set of coordinates of multiple second transmitters and receivers is = { (x(a), y(a)), (x(b), y(b)), (x(c), y(c)), (x(d), y(d))}

[0198] The coordinates of the plurality of first transceivers and the coordinates of the plurality of second transceivers can be expressed as values ​​within the same coordinate system. When the center of the coordinates is in the source assembly (110), the main control unit (300) can obtain a set of coordinates of the plurality of second transceivers determined in advance from the memory. When the center of the coordinates is in the detector (120), the main control unit (300) can determine a set of coordinates of the plurality of second transceivers by triangulation using the plurality of first transceivers and the plurality of second transceivers.

[0199] As described above, when a plurality of first transceivers (410) and a plurality of second transceivers (510) correspond one-to-one, the medical imaging device (100) may perform a step of acquiring first alignment information of the source assembly (110) to adjust the radiation irradiation area (720) of the source assembly (110) to include the detector area (730) based on the position information of the detector (120). For example, the plurality of first transceivers (410) may include a 1-1 transceiver (921) and a 1-2 transceiver (922). In addition, the plurality of second transceivers (510) may include a second-first transceiver (911) corresponding to the first-first transceiver (921) and a second-second transceiver (912) corresponding to the first-second transceiver (922). The main control unit (300) may obtain the first-first distance between the first-first transceiver (921) and the second-first transceiver (911). The main control unit (300) may obtain the first-second distance between the first-second transceiver (922) and the second-second transceiver (912). If the difference between the 1-1 distance and the 1-2 distance is greater than a predetermined threshold distance, the main control unit (300) may output a message guiding the source assembly (110) to move so as to make the 1-1 distance and the 1-2 distance similar. Here, the predetermined threshold distance may be a value stored in the memory. The predetermined threshold distance may be a value for determining whether the 1-1 distance and the 1-2 distance are significantly different. A significant difference between the 1-1 distance and the 1-2 distance may mean that the detector (120) and the source assembly (110) are not aligned.

[0200] A message guiding the source assembly (110) to move to align the 1-1 distance and the 1-2 distance similarly may be output based on the acquisition of the third alignment information. The third alignment information may refer to the direction in which the source assembly (110) rotates around an axis perpendicular to the longitudinal direction of the source arm (140). Referring to FIG. 12, the main control unit (300) may acquire the horizontal differential depth and the vertical differential depth as follows.

[0201] Horizontal difference depth = depth(a-a') - depth(b-b')

[0202] Vertical difference depth = depth(a-a') - depth(c-c')

[0203] The horizontal differential depth and the vertical differential depth may correspond to the angle formed by the front surface of the measured source assembly and the plane of the detector. Here, if the horizontal differential depth value is 0, the line formed by ab and the line formed by a'-b' may be parallel.

[0204] The main control unit (300) can obtain a rotation angle of the source assembly so that the angle between the front surface of the source assembly and the face of the detector has a predetermined angle based on the angle formed by the front surface of the source assembly and the face of the detector. The alignment information can include the rotation angle of the source assembly. In addition, the main control unit (300) can output the rotation angle of the source assembly.

[0205] If the horizontal difference depth value is positive, the main control unit (300) can obtain third alignment information to rotate the source assembly (110) so that the distance between bb' becomes further or the distance between aa' becomes closer with respect to the vertical axis (1220). If the horizontal difference depth value is negative, the main control unit (300) can obtain third alignment information to rotate the source assembly (110) so that the distance between bb' becomes closer or the distance between aa' becomes farther with respect to the vertical axis (1220). Although the vertical axis (1220) is arbitrarily drawn in FIG. 12, it is not limited thereto, and the vertical axis (1220) can be located at a different location from FIG. 12.

[0206] In addition, the main control unit (300) may obtain third alignment information further based on a predetermined angle. As described above, the predetermined angle may be a constant or may be obtained based on a user input. The main control unit (300) may determine a depth offset based on the predetermined angle. The larger the predetermined angle, the larger the depth offset may be. If the value obtained by subtracting the depth offset value from the horizontal difference depth is 0, the main control unit (300) may determine that the line formed by ab and the line formed by a'-b' may form a predetermined angle. If the value obtained by subtracting the depth offset value from the horizontal difference depth is a positive number, the main control unit (300) may obtain third alignment information that rotates the source assembly (110) so that the distance between BB' becomes greater or the distance between AA' becomes shorter with respect to the vertical axis (1220). If the value obtained by subtracting the depth offset value from the horizontal difference depth is negative, the main control unit (300) can obtain third alignment information for rotating the source assembly (110) so that the distance between BB' becomes closer or the distance between AA' becomes farther away with respect to the vertical axis (1220). In Fig. 12, the vertical axis (1220) is arbitrarily drawn, but is not limited thereto, and the vertical axis (1220) can be located at a different location from Fig. 12.

[0207] In addition, if the vertical difference depth value is 0, the line formed by ac and the line formed by a'-c' can be parallel. If the vertical difference depth value is positive, the main control unit (300) can obtain third alignment information for rotating the source assembly (110) so that the distance between cc' becomes further or the distance between aa' becomes closer with respect to the horizontal axis (1210). If the vertical difference depth value is negative, the main control unit (300) can obtain third alignment information for rotating the source assembly (110) so that the distance between cc' becomes closer or the distance between aa' becomes farther with respect to the horizontal axis (1210).

[0208] In addition, the main control unit (300) can obtain third alignment information by further utilizing a predetermined angle. For example, if the value obtained by subtracting the depth offset value from the vertical differential depth is 0, the line formed by ac and the line formed by a'-c' can form a predetermined angle. If the value obtained by subtracting the depth offset value from the vertical differential depth is positive, the main control unit (300) can obtain third alignment information for rotating the source assembly (110) so that the distance between cc' becomes further or the distance between aa' becomes closer with respect to the horizontal axis (1210). If the value obtained by subtracting the depth offset value from the vertical differential depth is negative, the main control unit (300) can obtain third alignment information for rotating the source assembly (110) so that the distance between cc' becomes closer or the distance between aa' becomes farther with respect to the horizontal axis (1210).

[0209] In the above, the third alignment information was determined using the first transceiver (410) and the second transceiver (510). However, it is not limited thereto. When determining the alignment information, the main control unit (300) can measure the angle formed between the front of the source assembly and the surface of the detector based on at least one of the 3D camera (520) and the gyro sensor (530). As previously described, the 3D camera (520) can determine the area (730) of the detector using a machine learning model. In addition, the main control unit (300) can determine the slope of the detector area using the depth information measured by the 3D camera (520). In addition, the main control unit (300) can obtain depth (a-a'), depth (b-b'), and depth (c-c') using the depth information measured by the 3D camera (520). The main control unit (300) can obtain horizontal differential depth and vertical differential depth based on the 3D camera (520), and can obtain third alignment information.

[0210] The inclination of the detector area can also be measured by a gyro sensor included in the detector. In the present disclosure, the inclination of the detector (120) may be relative to a fixed surface. The fixed surface may be, for example, the ground. Alternatively, the inclination may be relative to the radiation irradiation surface of the source assembly.

[0211] The gyro sensor (530) of the source assembly (110) can measure the inclination of the source assembly. In the present disclosure, the inclination of the source assembly (110) may be an inclination relative to a fixed surface. The fixed surface may be, for example, the ground. Alternatively, the inclination may be relative to the surface of the detector.

[0212] When outputting a message guiding alignment of the investigation area and the area of ​​the detector, the main control unit (300) may output an angle (rotation angle of the source assembly) by which the source assembly must be rotated so that the front of the source assembly and the face of the detector are parallel, based on the angle formed by the front of the source assembly and the face of the detector. The angle by which the source assembly must be rotated (rotation angle of the source assembly) may be included in the third alignment information. For example, the main control unit (300) may obtain an inclination of the source assembly (110) with respect to the detector, and guide the source assembly (110) to rotate in the opposite direction of the inclination so that the front of the source assembly and the face of the detector are parallel.

[0213] FIG. 13 is a drawing for explaining the operation of a medical imaging device according to one embodiment of the present disclosure.

[0214] When determining alignment information, the main control unit (300) may obtain position information on a 3D camera image of a first predetermined alignment point of the investigation area and a second predetermined alignment point of the detector area based on at least one of the first transceiver, the second transceiver, the 3D camera, and the gyro sensor. The position information may include at least one of the coordinate values ​​of the first predetermined alignment point of the investigation area and the coordinate values ​​of the second predetermined alignment point of the detector area. The position information may be information expressed within the coordinate system of the 3D camera image, but is not limited thereto. The position information may also be information expressed in a three-dimensional space coordinate system. For example, the position information may be expressed in a coordinate system centered on a point of at least one of the source assembly (110) and the main body (130). When the coordinate systems of the coordinate values ​​are different, the main control unit (300) can transform the coordinate values ​​to match them to one of the coordinate systems of the 3D camera image and the 3D space coordinate system.

[0215] The main control unit (300) can output at least one of the direction and distance that the source assembly must move to match the investigation area and the detector area based on the position information. The operation of the main control unit (300) will be described in more detail below.

[0216] The first alignment point may be equal to at least one of points a, b, c, and d. In addition, the first alignment point may correspond to the position of at least one second transceiver (510). The second alignment point may be equal to at least one of points a', b', c', and d'. The second alignment point may correspond to the position of at least one first transceiver (410).

[0217] When outputting a message guiding alignment of the investigation area and the detector area, the main control unit (300) may output at least one of the direction and distance that the source assembly must move to align the investigation area and the detector area based on the position information. At least one of the direction and distance that the source assembly must move may be included in at least one of the first alignment information and the second alignment information.

[0218] Below, Fig. 13 is described in more detail. The main control unit (300) can obtain position information based on a plurality of first transceivers and a plurality of second transceivers. At least one of the detector's position information and the source assembly's position information can include position information.

[0219] The detector (120) may include a plurality of first transceivers (410). The plurality of first transceivers may include a 1-1 transceiver (921), a 1-2 transceiver (922), a 1-3 transceiver (923), and a 1-4 transceiver (924). A set of coordinates of the plurality of first transceivers may be expressed as follows. Since a method for obtaining a set of coordinates of the plurality of first transceivers has already been described, a redundant description will be omitted.

[0220] The set of coordinates of multiple first transmitters and receivers is = { (x(a'), y(a')), (x(b'), y(b')), (x(c'), y(c')), (x(d'), y(d'))}

[0221] Likewise, the source assembly (110) may include a plurality of second transceivers (510). The plurality of second transceivers may include a 2-1 transceiver (911), a 2-2 transceiver (912), a 2-3 transceiver (913), and a 2-4 transceiver (914). The set of coordinates of the plurality of second transceivers may be expressed as follows. Since the method of obtaining the set of coordinates of the plurality of first transceivers has already been described, a redundant description will be omitted.

[0222] The set of coordinates of multiple second transmitters and receivers is = { (x(a), y(a)), (x(b), y(b)), (x(c), y(c)), (x(d), y(d))}

[0223] The main control unit (300) can determine the position information Alignment x and Alignment y as follows.

[0224] Alignment x = ([x(a)-x(a')] + [x(b)-x(b')] + [x(c)-x(c')] +[x(d)-x(d')]) / n (where n = 4)

[0225] Alignment y = ([y(a)-y(a')] + [y(b)-y(b')] + [y(c)-y(c')] +[y(d)-y(d')]) / n (where n = 4)

[0226] In addition, the main control unit (300) can obtain at least one of the direction and distance that the source assembly must move to match the investigation area and the detector area based on the position information. The alignment information can include at least one of the direction and distance that the source assembly must move. The main control unit (300) can output at least one of the direction and distance that the source assembly must move.

[0227] If Alignment x is negative, it can indicate that the direction of the first alignment information moves to the right by |Alignment x|.

[0228] Additionally, if Alignment x is positive, the first alignment information can be shown to be shifted to the left by |Alignment x|.

[0229] Additionally, if Alignment y is negative, the first alignment information may indicate that it is shifted upward by |Alignment y|.

[0230] If Alignment y is positive, it can indicate that the first alignment information is shifted downward by |Alignment y|.

[0231] In addition, the absolute value of Alignment x may be related to the distance that the source assembly (110) must move in order to align the source assembly (110) and the detector. The main control unit (300) may store a movement distance acquisition table and a movement distance acquisition function that correspond to the absolute value of Alignment x and the distance that the source assembly (110) must move. The main control unit (300) may acquire the distance that the source assembly (110) must move corresponding to the absolute value of Alignment x based on the movement distance acquisition table and the movement distance acquisition function. The main control unit (300) may include the movement direction and the distance that must be moved in the first alignment information. In addition, the main control unit (300) may display the first alignment information on the display. The user can move the source assembly (110) based on the first alignment information, so that the area of ​​the investigation area and the area of ​​the detector can coincide, or the center of the detector and the center of the investigation area can coincide.

[0232] The plurality of first transceivers (410) and the plurality of second transceivers (510) can be implemented using UWB. UWB can be used to obtain x, y coordinates. If the detector (120) and the source assembly (110) are not aligned, the quality of the medical image may deteriorate, so the medical imaging device (100) can guide the alignment of the detector (120) and the source assembly (110) by taking an approximate value as an average value as above.

[0233] In the above, the process of obtaining the first alignment information using the first transceiver (410) and the second transceiver (510) has been described, but is not limited thereto. When determining the alignment information, the main control unit (300) can obtain a set of coordinates of a plurality of first transceivers and a set of coordinates of a plurality of second transceivers from a 3D camera image based on the 3D camera (520). For example, since the 3D camera (520) is included in the source assembly (110), the main control unit (300) can determine a predetermined position of the 3D camera image as a set of coordinates of a plurality of second transceivers. In addition, the main control unit (300) can determine a predetermined position of the detector area as a set of coordinates of a plurality of first transceivers after finding the detector area. In addition, the main control unit (300) can obtain the first alignment information according to the method already described above.

[0234] The main control unit (300) can obtain body part identification information of a subject. The body part identification information of the subject can be obtained based on a user input or pre-stored information about the subject. The main control unit (300) can obtain a body part model by modeling the subject in three dimensions or two dimensions based on the body part identification information and the SOD. The SOD can be determined by the method described above. In addition, the main control unit (300) can position the center of the detector area at the center of the body part model shown in the 3D camera image. The center of the body part model can include at least one of the center of gravity of the body part model or the center of a rectangle circumscribed to the core body part model.

[0235] However, it is not limited thereto, and the center (731) of the detector area (730) may be positioned at the center (1130) of the subject area as described in FIG. 11. The main control unit (300) can determine the detector area (730) based on the SID. The SID can be obtained by the method already described above. The size of the detector area (730) on the 3D camera image can be determined based on the SID. A large SID means a far distance between the source assembly (110) and the detector (120), so the detector area (730) on the 3D camera image can be small. In addition, a small SID means a close distance between the source assembly (110) and the detector (120), so the detector area (730) on the 3D camera image can be large. The main control unit (300) can determine the size of the detector according to at least one of the first distance information and the SID based on at least one of the detector size table and the detector size function.

[0236] To summarize the above description, the medical imaging device (100) can obtain at least one of the first alignment information, the second alignment information, and the third alignment information of the source assembly (110). In addition, the medical imaging device (100) can display at least one of the first alignment information, the second alignment information, and the third alignment information of the source assembly (110) on a display so that a user can align the source assembly (110) to the detector (120). In addition, the medical imaging device (100) can automatically align the source assembly (110) and the detector (120) based on at least one of the first alignment information, the second alignment information, and the third alignment information. More specifically, the source arm (140) of the medical imaging device (100) may be a robotic arm, and the source arm (140) may move the source assembly (110) based on at least one of the first alignment information to the third alignment information, thereby automatically aligning the source assembly (110) and the detector (120).

[0237] The direction of the first alignment information may refer to a direction in which the source assembly (110) is moved in a plane parallel to the front surface of the source assembly (110). Referring to FIG. 7, the direction of the first alignment information may be displayed on the display as arrows (741) and (742). The first alignment information may be a direction for moving the source assembly (110) so that the radiation irradiation area (720) includes the detector area (730). In the present disclosure, the first alignment information may be information including not only the direction but also the distance. The distance of the first alignment information may be displayed around the arrows (741) and (742). Therefore, the user may align the source assembly (110) and the detector (120) by looking at the display on which the first alignment information is displayed.

[0238] The second alignment information may be a direction for adjusting the distance between the source assembly (110) and the detector (120). That is, the second alignment information may be parallel to a direction from the center of the source assembly (110) to the center of the detector (120). The second alignment information may affect at least one of the SID and the SOD. In the present disclosure, the second alignment information may be information including not only the direction but also the distance. At least one of the direction and the distance of the second alignment information may be displayed on the display. Therefore, the user may adjust the distance between the source assembly (110) and the detector (120) by looking at the display.

[0239] The third alignment information may be a direction in which the source assembly (110) is rotated with respect to a horizontal axis (1210) and a vertical axis (1220) that are parallel to a plane perpendicular to the longitudinal direction of the source arm (140). For example, the horizontal axis (1210) may correspond to the pitch axis, and the vertical axis (1220) may correspond to the yaw axis. However, the present invention is not limited thereto, and the horizontal axis (1210) may correspond to the yaw axis, and the vertical axis (1220) may correspond to the pitch axis. The third alignment information may be a direction in which the source assembly (110) is rotated so that the radiation irradiation direction of the source assembly (110) becomes perpendicular to the surface of the detector (120). In other words, the third alignment information may be a direction in which the source assembly (110) is rotated so that the front surface of the source assembly (110) becomes parallel to the surface of the detector (120). In the present disclosure, the third alignment information may include information including not only the direction but also the rotation angle. In addition, the third alignment information has been described above with reference to the horizontal axis (1210) and the vertical axis (1220), but is not limited thereto, and the third alignment information may further include information including the rotation direction and rotation angle with respect to the roll axis. The main control unit (300) may display the third alignment information on the display. The user may look at the display and adjust the radiation irradiation direction of the source assembly (110) and the surface of the detector (120) so that they are perpendicular.

[0240] The medical imaging device (100) can fix the movement direction of the source assembly (110) to use only one of the first alignment information, the second alignment information, and the third alignment information based on the user's selection. For example, the medical imaging device (100) can display an object on the display to move in one of the first alignment information, the second alignment information, and the third alignment information. The object can be an image that includes at least one of text, color, and shape and is displayed on the display. When the user selects an object related to the first alignment information, the source assembly (110) can only move in a direction parallel to the direction of the first alignment information, and can be prevented from moving in the direction of the second alignment information and the third alignment information. For example, the main control unit (300) can fix a joint for moving in the direction of the second alignment information and the third alignment information. Likewise, when a user selects an object related to the second alignment information, the source assembly (110) can only move in a direction parallel to the direction of the second alignment information, and can be prevented from moving in the direction of the first alignment information and the third alignment information. In addition, when a user selects an object related to the third alignment information, the source assembly (110) can only move in a direction parallel to the direction of the third alignment information, and can be prevented from moving in the direction of the second alignment information and the first alignment information.

[0241] According to one embodiment of the present disclosure, a medical imaging device aligns a detector and a source assembly using at least one sensor, thereby improving the accuracy of alignment. In addition, when performing alignment, the medical imaging device (100) outputs at least one of first alignment information to third alignment information for alignment, thereby minimizing user intervention, thereby improving user convenience. In addition, since the source assembly (110) can be automatically moved to an alignment position by a robot arm based on the first alignment information to the third alignment information, user convenience can be improved and acquisition of medical images can be accelerated.

[0242] According to the medical imaging device (100) described above, the source assembly (110) and detector (120) can be aligned quickly and accurately. Furthermore, the burden on users and patients associated with imaging can be reduced. Furthermore, the effort associated with re-imaging can be reduced, and radiation exposure resulting from re-imaging can be eliminated.

[0243] We have discussed various embodiments so far. Those skilled in the art will appreciate that the present invention can be implemented in modified forms without departing from its essential characteristics. Therefore, the disclosed embodiments should be considered illustrative rather than restrictive. The scope of the present invention is set forth in the claims, not the foregoing description, and all differences within the scope equivalent thereto should be construed as being encompassed by the present invention.

[0244] Meanwhile, the embodiments of the present invention described above can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that executes the program using a computer-readable recording medium. The computer-readable recording medium includes storage media such as magnetic storage media (e.g., ROM, floppy disk, hard disk, etc.) and optical reading media (e.g., CD-ROM, DVD, etc.).

Claims

1. A detector comprising a detector control unit for controlling the operation of the detector and a first transceiver unit at a predetermined position; A source assembly including a second transceiver on the front; and In the medical imaging device including a main control unit that controls the operation of the medical imaging device, The above main control unit, A medical imaging device that obtains alignment information for aligning the detector and the source assembly.

2. In paragraph 1, A medical imaging device in which the alignment information includes information related to at least one of the direction, distance, and angle in which the source assembly must move, based on at least one of the position information of the detector and the position information of the source assembly.

3. In paragraph 1, A medical imaging device that outputs a signal indicating that the detector area and the irradiation area match when the detector area and the irradiation area match based on the above alignment information.

4. In paragraph 1, The detector includes a plurality of first transceivers, and the source assembly includes a plurality of second transceivers, The above main control unit, A medical imaging device that obtains a Source to Image Distance (SID) from the source assembly to the detector based on a plurality of distances between a plurality of first transceivers and a plurality of second transceivers that correspond one-to-one.

5. In paragraph 1, The above source assembly further includes a 3D camera for acquiring 3D camera images, The above main control unit A medical imaging device that acquires at least one of the source assembly and the detector's detailed information based on the 3D camera image.

6. In paragraph 5, The above main control unit, Obtaining line alignment information using the first transceiver and the second transceiver, Obtain post-alignment information based on the above 3D camera image, A medical imaging device that determines final alignment information based on the above-mentioned line alignment information and the above-mentioned subsequent alignment information.

7. In paragraph 5, Obtaining first distance information between the first transceiver and the second transceiver based on a signal between the first transceiver and the second transceiver, A medical imaging device that displays the area of ​​a detector in the 3D camera image based on the first distance information.

8. In paragraph 5, The above main control unit, The area of ​​the detector is displayed on the above 3D camera image, Obtain second distance information from the 3D camera to at least one object, A medical imaging device that obtains a SID (Source to Image Distance) from the source assembly to the detector based on the area of ​​the detector and the second distance information.

9. In paragraph 5, The above main control unit, Obtain second distance information from the 3D camera to at least one object, A medical imaging device that obtains the SOD (Source to Object Distance) from the source assembly to the subject based on the second distance information.

10. In paragraph 9, The above main control unit, Obtaining first distance information between the first transceiver and the second transceiver based on a signal between the first transceiver and the second transceiver, Obtaining the SID (Source to Image Distance) from the source assembly to the detector based on the first distance, A medical imaging device that determines the thickness of the subject based on the SOD and the SID.

11. In paragraph 10, The above main control unit, Obtaining body part identification information of the above subject, Based on the above body part identification information and the SOD, the subject is modeled in three dimensions or two dimensions to obtain a body part model, Position the center of the detector area at the center of the body part model shown in the 3D camera image, A medical imaging device that displays the area of ​​the detector based on the above SID.

12. In paragraph 5, The above 3D camera is a medical imaging device including at least one of a depth measurement camera, an RGBD (Red, Green, Blue, Depth) camera, or a TOF (Time of Flight) camera.

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